/**
* \brief Measures and enables offset and gain corrections
*/
static void main_adc_correction(void)
{
/* ADC channel configuration structure */
struct adc_channel_config adcch_conf;
uint16_t offset_correction;
/* Expected value for gain correction at 1.9V
* expected_value = Max. range * 1.9V / (VCC / 1.6)
* Max. range = 12 bits signed = 11 bits unsigned
*/
const uint16_t expected_value
= ((1 << 11) * 1900UL) / (3300L * 1000L / 1600L);
/* Captured value for gain correction */
uint16_t captured_value;
/* DAC Output 0 Volt */
main_dac_output(0);
/* Capture value for 0 Volt */
adc_wait_for_interrupt_flag(&ADCA, ADC_CH0);
adc_wait_for_interrupt_flag(&ADCA, ADC_CH0);
offset_correction = adc_get_unsigned_result(&ADCA, ADC_CH0);
/* Enable offset correction */
adcch_read_configuration(&ADCA, ADC_CH0, &adcch_conf);
adcch_enable_correction(&adcch_conf, offset_correction, 1, 1);
adcch_write_configuration(&ADCA, ADC_CH0, &adcch_conf);
/* DAC Output 1.9 Volts */
main_dac_output(1900);
/* Capture value for 1.9 Volts */
adc_wait_for_interrupt_flag(&ADCA, ADC_CH0);
adc_wait_for_interrupt_flag(&ADCA, ADC_CH0);
captured_value = adc_get_unsigned_result(&ADCA, ADC_CH0);
/* Enable offset & gain correction */
adcch_enable_correction(&adcch_conf, offset_correction, expected_value,
captured_value);
adcch_write_configuration(&ADCA, ADC_CH0, &adcch_conf);
printf("\n\rADC correction: ");
printf("Offset correction %d, ", offset_correction);
if (expected_value > captured_value) {
printf("Gain correction 1.%03u\n\r\n\r", (uint16_t)
((((uint32_t)expected_value - captured_value)
* 1000) / captured_value));
} else {
printf("Gain correction 0.%03u\n\r\n\r", (uint16_t)
(((uint32_t)expected_value
* 1000) / captured_value));
}
}
/**
* \brief Reads a 16-bit analog value on ADC channel 0 and returns it.
*
* In this application CH0 is set up to read the analog voltage from
* a simulated thermometer.
*
* \return Temperature of the induction element.
*/
uint16_t ovenctl_get_plate_temperature(void)
{
adc_start_conversion(&ADCA, ADC_CH0);
adc_wait_for_interrupt_flag(&ADCA, ADC_CH0);
return adc_get_unsigned_result(&ADCA, ADC_CH0) / 4;
}
/**
* \brief Captures a values on ADC
*
* \return value on ADC pins (mV)
*/
static uint16_t main_adc_input(void)
{
uint16_t sample;
adc_start_conversion(&ADCA, ADC_CH0);
adc_wait_for_interrupt_flag(&ADCA, ADC_CH0);
sample = adc_get_unsigned_result(&ADCA, ADC_CH0);
/* Conversion sample to mV :
* mV = sample * (VCC / 1.6) / Max. range
*/
return ((uint32_t)sample * (3300L * 1000L / 1600L)) / (1 << 12);
}
uint16_t adcReadX()
{
PORTA_DIR = 0b00110001;
PORTA_OUT = 0b00010001;
delay_ms(10);
adc_start_conversion(&ADCA, 1);
delay_ms(10);
uint16_t pos = adc_get_unsigned_result(&ADCA, 1);
PORTA_DIR = 0;
return pos;
}
int main(void)
{
const usart_serial_options_t usart_serial_options = {
.baudrate = CONF_TEST_BAUDRATE,
.charlength = CONF_TEST_CHARLENGTH,
.paritytype = CONF_TEST_PARITY,
.stopbits = CONF_TEST_STOPBITS,
};
/* Usual initializations */
board_init();
sysclk_init();
sleepmgr_init();
irq_initialize_vectors();
