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Diffstat (limited to 'source/ct-Bot/include/timer.h')
| -rw-r--r-- | source/ct-Bot/include/timer.h | 102 |
1 files changed, 102 insertions, 0 deletions
diff --git a/source/ct-Bot/include/timer.h b/source/ct-Bot/include/timer.h new file mode 100644 index 0000000..446f51e --- /dev/null +++ b/source/ct-Bot/include/timer.h @@ -0,0 +1,102 @@ +/* + * 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 |