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/*
* 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
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