/**
* @private
* Initialise the Analog Digital Converter
* @param CONFIG1 bit-masks first turns the module on, formats the output as 32-bit integers,
* triggers its conversions automatically, and automatically samples.
* @param CONFIG2 bit-masks sets the voltage references to Vdd and Vss, disables the offset calculation,
* enables scanning, specifies how many samples are to be read per interrupt (which
* should be changed if multiple analog pins are being read?ADC_SAMPLES_PER_INT_x where x is the
* number of pins to be read), disables the buffer, and disables input sample mode.
* @param CONFIG3 bit-masks selects which clock to use, and selects the auto-sample time bits.
* @param CONFIGPORT bit-masks selects which analog pins are enabled. This is similar to setting the AD1PCFG register.
* @param CONFIGSCAN bit-masks selects which analog pins are to be scanned or skipped.
*/
void _initADC(){
CloseADC10();
SetChanADC10(ADC_CH0_NEG_SAMPLEA_NVREF);
OpenADC10(CONFIG1, CONFIG2, CONFIG3, CONFIGPORT, CONFIGSCAN);
EnableADC10();
// mAD1GetIntFlag() checks the interrupt flag for the AD10.
// Waits till a conversion is finished so that there's
// values in the ADC result registers.
while (!mAD1GetIntFlag() ) {
}
}
void initADC()
{
//portb as anaog input
mPORTBSetPinsAnalogIn(BIT_3);
// configure and enable the ADC
CloseADC10(); // ensure the ADC is off before setting the configuration
// define setup parameters for OpenADC10
// Turn module on | output in integer | trigger mode auto | enable autosample
#define PARAM1 ADC_MODULE_ON | ADC_FORMAT_INTG | ADC_CLK_AUTO | ADC_AUTO_SAMPLING_ON
// define setup parameters for OpenADC10
// ADC ref external | disable offset test | enable scan mode | perform 2 samples | use one buffer | use MUXA mode
// note: to read X number of pins you must set ADC_SAMPLES_PER_INT_X
#define PARAM2 ADC_VREF_AVDD_AVSS | ADC_OFFSET_CAL_DISABLE | ADC_SCAN_ON | ADC_SAMPLES_PER_INT_1 | ADC_ALT_BUF_OFF | ADC_ALT_INPUT_OFF
// define setup parameters for OpenADC10
// use ADC internal clock | set sample time
#define PARAM3 ADC_CONV_CLK_INTERNAL_RC | ADC_SAMPLE_TIME_15
// define setup parameters for OpenADC10
// set AN3
#define PARAM4 ENABLE_AN3_ANA
// define setup parameters for OpenADC10
// do not assign channels to scan
#define PARAM5 SKIP_SCAN_AN0 | SKIP_SCAN_AN1 | SKIP_SCAN_AN2 | SKIP_SCAN_AN4 | SKIP_SCAN_AN5 | SKIP_SCAN_AN6 | SKIP_SCAN_AN7 | SKIP_SCAN_AN8 | SKIP_SCAN_AN9 | SKIP_SCAN_AN10 | SKIP_SCAN_AN11 | SKIP_SCAN_AN12 | SKIP_SCAN_AN13 | SKIP_SCAN_AN14 | SKIP_SCAN_AN15
// use ground as neg ref for A
SetChanADC10(ADC_CH0_NEG_SAMPLEA_NVREF); // use ground as the negative reference
OpenADC10(PARAM1, PARAM2, PARAM3, PARAM4, PARAM5); // configure ADC using parameter define above
EnableADC10(); // Enable the ADCd
while (!mAD1GetIntFlag())
{
} // wait for the first conversion to complete so there will be valid data in ADC result registers
}
/*
* Set up ADC10 to read Cerebot battery monitor AN8.
* If you are having problems, verify jumper JP4 is on.
*/
void init_battery_monitor()
{
// configure and enable the ADC
// ensure the ADC is off before setting the configuration
CloseADC10();
// use ground as neg ref for A | use AN8 for input A
// configure to sample AN8
SetChanADC10( ADC_CH0_NEG_SAMPLEA_NVREF | ADC_CH0_POS_SAMPLEA_AN8);
// Configure the ADC
// 16 bit integer, auto convert, auto sampling select.
