/* This originally was for battery charge control, but now it handles
* other things that must be periodically checked such as
* mux control and task check in (watchdog)
*/
static void MonitorBattery(void)
{
static unsigned char LastPercent = 101;
#if CHECK_CSTACK
if (LastPercent == 101) CheckCStack();
#endif
unsigned char ClipChanged = CheckClip();
CheckBattery();
if (ClipChanged || Charging() || CurrentPage[PageType] == StatusPage)
{
unsigned char CurrPercent = BatteryPercentage();
if (CurrPercent != LastPercent || ClipChanged)
{
if (CurrentPage[PageType] == StatusPage) DrawWatchStatusScreen();
else UpdateClock(); // must be the last to avoid screen mess-up
LastPercent = CurrPercent;
}
}
/* Watchdog requires each task to check in.
* If the background task reaches here then it can check in.
* Send a message to the other tasks so that they must check in.
*/
TaskCheckIn(eDisplayTaskCheckInId);
CreateAndSendMessage(WrapperTaskCheckInMsg, MSG_OPT_NONE);
#if TASK_DEBUG
UTL_FreeRtosTaskStackCheck();
#endif
}
const unsigned char *GetBatteryIcon(unsigned char Id)
{
unsigned int Level = Read(BATTERY);
unsigned char Index = 0;
if (Level >= BATTERY_FULL_LEVEL) Index = BATTERY_LEVEL_NUMBER;
else if (Level <= BatteryCriticalLevel(CRITICAL_WARNING) && !Charging()) Index = 1; // warning icon index
else
{
unsigned int Empty = BatteryCriticalLevel(CRITICAL_BT_OFF);
unsigned int Step = (BATTERY_FULL_LEVEL - Empty) / BATTERY_LEVEL_NUMBER;
while (Level > (Empty + Step * Index)) Index ++;
}
const unsigned char *pIcon = IconInfo[Id].pIconSet + (Index * IconInfo[Id].Width * IconInfo[Id].Height);
if (!Charging()) pIcon += BATTERY_ICON_NUM * IconInfo[Id].Width * IconInfo[Id].Height;
return pIcon;
}
void FORTE_iCreateBattery::executeEvent(int pa_nEIID){
switch (pa_nEIID){
case scm_nEventREQID:
create_battery_charge();
Charging() = static_cast<TForteInt16>(gc_charge_state); //get_create_charging_state(LAG());
Voltage() = static_cast<TForteInt16>(gc_batt_voltage);
Current() = static_cast<TForteInt16>(gc_current_flow);
Temperature() = static_cast<TForteInt16>(gc_batt_temp);
Charge() = static_cast<TForteInt16>(gc_batt_charge);
Capacity() = static_cast<TForteInt16>(gc_batt_capacity);
sendOutputEvent(scm_nEventCNFID);
break;
}
}
/* 80 us
*
* conversion time = 13 * ADC12DIV * 1/FreqAdcClock
* 13 * 8 * 1/5e6 = 20.8 us
*/
void BatterySenseCycle(void)
{
static unsigned char Index = 0;
xSemaphoreTake(AdcMutex, portMAX_DELAY);
BATTERY_SENSE_ENABLE();
ENABLE_REFERENCE();
/* low_bat_en assertion to bat_sense valid is ~100 ns */
/* Start battery sense conversion */
AdcCheck();
CLEAR_START_ADDR();
ADC12CTL1 |= ADC12CSTARTADD_1;
ENABLE_ADC();
WaitForAdcBusy();
/* Convert the ADC count for the battery input into a voltage
* ADC12MEM1: Counts Battery Voltage in ADC counts
* Result: Battery voltage in millivolts */
unsigned int Value = (unsigned int)(CONVERSION_FACTOR_BATTERY * (double)ADC12MEM1);
if (ValidCalibration()) Value += GetBatteryCalibrationValue();
/* smoothing algorithm: cut extreme values (gap > 20) */
unsigned char Prev = (Index == 0) ? MAX_SAMPLES - 1: Index - 1;
if (Sample[BATTERY][Prev])
{
int Gap = Value - Sample[BATTERY][Prev];
if (Charging())
{
if (Gap > GAP_BIG) Gap = GAP_BIG;
else if (Gap < GAP_SMALL_NEGATIVE) Gap = GAP_SMALL_NEGATIVE;
}
else
{
if (Gap > GAP_SMALL) Gap = GAP_SMALL;
else if (Gap < GAP_BIG_NEGATIVE) Gap = GAP_BIG_NEGATIVE;
}
Sample[BATTERY][Index] = Sample[BATTERY][Prev] + Gap;
}
else Sample[BATTERY][Index] = Value;
if (++Index >= MAX_SAMPLES) Index = 0;
BATTERY_SENSE_DISABLE();
EndAdcCycle(); //xSemaphoreGive()
}
/*! Read the voltage of the battery. This provides power good, battery charging,
* battery voltage, and battery voltage average.
