/ - Diff - Colony - Robotics Club

     #ifndef _TIME_H_
     #define _TIME_H_
     /*Maximum # of functions*/
     #define MAX_FUNCTIONS 10
     /*	Predefined times for prescale_opt in time.c.
     	To make you own, know that a pulse is 1/16th of a second. You cannot get less than this. To get more, you need
     	to know how many 16ths of a second are in the time you want. (Time_desired * 16 = prescaler_opt)
-...
     /** @brief Delay execution for the specified time **/
     void delay_ms(int ms) ;
     /** @brief Enable the realtime clock **/
     void rtc_init(int prescale_opt, void (*rtc_func)(void));
     int rtc_multi_init(int* prescale_opt, void (*rtc_fun[])(void), int argc);
     /** @brief Reset the counter of the realtime clock **/
     void rtc_reset(void);
     /** @brief Get the value of the realtime clock. **/
     int rtc_get(void);
     int add_function(int prescale_opt, void *rtc_f (void));
     int rtc_init(int prescale_opt, void *rtc_func(void));
     /** @} **/
     #endif

     	the timer counts up to a precomputer value which will trigger an interrupt and reset the timer. Multiples of
 change it by that multiple. Refer to the time.h file for all possible prescalers.
     		The interrupt will call a specified function _rtc_func every pulse.
     		All of it has been tested and it works.
     		All of it has been tested and it works.
 .29.07 - Andrew
     		Modify to accept multiple functions with different time intervals
     */
     #include <avr/interrupt.h>
-...
     #include <time.h>
     #include <serial.h>
     static volatile int _rtc_val = 0;
     static volatile int _rtc_pulse = 0;
     static volatile int _rtc_scale = 32;	//Defaults to 1 Second per pulse
     static void (*_rtc_f)(void) = 0;
     static volatile int _rtc_val[MAX_FUNCTIONS];
     static volatile int _rtc_pulse[MAX_FUNCTIONS];
     static volatile int _rtc_scale[MAX_FUNCTIONS];
     static int function_count = 0; //Number of functions
     static void (*_rtc_f[MAX_FUNCTIONS])(void);
     /**
      * @defgroup time Time
      * @brief Time functions
-...
      * @param rtc_func the function called when the timer is triggered
+     *
      * @see rtc_get, rtc_reset
+     *
      **/
     void rtc_init(int prescale_opt, void (*rtc_func)(void)) {
      int rtc_multi_init(int* prescale_opt,  void (*rtc_func[])(void), int argc) {
     	//Check that the number of functions doesn't exceed alloted space
     	if(argc >= MAX_FUNCTIONS)
     		return -1;
     	function_count = argc;
     	//Clear timer register for Timer 3
     	TCNT3 = 0;
-...
     		triggerd. (See page140 in Atmega128 Docs for more information */
     	ETIMSK |= _BV(OCIE3A);
     	/*	Store the pointer to the function to be used in the interrupt */
