/**
* @Function ADCIntHandler
* @param None
* @return None
* @brief Interrupt Handler for A/D. Reads all used pins into buffer.
* @note This function is not to be called by the user
* @author Max Dunne, 2013.08.25 */
void __ISR(_ADC_VECTOR, ipl1) ADCIntHandler(void)
{
unsigned char CurPin = 0;
INTClearFlag(INT_AD1);
for (CurPin = 0; CurPin <= PinCount; CurPin++) {
ADValues[CurPin] = ReadADC10(CurPin); //read in new set of values
}
//calculate new filtered battery voltage
Filt_BatVoltage = (Filt_BatVoltage * KEEP_FILT + AD_ReadADPin(BAT_VOLTAGE_MONITOR) * ADD_FILT) >> SHIFT_FILT;
SampleCount++;
if (SampleCount > PointsPerBatSamples) {//if sample time has passed
PrevFilt_BatVoltage = CurFilt_BatVoltage;
CurFilt_BatVoltage = Filt_BatVoltage;
SampleCount = 0;
//check for battery undervoltage check
if ((CurFilt_BatVoltage <= BAT_VOLTAGE_LOCKOUT) && (PrevFilt_BatVoltage <= BAT_VOLTAGE_LOCKOUT) && (AD_ReadADPin(BAT_VOLTAGE_MONITOR) > BAT_VOLTAGE_NO_BAT)) {
BOARD_End();
while (1) {
printf("Battery is undervoltage with reading %d, Stack is inoperable until charging\r\n", AD_ReadADPin(BAT_VOLTAGE_MONITOR));
while (!IsTransmitEmpty());
}
}
}
//if pins are changed add pins
if (PinsToAdd | PinsToRemove) {
AD_SetPins();
}
ADNewData = TRUE;
}
/**
* @Function AD_Init
* @param None
* @return SUCCESS or ERROR
* @brief Initializes the A/D subsystem and enable battery voltage monitoring.
* @author Max Dunne, 2013.08.10 */
char AD_Init(void)
{
if (ADActive) {
return ERROR;
}
int pin = 0;
//ensure that the battery monitor is active
ActivePins = BAT_VOLTAGE_MONITOR;
ADActive = TRUE;
AD_SetPins();
for (pin = 0; pin < NUM_AD_PINS; pin++) {
ADValues[pin] = -1;
}
INTEnable(INT_AD1, INT_DISABLED);
INTClearFlag(INT_AD1);
INTSetVectorPriority(INT_ADC_VECTOR, 1);
INTSetVectorSubPriority(INT_ADC_VECTOR, 3);
INTEnable(INT_AD1, INT_ENABLED);
EnableADC10();
ADNewData = FALSE;
//wait for first reading to ensure battery monitor starts in the right spot
while (!AD_IsNewDataReady()) {
#ifdef AD_DEBUG_VERBOSE
PutChar('.');
#endif
}
//set the first values for the battery monitor filter
Filt_BatVoltage = AD_ReadADPin(BAT_VOLTAGE_MONITOR);
CurFilt_BatVoltage = Filt_BatVoltage;
PrevFilt_BatVoltage = Filt_BatVoltage;
return SUCCESS;
}
static int ConvertDC(int speed)
{
int x;
unsigned int batRead;
float inVolt;
float mult;
batRead = AD_ReadADPin(BAT_VOLTAGE);
inVolt = ((float) batRead) / 1023.0 * 33.0;
mult = 9.90 / inVolt;
// Cap it at 1000
return (int) (((speed * mult) > 1000.0) ? 1000.0 : (speed * mult));
}
int main(void)
{
unsigned int wait = 0;
int readcount = 0;
unsigned int CurPin = 0;
unsigned int PinListing = 0;
char FunctionResponse = 0;
char TestFailed = FALSE;
//SERIAL_Init();
//INTEnableSystemMultiVectoredInt();
BOARD_Init();
mJTAGPortEnable(0);
printf("\r\nUno A/D Test Harness\r\nThis will initialize all A/D pins and read them %d times\r\n", TIMES_TO_READ);
//printf("Value of pcfg before test: %X\r\n", AD1PCFG);
// while(!IsTransmitEmpty());
//AD_Init(BAT_VOLTAGE);
//AD_Init();
printf("Testing functionality before initialization\r\n");
/*adding pins individually */
printf("AD_AddPins on each pin indvidually which results in failure: ");
for (CurPin = 1; CurPin < ALLADPINS; CurPin <<= 1) {
FunctionResponse = AD_AddPins(CurPin);
if (FunctionResponse != ERROR) {
TestFailed = TRUE;
break;
}
}
if (TestFailed) {
printf("FAIL\r\n");
} else {
printf("PASSED\r\n");
}
TestFailed = FALSE;
/*removing pins individually*/