cpu_irq_enable();
stdio_serial_init(CONF_TEST_USART, &usart_serial_options);
printf("\x0C\n\r-- ADC Averaging Example --\n\r");
printf("-- Compiled: %s %s --\n\r\n\r", __DATE__, __TIME__);
printf("Commands:\n\r");
printf("- key 'a' to enable averaging\n\r");
printf("- key 'd' to disable averaging\n\r");
/* ADC initialization */
main_adc_init();
main_adc_averaging_stop();
while (1) {
if (usart_rx_is_complete(CONF_TEST_USART)) {
char key = getchar();
if (key == 'a') {
main_adc_averaging_start();
}
if (key == 'd') {
main_adc_averaging_stop();
}
}
/* Wait sample with or without average */
uint16_t sample;
adc_wait_for_interrupt_flag(&ADCA, ADC_CH0);
sample = adc_get_unsigned_result(&ADCA, ADC_CH0);
printf("ADC Value: %4u\r", sample);
}
}
bool adcCheck()
{
uint16_t threashold = 500; // around 200 is a sensible value
PORTA_DIR = 0b11000001;
PORTA_OUT = 0b11000001;
// set pulldown on pin 4
PORTA.PIN4CTRL = PORT_OPC_PULLDOWN_gc;
adc_start_conversion(&ADCA, 2); // measure if
delay_ms(10);
uint16_t value = adc_get_unsigned_result(&ADCA, 2);
PORTA.PIN4CTRL = 0;
if(value > threashold) return false;
return true;
}
int main(void)
{
const usart_serial_options_t usart_serial_options = {
.baudrate = CONF_TEST_BAUDRATE,
.charlength = CONF_TEST_CHARLENGTH,
.paritytype = CONF_TEST_PARITY,
.stopbits = CONF_TEST_STOPBITS,
};
char binary[16 + 1];
uint8_t i;
bool oversampling_is_enabled;
/* Usual initializations */
board_init();
sysclk_init();
sleepmgr_init();
irq_initialize_vectors();
cpu_irq_enable();
stdio_serial_init(CONF_TEST_USART, &usart_serial_options);
printf("\x0C\n\r-- ADC Over-sampling Example --\n\r");
printf("-- Compiled: %s %s --\n\r\n\r", __DATE__, __TIME__);
printf("Commands:\n\r");
printf("- key 'o' to enable over-sampling\n\r");
printf("- key 'd' to disable over-sampling\n\r");
/* ADC initializations */
main_adc_init();
main_adc_oversampling_stop();
oversampling_is_enabled = false;
while (1) {
if (usart_rx_is_complete(CONF_TEST_USART)) {
char key = getchar();
if (key == 'o') {
main_adc_oversampling_start();
oversampling_is_enabled = true;
}
if (key == 'd') {
main_adc_oversampling_stop();
oversampling_is_enabled = false;
}
}
/* Wait sample with or without over-sampling */
uint16_t sample;
adc_wait_for_interrupt_flag(&ADCA, ADC_CH0);
sample = adc_get_unsigned_result(&ADCA, ADC_CH0);
if (!oversampling_is_enabled) {
sample <<= 4;
}
i = 15;
do {
binary[i] = '0' + (sample & 1);
sample >>= 1;
} while (i--);
binary[16] = 0;
printf("ADC Value: %sb\r", binary);
}
}
/**
* \brief Measures and enables offset and gain corrections
*/
static void main_adc_correction_start(void)
{
/* ADC channel configuration structure */
struct adc_channel_config adcch_conf;
static bool correction_measures_done = false;
static uint16_t offset_correction;
/* Expected value for gain correction at 1.9V
* expected_value = Max. range (12 bits unsigned) * 1.9V / (VCC / 1.6)
*/
const uint16_t expected_value
= ((1 << 12) * 1900UL) / (3300L * 1000L / 1600L);
/* Captured value for gain correction */
static uint16_t captured_value;
