Changeset 446

Timestamp:

03/08/09 14:41:58 (3 years ago)

Author:

kleinjt

Message:

changed killswitch digital out pins, changed switching.

Location:

trunk/electronics/avr/killswitch

Files:

• killremote.c (modified) (4 diffs)
• killremote.hex (deleted)
• killrobot.c (modified) (1 diff)

trunk/electronics/avr/killswitch/killremote.c

@@ -43 +43 @@
 {
         DDRB = 0x0F;
-        DDRC = 0x00;
+        DDRC = 0b00011000;
         DDRD = 0b11111110;
 }
@@ -49 +49 @@
 static void adc_init()
 {
-        ADCSRA |= (1 << ADPS2) | (1 << ADPS1) | (1 << ADPS0);
-        ADMUX |= (1 << REFS0);
-        ADMUX |= (1 << ADLAR);
-        ADCSRA |= (1 << ADFR);
-        ADCSRA |= (1 << ADEN);
-        ADCSRA |= (1 << ADIE);
+        ADCSRA |= (1 << ADPS2) | (1 << ADPS1) | (1 << ADPS0); // 128 ADC clock prescale, 62.5KHz @ 8MHz clock
+        ADMUX |= (1 << REFS0) | (1 << REFS1); // 1.1v internal ref
+        ADCSRA |= (1 << ADEN); // enable adc
+        ADCSRA |= (1 << ADIE); // enable interrupts
 }
 
@@ -66 +64 @@
         sei();
         
-        uint8_t c;
-
         while (1) {
-                uint8_t in = 'f';
-                c = PINC;
-                c &= (1<<2);
-                usart_put(!c ? 's' : 'g');      
+                usart_put('g'); 
                 _delay_ms(100);
                 
                 if(UCSR0A & (1<<7)) {
                         in = usart_get();
-                        if(in == 'c') sbi(PORTB, 2);//PORTB |= 0x03;
                         counter = 500;  
                 }
                 
-                if(!counter) cbi(PORTB, 2);//PORTB &= 0xFC;
-                if(!c) PORTB sbi(PORTB, 1);//&= 0xF3;
-                else cbi(PORTB, 1);//PORTB |= 0x0C;
+                if(!counter) cbi(PORTC, 4);
+                else cbi(PORTC, 4);
+                
+                ADCSRA |= (1 << ADSC) | (1 << ADIE);
         }
 
@@ -97 +90 @@
 ISR(ADC_vect)
 {
-        if(ADCH < 128) sbi(PORTB, 0);
-        else cbi(PORTB, 0);     
+        if(ADCH < 630) sbi(PORTC, 5); // low battery at 2.7V, minimum voltage for AVR and xbee
+        else cbi(PORTC, 5);     
 }

trunk/electronics/avr/killswitch/killrobot.c

@@ -71 +71 @@
                         usart_put('c');
                 }
-                else if(in == 's' || !counter) {
+                else if(!counter) {
                         PORTB = 0x00;
                         usart_put('c');