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oTimer Class Reference

A simple timer that tracks elapsed time in seconds. More...

#include <otimer.h>

Inheritance diagram for oTimer:

Public Member Functions
	oTimer ()
	Constructor.
Static Public Member Functions
void	reset ()
	Reset timer to 0.
SECOND	value ()
	Return seconds elapsed.
MILLISECOND	millisecond ()
	Return milliseconds elapsed.
void	wait (SECOND sec)
	Delay loop for 'sec' real seconds.
Static Private Member Functions
int	TCR1 (void)
void	TMCR (int iarb)
bool	HSQR (int chan, int val)
	Configures the host sequence register.
bool	HSRR (int chan, int val)
	Configures the host sequence request register.
bool	CPR (int chan, int val)
	Configures the channel priority register (Ref. TPU Channel Utilization).
bool	CIER (int chan, int cie)
	Configures the channel interrupt enable register.
int	CISR (int chan)
	Returns the channel interrupt status register.
void	CISR_clear (int chan)
	Clears the channel interrupt status register for the channel.
bool	TICR (int cirl, int cibv)
	Configures the TPU interrupt configuration register.
int	tpu_vector (IOLINE channel)
	Given a channel, returns the vector number to use for an interrupt.

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Detailed Description

A simple timer that tracks elapsed time in seconds.

Operation

The oTimer uses the oSchedule object; thus be sure to account for this is you are using many scheduled functions.

Remarks

Since with the MRM, the Watchdog timer is disabled, a (somewhat bogus) tentative replacement I use is to insert a test for the timer in a scheduled function.

Note:

Unless you are using a timer in isolation, do not reset the timer; being a static object, Several objects use the timer, and thus the best way to handle this is just pull the time from the timer and compare a later time with previous rather than resetting the timer.

Sample Code

#include <hardware/otimer.h>
#include <hardware/oschedule.h>
oSchedule events;
oTimer stopwatch;
void watchdog()
{
  // if my robots is jammed in a corner going nowhere etc. then it will timeout and just quit.
  // NOTE: this is especially good for when executing turns and waiting for X encoder clicks, but wheels are moving.
  if (stopwatch.value() > 10)
  exit(0);       // or more general shutdown routine.
}
int main()
{
oSchedule events;
  int watchID = events.add(watchdog);
  // error checking...
  stopwatch.reset();
  events.run(watchID);
  while (true)
  {
    stopwatch.reset();
    // do my processing...
  }
}

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Member Function Documentation

bool CIER (  int  chan, int  cie )  [static, inherited]

Configures the channel interrupt enable register. Parameters: int:  channel int:  1 enables; 0 disables

bool CPR (  int  chan, int  val )  [static, inherited]

Configures the channel priority register (Ref. TPU Channel Utilization). Parameters: int:  channel int:  priority

bool HSQR (  int  chan, int  val )  [static, inherited]

Configures the host sequence register. Parameters: int:  channel int  dependent upon function (CFSR) selected

bool HSRR (  int  chan, int  val )  [static, inherited]

Configures the host sequence request register. Parameters: int:  channel int:  dependend upon function

int TCR1 (  void   )  [static, inherited]

misnomer--should be TCR1 divisor--return number of clocks (PSCK,TCR1P modifications) Globally available object. Can be used in combination with TPU_REGISTER definition to say TPU_REGISTER->CFSR.BITS...

void TMCR (  int  iarb  )  [static, inherited]

was tpu_init Configures the channel function select register

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The documentation for this class was generated from the following file:

• otimer.h

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