/** \brief Disables OVF interrupts on the given timer.
*
* As this library is interrupt driven, this effectively stops the motor. When
* stopped, the stepper motor will go into its holding torque phase, unless the
* motor driver is disabled.
*
* \param[in] timer the timer to stop. */
static void SM_timer_stop(SM_timer_t timer) {
if (timer == SM_TIMER_NEEDLE) {
TC0_SetOverflowIntLevel(&TIMER_NEEDLE, TC_OVFINTLVL_OFF_gc);
}
else {
TC1_SetOverflowIntLevel(&TIMER_RING, TC_OVFINTLVL_OFF_gc);
}
}
/** \brief Enables OVF interrupts on the given timer.
*
* As this library is interrupt driven, enabling these interrupts essentially
* enables the given SM_move() command to be carried out by the motor.
*
* \param[in] timer the timer to start */
static void SM_timer_start(SM_timer_t timer) {
if (timer == SM_TIMER_NEEDLE) {
TC0_SetOverflowIntLevel(&TIMER_NEEDLE, TC_OVFINTLVL_HI_gc);
}
else {
TC1_SetOverflowIntLevel(&TIMER_RING, TC_OVFINTLVL_HI_gc);
}
/* enable hi level interrupts */
PMIC.CTRL |= PMIC_HILVLEN_bm;
}
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);
}
