void low_power(void)
{
/* Use as little power as possible */
random_walk_disable();
motor_off();
fled_off();
/* IR Led off */
P4OUT &= ~1;
P4DIR |= 1;
P4SEL &= ~1;
dint();
_BIS_SR(LPM3_bits);
while(1);
}
interrupt (ADC10_VECTOR) adc10_isr( void )
{
static uint16_t food0; /*output from food with LED off*/
static uint16_t food1; /*output from food with LED on*/
static uint32_t batt_time = 0;
adc10_dis();
switch(curreading){
case PD1:
pd_value[0] = ADC10MEM;
adc10_set_channel(PD2_CHANNEL);
curreading = PD2;
break;
case PD2:
pd_value[1] = ADC10MEM;
adc10_set_channel(PD3_CHANNEL);
curreading = PD3;
break;
case PD3:
pd_value[2] = ADC10MEM;
/* sample the battery voltage once in a while */
if (the_time > batt_time)
{
batt_time = the_time + BATT_INTERVAL;
adc10_set_channel(BATT_CHANNEL);
curreading = BATT;
/* disable other channels to prevent coupling of photocurrents */
ADC10AE0 = 0;
/* Use ACLK */
ADC10CTL1 = (ADC10CTL1 & (~ADC10SSEL_SMCLK)) | ADC10SSEL_ACLK;
/* Remove clock divide */
ADC10CTL1 &= ~ADC10DIV_7;
ADC10CTL0 |= SREF_1; /* Use 2.5V Reference */
/* Divide by 4 */
ADC10CTL0 = (ADC10CTL0 & (~ADC10SHT_DIV64)) | ADC10SHT_DIV4;
}
else
{
adc10_set_channel(FOOD_CHANNEL);
curreading = FOOD0;
}
bearing_set( pd_value );
break;
case BATT:
battval = ADC10MEM;
adc10_set_channel(FOOD_CHANNEL);
ADC10AE0 = CHANNEL_CONFIG;
ADC10CTL1 &= ~ADC10SSEL_SMCLK;
ADC10CTL1 |= ADC10SSEL_MCLK; /* Bacl to master clock*/
ADC10CTL1 |= ADC10DIV_7; /* Divide by 7 */
ADC10CTL0 &= ~SREF_7; /* Vcc - Vss rails */
ADC10CTL0 |= ADC10SHT_DIV4; /* Divide clock by 64 */
curreading = FOOD0;
break;
case FOOD0:
/* FLED Off */
food0 = ADC10MEM;
adc10_set_channel(FOOD_CHANNEL);
curreading = FOOD1;
break;
case FOOD1:
/* Fled ON */
food1 = ADC10MEM;
adc10_set_channel(PD1_CHANNEL);
foodcallback(food0, food1);
curreading = PD1;
break;
}
fled_off();
}
