Colony

/**

 * Copyright (c) 2007 Colony Project

 *

 * Permission is hereby granted, free of charge, to any person

 * obtaining a copy of this software and associated documentation

 * files (the "Software"), to deal in the Software without

 * restriction, including without limitation the rights to use,

 * copy, modify, merge, publish, distribute, sublicense, and/or sell

 * copies of the Software, and to permit persons to whom the

 * Software is furnished to do so, subject to the following

 * conditions:

 *

 * The above copyright notice and this permission notice shall be

 * included in all copies or substantial portions of the Software.

 *

 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,

 * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES

 * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND

 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT

 * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,

 * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING

 * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR

 * OTHER DEALINGS IN THE SOFTWARE.

 **/

/**

 * @file analog.c

 * @brief Analog input and output

 *

 * 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)

 **/

#include <util/delay.h>

#include <avr/interrupt.h>

#include "analog.h"

// Internal Function Prototypes

void set_adc_mux(int which);

/**

 * @defgroup analog Analog

 * Functions for manipulation the ADC on the dragonfly board.

 * All definitions may be found in analog.h.

 *

 * @{

 **/

/**

 * Initializes the ADC.

 * Call analog_init before reading from the analog ports.

 *

 * @see analog8, analog10

 **/

void analog_init(void)

{

  // ADC Status Register A

  // Bit 7 - ADEN is set (enables analog)

  // Bit 6 - Start conversion bit is set (must be done once for free-running mode)

  // Bit 5 - Enable Auto Trigger (for free running mode)

  // Bit 4 - ADC interrupt flag, 0

  // 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 = 8,000,000/128

  ADCSRA |= 0xEF;

  // ADC Status Register B

  // Bit 7, 5-3 - Must be cleared

  // Bit 2:0 - Set mode, currently cleared for free running operation

  // Bit 6 - Analog comparator mode - cleared

//  ADCSRB = 0x00;

  // ADMUX register

  // Bit 7,6 - Set voltage reference to AVcc (0b01)

  // Bit 5 - Set ADLAR bit for left adjust to do simple 8-bit reads

  // Bit 4 - X

  // Bit 3:0 - Sets the current channel, set to ADC7 (the external mux)

  ADMUX = 0x67;

  // Set external mux lines to outputs

  DDRG |= 0x1C;

  set_adc_mux(0x07);

}

/**

 * Reads an eight bit number from an analog port.

 * analog_init must be called before using this function.

 *

 * @param which the analog port to read from. One of

 * the constants AN0 - AN7.

 *

 * @return the eight bit input to the specified port

 *

 * @see analog_init, analog10

 **/

unsigned int analog8(int which)

{

  if(which < EXT_MUX) {

    ADMUX = 0x60 + which;

  } else if(which == EXT_MUX) {

    return 0;

  } else {

    ADMUX = 0x60 + EXT_MUX;

    set_adc_mux(which - 8);

    _delay_ms(1);

  }

  _delay_ms(1); // need at least 130 us between conversions

  return ADCH;

}

/**

 * Reads a ten bit number from the specified port.

 * analog_init must be called before using this function.

 *

 * @param which the analog port to read from. Typically

 * a constant, one of AN0 - AN7.

 *

 * @return the ten bit number input to the specified port

 *

 * @see analog_init, analog8

 **/

unsigned int analog10(int which)

{

  unsigned int adc_h = 0;

  unsigned int adc_l = 0;

  if(which < EXT_MUX) {

    ADMUX = 0x60 + which;

  } else if(which == EXT_MUX) {

    return 0;

  } else {

    ADMUX = 0x60 + EXT_MUX;

    set_adc_mux(which - 8);

    _delay_ms(1);

  }

  _delay_ms(1);

  adc_l = ADCL; /* highest 2 bits of ADCL -> least 2 bits of analog val */

  adc_h = ADCH; /* ADCH -> 8 highest bits of analog val */

  return (adc_h << 2) | (adc_l >> 6);

}

/**

 * Returns the current position of the wheel, as an integer

 * in the range 0 - 255.

 * analog_init must be called before using this function.

 *

 * @return the orientation of the wheel, as an integer in

 * the range 0 - 255.

 *

 * @see analog_init

 **/

int wheel(void)

{

  return analog8(WHEEL_PORT);

}

/**@}**/ //end defgroup

SIGNAL (SIG_ADC)

{

  // This is just here to catch ADC interrupts because ADC is free running.

  // No code needs to be in here.

}

void set_adc_mux(int which)

{

  // FIX THIS IN NEXT REVISION

  // ADDR2 ADDR1 ADDR0

  // G2.G4.G3 set mux to port 0-7 via binary selection

  // math would be much cleaner if it was G4.G3.G2

  // mask so only proper bits are possible.

  PORTG = (PORTG & 0xE3) | ((which & 0x03) << 3) | (which & 0x04);

}