Solved a problem while reading the Robotis IR sensors. It seems they have to...

Solved a problem while reading the Robotis IR sensors. It seems they have to be enabled and disabled in orer to work properly.

controllers/include/cm510_cfg.h

@@ -5,7 +5,7 @@
 
 // controller configuration parameters
 #define ADC_MAX_NUM_SAMPLES                     16
-#define ADC_SAMPLE_PERIOD_MS                    10
+#define ADC_SAMPLE_PERIOD_MS                    40
 #define ADC_VOLTAGE_ALARM_TH                    559
 #define ADC_VOLTAGE_ALARM_WINDOW                20
 #define ADC_VOLTAGE_ALARM_NOTE                  NOTE_LA

controllers/src/adc.c

@@ -22,7 +22,7 @@ void adc_set_channel(uint8_t ch_id)
   ADMUX&=0xF8;
   ADMUX|=(ch_id&0x07);
   if(ch_id==0)
-    PORTA&=0xFC;
+    PORTA|=0xFC;
   else
     PORTA=~(0x80>>(ch_id-1));// enable the desired channel
 }
@@ -33,7 +33,7 @@ void adc_set_sample_period(void)
   uint16_t compare_value;
   uint8_t i;
 
-  for(i=0;i<5;i++)
+  for(i=0;i<7;i++)
   {
     compare_value=(((F_CPU/1000)*ADC_SAMPLE_PERIOD_MS)/(prescaler_values[i]*NUM_ADC))-1;
     if(compare_value<256)
@@ -75,49 +75,48 @@ void adc_loop(void)
   {
     TIFR2|=(1<<OCF2A)|(1<<OCF2B)|(1<<TOV2);// clear interrupt flag
     TCNT2=0x00;// start from 0
+    // set the channel to sample
+    adc_set_channel(adc_current_ch);      
+    _delay_us(12);
     // start a new conversion
     adc_start_conv();
-  }
-  else
-  {
-    if(adc_is_conversion_done())
+    // wait for the conversion to end
+    while(!adc_is_conversion_done());
+    ADCSRA|=(1<<ADIF);// clear interrupt flag
+    data=ADC;//(ADCL | (ADCH<<8));
+    adc_values[adc_current_ch]=data;
+    adc_ch_data[adc_current_ch][adc_current_sample]=data;
+    // compute the average for the current channel
+    data=0;
+    for(i=0;i<ADC_MAX_NUM_SAMPLES;i++)
+      data+=adc_ch_data[adc_current_ch][i];
+    data=data/ADC_MAX_NUM_SAMPLES;
+    adc_avg_values[adc_current_ch]=data;
+    if(adc_current_ch==NUM_ADC-1)// last channel
+      adc_current_sample=(adc_current_sample+1)%ADC_MAX_NUM_SAMPLES;
+    if(adc_current_ch==ADC_VCC)// monitor the Voltage supply
     {
-      ADCSRA|=(1<<ADIF);// clear interrupt flag
-      data=(ADCL | (ADCH<<8));
-      adc_values[adc_current_ch]=data;
-      adc_ch_data[adc_current_ch][adc_current_sample]=data;
-      // compute the average for the current channel
-      data=0;
-      for(i=0;i<ADC_MAX_NUM_SAMPLES;i++)
-        data+=adc_ch_data[adc_current_ch][i];
-      data=data/ADC_MAX_NUM_SAMPLES;
-      adc_avg_values[adc_current_ch]=data;
-      if(adc_current_ch==NUM_ADC-1)// last channel
-        adc_current_sample=(adc_current_sample+1)%ADC_MAX_NUM_SAMPLES;
-      if(adc_current_ch==ADC_VCC)// monitor the Voltage supply
+//      voltage_mv=((uint32_t)data*(uint32_t)5000*(uint32_t)133)/((uint16_t)1024*(uint16_t)33);
+      // compare with hysteresis
+      if(adc_voltage_alarm==0x01)
       {
-//        voltage_mv=((uint32_t)data*(uint32_t)5000*(uint32_t)133)/((uint16_t)1024*(uint16_t)33);
-        // compare with hysteresis
-        if(adc_voltage_alarm==0x01)
+        if(data>=(ADC_VOLTAGE_ALARM_TH+ADC_VOLTAGE_ALARM_WINDOW))// voltage under 11 V
         {
-          if(data>=(ADC_VOLTAGE_ALARM_TH+ADC_VOLTAGE_ALARM_WINDOW))// voltage under 11 V
-          {
-            buzzer_stop_alarm();
-            adc_voltage_alarm=0x00;
-          }
+          buzzer_stop_alarm();
+          adc_voltage_alarm=0x00;
         }
-        else
+      }
+      else
+      {
+        if(data<(ADC_VOLTAGE_ALARM_TH-ADC_VOLTAGE_ALARM_WINDOW))// voltage under 11 V
         {
-          if(data<(ADC_VOLTAGE_ALARM_TH-ADC_VOLTAGE_ALARM_WINDOW))// voltage under 11 V
-          {
-            buzzer_start_alarm(NOTE_LA,30,30);
-            adc_voltage_alarm=0x01;
-          }
+          buzzer_start_alarm(NOTE_LA,30,30);
+          adc_voltage_alarm=0x01;
         }
       }
-      adc_current_ch=(adc_current_ch+1)%NUM_ADC;
-      adc_set_channel(adc_current_ch);      
     }
+    // select next channel
+    adc_current_ch=(adc_current_ch+1)%NUM_ADC;
   }
 }
 
