Revision 266
PWM hack works in that it increases frequency. I2C breaks everything. Added robot debug code which will just print everything it gets from i2c... hopefully
branches/autonomous_recharging/code/projects/autonomous_recharging/archs/Robot Debug/main.c | ||
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#include <dragonfly_lib.h> |
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#include <i2c.h> |
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void recv(char i2c_byte){ |
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usb_putc(i2c_byte); |
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} |
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int main(){ |
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dragonfly_init(ALL_ON); |
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i2c_init(1, NULL, recv, NULL); |
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usb_puts("init'd everything.\n"); |
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while(1); |
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} |
branches/autonomous_recharging/code/projects/autonomous_recharging/archs/Robot Debug/Makefile | ||
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########Update This Section######## |
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# |
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# |
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# Relative path to the root directory (containing lib directory) |
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ifndef COLONYROOT |
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#COLONYROOT = ../../../.. |
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#COLONYROOT = ../../../../../../trunk |
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COLONYROOT = ../../../../.. |
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endif |
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# Target file name (without extension). |
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TARGET = main |
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# Uncomment this to use the wireless library |
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USE_WIRELESS = 1 |
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# com1 = serial port. Use lpt1 to connect to parallel port. |
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AVRDUDE_PORT = /dev/ttyUSB1 |
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# |
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# |
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################################### |
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|
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# Hey Emacs, this is a -*- makefile -*- |
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#---------------------------------------------------------------------------- |
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# WinAVR Makefile Template written by Eric B. Weddington, J?rg Wunsch, et al. |
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# |
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# Released to the Public Domain |
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# |
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# Additional material for this makefile was written by: |
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# Peter Fleury |
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# Tim Henigan |
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# Colin O'Flynn |
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# Reiner Patommel |
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# Markus Pfaff |
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# Sander Pool |
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# Frederik Rouleau |
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# |
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#---------------------------------------------------------------------------- |
|
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# On command line: |
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# |
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# make all = Make software. |
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# |
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# make clean = Clean out built project files. |
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# |
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# make coff = Convert ELF to AVR COFF. |
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# |
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# make extcoff = Convert ELF to AVR Extended COFF. |
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# |
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# make program = Download the hex file to the device, using avrdude. |
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# Please customize the avrdude settings below first! |
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# |
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# make debug = Start either simulavr or avarice as specified for debugging, |
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# with avr-gdb or avr-insight as the front end for debugging. |
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# |
