//void _init(_codeur * codeur)
//{
//// Codeur est un pointeur valide
//if(codeur != NULL)
//{
//codeur_raz(codeur);
//codeur->sens = 0; // Avance par defaut (pas d'importance , juste pour initialisation)
//
//// permet de faire les calculs necessaires a l'initialisation, et pas pendant l'execution du code
//codeur->coeffDep = ( M_PI * codeur->diaRoue) / (codeur->nbPasCodeur);
//codeur->coeffVit = 1 / PERIODE;
//}
//}
//void codeur_init(_codeur * codeur1)
//{
//
//_init(codeur1);
//}
void codeurs_init()
{
uint16_t lineCount = 1024;
QDEC_Total_Setup(&PORTD, /*PORT_t * qPort*/
0, /*uint8_t qPin*/
false, /*bool invIO*/
0, /*uint8_t qEvMux*/
EVSYS_CHMUX_PORTD_PIN0_gc, /*EVSYS_CHMUX_t qPinInput*/
false, /*bool useIndex*/
EVSYS_QDIRM_00_gc, /*EVSYS_QDIRM_t qIndexState*/
&TCC0, /*TC0_t * qTimer*/
TC_EVSEL_CH0_gc, /*TC_EVSEL_t qEventChannel*/
lineCount); /*uint8_t lineCount*/
TC_Restart( &TCC0 );
TC_SetCount(&TCC0,10000);
QDEC_Total_Setup(&PORTD, /*PORT_t * qPort*/
2, /*uint8_t qPin*/
false, /*bool invIO*/
2, /*uint8_t qEvMux*/
EVSYS_CHMUX_PORTD_PIN2_gc, /*EVSYS_CHMUX_t qPinInput*/
false, /*bool useIndex*/
EVSYS_QDIRM_00_gc, /*EVSYS_QDIRM_t qIndexState*/
&TCD0, /*TC0_t * qTimer*/
TC_EVSEL_CH2_gc, /*TC_EVSEL_t qEventChannel*/
lineCount); /*uint8_t lineCount*/
TC_Restart( &TCD0 );
TC_SetCount(&TCD0,10000);
}
/** \brief Sets the period of the given timer, and restarts it from 0.
*
* Restarts the timer from 0, incrementing by 1 every timer clock cycle, and
* changes the period of the timer to the given value. This also clears any CC
* channels on the timer.
*
* \param[in] timer the timer to set (TIMER0 or TIMER1)
* \param[in] period the new timer period (TOP) */
static void SM_timer_set_period(SM_timer_t timer, uint16_t period) {
if (timer == SM_TIMER_NEEDLE) {
TC_SetCount(&TIMER_RING, 0x0000);
TC_SetPeriod(&TIMER_NEEDLE, period);
}
else {
TC_SetCount(&TIMER_RING, 0x0000);
TC_SetPeriod(&TIMER_RING, period);
}
}
/*
This example shows how to configure TCC0 for basic timer operation.
The timer will run at the main clock frequency (32MHz) so we need
to do a bit of math to derive the number of clock cycles to arrive
at the desired microsecond time out.
*/
void startTimer(uint16_t microseconds)
{
uint32_t cycles;
// There are 31.25 nano seconds per clock cycle.
// So we multiply the micro seconds by the clock period to determine
// the number of clock cycles to achieve the microsecond timeout.
// That number of cycles becomes our TOP value.
// We will use 32 nano seconds to preclude floating point arithmetic.
cycles = 32*microseconds;
// Set period/TOP value.
TCC0.CCA = cycles;
// Set the CNT to 0.
TC_SetCount(&TCC0, 0);
/* Enable Input "Capture or Compare" channel A. */
TC0_EnableCCChannels( &TCC0, TC0_CCAEN_bm );
// Select clock source and start the timer.
TC0_ConfigClockSource( &TCC0, TC_CLKSEL_DIV1_gc );
// Enable CCA interrupt.
TC0_SetCCAIntLevel( &TCC0, TC_CCAINTLVL_LO_gc );
PMIC.CTRL |= PMIC_LOLVLEN_bm;
}
