//***************************************************************************** // // 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 }
//----- 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
}
void init_peripherals()
{
// LED
DDRC |= (1<<2);
// accel pins
lis3l_init();
// UART
uartInit();
uartSetBaudRate(19200);
uartSetFrameFormat(8, 0, 1);
rprintfInit(uartAddToTxBuffer);
cbi(DDRB, 1); // XBee CTS on PB1
// I2C
itg3200_i2cInit(200);
sbi(PORTC, 0); // i2c SCL on ATmega163,323,16,32,etc
sbi(PORTC, 1); // i2c SDA on ATmega163,323,16,32,etc
cbi(TWCR, TWIE); // disable interrupt
// itg3200_i2cSetBitrate(200); // todo, check if if w ecan do 200
// SPI
mySpiInit();
// a2d
a2dInit();
a2dSetReference(ADC_REFERENCE_256V);
a2dSetChannel(7);
cbi(PORTA, 7);
cbi(DDRA, 7);
a2dStartConvert();
_delay_ms(50);
// accel
BOOL accelOkay = lis3l_Reset();
itg3200_init();
// switch xbee to higher baudrate
// rprintfStr("+++");
// _delay_ms(55);
// rprintfStr("ATBD6,CN\r");
}
// 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);
}
void control(void)
{
reset_timer5();
uartFlushReceiveBuffer(1);
a2dSetReference(ADC_REFERENCE_256V);
delay_us(100);
PORT_OFF(PORTB,7);
while(1) {
char read = uart1GetByte();
if(read == 'U') { //Rangefinder only for the Hand! We only have 3 uart ports!
uart0SendByte(0x22); //sends 4 bytes with the command to read distance (0x22)
uart0SendByte(0x00); uart0SendByte(0x00);uart0SendByte(0x22);delay_us(50);
uart0GetByte(); //we don't care about this byte
rprintf("%d\r\n", 255*uart0GetByte() + uart0GetByte());
uart0GetByte(); //we don't care about this byte
} else if(read == 'L') {
rprintf("%d\r\n", 255 - a2dConvert8bit(0));
} else if(read == 'R') {
rprintf("%d\r\n", 255 - a2dConvert8bit(1));
} else if(read == 'D') {
int buff='#';
uart2SendByte('#'); uart2SendByte('o'); uart2SendByte('s');
uart2SendByte('#'); uart2SendByte('f');
delay_ms(60); // Do not change this delay or you'll get in trouble!
while(1) {
buff = uart2GetByte();
if(buff==10 || buff==13 || buff==-1) {
uart1SendByte('\r');
uart1SendByte('\n');
break;
}
uart1SendByte(buff);
}
while((buff=uart2GetByte()) != -1);
} else if(read == 'E') {
int buff='#';
uart3SendByte('#'); uart3SendByte('o'); uart3SendByte('s');
uart3SendByte('#'); uart3SendByte('f');
delay_ms(60); // Do not change this delay or you'll get in trouble!
while(1) {
buff = uart3GetByte();
if(buff==10 || buff==13 || buff==-1) {
uart1SendByte('\r');
uart1SendByte('\n');
break;
}
uart1SendByte(buff);
}
while((buff=uart3GetByte()) != -1);
} else if(read == 'M') {
int buff='#';
uart2SendByte('#'); uart2SendByte('o'); uart2SendByte('t');
uart2SendByte('#'); uart2SendByte('f');
delay_ms(60); // Do not change this delay or you'll get in trouble!
while(1) {
buff = uart2GetByte();
if(buff==10 || buff==13 || buff==-1) {
uart1SendByte('\r');
uart1SendByte('\n');
break;
}
uart1SendByte(buff);
}
while((buff=uart2GetByte()) != -1);
} else if(read == 'N') {
int buff='#';
uart3SendByte('#'); uart3SendByte('o'); uart3SendByte('t');
uart3SendByte('#'); uart3SendByte('f');
delay_ms(60); // Do not change this delay or you'll get in trouble!
while(1) {
buff = uart3GetByte();
if(buff==10 || buff==13 || buff==-1) {
uart1SendByte('\r');
uart1SendByte('\n');
break;
}
uart1SendByte(buff);
}
while((buff=uart3GetByte()) != -1);
} else if(read == 'P') {
PORT_ON(PORTB,6);
} else if(read == 'p') {
PORT_OFF(PORTB,6);
} else if(read == 'Q') {
PORT_ON(PORTB,7);
} else if(read == 'q') {
PORT_OFF(PORTB,7);
} else if(read == 'X') {
PORT_ON(PORTB,4);
} else if(read == 'x') {
PORT_OFF(PORTB,4);
} else if(read == 'Y') {
PORT_ON(PORTB,5);
} else if(read == 'y') {
PORT_OFF(PORTB,5);
}
delay_us(50);
}
}
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();
}
