root / branches / autonomous_recharging / code / projects / autonomous_recharging / archs / ConstantCharging.c @ 266
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#include <avr/io.h> |
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#include <avr/interrupt.h> |
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#include <avr/sleep.h> |
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#include "i2c.h" |
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#include "ring_buffer.h" |
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|
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|
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// for i2c_byte coming from charge board
|
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//I2C Message Codes
|
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#define I2C_MSG_ACKNOWLEDGE 'A' |
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#define I2C_MSG_BATTERY_CHARGING 'C' |
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#define I2C_MSG_DATA 'D' |
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#define I2C_MSG_CONTACT_ERROR 'E' |
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#define I2C_MSG_BATTERY_FULL 'F' |
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#define I2C_MSG_NO_CONTACT 'N' |
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#define I2C_MSG_REQUEST_DATA 'R' |
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#define I2C_MSG_GO_TO_SLEEP 'Y' |
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#define I2C_MSG_ENTERING_SLEEP 'Z' |
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#define I2C_MSG_HOMING 'H' |
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|
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|
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#define SW0 PA6
|
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#define HOMING_PIN PA7
|
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|
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//#define DEBUG 1
|
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|
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#define MAX_T 300 |
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#define MIN_T 730 |
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//range is 0 to 45 C
|
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//cal tests:
|
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//room temp - 25
|
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//value ~500, varies from battery to battery, but is consistent on one battery
|
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//freezer 737
|
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//heat gun at a distance 461
|
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|
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#define MAX_DT -4 //this is the LOWEST ACCEPTABLE ADC value |
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#define MAX_DT_ABS 400 |
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#define VOLT_PLATEAU 50 |
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|
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|
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//The following times are in seconds
|
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#define MAX_FAST_TIME 5400 |
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#define MAX_TRICKLE_TIME 600 |
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|
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//debug pins
|
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#define debug_time PA3
|
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#define debug_curr PA4
|
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#define debug_volt PA5
|
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#define debug_temp PA6
|
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#define debug_12in PA7
|
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|
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//be sure admux also sets the MUX5 bit which is in ADCSRB
|
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#define ADMUX_I
|
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#define ADMUX_V
|
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#define ADMUX_T
|
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|
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#define ROBOT_TX PB1
|
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#define ROBOT_RX PB2
|
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#define PWM PB3
|
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#define DETECT_12V PB6
|
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|
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#define LED1 PB4 //Green |
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#define LED2 PB5 //Red |
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|
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|
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//LED States:
|
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//Red - Fast Charging
|
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//Green - Trickle Charging
|
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//Both steady - done charging
|
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//Both Blinking - Error
|
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|
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#define INT_COUNT 2 //interrupts per second |
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#define AVG_COUNT 64 //number of times to count current |
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|
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//To enable the PWM write : TCCR1B = (_Bv(CS10));//enable PWM
|
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|
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uint8_t interrupt_count = INT_COUNT; |