     	_rtc_f = rtc_func;
     	/* Set number of functions*/
     	function_count = argc;
     	/*	Store how many 1/16ths of a second you want to let by before triggering an interrupt */
     	_rtc_scale = prescale_opt;
     	for (int i = 0; i <argc; i++) {
     		_rtc_pulse[i] = 0;
     		_rtc_val[i] = 0;
     		_rtc_f[i] = rtc_func[i];
     		/*	Store how many 1/16ths of a second you want to let by before triggering an interrupt */
     		_rtc_scale[i] = prescale_opt[i];
+    	}
     	return argc-1;
+    }
     int add_function(int prescale_opt, void *rtc_func (void))
+    {
     	if(function_count+1>=MAX_FUNCTIONS)
     		return -1;
     	function_count++;
     	_rtc_f[function_count] = rtc_func;
     	_rtc_pulse[function_count] = 0;
     	_rtc_scale[function_count]  = prescale_opt;
     	return 1;
+    }
     int rtc_init(int prescale_opt, void *rtc_func(void)){
     	int temp[] = {prescale_opt};
     	void (*temp2[MAX_FUNCTIONS])(void) = {rtc_func};
     	return rtc_multi_init(temp, temp2, 1);
+    }
     /**
      * Returns the time elapsed in seconds since the last call to
      * rtc_init or rtc_reset.
-...
+     *
      * @see rtc_init, rtc_reset
      **/
      /*
     int rtc_get(void){
     	return _rtc_val;
+    }
     }*/
     /**
      * Resets the real time clock counter to 0.
+     *
      * @see rtc_init, rtc_get
      **/
      /*
     void rtc_reset(void){
     	_rtc_val = 0;
+    }
     }*/
     /** @} **/ //end defgroup
     /*	Called every pulse. Function in _rtc_f is called every _rtc_scale and also the counter is updated.
     	Bascially, since the pulse is hard set at 1/16s  you want to count how many 16ths of a second have passed
     	and when it reaches the amount of time you want, execute the code. */
     SIGNAL(TIMER3_COMPA_vect) {
     	if (_rtc_pulse ==  _rtc_scale) {
     		//Increment the real time clock counter
     		_rtc_val++;
     		//Calls the function tied to the real time clock if defined
     		if(_rtc_f != 0)
     			_rtc_f();
     		//Resets the pulse until the next scale is matched
     		_rtc_pulse = 0;
+    	}
     	for(int functionNumber = 0; functionNumber < function_count; functionNumber++)
+    	{
     		if (_rtc_pulse[functionNumber] ==  _rtc_scale[functionNumber]) {
     			//Increment the real time clock counter
     			_rtc_val[functionNumber]++;
     			//Calls the function tied to the real time clock if defined
     			_rtc_f[functionNumber]();
     			//Resets the pulse until the next scale is matched
     			_rtc_pulse[functionNumber] = 0;
+    		}
     		_rtc_pulse[functionNumber]++;
+    	}
     	//Updates the amount of pulses seen since the last scale match
     	_rtc_pulse++;
+    }