//
// Use AVDD and AVSS for reference, disable calibration, do not scan,
// interrupt at completion of every 2nd sample, use 2 8 word buffers,
// alternate between muxes.
//
// Use internal clock, set sample time
//
// Do not assign channels to scan
//
// Set AN8 as analog input
OpenADC10(
ADC_FORMAT_INTG | ADC_CLK_AUTO | ADC_AUTO_SAMPLING_ON,
ADC_VREF_AVDD_AVSS | ADC_OFFSET_CAL_DISABLE | ADC_SCAN_OFF |
ADC_SAMPLES_PER_INT_2 | ADC_ALT_BUF_ON | ADC_ALT_INPUT_ON,
ADC_CONV_CLK_INTERNAL_RC | ADC_SAMPLE_TIME_15,
ENABLE_AN8_ANA,
SKIP_SCAN_ALL);
// Enable the ADC
EnableADC10();
// Wait for the first conversion to complete so there will be vaild
// data in ADC result registers
while ( ! mAD1GetIntFlag() );
}
//*********************************************************************
int analogRead(uint8_t pin)
{
int analogValue;
unsigned int offset; // buffer offset to point to the base of the idle buffer
unsigned int param4;
uint8_t channelNumber;
//* in most cases (except the uno board) this will be a 1 to 1 mapping
channelNumber = analogInPinToBit(pin);
//* May 1, 2011 Gene Apperson of Digitlent sent me PIC32MX5XX-6XX-7XX Errata.pdf
//* item #26 documents a condition that I/O pins take time if previously set to outputs
//* first attempt, set all to 0
// AD1PCFG = 0;
// configure and enable the ADC
CloseADC10(); // ensure the ADC is off before setting the configuration
// define setup parameters for OpenADC10
// Turn module on | ouput in integer | trigger mode auto | enable autosample
#define PARAM1 ADC_FORMAT_INTG16 | ADC_CLK_AUTO | ADC_AUTO_SAMPLING_ON
// define setup parameters for OpenADC10
// ADC ref external | disable offset test | disable scan mode | perform 2 samples | use dual buffers | use alternate mode
#define PARAM2 ADC_VREF_AVDD_AVSS | ADC_OFFSET_CAL_DISABLE | ADC_SCAN_OFF | ADC_SAMPLES_PER_INT_1 | ADC_ALT_BUF_ON
// define setup parameters for OpenADC10
// use ADC internal clock | set sample time
#define PARAM3 ADC_CONV_CLK_INTERNAL_RC | ADC_SAMPLE_TIME_15
// define setup parameters for OpenADC10
// set AN4 and AN5 as analog inputs
param4 = channelNumber;
// define setup parameters for OpenADC10
// do not assign channels to scan
#define PARAM5 SKIP_SCAN_ALL
// use ground as neg ref for A | use AN4 for input A | use ground as neg ref for A | use AN5 for input B
// SetChanADC10( ADC_CH0_NEG_SAMPLEA_NVREF | ADC_CH0_POS_SAMPLEA_AN4 | ADC_CH0_NEG_SAMPLEB_NVREF | ADC_CH0_POS_SAMPLEB_AN5); // configure to sample AN4 & AN5
// SetChanADC10( ADC_CH0_NEG_SAMPLEA_NVREF | ADC_CH0_POS_SAMPLEA_AN0 | ADC_CH0_NEG_SAMPLEB_NVREF | ADC_CH0_POS_SAMPLEB_AN1); // configure to sample AN4 & AN5
