root / branches / autonomous_recharging / code / projects / autonomous_recharging / archs / ConstantCharging.c @ 267
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1 | 80 | bneuman | #include <avr/io.h> |
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2 | #include <avr/interrupt.h> |
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3 | #include <avr/sleep.h> |
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4 | #include "i2c.h" |
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5 | #include "ring_buffer.h" |
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6 | |||
7 | |||
8 | // for i2c_byte coming from charge board
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9 | //I2C Message Codes
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10 | #define I2C_MSG_ACKNOWLEDGE 'A' |
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11 | #define I2C_MSG_BATTERY_CHARGING 'C' |
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12 | #define I2C_MSG_DATA 'D' |
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13 | #define I2C_MSG_CONTACT_ERROR 'E' |
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14 | #define I2C_MSG_BATTERY_FULL 'F' |
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15 | #define I2C_MSG_NO_CONTACT 'N' |
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16 | #define I2C_MSG_REQUEST_DATA 'R' |
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17 | #define I2C_MSG_GO_TO_SLEEP 'Y' |
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18 | #define I2C_MSG_ENTERING_SLEEP 'Z' |
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19 | #define I2C_MSG_HOMING 'H' |
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20 | |||
21 | |||
22 | #define SW0 PA6
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23 | #define HOMING_PIN PA7
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24 | |||
25 | 266 | bneuman | //#define DEBUG 1
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26 | 80 | bneuman | |
27 | #define MAX_T 300 |
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28 | #define MIN_T 730 |
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29 | //range is 0 to 45 C
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30 | //cal tests:
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31 | //room temp - 25
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32 | //value ~500, varies from battery to battery, but is consistent on one battery
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33 | //freezer 737
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34 | //heat gun at a distance 461
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35 | |||
36 | #define MAX_DT -4 //this is the LOWEST ACCEPTABLE ADC value |
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37 | #define MAX_DT_ABS 400 |
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38 | #define VOLT_PLATEAU 50 |
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39 | |||
40 | |||
41 | //The following times are in seconds
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42 | #define MAX_FAST_TIME 5400 |
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43 | #define MAX_TRICKLE_TIME 600 |
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44 | |||
45 | //debug pins
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46 | #define debug_time PA3
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47 | #define debug_curr PA4
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48 | #define debug_volt PA5
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49 | #define debug_temp PA6
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50 | #define debug_12in PA7
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51 | |||
52 | //be sure admux also sets the MUX5 bit which is in ADCSRB
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53 | #define ADMUX_I
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54 | #define ADMUX_V
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55 | #define ADMUX_T
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56 | |||
57 | #define ROBOT_TX PB1
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58 | #define ROBOT_RX PB2
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59 | #define PWM PB3
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60 | #define DETECT_12V PB6
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61 | |||
62 | #define LED1 PB4 //Green |
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63 | #define LED2 PB5 //Red |
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64 | |||
65 | |||
66 | //LED States:
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67 | //Red - Fast Charging
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68 | //Green - Trickle Charging
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69 | //Both steady - done charging
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70 | //Both Blinking - Error
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71 | |||
72 | #define INT_COUNT 2 //interrupts per second |
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73 | #define AVG_COUNT 64 //number of times to count current |
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74 | |||
75 | //To enable the PWM write : TCCR1B = (_Bv(CS10));//enable PWM
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76 | |||
77 | uint8_t interrupt_count = INT_COUNT; |
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78 | |||
79 | volatile uint32_t abs_time=1; // start at one second so it doesnt do the minute checks right away |
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80 | volatile uint8_t new_second=0; //only used as a boolean |
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81 | |||
82 | volatile uint8_t error=0; |
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83 | volatile uint8_t status;
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84 | |||
85 | volatile uint8_t steady_current = 0; |
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86 | |||
87 | //DT must be triggered twice in a row
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88 | volatile uint8_t last_DT = 0; |
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89 | //same for DV
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90 | volatile uint8_t last_DV = 0; |
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91 | |||
92 | #define FAST_CHARGE 1 |
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93 | #define TRICKLE_CHARGE 2 |
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94 | |||
95 | RING_BUFFER_NEW(ring_buffer, 12, int, buffer); |
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96 | |||
97 | void wait(int ops) |
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98 | { |
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99 | int i = 0; |
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100 | while(i<ops)
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101 | i++; |
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102 | } |
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103 | |||
104 | |||
105 | |||
106 | int avg_ADC(void) |
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107 | { |
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108 | int av;
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109 | char i;
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110 | |||
111 | //Calculate a average out of the next 8 A/D conversions