     	the timer counts up to a precomputer value which will trigger an interrupt and reset the timer. Multiples of
 change it by that multiple. Refer to the time.h file for all possible prescalers.
     		The interrupt will call a specified function _rtc_func every pulse.
     		All of it has been tested and it works.
     		All of it has been tested and it works.
 .29.07 - Andrew
     		Modify to accept multiple functions with different time intervals
     */
     #include <avr/interrupt.h>
-...
     #include <time.h>
     #include <serial.h>
     static volatile int _rtc_val = 0;
     static volatile int _rtc_pulse = 0;
     static volatile int _rtc_scale = 32;	//Defaults to 1 Second per pulse
     static void (*_rtc_f)(void) = 0;
     static volatile int _rtc_val[MAX_FUNCTIONS];
     static volatile int _rtc_pulse[MAX_FUNCTIONS];
     static volatile int _rtc_scale[MAX_FUNCTIONS];
     static int function_count = 0; //Number of functions
     static void (*_rtc_f[MAX_FUNCTIONS])(void);
     /**
      * @defgroup time Time
      * @brief Time functions
-...
      * @param rtc_func the function called when the timer is triggered
+     *
      * @see rtc_get, rtc_reset
+     *
      **/
     void rtc_init(int prescale_opt, void (*rtc_func)(void)) {
      int rtc_multi_init(int* prescale_opt,  void (*rtc_func[])(void), int argc) {
     	//Check that the number of functions doesn't exceed alloted space
     	if(argc >= MAX_FUNCTIONS)
     		return -1;
     	function_count = argc;
     	//Clear timer register for Timer 3
     	TCNT3 = 0;
-...
     		triggerd. (See page140 in Atmega128 Docs for more information */
     	ETIMSK |= _BV(OCIE3A);
     	/*	Store the pointer to the function to be used in the interrupt */
     	_rtc_f = rtc_func;
     	/* Set number of functions*/
     	function_count = argc;
     	/*	Store how many 1/16ths of a second you want to let by before triggering an interrupt */
     	_rtc_scale = prescale_opt;
     	for (int i = 0; i <argc; i++) {
     		_rtc_pulse[i] = 0;
     		_rtc_val[i] = 0;
     		_rtc_f[i] = rtc_func[i];
     		/*	Store how many 1/16ths of a second you want to let by before triggering an interrupt */
     		_rtc_scale[i] = prescale_opt[i];
+    	}
     	return argc-1;
+    }
     int add_function(int prescale_opt, void *rtc_func (void))
+    {
     	if(function_count+1>=MAX_FUNCTIONS)
     		return -1;
     	function_count++;
     	_rtc_f[function_count] = rtc_func;
     	_rtc_pulse[function_count] = 0;
     	_rtc_scale[function_count]  = prescale_opt;
     	return 1;
+    }
     int rtc_init(int prescale_opt, void *rtc_func(void)){
     	int temp[] = {prescale_opt};
     	void (*temp2[MAX_FUNCTIONS])(void) = {rtc_func};
     	return rtc_multi_init(temp, temp2, 1);
+    }
     /**
      * Returns the time elapsed in seconds since the last call to
      * rtc_init or rtc_reset.
-...
+     *
      * @see rtc_init, rtc_reset
      **/
      /*
     int rtc_get(void){
     	return _rtc_val;
+    }
     }*/
     /**
      * Resets the real time clock counter to 0.
+     *
      * @see rtc_init, rtc_get
      **/
      /*
     void rtc_reset(void){
     	_rtc_val = 0;
+    }
     }*/
     /** @} **/ //end defgroup
     /*	Called every pulse. Function in _rtc_f is called every _rtc_scale and also the counter is updated.
     	Bascially, since the pulse is hard set at 1/16s  you want to count how many 16ths of a second have passed
     	and when it reaches the amount of time you want, execute the code. */
     SIGNAL(TIMER3_COMPA_vect) {
     	if (_rtc_pulse ==  _rtc_scale) {
     		//Increment the real time clock counter
     		_rtc_val++;
     		//Calls the function tied to the real time clock if defined
     		if(_rtc_f != 0)
     			_rtc_f();
     		//Resets the pulse until the next scale is matched
     		_rtc_pulse = 0;
+    	}
     	for(int functionNumber = 0; functionNumber < function_count; functionNumber++)
+    	{
     		if (_rtc_pulse[functionNumber] ==  _rtc_scale[functionNumber]) {
     			//Increment the real time clock counter
     			_rtc_val[functionNumber]++;
     			//Calls the function tied to the real time clock if defined
     			_rtc_f[functionNumber]();
     			//Resets the pulse until the next scale is matched
     			_rtc_pulse[functionNumber] = 0;
+    		}
     		_rtc_pulse[functionNumber]++;
+    	}
     	//Updates the amount of pulses seen since the last scale match
     	_rtc_pulse++;
+    }

     #ifndef _TIME_H_
     #define _TIME_H_
     /*Maximum # of functions*/
     #define MAX_FUNCTIONS 10
     /*	Predefined times for prescale_opt in time.c.
     	To make you own, know that a pulse is 1/16th of a second. You cannot get less than this. To get more, you need
     	to know how many 16ths of a second are in the time you want. (Time_desired * 16 = prescaler_opt)
-...
     /** @brief Delay execution for the specified time **/
     void delay_ms(int ms) ;
     /** @brief Enable the realtime clock **/
     void rtc_init(int prescale_opt, void (*rtc_func)(void));
     int rtc_multi_init(int* prescale_opt, void (*rtc_fun[])(void), int argc);
     /** @brief Reset the counter of the realtime clock **/
     void rtc_reset(void);
     /** @brief Get the value of the realtime clock. **/
     int rtc_get(void);
     int add_function(int prescale_opt, void *rtc_f (void));
     int rtc_init(int prescale_opt, void *rtc_func(void));
     /** @} **/
     #endif

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