Colony

/*

 * analog.h - Contains definitions and function prototypes for using the

 * ADC to detect analog signals on pins AN0 - AN7

 * AN6 and AN7 are used for the wheel and battery

 * The pins labeled E6 and E7 are external interrupt pins and are not related

 * to analog

 * author: CMU Robotics Club, Colony Project

 * code taken from the fwr analog file (author:  Tom Lauwers)

*/

#ifndef _ANALOG_H

#define _ANALOG_H

#define AN0 0x00

#define AN1 0x01

#define AN2 0x02

#define AN3 0x03

#define AN4 0x04

#define AN5 0x05

#define AN6 0x06

#define AN7 0x07

#define AN8 0x08

#define AN9 0x09

#define AN10 0x0a

#define AN11 0x0b

#define AN12 0x0c

#define AN13 0x0d

#define AN14 0x0e

#define AN15 0x0f

#define ANALOG0 AN0

#define ANALOG1 AN1

#define ANALOG2 AN8

#define ANALOG3 AN9

#define ANALOG4 AN2

#define ANALOG5 AN3

#define ANALOG6 AN4

#define ANALOG7 AN5

#define ANALOG8 AN6

#define EXT_MUX AN7

#define WHEEL_PORT AN10

#define BATT_PORT  AN11

//Macros for Battery

//Constants determined experimentally 2/9/2007 - James Kong

//See Battery8_data.xls for experiment data

#define NORMALV 6

#define CHARGINGV 7.00

#define LOWV 5.25

#define BATT_NRMLV (int)(25.7*NORMALV)

#define BATT_CHRGV (int)(25.7*CHARGINGV)

#define BATT_LOWV (int)(25.7*LOWV)

/*

        Call this function before reading from the analog ports

        turns on the ADC

*/

void analog_init(void);

/*

        returns an 8-bit number from the desired analog port

        argument should be one of the constants AN0 - AN7

        behavior is undefined otherwise

        analog_init() must be called before a call to this function

*/

unsigned int analog8(int which);

/*

        returns a 10-bit number from the desired analog port

        argument should be one of the constants AN0 - AN7

        behavior is undefined otherwise

        analog_init() must be called before a call to this function

*/

unsigned int analog10(int which);

/*

        returns the current value (0-255) of the wheel

        analog_init() must be called before a call to this function

*/

int wheel(void);

/*

        returns the current voltage of the battery (deciVolts)

        analog_init() must be called before a call to this function

*/

int battery(void);

/*

  returns the current analog8 reading of the battery voltage

  128 ~= 5 volts, higher value -> higher voltage

  analog_init() must be called before a call to this function

*/

int battery8(void);

#endif