commit a3a172b5bc592157aa4bd647676ae8919f22631b
author Brian Silverman <bsilver16384@gmail.com> Sat Mar 24 03:53:32 2018 -0400
committer Brian Silverman <bsilver16384@gmail.com> Mon Mar 26 03:22:15 2018 -0400
tree 0c5f052cbc57b5cde61f5a060fc29494ba69e334
parent 45bdd4322368f4adff41bf1e7e0b6dce5100ff53

Finish low level parts of the simple receiver code

It does the same motor test code still, but it's ready for real code to
be used instead.

Change-Id: Ie74f0b29f40ff25402adf7cbac0283262bd8f07c

motors/peripheral/adc.cc

diff --git a/motors/peripheral/adc.cc b/motors/peripheral/adc.cc
index 7232a45..90b1d0d 100644
--- a/motors/peripheral/adc.cc
+++ b/motors/peripheral/adc.cc
@@ -129,6 +129,13 @@
   PORTB_PCR2 = PORT_PCR_MUX(0);
 }
 
+void AdcInitSimple() {
+  AdcInitCommon();
+
+  // ENC_SIN ADC0_SE23
+  // ENC_COS ADC1_SE23
+}
+
 MediumAdcReadings AdcReadMedium(const DisableInterrupts &) {
   MediumAdcReadings r;
 
@@ -248,5 +255,20 @@
   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 salsa
 }  // namespace frc971