uint16_t accelerometer_read(accel_t accel)
{
if (accel == ACCEL_X) return analog_read(ANALOG9);
if (accel == ACCEL_Y) return analog_read(ANALOG10);
if (accel == ACCEL_Z) return analog_read(ANALOG4);
return 0;
}
int term(){
// valeur doights de commande
value_apontador_finger=analog_read(i);
value_middle_finger=analog_read(i);
//
if(value_apontador_finger==255) { }
if() { cmd[nb_champ_seq]=1; nb_champ_seq++;}
//
if(value_middle_finger==255) { }
}
/* Read and average the ADC input signal */
static double read_temp(uint8_t sensor_number)
{
int32_t raw = 4095; // initialize raw with value equal to lowest temperature.
double celsius = 0;
uint8_t i;
if (sensor_number == EXTRUDER_0){
raw = analog_read(EXTRUDER_0_SENSOR_ADC_CHANNEL);
}else if (sensor_number == HEATED_BED_0)
{
raw = analog_read(HEATED_BED_0_SENSOR_ADC_CHANNEL);
/*
int32_t bed_temp_buf[5];
for(int32_t i = 0; i < 5; i++)
{
bed_temp_buf[i] = analog_read(HEATED_BED_0_SENSOR_ADC_CHANNEL);
}
raw = getMedianValue(bed_temp_buf);
*/
}
// filter the ADC values with simple IIR
adc_filtered[sensor_number] = ((adc_filtered[sensor_number] * 15) + raw) / 16;
raw = adc_filtered[sensor_number];
/* Go and use the temperature table to math the temperature value... */
if (raw < temptable[0][sensor_number]) /* Limit the smaller value... */
{
celsius = temptable[0][2];
}
else if (raw >= temptable[NUMTEMPS-1][sensor_number]) /* Limit the higher value... */
{
celsius = temptable[NUMTEMPS-1][2];
}
else
{
for (i=1; i<NUMTEMPS; i++)
{
if (raw < temptable[i][sensor_number])
{
celsius = temptable[i-1][2] +
(raw - temptable[i-1][sensor_number]) *
(temptable[i][2] - temptable[i-1][2]) /
(temptable[i][sensor_number] - temptable[i-1][sensor_number]);
break;
}
}
}
return celsius;
}
char getLines() {
char result = 1;
if(analog_read(TLLINE)<THRESHOLD)
result *= 2;
if(analog_read(TRLINE)<THRESHOLD)
result *= 3;
if(analog_read(BLLINE)<THRESHOLD)
result *= 5;
if(analog_read(BRLINE)<THRESHOLD)
result *= 7;
return result;
}
int main()
{
// set up the 3pi
initialize();
int last_proximity = 0;
const int base_speed = 200;
const int set_point = 100; // what is the set point for?
// This is the "main loop" - it will run forever.
while(1)
{
// In case it gets stuck: for 1 second every 15 seconds back up
if (get_ms() % 15000 > 14000) {
back_up();
continue;
}
// If something is directly in front turn to the right in place
int front_proximity = analog_read(5);
if (front_proximity > 200) {
turn_in_place();
continue;
}
int proximity = analog_read(1); // 0 (far away) - 650 (close)
int proportional = proximity - set_point;
int derivative = proximity - last_proximity;
// Proportional-Derivative Control Signal
int pd = proportional / 3 + derivative * 20;
int left_set = base_speed + pd;
int right_set = base_speed - pd;
set_motors(left_set, right_set);
if (TIME_TO_DISPLAY) {
clear();
lcd_goto_xy(0,0);
print_long(proximity);
lcd_goto_xy(5,0);
print_long(pd);
lcd_goto_xy(0,1);
print_long(left_set);
lcd_goto_xy(4,1);
print_long(right_set);
}
last_proximity = proximity; // remember last proximity for derivative
}
// This part of the code is never reached.
while(1)
{
set_motors(0,0)
}
}
int main(void)
{
/*init all the things*/
motors_init(PHASE_CORRECT, PRESCALE_8);
uart_init(BAUD_CALC(9600));
sei();
adc_init();
wdt_init(WDTO_500MS);
/********************/
go(0, 0);
uart_putc(ACK);
over_current_a = 0;
over_current_b = 0;
while (1)
{
current_a = analog_read(C_SENS_A);
current_b = analog_read(C_SENS_B);
req_t = get_request_type();
if (req_t == CURRENT_REQ)
{
write_current(current_a, current_b);
}
else if (req_t == MOTORS_SET)
{
read_motors(&speed_a, &speed_b);
wdt_reset();
}
//manage current sens
#ifdef CURRENT_LIMIT
if ((current_a < CURRENT_LIMIT) && (current_b < CURRENT_LIMIT))
{
go(speed_a, speed_b);
over_current_a = over_current_b = 0;
}
else
{
//overcurrent
go(0, 0);
uart_putc('!');
over_current_a = current_a - CURRENT_LIMIT;
over_current_b = current_b - CURRENT_LIMIT;
}
#endif
}
return (0);
}
void meta_ocupada(){
unsigned int dist = 0;
unsigned int todas = 0;
for (int x = 0; x < 5; x++){
if (x > 0 && x < 4)
{
delay_ms(40);
}
dist = analog_read(7);
todas += dist;
}
if (todas >= 1000)
{
return true;
}
else
{
return false;
}
//return false;
}
int potentiometer_read(analogvalue_t *value)
{
analogvalue_t newvalue;
enum { CHANNEL = 0, N_READINGS = 3 };
int raw = 0;
for (int i = 0; i < N_READINGS; i++) {
analog_read(CHANNEL, &newvalue);
raw += newvalue.raw;
}
newvalue.raw = raw / N_READINGS;
if (newvalue.raw > 1020)
newvalue.raw = 1020;
if ((newvalue.raw > value->prevraw && newvalue.raw - value->prevraw > 3) ||
(newvalue.raw < value->prevraw && value->prevraw - newvalue.raw > 3)) {
if (newvalue.t - value->t > 50) {
value->prevraw = value->raw;
value->raw = newvalue.raw;
value->v = newvalue.raw / 4;
value->t = newvalue.t;
}
}
return value->v;
}
/* Read and average the ADC input signal */
static uint16_t read_temp(uint8_t sensor_number)
{
int32_t raw = 0;
int16_t celsius = 0;
uint8_t i;
if (sensor_number == EXTRUDER_0)
{
raw = analog_read(EXTRUDER_0_SENSOR_ADC_CHANNEL);
}
else if (sensor_number == HEATED_BED_0)
{
raw = analog_read(HEATED_BED_0_SENSOR_ADC_CHANNEL);
}
// filter the ADC values with simple IIR
adc_filtered[sensor_number] = ((adc_filtered[sensor_number] * 7) + raw) / 8;
raw = adc_filtered[sensor_number];
/* Go and use the temperature table to math the temperature value... */
if (raw > temptable[0][sensor_number]) /* Limit the smaller value... */
{
celsius = temptable[0][2];
}
else if (raw < temptable[NUMTEMPS-1][sensor_number]) /* Limit the higher value... */
{
celsius = temptable[NUMTEMPS-1][2];
}
else
{
for (i=1; i<NUMTEMPS; i++)
{
if (raw > temptable[i][sensor_number])
{
