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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 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
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