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|
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volatile uint32_t abs_time=1; // start at one second so it doesnt do the minute checks right away |
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volatile uint8_t new_second=0; //only used as a boolean |
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|
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volatile uint8_t error=0; |
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volatile uint8_t status;
|
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|
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volatile uint8_t steady_current = 0; |
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|
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//DT must be triggered twice in a row
|
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volatile uint8_t last_DT = 0; |
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//same for DV
|
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volatile uint8_t last_DV = 0; |
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|
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#define FAST_CHARGE 1 |
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#define TRICKLE_CHARGE 2 |
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|
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RING_BUFFER_NEW(ring_buffer, 12, int, buffer); |
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|
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void wait(int ops) |
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{ |
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int i = 0; |
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while(i<ops)
|
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i++; |
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} |
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|
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|
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|
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int avg_ADC(void) |
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{ |
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int av;
|
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char i;
|
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|
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//Calculate a average out of the next 8 A/D conversions
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for(av=0,i=8;i;--i) |
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{ |
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ADCSRA |= _BV(ADSC); // start new A/D conversion
|
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while (!(ADCSRA & (_BV(ADIF)))) // wait until ADC is ready |
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; |
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av = av+ADC; |
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} |
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av = av/8;
|
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|
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//ADCSRA &= ~_BV(ADEN);
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|
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return av;
|
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|
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} |
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|
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int get_voltage(void) |
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{ |
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ADMUX = _BV(MUX0); |
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|
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ADCSRB &= ~_BV(MUX5); |
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|
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return avg_ADC();
|
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} |
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|
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int get_current(void) |
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{ |
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ADMUX = _BV(MUX1); |
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|
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ADCSRB |= _BV(MUX5); |
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|
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return avg_ADC();
|
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} |
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|
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int get_temperature(void) |
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{ |
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ADMUX = _BV(MUX1); |
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|
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ADCSRB &= ~_BV(MUX5); |
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|
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return avg_ADC();
|
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} |
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|
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int get_avg_voltage(void) |
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{ |
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int count=0; |
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uint32_t sum=0;
|
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|
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//OCR1B =120;
|
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while(count < AVG_COUNT)
|
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{ |
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sum += get_voltage(); |
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count++; |
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} |
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|
