root / branches / autonomous_recharging / code / projects / autonomous_recharging / archs / ConstantCharging.c @ 882
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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 | 355 | bneuman | #include "ring_buffer.h" |
5 | 80 | bneuman | #include "i2c.h" |
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 | 547 | bneuman | #define DEBUG 1 //enable I2C outputs of form time, OCR, current, voltage, temp |
26 | #define USE_I2C 0 |
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27 | 80 | bneuman | |
28 | 355 | bneuman | |
29 | 80 | bneuman | #define MAX_T 300 |
30 | #define MIN_T 730 |
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31 | //range is 0 to 45 C
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32 | //cal tests:
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33 | //room temp - 25
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34 | //value ~500, varies from battery to battery, but is consistent on one battery
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35 | //freezer 737
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36 | //heat gun at a distance 461
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37 | |||
38 | #define MAX_DT -4 //this is the LOWEST ACCEPTABLE ADC value |
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39 | #define MAX_DT_ABS 400 |
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40 | #define VOLT_PLATEAU 50 |
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41 | |||
42 | |||
43 | //The following times are in seconds
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44 | #define MAX_FAST_TIME 5400 |
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45 | #define MAX_TRICKLE_TIME 600 |
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46 | |||
47 | //debug pins
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48 | #define debug_time PA3
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49 | #define debug_curr PA4
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50 | #define debug_volt PA5
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51 | #define debug_temp PA6
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52 | #define debug_12in PA7
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53 | |||
54 | //be sure admux also sets the MUX5 bit which is in ADCSRB
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55 | #define ADMUX_I
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56 | #define ADMUX_V
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57 | #define ADMUX_T
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58 | |||
59 | #define ROBOT_TX PB1
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60 | #define ROBOT_RX PB2
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61 | #define PWM PB3
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62 | #define DETECT_12V PB6
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63 | |||
64 | #define LED1 PB4 //Green |
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65 | #define LED2 PB5 //Red |
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66 | |||
67 | |||
68 | //LED States:
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69 | //Red - Fast Charging
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70 | //Green - Trickle Charging
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71 | //Both steady - done charging
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72 | //Both Blinking - Error
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73 | |||
74 | #define INT_COUNT 2 //interrupts per second |
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75 | #define AVG_COUNT 64 //number of times to count current |
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76 | |||
77 | //To enable the PWM write : TCCR1B = (_Bv(CS10));//enable PWM
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78 | |||
79 | uint8_t interrupt_count = INT_COUNT; |
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80 | |||
81 | volatile uint32_t abs_time=1; // start at one second so it doesnt do the minute checks right away |
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82 | volatile uint8_t new_second=0; //only used as a boolean |
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83 | |||
84 | volatile uint8_t error=0; |
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85 | volatile uint8_t status;
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86 | |||
87 | volatile uint8_t steady_current = 0; |
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88 | |||
89 | //DT must be triggered twice in a row
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90 | volatile uint8_t last_DT = 0; |
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91 | //same for DV
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92 | volatile uint8_t last_DV = 0; |
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93 | |||
94 | #define FAST_CHARGE 1 |
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95 | #define TRICKLE_CHARGE 2 |
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96 | |||
97 | RING_BUFFER_NEW(ring_buffer, 12, int, buffer); |
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98 | |||
99 | void wait(int ops) |
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100 | { |
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101 | int i = 0; |
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102 | while(i<ops)
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103 | i++; |
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104 | } |
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105 | |||
106 | |||
107 | |||
108 | int avg_ADC(void) |
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109 | { |
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110 | int av;
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111 | char i;
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112 | |||
113 | //Calculate a average out of the next 8 A/D conversions
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114 | for(av=0,i=8;i;--i) |
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115 | { |
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116 | ADCSRA |= _BV(ADSC); // start new A/D conversion
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117 | while (!(ADCSRA & (_BV(ADIF)))) // wait until ADC is ready |
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118 | ; |
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119 | av = av+ADC; |
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120 | } |
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121 | av = av/8;
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122 | |||
