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+/* chrono.avr.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 "chrono.h"
+
+#include "modules/utils/utils.h" /* regv */
+#include "asserv.h" /* asserv_* */
+
+#include "io.h" /* Registers for timer/counter 1 */
+
+/**
+ * Number of overflow of the timer/counter 1 before doing the last one.
+ */
+#define CHRONO_OVERFLOW_MAX 70
+
+/**
+ * Number of TIC to restart from for the last overflow.
+ */
+#define CHRONO_RESTART_TIC 58982
+/**
+ * Duration of a loop to emulate from the original behaviour, in ms.
+ */
+#define CHRONO_LOOP_DURATION 4
+/**
+ * Time to wait before resetting asserv board, in ms.
+ */
+#define CHRONO_WAIT_BEFORE_RESET 1000
+
+/**
+ * Match is finished.
+ * This variable will be set to 0 when the match is over.
+ */
+static volatile uint8_t chrono_match_over_ = 0;
+
+/**
+ * Overflow counter.
+ */
+static volatile uint8_t chrono_ov_count_;
+
+/* Initialize the chrono timer/counter 1. */
+void
+chrono_init (void)
+{
+#ifndef HOST
+ /* Presaler = 256 */
+ TCCR1B = regv (ICNC1, ICES1, 5, WGM13, WGM12, CS12, CS11, CS10,
+ 0, 1, 0, 0, 0, 1, 0, 0);
+ /* Enable overflow interrupt */
+ set_bit (TIMSK, TOIE1);
+#endif
+}
+
+#ifndef HOST
+/* Overflow of timer/counter 1 handler. */
+SIGNAL (SIG_OVERFLOW1)
+{
+ switch (++chrono_ov_count_)
+ {
+ case CHRONO_OVERFLOW_MAX:
+ /* Last but not complete overflow */
+ TCNT1 = CHRONO_RESTART_TIC;
+ break;
+ case CHRONO_OVERFLOW_MAX + 1:
+ /* End of match! */
+ chrono_match_over_ = 1;
+ break;
+ }
+}
+#endif
+
+/* Match over? */
+uint8_t
+chrono_is_match_over (void)
+{
+ return chrono_match_over_;
+}
+
+/* End the match. */
+void
+chrono_end_match (uint8_t block)
+{
+ /* Make sure previous command has been acknowledged. If not, retransmit
+ * until acknowledged */
+ while (asserv_last_cmd_ack () == 0)
+ {
+ /* Update status */
+ asserv_update_status ();
+ /* Manage retransmission */
+ asserv_retransmit ();
+ /* Wait a little */
+ utils_delay_ms (CHRONO_LOOP_DURATION);
+ }
+
+ /* Make the bot stop moving */
+ asserv_stop_motor ();
+
+ /* Wait until complete */
+ while (42)
+ {
+ /* Update the asserv board */
+ asserv_update_status ();
+ /* Stop acknowledged ? */
+ if (asserv_last_cmd_ack () == 0)
+ {
+ /* Retransmit if needed */
+ asserv_retransmit ();
+ /* Wait a little */
+ utils_delay_ms (CHRONO_LOOP_DURATION);
+ }
+ else
+ /* Exit loop */
+ break;
+ }
+
+ /* Wait CHRONO_WAIT_BEFORE_RESET ms before reseting */
+ utils_delay_ms (CHRONO_WAIT_BEFORE_RESET);
+ /* Reset the asserv board */
+ asserv_reset ();
+ /* Block indefinitely */
+ if (block)
+ while (42);
+}