//***************************************************************************** // // File Name : 'a2d.c' // Title : Analog-to-digital converter functions // Author : Pascal Stang - Copyright (C) 2002 // Created : 2002-04-08 // Revised : 2002-09-30 // Version : 1.1 // Target MCU : Atmel AVR series // Editor Tabs : 4 // // Modified by : Markus Joos ([email protected]) // // This code is distributed under the GNU Public License // which can be found at http://www.gnu.org/licenses/gpl.txt //***************************************************************************** #include <avr/io.h> #include <avr/interrupt.h> #include "global.h" #include "a2d.h" // initialize a2d converter //***************/ void a2dInit(void) //Called from sdr.c //***************/ { sbi(ADCSR, ADEN); // enable ADC (turn on ADC power) sbi(ADCSR, ADFR); // free running mode a2dSetPrescaler(ADC_PRESCALE); // set default prescaler a2dSetReference(ADC_REFERENCE_AREF); // set default reference sbi(ADMUX, ADLAR); // set to left-adjusted result }
// Now create any global variables such as motors, servos, sensors etc
// This routine is called once only and allows you to do set up the hardware
// Dont use any 'clock' functions here - use 'delay' functions instead
void appInitHardware(void){
a2dSetPrescaler(ADC_PRESCALE_DIV128);
cyrf6936_Initialise_hard();
// Initialise SPI bus as master. (RF modules connected to hardware SPI)
spiBusInit(&bus, TRUE);
spiDeviceSelect(&cyrf_0, TRUE);
spiDeviceSelect(&cyrf_0, FALSE);
spiDeviceSelect(&cyrf_1, TRUE);
spiDeviceSelect(&cyrf_1, FALSE);
// set I/O pins for RF module(s).
pin_make_input(D4, FALSE); // set PACTL pin to input. (module on connector J1)
pin_make_input(D5, FALSE); // set PACTLn pin to input. (module on connector J1)
pin_make_input(D6, FALSE); // set PACTL pin to input. (module on connector J2)
pin_make_input(D7, FALSE); // set PACTLn pin to input. (module on connector J2)
#ifdef RF_MODULE_ARTAFLEX
//
pin_make_output(D4, FALSE); // set RXPA pin to output. (module on connector J1)
pin_make_output(D5, FALSE); // set TXPA pin to output. (module on connector J1)
pin_make_output(D6, FALSE); // set RXPA pin to output. (module on connector J2)
pin_make_output(D7, FALSE); // set TXPA pin to output. (module on connector J2)
#endif
pin_make_input(E7, TRUE); // set UNIGEN RF module IRQ pin to input. (module on connector J1)
pin_make_input(E6, TRUE); // set UNIGEN RF module IRQ pin to input. (module on connector J2)
pin_make_output(G3, FALSE); // set UNIGEN RF module RST pin to output. (both modules)
//pin_low(G3); // don't reset yet.
// set I/O pins for status LEDs
pin_make_output(C0, TRUE); // set LED pin for output
pin_make_output(C1, TRUE); // set LED pin for output
pin_make_output(C2, FALSE); // set LED pin for output
//pin_high(C0); // LED off
//pin_high(C1); // LED off
//pin_low(C2); // LED on
// Set UART1 to 19200 baud
uartInit(UART1, 38400);
// Tell rprintf to output to UART1
rprintfInit(&uart1SendByte);
// Initialise the servo controller using Hardware PWM
servoPWMInit(&bank1);
// Initialise WatchDog Timer
wdt_enable( WDTO_500MS );
}
//----- Begin Code ------------------------------------------------------------
int main(void)
{
u16 a=0;
u08 i=0;
// initialize our libraries
// initialize the UART (serial port)
uartInit();
// make all rprintf statements use uart for output
rprintfInit(uartSendByte);
// initialize the timer system
timerInit();
// turn on and initialize A/D converter
a2dInit();
// print a little intro message so we know things are working
vt100ClearScreen();
vt100SetCursorPos(1,1);
rprintf("Welcome to the a2d test!\r\n");
// configure a2d port (PORTA) as input
// so we can receive analog signals
DDRA = 0x00;
// make sure pull-up resistors are turned off
PORTA = 0x00;
// set the a2d prescaler (clock division ratio)
// - a lower prescale setting will make the a2d converter go faster
// - a higher setting will make it go slower but the measurements
// will be more accurate
// - other allowed prescale values can be found in a2d.h
a2dSetPrescaler(ADC_PRESCALE_DIV32);
// set the a2d reference
// - the reference is the voltage against which a2d measurements are made
// - other allowed reference values can be found in a2d.h
a2dSetReference(ADC_REFERENCE_AVCC);
// use a2dConvert8bit(channel#) to get an 8bit a2d reading
// use a2dConvert10bit(channel#) to get a 10bit a2d reading
while(1)
{
// sample all a2d channels and print them to the terminal
vt100SetCursorPos(2,1);
for(i=0; i<8; i++)
{
rprintf("Channel %d: %d \r\n", i, a2dConvert8bit(i));
}
// print the sample number so far
rprintf("Sample # : %d \r\n", a++);
}
return 0;
}
// initialize a2d converter
void a2dInit(void)
{
sbi(ADCSR, ADEN); // enable ADC (turn on ADC power)
cbi(ADCSR, ADFR); // default to single sample convert mode
