test szajs

#include "at91sam9263.h"

#define LEFT_LED (1 << 8)

#define CYCLES_TO_MS 6250 // 100MHz main clock -> divided by the prescaler by 16 -> 6.25Mhz of the PIT clock
#define SEC_TO_MILISEC 1000
#define INTERRUPT_CHECK_IN_MS 100 // minimum value of interrupt, the bigger - the better performance, but worse precission

// CONFIG

#define DELAY 1

// CONFIG

void dbgu_print_ascii(const char *a) {}
void setOutputLED1();
void toggleLeftLed();
void interruptHandler();
void PIT_init();


int main() {
    PIT_init();
    setOutputLED1();

    while(1){

    }

    return 0;
}


void setOutputLED1() {
    AT91C_BASE_PIOB->PIO_PER = LEFT_LED;
    AT91C_BASE_PIOB->PIO_OER = LEFT_LED;
    AT91C_BASE_PIOB->PIO_SODR = LEFT_LED; // turn off the LED1
}

void toggleLeftLed() {
    if (!(AT91C_BASE_PIOB->PIO_ODSR & LEFT_LED)) {
        AT91C_BASE_PIOB->PIO_SODR = LEFT_LED;
    } else {
        AT91C_BASE_PIOB->PIO_CODR = LEFT_LED ;
    }
}

void interruptHandler() {
    //static int cyclesToGo = 0;

    if (AT91C_BASE_PITC->PITC_PIMR & AT91C_PITC_PITIEN) /* interrupt enabled */ {

        if (AT91C_BASE_PITC->PITC_PISR & AT91C_PITC_PITS) /* timer requested int */ {
            AT91C_BASE_PITC->PITC_PIVR; /* delay ~100 ms */
            toggleLeftLed();
            //if (!cyclesToGo) {
            //  toggleLeftLed(); /* actual delayed function */
            //  cyclesToGo = DELAY * SEC_TO_MILISEC / INTERRUPT_CHECK_IN_MS; // reload cyclesToGo value
            //}
            //--cyclesToGo;
        }
    }
//  else /* another device requested interrupts */ {
//      check which device requested INT,
//      process INT, clear INT flag,
//      if unknown device, just increase counter of unknown interrupts
//  }
}

void PIT_init() {
    AT91C_BASE_AIC->AIC_IDCR = 1 << AT91C_ID_SYS; // 2nd step
    AT91C_BASE_AIC->AIC_SVR[AT91C_ID_SYS] = (unsigned int) interruptHandler; // 3rd step

    AT91C_BASE_AIC->AIC_SMR[AT91C_ID_SYS] = (AT91C_AIC_SRCTYPE & AT91C_AIC_SRCTYPE_INT_LEVEL_SENSITIVE) /* 4th step - edge */ | (AT91C_AIC_PRIOR & AT91C_AIC_PRIOR_LOWEST); /* 4th step - priority */
    AT91C_BASE_AIC->AIC_ICCR = 1 << AT91C_ID_SYS; // 5th step
    AT91C_BASE_AIC->AIC_IECR = 1 << AT91C_ID_SYS; // 6th step
    AT91C_BASE_PITC->PITC_PIMR = AT91C_PITC_PITIEN /* 7th step */ | AT91C_PITC_PITEN /* 8th step */ | (0x000FFFFFU & (INTERRUPT_CHECK_IN_MS*CYCLES_TO_MS));
    // <TO DO> 9th step
}