103 lines
2.7 KiB
C
103 lines
2.7 KiB
C
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/*
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* c't-Sim - Robotersimulator fuer den c't-Bot
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*
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* This program is free software; you can redistribute it
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* and/or modify it under the terms of the GNU General
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* Public License as published by the Free Software
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* Foundation; either version 2 of the License, or (at your
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* option) any later version.
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* This program is distributed in the hope that it will be
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* useful, but WITHOUT ANY WARRANTY; without even the implied
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* warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR
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* PURPOSE. See the GNU General Public License for more details.
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* You should have received a copy of the GNU General Public
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* License along with this program; if not, write to the Free
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* Software Foundation, Inc., 59 Temple Place, Suite 330, Boston,
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* MA 02111-1307, USA.
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*
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*/
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/*! @file timer.h
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* @brief Timer und Zaehler
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* @author Benjamin Benz (bbe@heise.de)
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* @date 26.12.05
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*/
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#ifndef TIMER_H_
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#define TIMER_H_
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#include "ct-Bot.h"
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/*!
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* Makros zur Umrechnung von Ticks in ms und zurueck
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* (ms / ticks evtl. nach uint32 casten, fuer grosse Werte)
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*/
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#define TICKS_TO_MS(ticks) ((ticks)*(TIMER_STEPS/8)/(1000/8))
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#define MS_TO_TICKS(ms) ((ms)*(1000/8)/(TIMER_STEPS/8))
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#ifdef TIME_AVAILABLE
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/*!
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* Diese Funktion liefert den Millisekundenanteil der Systemzeit zurueck.
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* @return uint16
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*/
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uint16 timer_get_ms(void);
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/*!
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* Diese Funktion liefert den Sekundenanteil der Systemzeit zurueck.
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* @return uint16
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*/
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uint16 timer_get_s(void);
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/*!
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* Liefert die Millisekunden zurueck, die seit old_s, old_ms verstrichen sind
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* @param old_s alter Sekundenstand
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* @param old_ms alter Millisekundenstand
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*/
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uint16 timer_get_ms_since(uint16 old_s, uint16 old_ms);
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#endif // TIME_AVAILABLE
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#ifdef PC
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/*!
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* Funktion, die die TickCounts um die vergangene Simulzeit erhoeht
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*/
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void system_time_isr(void);
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/*!< liefert Ticks seit Systemstart [176 us] */
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inline uint16 timer_get_tickCount16(void);
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inline uint32 timer_get_tickCount32(void);
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#define TIMER_GET_TICKCOUNT_8 (uint8)timer_get_tickCount16()
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#define TIMER_GET_TICKCOUNT_16 timer_get_tickCount16()
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#define TIMER_GET_TICKCOUNT_32 timer_get_tickCount32()
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#else
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typedef union{
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uint32 u32;
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uint16 u16;
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uint8 u8;
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} tickCount_t;
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extern volatile tickCount_t tickCount;
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#define TIMER_GET_TICKCOUNT_8 tickCount.u8
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#define TIMER_GET_TICKCOUNT_16 tickCount.u16
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#define TIMER_GET_TICKCOUNT_32 tickCount.u32
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#endif
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// Die Werte fuer TIMER_X_CLOCK sind Angaben in Hz
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/*!
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* Frequenz von Timer 2 in Hz
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*/
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#define TIMER_2_CLOCK 5619 // Derzeit genutzt fuer RC5-Dekodierung
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/*!
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* Mikrosekunden, die zwischen zwei Timer-Aufrufen liegen
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*/
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// #define TIMER_STEPS (1 000 000/TIMER_2_CLOCK)
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#define TIMER_STEPS 176
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/*!
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* Initialisiert Timer 2 und startet ihn
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*/
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void timer_2_init(void);
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#endif
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