diff options
Diffstat (limited to 'source/Concept/Framework/robot.cpp')
| -rw-r--r-- | source/Concept/Framework/robot.cpp | 80 |
1 files changed, 80 insertions, 0 deletions
diff --git a/source/Concept/Framework/robot.cpp b/source/Concept/Framework/robot.cpp index f982be6..3d3ae48 100644 --- a/source/Concept/Framework/robot.cpp +++ b/source/Concept/Framework/robot.cpp @@ -3,6 +3,48 @@ //-----------------------------------------------------------------------------
Robot::Robot()
{
+ //Hardware
+
+ //Set pin 1-6 output, 0 and 7 input
+ DDRA = (1 << 1) | (1 << 2) | (1 << 3) | (1 << 4) | (1 << 5) | (1 << 6);
+ PORTA = 0;
+
+ //All output
+ DDRB = (1 << 0) | (1 << 1) | (1 << 2) | (1 << 3) | (1 << 4) | (1 << 5) | (1 << 6) | (1 << 7);
+ PORTB = (1 << 1);
+
+ //All output except PC4/PC5 (mousesensor SDA)
+ DDRC = (1 << 0) | (1 << 1) | (1 << 2) | (1 << 3) | (1 << 6) | (1 << 7);
+ PORTC = 0;
+
+ //All output except PD0+1(I2C) + 2+3(RS232)
+ DDRD = (1 << 2) | (1 << 3) | (1 << 4) | (1 << 5) | (1 << 6) | (1 << 7);
+ PORTD = (1 << 0) | (1 << 1);//Activate pullup at PD0+1
+
+ //PE5 for input
+ DDRE = (1 << 0) | (1 << 1) | (1 << 2) | (1 << 3) | (1 << 4) | (1 << 6) | (1 << 7);
+ PORTE = 0;
+
+ //All input with pullup
+ DDRF = 0;
+ PORTF = (1 << 0) | (1 << 1) | (1 << 2) | (1 << 3) | (1 << 4) | (1 << 5) | (1 << 6) | (1 << 7);
+
+ //All input
+ DDRG = (1 << 0) | (1 << 1) | (1 << 2) | (1 << 3) | (1 << 4);
+ PORTG = (1 << 0) | (1 << 1);
+
+ // activate channel A+B on PWM1 at 8Bit
+ TCCR1A = (1 << COM1A1) | (1 << COM1B1) | (1 << WGM10);
+ TCCR1B = (1 <<ICNC1) | (1 <<CS12) | (1 <<CS10); // set clock/prescaler 1/1024 -> enable counter
+
+ // activate Kanal A+B on PWM3 at 8Bit
+ TCCR3A = (1 << COM3A1) | (1 << COM3B1) | (1 << WGM10);
+ TCCR3B = (1 <<ICNC3) | (1 <<CS32) | (1 <<CS30); // set clock/prescaler 1/1024 -> enable counter
+
+ //Activate interrupt
+ sei();
+
+ //Interface
memset(modules, NULL, sizeof(modules));
}
@@ -43,4 +85,42 @@ void Robot::Update() //insert code here
}
+//-----------------------------------------------------------------------------
+uint16 Robot::GetADCValue(uint8 channel)
+{
+ if(channel > 7) return 0;
+
+ uint32 result = 0;
+
+ //Activate ADC and set division factor to 64
+ ADCSRA = (1 << ADEN) | (1 << ADPS2) | (1 << ADPS1);
+
+ //Set multiplexer channel
+ ADMUX = channel;
+ //Use internal referencevoltage (2,56 V for atmega32)
+ ADMUX |= (1 << REFS1) | (1 << REFS0);
+
+ //Initialise ADC and start dummyreadout
+ ADCSRA |= (1 << ADSC);
+ while(ADCSRA & (1 << ADSC));
+
+ //Get voltage three times and calculate average value
+ for(uint8 i = 0; i < 3; i++)
+ {
+ // Eine Wandlung
+ ADCSRA |= (1 << ADSC);
+ // Auf Ergebnis warten...
+ while(ADCSRA & (1 << ADSC));
+
+ result += ADCW;
+ }
+
+ //Disable ADC
+ ADCSRA &= ~(1 << ADEN);
+
+ result /= 3;
+
+ return uint16(result);
+}
+
//--- EOF --- |