celsius = temptable[i-1][2] +
(raw - temptable[i-1][sensor_number]) *
(temptable[i][2] - temptable[i-1][2]) /
(temptable[i][sensor_number] - temptable[i-1][sensor_number]);
break;
}
}
}
uart_writestr("\nTemp: ");
uart_send_32_Hex(celsius);
return celsius;
}
void thermistor_read(const temp_sensor_t *sensor, temp_sensor_runtime_t *runtime){
uint8_t j, table_num;
uint16_t temp = 0;
sensor_thermistor_userdata *userdata = sensor->userdata;
//Read current temperature
temp = analog_read(userdata->pin);
// for thermistors the thermistor table number is in the additional field
table_num = userdata->table_num;
//Calculate real temperature based on lookup table
for (j = 1; j < NUMTEMPS; j++) {
if (pgm_read_word(&(temptable[table_num][j][0])) > temp) {
// Thermistor table is already in 14.2 fixed point
//#ifndef EXTRUDER
//if (DEBUG_PID && (debug_flags & DEBUG_PID))
// sersendf_P(PSTR("pin:%d Raw ADC:%d table entry: %d"),userdata->pin,temp,j);
//#endif
// Linear interpolating temperature value
// y = ((x - x₀)y₁ + (x₁-x)y₀ ) / (x₁ - x₀)
// y = temp
// x = ADC reading
// x₀= temptable[j-1][0]
// x₁= temptable[j][0]
// y₀= temptable[j-1][1]
// y₁= temptable[j][1]
// y =
// Wikipedia's example linear interpolation formula.
temp = (
// ((x - x₀)y₁
((uint32_t)temp - pgm_read_word(&(temptable[table_num][j-1][0]))) * pgm_read_word(&(temptable[table_num][j][1]))
// +
+
// (x₁-x)
(pgm_read_word(&(temptable[table_num][j][0])) - (uint32_t)temp)
// y₀ )
* pgm_read_word(&(temptable[table_num][j-1][1])))
// /
/
// (x₁ - x₀)
(pgm_read_word(&(temptable[table_num][j][0])) - pgm_read_word(&(temptable[table_num][j-1][0])));
//#ifndef EXTRUDER
//if (DEBUG_PID && (debug_flags & DEBUG_PID))
// sersendf_P(PSTR(" temp:%d.%d"),temp/4,(temp%4)*25);
//#endif
return;
}
}
//Clamp for overflows
if (j == NUMTEMPS)
temp = temptable[table_num][NUMTEMPS-1][1];
runtime->next_read_time = 0;
runtime->last_read_temp = temp;
}
uint16_t read_temp(uint8_t sensor_number)
{
uint16_t raw = 0, celsius = 0;
uint8_t i;
if (sensor_number == EXTRUDER_0)
{
raw = analog_read(EXTRUDER_0_SENSOR_ADC_CHANNEL);
}
else if (sensor_number == HEATED_BED_0)
{
raw = analog_read(HEATED_BED_0_SENSOR_ADC_CHANNEL);
}
/* Go and use the temperature table to math the temperature value... */
if (raw < temptable[0][sensor_number]) /* Limit the smaller value... */
{
celsius = temptable[0][2];
}
else if (raw >= temptable[NUMTEMPS-1][sensor_number]) /* Limit the higher value... */
{
celsius = temptable[NUMTEMPS-1][2];
}
else
{
for (i=1; i<NUMTEMPS; i++)
{
if (raw < temptable[i][sensor_number])
{
celsius = temptable[i-1][2] +
(raw - temptable[i-1][sensor_number]) *
(temptable[i][2] - temptable[i-1][2]) /
(temptable[i][sensor_number] - temptable[i-1][sensor_number]);
break;
}
}
}
return celsius;
}
int main(void)
{
setup();
while(1)
{
x = analog_read(&PB1);
uart1.printf("hex = %05d\r\n", x);
x = analog_read_voltage(&PB1);
uart1.printf("val = %04dmv\r\n", x);
uart1.printf("==============\r\n", x);
delay_ms(1000);
}
}
void main(void)
{
slave_id();
port_configure();
//ini();
analog_config();
while(true)
{
analog_read(); // Le posicao corrente
if (buffer_adc>250) // Limite mecanico superior
{
stop_engine();
limit_up=0;
limit_down=1;
}
else if (buffer_adc<10) // Limite mecanico inferior
{
stop_engine();
limit_down=0;
limit_up=1;
}
else if ((buffer_adc==buffer_pos)) // Para motor em posicao
{
stop_engine();
}
else if ((buffer_adc>buffer_pos) && limit_down!=0)
{
move_down();
limit_up=1; //liberta limite cima
}
else if ((buffer_adc<buffer_pos) && limit_up!=0)
{
move_up();
limit_down=1; //liberta limite baixo
}
}
}
/* Read and average the R2C2 ADC input signal */
static double read_R2C2_temp(void)
{
double celsius = 0;
int32_t adc_r2c2_buf[9];
for(int32_t i = 0; i < 9; i++)
{
adc_r2c2_buf[i] = analog_read(R2C2_TEMP_SENSOR_ADC_CHANNEL);
}
adc_r2c2_raw = getMedianValue(adc_r2c2_buf);
adc_filtered_r2c2 = adc_filtered_r2c2*0.9 + adc_r2c2_raw*0.1;
double volts = (double) adc_filtered_r2c2*(3.3/4096);
celsius = (volts - 0.5)*100;
return celsius;
}
int main()
{
init_sensors();
int SET_POINT_VALUE = get_int_from_user("SetPnt=?", 20, 5);
int END_POINT_VALUE = get_int_from_user("EndPnt=?", 145, 1);
wait_with_message("Press B");
count_down(2);
int front = 0;
int left = 0;
int right = 0;
int balance = 0;
int left_speed = 0;
int right_speed = 0;
int set_point = 0;
while(1)
{
left = analog_read(6);
right = analog_read(5);
front = analog_read(7);
balance = 0;
if (left > 20 || right > 20)
{
balance = right - left - 20;
}
if(front < SET_POINT_VALUE)
{
left_speed = 110 - (1.0 * 0.54838709677419354838709677419355 * front);
right_speed = 110 - (1.0 * 0.54838709677419354838709677419355 * front);
}
else
{
while(left_speed > 25 || right_speed > 25)
{
left_speed--;
right_speed--;
set_motors(left_speed + balance,right_speed - balance);
play_frequency(200, 50, 14);
}
}
if (set_point == 0 && front > END_POINT_VALUE)
{
set_point = 1;
set_motors(25,25);
}
else
{
set_motors(left_speed + balance,right_speed - balance);
}
if (set_point == 1 && front < END_POINT_VALUE)
{
break;
}
}
halt();
clear();
print("f=");
print_long(front);
// end
while(1);
}
/// called every 10ms from clock.c - check all temp sensors that are ready for checking
void temp_sensor_tick() {
temp_sensor_t i = 0;
for (; i < NUM_TEMP_SENSORS; i++) {
if (temp_sensors_runtime[i].next_read_time) {
temp_sensors_runtime[i].next_read_time--;
}
else {
uint16_t temp = 0;
//time to deal with this temp sensor
switch(temp_sensors[i].temp_type) {
#ifdef TEMP_MAX6675
case TT_MAX6675:
#ifdef PRR
PRR &= ~MASK(PRSPI);
#elif defined PRR0
PRR0 &= ~MASK(PRSPI);
#endif
#ifdef NAL_REPRAP
/* This section is compatible with the mendel original implementation of the MAX6675.
