MacroRat / MouseCode

Mouse code for the MacroRat

Dependencies:   ITG3200 QEI

mbed-dev/targets/TARGET_RENESAS/TARGET_RZ_A1H/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
sahilmgandhi 18:6a4db94011d3 19 #include "cmsis.h"
sahilmgandhi 18:6a4db94011d3 20 #include "pinmap.h"
sahilmgandhi 18:6a4db94011d3 21
sahilmgandhi 18:6a4db94011d3 22 #include "adc_iodefine.h"
sahilmgandhi 18:6a4db94011d3 23 #include "cpg_iodefine.h"
sahilmgandhi 18:6a4db94011d3 24
sahilmgandhi 18:6a4db94011d3 25 #define ANALOGIN_MEDIAN_FILTER 0
sahilmgandhi 18:6a4db94011d3 26
sahilmgandhi 18:6a4db94011d3 27 static const PinMap PinMap_ADC[] = {
sahilmgandhi 18:6a4db94011d3 28 {P1_8, AN0, 1},
sahilmgandhi 18:6a4db94011d3 29 {P1_9, AN1, 1},
sahilmgandhi 18:6a4db94011d3 30 {P1_10, AN2, 1},
sahilmgandhi 18:6a4db94011d3 31 {P1_11, AN3, 1},
sahilmgandhi 18:6a4db94011d3 32 {P1_12, AN4, 1},
sahilmgandhi 18:6a4db94011d3 33 {P1_13, AN5, 1},
sahilmgandhi 18:6a4db94011d3 34 {P1_14, AN6, 1},
sahilmgandhi 18:6a4db94011d3 35 {P1_15, AN7, 1},
sahilmgandhi 18:6a4db94011d3 36 {NC, NC, 0}
sahilmgandhi 18:6a4db94011d3 37 };
sahilmgandhi 18:6a4db94011d3 38
sahilmgandhi 18:6a4db94011d3 39 static volatile uint16_t *ADCDR[] = {
sahilmgandhi 18:6a4db94011d3 40 &ADCADDRA,
sahilmgandhi 18:6a4db94011d3 41 &ADCADDRB,
sahilmgandhi 18:6a4db94011d3 42 &ADCADDRC,
sahilmgandhi 18:6a4db94011d3 43 &ADCADDRD,
sahilmgandhi 18:6a4db94011d3 44 &ADCADDRE,
sahilmgandhi 18:6a4db94011d3 45 &ADCADDRF,
sahilmgandhi 18:6a4db94011d3 46 &ADCADDRG,
sahilmgandhi 18:6a4db94011d3 47 &ADCADDRH,
sahilmgandhi 18:6a4db94011d3 48 };
sahilmgandhi 18:6a4db94011d3 49
sahilmgandhi 18:6a4db94011d3 50 void analogin_init(analogin_t *obj, PinName pin) {
sahilmgandhi 18:6a4db94011d3 51 obj->adc = (ADCName)pinmap_peripheral(pin, PinMap_ADC);
sahilmgandhi 18:6a4db94011d3 52 MBED_ASSERT(obj->adc != (ADCName)NC);
sahilmgandhi 18:6a4db94011d3 53
sahilmgandhi 18:6a4db94011d3 54 CPGSTBCR3 &= ~(1 << 1);
sahilmgandhi 18:6a4db94011d3 55 CPGSTBCR6 &= ~(1 << 7);
sahilmgandhi 18:6a4db94011d3 56
sahilmgandhi 18:6a4db94011d3 57 // 15: ADF 14: ADIE 13: ADST, [12:9] TRGS..0
sahilmgandhi 18:6a4db94011d3 58 // [8:6] CKS 010 :: 340tclk
sahilmgandhi 18:6a4db94011d3 59 // [5:3] MDS 000 :: single mode
sahilmgandhi 18:6a4db94011d3 60 // [2:0] CH 000 :: AN0
sahilmgandhi 18:6a4db94011d3 61 ADCADCSR = 0x0080;
sahilmgandhi 18:6a4db94011d3 62
sahilmgandhi 18:6a4db94011d3 63 pinmap_pinout(pin, PinMap_ADC);
sahilmgandhi 18:6a4db94011d3 64 }
sahilmgandhi 18:6a4db94011d3 65
sahilmgandhi 18:6a4db94011d3 66 static inline uint32_t adc_read(analogin_t *obj) {
sahilmgandhi 18:6a4db94011d3 67 volatile uint16_t data;
sahilmgandhi 18:6a4db94011d3 68
sahilmgandhi 18:6a4db94011d3 69 // Select the appropriate channel and start conversion
sahilmgandhi 18:6a4db94011d3 70 ADCADCSR &= 0xfff8;
sahilmgandhi 18:6a4db94011d3 71 ADCADCSR |= (1 << 13 | (obj->adc & 0x7));
sahilmgandhi 18:6a4db94011d3 72
sahilmgandhi 18:6a4db94011d3 73 // Wait end of conversion
sahilmgandhi 18:6a4db94011d3 74 do {
sahilmgandhi 18:6a4db94011d3 75 data = ADCADCSR;
sahilmgandhi 18:6a4db94011d3 76 } while (((data & (1 << 15)) == 0) || ((data & (1 << 13)) != 0));
sahilmgandhi 18:6a4db94011d3 77
sahilmgandhi 18:6a4db94011d3 78 // clear flag
sahilmgandhi 18:6a4db94011d3 79 ADCADCSR &= ~(1 << 15);
sahilmgandhi 18:6a4db94011d3 80
sahilmgandhi 18:6a4db94011d3 81 return ((*(ADCDR[obj->adc])) >> 4) & 0x0FFF; // 12 bits range
sahilmgandhi 18:6a4db94011d3 82 }
sahilmgandhi 18:6a4db94011d3 83
sahilmgandhi 18:6a4db94011d3 84 #if ANALOGIN_MEDIAN_FILTER
sahilmgandhi 18:6a4db94011d3 85 static inline void order(uint32_t *a, uint32_t *b) {
sahilmgandhi 18:6a4db94011d3 86 if (*a > *b) {
sahilmgandhi 18:6a4db94011d3 87 uint32_t t = *a;
sahilmgandhi 18:6a4db94011d3 88 *a = *b;
sahilmgandhi 18:6a4db94011d3 89 *b = t;
sahilmgandhi 18:6a4db94011d3 90 }
sahilmgandhi 18:6a4db94011d3 91 }
sahilmgandhi 18:6a4db94011d3 92 #endif
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 to 16-bit conversion
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
sahilmgandhi 18:6a4db94011d3 119 return (float)value * (1.0f / (float)0x0FFF); // 12 bits range
sahilmgandhi 18:6a4db94011d3 120 }