#ifndef chrono_h #define chrono_h /* chrono.h */ /* 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. * * }}} */ /** * @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... */ #include "common.h" /** * Initialize the chrono timer/counter 1. * It starts it for a duration of 90s. */ void chrono_init (void); /** * Match over? * @return * - 0 if the match is not finished yet * - 1 if the match is over */ uint8_t chrono_is_match_over (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. * @param block blocking function until hardware reset? */ void chrono_end_match (uint8_t block); #endif /* chrono_h */