void CheckSwitches(void){
Print_Level l = getPrintLevel();
setPrintLevelInfoPrint();
switched=0;
volt = GetRawVoltage();
boolean up = false;
uint8_t reg = isRegulated_0();
if (bankState[0] != reg ){
bankState[0]=reg;
up=true;
}
reg = isRegulated_1();
if (bankState[1] != reg){
bankState[1] = reg;
up=true;
}
if ((lastVolt>RawVoltageMin) && (volt<RawVoltageMin)){
up=true;
lastVolt = volt;
}
if ((lastVolt<RawVoltageMin) && (volt>RawVoltageMin)){
up=true;
lastVolt = volt;
}
setPrintLevel(l);
}
void CheckSwitches(void){
Print_Level l = getPrintLevel();
setPrintLevelInfoPrint();
switched=0;
volt = GetRawVoltage();
BOOL up = FALSE;
BYTE reg = isRegulated_0();
if (bankState[0] != reg ){
bankState[0]=reg;
up=TRUE;
}
reg = isRegulated_1();
if (bankState[1] != reg){
bankState[1] = reg;
up=TRUE;
}
if ((lastVolt>RawVoltageMin) && (volt<RawVoltageMin)){
up=TRUE;
lastVolt = volt;
}
if ((lastVolt<RawVoltageMin) && (volt>RawVoltageMin)){
up=TRUE;
lastVolt = volt;
}
if(up){
println_I("\nVoltage on raw: \t");
p_fl_I(volt);
println_I("Voltage on bank0: \t");
p_fl_I(GetRail0Voltage());
println_I("Voltage on bank1:\t");
p_fl_I(GetRail1Voltage());
println_I("Pushing upstream Power Packet bank 0: ");p_int_I(bankState[0]);print_I(" bank 1: ");p_int_I(bankState[1]);
println_I("Power Code 0: ");p_int_I(GetRawVoltageCode(0));
println_I("Power Code 1 : ");p_int_I(GetRawVoltageCode(1));
println_I("Raw: ");p_fl_I(GetRawVoltage());
UpstreamPushPowerChange();
}
setPrintLevel(l);
}
uint8_t IsRegulated(float voltage){
float raw = GetRawVoltage();
if((voltage < raw+10)&&(voltage > raw-10))
return false;
if ((voltage<(RawVoltageMin))&&(voltage>(FiveVoltADC))){//USB spec is 5.25v to 4.4v.
return true;
}
return false;
}
BYTE IsRegulated(float voltage){
float raw = GetRawVoltage()-130;//adding the voltage drop across the diaode
if((voltage < raw+10)&&(voltage > raw-10))
return FALSE;
if ((voltage<(RawVoltageMin))&&(voltage>(FiveVoltADC))){//USB spec is 5.25v to 4.4v.
return TRUE;
}
return FALSE;
}
void DownstreamPowerChange(void) {
LoadCorePacket(&downstreamPacketTemp);
POWER(&downstreamPacketTemp);
downstreamPacketTemp.use.data[2] = GetRawVoltageCode(0);
downstreamPacketTemp.use.data[3] = GetRawVoltageCode(1);
if (downstreamPacketTemp.use.data[0] == bankA
&& downstreamPacketTemp.use.data[1] == bankB
&& downstreamPacketTemp.use.data[2] == batteryCode0
&& downstreamPacketTemp.use.data[3] == batteryCode1)
return;
bankA = downstreamPacketTemp.use.data[0];
bankB = downstreamPacketTemp.use.data[1];
batteryCode0 = downstreamPacketTemp.use.data[2];
batteryCode1 = downstreamPacketTemp.use.data[3];
SendPacketToCoProc(&downstreamPacketTemp);
UpstreamPushPowerChange(bankA, bankB, GetRawVoltage(), getPowerOverRide());
}
void hardwareInit() {
// Configure the device for maximum performance but do not change the PBDIV
// Given the options, this function will change the flash wait states, RAM
// wait state and enable prefetch cache but will not change the PBDIV.
// The PBDIV value is already set via the pragma FPBDIV option above..
SYSTEMConfig((80000000L), SYS_CFG_WAIT_STATES | SYS_CFG_PCACHE);
SYSTEMConfigPerformance(80000000);
CHECONbits.PREFEN = 0;
int j = 0, i = 0;
for (i = 0; i < 6; i++) {
MyMAC.v[i] = MY_MAC_ADDRESS[i];
}
StartCritical();
println_I("MAC");
enableFlashStorage(true);
FlashGetMac(MyMAC.v);
for (i = 0; i < 6; i++) {
macStr[j++] = GetHighNib(MyMAC.v[i]);
macStr[j++] = GetLowNib(MyMAC.v[i]);
}
macStr[12] = 0;
//println_I("MAC address is =");
print_I(macStr);
Pic32_Bowler_HAL_Init();
usb_CDC_Serial_Init(dev, macStr, 0x04D8, 0x3742);
InitLEDS();
SetColor(0, 0, 1);
mInitSwitch();
//AVR Reset pin
InitAVR_RST();
HoldAVRReset();
//AVR must be running before pin states can be synced in the pin initialization
ReleaseAVRReset();
//Starts co-proc uart
initCoProcCom();
InitPinFunction();
//Must initialize IO before hardware
LoadDefaultValues();
//println_W("Pin States");
SyncModes();
//println_I("Modes synced, initializing channels");
initAdvancedAsync();
//println_I("Adding IO Namespace");
addNamespaceToList( get_bcsIoNamespace());
//println_I("Adding IO.Setmode Namespace");
addNamespaceToList(get_bcsIoSetmodeNamespace());
//println_I("Adding DyIO Namespace");
addNamespaceToList(get_neuronRoboticsDyIONamespace());
//println_I("Adding PID Namespace");
addNamespaceToList( getBcsPidNamespace());
//println_I("Adding DyIO PID Namespace");
addNamespaceToList( get_bcsPidDypidNamespace());
//println_I("Adding Safe Namespace");
addNamespaceToList((NAMESPACE_LIST *) get_bcsSafeNamespace());
Init_FLAG_BUSY_ASYNC();
//InitCTS_RTS_HO();
//ConfigUARTOpenCollector();
ConfigUARTRXTristate();
//Starts Timer 3
InitCounterPins();
InitADC();
//SetFwRev(rev);
GetName(Name);
if(Name[0]==0xff){
for(i=0;i<17;i++){
Name[i]=defaultName[i] ;
}
SetName(Name);
GetName(Name);
}
if (!GetLockCode(LockCode)){
for(i=0;i<4;i++){
LockCode[i] = defaultlock[i];
}
SetLockCode(LockCode);
}
EndCritical();
initBluetooth();
if(!hasBluetooth()){
Pic32UARTSetBaud( 115200 );
}
boolean defaultmac=true;
for (i = 0; (i < 6) && defaultmac; i++) {
if(MyMAC.v[i] != MY_MAC_ADDRESS[i]){
defaultmac = false;
}
}
if(defaultmac){
srand((unsigned) GetRawVoltage());// random seed from the air
MyMAC.v[3] = MINOR_REV;
MyMAC.v[4] = FIRMWARE_VERSION;
MyMAC.v[5] = rand() % 255;
FlashSetMac(MyMAC.v);
U1CON = 0x0000;
DelayMs(100);
Reset();
}
}
