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Cleaned up tabs and file width some.

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This commit is contained in:
skarg
2007-08-10 16:25:50 +00:00
parent 27f2b9960a
commit 1d6f04e347
5 changed files with 168 additions and 136 deletions
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bacnet-stack/ports/at91sam7s/init.c
+54 -55
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@@ -32,71 +32,70 @@ extern void AT91F_Default_FIQ_handler(void);
//*---------------------------------------------------------------------------- //*----------------------------------------------------------------------------
void LowLevelInit(void) void LowLevelInit(void)
{ {
int i; int i;
AT91PS_PMC pPMC = AT91C_BASE_PMC; AT91PS_PMC pPMC = AT91C_BASE_PMC;
//* Set Flash Wait sate //* Set Flash Wait sate
// Single Cycle Access at Up to 30 MHz, or 40 // Single Cycle Access at Up to 30 MHz, or 40
// if MCK = 48054841 I have 50 Cycle for 1 usecond ( flied MC_FMR->FMCN // if MCK = 48054841 I have 50 Cycle for 1 usecond ( flied MC_FMR->FMCN
// result: AT91C_MC_FMR = 0x00320100 (MC Flash Mode Register) // result: AT91C_MC_FMR = 0x00320100 (MC Flash Mode Register)
AT91C_BASE_MC->MC_FMR = (((AT91C_MC_FMCN) & (50 <<16)) | AT91C_MC_FWS_1FWS); AT91C_BASE_MC->MC_FMR = (((AT91C_MC_FMCN) & (50 <<16)) | AT91C_MC_FWS_1FWS);
//* Watchdog Disable //* Watchdog Disable
// result: AT91C_WDTC_WDMR = 0x00008000 (Watchdog Mode Register) // result: AT91C_WDTC_WDMR = 0x00008000 (Watchdog Mode Register)
AT91C_BASE_WDTC->WDTC_WDMR= AT91C_WDTC_WDDIS; AT91C_BASE_WDTC->WDTC_WDMR= AT91C_WDTC_WDDIS;
//* Set MCK at 48 054 841 //* Set MCK at 48 054 841
// 1 Enabling the Main Oscillator: // 1 Enabling the Main Oscillator:
// SCK = 1/32768 = 30.51 uSecond // SCK = 1/32768 = 30.51 uSecond
// Start up time = 8 * 6 / SCK = 56 * 30.51 = 1,46484375 ms // Start up time = 8 * 6 / SCK = 56 * 30.51 = 1,46484375 ms
// result: AT91C_CKGR_MOR = 0x00000601 (Main Oscillator Register) // result: AT91C_CKGR_MOR = 0x00000601 (Main Oscillator Register)
pPMC->PMC_MOR = ((AT91C_CKGR_OSCOUNT & (0x06<<8)) | AT91C_CKGR_MOSCEN); pPMC->PMC_MOR = ((AT91C_CKGR_OSCOUNT & (0x06<<8)) | AT91C_CKGR_MOSCEN);
// Wait the startup time // Wait the startup time
while(!(pPMC->PMC_SR & AT91C_PMC_MOSCS)); while(!(pPMC->PMC_SR & AT91C_PMC_MOSCS));
// PMC Clock Generator PLL Register setup // PMC Clock Generator PLL Register setup
// //
// The following settings are used: DIV = 14 // The following settings are used: DIV = 14
// MUL = 72 // MUL = 72
// PLLCOUNT = 10 // PLLCOUNT = 10
// //
// Main Clock (MAINCK from crystal oscillator) = 18432000 hz (see AT91SAM7-EK schematic) // Main Clock (MAINCK from crystal oscillator) = 18432000 hz (see AT91SAM7-EK schematic)
// MAINCK / DIV = 18432000/14 = 1316571 hz // MAINCK / DIV = 18432000/14 = 1316571 hz
// PLLCK = 1316571 * (MUL + 1) = 1316571 * (72 + 1) = 1316571 * 73 = 96109683 hz // PLLCK = 1316571 * (MUL + 1) = 1316571 * (72 + 1) = 1316571 * 73 = 96109683 hz
// //
// PLLCOUNT = number of slow clock cycles before the LOCK bit is set // PLLCOUNT = number of slow clock cycles before the LOCK bit is set
// in PMC_SR after CKGR_PLLR is written. // in PMC_SR after CKGR_PLLR is written.
