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-rw-r--r--digital/io/src/chrono.h50
1 files changed, 25 insertions, 25 deletions
diff --git a/digital/io/src/chrono.h b/digital/io/src/chrono.h
index f8a5a308..5e1a378c 100644
--- a/digital/io/src/chrono.h
+++ b/digital/io/src/chrono.h
@@ -3,7 +3,7 @@
/* chrono.h */
/* io - Input & Output with Artificial Intelligence (ai) support on AVR. {{{
*
- * Copyright (C) 2008 Dufour Jrmy
+ * Copyright (C) 2008 Dufour Jérémy
*
* APBTeam:
* Web: http://apbteam.org/
@@ -27,35 +27,45 @@
/**
* @file Module to manage the chrono responsible to stop the bot after 90s.
- * It uses the timer/counter 1 (16 bits), configured with a prescaler set to
- * 256.
- * This way, we need to overflow 79.10071 for a match of 90s:
- * match_duration / (1 / (AC_FREQ / (Prescaler * (TOP + 1))))
- * It will overflow 79 times and them reset the timer/counter to 58982
- * (TOP - ((TOP + 1) / 10)).
- * @todo add the ability to unblock the chrono_end_match with a flag that can
- * be unset with an uart command. Maybe dangerous...
+ *
+ * It is based on the main timer (time/counter 0) to know when to stop the
+ * bot.
+ *
+ * The main loop should never last more than the 4.44ms defined, otherwise,
+ * this module will not be precise at all!
*/
-#include "common.h"
-
/**
- * Initialize the chrono timer/counter 1.
- * It starts it for a duration of 90s.
+ * Initialize the chrono module.
+ * It setups it for a duration of MATCH_DURATION_MS.
*/
void
chrono_init (void);
/**
+ * Update chrono module.
+ * You must call this function every overflow of the main timer.
+ */
+void
+chrono_update (void);
+
+/**
* Match over?
* @return
- * - 0 if the match is not finished yet
- * - 1 if the match is over
+ * - 0 if the match is not finished yet.
+ * - 1 if the match is over.
*/
uint8_t
chrono_is_match_over (void);
/**
+ * How much time remains before the end of the match.
+ * @return remaining time in ms.
+ */
+uint32_t
+chrono_remaining_time (void);
+
+/**
* End the match.
* This function is responsible of resetting the asserv board to stop the bot
* from moving and put the io board in a state where it will not do something.
@@ -64,14 +74,4 @@ chrono_is_match_over (void);
void
chrono_end_match (uint8_t block);
-/**
- * Are we near the end of the match.
- * This function tell you when there is not much time remaining.
- * @return
- * - 0 not near the end of the match
- * - 1 near the end of the match
- */
-uint8_t
-chrono_near_end_match (void);
-
#endif /* chrono_h */