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| Rev 1986 | Rev 1987 | ||
|---|---|---|---|
| Line 152... | Line 152... | ||
| 152 | */ |
152 | */ |
| 153 | volatile uint16_t gyroNoisePeak[3]; |
153 | volatile uint16_t gyroNoisePeak[3]; |
| 154 | volatile uint16_t accNoisePeak[3]; |
154 | volatile uint16_t accNoisePeak[3]; |
| Line 155... | Line 155... | ||
| 155 | 155 | ||
| - | 156 | volatile uint8_t adState; |
|
| Line 156... | Line 157... | ||
| 156 | volatile uint8_t adState; |
157 | volatile uint8_t adChannel; |
| 157 | 158 | ||
| 158 | // ADC channels |
159 | // ADC channels |
| 159 | #define AD_GYRO_YAW 0 |
160 | #define AD_GYRO_YAW 0 |
| Line 208... | Line 209... | ||
| 208 | // Disable digital input buffer for analog adc_channel pins |
209 | // Disable digital input buffer for analog adc_channel pins |
| 209 | DIDR0 = 0xFF; |
210 | DIDR0 = 0xFF; |
| 210 | // external reference, adjust data to the right |
211 | // external reference, adjust data to the right |
| 211 | ADMUX &= ~((1<<REFS1)|(1<<REFS0)|(1<<ADLAR)); |
212 | ADMUX &= ~((1<<REFS1)|(1<<REFS0)|(1<<ADLAR)); |
| 212 | // set muxer to ADC adc_channel 0 (0 to 7 is a valid choice) |
213 | // set muxer to ADC adc_channel 0 (0 to 7 is a valid choice) |
| 213 | ADMUX = (ADMUX & 0xE0) | AD_GYRO_PITCH; |
214 | ADMUX = (ADMUX & 0xE0); |
| 214 | //Set ADC Control and Status Register A |
215 | //Set ADC Control and Status Register A |
| 215 | //Auto Trigger Enable, Prescaler Select Bits to Division Factor 128, i.e. ADC clock = SYSCKL/128 = 156.25 kHz |
216 | //Auto Trigger Enable, Prescaler Select Bits to Division Factor 128, i.e. ADC clock = SYSCKL/128 = 156.25 kHz |
| 216 | ADCSRA = (1<<ADPS2)|(1<<ADPS1)|(1<<ADPS0); |
217 | ADCSRA = (1<<ADPS2)|(1<<ADPS1)|(1<<ADPS0); |
| 217 | //Set ADC Control and Status Register B |
218 | //Set ADC Control and Status Register B |
| 218 | //Trigger Source to Free Running Mode |
219 | //Trigger Source to Free Running Mode |
| Line 250... | Line 251... | ||
| 250 | // Stop the sampling. Cycle is over. |
251 | // Stop the sampling. Cycle is over. |
| 251 | for (uint8_t i = 0; i < 8; i++) { |
252 | for (uint8_t i = 0; i < 8; i++) { |
| 252 | sensorInputs[i] = 0; |
253 | sensorInputs[i] = 0; |
| 253 | } |
254 | } |
| 254 | adState = 0; |
255 | adState = 0; |
| - | 256 | adChannel = AD_GYRO_PITCH; |
|
| 255 | ADMUX = (ADMUX & 0xE0) | AD_GYRO_PITCH; |
257 | ADMUX = (ADMUX & 0xE0) | adChannel; |
| 256 | startADC(); |
258 | startADC(); |
| 257 | } |
259 | } |
| Line 258... | Line 260... | ||
| 258 | 260 | ||
| 259 | /***************************************************** |
261 | /***************************************************** |
| 260 | * Interrupt Service Routine for ADC |
262 | * Interrupt Service Routine for ADC |
| 261 | * Runs at 312.5 kHz or 3.2 �s. When all states are |
263 | * Runs at 312.5 kHz or 3.2 �s. When all states are |
| 262 | * processed further conversions are stopped. |
264 | * processed further conversions are stopped. |
| 263 | *****************************************************/ |
265 | *****************************************************/ |
| 264 | ISR(ADC_vect) { |
- | |
| 265 | static uint8_t adChannel = AD_GYRO_PITCH; |
266 | ISR(ADC_vect) { |
| 266 | sensorInputs[adChannel] += ADC; |
267 | sensorInputs[adChannel] += ADC; |
| 267 | // set up for next state. |
268 | // set up for next state. |
| 268 | adState++; |
269 | adState++; |
| 269 | if (adState < sizeof(channelsForStates)) { |
270 | if (adState < sizeof(channelsForStates)) { |