Revision 336
Updated wireless to use a circular buffer instead of a queue using malloc. Tested on both the computer and robots with a token ring, and was successful.
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 |
|
|
36 |
/* |
|
37 |
time.c |
|
38 |
anything that requires a delay |
|
39 |
mostly delay_ms |
|
40 |
|
|
41 |
author: Robotics Club, Colony Project |
|
42 |
|
|
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. |
|
57 |
|
|
58 |
*/ |
|
59 |
#include <avr/interrupt.h> |
|
60 |
#include <util/delay.h> |
|
61 |
#include <time.h> |
|
62 |
#include <serial.h> |
|
63 |
|
|
64 |
static volatile int _rtc_val = 0; |
|
65 |
static volatile int _rtc_pulse = 0; |
|
66 |
static volatile int _rtc_scale = 32; //Defaults to 1 Second per pulse |
|
67 |
static void (*_rtc_f)(void) = 0; |
|
68 |
|
|
69 |
/** |
|
70 |
* @defgroup time Time |
|
71 |
* @brief Time functions |
|
72 |
* |
|
73 |
* Functions dealing with time. |
|
74 |
* |
|
75 |
* @{ |
|
76 |
**/ |
|
77 |
|
|
78 |
/** |
|
79 |
* Delays for the specified number of milliseconds. |
|
80 |
* The accuracy of this function is unknown. |
|
81 |
* |
|
82 |
* @param ms the number of milliseconds to delay for |
|
83 |
**/ |
|
84 |
void delay_ms(int ms) |
|
85 |
{ |
|
86 |
for(; ms > 15; ms-=15) |
|
87 |
_delay_ms(15); |
|
88 |
_delay_ms(ms); |
|
89 |
} |
|
90 |
|
|
91 |
|
|
92 |
/* Prescales defined in time.h. SECOND will give you 1 second. |
|
93 |
More scales are defined in the time.h file. |
|
94 |
rtc_func is the address to a function that you want called every clock tick. */ |
|
95 |
/** |
|
96 |
* Initializes the real time clock. Prescales are defined in time.h. |
|
97 |
* For example, SECOND will give 1 second. The specified function is |
|
98 |
* called every clock tick. For the real time clock to activate, |
|
99 |
* interrupts must be enabled. (through sei() ) |
|
100 |
* |
|
101 |
* @param prescale_opt the period with which the timer is triggered |
|
102 |
* @param rtc_func the function called when the timer is triggered |
|
103 |
* |
|
104 |
* @see rtc_get, rtc_reset |
|
105 |
* |
|
106 |
**/ |
|
107 |
void rtc_init(int prescale_opt, void (*rtc_func)(void)) { |
|
108 |
|
|
109 |
//Clear timer register for Timer 3 |
|
110 |
TCNT3 = 0; |
|
111 |
|
|
112 |
/* This sets the Waveform Generation Module to CTC (Clear Timer on Compare) Mode (100) |
|
113 |
See page135 in Atmega128 Docs for more modes and explanations */ |
|
114 |
TCCR3B |= _BV(WGM32); |
|
115 |
|
|
116 |
/* This sets the prescaler for the system clock (8MHz) ie: divides the clock by some number. |
|
117 |
Currently set to a prescaler of 8 because that is what the orb and servos use (they are on this timer as well) |
|
118 |
See page137 in Atemga128 Docs for all the available prescalers */ |
|
119 |
TCCR3B |= _BV(CS31); |
|
120 |
|
|
121 |
/* Sets the two regsiters that we compare against. So the timer counts up to this number and |
|
122 |
then resets back to 0 and calls the compare match interrupt. |
|
123 |
8x10^6 / 8 = 1/16 Second. All values are based off of this number. Do not change it unless you |
|
124 |
are l337*/ |
|
125 |
|
|
126 |
OCR3A = 0xF424; |
|
127 |
|
|
128 |
/* Enable Output Compare A Interrupt. When OCR3A is met by the timer TCNT3 this interrupt will be |
|
129 |
triggerd. (See page140 in Atmega128 Docs for more information */ |
|
130 |
ETIMSK |= _BV(OCIE3A); |
