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/*
* 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
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