Diff: Code/ADC.c

Revision:

0:085749c8446f

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Code/ADC.c	Wed Jun 13 15:10:06 2012 +0000
@@ -0,0 +1,141 @@
+#include "System.h"
+
+volatile float BatteryVoltage = 0;
+volatile float RobotBusVoltageHR = 0;
+volatile float RobotBusCurrentHR = 0;
+
+float HighResRobotBusVoltageScalingFactor;
+float HighResRobotBusVoltageOffset;
+float HighResRobotBusCurrentScalingFactor;
+
+SIGNED_DWORD    ExtADCRobotVoltage=0;
+SIGNED_DWORD    ExtADCRobotCurrent=0;
+
+AnalogIn BatteryChannel(p17);
+AnalogIn RobotBusCurrentChannel(p20);
+AnalogIn RobotBusVoltageChannel(p19);
+AnalogIn SelfCurrentChannel(p18);
+
+Ticker  BatteryCheck;
+Ticker  InputPowerCheck;
+
+SPI ADCSPI(p11, p12, p13); 
+DigitalOut ConversionStart(p14);
+
+void CheckBattery();
+void CheckInputPower();
+
+SIGNED_DWORD VFilter[64];
+SIGNED_DWORD IFilter[64];
+WORD FilterIndex;
+
+SIGNED_DWORD VBattFilter[8];
+WORD VBattFilterIndex;
+
+DigitalOut PING(LED3);
+DigitalOut PONG(LED4);
+
+volatile BOOL ADCDataRdy;
+
+
+void InitADC()
+{
+    HighResRobotBusVoltageScalingFactor = U1_VREF * ((R2 + R4)/(R4)) * VSCALE_ADJUST;
+    HighResRobotBusVoltageOffset = INPUT_DIODE_DROP*2;
+    HighResRobotBusCurrentScalingFactor = U1_VREF * ((R6+R7)/R7) ;
+    
+    ACS576_ISCALE = ACS576_ISCALE * ACS576_ISCALE_ADJUST; 
+          
+    ADCSPI.format(16,0);
+       
+    ConversionStart = 0;
+        
+    BatteryCheck.attach(&CheckBattery,0.1);
+    InputPowerCheck.attach(&CheckInputPower,(1.0/(SAMPLE_RATE*16)));
+ }
+
+void CheckBattery()
+{
+    int i;
+    SIGNED_DWORD TempSum = 0;
+    
+    VBattFilter[VBattFilterIndex++] = BatteryChannel.read_u16(); 
+    VBattFilterIndex &= 0x7;
+    
+    for(i=0;i<8;i++)
+    {
+        TempSum += VBattFilter[i];
+    } 
+    
+    BatteryVoltage = (float)((TempSum>>3))/65535.0f *  MBED_VREF * ((R17+R15)/R15);
+}
+
+void CheckInputPower()
+{
+    SIGNED_DWORD TempSumV,TempSumI;
+    int i;
+  
+    ConversionStart = 1;
+    VFilter[FilterIndex] = (SIGNED_WORD)(ADCSPI.write(0x0000));
+    IFilter[FilterIndex] = (SIGNED_WORD)(ADCSPI.write(0x0000));
+    FilterIndex++;
+    ConversionStart = 0; 
+    
+    //oversample and average   
+   if(FilterIndex ==16)
+   {
+       ADCDataRdy = TRUE;
+        FilterIndex = 0;
+        TempSumV=0;
+        TempSumI=0;
+        for(i=0;i<32;i++)
+        {
+            TempSumV+=VFilter[i];
+            TempSumI+=IFilter[i];
+         }
+       
+        ExtADCRobotCurrent = TempSumV>>4;
+        ExtADCRobotVoltage = TempSumI>>4;
+    
+        RobotBusVoltageHR = ((((float)(ExtADCRobotVoltage)/(32768.0f)) * HighResRobotBusVoltageScalingFactor + HighResRobotBusVoltageOffset))- VOFFSET_ADJUST;
+        RobotBusCurrentHR = (((((float)(ExtADCRobotCurrent)/(32768.0f)) * HighResRobotBusCurrentScalingFactor) -ACS576_VOFFSET) * ACS576_ISCALE) - ACS576_IOFFSET_TRIM; 
+        
+        if(SystemState == SYSTEM_STATE_LOGGING)
+        {
+           
+             if (MyDataBlock.WriteOutPtr >MyDataBlock.ReadInPtr)
+             {
+                  ReadWriteDifferential = (DATA_BLOCK_SIZE - MyDataBlock.WriteOutPtr +  MyDataBlock.ReadInPtr);
+             }
+             else
+             {
+                  ReadWriteDifferential = ( MyDataBlock.ReadInPtr - MyDataBlock.WriteOutPtr);
+             }
+    
+             if(ReadWriteDifferential >= DATA_BLOCK_SIZE - 1)
+             {
+                DataLogError = TRUE;
+                ErrorMsg = "Overrun!";
+             }
+             else
+             {
+                 MyDataBlock.Voltage[MyDataBlock.ReadInPtr] =  RobotBusVoltageHR;
+                 MyDataBlock.Current[MyDataBlock.ReadInPtr] =  RobotBusCurrentHR;
+                        
+                 MyDataBlock.ReadInPtr++;
+                 
+                 if(MyDataBlock.ReadInPtr == DATA_BLOCK_SIZE)
+                 {
+                    MyDataBlock.ReadInPtr = 0;
+                 }
+             }
+         }
+         else
+         {
+              ReadWriteDifferential = 0;
+         }
+     }
+}
+
+
+