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return sum/AVG_COUNT;
|
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} |
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|
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int get_avg_current(void) |
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{ |
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int count=0; |
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uint32_t sum=0;
|
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|
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//OCR1B =120;
|
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while(count < AVG_COUNT)
|
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{ |
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sum += get_current(); |
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count++; |
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} |
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|
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return sum/AVG_COUNT;
|
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} |
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|
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int get_avg_temperature(void) |
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{ |
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int count=0; |
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uint32_t sum=0;
|
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|
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//OCR1B =120;
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while(count < AVG_COUNT)
|
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{ |
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sum += get_temperature(); |
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count++; |
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} |
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|
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return sum/AVG_COUNT;
|
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} |
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|
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|
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uint8_t supply_voltage(void)
|
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{ |
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return PINB & _BV(DETECT_12V);
|
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} |
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|
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void clear_err(void) |
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{ |
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error=0;
|
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PORTB &= ~(_BV(LED1)|_BV(LED2)); |
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|
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if(status==FAST_CHARGE)
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PORTB |= _BV(LED2); |
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|
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if(status==TRICKLE_CHARGE)
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PORTB |= _BV(LED1); |
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} |
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|
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void wait_8th(void) |
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{ |
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uint8_t start = abs_time % 8;
|
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|
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while(abs_time % 8 == start) |
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{ |
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/*if(supply_voltage())
|
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PORTB |= _BV(LED1);
|
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else
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PORTB &= ~_BV(LED1);
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if(get_voltage()>100)
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PORTB |= _BV(LED2);
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else
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PORTB &= ~_BV(LED2);*/
|
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} |
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} |
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|
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void send_err(void) |
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{ |
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OCR1B=0;//turn off the PWM to be safe |
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|
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PORTB &= ~(_BV(LED1)|_BV(LED2)); |
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if(status!=0)//leave last error if there was one |
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PORTA &= ~(_BV(debug_time)|_BV(debug_curr)|_BV(debug_volt)|_BV(debug_temp)|_BV(debug_12in)); |
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error=1;
|
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status=0;
|
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} |
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|
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void send_done(void) |
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{ |
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char tempData;
|
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//Finished, leave
|
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tempData = 'F';
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i2c_putpacket(0x01, &tempData, 1); |
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|
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PORTA &= ~(_BV(debug_time)|_BV(debug_curr)|_BV(debug_volt)|_BV(debug_temp)|_BV(debug_12in)); |
