/* Start heartbeat timer */
void start_heartbeat(void) {
TC_OC(TC_HEARTBEAT);
SET_OC_ACTION(TC_HEARTBEAT,OC_OFF);
TC(TC_HEARTBEAT) = TCNT + HEARTBEAT; // Preset OC channel
TC_INT_ENABLE(TC_HEARTBEAT); // Enable timer channel interrupt
}
/* to count in milisecond increments */
void msleep(word ms) {
word i;
// Enable timer module if not already enabled
if(!(TSCR1 & TSCR1_TEN_MASK)) EnableTimer;
TC(TC_SLEEP) = TCNT + OC_DELTA_1MS; // Preset channel register
TC_OC(TC_SLEEP); // Enable channel as output compare
for(i=0; i < ms; i++) {
while(!(TFLG1 & (1 << TC_SLEEP))); // Wait for event
TC(TC_SLEEP) += OC_DELTA_1MS; // Rearm channel register, clearing TFLG as well
}
}
/* Initialize stepper motor control */
void stepper_init(void) {
// Set initial delay time and step type
stepper_delay = STEPPER_DELAY_INIT;
stepper_step_type = STEPPER_STEP_INIT;
// Enable timer module if not already enabled
if(!(TSCR1 & TSCR1_TEN_MASK)) EnableTimer;
TC_OC(TC_STEPPER); // Channel set to output compare
SET_OC_ACTION(TC_STEPPER,OC_OFF); // Do not change output line after output compare triggered, this is controlled manually
TC(TC_STEPPER) = TCNT + TIMER_DELTA(stepper_delay); // Preset OC channel
TC_INT_ENABLE(TC_STEPPER); // Enable timer channel interrupts
SET_BITS(STEPPER_PORT_DDR,STEPPER_COIL_BITS); // Set stepper coil lines as outputs
SET_BITS(STEPPER_LIMIT_INPUT_EN,STEPPER_LIMIT_INPUT_EN_MASK); // Set limit switch ports as inputs
}
