115 lines
3 KiB
C
115 lines
3 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 timer.c
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* @brief Zeitmanagement
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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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#include "ct-Bot.h"
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#include "timer.h"
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#ifdef PC
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#include <pthread.h>
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#include "sensor.h"
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#endif /* PC */
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#ifdef PC
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/*! Schuetzt die Zeitsynchronisation */
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#define LOCK() pthread_mutex_lock(&timer_mutex);
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/*! Hebt den Schutz fuer die Zeitsynchronisation wieder auf */
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#define UNLOCK() pthread_mutex_unlock(&timer_mutex);
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#else
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/*! Schuetzt die Zeitsynchronisation */
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#define LOCK() /* ISR */
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/*! Hebt den Schutz fuer die Zeitsynchronisation wieder auf */
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#define UNLOCK() /* ISR */
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#endif /* PC */
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#ifdef PC
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/*! Schuetzt die Zeitvariablen */
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static pthread_mutex_t timer_mutex = PTHREAD_MUTEX_INITIALIZER;
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#endif /* PC */
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#ifdef MCU
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volatile tickCount_t tickCount; /*!< ein Tick alle 176 us */
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#else
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float tickCount=0;
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#endif
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#ifdef PC
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inline uint16 timer_get_tickCount16(void){
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uint16 temp;
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LOCK();
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temp = tickCount;
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UNLOCK();
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return temp;
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}
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inline uint32 timer_get_tickCount32(void){
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uint32 temp;
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LOCK();
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temp = tickCount;
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UNLOCK();
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return temp;
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}
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#endif
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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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return ((TIMER_GET_TICKCOUNT_32*(TIMER_STEPS/8))/(1000/8))%1000;
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}
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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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return TIMER_GET_TICKCOUNT_32*(TIMER_STEPS/16)/(1000000/16);
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}
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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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return (timer_get_s()-old_s)*1000 + timer_get_ms()-old_ms;
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}
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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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LOCK();
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/* TickCounter [176 us] erhoehen */
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static uint16 last_simultime=0;
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if (simultime < last_simultime) last_simultime -= 10000; // der Sim setzt simultime alle 10s zurueck auf 0
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tickCount += MS_TO_TICKS((float)(simultime - last_simultime));
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last_simultime = simultime;
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UNLOCK();
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}
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#endif
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