Steppers worked & tested; inner ADC works fine; add median filtering by 9 points for TRD resistance values

with_opencm3/hardware_ini.c

@@ -45,7 +45,9 @@
  * U10 -> 0  PA0
  */
 uint8_t adc_channel_array[16] = {9,8,15,14,7,6,5,4,1,0};
-volatile uint16_t ADC_value[ADC_CHANNELS_NUMBER]; // ADC DMA value
+// ADC_value array have 9 records for each value for ability of median filtering
+// values for channel num are ADC_value[num + ADC_CHANNELS_NUMBER*i]
+volatile uint16_t ADC_value[ADC_CHANNELS_NUMBER*9]; // ADC DMA value
 
 /*
  * Configure SPI ports
@@ -164,7 +166,7 @@ void adc_dma_on(){
 	dma_channel_reset(DMA1, DMA_CHANNEL1);
 	DMA1_CPAR1 = (uint32_t) &(ADC_DR(ADC1));
 	DMA1_CMAR1 = (uint32_t) ADC_value;
-	DMA1_CNDTR1 = ADC_CHANNELS_NUMBER;
+	DMA1_CNDTR1 = ADC_CHANNELS_NUMBER * 9; // *9 for median filtering
 	DMA1_CCR1 = DMA_CCR_MINC | DMA_CCR_PSIZE_16BIT | DMA_CCR_MSIZE_16BIT
 			| DMA_CCR_CIRC | DMA_CCR_PL_HIGH | DMA_CCR_EN;
 	adc_enable_dma(ADC1);
@@ -253,20 +255,37 @@ int power_voltage(){
 	return (int)val;
 }
 
+// This is some data for optimal median filtering of array[9]
+uint16_t temp;
+#define PIX_SORT(a,b) { if ((a)>(b)) PIX_SWAP((a),(b)); }
+#define PIX_SWAP(a,b) { temp=(a);(a)=(b);(b)=temp; }
+uint16_t p[9]; // buffer for median filtering
+uint16_t opt_med9(){
+    PIX_SORT(p[1], p[2]) ; PIX_SORT(p[4], p[5]) ; PIX_SORT(p[7], p[8]) ;
+    PIX_SORT(p[0], p[1]) ; PIX_SORT(p[3], p[4]) ; PIX_SORT(p[6], p[7]) ;
+    PIX_SORT(p[1], p[2]) ; PIX_SORT(p[4], p[5]) ; PIX_SORT(p[7], p[8]) ;
+    PIX_SORT(p[0], p[3]) ; PIX_SORT(p[5], p[8]) ; PIX_SORT(p[4], p[7]) ;
+    PIX_SORT(p[3], p[6]) ; PIX_SORT(p[1], p[4]) ; PIX_SORT(p[2], p[5]) ;
+    PIX_SORT(p[4], p[7]) ; PIX_SORT(p[4], p[2]) ; PIX_SORT(p[6], p[4]) ;
+    PIX_SORT(p[4], p[2]) ; return(p[4]) ;
+}
+#undef PIX_SORT
+#undef PIX_SWAP
 /**
- * Resistance of TRD
+ * Resistance of TRD with median filtering
  * @param num - number of sensor
  * @return R*100
- * we measure
  */
 int TRD_value(uint8_t num){
-	uint32_t v = ADC_value[num];
+	int i, addr = num;
+	for(i = 0; i < 9; i++, addr+=ADC_CHANNELS_NUMBER) // first we should prepare array for optmed
+		p[i] = ADC_value[addr];
+	uint32_t v = opt_med9();
 	uint32_t r = v * ADC_multipliers[num];
 	r /= (uint32_t)(4096 - v) * ADC_divisors[num];
 	return (int) r;
 }
 
-
 uint16_t tim2_buff[TIM2_DMABUFF_SIZE];
 uint16_t tim2_inbuff[TIM2_DMABUFF_SIZE];
 int tum2buff_ctr = 0;

with_opencm3/hardware_ini.h

@@ -97,8 +97,10 @@ void ADC_calibrate_and_start();
 #define MOTOR_TIM1_PIN		(GPIO6)
 #define MOTOR_TIM2_PORT		(GPIOD)
 #define MOTOR_TIM2_PIN		(GPIO15)
-// don't even try to move motor if motors' voltage less than 9.5V
+// don't even try to move motor if motors' voltage less than 9.0V
-#define MOTORS_VOLTAGE_THRES  (950)
+#define MOTORS_VOLTAGE_THRES  (900)
+// stop all motors if voltage less than 7.5V
+#define MOTORS_VOLTAGE_ALERT  (750)
 
