From 003b8804848207a2403a7e879fc86f34eb631152 Mon Sep 17 00:00:00 2001 From: Erik Andresen Date: Fri, 29 May 2015 21:47:21 +0200 Subject: [PATCH] avr/nano: added voltage measurement --- avr/nano/main.c | 20 ++ avr/nano/main.hex | 568 +++++++++++++++++++++++----------------------- 2 files changed, 306 insertions(+), 282 deletions(-) diff --git a/avr/nano/main.c b/avr/nano/main.c index 5418055..76ce35a 100644 --- a/avr/nano/main.c +++ b/avr/nano/main.c @@ -18,6 +18,8 @@ * 0x06 Distance forward LSB * 0x07 Distance backward MSB * 0x08 Distance backward LSB + * 0x09 Voltage MSB + * 0x0A Voltage LSB * * 0xff Bootloader */ @@ -35,6 +37,7 @@ static volatile uint16_t dist_forward=0; static volatile uint16_t dist_backward=0; static volatile uint8_t start_dist_fwd=0; static volatile uint8_t start_dist_bwd=0; +static volatile uint16_t voltage=0; ISR(TWI_vect) { @@ -103,6 +106,15 @@ ISR(TWI_vect) TWDR = tmp16; TWI_ACK; break; + case 0x09: // Voltage MSB + tmp16 = voltage; + TWDR = tmp16>>8; + TWI_ACK; + break; + case 0x0A: // Voltage LSB + TWDR = tmp16; + TWI_ACK; + break; default: TWDR = 0; TWI_NAK; @@ -159,6 +171,11 @@ static unsigned short get_distance(uint8_t i) { } +static unsigned short get_voltage(void) { + return ReadChannel(2)*1.46; +} + + ISR(INT0_vect) { static uint16_t t_start=0; uint16_t t_now = TCNT1; @@ -221,6 +238,9 @@ int main(void) { case 0x03: // ir right dist_right = get_distance(1); break; + case 0x09: // voltage + voltage = get_voltage(); + break; case 0xff: // Magic reg that starts the bootloader if (bootloader == 0xa5) { cli(); diff --git a/avr/nano/main.hex b/avr/nano/main.hex index faac092..b2af08a 100644 --- a/avr/nano/main.hex +++ b/avr/nano/main.hex @@ -1,283 +1,287 @@ -:100000000C9448000C942A010C9475010C94650022 -:100010000C9465000C9465000C9465000C946500CC -:100020000C9465000C9465000C9465000C946500BC -:100030000C9465000C9465000C9465000C946500AC -:100040000C9465000C9465000C94C0010C94650040 -:100050000C9465000C9465000C9465000C9465008C 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