@@ -155,9 +154,6 @@ void init_adc(void)
   TIMSK2=0x00;// interrupts not enabled
   TIFR2=0x07;// clear any pending interrupt
   adc_set_sample_period();// set the default sample period
-  
-  // enable the first ADC channel
-  adc_set_channel(adc_current_ch);
 }
 
 uint16_t get_adc_channel(adc_t channel_id)

controllers/src/cm510.c

@@ -42,7 +42,6 @@ void init_cm510(void)
   init_adc();
   init_buzzer();
   init_user_time();
-  exp_board_init(EXP_BOARD_ID);
 }
 
 int16_t main(void)
@@ -51,6 +50,7 @@ int16_t main(void)
   sei();
   /* call the user initialization function */
   manager_init(18);
+  exp_board_init(EXP_BOARD_ID);
   user_init();
   // turn BAT_LED on to indicate the initialization is done
   turn_led_on(LED_BAT);

motion/Makefile

@@ -13,7 +13,7 @@ MMCU=atmega2561
 
 INC_DIRS=-I./include/ -I$(DEV_DIR)include/ -I$(COMM_DIR)include/ -I$(CONT_DIR)include/
 
-LIBS=$(COMM_DIR)lib/libcomm.a $(DEV_DIR)lib/libdyn_devices.a
+LIBS=$(CONT_DIR)lib/libcontrollers.a $(COMM_DIR)lib/libcomm.a $(DEV_DIR)lib/libdyn_devices.a
 
 CFLAGS=-mmcu=$(MMCU) -Wall -O3 -DF_CPU=16000000UL -gdwarf-2 -std=gnu99 -funsigned-char -funsigned-bitfields -fpack-struct -fshort-enums -Wstrict-prototypes
 

motion/src/examples/Makefile

@@ -14,7 +14,7 @@ CC=avr-gcc
 OBJCOPY=avr-objcopy
 MMCU=atmega2561
 
-LIBS=$(CONT_DIR)lib/libcontrollers.a $(MAN_DIR)lib/libmotion_manager.a $(COMM_DIR)lib/libcomm.a $(DEV_DIR)lib/libdyn_devices.a
+LIBS=$(MAN_DIR)lib/libmotion_manager.a $(CONT_DIR)lib/libcontrollers.a $(COMM_DIR)lib/libcomm.a $(DEV_DIR)lib/libdyn_devices.a
 
 INCLUDE_DIRS=-I$(DEV_DIR)include -I$(COMM_DIR)include -I$(CONT_DIR)include -I$(MAN_DIR)include
 
@@ -48,7 +48,7 @@ motion_manager:
 	$(MAKE) -C $(MAN_DIR)
 
 download: $(MAIN_OUT_HEX)
-	fw_downloader -d /dev/ttyUSB0 -f ./$(PROJECT).hex -p new
+	fw_downloader -d /dev/ttyUSB0 -f ./$(PROJECT).hex -p cm510
 
 clean:
 	-rm $(PROJECT).*