87 lines
2.2 KiB
C
87 lines
2.2 KiB
C
/*
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* c't-Bot
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*
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* This program is free software; you can redistribute it
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* and/or modify it under the terms of the GNU General
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* Public License as published by the Free Software
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* Foundation; either version 2 of the License, or (at your
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* option) any later version.
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* This program is distributed in the hope that it will be
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* useful, but WITHOUT ANY WARRANTY; without even the implied
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* warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR
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* PURPOSE. See the GNU General Public License for more details.
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* You should have received a copy of the GNU General Public
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* License along with this program; if not, write to the Free
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* Software Foundation, Inc., 59 Temple Place, Suite 330, Boston,
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* MA 02111-1307, USA.
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*
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*/
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/*! @file timer-low.c
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* @brief Timer und counter für den Mikrocontroller
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* @author Benjamin Benz (bbe@heise.de)
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* @date 26.12.05
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*/
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#ifdef MCU
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#include "ct-Bot.h"
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#include <avr/io.h>
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#include <avr/interrupt.h>
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#ifndef NEW_AVR_LIB
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#include <avr/signal.h>
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#endif
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#include "ct-Bot.h"
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#include "timer.h"
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#include "ir-rc5.h"
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#include "sensor-low.h"
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#include "bot-local.h"
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// ---- Timer 2 ------
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/*!
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Interrupt Handler fuer Timer/Counter 2(A)
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*/
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#ifdef __AVR_ATmega644__
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SIGNAL (TIMER2_COMPA_vect){
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#else
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SIGNAL (SIG_OUTPUT_COMPARE2){
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#endif
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/* - FERNBEDIENUNG - */
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#ifdef IR_AVAILABLE
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ir_isr();
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#endif
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/* ----- TIMER ----- */
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tickCount.u32++; // TickCounter [176 us] erhoehen
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/* --- RADENCODER --- */
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bot_encoder_isr();
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}
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/*!
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* initilaisiert Timer 0 und startet ihn
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*/
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void timer_2_init(void){
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TCNT2 = 0x00; // TIMER vorladen
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// aendert man den Prescaler muss man die Formel fuer OCR2 anpassen !!!
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// Compare Register nur 8-Bit breit --> evtl. teiler anpassen
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#ifdef __AVR_ATmega644__
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TCCR2A = _BV(WGM21); // CTC Mode
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TCCR2B = _BV(CS22); // Prescaler = CLK/64
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OCR2A = ((XTAL/64/TIMER_2_CLOCK) - 1); // Timer2A
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TIMSK2 |= _BV(OCIE2A); // TIMER2 Output Compare Match A Interrupt an
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#else
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// use CLK/64 prescale value, clear timer/counter on compare match
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TCCR2 = _BV(WGM21) | _BV(CS22);
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OCR2 = ((XTAL/64/TIMER_2_CLOCK) - 1);
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TIMSK |= _BV(OCIE2); // enable Output Compare 0 overflow interrupt
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#endif
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sei(); // enable interrupts
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}
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#endif
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