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112 | for(av=0,i=8;i;--i) |
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113 | { |
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114 | ADCSRA |= _BV(ADSC); // start new A/D conversion
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115 | while (!(ADCSRA & (_BV(ADIF)))) // wait until ADC is ready |
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116 | ; |
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117 | av = av+ADC; |
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118 | } |
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119 | av = av/8;
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120 | |||
121 | //ADCSRA &= ~_BV(ADEN);
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122 | |||
123 | return av;
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124 | |||
125 | } |
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126 | |||
127 | int get_voltage(void) |
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128 | { |
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129 | ADMUX = _BV(MUX0); |
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130 | |||
131 | ADCSRB &= ~_BV(MUX5); |
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132 | |||
133 | return avg_ADC();
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134 | } |
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135 | |||
136 | int get_current(void) |
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137 | { |
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138 | ADMUX = _BV(MUX1); |
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139 | |||
140 | ADCSRB |= _BV(MUX5); |
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141 | |||
142 | return avg_ADC();
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143 | } |
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144 | |||
145 | int get_temperature(void) |
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146 | { |
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147 | ADMUX = _BV(MUX1); |
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148 | |||
149 | ADCSRB &= ~_BV(MUX5); |
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150 | |||
151 | return avg_ADC();
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152 | } |
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153 | |||
154 | int get_avg_voltage(void) |
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155 | { |
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156 | int count=0; |
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157 | uint32_t sum=0;
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158 | |||
159 | //OCR1B =120;
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160 | while(count < AVG_COUNT)
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161 | { |
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162 | sum += get_voltage(); |
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163 | count++; |
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164 | } |
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165 | |||
166 | return sum/AVG_COUNT;
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167 | } |
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168 | |||
169 | int get_avg_current(void) |
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170 | { |
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171 | int count=0; |
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172 | uint32_t sum=0;
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173 | |||
174 | //OCR1B =120;
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175 | while(count < AVG_COUNT)
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176 | { |
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177 | sum += get_current(); |
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178 | count++; |
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179 | } |
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180 | |||
181 | return sum/AVG_COUNT;
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182 | } |
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183 | |||
184 | int get_avg_temperature(void) |
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185 | { |
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186 | int count=0; |
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187 | uint32_t sum=0;
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188 | |||
189 | //OCR1B =120;
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190 | while(count < AVG_COUNT)
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191 | { |
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192 | sum += get_temperature(); |
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193 | count++; |
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194 | } |
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195 | |||
196 | return sum/AVG_COUNT;
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197 | } |
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198 | |||
199 | |||
200 | uint8_t supply_voltage(void)
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201 | { |
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202 | return PINB & _BV(DETECT_12V);
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203 | } |
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204 | |||
205 | void clear_err(void) |
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206 | { |
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207 | error=0;
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208 | PORTB &= ~(_BV(LED1)|_BV(LED2)); |
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209 | |||
210 | if(status==FAST_CHARGE)
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211 | PORTB |= _BV(LED2); |
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212 | |||
213 | if(status==TRICKLE_CHARGE)
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214 | PORTB |= _BV(LED1); |
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215 | } |
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216 | |||
217 | void wait_8th(void) |
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218 | { |
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219 | uint8_t start = abs_time % 8;
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220 | |||
221 | while(abs_time % 8 == start) |
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222 | { |
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223 | /*if(supply_voltage())
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224 | PORTB |= _BV(LED1);
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225 | else
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226 | PORTB &= ~_BV(LED1);
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227 | if(get_voltage()>100)
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228 | PORTB |= _BV(LED2);
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229 | else
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230 | PORTB &= ~_BV(LED2);*/
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231 | } |
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232 | } |
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233 | |||
234 | void send_err(void) |
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235 | { |
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236 | OCR1B=0;//turn off the PWM to be safe |
