root / branches / autonomous_recharging / code / projects / autonomous_recharging / archs / ConstantCharging.c @ 356
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1 | 80 | bneuman | #include <avr/io.h> |
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2 | 355 | bneuman | #include <avr/io.h> |
3 | 80 | bneuman | #include <avr/interrupt.h> |
4 | #include <avr/sleep.h> |
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5 | 355 | bneuman | #include "ring_buffer.h" |
6 | 80 | bneuman | #include "i2c.h" |
7 | |||
8 | |||
9 | // for i2c_byte coming from charge board
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10 | //I2C Message Codes
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11 | #define I2C_MSG_ACKNOWLEDGE 'A' |
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12 | #define I2C_MSG_BATTERY_CHARGING 'C' |
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13 | #define I2C_MSG_DATA 'D' |
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14 | #define I2C_MSG_CONTACT_ERROR 'E' |
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15 | #define I2C_MSG_BATTERY_FULL 'F' |
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16 | #define I2C_MSG_NO_CONTACT 'N' |
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17 | #define I2C_MSG_REQUEST_DATA 'R' |
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18 | #define I2C_MSG_GO_TO_SLEEP 'Y' |
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19 | #define I2C_MSG_ENTERING_SLEEP 'Z' |
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20 | #define I2C_MSG_HOMING 'H' |
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21 | |||
22 | |||
23 | #define SW0 PA6
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24 | #define HOMING_PIN PA7
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25 | |||
26 | 355 | bneuman | #define DEBUG 0 |
27 | #define USE_I2C 1 |
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28 | 80 | bneuman | |
29 | 355 | bneuman | |
30 | 80 | bneuman | #define MAX_T 300 |
31 | #define MIN_T 730 |
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32 | //range is 0 to 45 C
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33 | //cal tests:
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34 | //room temp - 25
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35 | //value ~500, varies from battery to battery, but is consistent on one battery
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36 | //freezer 737
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37 | //heat gun at a distance 461
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38 | |||
39 | #define MAX_DT -4 //this is the LOWEST ACCEPTABLE ADC value |
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40 | #define MAX_DT_ABS 400 |
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41 | #define VOLT_PLATEAU 50 |
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42 | |||
43 | |||
44 | //The following times are in seconds
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45 | #define MAX_FAST_TIME 5400 |
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46 | #define MAX_TRICKLE_TIME 600 |
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47 | |||
48 | //debug pins
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49 | #define debug_time PA3
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50 | #define debug_curr PA4
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51 | #define debug_volt PA5
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52 | #define debug_temp PA6
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53 | #define debug_12in PA7
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54 | |||
55 | //be sure admux also sets the MUX5 bit which is in ADCSRB
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56 | #define ADMUX_I
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57 | #define ADMUX_V
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58 | #define ADMUX_T
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59 | |||
60 | #define ROBOT_TX PB1
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61 | #define ROBOT_RX PB2
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62 | #define PWM PB3
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63 | #define DETECT_12V PB6
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64 | |||
65 | #define LED1 PB4 //Green |
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66 | #define LED2 PB5 //Red |
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67 | |||
68 | |||
69 | //LED States:
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70 | //Red - Fast Charging
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71 | //Green - Trickle Charging
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72 | //Both steady - done charging
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73 | //Both Blinking - Error
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74 | |||
75 | #define INT_COUNT 2 //interrupts per second |
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76 | #define AVG_COUNT 64 //number of times to count current |
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77 | |||
78 | //To enable the PWM write : TCCR1B = (_Bv(CS10));//enable PWM
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79 | |||
80 | uint8_t interrupt_count = INT_COUNT; |
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81 | |||
82 | volatile uint32_t abs_time=1; // start at one second so it doesnt do the minute checks right away |
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83 | volatile uint8_t new_second=0; //only used as a boolean |
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84 | |||
85 | volatile uint8_t error=0; |
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86 | volatile uint8_t status;
