void adcInit(void)
{
/*
* Note: This function initializes only ADC2, and only for single channel, single conversion mode. No DMA, no interrupts, no bells or whistles.
*/
/* Note that this de-initializes registers for all ADCs (ADCx) */
ADC_DeInit();
/* Define ADC init structures */
ADC_InitTypeDef ADC_InitStructure;
ADC_CommonInitTypeDef ADC_CommonInitStructure;
/* Populates structures with reset values */
ADC_StructInit(&ADC_InitStructure);
ADC_CommonStructInit(&ADC_CommonInitStructure);
/* enable ADC clock */
RCC_APB2PeriphClockCmd(RCC_APB2Periph_ADC2, ENABLE);
/* init ADCs in independent mode, div clock by two */
ADC_CommonInitStructure.ADC_Mode = ADC_Mode_Independent;
ADC_CommonInitStructure.ADC_Prescaler = ADC_Prescaler_Div2; /* HCLK = 168MHz, PCLK2 = 84MHz, ADCCLK = 42MHz (when using ADC_Prescaler_Div2) */
ADC_CommonInitStructure.ADC_DMAAccessMode = ADC_DMAAccessMode_Disabled;
ADC_CommonInitStructure.ADC_TwoSamplingDelay = ADC_TwoSamplingDelay_5Cycles;
ADC_CommonInit(&ADC_CommonInitStructure);
/* Init ADC2: 12bit, single-conversion. For Arduino compatibility set 10bit */
analogReadResolution(12);
/* Enable ADC2 */
ADC_Cmd(ADC2, ENABLE);
}
void setup() {
Serial.begin(115200);
for(int a = 0; a < 12; a++){
pinMode(output[a], OUTPUT);
}
analogReadResolution(10);
}
void FPR_control::set_precision(int pwmBits, int adcBits)
{
_pwmBits = pwmBits;
_adcBits = adcBits;
//ADC and PWM precision
analogWriteResolution(_pwmBits);
analogReadResolution(_adcBits);
}
void LipoSingleCellMonitor::Initialize(uint8_t expectedCells, uint8_t analogReadReso)
{
_debug = false;
_cellsInUse = expectedCells;
_expectedCells = expectedCells;
analogReadResolution(analogReadReso);
analogReference(DEFAULT);
_pins = new int32_t[_MAXCELLS];
_totalVoltage = BufferedSmoothValue<float>(Coefficients::Hamming, 21);
for (int i = 0; i < _MAXCELLS; i++)
{
_pins[i] = i;
_cellVoltages[i] = BufferedSmoothValue<float>(Coefficients::Hamming, 21);
}
}
uint16_t hwCPUVoltage()
{
analogReference(DEFAULT);
analogReadResolution(12);
analogReadAveraging(32);
#if defined(__MK20DX128__) || defined(__MK20DX256__)
// Teensy 3.0/3.1/3.2
return 1195 * 4096 / analogRead(39);
#elif defined(__MK64FX512__) || defined(__MK66FX1M0__)
// Teensy 3.6
return 1195 * 4096 / analogRead(71);
#elif defined(__MKL26Z64__)
// Teensy LC
// not supported
return FUNCTION_NOT_SUPPORTED;
#else
// not supported
return FUNCTION_NOT_SUPPORTED;
#endif
}
void setup()
{
pinMode(IO13, OUTPUT); /* LED fixed on board */
analogReadResolution(10);
analogWriteResolution(8);
#ifdef ENABLE_GROVE_KIT
Wire.begin();
lcd.begin(16,2); /* set LCD to 16 columns, 2 lines */
lcd.setRGB(0x10, 0x10, 0xe0); /* LCD backlight goes blue */
#endif /* ENABLE_GROVE_KIT */
#ifdef ENABLE_BLUEMIX
/* Connect to IBM Watson IoT */
BluemixClient.connect();
#ifndef ENABLE_BLUEMIX_REGISTERED
Serial.println((char *)"Connected to IBM Watson IoT (Quickstart mode)");
#else
Serial.println((char *)"Connected to IBM Watson IoT (Registered mode)");
#endif /* ENABLE_BLUEMIX_REGISTERED */
#endif /* ENABLE_BLUEMIX */
}
////////////////////////////////////////////////////////////////////////////////
// AUDIO
////////////////////////////////////////////////////////////////////////////////
