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The document discusses analog to digital conversion and coding the analog to digital converter on the Firebird-V robot. It covers the need for ADC to read sensor values, the built-in 10-bit ADC of the ATmega2560 microcontroller with 16 input channels, and the specific ADC channels used on the Firebird robot for sensors like battery voltage, white line sensors, and IR proximity sensors.
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Rohit GandhiCopyright
© © All Rights Reserved
Available Formats
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Download as pdf or txt
0 ratings0% found this document useful (0 votes)
166 views109 pages07 Adc PDF
The document discusses analog to digital conversion and coding the analog to digital converter on the Firebird-V robot. It covers the need for ADC to read sensor values, the built-in 10-bit ADC of the ATmega2560 microcontroller with 16 input channels, and the specific ADC channels used on the Firebird robot for sensors like battery voltage, white line sensors, and IR proximity sensors.
Uploaded by
Rohit GandhiCopyright
© © All Rights Reserved
Available Formats
Download as PDF, TXT or read online on Scribd
Download as pdf or txt
Download as pdf or txt
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Outline
Analog to Digital Conversion
Coding ADC
Using ADC on Firebird-V Robot
E-Yantra Team
Embedded Real-Time Systems Lab
Indian Institute of Technology-Bombay
IIT Bombay
September 26, 2012
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 1/19
Outline
Analog to Digital Conversion
Coding ADC
Agenda for Discussion
1 Analog to Digital Conversion
Need for ADC
ADC of ATmega2560
ADC Channels
2 Coding ADC
ADC Initilization
ADCSRA
ADCSRB
ADMUX
ACSR
Program
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 2/19
Outline Need for ADC
Analog to Digital Conversion ADC of ATmega2560
Coding ADC ADC Channels
Need for ADC
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 3/19
Outline Need for ADC
Analog to Digital Conversion ADC of ATmega2560
Coding ADC ADC Channels
Need for ADC
X IR Proximity sensors
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 3/19
Outline Need for ADC
Analog to Digital Conversion ADC of ATmega2560
Coding ADC ADC Channels
Need for ADC
X IR Proximity sensors
X Sharp IR Range sensors
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 3/19
Outline Need for ADC
Analog to Digital Conversion ADC of ATmega2560
Coding ADC ADC Channels
Need for ADC
X IR Proximity sensors
X Sharp IR Range sensors
X white line sensors
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 3/19
Outline Need for ADC
Analog to Digital Conversion ADC of ATmega2560
Coding ADC ADC Channels
Need for ADC
X IR Proximity sensors
X Sharp IR Range sensors
X white line sensors
X battery voltage sensing
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 3/19
Outline Need for ADC
Analog to Digital Conversion ADC of ATmega2560
Coding ADC ADC Channels
Need for ADC
X IR Proximity sensors
X Sharp IR Range sensors
X white line sensors
X battery voltage sensing
X etc..
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 3/19
Outline Need for ADC
Analog to Digital Conversion ADC of ATmega2560
Coding ADC ADC Channels
In-Built ADC of ATmega2560
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 4/19
Outline Need for ADC
Analog to Digital Conversion ADC of ATmega2560
Coding ADC ADC Channels
In-Built ADC of ATmega2560
X 10-bit Resolution
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 4/19
Outline Need for ADC
Analog to Digital Conversion ADC of ATmega2560
Coding ADC ADC Channels
In-Built ADC of ATmega2560
X 10-bit Resolution
X 13 - 260 s Conversion Time
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 4/19
Outline Need for ADC
Analog to Digital Conversion ADC of ATmega2560
Coding ADC ADC Channels
In-Built ADC of ATmega2560
X 10-bit Resolution
X 13 - 260 s Conversion Time
X 16 Multiplexed Single Ended Input Channels
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 4/19
Outline Need for ADC
Analog to Digital Conversion ADC of ATmega2560
Coding ADC ADC Channels
In-Built ADC of ATmega2560
X 10-bit Resolution
X 13 - 260 s Conversion Time
X 16 Multiplexed Single Ended Input Channels
X 14 Differential input channels
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 4/19
Outline Need for ADC
Analog to Digital Conversion ADC of ATmega2560
Coding ADC ADC Channels
In-Built ADC of ATmega2560
X 10-bit Resolution
X 13 - 260 s Conversion Time
X 16 Multiplexed Single Ended Input Channels
X 14 Differential input channels
X Optional Left Adjustment for ADC Result Readout
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 4/19
Outline Need for ADC
Analog to Digital Conversion ADC of ATmega2560
Coding ADC ADC Channels
In-Built ADC of ATmega2560
X 10-bit Resolution
X 13 - 260 s Conversion Time
X 16 Multiplexed Single Ended Input Channels
X 14 Differential input channels
X Optional Left Adjustment for ADC Result Readout
X 0 - VCC ADC Input Voltage Range
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 4/19
Outline Need for ADC
Analog to Digital Conversion ADC of ATmega2560
Coding ADC ADC Channels
In-Built ADC of ATmega2560
X 10-bit Resolution
X 13 - 260 s Conversion Time
X 16 Multiplexed Single Ended Input Channels
X 14 Differential input channels
X Optional Left Adjustment for ADC Result Readout
X 0 - VCC ADC Input Voltage Range
X 2.7 - VCC Differential ADC Voltage Range