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87 | |||
88 | volatile uint8_t steady_current = 0; |
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89 | |||
90 | //DT must be triggered twice in a row
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91 | volatile uint8_t last_DT = 0; |
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92 | //same for DV
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93 | volatile uint8_t last_DV = 0; |
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94 | |||
95 | #define FAST_CHARGE 1 |
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96 | #define TRICKLE_CHARGE 2 |
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97 | |||
98 | RING_BUFFER_NEW(ring_buffer, 12, int, buffer); |
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99 | |||
100 | void wait(int ops) |
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101 | { |
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102 | int i = 0; |
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103 | while(i<ops)
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104 | i++; |
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105 | } |
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106 | |||
107 | |||
108 | |||
109 | int avg_ADC(void) |
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110 | { |
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111 | int av;
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112 | char i;
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113 | |||
114 | //Calculate a average out of the next 8 A/D conversions
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115 | for(av=0,i=8;i;--i) |
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116 | { |
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117 | ADCSRA |= _BV(ADSC); // start new A/D conversion
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118 | while (!(ADCSRA & (_BV(ADIF)))) // wait until ADC is ready |
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119 | ; |
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120 | av = av+ADC; |
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121 | } |
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122 | av = av/8;
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123 | |||
124 | //ADCSRA &= ~_BV(ADEN);
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125 | |||
126 | return av;
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127 | |||
128 | } |
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129 | |||
130 | int get_voltage(void) |
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131 | { |
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132 | ADMUX = _BV(MUX0); |
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133 | |||
134 | ADCSRB &= ~_BV(MUX5); |
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135 | |||
136 | return avg_ADC();
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137 | } |
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138 | |||
139 | int get_current(void) |
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140 | { |
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141 | ADMUX = _BV(MUX1); |
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142 | |||
143 | ADCSRB |= _BV(MUX5); |
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144 | |||
145 | return avg_ADC();
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146 | } |
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147 | |||
148 | int get_temperature(void) |
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149 | { |
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150 | ADMUX = _BV(MUX1); |
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151 | |||
152 | ADCSRB &= ~_BV(MUX5); |
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153 | |||
154 | return avg_ADC();
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155 | } |
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156 | |||
157 | int get_avg_voltage(void) |
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158 | { |
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159 | int count=0; |
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160 | uint32_t sum=0;
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161 | |||
162 | //OCR1B =120;
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163 | while(count < AVG_COUNT)
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164 | { |
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165 | sum += get_voltage(); |
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166 | count++; |
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167 | } |
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168 | |||
169 | return sum/AVG_COUNT;
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170 | } |
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171 | |||
172 | int get_avg_current(void) |
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173 | { |
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174 | int count=0; |
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175 | uint32_t sum=0;
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176 | |||
177 | //OCR1B =120;
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178 | while(count < AVG_COUNT)
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179 | { |
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180 | sum += get_current(); |
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181 | count++; |
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182 | } |
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183 | |||
184 | return sum/AVG_COUNT;
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185 | } |
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186 | |||
