| 154,6 → 154,7 |
|---|
| volatile uint16_t accNoisePeak[3]; |
| |
| volatile uint8_t adState; |
| volatile uint8_t adChannel; |
| |
| // ADC channels |
| #define AD_GYRO_YAW 0 |
| 210,7 → 211,7 |
|---|
| // external reference, adjust data to the right |
| ADMUX &= ~((1<<REFS1)|(1<<REFS0)|(1<<ADLAR)); |
| // set muxer to ADC adc_channel 0 (0 to 7 is a valid choice) |
| ADMUX = (ADMUX & 0xE0) | AD_GYRO_PITCH; |
| ADMUX = (ADMUX & 0xE0); |
| //Set ADC Control and Status Register A |
| //Auto Trigger Enable, Prescaler Select Bits to Division Factor 128, i.e. ADC clock = SYSCKL/128 = 156.25 kHz |
| ADCSRA = (1<<ADPS2)|(1<<ADPS1)|(1<<ADPS0); |
| 252,7 → 253,8 |
|---|
| sensorInputs[i] = 0; |
| } |
| adState = 0; |
| ADMUX = (ADMUX & 0xE0) | AD_GYRO_PITCH; |
| adChannel = AD_GYRO_PITCH; |
| ADMUX = (ADMUX & 0xE0) | adChannel; |
| startADC(); |
| } |
| |
| 262,7 → 264,6 |
|---|
| * processed further conversions are stopped. |
| *****************************************************/ |
| ISR(ADC_vect) { |
| static uint8_t adChannel = AD_GYRO_PITCH; |
| sensorInputs[adChannel] += ADC; |
| // set up for next state. |
| adState++; |