Revision 336
Updated wireless to use a circular buffer instead of a queue using malloc. Tested on both the computer and robots with a token ring, and was successful.
| battery.c | ||
|---|---|---|
| 1 | 1 |
/** |
| 2 | 2 |
* Copyright (c) 2007 Colony Project |
| 3 |
* |
|
| 3 |
*
|
|
| 4 | 4 |
* Permission is hereby granted, free of charge, to any person |
| 5 | 5 |
* obtaining a copy of this software and associated documentation |
| 6 | 6 |
* files (the "Software"), to deal in the Software without |
| ... | ... | |
| 9 | 9 |
* copies of the Software, and to permit persons to whom the |
| 10 | 10 |
* Software is furnished to do so, subject to the following |
| 11 | 11 |
* conditions: |
| 12 |
* |
|
| 12 |
*
|
|
| 13 | 13 |
* The above copyright notice and this permission notice shall be |
| 14 | 14 |
* included in all copies or substantial portions of the Software. |
| 15 |
* |
|
| 15 |
*
|
|
| 16 | 16 |
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, |
| 17 | 17 |
* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES |
| 18 | 18 |
* OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND |
| ... | ... | |
| 48 | 48 |
/** |
| 49 | 49 |
* @defgroup battery Battery |
| 50 | 50 |
* @brief Functions for reading battery voltage. |
| 51 |
* |
|
| 51 |
*
|
|
| 52 | 52 |
* Contains functions for checking the current |
| 53 | 53 |
* voltage of the battery. Include battery.h to |
| 54 | 54 |
* access these functions. |
| ... | ... | |
| 82 | 82 |
int battery(void) |
| 83 | 83 |
{
|
| 84 | 84 |
/* 5 volts is the max, 255 is the max 8bit number , *2 for the divider */ |
| 85 |
return analog8(BATT_PORT) * 500 >>7; |
|
| 85 |
return analog8(BATT_PORT) * 500 >>7;
|
|
| 86 | 86 |
} |
| 87 | 87 |
|
| 88 | 88 |
|
| ... | ... | |
| 99 | 99 |
{
|
| 100 | 100 |
static char next_read = 0; |
| 101 | 101 |
static char ret = 0; |
| 102 |
|
|
| 102 |
|
|
| 103 | 103 |
int batt_reading = battery8(); |
| 104 | 104 |
|
| 105 | 105 |
if(next_read == 0) {
|
| 106 |
if(batt_reading > BATTERY_LOWV) {
|
|
| 107 |
ret = 0; |
|
| 108 |
battery_low_count = 0; |
|
| 109 |
} else {
|
|
| 110 |
battery_low_count++; |
|
| 111 |
if( battery_low_count >= MAX_LOW_COUNT) {
|
|
| 112 |
ret = 1; |
|
| 106 |
if(batt_reading > BATTERY_LOWV) |
|
| 107 |
{
|
|
| 108 |
ret = 0; |
|
| 113 | 109 |
battery_low_count = 0; |
| 114 |
} |
|
| 115 | 110 |
} |
| 116 |
|
|
| 111 |
else |
|
| 112 |
{
|
|
| 113 |
battery_low_count++; |
|
| 114 |
if( battery_low_count >= MAX_LOW_COUNT ) |
|
| 115 |
{
|
|
| 116 |
ret = 1; |
|
| 117 |
battery_low_count = 0; |
|
| 118 |
} |
|
| 119 |
} |
|
| 120 |
|
|
| 117 | 121 |
next_read = BATTERY_NEXT_READ_PRESCALAR; |
| 118 |
} else {
|
|
| 119 |
next_read--; |
|
| 120 | 122 |
} |
| 121 |
|
|
| 123 |
else next_read--; |
|
| 124 |
|
|
| 122 | 125 |
return ret; |
| 123 | 126 |
} |
| 124 | 127 |
|
| ... | ... | |
| 139 | 142 |
{
|
| 140 | 143 |
int i; |
| 141 | 144 |
long int sum = 0; |
| 142 |
|
|
| 145 |
|
|
| 143 | 146 |
for(i = 0; i < n_samples; i++) {
|
| 144 | 147 |
sum += battery8(); |
| 145 | 148 |
} |
| 146 |
|
|
| 149 |
|
|
| 147 | 150 |
return (int)(sum / n_samples); |
| 148 | 151 |
} |
| 149 | 152 |
|
| 150 | 153 |
/** @} **/ //end defgroup |
| 154 |
|
|
Also available in: Unified diff