123 | //ADCSRA &= ~_BV(ADEN);
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124 | |||
125 | return av;
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126 | |||
127 | } |
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128 | |||
129 | int get_voltage(void) |
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130 | { |
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131 | ADMUX = _BV(MUX0); |
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132 | |||
133 | ADCSRB &= ~_BV(MUX5); |
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134 | |||
135 | return avg_ADC();
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136 | } |
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137 | |||
138 | int get_current(void) |
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139 | { |
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140 | ADMUX = _BV(MUX1); |
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141 | |||
142 | ADCSRB |= _BV(MUX5); |
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143 | |||
144 | return avg_ADC();
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145 | } |
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146 | |||
147 | int get_temperature(void) |
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148 | { |
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149 | ADMUX = _BV(MUX1); |
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150 | |||
151 | ADCSRB &= ~_BV(MUX5); |
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152 | |||
153 | return avg_ADC();
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154 | } |
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155 | |||
156 | int get_avg_voltage(void) |
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157 | { |
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158 | int count=0; |
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159 | uint32_t sum=0;
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160 | |||
161 | //OCR1B =120;
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162 | while(count < AVG_COUNT)
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163 | { |
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164 | sum += get_voltage(); |
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165 | count++; |
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166 | } |
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167 | |||
168 | return sum/AVG_COUNT;
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169 | } |
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170 | |||
171 | int get_avg_current(void) |
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172 | { |
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173 | int count=0; |
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174 | uint32_t sum=0;
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175 | |||
176 | //OCR1B =120;
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177 | while(count < AVG_COUNT)
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178 | { |
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179 | sum += get_current(); |
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180 | count++; |
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181 | } |
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182 | |||
183 | return sum/AVG_COUNT;
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184 | } |
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185 | |||
186 | int get_avg_temperature(void) |
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187 | { |
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188 | int count=0; |
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189 | uint32_t sum=0;
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190 | |||
191 | //OCR1B =120;
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192 | while(count < AVG_COUNT)
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193 | { |
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194 | sum += get_temperature(); |
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195 | count++; |
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196 | } |
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197 | |||
198 | return sum/AVG_COUNT;
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199 | } |
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200 | |||
201 | |||
202 | uint8_t supply_voltage(void)
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203 | { |
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204 | return PINB & _BV(DETECT_12V);
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205 | } |
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206 | |||
207 | void clear_err(void) |
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208 | { |
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209 | error=0;
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210 | PORTB &= ~(_BV(LED1)|_BV(LED2)); |
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211 | |||
212 | if(status==FAST_CHARGE)
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213 | PORTB |= _BV(LED2); |
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214 | |||
215 | if(status==TRICKLE_CHARGE)
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216 | PORTB |= _BV(LED1); |
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217 | } |
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218 | |||
219 | void wait_8th(void) |
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220 | { |
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221 | uint8_t start = abs_time % 8;
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222 | |||
223 | while(abs_time % 8 == start) |
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224 | { |
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225 | /*if(supply_voltage())
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226 | PORTB |= _BV(LED1);
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227 | else
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228 | PORTB &= ~_BV(LED1);
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229 | if(get_voltage()>100)
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230 | PORTB |= _BV(LED2);
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231 | else
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232 | PORTB &= ~_BV(LED2);*/
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233 | } |
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234 | } |
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235 | |||
236 | void send_err(void) |
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237 | { |
