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| 1 | /*####################################################################################### |
1 | /*####################################################################################### |
| 2 | MK3Mag 3D-Magnet sensor |
2 | MK3Mag 3D-Magnet sensor |
| 3 | !!! THIS IS NOT FREE SOFTWARE !!! |
3 | !!! THIS IS NOT FREE SOFTWARE !!! |
| 4 | #######################################################################################*/ |
4 | #######################################################################################*/ |
| 5 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
5 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 6 | // + Copyright (c) 05.2008 Holger Buss |
6 | // + Copyright (c) 05.2008 Holger Buss |
| 7 | // + Thanks to Ilja Fähnrich (P_Latzhalter) |
7 | // + Thanks to Ilja Fähnrich (P_Latzhalter) |
| 8 | // + Nur für den privaten Gebrauch |
8 | // + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY |
| 9 | // + www.MikroKopter.com |
9 | // + www.MikroKopter.com |
| 10 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
10 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 11 | // + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
11 | // + Die Portierung oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
| 12 | // + mit unserer Zustimmung zulässig |
12 | // + mit unserer Zustimmung zulässig |
| 13 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
13 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 14 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
14 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
| 15 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
15 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
| 16 | // + AUSNAHME: Ein bei www.mikrokopter.de erworbener vorbestückter MK3Mag darf als Baugruppe auch in kommerziellen Systemen verbaut werden |
16 | // + AUSNAHME: Ein bei www.mikrokopter.de erworbener vorbestückter MK3Mag darf als Baugruppe auch in kommerziellen Systemen verbaut werden |
| 17 | // + Im Zweifelsfall bitte anfragen bei: info@mikrokopter.de |
17 | // + Im Zweifelsfall bitte anfragen bei: info@mikrokopter.de |
| 18 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
18 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 19 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
19 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
| 20 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
20 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
| 21 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
21 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 22 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
22 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
| 23 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
23 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
| 24 | // + eindeutig als Ursprung verlinkt werden |
24 | // + eindeutig als Ursprung verlinkt werden |
| 25 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
25 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 26 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
26 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
| 27 | // + Benutzung auf eigene Gefahr |
27 | // + Benutzung auf eigene Gefahr |
| 28 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
28 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
| 29 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
29 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| - | 30 | // + Die Portierung oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
|
| - | 31 | // + mit unserer Zustimmung zulässig |
|
| - | 32 | /// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
|
| 30 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
33 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
| 31 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
34 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 32 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
35 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
