__timer1__.h File Reference

Header file for timer1.c. More...

#include <__swarm_wold__.h>

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Macros
#define	_TICK_US_1   0.0625
#define	_TICK_MS_1   0.0000625
#define	_TICK_US_0   16
#define	_TICK_MS_0   0.016

Functions
void	_timer1_init (void)
uint64_t	_micros1 (void)
uint64_t	_millis1 (void)

Variables
volatile uint8_t	_controler_flag_A
volatile uint8_t	_controler_flag_B

Detailed Description

Header file for timer1.c.

• File: timer1.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

/9/2021 10:17:41 AM

Definition in file __timer1__.h.

Function Documentation

_timer1_init()

void _timer1_init

(

void

)

Initialize Timer/Counter 1 with 1 prescaler (244 MHz overflow frequency at 16 MHz)

{
    TCCR1A |= (1 << COM1A1) | (0 << COM1A0) | (1 << COM1B1) | (0 << COM1B0);
    TCCR1A |= (1 << WGM11 ) | (0 << WGM10 ) ; // top is ICr , FAST PWM
    ICR1 = 0xFFFF;
    TCCR1B |= (1 << WGM13) | (1 << WGM12);
    TCCR1B |= (0 << CS12 ) | (0 << CS11 ) | (1 << CS10); // timer active at 16M/65526 frequency of Overflow
    TIMSK1 |= (1 << TOIE1);
    sei();
}

Referenced by board_init().

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