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 4/19
Outline Need for ADC
Analog to Digital Conversion ADC of ATmega2560
Coding ADC ADC Channels
In-Built ADC of ATmega2560
X 10-bit Resolution
X 13 - 260 s Conversion Time
X 16 Multiplexed Single Ended Input Channels
X 14 Differential input channels
X Optional Left Adjustment for ADC Result Readout
X 0 - VCC ADC Input Voltage Range
X 2.7 - VCC Differential ADC Voltage Range
X Selectable 2.56V or 1.1V ADC Reference Voltage
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 4/19
Outline Need for ADC
Analog to Digital Conversion ADC of ATmega2560
Coding ADC ADC Channels
In-Built ADC of ATmega2560
X 10-bit Resolution
X 13 - 260 s Conversion Time
X 16 Multiplexed Single Ended Input Channels
X 14 Differential input channels
X Optional Left Adjustment for ADC Result Readout
X 0 - VCC ADC Input Voltage Range
X 2.7 - VCC Differential ADC Voltage Range
X Selectable 2.56V or 1.1V ADC Reference Voltage
X Free Running or Single Conversion Mode
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 4/19
Outline Need for ADC
Analog to Digital Conversion ADC of ATmega2560
Coding ADC ADC Channels
In-Built ADC of ATmega2560
X 10-bit Resolution
X 13 - 260 s Conversion Time
X 16 Multiplexed Single Ended Input Channels
X 14 Differential input channels
X Optional Left Adjustment for ADC Result Readout
X 0 - VCC ADC Input Voltage Range
X 2.7 - VCC Differential ADC Voltage Range
X Selectable 2.56V or 1.1V ADC Reference Voltage
X Free Running or Single Conversion Mode
X Interrupt on ADC Conversion Complete
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 4/19
Outline Need for ADC
Analog to Digital Conversion ADC of ATmega2560
Coding ADC ADC Channels
ADC Channels
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 5/19
Outline Need for ADC
Analog to Digital Conversion ADC of ATmega2560
Coding ADC ADC Channels
ADC Channels
Pin No. Pin Name Description
97 PF0/ADC0 ADC input for Battery Voltage Monitoring
96 PF1/ADC1 ADC input for White Line Sensor 3(Right)
95 PF2/ADC2 ADC input for White Line Sensor 2(Center)
94 PF3/ADC3 ADC input for White Line Sensor 1(Left)
93 PF4/ADC4 ADC input for IR proximity analog sensor 1
92 PF5/ADC5 ADC input for IR proximity analog sensor 2
91 PF6/ADC6 ADC input for IR proximity analog sensor 3
90 PF7/ADC7 ADC input for IR proximity analog sensor 4
89 PK0/ADC8 ADC input for IR proximity analog sensor 5
88 PK1/ADC9 ADC input for Sharp IR range sensor 1
87 PK2/ADC10 ADC input for Sharp IR range sensor 2
86 PK3/ADC11 ADC input for Sharp IR range sensor 3
85 PK4/ADC12 ADC input for Sharp IR range sensor 4
84 PK5/ADC13 ADC input for Sharp IR range sensor 5
83 PK6/ADC14 ADC input for Servo Pod 1
82 PK7/ADC15 ADC input for Servo Pod 2
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 5/19
Outline Need for ADC
Analog to Digital Conversion ADC of ATmega2560
Coding ADC ADC Channels
ADC Channels
Pin No. Pin Name Description
97 PF0/ADC0 ADC input for Battery Voltage Monitoring
96 PF1/ADC1 ADC input for White Line Sensor 3(Right)
95 PF2/ADC2 ADC input for White Line Sensor 2(Center)
94 PF3/ADC3 ADC input for White Line Sensor 1(Left)
93 PF4/ADC4 ADC input for IR proximity analog sensor 1
92 PF5/ADC5 ADC input for IR proximity analog sensor 2
91 PF6/ADC6 ADC input for IR proximity analog sensor 3
90 PF7/ADC7 ADC input for IR proximity analog sensor 4
89 PK0/ADC8 ADC input for IR proximity analog sensor 5
88 PK1/ADC9 ADC input for Sharp IR range sensor 1
87 PK2/ADC10 ADC input for Sharp IR range sensor 2
86 PK3/ADC11 ADC input for Sharp IR range sensor 3
85 PK4/ADC12 ADC input for Sharp IR range sensor 4
84 PK5/ADC13 ADC input for Sharp IR range sensor 5
83 PK6/ADC14 ADC input for Servo Pod 1
82 PK7/ADC15 ADC input for Servo Pod 2
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 5/19
ADC Initilization
ADCSRA
Outline
ADCSRB
Analog to Digital Conversion
ADMUX
Coding ADC
ACSR
Program
Steps for Using ADC in AVR
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 6/19
ADC Initilization
ADCSRA
Outline
ADCSRB
Analog to Digital Conversion
ADMUX
Coding ADC
ACSR
Program
Steps for Using ADC in AVR
1 Enabling ADC :
Set the ADEN bit of the ADC Control and Status Register ADCSRA
to logic 1.
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 6/19
ADC Initilization
ADCSRA
Outline
ADCSRB
Analog to Digital Conversion
ADMUX
Coding ADC
ACSR
Program
Steps for Using ADC in AVR
1 Enabling ADC :
Set the ADEN bit of the ADC Control and Status Register ADCSRA
to logic 1.
2 ADC Prescaler Division Ratio :
Set the bits ADPS 2:0 of the Register ADCSRA. ADC needs clock
frequency between 50KHz to 200KHz
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 6/19
ADC Initilization
ADCSRA
Outline
ADCSRB
Analog to Digital Conversion
ADMUX
Coding ADC
ACSR
Program
Steps for Using ADC in AVR
1 Enabling ADC :
Set the ADEN bit of the ADC Control and Status Register ADCSRA
to logic 1.
2 ADC Prescaler Division Ratio :
Set the bits ADPS 2:0 of the Register ADCSRA. ADC needs clock
frequency between 50KHz to 200KHz
3 Selecting reference voltage source for the ADC :
Select the reference voltage for ADC as AREF by making
REFS1:REFS0 as 00 (5 V)
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 6/19
ADC Initilization
ADCSRA
Outline
ADCSRB
Analog to Digital Conversion
ADMUX
Coding ADC
ACSR
Program
Steps for Using ADC in AVR
1 Enabling ADC :
Set the ADEN bit of the ADC Control and Status Register ADCSRA
to logic 1.