| 33 | // + this list of conditions and the following disclaimer. |
36 | // + this list of conditions and the following disclaimer. |
| 34 | // + * PORTING this software (or parts of it) to systems (other than hardware from www.mikrokopter.de) is NOT allowed |
37 | // + * porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed |
| 35 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
38 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
| 36 | // + from this software without specific prior written permission. |
39 | // + from this software without specific prior written permission. |
| 37 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
40 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
| 38 | // + for non-commercial use (directly or indirectly) |
41 | // + for non-commercial use (directly or indirectly) |
| 39 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
42 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
| 40 | // + with our written permission |
43 | // + with our written permission |
| 41 | // + Exception: A preassembled MK3Mag, purchased from www.mikrokopter.de may be used as a part of commercial systems |
44 | // + Exception: A preassembled MK3Mag, purchased from www.mikrokopter.de may be used as a part of commercial systems |
| 42 | // + In case of doubt please contact: info@MikroKopter.de |
45 | // + In case of doubt please contact: info@MikroKopter.de |
| 43 | // + * If sources or documentations are redistributet on other webpages, our webpage (http://www.MikroKopter.de) must be |
46 | // + * If sources or documentations are redistributet on other webpages, our webpage (http://www.MikroKopter.de) must be |
| 44 | // + clearly linked as origin |
47 | // + clearly linked as origin |
| 45 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
48 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
| 46 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
49 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
| 47 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
50 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
| 48 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
51 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
| 49 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
52 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
| 50 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
53 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
| 51 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
54 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
| 52 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
55 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
| 53 | // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
56 | // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
| 54 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
57 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
| 55 | // + POSSIBILITY OF SUCH DAMAGE. |
58 | // + POSSIBILITY OF SUCH DAMAGE. |
| 56 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
59 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 57 | #include <util/delay.h> |
60 | #include <util/delay.h> |
| 58 | #include "analog.h" |
61 | #include "analog.h" |
| 59 | 62 | ||
| 60 | uint8_t AccPresent = 0; |
63 | uint8_t AccPresent = 0; |
| 61 | 64 | ||
| 62 | void ADC_Init(void) |
65 | void ADC_Init(void) |
| 63 | { |
66 | { |
| 64 | // The analog inputs have a VREF of 5V and a resolution of 10 bit (0...1024 counts) |
67 | // The analog inputs have a VREF of 5V and a resolution of 10 bit (0...1024 counts) |
| 65 | // i.e. 4.88mV/Count |
68 | // i.e. 4.88mV/Count |
| 66 | 69 | ||
| 67 | // set PortC 0,1,2,3 as input |
70 | // set PortC 0,1,2,3 as input |
| 68 | DDRC &= ~((1<<DDC3)|(1<<DDC2)|(1<<DDC1)|(1<<DDC0)); |
71 | DDRC &= ~((1<<DDC3)|(1<<DDC2)|(1<<DDC1)|(1<<DDC0)); |
| 69 | // set PortC 0,1,2,3 as tri state |
72 | // set PortC 0,1,2,3 as tri state |
| 70 | PORTC &= ~((1<<PORTC3)|(1<<PORTC2)|(1<<PORTC1)|(1<<PORTC0)); |
