root / branches / autonomous_recharging / code / projects / autonomous_recharging / archs / Charging.c @ 762
History | View | Annotate | Download (14.1 KB)
1 |
#include <avr/io.h> |
---|---|
2 |
#include <avr/interrupt.h> |
3 |
#include <avr/sleep.h> |
4 |
#include "i2c.h" |
5 |
|
6 |
#define TRICKLE
|
7 |
|
8 |
|
9 |
//These are in ADC steps; if any values change in the charging
|
10 |
//circuitry these will have to be recalculated
|
11 |
#ifndef TRICKLE
|
12 |
#define FAST_I 450//660 //660 fries the 5A fuse!! |
13 |
#else
|
14 |
#define FAST_I 250//20//Works => 1.3A |
15 |
#endif
|
16 |
|
17 |
#define TEST_CURR 550 |
18 |
|
19 |
#define MAX_V 1020//990 //7.75V |
20 |
|
21 |
|
22 |
#define MAX_T 300 |
23 |
#define MIN_T 730 |
24 |
//range is 0 to 45 C
|
25 |
//cal tests:
|
26 |
//room temp - 25
|
27 |
//value ~500, varies from battery to battery, but is consistent on one battery
|
28 |
//freezer 737
|
29 |
//heat gun at a distance 461
|
30 |
|
31 |
//change in one minute
|
32 |
#define MAX_DT 30 |
33 |
#define MAX_DV 30 |
34 |
|
35 |
|
36 |
//The following times are in seconds
|
37 |
#define MAX_FAST_TIME 5400 |
38 |
#define MAX_TRICKLE_TIME 600 |
39 |
|
40 |
//debug pins
|
41 |
#define debug_time PA3
|
42 |
#define debug_curr PA4
|
43 |
#define debug_volt PA5
|
44 |
#define debug_temp PA6
|
45 |
#define debug_12in PA7
|
46 |
|
47 |
//be sure admux also sets the MUX5 bit which is in ADCSRB
|
48 |
#define ADMUX_I
|
49 |
#define ADMUX_V
|
50 |
#define ADMUX_T
|
51 |
|
52 |
#define ROBOT_TX PB1
|
53 |
#define ROBOT_RX PB2
|
54 |
#define PWM PB3
|
55 |
#define DETECT_12V PB6
|
56 |
|
57 |
#define LED1 PB4 //Green |
58 |
#define LED2 PB5 //Red |
59 |
|
60 |
|
61 |
//LED States:
|
62 |
//Red - Fast Charging
|
63 |
//Green - Trickle Charging
|
64 |
//Both steady - done charging
|
65 |
//Both Blinking - Error
|
66 |
|
67 |
#define INT_COUNT 2 //interrupts per second |
68 |
#define AVG_COUNT 64 //number of times to count current |
69 |
|
70 |
//To enable the PWM write : TCCR1B = (_Bv(CS10));//enable PWM
|
71 |
|
72 |
uint8_t interrupt_count = INT_COUNT; |
73 |
|
74 |
volatile uint32_t abs_time=1; // start at one second so it doesnt do the minute checks right away |
75 |
volatile uint8_t new_second=0; //only used as a boolean |
76 |
|
77 |
volatile uint8_t error=0; |
78 |
volatile uint8_t status;
|
79 |
|
80 |
volatile uint8_t steady_current = 0; |
81 |
|
82 |
//DT must be triggered twice in a row
|
83 |
volatile uint8_t last_DT = 0; |
84 |
//same for DV
|
85 |
volatile uint8_t last_DV = 0; |
86 |
|
87 |
#define FAST_CHARGE 1 |
88 |
#define TRICKLE_CHARGE 2 |
89 |
|
90 |
|
91 |
|
92 |
void wait(int ops) |