2 ADC Prescaler Division Ratio :
Set the bits ADPS 2:0 of the Register ADCSRA. ADC needs clock
frequency between 50KHz to 200KHz
3 Selecting reference voltage source for the ADC :
Select the reference voltage for ADC as AREF by making
REFS1:REFS0 as 00 (5 V)
4 Left/Right Adjustment :
ADCH contains the two most significant bits and ADCL contains
the remaining eight bits. We left shift this data so that ADCH will
contain the eight bits including the MSB and ADCL will contain
remaining two LSBs
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 6/19
ADC Initilization
ADCSRA
Outline
ADCSRB
Analog to Digital Conversion
ADMUX
Coding ADC
ACSR
Program
ADC Initilization
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 7/19
ADC Initilization
ADCSRA
Outline
ADCSRB
Analog to Digital Conversion
ADMUX
Coding ADC
ACSR
Program
ADC Initilization
X To Program ADC, we have to initialize some register before use it.
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 7/19
ADC Initilization
ADCSRA
Outline
ADCSRB
Analog to Digital Conversion
ADMUX
Coding ADC
ACSR
Program
ADC Initilization
X To Program ADC, we have to initialize some register before use it.
These registers are:
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 7/19
ADC Initilization
ADCSRA
Outline
ADCSRB
Analog to Digital Conversion
ADMUX
Coding ADC
ACSR
Program
ADC Initilization
X To Program ADC, we have to initialize some register before use it.
These registers are:
1 ADCSRA - ADC Control and Status Register A
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 7/19
ADC Initilization
ADCSRA
Outline
ADCSRB
Analog to Digital Conversion
ADMUX
Coding ADC
ACSR
Program
ADC Initilization
X To Program ADC, we have to initialize some register before use it.
These registers are:
1 ADCSRA - ADC Control and Status Register A
2 ADCSRB - ADC Control and Status Register B
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 7/19
ADC Initilization
ADCSRA
Outline
ADCSRB
Analog to Digital Conversion
ADMUX
Coding ADC
ACSR
Program
ADC Initilization
X To Program ADC, we have to initialize some register before use it.
These registers are:
1 ADCSRA - ADC Control and Status Register A
2 ADCSRB - ADC Control and Status Register B
3 ADMUX - ADC Multiplexer Selection Register
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 7/19
ADC Initilization
ADCSRA
Outline
ADCSRB
Analog to Digital Conversion
ADMUX
Coding ADC
ACSR
Program
ADC Initilization
X To Program ADC, we have to initialize some register before use it.
These registers are:
1 ADCSRA - ADC Control and Status Register A
2 ADCSRB - ADC Control and Status Register B
3 ADMUX - ADC Multiplexer Selection Register
4 ACSR - Analog Comparator Control and Status Register
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 7/19
ADC Initilization
ADCSRA
Outline
ADCSRB
Analog to Digital Conversion
ADMUX
Coding ADC
ACSR
Program
ADC Initilization
X To Program ADC, we have to initialize some register before use it.
These registers are:
1 ADCSRA - ADC Control and Status Register A
2 ADCSRB - ADC Control and Status Register B
3 ADMUX - ADC Multiplexer Selection Register
4 ACSR - Analog Comparator Control and Status Register
X All these Registers are 8 Bit.
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 7/19
ADC Initilization
ADCSRA
Outline
ADCSRB
Analog to Digital Conversion
ADMUX
Coding ADC
ACSR
Program
ADCSRA- ADC Control and Status Register A
This register is Used to control ADC operation
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 8/19
ADC Initilization
ADCSRA
Outline
ADCSRB
Analog to Digital Conversion
ADMUX
Coding ADC
ACSR
Program
ADCSRA- ADC Control and Status Register A
This register is Used to control ADC operation
Bit Symbol Description Bit Value
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 8/19
ADC Initilization
ADCSRA
Outline
ADCSRB
Analog to Digital Conversion
ADMUX
Coding ADC
ACSR
Program
ADCSRA- ADC Control and Status Register A
This register is Used to control ADC operation
Bit Symbol Description Bit Value
7 ADEN ADC Enable
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 8/19
ADC Initilization
ADCSRA
Outline
ADCSRB
Analog to Digital Conversion
ADMUX
Coding ADC
ACSR
Program
ADCSRA- ADC Control and Status Register A
This register is Used to control ADC operation
Bit Symbol Description Bit Value
7 ADEN ADC Enable 1
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 8/19
ADC Initilization
ADCSRA
Outline
ADCSRB
Analog to Digital Conversion
ADMUX
Coding ADC
ACSR
Program
ADCSRA- ADC Control and Status Register A
This register is Used to control ADC operation
Bit Symbol Description Bit Value
7 ADEN ADC Enable 1
6 ADSC ADC Start Conversion
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 8/19
ADC Initilization
ADCSRA
Outline
ADCSRB
Analog to Digital Conversion
ADMUX
Coding ADC
ACSR
Program
ADCSRA- ADC Control and Status Register A
This register is Used to control ADC operation
Bit Symbol Description Bit Value
7 ADEN ADC Enable 1
6 ADSC ADC Start Conversion 0
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 8/19