|
131 |
|
|
132 |
/* Store the pointer to the function to be used in the interrupt */ |
|
133 |
_rtc_f = rtc_func; |
|
134 |
|
|
135 |
/* Store how many 1/16ths of a second you want to let by before triggering an interrupt */ |
|
136 |
_rtc_scale = prescale_opt; |
|
137 |
} |
|
138 |
|
|
139 |
/** |
|
140 |
* Returns the time elapsed in seconds since the last call to |
|
141 |
* rtc_init or rtc_reset. |
|
142 |
* |
|
143 |
* @return the number of seconds since the last call to rtc_init or rtc_reset |
|
144 |
* |
|
145 |
* @see rtc_init, rtc_reset |
|
146 |
**/ |
|
147 |
int rtc_get(void){ |
|
148 |
return _rtc_val; |
|
149 |
} |
|
150 |
|
|
151 |
/** |
|
152 |
* Resets the real time clock counter to 0. |
|
153 |
* |
|
154 |
* @see rtc_init, rtc_get |
|
155 |
**/ |
|
156 |
void rtc_reset(void){ |
|
157 |
_rtc_val = 0; |
|
158 |
} |
|
159 |
|
|
160 |
/** @} **/ //end defgroup |
|
161 |
|
|
162 |
/* Called every pulse. Function in _rtc_f is called every _rtc_scale and also the counter is updated. |
|
163 |
Bascially, since the pulse is hard set at 1/16s you want to count how many 16ths of a second have passed |
|
164 |
and when it reaches the amount of time you want, execute the code. */ |
|
165 |
SIGNAL(TIMER3_COMPA_vect) { |
|
166 |
|
|
167 |
if (_rtc_pulse == _rtc_scale) { |
|
168 |
//Increment the real time clock counter |
|
169 |
_rtc_val++; |
|
170 |
|
|
171 |
//Calls the function tied to the real time clock if defined |
|
172 |
if(_rtc_f != 0) |
|
173 |
_rtc_f(); |
|
174 |
|
|
175 |
//Resets the pulse until the next scale is matched |
|
176 |
_rtc_pulse = 0; |
|
177 |
} |
|
178 |
|
|
179 |
//Updates the amount of pulses seen since the last scale match |
|
180 |
_rtc_pulse++; |
|
181 |
|
|
182 |
} |
|
183 |
|
|
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 |
|
|
36 |
/* |
|
37 |
time.c |
|
38 |
anything that requires a delay |
|
39 |
mostly delay_ms |
|
40 |
|
|
41 |
author: Robotics Club, Colony Project |
|
42 |
|
|
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. |
|
57 |
|
|
58 |
*/ |
|
59 |
#include <avr/interrupt.h> |
|
60 |
#include <util/delay.h> |
|
61 |
#include <time.h> |
|
62 |
#include <serial.h> |
|
63 |
|
|
64 |
static volatile int _rtc_val = 0; |
|
65 |
static volatile int _rtc_pulse = 0; |
|
66 |
static volatile int _rtc_scale = 32; //Defaults to 1 Second per pulse |
|
67 |
static void (*_rtc_f)(void) = 0; |
|
68 |
|
|
69 |
/** |
|
70 |
* @defgroup time Time |
|
71 |
* @brief Time functions |
|
72 |
* |
|
73 |
* Functions dealing with time. |
|
74 |
* |
|
75 |
* @{ |
|
76 |
**/ |
|
77 |
|
|
78 |
/** |
|
79 |
* Delays for the specified number of milliseconds. |
|
80 |
* The accuracy of this function is unknown. |
|
81 |
* |
|
82 |
* @param ms the number of milliseconds to delay for |
|
83 |
**/ |
|
84 |
void delay_ms(int ms) |
|
85 |
{ |
|
86 |
for(; ms > 15; ms-=15) |
|
87 |
_delay_ms(15); |
|
88 |
_delay_ms(ms); |
|
89 |
} |
|
90 |
|
|
91 |
|
|
92 |
/* Prescales defined in time.h. SECOND will give you 1 second. |
|
93 |
More scales are defined in the time.h file. |
|
94 |
rtc_func is the address to a function that you want called every clock tick. */ |
|
95 |
/** |
|
96 |
* Initializes the real time clock. Prescales are defined in time.h. |
|
97 |
* For example, SECOND will give 1 second. The specified function is |
|
98 |
* called every clock tick. For the real time clock to activate, |
