MacroRat / MouseCode

Mouse code for the MacroRat

Dependencies:   ITG3200 QEI

mbed-dev/targets/TARGET_RENESAS/TARGET_VK_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 #ifdef MAX_PERI
sahilmgandhi 18:6a4db94011d3 28 static const PinMap PinMap_ADC[] = {
sahilmgandhi 18:6a4db94011d3 29 {P1_8, AN0, 1},
sahilmgandhi 18:6a4db94011d3 30 {P1_9, AN1, 1},
sahilmgandhi 18:6a4db94011d3 31 {P1_10, AN2, 1},
sahilmgandhi 18:6a4db94011d3 32 {P1_11, AN3, 1},
sahilmgandhi 18:6a4db94011d3 33 {P1_12, AN4, 1},
sahilmgandhi 18:6a4db94011d3 34 {P1_13, AN5, 1},
sahilmgandhi 18:6a4db94011d3 35 {P1_14, AN6, 1},
sahilmgandhi 18:6a4db94011d3 36 {P1_15, AN7, 1},
sahilmgandhi 18:6a4db94011d3 37 {NC, NC, 0}
sahilmgandhi 18:6a4db94011d3 38 };
sahilmgandhi 18:6a4db94011d3 39 #else
sahilmgandhi 18:6a4db94011d3 40 static const PinMap PinMap_ADC[] = {
sahilmgandhi 18:6a4db94011d3 41 {P1_8, AN0, 1},
sahilmgandhi 18:6a4db94011d3 42 {P1_9, AN1, 1},
sahilmgandhi 18:6a4db94011d3 43 {P1_10, AN2, 1},
sahilmgandhi 18:6a4db94011d3 44 {P1_11, AN3, 1},
sahilmgandhi 18:6a4db94011d3 45 {P1_12, AN4, 1},
sahilmgandhi 18:6a4db94011d3 46 {P1_13, AN5, 1},
sahilmgandhi 18:6a4db94011d3 47 {P1_15, AN7, 1},
sahilmgandhi 18:6a4db94011d3 48 {NC, NC, 0}
sahilmgandhi 18:6a4db94011d3 49 };
sahilmgandhi 18:6a4db94011d3 50 #endif
sahilmgandhi 18:6a4db94011d3 51
sahilmgandhi 18:6a4db94011d3 52 static volatile uint16_t *ADCDR[] = {
sahilmgandhi 18:6a4db94011d3 53 &ADCADDRA,
sahilmgandhi 18:6a4db94011d3 54 &ADCADDRB,
sahilmgandhi 18:6a4db94011d3 55 &ADCADDRC,
sahilmgandhi 18:6a4db94011d3 56 &ADCADDRD,
sahilmgandhi 18:6a4db94011d3 57 &ADCADDRE,
sahilmgandhi 18:6a4db94011d3 58 &ADCADDRF,
sahilmgandhi 18:6a4db94011d3 59 &ADCADDRG,
sahilmgandhi 18:6a4db94011d3 60 &ADCADDRH,
sahilmgandhi 18:6a4db94011d3 61 };
sahilmgandhi 18:6a4db94011d3 62
sahilmgandhi 18:6a4db94011d3 63 void analogin_init(analogin_t *obj, PinName pin) {
sahilmgandhi 18:6a4db94011d3 64 obj->adc = (ADCName)pinmap_peripheral(pin, PinMap_ADC);
sahilmgandhi 18:6a4db94011d3 65 MBED_ASSERT(obj->adc != (ADCName)NC);
sahilmgandhi 18:6a4db94011d3 66
sahilmgandhi 18:6a4db94011d3 67 CPGSTBCR3 &= ~(1 << 1);
sahilmgandhi 18:6a4db94011d3 68 CPGSTBCR6 &= ~(1 << 7);
sahilmgandhi 18:6a4db94011d3 69
sahilmgandhi 18:6a4db94011d3 70 // 15: ADF 14: ADIE 13: ADST, [12:9] TRGS..0
sahilmgandhi 18:6a4db94011d3 71 // [8:6] CKS 010 :: 340tclk
sahilmgandhi 18:6a4db94011d3 72 // [5:3] MDS 000 :: single mode
sahilmgandhi 18:6a4db94011d3 73 // [2:0] CH 000 :: AN0
sahilmgandhi 18:6a4db94011d3 74 ADCADCSR = 0x0080;
sahilmgandhi 18:6a4db94011d3 75
sahilmgandhi 18:6a4db94011d3 76 pinmap_pinout(pin, PinMap_ADC);
sahilmgandhi 18:6a4db94011d3 77 }
sahilmgandhi 18:6a4db94011d3 78
sahilmgandhi 18:6a4db94011d3 79 static inline uint32_t adc_read(analogin_t *obj) {
sahilmgandhi 18:6a4db94011d3 80 volatile uint16_t data;
