Pull the medium-specific pieces out of the common code
Change-Id: I9cd1824a6bf535e285553fbe5f79f6d72919f048
diff --git a/motors/peripheral/adc.cc b/motors/peripheral/adc.cc
index ba2b247..0f5d947 100644
--- a/motors/peripheral/adc.cc
+++ b/motors/peripheral/adc.cc
@@ -4,6 +4,7 @@
namespace frc971 {
namespace salsa {
+namespace {
#define ADC_SC2_BASE (ADC_SC2_REFSEL(0) /* Use the external reference pins. */)
@@ -43,39 +44,79 @@
ADC##n##_SC3 = 0 /* Disable hardware averaging. */; \
} while (0)
-void AdcInit() {
+void AdcInitCommon() {
SIM_SCGC3 |= SIM_SCGC3_ADC1;
SIM_SCGC6 |= SIM_SCGC6_ADC0;
// TODO(Brian): Mess with SIM_SOPT7 to reconfigure ADC trigger input source?
ADC_INIT_SINGLE(0);
ADC_INIT_SINGLE(1);
+}
- // M_CH2V/M1_CH2F ADC0_SE14
+} // namespace
+
+void AdcInitMedium() {
+ AdcInitCommon();
+
+ // M_CH2V ADC0_SE14
PORTC_PCR0 = PORT_PCR_MUX(0);
- // M_CH0V/M1_CH0F ADC0_SE13
+ // M_CH0V ADC0_SE13
PORTB_PCR3 = PORT_PCR_MUX(0);
- // M_CH1V/M1_CH1F ADC0_SE12
+ // M_CH1V ADC0_SE12
PORTB_PCR2 = PORT_PCR_MUX(0);
- // M0_CH0F/M_CH0F ADC1_SE14
+ // M_CH0F ADC1_SE14
PORTB_PCR10 = PORT_PCR_MUX(0);
- // M0_CH1F/M_CH1F ADC1_SE15
+ // M_CH1F ADC1_SE15
PORTB_PCR11 = PORT_PCR_MUX(0);
- // WHEEL_ABS/M_VREF ADC0_SE18
+ // M_VREF ADC0_SE18
PORTE_PCR25 = PORT_PCR_MUX(0);
- // VIN/VIN ADC1_SE5B
+ // VIN ADC1_SE5B
PORTC_PCR9 = PORT_PCR_MUX(0);
- // M0_CH2F/M_CH2F ADC1_SE17
+ // M_CH2F ADC1_SE17
PORTA_PCR17 = PORT_PCR_MUX(0);
}
-MediumAdcReadings AdcReadMedium() {
+void AdcInitSmall() {
+ AdcInitCommon();
+
+ // M0_CH0F ADC1_SE17
+ PORTA_PCR17 = PORT_PCR_MUX(0);
+
+ // M0_CH1F ADC1_SE14
+ PORTB_PCR10 = PORT_PCR_MUX(0);
+
+ // M0_CH2F ADC1_SE15
+ PORTB_PCR11 = PORT_PCR_MUX(0);
+
+ // M0_ABS ADC0_SE5b
+ PORTD_PCR1 = PORT_PCR_MUX(0);
+
+ // M1_CH0F ADC0_SE13
+ PORTB_PCR3 = PORT_PCR_MUX(0);
+
+ // M1_CH1F ADC0_SE12
+ PORTB_PCR2 = PORT_PCR_MUX(0);
+
+ // M1_CH2F ADC0_SE14
+ PORTC_PCR0 = PORT_PCR_MUX(0);
+
+ // M1_ABS ADC0_SE17
+ PORTE_PCR24 = PORT_PCR_MUX(0);
+
+ // WHEEL_ABS ADC0_SE18
+ PORTE_PCR25 = PORT_PCR_MUX(0);
+
+ // VIN ADC1_SE5B
+ PORTC_PCR9 = PORT_PCR_MUX(0);
+}
+
+MediumAdcReadings AdcReadMedium(const DisableInterrupts &) {
MediumAdcReadings r;
ADC1_SC1A = 14;
@@ -114,5 +155,62 @@
return r;
}
+SmallAdcReadings AdcReadSmall0(const DisableInterrupts &) {
+ SmallAdcReadings r;
+
+ ADC1_SC1A = 17;
+ while (!(ADC1_SC1A & ADC_SC1_COCO)) {
+ }
+ ADC1_SC1A = 14;
+ r.currents[0] = ADC1_RA;
