#2 Now charging of main accumulator starts when power source is plugg…

…ed in. And it stops when power source is off.
robot-mitya · Mar 18, 2014 · abac2b3 · abac2b3
1 parent 4dfe221
commit abac2b3
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Showing 3 changed files with 34 additions and 0 deletions.
diff --git a/robo_body/rm_cfg.h b/robo_body/rm_cfg.h
@@ -81,6 +81,9 @@ namespace robot_mitya
       static const float VOLTAGE_CHARGER_R1 = 7.5;
       static const float VOLTAGE_CHARGER_R2 = 4.7;
 
+      static const float CHARGER_LISTENER_DELAY = 3000;
+      static const float CHARGER_MIN_VOLTAGE = 1000; //  x 0.01 Volts (like in "=XXXX" and "~XXXX" messages)
+
       // Instruction values.
       static const int INSTRUCTION_HEADLIGHTS_OFF = 0x0000;
       static const int INSTRUCTION_HEADLIGHTS_ON = 0x0001;

diff --git a/robo_body/rm_equ.cpp b/robo_body/rm_equ.cpp
@@ -25,6 +25,12 @@ static VoltageDivider* voltageDividerBattery = new VoltageDivider(Cfg::VOLTAGE_B
 static VoltageDivider* voltageDividerCharger = new VoltageDivider(Cfg::VOLTAGE_CHARGER_DIVIDER_INDEX,
   Cfg::VOLTAGE_CHARGER_PIN, Cfg::AREF_VOLTAGE, Cfg::VOLTAGE_CHARGER_R1, Cfg::VOLTAGE_CHARGER_R2);
 
+// Voltage divider to identify charging process. Plugging in an external power source should start charging.
+// When power source is plugged off the charging must be interrupted.
+static VoltageDivider* chargerListener = new VoltageDivider(Cfg::VOLTAGE_CHARGER_DIVIDER_INDEX,
+  Cfg::VOLTAGE_CHARGER_PIN, Cfg::AREF_VOLTAGE, Cfg::VOLTAGE_CHARGER_R1, Cfg::VOLTAGE_CHARGER_R2);
+static bool connectedToCharger = false;
+
 void Equipment::initialize()
 {
   // Initializing headlights:
@@ -77,12 +83,16 @@ void Equipment::initialize()
 
   // Initializing robot's state:
   State::initialize();
+
+  connectedToCharger = false;
+  chargerListener->setTimer(Cfg::CHARGER_LISTENER_DELAY, chargerHandler);
 }
 
 void Equipment::refresh()
 {
   voltageDividerBattery->refresh();
   voltageDividerCharger->refresh();
+  chargerListener->refresh();
 
   Reflex::refresh();
 
@@ -357,3 +367,23 @@ void Equipment::buttonsHandler(ButtonState buttonState, Button button)
   }
 }
 
+void Equipment::chargerHandler(int voltageDivider, unsigned int voltage)
+{
+  if (voltage > Cfg::CHARGER_MIN_VOLTAGE)
+  {
+    if (!connectedToCharger)
+    {
+      executeInstruction(Cfg::INSTRUCTION_MAIN_ACCUMULATOR_CHARGE_ON);
+      connectedToCharger = true;
+    }
+  }
+  else
+  {
+    if (connectedToCharger)
+    {
+      executeInstruction(Cfg::INSTRUCTION_MAIN_ACCUMULATOR_CHARGE_OFF);
+      connectedToCharger = false;
+    }
+  }
+}
+
diff --git a/robo_body/rm_equ.h b/robo_body/rm_equ.h
@@ -48,6 +48,7 @@ namespace robot_mitya
       static void setVoltageTimer(int dividerIndex, unsigned long timerDelay, void (*handler)(int, unsigned int));
     private:
       static void buttonsHandler(ButtonState buttonState, Button button);
+      static void chargerHandler(int voltageDivider, unsigned int voltage);
   };
 }