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# make filename.s = Just compile filename.c into the assembler code only. |
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# |
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# make filename.i = Create a preprocessed source file for use in submitting |
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# bug reports to the GCC project. |
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# |
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# To rebuild project do "make clean" then "make all". |
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#---------------------------------------------------------------------------- |
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64 |
|
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#if you want your code to work on the Firefly++ and not Firefly+ |
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#then add the -DFFPP line to CDEFS |
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CDEFS = |
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#-DFFPP |
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|
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# MCU name |
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MCU = atmega128 |
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|
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# Processor frequency. |
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# This will define a symbol, F_CPU, in all source code files equal to the |
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# processor frequency. You can then use this symbol in your source code to |
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# calculate timings. Do NOT tack on a 'UL' at the end, this will be done |
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# automatically to create a 32-bit value in your source code. |
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F_CPU = 8000000 |
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79 |
|
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# Output format. (can be srec, ihex, binary) |
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FORMAT = ihex |
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82 |
|
|
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# List C source files here. (C dependencies are automatically generated.) |
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SRC = $(wildcard *.c) |
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85 |
|
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# List Assembler source files here. |
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# Make them always end in a capital .S. Files ending in a lowercase .s |
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# will not be considered source files but generated files (assembler |
|
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# output from the compiler), and will be deleted upon "make clean"! |
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# Even though the DOS/Win* filesystem matches both .s and .S the same, |
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# it will preserve the spelling of the filenames, and gcc itself does |
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# care about how the name is spelled on its command-line. |
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ASRC = |
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94 |
|
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# Optimization level, can be [0, 1, 2, 3, s]. |
|
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# 0 = turn off optimization. s = optimize for size. |
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# (Note: 3 is not always the best optimization level. See avr-libc FAQ.) |
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OPT = s |
|
99 |
|
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# Debugging format. |
|
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# Native formats for AVR-GCC's -g are dwarf-2 [default] or stabs. |
|
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# AVR Studio 4.10 requires dwarf-2. |
|
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# AVR [Extended] COFF format requires stabs, plus an avr-objcopy run. |
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DEBUG = |
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105 |
|
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# Compiler flag to set the C Standard level. |
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# c89 = "ANSI" C |
|
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# gnu89 = c89 plus GCC extensions |
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# c99 = ISO C99 standard (not yet fully implemented) |
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# gnu99 = c99 plus GCC extensions |
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CSTANDARD = -std=gnu99 |
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112 |
|
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# Place -D or -U options here |
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CDEFS += -DF_CPU=$(F_CPU)UL |
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CDEFS += -DFFP |
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# for wireless library |
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ifdef USE_WIRELESS |