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237 | |||
238 | PORTB &= ~(_BV(LED1)|_BV(LED2)); |
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239 | if(status!=0)//leave last error if there was one |
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240 | PORTA &= ~(_BV(debug_time)|_BV(debug_curr)|_BV(debug_volt)|_BV(debug_temp)|_BV(debug_12in)); |
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241 | error=1;
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242 | status=0;
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243 | } |
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244 | |||
245 | void send_done(void) |
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246 | { |
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247 | char tempData;
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248 | //Finished, leave
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249 | tempData = 'F';
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250 | i2c_putpacket(0x01, &tempData, 1); |
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251 | |||
252 | PORTA &= ~(_BV(debug_time)|_BV(debug_curr)|_BV(debug_volt)|_BV(debug_temp)|_BV(debug_12in)); |
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253 | |||
254 | } |
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255 | |||
256 | void setup(void) |
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257 | { |
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258 | DDRA = _BV(PA3); |
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259 | #ifdef debug
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260 | //DDRA = (_BV(debug_time)|_BV(debug_curr)|_BV(debug_volt)|_BV(debug_temp)|_BV(debug_12in));
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261 | #endif
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262 | PORTA = 0x00;
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263 | DDRB = (_BV(ROBOT_TX)|_BV(PWM)|_BV(LED1)|_BV(LED2)); //confiure output pins
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264 | PORTB = 0x00;
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265 | |||
266 | ADCSRA = (_BV(ADEN)|_BV(ADPS2)|_BV(ADPS1)); //start ADC with a division factor of 64
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267 | |||
268 | TCCR0B = (_BV(CS01)); //set timer 0 for realtime mode
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269 | TCCR0A = (_BV(TCW0)); |
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270 | TIMSK = (_BV(TOIE0)); //enable overflow interrupts
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271 | |||
272 | TCCR1A = (_BV(COM1B1)|_BV(PWM1B)|_BV(COM1A1)|_BV(PWM1A)); //clear timer 1 on compare, set at 0x00. Fast PWM mode
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273 | 266 | bneuman | TCCR1B |= _BV(CS10); //leave timer on and set compare to 0 to make output off
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274 | 264 | bneuman | |
275 | //hack stuff so it will run in continuous mode
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276 | TIMSK |= _BV(TOIE1); //enable overflow interrupt for timer 1
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277 | |||
278 | 80 | bneuman | OCR1B = 0;
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279 | OCR1A = 0;
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280 | |||
281 | |||
282 | RING_BUFFER_CLEAR(buffer); |
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283 | RING_BUFFER_INIT(buffer, 12);
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284 | for(int i=0;i<10;i++) |
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285 | RING_BUFFER_ADD(buffer, 0);
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286 | |||
287 | sei(); |
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288 | } |
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289 | |||
290 | |||
291 | |||
292 | |||
293 | //takes a 7-bit ionteger and displays it on the 7 LEDs with the Green being the MSB
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294 | void LED_out(int i) |
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295 | { |
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296 | if(i & 64) |
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297 | PORTB |= _BV(LED1); |
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298 | else
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299 | PORTB &= ~_BV(LED1); |
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300 | |||
301 | if(i & 32) |
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302 | PORTB |= _BV(LED2); |
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303 | else
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304 | PORTB &= ~_BV(LED2); |
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305 | |||
306 | if(i & 16) |
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307 | PORTA |= _BV(PA3); |
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308 | else
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309 | PORTA &= ~_BV(PA3); |
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310 | |||
311 | if(i & 8) |
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312 | PORTA |= _BV(PA4); |
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313 | else
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314 | PORTA &= ~_BV(PA4); |
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315 | |||
316 | if(i & 4) |
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317 | PORTA |= _BV(PA5); |
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318 | else
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319 | PORTA &= ~_BV(PA5); |
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320 | |||
321 | if(i & 2) |
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322 | PORTA |= _BV(PA6); |
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323 | else
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324 | PORTA &= ~_BV(PA6); |
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325 | |||
326 | if(i & 1) |
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327 | PORTA |= _BV(PA7); |
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328 | else
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329 | PORTA &= ~_BV(debug_12in); |
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330 | } |
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331 | |||
332 | //get the difference of the current value minues the value 10 entires ago
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333 | int ring_buffer_d10(int y) |
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334 | { |
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335 | int x;
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336 | RING_BUFFER_REMOVE(buffer, x); |
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337 | |||
338 | RING_BUFFER_ADD(buffer, y); |
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339 | return y-x;
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340 | } |
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341 | |||
342 | |||
343 | uint8_t read_homing() |
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344 | { |
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345 | uint8_t ret = PINA & _BV(HOMING_PIN); |
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346 | if(ret)
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347 | PORTA |= _BV(PA3); |
