From c34c7f4b78ddf31d422454cb440ed31647d9b964 Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Mon, 2 May 2011 23:28:00 +0200 Subject: digital/{ai,io}: move timer and chrono to ai --- digital/ai/src/utils/timer.h | 68 ++++++++++++++++++++++++++++++++++++++++++++ 1 file changed, 68 insertions(+) create mode 100644 digital/ai/src/utils/timer.h (limited to 'digital/ai/src/utils/timer.h') diff --git a/digital/ai/src/utils/timer.h b/digital/ai/src/utils/timer.h new file mode 100644 index 00000000..e085b86e --- /dev/null +++ b/digital/ai/src/utils/timer.h @@ -0,0 +1,68 @@ +#ifndef timer_h +#define timer_h +/* timer.h */ +/* ai - Robot Artificial Intelligence. {{{ + * + * Copyright (C) 2009 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. + * + * }}} */ + +/** + * Tick timer, used to slow down the main loop to a given rate. + */ + +/** + * Prescaler configured for timer/counter 0. + * If you want to change this value, you also need to change the TCCR0 + * register. + */ +#define TIMER_TC0_PRESCALER 256L + +/** + * Top configured for timer/counter 0. + * If you want to change this value, you also need to change the TCCR0 + * register. + */ +#define TIMER_TC0_TOP 255 + +/** Period of timer, ms. */ +#define TIMER_PERIOD_MS \ + (1000.0 / (AC_FREQ / (TIMER_TC0_PRESCALER * (TIMER_TC0_TOP + 1)))) + +/** Initialise timer. */ +void +timer_init (void); + +/** + * Wait until the timer overflows. + * @return + * - 0 if we are on time (we have not reached overflow before calling this + * function). + * - 1 if we have already reached overflow. + * @warning if this function return 1, it means we are late and the main loop + * is lasting more than the time configured. Consequence, some important + * functions (like the chronometer for match duration) will not work + * correctly! + */ +uint8_t +timer_wait (void); + +#endif /* timer_h */ -- cgit v1.2.3