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Revision 1406

Merged analog and bom changes from analog branch. Tested and working. Fixes #560

      * Contains functions for manipulating the ADC on the Dragonfly board.
+     *
      * @author Colony Project, CMU Robotics Club
      * code mostly taken from fwr analog file (author: Tom Lauwers)
      * originally taken from fwr analog file (author: Tom Lauwers)
      * loop code written by Kevin Woo and James Kong
      **/
     #include <util/delay.h>
-...
      * @{
      **/
     int adc_loop_running = 0;
     int adc_current_port = 0;
     adc_t an_val[11];
     volatile int adc_loop_status = ADC_LOOP_STOPPED;
     volatile int adc_sig_stop_loop = 0;
     volatile int adc_current_port = 0;
     volatile adc_t an_val[11];
     /**
      * Initializes the ADC.
      * Call analog_init before reading from the analog ports.
+     *
      * @see analog8, analog10, analog_get8, analog_get10
+     *
      * @bug First conversion takes a performance penalty of
      * 25 vs. 13 ADC clock cycles of successive conversions.
      * Analog_init should run a dummy conversion to pre-empt
      * this.
+     *
      * For good 10-bit precision, ACD clock must be between
      * 50kHz and 200kHz. Currently, ADC clock is fixed at
      * 125kHz using 1/64prescalar. However, most code uses
      * 8-bit precision which can work at ADC clock speeds
      * higher than 200kHz. Experimental tests needed to
      * determine highest clock speed for accurate 8-bit ADC.
+     *
      **/
     void analog_init(int start_conversion) {
     	for (int i = 0; i < 11; i++) {
-...
     	// Bit 3 - Enable ADC Interrupt (required to run free-running mode)
     	// Bits 2-0 - Set to create a clock divisor of 128, to make ADC clock = 8,000,000/64 = 125kHz
     	ADCSRA = 0;
     	ADCSRA |= _BV(ADEN) | _BV(ADIE) | _BV(ADPS2) | _BV(ADPS1) | _BV(ADPS0);
     	ADCSRA |= _BV(ADEN) | _BV(ADPS2) | _BV(ADPS1) | _BV(ADPS0);
     	// Set external mux lines to outputs
     	DDRG |= 0x1C;
-...
     	set_adc_mux(0x00);
     	adc_current_port = AN1;
     	//Start the conversion if requested
     	//Start the conversion loop if requested
     	if (start_conversion)
     		analog_start_loop();
     	else
     		analog_stop_loop();
     	//Conversion loop disabled by default
+    }
     /**
-...
      * Starts the analog update loop. Will continue to run
      * until analog_stop_loop is called.
+     *
      * @see analog_stop_loop
      * @see analog_stop_loop, analog_loop_status
      **/
     void analog_start_loop(void) {
     	//Start the conversion
     	ADCSRA |= _BV(ADSC);
     	adc_loop_running = 0x1;
     	if(adc_loop_status != ADC_LOOP_RUNNING){
     		//Start the conversion, enable ADC interrupt
     		ADCSRA |= _BV(ADIE);
     		ADCSRA |= _BV(ADSC);
     		adc_loop_status = ADC_LOOP_RUNNING;
+    	}
+    }
     /**
-...
      * is interrupted. No further updates will be made until
      * the loop is started again.
+     *
      * @see analog_start_loop
      * @see analog_start_loop, analog_loop_status
      **/
     void analog_stop_loop(void) {
     	//Stop the conversion
     	adc_loop_running = 0x0;
     void analog_stop_loop() {
     	//Signal to stop after the next conversion
     	adc_sig_stop_loop = 1;
+    }
     /**
      * Returns the status of loop. 0 for stopped.
      * 1 for running. 2 for paused.
+     *
      * @see analog_start_loop, analog_stop_loop
      **/
     int analog_loop_status(void) {
     	return adc_loop_status;
+    }
     /**
      * Reads an 8-bit number from an analog port.
      * analog_init must be called before using this function.
      * The analog loop must also be stopped before using this
-...
     ISR(ADC_vect) {
     	static volatile int adc_prev_loop_running = 0;
     	int adc_h = 0;
     	int adc_l = 0;
     	if(adc_loop_status != ADC_LOOP_RUNNING) return;
     	//Store the value only if this read isn't for the BOM
     	if (ADMUX != BOM_PORT) {
-...
     		an_val[adc_current_port - 1].adc8 = adc_h;
+    	}
     	//Save the result only if we just turned off the loop
     	if (!adc_loop_running && !adc_prev_loop_running)
     		return;
     	adc_prev_loop_running = adc_loop_running;
     	//Skip AN7 because it is not a real port
     	if (adc_current_port == AN6) {
     		ADMUX = ADMUX_OPT | EXT_MUX;
-...
+    		}
+    	}
     	//Initiate next conversion only if we are running a loop
     	if (!adc_loop_running) {
     	//Stop loop if signal is set
     	if(adc_sig_stop_loop) {
     		adc_sig_stop_loop = 0;
     		adc_loop_status = ADC_LOOP_STOPPED;
     		return;
         } else {
         	ADCSRA |= _BV(ADSC);
+    	}
     	return;
     	//Start next conversion
     	ADCSRA |= _BV(ADSC);
+    }

      * to analog.
      * @author Colony Project, CMU Robotics Club, based on firefly
      * code by Tom Lauwers
      * originally taken from fwr analog file (author: Tom Lauwers)
      * loop code written by Kevin Woo and James Kong
      */
     #ifndef _ANALOG_H
-...
     /** @brief Analog port for the battery voltage detector **/
     #define BATT_PORT  AN11
     /** @brief Analog loop status. ADC conversion running. **/
     #define ADC_LOOP_RUNNING 1
     /** @brief Analog loop status.  No ADC conversion running.**/
     #define ADC_LOOP_STOPPED 0
     /** @brief Analog init parameter. Start the analog loop. **/
     #define ADC_START 1
     #define ADC_STOP 0
     /** @brief Analog init parameter. Don't start the analog loop. **/
     #define ADC_STOP  0
     #define ADMUX_OPT 0x60
-...
     void analog_start_loop(void);
     /** @brief Stops the analog loop. Doesn't do anything if the loop is already stopped. **/
     void analog_stop_loop(void);
     /** @brief Returns the status of the analog loop. **/
     int analog_loop_status(void);
     /** @brief Returns an 8-bit analog value from the look up table. Use this instead of analog_get8. **/
     unsigned int analog8(int which);
     /** @brief Returns an 10-bit analog value from the look up table. Use this instead of analog_get10. **/

      **/
     void bom_refresh(int bit_field) {
         int i;
     	int loop_was_running = 0;
         analog_stop_loop();
     	//Check analog loop status
         if(analog_loop_status() == ADC_LOOP_RUNNING) {
     		loop_was_running = 1;
     		analog_stop_loop();
+    	}
     	//Read BOM values
         for(i = 0; i < NUM_BOM_LEDS; i++) {
             if(bit_field & 0x1) {
                 bom_select(i);
-...
             bit_field = bit_field >> 1;
+        }
         analog_start_loop();
     	//Restore analog loop status
     	if(loop_was_running)
     		analog_start_loop();
+    }
     /**

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