MacroRat / MouseCode

Mouse code for the MacroRat

Dependencies:   ITG3200 QEI

mbed-dev/targets/TARGET_NXP/TARGET_LPC408X/TARGET_LPC4088_DM/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
sahilmgandhi 18:6a4db94011d3 22 #define ANALOGIN_MEDIAN_FILTER 1
sahilmgandhi 18:6a4db94011d3 23
sahilmgandhi 18:6a4db94011d3 24 #define ADC_10BIT_RANGE 0x3FF
sahilmgandhi 18:6a4db94011d3 25 #define ADC_12BIT_RANGE 0xFFF
sahilmgandhi 18:6a4db94011d3 26
sahilmgandhi 18:6a4db94011d3 27 static inline int div_round_up(int x, int y) {
sahilmgandhi 18:6a4db94011d3 28 return (x + (y - 1)) / y;
sahilmgandhi 18:6a4db94011d3 29 }
sahilmgandhi 18:6a4db94011d3 30
sahilmgandhi 18:6a4db94011d3 31 static const PinMap PinMap_ADC[] = {
sahilmgandhi 18:6a4db94011d3 32 {P0_25, ADC0_2, 0x01},
sahilmgandhi 18:6a4db94011d3 33 {P0_26, ADC0_3, 0x01},
sahilmgandhi 18:6a4db94011d3 34 {NC , NC , 0 }
sahilmgandhi 18:6a4db94011d3 35 };
sahilmgandhi 18:6a4db94011d3 36
sahilmgandhi 18:6a4db94011d3 37 #define ADC_RANGE ADC_12BIT_RANGE
sahilmgandhi 18:6a4db94011d3 38
sahilmgandhi 18:6a4db94011d3 39 void analogin_init(analogin_t *obj, PinName pin) {
sahilmgandhi 18:6a4db94011d3 40 obj->adc = (ADCName)pinmap_peripheral(pin, PinMap_ADC);
sahilmgandhi 18:6a4db94011d3 41 MBED_ASSERT(obj->adc != (ADCName)NC);
sahilmgandhi 18:6a4db94011d3 42
sahilmgandhi 18:6a4db94011d3 43 // ensure power is turned on
sahilmgandhi 18:6a4db94011d3 44 LPC_SC->PCONP |= (1 << 12);
sahilmgandhi 18:6a4db94011d3 45
sahilmgandhi 18:6a4db94011d3 46 uint32_t PCLK = PeripheralClock;
sahilmgandhi 18:6a4db94011d3 47
sahilmgandhi 18:6a4db94011d3 48 // calculate minimum clock divider
sahilmgandhi 18:6a4db94011d3 49 // clkdiv = divider - 1
sahilmgandhi 18:6a4db94011d3 50 uint32_t MAX_ADC_CLK = 12400000;
sahilmgandhi 18:6a4db94011d3 51 uint32_t clkdiv = div_round_up(PCLK, MAX_ADC_CLK) - 1;
sahilmgandhi 18:6a4db94011d3 52
sahilmgandhi 18:6a4db94011d3 53 // Set the generic software-controlled ADC settings
sahilmgandhi 18:6a4db94011d3 54 LPC_ADC->CR = (0 << 0) // SEL: 0 = no channels selected
sahilmgandhi 18:6a4db94011d3 55 | (clkdiv << 8) // CLKDIV:
sahilmgandhi 18:6a4db94011d3 56 | (0 << 16) // BURST: 0 = software control
sahilmgandhi 18:6a4db94011d3 57 | (1 << 21) // PDN: 1 = operational
sahilmgandhi 18:6a4db94011d3 58 | (0 << 24) // START: 0 = no start
sahilmgandhi 18:6a4db94011d3 59 | (0 << 27); // EDGE: not applicable
sahilmgandhi 18:6a4db94011d3 60
sahilmgandhi 18:6a4db94011d3 61 // must enable analog mode (ADMODE = 0)
sahilmgandhi 18:6a4db94011d3 62 __IO uint32_t *reg = (__IO uint32_t*) (LPC_IOCON_BASE + 4 * pin);
sahilmgandhi 18:6a4db94011d3 63 *reg &= ~(1 << 7);
sahilmgandhi 18:6a4db94011d3 64
sahilmgandhi 18:6a4db94011d3 65 pinmap_pinout(pin, PinMap_ADC);
sahilmgandhi 18:6a4db94011d3 66 }
sahilmgandhi 18:6a4db94011d3 67
