#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 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! */ /** * 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); /** * Enable chrono module. * You should call this function when a match start. */ void chrono_enable (void); /** * Disable chrono module. */ void chrono_disable (void); /** * Is chrono module enabled? * @return 0 if not enabled, other values otherwise. */ uint8_t chrono_enabled (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); /** * 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. * @param block blocking function until hardware reset? */ void chrono_end_match (uint8_t block); #endif /* chrono_h */