if (correction_measures_done) {
goto main_adc_correction_enable;
}
printf("\n\r*Measure offset correction\n\r");
printf("Set PA0 pin to GND and press a key to trigge measurement.\n\r");
printf("Warning on STK600: Remove AREF0 jumper to do it.\n\r");
getchar();
/* Capture value for 0 Volt */
adc_start_conversion(&ADCA, ADC_CH0);
adc_wait_for_interrupt_flag(&ADCA, ADC_CH0);
offset_correction = adc_get_unsigned_result(&ADCA, ADC_CH0);
/* Enable offset correction */
adcch_read_configuration(&ADCA, ADC_CH0, &adcch_conf);
adcch_enable_correction(&adcch_conf, offset_correction, 1, 1);
adcch_write_configuration(&ADCA, ADC_CH0, &adcch_conf);
printf("*Measure Gain correction\n\r");
printf("Set PA0 pin to 1.9 Volt");
printf(" and press a key to trigge measurement.\r\n");
printf("Reminder on STK600: Set AREF0 jumper to do it.\n\r");
getchar();
/* Capture value for 1.9 Volts */
adc_start_conversion(&ADCA, ADC_CH0);
adc_wait_for_interrupt_flag(&ADCA, ADC_CH0);
captured_value = adc_get_unsigned_result(&ADCA, ADC_CH0);
correction_measures_done = true;
main_adc_correction_enable:
/* Enable offset & gain correction */
adcch_read_configuration(&ADCA, ADC_CH0, &adcch_conf);
adcch_enable_correction(&adcch_conf, offset_correction, expected_value,
captured_value);
adcch_write_configuration(&ADCA, ADC_CH0, &adcch_conf);
printf("\n\r* ADC correction enabled: ");
printf("Offset correction %d, ", offset_correction);
if (expected_value > captured_value) {
printf("Gain correction 1.%03u\n\r", (uint16_t)
((((uint32_t)expected_value - captured_value)
* 1000) / captured_value));
} else {
printf("Gain correction 0.%03u\n\r", (uint16_t)
(((uint32_t)expected_value
* 1000) / captured_value));
}
}
/**
* \internal
* \brief Test correction conversion in 12-bit mode using the DAC
*
* These values are then measured using the ADC on the pins that are connected
* to the DAC channel, and the results are compared and checked to see if they
* are within the acceptable range of values that passes the test.
*
* \param test Current test case.
*/
static void run_correction_conversion_test(
const struct test_case *test)
{
int16_t volt_output;
int16_t volt_input;
uint16_t error;
/** Measures and enables offset and gain corrections */
/* ADC channel configuration structure */
struct adc_channel_config adcch_conf;
uint16_t offset_correction;
/* Expected value for gain correction at 1.9V
* expected_value = Max. range * 1.9V / (VCC / 1.6)
* Max. range = 12 bits signed = 11 bits unsigned
*/
const uint16_t expected_value
= ((1 << 11) * 1900UL) / (3300L * 1000L / 1600L);
/* Captured value for gain correction */
uint16_t captured_value;
/* DAC Output 0 Volt */
main_dac_output(0);
/* Capture value for 0 Volt */
adc_wait_for_interrupt_flag(&ADCA, ADC_CH0);
adc_wait_for_interrupt_flag(&ADCA, ADC_CH0);
offset_correction = adc_get_unsigned_result(&ADCA, ADC_CH0);
/* Enable offset correction */
adcch_read_configuration(&ADCA, ADC_CH0, &adcch_conf);
adcch_enable_correction(&adcch_conf, offset_correction, 1, 1);
adcch_write_configuration(&ADCA, ADC_CH0, &adcch_conf);
