1 | //in 'setup.h'
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2 | //! The ADC channel where the analog speed reference is connected.
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3 | #define ADC_CHANNEL_SPEED_REF 3
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4 | //! The ADC channel where the motor current measuring amp is connected.
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5 | #define ADC_CHANNEL_CURRENT 4
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6 | //! The spare ADC channel ( e.g. heatsink temperatur or battery volts )
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7 | #define ADC_CHANNEL_TEMP 5
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8 | //! ADC clock prescaler 2 setting.
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9 | #define ADC_PRESCALER_2 ((0 << ADPS2) | (0 << ADPS1) | (1 << ADPS0))
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10 | //! ADC clock prescaler 4 setting.
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11 | #define ADC_PRESCALER_4 ((0 << ADPS2) | (1 << ADPS1) | (0 << ADPS0))
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12 |
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13 | //! ADC clock prescaler 8 setting.
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14 | #define ADC_PRESCALER_8 ((0 << ADPS2) | (1 << ADPS1) | (1 << ADPS0))
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15 |
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16 | //! ADC clock prescaler 16 setting.
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17 | #define ADC_PRESCALER_16 ((1 << ADPS2) | (0 << ADPS1) | (0 << ADPS0))
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18 | //! ADC clock prescaler 64 setting.
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19 | #define ADC_PRESCALER_64 ((1 << ADPS2) | (1 << ADPS1) | (0 << ADPS0))
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20 | //! ADC clock prescaler used in this application.
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21 | #define ADC_PRESCALER ADC_PRESCALER_64
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22 |
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23 | //! ADC internal voltage reference channel value.
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24 | #define ADC_REFERENCE_VOLTAGE_INTERNAL ((1 << REFS1) | (1 << REFS0))
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25 |
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26 | //! ADC VCC voltage reference channel value.
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27 | #define ADC_REFERENCE_VOLTAGE_VCC ((0 << REFS1) | (1 << REFS0))
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28 |
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29 | //! ADC AREF voltage reference channel value.
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30 | #define ADC_REFERENCE_VOLTAGE_AREF ((0 << REFS1) | (0 << REFS0))
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31 |
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32 | /*! ADC voltage reference used in this application.
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33 | *
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34 | * \todo Select ADC voltage reference channel.
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35 | */
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36 | #define ADC_REFERENCE_VOLTAGE ADC_REFERENCE_VOLTAGE_VCC
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37 |
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38 | //! ADMUX settings for analog speed reference measurement.
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39 | #define ADMUX_SPEED_REF (ADC_REFERENCE_VOLTAGE | (1 << ADLAR) | (ADC_CHANNEL_SPEED_REF << MUX0))
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40 |
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41 | //! ADMUX settings for motor current measurement.
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42 | #define ADMUX_CURRENT (ADC_REFERENCE_VOLTAGE | (1 << ADLAR) | (ADC_CHANNEL_CURRENT << MUX0))
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43 |
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44 | //! ADMUX settings for spare ad channel (heatsink temp).
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45 | #define ADMUX_TEMP (ADC_REFERENCE_VOLTAGE | (1 << ADLAR) | (ADC_CHANNEL_TEMP << MUX0))
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46 |
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47 | // in main.c
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48 | // globals
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49 | volatile uint8_t current,speedInput,temperature;
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50 | ISR(ADC_vect)
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51 | {
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52 | switch (ADMUX)
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53 | {
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54 | case ADMUX_SPEED_REF:
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55 | speedInput = (speedInput + ADCH) >> 1; // do some averaging
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56 | ADMUX = ADMUX_CURRENT;
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57 | break;
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58 | case ADMUX_CURRENT:
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59 | current = ADCH;
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60 | ADMUX = ADMUX_TEMP; break;
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61 | case ADMUX_TEMP:
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62 | temperature = ADCH;
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63 | ADMUX = ADMUX_SPEED_REF;
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64 | if (temperature > MOTOR_MAX_TEMPERATURE) error |= ERR_OVERHEAT; break;
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65 | default:
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66 | //This is probably an error and should be handled.
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67 | ADMUX = ADMUX_SPEED_REF;
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68 | break;
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69 | }
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70 |
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71 | // restart the ADC
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72 | ADCSRA = (1 << ADEN) | (1 << ADSC) | (0 << ADATE) | (1 << ADIF) | (1 << ADIE) | ADC_PRESCALER;
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73 |
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74 | }
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