// OpenADC10( PARAM1, PARAM2, PARAM3, PARAM4, PARAM5 ); // configure ADC using the parameters defined above
switch(channelNumber)
{
case 0:
SetChanADC10( ADC_CH0_NEG_SAMPLEA_NVREF | ADC_CH0_POS_SAMPLEA_AN0);
break;
case 1:
SetChanADC10( ADC_CH0_NEG_SAMPLEA_NVREF | ADC_CH0_POS_SAMPLEA_AN1);
break;
case 2:
SetChanADC10( ADC_CH0_NEG_SAMPLEA_NVREF | ADC_CH0_POS_SAMPLEA_AN2);
break;
case 3:
SetChanADC10( ADC_CH0_NEG_SAMPLEA_NVREF | ADC_CH0_POS_SAMPLEA_AN3);
break;
case 4:
SetChanADC10( ADC_CH0_NEG_SAMPLEA_NVREF | ADC_CH0_POS_SAMPLEA_AN4);
break;
case 5:
SetChanADC10( ADC_CH0_NEG_SAMPLEA_NVREF | ADC_CH0_POS_SAMPLEA_AN5);
break;
case 6:
SetChanADC10( ADC_CH0_NEG_SAMPLEA_NVREF | ADC_CH0_POS_SAMPLEA_AN6);
break;
case 7:
SetChanADC10( ADC_CH0_NEG_SAMPLEA_NVREF | ADC_CH0_POS_SAMPLEA_AN7);
break;
case 8:
SetChanADC10( ADC_CH0_NEG_SAMPLEA_NVREF | ADC_CH0_POS_SAMPLEA_AN8);
break;
case 9:
SetChanADC10( ADC_CH0_NEG_SAMPLEA_NVREF | ADC_CH0_POS_SAMPLEA_AN9);
break;
case 10:
SetChanADC10( ADC_CH0_NEG_SAMPLEA_NVREF | ADC_CH0_POS_SAMPLEA_AN10);
break;
case 11:
SetChanADC10( ADC_CH0_NEG_SAMPLEA_NVREF | ADC_CH0_POS_SAMPLEA_AN11);
break;
case 12:
SetChanADC10( ADC_CH0_NEG_SAMPLEA_NVREF | ADC_CH0_POS_SAMPLEA_AN12);
break;
case 13:
SetChanADC10( ADC_CH0_NEG_SAMPLEA_NVREF | ADC_CH0_POS_SAMPLEA_AN13);
break;
case 14:
SetChanADC10( ADC_CH0_NEG_SAMPLEA_NVREF | ADC_CH0_POS_SAMPLEA_AN14);
break;
case 15:
SetChanADC10( ADC_CH0_NEG_SAMPLEA_NVREF | ADC_CH0_POS_SAMPLEA_AN15);
break;
}
// configure to sample what ever pin was specified
OpenADC10( PARAM1, PARAM2, PARAM3, param4, PARAM5 ); // configure ADC using the parameters defined above
EnableADC10(); // Enable the ADC
//* A delay is needed for the the ADC start up time
//* this value started out at 1 millisecond, I dont know how long it needs to be
//* 99 uSecs will give us the same approximate sampling rate as the AVR chip
// delay(1);
delayMicroseconds(99);
while ( ! mAD1GetIntFlag() )
{
// wait for the first conversion to complete so there will be vaild data in ADC result registers
}
analogValue = ReadADC10(0);
mAD1ClearIntFlag();
return (analogValue);
}
virtual reg_t read_analog(){
while (!mAD1GetIntFlag()) Nop();
reg_t val = ReadADC10(bit);
mAD1ClearIntFlag();
return val;
}
int main(void)
{
unsigned int temp;
// Configure the device for maximum performance but do not change the PBDIV
// Given the options, this function will change the flash wait states, RAM
// wait state and enable prefetch cache but will not change the PBDIV.
// The PBDIV value is already set via the pragma FPBDIV option above..
