Revision 1345
Final spline code for master/slave
updated outdated libdragonfly and libwireless
time.c | ||
---|---|---|
1 |
/** |
|
2 |
* Copyright (c) 2007 Colony Project |
|
3 |
* |
|
4 |
* Permission is hereby granted, free of charge, to any person |
|
5 |
* obtaining a copy of this software and associated documentation |
|
6 |
* files (the "Software"), to deal in the Software without |
|
7 |
* restriction, including without limitation the rights to use, |
|
8 |
* copy, modify, merge, publish, distribute, sublicense, and/or sell |
|
9 |
* copies of the Software, and to permit persons to whom the |
|
10 |
* Software is furnished to do so, subject to the following |
|
11 |
* conditions: |
|
12 |
* |
|
13 |
* The above copyright notice and this permission notice shall be |
|
14 |
* included in all copies or substantial portions of the Software. |
|
15 |
* |
|
16 |
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, |
|
17 |
* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES |
|
18 |
* OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND |
|
19 |
* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT |
|
20 |
* HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, |
|
21 |
* WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING |
|
22 |
* FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR |
|
23 |
* OTHER DEALINGS IN THE SOFTWARE. |
|
24 |
**/ |
|
25 |
|
|
26 |
|
|
27 |
/** |
|
28 |
* @file time.c |
|
29 |
* @brief Timer code |
|
30 |
* |
|
31 |
* Implementation of functions for timers. |
|
32 |
* |
|
33 |
* @author Colony Project, CMU Robotics Club |
|
34 |
**/ |
|
35 |
|
|
1 | 36 |
/* |
2 |
time.c |
|
3 |
anything that requires a delay |
|
4 |
mostly delay_ms |
|
37 |
time.c
|
|
38 |
anything that requires a delay
|
|
39 |
mostly delay_ms
|
|
5 | 40 |
|
6 |
author: Robotics Club, Colony Project |
|
41 |
author: Robotics Club, Colony Project
|
|
7 | 42 |
|
8 |
Change Log: |
|
9 |
2.5.07 - Kevin |
|
10 |
Aaron fixed the orb/servo code and made them use timer3 but compare registers B and C. He hard set the prescaler |
|
11 |
to 8 so the RTC broke. Changed it so that we use a 8 prescaler which sets the compare match at 1/16th of a second. |
|
12 |
You now count how many 16ths of a second you want until you trigger your actual interrupt. Works. Changed defines |
|
13 |
for time so you can still call rtc_init with a scale but now it is defined in terms of actual time like second, quarter_second |
|
14 |
etc. Read that section in the time.h file for more information. Tested and works, though the clock drifts more than |
|
15 |
it used to |
|
16 |
1.30.07 - Kevin |
|
17 |
Modified the clock to run on timer3 on the Dragonfly. Works with decent accuracy. Using a prescaler of 256 |
|
18 |
the timer counts up to a precomputer value which will trigger an interrupt and reset the timer. Multiples of |
|
19 |
256 change it by that multiple. Refer to the time.h file for all possible prescalers. |
|
20 |
The interrupt will call a specified function _rtc_func every pulse. |
|
21 |
All of it has been tested and it works. |
|
22 |
|
|
23 |
10.29.07 - Andrew |
|
24 |
Modify to accept multiple functions with different time intervals |
|
25 |
|
|
43 |
Change Log: |
|
44 |
2.5.07 - Kevin |
|
45 |
Aaron fixed the orb/servo code and made them use timer3 but compare registers B and C. He hard set the prescaler |
|
46 |
to 8 so the RTC broke. Changed it so that we use a 8 prescaler which sets the compare match at 1/16th of a second. |
|
47 |
You now count how many 16ths of a second you want until you trigger your actual interrupt. Works. Changed defines |
|
48 |
