/ - Diff - Tooltron - Robotics Club

Revision e2a3c71f

ID	e2a3c71f71fc38f72a7175df2e257c5b024bee41
Parent	2dde134c

Added by Thomas Mullins over 9 years ago

Added shutoff when current is sensed when enabling tool

Also made a number of fixes to current sensing, which was quite broken.

     #include <avr/interrupt.h>
     #include <math.h>
     // TODO the ADC is run once every 2ms no matter what these numbers
     // say. They're not used. Actual samples/cycle is around 8.3
     #define CYCLES_PER_SECOND 60 // wall power
     #define SAMPLES_PER_CYCLE 16
     #define N_SAMPLES 48
     #define SAMPLES_PER_CYCLE  8
     #define N_SAMPLES 24
     unsigned int samples[N_SAMPLES];
     int sample_idx;
-...
       /* TODO reduce power consumption with DIDR* */
       /*
        * COM1A = COM1B = 0, disconnect pins
        * WGM1 = 4, clear timer on compare A
        * CS1 = 1, no prescaler
        */
       TCCR1B = _BV(WGM12) | _BV(CS10);
       /* Timer is cleared on A, ADC is triggered on B */
       OCR1A = F_CPU / SAMPLES_PER_CYCLE / CYCLES_PER_SECOND;
       OCR1B = OCR1A;
       /*
        * REFS = 0, Vcc reference (set to 2 for internal 1.1V reference)
        * MUX = 8, PB3(ADC8)
        */
-...
       /*
        * ADLAR = 0, right adjust result
        * ADTS = 5, start on timer 1 compare match B
        */
       ADCSRB = _BV(ADTS2) | _BV(ADTS0);
       ADCSRB = 0;
       /*
        * ADEN = 1, enable
        * ADSC = 0, don't start yet
        * ADATE = 1, auto trigger
        * ADATE = 0, no auto trigger
        * ADIE = 1, enable interrupt
        * ADPS = 6, prescale clock by 64
        */
       ADCSRA = _BV(ADEN) | _BV(ADATE) | _BV(ADIE) | _BV(ADPS2) | _BV(ADPS1);
       ADCSRA = _BV(ADEN) | _BV(ADIE) | _BV(ADPS2) | _BV(ADPS1);
+    }
     void current_start_adc() {
       ADCSRA |= _BV(ADSC);
+    }
     ISR(ADC_vect) {
       unsigned int old, new;
       /* clear the timer interrupt flag so that the ADC will be triggered again
        * next time the timer resets */
       TIFR |= _BV(OCF1B);
       new = ADC;
       /* put sample into ring buffer */

toolbox/current.h
2	2	#define CURRENT_H
3	3
4	4	void current_init();
	5	void current_start_adc();
5	6	unsigned int current_read();
6	7
7	8	#endif

       TS_DENY,
       TS_REQ_DIS,
       TS_MISSING_ID,
       TS_ON
       TS_ON,
       TS_OVER_CURRENT
     };
     static enum toolstate_t toolstate = TS_INIT;
-...
     static uint16_t current;
     //static uint16_t current_max_warn, current_max_hard;
     // watch for current spike when tool turns on
     #define CURRENT_STARTUP_THRESH   10
     #define CURRENT_STARTUP_TIMEOUT 200 // ms
     static uint8_t current_startup_timeout;
     static uint16_t current_startup_value;
     static inline void set_coil(char coil, char bit) {
       coils = (coils & ~(1 << coil)) | (bit << coil);
+    }
-...
           if (get_coil(MB_COIL_EN)) {
             tool_enable();
             toolstate = TS_ON;
             current_startup_timeout = CURRENT_STARTUP_TIMEOUT / TICK_MS;
             current_startup_value = current + CURRENT_STARTUP_THRESH;
           } else if (!get_coil(MB_COIL_NEW)) {
             toolstate = TS_DENY;
           } else if (!serno_equal(current_user, latest_reading)) {
-...
           break;
         case TS_MISSING_ID:
           if (!get_coil(MB_COIL_EN)) {
           if (current_startup_timeout > 0 && current > current_startup_value) {
             tool_disable();
             set_coil(MB_COIL_EN, 0);
             toolstate = TS_OVER_CURRENT;
             led_blink_start(500, 16, RED);
           } else if (!get_coil(MB_COIL_EN)) {
             tool_disable();
             toolstate = TS_OFF;
           } else if (get_coil(MB_COIL_REQ_DIS)) {
-...
             serno_zero(current_user);
             toolstate = TS_OFF;
+          }
           if (current_startup_timeout > 0) {
             current_startup_timeout--;
+          }
           break;
         case TS_ON:
           led_green();
           if (!get_coil(MB_COIL_EN)) {
           if (current_startup_timeout > 0 && current > current_startup_value) {
             tool_disable();
             set_coil(MB_COIL_EN, 0);
             toolstate = TS_OVER_CURRENT;
             led_blink_start(500, 16, RED);
           } else if (!get_coil(MB_COIL_EN)) {
             tool_disable();
             serno_zero(current_user);
             toolstate = TS_OFF;
-...
             toolstate = TS_REQ_DIS;
           } else if (!serno_equal(current_user, latest_reading)) {
             toolstate = TS_MISSING_ID;
             led_blink_start(500, 6, YELLOW); // TODO made 10 seconds
             led_blink_start(500, 16, YELLOW);
+          }
           if (current_startup_timeout > 0) {
             current_startup_timeout--;
+          }
           break;
         case TS_OVER_CURRENT:
           if (led_blink_done() && !serno_equal(current_user, latest_reading)) {
             toolstate = TS_OFF;
             serno_zero(current_user);
+          }
           break;

     #include <avr/io.h>
     #include <avr/interrupt.h>
     #include "time.h"
     #include "current.h"
     /* F_CPU / PRESCALE = OCR * 1000 + ERROR */
     #define OCR (F_CPU / PRESCALE / 1000UL)
-...
         ready = 1;
         ms = 0;
+      }
       if (ms % 2 == 0) {
         current_start_adc(); // TODO don't do this here
+      }
+    }
     void time_init() {

Also available in: Unified diff

Project

General

Profile

Tooltron

Revision e2a3c71f