sahilmgandhi 18:6a4db94011d3 68 static inline uint32_t adc_read(analogin_t *obj) {
sahilmgandhi 18:6a4db94011d3 69 // Select the appropriate channel and start conversion
sahilmgandhi 18:6a4db94011d3 70 LPC_ADC->CR &= ~0xFF;
sahilmgandhi 18:6a4db94011d3 71 LPC_ADC->CR |= 1 << (int)obj->adc;
sahilmgandhi 18:6a4db94011d3 72 LPC_ADC->CR |= 1 << 24;
sahilmgandhi 18:6a4db94011d3 73
sahilmgandhi 18:6a4db94011d3 74 // Repeatedly get the sample data until DONE bit
sahilmgandhi 18:6a4db94011d3 75 unsigned int data;
sahilmgandhi 18:6a4db94011d3 76 do {
sahilmgandhi 18:6a4db94011d3 77 data = LPC_ADC->GDR;
sahilmgandhi 18:6a4db94011d3 78 } while ((data & ((unsigned int)1 << 31)) == 0);
sahilmgandhi 18:6a4db94011d3 79
sahilmgandhi 18:6a4db94011d3 80 // Stop conversion
sahilmgandhi 18:6a4db94011d3 81 LPC_ADC->CR &= ~(1 << 24);
sahilmgandhi 18:6a4db94011d3 82
sahilmgandhi 18:6a4db94011d3 83 return (data >> 4) & ADC_RANGE; // 12 bit
sahilmgandhi 18:6a4db94011d3 84 }
sahilmgandhi 18:6a4db94011d3 85
sahilmgandhi 18:6a4db94011d3 86 static inline void order(uint32_t *a, uint32_t *b) {
sahilmgandhi 18:6a4db94011d3 87 if (*a > *b) {
sahilmgandhi 18:6a4db94011d3 88 uint32_t t = *a;
sahilmgandhi 18:6a4db94011d3 89 *a = *b;
sahilmgandhi 18:6a4db94011d3 90 *b = t;
sahilmgandhi 18:6a4db94011d3 91 }
sahilmgandhi 18:6a4db94011d3 92 }
sahilmgandhi 18:6a4db94011d3 93
sahilmgandhi 18:6a4db94011d3 94 static inline uint32_t adc_read_u32(analogin_t *obj) {
sahilmgandhi 18:6a4db94011d3 95 uint32_t value;
sahilmgandhi 18:6a4db94011d3 96 #if ANALOGIN_MEDIAN_FILTER
sahilmgandhi 18:6a4db94011d3 97 uint32_t v1 = adc_read(obj);
sahilmgandhi 18:6a4db94011d3 98 uint32_t v2 = adc_read(obj);
sahilmgandhi 18:6a4db94011d3 99 uint32_t v3 = adc_read(obj);
sahilmgandhi 18:6a4db94011d3 100 order(&v1, &v2);
sahilmgandhi 18:6a4db94011d3 101 order(&v2, &v3);
sahilmgandhi 18:6a4db94011d3 102 order(&v1, &v2);
sahilmgandhi 18:6a4db94011d3 103 value = v2;
sahilmgandhi 18:6a4db94011d3 104 #else
sahilmgandhi 18:6a4db94011d3 105 value = adc_read(obj);
sahilmgandhi 18:6a4db94011d3 106 #endif
sahilmgandhi 18:6a4db94011d3 107 return value;
sahilmgandhi 18:6a4db94011d3 108 }
sahilmgandhi 18:6a4db94011d3 109
sahilmgandhi 18:6a4db94011d3 110 uint16_t analogin_read_u16(analogin_t *obj) {
sahilmgandhi 18:6a4db94011d3 111 uint32_t value = adc_read_u32(obj);
sahilmgandhi 18:6a4db94011d3 112
sahilmgandhi 18:6a4db94011d3 113 return (value << 4) | ((value >> 8) & 0x000F); // 12 bit
sahilmgandhi 18:6a4db94011d3 114 }
sahilmgandhi 18:6a4db94011d3 115
sahilmgandhi 18:6a4db94011d3 116 float analogin_read(analogin_t *obj) {
sahilmgandhi 18:6a4db94011d3 117 uint32_t value = adc_read_u32(obj);
sahilmgandhi 18:6a4db94011d3 118 return (float)value * (1.0f / (float)ADC_RANGE);
sahilmgandhi 18:6a4db94011d3 119 }