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238 | OCR1B=0;//turn off the PWM to be safe |
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239 | |||
240 | PORTB &= ~(_BV(LED1)|_BV(LED2)); |
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241 | if(status!=0)//leave last error if there was one |
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242 | PORTA &= ~(_BV(debug_time)|_BV(debug_curr)|_BV(debug_volt)|_BV(debug_temp)|_BV(debug_12in)); |
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243 | error=1;
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244 | status=0;
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245 | } |
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246 | |||
247 | void send_done(void) |
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248 | { |
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249 | 355 | bneuman | |
250 | 403 | bneuman | #if USE_I2C
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251 | 80 | bneuman | char tempData;
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252 | //Finished, leave
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253 | tempData = 'F';
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254 | i2c_putpacket(0x01, &tempData, 1); |
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255 | 355 | bneuman | #endif
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256 | 80 | bneuman | |
257 | PORTA &= ~(_BV(debug_time)|_BV(debug_curr)|_BV(debug_volt)|_BV(debug_temp)|_BV(debug_12in)); |
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258 | |||
259 | } |
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260 | |||
261 | void setup(void) |
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262 | { |
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263 | DDRA = _BV(PA3); |
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264 | 355 | bneuman | #if DEBUG
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265 | 80 | bneuman | //DDRA = (_BV(debug_time)|_BV(debug_curr)|_BV(debug_volt)|_BV(debug_temp)|_BV(debug_12in));
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266 | #endif
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267 | PORTA = 0x00;
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268 | DDRB = (_BV(ROBOT_TX)|_BV(PWM)|_BV(LED1)|_BV(LED2)); //confiure output pins
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269 | 403 | bneuman | PORTB &= ~(_BV(LED1) | _BV(LED2)); //clear LEDs without messing everything else up!
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270 | 80 | bneuman | |
271 | ADCSRA = (_BV(ADEN)|_BV(ADPS2)|_BV(ADPS1)); //start ADC with a division factor of 64
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272 | |||
273 | TCCR0B = (_BV(CS01)); //set timer 0 for realtime mode
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274 | TCCR0A = (_BV(TCW0)); |
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275 | TIMSK = (_BV(TOIE0)); //enable overflow interrupts
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276 | |||
277 | TCCR1A = (_BV(COM1B1)|_BV(PWM1B)|_BV(COM1A1)|_BV(PWM1A)); //clear timer 1 on compare, set at 0x00. Fast PWM mode
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278 | 266 | bneuman | TCCR1B |= _BV(CS10); //leave timer on and set compare to 0 to make output off
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279 | 264 | bneuman | |
280 | //hack stuff so it will run in continuous mode
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281 | 610 | bneuman | //TIMSK |= _BV(TOIE1); //enable overflow interrupt for timer 1
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282 | 264 | bneuman | |
283 | 80 | bneuman | OCR1B = 0;
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284 | OCR1A = 0;
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285 | |||
286 | |||
287 | RING_BUFFER_CLEAR(buffer); |
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288 | RING_BUFFER_INIT(buffer, 12);
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289 | for(int i=0;i<10;i++) |
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290 | RING_BUFFER_ADD(buffer, 0);
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291 | |||
292 | sei(); |
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293 | } |
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294 | |||
295 | |||
296 | |||
297 | |||
298 | //takes a 7-bit ionteger and displays it on the 7 LEDs with the Green being the MSB
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299 | void LED_out(int i) |
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300 | { |
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301 | if(i & 64) |
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302 | PORTB |= _BV(LED1); |
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303 | else
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304 | PORTB &= ~_BV(LED1); |
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305 | |||
306 | if(i & 32) |
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307 | PORTB |= _BV(LED2); |
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308 | else
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309 | PORTB &= ~_BV(LED2); |
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310 | |||
311 | if(i & 16) |
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312 | PORTA |= _BV(PA3); |
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313 | else
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314 | PORTA &= ~_BV(PA3); |
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315 | |||
316 | if(i & 8) |
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317 | PORTA |= _BV(PA4); |
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318 | else
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319 | PORTA &= ~_BV(PA4); |
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320 | |||
321 | if(i & 4) |
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322 | PORTA |= _BV(PA5); |
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323 | else
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324 | PORTA &= ~_BV(PA5); |
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325 | |||
326 | if(i & 2) |
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327 | PORTA |= _BV(PA6); |
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328 | else
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329 | PORTA &= ~_BV(PA6); |
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330 | |||
331 | if(i & 1) |
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332 | PORTA |= _BV(PA7); |
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333 | else
