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Diffstat (limited to 'source/ct-Bot/timer.c')
| -rw-r--r-- | source/ct-Bot/timer.c | 115 |
1 files changed, 115 insertions, 0 deletions
diff --git a/source/ct-Bot/timer.c b/source/ct-Bot/timer.c new file mode 100644 index 0000000..c7c3208 --- /dev/null +++ b/source/ct-Bot/timer.c @@ -0,0 +1,115 @@ +/* + * 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.c + * @brief Zeitmanagement + * @author Benjamin Benz (bbe@heise.de) + * @date 26.12.05 +*/ + +#include "ct-Bot.h" +#include "timer.h" + +#ifdef PC + #include <pthread.h> + #include "sensor.h" +#endif /* PC */ + +#ifdef PC + /*! Schuetzt die Zeitsynchronisation */ + #define LOCK() pthread_mutex_lock(&timer_mutex); + /*! Hebt den Schutz fuer die Zeitsynchronisation wieder auf */ + #define UNLOCK() pthread_mutex_unlock(&timer_mutex); +#else + /*! Schuetzt die Zeitsynchronisation */ + #define LOCK() /* ISR */ + /*! Hebt den Schutz fuer die Zeitsynchronisation wieder auf */ + #define UNLOCK() /* ISR */ +#endif /* PC */ + +#ifdef PC + /*! Schuetzt die Zeitvariablen */ + static pthread_mutex_t timer_mutex = PTHREAD_MUTEX_INITIALIZER; +#endif /* PC */ + +#ifdef MCU + volatile tickCount_t tickCount; /*!< ein Tick alle 176 us */ +#else + float tickCount=0; +#endif + +#ifdef PC + inline uint16 timer_get_tickCount16(void){ + uint16 temp; + LOCK(); + temp = tickCount; + UNLOCK(); + return temp; + } + + inline uint32 timer_get_tickCount32(void){ + uint32 temp; + LOCK(); + temp = tickCount; + UNLOCK(); + return temp; + } +#endif + +#ifdef TIME_AVAILABLE + /*! + * Diese Funktion liefert den Millisekundenanteil der Systemzeit zurueck. + * @return uint16 + */ + uint16 timer_get_ms(void){ + return ((TIMER_GET_TICKCOUNT_32*(TIMER_STEPS/8))/(1000/8))%1000; + } + + /*! + * Diese Funktion liefert den Sekundenanteil der Systemzeit zurueck. + * @return uint16 + */ + uint16 timer_get_s(void){ + return TIMER_GET_TICKCOUNT_32*(TIMER_STEPS/16)/(1000000/16); + } + + /*! + * 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){ + return (timer_get_s()-old_s)*1000 + timer_get_ms()-old_ms; + } +#endif // TIME_AVAILABLE + +#ifdef PC + /*! + * Funktion, die die TickCounts um die vergangene Simulzeit erhoeht + */ + void system_time_isr(void){ + LOCK(); + /* TickCounter [176 us] erhoehen */ + static uint16 last_simultime=0; + if (simultime < last_simultime) last_simultime -= 10000; // der Sim setzt simultime alle 10s zurueck auf 0 + tickCount += MS_TO_TICKS((float)(simultime - last_simultime)); + last_simultime = simultime; + UNLOCK(); + } +#endif |