* 0x0A Voltage LSB
* 0x0B Distance forward2 MSB
* 0x0C Distance forward2 LSB
+ * 0x0D Current MSB
+ * 0x0E Current LSB
*
* 0x15 Distance forward1 MSB (read only)
* 0x16 Distance forward1 LSB (read only)
*/
+/**
+ * Nano Pinout
+ * A0 PC0/ADC0
+ * A1 PC1/ADC1
+ * A2 PC2/ADC2
+ * A3 PC3/ADC3
+ * A4 PC4/ADC4
+ * A5 PC5/ADC5
+ * A6 ADC6
+ * A7 ADC7
+ * D0 PD0/RX
+ * D1 PD1/TX
+ * D2 PD2/IND0
+ * D3 PD3/IND1
+ * D4 PD4/T0
+ * D5 PD5/T1
+ * D6 PD6/AIN0
+ * D7 PD7/AIN1
+ * D8 PB0/ICP
+ * D9 PB1/OC1
+ * D10 PB2/SS
+ * D11 PB3/MOSI
+ * D12 PB4/MISO
+ * D13 PB5/SCK
+ */
+
+
#define TWI_ACK TWCR = (1<<TWINT) | (1<<TWEA) | (1<<TWEN) | (1<<TWIE)
#define TWI_NAK TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE)
#define TWI_RESET TWCR = (1<<TWINT) | (1<<TWEA) | (1<<TWSTO) | (1<<TWEN) | (1<<TWIE);
static volatile uint8_t start_dist_fwd2=0;
static volatile uint8_t start_dist_bwd=0;
static volatile uint16_t voltage=0;
+static volatile uint16_t current=0;
static volatile uint8_t pind_pre=0;
ISR(TWI_vect)
TWDR = tmp16;
TWI_ACK;
break;
+ case 0x0D: // Current MSB
+ tmp16 = current;
+ TWDR = tmp16>>8;
+ TWI_ACK;
+ break;
+ case 0x0E: // Current LSB
+ TWDR = tmp16;
+ TWI_ACK;
+ break;
case 0x15: // Distance forward1 MSB
tmp16 = dist_forward1;
TWDR = tmp16>>8;
}
+/*
+ * zero offset: 0.5V
+ * sensitivity: 133mV/A
+ */
+static unsigned short get_current(void) {
+ double volt = ReadChannel(3)*5.0171; // mV
+ return (volt-517.78)/0.12656; // mA
+}
+
+
ISR(INT0_vect) {
static uint16_t t_start=0;
uint16_t t_now = TCNT1;
case 0x09: // voltage
voltage = get_voltage();
break;
+ case 0x0d: // current
+ current = get_current();
+ break;
case 0xff: // Magic reg that starts the bootloader
if (bootloader == 0xa5) {
cli();