Spencer,
I don’t know exactly what you need in terms of timer resolution but team 116 has been using a real time clock that runs off of timer 4 with 5ms ticks. Code segments to setup the timer, handle the interrupt and do something with the timer are below. We choose timer4 because we could put it in a period mode so it automatically interrupt every Nms and we didn’t know of any other code that used that timer. As you will see the ISR just increments a variable and that veriable is checked in user_routines_fast where ClockTick is called. Currently we have 10 software elapsed timers and up to 10 concurrent “Event Timers”. When an event timer times out a routine is automatically called. So an event is scheduled to occur some time in the future. Lots of times we schedule events for error conditions and remove the event if something good happens like the camera actually returns a T-packet or acks a virtual window command
The h file and the timer library for 8520 and 8722 are attached. Rename the lib files to .lib instead of .txt
Here is an example of how you would print out your average processor loading once per second:
In the initialization code after you have made the RTC initialize call, use
ScheduleEventTimer(ProcessorUtilization,“some time”,unused parameter);
This routine will run after “some time” in ms
void ProcessorUtilization(void)
{
unsigned int percent_utilized;
percent_utilized = (25600 - idle_count) >> 8; /*an idle count of 25,600 means none of the processor is being used */
printf(“PU = %d%%\r”,percent_utilized);
idle_count = 0;
ScheduleEventTimer(ProcessorUtilization,1000,0); /* Run again in 1 second */
}
the variable idle_count needs to be incremented in process_data_from local IO fast like this:
Delay10TCYx(39);
idle_count += 1; /* Every time this variable is incremented, 39us? of time was spent idle */
The way this works is we waist 39us every time through the fast loop and count how often that happens each second. If you hit 80% or more you need to make code changes for sure. 60% is our peak target.
So, if you want to try the 116 RTC - that would be great - let me know how it worked, if not the following code segments should help you set up a timer.
Greg
This code goes in the timer file - Initialize RTC gets called in the user_routines initialization section
/*******************************************************************************
*
- FUNCTION: InitializeRTC()
- PURPOSE: Initializes the real time clock timers
- CALLED FROM:
- PARAMETERS: None
- RETURNS: Nothing
- COMMENTS:
*******************************************************************************/
void InitializeRTC(void)
{
Initialize_Timer_4();
InitializeEventTimers();
InitializeElapsedTimers();
}
/*******************************************************************************
*
*******************************************************************************/
void Initialize_Timer_4(void)
{
// use these parameters for a 200Hz Timer Rate
// use a 1:16 prescaler and 1:14 postscaler
T4CON = 0b01101010;
// Count to 221 before rolling over and generating
// an interrupt (223.21 - 2 is ideal)
PR4 = 221;
// make sure the timer 1 register starts at zero
TMR4 = 0x00;
// timer 2 interrupt is low priority
IPR3bits.TMR4IP = 0;
// to prevent a spurious interrupt, make sure the interrupt flag is reset
PIR3bits.TMR4IF = 0;
// enable the timer 4 interrupt
PIE3bits.TMR4IE = 1;
// enable timer 4
T4CONbits.TMR4ON = 1;
}
/*******************************************************************************
*
- FUNCTION: Timer_4_Int_Handler()
- PURPOSE: Timer 4 interrupt service routine
- CALLED FROM: user_routines_fast.c/InterruptHandlerLow()
- PARAMETERS: None
- RETURNS: Nothing
- COMMENTS:
*******************************************************************************/
void Timer_4_Int_Handler(void)
{
rtc_tick += 1;
// rc_dig_out18 ^= 1;
}
This code gets put in Interrupt_Handler_low
if(PIR3bits.TMR4IF && PIE3bits.TMR4IE) // timer 4 interrupt?
{
PIR3bits.TMR4IF = 0; // clear the timer 4 interrupt flag [92]
Timer_4_Int_Handler(); // call the timer 4 interrupt handler (in 116_timers.c)
}
This code actually deals with the clock ticks - ClockTick does whatever you need to do with the time information. Don’t forgot to disable the interrupt if you change a variable it can change.
void Process_Data_From_Local_IO(void)
{
/* Add code here that you want to be executed every program loop. */
unsigned char ticks;
unsigned char i;
/* Actually execute the real time clock code */
ticks = rtc_tick;
if(ticks > 0){ /* The RTC has ticked */
// if(ticks > 1)
// printf(“THE CODE IS GETTING BOGGED DOWN - %3d TICKS\r”,ticks);
for(i = 0; i < ticks; i++)
{
ClockTick();
//printf(“HOW LONG DOES IT TAKE TO PUT OUT THIS STRING EVERY 5 ms?\r”);
}
PIE3bits.TMR4IE = 0; /*Disable the timer interrupt */
rtc_tick = 0;
PIE3bits.TMR4IE = 1; /*Enable the timer interrupt */
}
116_timers.h (6.38 KB)
116_timers_8520_lib.txt (43.2 KB)
116_timers_lib.txt (52.3 KB)
116_timers.h (6.38 KB)
116_timers_8520_lib.txt (43.2 KB)
116_timers_lib.txt (52.3 KB)
.
haha I think I was being agreed with. Seems like 1024’s robot is going to have one complicated code this year 
