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1 | 338 | bcoltin | /**
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2 | * Copyright (c) 2007 Colony Project
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3 | *
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4 | * Permission is hereby granted, free of charge, to any person
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5 | * obtaining a copy of this software and associated documentation
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6 | * files (the "Software"), to deal in the Software without
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7 | * restriction, including without limitation the rights to use,
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8 | * copy, modify, merge, publish, distribute, sublicense, and/or sell
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9 | * copies of the Software, and to permit persons to whom the
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10 | * Software is furnished to do so, subject to the following
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11 | * conditions:
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12 | *
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13 | * The above copyright notice and this permission notice shall be
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14 | * included in all copies or substantial portions of the Software.
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15 | *
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16 | * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
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17 | * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
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18 | * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
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19 | * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
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20 | * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
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21 | * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
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22 | * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
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23 | * OTHER DEALINGS IN THE SOFTWARE.
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24 | **/
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25 | |||
26 | /**
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27 | * @file analog.c
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28 | * @brief Analog input and output
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29 | *
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30 | * Contains functions for manipulating the ADC on the Dragonfly board.
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31 | *
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32 | * @author Colony Project, CMU Robotics Club
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33 | 1406 | jykong | * originally taken from fwr analog file (author: Tom Lauwers)
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34 | * loop code written by Kevin Woo and James Kong
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35 | 338 | bcoltin | **/
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36 | |||
37 | #include <util/delay.h> |
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38 | #include <avr/interrupt.h> |
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39 | 1462 | dsschult | |
40 | |||
41 | #include "dragonfly_defs.h" |
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42 | #include "serial.h" |
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43 | 338 | bcoltin | #include "analog.h" |
44 | // Internal Function Prototypes
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45 | void set_adc_mux(int which); |
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46 | |||
47 | /**
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48 | * @defgroup analog Analog
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49 | * Functions for manipulation the ADC on the dragonfly board.
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50 | * All definitions may be found in analog.h.
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51 | *
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52 | * @{
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53 | **/
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54 | |||
55 | 1461 | bneuman | unsigned char analog_initd=0; |
56 | |||
57 | 1406 | jykong | volatile int adc_loop_status = ADC_LOOP_STOPPED; |
58 | volatile int adc_sig_stop_loop = 0; |
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59 | volatile int adc_current_port = 0; |
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60 | volatile adc_t an_val[11]; |
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61 | 338 | bcoltin | |
62 | /**
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63 | * Initializes the ADC.
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64 | * Call analog_init before reading from the analog ports.
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65 | *
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66 | 1461 | bneuman | * @return returns 0 on success, nonzero on error
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67 | *
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68 | 437 | kwoo | * @see analog8, analog10, analog_get8, analog_get10
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69 | 1406 | jykong | *
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70 | * @bug First conversion takes a performance penalty of
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71 | * 25 vs. 13 ADC clock cycles of successive conversions.
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72 | * Analog_init should run a dummy conversion to pre-empt
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73 | * this.
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74 | *
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75 | * For good 10-bit precision, ACD clock must be between
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76 | * 50kHz and 200kHz. Currently, ADC clock is fixed at
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77 | * 125kHz using 1/64prescalar. However, most code uses
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78 | * 8-bit precision which can work at ADC clock speeds
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79 | * higher than 200kHz. Experimental tests needed to
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80 | * determine highest clock speed for accurate 8-bit ADC.