93 |
{ |
94 |
int i = 0; |
95 |
while(i<ops)
|
96 |
i++; |
97 |
} |
98 |
|
99 |
|
100 |
|
101 |
int avg_ADC(void) |
102 |
{ |
103 |
int av;
|
104 |
char i;
|
105 |
|
106 |
//Calculate a average out of the next 8 A/D conversions
|
107 |
for(av=0,i=8;i;--i) |
108 |
{ |
109 |
ADCSRA |= _BV(ADSC); // start new A/D conversion
|
110 |
while (!(ADCSRA & (_BV(ADIF)))) // wait until ADC is ready |
111 |
; |
112 |
av = av+ADC; |
113 |
} |
114 |
av = av/8;
|
115 |
|
116 |
//ADCSRA &= ~_BV(ADEN);
|
117 |
|
118 |
return av;
|
119 |
|
120 |
} |
121 |
|
122 |
int get_voltage(void) |
123 |
{ |
124 |
ADMUX = _BV(MUX0); |
125 |
|
126 |
ADCSRB &= ~_BV(MUX5); |
127 |
|
128 |
return avg_ADC();
|
129 |
} |
130 |
|
131 |
int get_current(void) |
132 |
{ |
133 |
ADMUX = _BV(MUX1); |
134 |
|
135 |
ADCSRB |= _BV(MUX5); |
136 |
|
137 |
return avg_ADC();
|
138 |
} |
139 |
|
140 |
int get_temperature(void) |
141 |
{ |
142 |
ADMUX = _BV(MUX1); |
143 |
|
144 |
ADCSRB &= ~_BV(MUX5); |
145 |
|
146 |
return avg_ADC();
|
147 |
} |
148 |
|
149 |
int get_avg_voltage(void) |
150 |
{ |
151 |
int count=0; |
152 |
uint32_t sum=0;
|
153 |
|
154 |
//OCR1B =120;
|
155 |
while(count < AVG_COUNT)
|
156 |
{ |
157 |
sum += get_voltage(); |
158 |
count++; |
159 |
} |
160 |
|
161 |
return sum/AVG_COUNT;
|
162 |
} |
163 |
|
164 |
int get_avg_current(void) |
165 |
{ |
166 |
int count=0; |
167 |
uint32_t sum=0;
|
168 |
|
169 |
//OCR1B =120;
|
170 |
while(count < AVG_COUNT)
|
171 |
{ |
172 |
sum += get_current(); |
173 |
count++; |
174 |
} |
175 |
|
176 |
return sum/AVG_COUNT;
|
177 |
} |
178 |
|
179 |
int get_avg_temperature(void) |
180 |
{ |
181 |
int count=0; |
182 |
uint32_t sum=0;
|
183 |
|
184 |
//OCR1B =120;
|
185 |
while(count < AVG_COUNT)
|
186 |
{ |
187 |
sum += get_temperature(); |
188 |
count++; |
189 |
} |
190 |
|
191 |
return sum/AVG_COUNT;
|
192 |
} |
193 |
|
194 |
|
195 |
uint8_t supply_voltage(void)
|
196 |
{ |
197 |
return PINB & _BV(DETECT_12V);
|
198 |
} |
199 |
|
200 |
void clear_err(void) |
201 |
{ |
202 |
error=0;
|
203 |
PORTB &= ~(_BV(LED1)|_BV(LED2)); |
204 |
|
205 |
if(status==FAST_CHARGE)
|
206 |
PORTB |= _BV(LED2); |
207 |
|
208 |
if(status==TRICKLE_CHARGE)
|
209 |
PORTB |= _BV(LED1); |
210 |
} |
211 |
|
212 |
void wait_8th(void) |
213 |
{ |
214 |
uint8_t start = abs_time % 8;
|
215 |
|
216 |
while(abs_time % 8 == start) |
217 |
{ |
218 |
/*if(supply_voltage())
|
219 |
PORTB |= _BV(LED1);
|
220 |
else
|
221 |
PORTB &= ~_BV(LED1);
|
222 |
if(get_voltage()>100)
|
223 |
PORTB |= _BV(LED2);
|
224 |
else
|
225 |
PORTB &= ~_BV(LED2);*/
|
226 |
} |
227 |
} |
228 |
|
229 |
void send_err(void) |
230 |
{ |
231 |
