/** \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;
}
/*
* Setup timer 1 compare match A to generate a tick interrupt.
*/
static void prvSetupTimerInterrupt(void) {
//Use TCC0 as a tick counter. If this is to be changed, change ISR as well
TC0_t * tickTimer = &TCC0;
//select the clock source and pre-scale by 64
TC0_ConfigClockSource(tickTimer, TC_CLKSEL_DIV64_gc);
//set period of counter
tickTimer->PER = configCPU_CLOCK_HZ / configTICK_RATE_HZ / 64 - 1;
//enable interrupt and set low level
TC0_SetOverflowIntLevel(tickTimer, TC_OVFINTLVL_LO_gc);
//enable low level interrupts
PMIC_EnableLowLevel();
}
// Configures PWM output on compare a b and c for single slope pwm, with hires, and clk source as sys clk
void configPWM (volatile TC0_t * tc, HIRES_t * hires, uint16_t period) {
TC_SetPeriod (tc, period );
TC0_ConfigWGM (tc, TC_WGMODE_NORMAL_gc ); // set to single slope pwm generation mode
TC0_EnableCCChannels (tc, TC0_CCAEN_bm); // enable compare A
TC0_EnableCCChannels (tc, TC0_CCBEN_bm); // enable compare B
TC0_EnableCCChannels (tc, TC0_CCCEN_bm); // enable compare C
TC0_EnableCCChannels (tc, TC0_CCDEN_bm); // enable compare D
//~ TC0_SetCCAIntLevel (tc, TC_CCAINTLVL_HI_gc);
TC0_SetCCBIntLevel (tc, TC_CCBINTLVL_LO_gc);
//~ TC0_SetCCCIntLevel (tc, TC_CCCINTLVL_HI_gc);
//~ TC0_SetCCDIntLevel (tc, TC_CCDINTLVL_HI_gc);
TC0_SetOverflowIntLevel (tc, TC_OVFINTLVL_LO_gc);
PMIC.CTRL |= PMIC_HILVLEN_bm;
TC0_ConfigClockSource (tc, TC_CLKSEL_DIV1_gc);
HIRES_Enable (hires, HIRES_HREN_TC0_gc);
}
// This function initializes system tick
void Init_SysTick( void )
{
TC_SetPeriod(&TCF0, 124); // 125 ticks at 31.25KHz = 4ms periods
TC0_ConfigClockSource(&TCF0, TC_CLKSEL_DIV1024_gc); // 32MHz/1024=31.25KHz
TC0_SetOverflowIntLevel(&TCF0, TC_OVFINTLVL_LO_gc); // Enable interrupts for overflow
}