Increased the communication speed to 1Mbps and solved some communication...

Increased the communication speed to 1Mbps and solved some communication problesm due to interrupt priorities.

include/adc.h

@@ -9,5 +9,6 @@ void adc_start(void);
 void adc_stop(void);
 void adc_set_num_samples(uint8_t num);
 void adc_set_sample_period(uint8_t time_ms);
+void adc_loop(void);
 
 #endif

src/adc.c

@@ -30,34 +30,21 @@ void adc_start_conv(void)
   ADCSRA|=(1<<ADSC);
 }
 
-/* interrupt handling functions */
-ISR(ADC_vect)
+uint8_t adc_is_conversion_done(void)
 {
-  uint8_t i;
-  uint16_t data;
- 
-  data=(ADCL | (ADCH<<8));
-  ram_data[ADC_CHANNEL0_L+adc_current_ch*2]=data%256;
-  ram_data[ADC_CHANNEL0_H+adc_current_ch*2]=data/256;
-  adc_ch_data[adc_current_ch][adc_current_sample]=data;
-  /* compute the average for the current channel */
-  data=0;
-  for(i=0;i<adc_num_samples;i++)
-    data+=adc_ch_data[adc_current_ch][i];
-  data=data/adc_num_samples;
-  ram_data[ADC_AVG_CHANNEL0_L+adc_current_ch*2]=data%256;
-  ram_data[ADC_AVG_CHANNEL0_H+adc_current_ch*2]=data/256;
-  if(adc_current_ch==NUM_CH-1)// last channel
-    adc_current_sample=(adc_current_sample+1)%adc_num_samples;
-  adc_current_ch=(adc_current_ch+1)%NUM_CH;
+  if(ADCSRA&(1<<ADIF))
+    return 0x01;
+  else
+    return 0x00;
 }
 
-ISR(TIMER2_COMP_vect)
+uint8_t adc_is_period_done(void)
 {
-  // start a new conversion
-  adc_set_channel(adc_current_ch);
-  adc_start_conv();
-}  
+  if(TIFR&(1<<OCF2))
+    return 0x01;
+  else
+    return 0x00;
+}
 
 /* public functions */
 void adc_init(void)
@@ -67,7 +54,7 @@ void adc_init(void)
   PORTF = 0x00;  
 
   ADMUX = (1<<REFS0);// use AVCC as reference, Right justified, channel 0
-  ADCSRA = (1<<ADIE) | (1<<ADPS2) | (1<<ADPS1) | (1<<ADPS0); // free running mode disabled, interrupts enabled, prescaler to 128
+  ADCSRA = (1<<ADPS2) | (1<<ADPS1) | (1<<ADPS0); // free running mode disabled, interrupts enabled, prescaler to 128
 
   // clear any pending interrupt
   ADCSRA|=(1<<ADIF);
@@ -83,6 +70,7 @@ void adc_init(void)
   // configure the timer 2 to perform periodic conversions (1 ms period)
   TCCR2=(1<<WGM21);// CTC mode, no output, prescaler to 0 (no clock source)
   TCNT2=0x00;// start from 0
+  TIMSK=0x00;// interrupts not enabled
 }
 
 void adc_start(void)
@@ -91,7 +79,10 @@ void adc_start(void)
   ADCSRA|=(1<<ADEN);
   // enable the timer 2 interrupts
   TCNT2=0x00;// start from 0
-  TIMSK|=(1<<OCIE2);// the timer ISR will start the ADC conversion
+  TIMSK=0x00;// interrupts not enabled
+  // clear interrupts
+  TIFR|=(1<<OCF2);
+  TIFR|=(1<<TOV2);
   // configure the timer prescaler and count value
   adc_set_sample_period(adc_sample_period_ms);
   ram_data[ADC_CONTROL]|=0x02;
@@ -99,8 +90,6 @@ void adc_start(void)
 
 void adc_stop(void)
 {
-  // disable the timer 2
-  TIMSK&=~(1<<OCIE2);
   TCCR2&=0xF8;// set prescaler to 0 (no clock source)
   // disable the ADC
   ADCSRA&=~(1<<ADEN);
@@ -140,3 +129,47 @@ void adc_set_sample_period(uint8_t time_ms)
     }
   }
 }
+
+void adc_loop(void)
+{
+  uint8_t i;
+  uint16_t data;
+  static int count=1000;
+
+  if(adc_is_period_done())
+  {
+    TIFR|=(1<<OCF2);// clear interrupt flag
+    TIFR|=(1<<TOV2);
+    TCNT2=0x00;// start from 0
+    // start a new conversion
+    adc_set_channel(adc_current_ch);
+    adc_start_conv();
+  }
+  else
+  {
+    if(adc_is_conversion_done())
+    {
+      count--;
+      if(count==0)
+      {
+        count=1000;
+        toggle_led();
+      }
+      ADCSRA|=(1<<ADIF);// clear interrupt flag
+      data=(ADCL | (ADCH<<8));
+      ram_data[ADC_CHANNEL0_L+adc_current_ch*2]=data%256;
+      ram_data[ADC_CHANNEL0_H+adc_current_ch*2]=data/256;
+      adc_ch_data[adc_current_ch][adc_current_sample]=data;
+      // compute the average for the current channel
+      data=0;
+      for(i=0;i<adc_num_samples;i++)
+        data+=adc_ch_data[adc_current_ch][i];
+      data=data/adc_num_samples;
+      ram_data[ADC_AVG_CHANNEL0_L+adc_current_ch*2]=data%256;
+      ram_data[ADC_AVG_CHANNEL0_H+adc_current_ch*2]=data/256;
+      if(adc_current_ch==NUM_CH-1)// last channel
+        adc_current_sample=(adc_current_sample+1)%adc_num_samples;
+      adc_current_ch=(adc_current_ch+1)%NUM_CH;
+    }
+  }
+}

src/main.c

@@ -16,12 +16,13 @@ int16_t main(void)
   dyn_slave_diff_init(ram_data[Baud_Rate],ram_data[ID]);
   init_ports();
   adc_init();
-  pwm_init();
-  dac_init();
+//  pwm_init();
+//  dac_init();
   sei();
 
   while (1) 
   {
+    adc_loop();
     dyn_slave_se_loop();
     dyn_slave_diff_loop();
   }

src/mem.c

@@ -5,7 +5,7 @@
 uint8_t ram_data[RAM_SIZE];
 
 // Dynamixel EEPROM variables
-uint8_t EEMEM eeprom_data[17]={0x1C,0x00,0x00,0x01,0x22,0xFA,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x02};
+uint8_t EEMEM eeprom_data[17]={0x1C,0x00,0x00,0x01,0x01,0xFA,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x02};
 
 void ram_init(void)
 {