187 | int get_avg_temperature(void) |
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188 | { |
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189 | int count=0; |
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190 | uint32_t sum=0;
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191 | |||
192 | //OCR1B =120;
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193 | while(count < AVG_COUNT)
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194 | { |
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195 | sum += get_temperature(); |
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196 | count++; |
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197 | } |
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198 | |||
199 | return sum/AVG_COUNT;
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200 | } |
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201 | |||
202 | |||
203 | uint8_t supply_voltage(void)
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204 | { |
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205 | return PINB & _BV(DETECT_12V);
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206 | } |
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207 | |||
208 | void clear_err(void) |
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209 | { |
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210 | error=0;
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211 | PORTB &= ~(_BV(LED1)|_BV(LED2)); |
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212 | |||
213 | if(status==FAST_CHARGE)
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214 | PORTB |= _BV(LED2); |
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215 | |||
216 | if(status==TRICKLE_CHARGE)
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217 | PORTB |= _BV(LED1); |
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218 | } |
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219 | |||
220 | void wait_8th(void) |
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221 | { |
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222 | uint8_t start = abs_time % 8;
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223 | |||
224 | while(abs_time % 8 == start) |
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225 | { |
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226 | /*if(supply_voltage())
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227 | PORTB |= _BV(LED1);
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228 | else
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229 | PORTB &= ~_BV(LED1);
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230 | if(get_voltage()>100)
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231 | PORTB |= _BV(LED2);
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232 | else
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233 | PORTB &= ~_BV(LED2);*/
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234 | } |
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235 | } |
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236 | |||
237 | void send_err(void) |
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238 | { |
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239 | OCR1B=0;//turn off the PWM to be safe |
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240 | |||
241 | PORTB &= ~(_BV(LED1)|_BV(LED2)); |
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242 | if(status!=0)//leave last error if there was one |
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243 | PORTA &= ~(_BV(debug_time)|_BV(debug_curr)|_BV(debug_volt)|_BV(debug_temp)|_BV(debug_12in)); |
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244 | error=1;
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245 | status=0;
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246 | } |
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247 | |||
248 | void send_done(void) |
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249 | { |
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250 | 355 | bneuman | |
251 | #if use_I2C
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252 | 80 | bneuman | char tempData;
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253 | //Finished, leave
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254 | tempData = 'F';
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255 | i2c_putpacket(0x01, &tempData, 1); |
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256 | 355 | bneuman | #endif
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257 | 80 | bneuman | |
258 | PORTA &= ~(_BV(debug_time)|_BV(debug_curr)|_BV(debug_volt)|_BV(debug_temp)|_BV(debug_12in)); |
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259 | |||
260 | } |
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261 | |||
262 | void setup(void) |
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263 | { |
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264 | DDRA = _BV(PA3); |
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265 | 355 | bneuman | #if DEBUG
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266 | 80 | bneuman | //DDRA = (_BV(debug_time)|_BV(debug_curr)|_BV(debug_volt)|_BV(debug_temp)|_BV(debug_12in));
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267 | #endif
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268 | PORTA = 0x00;
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269 | DDRB = (_BV(ROBOT_TX)|_BV(PWM)|_BV(LED1)|_BV(LED2)); //confiure output pins
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270 | PORTB = 0x00;
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271 | |||
272 | ADCSRA = (_BV(ADEN)|_BV(ADPS2)|_BV(ADPS1)); //start ADC with a division factor of 64
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273 | |||