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|
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} |
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|
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void setup(void) |
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{ |
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DDRA = _BV(PA3); |
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#ifdef debug
|
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//DDRA = (_BV(debug_time)|_BV(debug_curr)|_BV(debug_volt)|_BV(debug_temp)|_BV(debug_12in));
|
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#endif
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PORTA = 0x00;
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DDRB = (_BV(ROBOT_TX)|_BV(PWM)|_BV(LED1)|_BV(LED2)); //confiure output pins
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PORTB = 0x00;
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|
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ADCSRA = (_BV(ADEN)|_BV(ADPS2)|_BV(ADPS1)); //start ADC with a division factor of 64
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|
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TCCR0B = (_BV(CS01)); //set timer 0 for realtime mode
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TCCR0A = (_BV(TCW0)); |
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TIMSK = (_BV(TOIE0)); //enable overflow interrupts
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|
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TCCR1A = (_BV(COM1B1)|_BV(PWM1B)|_BV(COM1A1)|_BV(PWM1A)); //clear timer 1 on compare, set at 0x00. Fast PWM mode
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TCCR1B |= _BV(CS10); //leave timer on and set compare to 0 to make output off
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|
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//hack stuff so it will run in continuous mode
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TIMSK |= _BV(TOIE1); //enable overflow interrupt for timer 1
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|
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OCR1B = 0;
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OCR1A = 0;
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|
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|
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RING_BUFFER_CLEAR(buffer); |
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RING_BUFFER_INIT(buffer, 12);
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for(int i=0;i<10;i++) |
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RING_BUFFER_ADD(buffer, 0);
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|
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sei(); |
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} |
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|
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|
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|
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|
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//takes a 7-bit ionteger and displays it on the 7 LEDs with the Green being the MSB
|
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void LED_out(int i) |
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{ |
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if(i & 64) |
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PORTB |= _BV(LED1); |
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else
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PORTB &= ~_BV(LED1); |
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|
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if(i & 32) |
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PORTB |= _BV(LED2); |
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else
|
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PORTB &= ~_BV(LED2); |
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|
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if(i & 16) |
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PORTA |= _BV(PA3); |
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else
|
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PORTA &= ~_BV(PA3); |
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|
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if(i & 8) |
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PORTA |= _BV(PA4); |
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else
|
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PORTA &= ~_BV(PA4); |
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|
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if(i & 4) |
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PORTA |= _BV(PA5); |
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else
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PORTA &= ~_BV(PA5); |
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|
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if(i & 2) |
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PORTA |= _BV(PA6); |
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else
|
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PORTA &= ~_BV(PA6); |
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|
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if(i & 1) |
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PORTA |= _BV(PA7); |
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else
|
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PORTA &= ~_BV(debug_12in); |
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} |
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|
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//get the difference of the current value minues the value 10 entires ago
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int ring_buffer_d10(int y) |
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{ |
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int x;
