/*! \brief read the actual timer count from register
*/
uint16_t tmr_read_count(void)
{
return tc_read_cv(TIMER, TIMER_CHANNEL_ID);
}
void delay(uint32_t us) /* A simple implementation for a delay in us (not calibrated) */
{
tc_start(TC1,1);
while (tc_read_cv(TC1,1) < us*42);
tc_stop(TC1,1);
}
/**************************************************************************
The interrupt service routine.
Reads the timer counter every time the ISR fires. Resets/restarts the clock
and maintains a counter.
**************************************************************************/
void pin_edge_handler()
{
timerRightWheel = tc_read_cv(TC2, 1);
tc_start(TC2, 1);
counterRightWheel++;
}
void delayMicroseconds(uint32_t us) /* A simple implementation for a delay in us (not calibrated) */
{
tc_start(TC0,0);
while (tc_read_cv(TC0,0) < us*42);
tc_stop(TC0,0);
}