void audioInit() {
pinMode(AUDIO_INPUT_PIN, INPUT);
analogReadResolution(AUDIO_READ_RESOLUTION);
analogReadAveraging(AUDIO_READ_AVERAGING);
}
TeensyUnit::TeensyUnit(): Wire(0),
FPWM_pin {FPWM_1_pin, FPWM_2_pin, FPWM_3_pin, FPWM_4_pin, FPWM_5_pin, FPWM_6_pin},
SPWM_pin {SPWM_1_pin, SPWM_2_pin, SPWM_3_pin, SPWM_4_pin, SPWM_5_pin, SPWM_6_pin},
Analog_pin {Analog_1_pin, Analog_2_pin, Analog_3_pin, Analog_4_pin, Analog_5_pin, Analog_6_pin},
sound0(*this, 0),
sound1(*this, 1),
sound2(*this, 2),
sound3(*this, 3),
sound4(*this, 4),
sound5(*this, 5),
sound{sound0, sound1, sound2, sound3, sound4, sound5}
{
//===============================================
//==== pin initialization ====
//===============================================
uint8_t num_ports = 0;
uint8_t num_pins = 0;
//--- Teensy On-Board ---
pinMode(indicator_led_pin, OUTPUT);
//--- Programming Pin ---
pinMode(PGM_DO_pin, OUTPUT);
//--- FPWM pins ---
num_ports = sizeof(FPWM_pin)/sizeof(FPWM_pin[0]);
for (uint8_t j = 0; j<num_ports; j++){
num_pins = sizeof(FPWM_pin[j])/sizeof(FPWM_pin[j][0]);
for (uint8_t i = 0; i<num_pins; i++){
pinMode(FPWM_pin[j][i], OUTPUT);
}
}
//--- Analogue pins ---
num_ports = sizeof(Analog_pin)/sizeof(Analog_pin[0]);
for (uint8_t j = 0; j<num_ports; j++){
num_pins = sizeof(Analog_pin[j])/sizeof(Analog_pin[j][0]);
for (uint8_t i = 0; i<num_pins; i++){
pinMode(Analog_pin[j][i], INPUT);
}
}
//--- Analogue settings ---
analogReadResolution(12);
analogReadAveraging(32);
analogWriteResolution(8);
analogWriteFrequency(0, 1600);
analogWriteFrequency(1, 1600);
analogWriteFrequency(2, 1600);
//--- Slow PWM driver ----
spwm = PWMDriver(0x40);
//--- Multiplexer pins ---
num_pins = sizeof(I2C_MUL_ADR_pin)/sizeof(I2C_MUL_ADR_pin[0]);
for (uint8_t i = 0; i<num_pins; i++){
pinMode(I2C_MUL_ADR_pin[i], OUTPUT);
}
//--- I2C initialization ----
Wire.begin(I2C_MASTER,0x00, I2C_PINS_18_19, I2C_PULLUP_EXT, I2C_RATE_400);
}
void RealMouse::setup(){
analogReadResolution(12);
digitalWrite(LEDR,LOW);
digitalWrite(LEDG,LOW);
digitalWrite(LEDB,LOW);
digitalWrite(LEDGO,LOW);
digitalWrite(SDCS,LOW);
digitalWrite(BUZZER,LOW);
digitalWrite(IREMITTER1,LOW);
digitalWrite(IREMITTER2,LOW);
digitalWrite(IREMITTER3,LOW);
digitalWrite(IREMITTER4,LOW);
digitalWrite(IREMITTER5,LOW);
digitalWrite(IREMITTER6,LOW);
digitalWrite(VL6180EN1,LOW);
digitalWrite(VL6180EN2,LOW);
digitalWrite(VL6180EN3,LOW);
digitalWrite(VL6180EN4,LOW);
digitalWrite(VL6180EN5,LOW);
digitalWrite(VL6180EN6,LOW);
digitalWrite(MOTOR1A,LOW);
digitalWrite(MOTOR1B,LOW);
digitalWrite(MOTOR2A,LOW);
digitalWrite(MOTOR2B,LOW);
digitalWrite(MOTORDIR1,LOW);
digitalWrite(MOTORDIR2,LOW);
pinMode(IREMITTER1,OUTPUT);
pinMode(IREMITTER2,OUTPUT);
pinMode(IREMITTER3,OUTPUT);
pinMode(IREMITTER4,OUTPUT);
pinMode(IREMITTER5,OUTPUT);
pinMode(IREMITTER6,OUTPUT);
pinMode(IRRECEIVER1,INPUT);
pinMode(IRRECEIVER2,INPUT);
pinMode(IRRECEIVER3,INPUT);
pinMode(IRRECEIVER4,INPUT);
pinMode(IRRECEIVER5,INPUT);
pinMode(IRRECEIVER6,INPUT);
pinMode(BATTERYSENSE,INPUT);
pinMode(VL6180EN1,OUTPUT);
pinMode(VL6180EN2,OUTPUT);
pinMode(VL6180EN3,OUTPUT);
pinMode(VL6180EN4,OUTPUT);
pinMode(VL6180EN5,OUTPUT);
pinMode(VL6180EN6,OUTPUT);
pinMode(ENCODER1A,INPUT);
