#include "AT91SAM7S64.h"

#include "SAMtc.h"

#include "ucos_ii.h"

void TC2init(void)
{
 // clock
 AT91C_BASE_PMC->PMC_PCER=(1<<AT91C_ID_TC2);          // TC2
 
 AT91C_BASE_TC2->TC_CCR=0x01;  // clk en
 AT91C_BASE_TC2->TC_CMR=AT91C_TC_WAVE|AT91C_TC_WAVESEL_UP_AUTO|AT91C_TC_CLKS_TIMER_DIV5_CLOCK;
 
 AT91C_BASE_TC2->TC_RC=468;    // 100Hz

 AT91C_BASE_TC2->TC_IER=AT91C_TC_CPCS;

 AT91C_BASE_AIC->AIC_SMR[14]=AT91C_AIC_PRIOR_LOWEST|AT91C_AIC_SRCTYPE_INT_EDGE_TRIGGERED;
 AT91C_BASE_AIC->AIC_IECR=1<<AT91C_ID_TC2;

 AT91C_BASE_TC2->TC_CCR=0x04; // reset start
}

void TC2ISR(void)
{
 volatile unsigned int s=0;
 
 s=AT91C_BASE_TC2->TC_SR;

 OSTimeTick();
}