* Not using the SPI as the MISO line is used to control our heater.
*/
WRITE(MAX6675_CS, 0); // Enable device
// Read in 16 bits from the MAX6675
for (uint8_t i=0; i<16; i++){
WRITE(MAX6675_SCK,1); // Set Clock to HIGH
temp <<= 1; // shift left by one
// Read bit and add it to our variable
temp += (READ(MAX6675_SO) != 0 );
WRITE(MAX6675_SCK,0); // Set Clock to LOW
}
WRITE(MAX6675_CS, 1); //Disable Device
#else
SPCR = MASK(MSTR) | MASK(SPE) | MASK(SPR0);
// enable TT_MAX6675
WRITE(SS, 0);
// ensure 100ns delay - a bit extra is fine
delay(1);
// read MSB
SPDR = 0;
for (;(SPSR & MASK(SPIF)) == 0;);
temp = SPDR;
temp <<= 8;
// read LSB
SPDR = 0;
for (;(SPSR & MASK(SPIF)) == 0;);
temp |= SPDR;
// disable TT_MAX6675
WRITE(SS, 1);
#endif
temp_sensors_runtime[i].temp_flags = 0;
if ((temp & 0x8002) == 0) {
// got "device id"
temp_sensors_runtime[i].temp_flags |= PRESENT;
if (temp & 4) {
// thermocouple open
temp_sensors_runtime[i].temp_flags |= TCOPEN;
}
else {
temp = temp >> 3;
}
}
// this number depends on how frequently temp_sensor_tick is called. the MAX6675 can give a reading every 0.22s, so set this to about 250ms
temp_sensors_runtime[i].next_read_time = 25;
break;
#endif /* TEMP_MAX6675 */
#ifdef TEMP_THERMISTOR
case TT_THERMISTOR:
do {
uint8_t j, table_num;
//Read current temperature
temp = analog_read(temp_sensors[i].temp_pin);
// check for open circuit
if (temp ==1023){
temp = 0 ; // this should convert to max temperature and ensure the heaters are turned off
temp_sensors_runtime[i].temp_flags |= TCOPEN;
}
// for thermistors the thermistor table number is in the additional field
table_num = temp_sensors[i].additional;
//Calculate real temperature based on lookup table
for (j = 1; j < NUMTEMPS; j++) {
if (pgm_read_word(&(temptable[table_num][j][0])) > temp) {
// Thermistor table is already in 14.2 fixed point
#ifndef EXTRUDER
if (debug_flags & DEBUG_PID)
sersendf_P(PSTR("pin:%d Raw ADC:%d table entry: %d"),temp_sensors[i].temp_pin,temp,j);
#endif
// Linear interpolating temperature value
// y = ((x - x₀)y₁ + (x₁-x)y₀ ) / (x₁ - x₀)
// y = temp
// x = ADC reading
// x₀= temptable[j-1][0]
// x₁= temptable[j][0]
// y₀= temptable[j-1][1]
// y₁= temptable[j][1]
// y =
// Wikipedia's example linear interpolation formula.