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CDEFS += -DROBOT |
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endif |
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|
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# Place -I, -L options here |
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CINCS = -I$(COLONYROOT)/code/lib/include/libdragonfly |
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CINCS += -L$(COLONYROOT)/code/lib/bin |
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ifdef USE_WIRELESS |
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CINCS += -I$(COLONYROOT)/code/lib/include/libwireless |
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endif |
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127 |
|
|
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#---------------- Compiler Options ---------------- |
|
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# -g*: generate debugging information |
|
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# -O*: optimization level |
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# -f...: tuning, see GCC manual and avr-libc documentation |
|
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# -Wall...: warning level |
|
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# -Wa,...: tell GCC to pass this to the assembler. |
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# -adhlns...: create assembler listing |
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CFLAGS = |
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# CFLAGS = -g$(DEBUG) |
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CFLAGS += $(CDEFS) $(CINCS) |
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CFLAGS += -O$(OPT) |
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CFLAGS += -funsigned-char -funsigned-bitfields -fpack-struct -fshort-enums |
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CFLAGS += -Wall -Wstrict-prototypes |
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CFLAGS += -Wa,-adhlns=$(<:.c=.lst) |
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CFLAGS += $(CSTANDARD) |
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|
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#---------------- Assembler Options ---------------- |
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# -Wa,...: tell GCC to pass this to the assembler. |
|
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# -ahlms: create listing |
|
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# -gstabs: have the assembler create line number information; note that |
|
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# for use in COFF files, additional information about filenames |
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# and function names needs to be present in the assembler source |
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# files -- see avr-libc docs [FIXME: not yet described there] |
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ASFLAGS = -Wa,-adhlns=$(<:.S=.lst),-gstabs |
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152 |
|
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153 |
|
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#---------------- Library Options ---------------- |
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# Minimalistic printf version |
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PRINTF_LIB_MIN = -Wl,-u,vfprintf -lprintf_min |
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157 |
|
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# Floating point printf version (requires MATH_LIB = -lm below) |
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PRINTF_LIB_FLOAT = -Wl,-u,vfprintf -lprintf_flt |
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160 |
|
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# If this is left blank, then it will use the Standard printf version. |
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PRINTF_LIB = |
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#PRINTF_LIB = $(PRINTF_LIB_MIN) |
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#PRINTF_LIB = $(PRINTF_LIB_FLOAT) |
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|
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166 |
|
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# Minimalistic scanf version |
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SCANF_LIB_MIN = -Wl,-u,vfscanf -lscanf_min |
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169 |
|
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# Floating point + %[ scanf version (requires MATH_LIB = -lm below) |
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SCANF_LIB_FLOAT = -Wl,-u,vfscanf -lscanf_flt |
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|
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# If this is left blank, then it will use the Standard scanf version. |
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SCANF_LIB = |
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#SCANF_LIB = $(SCANF_LIB_MIN) |
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#SCANF_LIB = $(SCANF_LIB_FLOAT) |
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MATH_LIB = -lm |
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|