*
* \param tHostMsg* pMsg is unused
*
*/
static void ReadBatteryVoltageHandler(void)
{
tMessage Msg;
SetupMessageAndAllocateBuffer(&Msg, VBatRespMsg, MSG_OPT_NONE);
Msg.Length = 6;
Msg.pBuffer[0] = ClipOn();
Msg.pBuffer[1] = Charging();
Msg.pBuffer[2] = BatteryPercentage();
unsigned int bv = Read(BATTERY);
Msg.pBuffer[4] = bv & 0xFF;
Msg.pBuffer[5] = (bv >> 8) & 0xFF;
RouteMsg(&Msg);
}
double BatteryManager::ChargingTime() const {
MOZ_ASSERT(NS_IsMainThread());
// For testing, unable to report the battery status information
if (Preferences::GetBool("dom.battery.test.default", false)) {
return 0.0;
}
if (Preferences::GetBool("dom.battery.test.charging", false)) {
return 42.0;
}
if (!Charging() || mRemainingTime == kUnknownRemainingTime) {
return std::numeric_limits<double>::infinity();
}
return mRemainingTime;
}
//use time for IR sensor value if using TRIP
void WallFollow(int mode, int time, int dir){
int startTime, diff, close;
switch(mode){
case NEVER:
while(1){
diff = WallFollowPID( ADS7830_Values[FRONT_LEFT] - ADS7830_Values[BACK_LEFT], P9v , 0 , D12v , divP12v, 1 , divD12v);
close = 0;//WallFollowPID2( IDEAL_DISTANCE - (ADS7830_Values[FRONT_LEFT] + ADS7830_Values[BACK_LEFT]) , 1 , 0 , 0, 1 , 0 , 0);
UARTprintf("Back Left: %d Front_Left: %d, close: %d, diff: %d\n",ADS7830_Values[BACK_LEFT], ADS7830_Values[FRONT_LEFT], close, diff);
SetMotorPowersBlocking( dir*(127 + diff + close) ,dir*(127 - diff - close));
}
//break;
case CHARGING:
while(!Charging()){
diff = WallFollowPID( ADS7830_Values[FRONT_LEFT] - ADS7830_Values[BACK_LEFT], P9v , 0 , D12v , divP12v, 1 , divD12v);
close = 0;//WallFollowPID2( IDEAL_DISTANCE - (ADS7830_Values[FRONT_LEFT] + ADS7830_Values[BACK_LEFT]) , 1 , 0 , 0, 1 , 0 , 0);
UARTprintf("Back Left: %d Front_Left: %d, close: %d, diff: %d\n",ADS7830_Values[BACK_LEFT], ADS7830_Values[FRONT_LEFT], close, diff);
SetMotorPowersBlocking( dir*(127 + diff + close) ,dir*(127 - diff - close));
}
break;
case TIMEOUT:
startTime = GetTimeMS();
while(GetTimeMS()<startTime+time){
diff = WallFollowPID( ADS7830_Values[FRONT_LEFT] - ADS7830_Values[BACK_LEFT], P9v , 0 , D12v , divP12v, 1 , divD12v);
close = 0;//WallFollowPID2( IDEAL_DISTANCE - (ADS7830_Values[FRONT_LEFT] + ADS7830_Values[BACK_LEFT]) , 1 , 0 , 0, 1 , 0 , 0);
UARTprintf("Back Left: %d Front_Left: %d, close: %d, diff: %d\n",ADS7830_Values[BACK_LEFT], ADS7830_Values[FRONT_LEFT], close, diff);
SetMotorPowersBlocking( dir*(127 + diff + close) ,dir*(127 - diff - close));
}
break;
case TRIP:
while(!tripped(time,LOWER)){
diff = WallFollowPID( ADS7830_Values[FRONT_LEFT] - ADS7830_Values[BACK_LEFT], P9v , 0 , D12v , divP12v, 1 , divD12v);
close = 0;//WallFollowPID2( IDEAL_DISTANCE - (ADS7830_Values[FRONT_LEFT] + ADS7830_Values[BACK_LEFT]) , 1 , 0 , 0, 1 , 0 , 0);
