added analog sensors and cleaned up the sensor data structure a bit
diff --git a/gyro_board/src/usb/CAN.c b/gyro_board/src/usb/CAN.c
index 591c6fc..35f811f 100644
--- a/gyro_board/src/usb/CAN.c
+++ b/gyro_board/src/usb/CAN.c
@@ -231,6 +231,10 @@
vTaskDelete(NULL);
}
+ // Set all of the CAN stuff to run at CCLK/6, which translates to about 1 Mbit
+ // (1.042).
+ SC->PCLKSEL0 |= 3 << 26 | 3 << 28 | 3 << 30;
+
// Enable CAN
SC->PCONP |= PCONP_PCCAN1;
diff --git a/gyro_board/src/usb/analog.c b/gyro_board/src/usb/analog.c
index 87d67ad..b00d1b4 100644
--- a/gyro_board/src/usb/analog.c
+++ b/gyro_board/src/usb/analog.c
@@ -1,50 +1,40 @@
-// ****************************************************************************
-// CopyLeft qwerk Robotics unINC. 2010 All Rights Reserved.
-// ****************************************************************************
-
#include "analog.h"
-#include "FreeRTOS.h"
-#include "queue.h"
-#include "task.h"
+#include "LPC17xx.h"
void analog_init(void) {
- // b[1:0] CAN RD1 p0.0
- // b[3:2] CAN TD1 p0.1
- //PINCON->PINSEL0 = 0x00000005;
-
- // b[29:28] USB_DMIN p0.30
- // b[27:26] USB_DPLUS p0.29
- // b[21:20] AD0.3 p0.26
- // b[19:18] AD0.2 p0.25
- // PINCON->PINSEL1 = 0x14140000;
-
- // PINCON->PINSEL2 = 0x0;
-
- // b[31:30] AD0.5 p1.31
- // b[29:28] V_BUS p1.30
- // b[21:20] MCOB1 p1.26
- // b[19:18] MCOA1 p1.25
- // b[15:14] MCI1 p1.23
- // b[13:12] MCOB0 p1.22
- // b[09:08] MCI0 p1.20
- // b[07:06] MCOA0 p1.19
- // b[05:04] USB_UP_LED p1.18
- //PINCON->PINSEL3 = 0xE0145150;
SC->PCONP |= PCONP_PCAD;
// Enable AD0.0, AD0.1, AD0.2, AD0.3
- PINCON->PINSEL1 &= 0xFFC03FFF;
- PINCON->PINSEL1 |= 0x00D54000;
+ PINCON->PINSEL1 &= ~(2 << 14 | 2 << 16 | 2 << 18 | 2 << 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 */ |
+ 1 << 21 /* turn on ADC */;
}
+uint16_t analog(int channel) {
+ uint32_t value;
+ do {
+ switch (channel) {
+ case 0:
+ value = ADC->ADDR0;
+ break;
+ case 1:
+ value = ADC->ADDR1;
+ break;
+ case 2:
+ value = ADC->ADDR2;
+ break;
+ case 3:
+ value = ADC->ADDR3;
+ break;
+ default:
+ return 0xFFFF;
+ }
+ } while (!(value & 1 << 31));
-int analog(int channel) {
- ADC->ADCR = ((ADC->ADCR & 0xF8FFFF00) | (0x01000000 | (1 << channel)));
-
- // Poll until it is done.
- while(!(ADC->ADGDR & 0x80000000));
-
- return ((ADC->ADGDR & 0x0000FFF0) >> 4);
+ return ((value & 0xFFF0) >> 4);
}
diff --git a/gyro_board/src/usb/analog.h b/gyro_board/src/usb/analog.h
index 1de38e7..5a06290 100644
--- a/gyro_board/src/usb/analog.h
+++ b/gyro_board/src/usb/analog.h
@@ -3,7 +3,13 @@
#include <stdint.h>
+// Starts the hardware constantly doing conversions on all 4 of our analog
+// inputs.
void analog_init(void);
-int analog(int channel);
+
+// Retrieves the most recent reading on channel (0-3).
+// Returns 0xFFFF for invalid channel.
+// 0 means 0V and 0x3FF means 3.3V.
