[tuxdroid-svn] r527 - firmware/tuxcore/trunk

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

Author: jaguarondi
Date: 2007-09-18 12:07:49 +0200 (Tue, 18 Sep 2007)
New Revision: 527

Modified:
   firmware/tuxcore/trunk/sensors.c
   firmware/tuxcore/trunk/sensors.h
Log:
* Updated the thresholds of the light level measurement to change from one
  resistance to the other. Now the result is sent each time even if the
  resistance has to change.

* Cleanup and commenting.


Modified: firmware/tuxcore/trunk/sensors.c
===================================================================
--- firmware/tuxcore/trunk/sensors.c	2007-09-18 09:54:28 UTC (rev 526)
+++ firmware/tuxcore/trunk/sensors.c	2007-09-18 10:07:49 UTC (rev 527)
@@ -19,45 +19,59 @@
 
 /* $Id$ */
 
+/** \file sensors.c
+    \brief Sensors module
+    \ingroup sensors
+*/
+
 #include <avr/interrupt.h>
-#include <avr/io.h>
 
 #include "global.h"
 #include "hardware.h"
 
-/*
- * ADC conversion complete.
- * TODO add battery level measurement
+/**
+   \brief ADC conversion interrupt handling light and battery level
+
+   The light sensor has 2 different values of pull-up resistors (1M and 10k) to
+   increase the range. It's necessary to switch from one to the other resistor
+   depending on the light level. This is done here.
+
+   \todo TODO add battery level measurement
  */
 ISR(SIG_ADC)
 {
-    if ((ADCL == 0x00) && (ADCH == 0x00) && !(LIGHT_PU_PORT & LIGHT_PU_MK))
+    /* Save light mode before changing it below. */
+    gStatus.lightM = LIGHT_PU_PORT & LIGHT_PU_MK;
+    /* Check if it's necessary to change the light mode. */
+    if ((ADCL <= 0x28) && (ADCH == 0x00) && !(LIGHT_PU_PORT & LIGHT_PU_MK))
     {
         LIGHT_PU_PORT |= LIGHT_PU_MK;
         LIGHT_PU_DDR |= LIGHT_PU_MK;
-        ADCSRA |= _BV(ADSC);
     }
-    else if ((ADCL == 0xFF) && (ADCH == 0x03) && (LIGHT_PU_PORT & LIGHT_PU_MK))
+    else if ((ADCL >= 0xE8) && (ADCH == 0x03) && (LIGHT_PU_PORT & LIGHT_PU_MK))
     {
         LIGHT_PU_PORT &= ~LIGHT_PU_MK;
         LIGHT_PU_DDR &= ~LIGHT_PU_MK;
-        ADCSRA |= _BV(ADSC);
     }
-    else
-    {
-        gStatus.lightL = ADCL;
-        gStatus.lightH = ADCH;
-        gStatus.lightM = LIGHT_PU_PORT & LIGHT_PU_MK;
-        light_f = 1;
-    }
+    /* ADCH should be read after ADCL otherwise ADCL stays wite protected (c.f.
+     * datasheet). */
+    gStatus.lightL = ADCL;
+    gStatus.lightH = ADCH;
+    /* There's a new light value. */
+    light_f = 1;
 }
 
 /**
- * \brief Get light level
- *
- * Start one conversion. The result will be saved by the ADC interrupt.
+ * \name Light level
+ *  @{ */
+/** \ingroup sensors */
+/**
+   \brief Start a light level measurement.
+  
+   Start a light level conversion. The result will be saved by the ADC interrupt.
  */
 void getLight(void)
 {
     ADCSRA |= _BV(ADSC);
 }
+/*! @} */

Modified: firmware/tuxcore/trunk/sensors.h
===================================================================
--- firmware/tuxcore/trunk/sensors.h	2007-09-18 09:54:28 UTC (rev 526)
+++ firmware/tuxcore/trunk/sensors.h	2007-09-18 10:07:49 UTC (rev 527)
@@ -19,14 +19,21 @@
 
 /* $Id$ */
 
-#ifndef SENSORS_H
-#define SENSORS_H
+/** \file sensors.h
+    \brief Sensors module interface
+    \ingroup sensors
+*/
 
+/** \defgroup sensors Sensors
+
+    The sensor module handles light and battery level measurement. As both
+    measurements are done with the same ADC (and same interrupt), it was
+    difficult to separate them as different modules.
+*/
+
+#ifndef _SENSORS_H_
+#define _SENSORS_H_
+
 void getLight(void);
 
-#define isLeftWing      (gStatus.sw & GSTATUS_LEFTWINGBTN_MK)
-#define isRightWing     (gStatus.sw & GSTATUS_RIGHTWINGBTN_MK)
-#define isPlugged       (gStatus.sw & GSTATUS_POWERPLUGSW_MK)
-#define isHead          (gStatus.sw & GSTATUS_HEADBTN_MK)
-
-#endif
+#endif /* _SENSORS_H_ */