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/*****************************************************/
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/*****************************************************/
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/*              Initialize Timer 0                   */
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/*              Initialize Timer 0                   */
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/*****************************************************/
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/*****************************************************/
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void TIMER0_Init(void)
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void TIMER0_Init(void)
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{
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{
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        uint8_t sreg = SREG;
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        // disable all interrupts before reconfiguration
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        cli();
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        // set PB2 as output for the PWM used to signal compass heading
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        // set PB2 as output for the PWM used to signal compass heading
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        DDRB |= (1<<DDB2);
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        DDRB |= (1<<DDB2);
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        PORTB &= ~(1<<PORTB2);
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        PORTB &= ~(1<<PORTB2);
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        // Timer/Counter 0 Interrupt Mask Register
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        // Timer/Counter 0 Interrupt Mask Register
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        // enable timer overflow interrupt only
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        // enable timer overflow interrupt only
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        TIMSK0 &= ~((1<<OCIE0B)|(1<<OCIE0A));
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        TIMSK0 &= ~((1<<OCIE0B)|(1<<OCIE0A));
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        TIMSK0 |= (1<<TOIE0);
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        TIMSK0 |= (1<<TOIE0);
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        SREG = sreg;
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}
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}
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