[AI][AO]

- AI 평균
  ㄴ 평균을 위한 데이터 갯수 가변화 (현 설정값 20개)
  ㄴ 기존 10ms 주기에서 1ms 주기로 변경
- AO 명령어 수신에 대한 DBG 메시지 제거
  ㄴ 너무 빠른 명령으로 IFB 오류 발생 (멈춤)

FC_InterfaceBoard/Analog_Out.ino

@@ -73,7 +73,7 @@ void AO_Write(int i, int volt) {
     AO = &AO_14;
   }
 
-  Serial.println(" [AO] " + String(i) + " > " + String(volt));
+  //Serial.println(" [AO] " + String(i) + " > " + String(volt));
   //Serial.print(" > ");
   //Serial.println(volt);
   AO->setDACOutVoltage(volt, ch);

FC_InterfaceBoard/FC_InterfaceBoard.h

@@ -5,6 +5,7 @@
 
 /* ---------- Periodics ---------- */
 // Flags
+bool T_1ms = false;
 bool T_10ms = false;
 bool T_20ms = false;
 bool T_50ms = false;
@@ -18,6 +19,7 @@ bool T_5000ms = false;
 // Datas
 int msCnt = 0;
 unsigned long timer = 0;
+#define AI_AVG_SIZE 20
 
 /* ---------- Arduino Mega 2560 Basic IO ---------- */
 // Pins
@@ -34,7 +36,7 @@ int Size_AI = 16;
 
 int Values_DI;    // digit values to a number
 int Values_AI[16];
-int Recent_AI[16][10];
+int Recent_AI[16][AI_AVG_SIZE];
 
 /* ---------- I2C (Analog Output, DAC) ---------- */
 // Addresses

FC_InterfaceBoard/FC_InterfaceBoard.ino

@@ -1,6 +1,8 @@
 
 #include "FC_InterfaceBoard.h"
 
+
+
 #define CR "\r"
 #define FIN "\n"
 #define CRLF "\r\n"
@@ -22,7 +24,7 @@ void setup() {
 
 
   // Timer set
-  MsTimer2::set(10, timer_10ms);
+  MsTimer2::set(1, timer_1ms);
   MsTimer2::start();
 }
 

FC_InterfaceBoard/GPIO.ino

@@ -15,10 +15,10 @@ void read_analog(){
   for(i = 0 ; i < Size_AI ; i++){
 	  Values_AI[i] = analogRead(AiPin[i]);
 
-    for(int j = 0; j < 9; j++) {
+    for(int j = 0; j < AI_AVG_SIZE - 1; j++) {
       Recent_AI[i][j] = Recent_AI[i][j + 1];
     }
-    Recent_AI[i][9] = Values_AI[i];
+    Recent_AI[i][AI_AVG_SIZE - 1] = Values_AI[i];
   }
 }
 

FC_InterfaceBoard/Periodics.ino

@@ -1,6 +1,12 @@
 void Periodic_run(){
-  if(T_10ms){
+  
+  if(T_1ms){
+    // Read Arduino AI
     read_analog();
+    T_1ms = false;
+  }
+  if(T_10ms){
+    //read_analog();
     T_10ms = false;
   }
   if(T_20ms){
@@ -10,8 +16,7 @@ void Periodic_run(){
     T_20ms = false;
   }
   if(T_50ms){
-    // Read Arduino Inputs
-    
+    // Read Arduino DI    
     read_digital();
     T_50ms = false;
   }
@@ -55,10 +60,13 @@ void Periodic_run(){
   }
 }
 
-void timer_10ms(){
-  msCnt += 10;
+void timer_1ms(){
+  msCnt += 1;
 
-  T_10ms = true;
+  T_1ms = true;
+  if (msCnt % 10 == 0){
+    T_10ms = true;
+  }
   if (msCnt % 20 == 0){
     T_20ms = true;
   }

FC_InterfaceBoard/Processes.ino

@@ -4,7 +4,7 @@ String Prcss_ALL_Read(){
   str += "AI?:";
   for (int i = 0; i < Size_AI; i++) {
     int sum_AI = 0;
-    for(int j = 0; j < 10; j++) {
+    for(int j = 0; j < AI_AVG_SIZE; j++) {
       sum_AI += Recent_AI[i][j];
     }