[tuxdroid-svn] r331 - firmware/tuxcore/trunk

[jaguarondi <c2m...@c2...>]

Author: jaguarondi
Date: 2007-05-31 11:02:10 +0200 (Thu, 31 May 2007)
New Revision: 331

Modified:
   firmware/tuxcore/trunk/main.c
Log:
- ADD: configure all blocks and pins to minimize power during sleep.



Modified: firmware/tuxcore/trunk/main.c
===================================================================
--- firmware/tuxcore/trunk/main.c	2007-05-31 07:46:46 UTC (rev 330)
+++ firmware/tuxcore/trunk/main.c	2007-05-31 09:02:10 UTC (rev 331)
@@ -40,7 +40,8 @@
 #define DBG_STACK       0       /* stack overflow detection */
 #define TEST_CHARGER    0       /* use eyes LED's to indicate charger status */
 
-void ioInit(void);
+void initIO(void);
+void closeIO(void);
 void timer2Init(void);
 void updateStatus(void);
 void sleep(void);
@@ -201,7 +202,7 @@
     initMotors();
     initIR();
     timer2Init();
-    ioInit();
+    initIO();
     config_init();
 
     /* I2C communication initialization */
@@ -278,7 +279,7 @@
  * I/O initialisation
  *
  */
-void ioInit(void)
+void initIO(void)
 {
     /* Set charger inhibit line as output */
     CHARGER_INH_DDR |= CHARGER_INH_MK;
@@ -316,6 +317,19 @@
 }
 
 /*
+ * Close IO pins to minimize power consumption.
+ *
+ * CHARGER_INH and IR stay configured, they're just turned off.
+ */
+void closeIO(void)
+{
+    PCICR = 0;
+    EICRA = 0;
+    ADCSRA = 0;
+    turnLedsOff();
+    turnIrOff();
+}
+/*
  * timer 2 intitialisation
  *
  * Main tick timer every 4ms. A 8 bits software counter
@@ -387,13 +401,27 @@
 }
 
 /*
- * Sleep functions
+ * Sleep function
+ *
+ * Configures all blocks and pins to minimize power,
+ * sleep until a wake-up condition is met,
+ * restore the configuration to continue normal operation.
  */
 
 void sleep(void)
 {
+    uint8_t led_bak;
+    uint8_t PRR_bak;
+
     /* Set power savings configuration. */
+    led_bak = readLeds();
+    closeIO();
     closePosSwitches();
+    stopSpin();
+    stopMouth();
+    stopWings();
+    PRR_bak = PRR;
+    PRR = _BV(PRTTWI) | _BV(PRTIM2) | _BV(PRTIM0) | _BV(PRTIM1) | _BV(PRADC);
 
     /* Sleep. */
     while(SW_HD_PIN & SW_HD_MK) /* exit sleep if head is pushed */
@@ -402,9 +430,13 @@
     }
 
     /* Re-configure in normal mode. */
+    PRR = PRR_bak;
+    setLeds(led_bak); /* restore leds status */
+    i2cCommunicationInit();
     initPosSwitches();
+    initIO();
 
-    /* Set the post-sleep event */
+    /* Trigger the post-sleep event */
     cond_flags.sleep = COND_POST_SLEEP;
-    event_timer = 2; /* wait 200ms for the pull-up to rise before next standalone behavior */
+    event_timer = 2; /* wait 200ms for the pull-up to rise before next standalone behavior otherwise position switches signals are wrong */
 }