for time so you can still call rtc_init with a scale but now it is defined in terms of actual time like second, quarter_second |
|
49 |
etc. Read that section in the time.h file for more information. Tested and works, though the clock drifts more than |
|
50 |
it used to |
|
51 |
1.30.07 - Kevin |
|
52 |
Modified the clock to run on timer3 on the Dragonfly. Works with decent accuracy. Using a prescaler of 256 |
|
53 |
the timer counts up to a precomputer value which will trigger an interrupt and reset the timer. Multiples of |
|
54 |
256 change it by that multiple. Refer to the time.h file for all possible prescalers. |
|
55 |
The interrupt will call a specified function _rtc_func every pulse. |
|
56 |
All of it has been tested and it works. |
|
26 | 57 |
|
27 | 58 |
*/ |
28 | 59 |
#include <avr/interrupt.h> |
29 | 60 |
#include <util/delay.h> |
30 | 61 |
#include <time.h> |
31 | 62 |
#include <serial.h> |
63 |
|
|
64 |
/* Calculate how many cycles to delay for to get 1 ms. Based on F_CPU which should be defined by the makefile */ |
|
65 |
#ifdef F_CPU |
|
66 |
#define WAIT_CYCLES ((F_CPU / 1000) / 10) |
|
67 |
#else |
|
68 |
#define WAIT_CYCLES (8000 / 10) |
|
69 |
#endif |
|
32 | 70 |
|
71 |
static volatile int _rtc_val = 0; |
|
72 |
static volatile int _rtc_pulse = 0; |
|
73 |
static volatile int _rtc_scale = 32; //Defaults to 1 Second per pulse |
|
74 |
static void (*_rtc_f)(void) = 0; |
|
75 |
|
|
76 |
|
|
33 | 77 |
|
34 |
|
|
35 |
static volatile int _rtc_val[MAX_FUNCTIONS]; |
|
36 |
static volatile int _rtc_pulse[MAX_FUNCTIONS]; |
|
37 |
static volatile int _rtc_scale[MAX_FUNCTIONS]; |
|
38 |
static int function_count = 0; //Number of functions |
|
39 |
static void (*_rtc_f[MAX_FUNCTIONS])(void); |
|
40 | 78 |
/** |
41 | 79 |
* @defgroup time Time |
42 | 80 |
* @brief Time functions |
... | ... | |
48 | 86 |
|
49 | 87 |
/** |
50 | 88 |
* Delays for the specified number of milliseconds. |
51 |
* The accuracy of this function is unknown. |
|
89 |
* It depends on F_CPU to be defined in order to calculate how many cycles |
|
90 |
* it should delay. If it is not defined, a default clock of 8MHz is assumed. |
|
91 |
* |
|
92 |
* We use _delay_loop_2 which will run assembly instructions that should be |
|
93 |
* 4 cycles long. Optimizations must be enabled for this to be true. |
|
94 |
* That function is called to ensure around 1ms per execution. To generate |
|
95 |
* multiple ms we run a for loop of how many milliseconds are desired. |
|
96 |
* |
|
97 |
* The error should be just the skew on the oscillator as the formula to |
|
98 |
* calculate delay cycles should always be a whole number. The is some skew |
|
99 |
* in practice though it is unavoidable. Delaying for less than 1s should make |
|
100 |
* the error negligable. |
|
52 | 101 |
* |
53 | 102 |
* @param ms the number of milliseconds to delay for |
54 | 103 |
**/ |
55 |
void delay_ms(int ms)
|
|
56 |
{
|
|
57 |
for(; ms > 15; ms-=15)
|
|
58 |
_delay_ms(15);
|
|
59 |
_delay_ms(ms);
|
|
60 |
} |
|
104 |
void delay_ms(int ms) {
|
|
105 |
for (; ms > 0; ms--) {
|
|
106 |
_delay_loop_2(WAIT_CYCLES);
|
|
107 |
}
|
|
108 |
}
|
|
109 |
|
|
61 | 110 |
|
62 |
|
|
63 | 111 |
/* Prescales defined in time.h. SECOND will give you 1 second. |
64 | 112 |
More scales are defined in the time.h file. |
65 | 113 |
rtc_func is the address to a function that you want called every clock tick. */ |
... | ... | |
73 | 121 |
* @param rtc_func the function called when the timer is triggered |
74 | 122 |
* |
75 | 123 |
* @see rtc_get, rtc_reset |
124 |
* |
|
76 | 125 |
**/ |
77 |
|
|
78 |
int rtc_multi_init(int* prescale_opt, void (*rtc_func[])(void), int argc) { |
|
126 |