274 | TCCR0B = (_BV(CS01)); //set timer 0 for realtime mode
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275 | TCCR0A = (_BV(TCW0)); |
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276 | TIMSK = (_BV(TOIE0)); //enable overflow interrupts
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277 | |||
278 | TCCR1A = (_BV(COM1B1)|_BV(PWM1B)|_BV(COM1A1)|_BV(PWM1A)); //clear timer 1 on compare, set at 0x00. Fast PWM mode
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279 | 266 | bneuman | TCCR1B |= _BV(CS10); //leave timer on and set compare to 0 to make output off
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280 | 264 | bneuman | |
281 | //hack stuff so it will run in continuous mode
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282 | TIMSK |= _BV(TOIE1); //enable overflow interrupt for timer 1
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283 | |||
284 | 80 | bneuman | OCR1B = 0;
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285 | OCR1A = 0;
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286 | |||
287 | |||
288 | RING_BUFFER_CLEAR(buffer); |
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289 | RING_BUFFER_INIT(buffer, 12);
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290 | for(int i=0;i<10;i++) |
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291 | RING_BUFFER_ADD(buffer, 0);
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292 | |||
293 | sei(); |
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294 | } |
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295 | |||
296 | |||
297 | |||
298 | |||
299 | //takes a 7-bit ionteger and displays it on the 7 LEDs with the Green being the MSB
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300 | void LED_out(int i) |
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301 | { |
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302 | if(i & 64) |
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303 | PORTB |= _BV(LED1); |
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304 | else
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305 | PORTB &= ~_BV(LED1); |
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306 | |||
307 | if(i & 32) |
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308 | PORTB |= _BV(LED2); |
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309 | else
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310 | PORTB &= ~_BV(LED2); |
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311 | |||
312 | if(i & 16) |
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313 | PORTA |= _BV(PA3); |
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314 | else
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315 | PORTA &= ~_BV(PA3); |
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316 | |||
317 | if(i & 8) |
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318 | PORTA |= _BV(PA4); |
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319 | else
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320 | PORTA &= ~_BV(PA4); |
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321 | |||
322 | if(i & 4) |
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323 | PORTA |= _BV(PA5); |
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324 | else
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325 | PORTA &= ~_BV(PA5); |
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326 | |||
327 | if(i & 2) |
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328 | PORTA |= _BV(PA6); |
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329 | else
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330 | PORTA &= ~_BV(PA6); |
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331 | |||
332 | if(i & 1) |
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333 | PORTA |= _BV(PA7); |
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334 | else
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335 | PORTA &= ~_BV(debug_12in); |
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336 | } |
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337 | |||
338 | //get the difference of the current value minues the value 10 entires ago
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339 | int ring_buffer_d10(int y) |
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340 | { |
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341 | int x;
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342 | RING_BUFFER_REMOVE(buffer, x); |
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343 | |||
344 | RING_BUFFER_ADD(buffer, y); |
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345 | return y-x;
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346 | } |
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347 | |||
348 | |||
349 | uint8_t read_homing() |
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350 | { |
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351 | uint8_t ret = PINA & _BV(HOMING_PIN); |
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352 | if(ret)
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353 | PORTA |= _BV(PA3); |
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354 | else
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355 | PORTA &= ~_BV(PA3); |
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356 | return ret;
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357 | } |
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358 | |||
359 | //copied from scheduler/seeking.c
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360 | uint8_t get_delay(void)
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361 | { |
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362 | uint8_t count = 0;
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363 | |||