OCR1B=0;//turn off the PWM to be safe |
232 |
|
233 |
PORTB &= ~(_BV(LED1)|_BV(LED2)); |
234 |
if(status!=0)//leave last error if there was one |
235 |
PORTA &= ~(_BV(debug_time)|_BV(debug_curr)|_BV(debug_volt)|_BV(debug_temp)|_BV(debug_12in)); |
236 |
error=1;
|
237 |
status=0;
|
238 |
} |
239 |
|
240 |
void send_done(void) |
241 |
{ |
242 |
char tempData;
|
243 |
//Finished, leave
|
244 |
tempData = 'F';
|
245 |
i2c_putpacket(0x01, &tempData, 1); |
246 |
|
247 |
PORTA &= ~(_BV(debug_time)|_BV(debug_curr)|_BV(debug_volt)|_BV(debug_temp)|_BV(debug_12in)); |
248 |
|
249 |
} |
250 |
|
251 |
void setup(void) |
252 |
{ |
253 |
DDRA = (_BV(debug_time)|_BV(debug_curr)|_BV(debug_volt)|_BV(debug_temp)|_BV(debug_12in)); |
254 |
PORTA = 0x00;
|
255 |
DDRB = (_BV(ROBOT_TX)|_BV(PWM)|_BV(LED1)|_BV(LED2)); //confiure output pins
|
256 |
PORTB = 0x00;
|
257 |
|
258 |
ADCSRA = (_BV(ADEN)|_BV(ADPS2)|_BV(ADPS1)); //start ADC with a division factor of 64
|
259 |
|
260 |
TCCR0B = (_BV(CS01)); //set timer 0 for realtime mode
|
261 |
TCCR0A = (_BV(TCW0)); |
262 |
TIMSK = (_BV(TOIE0)); //enable overflow interrupts
|
263 |
|
264 |
TCCR1A = (_BV(COM1B1)|_BV(PWM1B)|_BV(COM1A1)|_BV(PWM1A)); //clear timer 1 on compare, set at 0x00. Fast PWM mode
|
265 |
TCCR1B |= _BV(CS12)|_BV(CS10); //leave timer on and set compare to 0 to make output off
|
266 |
OCR1B = 0;
|
267 |
OCR1A = 0;
|
268 |
|
269 |
error = 0;
|
270 |
|
271 |
sei(); |
272 |
} |
273 |
|
274 |
int regulate_current(int i) |
275 |
{ |
276 |
if(status==0) |
277 |
{ |
278 |
OCR1B = 0;
|
279 |
return 0; |
280 |
} |
281 |
|
282 |
PORTA ^= _BV(debug_curr); |
283 |
|
284 |
int curr=0; |
285 |
int count=0; |
286 |
int diff=0; |
287 |
int newcurr=OCR1B;
|
288 |
uint32_t sum=0;
|
289 |
|
290 |
//OCR1B =120;
|
291 |
while(count < AVG_COUNT)
|
292 |
{ |
293 |
sum += get_current(); |
294 |
count++; |
295 |
} |
296 |
|
297 |
curr = sum/AVG_COUNT; |
298 |
//OCR1A = curr >> 2;
|
299 |
|
300 |
|
301 |
//old linear regulation
|
302 |
/*
|
303 |
if(OCR1B <255 && curr < i)
|
304 |
OCR1B++;
|
305 |
else if(OCR1B >0 && curr > i)
|
306 |
OCR1B--;
|
307 |
|
308 |
return curr;*/
|
309 |
|
310 |
|
311 |
|
312 |
//cool control law stuff
|
313 |
diff=i-curr; |
314 |
|
315 |
//OCR1B = diff/4 + curr/4; //K*Ierr + Kguess
|
316 |
newcurr += diff/4;
|
317 |
|
318 |
if(newcurr>255){ |
319 |
OCR1B = 255;
|
320 |
}else if(newcurr>0){ |
321 |
OCR1B = newcurr; |
322 |
}else { //negative |
323 |
OCR1B = 1;
|
324 |
} |
325 |
|
326 |
|
327 |
|
328 |
//1024/255
|
329 |
/*if(OCR1B <255 && curr<i)
|
330 |
OCR1B += (i-curr)/4;
|
331 |
else if(OCR1B >0 && curr > i)
|
332 |
OCR1B -= (curr-i)/4;*/
|
333 |
