Move ADC code into individual boards where it belongs
Change-Id: Id8c2db1166c6e07caaf7d3ccc503bade4ec198f6
diff --git a/motors/peripheral/adc.cc b/motors/peripheral/adc.cc
index 6249392..756e166 100644
--- a/motors/peripheral/adc.cc
+++ b/motors/peripheral/adc.cc
@@ -44,6 +44,8 @@
ADC##n##_SC3 = 0 /* Disable hardware averaging. */; \
} while (0)
+} // namespace
+
void AdcInitCommon() {
SIM_SCGC3 |= SIM_SCGC3_ADC1;
SIM_SCGC6 |= SIM_SCGC6_ADC0;
@@ -52,223 +54,5 @@
ADC_INIT_SINGLE(1);
}
-} // namespace
-
-void AdcInitMedium() {
- AdcInitCommon();
-
- // M_CH2V ADC0_SE14
- PORTC_PCR0 = PORT_PCR_MUX(0);
-
- // M_CH0V ADC0_SE13
- PORTB_PCR3 = PORT_PCR_MUX(0);
-
- // M_CH1V ADC0_SE12
- PORTB_PCR2 = PORT_PCR_MUX(0);
-
- // M_CH0F ADC1_SE14
- PORTB_PCR10 = PORT_PCR_MUX(0);
-
- // M_CH1F ADC1_SE15
- PORTB_PCR11 = PORT_PCR_MUX(0);
-
- // M_VREF ADC0_SE18
- PORTE_PCR25 = PORT_PCR_MUX(0);
-
- // VIN ADC1_SE5B
- PORTC_PCR9 = PORT_PCR_MUX(0);
-
- // M_CH2F ADC1_SE17
- PORTA_PCR17 = PORT_PCR_MUX(0);
-}
-
-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);
-}
-
-void AdcInitJoystick() {
- AdcInitCommon();
-
- // ANALOG0 ADC0_SE5b
- PORTD_PCR1 = PORT_PCR_MUX(0);
- // ANALOG1 ADC0_SE14
- PORTC_PCR0 = PORT_PCR_MUX(0);
- // ANALOG2 ADC0_SE13
- PORTB_PCR3 = PORT_PCR_MUX(0);
- // ANALOG3 ADC0_SE12
- PORTB_PCR2 = PORT_PCR_MUX(0);
-}
-
-void AdcInitSimple() {
- AdcInitCommon();
-
- // ENC_SIN ADC0_SE23
- // ENC_COS ADC1_SE23
-}
-
-MediumAdcReadings AdcReadMedium(const DisableInterrupts &) {
- MediumAdcReadings r;
-
- ADC1_SC1A = 14;
- while (!(ADC1_SC1A & ADC_SC1_COCO)) {
- }
- ADC1_SC1A = 15;
- r.motor_currents[0][0] = ADC1_RA;
- while (!(ADC1_SC1A & ADC_SC1_COCO)) {
- }
- ADC1_SC1A = 17;
- ADC0_SC1A = 18;
- r.motor_currents[1][0] = ADC1_RA;
- while (!(ADC1_SC1A & ADC_SC1_COCO)) {
- }
- ADC1_SC1A = 5;
- r.motor_currents[2][0] = ADC1_RA;
- while (!(ADC0_SC1A & ADC_SC1_COCO)) {
- }
- r.motor_current_ref = ADC0_RA;
- while (!(ADC1_SC1A & ADC_SC1_COCO)) {
- }
- ADC1_SC1A = 14;
- r.input_voltage = ADC1_RA;
- while (!(ADC1_SC1A & ADC_SC1_COCO)) {
- }
- ADC1_SC1A = 15;
- r.motor_currents[0][1] = ADC1_RA;
- while (!(ADC1_SC1A & ADC_SC1_COCO)) {
- }
- ADC1_SC1A = 17;
- r.motor_currents[1][1] = ADC1_RA;
- while (!(ADC1_SC1A & ADC_SC1_COCO)) {
- }
- r.motor_currents[2][1] = ADC1_RA;
-
- 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;
-}
-
-JoystickAdcReadings AdcReadJoystick(const DisableInterrupts &) {
- JoystickAdcReadings r;
-
- ADC0_SC1A = 5;
- while (!(ADC0_SC1A & ADC_SC1_COCO)) {
- }
- ADC0_SC1A = 14;
- r.analog0 = ADC0_RA;
- while (!(ADC0_SC1A & ADC_SC1_COCO)) {
- }
- ADC0_SC1A = 13;
- r.analog1 = ADC0_RA;
- while (!(ADC0_SC1A & ADC_SC1_COCO)) {
- }
- ADC0_SC1A = 12;
- r.analog2 = ADC0_RA;
- while (!(ADC0_SC1A & ADC_SC1_COCO)) {
- }
- r.analog3 = ADC0_RA;
-
- return r;
-}
-
-SimpleAdcReadings AdcReadSimple(const DisableInterrupts &) {
- SimpleAdcReadings r;
-
- ADC0_SC1A = 23;
- ADC1_SC1A = 23;
- while (!(ADC0_SC1A & ADC_SC1_COCO)) {
- }
- while (!(ADC1_SC1A & ADC_SC1_COCO)) {
- }
- r.sin = ADC0_RA;
- r.cos = ADC1_RA;
-
- return r;
-}
-
} // namespace motors
} // namespace frc971