void rtc_init(int prescale_opt, void (*rtc_func)(void)) { |
|
79 | 127 |
|
80 |
//Check that the number of functions doesn't exceed alloted space |
|
81 |
if(argc > MAX_FUNCTIONS) |
|
82 |
return -1; |
|
128 |
//Clear timer register for Timer 3 |
|
129 |
TCNT3 = 0; |
|
83 | 130 |
|
84 |
function_count = argc;
|
|
85 |
//Clear timer register for Timer 3
|
|
86 |
TCNT3 = 0;
|
|
131 |
/* This sets the Waveform Generation Module to CTC (Clear Timer on Compare) Mode (100)
|
|
132 |
See page135 in Atmega128 Docs for more modes and explanations */
|
|
133 |
TCCR3B |= _BV(WGM32);
|
|
87 | 134 |
|
88 |
/* This sets the Waveform Generation Module to CTC (Clear Timer on Compare) Mode (100) |
|
89 |
See page135 in Atmega128 Docs for more modes and explanations */ |
|
90 |
TCCR3B |= _BV(WGM32); |
|
135 |
/* This sets the prescaler for the system clock (8MHz) ie: divides the clock by some number. |
|
136 |
Currently set to a prescaler of 8 because that is what the orb and servos use (they are on this timer as well) |
|
137 |
See page137 in Atemga128 Docs for all the available prescalers */ |
|
138 |
TCCR3B |= _BV(CS31); |
|
91 | 139 |
|
92 |
/* This sets the prescaler for the system clock (8MHz) ie: divides the clock by some number. |
|
93 |
Currently set to a prescaler of 8 because that is what the orb and servos use (they are on this timer as well) |
|
94 |
See page137 in Atemga128 Docs for all the available prescalers */ |
|
95 |
TCCR3B |= _BV(CS31); |
|
96 |
|
|
97 |
/* Sets the two regsiters that we compare against. So the timer counts up to this number and |
|
98 |
then resets back to 0 and calls the compare match interrupt. |
|
99 |
8x10^6 / 8 = 1/16 Second. All values are based off of this number. Do not change it unless you |
|
100 |
are l337*/ |
|
140 |
/* Sets the two regsiters that we compare against. So the timer counts up to this number and |
|
141 |
then resets back to 0 and calls the compare match interrupt. |
|
142 |
8x10^6 / 8 = 1/16 Second. All values are based off of this number. Do not change it unless you |
|
143 |
are l337*/ |
|
101 | 144 |
|
102 |
OCR3A = 0xF424;
|
|
145 |
OCR3A = 0xF424;
|
|
103 | 146 |
|
104 |
/* Enable Output Compare A Interrupt. When OCR3A is met by the timer TCNT3 this interrupt will be
|
|
105 |
triggerd. (See page140 in Atmega128 Docs for more information */
|
|
106 |
ETIMSK |= _BV(OCIE3A);
|
|
147 |
/* Enable Output Compare A Interrupt. When OCR3A is met by the timer TCNT3 this interrupt will be
|
|
148 |
triggerd. (See page140 in Atmega128 Docs for more information */ |
|
149 |
ETIMSK |= _BV(OCIE3A);
|
|
107 | 150 |
|
108 |
|
|
109 |
/* Set number of functions*/ |
|
110 |
function_count = argc; |
|
151 |
/* Store the pointer to the function to be used in the interrupt */ |
|
152 |
_rtc_f = rtc_func; |
|
111 | 153 |
|
112 |
/* Store how many 1/16ths of a second you want to let by before triggering an interrupt */ |
|
113 |
|
|
114 |
for (int i = 0; i <argc; i++) { |
|
115 |
_rtc_pulse[i] = 0; |
|
116 |
_rtc_val[i] = 0; |
|
117 |
_rtc_f[i] = rtc_func[i]; |
|
118 |
/* Store how many 1/16ths of a second you want to let by before triggering an interrupt */ |
|
119 |
_rtc_scale[i] = prescale_opt[i]; |
|
120 |
} |
|
121 |
return argc-1; |
|
154 |
/* Store how many 1/16ths of a second you want to let by before triggering an interrupt */ |
|
155 |
_rtc_scale = prescale_opt; |
|
122 | 156 |
} |
123 | 157 |
|
124 |
int rtc_add_function(void (*rtc_func) (void), int prescale_opt) |
|
125 |
{ |
|
126 |
if(function_count>=MAX_FUNCTIONS) |
|
127 |
return -1; |
|
128 |
_rtc_f[function_count] = rtc_func; |
|
129 |
_rtc_pulse[function_count] = 0; |
|
130 |
_rtc_scale[function_count] = prescale_opt; |