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348 | else
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349 | PORTA &= ~_BV(PA3); |
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350 | return ret;
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351 | } |
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352 | |||
353 | //copied from scheduler/seeking.c
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354 | uint8_t get_delay(void)
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355 | { |
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356 | uint8_t count = 0;
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357 | |||
358 | PORTB|=_BV(LED2); |
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359 | while(read_homing())
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360 | { |
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361 | delay_ms(1);
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362 | count++; |
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363 | if (count >= 100) |
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364 | return 1; |
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365 | } //wait a beacon cycle to make sure we aren't starting the count in the middle of one
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366 | PORTB&=~_BV(LED2); |
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367 | count = 0;
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368 | PORTB|=_BV(LED1); |
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369 | while(!read_homing())
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370 | { |
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371 | delay_ms(1);
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372 | count++; |
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373 | if(count==255) |
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374 | return 2; |
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375 | } |
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376 | PORTB&=~_BV(LED1); |
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377 | |||
378 | /*RECH_PUTS("\n\rCount: ");
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379 | RECH_PUTI(count);
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380 | RECH_PUTC('.');*/
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381 | |||
382 | return count;
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383 | } |
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384 | |||
385 | void trickle_charge(void) |
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386 | { |
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387 | |||
388 | abs_time = 0;
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389 | status = 0;
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390 | char tempData[5]; |
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391 | char data[2]; |
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392 | data[0]='D'; |
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393 | int volt = 0; |
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394 | int temp = 0; |
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395 | int curr = 0; |
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396 | int meas_count = 0; |
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397 | int mod=0; |
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398 | OCR1B = 0;
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399 | |||
400 | 266 | bneuman | PORTB &= ~(_BV(LED1)|_BV(LED2)); |
401 | |||
402 | |||
403 | 80 | bneuman | while(status!=2) |
404 | { |
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405 | mod=abs_time%4;
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406 | |||
407 | 266 | bneuman | PORTB ^= _BV(LED2); |
408 | |||
409 | 80 | bneuman | if(supply_voltage())
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410 | while(abs_time%4==mod); |
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411 | |||
412 | /* TIME TERMINATION */
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413 | 266 | bneuman | if(abs_time>12000) //12000=25 minutes |
414 | 80 | bneuman | { |
415 | //SEND_DONE
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416 | OCR1B=0;
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417 | break;
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418 | } |
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419 | |||
420 | #if DEBUG
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421 | tempData[0] = 'C'; |
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422 | tempData[1] = abs_time>>8; |
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423 | tempData[2] = abs_time&0xFF; |
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424 | i2c_putpacket(0x01, tempData, 3); |
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425 | #endif
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426 | |||
427 | mod=abs_time%4;
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428 | while(abs_time%4==mod) |
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429 | { |
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430 | /* CONTACT */
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431 | if(supply_voltage())
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432 | { |
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433 | 266 | bneuman | PORTB |= _BV(LED1); |
434 | 80 | bneuman | //curr = regulate_current(500);
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435 | 266 | bneuman | //+++curr = get_avg_current();
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436 | 80 | bneuman | |
437 | if(status==0) |
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438 | { |
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439 | status=1;
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440 | data[1]='a'; |
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441 | i2c_putpacket(0x01, data, 2); |
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442 | data[1]=I2C_MSG_BATTERY_CHARGING;
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443 | i2c_putpacket(0x01, data, 2); |
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444 | } |
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445 | |||
446 | /* Trickle Charge */
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447 | if(status==1) |
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448 | 264 | bneuman | OCR1B = 200;
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449 | 80 | bneuman | } |
450 | /* NO CONTACT */
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451 | else
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452 | { |
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453 | 266 | bneuman | PORTB &= ~_BV(LED1); |
454 | 80 | bneuman | if(status==1) |
455 | { |
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456 | status=0;
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457 | data[1]=I2C_MSG_CONTACT_ERROR;
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458 | i2c_putpacket(0x01, data, 2); |
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459 | } |
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460 | else
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461 | { |
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462 | 266 | bneuman | /*get_delay(); //reject the first reading //homing import stuff, uncomment this!!!!!!