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334 | PORTA &= ~_BV(debug_12in); |
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335 | } |
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336 | |||
337 | //get the difference of the current value minues the value 10 entires ago
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338 | int ring_buffer_d10(int y) |
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339 | { |
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340 | int x;
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341 | RING_BUFFER_REMOVE(buffer, x); |
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342 | |||
343 | RING_BUFFER_ADD(buffer, y); |
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344 | return y-x;
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345 | } |
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346 | |||
347 | |||
348 | 403 | bneuman | uint8_t read_homing(void)
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349 | 80 | bneuman | { |
350 | uint8_t ret = PINA & _BV(HOMING_PIN); |
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351 | if(ret)
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352 | PORTA |= _BV(PA3); |
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353 | else
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354 | PORTA &= ~_BV(PA3); |
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355 | return ret;
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356 | } |
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357 | |||
358 | //copied from scheduler/seeking.c
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359 | uint8_t get_delay(void)
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360 | { |
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361 | uint8_t count = 0;
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362 | |||
363 | PORTB|=_BV(LED2); |
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364 | while(read_homing())
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365 | { |
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366 | delay_ms(1);
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367 | count++; |
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368 | if (count >= 100) |
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369 | return 1; |
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370 | } //wait a beacon cycle to make sure we aren't starting the count in the middle of one
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371 | PORTB&=~_BV(LED2); |
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372 | count = 0;
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373 | PORTB|=_BV(LED1); |
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374 | while(!read_homing())
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375 | { |
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376 | delay_ms(1);
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377 | count++; |
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378 | if(count==255) |
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379 | return 2; |
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380 | } |
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381 | PORTB&=~_BV(LED1); |
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382 | |||
383 | /*RECH_PUTS("\n\rCount: ");
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384 | RECH_PUTI(count);
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385 | RECH_PUTC('.');*/
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386 | |||
387 | return count;
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388 | } |
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389 | |||
390 | void trickle_charge(void) |
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391 | { |
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392 | |||
393 | abs_time = 0;
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394 | status = 0;
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395 | char tempData[5]; |
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396 | char data[2]; |
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397 | data[0]='D'; |
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398 | int volt = 0; |
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399 | int temp = 0; |
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400 | int curr = 0; |
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401 | int meas_count = 0; |
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402 | int mod=0; |
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403 | OCR1B = 0;
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404 | |||
405 | 266 | bneuman | PORTB &= ~(_BV(LED1)|_BV(LED2)); |
406 | |||
407 | |||
408 | 80 | bneuman | while(status!=2) |
409 | { |
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410 | mod=abs_time%4;
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411 | |||
412 | 266 | bneuman | PORTB ^= _BV(LED2); |
413 | |||
414 | 80 | bneuman | if(supply_voltage())
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415 | while(abs_time%4==mod); |
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416 | |||
417 | /* TIME TERMINATION */
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418 | 266 | bneuman | if(abs_time>12000) //12000=25 minutes |
419 | 80 | bneuman | { |
420 | //SEND_DONE
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421 | OCR1B=0;
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422 | break;
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423 | } |
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424 | |||
425 | #if DEBUG
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426 | tempData[0] = 'C'; |
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427 | tempData[1] = abs_time>>8; |
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428 | tempData[2] = abs_time&0xFF; |
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429 | 410 | bneuman | delay_ms(50);
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430 | 80 | bneuman | i2c_putpacket(0x01, tempData, 3); |
431 | 410 | bneuman | delay_ms(50);
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432 | 80 | bneuman | #endif
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433 | |||
434 | mod=abs_time%4;
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435 | while(abs_time%4==mod) |
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436 | { |
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437 | /* CONTACT */
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438 | if(supply_voltage())
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439 | { |