// //
// PLLCOUNT = 10 // PLLCOUNT = 10
// //
// OUT = 0 (not used) // OUT = 0 (not used)
// result: AT91C_CKGR_PLLR = 0x00000000480A0E (PLL Register) // result: AT91C_CKGR_PLLR = 0x00000000480A0E (PLL Register)
pPMC->PMC_PLLR = ((AT91C_CKGR_DIV & 14) | pPMC->PMC_PLLR = ((AT91C_CKGR_DIV & 14) |
(AT91C_CKGR_PLLCOUNT & (10<<8)) | (AT91C_CKGR_PLLCOUNT & (10<<8)) |
(AT91C_CKGR_MUL & (72<<16))); (AT91C_CKGR_MUL & (72<<16)));
// Wait the startup time (until PMC Status register LOCK bit is set) // Wait the startup time (until PMC Status register LOCK bit is set)
while(!(pPMC->PMC_SR & AT91C_PMC_LOCK)); while(!(pPMC->PMC_SR & AT91C_PMC_LOCK));
// PMC Master Clock (MCK) Register setup // PMC Master Clock (MCK) Register setup
// //
// CSS = 3 (PLLCK clock selected) // CSS = 3 (PLLCK clock selected)
// //
// PRES = 1 (MCK = PLLCK / 2) = 96109683/2 = 48054841 hz // PRES = 1 (MCK = PLLCK / 2) = 96109683/2 = 48054841 hz
// //
// Note: Master Clock MCK = 48054841 hz (this is the CPU clock speed) // Note: Master Clock MCK = 48054841 hz (this is the CPU clock speed)
// result: AT91C_PMC_MCKR = 0x00000007 (Master Clock Register) // result: AT91C_PMC_MCKR = 0x00000007 (Master Clock Register)
pPMC->PMC_MCKR = AT91C_PMC_CSS_PLL_CLK | AT91C_PMC_PRES_CLK_2; pPMC->PMC_MCKR = AT91C_PMC_CSS_PLL_CLK | AT91C_PMC_PRES_CLK_2;
// Set up the default interrupts handler vectors // Set up the default interrupts handler vectors
AT91C_BASE_AIC->AIC_SVR[0] = (int) AT91F_Default_FIQ_handler; AT91C_BASE_AIC->AIC_SVR[0] = (int) AT91F_Default_FIQ_handler;
for (i = 1; i < 31; i++) for (i = 1; i < 31; i++)
{ {
AT91C_BASE_AIC->AIC_SVR[i] = (int) AT91F_Default_IRQ_handler; AT91C_BASE_AIC->AIC_SVR[i] = (int) AT91F_Default_IRQ_handler;
} }
AT91C_BASE_AIC->AIC_SPU = (int) AT91F_Spurious_handler; AT91C_BASE_AIC->AIC_SPU = (int) AT91F_Spurious_handler;
} }
bacnet-stack/ports/at91sam7s/isr.c
+28 -28
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@@ -23,65 +23,65 @@
static inline unsigned __get_cpsr(void) static inline unsigned __get_cpsr(void)
{ {
unsigned long retval; unsigned long retval;
asm volatile (" mrs %0, cpsr" : "=r" (retval) : /* no inputs */ ); asm volatile (" mrs %0, cpsr" : "=r" (retval) : /* no inputs */ );
return retval; return retval;
} }
static inline void __set_cpsr(unsigned val) static inline void __set_cpsr(unsigned val)
{ {
asm volatile (" msr cpsr, %0" : /* no outputs */ : "r" (val) ); asm volatile (" msr cpsr, %0" : /* no outputs */ : "r" (val) );
} }
unsigned disableIRQ(void) unsigned disableIRQ(void)
{ {
unsigned _cpsr; unsigned _cpsr;
_cpsr = __get_cpsr(); _cpsr = __get_cpsr();
__set_cpsr(_cpsr | IRQ_MASK); __set_cpsr(_cpsr | IRQ_MASK);
return _cpsr; return _cpsr;
} }
unsigned restoreIRQ(unsigned oldCPSR) unsigned restoreIRQ(unsigned oldCPSR)
{ {
unsigned _cpsr; unsigned _cpsr;
_cpsr = __get_cpsr(); _cpsr = __get_cpsr();
__set_cpsr((_cpsr & ~IRQ_MASK) | (oldCPSR & IRQ_MASK)); __set_cpsr((_cpsr & ~IRQ_MASK) | (oldCPSR & IRQ_MASK));
return _cpsr; return _cpsr;
} }
unsigned enableIRQ(void) unsigned enableIRQ(void)
{ {
unsigned _cpsr; unsigned _cpsr;
_cpsr = __get_cpsr(); _cpsr = __get_cpsr();
__set_cpsr(_cpsr & ~IRQ_MASK); __set_cpsr(_cpsr & ~IRQ_MASK);
return _cpsr; return _cpsr;
} }