temp = (
// ((x - x₀)y₁
((uint32_t)temp - pgm_read_word(&(temptable[table_num][j-1][0]))) * pgm_read_word(&(temptable[table_num][j][1]))
// +
+
// (x₁-x)
(pgm_read_word(&(temptable[table_num][j][0])) - (uint32_t)temp)
// y₀ )
* pgm_read_word(&(temptable[table_num][j-1][1])))
// /
/
// (x₁ - x₀)
(pgm_read_word(&(temptable[table_num][j][0])) - pgm_read_word(&(temptable[table_num][j-1][0])));
#ifndef EXTRUDER
if (debug_flags & DEBUG_PID)
sersendf_P(PSTR(" temp:%d.%d"),temp/4,(temp%4)*25);
#endif
break;
}
}
#ifndef EXTRUDER
if (debug_flags & DEBUG_PID)
sersendf_P(PSTR(" Sensor:%d\n"),i);
#endif
//Clamp for overflows
if (j == NUMTEMPS)
temp = temptable[table_num][NUMTEMPS-1][1];
temp_sensors_runtime[i].next_read_time = 0;
} while (0);
break;
#endif /* TEMP_THERMISTOR */
#ifdef TEMP_AD595
case TT_AD595:
temp = analog_read(temp_sensors[i].temp_pin);
// convert
// >>8 instead of >>10 because internal temp is stored as 14.2 fixed point
temp = (temp * 500L) >> 8;
temp_sensors_runtime[i].next_read_time = 0;
break;
#endif /* TEMP_AD595 */
#ifdef TEMP_PT100
case TT_PT100:
#warning TODO: PT100 code
break
#endif /* TEMP_PT100 */
#ifdef TEMP_INTERCOM
case TT_INTERCOM:
temp = read_temperature(temp_sensors[i].temp_pin);
temp_sensors_runtime[i].next_read_time = 25;
break;
#endif /* TEMP_INTERCOM */
#ifdef TEMP_DUMMY
case TT_DUMMY:
temp = temp_sensors_runtime[i].last_read_temp;
if (temp_sensors_runtime[i].target_temp > temp)
temp++;
else if (temp_sensors_runtime[i].target_temp < temp)
temp--;
temp_sensors_runtime[i].next_read_time = 0;
break;
#endif /* TEMP_DUMMY */
default: /* prevent compiler warning */
break;
}
temp_sensors_runtime[i].last_read_temp = temp;
if (labs((int16_t)(temp - temp_sensors_runtime[i].target_temp)) < (TEMP_HYSTERESIS*4)) {
if (temp_sensors_runtime[i].temp_residency < (TEMP_RESIDENCY_TIME*100))
temp_sensors_runtime[i].temp_residency++;
}
else {
temp_sensors_runtime[i].temp_residency = 0;
}
if (temp_sensors[i].heater < NUM_HEATERS) {
heater_tick(temp_sensors[i].heater, i, temp_sensors_runtime[i].last_read_temp, temp_sensors_runtime[i].target_temp);
}
}
}
void test_analog()
{
// test that set/get mode works
set_analog_mode(MODE_8_BIT);
printf("\nGet8BIT");
assert(MODE_8_BIT == get_analog_mode());
set_analog_mode(MODE_10_BIT);
printf("\nGet10BIT");
assert(MODE_10_BIT == get_analog_mode());
// read the trimpot in 10 bit mode and compare it to 8 bit mode
int x1 = analog_read(7);
set_analog_mode(MODE_8_BIT);
delay_ms(1); // required for readings to stabilize
int x2 = analog_read(7);
printf("\n8BIT10BIT %d %d",x1,x2);
assert( abs((x1>>2) - x2) < 10 );
// make sure that the average reading is more stable than individual readings
set_analog_mode(MODE_10_BIT);
unsigned char i;
int min = 1023, max = 0, avg_min = 1023, avg_max = 0;
for(i=0;i<10;i++)
{
int x1 = analog_read(7);
int x2 = analog_read_average(7,256);
if(x1 > max) max = x1;
if(x1 < min) min = x1;
if(x2 > avg_max) avg_max = x2;
if(x2 < avg_min) avg_min = x2;
printf("\nAvgComp %03x %03x", x1, x2);
assert( abs(x1-x2) < 10);
}
printf("\nAB%03x%03x%03x%03x",max,min,avg_max,avg_min);
assert( max - min >= avg_max - avg_min);
// check that temp C and F return appropriate values in 10bit mode
set_analog_mode(MODE_10_BIT);
x1 = analog_read_average(6,100);
int expect_temp_f = (((int)(analog_read_average_millivolts(TEMP_SENSOR, 20)) * 12) - 634) / 13;
int expect_temp_c = (((int)(analog_read_average_millivolts(TEMP_SENSOR, 20) * 20)) - 7982) / 39;
int temp_f = read_temperature_f();
int temp_c = read_temperature_c();
printf("\nTF10 %d %d", expect_temp_f, temp_f);
assert( expect_temp_f/5 == temp_f/5 );
printf("\nTC10 %d %d", expect_temp_c, temp_c);
assert( expect_temp_c/5 == temp_c/5 );
// try temp in 8bit mode
set_analog_mode(MODE_8_BIT);
delay_ms(1); // required for readings to stabilize?
temp_f = read_temperature_f();
temp_c = read_temperature_c();
printf("\nTF8 %d %d", expect_temp_f, temp_f);
assert( (expect_temp_f - temp_f) <= 20 );
printf("\nTC8 %d %d", expect_temp_c, temp_c);
assert( abs(expect_temp_c - temp_c) <= 20 );
// test background conversion
set_analog_mode(MODE_10_BIT);
delay_ms(1); // required for readings to stabilize
x1 = analog_read_average(6,100);
start_analog_conversion(6);
while(analog_is_converting())
printf("\nConvert");
x2 = analog_conversion_result();
printf("%d %d", x1, x2);
assert( abs(x1 - x2) < 10 );
// make sure to_millivolts works in 8 and 10 bit mode
set_analog_mode(MODE_10_BIT);
x1 = 5000;
x2 = to_millivolts(1023);
printf("\nmV1 %d %d",x1,x2);
assert( x1 == x2 );
x1 = 2498;
x2 = to_millivolts(511);
printf("\nmV2 %d %d",x1,x2);
assert( x1 == x2 );
x1 = 0;
x2 = to_millivolts(0);
printf("\nmV3 %d %d",x1,x2);
assert( x1 == x2 );
set_analog_mode(MODE_8_BIT);
x1 = 5000;
x2 = to_millivolts(255);
printf("\nmV4 %d %d",x1,x2);
assert( x1 == x2 );
x1 = 2490;
x2 = to_millivolts(127);
printf("\nmV5 %d %d",x1,x2);
assert( x1 == x2 );
x1 = 0;
x2 = to_millivolts(0);
printf("\nmV6 %d %d",x1,x2);
assert( x1 == x2 );
}
/// called every 10ms from clock.c - check all temp sensors that are ready for checking
void temp_sensor_tick() {
temp_sensor_t i = 0;
for (; i < NUM_TEMP_SENSORS; i++) {
if (temp_sensors_runtime[i].next_read_time) {
temp_sensors_runtime[i].next_read_time--;
}
else {
uint16_t temp = 0;
//time to deal with this temp sensor
switch(temp_sensors[i].temp_type) {
#ifdef TEMP_MAX6675
case TT_MAX6675:
#ifdef PRR
PRR &= ~MASK(PRSPI);
#elif defined PRR0
PRR0 &= ~MASK(PRSPI);
#endif
SPCR = MASK(MSTR) | MASK(SPE) | MASK(SPR0);
// enable TT_MAX6675
WRITE(SS, 0);
// No delay required, see
// https://github.com/triffid/Teacup_Firmware/issues/22
// read MSB
SPDR = 0;
for (;(SPSR & MASK(SPIF)) == 0;);
temp = SPDR;
temp <<= 8;
// read LSB
SPDR = 0;
for (;(SPSR & MASK(SPIF)) == 0;);
temp |= SPDR;
// disable TT_MAX6675
WRITE(SS, 1);
temp_sensors_runtime[i].temp_flags = 0;
if ((temp & 0x8002) == 0) {
// got "device id"
temp_sensors_runtime[i].temp_flags |= PRESENT;
if (temp & 4) {
// thermocouple open
temp_sensors_runtime[i].temp_flags |= TCOPEN;
}
else {
temp = temp >> 3;
}
}
// this number depends on how frequently temp_sensor_tick is called. the MAX6675 can give a reading every 0.22s, so set this to about 250ms
temp_sensors_runtime[i].next_read_time = 25;
break;
#endif /* TEMP_MAX6675 */
#ifdef TEMP_THERMISTOR
case TT_THERMISTOR:
do {
uint8_t j, table_num;
//Read current temperature
temp = analog_read(temp_sensors[i].temp_pin);
// for thermistors the thermistor table number is in the additional field
table_num = temp_sensors[i].additional;
//Calculate real temperature based on lookup table
for (j = 1; j < NUMTEMPS; j++) {
if (pgm_read_word(&(temptable[table_num][j][0])) > temp) {
// Thermistor table is already in 14.2 fixed point
#ifndef EXTRUDER
if (DEBUG_PID && (debug_flags & DEBUG_PID))
sersendf_P(PSTR("pin:%d Raw ADC:%d table entry: %d"),temp_sensors[i].temp_pin,temp,j);
#endif
// Linear interpolating temperature value
// y = ((x - x₀)y₁ + (x₁-x)y₀ ) / (x₁ - x₀)
// y = temp
// x = ADC reading
// x₀= temptable[j-1][0]
// x₁= temptable[j][0]
// y₀= temptable[j-1][1]
// y₁= temptable[j][1]
// y =
// Wikipedia's example linear interpolation formula.
