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>

/**

 * @defgroup analog Analog

 * Functions for manipulation the ADC on the dragonfly board.

 * All definitions may be found in analog.h.

 *

 * @{

 **/

/** @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

/**

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

 *  if start_conversion is ADC_START.

 * 

 * Initializes the ADC.

 * Call analog_init before reading from the analog ports.

 *

 * @see analog8, analog10, analog_get8, analog_get10

 **/

void analog_init(int start_conversion);

/**

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

 *

 * Starts the analog update loop. Will continue to run

 * until analog_stop_loop is called.

 *

 * @see analog_stop_loop

 **/

void analog_start_loop(void);

/**

 * @brief Stops the analog loop. Doesn't do anything if the loop is already stopped.

 *

 * Stops the analog update loop. If there is a current

 * read, it will finish up and be stored before the loop

 * is interrupted. No further updates will be made until

 * the loop is started again.

 *

 * @see analog_start_loop

 **/

void analog_stop_loop(void);

/**

 * @brief Returns an 8-bit analog value from the look up table. Use this instead of analog_get8.

 *

 * Returns the 8-bit analog conversion of which from

 * the lookup table. If the requested port is the BOM_PORT

 * you will get an automatic 0 since the BOM_PORT is not

 * read in the loop and not stored. If you need that port

 * you should use the functions in bom.c. There is an analog_get8

 * function which for instant lookups but should be avoided unless

 * you know what you're doing.

 *

 * @param which the port that you want to read

 *

 * @bug may cause a seg fault if which is a larger value

 * than exists in an_val table. Not sure if we should fix

 * this or not since it would add overhead.

 *

 * @return 8-bit analog value for the which port requested

 *

 * @see analog10, analog_get8, analog_get10

 **/

unsigned int analog8(int which);

/**

 * Returns the 8-bit analog conversion of which from

 * the lookup table. If the requested port is the BOM_PORT

 * you will get an automatic 0 since the BOM_PORT is not

 * read in the loop and not stored. If you need that port

 * you should use the functions in bom.c. There is an analog_get8

 * function which for instant lookups but should be avoided unless

 * you know what you're doing.

 *

 * @param which the port that you want to read

 *

 * @bug may cause a seg fault if which is a larger value

 * than exists in an_val table. Not sure if we should fix

 * this or not since it would add overhead.

 *

 * @return 8-bit analog value for the which port requested

 *

 * @see analog10, analog_get8, analog_get10

 **/

unsigned int analog8(int which);

/**

 * @brief Returns an 10-bit analog value from the look up table. Use this instead of analog_get10.

 *

 * Returns the 10-bit analog conversion of which from

 * the lookup table. If the requested port is the BOM_PORT

 * you will get an automatic 0 since the BOM_PORT is not

 * read in the loop and not stored. If you need that port

 * you should use the functions in bom.c. There is an analog_get10

 * function which for instant lookups but should be avoided unless

 * you know what you are doing.

 *

 * @param which the port that you want to read

 *

 * @bug may cause a seg fault if which is a larger value

 * than exists in an_val table. Not sure if we should fix

 * this or not since it would add overhead.

 *

 * @return 10-bit analog value for the which port requested

 *

 * @see analog8, analog_get8, analog_get10

 **/

unsigned int analog10(int which);

/**

 * @brief Read the position of the wheel.

 *

 * 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);

/**

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

 *

 * 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

 * function or you will mess up the lookup table. You

 * must also reenabled the loop when you are done unless

 * you are doing more instant reads. See analog_stop_loop

 * and analog_start_loop for more information about the loop.

 * 

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

 * the constants AN0 - AN7.

 *

 * @return the 8-bit input to the specified port

 *

 * @see analog_init, analog_get10, analog8, analog_stop_loop,

 * analog_start_loop

 **/

unsigned int analog_get8(int which);

/**

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

 *

 * Reads an 10-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

 * function or you will mess up the lookup table. You

 * must also reenabled the loop when you are done unless

 * you are doing more instant reads. See analog_stop_loop

 * and analog_start_loop for more information about the loop.

 * 

 *

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

 * a constant, one of AN0 - AN7.

 *

 * @return the 10-bit number input to the specified port

 * 

 * @see analog_init, analog_get8, analog10, analog_stop_loop,

 * analog_start_loop

 **/

unsigned int analog_get10(int which);

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

#endif