//differential regulation (sort of)
|
334 |
/*diff = i-curr;
|
335 |
|
336 |
if(diff<8)
|
337 |
steady_current=1;
|
338 |
else
|
339 |
steady_current=0;
|
340 |
|
341 |
OCR1B += diff/4;*/
|
342 |
|
343 |
return curr;
|
344 |
|
345 |
} |
346 |
|
347 |
void check_voltage(void) |
348 |
{ |
349 |
int volt = get_avg_voltage();
|
350 |
|
351 |
|
352 |
if(volt > MAX_V)
|
353 |
{ |
354 |
OCR1A = 128;
|
355 |
send_err(); |
356 |
PORTA |= _BV(debug_volt); |
357 |
status = 0;
|
358 |
} |
359 |
} |
360 |
|
361 |
void check_temperature(void) |
362 |
{ |
363 |
int temp = get_avg_temperature();
|
364 |
|
365 |
//temp readings are reversed
|
366 |
if(temp < MAX_T || temp > MIN_T)
|
367 |
{ |
368 |
OCR1A = 192;
|
369 |
send_err(); |
370 |
PORTA |= _BV(debug_temp); |
371 |
status=0;
|
372 |
} |
373 |
} |
374 |
|
375 |
|
376 |
//takes a 7-bit ionteger and displays it on the 7 LEDs with the Green being the MSB
|
377 |
void LED_out(int i) |
378 |
{ |
379 |
if(i & 64) |
380 |
PORTB |= _BV(LED1); |
381 |
else
|
382 |
PORTB &= ~_BV(LED1); |
383 |
|
384 |
if(i & 32) |
385 |
PORTB |= _BV(LED2); |
386 |
else
|
387 |
PORTB &= ~_BV(LED2); |
388 |
|
389 |
if(i & 16) |
390 |
PORTA |= _BV(PA3); |
391 |
else
|
392 |
PORTA &= ~_BV(PA3); |
393 |
|
394 |
if(i & 8) |
395 |
PORTA |= _BV(PA4); |
396 |
else
|
397 |
PORTA &= ~_BV(PA4); |
398 |
|
399 |
if(i & 4) |
400 |
PORTA |= _BV(PA5); |
401 |
else
|
402 |
PORTA &= ~_BV(PA5); |
403 |
|
404 |
if(i & 2) |
405 |
PORTA |= _BV(PA6); |
406 |
else
|
407 |
PORTA &= ~_BV(PA6); |
408 |
|
409 |
if(i & 1) |
410 |
PORTA |= _BV(PA7); |
411 |
else
|
412 |
PORTA &= ~_BV(PA7); |
413 |
} |
414 |
|
415 |
|
416 |
void test_board(void) |
417 |
{ |
418 |
setup(); |
419 |
abs_time = 0;
|
420 |
status = 1;
|
421 |
char tempData[5]; |
422 |
i2c_init(); |
423 |
int volt;
|
424 |
int temp;
|
425 |
int curr;
|
426 |
int meas_count;
|
427 |
int mod=0; |
428 |
sei(); |
429 |
OCR1B = 0;
|
430 |
while(1) |
431 |
{ |
432 |
mod=abs_time%4;
|
433 |
while(abs_time%4==mod); |
434 |
|
435 |
/*if((abs_time>>3)%3==0)
|
436 |
OCR1B=21;
|
437 |
else if((abs_time>>3)%3==1)
|
438 |
OCR1B=57;
|
439 |
else
|
440 |
OCR1B=85;*/
|
441 |
|
442 |
tempData[0] = 'C'; |
443 |
tempData[1] = abs_time>>8; |
444 |
tempData[2] = abs_time&0xFF; |
445 |
i2c_putpacket(0x01, tempData, 3); |
446 |
|
447 |
mod=abs_time%4;
|
448 |
while(abs_time%4==mod); |
449 |
//{
|
450 |
if(supply_voltage())
|
451 |
{ |
452 |
curr = regulate_current(FAST_I); |
453 |
//curr = get_avg_current();
|
454 |
//OCR1B = 100;
|
455 |
} |
456 |
else
|
457 |
{ |
458 |
curr = 0;
|
459 |
OCR1B = 0;
|
460 |
} |
461 |
//}
|
462 |
|
463 |
|
464 |
tempData[0] = 'P'; |
465 |