ADC Initilization
ADCSRA
Outline
ADCSRB
Analog to Digital Conversion
ADMUX
Coding ADC
ACSR
Program
ADCSRA- ADC Control and Status Register A
This register is Used to control ADC operation
Bit Symbol Description Bit Value
7 ADEN ADC Enable 1
6 ADSC ADC Start Conversion 0
5 ADATE ADC Auto Trigger Enable
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 8/19
ADC Initilization
ADCSRA
Outline
ADCSRB
Analog to Digital Conversion
ADMUX
Coding ADC
ACSR
Program
ADCSRA- ADC Control and Status Register A
This register is Used to control ADC operation
Bit Symbol Description Bit Value
7 ADEN ADC Enable 1
6 ADSC ADC Start Conversion 0
5 ADATE ADC Auto Trigger Enable 0
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 8/19
ADC Initilization
ADCSRA
Outline
ADCSRB
Analog to Digital Conversion
ADMUX
Coding ADC
ACSR
Program
ADCSRA- ADC Control and Status Register A
This register is Used to control ADC operation
Bit Symbol Description Bit Value
7 ADEN ADC Enable 1
6 ADSC ADC Start Conversion 0
5 ADATE ADC Auto Trigger Enable 0
4 ADIF ADC Interrupt Flag
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 8/19
ADC Initilization
ADCSRA
Outline
ADCSRB
Analog to Digital Conversion
ADMUX
Coding ADC
ACSR
Program
ADCSRA- ADC Control and Status Register A
This register is Used to control ADC operation
Bit Symbol Description Bit Value
7 ADEN ADC Enable 1
6 ADSC ADC Start Conversion 0
5 ADATE ADC Auto Trigger Enable 0
4 ADIF ADC Interrupt Flag 0
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 8/19
ADC Initilization
ADCSRA
Outline
ADCSRB
Analog to Digital Conversion
ADMUX
Coding ADC
ACSR
Program
ADCSRA- ADC Control and Status Register A
This register is Used to control ADC operation
Bit Symbol Description Bit Value
7 ADEN ADC Enable 1
6 ADSC ADC Start Conversion 0
5 ADATE ADC Auto Trigger Enable 0
4 ADIF ADC Interrupt Flag 0
3 ADIE ADC Interrupt Enable
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 8/19
ADC Initilization
ADCSRA
Outline
ADCSRB
Analog to Digital Conversion
ADMUX
Coding ADC
ACSR
Program
ADCSRA- ADC Control and Status Register A
This register is Used to control ADC operation
Bit Symbol Description Bit Value
7 ADEN ADC Enable 1
6 ADSC ADC Start Conversion 0
5 ADATE ADC Auto Trigger Enable 0
4 ADIF ADC Interrupt Flag 0
3 ADIE ADC Interrupt Enable 0
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 8/19
ADC Initilization
ADCSRA
Outline
ADCSRB
Analog to Digital Conversion
ADMUX
Coding ADC
ACSR
Program
ADCSRA- ADC Control and Status Register A
This register is Used to control ADC operation
Bit Symbol Description Bit Value
7 ADEN ADC Enable 1
6 ADSC ADC Start Conversion 0
5 ADATE ADC Auto Trigger Enable 0
4 ADIF ADC Interrupt Flag 0
3 ADIE ADC Interrupt Enable 0
2 ADPS2 ADC Prescaler Select Bits
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 8/19
ADC Initilization
ADCSRA
Outline
ADCSRB
Analog to Digital Conversion
ADMUX
Coding ADC
ACSR
Program
ADCSRA- ADC Control and Status Register A
This register is Used to control ADC operation
Bit Symbol Description Bit Value
7 ADEN ADC Enable 1
6 ADSC ADC Start Conversion 0
5 ADATE ADC Auto Trigger Enable 0
4 ADIF ADC Interrupt Flag 0
3 ADIE ADC Interrupt Enable 0
2 ADPS2 ADC Prescaler Select Bits 1
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 8/19
ADC Initilization
ADCSRA
Outline
ADCSRB
Analog to Digital Conversion
ADMUX
Coding ADC
ACSR
Program
ADCSRA- ADC Control and Status Register A
This register is Used to control ADC operation
Bit Symbol Description Bit Value
7 ADEN ADC Enable 1
6 ADSC ADC Start Conversion 0
5 ADATE ADC Auto Trigger Enable 0
4 ADIF ADC Interrupt Flag 0
3 ADIE ADC Interrupt Enable 0
2 ADPS2 ADC Prescaler Select Bits 1
1 ADPS1 ADC Prescaler Select Bits
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 8/19
ADC Initilization
ADCSRA
Outline
ADCSRB
Analog to Digital Conversion
ADMUX
Coding ADC
ACSR
Program
ADCSRA- ADC Control and Status Register A
This register is Used to control ADC operation
Bit Symbol Description Bit Value
7 ADEN ADC Enable 1
6 ADSC ADC Start Conversion 0
5 ADATE ADC Auto Trigger Enable 0
4 ADIF ADC Interrupt Flag 0
3 ADIE ADC Interrupt Enable 0
2 ADPS2 ADC Prescaler Select Bits 1
1 ADPS1 ADC Prescaler Select Bits 1
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 8/19
ADC Initilization
ADCSRA
Outline
ADCSRB
Analog to Digital Conversion
ADMUX
Coding ADC
ACSR
Program
ADCSRA- ADC Control and Status Register A
This register is Used to control ADC operation
Bit Symbol Description Bit Value
7 ADEN ADC Enable 1
6 ADSC ADC Start Conversion 0
5 ADATE ADC Auto Trigger Enable 0
4 ADIF ADC Interrupt Flag 0
3 ADIE ADC Interrupt Enable 0
2 ADPS2 ADC Prescaler Select Bits 1
1 ADPS1 ADC Prescaler Select Bits 1
0 ADPS0 ADC Prescaler Select Bits
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 8/19
ADC Initilization
ADCSRA
Outline
ADCSRB
Analog to Digital Conversion
ADMUX
Coding ADC
ACSR
Program
ADCSRA- ADC Control and Status Register A
This register is Used to control ADC operation
Bit Symbol Description Bit Value
7 ADEN ADC Enable 1
6 ADSC ADC Start Conversion 0
