X-Git-Url: https://defiant.homedns.org/gitweb/?p=ros_wild_thumper.git;a=blobdiff_plain;f=avr%2Fnano%2Fmain.c;h=935ce4994d4ae418a1333a13aa44045210e1518b;hp=7b62c809209859236aba3c806f27386f3c6fbe94;hb=7e8cc0303c358a8882f5b9f12df4357b63429288;hpb=540df9f5842bf55260f494c985fd75e4c54fb7cb

diff --git a/avr/nano/main.c b/avr/nano/main.c
index 7b62c80..935ce49 100644
--- a/avr/nano/main.c
+++ b/avr/nano/main.c
@@ -26,6 +26,8 @@
  * 0x0A Voltage LSB
  * 0x0B Distance forward2 MSB
  * 0x0C Distance forward2 LSB
+ * 0x0D Current MSB
+ * 0x0E Current LSB
  *
  * 0x15 Distance forward1 MSB (read only)
  * 0x16 Distance forward1 LSB (read only)
@@ -38,6 +40,33 @@
  */
 
 
+/**
+ * Nano Pinout
+ * A0 PC0/ADC0
+ * A1 PC1/ADC1
+ * A2 PC2/ADC2
+ * A3 PC3/ADC3
+ * A4 PC4/ADC4
+ * A5 PC5/ADC5
+ * A6 ADC6
+ * A7 ADC7
+ * D0 PD0/RX
+ * D1 PD1/TX
+ * D2 PD2/IND0
+ * D3 PD3/IND1
+ * D4 PD4/T0
+ * D5 PD5/T1
+ * D6 PD6/AIN0
+ * D7 PD7/AIN1
+ * D8 PB0/ICP
+ * D9 PB1/OC1
+ * D10 PB2/SS
+ * D11 PB3/MOSI
+ * D12 PB4/MISO
+ * D13 PB5/SCK
+ */
+
+
 #define TWI_ACK   TWCR = (1<<TWINT) | (1<<TWEA) | (1<<TWEN) | (1<<TWIE)
 #define TWI_NAK   TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE)
 #define TWI_RESET TWCR = (1<<TWINT) | (1<<TWEA) | (1<<TWSTO) | (1<<TWEN) | (1<<TWIE);
@@ -53,6 +82,7 @@ static volatile uint8_t start_dist_fwd1=0;
 static volatile uint8_t start_dist_fwd2=0;
 static volatile uint8_t start_dist_bwd=0;
 static volatile uint16_t voltage=0;
+static volatile uint16_t current=0;
 static volatile uint8_t pind_pre=0;
 
 ISR(TWI_vect)
@@ -141,6 +171,15 @@ ISR(TWI_vect)
 					TWDR = tmp16;
 					TWI_ACK;
 					break;
+				case 0x0D: // Current MSB
+					tmp16 = current;
+					TWDR = tmp16>>8;
+					TWI_ACK;
+					break;
+				case 0x0E: // Current LSB
+					TWDR = tmp16;
+					TWI_ACK;
+					break;
 				case 0x15: // Distance forward1 MSB
 					tmp16 = dist_forward1;
 					TWDR = tmp16>>8;
@@ -177,6 +216,8 @@ ISR(TWI_vect)
 		case TW_SR_STOP:
 			TWI_ACK;
 			break;
+		case TW_NO_INFO:
+			break;
 		default:
 			TWI_RESET;
 	}
@@ -187,8 +228,9 @@ uint16_t ReadChannel(uint8_t mux) {
 	uint8_t i;
 	uint16_t result;
 
-	ADCSRA = (1<<ADEN) | (1<<ADPS1) | (1<<ADPS0);    // Frequenzvorteiler 
-	// setzen auf 8 (1) und ADC aktivieren (1)
+	ADCSRA = (1<<ADEN) | (1<<ADPS2) | (1<<ADPS1) | (1<<ADPS0);    // Frequenzvorteiler
+	// setzen auf 128 (1) und ADC aktivieren (1)
+	// 16MHz/128=125kHz
 
 	ADMUX = mux;                      // Kanal waehlen
 	ADMUX |= (1<<REFS0);
@@ -232,6 +274,16 @@ static unsigned short get_voltage(void) {
 }
 
 
+/*
+ * zero offset: 0.5V
+ * sensitivity: 133mV/A
+ */
+static unsigned short get_current(void) {
+	double volt = ReadChannel(3)*5.0171; // mV
+	return (volt-517.78)/0.12656; // mA
+}
+
+
 ISR(INT0_vect) {
 	static uint16_t t_start=0;
 	uint16_t t_now = TCNT1;
@@ -321,6 +373,9 @@ int main(void) {
 			case 0x09: // voltage
 				voltage = get_voltage();
 				break;
+			case 0x0d: // current
+				current = get_current();
+				break;
 			case 0xff: // Magic reg that starts the bootloader
 				if (bootloader == 0xa5) {
 					cli();