tempData[1] = 0; |
466 |
tempData[2] = OCR1B;
|
467 |
i2c_putpacket(0x01, tempData, 3); |
468 |
tempData[0] = 'I'; |
469 |
tempData[1] = curr>>8; |
470 |
tempData[2] = curr&0xFF; |
471 |
i2c_putpacket(0x01, tempData, 3); |
472 |
curr=6666;
|
473 |
|
474 |
mod=abs_time%4;
|
475 |
//while(abs_time%4==mod)
|
476 |
{ |
477 |
volt = get_avg_voltage(); |
478 |
} |
479 |
|
480 |
tempData[0] = 'V'; |
481 |
tempData[1] = volt>>8; |
482 |
tempData[2] = volt&0xFF; |
483 |
i2c_putpacket(0x01, tempData, 3); |
484 |
|
485 |
volt=6666;
|
486 |
|
487 |
mod=abs_time%4;
|
488 |
//while(abs_time%4==mod)
|
489 |
{ |
490 |
temp = get_avg_temperature(); |
491 |
|
492 |
} |
493 |
|
494 |
tempData[0] = 'T'; |
495 |
tempData[1] = temp>>8; |
496 |
tempData[2] = temp&0xFF; |
497 |
i2c_putpacket(0x01, tempData, 3); |
498 |
|
499 |
temp=6666;
|
500 |
} |
501 |
int c=0,oc; |
502 |
oc=get_avg_temperature(); |
503 |
//this will read the temperature and output it to the LEDS.
|
504 |
//to read the value, enter the LEDs as binary, with the bottom green as the MSB.
|
505 |
//after two second the LEDS will toggle to the next 7 bits
|
506 |
/*while(1)
|
507 |
{
|
508 |
c=oc-get_avg_temperature();
|
509 |
oc+=c;
|
510 |
|
511 |
if(c<0)
|
512 |
c=-c;
|
513 |
|
514 |
if(c<5)
|
515 |
break;
|
516 |
}*/
|
517 |
/*
|
518 |
while(1)
|
519 |
{
|
520 |
LED_out(oc>>7);
|
521 |
for(c=0;c<16;c++)
|
522 |
wait_8th();
|
523 |
LED_out(oc);
|
524 |
for(c=0;c<16;c++)
|
525 |
wait_8th();
|
526 |
}*/
|
527 |
|
528 |
|
529 |
/*PORTB |= (_BV(LED1)|_BV(LED2));
|
530 |
|
531 |
while(1)
|
532 |
{
|
533 |
PORTA ^= _BV(debug_time);
|
534 |
wait_8th();
|
535 |
c=get_current()-FAST_I;
|
536 |
if(c<0)
|
537 |
c=-c;
|
538 |
if(c<4)
|
539 |
PORTA |= _BV(debug_curr);
|
540 |
else
|
541 |
PORTA &= ~_BV(debug_curr);
|
542 |
wait_8th();
|
543 |
if(get_avg_voltage() > 50)
|
544 |
PORTA |= _BV(debug_volt);
|
545 |
else
|
546 |
PORTA &= ~_BV(debug_volt);
|
547 |
wait_8th();
|
548 |
if(get_avg_temperature() > MAX_T)
|
549 |
PORTA |= _BV(debug_temp);
|
550 |
else
|
551 |
PORTA &= ~_BV(debug_temp);
|
552 |
wait_8th();
|
553 |
if(supply_voltage())
|
554 |
PORTA |= _BV(debug_12in);
|
555 |
else
|
556 |
PORTA &= ~_BV(debug_12in);
|
557 |
wait_8th();
|
558 |
}*/
|
559 |
|
560 |
} |
561 |
|
562 |
|
563 |
int main(void) |
564 |
{ |
565 |
test_board(); |
566 |
new_second=0;
|
567 |
char tempData[5]; //For i2c communication |
568 |
//test_board();
|
569 |
char noVoltagePrintFlag = 0; |
570 |
|
571 |
setup(); |
572 |
i2c_init(); |
573 |
|
574 |
/*GIMSK = (_BV(PCIE0)); //enable PCINT interrupts
|
575 |
PCMSK1 = (_BV(PCINT10)); //enable pin change interrupt on ROBOT_RX
|
576 |
