Merge pull request #17 from carledwards/add_delay_with_loop_polling

Serial output is affected while sampling temperature
Blink time parameter was not being passed into the blinkColor method
Added a delay method on Scout to allow the system to continue performing background system tasks

Author: erictj

Scout.cpp

@@ -78,6 +78,13 @@ void PinoccioScout::loop() {
   }
 }
 
+void PinoccioScout::delay(unsigned long ms) {
+  unsigned long target = millis() + ms;
+  while ((long)(millis() - target) < 0) {
+    loop();
+  }
+}
+
 bool PinoccioScout::isBatteryCharging() {
   return isBattCharging;
 }

Scout.h

@@ -24,6 +24,7 @@ class PinoccioScout : public PinoccioClass {
 
     void setup(bool isForcedLeadScout=false);
     void loop();
+    void delay(unsigned long ms);
 
     bool isBatteryCharging();
     int getBatteryPercentage();

examples/Peripherals/BlinkRGB/BlinkRGB.ino

@@ -9,10 +9,15 @@ void setup() {
 void loop() {
   Scout.loop();
 
-  RgbLed.blinkRed();
-  delay(1000);
+  // blink once for 250ms
+  RgbLed.blinkRed(250);
+  Scout.delay(1000);
+
+  // blink once using the default (500ms)
   RgbLed.blinkGreen();
-  delay(1000);
-  RgbLed.blinkBlue();
-  delay(1000);
+  Scout.delay(1000);
+  
+  // blink once using 750ms
+  RgbLed.blinkBlue(750);
+  Scout.delay(1000);
 }

examples/Peripherals/Temperature/Temperature.ino

@@ -12,5 +12,5 @@ void loop() {
   Serial.print("Temperature: ");
   Serial.println(Scout.getTemperature());
 
-  delay(1000);
+  Scout.delay(1000);
 }

examples/Peripherals/TrueRandomNumber/TrueRandomNumber.ino

@@ -12,5 +12,5 @@ void loop() {
   Serial.print("Random Number: ");
   Serial.println(Scout.getRandomNumber());
 
-  delay(1000);
+  Scout.delay(1000);
 }

examples/Power/BackpackPower/BackpackPower.ino

@@ -11,9 +11,9 @@ void loop() {
 
   Scout.enableBackpackVcc();
   Serial.println("Backpack VCC is on.");
-  delay(3000);
+  Scout.delay(3000);
 
   Scout.disableBackpackVcc();
   Serial.println("Backpack VCC is off.");
-  delay(3000);
+  Scout.delay(3000);
 }

examples/Power/BatteryStatus/BatteryStatus.ino

@@ -23,5 +23,5 @@ void loop() {
   }
 
   Serial.println("");
-  delay(3000);
+  Scout.delay(3000);
 }

utility/halRgbLed.cpp

@@ -96,46 +96,46 @@ void HalRgbLed::white() {
 }
 
 void HalRgbLed::blinkRed(unsigned int ms) {
-  blinkColor(255, 0, 0);
+  blinkColor(255, 0, 0, ms);
 }
 
 void HalRgbLed::blinkGreen(unsigned int ms) {
-  blinkColor(0, 255, 0);
+  blinkColor(0, 255, 0, ms);
 }
 
 void HalRgbLed::blinkBlue(unsigned int ms) {
-  blinkColor(0, 0, 255);
+  blinkColor(0, 0, 255, ms);
 }
 
 void HalRgbLed::blinkCyan(unsigned int ms) {
-  blinkColor(0, 255, 255);
+  blinkColor(0, 255, 255, ms);
 }
 
 void HalRgbLed::blinkPurple(unsigned int ms) {
-  blinkColor(50, 0, 255);
+  blinkColor(50, 0, 255, ms);
 }
 
 void HalRgbLed::blinkMagenta(unsigned int ms) {
-  blinkColor(255, 0, 255);
+  blinkColor(255, 0, 255, ms);
 }
 
 void HalRgbLed::blinkYellow(unsigned int ms) {
-  blinkColor(255, 255, 0);
+  blinkColor(255, 255, 0, ms);
 }
 
 void HalRgbLed::blinkOrange(unsigned int ms) {
-  blinkColor(255, 127, 0);
+  blinkColor(255, 127, 0, ms);
 }
 
 void HalRgbLed::blinkWhite(unsigned int ms) {
-  blinkColor(255, 255, 255);
+  blinkColor(255, 255, 255, ms);
 }
 
 void HalRgbLed::blinkTorch(unsigned int ms) {
   blinkColor(torchRedValue, torchGreenValue, torchBlueValue, ms);
 }
 
-void HalRgbLed::blinkColor(short red, short green, short blue, int ms) {
+void HalRgbLed::blinkColor(short red, short green, short blue, unsigned int ms) {
   if (!isEnabled()) {
     return;
   }

utility/halRgbLed.h

@@ -43,7 +43,7 @@ class HalRgbLed {
     void blinkOrange(unsigned int ms=500);
     void blinkWhite(unsigned int ms=500);
     void blinkTorch(unsigned int ms=500);
-    void blinkColor(short red, short green, short blue, int ms=500);
+    void blinkColor(short red, short green, short blue, unsigned int ms=500);
 
     void setRedValue(int value);
     void setGreenValue(int value);

utility/halTemperature.c

@@ -15,35 +15,31 @@
 
 /*****************************************************************************
 *****************************************************************************/
-static volatile uint8_t halAdcFinished;
 static int8_t halAdcOffset;
 
+static inline void sleep (void)
+{
+    asm volatile("sleep");
+}
+
 /*****************************************************************************
 *****************************************************************************/
 static inline int16_t HAL_AdcMeasure(void) {
-  set_sleep_mode(SLEEP_MODE_ADC);
   /* dummy cycle */
-  halAdcFinished = false;
   do
   {
-    sleep_mode();
-    /* sleep, wake up by ADC IRQ */
-    /* check here for ADC IRQ because sleep mode could wake up from * another source too */
+      sleep();
   }
-  while (false == halAdcFinished);
-  //while (ADCSRA & (1 << ADSC));
-  /* set by ISR */
+  while (ADCSRA & (1 << ADSC));
+
+   /* set by ISR */
   return ADC;
 }
 
 /*****************************************************************************
 *****************************************************************************/
 int8_t HAL_MeasureTemperature(void) {
   int32_t val;
-  uint8_t adcsrc = ADCSRC;
-  uint8_t adcsrb = ADCSRB;
-  uint8_t adcsra = ADCSRA;
-  uint8_t admux = ADMUX;
 
   ADCSRC = 10 << ADSUT0;
   ADCSRB = (1 << MUX5);
@@ -55,20 +51,11 @@ int8_t HAL_MeasureTemperature(void) {
   ADCSRA |= (1 << ADIF); /* clear flag */
   ADCSRA |= (1 << ADIE);
 
-  /* dummy cycle after REF change (suggested by datasheet) */
+  // dummy cycle after REF change (suggested by datasheet)
   HAL_AdcMeasure();
 
   val = HAL_AdcMeasure();
 
-  ADCSRA = adcsra;
-  ADCSRB = adcsrb;
-  ADCSRC = adcsrc;
-  ADMUX = admux;
+  ADCSRA = 0;
   return (int)((1.13 * val - 272.8)) + HAL_TEMPERATURE_CALIBRATION_OFFSET - 3;
 }
-
-/*****************************************************************************
-*****************************************************************************/
-ISR(ADC_vect, ISR_BLOCK) {
-  halAdcFinished = true;
-}