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.h

 * @brief Contains functions and definitions for using the ADC

 * 

 * 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 Colony Project, CMU Robotics Club, based on firefly

 * code by Tom Lauwers

 */

#ifndef _ANALOG_H

#define _ANALOG_H

#include <inttypes.h>

/**

 * @addtogroup analog

 * @{

 **/

/** @brief Analog port 0 **/

#define AN0 0x00

/** @brief Analog port 1 **/

#define AN1 0x01

/** @brief Analog port 2 **/

#define AN2 0x02

/** @brief Analog port 3 **/

#define AN3 0x03

/** @brief Analog port 4 **/

#define AN4 0x04

/** @brief Analog port 5 **/

#define AN5 0x05

/** @brief Analog port 6 **/

#define AN6 0x06

/** @brief Analog port 7 **/

#define AN7 0x07

/** @brief Analog port 8 **/

#define AN8 0x08

/** @brief Analog port 9 **/

#define AN9 0x09

/** @brief Analog port 10 **/

#define AN10 0x0A

/** @brief Analog port 11 **/

#define AN11 0x0B

/** @brief Analog port 12 **/

#define AN12 0x0C

/** @brief Analog port 13 **/

#define AN13 0x0D

/** @brief Analog port 14 **/

#define AN14 0x0E

/** @brief Analog port 15 **/

#define AN15 0x0F

/** @brief BOM_PORT analog port for BOM **/

#define BOM_PORT AN0

/** @brief EXT_MUX analog port **/

#define EXT_MUX AN7

/** @brief Analog port for the wheel **/

#define WHEEL_PORT AN10

/** @brief Analog port for the battery voltage detector **/

#define BATT_PORT  AN11

#define ADC_START 1

#define ADC_STOP 0

#define ADMUX_OPT 0x60

/** @brief Struct to hold the value of a particular analog port */

typedef struct {

  uint8_t adc8;

  uint16_t adc10;

} adc_t;

/** @brief Initialize analog ports. Will start running a loop

    if start_conversion is ADC_START.**/

void analog_init(int start_conversion);

/** @brief starts the analog loop. Doesn't do anything if the loop is already running. **/

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 Read an 8-bit number from an analog port. Loop must be stopped for this to work. **/

unsigned int analog8(int which);

/** @brief Read a 10-bit number from an analog port. Loop must be stopped for this to work. **/

unsigned int analog10(int which);

/** @brief Read the position of the wheel. **/

int wheel(void);

/** @brief Returns an 8-bit analog value from the look up table. Use this instead of analog8. **/

unsigned int analog_get8(int which);

/** @brief Returns an 10-bit analog value from the look up table. Use this instead of analog10. **/

unsigned int analog_get10(int which);

/**@}**/ //end group

#endif