UARTprintf("Back Left: %d Front_Left: %d, close: %d, diff: %d\n",ADS7830_Values[BACK_LEFT], ADS7830_Values[FRONT_LEFT], close, diff);
SetMotorPowersBlocking( dir*(127 + diff + close) ,dir*(127 - diff - close));
}
break;
}
}
void Moose::FSM()
{
switch (mCurState)
{
case ES_IDLE:
Idle();
break;
case ES_HUNTING:
Hunting();
break;
case ES_ATTACK:
Attack();
break;
case ES_STALKING:
Stalking();
break;
case ES_MATING:
Mating();
break;
case ES_CHARGING:
Charging();
break;
}
}
void DrawDateTime(void)
{
// clean date&time area
FillMyBuffer(STARTING_ROW, WATCH_DRAW_SCREEN_ROW_NUM, 0x00);
SetFont(DEFAULT_HOURS_FONT);
gRow = DEFAULT_HOURS_ROW;
gColumn = DEFAULT_HOURS_COL;
gBitColumnMask = DEFAULT_HOURS_COL_BIT;
DrawHours(DRAW_OPT_BITWISE_OR);
gRow = DEFAULT_MINS_ROW;
gColumn = DEFAULT_MINS_COL;
gBitColumnMask = DEFAULT_MINS_COL_BIT;
DrawMins(DRAW_OPT_BITWISE_OR);
if (GetProperty(PROP_TIME_SECOND)) DrawSecs();
else if (Charging()) DrawBatteryOnIdleScreen(3, 9, MetaWatch5);
else
{
if (!GetProperty(PROP_24H_TIME_FORMAT))
{
gRow = DEFAULT_AM_PM_ROW;
gColumn = DEFAULT_AM_PM_COL;
gBitColumnMask = DEFAULT_AM_PM_COL_BIT;
SetFont(DEFAULT_AM_PM_FONT);
DrawString((RTCHOUR > 11) ? "PM" : "AM", DRAW_OPT_BITWISE_OR);
}
gRow = GetProperty(PROP_24H_TIME_FORMAT) ? DEFAULT_DOW_24HR_ROW : DEFAULT_DOW_12HR_ROW;
gColumn = DEFAULT_DOW_COL;
gBitColumnMask = DEFAULT_DOW_COL_BIT;
SetFont(DEFAULT_DOW_FONT);
DrawString((tString *)DaysOfTheWeek[LANG_EN][RTCDOW], DRAW_OPT_BITWISE_OR);
//add year when time is in 24 hour mode
if (GetProperty(PROP_24H_TIME_FORMAT))
{
gRow = DEFAULT_DATE_YEAR_ROW;
gColumn = DEFAULT_DATE_YEAR_COL;
gBitColumnMask = DEFAULT_DATE_YEAR_COL_BIT;
SetFont(DEFAULT_DATE_YEAR_FONT);
unsigned char Year = RTCYEARH;
DrawChar(BCD_H(Year) + ZERO, DRAW_OPT_BITWISE_OR);
DrawChar(BCD_L(Year) + ZERO, DRAW_OPT_BITWISE_OR);
Year = RTCYEARL;
DrawChar(BCD_H(Year) + ZERO, DRAW_OPT_BITWISE_OR);
DrawChar(BCD_L(Year) + ZERO, DRAW_OPT_BITWISE_OR);
}
//Display month and day
//Watch controls time - use default date position
unsigned char DayFirst = GetProperty(PROP_DDMM_DATE_FORMAT);
char Rtc[2];
Rtc[DayFirst ? 0 : 1] = RTCDAY;
Rtc[DayFirst ? 1 : 0] = RTCMON;
gRow = DEFAULT_DATE_FIRST_ROW;
gColumn = DEFAULT_DATE_FIRST_COL;
gBitColumnMask = DEFAULT_DATE_FIRST_COL_BIT;
SetFont(DEFAULT_DATE_MONTH_FONT);
DrawChar(BCD_H(Rtc[0]) + ZERO, DRAW_OPT_BITWISE_OR);
DrawChar(BCD_L(Rtc[0]) + ZERO, DRAW_OPT_BITWISE_OR);
//Display separator
SetFont(DEFAULT_DATE_SEPARATOR_FONT);
DrawChar(DayFirst ? '.' : '/', DRAW_OPT_BITWISE_OR);
//Display day second
gRow = DEFAULT_DATE_SECOND_ROW;
gColumn = DEFAULT_DATE_SECOND_COL;
gBitColumnMask = DEFAULT_DATE_SECOND_COL_BIT;
SetFont(DEFAULT_DATE_DAY_FONT);
DrawChar(BCD_H(Rtc[1]) + ZERO, DRAW_OPT_BITWISE_OR);
DrawChar(BCD_L(Rtc[1]) + ZERO, DRAW_OPT_BITWISE_OR);
}
SendMyBufferToLcd(STARTING_ROW, WATCH_DRAW_SCREEN_ROW_NUM);
}
