Time

Functions which handle the time. More...

Modules
	Advanced informations

Macros
#define	kTimeMaxCycleCount
	constant (5): Maximum number of cyclic called functions

Enumerations
enum	eTimeGet
	clusters select values for reading parts of the current time More...

Clock Funktions
uint32_t	time_get (eTimeGet select)
	Returns the selected time value. More...
void	time_clear (void)
	Clears the internal time value. More...

Delay Funktions
void	mdelay (uint16_t mseconds)
	Waits for the given time in milliseconds. More...
void	udelay (uint16_t useconds)
	Waits for 10 times the given time in microseconds. More...

Cyclic Funktions
uint8_t	time_cycleAdd (void *function, uint8_t interval)
	Adds a function to the cyclic called functions. More...
void	time_cycleClear (uint8_t id)
	Removes a function from the cyclic called functions. More...

Detailed Description

Functions which handle the time.

The robot uses two timers for internal timing:

• Timer 1 for the systick (10 ms)
• Timer 2 for the fasttick (250 us)

The systick is used to create the servo signal, for time measurement and for triggering user events. User events (function pointers) can be set by calling the function time_cycleAdd(). A more detailed description can be found here.

The fasttick is used to check the TSOP sensors for an incoming ir-signal and for adc measurements of the Sharp distance sensors.

Enumeration Type Documentation

eTimeGet

enum eTimeGet

clusters select values for reading parts of the current time

See also

line_get() and line_set()

Enumerator
kTimeGetTicks	constant (0): ticks (0.25 ms)
kTimeGetMinutes	constant (1): minutes
kTimeGetSeconds	constant (2): seconds
kTimeGetHundredths	constant (3): hundredths of a second

Function Documentation

mdelay()

void mdelay

(

uint16_t

mseconds

)

Waits for the given time in milliseconds.

Note

If the controller is busy handling interrupts the duration will increase.

Parameters

mseconds

16-bit unsigned integer If mseconds is 56, then the CPU will wait for 56 milliseconds.

See also

udelay()

Examples

battery.c, beeper.c, button.c, cyclic.c, driveAdjust.pupil.c, driveAngle.pupil.c, driveArc.pupil.c, driveDist.pupil.c, encoderComplex.c, encoderSimple.c, imu.c, lausTracker.c, led.c, lineComplex.c, lineSimple.c, mode.c, motorComplex.c, motorSimple.c, packedCom.c, remoteControl.c, servo.c, sharp.c, tsop.c, twi.c, and uart.c.

time_clear()

void time_clear

(

void

)

Clears the internal time value.

The clearing will be done immediately.

See also

time_get()

time_cycleAdd()

uint8_t time_cycleAdd	(	void *	function,
		uint8_t	interval
	)

Adds a function to the cyclic called functions.

There can be at maximum kTimeMaxCycleCount cyclic functions.

To turn the cyclic operation off use time_cycleClear().

Parameters

function	function of type "void fct(void)" Function with no parameters and no return value. To wrap the function call a pointer is used internally.
interval	8-bit unsigned integer The parameter is an integer representing the cycle time in hundredths of a second. E.g. 12 will call the function every 120ms. If 0 or 1 is used the function will be called every 10ms.

Returns

8-bit unsigned integer (0, 1..kTimeMaxCycleCount)
The return value represents the id of this cyclic function.
If the returned id is 0 the function was not added.

See also

time_cycleClear()

Examples

cyclic.c.

time_cycleClear()

void time_cycleClear

(

uint8_t

id

)

Removes a function from the cyclic called functions.

Parameters

id	8-bit unsigned integer (1..5, 0xFF) The id parameter is the id of the cyclic called function. If id is set to 0xFF all cyclic functions are stopped.

See also

time_cycleAdd()

Examples

cyclic.c.

time_get()

uint32_t time_get

(

eTimeGet

select

)

Returns the selected time value.

The internal time variable is always up to date - no request is needed.

The time is cleared at system start and by the function time_clear().

Parameters

select

value of the selected time - see also eTimeGet

Returns

32-bit unsigned integer

select	range
kTimeGetTicks	full 32-bit
kTimeGetMinutes	0..59
kTimeGetSeconds	0..59
kTimeGetHundredths	0..99

See also

time_clear()

udelay()

void udelay

(

uint16_t

useconds

)

Waits for 10 times the given time in microseconds.

Note

If the controller is busy handling interrupts the duration will increase.

Parameters

useconds

16-bit unsigned integer If useconds is 42, then the CPU will wait for 420 microseconds.

See also

mdelay()