Revision 1634
analog loop gone
A/D conversions now blocking
A/D clock sped up
| branches/analog/code/projects/libdragonfly/analog.c | ||
|---|---|---|
| 94 | 94 |
// Bit 5 - Enable Auto Trigger (for free running mode) NOT DOING THIS RIGHT NOW |
| 95 | 95 |
// Bit 4 - ADC interrupt flag, 0 |
| 96 | 96 |
// Bit 3 - Enable ADC Interrupt (required to run free-running mode) |
| 97 |
// Bits 2-0 - Set to create a clock divisor of 128, to make ADC clock = 8,000,000/64 = 125kHz |
|
| 97 |
// Bits 2-0 - Set to create a clock divisor of 128, to make ADC clock = 8,000,000/64 = 125kHz EDIT: changed to 8MHz
|
|
| 98 | 98 |
ADCSRA = 0; |
| 99 |
ADCSRA |= _BV(ADEN) | _BV(ADPS2) | _BV(ADPS1) | _BV(ADPS0);
|
|
| 99 |
ADCSRA |= _BV(ADEN) | _BV(ADPS0); |
|
| 100 | 100 |
|
| 101 | 101 |
// Set external mux lines to outputs |
| 102 | 102 |
DDRG |= 0x1C; |
| ... | ... | |
| 106 | 106 |
adc_current_port = AN1; |
| 107 | 107 |
|
| 108 | 108 |
//Start the conversion loop if requested |
| 109 |
if (start_conversion) |
|
| 110 |
analog_start_loop(); |
|
| 109 |
//if (start_conversion)
|
|
| 110 |
//analog_start_loop();
|
|
| 111 | 111 |
|
| 112 | 112 |
//Conversion loop disabled by default |
| 113 | 113 |
} |
| ... | ... | |
| 296 | 296 |
* @see analog_init |
| 297 | 297 |
**/ |
| 298 | 298 |
int wheel(void) {
|
| 299 |
return analog8(WHEEL_PORT); |
|
| 299 |
return analog_get8(WHEEL_PORT);
|
|
| 300 | 300 |
} |
| 301 | 301 |
|
| 302 | 302 |
|
| ... | ... | |
| 323 | 323 |
|
| 324 | 324 |
|
| 325 | 325 |
ISR(ADC_vect) {
|
| 326 |
int adc_h = 0; |
|
| 326 |
/*int adc_h = 0;
|
|
| 327 | 327 |
int adc_l = 0; |
| 328 | 328 |
|
| 329 | 329 |
if(adc_loop_status != ADC_LOOP_RUNNING) return; |
| ... | ... | |
| 366 | 366 |
} |
| 367 | 367 |
|
| 368 | 368 |
//Start next conversion |
| 369 |
ADCSRA |= _BV(ADSC); |
|
| 369 |
ADCSRA |= _BV(ADSC);*/
|
|
| 370 | 370 |
} |
| 371 | 371 |
|
| branches/analog/code/projects/libdragonfly/bom.c | ||
|---|---|---|
| 201 | 201 |
* see bom_refresh |
| 202 | 202 |
**/ |
| 203 | 203 |
int bom_get(int which) {
|
| 204 |
return bom_val[which]; |
|
| 204 |
//return bom_val[which]; |
|
| 205 |
bom_select(which); |
|
| 206 |
return analog_get8(analog_pin); |
|
| 205 | 207 |
} |
| 206 | 208 |
|
| 207 | 209 |
/** |
| ... | ... | |
| 212 | 214 |
* BOM_VALUE_THRESHOLD |
| 213 | 215 |
**/ |
| 214 | 216 |
int bom_get_max(void) {
|
| 215 |
int i, lowest_val, lowest_i; |
|
| 217 |
int i, lowest_val, lowest_i, i_val;
|
|
| 216 | 218 |
lowest_i = -1; |
| 217 | 219 |
lowest_val = 255; |
| 218 | 220 |
for(i = 0; i < NUM_BOM_LEDS; i++) {
|
| 219 |
if(bom_val[i] < lowest_val) {
|
|
| 220 |
lowest_val = bom_val[i]; |
|
| 221 |
i_val = bom_get(i); |
|
| 222 |
if(i_val < lowest_val) {
|
|
| 223 |
lowest_val = i_val; |
|
| 221 | 224 |
lowest_i = i; |
| 222 | 225 |
} |
| 223 | 226 |
} |
| ... | ... | |
| 316 | 319 |
* @see analog_init |
| 317 | 320 |
**/ |
| 318 | 321 |
int get_max_bom(void) {
|
| 319 |
bom_refresh(BOM_ALL); |
|
| 322 |
//bom_refresh(BOM_ALL);
|
|
| 320 | 323 |
return bom_get_max(); |
| 321 | 324 |
} |
| 322 | 325 |
|
| branches/analog/code/projects/libdragonfly/rangefinder.c | ||
|---|---|---|
| 129 | 129 |
* @see range_init |
| 130 | 130 |
**/ |
| 131 | 131 |
int range_read_distance(int range_id) {
|
| 132 |
return linearize_distance(analog8(range_id)); |
|
| 132 |
return linearize_distance(analog_get8(range_id));
|
|
| 133 | 133 |
} |
| 134 | 134 |
|
| 135 | 135 |
/** |
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