a2dSetPrescaler(ADC_PRESCALE); // set default prescaler
a2dSetReference(ADC_REFERENCE); // set default reference
cbi(ADMUX, ADLAR); // set to right-adjusted result
sbi(ADCSR, ADIE); // enable ADC interrupts
a2dCompleteFlag = FALSE; // clear conversion complete flag
}
// initialize a2d converter
void a2dInit(void)
{
sbi(ADCSR, ADEN); // enable ADC (turn on ADC power)
#ifndef atmega328P
//cbi(PRR,PRADC);
#endif
cbi(ADCSR, ADFR); // default to single sample convert mode
a2dSetPrescaler(ADC_PRESCALE); // set default prescaler
a2dSetReference(ADC_REFERENCE); // set default reference
cbi(ADMUX, ADLAR); // set to right-adjusted result
sbi(ADCSR, ADIE); // enable ADC interrupts
a2dCompleteFlag = FALSE; // clear conversion complete flag
sei(); // turn on interrupts (if not already on)
}
int main(void) {
configure_ports();
a2dInit();
a2dSetPrescaler(ADC_PRESCALE_DIV32);
a2dSetReference(ADC_REFERENCE_AVCC);
init_servos();
LED_on();
neutral();
hold_pos();
while (1) {
move_forward();
// sustain_pos();
}
return 0;
}
void setup() {
uart0Init();
uartSetBaudRate(0, 9600);
rprintfInit(uart0SendByte);
rprintf("$Id$");
// this goes to the switch common
sbi(DDRA, DDA0); // output on PA0
sbi(PORTA, PA0); // take it high
cbi(DDRA, DDA1);
cbi(DDRA, DDA2);
cbi(DDRA, DDA3);
cbi(DDRA, DDA4);
cbi(DDRA, DDA5);
a2dInit();
a2dSetReference(ADC_REFERENCE_AVCC);
a2dSetPrescaler(ADC_PRESCALE_DIV128);
sbi(DDRB, PB3); // output for the LED
sbi(PORTB, PB3);
}
int main(void)
{
/****************INITIALIZATIONS*******************/
//other stuff Im experimenting with for SoR
uartInit(); // initialize the UART (serial port)
uartSetBaudRate(0, 9600); // set UARTE speed, for Bluetooth
uartSetBaudRate(1, 115200); // set UARTD speed, for USB connection, up to 500k, try 115200 if it
uartSetBaudRate(2, 57600); // set UARTH speed
uartSetBaudRate(3, 57600); // set UARTJ speed, for Blackfin
//G=Ground, T=Tx (connect to external Rx), R=Rx (connect to external Tx)
// initialize rprintf system and configure uart1 (USB) for rprintf
rprintfInit(uart1SendByte);
configure_ports(); // configure which ports are analog, digital, etc.
LED_on();
rprintf("\r\nSystem Warming Up");
// initialize the timer system (comment out ones you don't want)
init_timer0(TIMER_CLK_1024);
init_timer1(TIMER_CLK_64);
init_timer2(TIMER2_CLK_64);
init_timer3(TIMER_CLK_64);
init_timer4(TIMER_CLK_64);
init_timer5(TIMER_CLK_1024);
//timer5Init();
a2dInit(); // initialize analog to digital converter (ADC)
a2dSetPrescaler(ADC_PRESCALE_DIV32); // configure ADC scaling
a2dSetReference(ADC_REFERENCE_AVCC); // configure ADC reference voltage
int i = 0, j = 0;
//let system stabelize for X time
for(i=0;i<16;i++)
{
j=a2dConvert8bit(i);//read each ADC once to get it working accurately
delay_cycles(5000); //keep LED on long enough to see Axon reseting
rprintf(".");
}
LED_off();
rprintf("Initialization Complete \r\n");
reset_timer0();
reset_timer1();
reset_timer2();
reset_timer3();
reset_timer4();
reset_timer5();
while(1)
{
control();
delay_cycles(100);
//an optional small delay to prevent crazy oscillations
}
return 0;
}
void prvSetupHardware(){
int i, j;
//add 1.7s delay for potential power issues
delay_cycles(65535);
delay_cycles(65535);
delay_cycles(65535);
delay_cycles(65535);
delay_cycles(65535);
delay_cycles(65535);
delay_cycles(65535);
uartInit(); // initialize the UART (serial port)
uartSetBaudRate(0, 38400); // set UARTE speed, for Bluetooth
uartSetBaudRate(1, 115200); // set UARTD speed, for USB connection, up to 500k, try 115200 if it doesn't work
uartSetBaudRate(2, 38400); // set UARTH speed
uartSetBaudRate(3, 38400); // set UARTJ speed, for Blackfin
//G=Ground, T=Tx (connect to external Rx), R=Rx (connect to external Tx)
rprintfInit(uart1SendByte);// initialize rprintf system and configure uart1 (USB) for rprintf
configure_ports(); // configure which ports are analog, digital, etc.
LED_on();
//rprintf("\r\nSystem Warmed Up");
// initialize the timer system
init_timer0(TIMER_CLK_1024);
// init_timer1(TIMER_CLK_64); // Timer 1 is initialized by FreeRTOS
init_timer2(TIMER2_CLK_64);
init_timer3(TIMER_CLK_64);
init_timer4(TIMER_CLK_64);
init_timer5(TIMER_CLK_64);
a2dInit(); // initialize analog to digital converter (ADC)
a2dSetPrescaler(ADC_PRESCALE_DIV32); // configure ADC scaling
a2dSetReference(ADC_REFERENCE_AVCC); // configure ADC reference voltage
//let system stabelize for X time
for(i=0;i<16;i++)
{
j=a2dConvert8bit(i);//read each ADC once to get it working accurately
delay_cycles(5000); //keep LED on long enough to see Axon reseting
rprintf(".");
}
LED_off();
rprintf("Initialization Complete \r\n");
//reset all timers to zero
reset_timer0();
reset_timer1();
reset_timer2();
reset_timer3();
reset_timer4();
reset_timer5();
/********PWM Setup***********/
prvPWMSetup();
}