364 | PORTB|=_BV(LED2); |
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365 | while(read_homing())
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366 | { |
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367 | delay_ms(1);
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368 | count++; |
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369 | if (count >= 100) |
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370 | return 1; |
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371 | } //wait a beacon cycle to make sure we aren't starting the count in the middle of one
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372 | PORTB&=~_BV(LED2); |
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373 | count = 0;
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374 | PORTB|=_BV(LED1); |
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375 | while(!read_homing())
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376 | { |
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377 | delay_ms(1);
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378 | count++; |
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379 | if(count==255) |
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380 | return 2; |
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381 | } |
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382 | PORTB&=~_BV(LED1); |
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383 | |||
384 | /*RECH_PUTS("\n\rCount: ");
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385 | RECH_PUTI(count);
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386 | RECH_PUTC('.');*/
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387 | |||
388 | return count;
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389 | } |
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390 | |||
391 | void trickle_charge(void) |
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392 | { |
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393 | |||
394 | abs_time = 0;
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395 | status = 0;
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396 | char tempData[5]; |
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397 | char data[2]; |
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398 | data[0]='D'; |
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399 | int volt = 0; |
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400 | int temp = 0; |
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401 | int curr = 0; |
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402 | int meas_count = 0; |
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403 | int mod=0; |
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404 | OCR1B = 0;
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405 | |||
406 | 266 | bneuman | PORTB &= ~(_BV(LED1)|_BV(LED2)); |
407 | |||
408 | |||
409 | 80 | bneuman | while(status!=2) |
410 | { |
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411 | mod=abs_time%4;
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412 | |||
413 | 266 | bneuman | PORTB ^= _BV(LED2); |
414 | |||
415 | 80 | bneuman | if(supply_voltage())
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416 | while(abs_time%4==mod); |
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417 | |||
418 | /* TIME TERMINATION */
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419 | 266 | bneuman | if(abs_time>12000) //12000=25 minutes |
420 | 80 | bneuman | { |
421 | //SEND_DONE
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422 | OCR1B=0;
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423 | break;
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424 | } |
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425 | |||
426 | #if DEBUG
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427 | tempData[0] = 'C'; |
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428 | tempData[1] = abs_time>>8; |
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429 | tempData[2] = abs_time&0xFF; |
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430 | i2c_putpacket(0x01, tempData, 3); |
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431 | #endif
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432 | |||
433 | mod=abs_time%4;
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434 | while(abs_time%4==mod) |
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435 | { |
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436 | /* CONTACT */
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437 | if(supply_voltage())
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438 | { |
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439 | 266 | bneuman | PORTB |= _BV(LED1); |
440 | 80 | bneuman | //curr = regulate_current(500);
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441 | 355 | bneuman | curr = get_avg_current(); |
442 | 80 | bneuman | |
443 | if(status==0) |
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444 | { |
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445 | status=1;
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446 | 355 | bneuman | #if use_I2C
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447 | 80 | bneuman | data[1]='a'; |
448 | i2c_putpacket(0x01, data, 2); |
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449 | data[1]=I2C_MSG_BATTERY_CHARGING;
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450 | i2c_putpacket(0x01, data, 2); |
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451 | 355 | bneuman | #endif
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452 | 80 | bneuman | } |
453 | |||
454 | /* Trickle Charge */
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455 | if(status==1) |