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#---------------- External Memory Options ---------------- |
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181 |
|
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# 64 KB of external RAM, starting after internal RAM (ATmega128!), |
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# used for variables (.data/.bss) and heap (malloc()). |
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#EXTMEMOPTS = -Wl,-Tdata=0x801100,--defsym=__heap_end=0x80ffff |
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|
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# 64 KB of external RAM, starting after internal RAM (ATmega128!), |
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# only used for heap (malloc()). |
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#EXTMEMOPTS = -Wl,--defsym=__heap_start=0x801100,--defsym=__heap_end=0x80ffff |
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EXTMEMOPTS = |
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#---------------- Linker Options ---------------- |
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# -Wl,...: tell GCC to pass this to linker. |
|
194 |
# -Map: create map file |
|
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# --cref: add cross reference to map file |
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LDFLAGS = -Wl,-Map=$(TARGET).map,--cref |
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LDFLAGS += $(EXTMEMOPTS) |
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LDFLAGS += $(PRINTF_LIB) $(SCANF_LIB) $(MATH_LIB) |
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ifdef USE_WIRELESS |
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LDFLAGS += -lwireless |
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endif |
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LDFLAGS += -ldragonfly |
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203 |
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205 |
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#---------------- Programming Options (avrdude) ---------------- |
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207 |
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# Programming hardware: alf avr910 avrisp bascom bsd |
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# dt006 pavr picoweb pony-stk200 sp12 stk200 stk500 |
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# |
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# Type: avrdude -c ? |
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# to get a full listing. |
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# |
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AVRDUDE_PROGRAMMER = avrisp |
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215 |
|
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# programmer connected to serial device |
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217 |
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AVRDUDE_WRITE_FLASH = -b 57600 -U flash:w:$(TARGET).hex |
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#AVRDUDE_WRITE_EEPROM = -U eeprom:w:$(TARGET).eep |
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220 |
|
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221 |
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# Uncomment the following if you want avrdude's erase cycle counter. |
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# Note that this counter needs to be initialized first using -Yn, |
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# see avrdude manual. |
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225 |
#AVRDUDE_ERASE_COUNTER = -y |
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226 |
|
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# Uncomment the following if you do /not/ wish a verification to be |
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# performed after programming the device. |
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229 |
#AVRDUDE_NO_VERIFY = -V |
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230 |
|
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# Increase verbosity level. Please use this when submitting bug |
|
232 |
# reports about avrdude. See <http://savannah.nongnu.org/projects/avrdude> |
|
233 |
# to submit bug reports. |
|
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#AVRDUDE_VERBOSE = -v -v |
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235 |
|
|
236 |
AVRDUDE_FLAGS = -p $(MCU) -P $(AVRDUDE_PORT) -c $(AVRDUDE_PROGRAMMER) |
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237 |
AVRDUDE_FLAGS += $(AVRDUDE_NO_VERIFY) |
|
238 |
AVRDUDE_FLAGS += $(AVRDUDE_VERBOSE) |
|
239 |
AVRDUDE_FLAGS += $(AVRDUDE_ERASE_COUNTER) |
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240 |
|
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#don't check for device signature |
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AVRDUDE_FLAGS += -F |
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243 |
|
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244 |
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245 |
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#---------------- Debugging Options ---------------- |
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247 |
|
