[tuxdroid-svn] r583 - firmware/tuxcore/trunk

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

Author: jaguarondi
Date: 2007-10-08 13:43:17 +0200 (Mon, 08 Oct 2007)
New Revision: 583

Modified:
   firmware/tuxcore/trunk/Makefile
   firmware/tuxcore/trunk/global.h
   firmware/tuxcore/trunk/hardware.h
   firmware/tuxcore/trunk/main.c
   firmware/tuxcore/trunk/sensors.c
   firmware/tuxcore/trunk/sensors.h
   firmware/tuxcore/trunk/standalone.c
Log:
* Added a new ADC module in order to do battery and light measurements with the
  same ADC. The functionality doesn't change in this commit but functions and
  files have been reorganised.


Modified: firmware/tuxcore/trunk/Makefile
===================================================================
--- firmware/tuxcore/trunk/Makefile	2007-10-05 08:27:46 UTC (rev 582)
+++ firmware/tuxcore/trunk/Makefile	2007-10-08 11:43:17 UTC (rev 583)
@@ -90,8 +90,8 @@
 HEADERS = $(wildcards *.h)
 
 ## Objects that must be built in order to link
-OBJECTS = main.o sensors.o motors.o global.o led.o communication.o i2c.o \
-	  fifo.o ir.o parser.o config.o standalone.o
+OBJECTS = main.o adc.o sensors.o motors.o global.o led.o communication.o \
+	  i2c.o fifo.o ir.o parser.o config.o standalone.o
 
 ## Build
 all: svnrev.h $(TARGET) tuxcore.hex tuxcore.eep tuxcore.lss size
@@ -101,6 +101,9 @@
 main.o: main.c
 	$(CC) $(INCLUDES) $(CFLAGS) -c  $<
 
+adc.o: adc.c
+	$(CC) $(INCLUDES) $(CFLAGS) -c  $<
+
 sensors.o: sensors.c
 	$(CC) $(INCLUDES) $(CFLAGS) -c  $<
 
@@ -219,5 +222,5 @@
 	    -U eeprom:w:$(PROJECT).eep
 
 progstk_bl: $(PROJECT).hex $(PROJECT).eep $(PROJECT)_bl.hex
-	$(AVRDUDE) -p $(MCU) -c stk500v2  -e -U flash:w:$(PROJECT).hex \
+	$(AVRDUDE) -p $(MCU) -c stk500v2 -e -U flash:w:$(PROJECT).hex \
 	    -U eeprom:w:$(PROJECT).eep -D -U flash:w:$(PROJECT)_bl.hex

Modified: firmware/tuxcore/trunk/global.h
===================================================================
--- firmware/tuxcore/trunk/global.h	2007-10-05 08:27:46 UTC (rev 582)
+++ firmware/tuxcore/trunk/global.h	2007-10-08 11:43:17 UTC (rev 583)
@@ -30,6 +30,17 @@
 #include "common/commands.h"
 
 /*
+ * Custom types
+ */
+/** Union between 16 bits variables and the two 8 bits registers they're made
+ * of. */
+typedef union
+{
+    uint16_t w;
+    uint8_t b[2];
+} union16_t;
+
+/*
  * --------------------------------------------------------
  * STATUS
  * --------------------------------------------------------

Modified: firmware/tuxcore/trunk/hardware.h
===================================================================
--- firmware/tuxcore/trunk/hardware.h	2007-10-05 08:27:46 UTC (rev 582)
+++ firmware/tuxcore/trunk/hardware.h	2007-10-08 11:43:17 UTC (rev 583)
@@ -140,6 +140,9 @@
 #define LIGHT_PU_DDR DDRC
 /** Phototransistor extra pull-up mask. */
 #define LIGHT_PU_MK _BV(PC0)
+/** ADMUX settings for light measurement.
+ * AREF reference, result right adjusted, MUX to ADC6. */
+#define LIGHT_ADMUX 0x06
 /*! @} */
 
 /** 
@@ -257,6 +260,15 @@
 #define MOT_SPIN_MK (MOT_SPIN_L_MK | MOT_SPIN_R_MK)
 /*! @} */
 
+/** 
+ * \name Battery
+ * The battery voltage can be measured on the pin ADC7 through a resistive
+ * divider.
+ *  @{ */
+/** ADMUX settings for battery measurement.
+ * AREF reference, result right adjusted, MUX to ADC7. */
+#define BATTERY_ADMUX 0x07
 /*! @} */
+/*! @} */
 
 #endif /* _HARDWARE_H_ */

Modified: firmware/tuxcore/trunk/main.c
===================================================================
--- firmware/tuxcore/trunk/main.c	2007-10-05 08:27:46 UTC (rev 582)
+++ firmware/tuxcore/trunk/main.c	2007-10-08 11:43:17 UTC (rev 583)
@@ -144,6 +144,7 @@
     initIR();
     main_tick_init();
     initIO();
+    sensors_init();
     config_init();
 
     /* I2C communication initialization */
@@ -239,13 +240,6 @@
     /* Set output for Led's */
     LED_DDR |= LED_MK;
 