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440 | 266 | bneuman | PORTB |= _BV(LED1); |
441 | 80 | bneuman | //curr = regulate_current(500);
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442 | 355 | bneuman | curr = get_avg_current(); |
443 | 80 | bneuman | |
444 | if(status==0) |
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445 | { |
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446 | status=1;
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447 | 403 | bneuman | #if USE_I2C
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448 | 80 | bneuman | data[1]='a'; |
449 | i2c_putpacket(0x01, data, 2); |
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450 | data[1]=I2C_MSG_BATTERY_CHARGING;
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451 | i2c_putpacket(0x01, data, 2); |
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452 | 355 | bneuman | #endif
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453 | 80 | bneuman | } |
454 | |||
455 | /* Trickle Charge */
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456 | if(status==1) |
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457 | 610 | bneuman | OCR1B = 100;
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458 | 80 | bneuman | } |
459 | /* NO CONTACT */
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460 | else
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461 | { |
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462 | 266 | bneuman | PORTB &= ~_BV(LED1); |
463 | 80 | bneuman | if(status==1) |
464 | { |
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465 | status=0;
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466 | 403 | bneuman | #if USE_I2C
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467 | 80 | bneuman | data[1]=I2C_MSG_CONTACT_ERROR;
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468 | i2c_putpacket(0x01, data, 2); |
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469 | 355 | bneuman | #endif
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470 | 80 | bneuman | } |
471 | else
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472 | { |
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473 | 266 | bneuman | /*get_delay(); //reject the first reading //homing import stuff, uncomment this!!!!!!
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474 | 80 | bneuman | data[0]=I2C_MSG_HOMING;
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475 | data[1]=get_delay();
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476 | 266 | bneuman | i2c_putpacket(0x01, data, 2);*/
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477 | 80 | bneuman | |
478 | data[0]='D'; |
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479 | } |
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480 | curr = 0;
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481 | OCR1B = 0;
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482 | } |
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483 | } |
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484 | |||
485 | #if DEBUG
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486 | tempData[0] = 'P'; |
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487 | tempData[1] = 0; |
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488 | tempData[2] = OCR1B;
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489 | 410 | bneuman | delay_ms(50);
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490 | 80 | bneuman | i2c_putpacket(0x01, tempData, 3); |
491 | 410 | bneuman | delay_ms(50);
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492 | 80 | bneuman | tempData[0] = 'I'; |
493 | tempData[1] = curr>>8; |
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494 | tempData[2] = curr&0xFF; |
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495 | 410 | bneuman | delay_ms(50);
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496 | 80 | bneuman | i2c_putpacket(0x01, tempData, 3); |
497 | 410 | bneuman | delay_ms(50);
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498 | 80 | bneuman | #endif
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499 | curr=6666;
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500 | |||
501 | /* Absolute Voltage Termination */
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502 | mod=abs_time%4;
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503 | while(abs_time%4==mod) |
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504 | { |
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505 | volt = get_avg_voltage(); |
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506 | } |
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507 | |||
508 | if(volt>1010) |
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509 | { |
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510 | //SEND ERROR
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511 | status=0;
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512 | } |
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513 | |||
514 | #if DEBUG
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515 | tempData[0] = 'V'; |
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516 | tempData[1] = volt>>8; |
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517 | tempData[2] = volt&0xFF; |
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518 | 410 | bneuman | delay_ms(50);
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519 | 80 | bneuman | i2c_putpacket(0x01, tempData, 3); |
520 | 410 | bneuman | delay_ms(50);
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521 | 80 | bneuman | #endif
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522 | volt=6666;
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523 | |||
524 | /* Absolute Temperature Termination */
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525 | mod=abs_time%4;
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526 | while(abs_time%4==mod) |
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527 | { |
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528 | temp = get_avg_temperature(); |
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529 | } |
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530 | |||
531 | if(temp<250) |
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532 | { |
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533 | //SEND ERROR
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534 | status=0;
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535 | } |
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536 | |||
537 | #if DEBUG
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538 | tempData[0] = 'T'; |
