void Get_HMC_Angles(void)
{
Get_Averge_RawData();
// angle in degrees
Angle= atan2((double)Raw_Yout_Val,(double)Raw_Xout_Val) * (180 / 3.14159265) + 180;
Angle*=10;
}
/*****************************************************
CodeWizardAVR V2.05.3 Standard
Project : Test & Start With HMC5883L
Version : 3
Date : 1392/11/1
Author : S_Ahmad
Company : www.RoboticNGO.com www.ECA.ir
Comments:
Chip type : ATmega32
AVR Core Clock frequency: 8.000000 MHz
*****************************************************/
#include <mega32.h>
#include <i2c.h>
#include <alcd.h>
#include <delay.h>
#include <stdio.h>
#include "LIB\HMC5883L\HMC5883L.h"
void main(void)
{
// Declare your local variables here
// Input/Output Ports initialization
// Port A initialization
// Func7=In Func6=In Func5=In Func4=In Func3=In Func2=In Func1=In Func0=In
// State7=T State6=T State5=T State4=T State3=T State2=T State1=T State0=T
PORTA=0x00;
DDRA=0x00;
// Port B initialization
// Func7=In Func6=In Func5=In Func4=In Func3=In Func2=In Func1=In Func0=In
// State7=T State6=T State5=T State4=T State3=T State2=T State1=T State0=T
PORTB=0x00;
DDRB=0x00;
// Port C initialization
// Func7=In Func6=In Func5=In Func4=In Func3=In Func2=In Func1=In Func0=In
// State7=T State6=T State5=T State4=T State3=T State2=T State1=T State0=T
PORTC=0x00;
DDRC=0x00;
// Port D initialization
// Func7=In Func6=In Func5=In Func4=In Func3=In Func2=In Func1=In Func0=In
// State7=T State6=T State5=T State4=T State3=T State2=T State1=T State0=T
PORTD=0x00;
DDRD=0x00;
// Timer/Counter 0 initialization
// Clock source: System Clock
// Clock value: Timer 0 Stopped
// Mode: Normal top=0xFF
// OC0 output: Disconnected
TCCR0=0x00;
TCNT0=0x00;
OCR0=0x00;
// Timer/Counter 1 initialization
// Clock source: System Clock
// Clock value: Timer1 Stopped
// Mode: Normal top=0xFFFF
// OC1A output: Discon.
// OC1B output: Discon.
// Noise Canceler: Off
// Input Capture on Falling Edge
// Timer1 Overflow Interrupt: Off
// Input Capture Interrupt: Off
// Compare A Match Interrupt: Off
// Compare B Match Interrupt: Off
TCCR1A=0x00;
TCCR1B=0x00;
TCNT1H=0x00;
TCNT1L=0x00;
ICR1H=0x00;
ICR1L=0x00;
OCR1AH=0x00;
OCR1AL=0x00;
OCR1BH=0x00;
OCR1BL=0x00;
// Timer/Counter 2 initialization
// Clock source: System Clock
// Clock value: Timer2 Stopped
// Mode: Normal top=0xFF
// OC2 output: Disconnected
ASSR=0x00;
TCCR2=0x00;
TCNT2=0x00;
OCR2=0x00;
// External Interrupt(s) initialization
// INT0: Off
// INT1: Off
// INT2: Off
MCUCR=0x00;
MCUCSR=0x00;
// Timer(s)/Counter(s) Interrupt(s) initialization
TIMSK=0x00;
// USART initialization
// Communication Parameters: 8 Data, 1 Stop, No Parity
// USART Receiver: On
// USART Transmitter: On
// USART Mode: Asynchronous
// USART Baud Rate: 9600
UCSRA=0x00;
UCSRB=0x18;
UCSRC=0x86;
UBRRH=0x00;
UBRRL=0x33;
// Analog Comparator initialization
// Analog Comparator: Off
// Analog Comparator Input Capture by Timer/Counter 1: Off
ACSR=0x80;
SFIOR=0x00;
// ADC initialization
// ADC disabled
ADCSRA=0x00;
// SPI initialization
// SPI disabled
SPCR=0x00;
// TWI initialization
// TWI disabled
TWCR=0x00;
// I2C Bus initialization
// I2C Port: PORTB
// I2C SDA bit: 1
// I2C SCL bit: 0
// Bit Rate: 100 kHz
// Note: I2C settings are specified in the
// Project|Configure|C Compiler|Libraries|I2C menu.
i2c_init();
// Alphanumeric LCD initialization
// Connections are specified in the
// Project|Configure|C Compiler|Libraries|Alphanumeric LCD menu:
// RS - PORTC Bit 0
// RD - PORTC Bit 1
// EN - PORTC Bit 2
// D4 - PORTC Bit 3
// D5 - PORTC Bit 4
// D6 - PORTC Bit 5
// D7 - PORTC Bit 6
// Characters/line: 20
lcd_init(20);
////|/============ S_Ahmad >>>> www.RoboticNGO.com >>>> HMC5883L Prj /|/|/|/|/
HMC5883L_Init();
while(1)
{
Get_HMC_nonCalib_Data();
Get_HMC_Calib_Data();
printf("X RawVal: %f \r",HMC_Raw_Val[X]);
printf("Y RawVal: %f \r",HMC_Raw_Val[Y]);
printf("Z RawVal: %f \r",HMC_Raw_Val[Z]);
printf("nonClib CMPS Angle : %f \r",CMPS_Angle_nonClib);
printf("nonCalib X RawVal: %f \r",HMC_Raw_nonCalib_Val[X]);
printf("nonCalib Y RawVal: %f \r",HMC_Raw_nonCalib_Val[Y]);
printf("nonCalib Z RawVal: %f \r",HMC_Raw_nonCalib_Val[Z]);
printf("Clib CMPS Angle : %f \r",CMPS_Angle_Clib);
printf("Clib X RawVal: %f \r",HMC_Raw_Calib_Val[X]);
printf("Clib Y RawVal: %f \r",HMC_Raw_Calib_Val[Y]);
printf("Clib Z RawVal: %f \r",HMC_Raw_Calib_Val[Z]);
delay_ms(70);
}
}
$regfile = "m16def.dat" $crystal = 8000000 Config Lcd = 16 * 2 Config Lcdpin = Pin , Rs = Pina.0 , E = Pina.1 , Db4 = Pina.2 _ , Db5 = Pina.3 , Db6 = Pina.4 , Db7 = Pina.5 Dim B As Word Config Portd.7 = Input Declare Sub I2c_wright Cls Locate 1 , 1 Lcd "hamed" Wait 1 Cls Lcd "tahamtan" Wait 1 Cls Config I2cdelay = 5 Config Scl = Portc.0 Config Sda = Portc.1 I2cstop Do Call I2c_wright Lcd B Cls Loop Sub I2c_wright I2cstart I2creceive &H3C , B I2cstop Return End Sub
دیدگاه