+ while (!(ADC1_SC1A & ADC_SC1_COCO)) {
+ }
+ ADC1_SC1A = 15;
+ r.currents[1] = ADC1_RA;
+ while (!(ADC1_SC1A & ADC_SC1_COCO)) {
+ }
+ r.currents[2] = ADC1_RA;
+
+ return r;
+}
+
+SmallAdcReadings AdcReadSmall1(const DisableInterrupts &) {
+ SmallAdcReadings r;
+
+ ADC0_SC1A = 13;
+ while (!(ADC0_SC1A & ADC_SC1_COCO)) {
+ }
+ ADC0_SC1A = 12;
+ r.currents[0] = ADC0_RA;
+ while (!(ADC0_SC1A & ADC_SC1_COCO)) {
+ }
+ ADC0_SC1A = 14;
+ r.currents[1] = ADC0_RA;
+ while (!(ADC0_SC1A & ADC_SC1_COCO)) {
+ }
+ r.currents[2] = ADC0_RA;
+
+ return r;
+}
+
+SmallInitReadings AdcReadSmallInit(const DisableInterrupts &) {
+ SmallInitReadings r;
+
+ ADC0_SC1A = 5;
+ while (!(ADC0_SC1A & ADC_SC1_COCO)) {
+ }
+ ADC0_SC1A = 17;
+ r.motor0_abs = ADC0_RA;
+ while (!(ADC0_SC1A & ADC_SC1_COCO)) {
+ }
+ ADC0_SC1A = 18;
+ r.motor1_abs = ADC0_RA;
+ while (!(ADC0_SC1A & ADC_SC1_COCO)) {
+ }
+ r.wheel_abs = ADC0_RA;
+
+ return r;
+}
+
} // namespace salsa
} // namespace frc971
diff --git a/motors/peripheral/adc.h b/motors/peripheral/adc.h
index 4aee769..f9ec22a 100644
--- a/motors/peripheral/adc.h
+++ b/motors/peripheral/adc.h
@@ -3,6 +3,8 @@
#include <stdint.h>
+#include "motors/util.h"
+
namespace frc971 {
namespace salsa {
@@ -12,9 +14,23 @@
uint16_t input_voltage;
};
-void AdcInit();
+struct SmallAdcReadings {
+ uint16_t currents[3];
+};
-MediumAdcReadings AdcReadMedium();
+struct SmallInitReadings {
+ uint16_t motor0_abs;
+ uint16_t motor1_abs;
+ uint16_t wheel_abs;
+};
+
+void AdcInitMedium();
+void AdcInitSmall();
+
+MediumAdcReadings AdcReadMedium(const DisableInterrupts &);
+SmallAdcReadings AdcReadSmall0(const DisableInterrupts &);
+SmallAdcReadings AdcReadSmall1(const DisableInterrupts &);
+SmallInitReadings AdcReadSmallInit(const DisableInterrupts &);
} // namespace salsa
} // namespace frc971
diff --git a/motors/peripheral/can.c b/motors/peripheral/can.c
index 7187ac9..0e731e2 100644
--- a/motors/peripheral/can.c
+++ b/motors/peripheral/can.c
@@ -33,8 +33,6 @@
void can_init(void) {
printf("can_init\n");
- PORTB_PCR18 = PORT_PCR_DSE | PORT_PCR_MUX(2);
- PORTB_PCR19 = PORT_PCR_DSE | PORT_PCR_MUX(2);
SIM_SCGC6 |= SIM_SCGC6_FLEXCAN0;
@@ -175,7 +173,7 @@
void can_receive_command(unsigned char *data, int *length) {
if (0) {
static int i = 0;
- if (i++ == 13) {
+ if (i++ == 10000) {
printf("IFLAG1=%" PRIx32 " ESR=%" PRIx32 " ESR1=%" PRIx32 "\n",
CAN0_IFLAG1, CAN0_ECR, CAN0_ESR1);
i = 0;