printf("AD_RemovePins on each pin indvidually which results in failure: ");
for (CurPin = 1; CurPin < ALLADPINS; CurPin <<= 1) {
FunctionResponse = AD_RemovePins(CurPin);
if (FunctionResponse != ERROR) {
TestFailed = TRUE;
break;
}
}
if (TestFailed) {
printf("FAIL\r\n");
} else {
printf("PASSED\r\n");
}
TestFailed = FALSE;
/*listing pins while inactive*/
printf("AD_ActivePins which should return 0: ");
PinListing = AD_ActivePins();
if (PinListing != 0x0) {
printf("FAILED\r\n");
} else {
printf("PASSED\r\n");
}
// /*calling ned when inactive*/
// printf("AD_End which should fail: ");
// FunctionResponse = AD_End();
// if (FunctionResponse != ERROR) {
// printf("FAILED\r\n");
// } else {
// printf("PASSED\r\n");
// }
/*activating module*/
printf("initializing using AD_Init: ");
FunctionResponse = AD_Init();
if (FunctionResponse != SUCCESS) {
printf("FAILED\r\n");
} else {
printf("PASSED\r\n");
}
/*attempting to reactivate*/
printf("initializing using AD_Init again returns error: ");
FunctionResponse = AD_Init();
if (FunctionResponse != ERROR) {
printf("FAILED\r\n");
} else {
printf("PASSED\r\n");
}
printf("Testing Functionality after initialization\r\n");
/*active pins after activation only has battery*/
printf("Ad_ActivePins should only return BAT_VOLTAGE: ");
PinListing = AD_ActivePins();
if (PinListing == BAT_VOLTAGE) {
printf("PASSED\r\n");
} else {
printf("FAILED\r\n");
}
/*each pin added should succeed*/
printf("Adding each pin using AD_AddPins indivdually: ");
for (CurPin = 1; CurPin < ALLADMINUSBATT; CurPin <<= 1) {
PinListing = AD_ActivePins();
FunctionResponse = AD_AddPins(CurPin);
if (FunctionResponse != SUCCESS) {
TestFailed = TRUE;
break;
}
while (AD_ActivePins() != (PinListing | CurPin));
}
if (TestFailed) {
printf("FAIL\r\n");
} else {
printf("PASSED\r\n");
}
/*removing each pin should succeed */
printf("Removing each pin using AD_RemovePins indivdually: ");
for (CurPin = 1; CurPin < ALLADMINUSBATT; CurPin <<= 1) {
PinListing = AD_ActivePins();
FunctionResponse = AD_AddPins(CurPin);
if (FunctionResponse != SUCCESS) {
TestFailed = TRUE;
break;
}
while (AD_ActivePins() != (PinListing | CurPin));
}
if (TestFailed) {
printf("FAIL: %X\r\n", 0xFEED);
} else {
printf("PASSED\r\n");
}
while (1);
printf("We will now add the odd pins and wait for them to be activated");
AD_AddPins(ODD_ACTIVE);
while (!(AD_ActivePins() & ODD_ACTIVE)) {
if (IsTransmitEmpty()) {
printf("%X\r\n", AD_ActivePins());
}
}
printf("The Odd pins are now active as shown by Active pins: %X\r\n", AD_ActivePins());
printf("We will now enable the even pins and wait for them to be activated");
AD_AddPins(EVEN_ACTIVE);
while (!(AD_ActivePins() & EVEN_ACTIVE));
printf("The Even pins are now active as shown by Active pins: %X\r\n", AD_ActivePins());
char numtoread = NUM_AD_PINS;
unsigned char cur = 0;
DELAY(400000)
while (readcount <= TIMES_TO_READ) {
DELAY(100000);
printf("\r\n");
for (cur = 0; cur < numtoread; cur++) {
printf("%d\t", AD_ReadADPin(1 << cur));
}
printf("\r\n");
readcount++;
}
printf("Done Reading Them\r\n");
AD_End();
printf("Value of pcfg after test: %X", AD1PCFG);
return 0;
}
/**
* @Function R2_BJT2_BatteryVoltage(void)
* @param None.
* @return a 10-bit value corresponding to the current voltage of the roach
* @brief returns a 10:1 scaled value of the roach battery level
* @author Max Dunne, 2013.07.12 */
unsigned int R2_BJT2_BatteryVoltage(void) {
return AD_ReadADPin(BAT_VOLTAGE);
}