int main(void) {
int key;
adc_setup();
draw_text();
char temp[5];
while (1) {
for (i = 0; i < 4; i++) {
if (adc_isdone(adcchannels[i]) == 1)
adc_sample(adcchannels[i], 128);
tsample = adc_getsample(adcchannels[i]);
if (! tsample == 0) {
sprintf(temp, "%d", adcchannels[i]);
term_puts(1, i + 4, temp);
sprintf(temp, "%d", adcsmoothing[i]);
term_puts(5, i + 4, temp);
sprintf(temp, "%d", tsample);
term_puts(11, i + 4, temp);
}
}
key = term_getchar(NOWAIT);
if (key != -1) {
if (handle_kbd((int)key))
break;
}
}
term_clrscr();
term_moveto(1, 1);
return 0;
}
void get_measurements(void){
uint32_t usample = 0;
uint32_t gsample = 0;
uint32_t bsample = 0;
int32_t isample = 0;
//Enable lower FETs
#if(HARDWARE_VER == HW_CTRL_REV0)
//This board does not have brake/throttle, but PAS.
for (uint16_t i=0;i<ad_max_samples;i++){
adc_init_single_ended(REF_3V3,ADC_CH_MUXPOS_PIN7_gc); //Bat Voltage.
usample += adc_getsample();
adc_init_differential(REF_3V3,ADC_CH_MUXPOS_PIN8_gc); //Strain Sensor.
gsample += adc_getsample();
adc_init_temperature();//Internal temp
bsample += adc_getsample();
adc_init_differential(REF_3V3,ADC_CH_MUXPOS_PIN0_gc); //Motor current.
isample += (int16_t)adc_getsample();
}
#else
//This board has analog inputs for brake and throttle.
for (uint16_t i=0;i<ad_max_samples;i++){
adc_init_single_ended(REF_3V3,ADC_CH_MUXPOS_PIN7_gc); //Bat Voltage.
usample += adc_getsample();
adc_init_single_ended(REF_3V3,ADC_CH_MUXPOS_PIN3_gc); //Throttle
gsample += adc_getsample();
adc_init_single_ended(REF_3V3,ADC_CH_MUXPOS_PIN2_gc); //Brake
bsample += adc_getsample();
adc_init_differential(REF_3V3,ADC_CH_MUXPOS_PIN11_gc); //Motor current.
isample += (int16_t)adc_getsample();
}
#endif
//Hardware specific inputs.
#if(HARDWARE_VER == HW_CTRL_REV0)
ad_strain = gsample/ad_max_samples;
ad_strain_sum += ad_strain;
ad_temp = bsample/ad_max_samples;
ad_temp_sum += ad_temp;
#else
ad_throttle = gsample/ad_max_samples;
ad_brake = bsample/ad_max_samples;
#endif
}
void get_measurements(void){
uint32_t usample = 0;
#if(HARDWARE_VER != HW_CTRL_REV0)
uint32_t gsample = 0;
#endif
uint32_t bsample = 0;
int32_t isample = 0;
int32_t ssample = 0;
//Enable lower FETs
#if(HARDWARE_VER == HW_CTRL_REV0)
//This board does not have brake/throttle, but a strain.
for (uint16_t i=0;i<ad_max_samples;i++){
adc_init_single_ended(REF_3V3,ADC_CH_MUXPOS_PIN7_gc); //Bat Voltage.
usample += adc_getsample();
adc_init_strain(REF_3V3); //Strain Sensor.
ssample += adc_getsample();
adc_init_temperature();//Internal temp
bsample += adc_getsample();
adc_init_differential(REF_3V3,ADC_CH_MUXPOS_PIN0_gc); //Motor current.
isample += (int16_t)adc_getsample();
}
#else
//This board has analog inputs for brake and throttle.
for (uint16_t i=0;i<ad_max_samples;i++){
adc_init_single_ended(REF_3V3,ADC_CH_MUXPOS_PIN7_gc); //Bat Voltage.
usample += adc_getsample();
adc_init_single_ended(REF_3V3,ADC_CH_MUXPOS_PIN3_gc); //Throttle
gsample += adc_getsample();
adc_init_single_ended(REF_3V3,ADC_CH_MUXPOS_PIN2_gc); //Brake
bsample += adc_getsample();
adc_init_differential(REF_3V3,ADC_CH_MUXPOS_PIN11_gc); //Motor current.
isample += (int16_t)adc_getsample();
}
#endif
//Convert 'em back to 12 bits.
ad_voltage = usample/(uint32_t)ad_max_samples;
ad_current = isample/(int32_t)ad_max_samples;
//Hardware specific inputs.
#if(HARDWARE_VER == HW_CTRL_REV0)
ad_strain = (int32_t)ssample/(int32_t)ad_max_samples;
ad_strain_sum += ad_strain;
ad_temp = bsample/ad_max_samples;
ad_temp_sum += ad_temp;
#else
ad_throttle = gsample/ad_max_samples;
ad_brake = bsample/ad_max_samples;
#endif
//Summing things that need averaging.
meas_cnt++;
ad_voltage_sum += ad_voltage;
ad_current_sum += ad_current;
//Per commutation current.
ad_current_regcnt++;
ad_current_regsum += ad_current;
}