temp = (
// ((x - x₀)y₁
((uint32_t)temp - pgm_read_word(&(temptable[table_num][j-1][0]))) * pgm_read_word(&(temptable[table_num][j][1]))
// +
+
// (x₁-x)
(pgm_read_word(&(temptable[table_num][j][0])) - (uint32_t)temp)
// y₀ )
* pgm_read_word(&(temptable[table_num][j-1][1])))
// /
/
// (x₁ - x₀)
(pgm_read_word(&(temptable[table_num][j][0])) - pgm_read_word(&(temptable[table_num][j-1][0])));
#ifndef EXTRUDER
if (DEBUG_PID && (debug_flags & DEBUG_PID))
sersendf_P(PSTR(" temp:%d.%d"),temp/4,(temp%4)*25);
#endif
break;
}
}
#ifndef EXTRUDER
if (DEBUG_PID && (debug_flags & DEBUG_PID))
sersendf_P(PSTR(" Sensor:%d\n"),i);
#endif
//Clamp for overflows
if (j == NUMTEMPS)
temp = temptable[table_num][NUMTEMPS-1][1];
temp_sensors_runtime[i].next_read_time = 0;
} while (0);
break;
#endif /* TEMP_THERMISTOR */
#ifdef TEMP_AD595
case TT_AD595:
temp = analog_read(temp_sensors[i].temp_pin);
// convert
// >>8 instead of >>10 because internal temp is stored as 14.2 fixed point
temp = (temp * 500L) >> 8;
temp_sensors_runtime[i].next_read_time = 0;
break;
#endif /* TEMP_AD595 */
#ifdef TEMP_PT100
case TT_PT100:
#warning TODO: PT100 code
break
#endif /* TEMP_PT100 */
#ifdef TEMP_INTERCOM
case TT_INTERCOM:
temp = read_temperature(temp_sensors[i].temp_pin);
temp_sensors_runtime[i].next_read_time = 25;
break;
#endif /* TEMP_INTERCOM */
#ifdef TEMP_NONE
case TT_NONE:
temp_sensors_runtime[i].last_read_temp =
temp_sensors_runtime[i].target_temp; // for get_temp()
temp_sensors_runtime[i].next_read_time = 25;
break;
#endif /* TEMP_NONE */
#ifdef TEMP_DUMMY
case TT_DUMMY:
temp = temp_sensors_runtime[i].last_read_temp;
if (temp_sensors_runtime[i].target_temp > temp)
temp++;
else if (temp_sensors_runtime[i].target_temp < temp)
temp--;
temp_sensors_runtime[i].next_read_time = 0;
break;
#endif /* TEMP_DUMMY */
default: /* prevent compiler warning */
break;
}
temp_sensors_runtime[i].last_read_temp = temp;
}
if (labs((int16_t)(temp_sensors_runtime[i].last_read_temp - temp_sensors_runtime[i].target_temp)) < (TEMP_HYSTERESIS*4)) {
if (temp_sensors_runtime[i].temp_residency < (TEMP_RESIDENCY_TIME*100))
temp_sensors_runtime[i].temp_residency++;
}
else {
temp_sensors_runtime[i].temp_residency = 0;
}
if (temp_sensors[i].heater < NUM_HEATERS) {
heater_tick(temp_sensors[i].heater, temp_sensors[i].temp_type, temp_sensors_runtime[i].last_read_temp, temp_sensors_runtime[i].target_temp);
}
}
if (temp & 4) {
// thermocouple open
temp_flags |= TEMP_FLAG_TCOPEN;
}
else {
current_temp = temp >> 3;
return current_temp;
}
}
#endif /* TEMP_MAX6675 */
#ifdef TEMP_THERMISTOR
uint8_t i;
//Read current temperature
temp = analog_read(TEMP_PIN_CHANNEL);
//Calculate real temperature based on lookup table
for (i = 1; i < NUMTEMPS; i++) {
if (pgm_read_word(&(temptable[i][0])) > temp) {
// multiply by 4 because internal temp is stored as 14.2 fixed point
temp = pgm_read_word(&(temptable[i][1])) + (pgm_read_word(&(temptable[i][0])) - temp) * 4 * (pgm_read_word(&(temptable[i-1][1])) - pgm_read_word(&(temptable[i][1]))) / (pgm_read_word(&(temptable[i][0])) - pgm_read_word(&(temptable[i-1][0])));
break;
}
}
//Clamp for overflows
if (i == NUMTEMPS)
temp = temptable[NUMTEMPS-1][1];
return temp;
void temp_sensor_tick() {
temp_sensor_t i = 0;
for (; i < NUM_TEMP_SENSORS; i++) {
if (temp_sensors_runtime[i].next_read_time) {
temp_sensors_runtime[i].next_read_time--;
}
else {
uint16_t temp = 0;
//time to deal with this temp sensor
switch(temp_sensors[i].temp_type) {
#ifdef TEMP_MAX6675
case TT_MAX6675:
#ifdef PRR
PRR &= ~MASK(PRSPI);
#elif defined PRR0
PRR0 &= ~MASK(PRSPI);
#endif
SPCR = MASK(MSTR) | MASK(SPE) | MASK(SPR0);
// enable TT_MAX6675
WRITE(SS, 0);
// ensure 100ns delay - a bit extra is fine
delay(1);
// read MSB
SPDR = 0;
for (;(SPSR & MASK(SPIF)) == 0;);
temp = SPDR;
temp <<= 8;
// read LSB
SPDR = 0;
for (;(SPSR & MASK(SPIF)) == 0;);
temp |= SPDR;
// disable TT_MAX6675
WRITE(SS, 1);
temp_sensors_runtime[i].temp_flags = 0;
if ((temp & 0x8002) == 0) {
// got "device id"
temp_sensors_runtime[i].temp_flags |= PRESENT;
if (temp & 4) {
// thermocouple open
temp_sensors_runtime[i].temp_flags |= TCOPEN;
}
else {
temp = temp >> 3;
}
}
// this number depends on how frequently temp_sensor_tick is called. the MAX6675 can give a reading every 0.22s, so set this to about 250ms
temp_sensors_runtime[i].next_read_time = 25;
break;
#endif /* TEMP_MAX6675 */
#ifdef TEMP_THERMISTOR
case TT_THERMISTOR:
do {
