Header file for timer0.c. More...

#include <__swarm_wold__.h>

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Functions
void	_timer0_init (void)

void	_timer0_init_prescaler (uint16_t prescaler)

unsigned long	_micros0 (void)

unsigned long	_millis0 (void)

Detailed Description

Header file for timer0.c.

File: timer0.h
Compiler: GCC-AVR
Supported devices: Tested on 328p
AppNote: Discrete PID controller

Author: Swarm robot graduation project workgroub
Mechatronics Program for the Distinguished
$Name$

Revision: 1

$RCSfile$

Date: /19/2021 9:03:51 AM

Definition in file __timer0__.h.

Function Documentation

◆ _micros0()

unsigned long _micros0 ( void )

Returns the microseconds passed since timer initialize

 {
      
     if ((TIFR0 & (1 << TOV0)) && (TCNT0 < 255))
     {
         _timer0_ovf_cnt++;
     }
     return _TICK_US_0*((_timer0_ovf_cnt << 8) + TCNT0);
 }

Referenced by _dead_reckon().

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◆ _millis0()

unsigned long _millis0 ( void )

Returns the milliseconds passed since timer initialize

 {
     
     if ((TIFR0 & (1 << TOV0)) && (TCNT0 < 255))
     {
         _timer0_ovf_cnt++;
     }
     return _TICK_MS_0*(((_timer0_ovf_cnt << 8) + TCNT0));
 }

◆ _timer0_init()

void _timer0_init ( void )

Initialize Timer/Counter 0 with clock prescaler of 1024 (244 Hz overflow at 16 MHz)

 {
     TCCR0A |= (1 << COM0A1) | (0 << COM0A0) | (1 << COM0B1) | (0 << COM0B0);
     TCCR0A |= (1 << WGM01) | (1 << WGM00);
     
     TCCR0B |=(1 << CS02) | (0 << CS01) | (0 << CS00);
     TIMSK0 |= (1 << TOIE0);
     sei();
 }

Referenced by board_init().

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◆ _timer0_init_prescaler()

void _timer0_init_prescaler ( uint16_t prescaler )

Initialize Timer/Counter 0 with costume prescaler (see the datasheet)

Parameters

[in] prescaler prescaler 1,2,4,8,255,1024