#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 next tick. Return non zero if we are late. * * Warning: if this function return non zero, it means we are late and the * main loop is lasting more than the time configured. Consequence: some * important functions will not work correctly! */ uint8_t timer_wait (void); /** Get a tick value, incremented at each tick, never reset. */ uint16_t timer_get_tick (void); #endif /* timer_h */