Colony

/**

 * @file time.h

 * @brief Contains time-related functions and definitions

 *

 * Contains functions and definitions for dealing with time,

 * namely delay_ms and the realtime clock.

 *

 * @author Colony Project, CMU 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)

*/

/**

 * @addtogroup time

 * @{

 **/

/** @brief A sixteenth of a second **/

#define SIXTEENTH_SECOND 1

/** @brief An eighth of a second **/

#define EIGTH_SECOND 2

/** @brief A quarter of a second **/

#define QUARTER_SECOND 4

/** @brief Half of a second **/

#define HALF_SECOND        8

/** @brief One second **/

#define SECOND 16

/** @brief Two seconds **/

#define TWO_SECOND 32

/** @brief Four seconds **/

#define FOUR_SECOND 64

/** @brief Delay execution for the specified time **/

void delay_ms(int ms) ;

/** @brief Enable the realtime clock **/

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