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/*
* 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
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