From da4fc697af8699848b60ca93f2ab2e01ed999ca4 Mon Sep 17 00:00:00 2001
From: Changwoo Park <indibot@hotmail.com>
Date: Thu, 13 Jul 2023 16:47:18 +0900
Subject: [PATCH] =?UTF-8?q?[AI][AO]=20-=20AI=20=ED=8F=89=EA=B7=A0=20=20=20?=
 =?UTF-8?q?=E3=84=B4=20=ED=8F=89=EA=B7=A0=EC=9D=84=20=EC=9C=84=ED=95=9C=20?=
 =?UTF-8?q?=EB=8D=B0=EC=9D=B4=ED=84=B0=20=EA=B0=AF=EC=88=98=20=EA=B0=80?=
 =?UTF-8?q?=EB=B3=80=ED=99=94=20(=ED=98=84=20=EC=84=A4=EC=A0=95=EA=B0=92?=
 =?UTF-8?q?=2020=EA=B0=9C)=20=20=20=E3=84=B4=20=EA=B8=B0=EC=A1=B4=2010ms?=
 =?UTF-8?q?=20=EC=A3=BC=EA=B8=B0=EC=97=90=EC=84=9C=201ms=20=EC=A3=BC?=
 =?UTF-8?q?=EA=B8=B0=EB=A1=9C=20=EB=B3=80=EA=B2=BD=20-=20AO=20=EB=AA=85?=
 =?UTF-8?q?=EB=A0=B9=EC=96=B4=20=EC=88=98=EC=8B=A0=EC=97=90=20=EB=8C=80?=
 =?UTF-8?q?=ED=95=9C=20DBG=20=EB=A9=94=EC=8B=9C=EC=A7=80=20=EC=A0=9C?=
 =?UTF-8?q?=EA=B1=B0=20=20=20=E3=84=B4=20=EB=84=88=EB=AC=B4=20=EB=B9=A0?=
 =?UTF-8?q?=EB=A5=B8=20=EB=AA=85=EB=A0=B9=EC=9C=BC=EB=A1=9C=20IFB=20?=
 =?UTF-8?q?=EC=98=A4=EB=A5=98=20=EB=B0=9C=EC=83=9D=20(=EB=A9=88=EC=B6=A4)?=
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---
 FC_InterfaceBoard/Analog_Out.ino        |  2 +-
 FC_InterfaceBoard/FC_InterfaceBoard.h   |  4 +++-
 FC_InterfaceBoard/FC_InterfaceBoard.ino |  4 +++-
 FC_InterfaceBoard/GPIO.ino              |  4 ++--
 FC_InterfaceBoard/Periodics.ino         | 20 ++++++++++++++------
 FC_InterfaceBoard/Processes.ino         |  2 +-
 6 files changed, 24 insertions(+), 12 deletions(-)

diff --git a/FC_InterfaceBoard/Analog_Out.ino b/FC_InterfaceBoard/Analog_Out.ino
index a572886..b4d3d08 100644
--- a/FC_InterfaceBoard/Analog_Out.ino
+++ b/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);
diff --git a/FC_InterfaceBoard/FC_InterfaceBoard.h b/FC_InterfaceBoard/FC_InterfaceBoard.h
index 0a201c4..d3aeb81 100644
--- a/FC_InterfaceBoard/FC_InterfaceBoard.h
+++ b/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
diff --git a/FC_InterfaceBoard/FC_InterfaceBoard.ino b/FC_InterfaceBoard/FC_InterfaceBoard.ino
index 7d87e1f..83e195b 100644
--- a/FC_InterfaceBoard/FC_InterfaceBoard.ino
+++ b/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();
 }
 
diff --git a/FC_InterfaceBoard/GPIO.ino b/FC_InterfaceBoard/GPIO.ino
index 43370f1..886ef3c 100644
--- a/FC_InterfaceBoard/GPIO.ino
+++ b/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];
   }
 }
 
diff --git a/FC_InterfaceBoard/Periodics.ino b/FC_InterfaceBoard/Periodics.ino
index e6af6ac..88f76b5 100644
--- a/FC_InterfaceBoard/Periodics.ino
+++ b/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;
   }
diff --git a/FC_InterfaceBoard/Processes.ino b/FC_InterfaceBoard/Processes.ino
index 5b97607..d614bdc 100644
--- a/FC_InterfaceBoard/Processes.ino
+++ b/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];
     }