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| author | lonkaars <loek@pipeframe.xyz> | 2022-06-07 23:46:48 +0200 |
|---|---|---|
| committer | lonkaars <loek@pipeframe.xyz> | 2022-06-07 23:46:48 +0200 |
| commit | 0d3c52e49dc34344f335fd6d7b214592723cbc93 (patch) | |
| tree | 36c8b974556a5ee3c955549131ac3858208d373b /robot/hypervisor.h | |
| parent | c88c7c7c6e6c687c3d8170cb07a467aa3c4d7f48 (diff) | |
implemented obstacle detection
Diffstat (limited to 'robot/hypervisor.h')
| -rw-r--r-- | robot/hypervisor.h | 15 |
1 files changed, 13 insertions, 2 deletions
diff --git a/robot/hypervisor.h b/robot/hypervisor.h index 4b1ed9b..fe9dbea 100644 --- a/robot/hypervisor.h +++ b/robot/hypervisor.h @@ -7,9 +7,10 @@ #include "../shared/bool.h" /** amount of parallel timers */ -#define W2_HYPERVISOR_TIMER_COUNT (1) +#define W2_HYPERVISOR_TIMER_COUNT 2 -#define W2_TIMER_PING (0) +#define W2_TIMER_PING 0 +#define W2_TIMER_OBJECT_DETECTION 1 extern uint64_t g_w2_hypervisor_cycles; extern uint64_t g_w2_hypervisor_uptime_ms; @@ -32,7 +33,17 @@ extern bool g_w2_connected; */ void w2_hypervisor_main(); +/** + * pololu's `get_ms()` estimates run time by only adding the CPU time taken up + * by pololu library functions. this function uses the `get_ticks()` function + * to calculate elapsed milliseconds, and should therefore be more accurate. + */ +uint64_t w2_get_ms(); +/** reset time returned by `w2_get_ms()` */ +void w2_time_reset(); + /** start timer with label `label` */ void w2_hypervisor_time_start(uint8_t label); /** stop timer with label `label` */ uint64_t w2_hypervisor_time_end(uint8_t label); + |