MCUCR = (_BV(SE)|_BV(SM1));// (power-down mode)
|
577 |
*/
|
578 |
|
579 |
OCR1B=0;
|
580 |
|
581 |
sei(); |
582 |
|
583 |
tempData[0] = 'S'; |
584 |
tempData[1] = 'S'; |
585 |
tempData[2] = 'S'; |
586 |
tempData[3] = 'S'; |
587 |
tempData[4] = 'S'; |
588 |
i2c_putpacket(0x01, tempData, 5); |
589 |
|
590 |
int temp=0; |
591 |
int last_temp = get_avg_temperature();
|
592 |
|
593 |
int volt=0; |
594 |
int last_volt = get_avg_voltage();
|
595 |
|
596 |
|
597 |
while(1) |
598 |
{ |
599 |
/*GIMSK = (_BV(PCIE0)); //enable PCINT interrupts
|
600 |
sleep_cpu();*/
|
601 |
|
602 |
PORTB=0;//clear outputs |
603 |
|
604 |
GIMSK = 0;
|
605 |
|
606 |
error=0;
|
607 |
|
608 |
OCR1B = 0;
|
609 |
|
610 |
//wait for 12v source
|
611 |
|
612 |
while(!supply_voltage()) {
|
613 |
if (!noVoltagePrintFlag) {
|
614 |
tempData[0] = 'N'; |
615 |
tempData[1] = 'N'; |
616 |
tempData[2] = 'N'; |
617 |
tempData[3] = 'N'; |
618 |
tempData[4] = 'N'; |
619 |
i2c_putpacket(0x01, tempData, 5); |
620 |
noVoltagePrintFlag = 1;
|
621 |
} |
622 |
} |
623 |
|
624 |
noVoltagePrintFlag = 0;
|
625 |
|
626 |
//Contact
|
627 |
tempData[0] = 'C'; |
628 |
tempData[1] = 'C'; |
629 |
tempData[2] = 'C'; |
630 |
tempData[3] = 'C'; |
631 |
tempData[4] = 'C'; |
632 |
i2c_putpacket(0x01, tempData, 5); |
633 |
|
634 |
PORTA |= _BV(debug_12in); |
635 |
|
636 |
abs_time=1;
|
637 |
|
638 |
//--------------FAST CHARGE-----------------------
|
639 |
//split seconds into eights as following:
|
640 |
//1: abs_volt
|
641 |
//2: reg
|
642 |
//3: abs_temp
|
643 |
//4: reg
|
644 |
//5: abs_volt
|
645 |
//6: reg
|
646 |
//7: abs_temp
|
647 |
//between seconds: abs time and minute checks, which takes an extra 8th
|
648 |
status = FAST_CHARGE; |
649 |
|
650 |
PORTB |= _BV(LED2); |
651 |
|
652 |
while(status == FAST_CHARGE)
|
653 |
{ |
654 |
|
655 |
if(!supply_voltage())
|
656 |
{ |
657 |
|
658 |
|
659 |
send_err(); |
660 |
//Lost Contact
|
661 |
tempData[0] = 'N'; |
662 |
tempData[1] = 'N'; |
663 |
tempData[2] = 'N'; |
664 |
tempData[3] = 'N'; |
665 |
tempData[4] = 'N'; |
666 |
i2c_putpacket(0x01, tempData, 5); |
667 |
|
668 |
PORTA &= ~_BV(debug_12in); |
669 |
while(!supply_voltage());
|
670 |
|
671 |
//Contact again
|
672 |
tempData[0] = 'C'; |
673 |
tempData[1] = 'C'; |
674 |
tempData[2] = 'C'; |
675 |
tempData[3] = 'C'; |
676 |
tempData[4] = 'C'; |
677 |
i2c_putpacket(0x01, tempData, 5); |
678 |
|
679 |
PORTA |= _BV(debug_12in); |
680 |
clear_err(); |
681 |
} |
682 |
|
683 |
check_voltage(); |
684 |
wait_8th(); |
685 |
regulate_current(FAST_I); |
686 |
wait_8th(); |
687 |
check_temperature(); |
688 |
wait_8th(); |
689 |
regulate_current(FAST_I); |
