New good solution for C programmers?

[siempre.aprendiendo]

Some weeks ago I sent an email to Robotis asking them some questions about C programming and charging battery and IR comms for AX-S1...

I received this as part of the reply:

"We are working on a good solution for C programmers right now, and
I will send you an e-mail when we have a good solution."
...

Do you know something about this?

[limor]

there are some function libraries that people wrote or improved on Robotis original example solutions for C programmers here on the forum.
see the aspiring Bioloid Knowledgebase

[siempre.aprendiendo]

there are some function libraries that people wrote or improved on Robotis original example solutions for C programmers here on the forum.
see the aspiring Bioloid Knowledgebase

Very interesting! Thanks!

[Dewey]

The Charging of the CM5 after power up via the U button is interesting.

Has anone got the circuit details for the CM5 charging circuit and how it is connected to the Atmel 128 enabling charging activation?

Mark Pepper's CM5 Schematic does not show this.

Dewey

[Kess]

If anyone is still interested I've traced the power supply and charging areas of the CM-5 (basically I think I've pretty much covered all the bits not shown by Mark Pepper's schematic). It's hand-drawn at the moment but I can scan and post it if it helps.

Kess

[siempre.aprendiendo]

If anyone is still interested I've traced the power supply and charging areas of the CM-5 (basically I think I've pretty much covered all the bits not shown by Mark Pepper's schematic). It's hand-drawn at the moment but I can scan and post it if it helps.

Kess

I'm interested!

[Kess]

OK, my draft schematic can be found here - I hope my handwriting is clear! Treat it as provisional, there might be errors. Note my comments in red.

The schematic was based on a CM-5 PCB marked "Rev 4", I don't know if/how earlier PCBs differ.

Anyway, from this it looks as if from a programmer's viewpoint:

- Battery charging is activated by pulling the PB5 pin low.

- The ADC0 input monitors the +ve supply voltage.

- The ADC1 input monitors the -ve side of the battery during charging.

- The ADC2 input monitors temperature (this is an educated guess, assuming that component "T1" is a thermistor).

Any comments/corrections welcomed. If I can find a suitable schematic drawing package (any suggestions?) then I'll draw it up properly and perhaps, if he doesn't mind, combine it with the information from Mark Pepper's schematic to give a complete CM-5 circuit.

Kess

[siempre.aprendiendo]

Thanks, Kess!

Some free electronic schematic drawing software:
http://www.freebyte.com/electronics/#circuitdesigntools

[Dewey]

Kess

Very useful many thanks.

Dewey

[Bullit]

Kess, that's great! It should be easy to write a program to charge the battery using this information.

[Kess]

Glad to be of service!

As I mentioned, if anyone spots any errors then please let me know via this thread.

Kess

[acy.stapp]

Time to start writing some charging code.

[Kess]

Time to start writing some charging code.

One other thing you guys may need to know is that the processor's AREF pin (pin 62), which provides the reference voltage for the ADC, is connected directly to the +5V rail.

I believe there is also an internal +2.56V reference that can be selected in software.

Good luck!

[pieddemamouth]

hi all,

i've try to use the adc but it doesn't work.
Here is my code

Code: Select all

CM5_init();
    unsigned char i=1, low,high,condition=0;

    PORTE |= _BV(PE4);    //enable pull-up resistor 4
    /*DDRC = 0xFF;
    PORTC = 0xFF;*/

    //ADC configuration
    ADMUX = 0x10;
    ADCSRA = 0x80;


    //CM5_RS232_writeString("\rla charge du bioloid\n");

    //CM5_RS232_writeString("\rverif bouton\n");

    while(1)
    {
        i = PINE&0x10;
        if (i==0)
        {
            //CM5_RS232_writeString("\rAllumage led\n");
            //PORTC = 0xFE;
            ADCSRA |= 0x40;
            //CM5_RS232_writeString("\rattente de la conversion\n");
            do{
                condition = ADCSRA;
            }while(condition&0x10==0);
            ADCSRA=condition|0x10;
            low = ADCL;
            high = ADCH;
            CM5_RS232_writeHexChar(high);
            CM5_RS232_writeHexChar(low);
            CM5_RS232_writeString("\n\r");
        }
    }


And the CM5_init() function

Code: Select all

static void
CM5_init(void) {
  /* Init the ATMega128 ports */
  DDRA = DDRB = DDRC = DDRD = DDRE = DDRF = 0;
  PORTB = PORTC = PORTD = PORTE = PORTF = PORTG = 0x00;

  cbi(SFIOR, 2);
  DDRE |= (BIT_RS485_DIRECTION0 | BIT_RS485_DIRECTION1);
  DDRD |= (BIT_ZIGBEE_RESET | BIT_ENABLE_RXD_LINK_PC | BIT_ENABLE_RXD_LINK_ZIGBEE);
  PORTD &= ~_BV(BIT_LINK_PLUGIN);
  PORTD |= _BV(BIT_ZIGBEE_RESET);
  PORTD |= _BV(BIT_ENABLE_RXD_LINK_PC);
  PORTD |= _BV(BIT_ENABLE_RXD_LINK_ZIGBEE);

  /* Set the reception mode */
  RS485_RXD;

  /* Init the transmission stuffs */
  CM5_initSerial(SERIAL_PORT0, 1, RX_INTERRUPT);
  CM5_initSerial(SERIAL_PORT1, DEFAULT_BAUD_RATE, RX_INTERRUPT);

  /* Init buffers */
  gbRxBufferReadPointer = gbRxBufferWritePointer = 0;
  sei();
}


it seems that the content of "ADC Data Register" is always "1FF". To my mind, it's because I use the wrong Vref, but i don't know wich one I must use.

Thanks for your help

[Kess]

Hi pieddemamouth,

I wrote some ADC software a couple of months ago to verify that the ADCs worked as predicted by my CM-5 circuit diagram and observe how they changed during charging. I'll dig out the code and post it here shortly...

Kess