Fast adc

firmware/src/adc.c

@@ -1,32 +1,18 @@
 #include "adc.h"
 
-/**
- * @brief Changes ADC channel
- * @param __ch is the channel to be switched to
- * @return return the selected channel
- */
-inline uint8_t adc_select_channel(adc_channels_t __ch)
-{
-    if(__ch < ADC_LAST_CHANNEL ) adc.select = __ch;
-
-    ADMUX = (ADMUX & 0xF8) | adc.select; // clears the bottom 3 bits before ORing
-    return adc.select;
-}
-
 /**
  * @brief inicializa o ADC, configurado para conversão engatilhada com o timer0.
  */
 void adc_init(void)
 {
     adc.ready = 0;
-    adc.select = ADC0;
 
     //clr_bit(PRR0, PRADC);                           // Activates clock to adc
 
     // configuracao do ADC
     PORTC   =   0b00000000;                         // disables pull-up for adcs pins
     DDRC    =   0b00000000;                         // all adcs as inputs
-    DIDR0   =   0b11111111;                         // ADC0 to ADC2 as adc (digital disable)
+    DIDR0   =   0b11111111;                         // digital disable for all adcs
 
     ADMUX   =   (0 << REFS1)                        // AVcc with external capacitor at AREF pin
             | (1 << REFS0)
@@ -40,7 +26,7 @@ void adc_init(void)
             | (1 << ADTS1)
             | (1 << ADTS0);
 
-    adc_select_channel(ADC0);                       // Choose admux
+    ADMUX = (ADMUX & 0xF8) | 0;                     // Choose admux
     ADCSRA  =   (1 << ADATE)                        // ADC Auto Trigger Enable
             | (1 << ADIE)                           // ADC Interrupt Enable
             | (1 << ADEN)                           // ADC Enable
@@ -89,30 +75,21 @@ void adc_init(void)
  */
 ISR(ADC_vect)
 {
-
-#ifdef FAKE_ADC_ON
-    adc.channel[adc.select].sum += FAKE_ADC;
-#else // FAKE_ADC_ON
-    #ifdef ADC_8BITS
-    adc.channel[adc.select].sum += ADCH;
-    #else // ADC_8BITS
-    adc.channel[adc.select].sum += ADC;
-    #endif // ADC_8BITS
-#endif // FAKE_ADC_ON
-
-    if(++adc.select > ADC_LAST_CHANNEL){
-        adc.select = ADC0;             // recycles
-
-        if(++adc.samples >= ADC_AVG_SIZE_10){
-            adc.channel[0].avg = adc.channel[0].sum >> ADC_AVG_SIZE_2;
-
-            adc.samples = adc.channel[0].sum = 0;
-            adc.ready = 1; 
-        }
+    #ifdef FAKE_ADC_ON
+        adc.sum += FAKE_ADC;
+    #else // FAKE_ADC_ON
+        #ifdef ADC_8BITS
+            adc.sum += ADCH;
+        #else // ADC_8BITS
+            adc.sum += ADC;
+        #endif // ADC_8BITS
+    #endif // FAKE_ADC_ON
+
+    if(++adc.samples >= ADC_AVG_SIZE_10){
+        adc0.ready = 1;
+        adc0.value = adc.sum;
+        adc.samples = adc.sum = 0;
     }
-
-    adc_select_channel(adc.select);
-
 }
 
 /**

firmware/src/adc.h

@@ -23,30 +23,23 @@
 // Note the resolution. For example.. at 150hz, ICR1 = PWM_TOP = 159, so it
 //#define QUOTIENT  (((uint32_t)MACHINE_TIMER_PRESCALER)*((uint32_t)MACHINE_TIMER_FREQUENCY))
 //#define ADC_TIMER_TOP (0.5*(F_CPU)/QUOTIENT)
-#define ADC_TIMER_FREQUENCY     ((uint32_t)(ADC_FREQUENCY)*(uint8_t)(ADC_LAST_CHANNEL +1))
+#define ADC_TIMER_FREQUENCY     ((uint32_t)(ADC_FREQUENCY))
 #define ADC_TIMER_TOP           ((F_CPU/(2*ADC_TIMER_PRESCALER))/(ADC_TIMER_FREQUENCY) -1)
 
-typedef enum adc_channels{ 
-    ADC0, ADC1 ,ADC2, ADC3, ADC4, ADC5
-} adc_channels_t;                           //*< the adc_channel type 
-
-#define ADC_LAST_CHANNEL ADC0
-
-typedef struct{
-    uint32_t sum;
-    uint16_t avg;
-} adc_channel_t;
+typedef struct _adc{
+    uint64_t sum;
+    uint16_t samples;
+    uint8_t ready;
+} _adc_t;
 
 typedef struct adc{
-    adc_channel_t channel[ADC_LAST_CHANNEL+1];
-    adc_channels_t select;
-    uint16_t samples;
+    uint64_t value;
     uint8_t ready;
 } adc_t;
 
