/* 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 */ #ifdef HOST #include #include #include "modules/host/mex.h" #endif /** * Number of overflow of the timer/counter 1 before doing the last one. */ #define CHRONO_OVERFLOW_MAX 79 /** * 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 /** * Number of overflow to count before saying we are near the end of the match. * You can compute it using the following formula: * CHRONO_OVERFLOW_MAX * seconds / 90 */ #define CHRONO_OVERFLOW_COUNT_NEAR_END_MATCH \ ((uint8_t) (CHRONO_OVERFLOW_MAX * 83 / 90)) /** * Match is finished. * This variable will be set to 1 when the match is over. */ static volatile uint8_t chrono_match_over_ = 0; /** * Overflow counter. */ static volatile uint8_t chrono_ov_count_; #ifdef HOST /** SIGALRM handler. */ void signal_alarm (int signal); #endif /* 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, 0, 0, 0, 0, 1, 0, 0); /* Enable overflow interrupt */ set_bit (TIMSK, TOIE1); #else /* Set-up SIGALRM handler */ signal (SIGALRM, &signal_alarm); /* Alarm in 90 seconds */ // alarm (90); #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; } } #else /* SIGALRM handler */ void signal_alarm (int signal) { /* End of match! */ chrono_match_over_ = 1; } #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) #ifdef HOST { mex_node_wait (); } #endif ; } /* Are we near the end of the match. */ uint8_t chrono_near_end_match (void) { /* If we have overflow a certain number of time */ if (chrono_ov_count_ >= CHRONO_OVERFLOW_COUNT_NEAR_END_MATCH) return 1; return 0; }