-    /* Enable ADC, select ADC clock = F_CPU / 128 (i.e. 16 Hz)
-     * Single conversion mode
-     */
-    ADCSRA = _BV(ADEN) | _BV(ADPS2) | _BV(ADPS1) | _BV(ADPS0);
-    ADMUX = 0x06; /* ADC6 selected XXX change this when adding ADC7 too */
-    ADCSRA |= _BV(ADIE) | _BV(ADSC);    /* set ADC interrupt and start it */
-
     /* set external I/O as pull-up */
     EXIO_PT |= EXIO_MK;
 
@@ -332,6 +326,7 @@
     /* Set power savings configuration. */
     cli();
     closeIO();
+    sensors_disable();
     powersave_movements();
     stop_spinning();
     stop_mouth();
@@ -356,6 +351,7 @@
     i2cCommunicationInit();
     init_movements();
     initIO();
+    sensors_init();
 
     /* Trigger the post-sleep event */
     cond_flags.sleep = COND_POST_SLEEP;

Modified: firmware/tuxcore/trunk/sensors.c
===================================================================
--- firmware/tuxcore/trunk/sensors.c	2007-10-05 08:27:46 UTC (rev 582)
+++ firmware/tuxcore/trunk/sensors.c	2007-10-08 11:43:17 UTC (rev 583)
@@ -26,52 +26,69 @@
 
 #include <avr/interrupt.h>
 
+#include "sensors.h"
+#include "adc.h"
 #include "global.h"
 #include "hardware.h"
 
 /**
-   \brief ADC conversion interrupt handling light and battery level
+ * \name Light level
+ *  @{ */
+/** \ingroup sensors */
 
-   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)
+void save_light(void)
 {
+    union16_t adc_value;
+    adc_value.w = ADC_read();
     /* 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))
+    if ((adc_value.b[0] <= 0x28) && (adc_value.b[1] == 0x00) && 
+        !(LIGHT_PU_PORT & LIGHT_PU_MK))
     {
         LIGHT_PU_PORT |= LIGHT_PU_MK;
         LIGHT_PU_DDR |= LIGHT_PU_MK;
     }
-    else if ((ADCL >= 0xE8) && (ADCH == 0x03) && (LIGHT_PU_PORT & LIGHT_PU_MK))
+    else if ((adc_value.b[0] >= 0xE8) && (adc_value.b[1] == 0x03) && 
+             (LIGHT_PU_PORT & LIGHT_PU_MK))
     {
         LIGHT_PU_PORT &= ~LIGHT_PU_MK;
         LIGHT_PU_DDR &= ~LIGHT_PU_MK;
     }
-    /* ADCH should be read after ADCL otherwise ADCL stays wite protected (c.f.
-     * datasheet). */
-    gStatus.lightL = ADCL;
-    gStatus.lightH = ADCH;
+    /* adc_value.b[1] should be read after adc_value.b[0] otherwise
+     * adc_value.b[0] stays wite protected (c.f. datasheet). */
+    gStatus.lightL = adc_value.b[0];
+    gStatus.lightH = adc_value.b[1];
     /* There's a new light value. */
     light_f = 1;
 }
 
 /**
- * \name Light level
- *  @{ */
-/** \ingroup sensors */
+   \brief Initialize the sensors for normal operation.
+ */
+void sensors_init(void)
+{
+    ADC_set_ISR_callback(save_light);
+    ADC_init();
+}
+
 /**
    \brief Start a light level measurement.
   
-   Start a light level conversion. The result will be saved by the ADC interrupt.
+   Start a light level conversion. The result will be saved by the ADC
+   interrupt.
  */
 void getLight(void)
 {
-    ADCSRA |= _BV(ADSC);
+    ADC_start(LIGHT_ADMUX);
 }
+
+/**
+   \brief Disable all sensors.
+   This function should minimize power consumption.
+  */
+void sensors_disable(void)
+{
+    ADC_disable();
+}
 /*! @} */

Modified: firmware/tuxcore/trunk/sensors.h
===================================================================
--- firmware/tuxcore/trunk/sensors.h	2007-10-05 08:27:46 UTC (rev 582)
+++ firmware/tuxcore/trunk/sensors.h	2007-10-08 11:43:17 UTC (rev 583)
@@ -34,6 +34,8 @@
 #ifndef _SENSORS_H_
 #define _SENSORS_H_
 
+void sensors_init(void);
+void sensors_disable(void);
 void getLight(void);
 
 #endif /* _SENSORS_H_ */

Modified: firmware/tuxcore/trunk/standalone.c
===================================================================
--- firmware/tuxcore/trunk/standalone.c	2007-10-05 08:27:46 UTC (rev 582)
+++ firmware/tuxcore/trunk/standalone.c	2007-10-08 11:43:17 UTC (rev 583)
@@ -86,11 +86,10 @@
     /* Startup */
     if (cond_flags.startup)
     {
-        if (gStatus.lightL == 0)
-            return;             /* wait for a random value at startup */
         cond_flags.startup = 0;
         launchActions((const uint8_t *)&startup_e);
-        tux_ir_id = gStatus.lightL;     /* get some value for the id */
+        tux_ir_id = gStatus.lightL; /* XXX remove this when fixing the greeting
+                                       function */
     }
 
     /* Head button */