SYSTEMConfig(GetSystemClock(), SYS_CFG_WAIT_STATES | SYS_CFG_PCACHE);
/*PORT CONFIGURATION for UART*/
// Blinky LED for Uart activity
//mPORTAClearBits(BIT_7);
//mPORTASetPinsDigitalOut(BIT_7);
// PINS used for the buttons
PORTSetPinsDigitalIn(IOPORT_B, BIT_2 | BIT_3 | BIT_4);
#define CONFIG (CN_ON | CN_IDLE_CON)
#define INTERRUPT (CHANGE_INT_ON | CHANGE_INT_PRI_2)
mCNOpen(CONFIG, CN4_ENABLE | CN5_ENABLE | CN6_ENABLE,
CN4_PULLUP_ENABLE | CN5_PULLUP_ENABLE | CN6_PULLUP_ENABLE);
temp = mPORTBRead();
//Analog input
CloseADC10();
#define PARAM1 ADC_MODULE_ON | ADC_FORMAT_INTG32 | ADC_CLK_AUTO | ADC_AUTO_SAMPLING_ON
#define PARAM2 ADC_VREF_AVDD_AVSS | ADC_SCAN_ON | ADC_SAMPLES_PER_INT_2 | ADC_BUF_16 | ADC_ALT_INPUT_OFF
#define PARAM3 ADC_CONV_CLK_INTERNAL_RC | ADC_SAMPLE_TIME_5
#define PARAM4 ENABLE_AN0_ANA | ENABLE_AN1_ANA
#define PARAM5 SKIP_SCAN_AN2 | SKIP_SCAN_AN3 | SKIP_SCAN_AN4 | SKIP_SCAN_AN5 | SKIP_SCAN_AN6 | SKIP_SCAN_AN7 | SKIP_SCAN_AN8 | SKIP_SCAN_AN9 | SKIP_SCAN_AN10 | SKIP_SCAN_AN11 | SKIP_SCAN_AN12 | SKIP_SCAN_AN13 | SKIP_SCAN_AN14 | SKIP_SCAN_AN15
SetChanADC10( ADC_CH0_NEG_SAMPLEA_NVREF | ADC_CH0_POS_SAMPLEA_AN0);
OpenADC10( PARAM1, PARAM2, PARAM3, PARAM4, PARAM5 );
EnableADC10();
//PORT D for motors
mPORTDClearBits(BIT_0 | BIT_1 | BIT_2 | BIT_3 |
BIT_4 | BIT_5 | BIT_6 | BIT_7 |
BIT_8 | BIT_9 | BIT_10 | BIT_11 |
BIT_12 | BIT_13 | BIT_14 | BIT_15); // Turn off PORTD on startup.
mPORTDSetPinsDigitalOut(BIT_0 | BIT_1 | BIT_2 | BIT_3 |
BIT_4 | BIT_5 | BIT_6 | BIT_7 |
BIT_8 | BIT_9 | BIT_10 | BIT_11 |
BIT_12 | BIT_13 | BIT_14 | BIT_15); // Make PORTD output.
// Explorer-16 uses UART2 to connect to the PC.
// This initialization assumes 36MHz Fpb clock. If it changes,
// you will have to modify baud rate initializer.
UARTConfigure(UART2, UART_ENABLE_PINS_TX_RX_ONLY);
UARTSetFifoMode(UART2, UART_INTERRUPT_ON_TX_NOT_FULL | UART_INTERRUPT_ON_RX_NOT_EMPTY);
UARTSetLineControl(UART2, UART_DATA_SIZE_8_BITS | UART_PARITY_NONE | UART_STOP_BITS_1);
UARTSetDataRate(UART2, GetPeripheralClock(), DESIRED_BAUDRATE);
UARTEnable(UART2, UART_ENABLE_FLAGS(UART_PERIPHERAL | UART_RX | UART_TX));
// Configure UART2 RX Interrupt
INTEnable(INT_SOURCE_UART_RX(UART2), INT_ENABLED);
INTSetVectorPriority(INT_VECTOR_UART(UART2), INT_PRIORITY_LEVEL_2);
INTSetVectorSubPriority(INT_VECTOR_UART(UART2), INT_SUB_PRIORITY_LEVEL_0);
// Congifure Change/Notice Interrupt Flag
ConfigIntCN(INTERRUPT);
// configure for multi-vectored mode
INTConfigureSystem(INT_SYSTEM_CONFIG_MULT_VECTOR);
// enable interrupts
INTEnableInterrupts();
WriteString("*** UART Interrupt-driven Example ***\r\n");
unsigned int channel1, channel2;
unsigned int motor1Time, motor2Time;
// Let interrupt handler do the work
while (1) {
while ( ! mAD1GetIntFlag() );
channel1 = ReadADC10(0);
channel2 = ReadADC10(1);
motor1Time = (channel1*(60000)/(1023) + 80000);
motor2Time = (channel2*(60000)/(1023) + 80000);
//maximo valor de motorTime = 140000
//use motor time for stepping delay
if (MotorsON) {
if (M1forward) {
adelante(1, motor1Time, 1);
} else {
atras(1, motor1Time, 1);
}
if (M2forward) {
adelante(1, motor2Time, 3);
} else {
atras(1, motor2Time, 3);
}
}
mAD1ClearIntFlag();
}
return 0;
}