/* pressure.c */ /* guybrush - Eurobot 2012 AI. {{{ * * Copyright (C) 2012 Nicolas Schodet * * APBTeam: * Web: http://apbteam.org/ * Email: team AT apbteam DOT org * * This program is free software; you can redistribute it and/or modify * it under the terms of the GNU General Public License as published by * the Free Software Foundation; either version 2 of the License, or * (at your option) any later version. * * This program is distributed in the hope that it will be useful, * but WITHOUT ANY WARRANTY; without even the implied warranty of * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the * GNU General Public License for more details. * * You should have received a copy of the GNU General Public License * along with this program; if not, write to the Free Software * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. * * }}} */ #include "common.h" #include "pressure.h" #include "modules/adc/adc.h" #include "modules/utils/utils.h" #include "output.h" #include "mimot.h" /** Maximum pressure. */ #define PRESSURE_MAX 1000 /** Hysteresis margin. */ #define PRESSURE_MARGIN (PRESSURE_MAX / 16) /** Pressure sensor connected ADC. */ #define PRESSURE_SENSOR_ADC 4 /** Pressure FSM states. */ enum { /** Start state, circuit is closed, no pressure. */ PRESSURE_INITIAL, /** Idle, pressure is OK, circuit is open. */ PRESSURE_IDLE, /** Starting the pump, with open circuit. */ PRESSURE_STARTING, /** Pumping until the pressure is OK, circuit is closed. */ PRESSURE_PUMPING, }; /** Global context. */ struct pressure_t { /** Pressure sensor threshold values (initialized to 0). */ uint16_t low, high; /** Pressure FSM current state. */ uint8_t state; /** Wait counter before the next action. */ uint8_t wait; }; static struct pressure_t pressure; /** Interval at which the sensor is read. */ #define PRESSURE_INTERVAL 25 /** Rest duration after a pumping session. */ #define PRESSURE_REST 250 /** Wait duration before the pump is started. */ #define PRESSURE_OPEN_WAIT 125 /** Wait duration after the pump has been started before circuit is closed. */ #define PRESSURE_START_WAIT 50 void pressure_update (void) { if (pressure.wait) { pressure.wait--; } else { switch (pressure.state) { case PRESSURE_INITIAL: if (pressure.low) { /* Open circuit. */ IO_SET (OUTPUT_PNEUM_OPEN); pressure.state++; pressure.wait = PRESSURE_OPEN_WAIT; } break; case PRESSURE_IDLE: if (pressure_get () < pressure.low) { /* Start pump. */ mimot_motor_output_set (1, 0x3ff); pressure.state++; pressure.wait = PRESSURE_START_WAIT; } else pressure.wait = PRESSURE_INTERVAL; break; case PRESSURE_STARTING: /* Started, close circuit. */ IO_CLR (OUTPUT_PNEUM_OPEN); pressure.state++; break; case PRESSURE_PUMPING: /* Pump until high. */ if (pressure_get () > pressure.high) { /* Done. Stop. Open circuit. */ mimot_motor1_free (); IO_SET (OUTPUT_PNEUM_OPEN); pressure.state = PRESSURE_IDLE; pressure.wait = PRESSURE_REST; } else pressure.wait = PRESSURE_INTERVAL; break; } } } void pressure_set (uint16_t low) { low = UTILS_MIN (low, PRESSURE_MAX - PRESSURE_MARGIN); pressure.low = low; pressure.high = low + PRESSURE_MARGIN; } uint16_t pressure_get (void) { adc_start (PRESSURE_SENSOR_ADC); while (!adc_checkf ()) ; return adc_read (); }