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-rw-r--r--digital/io/src/chrono.c156
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diff --git a/digital/io/src/chrono.c b/digital/io/src/chrono.c
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--- a/digital/io/src/chrono.c
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-/* chrono.c */
-/* io - Input & Output with Artificial Intelligence (ai) support on AVR. {{{
- *
- * Copyright (C) 2008 Dufour Jérémy
- *
- * APBTeam:
- * Web: http://apbteam.org/
- * Email: team AT apbteam DOT org
- *
- * This program is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; either version 2 of the License, or
- * (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this program; if not, write to the Free Software
- * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
- *
- * }}} */
-
-#include "common.h"
-
-#include "bot.h"
-#include "main_timer.h"
-#include "asserv.h"
-#include "twi_master.h"
-
-#include "modules/utils/utils.h"
-#include "modules/host/mex.h"
-
-#include "chrono.h"
-
-/**
- * Implementation notes.
- * This module compute the number of tic of the main loop it should count
- * before the match is over (chrono_init). Every tic of the main loop, it
- * decrements the counter (chrono_update). When the counter is zero, the
- * match is over (chrono_is_match_over, chrono_end_match).
- */
-
-/**
- * Number of overflows of the timer/counter 0 to wait before the match is
- * over.
- * Basically, it is match_duration / timer_counter_0_overflow_duration.
- * Minus one is here for safety reason (because rounding is done at plus one).
- */
-#define CHRONO_MATCH_OVERFLOW_COUNT (MATCH_DURATION_MS / MT_TC0_PERIOD - 1)
-
-/**
- * Duration of a loop to emulate from the original behaviour, in ms.
- */
-#define CHRONO_LOOP_DURATION_MS 4
-
-/**
- * Time to wait before resetting slaves board, in ms.
- */
-#define CHRONO_WAIT_BEFORE_RESET_MS 1000
-
-/**
- * Number of time to overflow before the end of the match.
- */
-static uint32_t chrono_ov_count_;
-
-/**
- * Status of the chrono module.
- * Set to 0 if the module is disabled, otherwise set to a non 0 value.
- */
-static uint8_t chrono_enabled_ = 0;
-
-
-void
-chrono_init (void)
-{
- /* Enable chrono. */
- chrono_enable ();
- /* Set the overflow counter to the maximum of overflow before the end of
- * the match. */
- chrono_ov_count_ = CHRONO_MATCH_OVERFLOW_COUNT;
-}
-
-void
-chrono_update (void)
-{
- /* Decrement overflow counter if it is possible. */
- if (chrono_enabled_ && chrono_ov_count_)
- chrono_ov_count_--;
-}
-
-uint8_t
-chrono_is_match_over (void)
-{
- if (!chrono_enabled_ || chrono_ov_count_)
- return 0;
- else
- return 1;
-}
-
-void
-chrono_enable (void)
-{
- chrono_enabled_ = 1;
-}
-
-void
-chrono_disable (void)
-{
- chrono_enabled_ = 0;
-}
-
-uint8_t
-chrono_enabled (void)
-{
- return chrono_enabled_;
-}
-
-uint32_t
-chrono_remaining_time (void)
-{
- return chrono_ov_count_ * MT_TC0_PERIOD;
-}
-
-void
-chrono_end_match (uint8_t block)
-{
- /* Make sure previous command has been acknowledged. If not, retransmit
- * until acknowledged */
- while (!twi_master_sync ())
- utils_delay_ms (CHRONO_LOOP_DURATION_MS);
-
- /* Make the bot stop moving */
- asserv_stop_motor ();
-
- /* Wait until complete */
- while (!twi_master_sync ())
- utils_delay_ms (CHRONO_LOOP_DURATION_MS);
-
- /* Wait CHRONO_WAIT_BEFORE_RESET ms before reseting */
- utils_delay_ms (CHRONO_WAIT_BEFORE_RESET_MS);
- /* Reset the asserv board */
- asserv_reset ();
- /* Block indefinitely */
- if (block)
- while (42)
-#ifdef HOST
- {
- mex_node_wait ();
- }
-#else
- ;
-#endif
-}