1 files changed, 87 insertions, 0 deletions
diff --git a/source/ct-Bot/mcu/timer-low.c b/source/ct-Bot/mcu/timer-low.c
new file mode 100644
index 0000000..f83bd1b
--- /dev/null
+++ b/source/ct-Bot/mcu/timer-low.c
@@ -0,0 +1,87 @@
+/*
+ * c't-Bot
+ * 
+ * This program is free software; you can redistribute it
+ * and/or modify it under the terms of the GNU General
+ * Public License as published by the Free Software
+ * Foundation; either version 2 of the License, or (at your
+ * option) any later version. 
+ * This program is distributed in the hope that it will be 
+ * useful, but WITHOUT ANY WARRANTY; without even the implied
+ * warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR 
+ * PURPOSE. See the GNU General Public License for more details.
+ * You should have received a copy of the GNU General Public 
+ * License along with this program; if not, write to the Free 
+ * Software Foundation, Inc., 59 Temple Place, Suite 330, Boston,
+ * MA 02111-1307, USA.
+ * 
+ */
+
+/*! @file 	timer-low.c
+ * @brief 	Timer und counter für den Mikrocontroller
+ * @author 	Benjamin Benz (bbe@heise.de)
+ * @date 	26.12.05
+*/
+
+#ifdef MCU
+
+#include "ct-Bot.h"
+
+#include <avr/io.h>
+#include <avr/interrupt.h>
+#ifndef NEW_AVR_LIB
+	#include <avr/signal.h>
+#endif
+	
+
+#include "ct-Bot.h"
+
+#include "timer.h"
+#include "ir-rc5.h"
+#include "sensor-low.h"
+#include "bot-local.h"
+
+// ---- Timer 2 ------
+
+/*!
+  Interrupt Handler fuer Timer/Counter 2(A)
+ */
+#ifdef __AVR_ATmega644__
+	SIGNAL (TIMER2_COMPA_vect){
+#else
+	SIGNAL (SIG_OUTPUT_COMPARE2){
+#endif
+   
+	/* - FERNBEDIENUNG - */
+	#ifdef IR_AVAILABLE
+		ir_isr();
+	#endif	
+	/* ----- TIMER ----- */
+	tickCount.u32++;	// TickCounter [176 us] erhoehen 
+	/* --- RADENCODER --- */
+	bot_encoder_isr();
+}
+
+/*!
+ * initilaisiert Timer 0 und startet ihn 
+ */
+void timer_2_init(void){
+	TCNT2  = 0x00;            // TIMER vorladen
+	
+	// aendert man den Prescaler muss man die Formel fuer OCR2 anpassen !!!
+	// Compare Register nur 8-Bit breit --> evtl. teiler anpassen
+	#ifdef __AVR_ATmega644__
+		TCCR2A = _BV(WGM21);	// CTC Mode
+		TCCR2B = _BV(CS22);		// Prescaler = CLK/64
+		OCR2A = ((XTAL/64/TIMER_2_CLOCK) - 1);	// Timer2A
+		TIMSK2  |= _BV(OCIE2A);	// TIMER2 Output Compare Match A Interrupt an
+	#else
+		// use CLK/64 prescale value, clear timer/counter on compare match   
+		TCCR2 = _BV(WGM21) | _BV(CS22);
+		OCR2 = ((XTAL/64/TIMER_2_CLOCK) - 1);
+		TIMSK  |= _BV(OCIE2);	// enable Output Compare 0 overflow interrupt
+	#endif
+	
+	sei();                       // enable interrupts
+}
+#endif