1 files changed, 69 insertions, 0 deletions
diff --git a/source/ct-Bot/mcu/delay.c b/source/ct-Bot/mcu/delay.c
new file mode 100644
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--- /dev/null
+++ b/source/ct-Bot/mcu/delay.c
@@ -0,0 +1,69 @@
+/*
+ * 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 	delay.c
+ * @brief 	Hilfsroutinen
+ * @author 	Benjamin Benz (bbe@heise.de)
+ * @date 	20.12.05
+*/
+
+#ifdef MCU
+
+#include "ct-Bot.h"
+
+#ifdef NEW_AVR_LIB
+	#include <util/delay.h>
+#else
+	#include <avr/delay.h>
+#endif
+
+#include "timer.h"
+
+/*!
+ * Warte 100 ms
+ */
+void delay_100ms(void){ 
+	char counter;
+	//wait (10 * 120000) cycles = wait 1200000 cycles
+	counter = 0;
+	while (counter != 5)
+	{
+	//wait (30000 x 4) cycles = wait 120000 cycles
+	_delay_loop_2(30000);
+	counter++;
+	}
+}
+
+
+/*!
+ * Delays for ms milliseconds
+ * @param ms Anzahl der Millisekunden
+ */
+void delay(uint16 ms){	
+	uint32 start = TIMER_GET_TICKCOUNT_32;
+	if ((uint8)start != TIMER_GET_TICKCOUNT_8) start = TIMER_GET_TICKCOUNT_32;
+	uint32 ticksToWait = MS_TO_TICKS((uint32)ms);
+	uint32 now;
+	do {
+		now = TIMER_GET_TICKCOUNT_32;
+		if ((uint8)now != TIMER_GET_TICKCOUNT_8) now = TIMER_GET_TICKCOUNT_32;
+	} while (now-start < ticksToWait);
+		
+}
+#endif