69 lines
1.6 KiB
C
69 lines
1.6 KiB
C
/*
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* 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 delay.c
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* @brief Hilfsroutinen
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* @author Benjamin Benz (bbe@heise.de)
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* @date 20.12.05
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*/
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#ifdef MCU
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#include "ct-Bot.h"
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#ifdef NEW_AVR_LIB
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#include <util/delay.h>
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#else
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#include <avr/delay.h>
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#endif
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#include "timer.h"
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/*!
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* Warte 100 ms
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*/
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void delay_100ms(void){
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char counter;
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//wait (10 * 120000) cycles = wait 1200000 cycles
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counter = 0;
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while (counter != 5)
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{
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//wait (30000 x 4) cycles = wait 120000 cycles
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_delay_loop_2(30000);
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counter++;
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}
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}
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/*!
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* Delays for ms milliseconds
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* @param ms Anzahl der Millisekunden
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*/
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void delay(uint16 ms){
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uint32 start = TIMER_GET_TICKCOUNT_32;
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if ((uint8)start != TIMER_GET_TICKCOUNT_8) start = TIMER_GET_TICKCOUNT_32;
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uint32 ticksToWait = MS_TO_TICKS((uint32)ms);
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uint32 now;
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do {
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now = TIMER_GET_TICKCOUNT_32;
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if ((uint8)now != TIMER_GET_TICKCOUNT_8) now = TIMER_GET_TICKCOUNT_32;
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} while (now-start < ticksToWait);
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}
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#endif
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