|
99 |
* interrupts must be enabled. (through sei() ) |
|
100 |
* |
|
101 |
* @param prescale_opt the period with which the timer is triggered |
|
102 |
* @param rtc_func the function called when the timer is triggered |
|
103 |
* |
|
104 |
* @see rtc_get, rtc_reset |
|
105 |
* |
|
106 |
**/ |
|
107 |
void rtc_init(int prescale_opt, void (*rtc_func)(void)) { |
|
108 |
|
|
109 |
//Clear timer register for Timer 3 |
|
110 |
TCNT3 = 0; |
|
111 |
|
|
112 |
/* This sets the Waveform Generation Module to CTC (Clear Timer on Compare) Mode (100) |
|
113 |
See page135 in Atmega128 Docs for more modes and explanations */ |
|
114 |
TCCR3B |= _BV(WGM32); |
|
115 |
|
|
116 |
/* This sets the prescaler for the system clock (8MHz) ie: divides the clock by some number. |
|
117 |
Currently set to a prescaler of 8 because that is what the orb and servos use (they are on this timer as well) |
|
118 |
See page137 in Atemga128 Docs for all the available prescalers */ |
|
119 |
TCCR3B |= _BV(CS31); |
|
120 |
|
|
121 |
/* Sets the two regsiters that we compare against. So the timer counts up to this number and |
|
122 |
then resets back to 0 and calls the compare match interrupt. |
|
123 |
8x10^6 / 8 = 1/16 Second. All values are based off of this number. Do not change it unless you |
|
124 |
are l337*/ |
|
125 |
|
|
126 |
OCR3A = 0xF424; |
|
127 |
|
|
128 |
/* Enable Output Compare A Interrupt. When OCR3A is met by the timer TCNT3 this interrupt will be |
|
129 |
triggerd. (See page140 in Atmega128 Docs for more information */ |
|
130 |
ETIMSK |= _BV(OCIE3A); |
|
131 |
|
|
132 |
/* Store the pointer to the function to be used in the interrupt */ |
|
133 |
_rtc_f = rtc_func; |
|
134 |
|
|
135 |
/* Store how many 1/16ths of a second you want to let by before triggering an interrupt */ |
|
136 |
_rtc_scale = prescale_opt; |
|
137 |
} |
|
138 |
|
|
139 |
/** |
|
140 |
* Returns the time elapsed in seconds since the last call to |
|
141 |
* rtc_init or rtc_reset. |
|
142 |
* |
|
143 |
* @return the number of seconds since the last call to rtc_init or rtc_reset |
|
144 |
* |
|
145 |
* @see rtc_init, rtc_reset |
|
146 |
**/ |
|
147 |
int rtc_get(void){ |
|
148 |
return _rtc_val; |
|
149 |
} |
|
150 |
|
|
151 |
/** |
|
152 |
* Resets the real time clock counter to 0. |
|
153 |
* |
|
154 |
* @see rtc_init, rtc_get |
|
155 |
**/ |
|
156 |
void rtc_reset(void){ |
|
157 |
_rtc_val = 0; |
|
158 |
} |
|
159 |
|
|
160 |
/** @} **/ //end defgroup |
|
161 |
|
|
162 |
/* Called every pulse. Function in _rtc_f is called every _rtc_scale and also the counter is updated. |
|
163 |
Bascially, since the pulse is hard set at 1/16s you want to count how many 16ths of a second have passed |
|
164 |
and when it reaches the amount of time you want, execute the code. */ |
|
165 |
SIGNAL(TIMER3_COMPA_vect) { |
|
166 |
|
|
167 |
if (_rtc_pulse == _rtc_scale) { |
|
168 |
//Increment the real time clock counter |
|
169 |
_rtc_val++; |
|
170 |
|
|
171 |
//Calls the function tied to the real time clock if defined |
|
172 |
if(_rtc_f != 0) |
|
173 |
_rtc_f(); |
|
174 |
|
|
175 |
//Resets the pulse until the next scale is matched |
|
176 |
_rtc_pulse = 0; |
|
177 |
} |
|
178 |
|
|
179 |
//Updates the amount of pulses seen since the last scale match |
|
180 |
_rtc_pulse++; |
|
181 |
|
|
182 |
} |
|
183 |
|
Also available in: Unified diff