|
131 |
//return position in array that function was added to, increment count |
|
132 |
//this position may change if functions are removed |
|
133 |
return function_count++; |
|
134 |
} |
|
135 |
|
|
136 |
//remove function pointer |
|
137 |
int rtc_remove_function(void (*rtc_func)(void)) |
|
138 |
{ |
|
139 |
for(int i = 0; i < function_count; i++) |
|
140 |
if(_rtc_f[i] == rtc_func) { |
|
141 |
//If not last function replace with last and reduce number of functions |
|
142 |
if(i < function_count-1) { |
|
143 |
_rtc_f[i] = _rtc_f[function_count-1]; |
|
144 |
_rtc_pulse[i] = _rtc_pulse[function_count-1]; |
|
145 |
_rtc_scale[i] = _rtc_scale[function_count-1]; |
|
146 |
} |
|
147 |
return --function_count; |
|
148 |
} |
|
149 |
|
|
150 |
return -1; |
|
151 |
} |
|
152 |
|
|
153 |
int rtc_get_function_count() |
|
154 |
{ |
|
155 |
return function_count; |
|
156 |
} |
|
157 |
|
|
158 |
int rtc_init(int prescale_opt, void (*rtc_func)(void)){ |
|
159 |
int temp[] = {prescale_opt}; |
|
160 |
void (*temp2[MAX_FUNCTIONS])(void) = {rtc_func}; |
|
161 |
return rtc_multi_init(temp, temp2, 1); |
|
162 |
} |
|
163 |
|
|
164 | 158 |
/** |
165 | 159 |
* Returns the time elapsed in seconds since the last call to |
166 | 160 |
* rtc_init or rtc_reset. |
... | ... | |
169 | 163 |
* |
170 | 164 |
* @see rtc_init, rtc_reset |
171 | 165 |
**/ |
172 |
|
|
173 |
int rtc_get(void){ |
|
174 |
return _rtc_val[0]; |
|
166 |
int rtc_get(void) { |
|
167 |
return _rtc_val; |
|
175 | 168 |
} |
176 | 169 |
|
177 |
int rtc_get_pos(int pos){ |
|
178 |
return _rtc_val[pos]; |
|
179 |
} |
|
180 |
|
|
181 | 170 |
/** |
182 | 171 |
* Resets the real time clock counter to 0. |
183 | 172 |
* |
184 | 173 |
* @see rtc_init, rtc_get |
185 | 174 |
**/ |
186 |
|
|
187 |
void rtc_reset(void){ |
|
188 |
_rtc_val[0] = 0; |
|
175 |
void rtc_reset(void) { |
|
176 |
_rtc_val = 0; |
|
189 | 177 |
} |
190 | 178 |
|
191 |
void rtc_reset_all(void) |
|
192 |
{ |
|
193 |
for(int i =0; i < function_count; i++) |
|
194 |
_rtc_val[i] = 0; |
|
195 |
} |
|
196 |
|
|
197 | 179 |
/** @} **/ //end defgroup |
198 | 180 |
|
199 | 181 |
/* Called every pulse. Function in _rtc_f is called every _rtc_scale and also the counter is updated. |
200 | 182 |
Bascially, since the pulse is hard set at 1/16s you want to count how many 16ths of a second have passed |
201 | 183 |
and when it reaches the amount of time you want, execute the code. */ |
184 |
SIGNAL(TIMER3_COMPA_vect) { |
|
202 | 185 |
|
203 |
SIGNAL(TIMER3_COMPA_vect) { |
|
204 |
for(int functionNumber = 0; functionNumber < function_count; functionNumber++) |
|
205 |
{ |
|
206 |
if (_rtc_pulse[functionNumber] == _rtc_scale[functionNumber]) { |
|
207 |
//Increment the real time clock counter |
|
208 |
_rtc_val[functionNumber]++; |
|
209 |
|
|
210 |
//Calls the function tied to the real time clock if defined |
|
211 |
_rtc_f[functionNumber](); |
|
212 |
|
|
213 |
//Resets the pulse until the next scale is matched |
|
214 |
_rtc_pulse[functionNumber] = 0; |
|
215 |
} |
|
216 |
_rtc_pulse[functionNumber]++; |
|
217 |
} |
|
218 |
//Updates the amount of pulses seen since the last scale match |
|
186 |
if (_rtc_pulse == _rtc_scale) { |
|
187 |
//Increment the real time clock counter |
|
188 |
_rtc_val++; |
|
189 |
|
|
190 |
//Calls the function tied to the real time clock if defined |
|
191 |
if(_rtc_f != 0) |
|
192 |
_rtc_f(); |
|
193 |
|
|
194 |
//Resets the pulse until the next scale is matched |
|
195 |
_rtc_pulse = 0; |
|
196 |
} |
|
219 | 197 |
|
198 |
//Updates the amount of pulses seen since the last scale match |
|
199 |
_rtc_pulse++; |
|
200 |
|
|
220 | 201 |
} |
Also available in: Unified diff