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81 | *
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82 | 338 | bcoltin | **/
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83 | 1461 | bneuman | int analog_init(int start_conversion) { |
84 | if(analog_initd)
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85 | return ERROR_INIT_ALREADY_INITD;
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86 | 338 | bcoltin | |
87 | 1461 | bneuman | for (int i = 0; i < 11; i++) { |
88 | an_val[i].adc10 = 0;
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89 | an_val[i].adc8 = 0;
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90 | } |
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91 | 338 | bcoltin | |
92 | 1461 | bneuman | // ADMUX register
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93 | // Bit 7,6 - Set voltage reference to AVcc (0b01)
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94 | // Bit 5 - ADLAR set to simplify moving from register
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95 | // Bit 4 - X
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96 | // Bit 3:0 - Sets the current channel
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97 | // Initializes to read from AN1 first (AN0 is reservered for the BOM)
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98 | ADMUX = 0;
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99 | ADMUX |= ADMUX_OPT | _BV(MUX0); |
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100 | |||
101 | // ADC Status Register A
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102 | // Bit 7 - ADEN is set (enables analog)
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103 | // Bit 6 - Start conversion bit is set (must be done once for free-running mode)
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104 | // Bit 5 - Enable Auto Trigger (for free running mode) NOT DOING THIS RIGHT NOW
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105 | // Bit 4 - ADC interrupt flag, 0
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106 | // Bit 3 - Enable ADC Interrupt (required to run free-running mode)
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107 | // Bits 2-0 - Set to create a clock divisor of 128, to make ADC clock = 8,000,000/64 = 125kHz
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108 | ADCSRA = 0;
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109 | ADCSRA |= _BV(ADEN) | _BV(ADPS2) | _BV(ADPS1) | _BV(ADPS0); |
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110 | 338 | bcoltin | |
111 | 1461 | bneuman | // Set external mux lines to outputs
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112 | DDRG |= 0x1C;
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113 | 338 | bcoltin | |
114 | 1461 | bneuman | // Set up first port for conversions
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115 | set_adc_mux(0x00);
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116 | adc_current_port = AN1; |
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117 | 338 | bcoltin | |
118 | 1461 | bneuman | //Start the conversion loop if requested
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119 | if (start_conversion)
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120 | analog_start_loop(); |
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121 | 1406 | jykong | |
122 | 1461 | bneuman | //Conversion loop disabled by default
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123 | |||
124 | analog_initd=1;
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125 | return 0; |
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126 | 338 | bcoltin | } |
127 | |||
128 | 862 | kwoo | /**
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129 | * Returns the 8-bit analog conversion of which from
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130 | * the lookup table. If the requested port is the BOM_PORT
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131 | * you will get an automatic 0 since the BOM_PORT is not
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132 | * read in the loop and not stored. If you need that port
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133 | * you should use the functions in bom.c. There is an analog_get8
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134 | * function which for instant lookups but should be avoided unless
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135 | * you know what you're doing.
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136 | *
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137 | * @param which the port that you want to read
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138 | *
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139 | * @bug may cause a seg fault if which is a larger value
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140 | * than exists in an_val table. Not sure if we should fix
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141 | * this or not since it would add overhead.
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142 | *
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143 | * @return 8-bit analog value for the which port requested
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144 | *
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145 | * @see analog10, analog_get8, analog_get10
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146 | **/
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147 | 338 | bcoltin | unsigned int analog8(int which) { |
148 | if (which == BOM_PORT) {
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149 | return 0; |
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150 | } else {
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151 | return an_val[which - 1].adc8; |
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152 | } |
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153 | } |
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154 | |||
155 | 437 | kwoo | /**
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156 | * Returns the 10-bit analog conversion of which from
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157 | * the lookup table. If the requested port is the BOM_PORT
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158 | * you will get an automatic 0 since the BOM_PORT is not
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159 | * read in the loop and not stored. If you need that port
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160 | * you should use the functions in bom.c. There is an analog_get10
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161 | 862 | kwoo | * function which for instant lookups but should be avoided unless
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162 | * you know what you are doing.
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163 | 437 | kwoo | *
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164 | * @param which the port that you want to read
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165 | *
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166 | * @bug may cause a seg fault if which is a larger value
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167 | * than exists in an_val table. Not sure if we should fix
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168 | * this or not since it would add overhead.
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169 | *
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170 | * @return 10-bit analog value for the which port requested
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171 | *
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172 | * @see analog8, analog_get8, analog_get10
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173 | **/
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174 | 338 | bcoltin | unsigned int analog10(int which) { |
175 | if (which == BOM_PORT) {
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176 | return 0; |
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177 | } else {
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178 | return an_val[which - 1].adc10; |
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179 | } |
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180 | } |
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181 | |||
182 | 437 | kwoo | /**
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183 | * Starts the analog update loop. Will continue to run
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184 | * until analog_stop_loop is called.