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539 | tempData[1] = temp>>8; |
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540 | tempData[2] = temp&0xFF; |
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541 | 410 | bneuman | delay_ms(50);
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542 | 80 | bneuman | i2c_putpacket(0x01, tempData, 3); |
543 | 410 | bneuman | delay_ms(50);
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544 | 80 | bneuman | #endif
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545 | |||
546 | temp=6666;
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547 | } |
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548 | 403 | bneuman | #if USE_I2C
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549 | 80 | bneuman | data[1]=I2C_MSG_BATTERY_FULL;
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550 | i2c_putpacket(0x01, data, 2); |
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551 | 355 | bneuman | #endif
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552 | 80 | bneuman | } |
553 | |||
554 | int main(void) |
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555 | { |
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556 | new_second=0;
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557 | char tempData[5]; //For i2c communication |
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558 | |||
559 | setup(); |
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560 | 355 | bneuman | |
561 | 403 | bneuman | #if USE_I2C
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562 | delay_ms(500);
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563 | 80 | bneuman | i2c_init(); |
564 | 355 | bneuman | i2c_putpacket(0x01,"I2C init'd on ARCHS\r\n", 21); |
565 | 403 | bneuman | delay_ms(500);
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566 | 547 | bneuman | #else
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567 | #if DEBUG
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568 | i2c_init(); |
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569 | #endif
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570 | 355 | bneuman | #endif
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571 | 80 | bneuman | |
572 | |||
573 | /*GIMSK = (_BV(PCIE0)); //enable PCINT interrupts
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574 | PCMSK1 = (_BV(PCINT10)); //enable pin change interrupt on ROBOT_RX
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575 | MCUCR = (_BV(SE)|_BV(SM1));// (power-down mode)
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576 | */
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577 | |||
578 | OCR1B=0;
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579 | |||
580 | sei(); |
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581 | |||
582 | //test delay_ms
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583 | PORTB|=_BV(LED2); |
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584 | PORTB|=_BV(LED1); |
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585 | delay_ms(1000);
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586 | PORTB&=~_BV(LED2); |
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587 | PORTB&=~_BV(LED1); |
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588 | |||
589 | //*******************************
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590 | while(1) |
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591 | trickle_charge(); |
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592 | |||
593 | /*GIMSK = (_BV(PCIE0)); //enable PCINT interrupts
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594 | sleep_cpu();*/
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595 | |||
596 | PORTB=0;//clear outputs |
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597 | |||
598 | GIMSK = 0;
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599 | |||
600 | error=0;
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601 | |||
602 | i2c_init(); |
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603 | int volt=0, last_volt=0, same_volt=0; |
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604 | int temp=0, dt; |
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605 | int curr=0; |
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606 | int meas_count;
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607 | int mod=0; |
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608 | |||
609 | status=FAST_CHARGE; |
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610 | |||
611 | while(1) |
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612 | { |
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613 | mod=abs_time%4;
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614 | while(abs_time%4==mod); |
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615 | |||
616 | /*if((abs_time>>3)%3==0)
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617 | OCR1B=21;
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618 | else if((abs_time>>3)%3==1)
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619 | OCR1B=57;
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620 | else
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621 | OCR1B=85;*/
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622 | |||
623 | tempData[0] = 'C'; |
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624 | tempData[1] = abs_time>>8; |
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625 | tempData[2] = abs_time&0xFF; |
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626 | i2c_putpacket(0x01, tempData, 3); |
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627 | |||
628 | mod=abs_time%4;
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629 | while(abs_time%4==mod) |
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630 | { |
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631 | /* CONTACT */
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632 | if(supply_voltage())
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633 | { |
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634 | //curr = regulate_current(500);
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635 | curr = get_avg_current(); |
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636 | |||
637 | if(status==FAST_CHARGE)
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638 | OCR1B=50;
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639 | } |
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640 | /* NO CONTACT */
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641 | else
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642 | { |
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643 | curr = 0;