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456 | 355 | bneuman | OCR1B = 128;
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457 | 80 | bneuman | } |
458 | /* NO CONTACT */
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459 | else
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460 | { |
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461 | 266 | bneuman | PORTB &= ~_BV(LED1); |
462 | 80 | bneuman | if(status==1) |
463 | { |
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464 | status=0;
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465 | 355 | bneuman | #if use_I2C
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466 | 80 | bneuman | data[1]=I2C_MSG_CONTACT_ERROR;
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467 | i2c_putpacket(0x01, data, 2); |
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468 | 355 | bneuman | #endif
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469 | 80 | bneuman | } |
470 | else
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471 | { |
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472 | 266 | bneuman | /*get_delay(); //reject the first reading //homing import stuff, uncomment this!!!!!!
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473 | 80 | bneuman | data[0]=I2C_MSG_HOMING;
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474 | data[1]=get_delay();
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475 | 266 | bneuman | i2c_putpacket(0x01, data, 2);*/
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476 | 80 | bneuman | |
477 | data[0]='D'; |
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478 | } |
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479 | curr = 0;
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480 | OCR1B = 0;
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481 | } |
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482 | } |
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483 | |||
484 | #if DEBUG
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485 | tempData[0] = 'P'; |
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486 | tempData[1] = 0; |
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487 | tempData[2] = OCR1B;
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488 | i2c_putpacket(0x01, tempData, 3); |
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489 | tempData[0] = 'I'; |
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490 | tempData[1] = curr>>8; |
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491 | tempData[2] = curr&0xFF; |
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492 | i2c_putpacket(0x01, tempData, 3); |
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493 | #endif
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494 | curr=6666;
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495 | |||
496 | /* Absolute Voltage Termination */
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497 | if(supply_voltage())
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498 | { |
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499 | mod=abs_time%4;
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500 | while(abs_time%4==mod) |
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501 | { |
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502 | volt = get_avg_voltage(); |
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503 | } |
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504 | |||
505 | if(volt>1010) |
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506 | { |
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507 | //SEND ERROR
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508 | status=0;
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509 | } |
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510 | |||
511 | #if DEBUG
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512 | tempData[0] = 'V'; |
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513 | tempData[1] = volt>>8; |
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514 | tempData[2] = volt&0xFF; |
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515 | i2c_putpacket(0x01, tempData, 3); |
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516 | #endif
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517 | volt=6666;
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518 | |||
519 | /* Absolute Temperature Termination */
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520 | mod=abs_time%4;
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521 | while(abs_time%4==mod) |
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522 | { |
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523 | temp = get_avg_temperature(); |
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524 | } |
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525 | |||
526 | if(temp<250) |
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527 | { |
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528 | //SEND ERROR
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529 | status=0;
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530 | } |
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531 | |||
532 | #if DEBUG
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533 | tempData[0] = 'T'; |
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534 | tempData[1] = temp>>8; |
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535 | tempData[2] = temp&0xFF; |
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536 | i2c_putpacket(0x01, tempData, 3); |
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537 | #endif
|
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538 | } |
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539 | |||
540 | temp=6666;
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541 | } |