unsigned disableFIQ(void) unsigned disableFIQ(void)
{ {
unsigned _cpsr; unsigned _cpsr;
_cpsr = __get_cpsr(); _cpsr = __get_cpsr();
__set_cpsr(_cpsr | FIQ_MASK); __set_cpsr(_cpsr | FIQ_MASK);
return _cpsr; return _cpsr;
} }
unsigned restoreFIQ(unsigned oldCPSR) unsigned restoreFIQ(unsigned oldCPSR)
{ {
unsigned _cpsr; unsigned _cpsr;
_cpsr = __get_cpsr(); _cpsr = __get_cpsr();
__set_cpsr((_cpsr & ~FIQ_MASK) | (oldCPSR & FIQ_MASK)); __set_cpsr((_cpsr & ~FIQ_MASK) | (oldCPSR & FIQ_MASK));
return _cpsr; return _cpsr;
} }
unsigned enableFIQ(void) unsigned enableFIQ(void)
{ {
unsigned _cpsr; unsigned _cpsr;
_cpsr = __get_cpsr(); _cpsr = __get_cpsr();
__set_cpsr(_cpsr & ~FIQ_MASK); __set_cpsr(_cpsr & ~FIQ_MASK);
return _cpsr; return _cpsr;
} }
bacnet-stack/ports/at91sam7s/main.c
+54 -39
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@@ -1,6 +1,7 @@
/************************************************************************** /**************************************************************************
* *
* Copyright (C) 2007 Steve Karg <skarg@users.sourceforge.net> * Copyright (C) 2007 Steve Karg <skarg@users.sourceforge.net>
* Portions of the AT91SAM7S startup code were developed by James P Lynch.
* *
* Permission is hereby granted, free of charge, to any person obtaining * Permission is hereby granted, free of charge, to any person obtaining
* a copy of this software and associated documentation files (the * a copy of this software and associated documentation files (the
@@ -38,17 +39,17 @@
#include "handlers.h" #include "handlers.h"
// ******************************************************* // *******************************************************
// FIXME: put in header files External References // FIXME: use header files? External References
// ******************************************************* // *******************************************************
extern void LowLevelInit(void); extern void LowLevelInit(void);
extern unsigned enableIRQ(void); extern unsigned enableIRQ(void);
extern unsigned enableFIQ(void); extern unsigned enableFIQ(void);
extern void TimerInit(void); extern void TimerInit(void);
extern volatile unsigned long Timer_Milliseconds; extern volatile unsigned long Timer_Milliseconds;
// ******************************************************* // *******************************************************
// Global Variables - ??? // FIXME: use header files? Global Variables
// ******************************************************* // *******************************************************
unsigned int FiqCount = 0; unsigned int FiqCount = 0;
@@ -78,38 +79,55 @@ void millisecond_timer(void)
} }
} }
int main (void) { int main (void) {
unsigned long IdleCount = 0; // idle loop blink counter (2x) unsigned long IdleCount = 0; // idle loop blink counter
bool LED3_Off_Enabled = true; bool LED3_Off_Enabled = true;
uint16_t pdu_len = 0; uint16_t pdu_len = 0;
BACNET_ADDRESS src; /* source address */ BACNET_ADDRESS src; /* source address */
uint8_t pdu[MAX_MPDU]; /* PDU data */ uint8_t pdu[MAX_MPDU]; /* PDU data */
// Initialize the Atmel AT91SAM7S256 (watchdog, PLL clock, default interrupts, etc.) // Initialize the Atmel AT91SAM7S256
// (watchdog, PLL clock, default interrupts, etc.)
