[Krobot-commits] [SCM] krobot branch, master, updated. 804d30b9270027e496e3c21627314b14901e95f6

[Xavier L. <Ba...@us...>]

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- Log -----------------------------------------------------------------
commit 804d30b9270027e496e3c21627314b14901e95f6
Author: Xavier Lagorce <Xav...@cr...>
Date:   Sun May 23 16:10:06 2010 +0200

    Added hysteretic comparators and event generation to the watch_adc module.
    
    the main.c program has been update to reflect these changes

-----------------------------------------------------------------------

Changes:
diff --git a/elec/boards/MotherBoard_KrobotJr2010/Firmware/main.c b/elec/boards/MotherBoard_KrobotJr2010/Firmware/main.c
index 34d77fb..bbb1bec 100644
--- a/elec/boards/MotherBoard_KrobotJr2010/Firmware/main.c
+++ b/elec/boards/MotherBoard_KrobotJr2010/Firmware/main.c
@@ -167,6 +167,13 @@ static void TimerHandler(eventid_t id) {
   }*/

 }

 

+static void adcHandler(eventid_t id) {

+  palClearPad(IOPORT3, GPIOC_LED);

+}

+static void adcNHandler(eventid_t id) {

+  palSetPad(IOPORT3, GPIOC_LED);

+}

+

 /*

  * Entry point, note, the main() function is already a thread in the system

  * on entry.

@@ -175,9 +182,11 @@ int main(int argc, char **argv) {
 

   static const evhandler_t evhndl[] = {

     TimerHandler,

+    adcHandler,

+    adcNHandler

   };

   static EvTimer evt;

-  struct EventListener el0;

+  struct EventListener el0, elADC, elNADC;

 

   (void)argc;

   (void)argv;

@@ -228,6 +237,9 @@ int main(int argc, char **argv) {
   evtInit(&evt, MS2ST(500));            /* Initializes an event timer object.   */

   evtStart(&evt);                       /* Starts the event timer.              */

   chEvtRegister(&evt.et_es, &el0, 0);   /* Registers on the timer event source. */

+  chEvtRegister(&adcAlarmWarn[ADC_3], &elADC, 1);

+  chEvtRegister(&adcAlarmOK[ADC_3], &elNADC, 2);

+  adcSetAlarm(ADC_3, 1800, 2200);

   while (TRUE)

     chEvtDispatch(evhndl, chEvtWaitOne(ALL_EVENTS));

   return 0;

diff --git a/elec/boards/MotherBoard_KrobotJr2010/Firmware/watch_adc.c b/elec/boards/MotherBoard_KrobotJr2010/Firmware/watch_adc.c
index 1946b3b..af02c0c 100644
--- a/elec/boards/MotherBoard_KrobotJr2010/Firmware/watch_adc.c
+++ b/elec/boards/MotherBoard_KrobotJr2010/Firmware/watch_adc.c
@@ -11,6 +11,10 @@
 static adcsample_t samples[ADC_GRP1_NUM_CHANNELS * ADC_GRP1_BUF_DEPTH];
 static Thread *adctp;
 
+static uint16_t compHigh[8] = {4096, 4096, 4096, 4096, 4096, 4096, 4096, 4096};
+static uint16_t compLow[8]  = {0, 0, 0, 0, 0, 0, 0, 0};
+static uint8_t alarmActi[8] = {0, 0, 0, 0, 0, 0, 0, 0};
+
 const ADCConfig adccfg = {};
 const ADCConversionGroup adcgrpcfg = {
   TRUE,
@@ -31,11 +35,23 @@ const ADCConversionGroup adcgrpcfg = {
  */
 static void adccallback(adcsample_t *buffer, size_t n) {
 
+  static uint8_t ind[8] = {0, 0, 0, 0, 0, 0, 0, 0};
+  uint8_t i;
+
   (void)n;
-  if (buffer[ADC_3] >= 2000)
-    palClearPad(IOPORT3, GPIOC_LED);
-  else
-    palSetPad(IOPORT3, GPIOC_LED);
+
+  for (i=0; i < 8; i++) {
+    if (alarmActi[i]) {
+      if (ind[i] == 0 && buffer[i] >= compHigh[i]) {
+        ind[i] = 1;
+        chEvtBroadcastI(&adcAlarmWarn[i]);
+      }
+      if (ind[i] == 1 && buffer[i] <= compLow[i]) {
+        ind[i] = 0;
+        chEvtBroadcastI(&adcAlarmOK[i]);
+      }
+    }
+  }
 }
 
 static WORKING_AREA(adc_continuous_wa, 256);
@@ -50,6 +66,8 @@ static msg_t adc_continuous_thread(void *p){
 
 void adcWatchInit(void) {
 
+  uint8_t i;
+
   // Init pins
   palSetGroupMode(IOPORT1, PAL_PORT_BIT(4) | PAL_PORT_BIT(5), PAL_MODE_INPUT_ANALOG);
   palSetGroupMode(IOPORT3, PAL_PORT_BIT(0) | PAL_PORT_BIT(1) | PAL_PORT_BIT(2)
@@ -58,7 +76,26 @@ void adcWatchInit(void) {
   // Start ADC driver
   adcStart(&ADCD1, &adccfg);
 
+  // Init trigger event
+  for (i=0; i < 8; i++) {
+    chEvtInit(&adcAlarmWarn[i]);
+    chEvtInit(&adcAlarmOK[i]);
+  }
+
   // Start conversion Thread
   adctp = chThdCreateStatic(adc_continuous_wa, sizeof(adc_continuous_wa),
                             NORMALPRIO + 9, adc_continuous_thread, NULL);
 }
+
+void adcSetAlarm(uint8_t adc, uint16_t histLow, uint16_t histHigh) {
+
+  chSysLock();
+  compLow[adc] = histLow;
+  compHigh[adc] = histHigh;
+  alarmActi[adc] = 1;
+  chSysUnlock();
+}
+
+void adcResetAlarm(uint8_t adc) {
+  alarmActi[adc] = 0;
+}
diff --git a/elec/boards/MotherBoard_KrobotJr2010/Firmware/watch_adc.h b/elec/boards/MotherBoard_KrobotJr2010/Firmware/watch_adc.h
index 892cddb..650acc7 100644
--- a/elec/boards/MotherBoard_KrobotJr2010/Firmware/watch_adc.h
+++ b/elec/boards/MotherBoard_KrobotJr2010/Firmware/watch_adc.h
@@ -19,6 +19,11 @@
 #define ADC_6       6
 #define ADC_7       7
 
+// Event sources
+EventSource adcAlarmWarn[8], adcAlarmOK[8];
+
 void adcWatchInit(void);
+void adcSetAlarm(uint8_t adc, uint16_t histLow, uint16_t histHigh);
+void adcResetAlarm(uint8_t adc);
 
 #endif


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