uint8_t j;
//Read current temperature
temp = analog_read(temp_sensors[i].temp_pin);
//Calculate real temperature based on lookup table
for (j = 1; j < NUMTEMPS; j++) {
if (pgm_read_word(&(temptable[j][0])) > temp) {
// multiply by 4 because internal temp is stored as 14.2 fixed point
temp = pgm_read_word(&(temptable[j][1])) * 4 + (temp - pgm_read_word(&(temptable[j-1][0]))) * 4 * (pgm_read_word(&(temptable[j][1])) - pgm_read_word(&(temptable[j-1][1]))) / (pgm_read_word(&(temptable[j][0])) - pgm_read_word(&(temptable[j-1][0])));
break;
}
}
//Clamp for overflows
if (j == NUMTEMPS)
temp = temptable[NUMTEMPS-1][1] * 4;
temp_sensors_runtime[i].next_read_time = 0;
} while (0);
break;
#endif /* TEMP_THERMISTOR */
#ifdef TEMP_AD595
case TT_AD595:
temp = analog_read(temp_pin);
// convert
// >>8 instead of >>10 because internal temp is stored as 14.2 fixed point
temp = (temp * 500L) >> 8;
temp_sensors_runtime[i].next_read_time = 0;
break;
#endif /* TEMP_AD595 */
#ifdef TEMP_PT100
case TT_PT100:
#warning TODO: PT100 code
break
#endif /* TEMP_PT100 */
#ifdef TEMP_INTERCOM
case TT_INTERCOM:
temp = get_read_cmd() << 2;
start_send();
temp_sensors_runtime[i].next_read_time = 0;
break;
#endif /* TEMP_INTERCOM */
#ifdef TEMP_DUMMY
case TT_DUMMY:
temp = temp_sensors_runtime[i].last_read_temp;
if (temp_sensors_runtime[i].target_temp > temp)
temp++;
else if (temp_sensors_runtime[i].target_temp < temp)
temp--;
temp_sensors_runtime[i].next_read_time = 0;
break;
#endif /* TEMP_DUMMY */
}
temp_sensors_runtime[i].last_read_temp = temp;
if (labs(temp - temp_sensors_runtime[i].target_temp) < TEMP_HYSTERESIS) {
if (temp_sensors_runtime[i].temp_residency < TEMP_RESIDENCY_TIME)
temp_sensors_runtime[i].temp_residency++;
}
else {
temp_sensors_runtime[i].temp_residency = 0;
}
if (temp_sensors[i].heater_index < NUM_HEATERS) {
heater_tick(temp_sensors[i].heater_index, i, temp_sensors_runtime[i].last_read_temp, temp_sensors_runtime[i].target_temp);
}
}
}
int main()
{
// wait
wait_with_message("Press B");
// init and calibrate light sensors
unsigned int sensors[5];
pololu_3pi_init_disable_emitter_pin(2000); // (2000 for the timeout corresponds to 2000*0.4 us = 0.8 ms on our 20 MHz processor)
wait_for_button_release(BUTTON_B);
delay_ms(1000);
for(int counter=0;counter<80;counter++)
{
if(counter < 20 || counter >= 60)
set_motors(40,-40);
else
set_motors(-40,40);
calibrate_line_sensors(IR_EMITTERS_ON);
delay_ms(20);
}
set_motors(0,0);
// init IR sensors
set_analog_mode(MODE_8_BIT);
DDRC &= ~(1<< PORTC5);
PORTC &= ~(1<< PORTC5);
// wait
wait_with_message("Press B");
delay_ms(1000);
int left_speed = 110;
int right_speed = 110;
int set_point = 0;
while(1)
{
// check light sensors for our boundary
unsigned int position = read_line(sensors,IR_EMITTERS_ON);
if(position > 5 && position < 1000)
{
turn_right(55,65);
}
else if(position > 1000 && position < 1800)
{
turn_right(55,95);
}
else if(position > 1800 && position < 3000)
{
turn_left(55,95);
}
else if(position > 3000 && position < 3995)
{
turn_left(55,65);
}
// check IR sensors
int left = analog_read(6);
int right = analog_read(5);
int front = analog_read(7);
/*if((get_ms() % 300) == 0)
{
clear();
lcd_goto_xy(0,0);
print_long(left);
lcd_goto_xy(0,1);
print_long(right);
}*/
int balance = 0;
if (left > 20 || right > 20)
{
balance = right - left - 20;
}
if (set_point == 0 && front > 162)
{
set_point = 1;
set_motors(25,25);
}
else
{
set_motors(left_speed + balance,right_speed - balance);
}
}
halt();
clear();
//print("f=");
//print_long(front);
// end
while(1);
}
/// called every 10ms from clock.c - check all temp sensors that are ready for checking
void temp_sensor_tick() {
temp_sensor_t i = 0;
for (; i < NUM_TEMP_SENSORS; i++) {
if (temp_sensors_runtime[i].next_read_time) {
temp_sensors_runtime[i].next_read_time--;
}
else {
uint16_t temp = 0;
#ifdef TEMP_MAX31855
uint32_t value = 0;
struct max31855_plat_data *max31855;
#endif
//time to deal with this temp sensor
switch(temp_sensors[i].temp_type) {
#ifdef TEMP_MAX31855
case TT_MAX31855:
#ifdef __arm__
max31855 = (struct max31855_plat_data*)temp_sensors[i].plat_data;
spiAcquireBus(max31855->bus);
spiStart(max31855->bus, max31855->config);
spiSelect(max31855->bus);
spiReceive(max31855->bus, 4, &value);
spiUnselect(max31855->bus);
spiReleaseBus(max31855->bus);
value = SWAP_UINT32(value);
temp_sensors_runtime[i].temp_flags = 0;
if (value & (1 << 16)) {
#ifdef HALT_ON_TERMOCOUPLE_FAILURE
