added analog sensors and cleaned up the sensor data structure a bit
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);
}