int
main (void)
{
// This isn't what we're testing exactly, but we need to know if its
// working or not to interpret other results.
term_io_init ();
PFP ("\n");
PFP ("\n");
PFP ("term_io_init() worked.\n");
PFP ("\n");
// FIXME: audit item: I like to put const after type as Dan Saks advises
uint8_t const aip = 0; // Analog Input Pin (from 0 for ADC0 to 5 for ADC5)
adc_init (ADC_REFERENCE_AVCC);
PFP ("Finished adc_init().\n");
adc_pin_init (aip);
// This register bit test is hardwired to match the chosen aip value.
// The initialization should have done this, but we can't tell just by
// observing that the ADC reads voltages correctly, so we check here.
if ( ! (DIDR0 & _BV (ADC0D)) ) {
PFP (
"failure: Digital input disable bit ADC0D of register DIDR0 not "
"set\n" );
assert (0);
}
PFP ("Finished adc_pin_init().\n");
PFP ("\n");
// Configure pin A1 (aka PC1) as an output, starting out low.
PORTC &= ~(_BV (PORTC1));
//FIXXME: could be a no-op, which recent avr libc have a macro for
loop_until_bit_is_clear (PORTC, PORTC1);
DDRC |= _BV (DDC1);
while ( 1 )
{
float const supply_voltage = 5.0;
uint16_t raw = adc_read_raw (aip);
float tap_voltage = adc_read_voltage (aip, supply_voltage);
PFP ("ADC input voltage: %f (%d raw)\r\n", tap_voltage, raw);
toggle_pc1 ();
float const mspr = 500.0; // Milliseconds Per Reading (and LED toggle)
_delay_ms (mspr);
}
return 0;
}
int main(int argc, char **argv){
setvbuf (stdout, NULL, _IONBF, 0); // needed to print to the command line
if (adc_open() != 1){ // open the ADC spi channel
exit(1); // if the SPI bus fails to open exit the program
}
while (1){
clearscreen();
printf("Pin 1: %G \n", adc_read_voltage(1, 0)); // read the voltage from channel 1 in single ended mode
printf("Pin 2: %G \n", adc_read_voltage(2, 0)); // read the voltage from channel 2 in single ended mode
printf("Pin 3: %G \n", adc_read_voltage(3, 0)); // read the voltage from channel 3 in single ended mode
printf("Pin 4: %G \n", adc_read_voltage(4, 0)); // read the voltage from channel 4 in single ended mode
printf("Pin 5: %G \n", adc_read_voltage(5, 0)); // read the voltage from channel 5 in single ended mode
printf("Pin 6: %G \n", adc_read_voltage(6, 0)); // read the voltage from channel 6 in single ended mode
printf("Pin 7: %G \n", adc_read_voltage(7, 0)); // read the voltage from channel 7 in single ended mode
printf("Pin 8: %G \n", adc_read_voltage(8, 0)); // read the voltage from channel 8 in single ended mode
usleep(200000); // sleep 0.2 seconds
}
return (0);
}
static void handle_twi_command(void)
{
uint8_t command;
// Get the command from the receive buffer.
command = twi_receive_byte();
switch (command)
{
case TWI_CMD_RESET:
// Reset the servo.
watchdog_hard_reset();
break;
case TWI_CMD_PWM_ENABLE:
// Enable PWM to the servo motor.
pwm_enable();
break;
case TWI_CMD_PWM_DISABLE:
// Disable PWM to the servo motor.
pwm_disable();
break;
case TWI_CMD_WRITE_ENABLE:
// Enable write to read/write protected registers.
registers_write_enable();
break;
case TWI_CMD_WRITE_DISABLE:
// Disable write to read/write protected registers.
registers_write_disable();
break;
case TWI_CMD_REGISTERS_SAVE:
// Save register values into EEPROM.
eeprom_save_registers();
break;
case TWI_CMD_REGISTERS_RESTORE:
// Restore register values into EEPROM.
eeprom_restore_registers();
break;
case TWI_CMD_REGISTERS_DEFAULT:
// Restore register values to factory defaults.
registers_defaults();
break;
case TWI_CMD_EEPROM_ERASE:
// Erase the EEPROM.
eeprom_erase();
break;
case TWI_CMD_VOLTAGE_READ:
// Request a voltage reading.
adc_read_voltage();
break;
#if CURVE_MOTION_ENABLED
case TWI_CMD_CURVE_MOTION_ENABLE:
// Enable curve motion handling.
motion_enable();
break;
case TWI_CMD_CURVE_MOTION_DISABLE:
// Disable curve motion handling.
motion_disable();
break;
case TWI_CMD_CURVE_MOTION_RESET:
// Reset the motion to the current position.
#if ENCODER_ENABLED
motion_reset(enc_get_position_value());
#else
motion_reset(adc_get_position_value());
#endif
break;
case TWI_CMD_CURVE_MOTION_APPEND:
// Append motion curve data stored in the registers.
motion_append();
break;
#endif
default:
// Ignore unknown command.
break;
}
}
