MacroRat / MouseCode

Mouse code for the MacroRat

Dependencies:   ITG3200 QEI

mbed-dev/targets/TARGET_NXP/TARGET_LPC11UXX/analogin_api.c@46:b156ef445742, 2017-06-03 (annotated)

Committer:
sahilmgandhi
Date:
Sat Jun 03 00:22:44 2017 +0000
Revision:
46:b156ef445742
Parent:
18:6a4db94011d3 
Final code for internal battlebot competition.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
sahilmgandhi 18:6a4db94011d3 1 /* mbed Microcontroller Library
sahilmgandhi 18:6a4db94011d3 2 * Copyright (c) 2006-2013 ARM Limited
sahilmgandhi 18:6a4db94011d3 3 *
sahilmgandhi 18:6a4db94011d3 4 * Licensed under the Apache License, Version 2.0 (the "License");
sahilmgandhi 18:6a4db94011d3 5 * you may not use this file except in compliance with the License.
sahilmgandhi 18:6a4db94011d3 6 * You may obtain a copy of the License at
sahilmgandhi 18:6a4db94011d3 7 *
sahilmgandhi 18:6a4db94011d3 8 * http://www.apache.org/licenses/LICENSE-2.0
sahilmgandhi 18:6a4db94011d3 9 *
sahilmgandhi 18:6a4db94011d3 10 * Unless required by applicable law or agreed to in writing, software
sahilmgandhi 18:6a4db94011d3 11 * distributed under the License is distributed on an "AS IS" BASIS,
sahilmgandhi 18:6a4db94011d3 12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
sahilmgandhi 18:6a4db94011d3 13 * See the License for the specific language governing permissions and
sahilmgandhi 18:6a4db94011d3 14 * limitations under the License.
sahilmgandhi 18:6a4db94011d3 15 */
sahilmgandhi 18:6a4db94011d3 16 #include "mbed_assert.h"
sahilmgandhi 18:6a4db94011d3 17 #include "analogin_api.h"
sahilmgandhi 18:6a4db94011d3 18 #include "cmsis.h"
sahilmgandhi 18:6a4db94011d3 19 #include "pinmap.h"
sahilmgandhi 18:6a4db94011d3 20 #include "mbed_error.h"
sahilmgandhi 18:6a4db94011d3 21 #include "PeripheralPins.h" // For the Peripheral to Pin Definitions found in the individual Target's Platform
sahilmgandhi 18:6a4db94011d3 22
sahilmgandhi 18:6a4db94011d3 23 #define ANALOGIN_MEDIAN_FILTER 1
sahilmgandhi 18:6a4db94011d3 24
sahilmgandhi 18:6a4db94011d3 25 #define ADC_10BIT_RANGE 0x3FF
sahilmgandhi 18:6a4db94011d3 26 #define ADC_12BIT_RANGE 0xFFF
sahilmgandhi 18:6a4db94011d3 27
sahilmgandhi 18:6a4db94011d3 28 static inline int div_round_up(int x, int y) {
sahilmgandhi 18:6a4db94011d3 29 return (x + (y - 1)) / y;
sahilmgandhi 18:6a4db94011d3 30 }
sahilmgandhi 18:6a4db94011d3 31
sahilmgandhi 18:6a4db94011d3 32 #define LPC_IOCON0_BASE (LPC_IOCON_BASE)
sahilmgandhi 18:6a4db94011d3 33 #define LPC_IOCON1_BASE (LPC_IOCON_BASE + 0x60)
sahilmgandhi 18:6a4db94011d3 34
sahilmgandhi 18:6a4db94011d3 35 #define ADC_RANGE ADC_10BIT_RANGE
sahilmgandhi 18:6a4db94011d3 36
sahilmgandhi 18:6a4db94011d3 37 void analogin_init(analogin_t *obj, PinName pin) {
sahilmgandhi 18:6a4db94011d3 38 obj->adc = (ADCName)pinmap_peripheral(pin, PinMap_ADC);
sahilmgandhi 18:6a4db94011d3 39 MBED_ASSERT(obj->adc != (ADCName)NC);
sahilmgandhi 18:6a4db94011d3 40
sahilmgandhi 18:6a4db94011d3 41 // Power up ADC
sahilmgandhi 18:6a4db94011d3 42 LPC_SYSCON->PDRUNCFG &= ~ (1 << 4);
sahilmgandhi 18:6a4db94011d3 43 LPC_SYSCON->SYSAHBCLKCTRL |= ((uint32_t)1 << 13);
sahilmgandhi 18:6a4db94011d3 44
sahilmgandhi 18:6a4db94011d3 45 uint32_t pin_number = (uint32_t)pin;
sahilmgandhi 18:6a4db94011d3 46 __IO uint32_t *reg = (pin_number < 32) ? (__IO uint32_t*)(LPC_IOCON0_BASE + 4 * pin_number) : (__IO uint32_t*)(LPC_IOCON1_BASE + 4 * (pin_number - 32));
sahilmgandhi 18:6a4db94011d3 47
sahilmgandhi 18:6a4db94011d3 48 // set pin to ADC mode
sahilmgandhi 18:6a4db94011d3 49 *reg &= ~(1 << 7); // set ADMODE = 0 (analog mode)