+uint16_t analog(int channel);
#endif // __ANALOG_H__
diff --git a/gyro_board/src/usb/data_struct.h b/gyro_board/src/usb/data_struct.h
index 6c99195..8c069b9 100644
--- a/gyro_board/src/usb/data_struct.h
+++ b/gyro_board/src/usb/data_struct.h
@@ -17,9 +17,15 @@
// Which robot (+version) the gyro board is sending out data for.
// We should keep this in the same place for all gyro board software
// versions so that the fitpc can detect when it's reading from a gyro
- // board set up for a different robot than it is.
- // 0 = 2013 competition/practice robot
- // 1 = 2013 3rd robot
+ // board set up for a different robot (or version) than it is.
+ // The numbers listed below each robot are the values that have been used
+ // for it.
+ //
+ // 2013 competition/practice robot
+ // 0
+ // 2 added battery measurement + drivetrain analog hall effects
+ // 2013 3rd robot
+ // 1
uint8_t robot_id;
// This information should also be kept in the same place from year to
// year so that the fitpc code can record the dip switch values when it
@@ -39,26 +45,17 @@
uint8_t base_status;
};
};
- uint16_t header;
+ uint32_t header;
};
- // This is a counter that gets incremented with each packet sent (and wraps
- // around when it reaches 255).
- uint8_t sequence;
+ // This is a counter that gets incremented with each packet sent.
+ uint32_t sequence;
+
+ // We are 64-bit aligned at this point if it matters for anything other than
+ // the gyro angle.
union {
struct {
- union {
- struct {
- uint8_t wrist_hall_effect : 1;
- uint8_t angle_adjust_bottom_hall_effect : 1;
- uint8_t top_disc : 1;
- uint8_t bottom_disc : 1;
- uint8_t loader_top : 1;
- uint8_t loader_bottom : 1;
- };
- uint16_t booleans;
- };
int32_t left_drive;
int32_t right_drive;
int32_t shooter_angle;
@@ -72,6 +69,10 @@
int32_t capture_wrist_rise;
int32_t capture_shooter_angle_rise;
+ uint16_t battery_voltage;
+ uint16_t left_drive_hall;
+ uint16_t right_drive_hall;
+
int8_t top_rise_count;
int8_t top_fall_count;
@@ -84,6 +85,15 @@
int8_t wrist_rise_count;
int8_t shooter_angle_rise_count;
+
+ struct {
+ uint8_t wrist_hall_effect : 1;
+ uint8_t angle_adjust_bottom_hall_effect : 1;
+ uint8_t top_disc : 1;
+ uint8_t bottom_disc : 1;
+ uint8_t loader_top : 1;
+ uint8_t loader_bottom : 1;
+ };
} main;
struct {
diff --git a/gyro_board/src/usb/encoder.c b/gyro_board/src/usb/encoder.c
index 205f44e..9277340 100644
--- a/gyro_board/src/usb/encoder.c
+++ b/gyro_board/src/usb/encoder.c
@@ -499,12 +499,15 @@
if (is_bot3) {
packet->robot_id = 1;
} else { // is main robot
- packet->robot_id = 0;
+ packet->robot_id = 2;
packet->main.shooter = encoder1_val;
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.left_drive_hall = analog(1);
+ packet->main.right_drive_hall = analog(3);
NVIC_DisableIRQ(EINT3_IRQn);
diff --git a/gyro_board/src/usb/gyro.c b/gyro_board/src/usb/gyro.c
index 866e890..ad49658 100644
--- a/gyro_board/src/usb/gyro.c
+++ b/gyro_board/src/usb/gyro.c
@@ -185,8 +185,9 @@
}
static portTASK_FUNCTION(gyro_read_task, pvParameters) {
- // Connect power and clock.
SC->PCONP |= PCONP_PCSSP0;
+
+ // Make sure that the clock is set up right.
SC->PCLKSEL1 &= ~(3 << 10);
SC->PCLKSEL1 |= 1 << 10;
diff --git a/gyro_board/src/usb/main.c b/gyro_board/src/usb/main.c
index 3ac21c8..4e74ce7 100644
--- a/gyro_board/src/usb/main.c
+++ b/gyro_board/src/usb/main.c
@@ -149,8 +149,8 @@
setup_PLL1();
- // Set CAN to run at CCLK/6, which should have it running about 1 Mbit (1.042)
- SC->PCLKSEL0 = 0xff555555;
+ // Set everything to run at full CCLK by default.
+ SC->PCLKSEL0 = 0x55555555;
/* Configure the LEDs. */
vParTestInitialise();