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# For simulavr only - target MCU frequency. |
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249 |
DEBUG_MFREQ = $(F_CPU) |
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# Set the DEBUG_UI to either gdb or insight. |
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# DEBUG_UI = gdb |
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DEBUG_UI = insight |
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254 |
|
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# Set the debugging back-end to either avarice, simulavr. |
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DEBUG_BACKEND = avarice |
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257 |
#DEBUG_BACKEND = simulavr |
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258 |
|
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# GDB Init Filename. |
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260 |
GDBINIT_FILE = __avr_gdbinit |
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261 |
|
|
262 |
# When using avarice settings for the JTAG |
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263 |
JTAG_DEV = /dev/com1 |
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264 |
|
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# Debugging port used to communicate between GDB / avarice / simulavr. |
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DEBUG_PORT = 4242 |
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267 |
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# Debugging host used to communicate between GDB / avarice / simulavr, normally |
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# just set to localhost unless doing some sort of crazy debugging when |
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# avarice is running on a different computer. |
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DEBUG_HOST = localhost |
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#============================================================================ |
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276 |
|
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277 |
|
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# Define programs and commands. |
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279 |
SHELL = sh |
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280 |
CC = avr-gcc |
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281 |
OBJCOPY = avr-objcopy |
|
282 |
OBJDUMP = avr-objdump |
|
283 |
SIZE = avr-size |
|
284 |
NM = avr-nm |
|
285 |
AVRDUDE = avrdude |
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286 |
REMOVE = rm -f |
|
287 |
REMOVEDIR = rm -rf |
|
288 |
COPY = cp |
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289 |
WINSHELL = cmd |
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290 |
|
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291 |
|
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292 |
# Define Messages |
|
293 |
# English |
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294 |
MSG_ERRORS_NONE = Errors: none |
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295 |
MSG_BEGIN = -------- begin -------- |
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296 |
MSG_END = -------- end -------- |
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297 |
MSG_SIZE_BEFORE = Size before: |
|
298 |
MSG_SIZE_AFTER = Size after: |
|
299 |
MSG_COFF = Converting to AVR COFF: |
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300 |
MSG_EXTENDED_COFF = Converting to AVR Extended COFF: |
|
301 |
MSG_FLASH = Creating load file for Flash: |
|
302 |
MSG_EEPROM = Creating load file for EEPROM: |
|
303 |
MSG_EXTENDED_LISTING = Creating Extended Listing: |
|
304 |
MSG_SYMBOL_TABLE = Creating Symbol Table: |
|
305 |
MSG_LINKING = Linking: |
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306 |
MSG_COMPILING = Compiling: |
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307 |
MSG_ASSEMBLING = Assembling: |
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308 |
MSG_CLEANING = Cleaning project: |
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309 |
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310 |
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312 |
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# Define all object files. |
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314 |
OBJ = $(SRC:.c=.o) $(ASRC:.S=.o) |
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315 |
|
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316 |
# Define all listing files. |
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317 |
LST = $(SRC:.c=.lst) $(ASRC:.S=.lst) |
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318 |
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319 |
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320 |
# Compiler flags to generate dependency files. |
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321 |
GENDEPFLAGS = -MD -MP -MF .dep/$(@F).d |
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322 |
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323 |
|
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324 |
# Combine all necessary flags and optional flags. |
|
325 |
# Add target processor to flags. |
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326 |