|
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RING_BUFFER_REMOVE(buffer, x); |
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|
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RING_BUFFER_ADD(buffer, y); |
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return y-x;
|
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} |
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|
342 |
|
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uint8_t read_homing() |
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{ |
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uint8_t ret = PINA & _BV(HOMING_PIN); |
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if(ret)
|
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PORTA |= _BV(PA3); |
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else
|
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PORTA &= ~_BV(PA3); |
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return ret;
|
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} |
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|
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//copied from scheduler/seeking.c
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uint8_t get_delay(void)
|
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{ |
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uint8_t count = 0;
|
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|
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PORTB|=_BV(LED2); |
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while(read_homing())
|
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{ |
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delay_ms(1);
|
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count++; |
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if (count >= 100) |
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return 1; |
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} //wait a beacon cycle to make sure we aren't starting the count in the middle of one
|
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PORTB&=~_BV(LED2); |
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count = 0;
|
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PORTB|=_BV(LED1); |
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while(!read_homing())
|
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{ |
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delay_ms(1);
|
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count++; |
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if(count==255) |
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return 2; |
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} |
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PORTB&=~_BV(LED1); |
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|
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/*RECH_PUTS("\n\rCount: ");
|
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RECH_PUTI(count);
|
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RECH_PUTC('.');*/
|
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|
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return count;
|
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} |
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|
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void trickle_charge(void) |
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{ |
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|
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abs_time = 0;
|
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status = 0;
|
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char tempData[5]; |
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char data[2]; |
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data[0]='D'; |
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int volt = 0; |
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int temp = 0; |
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int curr = 0; |
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int meas_count = 0; |
397 |
int mod=0; |
398 |
OCR1B = 0;
|
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|
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PORTB &= ~(_BV(LED1)|_BV(LED2)); |
401 |
|
402 |
|
403 |
while(status!=2) |
404 |
{ |
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mod=abs_time%4;
|
406 |
|
407 |
PORTB ^= _BV(LED2); |
408 |
|
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if(supply_voltage())
|
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while(abs_time%4==mod); |
411 |
|
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/* TIME TERMINATION */
|
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if(abs_time>12000) //12000=25 minutes |
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{ |
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//SEND_DONE
|
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OCR1B=0;
|
417 |
break;
|
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} |
419 |
|
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#if DEBUG
|
421 |
tempData[0] = 'C'; |
422 |
tempData[1] = abs_time>>8; |
423 |
tempData[2] = abs_time&0xFF; |
424 |
i2c_putpacket(0x01, tempData, 3); |
425 |
#endif
|
426 |
|
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mod=abs_time%4;
|
428 |
while(abs_time%4==mod) |
429 |
{ |
430 |
/* CONTACT */
|
431 |
if(supply_voltage())
|
432 |
{ |
433 |
PORTB |= _BV(LED1); |
434 |
//curr = regulate_current(500);
|
435 |
//+++curr = get_avg_current();
|
436 |
|
437 |
if(status==0) |
438 |
{ |
439 |
status=1;
|
440 |
data[1]='a'; |
441 |
i2c_putpacket(0x01, data, 2); |
442 |
data[1]=I2C_MSG_BATTERY_CHARGING;
|
443 |
i2c_putpacket(0x01, data, 2); |
444 |
} |
445 |
|
446 |
/* Trickle Charge */
|
447 |
if(status==1) |
448 |
OCR1B = 200;
|
449 |
} |
450 |
/* NO CONTACT */
|
451 |
else
|
452 |
{ |
453 |
PORTB &= ~_BV(LED1); |
454 |
if(status==1) |