-volatile adc_t adc;
+static volatile _adc_t adc;
+volatile adc_t adc0;
 
-uint8_t adc_select_channel(adc_channels_t __ch);
 void adc_init(void);
 
 #endif /* ifndef _ADC_H_ */

firmware/src/conf.h

@@ -27,7 +27,7 @@
 
 // MODULES ACTIVATION
 #define USART_ON
-#define CAN_ON
+//#define CAN_ON
 //#define CAN_DEPENDENT
 #define ADC_ON
 #define MACHINE_ON
@@ -39,13 +39,10 @@
 #ifdef ADC_ON
 // ADC CONFIGURATION
 // note that changing ADC_FREQUENCY may cause problems with avg_sum_samples
-#define ADC_FREQUENCY                       10000 // 20000
+#define ADC_FREQUENCY                       500000
 #define ADC_TIMER_PRESCALER                 8
-#define ADC0_AVG                            adc.channel[ADC0].avg
-#define ADC0_ANGULAR_COEF                   10000 //(40000/((4/5)*1024))
-#define ADC0_LINEAR_COEF                    0
-#define ADC_AVG_SIZE_2                      7                  // in base 2
-#define ADC_AVG_SIZE_10                     128                // in base 10
+#define ADC_AVG_SIZE_2                      10                  // in base 2
+#define ADC_AVG_SIZE_10                     4096                // in base 10
 
 //#define FAKE_ADC_ON
 #ifdef FAKE_ADC_ON
@@ -57,7 +54,7 @@
 
 #ifdef MACHINE_ON
 // The machine frequency may not be superior of ADC_FREQUENCY/ADC_AVG_SIZE_10
-#define MACHINE_TIMER_FREQUENCY             300           //<! machine timer frequency in Hz
+#define MACHINE_TIMER_FREQUENCY             1000           //<! machine timer frequency in Hz
 #define MACHINE_TIMER_PRESCALER             1024          //<! machine timer prescaler
 #define MACHINE_CLK_DIVIDER_VALUE           ((uint64_t)(uint32_t)MACHINE_TIMER_FREQUENCY*(uint32_t)ADC_AVG_SIZE_10)/(ADC_FREQUENCY)           //<! machine_run clock divider
 #define MACHINE_FREQUENCY                   (MACHINE_TIMER_FREQUENCY)/(MACHINE_CLK_DIVIDER_VALUE)

firmware/src/machine.c

@@ -83,6 +83,7 @@ inline void set_state_running(void)
 {
     VERBOSE_MSG_MACHINE(usart_send_string("\n>>>RUNNING STATE\n"));
     state_machine = STATE_RUNNING;
+    reset_measurements();
 }
 
 /**
@@ -101,11 +102,11 @@ inline void print_configurations(void)
 {    
     VERBOSE_MSG_MACHINE(usart_send_string("CONFIGURATIONS:\n"));
 
-    VERBOSE_MSG_MACHINE(usart_send_string("\nadc_f: "));
-    VERBOSE_MSG_MACHINE(usart_send_uint16( ADC_FREQUENCY ));
-    VERBOSE_MSG_MACHINE(usart_send_char(','));
+    VERBOSE_MSG_MACHINE(usart_send_string("\nadc_freq: "));
+    VERBOSE_MSG_MACHINE(usart_send_uint32( ADC_FREQUENCY ));
+    VERBOSE_MSG_MACHINE(usart_send_string("\nadc_avg_size: "));
     VERBOSE_MSG_MACHINE(usart_send_uint16( ADC_AVG_SIZE_10 ));
-    VERBOSE_MSG_MACHINE(usart_send_string("\nmachine_f: "));
+    VERBOSE_MSG_MACHINE(usart_send_string("\nmachine_freq: "));
     VERBOSE_MSG_MACHINE(usart_send_uint16( MACHINE_FREQUENCY ));
 
     VERBOSE_MSG_MACHINE(usart_send_char('\n'));
@@ -188,7 +189,6 @@ inline void task_error(void)
     }
 #endif
 
