commit 1ba46c7f4b80224f600849b28b5b23a907333d99
author Brian Silverman <brians> Thu Oct 31 16:05:57 2013 -0700
committer Brian Silverman <brians> Thu Oct 31 16:05:57 2013 -0700
tree ee74edccc86e901fc32f41e67d7a36d160d5f5eb
parent 8f8b06ff2a5b599a340ac069b6dead711a6147c6

got analog sensors working (but not doing anything)

frc971/input/gyro_sensor_receiver.cc

diff --git a/frc971/input/gyro_sensor_receiver.cc b/frc971/input/gyro_sensor_receiver.cc
index 2a522c5..411fb5e 100644
--- a/frc971/input/gyro_sensor_receiver.cc
+++ b/frc971/input/gyro_sensor_receiver.cc
@@ -1,3 +1,5 @@
+#include <inttypes.h>
+
 #include "aos/atom_code/init.h"
 #include "aos/common/logging/logging.h"
 #include "aos/common/util/wrapping_counter.h"
@@ -67,6 +69,10 @@
   return in / 16.0 / 1000.0 / (180.0 / M_PI);
 }
 
+inline double battery_translate(uint16_t in) {
+  return adc_translate(in) * 80.8 / 17.8;
+}
+
 }  // namespace
 
 class GyroSensorReceiver : public USBReceiver {
@@ -124,6 +130,14 @@
         .loader_top(data()->main.loader_top)
         .loader_bottom(data()->main.loader_bottom)
         .Send();
+
+    LOG(DEBUG, "battery %f %f %" PRIu16 "\n",
+        battery_translate(data()->main.battery_voltage),
+        adc_translate(data()->main.battery_voltage),
+        data()->main.battery_voltage);
+    LOG(DEBUG, "halls l=%f r=%f\n",
+        adc_translate(data()->main.left_drive_hall),
+        adc_translate(data()->main.right_drive_hall));
   }
 
   WrappingCounter top_rise_;

gyro_board/src/usb/analog.c

diff --git a/gyro_board/src/usb/analog.c b/gyro_board/src/usb/analog.c
index b00d1b4..b2ab48f 100644
--- a/gyro_board/src/usb/analog.c
+++ b/gyro_board/src/usb/analog.c
@@ -6,9 +6,8 @@
   SC->PCONP |= PCONP_PCAD;
 
   // Enable AD0.0, AD0.1, AD0.2, AD0.3
-  PINCON->PINSEL1 &= ~(2 << 14 | 2 << 16 | 2 << 18 | 2 << 20);
+  PINCON->PINSEL1 &= ~(3 << 14 | 3 << 16 | 3 << 18 | 3 << 20);
   PINCON->PINSEL1 |= 1 << 14 | 1 << 16 | 1 << 18 | 1 << 20;
-  ADC->ADCR = 0x00200500;
   ADC->ADCR = (1 << 0 | 1 << 1 | 1 << 2 | 1 << 3) /* enable all 4 */ |
       7 << 8 /* 100MHz / 8 = 12.5MHz */ |
       1 << 16 /* enable burst mode */ |
@@ -36,5 +35,5 @@
     }
   } while (!(value & 1 << 31));
 
-  return ((value & 0xFFF0) >> 4);
+  return (value >> 4) & 0x3FF;
 }

gyro_board/src/usb/encoder.c

diff --git a/gyro_board/src/usb/encoder.c b/gyro_board/src/usb/encoder.c
index 7b6d268..77344fb 100644
--- a/gyro_board/src/usb/encoder.c
+++ b/gyro_board/src/usb/encoder.c
@@ -537,9 +537,9 @@
     packet->main.left_drive = encoder5_val;
     packet->main.right_drive = encoder4_val;
     packet->main.indexer = encoder3_val;
-    packet->main.battery_voltage = analog(0);
+    packet->main.battery_voltage = analog(3);
     packet->main.left_drive_hall = analog(1);
-    packet->main.right_drive_hall = analog(3);
+    packet->main.right_drive_hall = analog(2);
 
     NVIC_DisableIRQ(EINT3_IRQn);