 /*
  * One Wire interface

with_opencm3/powerhw.c

@@ -241,6 +241,8 @@ shutter_state shutter_init(){
 //	gpio_set(SHUTTER_EXT_PORT, SHUTTER_CAM_PIN | SHUTTER_MAN_PIN | SHUTTER_FBSW_PIN); // turn on pull up
 	//DBG("shutter fb ready\n");
 	shutter_off();
+	camera_pin_old_state = (gpio_get(SHUTTER_EXT_PORT, SHUTTER_CAM_PIN)) ? 1 : 0;
+	manual_pin_old_state = (gpio_get(SHUTTER_EXT_PORT, SHUTTER_MAN_PIN)) ? 1 : 0;
 	//shutter_timer_fn = NULL;
 	shutter_wait_block(SHUTTER_OP_DELAY, shutter_test);
 	return SHUTTER_INITIALIZED; // we return this state in spite of the shutter isn't really initialized yet
@@ -270,9 +272,7 @@ void process_shutter(){
 	man_pin_state = (gpio_get(SHUTTER_EXT_PORT, SHUTTER_MAN_PIN)) ? 1 : 0;
 	// to avoid opening shutter if user forget to set manual switch to "closed" position
 	// all operations with manual switch processed only in changing state of the switch
-	if(manual_pin_old_state == -1){ // refresh manual pin state
+	if(manual_pin_old_state != man_pin_state){ // user changed switch state -> open/close
-		manual_pin_old_state = man_pin_state;
-	}else if(manual_pin_old_state != man_pin_state){ // user changed switch state -> open/close
 		manual_pin_old_state = man_pin_state;
 		//changed_manually = 1;
 		if(man_pin_state){ // close

with_opencm3/stepper_motors.c

@@ -189,27 +189,47 @@ uint8_t check_ep(uint8_t num){
 	return 0;
 }
 
-
 /**
- * Move motor Motor_number to User_value steps
+ * test 12V voltage
- * return 0 if motor is still moving
+ * if it is less than MOTORS_VOLTAGE_THRES, return 1 & show err message
+ * else return 0
  */
-uint8_t move_motor(uint8_t num, int32_t steps){
+uint8_t undervoltage_test(int thres){
-	uint8_t curpos, negative_dir = 0;
-	if(steps == 0) return 0;
-	// check whether motor is moving
-	if(Motor_active[num]){
-		ERR("moving\n");
-		return 0;
-	}
 	int voltage = power_voltage();
-	if(voltage < MOTORS_VOLTAGE_THRES){
+	if(voltage < thres){
 		ERR("undervoltage!\n");
 		if(mode == LINE_MODE){
 			P("[ " STR_MOTORS_VOLTAGE " ", lastsendfun);
 			print_int(voltage, lastsendfun);
 			P(" ]\n", lastsendfun);
 		}
+		return 1;
+	}
+	return 0;
+}
+
+/**
+ * Move motor Motor_number to User_value steps
+ * return 0 if motor is still moving
+ */
+uint8_t move_motor(uint8_t num, int32_t steps){
+	uint8_t curpos, negative_dir = 0, N_active_in_group = 0;
+	if(steps == 0) return 0;
+	// check whether motor is moving
+/*	if(Motor_active[num]){
+		ERR("moving\n");
+		return 0;
+	}*/
+	// don't move motors if there's no power enough
+	if(undervoltage_test(MOTORS_VOLTAGE_THRES)) return 0;
+	if(num < 4){
+		for(curpos = 0; curpos < 4; curpos++)
+			if(Motor_active[curpos]) N_active_in_group++;
+	}else{
+		if(Motor_active[3] || Motor_active[4]) N_active_in_group = 1;
+	}
+	if(N_active_in_group){ // we can't move: there's any active motor in group
+		ERR("moving\n");
 		return 0;
 	}
 #ifdef EBUG
@@ -330,6 +350,11 @@ void process_stepper_motors(){
 			for(i = startno[j]; i < stopno[j]; i++)
 				if(Motor_active[i]) is_active = 1;
 			if(!is_active) continue; // don't generate clock pulses when there's no moving motors
+			if(undervoltage_test(MOTORS_VOLTAGE_ALERT)){ // UNDERVOLTAGE! Stop all active motors
+				for(i = 0; i < 5; i++)
+					if(Motor_active[i]) stop_motor(i);
+				return;
+			}
 			gpio_toggle(ports[j], pins[j]); // change clock state
 			if(!gpio_get(ports[j], pins[j])){ // negative pulse - omit this half-step
 				continue;