Enable battery voltage readings again

src/battery.c

@@ -1,23 +1,5 @@
 #include "battery.h"
 
-/**
- * @brief ADC1 and ADC2 interruption routine.
- *
- * - Manage the ADC2 analog watchdog interruption flag.
- * - Send a message.
- * - Toggle a LED.
- * - Disable analog watchdog interruptions on injected channels.
- */
-void adc1_2_isr(void)
-{
-	if (adc_get_flag(ADC2, ADC_SR_AWD)) {
-		adc_clear_flag(ADC2, ADC_SR_AWD);
-		LOG_WARNING("Battery low!");
-		led_bluepill_toggle();
-		adc_disable_analog_watchdog_injected(ADC2);
-	}
-}
-
 /**
  * @brief Function to get battery voltage.
  *
@@ -33,7 +15,13 @@ void adc1_2_isr(void)
 float get_battery_voltage(void)
 {
 	uint16_t battery_bits;
+	uint8_t channels[16];
 
-	battery_bits = adc_read_injected(ADC2, 3);
+	channels[0] = ADC_CHANNEL0;
+	adc_set_regular_sequence(ADC2, 1, channels);
+	adc_start_conversion_direct(ADC2);
+	while (!adc_eoc(ADC2))
+		;
+	battery_bits = adc_read_regular(ADC2);
 	return battery_bits * ADC_LSB * VOLT_DIV_FACTOR;
 }

src/hmi.c

@@ -110,6 +110,17 @@ void blink_collision(void)
 	led_right_off();
 }
 
+/**
+ * @brief Warn low battery using speaker sounds.
+ */
+void warn_low_battery(void)
+{
+	speaker_play('C', 4, 0, 0.05);
+	sleep_ticks(50);
+	speaker_play('C', 3, 0, 0.05);
+	sleep_ticks(50);
+}
+
 /**
  * @brief Function to read button left.
  */

src/hmi.h

@@ -5,6 +5,7 @@
 
 #include "clock.h"
 #include "detection.h"
+#include "speaker.h"
 #include "speed.h"
 
 void led_left_toggle(void);
@@ -18,6 +19,7 @@ void led_right_off(void);
 void led_bluepill_off(void);
 void repeat_blink(uint8_t count, uint16_t time);
 void blink_collision(void);
+void warn_low_battery(void);
 bool button_left_read(void);
 bool button_right_read(void);
 bool button_left_read_consecutive(uint32_t count);

src/main.c

@@ -12,6 +12,7 @@
 #include "serial.h"
 #include "setup.h"
 #include "solve.h"
+#include "speaker.h"
 #include "speed.h"
 
 static void competition(void);
@@ -46,6 +47,24 @@ static void user_configuration(bool run)
 	set_speed_mode(mode, run);
 }
 
+/**
+ * @brief Check battery voltage and warn if the voltage is getting too low.
+ */
+static void check_battery_voltage(void)
+{
+	float voltage;
+
+	voltage = get_battery_voltage();
+	if (voltage < 3.6)
+		warn_low_battery();
+	if (voltage < 3.5)
+		warn_low_battery();
+	if (voltage < 3.4)
+		warn_low_battery();
+	if (voltage < 3.3)
+		speaker_play('C', 3, 0, 2.);
+}
+
 /**
  * @brief Includes the functions to be executed before robot starts to move.
  */
@@ -55,6 +74,7 @@ static void before_moving(void)
 	disable_walls_control();
 	repeat_blink(10, 100);
 	sleep_us(5000000);
+	check_battery_voltage();
 	led_left_on();
 	led_right_on();
 	wait_front_sensor_close_signal(0.12);
@@ -78,6 +98,7 @@ static void after_moving(void)
 		repeat_blink(10, 100);
 	}
 	reset_motion();
+	check_battery_voltage();
 }
 