LowLevelInit(); LowLevelInit();
TimerInit(); TimerInit();
/* Initialize the Parallel I/O Controller A Peripheral Clock */ /* Initialize the Parallel I/O Controller A Peripheral Clock */
volatile AT91PS_PMC pPMC = AT91C_BASE_PMC; volatile AT91PS_PMC pPMC = AT91C_BASE_PMC;
pPMC->PMC_PCER = pPMC->PMC_PCSR | (1<<AT91C_ID_PIOA); pPMC->PMC_PCER = pPMC->PMC_PCSR | (1<<AT91C_ID_PIOA);
// Set up the LEDs (PA0 - PA3) // Set up the LEDs (PA0 - PA3)
volatile AT91PS_PIO pPIO = AT91C_BASE_PIOA; // pointer to PIO data structure volatile AT91PS_PIO pPIO = AT91C_BASE_PIOA;
pPIO->PIO_PER = LED_MASK | SW1_MASK; // PIO Enable Register - allow PIO to control pins P0 - P3 and pin 19 // PIO Enable Register
pPIO->PIO_OER = LED_MASK; // PIO Output Enable Register - sets pins P0 - P3 to outputs // allow PIO to control pins P0 - P3 and pin 19
pPIO->PIO_SODR = LED_MASK; // PIO Set Output Data Register - turns off the four LEDs pPIO->PIO_PER = LED_MASK | SW1_MASK;
// PIO Output Enable Register
// sets pins P0 - P3 to outputs
pPIO->PIO_OER = LED_MASK;
// PIO Set Output Data Register
// turns off the four LEDs
pPIO->PIO_SODR = LED_MASK;
// Select PA19 (pushbutton) to be FIQ function (Peripheral B) // Select PA19 (pushbutton) to be FIQ function (Peripheral B)
pPIO->PIO_BSR = SW1_MASK; pPIO->PIO_BSR = SW1_MASK;
// Set up the AIC registers for FIQ (pushbutton SW1) // Set up the AIC registers for FIQ (pushbutton SW1)
volatile AT91PS_AIC pAIC = AT91C_BASE_AIC; // pointer to AIC data structure volatile AT91PS_AIC pAIC = AT91C_BASE_AIC;
pAIC->AIC_IDCR = (1<<AT91C_ID_FIQ); // Disable FIQ interrupt in AIC Interrupt Disable Command Register // Disable FIQ interrupt in
pAIC->AIC_SMR[AT91C_ID_FIQ] = // Set the interrupt source type in AIC Source // AIC Interrupt Disable Command Register
(AT91C_AIC_SRCTYPE_INT_EDGE_TRIGGERED); // Mode Register[0] pAIC->AIC_IDCR = (1<<AT91C_ID_FIQ);
pAIC->AIC_ICCR = (1<<AT91C_ID_FIQ); // Clear the FIQ interrupt in AIC Interrupt Clear Command Register // Set the interrupt source type in
pAIC->AIC_IDCR = (0<<AT91C_ID_FIQ); // Remove disable FIQ interrupt in AIC Interrupt Disable Command Register // AIC Source Mode Register[0]
pAIC->AIC_IECR = (1<<AT91C_ID_FIQ); // Enable the FIQ interrupt in AIC Interrupt Enable Command Register pAIC->AIC_SMR[AT91C_ID_FIQ] =
(AT91C_AIC_SRCTYPE_INT_EDGE_TRIGGERED);
// Clear the FIQ interrupt in
// AIC Interrupt Clear Command Register
pAIC->AIC_ICCR = (1<<AT91C_ID_FIQ);
// Remove disable FIQ interrupt in
// AIC Interrupt Disable Command Register
pAIC->AIC_IDCR = (0<<AT91C_ID_FIQ);
// Enable the FIQ interrupt in
// AIC Interrupt Enable Command Register
pAIC->AIC_IECR = (1<<AT91C_ID_FIQ);
#if defined(BACDL_MSTP) #if defined(BACDL_MSTP)
RS485_Set_Baud_Rate(38400); RS485_Set_Baud_Rate(38400);
dlmstp_set_mac_address(55); dlmstp_set_mac_address(55);
@@ -148,24 +166,26 @@ int main (void) {
{ {
LED3_Off_Enabled = false; LED3_Off_Enabled = false;
/* wait */ /* wait */
LED_Timer_3 = 250; LED_Timer_3 = 250;
} }
if (!LED_Timer_3) { if (!LED_Timer_3) {
/* turn LED3 (DS3) off */ /* turn LED3 (DS3) off */
pPIO->PIO_SODR = LED3; pPIO->PIO_SODR = LED3;
LED3_Off_Enabled = true; LED3_Off_Enabled = true;
} }
if (!LED_Timer_4) { if (!LED_Timer_4) {
if ((pPIO->PIO_ODSR & LED4) == LED4) if ((pPIO->PIO_ODSR & LED4) == LED4) {
pPIO->PIO_CODR = LED4; // turn LED2 (DS2) on // turn LED2 (DS2) on