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644 | OCR1B = 0;
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645 | } |
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646 | } |
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647 | |||
648 | |||
649 | tempData[0] = 'P'; |
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650 | tempData[1] = 0; |
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651 | tempData[2] = OCR1B;
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652 | i2c_putpacket(0x01, tempData, 3); |
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653 | tempData[0] = 'I'; |
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654 | tempData[1] = curr>>8; |
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655 | tempData[2] = curr&0xFF; |
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656 | i2c_putpacket(0x01, tempData, 3); |
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657 | curr=6666;
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658 | |||
659 | mod=abs_time%4;
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660 | while(abs_time%4==mod) |
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661 | { |
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662 | volt = get_avg_voltage(); |
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663 | } |
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664 | |||
665 | //Same volt - Last volt upkeep
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666 | if(volt==last_volt && supply_voltage())
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667 | same_volt++; |
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668 | else
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669 | { |
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670 | last_volt = volt; |
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671 | same_volt=0;
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672 | } |
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673 | |||
674 | |||
675 | tempData[0] = 'v'; |
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676 | tempData[1] = same_volt>>8; |
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677 | tempData[2] = same_volt&0xFF; |
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678 | i2c_putpacket(0x01, tempData, 3); |
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679 | |||
680 | /* Voltage Dip Termination */
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681 | if(volt<last_volt && same_volt>=VOLT_PLATEAU)
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682 | { |
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683 | OCR1B=0;
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684 | status=0;
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685 | } |
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686 | |||
687 | tempData[0] = 'V'; |
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688 | tempData[1] = volt>>8; |
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689 | tempData[2] = volt&0xFF; |
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690 | i2c_putpacket(0x01, tempData, 3); |
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691 | |||
692 | volt=6666;
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693 | |||
694 | //Temp ring buffer upkeep
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695 | mod=abs_time%4;
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696 | while(abs_time%4==mod) |
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697 | { |
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698 | temp = get_avg_temperature(); |
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699 | } |
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700 | |||
701 | dt=ring_buffer_d10(temp); |
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702 | |||
703 | tempData[0] = 't'; |
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704 | tempData[1] = dt>>8; |
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705 | tempData[2] = dt&0xFF; |
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706 | i2c_putpacket(0x01, tempData, 3); |
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707 | |||
708 | /* Temperature Rise Termination */
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709 | if(dt < MAX_DT && temp < MAX_DT_ABS)
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710 | { |
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711 | status=0;
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712 | OCR1B=0;
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713 | } |
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714 | |||
715 | tempData[0] = 'T'; |
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716 | tempData[1] = temp>>8; |
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717 | tempData[2] = temp&0xFF; |
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718 | i2c_putpacket(0x01, tempData, 3); |
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719 | |||
720 | temp=6666;
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721 | } |
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722 | |||
723 | |||
724 | return 1; |
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725 | } |
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726 | |||
727 | ISR(TIMER0_OVF_vect) |
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728 | { |
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729 | if(error)
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730 | PORTB ^= (_BV(LED1)|_BV(LED2)); |
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731 | |||
732 | interrupt_count--; |
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733 | if(interrupt_count==0) |
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734 | { |
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735 | abs_time++; |
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736 | new_second=1;
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737 | |||
738 | interrupt_count=INT_COUNT; |
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739 | } |
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740 | } |
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741 | |||
742 | 264 | bneuman | ISR(TIMER1_OVF_vect) |
743 | { |
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744 | 355 | bneuman | wait(2); //wait a bit so we know the ouput gets set (which happens at timer = 0) |
745 | 264 | bneuman | |
746 | 592 | bneuman | TCNT1 = 0;//156; // start out at 156. Now OCR1B - 156 = duty cycle |
747 | 264 | bneuman | } |
748 | |||
749 | 80 | bneuman | ISR(PCINT_vect){;} //so the interrupt doesnt go to the reset vector |