690 |
wait_8th(); |
691 |
check_voltage(); |
692 |
wait_8th(); |
693 |
regulate_current(FAST_I); |
694 |
wait_8th(); |
695 |
check_temperature(); |
696 |
wait_8th(); |
697 |
|
698 |
#ifdef TRICKLE
|
699 |
|
700 |
if(abs_time > 9600) //90 minute time limit |
701 |
{ |
702 |
OCR1A = 32;
|
703 |
send_done(); |
704 |
PORTA |= _BV(debug_time); |
705 |
break;
|
706 |
} |
707 |
|
708 |
#else
|
709 |
|
710 |
if(abs_time > 43200) //90 minute time limit |
711 |
{ |
712 |
OCR1A = 32;
|
713 |
send_err(); |
714 |
PORTA |= _BV(debug_time); |
715 |
break;
|
716 |
} |
717 |
|
718 |
//minute checks
|
719 |
if( (abs_time >> 3)%55 == 0/* && steady_current*/) |
720 |
{ |
721 |
PORTA ^= _BV(debug_time); |
722 |
|
723 |
temp = get_avg_temperature(); |
724 |
wait_8th(); //to avoid interference
|
725 |
volt = get_avg_voltage(); |
726 |
|
727 |
OCR1A = volt >> 2;
|
728 |
|
729 |
//seems to be some random drops when connected to a power supply
|
730 |
//may need a fudge factor but maybe not becuase voltage should be climbing during charge
|
731 |
if(volt < last_volt - MAX_DV)
|
732 |
{ |
733 |
PORTA |= _BV(debug_volt); |
734 |
if(last_DV)
|
735 |
{ |
736 |
OCR1A = 64;
|
737 |
|
738 |
send_done(); |
739 |
PORTA |= _BV(debug_volt); |
740 |
status = TRICKLE_CHARGE; |
741 |
} |
742 |
else
|
743 |
last_DV=1;
|
744 |
|
745 |
} |
746 |
else
|
747 |
{ |
748 |
last_DV=0;
|
749 |
PORTA &= ~_BV(debug_volt); |
750 |
} |
751 |
|
752 |
|
753 |
if(temp < last_temp - MAX_DT)
|
754 |
{ |
755 |
PORTA |= _BV(debug_temp); |
756 |
if(last_DT)
|
757 |
{ |
758 |
OCR1A = 128;
|
759 |
|
760 |
send_done(); |
761 |
PORTA |= _BV(debug_temp); |
762 |
status = TRICKLE_CHARGE; |
763 |
} |
764 |
else
|
765 |
last_DT=1;
|
766 |
} |
767 |
else
|
768 |
{ |
769 |
last_DT=0;
|
770 |
PORTA &= ~_BV(debug_temp); |
771 |
} |
772 |
|
773 |
last_volt = volt; |
774 |
last_temp = temp; |
775 |
} |
776 |
#endif
|
777 |
|
778 |
} |
779 |
if (error) {
|
780 |
//We have an error...let's bail out of this ship captain!
|
781 |
tempData[0] = 'F'; |
782 |
tempData[1] = 'F'; |
783 |
tempData[2] = 'F'; |
784 |
tempData[3] = 'F'; |
785 |
tempData[4] = 'F'; |
786 |
i2c_putpacket(0x01, tempData, 5); |
787 |
} |
788 |
|
789 |
//PORTB ^= _BV(LED2);
|
790 |
|
791 |
} |
792 |
|
793 |
|
794 |
return 1; |
795 |
} |
796 |
|
797 |
ISR(TIMER0_OVF_vect) |
798 |
{ |
799 |
if(error)
|
800 |
PORTB ^= (_BV(LED1)|_BV(LED2)); |
801 |
|
802 |
interrupt_count--; |
803 |
if(interrupt_count==0) |
804 |
{ |
805 |
abs_time++; |
806 |
new_second=1;
|
807 |
|
808 |
interrupt_count=INT_COUNT; |
809 |
} |
810 |
} |
811 |
|
812 |
ISR(PCINT_vect){;} //so the interrupt doesnt go to the reset vector
|