5 ADATE ADC Auto Trigger Enable 0
4 ADIF ADC Interrupt Flag 0
3 ADIE ADC Interrupt Enable 0
2 ADPS2 ADC Prescaler Select Bits 1
1 ADPS1 ADC Prescaler Select Bits 1
0 ADPS0 ADC Prescaler Select Bits 0
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 8/19
ADC Initilization
ADCSRA
Outline
ADCSRB
Analog to Digital Conversion
ADMUX
Coding ADC
ACSR
Program
ADCSRA- ADC Control and Status Register A
This register is Used to control ADC operation
Bit Symbol Description Bit Value
7 ADEN ADC Enable 1
6 ADSC ADC Start Conversion 0
5 ADATE ADC Auto Trigger Enable 0
4 ADIF ADC Interrupt Flag 0
3 ADIE ADC Interrupt Enable 0
2 ADPS2 ADC Prescaler Select Bits 1
1 ADPS1 ADC Prescaler Select Bits 1
0 ADPS0 ADC Prescaler Select Bits 0
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 8/19
ADC Initilization
ADCSRA
Outline
ADCSRB
Analog to Digital Conversion
ADMUX
Coding ADC
ACSR
Program
ADCSRA- ADC Control and Status Register A
This register is Used to control ADC operation
Bit Symbol Description Bit Value
7 ADEN ADC Enable 1
6 ADSC ADC Start Conversion 0
5 ADATE ADC Auto Trigger Enable 0
4 ADIF ADC Interrupt Flag 0
3 ADIE ADC Interrupt Enable 0
2 ADPS2 ADC Prescaler Select Bits 1
1 ADPS1 ADC Prescaler Select Bits 1
0 ADPS0 ADC Prescaler Select Bits 0
ADCSRA = 0x86
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 8/19
ADC Initilization
ADCSRA
Outline
ADCSRB
Analog to Digital Conversion
ADMUX
Coding ADC
ACSR
Program
ADC Prescaler Selection Bit
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 9/19
ADC Initilization
ADCSRA
Outline
ADCSRB
Analog to Digital Conversion
ADMUX
Coding ADC
ACSR
Program
ADC Prescaler Selection Bit
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 9/19
ADC Initilization
ADCSRA
Outline
ADCSRB
Analog to Digital Conversion
ADMUX
Coding ADC
ACSR
Program
ADCSRB- ADC Control and Status Register B
This register is Used to control ADC operation
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 10/19
ADC Initilization
ADCSRA
Outline
ADCSRB
Analog to Digital Conversion
ADMUX
Coding ADC
ACSR
Program
ADCSRB- ADC Control and Status Register B
This register is Used to control ADC operation
Bit Symbol Description Bit Value
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 10/19
ADC Initilization
ADCSRA
Outline
ADCSRB
Analog to Digital Conversion
ADMUX
Coding ADC
ACSR
Program
ADCSRB- ADC Control and Status Register B
This register is Used to control ADC operation
Bit Symbol Description Bit Value
7 - Reserved Bit
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 10/19
ADC Initilization
ADCSRA
Outline
ADCSRB
Analog to Digital Conversion
ADMUX
Coding ADC
ACSR
Program
ADCSRB- ADC Control and Status Register B
This register is Used to control ADC operation
Bit Symbol Description Bit Value
7 - Reserved Bit -
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 10/19
ADC Initilization
ADCSRA
Outline
ADCSRB
Analog to Digital Conversion
ADMUX
Coding ADC
ACSR
Program
ADCSRB- ADC Control and Status Register B
This register is Used to control ADC operation
Bit Symbol Description Bit Value
7 - Reserved Bit -
6 ACME Analog Comparator Multiplexer Enable
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 10/19
ADC Initilization
ADCSRA
Outline
ADCSRB
Analog to Digital Conversion
ADMUX
Coding ADC
ACSR
Program
ADCSRB- ADC Control and Status Register B
This register is Used to control ADC operation
Bit Symbol Description Bit Value
7 - Reserved Bit -
6 ACME Analog Comparator Multiplexer Enable 0
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 10/19
ADC Initilization
ADCSRA
Outline
ADCSRB
Analog to Digital Conversion
ADMUX
Coding ADC
ACSR
Program
ADCSRB- ADC Control and Status Register B
This register is Used to control ADC operation
Bit Symbol Description Bit Value
7 - Reserved Bit -
6 ACME Analog Comparator Multiplexer Enable 0
5 - Reserved Bit -
4 - Reserved Bit -
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 10/19
ADC Initilization
ADCSRA
Outline
ADCSRB
Analog to Digital Conversion
ADMUX
Coding ADC
ACSR
Program
ADCSRB- ADC Control and Status Register B
This register is Used to control ADC operation
Bit Symbol Description Bit Value
7 - Reserved Bit -
6 ACME Analog Comparator Multiplexer Enable 0
5 - Reserved Bit -
4 - Reserved Bit -
3 MUX5 ADC Channel selection bit-5
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 10/19
ADC Initilization
ADCSRA
Outline
ADCSRB
Analog to Digital Conversion
ADMUX
Coding ADC
ACSR
Program
ADCSRB- ADC Control and Status Register B
This register is Used to control ADC operation
Bit Symbol Description Bit Value
7 - Reserved Bit -
6 ACME Analog Comparator Multiplexer Enable 0
5 - Reserved Bit -
4 - Reserved Bit -
3 MUX5 ADC Channel selection bit-5 0
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 10/19
ADC Initilization
ADCSRA
Outline
ADCSRB
Analog to Digital Conversion
ADMUX
Coding ADC
ACSR
Program
ADCSRB- ADC Control and Status Register B
This register is Used to control ADC operation
Bit Symbol Description Bit Value
7 - Reserved Bit -
6 ACME Analog Comparator Multiplexer Enable 0
