mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-06-02 21:37:24 +08:00
Antoine Drouin
167 lines
3.7 KiB
C
167 lines
3.7 KiB
C
/*
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* Paparazzi AVR adc functions
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*
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* Copyright (C) 2006 Pascal Brisset, Antoine Drouin, Michel Gorraz
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*
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* This file is part of paparazzi.
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*
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* paparazzi is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 2, or (at your option)
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* any later version.
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*
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* paparazzi is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with paparazzi; see the file COPYING. If not, write to
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* the Free Software Foundation, 59 Temple Place - Suite 330,
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* Boston, MA 02111-1307, USA.
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*
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*/
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//// ADC3 MVSUP
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//// ADC6 MVSERVO
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#include <avr/signal.h>
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#include <avr/interrupt.h>
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#include <avr/io.h>
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#include "adc.h"
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#include "std.h"
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static struct adc_buf* buffers[NB_ADC];
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void adc_buf_channel(uint8_t adc_channel, struct adc_buf* s, uint8_t av_nb_sample) {
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buffers[adc_channel] = s;
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s->av_nb_sample = av_nb_sample;
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}
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/************************************************************************/
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#if defined (__AVR_ATmega8__)
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#define VOLTAGE_TIME 0x07
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#define ANALOG_PORT PORTC
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#define ANALOG_PORT_DIR DDRC
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#ifdef IMU_ANALOG
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#define ANALOG_VREF _BV(REFS0)
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#else
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#define ANALOG_VREF _BV(REFS0) | _BV(REFS1)
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#endif
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/**
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* Called when the voltage conversion is finished
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*
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* 8.913kHz on mega128 16MHz 1kHz/channel ??
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*/
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SIGNAL( SIG_ADC )
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{
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uint8_t adc_input = ADMUX & 0x7;
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struct adc_buf* buf = buffers[adc_input];
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uint16_t adc_value = ADCW;
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if (buf) {
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uint8_t new_head = buf->head + 1;
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if (new_head >= buf->av_nb_sample) new_head = 0;
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buf->sum -= buf->values[new_head];
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buf->values[new_head] = adc_value;
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buf->sum += adc_value;
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buf->head = new_head;
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}
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/* Find the next input */
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adc_input++;
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if (adc_input == 4)
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adc_input = 6; // ADC 4 and 5 for i2c
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if( adc_input >= 8 ) {
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adc_input = 0;
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#ifdef CTL_BRD_V1_2
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adc_input = 1; // WARNING ADC0 is for rservo driver reset on v1.2.0
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#endif /* CTL_BRD_V1_2 */
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}
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/* Select it */
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ADMUX = adc_input | ANALOG_VREF;
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/* Restart the conversion */
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sbi( ADCSR, ADSC );
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}
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#endif /* (__AVR_ATmega8__) */
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/************************************************************************/
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#if defined (__AVR_ATmega128__)
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#define VOLTAGE_TIME 0x07
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#define ANALOG_PORT PORTF
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#define ANALOG_PORT_DIR DDRF
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#define ANALOG_VREF _BV(REFS0)
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/**
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* Called when the voltage conversion is finished
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*
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* 8.913kHz on mega128 16MHz 1kHz/channel ??
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*/
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SIGNAL( SIG_ADC )
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{
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uint8_t adc_input = ADMUX & 0x7;
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struct adc_buf* buf = buffers[adc_input];
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uint16_t adc_value = ADCW;
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if (buf) {
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uint8_t new_head = buf->head + 1;
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if (new_head >= buf->av_nb_sample) new_head = 0;
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buf->sum -= buf->values[new_head];
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buf->values[new_head] = adc_value;
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buf->sum += adc_value;
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buf->head = new_head;
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}
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/* Find the next input */
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adc_input++;
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if( adc_input >= 8 )
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adc_input = 0;
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/* Select it */
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ADMUX = adc_input | ANALOG_VREF;
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/* Restart the conversion */
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sbi( ADCSR, ADSC );
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}
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#endif /* (__AVR_ATmega128__) */
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void adc_init( void ) {
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uint8_t i;
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/* Ensure that our port is for input with no pull-ups */
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ANALOG_PORT = 0x00;
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ANALOG_PORT_DIR = 0x00;
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/* Select our external voltage ref */
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ADMUX = ANALOG_VREF;
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/* Select out clock, turn on the ADC interrupt and start conversion */
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ADCSRA = 0
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| VOLTAGE_TIME
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| _BV(ADEN )
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| _BV(ADIE )
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| _BV(ADSC );
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/* Init to 0 (usefull ?) */
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for(i = 0; i < NB_ADC; i++)
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buffers[i] = (struct adc_buf*)0;
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}
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