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542 | 355 | bneuman | #if use_I2C
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543 | 80 | bneuman | data[1]=I2C_MSG_BATTERY_FULL;
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544 | i2c_putpacket(0x01, data, 2); |
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545 | 355 | bneuman | #endif
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546 | 80 | bneuman | } |
547 | |||
548 | int main(void) |
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549 | { |
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550 | new_second=0;
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551 | char tempData[5]; //For i2c communication |
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552 | |||
553 | setup(); |
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554 | 355 | bneuman | |
555 | #if use_I2C
|
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556 | 80 | bneuman | i2c_init(); |
557 | 355 | bneuman | i2c_putpacket(0x01,"I2C init'd on ARCHS\r\n", 21); |
558 | #endif
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||
559 | 80 | bneuman | |
560 | |||
561 | /*GIMSK = (_BV(PCIE0)); //enable PCINT interrupts
|
||
562 | PCMSK1 = (_BV(PCINT10)); //enable pin change interrupt on ROBOT_RX
|
||
563 | MCUCR = (_BV(SE)|_BV(SM1));// (power-down mode)
|
||
564 | */
|
||
565 | |||
566 | OCR1B=0;
|
||
567 | |||
568 | sei(); |
||
569 | |||
570 | //test delay_ms
|
||
571 | PORTB|=_BV(LED2); |
||
572 | PORTB|=_BV(LED1); |
||
573 | delay_ms(1000);
|
||
574 | PORTB&=~_BV(LED2); |
||
575 | PORTB&=~_BV(LED1); |
||
576 | |||
577 | //*******************************
|
||
578 | while(1) |
||
579 | trickle_charge(); |
||
580 | |||
581 | /*GIMSK = (_BV(PCIE0)); //enable PCINT interrupts
|
||
582 | sleep_cpu();*/
|
||
583 | |||
584 | PORTB=0;//clear outputs |
||
585 | |||
586 | GIMSK = 0;
|
||
587 | |||
588 | error=0;
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||
589 | |||
590 | i2c_init(); |
||
591 | int volt=0, last_volt=0, same_volt=0; |
||
592 | int temp=0, dt; |
||
593 | int curr=0; |
||
594 | int meas_count;
|
||
595 | int mod=0; |
||
596 | |||
597 | status=FAST_CHARGE; |
||
598 | |||
599 | while(1) |
||
600 | { |
||
601 | mod=abs_time%4;
|
||
602 | while(abs_time%4==mod); |
||
603 | |||
604 | /*if((abs_time>>3)%3==0)
|
||
605 | OCR1B=21;
|
||
606 | else if((abs_time>>3)%3==1)
|
||
607 | OCR1B=57;
|
||
608 | else
|
||
609 | OCR1B=85;*/
|
||
610 | |||
611 | tempData[0] = 'C'; |
||
612 | tempData[1] = abs_time>>8; |
||
613 | tempData[2] = abs_time&0xFF; |
||
614 | i2c_putpacket(0x01, tempData, 3); |
||
615 | |||
616 | mod=abs_time%4;
|
||
617 | while(abs_time%4==mod) |
||
618 | { |
||
619 | /* CONTACT */
|
||
620 | if(supply_voltage())
|
||
621 | { |
||
622 | //curr = regulate_current(500);
|
||
623 | curr = get_avg_current(); |
||
624 | |||
625 | if(status==FAST_CHARGE)
|
||
626 | OCR1B=50;
|
||
627 | } |
||
628 | /* NO CONTACT */
|
||
629 | else
|
||
630 | { |
||
631 | curr = 0;
|
||
632 | OCR1B = 0;
|
||
633 | } |
||
634 | } |
||
635 | |||
636 | |||
637 | tempData[0] = 'P'; |
||
638 | tempData[1] = 0; |
||
639 | tempData[2] = OCR1B;
|
||
640 | i2c_putpacket(0x01, tempData, 3); |
||
641 | tempData[0] = 'I'; |
||
642 | tempData[1] = curr>>8; |
||
643 | tempData[2] = curr&0xFF; |
||
644 | i2c_putpacket(0x01, tempData, 3); |
||
645 | curr=6666;
|
||
646 | |||
647 | mod=abs_time%4;
|
||
648 | while(abs_time%4==mod) |
||
649 | { |
||
650 | volt = get_avg_voltage(); |
||
651 | } |
||
652 | |||
653 | //Same volt - Last volt upkeep
|
||
654 | if(volt==last_volt && supply_voltage())
|
||
655 | same_volt++; |
||
656 | else
|
||
657 | { |
||
658 | last_volt = volt; |
||
659 | same_volt=0;
|
||
660 | } |
||
661 | |||
662 | |||
663 | tempData[0] = 'v'; |
||
664 | tempData[1] = same_volt>>8; |
||
665 | tempData[2] = same_volt&0xFF; |
||
666 | i2c_putpacket(0x01, tempData, 3); |
||
667 | |||
668 | /* Voltage Dip Termination */
|
||
669 | if(volt<last_volt && same_volt>=VOLT_PLATEAU)
|
||
670 | { |
||
671 | OCR1B=0;
|
||
672 | status=0;
|
||
673 | } |
||
674 | |||
675 | tempData[0] = 'V'; |
||
676 | tempData[1] = volt>>8; |
||
677 | tempData[2] = volt&0xFF; |
||
678 | i2c_putpacket(0x01, tempData, 3); |
||
679 | |||
680 | volt=6666;
|
||
681 | |||
682 | //Temp ring buffer upkeep
|
||
683 | mod=abs_time%4;
|
||
684 | while(abs_time%4==mod) |
||
685 | { |
||
686 | temp = get_avg_temperature(); |
||
687 | } |
||
688 | |||
689 | dt=ring_buffer_d10(temp); |
||
690 | |||
691 | tempData[0] = 't'; |
||
692 | tempData[1] = dt>>8; |
||
693 | tempData[2] = dt&0xFF; |
||
694 | i2c_putpacket(0x01, tempData, 3); |
||
695 | |||
696 | /* Temperature Rise Termination */
|
||
697 | if(dt < MAX_DT && temp < MAX_DT_ABS)
|
||
698 | { |
||
699 | status=0;
|
||
700 | OCR1B=0;
|
||
701 | } |
||
702 | |||
703 | tempData[0] = 'T'; |
||
704 | tempData[1] = temp>>8; |
||
705 | tempData[2] = temp&0xFF; |
||
706 | i2c_putpacket(0x01, tempData, 3); |
||
707 | |||
708 | temp=6666;
|
||
709 | } |
||
710 | |||
711 | |||
712 | return 1; |
||
713 | } |
||
714 | |||
715 | ISR(TIMER0_OVF_vect) |
||
716 | { |
||
717 | if(error)
|
||
718 | PORTB ^= (_BV(LED1)|_BV(LED2)); |
||
719 | |||
720 | interrupt_count--; |
||
721 | if(interrupt_count==0) |
||
722 | { |
||
723 | abs_time++; |
||
724 | new_second=1;
|
||
725 | |||
726 | interrupt_count=INT_COUNT; |
||
727 | } |
||
728 | } |
||
729 | |||
730 | 264 | bneuman | ISR(TIMER1_OVF_vect) |
731 | { |
||
732 | 355 | bneuman | wait(2); //wait a bit so we know the ouput gets set (which happens at timer = 0) |
733 | 264 | bneuman | |
734 | 355 | bneuman | TCNT1 = 0;//156; // start out at 156. Now OCR1B - 156 = duty cycle |
735 | 264 | bneuman | } |
736 | |||
737 | 80 | bneuman | ISR(PCINT_vect){;} //so the interrupt doesnt go to the reset vector |