455 |
{ |
456 |
status=0;
|
457 |
data[1]=I2C_MSG_CONTACT_ERROR;
|
458 |
i2c_putpacket(0x01, data, 2); |
459 |
} |
460 |
else
|
461 |
{ |
462 |
/*get_delay(); //reject the first reading //homing import stuff, uncomment this!!!!!!
|
463 |
data[0]=I2C_MSG_HOMING;
|
464 |
data[1]=get_delay();
|
465 |
i2c_putpacket(0x01, data, 2);*/
|
466 |
|
467 |
data[0]='D'; |
468 |
} |
469 |
curr = 0;
|
470 |
OCR1B = 0;
|
471 |
} |
472 |
} |
473 |
|
474 |
#if DEBUG
|
475 |
tempData[0] = 'P'; |
476 |
tempData[1] = 0; |
477 |
tempData[2] = OCR1B;
|
478 |
i2c_putpacket(0x01, tempData, 3); |
479 |
tempData[0] = 'I'; |
480 |
tempData[1] = curr>>8; |
481 |
tempData[2] = curr&0xFF; |
482 |
i2c_putpacket(0x01, tempData, 3); |
483 |
#endif
|
484 |
curr=6666;
|
485 |
|
486 |
/* Absolute Voltage Termination */
|
487 |
if(supply_voltage())
|
488 |
{ |
489 |
mod=abs_time%4;
|
490 |
while(abs_time%4==mod) |
491 |
{ |
492 |
volt = get_avg_voltage(); |
493 |
} |
494 |
|
495 |
if(volt>1010) |
496 |
{ |
497 |
//SEND ERROR
|
498 |
status=0;
|
499 |
} |
500 |
|
501 |
#if DEBUG
|
502 |
tempData[0] = 'V'; |
503 |
tempData[1] = volt>>8; |
504 |
tempData[2] = volt&0xFF; |
505 |
i2c_putpacket(0x01, tempData, 3); |
506 |
#endif
|
507 |
volt=6666;
|
508 |
|
509 |
/* Absolute Temperature Termination */
|
510 |
mod=abs_time%4;
|
511 |
while(abs_time%4==mod) |
512 |
{ |
513 |
temp = get_avg_temperature(); |
514 |
} |
515 |
|
516 |
if(temp<250) |
517 |
{ |
518 |
//SEND ERROR
|
519 |
status=0;
|
520 |
} |
521 |
|
522 |
#if DEBUG
|
523 |
tempData[0] = 'T'; |
524 |
tempData[1] = temp>>8; |
525 |
tempData[2] = temp&0xFF; |
526 |
i2c_putpacket(0x01, tempData, 3); |
527 |
#endif
|
528 |
} |
529 |
|
530 |
temp=6666;
|
531 |
} |
532 |
|
533 |
data[1]=I2C_MSG_BATTERY_FULL;
|
534 |
i2c_putpacket(0x01, data, 2); |
535 |
|
536 |
} |
537 |
|
538 |
int main(void) |
539 |
{ |
540 |
new_second=0;
|
541 |
char tempData[5]; //For i2c communication |
542 |
|
543 |
setup(); |
544 |
i2c_init(); |
545 |
|
546 |
|
547 |
/*GIMSK = (_BV(PCIE0)); //enable PCINT interrupts
|
548 |
PCMSK1 = (_BV(PCINT10)); //enable pin change interrupt on ROBOT_RX
|
549 |
MCUCR = (_BV(SE)|_BV(SM1));// (power-down mode)
|
550 |
*/
|
551 |
|
552 |
OCR1B=0;
|
553 |
|
554 |
sei(); |
555 |
|
556 |
//test delay_ms
|
557 |
PORTB|=_BV(LED2); |
558 |
PORTB|=_BV(LED1); |
559 |
delay_ms(1000);
|
560 |
PORTB&=~_BV(LED2); |
561 |
PORTB&=~_BV(LED1); |
562 |
|
563 |
//*******************************
|
564 |
while(1) |
565 |
trickle_charge(); |
566 |
|
567 |
/*GIMSK = (_BV(PCIE0)); //enable PCINT interrupts
|
568 |
sleep_cpu();*/
|
569 |
|
570 |
PORTB=0;//clear outputs |
571 |
|
572 |
GIMSK = 0;
|
573 |
|
574 |
error=0;
|
575 |
|
576 |
i2c_init(); |
577 |
int volt=0, last_volt=0, same_volt=0; |
578 |
int temp=0, dt; |
579 |
int curr=0; |
580 |
int meas_count;
|
581 |
int mod=0; |
582 |
|
583 |
status=FAST_CHARGE; |
584 |
|
585 |
while(1) |
586 |
{ |
587 |
mod=abs_time%4;
|
588 |
while(abs_time%4==mod); |
589 |
|
590 |
/*if((abs_time>>3)%3==0)
|
591 |
OCR1B=21;
|
592 |
else if((abs_time>>3)%3==1)
|
593 |
OCR1B=57;
|
594 |
else
|
595 |
OCR1B=85;*/
|
596 |
|
597 |
tempData[0] = 'C'; |
598 |
tempData[1] = abs_time>>8; |
599 |
tempData[2] = abs_time&0xFF; |
600 |
i2c_putpacket(0x01, tempData, 3); |
601 |
|
602 |
mod=abs_time%4;
|
603 |
while(abs_time%4==mod) |
604 |
{ |
605 |
/* CONTACT */
|
606 |
if(supply_voltage())
|
607 |
{ |
608 |
//curr = regulate_current(500);
|
609 |
curr = get_avg_current(); |
610 |
|
611 |
if(status==FAST_CHARGE)
|
612 |
OCR1B=50;
|
613 |
} |
614 |
/* NO CONTACT */
|
615 |
else
|
616 |
{ |
617 |
curr = 0;
|
618 |
OCR1B = 0;
|
619 |
} |
620 |
} |
621 |
|
622 |
|
623 |
tempData[0] = 'P'; |
624 |
tempData[1] = 0; |
625 |
tempData[2] = OCR1B;
|
626 |
i2c_putpacket(0x01, tempData, 3); |
627 |
tempData[0] = 'I'; |
628 |
tempData[1] = curr>>8; |
629 |
tempData[2] = curr&0xFF; |
630 |
i2c_putpacket(0x01, tempData, 3); |
631 |
curr=6666;
|
632 |
|
633 |
mod=abs_time%4;
|
634 |
while(abs_time%4==mod) |
635 |
{ |
636 |
volt = get_avg_voltage(); |
637 |
} |
638 |
|
639 |
//Same volt - Last volt upkeep
|
640 |
if(volt==last_volt && supply_voltage())
|
641 |
same_volt++; |
642 |
else
|
643 |
{ |
644 |
last_volt = volt; |
645 |
same_volt=0;
|
646 |
} |
647 |
|
648 |
|
649 |
tempData[0] = 'v'; |
650 |
tempData[1] = same_volt>>8; |
651 |
tempData[2] = same_volt&0xFF; |
652 |
i2c_putpacket(0x01, tempData, 3); |
653 |
|
654 |
/* Voltage Dip Termination */
|
655 |
if(volt<last_volt && same_volt>=VOLT_PLATEAU)
|
656 |
{ |
657 |
OCR1B=0;
|
658 |
status=0;
|
659 |
} |
660 |
|
661 |
tempData[0] = 'V'; |
662 |
tempData[1] = volt>>8; |
663 |
tempData[2] = volt&0xFF; |
664 |
i2c_putpacket(0x01, tempData, 3); |
665 |
|
666 |
volt=6666;
|
667 |
|
668 |
//Temp ring buffer upkeep
|
669 |
mod=abs_time%4;
|
670 |
while(abs_time%4==mod) |
671 |
{ |
672 |
temp = get_avg_temperature(); |
673 |
} |
674 |
|
675 |
dt=ring_buffer_d10(temp); |
676 |
|
677 |
tempData[0] = 't'; |
678 |
tempData[1] = dt>>8; |
679 |
tempData[2] = dt&0xFF; |
680 |
i2c_putpacket(0x01, tempData, 3); |
681 |
|
682 |
/* Temperature Rise Termination */
|
683 |
if(dt < MAX_DT && temp < MAX_DT_ABS)
|
684 |
{ |
685 |
status=0;
|
686 |
OCR1B=0;
|
687 |
} |
688 |
|
689 |
tempData[0] = 'T'; |
690 |
tempData[1] = temp>>8; |
691 |
tempData[2] = temp&0xFF; |
692 |
i2c_putpacket(0x01, tempData, 3); |
693 |
|
694 |
temp=6666;
|
695 |
} |
696 |
|
697 |
|
698 |
return 1; |
699 |
} |
700 |
|
701 |
ISR(TIMER0_OVF_vect) |
702 |
{ |
703 |
if(error)
|
704 |
PORTB ^= (_BV(LED1)|_BV(LED2)); |
705 |
|
706 |
interrupt_count--; |
707 |
if(interrupt_count==0) |
708 |
{ |
709 |
abs_time++; |
710 |
new_second=1;
|
711 |
|
712 |
interrupt_count=INT_COUNT; |
713 |
} |
714 |
} |
715 |
|
716 |
ISR(TIMER1_OVF_vect) |
717 |
{ |
718 |
wait(5); //wait a bit so we know the ouput gets set (which happens at timer = 0) |
719 |
|
720 |
TCNT1 = 156; // start out at 156. Now OCR1B - 156 = duty cycle |
721 |
} |
722 |
|
723 |
ISR(PCINT_vect){;} //so the interrupt doesnt go to the reset vector
|