102 lines
2.7 KiB
C
102 lines
2.7 KiB
C
/*
|
|
* c't-Sim - Robotersimulator fuer den c't-Bot
|
|
*
|
|
* 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.
|
|
*
|
|
*/
|
|
|
|
/*! @file timer.h
|
|
* @brief Timer und Zaehler
|
|
* @author Benjamin Benz (bbe@heise.de)
|
|
* @date 26.12.05
|
|
*/
|
|
|
|
#ifndef TIMER_H_
|
|
#define TIMER_H_
|
|
|
|
#include "ct-Bot.h"
|
|
|
|
/*!
|
|
* Makros zur Umrechnung von Ticks in ms und zurueck
|
|
* (ms / ticks evtl. nach uint32 casten, fuer grosse Werte)
|
|
*/
|
|
#define TICKS_TO_MS(ticks) ((ticks)*(TIMER_STEPS/8)/(1000/8))
|
|
#define MS_TO_TICKS(ms) ((ms)*(1000/8)/(TIMER_STEPS/8))
|
|
|
|
#ifdef TIME_AVAILABLE
|
|
/*!
|
|
* Diese Funktion liefert den Millisekundenanteil der Systemzeit zurueck.
|
|
* @return uint16
|
|
*/
|
|
uint16 timer_get_ms(void);
|
|
|
|
/*!
|
|
* Diese Funktion liefert den Sekundenanteil der Systemzeit zurueck.
|
|
* @return uint16
|
|
*/
|
|
uint16 timer_get_s(void);
|
|
|
|
/*!
|
|
* Liefert die Millisekunden zurueck, die seit old_s, old_ms verstrichen sind
|
|
* @param old_s alter Sekundenstand
|
|
* @param old_ms alter Millisekundenstand
|
|
*/
|
|
uint16 timer_get_ms_since(uint16 old_s, uint16 old_ms);
|
|
#endif // TIME_AVAILABLE
|
|
|
|
#ifdef PC
|
|
/*!
|
|
* Funktion, die die TickCounts um die vergangene Simulzeit erhoeht
|
|
*/
|
|
void system_time_isr(void);
|
|
|
|
/*!< liefert Ticks seit Systemstart [176 us] */
|
|
inline uint16 timer_get_tickCount16(void);
|
|
inline uint32 timer_get_tickCount32(void);
|
|
|
|
#define TIMER_GET_TICKCOUNT_8 (uint8)timer_get_tickCount16()
|
|
#define TIMER_GET_TICKCOUNT_16 timer_get_tickCount16()
|
|
#define TIMER_GET_TICKCOUNT_32 timer_get_tickCount32()
|
|
#else
|
|
typedef union{
|
|
uint32 u32;
|
|
uint16 u16;
|
|
uint8 u8;
|
|
} tickCount_t;
|
|
extern volatile tickCount_t tickCount;
|
|
|
|
#define TIMER_GET_TICKCOUNT_8 tickCount.u8
|
|
#define TIMER_GET_TICKCOUNT_16 tickCount.u16
|
|
#define TIMER_GET_TICKCOUNT_32 tickCount.u32
|
|
#endif
|
|
|
|
// Die Werte fuer TIMER_X_CLOCK sind Angaben in Hz
|
|
|
|
/*!
|
|
* Frequenz von Timer 2 in Hz
|
|
*/
|
|
#define TIMER_2_CLOCK 5619 // Derzeit genutzt fuer RC5-Dekodierung
|
|
|
|
/*!
|
|
* Mikrosekunden, die zwischen zwei Timer-Aufrufen liegen
|
|
*/
|
|
// #define TIMER_STEPS (1 000 000/TIMER_2_CLOCK)
|
|
#define TIMER_STEPS 176
|
|
|
|
/*!
|
|
* Initialisiert Timer 2 und startet ihn
|
|
*/
|
|
void timer_2_init(void);
|
|
#endif
|