From 06baa6c156dba0be37a21bddee96994a2c44f5bd Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Sat, 23 Mar 2013 12:27:37 +0100 Subject: digital/io-hub/src/apbirthday: add chrono --- digital/io-hub/src/common-cc/chrono.hh | 48 +++++++++++++++++++++++++ digital/io-hub/src/common-cc/chrono.host.cc | 48 +++++++++++++++++++++++++ digital/io-hub/src/common-cc/chrono.stm32.cc | 52 ++++++++++++++++++++++++++++ digital/io-hub/src/common-cc/init.cc | 2 +- 4 files changed, 149 insertions(+), 1 deletion(-) create mode 100644 digital/io-hub/src/common-cc/chrono.hh create mode 100644 digital/io-hub/src/common-cc/chrono.host.cc create mode 100644 digital/io-hub/src/common-cc/chrono.stm32.cc (limited to 'digital/io-hub/src/common-cc') diff --git a/digital/io-hub/src/common-cc/chrono.hh b/digital/io-hub/src/common-cc/chrono.hh new file mode 100644 index 00000000..11c35984 --- /dev/null +++ b/digital/io-hub/src/common-cc/chrono.hh @@ -0,0 +1,48 @@ +#ifndef chrono_hh +#define chrono_hh +// io-hub - Modular Input/Output. {{{ +// +// Copyright (C) 2013 Nicolas Schodet +// +// 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 "ucoolib/common.hh" + +/// Match chrono. +class Chrono +{ + public: + /// Constructor, with the match duration. + Chrono (int duration_ms); + /// Start match. + void start (); + /// Get remaining time until end of match, negative if match is over. + int remaining_time_ms () const; + private: + /// Match duration. + int duration_ms_; + /// True if match started yet. + bool started_; +#ifdef TARGET_host + uint32_t start_date_; +#endif +}; + +#endif // chrono_hh diff --git a/digital/io-hub/src/common-cc/chrono.host.cc b/digital/io-hub/src/common-cc/chrono.host.cc new file mode 100644 index 00000000..7d17c576 --- /dev/null +++ b/digital/io-hub/src/common-cc/chrono.host.cc @@ -0,0 +1,48 @@ +// io-hub - Modular Input/Output. {{{ +// +// Copyright (C) 2013 Nicolas Schodet +// +// 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.hh" + +#include "robot.hh" + +Chrono::Chrono (int duration_ms) + : duration_ms_ (duration_ms), started_ (false) +{ +} + +void +Chrono::start () +{ + started_ = true; + start_date_ = robot->hardware.host.get_node ().date (); +} + +int +Chrono::remaining_time_ms () const +{ + int now = 0; + if (started_) + now = robot->hardware.host.get_node ().date () - start_date_; + return duration_ms_ - now; +} + diff --git a/digital/io-hub/src/common-cc/chrono.stm32.cc b/digital/io-hub/src/common-cc/chrono.stm32.cc new file mode 100644 index 00000000..19839503 --- /dev/null +++ b/digital/io-hub/src/common-cc/chrono.stm32.cc @@ -0,0 +1,52 @@ +// io-hub - Modular Input/Output. {{{ +// +// Copyright (C) 2013 Nicolas Schodet +// +// 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.hh" + +#include +#include + +Chrono::Chrono (int duration_ms) + : duration_ms_ (duration_ms), started_ (false) +{ +} + +void +Chrono::start () +{ + started_ = true; + rcc_peripheral_enable_clock (&RCC_APB1ENR, RCC_APB1ENR_TIM2EN); + TIM2_PSC = 2 * rcc_ppre1_frequency / 1000 - 1; // 1 ms prescaler + TIM2_ARR = 3600 * 1000; + TIM2_EGR = TIM_EGR_UG; + TIM2_CR1 = TIM_CR1_OPM | TIM_CR1_CEN; +} + +int +Chrono::remaining_time_ms () const +{ + int now = 0; + if (started_) + now = TIM2_CNT; + return duration_ms_ - now; +} diff --git a/digital/io-hub/src/common-cc/init.cc b/digital/io-hub/src/common-cc/init.cc index 6d8b9255..761e4485 100644 --- a/digital/io-hub/src/common-cc/init.cc +++ b/digital/io-hub/src/common-cc/init.cc @@ -158,7 +158,7 @@ FSM_TRANS (INIT_GOING_TO_START_POSITION, robot_move_success, FSM_TRANS (INIT_WAITING_SECOND_JACK_OUT, jack_removed, INIT_FINISHED) { - // TODO: robot->chrono.start (); + robot->chrono.start (); robot->fsm_queue.post (FSM_EVENT (init_start_round)); } -- cgit v1.2.3