sahilmgandhi 18:6a4db94011d3 81
sahilmgandhi 18:6a4db94011d3 82 // Select the appropriate channel and start conversion
sahilmgandhi 18:6a4db94011d3 83 ADCADCSR &= 0xfff8;
sahilmgandhi 18:6a4db94011d3 84 ADCADCSR |= (1 << 13 | (obj->adc & 0x7));
sahilmgandhi 18:6a4db94011d3 85
sahilmgandhi 18:6a4db94011d3 86 // Wait end of conversion
sahilmgandhi 18:6a4db94011d3 87 do {
sahilmgandhi 18:6a4db94011d3 88 data = ADCADCSR;
sahilmgandhi 18:6a4db94011d3 89 } while (((data & (1 << 15)) == 0) || ((data & (1 << 13)) != 0));
sahilmgandhi 18:6a4db94011d3 90
sahilmgandhi 18:6a4db94011d3 91 // clear flag
sahilmgandhi 18:6a4db94011d3 92 ADCADCSR &= ~(1 << 15);
sahilmgandhi 18:6a4db94011d3 93
sahilmgandhi 18:6a4db94011d3 94 return ((*(ADCDR[obj->adc])) >> 4) & 0x0FFF; // 12 bits range
sahilmgandhi 18:6a4db94011d3 95 }
sahilmgandhi 18:6a4db94011d3 96
sahilmgandhi 18:6a4db94011d3 97 #if ANALOGIN_MEDIAN_FILTER
sahilmgandhi 18:6a4db94011d3 98 static inline void order(uint32_t *a, uint32_t *b) {
sahilmgandhi 18:6a4db94011d3 99 if (*a > *b) {
sahilmgandhi 18:6a4db94011d3 100 uint32_t t = *a;
sahilmgandhi 18:6a4db94011d3 101 *a = *b;
sahilmgandhi 18:6a4db94011d3 102 *b = t;
sahilmgandhi 18:6a4db94011d3 103 }
sahilmgandhi 18:6a4db94011d3 104 }
sahilmgandhi 18:6a4db94011d3 105 #endif
sahilmgandhi 18:6a4db94011d3 106
sahilmgandhi 18:6a4db94011d3 107 static inline uint32_t adc_read_u32(analogin_t *obj) {
sahilmgandhi 18:6a4db94011d3 108 uint32_t value;
sahilmgandhi 18:6a4db94011d3 109 #if ANALOGIN_MEDIAN_FILTER
sahilmgandhi 18:6a4db94011d3 110 uint32_t v1 = adc_read(obj);
sahilmgandhi 18:6a4db94011d3 111 uint32_t v2 = adc_read(obj);
sahilmgandhi 18:6a4db94011d3 112 uint32_t v3 = adc_read(obj);
sahilmgandhi 18:6a4db94011d3 113 order(&v1, &v2);
sahilmgandhi 18:6a4db94011d3 114 order(&v2, &v3);
sahilmgandhi 18:6a4db94011d3 115 order(&v1, &v2);
sahilmgandhi 18:6a4db94011d3 116 value = v2;
sahilmgandhi 18:6a4db94011d3 117 #else
sahilmgandhi 18:6a4db94011d3 118 value = adc_read(obj);
sahilmgandhi 18:6a4db94011d3 119 #endif
sahilmgandhi 18:6a4db94011d3 120 return value;
sahilmgandhi 18:6a4db94011d3 121 }
sahilmgandhi 18:6a4db94011d3 122
sahilmgandhi 18:6a4db94011d3 123 uint16_t analogin_read_u16(analogin_t *obj) {
sahilmgandhi 18:6a4db94011d3 124 uint32_t value = adc_read_u32(obj);
sahilmgandhi 18:6a4db94011d3 125
sahilmgandhi 18:6a4db94011d3 126 return (value << 4) | ((value >> 8) & 0x000F); // 12-bit to 16-bit conversion
sahilmgandhi 18:6a4db94011d3 127 }
sahilmgandhi 18:6a4db94011d3 128
sahilmgandhi 18:6a4db94011d3 129 float analogin_read(analogin_t *obj) {
sahilmgandhi 18:6a4db94011d3 130 uint32_t value = adc_read_u32(obj);
sahilmgandhi 18:6a4db94011d3 131
sahilmgandhi 18:6a4db94011d3 132 return (float)value * (1.0f / (float)0x0FFF); // 12 bits range
sahilmgandhi 18:6a4db94011d3 133 }