/* DAC Output 1.9 Volts */
main_dac_output(1900);
/* Capture value for 1.9 Volts */
adc_wait_for_interrupt_flag(&ADCA, ADC_CH0);
adc_wait_for_interrupt_flag(&ADCA, ADC_CH0);
captured_value = adc_get_unsigned_result(&ADCA, ADC_CH0);
/* Enable offset & gain correction */
adcch_enable_correction(&adcch_conf, offset_correction, expected_value,
captured_value);
adcch_write_configuration(&ADCA, ADC_CH0, &adcch_conf);
/* Check values */
for (volt_output = -CONV_MAX_VOLTAGE;
volt_output <= CONV_MAX_VOLTAGE;
volt_output += CONV_VOLTAGE_STEP) {
main_dac_output(volt_output);
volt_input = main_adc_input();
if (volt_output > volt_input) {
error = volt_output - volt_input;
} else {
error = volt_input - volt_output;
}
test_assert_true(test,
error < CONF_TEST_ACCEPT_DELTA_CORRECTION,
"ADC result is outside acceptable range (expected %d, captured %d)",
volt_output, volt_input);
}
}
int main(void)
{
board_init();
sysclk_init();
adc_init();
//Offset is stored in EEPROM
int adc_offset = 0;
if (nvm_eeprom_read_byte(EEPROM_ADDR_ID) == EEPROM_ID){
adc_offset = nvm_eeprom_read_byte(EEPROM_ADDR_OFFSET_POS) - nvm_eeprom_read_byte(EEPROM_ADDR_OFFSET_NEG);
}
PORTE_DIRSET = MASK_DIGIT012;
PORTD_DIRSET = 0xFF;
int32_t i = 0;
uint8_t disp = 0;
uint8_t adccnt = 0;
unsigned int adc_readings[AVG_READINGS];
//Setup ADC hardware
adc_init();
//Main loop...measure VCC-INT
while(1){
// Vref = 2.048V
// 4096 count ADC (12-bit)
// 2.048V / 4096count = 0.0005 V/Count
// We want i to be result in mV
// = 0.5 mV/count
//So divide count by 2 to get mV reading
if (adccnt < AVG_READINGS){
adc_readings[adccnt] = adc_get_unsigned_result(&MY_ADC, MY_ADC_CH);
if (adc_readings[adccnt] < 0){
adc_readings[adccnt] = 0;
}
adccnt++;
} else {
int32_t adctemp = 0;
for (adccnt = 0; adccnt < AVG_READINGS; adccnt++){
adctemp += (int32_t)(adc_readings[adccnt] + adc_offset);
}
i = adctemp / AVG_READINGS;
//Limit negative values to 0
//i = i - 2048;
if (i < 0) i = 0;
i = i / 2;
adccnt = 0;
}
//Switch between mV and V ranges
if (i > 999){
if (disp == 0){
display((i / 10)%10, 0, 2);
_delay_ms(2);
} else if (disp == 1){
display((i / 100) % 10, 0, 1);
_delay_ms(2);
} else {
display(i / 1000, 1, 0);
_delay_ms(2);
}
} else {
if (disp == 0){
display(i % 10, 0, 2);
_delay_ms(2);
} else if (disp == 1){
display((i / 10) % 10, 0, 1);
_delay_ms(2);
} else {
display(i / 100, 0, 0);
_delay_ms(2);
}
}
disp++;
if (disp > 2){
disp = 0;
}
adc_start_conversion(&MY_ADC, MY_ADC_CH);
}
}
int main (void)
{
En_RC32M();
//Enable LowLevel & HighLevel Interrupts
PMIC_CTRL |= PMIC_HILVLEN_bm | PMIC_LOLVLEN_bm |PMIC_MEDLVLEN_bm;
PORT_init();
TimerD0_init();
TimerC0_init();
TimerE1_init();
USARTE0_init();
ADCA_init();
//wdt_enable();
// Globally enable interrupts
sei();
//Address[0]=Address[0] + RobotID ;
//// NRF Initialize
NRF_init () ;
while(1)
{
asm("wdr");
// BUZZER
//adc = adc +(adc_get_unsigned_result(&ADCA,ADC_CH0)-adc)*0.01;
adc = adc_get_unsigned_result(&ADCA,ADC_CH0);
if (adc<=2250)//10 volt
Buzzer_PORT.OUTSET = Buzzer_PIN_bm;
else if(shoot_alarm_flg && (charge_count>=30000))