pinMode(ENCODER1B,INPUT);
pinMode(ENCODER2A,INPUT);
pinMode(ENCODER2B,INPUT);
pinMode(MOTOR1A,OUTPUT);
pinMode(MOTOR1B,OUTPUT);
pinMode(MOTOR2A,OUTPUT);
pinMode(MOTOR2B,OUTPUT);
pinMode(MOTORDIR1,OUTPUT);
pinMode(MOTORDIR2,OUTPUT);
pinMode(LEDR,OUTPUT);
pinMode(LEDG,OUTPUT);
pinMode(LEDB,OUTPUT);
pinMode(LEDGO,OUTPUT);
pinMode(BUTTONGO,INPUT_PULLUP);
pinMode(BUTTON1,INPUT_PULLUP);
pinMode(BUTTON2,INPUT_PULLUP);
pinMode(SDCARDDETECT,INPUT_PULLUP);
pinMode(SDCS,OUTPUT);
pinMode(BUZZER,OUTPUT);
digitalWrite(LEDR,LOW);
digitalWrite(LEDG,LOW);
digitalWrite(LEDB,LOW);
digitalWrite(LEDGO,LOW);
digitalWrite(SDCS,LOW);
digitalWrite(BUZZER,LOW);
digitalWrite(IREMITTER1,LOW);
digitalWrite(IREMITTER2,LOW);
digitalWrite(IREMITTER3,LOW);
digitalWrite(IREMITTER4,LOW);
digitalWrite(IREMITTER5,LOW);
digitalWrite(IREMITTER6,LOW);
digitalWrite(VL6180EN1,LOW);
digitalWrite(VL6180EN2,LOW);
digitalWrite(VL6180EN3,LOW);
digitalWrite(VL6180EN4,LOW);
digitalWrite(VL6180EN5,LOW);
digitalWrite(VL6180EN6,LOW);
digitalWrite(MOTOR1A,LOW);
digitalWrite(MOTOR1B,LOW);
digitalWrite(MOTOR2A,LOW);
digitalWrite(MOTOR2B,LOW);
digitalWrite(MOTORDIR1,LOW);
digitalWrite(MOTORDIR2,LOW);
goButton.attach(BUTTONGO);
goButton.interval(10);
aButton.attach(BUTTON1);
aButton.interval(200);
bButton.attach(BUTTON2);
bButton.interval(200);
//Start I2C library
Wire.begin();
Wire1.begin();
display.clearDisplay();
display.setTextSize(1);
display.setTextColor(WHITE);
display.setCursor(0, 0);
// initialize with the I2C addr 0x3D (for the 128x64)
display.begin(SSD1306_SWITCHCAPVCC, 0x3C);
display.display();
delay(200);
/* Initialise the sensor */
if(!imu.begin())
{
/* There was a problem detecting the BNO055 ... check your connections */
display.print("Ooops, no BNO055 detected ... Check your wiring or I2C ADDR!");
display.display();
exit(0);
}
int left_rangefinder_init_status = left_rangefinder.initMouse();
int middle_rangefinder_init_status = middle_rangefinder.initMouse();
int right_rangefinder_init_status = right_rangefinder.initMouse();
if(left_rangefinder_init_status != 0 || middle_rangefinder_init_status != 0 || right_rangefinder_init_status != 0 ){
display.println("Ooops, rangefinder broken");
display.print(left_rangefinder_init_status);
display.print(middle_rangefinder_init_status);
display.print(right_rangefinder_init_status);
display.display();
exit(0);
}
int range_interval = 20;
left_rangefinder.startRangeContinuous(range_interval);
middle_rangefinder.startRangeContinuous(range_interval);
right_rangefinder.startRangeContinuous(range_interval);
float voltage = analogRead(BATTERYSENSE) * (3.3 / 4095) * (49 / 10.0) / 3.0;
if (voltage < 3.6){
display.clearDisplay();
display.setCursor(0, 0);
display.print("Voltage is too low!");
display.println(voltage);
display.display();
exit(0);
}
Serial.print("voltage :");
Serial.println(voltage);
imu.setExtCrystalUse(true);
motL.setPID(0.09,0.01,0.01,0);
motR.setPID(0.09,0.01,0.01,0);
kc.setSampleTime(20);
kc.setAcceleration(12000,4*M_PI,6000,10*M_PI);
kc.setup();
}
// Public Methods //////////////////////////////////////////////////////////////
void DualMC33926::init()
{
// Define pinMode for the pins and set the frequency for timer1.