5 - Reserved Bit -
4 - Reserved Bit -
3 MUX5 ADC Channel selection bit-5 0
2 ADTS2 ADC Auto Trigger Source Bits 0
1 ADTS1 ADC Auto Trigger Source Bits 0
0 ADTS0 ADC Auto Trigger Source Bits 0
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 10/19
ADC Initilization
ADCSRA
Outline
ADCSRB
Analog to Digital Conversion
ADMUX
Coding ADC
ACSR
Program
ADCSRB- ADC Control and Status Register B
This register is Used to control ADC operation
Bit Symbol Description Bit Value
7 - Reserved Bit -
6 ACME Analog Comparator Multiplexer Enable 0
5 - Reserved Bit -
4 - Reserved Bit -
3 MUX5 ADC Channel selection bit-5 0
2 ADTS2 ADC Auto Trigger Source Bits 0
1 ADTS1 ADC Auto Trigger Source Bits 0
0 ADTS0 ADC Auto Trigger Source Bits 0
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 10/19
ADC Initilization
ADCSRA
Outline
ADCSRB
Analog to Digital Conversion
ADMUX
Coding ADC
ACSR
Program
ADCSRB- ADC Control and Status Register B
This register is Used to control ADC operation
Bit Symbol Description Bit Value
7 - Reserved Bit -
6 ACME Analog Comparator Multiplexer Enable 0
5 - Reserved Bit -
4 - Reserved Bit -
3 MUX5 ADC Channel selection bit-5 0
2 ADTS2 ADC Auto Trigger Source Bits 0
1 ADTS1 ADC Auto Trigger Source Bits 0
0 ADTS0 ADC Auto Trigger Source Bits 0
ADCSRB = 0x00
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 10/19
ADC Initilization
ADCSRA
Outline
ADCSRB
Analog to Digital Conversion
ADMUX
Coding ADC
ACSR
Program
ADMUX - ADC Multiplexer Selection Register
This register is Used to select ADC channel
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 11/19
ADC Initilization
ADCSRA
Outline
ADCSRB
Analog to Digital Conversion
ADMUX
Coding ADC
ACSR
Program
ADMUX - ADC Multiplexer Selection Register
This register is Used to select ADC channel
Bit Symbol Description Bit Value
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 11/19
ADC Initilization
ADCSRA
Outline
ADCSRB
Analog to Digital Conversion
ADMUX
Coding ADC
ACSR
Program
ADMUX - ADC Multiplexer Selection Register
This register is Used to select ADC channel
Bit Symbol Description Bit Value
7 REFS1 Reference Selection Bit
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 11/19
ADC Initilization
ADCSRA
Outline
ADCSRB
Analog to Digital Conversion
ADMUX
Coding ADC
ACSR
Program
ADMUX - ADC Multiplexer Selection Register
This register is Used to select ADC channel
Bit Symbol Description Bit Value
7 REFS1 Reference Selection Bit 0
6 REFS2 Reference Selection Bit 0
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 11/19
ADC Initilization
ADCSRA
Outline
ADCSRB
Analog to Digital Conversion
ADMUX
Coding ADC
ACSR
Program
ADMUX - ADC Multiplexer Selection Register
This register is Used to select ADC channel
Bit Symbol Description Bit Value
7 REFS1 Reference Selection Bit 0
6 REFS2 Reference Selection Bit 0
5 ADLAR ADC Left Adjust Result
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 11/19
ADC Initilization
ADCSRA
Outline
ADCSRB
Analog to Digital Conversion
ADMUX
Coding ADC
ACSR
Program
ADMUX - ADC Multiplexer Selection Register
This register is Used to select ADC channel
Bit Symbol Description Bit Value
7 REFS1 Reference Selection Bit 0
6 REFS2 Reference Selection Bit 0
5 ADLAR ADC Left Adjust Result 1
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 11/19
ADC Initilization
ADCSRA
Outline
ADCSRB
Analog to Digital Conversion
ADMUX
Coding ADC
ACSR
Program
ADMUX - ADC Multiplexer Selection Register
This register is Used to select ADC channel
Bit Symbol Description Bit Value
7 REFS1 Reference Selection Bit 0
6 REFS2 Reference Selection Bit 0
5 ADLAR ADC Left Adjust Result 1
4 MUX4 ADC Channel selection bit-4
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 11/19
ADC Initilization
ADCSRA
Outline
ADCSRB
Analog to Digital Conversion
ADMUX
Coding ADC
ACSR
Program
ADMUX - ADC Multiplexer Selection Register
This register is Used to select ADC channel
Bit Symbol Description Bit Value
7 REFS1 Reference Selection Bit 0
6 REFS2 Reference Selection Bit 0
5 ADLAR ADC Left Adjust Result 1
4 MUX4 ADC Channel selection bit-4 0
3 MUX3 ADC Channel selection bit-3 0
2 MUX2 ADC Channel selection bit-2 0
1 MUX1 ADC Channel selection bit-1 0
0 MUX0 ADC Channel selection bit-0 0
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 11/19
ADC Initilization
ADCSRA
Outline
ADCSRB
Analog to Digital Conversion
ADMUX
Coding ADC
ACSR
Program
ADMUX - ADC Multiplexer Selection Register
This register is Used to select ADC channel
Bit Symbol Description Bit Value
7 REFS1 Reference Selection Bit 0
6 REFS2 Reference Selection Bit 0
5 ADLAR ADC Left Adjust Result 1
4 MUX4 ADC Channel selection bit-4 0
3 MUX3 ADC Channel selection bit-3 0
2 MUX2 ADC Channel selection bit-2 0
1 MUX1 ADC Channel selection bit-1 0
0 MUX0 ADC Channel selection bit-0 0
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 11/19
ADC Initilization
ADCSRA
Outline
ADCSRB
Analog to Digital Conversion
ADMUX
Coding ADC
ACSR
Program
ADMUX - ADC Multiplexer Selection Register
This register is Used to select ADC channel
Bit Symbol Description Bit Value