emergency_stop();
#endif
}
else {
temp = value >> 18;
if (temp & (1 << 13))
temp = 0;
}
#else
temp = 0;
#endif
break;
#endif
#ifdef TEMP_MAX6675
case TT_MAX6675:
#ifdef PRR
PRR &= ~MASK(PRSPI);
#elif defined PRR0
PRR0 &= ~MASK(PRSPI);
#endif
SPCR = MASK(MSTR) | MASK(SPE) | MASK(SPR0);
// enable TT_MAX6675
WRITE(SS, 0);
// No delay required, see
// https://github.com/triffid/Teacup_Firmware/issues/22
// read MSB
SPDR = 0;
for (;(SPSR & MASK(SPIF)) == 0;);
temp = SPDR;
temp <<= 8;
// read LSB
SPDR = 0;
for (;(SPSR & MASK(SPIF)) == 0;);
temp |= SPDR;
// disable TT_MAX6675
WRITE(SS, 1);
temp_sensors_runtime[i].temp_flags = 0;
if ((temp & 0x8002) == 0) {
// got "device id"
temp_sensors_runtime[i].temp_flags |= PRESENT;
if (temp & 4) {
// thermocouple open
temp_sensors_runtime[i].temp_flags |= TCOPEN;
}
else {
temp = temp >> 3;
}
}
// this number depends on how frequently temp_sensor_tick is called. the MAX6675 can give a reading every 0.22s, so set this to about 250ms
temp_sensors_runtime[i].next_read_time = 25;
break;
#endif /* TEMP_MAX6675 */
#ifdef TEMP_THERMISTOR
case TT_THERMISTOR:
do {
uint8_t j, table_num;
//Read current temperature
temp = analog_read(i);
// for thermistors the thermistor table number is in the additional field
table_num = temp_sensors[i].additional;
//Calculate real temperature based on lookup table
for (j = 1; j < NUMTEMPS; j++) {
if (pgm_read_word(&(temptable[table_num][j][0])) > temp) {
// Thermistor table is already in 14.2 fixed point
#ifndef EXTRUDER
if (DEBUG_PID && (debug_flags & DEBUG_PID))
sersendf_P(PSTR("pin:%d Raw ADC:%d table entry: %d"),temp_sensors[i].temp_pin,temp,j);
#endif
// Linear interpolating temperature value
// y = ((x - x₀)y₁ + (x₁-x)y₀ ) / (x₁ - x₀)
// y = temp
// x = ADC reading
// x₀= temptable[j-1][0]
// x₁= temptable[j][0]
// y₀= temptable[j-1][1]
// y₁= temptable[j][1]
// y =
// Wikipedia's example linear interpolation formula.
temp = (
// ((x - x₀)y₁
((uint32_t)temp - pgm_read_word(&(temptable[table_num][j-1][0]))) * pgm_read_word(&(temptable[table_num][j][1]))
// +
+
// (x₁-x)
(pgm_read_word(&(temptable[table_num][j][0])) - (uint32_t)temp)
// y₀ )
* pgm_read_word(&(temptable[table_num][j-1][1])))
// /
/
// (x₁ - x₀)
(pgm_read_word(&(temptable[table_num][j][0])) - pgm_read_word(&(temptable[table_num][j-1][0])));
#ifndef EXTRUDER
if (DEBUG_PID && (debug_flags & DEBUG_PID))
sersendf_P(PSTR(" temp:%d.%d"),temp/4,(temp%4)*25);
#endif
break;
}
}
#ifndef EXTRUDER
if (DEBUG_PID && (debug_flags & DEBUG_PID))
sersendf_P(PSTR(" Sensor:%d\n"),i);
#endif
//Clamp for overflows
if (j == NUMTEMPS)
temp = temptable[table_num][NUMTEMPS-1][1];
temp_sensors_runtime[i].next_read_time = 0;
} while (0);
break;
#endif /* TEMP_THERMISTOR */
#ifdef TEMP_AD595
case TT_AD595:
temp = analog_read(i);
// convert
// >>8 instead of >>10 because internal temp is stored as 14.2 fixed point
temp = (temp * 500L) >> 8;
temp_sensors_runtime[i].next_read_time = 0;
break;
#endif /* TEMP_AD595 */
#ifdef TEMP_PT100
case TT_PT100:
#warning TODO: PT100 code
break
#endif /* TEMP_PT100 */
#ifdef TEMP_INTERCOM
case TT_INTERCOM:
temp = read_temperature(temp_sensors[i].temp_pin);
temp_sensors_runtime[i].next_read_time = 25;
break;
#endif /* TEMP_INTERCOM */
#ifdef TEMP_DUMMY
case TT_DUMMY:
temp = temp_sensors_runtime[i].last_read_temp;
if (temp_sensors_runtime[i].target_temp > temp)
temp++;
else if (temp_sensors_runtime[i].target_temp < temp)
temp--;
temp_sensors_runtime[i].next_read_time = 0;
break;
#endif /* TEMP_DUMMY */
default: /* prevent compiler warning */
break;
}
/* Exponentially Weighted Moving Average alpha constant for smoothing
noisy sensors. Instrument Engineer's Handbook, 4th ed, Vol 2 p126
says values of 0.05 to 0.1 for TEMP_EWMA are typical. */
#ifndef TEMP_EWMA
#define TEMP_EWMA 1.0
#endif
#define EWMA_SCALE 1024L
#define EWMA_ALPHA ((long) (TEMP_EWMA * EWMA_SCALE))
temp_sensors_runtime[i].last_read_temp = (uint16_t) ((EWMA_ALPHA * temp +
(EWMA_SCALE-EWMA_ALPHA) * temp_sensors_runtime[i].last_read_temp
) / EWMA_SCALE);
}
if (labs((int16_t)(temp_sensors_runtime[i].last_read_temp - temp_sensors_runtime[i].target_temp)) < (TEMP_HYSTERESIS*4)) {
if (temp_sensors_runtime[i].temp_residency < (TEMP_RESIDENCY_TIME*120))
temp_sensors_runtime[i].temp_residency++;
}
else {
// Deal with flakey sensors which occasionally report a wrong value
// by setting residency back, but not entirely to zero.