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463 | 80 | bneuman | data[0]=I2C_MSG_HOMING;
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464 | data[1]=get_delay();
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465 | 266 | bneuman | i2c_putpacket(0x01, data, 2);*/
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466 | 80 | bneuman | |
467 | data[0]='D'; |
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468 | } |
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469 | curr = 0;
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470 | OCR1B = 0;
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471 | } |
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472 | } |
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473 | |||
474 | #if DEBUG
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475 | tempData[0] = 'P'; |
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476 | tempData[1] = 0; |
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477 | tempData[2] = OCR1B;
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478 | i2c_putpacket(0x01, tempData, 3); |
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479 | tempData[0] = 'I'; |
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480 | tempData[1] = curr>>8; |
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481 | tempData[2] = curr&0xFF; |
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482 | i2c_putpacket(0x01, tempData, 3); |
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483 | #endif
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484 | curr=6666;
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485 | |||
486 | /* Absolute Voltage Termination */
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487 | if(supply_voltage())
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488 | { |
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489 | mod=abs_time%4;
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490 | while(abs_time%4==mod) |
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491 | { |
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492 | volt = get_avg_voltage(); |
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493 | } |
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494 | |||
495 | if(volt>1010) |
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496 | { |
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497 | //SEND ERROR
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498 | status=0;
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499 | } |
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500 | |||
501 | #if DEBUG
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502 | tempData[0] = 'V'; |
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503 | tempData[1] = volt>>8; |
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504 | tempData[2] = volt&0xFF; |
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505 | i2c_putpacket(0x01, tempData, 3); |
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506 | #endif
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507 | volt=6666;
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508 | |||
509 | /* Absolute Temperature Termination */
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510 | mod=abs_time%4;
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511 | while(abs_time%4==mod) |
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512 | { |
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513 | temp = get_avg_temperature(); |
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514 | } |
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515 | |||
516 | if(temp<250) |
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517 | { |
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518 | //SEND ERROR
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519 | status=0;
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520 | } |
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521 | |||
522 | #if DEBUG
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523 | tempData[0] = 'T'; |
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524 | tempData[1] = temp>>8; |
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525 | tempData[2] = temp&0xFF; |
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526 | i2c_putpacket(0x01, tempData, 3); |
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527 | #endif
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528 | } |
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529 | |||
530 | temp=6666;
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531 | } |
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532 | |||
533 | data[1]=I2C_MSG_BATTERY_FULL;
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534 | i2c_putpacket(0x01, data, 2); |
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535 | |||
536 | } |
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537 | |||
538 | int main(void) |
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539 | { |
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540 | new_second=0;
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541 | char tempData[5]; //For i2c communication |
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542 | |||
543 | setup(); |
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544 | i2c_init(); |
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545 | |||
546 | |||
547 | /*GIMSK = (_BV(PCIE0)); //enable PCINT interrupts
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548 | PCMSK1 = (_BV(PCINT10)); //enable pin change interrupt on ROBOT_RX
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549 | MCUCR = (_BV(SE)|_BV(SM1));// (power-down mode)
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550 | */
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551 | |||
552 | OCR1B=0;
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553 | |||
554 | sei(); |
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555 | |||
556 | //test delay_ms
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557 | PORTB|=_BV(LED2); |
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558 | PORTB|=_BV(LED1); |
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559 | delay_ms(1000);
|
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560 | PORTB&=~_BV(LED2); |
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561 | PORTB&=~_BV(LED1); |
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562 | |||
563 | //*******************************
|
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564 | while(1) |
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565 | trickle_charge(); |
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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; |
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580 | int meas_count;
|
||
581 | int mod=0; |
||
582 | |||
583 | status=FAST_CHARGE; |
||
584 | |||
585 | while(1) |
||
586 | { |
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587 | mod=abs_time%4;
|
||
588 | while(abs_time%4==mod); |
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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) |
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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 | 264 | bneuman | ISR(TIMER1_OVF_vect) |
717 | { |
||
718 | 266 | bneuman | wait(5); //wait a bit so we know the ouput gets set (which happens at timer = 0) |
719 | 264 | bneuman | |
720 | TCNT1 = 156; // start out at 156. Now OCR1B - 156 = duty cycle |
||
721 | } |
||
722 | |||
723 | 80 | bneuman | ISR(PCINT_vect){;} //so the interrupt doesnt go to the reset vector |