void startup(void) {
SET_PHASE_STATE_5_MOT2();
TCC0.CNT = 0;
while (TCC0.CNT < 65535) {}
/*
TCF0.CCBBUF = startupPwms[0];
SET_PHASE_STATE_0_MOT2();
TCC0.CNT = 0;
while (TCC0.CNT < startupDelays[0]) {}
TCF0.CCBBUF = startupPwms[1];
SET_PHASE_STATE_1_MOT2();
TCC0.CNT = 0;
while (TCC0.CNT < startupDelays[1]) {}
TCF0.CCBBUF = startupPwms[2];
SET_PHASE_STATE_2_MOT2();
TCC0.CNT = 0;
while (TCC0.CNT < startupDelays[2]) {}
TCF0.CCBBUF = startupPwms[3];
SET_PHASE_STATE_3_MOT2();
TCC0.CNT = 0;
while (TCC0.CNT < startupDelays[3]) {}
TCF0.CCBBUF = startupPwms[4];
SET_PHASE_STATE_4_MOT2();
TCC0.CNT = 0;
while (TCC0.CNT < startupDelays[4]) {}
*/
TCF0.CCBBUF = startupPwms[5];
TCE0.CCBBUF = startupPwms[5]/2;
TC_SetPeriod( &TCD1, 65535 );
//~ xxx TC1_ConfigClockSource( &TCD1, TC_CLKSEL_DIV64_gc );
TC1_ConfigClockSource( &TCD1, TC_CLKSEL_DIV4_gc );
//TC1_ConfigClockSource( &TCD1, TC_CLKSEL_DIV64_gc);
TC1_SetOverflowIntLevel (&TCD1, TC_OVFINTLVL_LO_gc);
missedCommFlag = 1;
SET_PHASE_STATE_0_MOT2();
motor2State = 0;
//~ while (TCC0.CNT < startupDelays[5]) {}
//~ while (1);
}
/** \brief Initializes the library timer 0 or 1 based on given timer parameter.
*
* Sets up the given timer for use with this library. This involves setting the
* clock prescaler and mode, but the period and overflow interrupt enable are
* left to the SM_move() and ISR for the corresponding timer.
*
* This function also handles mapping the appropriate speed ramp to the
*
* \param[in] motor The motor to initialize the timer for
* \param[in] timer The timer to initialize (TIMER0 or TIMER1) */
static void SM_timer_init(SM_t *motor, SM_timer_t timer) {
/* 32M/256 == 125K Hz*/
if (timer == SM_TIMER_NEEDLE) {
TC0_ConfigWGM(&TIMER_NEEDLE, TC_WGMODE_NORMAL_gc);
TC0_ConfigClockSource(&TIMER_NEEDLE, TC_CLKSEL_DIV256_gc);
needle_motor = motor;
}
else {
TC1_ConfigWGM(&TIMER_RING, TC_WGMODE_NORMAL_gc);
TC1_ConfigClockSource(&TIMER_RING, TC_CLKSEL_DIV256_gc);
ring_motor = motor;
}
motor->timer = timer;
}
void setup_Timer2(){
//1 min
TC1_ConfigClockSource( &TCC1, TC_CLKSEL_DIV1024_gc );
TC_SetPeriod( &TCC1, 0x8000 ); //Es el periodo o TOP Value para que se active la interrupción. (Equivale a 1030ms)
}