if (temp_sensors_runtime[i].temp_residency > 10)
temp_sensors_runtime[i].temp_residency -= 10;
else
temp_sensors_runtime[i].temp_residency = 0;
}
if (temp_sensors[i].heater < NUM_HEATERS) {
heater_tick(temp_sensors[i].heater, temp_sensors[i].temp_type, temp_sensors_runtime[i].last_read_temp, temp_sensors_runtime[i].target_temp);
}
if (DEBUG_PID && (debug_flags & DEBUG_PID))
sersendf_P(PSTR("DU temp: {%d %d %d.%d}"), i,
temp_sensors_runtime[i].last_read_temp,
temp_sensors_runtime[i].last_read_temp / 4,
(temp_sensors_runtime[i].last_read_temp & 0x03) * 25);
}
int umain() {
uint16_t i,n = 36;
uint16_t port=23;
uint16_t km,kc;
uint16_t xd[36];
uint16_t yd[36];
//happylib_init();
// start
printf("\nIRDistCal Press Go");
go_click();
// get number of samples to read
while (!go_press()) {
printf("\nUse frob to # ofsamples: %2d",n);
switch (frob_read_range(0,2)) {
case 0: n= 9; break;
case 1: n=18; break;
case 2: n=36; break;
}
pause (40);
}
// wait for go release
while (go_press());
// fill distance array
for (i=0;i<n;i++) {
xd[i] = 10 + 2*i*(36/n);
}
// get port number
while (!go_press()) {
port = frob_read_range(8,23);
printf("\nUse frob to select port: %2d",port);
pause (40);
}
// wait for go release
while (go_press());
// read samples
for (i=0;i<n;i++) {
while (!go_press()) {
yd[i] = analog_read(port);
printf("\nSample @ %2dcm =%4d",xd[i],yd[i]);
}
// wait for go release
while (go_press());
}
// calculate & print
irdist_fit(xd,yd,n,&km,&kc);
printf("\nOK: M: %5d C: %d, press Go",km,kc);
go_click();
// save
/*
Disabled until confdb is working
printf("\nGo to Save calibStop to quit");
while (1) {
if (go_press()) {
go_click();
confdb_save_integer(CONF_HLIB_IRDIST_M,km);
confdb_save_integer(CONF_HLIB_IRDIST_C,kc);
break;
}
if (stop_press()) {
stop_press();
break;
}
}
*/
printf("\ncalibration done");
// do nothing forever
while (1);
return 0;
}
// Returns the distance in centimeters from a pin.
unsigned int long_range_distance(unsigned char pin) {
unsigned int distVoltage = analog_read(pin);
unsigned int distValue = convertToDistance(distVoltage);
}
void get_inputs(uint16_t *events)
{
uint32_t vcc = analog_vcc();
uint32_t brake_value = analog_read(&vcc, 3);
uint32_t pedal1_value = analog_read(&vcc, 5);
uint32_t pedal2_value = analog_read(&vcc, 6);
//uint32_t controller_throttle1 = analog_read(&vcc, 4);
//uint32_t controller_throttle2 = analog_read(&vcc, 5);
int pedal2_in_pedal1 =
((long)pedal2_value * PEDAL_SLOPE_NOMIN) / PEDAL_SLOPE_DENOM +
PEDAL_INTERCEPT;
int pedal_difference = (int)pedal1_value - (int)pedal2_in_pedal1;
if(pedal_difference < 0)
pedal_difference = -pedal_difference;
/*
int throttle1_transform =
THRTTL_SLOPE * controller_throttle1 + THRTTL_INTERCEPT;
int throttle2_transform =
THRTTL_SLOPE * controller_throttle2 + THRTTL_INTERCEPT;
*/
// HV_UP
if(!(PINA&(1<<1)))
*events |= (1<<HV_UP);
// DRIVE_UP
if(!(PINA&(1<<2)) && PIND&(1<<5) && PIND&(1<<6)
&& brake_value > BRAKE_FIFTEEN_PERCENT)
*events |= (1<<DRIVE_UP);
// NEUTRAL_UP
if(!(PINA&(1<<3)))
*events |= (1<<NEUTRAL_UP);
// PRECHARGE_DONE
if(precharging_done)
*events |= (1<<PRECHARGE_DONE);
// CHARGE_UP
if(PIND&(1<<4))
*events |= (1<<CHARGE_UP);
// CHARGE_DOWN
if(!(PIND&(1<<4)))
*events |= (1<<CHARGE_DOWN);
// SOFT_FAULT_SIG
if(pedal_difference > PEDAL1_TEN_PERCENT)
*events |= (1<<SOFT_FAULT_SIG); // Pedal sensor comparison
if(pedal1_value < PEDAL1_DROPOUT || pedal2_value < PEDAL2_DROPOUT)
*events |= (1<<SOFT_FAULT_SIG); // Pedal sensor disconnect
if(brake_value > BRAKE_MIN_MARGIN && pedal1_value > PEDAL1_TWENTYFIVE_PERCENT)
*events |= (1<<SOFT_FAULT_SIG); // Pedal and brake
/*
if(pedal1_value < controller_throttle1 || pedal1_value > controller_throttle2)
*events |= (1<<SOFT_FAULT_SIG); // Pedal vs controller's throttle
*/
// SOFT_FAULT_REMEDIED
if(pedal_difference <= PEDAL1_TEN_PERCENT &&
pedal1_value < PEDAL_MIN_MARGIN &&
pedal1_value >= PEDAL1_DROPOUT && pedal2_value >= PEDAL2_DROPOUT)
*events |= (1<<SOFT_FAULT_REMEDIED);
// HARD_FAULT_SIG
uint8_t portc_triggers =
!(PINC&(1<<0) && PINC&(1<<1) && PINC&(1<<2) && PINC&(1<<3));
uint8_t portd_triggers = !(PIND&(1<<7));
uint8_t porte_triggers =
!(PINE&(1<<0) && PINE&(1<<1) && PINE&(1<<6) && PINE&(1<<7));
if(portc_triggers || portd_triggers || porte_triggers)
*events |= (1<<HARD_FAULT_SIG);
// GLV Voltage Low
/*
if(!(PINF&(1<<0)))
glv_sys_voltage_low = 1;
else
glv_sys_voltage_low = 0;
*/
} // get_inputs()