73 | PORTC &= ~((1<<PORTC3)|(1<<PORTC2)|(1<<PORTC1)|(1<<PORTC0)); |
| 71 | 74 | ||
| 72 | // port PD5 and PD6 control the current direction of the test coils of the sensors |
75 | // port PD5 and PD6 control the current direction of the test coils of the sensors |
| 73 | DDRD |= ((1<<DDD5)|(1<<DDD6)); |
76 | DDRD |= ((1<<DDD5)|(1<<DDD6)); |
| 74 | FLIP_LOW; |
77 | FLIP_LOW; |
| 75 | 78 | ||
| 76 | // disable internal reference voltage and right adjust bits in ADCW |
79 | // disable internal reference voltage and right adjust bits in ADCW |
| 77 | ADMUX = 0x00; |
80 | ADMUX = 0x00; |
| 78 | // clear start conversion bit (ADSC = 0) |
81 | // clear start conversion bit (ADSC = 0) |
| 79 | // disable ADC Auto Trigger Enable (ADATE = 0) |
82 | // disable ADC Auto Trigger Enable (ADATE = 0) |
| 80 | // disable interrupt (ADIE = 0) |
83 | // disable interrupt (ADIE = 0) |
| 81 | ADCSRA &= ~((1<<ADSC)|(1<<ADATE)|(1<<ADIE)); |
84 | ADCSRA &= ~((1<<ADSC)|(1<<ADATE)|(1<<ADIE)); |
| 82 | // Enable ADC (ADEN = 1) with SYSCLK/128 (ADPS2 = 1, ADPS1 = 1, ADPS0 = 1) and clear ready flag (ADIF = 1) |
85 | // Enable ADC (ADEN = 1) with SYSCLK/128 (ADPS2 = 1, ADPS1 = 1, ADPS0 = 1) and clear ready flag (ADIF = 1) |
| 83 | ADCSRA |= ((1<<ADEN)|(1<<ADIF)|(1<<ADPS2)|(1<<ADPS1)|(1<<ADPS0)); |
86 | ADCSRA |= ((1<<ADEN)|(1<<ADIF)|(1<<ADPS2)|(1<<ADPS1)|(1<<ADPS0)); |
| 84 | ADMUX = 0x00; // select ADC0 |
87 | ADMUX = 0x00; // select ADC0 |
| 85 | ADCSRA |= (1<<ADSC); // start conversion |
88 | ADCSRA |= (1<<ADSC); // start conversion |
| 86 | 89 | ||
| 87 | 90 | ||
| 88 | // Check if acceleration sensor is present |
91 | // Check if acceleration sensor is present |
| 89 | // The output of the LIS3L02AL (MK3MAG V1.0) and the LIS344ALH (MK3MAG V1.1) is Vdd/5 +/- 10% per 1g. |
92 | // The output of the LIS3L02AL (MK3MAG V1.0) and the LIS344ALH (MK3MAG V1.1) is Vdd/5 +/- 10% per 1g. |
| 90 | // The Vdd is 3.0V at this board therefore the sensitivity is 0.6V/g +/-10% that corresponds to 123 counts. |
93 | // The Vdd is 3.0V at this board therefore the sensitivity is 0.6V/g +/-10% that corresponds to 123 counts. |
| 91 | // The offsets at 0g is VDD/2 (1.5V) that is 307 counts. |
94 | // The offsets at 0g is VDD/2 (1.5V) that is 307 counts. |
| 92 | // that yields to an ADC range of 184 to 430 counts. |
95 | // that yields to an ADC range of 184 to 430 counts. |
| 93 | 96 | ||
| 94 | // pullup PC2(AccX) and PC3 (AccY) |
97 | // pullup PC2(AccX) and PC3 (AccY) |
| 95 | PORTC |= ((1<<PORTC3)|(1<<PORTC2)); |
98 | PORTC |= ((1<<PORTC3)|(1<<PORTC2)); |
| 96 | _delay_ms(10.0); |
99 | _delay_ms(10.0); |
| 97 | // if ADC2 and ADC 3 is larger than 1000 counts (4.88V) no load is at the pins |
100 | // if ADC2 and ADC 3 is larger than 1000 counts (4.88V) no load is at the pins |
| 98 | if((ADC_GetValue(ADC2) > 1000) && (ADC_GetValue(ADC3) > 1000)) AccPresent = 0; |
101 | if((ADC_GetValue(ADC2) > 1000) && (ADC_GetValue(ADC3) > 1000)) AccPresent = 0; |
| 99 | else AccPresent = 1; |
102 | else AccPresent = 1; |
| 100 | // set port back to tristate |
103 | // set port back to tristate |
| 101 | PORTC &= ~((1<<PORTC3)|(1<<PORTC2)); |
104 | PORTC &= ~((1<<PORTC3)|(1<<PORTC2)); |
| 102 | } |
105 | } |
| 103 | 106 | ||
| 104 | 107 | ||
| 105 | uint16_t ADC_GetValue(ADChannel_t channel) |
108 | uint16_t ADC_GetValue(ADChannel_t channel) |
| 106 | { |
109 | { |
| 107 | uint16_t value = 0; |
110 | uint16_t value = 0; |
| 108 | ADMUX = channel; // set muxer bits |
111 | ADMUX = channel; // set muxer bits |
| 109 | ADCSRA |= (1<<ADIF); // clear ready-flag |
112 | ADCSRA |= (1<<ADIF); // clear ready-flag |
| 110 | ADCSRA |= (1<<ADSC); // start conversion |
113 | ADCSRA |= (1<<ADSC); // start conversion |
| 111 | while (((ADCSRA & (1<<ADIF)) == 0)); // wait for end of conversion |
114 | while (((ADCSRA & (1<<ADIF)) == 0)); // wait for end of conversion |
| 112 | value = ADCW; // read adc result |
115 | value = ADCW; // read adc result |
| 113 | return(value); |
116 | return(value); |
| 114 | } |
117 | } |
| 115 | 118 | ||
| 116 | 119 | ||
| 117 | 120 | ||
| 118 | 121 | ||