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185 | *
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186 | 1461 | bneuman | * @return returns 0 on success, nonzero on error
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187 | *
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188 | 1406 | jykong | * @see analog_stop_loop, analog_loop_status
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189 | 437 | kwoo | **/
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190 | 1461 | bneuman | int analog_start_loop(void) { |
191 | if(!analog_initd)
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192 | return ERROR_LIBRARY_NOT_INITD;
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193 | |||
194 | if(adc_loop_status != ADC_LOOP_RUNNING){
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195 | //Start the conversion, enable ADC interrupt
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196 | ADCSRA |= _BV(ADIE); |
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197 | ADCSRA |= _BV(ADSC); |
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198 | adc_loop_status = ADC_LOOP_RUNNING; |
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199 | } |
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200 | |||
201 | return 0; |
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202 | 338 | bcoltin | } |
203 | |||
204 | 437 | kwoo | /**
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205 | * Stops the analog update loop. If there is a current
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206 | * read, it will finish up and be stored before the loop
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207 | * is interrupted. No further updates will be made until
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208 | * the loop is started again.
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209 | *
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210 | 1461 | bneuman | * @return returns 0 on success, nonzero on error
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211 | *
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212 | 1406 | jykong | * @see analog_start_loop, analog_loop_status
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213 | 437 | kwoo | **/
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214 | 1461 | bneuman | int analog_stop_loop() {
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215 | if(!analog_initd)
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216 | return ERROR_LIBRARY_NOT_INITD;
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217 | |||
218 | //Signal to stop after the next conversion
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219 | adc_sig_stop_loop = 1;
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220 | |||
221 | return 0; |
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222 | 338 | bcoltin | } |
223 | 1406 | jykong | |
224 | 338 | bcoltin | /**
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225 | 1406 | jykong | * Returns the status of loop. 0 for stopped.
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226 | * 1 for running. 2 for paused.
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227 | *
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228 | * @see analog_start_loop, analog_stop_loop
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229 | **/
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230 | int analog_loop_status(void) { |
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231 | return adc_loop_status;
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232 | } |
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233 | |||
234 | /**
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235 | 862 | kwoo | * Reads an 8-bit number from an analog port.
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236 | 338 | bcoltin | * analog_init must be called before using this function.
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237 | 862 | kwoo | * The analog loop must also be stopped before using this
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238 | * function or you will mess up the lookup table. You
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239 | * must also reenabled the loop when you are done unless
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240 | * you are doing more instant reads. See analog_stop_loop
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241 | * and analog_start_loop for more information about the loop.
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242 | 338 | bcoltin | *
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243 | * @param which the analog port to read from. One of
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244 | * the constants AN0 - AN7.
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245 | *
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246 | 862 | kwoo | * @return the 8-bit input to the specified port
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247 | 338 | bcoltin | *
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248 | 862 | kwoo | * @see analog_init, analog_get10, analog8, analog_stop_loop,
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249 | * analog_start_loop
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250 | 338 | bcoltin | **/
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251 | 439 | kwoo | unsigned int analog_get8(int which) { |
252 | 338 | bcoltin | // Let any previous conversion finish
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253 | while (ADCSRA & _BV(ADSC));
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254 | |||
255 | if(which < EXT_MUX) {
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256 | ADMUX = ADMUX_OPT + which; |
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257 | } else {
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258 | ADMUX = ADMUX_OPT + EXT_MUX; |
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259 | set_adc_mux(which - 8);
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260 | } |
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261 | |||
262 | // Start the conversion
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263 | ADCSRA |= _BV(ADSC); |
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264 | |||
265 | // Wait for the conversion to finish
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266 | while (ADCSRA & _BV(ADSC));
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267 | |||
268 | return ADCH; //since we left aligned the data, ADCH is the 8 MSB. |
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269 | } |
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270 | |||
271 | /**
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272 | 862 | kwoo | * Reads an 10-bit number from an analog port.
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273 | 338 | bcoltin | * analog_init must be called before using this function.
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274 | 862 | kwoo | * The analog loop must also be stopped before using this
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275 | * function or you will mess up the lookup table. You
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276 | * must also reenabled the loop when you are done unless
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277 | * you are doing more instant reads. See analog_stop_loop
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278 | * and analog_start_loop for more information about the loop.
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279 | 338 | bcoltin | *
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280 | *
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281 | * @param which the analog port to read from. Typically
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282 | * a constant, one of AN0 - AN7.