sahilmgandhi 18:6a4db94011d3 50
sahilmgandhi 18:6a4db94011d3 51 uint32_t PCLK = SystemCoreClock;
sahilmgandhi 18:6a4db94011d3 52 uint32_t MAX_ADC_CLK = 4500000;
sahilmgandhi 18:6a4db94011d3 53 uint32_t clkdiv = div_round_up(PCLK, MAX_ADC_CLK) - 1;
sahilmgandhi 18:6a4db94011d3 54
sahilmgandhi 18:6a4db94011d3 55 LPC_ADC->CR = (0 << 0) // no channels selected
sahilmgandhi 18:6a4db94011d3 56 | (clkdiv << 8) // max of 4.5MHz
sahilmgandhi 18:6a4db94011d3 57 | (0 << 16) // BURST = 0, software controlled
sahilmgandhi 18:6a4db94011d3 58 | ( 0 << 17 ); // CLKS = 0, not applicable
sahilmgandhi 18:6a4db94011d3 59
sahilmgandhi 18:6a4db94011d3 60 pinmap_pinout(pin, PinMap_ADC);
sahilmgandhi 18:6a4db94011d3 61 }
sahilmgandhi 18:6a4db94011d3 62
sahilmgandhi 18:6a4db94011d3 63 static inline uint32_t adc_read(analogin_t *obj) {
sahilmgandhi 18:6a4db94011d3 64 // Select the appropriate channel and start conversion
sahilmgandhi 18:6a4db94011d3 65 LPC_ADC->CR &= ~0xFF;
sahilmgandhi 18:6a4db94011d3 66 LPC_ADC->CR |= 1 << (int)obj->adc;
sahilmgandhi 18:6a4db94011d3 67 LPC_ADC->CR |= 1 << 24;
sahilmgandhi 18:6a4db94011d3 68
sahilmgandhi 18:6a4db94011d3 69 // Repeatedly get the sample data until DONE bit
sahilmgandhi 18:6a4db94011d3 70 unsigned int data;
sahilmgandhi 18:6a4db94011d3 71 do {
sahilmgandhi 18:6a4db94011d3 72 data = LPC_ADC->GDR;
sahilmgandhi 18:6a4db94011d3 73 } while ((data & ((unsigned int)1 << 31)) == 0);
sahilmgandhi 18:6a4db94011d3 74
sahilmgandhi 18:6a4db94011d3 75 // Stop conversion
sahilmgandhi 18:6a4db94011d3 76 LPC_ADC->CR &= ~(1 << 24);
sahilmgandhi 18:6a4db94011d3 77
sahilmgandhi 18:6a4db94011d3 78 return (data >> 6) & ADC_RANGE; // 10 bit
sahilmgandhi 18:6a4db94011d3 79 }
sahilmgandhi 18:6a4db94011d3 80
sahilmgandhi 18:6a4db94011d3 81 static inline void order(uint32_t *a, uint32_t *b) {
sahilmgandhi 18:6a4db94011d3 82 if (*a > *b) {
sahilmgandhi 18:6a4db94011d3 83 uint32_t t = *a;
sahilmgandhi 18:6a4db94011d3 84 *a = *b;
sahilmgandhi 18:6a4db94011d3 85 *b = t;
sahilmgandhi 18:6a4db94011d3 86 }
sahilmgandhi 18:6a4db94011d3 87 }
sahilmgandhi 18:6a4db94011d3 88
sahilmgandhi 18:6a4db94011d3 89 static inline uint32_t adc_read_u32(analogin_t *obj) {
sahilmgandhi 18:6a4db94011d3 90 uint32_t value;
sahilmgandhi 18:6a4db94011d3 91 #if ANALOGIN_MEDIAN_FILTER
sahilmgandhi 18:6a4db94011d3 92 uint32_t v1 = adc_read(obj);
sahilmgandhi 18:6a4db94011d3 93 uint32_t v2 = adc_read(obj);
sahilmgandhi 18:6a4db94011d3 94 uint32_t v3 = adc_read(obj);
sahilmgandhi 18:6a4db94011d3 95 order(&v1, &v2);
sahilmgandhi 18:6a4db94011d3 96 order(&v2, &v3);
sahilmgandhi 18:6a4db94011d3 97 order(&v1, &v2);
sahilmgandhi 18:6a4db94011d3 98 value = v2;
sahilmgandhi 18:6a4db94011d3 99 #else
sahilmgandhi 18:6a4db94011d3 100 value = adc_read(obj);
sahilmgandhi 18:6a4db94011d3 101 #endif
sahilmgandhi 18:6a4db94011d3 102 return value;
sahilmgandhi 18:6a4db94011d3 103 }
sahilmgandhi 18:6a4db94011d3 104
sahilmgandhi 18:6a4db94011d3 105 uint16_t analogin_read_u16(analogin_t *obj) {
sahilmgandhi 18:6a4db94011d3 106 uint32_t value = adc_read_u32(obj);
sahilmgandhi 18:6a4db94011d3 107
sahilmgandhi 18:6a4db94011d3 108 return (value << 6) | ((value >> 4) & 0x003F); // 10 bit
sahilmgandhi 18:6a4db94011d3 109 }
sahilmgandhi 18:6a4db94011d3 110
sahilmgandhi 18:6a4db94011d3 111 float analogin_read(analogin_t *obj) {
sahilmgandhi 18:6a4db94011d3 112 uint32_t value = adc_read_u32(obj);
sahilmgandhi 18:6a4db94011d3 113 return (float)value * (1.0f / (float)ADC_RANGE);
sahilmgandhi 18:6a4db94011d3 114 }