7 REFS1 Reference Selection Bit 0
6 REFS2 Reference Selection Bit 0
5 ADLAR ADC Left Adjust Result 1
4 MUX4 ADC Channel selection bit-4 0
3 MUX3 ADC Channel selection bit-3 0
2 MUX2 ADC Channel selection bit-2 0
1 MUX1 ADC Channel selection bit-1 0
0 MUX0 ADC Channel selection bit-0 0
ADMUX = 0x20
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 11/19
ADC Initilization
ADCSRA
Outline
ADCSRB
Analog to Digital Conversion
ADMUX
Coding ADC
ACSR
Program
ADC Reference Voltage Selection Bit
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 12/19
ADC Initilization
ADCSRA
Outline
ADCSRB
Analog to Digital Conversion
ADMUX
Coding ADC
ACSR
Program
ADC Reference Voltage Selection Bit
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 12/19
ADC Initilization
ADCSRA
Outline
ADCSRB
Analog to Digital Conversion
ADMUX
Coding ADC
ACSR
Program
ADC Left Adjustment Bit
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 13/19
ADC Initilization
ADCSRA
Outline
ADCSRB
Analog to Digital Conversion
ADMUX
Coding ADC
ACSR
Program
ADC Left Adjustment Bit
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 13/19
ADC Initilization
ADCSRA
Outline
ADCSRB
Analog to Digital Conversion
ADMUX
Coding ADC
ACSR
Program
ADMUX5:0 Channel Selection
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 14/19
ADC Initilization
ADCSRA
Outline
ADCSRB
Analog to Digital Conversion
ADMUX
Coding ADC
ACSR
Program
ADMUX5:0 Channel Selection
MUX5:0 ADC Channel
00000 ADC0
00001 ADC1
00010 ADC2
00011 ADC3
00100 ADC4
00101 ADC5
00110 ADC6
00111 ADC7
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 14/19
ADC Initilization
ADCSRA
Outline
ADCSRB
Analog to Digital Conversion
ADMUX
Coding ADC
ACSR
Program
ADMUX5:0 Channel Selection
MUX5:0 ADC Channel
00000 ADC0
00001 ADC1
00010 ADC2
00011 ADC3
00100 ADC4
00101 ADC5
00110 ADC6
00111 ADC7
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 14/19
ADC Initilization
ADCSRA
Outline
ADCSRB
Analog to Digital Conversion
ADMUX
Coding ADC
ACSR
Program
ADMUX5:0 Channel Selection
MUX5:0 ADC Channel MUX5:0 ADC Channel
00000 ADC0 10000 ADC8
00001 ADC1 10001 ADC9
00010 ADC2 10010 ADC10
00011 ADC3 10011 ADC11
00100 ADC4 10100 ADC12
00101 ADC5 10101 ADC13
00110 ADC6 10110 ADC14
00111 ADC7 10111 ADC15
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 14/19
ADC Initilization
ADCSRA
Outline
ADCSRB
Analog to Digital Conversion
ADMUX
Coding ADC
ACSR
Program
ACSR - Analog Comparator Control and Status Register
This register is Used for Analog Comparator
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 15/19
ADC Initilization
ADCSRA
Outline
ADCSRB
Analog to Digital Conversion
ADMUX
Coding ADC
ACSR
Program
ACSR - Analog Comparator Control and Status Register
This register is Used for Analog Comparator
Bit Symbol Description Bit Value
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 15/19
ADC Initilization
ADCSRA
Outline
ADCSRB
Analog to Digital Conversion
ADMUX
Coding ADC
ACSR
Program
ACSR - Analog Comparator Control and Status Register
This register is Used for Analog Comparator
Bit Symbol Description Bit Value
7 ACD Analog Comparator Disable
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 15/19
ADC Initilization
ADCSRA
Outline
ADCSRB
Analog to Digital Conversion
ADMUX
Coding ADC
ACSR
Program
ACSR - Analog Comparator Control and Status Register
This register is Used for Analog Comparator
Bit Symbol Description Bit Value
7 ACD Analog Comparator Disable 1
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 15/19
ADC Initilization
ADCSRA
Outline
ADCSRB
Analog to Digital Conversion
ADMUX
Coding ADC
ACSR
Program
ACSR - Analog Comparator Control and Status Register
This register is Used for Analog Comparator
Bit Symbol Description Bit Value
7 ACD Analog Comparator Disable 1
6 ACBG Analog Comparator Bandgap Select 0
5 ACO Analog Comparator Output 0
4 ACI Analog Comparator Interrupt Flag 0
3 ACIE Analog Comparator Interrupt Enable 0
2 ACIC Analog Comparator Input Capture Enable 0
1 ACIS1 Analog Comparator Interrupt Mode Select 0
0 ACIS0 Analog Comparator Interrupt Mode Select 0
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 15/19
ADC Initilization
ADCSRA
Outline
ADCSRB
Analog to Digital Conversion
ADMUX
Coding ADC
ACSR
Program
ACSR - Analog Comparator Control and Status Register
This register is Used for Analog Comparator
Bit Symbol Description Bit Value
7 ACD Analog Comparator Disable 1
6 ACBG Analog Comparator Bandgap Select 0
5 ACO Analog Comparator Output 0
4 ACI Analog Comparator Interrupt Flag 0
3 ACIE Analog Comparator Interrupt Enable 0
2 ACIC Analog Comparator Input Capture Enable 0
1 ACIS1 Analog Comparator Interrupt Mode Select 0
0 ACIS0 Analog Comparator Interrupt Mode Select 0
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 15/19
ADC Initilization
ADCSRA
Outline
ADCSRB
Analog to Digital Conversion
ADMUX
Coding ADC
ACSR
Program
ACSR - Analog Comparator Control and Status Register
This register is Used for Analog Comparator
Bit Symbol Description Bit Value
7 ACD Analog Comparator Disable 1
6 ACBG Analog Comparator Bandgap Select 0
