Programming embedded systems is difficult. You need to make the most out of the limited processing power you have. The worst thing you could do is waste precious processing cycles by sleeping, waiting for an event to occur. Instead, you should be using INTERRUPTS. Interrupts are a great way for a device to be pre-empted and ran when an event or timer triggers.
In this video, I'll teach you how to write code that produces a timer interrupt, in baremetal AVR C, without using the Arduino API or libraries.
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Code from this video: https://github.com/lowlevellearning/avr-timers
Register Documentation: https://onlinedocs.microchip.com/pr/GUID-80B1922D-872B-40C8-A8A5-0CBE009FD908-en-US-3/index.html?GUID-853E47EF-C46F-422D-AD77-A76D833D0760