 /**
@@ -116,6 +137,20 @@ static void competition(void)
 		running_phase();
 }
 
+/**
+ * @brief Training routine.
+ */
+static void training(void)
+{
+	initialize_solver_direction();
+	add_goal(3, 5);
+	set_target_goal();
+	exploration_phase();
+	set_run_sequence();
+	while (1)
+		running_phase();
+}
+
 /**
  * @brief Initial setup and infinite wait.
  */
@@ -124,16 +159,9 @@ int main(void)
 	setup();
 	systick_interrupt_enable();
 	competition();
-	add_goal(3, 5);
-	set_target_goal();
-	initialize_solver_direction();
-	set_speed_mode(0, false);
 	while (1) {
-		if (button_left_read_consecutive(500)) {
-			before_moving();
-			explore();
-			after_moving();
-		}
+		if (button_left_read_consecutive(500))
+			training();
 		execute_commands();
 	}
 

src/setup.c

@@ -63,11 +63,9 @@ static void setup_clock(void)
  *
  * - Systick priority to 1 with SCB.
  * - USART3 with priority 2 with NVIC.
- * - TIM1_UP with priority 0.
  *
  * Interruptions enabled:
  *
- * - TIM1 Update interrupt.
  * - USART3 interrupt.
  *
  * @note The priority levels are assigned on steps of 16 because the processor
@@ -77,11 +75,9 @@ static void setup_clock(void)
  */
 static void setup_exceptions(void)
 {
-	nvic_set_priority(NVIC_TIM1_UP_IRQ, 0);
 	nvic_set_priority(NVIC_SYSTICK_IRQ, PRIORITY_FACTOR * 1);
 	nvic_set_priority(NVIC_USART3_IRQ, PRIORITY_FACTOR * 2);
 
-	nvic_enable_irq(NVIC_TIM1_UP_IRQ);
 	nvic_enable_irq(NVIC_USART3_IRQ);
 }
 
@@ -218,7 +214,7 @@ void setup_spi_low_speed(void)
  * @see Reference manual (RM0008) "TIMx functional description" and in
  * particular "PWM mode" section.
  */
-static void setup_pwm(void)
+static void setup_motor_driver(void)
 {
 	timer_set_mode(TIM3, TIM_CR1_CKD_CK_INT, TIM_CR1_CMS_EDGE,
 		       TIM_CR1_DIR_UP);
@@ -252,6 +248,44 @@ static void setup_pwm(void)
 	timer_enable_counter(TIM3);
 }
 
+/**
+ * @brief Setup PWM for the speaker.
+ *
+ * TIM1 is used to generate the PWM signals for the speaker:
+ *
+ * - Configure channel 3 as output GPIO.
+ * - Edge-aligned, up-counting timer.
+ * - Prescale to increment timer counter at TIM1CLK_FREQUENCY_HZ.
+ * - Set output compare mode to PWM1 (output is active when the counter is
+ *   less than the compare register contents and inactive otherwise.
+ * - Disable output compare output (speaker is off by default).
+ * - Enable outputs in the break subsystem.
+ *
+ * @see Reference manual (RM0008) "TIMx functional description" and in
+ * particular "PWM mode" section.
+ */
+static void setup_speaker(void)
+{
+	gpio_set_mode(GPIOA, GPIO_MODE_OUTPUT_50_MHZ,
+		      GPIO_CNF_OUTPUT_ALTFN_PUSHPULL, GPIO_TIM1_CH3);
+
+	rcc_periph_reset_pulse(RST_TIM1);
+
+	timer_set_mode(TIM1, TIM_CR1_CKD_CK_INT, TIM_CR1_CMS_EDGE,
+		       TIM_CR1_DIR_UP);
+
+	timer_set_prescaler(TIM1,
+			    (rcc_apb2_frequency / TIM1CLK_FREQUENCY_HZ - 1));
+	timer_set_repetition_counter(TIM1, 0);
+	timer_enable_preload(TIM1);
+	timer_continuous_mode(TIM1);
+
+	timer_disable_oc_output(TIM1, TIM_OC3);
+	timer_set_oc_mode(TIM1, TIM_OC3, TIM_OCM_PWM1);
+
+	timer_enable_break_main_output(TIM1);
+}
+
 /**
  * @brief Configure timer to read a quadrature encoder.
  *
@@ -321,6 +355,23 @@ void disable_systick_interruption(void)
 	systick_interrupt_disable();
 }
 