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283 | *
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284 | 862 | kwoo | * @return the 10-bit number input to the specified port
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285 | 338 | bcoltin | *
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286 | 862 | kwoo | * @see analog_init, analog_get8, analog10, analog_stop_loop,
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287 | * analog_start_loop
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288 | 338 | bcoltin | **/
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289 | 439 | kwoo | unsigned int analog_get10(int which) { |
290 | 338 | bcoltin | int adc_h;
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291 | int adc_l;
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292 | |||
293 | // Let any previous conversion finish
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294 | while (ADCSRA & _BV(ADSC));
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295 | |||
296 | if(which < EXT_MUX) {
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297 | ADMUX = ADMUX_OPT + which; |
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298 | } else {
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299 | ADMUX = ADMUX_OPT + EXT_MUX; |
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300 | set_adc_mux(which - 8);
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301 | } |
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302 | |||
303 | // Start the conversion
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304 | ADCSRA |= _BV(ADSC); |
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305 | |||
306 | // Wait for the conversion to finish
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307 | while (ADCSRA & _BV(ADSC));
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308 | |||
309 | adc_l = ADCL; |
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310 | adc_h = ADCH; |
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311 | |||
312 | return ((adc_h << 2) | (adc_l >> 6)); |
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313 | } |
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314 | |||
315 | /**
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316 | * Returns the current position of the wheel, as an integer
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317 | * in the range 0 - 255.
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318 | * analog_init must be called before using this function.
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319 | *
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320 | * @return the orientation of the wheel, as an integer in
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321 | * the range 0 - 255.
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322 | *
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323 | * @see analog_init
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324 | **/
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325 | 439 | kwoo | int wheel(void) { |
326 | 338 | bcoltin | return analog8(WHEEL_PORT);
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327 | } |
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328 | |||
329 | |||
330 | /**
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331 | * Sets the value of the external analog mux. Values are read
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332 | * on AN7 physical port. (AN8 - AN15 are "virtual" ports).
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333 | *
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334 | * @param which which analog mux port (0-7) which corresponds
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335 | * to AN8-AN15.
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336 | *
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337 | * @bug FIX THIS IN THE NEXT BOARD REVISION:
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338 | * ADDR2 ADDR1 ADDR0
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339 | * G2.G4.G3 set mux to port 0-7 via vinary selection
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340 | * math would be much cleaner if it was G4.G3.G2
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341 | *
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342 | * @see analog_init
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343 | **/
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344 | 439 | kwoo | void set_adc_mux(int which) { |
345 | 338 | bcoltin | // mask so only proper bits are possible.
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346 | PORTG = (PORTG & 0xE3) | ((which & 0x03) << 3) | (which & 0x04); |
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347 | } |
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348 | |||
349 | /**@}**/ //end defgroup |
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350 | |||
351 | |||
352 | ISR(ADC_vect) { |
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353 | int adc_h = 0; |
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354 | int adc_l = 0; |
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355 | 1406 | jykong | |
356 | if(adc_loop_status != ADC_LOOP_RUNNING) return; |
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357 | 338 | bcoltin | |
358 | //Store the value only if this read isn't for the BOM
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359 | if (ADMUX != BOM_PORT) {
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360 | adc_l = ADCL; |
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361 | adc_h = ADCH; |
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362 | |||
363 | an_val[adc_current_port - 1].adc10 = (adc_h << 2) | (adc_l >> 6); |
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364 | an_val[adc_current_port - 1].adc8 = adc_h;
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365 | } |
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366 | |||
367 | //Skip AN7 because it is not a real port
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368 | if (adc_current_port == AN6) {
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369 | ADMUX = ADMUX_OPT | EXT_MUX; |
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370 | set_adc_mux(AN8 - 8);
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371 | adc_current_port = AN8; |
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372 | //Wrap around
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373 | } else if (adc_current_port == AN11) { |
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374 | adc_current_port = AN1; |
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375 | ADMUX = ADMUX_OPT | adc_current_port; |
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376 | //Normal increment
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377 | } else {
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378 | adc_current_port++; |
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379 | |||
380 | if(adc_current_port < EXT_MUX) {
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381 | ADMUX = ADMUX_OPT | adc_current_port; |
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382 | } else {
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383 | ADMUX = ADMUX_OPT | EXT_MUX; |
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384 | set_adc_mux(adc_current_port - 8);
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385 | } |
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386 | } |
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387 | |||
388 | 1406 | jykong | //Stop loop if signal is set
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389 | if(adc_sig_stop_loop) {
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390 | adc_sig_stop_loop = 0;
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391 | adc_loop_status = ADC_LOOP_STOPPED; |
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392 | 338 | bcoltin | return;
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393 | 437 | kwoo | } |
394 | 1406 | jykong | |
395 | //Start next conversion
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396 | ADCSRA |= _BV(ADSC); |
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397 | 338 | bcoltin | } |