battmon.c

老外开发的机器人的底层单片机代码。比较有参考价值哦！

//  Battery monitor     BattMon.c					// Rev 9/1/05

//Copyright (C) 2005 Alex Brown	[e-mail]
//This program is free software; See license at the end of this file for details.

/*
   Calculates battery status.  Right now it just reports the raw battery 
   voltage.  The voltage is filtered to ignore spikes due to large loads.
   Maybe do something fancier someday.
   Returns voltage in millivolts from 9500 to 14500 (9.5 to 14.5 volts)
   
   Calibration:  read BattFilt to find range of voltage.  This gave 9.5 volts
   at 1952 counts and increased at 11666 per volt.  So, the calibration 
   subtracts the 1952 from BattFilt then multiplies by 1/11.666 (30/350) and
   adds the 9500 mv back in.  This will probably require recalibration for 
   other controller boards.
*/


#include <hcs12dp256.h>		    //for registers
#include <stdio.h>				//for i/o prototypes

int BattVoltage;				//battery voltage in millivolts

int BattMon()
  { static long BattFilt; 
  	int temp,temp1;
	
    temp = ATD1DR2;		  //read raw battery voltage ATD value
	
	BattFilt = (BattFilt * 60)/61 + temp; //a 1 second filter scaled *61
	
	temp1 = (int)((BattFilt-1952)*30/350 + 9500); //calibrate to millivolts
	
	if (temp1 > 14500) temp1 = 14500; 	   		  //limit to range 9500 to 14500
	if (temp1 <  9500) temp1 =  9500;
	BattVoltage = temp1;
	
	return temp1;
  }	
  
//  OPEN SOURCE SOFTWARE LICENSE
/* Permission is hereby granted, free of charge, to any person obtaining a copy 
of this software and associated documentation files (the "Software"), to deal in
the Software without restriction, including without limitation the rights to use, 
copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the 
Software, and to permit persons to whom the Software is furnished to do so, 
subject to the following conditions:

The above copyright notice and this permission notice shall be included in all 
copies or substantial portions of the Software.

THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR 
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS 
FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR 
COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER 
IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN 
CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
*/