ALL_CFLAGS = -mmcu=$(MCU) -I. $(CFLAGS) $(GENDEPFLAGS) |
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327 |
ALL_ASFLAGS = -mmcu=$(MCU) -I. -x assembler-with-cpp $(ASFLAGS) |
|
328 |
|
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329 |
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330 |
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331 |
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332 |
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333 |
# Default target. |
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all: begin gccversion sizebefore build sizeafter end |
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build: elf hex eep lss sym |
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337 |
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elf: $(TARGET).elf |
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hex: $(TARGET).hex |
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340 |
eep: $(TARGET).eep |
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lss: $(TARGET).lss |
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sym: $(TARGET).sym |
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343 |
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344 |
|
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345 |
|
|
346 |
# Eye candy. |
|
347 |
# AVR Studio 3.x does not check make's exit code but relies on |
|
348 |
# the following magic strings to be generated by the compile job. |
|
349 |
begin: |
|
350 |
@echo |
|
351 |
@echo $(MSG_BEGIN) |
|
352 |
|
|
353 |
end: |
|
354 |
@echo $(MSG_END) |
|
355 |
@echo |
|
356 |
|
|
357 |
|
|
358 |
# Display size of file. |
|
359 |
HEXSIZE = $(SIZE) --target=$(FORMAT) $(TARGET).hex |
|
360 |
ELFSIZE = $(SIZE) -A $(TARGET).elf |
|
361 |
AVRMEM = avr-mem.sh $(TARGET).elf $(MCU) |
|
362 |
|
|
363 |
sizebefore: |
|
364 |
@if test -f $(TARGET).elf; then echo; echo $(MSG_SIZE_BEFORE); $(ELFSIZE); \ |
|
365 |
$(AVRMEM) 2>/dev/null; echo; fi |
|
366 |
|
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367 |
sizeafter: |
|
368 |
@if test -f $(TARGET).elf; then echo; echo $(MSG_SIZE_AFTER); $(ELFSIZE); \ |
|
369 |
$(AVRMEM) 2>/dev/null; echo; fi |
|
370 |
|
|
371 |
|
|
372 |
|
|
373 |
# Display compiler version information. |
|
374 |
gccversion : |
|
375 |
@$(CC) --version |
|
376 |
|
|
377 |
|
|
378 |
|
|
379 |
# Program the device. |
|
380 |
program: $(TARGET).hex $(TARGET).eep |
|
381 |
$(AVRDUDE) $(AVRDUDE_FLAGS) $(AVRDUDE_WRITE_FLASH) $(AVRDUDE_WRITE_EEPROM) |
|
382 |
|
|
383 |
|
|
384 |
# Generate avr-gdb config/init file which does the following: |
|
385 |
# define the reset signal, load the target file, connect to target, and set |
|
386 |
# a breakpoint at main(). |
|
387 |
gdb-config: |
|
388 |
@$(REMOVE) $(GDBINIT_FILE) |
|
389 |
@echo define reset >> $(GDBINIT_FILE) |
|
390 |
@echo SIGNAL SIGHUP >> $(GDBINIT_FILE) |
|
391 |
@echo end >> $(GDBINIT_FILE) |
|
392 |
@echo file $(TARGET).elf >> $(GDBINIT_FILE) |
|
393 |
@echo target remote $(DEBUG_HOST):$(DEBUG_PORT) >> $(GDBINIT_FILE) |
|
394 |
ifeq ($(DEBUG_BACKEND),simulavr) |
|
395 |
@echo load >> $(GDBINIT_FILE) |
|
396 |
endif |
|
397 |
@echo break main >> $(GDBINIT_FILE) |
|
398 |
|
|
399 |
debug: gdb-config $(TARGET).elf |
|
400 |
ifeq ($(DEBUG_BACKEND), avarice) |
|
401 |
@echo Starting AVaRICE - Press enter when "waiting to connect" message displays. |
|
402 |
@$(WINSHELL) /c start avarice --jtag $(JTAG_DEV) --erase --program --file \ |
|
403 |
$(TARGET).elf $(DEBUG_HOST):$(DEBUG_PORT) |
|
404 |
@$(WINSHELL) /c pause |
|
405 |
|
|
406 |
else |
|
407 |
@$(WINSHELL) /c start simulavr --gdbserver --device $(MCU) --clock-freq \ |
|
408 |
$(DEBUG_MFREQ) --port $(DEBUG_PORT) |
|
409 |
endif |
|
410 |
@$(WINSHELL) /c start avr-$(DEBUG_UI) --command=$(GDBINIT_FILE) |
|
411 |
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412 |
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|
413 |
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|
414 |
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|
415 |
# Convert ELF to COFF for use in debugging / simulating in AVR Studio or VMLAB. |
|
416 |
COFFCONVERT=$(OBJCOPY) --debugging \ |
|
417 |
--change-section-address .data-0x800000 \ |
|
418 |
--change-section-address .bss-0x800000 \ |
|
419 |
--change-section-address .noinit-0x800000 \ |
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420 |
--change-section-address .eeprom-0x810000 |
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421 |
|
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422 |
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|
423 |
coff: $(TARGET).elf |
|
424 |
@echo |
|
425 |
@echo $(MSG_COFF) $(TARGET).cof |
|
426 |
$(COFFCONVERT) -O coff-avr $< $(TARGET).cof |
|
427 |
|
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428 |
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429 |
extcoff: $(TARGET).elf |
|
430 |
@echo |
|
431 |
@echo $(MSG_EXTENDED_COFF) $(TARGET).cof |
|
432 |
$(COFFCONVERT) -O coff-ext-avr $< $(TARGET).cof |
|
433 |
|
|
434 |
|
|
435 |
|
|
436 |
# Create final output files (.hex, .eep) from ELF output file. |
|
437 |
%.hex: %.elf |
|
438 |
@echo |
|
439 |
@echo $(MSG_FLASH) $@ |
|
440 |
$(OBJCOPY) -O $(FORMAT) -R .eeprom $< $@ |
|
441 |
|
|
442 |
%.eep: %.elf |
|
443 |
@echo |
|
444 |
@echo $(MSG_EEPROM) $@ |
|
445 |
-$(OBJCOPY) -j .eeprom --set-section-flags=.eeprom="alloc,load" \ |
|