-
     total_errors++;         // incrementa a contagem de erros
     VERBOSE_MSG_ERROR(usart_send_string("The error code is: "));
     VERBOSE_MSG_ERROR(usart_send_uint16(error_flags.all));
@@ -257,7 +257,33 @@ inline void reset_measurements(void)
     measurements.adc0_avg_sum_count = 0;
     measurements.adc0_avg_sum = 0;
     measurements.adc0_max = 0;
-    measurements.adc0_min = 1023;
+    measurements.adc0_min = 65535;      // should start at maximum possible value
+}
+
+
+inline void compute_adc0_avg(void)
+{
+    // avg
+    measurements.adc0_avg = adc0.value * (500000000.0f / (1024.f * ADC_AVG_SIZE_10));
+
+    // max avg
+    if(measurements.adc0_avg < measurements.adc0_min) 
+        measurements.adc0_min = measurements.adc0_avg;
+    // min avg
+    if(measurements.adc0_avg > measurements.adc0_max) 
+        measurements.adc0_max = measurements.adc0_avg;
+
+    // avg for canbus msgs
+    measurements.adc0_avg_sum_count++;
+    measurements.adc0_avg_sum += measurements.adc0_avg;
+
+    // usart_send_uint32(adc0);
+    // usart_send_uint32(measurements.adc0_avg);
+    // usart_send_char(',');
+    // usart_send_uint32(measurements.adc0_avg_sum);
+    // usart_send_char(',');
+    // usart_send_uint16(measurements.adc0_avg_sum_count);
+    // usart_send_string("\n\n\n\n");
 }
 
 /**
@@ -267,24 +293,14 @@ inline void machine_run(void)
 {
     //print_infos();
 
-
     if(machine_clk){
         machine_clk = 0;
-    #ifdef ADC_ON
-        if(adc.ready){
-            adc.ready = 0;
 
-            measurements.adc0_avg = ADC0_AVG;
-                //* ADC0_ANGULAR_COEF
-                //+ ADC0_LINEAR_COEF;
-
-            if(measurements.adc0_avg < measurements.adc0_min) 
-                measurements.adc0_min = measurements.adc0_avg;
-            if(measurements.adc0_avg > measurements.adc0_max) 
-                measurements.adc0_max = measurements.adc0_avg;
+    #ifdef ADC_ON
+        if(adc0.ready){
+            adc0.ready = 0;
 
-            measurements.adc0_avg_sum_count++;
-            measurements.adc0_avg_sum += measurements.adc0_avg;
+            compute_adc0_avg();
 
             if(error_flags.all){
                 print_system_flags();
@@ -329,10 +345,7 @@ ISR(TIMER2_COMPA_vect)
 {
     if(machine_clk_divider++ == MACHINE_CLK_DIVIDER_VALUE){
         /*if(machine_clk){
-            for(;;){
-                pwm_reset();
                 VERBOSE_MSG_ERROR(if(machine_clk) usart_send_string("\nERROR: CLOCK CONFLICT!!!\n"));
-            }
         }*/
         machine_clk = 1;
         machine_clk_divider = 0;

firmware/src/machine.h

@@ -13,6 +13,8 @@
 #include <avr/io.h>
 #include <avr/wdt.h>
 #include <avr/interrupt.h>
+#include <avr/sleep.h>
+#include <math.h>
 
 #include "conf.h"
 
@@ -56,13 +58,14 @@ typedef union error_flags{
 }error_flags_t;
 
 typedef struct measurements{
-    uint16_t    adc0_avg;       // average value of ADC0
+    uint32_t    adc0_avg;       // average value of ADC0
     uint16_t    adc0_avg_sum_count;
     uint64_t    adc0_avg_sum;   // average value of ADC0
     uint16_t    adc0_min;       // period minimum value of ADC0
     uint16_t    adc0_max;       // period maximum value of ADC0
 }measurements_t;
 
+void compute_adc0_avg(void);
 
 // machine checks
 void check_buffers(void);

firmware/src/main.c

@@ -4,9 +4,10 @@
 
 void init(void)
 {
+    cli();
 
     #ifdef USART_ON
-        usart_init(MYUBRR,1,1);                         // inicializa a usart
+        usart_init(MYUBRR,0,1);                         // inicializa a usart
         VERBOSE_MSG_INIT(usart_send_string("\n\n\nUSART... OK!\n"));
     #endif
 
@@ -40,6 +41,7 @@ void init(void)
         VERBOSE_MSG_INIT(usart_send_string("CAN filters..."));
         can_static_filter(can_filter);
         VERBOSE_MSG_INIT(usart_send_string(" OK!\n"));
+        cli();
     #else
         VERBOSE_MSG_INIT(usart_send_string("CAN... OFF!\n"));
     #endif
@@ -107,7 +109,7 @@ int main(void)
 {
     init();
 
-	for(;;){
+	for(;;){       
 		#ifdef WATCHDOG_ON
             wdt_reset();
 		#endif
@@ -122,7 +124,6 @@ int main(void)
 	}
 }
 
-
 /**
  * @brief se em debug, fica chaveando os pinos de debugs até o reset do watchdog
  */
@@ -140,4 +141,3 @@ ISR(BADISR_vect)
         #endif
     }
 }
-

firmware/src/sleep.h

@@ -17,7 +17,7 @@
 
 void sleep_init(void)
 {
-	set_sleep_mode(SLEEP_MODE_IDLE);
+	set_sleep_mode(SLEEP_MODE_ADC);
 }
 
 #endif /* ifndef SLEEP_H */