Ein Roboter mit bürstenlosem Antrieb, differenzial und NRF24L01 Funk. Großflächig gebaut um ein großes Solarpanel aufzunehmen.
https://gitlab.informatik.hs-fulda.de/fdai5253/roboter
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52 lines
1.2 KiB
52 lines
1.2 KiB
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#include "compatibility.h"
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static uint32_t mtime, seconds, useconds;
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//static struct timeval start, end;
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struct timespec start, end;
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/**********************************************************************/
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/**
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* This function is added in order to simulate arduino delay() function
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* @param milisec
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*/
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void __msleep(int milisec)
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{
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struct timespec req;// = {0};
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req.tv_sec = (time_t) milisec / 1000;
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req.tv_nsec = (milisec % 1000 ) * 1000000L;
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//nanosleep(&req, (struct timespec *)NULL);
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clock_nanosleep(CLOCK_REALTIME, 0, &req, NULL);
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}
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void __usleep(int microsec)
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{
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struct timespec req;// = {0};
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req.tv_sec = (time_t) microsec/ 1000000;
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req.tv_nsec = (microsec / 1000000) * 1000;
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//nanosleep(&req, (struct timespec *)NULL);
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clock_nanosleep(CLOCK_REALTIME, 0, &req, NULL);
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}
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/**
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* This function is added in order to simulate arduino millis() function
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*/
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void __start_timer()
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{
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//gettimeofday(&start, NULL);
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clock_gettime(CLOCK_MONOTONIC_RAW, &start);
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}
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uint32_t __millis()
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{
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//gettimeofday(&end, NULL);
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clock_gettime(CLOCK_MONOTONIC_RAW,&end);
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seconds = end.tv_sec - start.tv_sec;
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useconds = (end.tv_nsec - start.tv_nsec)/1000;
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mtime = ((seconds) * 1000 + useconds/1000.0) + 0.5;
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return mtime;
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}
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