5 ACO Analog Comparator Output 0
4 ACI Analog Comparator Interrupt Flag 0
3 ACIE Analog Comparator Interrupt Enable 0
2 ACIC Analog Comparator Input Capture Enable 0
1 ACIS1 Analog Comparator Interrupt Mode Select 0
0 ACIS0 Analog Comparator Interrupt Mode Select 0
ACSR = 0x80
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 15/19
ADC Initilization
ADCSRA
Outline
ADCSRB
Analog to Digital Conversion
ADMUX
Coding ADC
ACSR
Program
Syntax for C-Program
ADC Initialization
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 16/19
ADC Initilization
ADCSRA
Outline
ADCSRB
Analog to Digital Conversion
ADMUX
Coding ADC
ACSR
Program
Syntax for C-Program
ADC Initialization
ADC Port Pin Config
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 16/19
ADC Initilization
ADCSRA
Outline
ADCSRB
Analog to Digital Conversion
ADMUX
Coding ADC
ACSR
Program
Syntax for C-Program
ADC Initialization
ADC Port Pin Config
void adc_pin_config (void) //Configure ADC Ports
{
Port K and Port F must be defined Input
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 16/19
ADC Initilization
ADCSRA
Outline
ADCSRB
Analog to Digital Conversion
ADMUX
Coding ADC
ACSR
Program
Syntax for C-Program
ADC Initialization
ADC Port Pin Config
void adc_pin_config (void) //Configure ADC Ports
{
Port K and Port F must be defined Input
ADC Initialization
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 16/19
ADC Initilization
ADCSRA
Outline
ADCSRB
Analog to Digital Conversion
ADMUX
Coding ADC
ACSR
Program
Syntax for C-Program
ADC Initialization
ADC Port Pin Config
void adc_pin_config (void) //Configure ADC Ports
{
Port K and Port F must be defined Input
ADC Initialization
void adc_init() //Set Register Values for starting ADC
{
ADCSRA =
ADCSRB =
ADMUX =
ADCSRA =
ACSR =
}
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 16/19
ADC Initilization
ADCSRA
Outline
ADCSRB
Analog to Digital Conversion
ADMUX
Coding ADC
ACSR
Program
Syntax for C-Program
ADC Initialization
ADC Port Pin Config
void adc_pin_config (void) //Configure ADC Ports
{
Port K and Port F must be defined Input
ADC Initialization
void adc_init() //Set Register Values for starting ADC
{
ADCSRA =
ADCSRB =
ADMUX =
ADCSRA =
ACSR =
}
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 16/19
ADC Initilization
ADCSRA
Outline
ADCSRB
Analog to Digital Conversion
ADMUX
Coding ADC
ACSR
Program
Syntax for C-Program
Program
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 17/19
ADC Initilization
ADCSRA
Outline
ADCSRB
Analog to Digital Conversion
ADMUX
Coding ADC
ACSR
Program
Syntax for C-Program
Program
Main Program
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 17/19
ADC Initilization
ADCSRA
Outline
ADCSRB
Analog to Digital Conversion
ADMUX
Coding ADC
ACSR
Program
Syntax for C-Program
Program
Main Program
int main(void)
{
init_devices();
lcd_init();
while(1)
{
print_sensor(1,1,0);
print_sensor(1,4,1);
print_sensor(1,8,2);
}
}
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 17/19
ADC Initilization
ADCSRA
Outline
ADCSRB
Analog to Digital Conversion
ADMUX
Coding ADC
ACSR
Program
Syntax for C-Program
Program
Main Program
int main(void)
{
init_devices();
lcd_init();
while(1)
{
print_sensor(1,1,0);
print_sensor(1,4,1);
print_sensor(1,8,2);
}
}
Print ADC Value on LCD
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 17/19
ADC Initilization
ADCSRA
Outline
ADCSRB
Analog to Digital Conversion
ADMUX
Coding ADC
ACSR
Program
Syntax for C-Program
Program
Main Program
int main(void)
{
init_devices();
lcd_init();
while(1)
{
print_sensor(1,1,0);
print_sensor(1,4,1);
print_sensor(1,8,2);
}
}
Print ADC Value on LCD
void print_sensor(char row, char column, unsigned char channel)
{
ADC_Value = ADC_Conversion(channel);
lcd_print(row, column, ADC_Value, 3);
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 17/19
ADC Initilization
ADCSRA
Outline
ADCSRB
Analog to Digital Conversion
ADMUX
Coding ADC
ACSR
Program
Syntax for C-Program
Program
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 18/19
ADC Initilization
ADCSRA
Outline
ADCSRB
Analog to Digital Conversion
ADMUX
Coding ADC
ACSR
Program
Syntax for C-Program
Program
ADC Conversion Function
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 18/19
ADC Initilization
ADCSRA
Outline
ADCSRB
Analog to Digital Conversion
ADMUX
Coding ADC
ACSR
Program
Syntax for C-Program
Program
ADC Conversion Function
unsigned char ADC_Conversion(unsigned char Ch)
{
unsigned char a;
if(Ch>7)
{
ADCSRB = 0x08;
}
Ch = Ch & 0x07;
ADMUX= 0x20 | Ch;
ADCSRA = ADCSRA | 0x40; //Set start conversion bit
while((ADCSRA&0x10)==0); //Wait for ADC conversion to complete
a=ADCH;
ADCSRA = ADCSRA|0x10; //clear ADIF (ADC Interrupt Flag) by writing 1 to it
ADCSRB = 0x00;
return a;
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 18/19
ADC Initilization
ADCSRA
Outline
ADCSRB
Analog to Digital Conversion
ADMUX
Coding ADC
ACSR
Program
Thank You!
Post your queries on: http://qa.e-yantra.org/
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 19/19
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