- #include <reg52.h>
- #include <math.h>
- #include <stdio.h>
- #include <intrins.h>
- typedef unsigned char uchar;
- typedef unsigned int uint;
- /*12864液晶引腳定義*/
- sbit CS=P3^3;
- sbit SID=P3^4;
- sbit SCLK=P3^5;
- sbit SCL=P1^0; //IIC時鐘引腳定義
- sbit SDA=P1^1; //IIC數據引腳定義
- #define SlaveAddress 0x3c //定義器件在IIC總線中的從地址
- uchar Rec_Data[6];
- void Send_byte(unsigned char bbyte);
- void Delaynms(unsigned int di);
- /*延時函數*/
- void Delay(uint t)
- {
- while(t--)
- {}
- }
- /********************************************
- **LCD顯示函數
- ********************************************/
- /*寫入一個數據或指令*/
- void Send_DATA(uchar ddata,uchar start)
- {
- unsigned char start_data,Hdata,Ldata;
- if(start==0)
- start_data=0xf8;//寫指令
- else
- start_data=0xfa; //寫數據
- SCLK=0;
- CS=1;
- Hdata=ddata&0xf0; //取高四位
- Ldata=(ddata<<4)&0xf0; //取低四位
- Send_byte(start_data); //發送起始信號
- Delaynms(5); //延時是必須的
- Send_byte(Hdata); //發送高四位
- Delaynms(1); //延時是必須的
- Send_byte(Ldata); //發送低四位
- Delaynms(1); //延時是必須的
- CS=0;
- Delay(20);
- }
- void Delaynms(unsigned int di) //??
- {
- unsigned int da,db;
- for(da=0;da<di;da++)
- for(db=0;db<10;db++);
- }
- void Send_byte(unsigned char bbyte) //發送一個字節
- {
- unsigned char i;
- for(i=0;i<8;i++)
- {
- SID=bbyte&0x80; //取出最高位
- SCLK=1;
- SCLK=0;
- bbyte<<=1; //左移
- }
- }
- void LCD_set_xy( unsigned char x, unsigned char y )
- { //設置LCD顯示的起始位置，X為行，Y為列
- unsigned char address;
- switch(x)
- {
- case 0: address = 0x80 + y; break;
- case 1: address = 0x80 + y; break;
- case 2: address = 0x90 + y; break;
- case 3: address = 0x88 + y; break;
- case 4: address = 0x98 + y; break;
- default:address = 0x80 + y; break;
- }
- Send_DATA(address,0);
- }
- /*12864液晶初始化*/
- void LCD_Init(void)
- {
- Delay(60000);
- Send_DATA(0x30,0);
- Send_DATA(0x04,0);
- Send_DATA(0x0c,0);
- Send_DATA(0x01,0);
- Delay(3000);
- }
- /*顯示字符串*/
- void Dis_str(uchar Addr,uchar *str)
- {
- Send_DATA(Addr,0);
- Delay(10);
- while(*str!='\0')
- {
- Send_DATA(*str,1);
- str++;
- Delay(10);
- }
- }
- /*起始信號*/
- void IIC_Start(void)
- {
- SDA=1;
- SCL=1;
- Delay(5);
- SDA=0;
- Delay(5);
- SCL=0;
- }
- /*停止信號*/
- void IIC_Stop(void)
- {
- SDA=0;
- SCL=1;
- Delay(5);
- SDA=1;
- Delay(5);
- }
- /*發送應答信號*/
- void IIC_SendAck(bit Ack)
- {
- SDA=Ack;//ack (0:ACK 1:NACK)
- SCL=1;
- Delay(5);
- SCL=0;
- Delay(5);
- }
- /*接收應答信號*/
- bit IIC_RecAck(void)
- {
- SCL=1;
- Delay(5);
- CY=SDA;
- SCL=0;
- Delay(5);
- return CY;
- }
- /*向IIC總線發送一個字節數據*/
- void HMC5883_Send_Byte(uchar Dat)
- {
- uchar i;
- for(i=0;i<8;i++)
- {
- Dat<<=1;
- SDA=CY;
- SCL=1;
- Delay(5);
- SCL=0;
- Delay(5);
- }
- IIC_RecAck();
- }
- /*從IIC總線接收一個字節數據*/
- uchar HMC5883_Rec_Byte(void)
- {
- uchar i,Dat=0;
- SDA=1;
- for(i=0;i<8;i++)
- {
- Dat<<=1;
- SCL=1;
- Delay(5);
- Dat |=SDA;
- SCL=0;
- Delay(5);
- }
- return Dat;
- }
- /*單字節寫HMC5833*/
- void Single_Write_HMC5883(uchar Address,uchar Dat)
- {
- IIC_Start();
- HMC5883_Send_Byte(SlaveAddress);
- HMC5883_Send_Byte(Address);
- HMC5883_Send_Byte(Dat);
- IIC_Stop();
- }
- /*單字節讀HMC5833*/
- /*uchar Single_Read_HMC5883(uchar Addr)
- {
- uchar Value;
- IIC_Start();
- HMC5883_Send_Byte(SlaveAddress);
- HMC5883_Send_Byte(Addr);
- IIC_Start();
- HMC5883_Send_Byte(SlaveAddress+1);
- Value=HMC5883_Rec_Byte();
- IIC_SendAck(1);
- IIC_Stop();
- return Value;
- }*/
- /*多字節讀HMC5833*/
- void Multiple_Read_HMC5883(void)
- {
- uchar i; //連續讀出HMC5883內部角度數據，地址范圍0x3~0x5
- IIC_Start();
- HMC5883_Send_Byte(SlaveAddress);
- HMC5883_Send_Byte(0x03);//發送存儲單元地址，從0x03開始
- IIC_Start();
- HMC5883_Send_Byte(SlaveAddress+1);
- for(i=0;i<6;i++) //連續讀取6個地址數據，存儲在Rec_Data
- {
- Rec_Data[i]=HMC5883_Rec_Byte();
- if(i==5)
- IIC_SendAck(1); //最后一個數據需要回NOACK
- else
- IIC_SendAck(0); //回應ACK
- }
- IIC_Stop();
- Delay(100);
- }
- //初始化HMC5883，根據需要請參考pdf進行修改****
- void HMC5883_Init(void)
- {
- Single_Write_HMC5883(0x02,0x00);
- }
- /*主函數*/
- void main(void)
- {
- int X,Y,Z;
- double Angle;
- uint Acr;
- LCD_Init();//LCD12864液晶初始化
- HMC5883_Init();//HMC5883初始化
- while(1)
- {
- Multiple_Read_HMC5883();//連續讀出數據，存儲在Rec_Data[]中
- X=Rec_Data[0]<<8 | Rec_Data[1];//Combine MSB and LSB of X Data output register
- Z=Rec_Data[2]<<8 | Rec_Data[3];//Combine MSB and LSB of Z Data output register
- Y=Rec_Data[4]<<8 | Rec_Data[5];//Combine MSB and LSB of Y Data output register
- Angle= atan2((double)Y,(double)X)*(180/3.14159265)+180;//單位：角度 (0~360)
- Angle*=10;
- Acr=(uint)Angle;
- LCD_set_xy(2,0);
- Send_DATA(Acr%10000/1000+0x30,1);
- Send_DATA(Acr%1000/100+0x30,1);
- Send_DATA(Acr%100/10+0x30,1);
- Send_DATA('.',1);
- Send_DATA(Acr%10+0x30,1);
- Delay(50000);
- }
- }
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