Buzzer_PORT.OUTSET = Buzzer_PIN_bm;
else
Buzzer_PORT.OUTCLR = Buzzer_PIN_bm;
//SHOOT
PORTC_OUTCLR=KCK_SH_PIN_bm;
if((KCK_Ch_Limit_PORT.IN & KCK_Ch_Limit_PIN_bm)>>KCK_Ch_Limit_PIN_bp)
{
full_charge=1;
tc_disable_cc_channels(&TCC0,TC_CCDEN);
charge_count=0;
}
else
{
if((flg || flg_sw)==0)
{
tc_enable_cc_channels(&TCC0,TC_CCDEN);
}
}
if (charge_flg)//full_charge
{
if (Robot_D[RobotID].KCK )
{
if( KCK_Sens || (Robot_D[RobotID].KCK%2))
{
flg = 1;
}
}
}
if (KCK_DSH_SW)//bazi vaghta begir nagir dare
{
flg_sw = 1;
}
if (free_wheel >= 500 )
{
NRF_init();
}
if(KCK_Sens)
LED_Green_PORT.OUTSET = LED_Green_PIN_bm;
else
LED_Green_PORT.OUTCLR = LED_Green_PIN_bm;
// //motor test
//switch(flag2sec)
//{ case 200:
//// M.Setpoint=1000;
//Robot_D[RobotID].M0b = 0xE8;//low
//Robot_D[RobotID].M0a = 0X03;//high
//break;
//
//case 400:
////M.Setpoint=2000;
//Robot_D[RobotID].M0b = 0xD0;//low
//Robot_D[RobotID].M0a = 0X07;//high
//break;
//
//case 600:
////M.Setpoint=500;
//Robot_D[RobotID].M0b = 0xF4;//low
//Robot_D[RobotID].M0a = 0X01;//high
//break;
//
//case 800:
////M.Setpoint=4000;
//Robot_D[RobotID].M0b = 0xA0;//low
//Robot_D[RobotID].M0a = 0X0F;//high
//break;
//
//case 1000:
////M.Setpoint=1000;
//Robot_D[RobotID].M0b = 0xE8;//low
//Robot_D[RobotID].M0a = 0X03;//high
//break;
//
//case 1200:
////M.Setpoint=500;
//Robot_D[RobotID].M0b = 0xF4;//low
//Robot_D[RobotID].M0a = 0X01;//high
//break;
//
//case 1400:
////M.Setpoint=-500;
//Robot_D[RobotID].M0b = 0x0C;//low
//Robot_D[RobotID].M0a = 0XFE;//high
//break;
//
//case 1600:
////M.Setpoint=400;
//Robot_D[RobotID].M0b = 0x90;//low
//Robot_D[RobotID].M0a = 0X01;//high
//break;
//
//case 1800:
////M.Setpoint=350;
//Robot_D[RobotID].M0b = 0x5E;//low
//Robot_D[RobotID].M0a = 0X01;//high
//break;
//
//case 2000:
////M.Setpoint=340;
//Robot_D[RobotID].M0b = 0x54;//low
//Robot_D[RobotID].M0a = 0X01;//high
//break;
//
//case 2200:
////M.Setpoint=330;
//Robot_D[RobotID].M0b = 0x4A;//low
//Robot_D[RobotID].M0a = 0X01;//high
//break;
//
//case 2600:
////M.Setpoint=100;
//Robot_D[RobotID].M0b = 0x64;//low
//Robot_D[RobotID].M0a = 0X00;//high
//break;
//
//case 2800:
////M.Setpoint=50;
//Robot_D[RobotID].M0b = 0x32;//low
//Robot_D[RobotID].M0a = 0X00;//high
//break;
//
//case 3000:
////M.Setpoint=1000;
//Robot_D[RobotID].M0b = 0xE8;//low
//Robot_D[RobotID].M0a = 0X03;//high
//break;
//
//case 3200:
////M.Setpoint=-50;
//Robot_D[RobotID].M0b = 0xCE;//low
//Robot_D[RobotID].M0a = 0XFF;//high
//flag2sec=0;
//break;
//
//}
//Robot_D[RobotID].M0b = 0xD0;//0X18;//-1000//01;//low37121
//Robot_D[RobotID].M0a = 0x07;//0XFC;//high
//Robot_D[RobotID].M1b = 0XE8;//2000//ghalat17325
//Robot_D[RobotID].M1a = 0X03;
//Robot_D[RobotID].M2b = 0XDC;//1000//low13703
//Robot_D[RobotID].M2a = 0X05;//high
//Robot_D[RobotID].M3b = 0xF4;//3000//32;//ghalat30258
//Robot_D[RobotID].M3a = 0X01;//76;
////SEND TEST DATA TO FT232
//char str1[20];
//uint8_t count1 = sprintf(str1,"%d\r",adc);
//
//for (uint8_t i=0;i<count1;i++)
//{
//usart_putchar(&USARTE0,str1[i]);
//
//}
//usart_putchar(&USARTE0,'a');
}