+/**
+ * @brief Start the given ADC register base address.
+ *
+ * - Power on the ADC and wait for ADC starting up (at least 3 us).
+ * - Calibrate the ADC.
+ *
+ * @see Reference manual (RM0008) "Analog-to-digital converter".
+ */
+static void start_adc(uint32_t adc)
+{
+	adc_power_on(adc);
+	for (int i = 0; i < 800000; i++)
+		__asm__("nop");
+	adc_reset_calibration(adc);
+	adc_calibrate(adc);
+}
+
 /**
  * @brief Setup for ADC 1: Four injected channels on scan mode.
  *
@@ -332,8 +383,7 @@ void disable_systick_interruption(void)
  * - Configure the alignment (right) and the sample time (13.5 cycles of ADC
  *   clock).
  * - Set injected sequence with channel_sequence structure.
- * - Power on the ADC and wait for ADC starting up (at least 3 us).
- * - Calibrate the ADC.
+ * - Start the ADC.
  *
  * @note This ADC reads phototransistor sensors measurements.
  *
@@ -345,8 +395,6 @@ void disable_systick_interruption(void)
  */
 static void setup_adc1(void)
 {
-	int i;
-
 	uint8_t channel_sequence[4] = {ADC_CHANNEL4, ADC_CHANNEL3, ADC_CHANNEL5,
 				       ADC_CHANNEL2};
 
@@ -359,45 +407,32 @@ static void setup_adc1(void)
 	adc_set_injected_sequence(
 	    ADC1, sizeof(channel_sequence) / sizeof(channel_sequence[0]),
 	    channel_sequence);
-	adc_power_on(ADC1);
-	for (i = 0; i < 800000; i++)
-		__asm__("nop");
-	adc_reset_calibration(ADC1);
-	adc_calibrate(ADC1);
+	start_adc(ADC1);
 }
 
 /**
- * @brief TIM1 setup.
+ * @brief Setup for ADC 2: configured for regular conversion.
  *
- * The TIM1 generates an update event interruption that invokes the
- * function tim1_up_isr.
- *
- * - Set TIM1 default values.
- * - Configure the base time (no clock division ratio, no aligned mode,
- *   direction up).
- * - Set clock division, prescaler and period parameters to get an update
- *   event with a frequency of 16 KHz. 16 interruptions by ms, 4 sensors with
- *   4 states.
- *
- *   \f$frequency = \frac{timerclock}{(preescaler + 1)(period + 1)}\f$
- *
- * - Enable the TIM1.
- * - Enable the interruption of type update event on the TIM1.
+ * - Power off the ADC to be sure that does not run during configuration.
+ * - Disable scan mode.
+ * - Set single conversion mode triggered by software.
+ * - Configure the alignment (right) and the sample time (13.5 cycles of ADC
+ *   clock).
+ * - Start the ADC.
  *
- * @note The TIM1 is conected to the APB2 prescaler.
+ * @note This ADC reads the battery status.
  *
- * @see Reference manual (RM0008) "Advanced-control timers"
+ * @see Reference manual (RM0008) "Analog-to-digital converter".
  */
-static void setup_timer1(void)
+static void setup_adc2(void)
 {
-	rcc_periph_reset_pulse(RST_TIM1);
-	timer_set_mode(TIM1, TIM_CR1_CKD_CK_INT, TIM_CR1_CMS_EDGE,
-		       TIM_CR1_DIR_UP);
-	timer_set_clock_division(TIM1, 0x00);
-	timer_set_prescaler(TIM1, (rcc_apb2_frequency / 160000 - 1));
-	timer_set_period(TIM1, 10 - 1);
-	timer_enable_counter(TIM1);
-	timer_enable_irq(TIM1, TIM_DIER_UIE);
+	adc_power_off(ADC2);
+	adc_disable_scan_mode(ADC2);
+	adc_set_single_conversion_mode(ADC2);
+	adc_disable_external_trigger_regular(ADC2);
+	adc_set_right_aligned(ADC2);
+	adc_set_sample_time_on_all_channels(ADC2, ADC_SMPR_SMP_13DOT5CYC);
+	start_adc(ADC2);
 }
 
 /**
@@ -408,11 +443,12 @@ void setup(void)
 	setup_clock();
 	setup_exceptions();
 	setup_gpio();
+	setup_adc1();
+	setup_adc2();
 	setup_usart();
 	setup_encoders();
-	setup_pwm();
+	setup_motor_driver();
+	setup_speaker();
 	setup_mpu();
 	setup_systick();
-	setup_timer1();
-	setup_adc1();
 }

src/setup.h

@@ -26,6 +26,7 @@
 
 /** System clock frequency is set in `setup_clock` */
 #define SYSCLK_FREQUENCY_HZ 72000000
+#define TIM1CLK_FREQUENCY_HZ 1000000
 #define SYSTICK_FREQUENCY_HZ 1000
 #define DRIVER_PWM_PERIOD 1024