Colony

#include <avr/io.h>

#include <avr/io.h>

#include <avr/interrupt.h>

#include <avr/sleep.h>

#include "ring_buffer.h"

#include "i2c.h"

// for i2c_byte coming from charge board

//I2C Message Codes

#define I2C_MSG_ACKNOWLEDGE       'A'

#define I2C_MSG_BATTERY_CHARGING  'C'

#define I2C_MSG_DATA              'D'

#define I2C_MSG_CONTACT_ERROR     'E'

#define I2C_MSG_BATTERY_FULL      'F'

#define I2C_MSG_NO_CONTACT        'N'

#define I2C_MSG_REQUEST_DATA      'R'

#define I2C_MSG_GO_TO_SLEEP       'Y'

#define I2C_MSG_ENTERING_SLEEP    'Z'

#define I2C_MSG_HOMING            'H'

#define SW0 PA6

#define HOMING_PIN PA7

#define DEBUG 0

#define USE_I2C 1

#define MAX_T 300

#define MIN_T 730

//range is 0 to 45 C

//cal tests:

//room temp - 25

//value ~500, varies from battery to battery, but is consistent on one battery

//freezer 737

//heat gun at a distance 461

#define MAX_DT -4 //this is the LOWEST ACCEPTABLE ADC value

#define MAX_DT_ABS 400

#define VOLT_PLATEAU 50

//The following times are in seconds

#define MAX_FAST_TIME 5400

#define MAX_TRICKLE_TIME 600

//debug pins

#define debug_time PA3

#define debug_curr PA4

#define debug_volt PA5

#define debug_temp PA6

#define debug_12in PA7

//be sure admux also sets the MUX5 bit which is in ADCSRB

#define ADMUX_I

#define ADMUX_V

#define ADMUX_T

#define ROBOT_TX PB1

#define ROBOT_RX PB2

#define PWM PB3

#define DETECT_12V PB6

#define LED1 PB4 //Green

#define LED2 PB5 //Red

//LED States:

//Red - Fast Charging

//Green - Trickle Charging

//Both steady - done charging

//Both Blinking - Error

#define INT_COUNT 2 //interrupts per second

#define AVG_COUNT 64 //number of times to count current

//To enable the PWM write :         TCCR1B = (_Bv(CS10));//enable PWM

uint8_t interrupt_count = INT_COUNT;

volatile uint32_t abs_time=1; // start at one second so it doesnt do the minute checks right away

volatile uint8_t new_second=0; //only used as a boolean

volatile uint8_t error=0;

volatile uint8_t status;

volatile uint8_t steady_current = 0;

//DT must be triggered twice in a row

volatile uint8_t last_DT = 0;

//same for DV

volatile uint8_t last_DV = 0;

#define FAST_CHARGE 1

#define TRICKLE_CHARGE 2

void setup(void)

{

    DDRA = _BV(PA3);

        PORTA = 0x00;

        DDRB = (_BV(ROBOT_TX)|_BV(PWM)|_BV(LED1)|_BV(LED2)); //confiure output pins

        PORTB = 0x00;

        /*

        ADCSRA = (_BV(ADEN)|_BV(ADPS2)|_BV(ADPS1)); //start ADC with a division factor of 64

        TCCR0B = (_BV(CS01)); //set timer 0 for realtime mode

        TCCR0A = (_BV(TCW0));

        TIMSK = (_BV(TOIE0)); //enable overflow interrupts

        TCCR1A = (_BV(COM1B1)|_BV(PWM1B)|_BV(COM1A1)|_BV(PWM1A)); //clear timer 1 on compare, set at 0x00. Fast PWM mode

        TCCR1B |= _BV(CS10); //leave timer on and set compare to 0 to make output off        

        //hack stuff so it will run in continuous mode

        TIMSK |= _BV(TOIE1); //enable overflow interrupt for timer 1

        OCR1B = 0;

        OCR1A = 0;

        sei();*/

}

int main(void)

{

        setup();

        //sei();

        i2c_init();

        //setup();

        OCR1B=0;

        delay_ms(3000);

        cli();

        while(1){

                PORTB|=_BV(LED2);

                PORTB|=_BV(LED1);

                delay_ms(500);

                i2c_putpacket(0x01,"hello.", 6);

                delay_ms(500);

                /*PORTB&=~_BV(LED2);

                PORTB&=~_BV(LED1);*/

        }

        return 1;

}

ISR(TIMER0_OVF_vect)

{

        if(error)

                PORTB ^= (_BV(LED1)|_BV(LED2));

        interrupt_count--;

        if(interrupt_count==0)

        {

                abs_time++;

                new_second=1;

                interrupt_count=INT_COUNT;

        }

}

ISR(TIMER1_OVF_vect)

{

        //wait(2); //wait a bit so we know the ouput gets set (which happens at timer = 0)

        TCNT1 = 0;//156; // start out at 156. Now OCR1B - 156 = duty cycle

}

ISR(PCINT_vect){;} //so the interrupt doesnt go to the reset vector