From c3305aeeaecbaae2ed2cef4cb8ec27bf2dfa47da Mon Sep 17 00:00:00 2001
From: hg <devnull@localhost>
Date: Sun, 22 Feb 2015 00:09:15 +0100
Subject: [PATCH] adc by interrupt works

---
 src/params.h |  2 ++
 src/pwm.cpp  | 26 +++++++++++++++++++-------
 2 files changed, 21 insertions(+), 7 deletions(-)

diff --git a/src/params.h b/src/params.h
index 374ee71..9366710 100644
--- a/src/params.h
+++ b/src/params.h
@@ -5,6 +5,8 @@
 const uint32_t ADC_TIME_OUT = 100000;
 const uint16_t ADC_MAX = 511;
 
+const uint8_t DAMPING = 5;
+
 const float Ctrl_P = 10.0;
 const float Ctrl_I = 5.0;
 const float Ctrl_D = 0.0;
diff --git a/src/pwm.cpp b/src/pwm.cpp
index 172328e..1b2fe8e 100644
--- a/src/pwm.cpp
+++ b/src/pwm.cpp
@@ -16,16 +16,16 @@
 
 volatile Control ctrl((float)PWM_MIN, (float)PWM_MAX, Ctrl_P, Ctrl_I, Ctrl_D);
 
-volatile float u_des = 12.0;
+volatile float u_des = 5.0;
 volatile float u_curr = 0;
 volatile uint16_t newPwm = 0;
 
 
 
 void pwmInit() {
-  ADC10CTL0 = ADC10SHT_0 | ADC10ON | SREF_0 | ADC10IE;
-  ADC10CTL1 = INCH_7 | ADC10SSEL_3 | ADC10DIV_2;
-  ADC10AE0 = BIT7;
+	ADC10CTL0 = ADC10SHT_2 | ADC10ON | SREF_0 | ADC10IE;
+	ADC10CTL1 = INCH_7 | ADC10SSEL_3 | ADC10DIV_2;
+	ADC10AE0 = BIT7;
 
 	P1DIR |= BIT6;
 	P1SEL |= BIT6;
@@ -40,12 +40,20 @@ void pwmInit() {
 
 
 ISR(TIMER0_A0, TA0_ISR) {
-  ADC10CTL0 |= ENC | ADC10SC;
+	ADC10CTL0 |= ENC | ADC10SC;
 }
 
 ISR(ADC10, ADC_ISR) {
-    uint16_t adcIn = ADC10MEM;
-    adcIn >>= 1;
+	static uint8_t dampingCnt = 0;
+	static uint16_t adcIn = 0;
+
+	if (dampingCnt < DAMPING) {
+		uint16_t v = ADC10MEM;
+		v >>= 1;
+		adcIn += v;
+		dampingCnt++;
+	} else {
+		adcIn /= DAMPING;
 
 		float u_adc = ((float)adcIn) * U_ref / ((float)ADC_MAX);
 		u_curr = u_adc * (R_top + R_bottom) / R_bottom;
@@ -54,6 +62,10 @@ ISR(ADC10, ADC_ISR) {
 		newPwm = (uint16_t) newPwm_f;
 
 		TACCR1 = newPwm;
+
+		adcIn = 0;
+		dampingCnt = 0;
+	}
 }
 
 float getDutyCycle() {