Read sensors in the systick

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);
 }
 
@@ -406,40 +402,6 @@ static void setup_adc2(void)
 	start_adc(ADC2);
 }
 
-/**
- * @brief TIM1 setup.
- *
- * 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.
- *
- * @note The TIM1 is conected to the APB2 prescaler.
- *
- * @see Reference manual (RM0008) "Advanced-control timers"
- */
-static void setup_timer1(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);
-}
-
 /**
  * @brief Execute all setup functions.
  */
@@ -455,6 +417,4 @@ void setup(void)
 	setup_pwm();
 	setup_mpu();
 	setup_systick();
-	setup_timer1();
-	setup_adc1();
 }

src/target/detection.c

@@ -3,7 +3,6 @@
 #define SIDE_WALL_DETECTION (CELL_DIMENSION * 0.90)
 #define FRONT_WALL_DETECTION (CELL_DIMENSION * 1.5)
 #define SIDE_CALIBRATION_READINGS 20
-#define SENSORS_SM_TICKS 4
 #define LOG_CONVERSION_TABLE_STEP 4
 #define LOG_CONVERSION_TABLE_SIZE (ADC_RESOLUTION / LOG_CONVERSION_TABLE_STEP)
 
@@ -190,86 +189,52 @@ static void set_emitter_off(uint8_t emitter)
 }
 
 /**
- * @brief State machine to manage the sensors activation and deactivation
- * states and readings.
- *
- * In order to get accurate distance values, the phototransistor's output
- * will be read with the infrared emitter sensors powered on and powered
- * off. Besides, to avoid undesired interactions between different emitters and
- * phototranistors, the reads will be done one by one.
- *
- * The battery voltage is also read on the state 1.
- *
- * - State 1 (first because the emitter is OFF on start):
- *         -# Save phototranistors sensors (ADC1) from emitter OFF and
- *            power ON the emitter.
- * - State 2:
- *         -# Start the phototranistors sensors (ADC1) read.
- * - State 3:
- *         -# Save phototranistors sensors (ADC1) from emitter ON and
- *            power OFF the emitter.
- * - State 4:
- *         -# Start the phototranistors sensors (ADC1) read.
+ * @brief Get sensors values with emitter on and off.
  */
-static void sm_emitter_adc(void)
+void get_sensors_raw(uint16_t *off, uint16_t *on)
 {
-	static uint8_t emitter_status = 1;
-	static uint8_t sensor_index = SENSOR_SIDE_LEFT_ID;
+	uint8_t i = 0;
 
-	switch (emitter_status) {
-	case 1:
-		sensors_off[sensor_index] =
-		    adc_read_injected(ADC1, (sensor_index + 1));
-		set_emitter_on(sensor_index);
-		emitter_status = 2;
-		break;
-	case 2:
-		adc_start_conversion_injected(ADC1);
-		emitter_status = 3;
-		break;
-	case 3:
-		sensors_on[sensor_index] =
-		    adc_read_injected(ADC1, (sensor_index + 1));
-		set_emitter_off(sensor_index);
-		emitter_status = 4;
-		break;
-	case 4:
-		adc_start_conversion_injected(ADC1);
-		emitter_status = 1;
-		if (sensor_index == (NUM_SENSOR - 1))
-			sensor_index = 0;
-		else
-			sensor_index++;
-		break;
-	default:
-		break;
+	for (i = 0; i < NUM_SENSOR; i++) {
+		off[i] = sensors_off[i];
+		on[i] = sensors_on[i];
 	}
 }
 
 /**
- * @brief TIM1 interruption routine.
- *
- * - Manage the update event interruption flag.
- * - Trigger state machine to manage sensors.
+ * @brief Start and wait for complete injection of sensor readings.
  */
-void tim1_up_isr(void)
+static void inject_readings(void)
 {
-	if (timer_get_flag(TIM1, TIM_SR_UIF)) {
-		timer_clear_flag(TIM1, TIM_SR_UIF);
-		sm_emitter_adc();
-	}
+	adc_start_conversion_injected(ADC1);
+	while (!(adc_eoc_injected(ADC1)))
+		;
+	// Clear injected end of conversion
+	ADC_SR(ADC1) &= ~ADC_SR_JEOC;
 }
 
 /**
- * @brief Get sensors values with emitter on and off.
+ * @brief Update the sensors raw readings.
  */
-void get_sensors_raw(uint16_t *off, uint16_t *on)
+static void update_raw_readings(void)
 {
 	uint8_t i = 0;
 
 	for (i = 0; i < NUM_SENSOR; i++) {
-		off[i] = sensors_off[i];
-		on[i] = sensors_on[i];
+		inject_readings();
+		sensors_off[i] = adc_read_injected(ADC1, (i + 1));
+	}
+	for (i = 0; i < NUM_SENSOR; i++) {
+		inject_readings();
+		sensors_off[i] = adc_read_injected(ADC1, (i + 1));
+	}
+
+	for (i = 0; i < NUM_SENSOR; i++) {
+		set_emitter_on(i);
+		sleep_us(10);
+		inject_readings();
+		sensors_on[i] = adc_read_injected(ADC1, (i + 1));
+		set_emitter_off(i);
 	}
 }
 
@@ -305,6 +270,7 @@ void update_distance_readings(void)
 {
 	uint8_t i = 0;
 
+	update_raw_readings();
 	for (i = 0; i < NUM_SENSOR; i++) {
 		distance[i] = (sensors_calibration_a[i] /
 				   raw_log(sensors_on[i], sensors_off[i]) -
@@ -447,7 +413,7 @@ void side_sensors_calibration(void)
 	for (i = 0; i < SIDE_CALIBRATION_READINGS; i++) {
 		left_temp += distance[SENSOR_SIDE_LEFT_ID];
 		right_temp += distance[SENSOR_SIDE_RIGHT_ID];
-		sleep_ticks(SENSORS_SM_TICKS);
+		sleep_ticks(2);
 	}
 	calibration_factor[SENSOR_SIDE_LEFT_ID] +=
 	    (left_temp / SIDE_CALIBRATION_READINGS) - MIDDLE_MAZE_DISTANCE;