pinMode(_M1DIR,OUTPUT);
pinMode(_M1PWM,OUTPUT);
// pinMode(_M1FB,INPUT);
pinMode(_M2DIR,OUTPUT);
pinMode(_M2PWM,OUTPUT);
// pinMode(_M2FB,INPUT);
pinMode(_nD2,OUTPUT);
digitalWrite(_nD2,HIGH); // default to on
pinMode(_nSF,INPUT);
#ifdef __SAM3X8E__ //DUE
analogReadResolution(12); //0-4095
// #undef PWM_FREQUENCY
//#define PWM_FREQUENCY 20000 //20khz
#else //mega
// PWM frequency calculation
// 16MHz / 1 (prescaler) / 2 (phase-correct) / 400 (top) = 20kHz
//TCCR1A = 0b10100000;
// TCCR1B = 0b00010001;
// ICR1 = 400;
// TCCR2A settings
//---------------------------------------------------------------------
// These bits control the Output Compare pin (OC2A) behavior. If one or
// both of the COM2A1:0 bits are set, the OC2A output overrides the
// normal port functionality of the I/O pin it is connected to.
// However, note that the Data Direction Register (DDR) bit
// corresponding to the OC2A pin must be set in order to enable the
// output driver.
// When OC2A is connected to the pin, the function of the COM2A1:0 bits
// depends on the WGM22:0 bit setting.
//
// Fast PWM Mode
// COM2A1 COM2A0
// 0 0 Normal port operation, OC2A disconnected.
// 0 1 WGM22 = 0: Normal Port Operation, OC0A Disconnected.
// WGM22 = 1: Toggle OC2A on Compare Match.
// 1 0 Clear OC2A on Compare Match, set OC2A at BOTTOM
// 1 1 Clear OC2A on Compare Match, clear OC2A at BOTTOM
cbi(TCCR2A,COM2A1);
cbi(TCCR2A,COM2A0);
sbi(TCCR2A,COM2B1);
cbi(TCCR2A,COM2B0);
// Combined with the WGM22 bit found in the TCCR2B Register, these bits
// control the counting sequence of the counter, the source for maximum
// (TOP) counter value, and what type of waveform generation to be used
// Modes of operation supported by the Timer/Counter unit are:
// - Normal mode (counter),
// - Clear Timer on Compare Match (CTC) mode,
// - two types of Pulse Width Modulation (PWM) modes.
//
// Mode WGM22 WGM21 WGM20 Operation TOP
// 0 0 0 0 Normal 0xFF
// 1 0 0 1 PWM 0xFF
// 2 0 1 0 CTC OCRA
// 3 0 1 1 Fast PWM 0xFF
// 4 1 0 0 Reserved -
// 5 1 0 1 PWM OCRA
// 6 1 1 0 Reserved -
// 7 1 1 1 Fast PWM OCRA
cbi(TCCR2B,WGM22);
sbi(TCCR2A,WGM21);
sbi(TCCR2A,WGM20);
//---------------------------------------------------------------------
// TCCR2B settings
//---------------------------------------------------------------------
// The FOC2A bit is only active when the WGM bits specify a non-PWM
// mode.
// However, for ensuring compatibility with future devices, this bit
// must be set to zero when TCCR2B is written when operating in PWM
// mode. When writing a logical one to the FOC2A bit, an immediate
// Compare Match is forced on the Waveform Generation unit. The OC2A
// output is changed according to its COM2A1:0 bits setting. Note that
// the FOC2A bit is implemented as a strobe. Therefore it is the value
// present in the COM2A1:0 bits that determines the effect of the
// forced compare.
// A FOC2A strobe will not generate any interrupt, nor will it clear
// the timer in CTC mode using OCR2A as TOP.
// The FOC2A bit is always read as zero.
cbi(TCCR2B,FOC2A);
cbi(TCCR2B,FOC2B);
// The three Clock Select bits select the clock source to be used by
// the Timer/Counter.
// CS22 CS21 CS20 Prescaler
// 0 0 0 No clock source (Timer/Counter stopped).
// 0 0 1 No prescaling
// 0 1 0 8
// 0 1 1 32
// 1 0 0 64
// 1 0 1 128
// 1 1 0 256
// 1 1 1 1024
cbi(TCCR2B,CS22);
cbi(TCCR2B,CS21);
sbi(TCCR2B,CS20);
#endif
}
