Subversion Repositories MK3Mag

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/*#######################################################################################
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MK3Mag 3D-Magnet sensor
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!!! THIS IS NOT FREE SOFTWARE !!!
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#######################################################################################*/
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// + Copyright (c) 05.2008 Holger Buss
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// + Thanks to Ilja Fähnrich (P_Latzhalter)
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// + Nur für den privaten Gebrauch
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// + www.MikroKopter.com
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur
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// + mit unserer Zustimmung zulässig
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation),
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// + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist.
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// + AUSNAHME: Ein bei www.mikrokopter.de erworbener vorbestückter MK3Mag darf als Baugruppe auch in kommerziellen Systemen verbaut werden
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// + Im Zweifelsfall bitte anfragen bei: info@mikrokopter.de
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht,
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// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts
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// + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de"
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// + eindeutig als Ursprung verlinkt werden
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion
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// + Benutzung auf eigene Gefahr
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// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// + Redistributions of source code (with or without modifications) must retain the above copyright notice,
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// + this list of conditions and the following disclaimer.
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// +   * PORTING this software (or parts of it) to systems (other than hardware from www.mikrokopter.de) is NOT allowed
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// +   * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived
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// +     from this software without specific prior written permission.
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// +   * The use of this project (hardware, software, binary files, sources and documentation) is only permittet
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// +     for non-commercial use (directly or indirectly)
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// +     Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted
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// +     with our written permission
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// +     Exception: A preassembled MK3Mag, purchased from www.mikrokopter.de may be used as a part of commercial systems
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// +     In case of doubt please contact: info@MikroKopter.de
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// +   * If sources or documentations are redistributet on other webpages, our webpage (http://www.MikroKopter.de) must be
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// +     clearly linked as origin
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// +  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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// +  AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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// +  IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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// +  ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
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// +  LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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// +  CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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// +  SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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// +  INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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// +  CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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// +  ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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// +  POSSIBILITY OF SUCH DAMAGE.
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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#include <util/delay.h>
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#include "analog.h"
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uint8_t AccPresent = 0;
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void ADC_Init(void)
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{
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        // The analog inputs have a VREF of 5V and a resolution of 10 bit (0...1024 counts)
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        // i.e. 4.88mV/Count
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        // set PortC 0,1,2,3 as input
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        DDRC  &= ~((1<<DDC3)|(1<<DDC2)|(1<<DDC1)|(1<<DDC0));
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        // set PortC 0,1,2,3 as tri state
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    PORTC &= ~((1<<PORTC3)|(1<<PORTC2)|(1<<PORTC1)|(1<<PORTC0));
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        // port PD5 and PD6 control the current direction of the test coils of the sensors
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        DDRD |= ((1<<DDD5)|(1<<DDD6));
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        FLIP_LOW;
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        // disable internal reference voltage and right adjust bits in ADCW
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        ADMUX = 0x00;
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        //  clear start conversion bit (ADSC = 0)
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        //  disable ADC Auto Trigger Enable (ADATE = 0)
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        //  disable interrupt (ADIE = 0)
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        ADCSRA &= ~((1<<ADSC)|(1<<ADATE)|(1<<ADIE));
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        // Enable ADC (ADEN = 1) with SYSCLK/128 (ADPS2 = 1, ADPS1 = 1, ADPS0 = 1) and clear ready flag (ADIF = 1)
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        ADCSRA |= ((1<<ADEN)|(1<<ADIF)|(1<<ADPS2)|(1<<ADPS1)|(1<<ADPS0));
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        ADMUX = 0x00; // select ADC0
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        ADCSRA |= (1<<ADSC); // start conversion
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        // Check if acceleration sensor is present
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        // The output of the LIS3L02AL (MK3MAG V1.0) and the LIS344ALH (MK3MAG V1.1) is Vdd/5 +/- 10% per 1g.
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        // 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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        // The offsets at 0g is VDD/2 (1.5V) that is 307 counts.
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        // that yields to an ADC range of 184 to 430 counts.
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        // pullup PC2(AccX) and PC3 (AccY)
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        PORTC |= ((1<<PORTC3)|(1<<PORTC2));
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        _delay_ms(10.0);
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        // if ADC2 and ADC 3 is larger than 1000 counts (4.88V) no load is at the pins
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        if((ADC_GetValue(ADC2) > 1000) && (ADC_GetValue(ADC3) > 1000)) AccPresent = 0;
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        else AccPresent = 1;
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        // set port back to tristate
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        PORTC &= ~((1<<PORTC3)|(1<<PORTC2));
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}
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uint16_t ADC_GetValue(ADChannel_t channel)
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{
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        uint16_t value = 0;
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        ADMUX = channel;                // set muxer bits
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        ADCSRA |= (1<<ADIF);    // clear ready-flag
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        ADCSRA |= (1<<ADSC);    // start conversion
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        while (((ADCSRA & (1<<ADIF)) == 0)); // wait for end of conversion
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        value =  ADCW;                  // read adc result
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        return(value);
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}
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