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