else pPIO->PIO_CODR = LED4;
pPIO->PIO_SODR = LED4; // turn LED2 (DS2) off } else {
// turn LED2 (DS2) off
pPIO->PIO_SODR = LED4;
}
/* wait */ /* wait */
LED_Timer_4 = 1000; LED_Timer_4 = 1000;
} }
// count # of times through the idle loop
IdleCount++; // count # of times through the idle loop IdleCount++;
/* BACnet handling */ /* BACnet handling */
pdu_len = datalink_receive(&src, &pdu[0], MAX_MPDU, 0); pdu_len = datalink_receive(&src, &pdu[0], MAX_MPDU, 0);
if (pdu_len) { if (pdu_len) {
@@ -176,8 +196,3 @@ int main (void) {
} }
} }
} }
bacnet-stack/ports/at91sam7s/rs485.c
+1
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@@ -1,6 +1,7 @@
/************************************************************************** /**************************************************************************
* *
* Copyright (C) 2007 Steve Karg <skarg@users.sourceforge.net> * Copyright (C) 2007 Steve Karg <skarg@users.sourceforge.net>
* RS-485 initialization on AT91SAM7S inspired by Keil Eletronik serial.c
* *
* Permission is hereby granted, free of charge, to any person obtaining * Permission is hereby granted, free of charge, to any person obtaining
* a copy of this software and associated documentation files (the * a copy of this software and associated documentation files (the
bacnet-stack/ports/at91sam7s/timer.c
+31 -14
View File
@@ -21,7 +21,7 @@
// count = 46.928 // count = 46.928
// //
// //
// Therefore: set Timer Channel 0 register RC to 9835 // Therefore: set Timer Channel 0 register RC to 46*milliseconds
// turn on capture mode WAVE = 0 // turn on capture mode WAVE = 0
// enable the clock CLKEN = 1 // enable the clock CLKEN = 1
// select TIMER_CLOCK5 TCCLKS = 100 // select TIMER_CLOCK5 TCCLKS = 100
@@ -57,8 +57,10 @@ void Timer0_Setup(int milliseconds) {
// SYNC = 0 (no effect) <===== take default // SYNC = 0 (no effect) <===== take default
// SYNC = 1 (generate software trigger for all 3 timer channels simultaneously) // SYNC = 1 (generate software trigger for all 3 timer channels simultaneously)
// //
AT91PS_TCB pTCB = AT91C_BASE_TCB; // create a pointer to TC Global Register structure // create a pointer to TC Global Register structure
pTCB->TCB_BCR = 0; // SYNC trigger not used AT91PS_TCB pTCB = AT91C_BASE_TCB;
// SYNC trigger not used
pTCB->TCB_BCR = 0;
// TC Block Mode Register TC_BMR (read/write) // TC Block Mode Register TC_BMR (read/write)
// //
@@ -82,7 +84,8 @@ void Timer0_Setup(int milliseconds) {
// = 10 TIOA0 (PA00) // = 10 TIOA0 (PA00)
// = 11 TIOA1 (PA26) // = 11 TIOA1 (PA26)
// //
pTCB->TCB_BMR = 0x15; // external clocks not used // external clocks not used
pTCB->TCB_BMR = 0x15;
// TC Channel Control Register TC_CCR (read/write) // TC Channel Control Register TC_CCR (read/write)
@@ -101,8 +104,10 @@ void Timer0_Setup(int milliseconds) {
// SWTRG = 0 no effect // SWTRG = 0 no effect
// SWTRG = 1 software trigger aserted counter reset and clock starts <===== we select this one // SWTRG = 1 software trigger aserted counter reset and clock starts <===== we select this one
// //
AT91PS_TC pTC = AT91C_BASE_TC0; // create a pointer to channel 0 Register structure // create a pointer to channel 0 Register structure
pTC->TC_CCR = 0x5; // enable the clock and start it AT91PS_TC pTC = AT91C_BASE_TC0;
// enable the clock and start it
pTC->TC_CCR = 0x5;