446 |
--change-section-lma .eeprom=0 -O $(FORMAT) $< $@ |
|
447 |
|
|
448 |
# Create extended listing file from ELF output file. |
|
449 |
%.lss: %.elf |
|
450 |
@echo |
|
451 |
@echo $(MSG_EXTENDED_LISTING) $@ |
|
452 |
$(OBJDUMP) -h -S $< > $@ |
|
453 |
|
|
454 |
# Create a symbol table from ELF output file. |
|
455 |
%.sym: %.elf |
|
456 |
@echo |
|
457 |
@echo $(MSG_SYMBOL_TABLE) $@ |
|
458 |
$(NM) -n $< > $@ |
|
459 |
|
|
460 |
|
|
461 |
|
|
462 |
# Link: create ELF output file from object files. |
|
463 |
.SECONDARY : $(TARGET).elf |
|
464 |
.PRECIOUS : $(OBJ) |
|
465 |
%.elf: $(OBJ) |
|
466 |
@echo |
|
467 |
@echo $(MSG_LINKING) $@ |
|
468 |
$(CC) $(ALL_CFLAGS) $^ --output $@ $(LDFLAGS) |
|
469 |
|
|
470 |
|
|
471 |
# Compile: create object files from C source files. |
|
472 |
%.o : %.c |
|
473 |
@echo |
|
474 |
@echo $(MSG_COMPILING) $< |
|
475 |
$(CC) -c $(ALL_CFLAGS) $< -o $@ |
|
476 |
|
|
477 |
|
|
478 |
# Compile: create assembler files from C source files. |
|
479 |
%.s : %.c |
|
480 |
$(CC) -S $(ALL_CFLAGS) $< -o $@ |
|
481 |
|
|
482 |
|
|
483 |
# Assemble: create object files from assembler source files. |
|
484 |
%.o : %.S |
|
485 |
@echo |
|
486 |
@echo $(MSG_ASSEMBLING) $< |
|
487 |
$(CC) -c $(ALL_ASFLAGS) $< -o $@ |
|
488 |
|
|
489 |
# Create preprocessed source for use in sending a bug report. |
|
490 |
%.i : %.c |
|
491 |
$(CC) -E -mmcu=$(MCU) -I. $(CFLAGS) $< -o $@ |
|
492 |
|
|
493 |
|
|
494 |
# Target: clean project. |
|
495 |
clean: begin clean_list end |
|
496 |
|
|
497 |
clean_list : |
|
498 |
@echo |
|
499 |
@echo $(MSG_CLEANING) |
|
500 |
$(REMOVE) $(TARGET).hex |
|
501 |
$(REMOVE) $(TARGET).eep |
|
502 |
$(REMOVE) $(TARGET).cof |
|
503 |
$(REMOVE) $(TARGET).elf |
|
504 |
$(REMOVE) $(TARGET).map |
|
505 |
$(REMOVE) $(TARGET).sym |
|
506 |
$(REMOVE) $(TARGET).lss |
|
507 |
$(REMOVE) $(OBJ) |
|
508 |
$(REMOVE) $(LST) |
|
509 |
$(REMOVE) $(SRC:.c=.s) |
|
510 |
$(REMOVE) $(SRC:.c=.d) |
|
511 |
$(REMOVEDIR) .dep |
|
512 |
|
|
513 |
|
|
514 |
|
|
515 |
# Include the dependency files. |
|
516 |
-include $(shell mkdir .dep 2>/dev/null) $(wildcard .dep/*) |
|
517 |
|
|
518 |
|
|
519 |
# Listing of phony targets. |
|
520 |
.PHONY : all begin finish end sizebefore sizeafter gccversion \ |
|
521 |
build elf hex eep lss sym coff extcoff \ |
|
522 |
clean clean_list program debug gdb-config |
|
523 |
|
branches/autonomous_recharging/code/projects/autonomous_recharging/archs/ConstantCharging.c | ||
---|---|---|
22 | 22 |
#define SW0 PA6 |
23 | 23 |
#define HOMING_PIN PA7 |
24 | 24 |
|
25 |
#define DEBUG 0
|
|
25 |
//#define DEBUG 1
|
|
26 | 26 |
|
27 | 27 |
#define MAX_T 300 |
28 | 28 |
#define MIN_T 730 |
... | ... | |
270 | 270 |
TIMSK = (_BV(TOIE0)); //enable overflow interrupts |
271 | 271 |
|
272 | 272 |
TCCR1A = (_BV(COM1B1)|_BV(PWM1B)|_BV(COM1A1)|_BV(PWM1A)); //clear timer 1 on compare, set at 0x00. Fast PWM mode |
273 |
TCCR1B |= _BV(CS12)|_BV(CS10); //leave timer on and set compare to 0 to make output off
|
|
273 |
TCCR1B |= _BV(CS10); //leave timer on and set compare to 0 to make output off |
|
274 | 274 |
|
275 | 275 |
//hack stuff so it will run in continuous mode |
276 | 276 |
TIMSK |= _BV(TOIE1); //enable overflow interrupt for timer 1 |
... | ... | |
395 | 395 |
int curr = 0; |
396 | 396 |
int meas_count = 0; |
397 | 397 |
int mod=0; |
398 |
sei(); |
|
399 | 398 |
OCR1B = 0; |
400 | 399 |
|
400 |
PORTB &= ~(_BV(LED1)|_BV(LED2)); |
|
401 |
|
|
402 |
|
|
401 | 403 |
while(status!=2) |
402 | 404 |
{ |
403 | 405 |
mod=abs_time%4; |
404 | 406 |
|
407 |
PORTB ^= _BV(LED2); |
|
408 |
|
|
405 | 409 |
if(supply_voltage()) |
406 | 410 |
while(abs_time%4==mod); |
407 | 411 |
|
408 | 412 |
/* TIME TERMINATION */ |
409 |
if(abs_time>500) //12000=25 minutes
|
|
413 |
if(abs_time>12000) //12000=25 minutes
|
|
410 | 414 |
{ |
411 | 415 |
//SEND_DONE |
412 | 416 |
OCR1B=0; |
... | ... | |
426 | 430 |
/* CONTACT */ |
427 | 431 |
if(supply_voltage()) |
428 | 432 |
{ |
433 |
PORTB |= _BV(LED1); |
|
429 | 434 |
//curr = regulate_current(500); |
430 |
curr = get_avg_current(); |
|
435 |
//+++curr = get_avg_current();
|
|
431 | 436 |
|
432 | 437 |
if(status==0) |
433 | 438 |
{ |
... | ... | |
445 | 450 |
/* NO CONTACT */ |
446 | 451 |
else |
447 | 452 |
{ |
453 |
PORTB &= ~_BV(LED1); |
|
448 | 454 |
if(status==1) |
449 | 455 |
{ |
450 | 456 |
status=0; |
... | ... | |
453 | 459 |
} |
454 | 460 |
else |
455 | 461 |
{ |
456 |
get_delay(); //reject the first reading
|
|
462 |
/*get_delay(); //reject the first reading //homing import stuff, uncomment this!!!!!!
|
|
457 | 463 |
data[0]=I2C_MSG_HOMING; |
458 | 464 |
data[1]=get_delay(); |
459 |
i2c_putpacket(0x01, data, 2); |
|
465 |
i2c_putpacket(0x01, data, 2);*/
|
|
460 | 466 |
|
461 | 467 |
data[0]='D'; |
462 | 468 |
} |
... | ... | |
533 | 539 |
{ |
534 | 540 |
new_second=0; |
535 | 541 |
char tempData[5]; //For i2c communication |
536 |
//test_board(); |
|
537 | 542 |
|
538 | 543 |
setup(); |
539 | 544 |
i2c_init(); |
... | ... | |
710 | 715 |
|
711 | 716 |
ISR(TIMER1_OVF_vect) |
712 | 717 |
{ |
713 |
delay_ms(1); //wait a clock cycle so we know the ouput gets set (which happens at timer = 0)
|
|
718 |
wait(5); //wait a bit so we know the ouput gets set (which happens at timer = 0)
|
|
714 | 719 |
|
715 | 720 |
TCNT1 = 156; // start out at 156. Now OCR1B - 156 = duty cycle |
716 | 721 |
} |
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