ADC.c

00001 #include "System.h"
00002 
00003 volatile float BatteryVoltage = 0;
00004 volatile float RobotBusVoltageHR = 0;
00005 volatile float RobotBusCurrentHR = 0;
00006 
00007 float HighResRobotBusVoltageScalingFactor;
00008 float HighResRobotBusVoltageOffset;
00009 float HighResRobotBusCurrentScalingFactor;
00010 
00011 SIGNED_DWORD    ExtADCRobotVoltage=0;
00012 SIGNED_DWORD    ExtADCRobotCurrent=0;
00013 
00014 AnalogIn BatteryChannel(p17);
00015 AnalogIn RobotBusCurrentChannel(p20);
00016 AnalogIn RobotBusVoltageChannel(p19);
00017 AnalogIn SelfCurrentChannel(p18);
00018 
00019 Ticker  BatteryCheck;
00020 Ticker  InputPowerCheck;
00021 
00022 SPI ADCSPI(p11, p12, p13); 
00023 DigitalOut ConversionStart(p14);
00024 
00025 void CheckBattery();
00026 void CheckInputPower();
00027 
00028 SIGNED_DWORD VFilter[64];
00029 SIGNED_DWORD IFilter[64];
00030 WORD FilterIndex;
00031 
00032 SIGNED_DWORD VBattFilter[8];
00033 WORD VBattFilterIndex;
00034 
00035 DigitalOut PING(LED3);
00036 DigitalOut PONG(LED4);
00037 
00038 volatile BOOL ADCDataRdy;
00039 
00040 
00041 void InitADC()
00042 {
00043     HighResRobotBusVoltageScalingFactor = U1_VREF * ((R2 + R4)/(R4)) * VSCALE_ADJUST;
00044     HighResRobotBusVoltageOffset = INPUT_DIODE_DROP*2;
00045     HighResRobotBusCurrentScalingFactor = U1_VREF * ((R6+R7)/R7) ;
00046     
00047     ACS576_ISCALE = ACS576_ISCALE * ACS576_ISCALE_ADJUST; 
00048           
00049     ADCSPI.format(16,0);
00050        
00051     ConversionStart = 0;
00052         
00053     BatteryCheck.attach(&CheckBattery,0.1);
00054     InputPowerCheck.attach(&CheckInputPower,(1.0/(SAMPLE_RATE*16)));
00055  }
00056 
00057 void CheckBattery()
00058 {
00059     int i;
00060     SIGNED_DWORD TempSum = 0;
00061     
00062     VBattFilter[VBattFilterIndex++] = BatteryChannel.read_u16(); 
00063     VBattFilterIndex &= 0x7;
00064     
00065     for(i=0;i<8;i++)
00066     {
00067         TempSum += VBattFilter[i];
00068     } 
00069     
00070     BatteryVoltage = (float)((TempSum>>3))/65535.0f *  MBED_VREF * ((R17+R15)/R15);
00071 }
00072 
00073 void CheckInputPower()
00074 {
00075     SIGNED_DWORD TempSumV,TempSumI;
00076     int i;
00077   
00078     ConversionStart = 1;
00079     VFilter[FilterIndex] = (SIGNED_WORD)(ADCSPI.write(0x0000));
00080     IFilter[FilterIndex] = (SIGNED_WORD)(ADCSPI.write(0x0000));
00081     FilterIndex++;
00082     ConversionStart = 0; 
00083     
00084     //oversample and average   
00085    if(FilterIndex ==16)
00086    {
00087        ADCDataRdy = TRUE;
00088         FilterIndex = 0;
00089         TempSumV=0;
00090         TempSumI=0;
00091         for(i=0;i<32;i++)
00092         {
00093             TempSumV+=VFilter[i];
00094             TempSumI+=IFilter[i];
00095          }
00096        
00097         ExtADCRobotCurrent = TempSumV>>4;
00098         ExtADCRobotVoltage = TempSumI>>4;
00099     
00100         RobotBusVoltageHR = ((((float)(ExtADCRobotVoltage)/(32768.0f)) * HighResRobotBusVoltageScalingFactor + HighResRobotBusVoltageOffset))- VOFFSET_ADJUST;
00101         RobotBusCurrentHR = (((((float)(ExtADCRobotCurrent)/(32768.0f)) * HighResRobotBusCurrentScalingFactor) -ACS576_VOFFSET) * ACS576_ISCALE) - ACS576_IOFFSET_TRIM; 
00102         
00103         if(SystemState == SYSTEM_STATE_LOGGING)
00104         {
00105            
00106              if (MyDataBlock.WriteOutPtr >MyDataBlock.ReadInPtr)
00107              {
00108                   ReadWriteDifferential = (DATA_BLOCK_SIZE - MyDataBlock.WriteOutPtr +  MyDataBlock.ReadInPtr);
00109              }
00110              else
00111              {
00112                   ReadWriteDifferential = ( MyDataBlock.ReadInPtr - MyDataBlock.WriteOutPtr);
00113              }
00114     
00115              if(ReadWriteDifferential >= DATA_BLOCK_SIZE - 1)
00116              {
00117                 DataLogError = TRUE;
00118                 ErrorMsg = "Overrun!";
00119              }
00120              else
00121              {
00122                  MyDataBlock.Voltage[MyDataBlock.ReadInPtr] =  RobotBusVoltageHR;
00123                  MyDataBlock.Current[MyDataBlock.ReadInPtr] =  RobotBusCurrentHR;
00124                         
00125                  MyDataBlock.ReadInPtr++;
00126                  
00127                  if(MyDataBlock.ReadInPtr == DATA_BLOCK_SIZE)
00128                  {
00129                     MyDataBlock.ReadInPtr = 0;
00130                  }
00131              }
00132          }
00133          else
00134          {
00135               ReadWriteDifferential = 0;
00136          }
00137      }
00138 }
00139 
00140 
00141