Quadrotor from scratch
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#include "timer.h"
#define TIMER0BASE 0xE0004000
#define TIMER1BASE 0xE0008000
#define IR 0x00
#define TCR 0x04
#define TC 0x08
#define PR 0x0c
#define PC 0x10
#define MCR 0x14
#define MR0 0x18
#define MR1 0x1C
#define MR2 0x20
#define MR3 0x24
#define CCR 0x28
#define CR0 0x2C
#define CR1 0x30
#define CR2 0x34
#define CR3 0x38
#define EMR 0x3C
#define CTCR 0x70
#define PWM 0x74
#define TREG(x) (((volatile unsigned char *)TIMER0BASE)[x])
#define TWREG(x) (((volatile unsigned int *)TIMER0BASE)[(x)/sizeof(unsigned int)])
#define TCR_ENABLE (1<<0)
#define TCR_RESET (1<<1)
void init_timer(void)
{
TREG(TCR) = TCR_ENABLE | TCR_RESET;
TREG(CTCR) = 0; /* Use PCLK */
TREG(TC) = 0;
TREG(PR) = TIMER_PRESCALE ;
TREG(PC) = 0;
TREG(TCR) = TCR_ENABLE;
}
unsigned int timer_read(void)
{
return TWREG(TC);
}
void timer_delay_clocks(unsigned int clocks)
{
signed int time = TWREG(TC) + clocks;
while (((signed int) (time-TWREG(TC))) > 0);
}