// TC Channel Mode Register TC_CMR (read/write) // TC Channel Mode Register TC_CMR (read/write)
// //
@@ -179,9 +184,10 @@ void Timer0_Setup(int milliseconds) {
// 10 (falling edge of TIOA) // 10 (falling edge of TIOA)
// 11 (each edge of TIOA) // 11 (each edge of TIOA)
// //
pTC->TC_CMR = 0x4004; // TCCLKS = 1 (TIMER_CLOCK5) // TCCLKS = 1 (TIMER_CLOCK5)
// CPCTRG = 1 (RC Compare resets the counter and restarts the clock) // CPCTRG = 1 (RC Compare resets the counter and restarts the clock)
// WAVE = 0 (Capture mode enabled) // WAVE = 0 (Capture mode enabled)
pTC->TC_CMR = 0x4004;
// TC Register C TC_RC (read/write) Compare Register 16-bits // TC Register C TC_RC (read/write) Compare Register 16-bits
// //
@@ -238,7 +244,8 @@ void Timer0_Setup(int milliseconds) {
// ETRGS = 0 no effect <===== take default // ETRGS = 0 no effect <===== take default
// 1 enable External Trigger interrupt // 1 enable External Trigger interrupt
// //
pTC->TC_IER = 0x10; // enable RC compare interrupt // enable RC compare interrupt
pTC->TC_IER = 0x10;
// TC Interrupt Disable Register TC_IDR (write-only) // TC Interrupt Disable Register TC_IDR (write-only)
// //
@@ -272,7 +279,8 @@ void Timer0_Setup(int milliseconds) {
// ETRGS = 0 no effect // ETRGS = 0 no effect
// 1 disable External Trigger interrupt <===== we select this one // 1 disable External Trigger interrupt <===== we select this one
// //
pTC->TC_IDR = 0xEF; // disable all except RC compare interrupt // disable all except RC compare interrupt
pTC->TC_IDR = 0xEF;
} }
// ***************************************************************************** // *****************************************************************************
@@ -296,6 +304,15 @@ void Timer0IrqHandler (void) {
Timer_Milliseconds++; Timer_Milliseconds++;
} }
// *****************************************************************************
//
// Timer 0 Initialization
//
// From James P Lynch main.c example code
// Modified by Steve Karg
// Moved timer startup code from main
// modified the peripheral clock init
// *****************************************************************************
void TimerInit(void) { void TimerInit(void) {
// enable the Timer0 peripheral clock // enable the Timer0 peripheral clock
volatile AT91PS_PMC pPMC = AT91C_BASE_PMC; volatile AT91PS_PMC pPMC = AT91C_BASE_PMC;
@@ -313,13 +330,13 @@ void TimerInit(void) {
// in AIC Source Mode Register[12] // in AIC Source Mode Register[12]
pAIC->AIC_SMR[AT91C_ID_TC0] = pAIC->AIC_SMR[AT91C_ID_TC0] =
(AT91C_AIC_SRCTYPE_INT_LEVEL_SENSITIVE | 0x4 ); (AT91C_AIC_SRCTYPE_INT_LEVEL_SENSITIVE | 0x4 );
// Clear the TC0 interrupt // Clear the TC0 interrupt
// in AIC Interrupt Clear Command Register // in AIC Interrupt Clear Command Register
pAIC->AIC_ICCR = (1<<AT91C_ID_TC0); pAIC->AIC_ICCR = (1<<AT91C_ID_TC0);
// Remove disable timer 0 interrupt // Remove disable timer 0 interrupt
// in AIC Interrupt Disable Command Reg // in AIC Interrupt Disable Command Reg
pAIC->AIC_IDCR = (0<<AT91C_ID_TC0); pAIC->AIC_IDCR = (0<<AT91C_ID_TC0);
// Enable the TC0 interrupt // Enable the TC0 interrupt
// in AIC Interrupt Enable Command Register // in AIC Interrupt Enable Command Register
pAIC->AIC_IECR = (1<<AT91C_ID_TC0); pAIC->AIC_IECR = (1<<AT91C_ID_TC0);
// Setup timer0 to generate a 1 msec periodic interrupt // Setup timer0 to generate a 1 msec periodic interrupt