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+#ifndef timer_h
+#define timer_h
+/* timer.h */
+/* ai - Robot Artificial Intelligence. {{{
+ *
+ * Copyright (C) 2009 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.
+ *
+ * }}} */
+
+/**
+ * Tick timer, used to slow down the main loop to a given rate.
+ */
+
+/**
+ * Prescaler configured for timer/counter 0.
+ * If you want to change this value, you also need to change the TCCR0
+ * register.
+ */
+#define TIMER_TC0_PRESCALER 256L
+
+/**
+ * Top configured for timer/counter 0.
+ * If you want to change this value, you also need to change the TCCR0
+ * register.
+ */
+#define TIMER_TC0_TOP 255
+
+/** Period of timer, ms. */
+#define TIMER_PERIOD_MS \
+ (1000.0 / (AC_FREQ / (TIMER_TC0_PRESCALER * (TIMER_TC0_TOP + 1))))
+
+/** Initialise timer. */
+void
+timer_init (void);
+
+/**
+ * Wait until the timer overflows.
+ * @return
+ * - 0 if we are on time (we have not reached overflow before calling this
+ * function).
+ * - 1 if we have already reached overflow.
+ * @warning if this function return 1, it means we are late and the main loop
+ * is lasting more than the time configured. Consequence, some important
+ * functions (like the chronometer for match duration) will not work
+ * correctly!
+ */
+uint8_t
+timer_wait (void);
+
+#endif /* timer_h */