diff --git a/controllers/include/cm510_cfg.h b/controllers/include/cm510_cfg.h
index 88cca06cd00138d8c4dc919d5551b578379bc297..f8430c0d1d0563db04f33c99b3ba3340b2dc38d3 100644
--- a/controllers/include/cm510_cfg.h
+++ b/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
diff --git a/controllers/src/adc.c b/controllers/src/adc.c
index 28ad8059b0a28633ca901bb16debc5b037769331..bc6d5c482790fdee53fd8b0960b9964c79f7c951 100644
--- a/controllers/src/adc.c
+++ b/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)
diff --git a/controllers/src/cm510.c b/controllers/src/cm510.c
index dd68036f9fe963d9ab08e8668037c1e8929373b8..fbe21d184f24bc72cfb0f90c478b1e1cf00e7551 100755
--- a/controllers/src/cm510.c
+++ b/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);
diff --git a/motion/Makefile b/motion/Makefile
index fe1e351817bac42792a869a66be7c6b0dfc93f84..5b1a7eebcbb7df4fc7c92336a70a9c94bd683f90 100755
--- a/motion/Makefile
+++ b/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
diff --git a/motion/src/examples/Makefile b/motion/src/examples/Makefile
index 686382b1015b6fa6ee484b4dadb4cdd575aaa1e7..847e3b242b9ef3164e143d002b96a37efcf269bd 100644
--- a/motion/src/examples/Makefile
+++ b/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).*