int main(int argc, char **argv)
{
ros::init(argc, argv, "vbat_publisher");
ros::NodeHandle n;
vbat_struct vbat;
if(vbat_init(&vbat)) return 1;
ros::Publisher batter_pub = n.advertise<std_msgs::Float32>("battery_voltage", 1000);
ros::Rate loop_rate(1.0);
while (ros::ok())
{
std_msgs::Float32 msg;
vbat_read(&vbat);
msg.data=vbat.vbat;
batter_pub.publish(msg);
printf("VBAT is %f\n",vbat.vbat);
ros::spinOnce();
loop_rate.sleep();
}
return 0;
}
/**
* \brief Initialize the 32kHz oscillator and RTC32
*
* Starts up the 32kHz oscillator in the backup system and initializes the
* RTC32.
*
* \note When the backup system is used, the function \ref
* rtc_vbat_system_check should be called to determine if a re-initialization
* must be done.
*/
void rtc_init(void)
{
sysclk_enable_module(SYSCLK_PORT_GEN, SYSCLK_RTC);
// Set up VBAT system and start oscillator
vbat_init();
// Disable the RTC32 module before setting it up
RTC32.CTRL = 0;
while (rtc_is_busy());
// Set up maximum period and start at 0
RTC32.PER = 0xffffffff;
RTC32.CNT = 0;
while (rtc_is_busy());
RTC32.INTCTRL = 0;
RTC32.CTRL = RTC32_ENABLE_bm;
// Make sure it's sync'ed before return
while (rtc_is_busy());
}
int main(void)
{
uint8_t vbat_status;
chip_init();
vbat_status = vbat_system_check(true);
/*
* Depending on the VBAT system check appropriate actions need to
* be taken.
* In this example we re-initialize the VBAT system in all
* error cases.
*/
switch (vbat_status)
{
case VBAT_STATUS_OK:
// Interrupts must be re-enabled
RTC32_SetCompareIntLevel(RTC32_COMPINTLVL_LO_gc);
break;
case VBAT_STATUS_NO_POWER: // fall through
case VBAT_STATUS_BBPOR: // fall through
case VBAT_STATUS_BBBOD: // fall through
case VBAT_STATUS_XOSCFAIL: // fall through
default:
vbat_init();
break;
}
sei();
while (true) {
RTC32_SetAlarm(2);
PORTA.OUTTGL = 0x02;
SLEEP.CTRL = SLEEP_SMODE_PSAVE_gc | SLEEP_SEN_bm;
cpu_sleep();
}
}