From e7eeeb0d4e825a175c67cd1c0256c91362517ebb Mon Sep 17 00:00:00 2001
From: neoraider <devnull@localhost>
Date: Wed, 18 Apr 2007 23:00:05 +0000
Subject: Entfernungssensoren in Ordnung gebracht, Hindernisumfahrung
 implementiert.

---
 timer.cpp | 18 ++++++++++++++++++
 1 file changed, 18 insertions(+)
 create mode 100644 timer.cpp

(limited to 'timer.cpp')

diff --git a/timer.cpp b/timer.cpp
new file mode 100644
index 0000000..b4a1b12
--- /dev/null
+++ b/timer.cpp
@@ -0,0 +1,18 @@
+#include "timer.h"
+#include "global.h"
+
+#include <avr/interrupt.h>
+
+
+static volatile unsigned long ticks = 0;
+
+
+SIGNAL(SIG_OVERFLOW0) {
+	ticks++;	
+}
+
+void sleep(unsigned long ms) {
+	unsigned long t = ticks + ms * (F_CPU/TIMER_PRESCALER/256000);
+	
+	while(ticks < t);
+}
-- 
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