U biti primjer radi na PIC18f452 chipu s 20mhz kristalom.
Mogu ocitati raw vrijednosti s njega ali nemogu izracunati kut.
Dio koda koji racuna kut ne funkcionira i nije mi uopce jasan o cemu se tu radi pa ako neko ima volje da baci malo oko na to i pojasni stvar.
Evo koda:
Code: Select all
' ============================================================================
' HMC5883L_Demo.bs2 - This is a Demo program for the HMC5883L Compass
' Module (PN: 29133). It displays the compass heading north, east, south and west
' clockwise from north.
'
' Author.... (C) John A. Williams
'
' {$STAMP BS2p}
' {$PBASIC 2.5}
' ============================================================================
define OSC 20
'KONFIGURACIJA LCD DISPLEJA 4X20
DEFINE LCD_DREG PORTB
DEFINE LCD_DBIT 0
DEFINE LCD_BITS 4
DEFINE LCD_RSREG PORTB
DEFINE LCD_RSBIT 4
DEFINE LCD_EREG PORTB
DEFINE LCD_EBIT 5
DEFINE LCD_LINES 2
DEFINE LCD_COMMANDUS 2000
DEFINE LCD_DATAUS 40
'SET UP PORTS
TRISA = %00111111 'port a je cijeli ulazni
TRISB = %00000000
TRISC = %11111111
TRISD = %00000000
TRISE = %1111
ADCON1 = 7 ' PORTA i PORTE su digitalni ISKLJUCI KOMPARATORE I ANALOGNE ULAZE
' -----[ Pins/Constants/Variables ]-------------------------------------------
SDA var PORTC.4 'P0 transceives to/from SDA
SCL VAR PORTC.3 'P1 sends clock pulses
WRITE_DATA CON $3C 'Used to perform a Write operation
READ_DATA CON $3D 'Used to perform a Read operation
MODE CON $02 'Read/Write Register, Selects the operating mode. Default = Single measurement
'Send $3C $02 $00 on power up to change to continuous measurement mode.
X_MSB CON $03 'Read Register, Output of X MSB 8-bit value.
X_LSB CON $04 'Read Register, Output of X LSB 8-bit value.
Z_MSB CON $05 'Read Register, Output of Z MSB 8-bit value.
Z_LSB CON $06 'Read Register, Output of Z LSB 8-bit value.
Y_MSB CON $07 'Read Register, Output of Y MSB 8-bit value.
Y_LSB CON $08 'Read Register, Output of Y LSB 8-bit value.
Cont_Mode CON $0
SCALEFACTOR CON 4081 'SCALEFACTOR = 65536 * (255/4095) = 4081
SCALEOFFSET CON 2048 'The output range of the HMC5883L is -2048 to 2047; therefore to get a 0 (LOWRANGE)to 4095 range
'to 4095 (HIGHRANGE) range 2048 must be added to the sensor value.
ATNFACTOR CON 127 'the ATN function input range is -127 TO 127. In order to get the positive scaled range of
'0 to 255 into the range of -127 to 127, 127 must be subtracted.
LOWRANGE CON 0 'see SCALEOFFSET
HIGHRANGE CON 4095 'see SCALEOFFSET
X VAR Word 'x sensor measured value
Y VAR Word 'y sensor measured value
Z VAR Word 'z sensor measured value
brads VAR Word 'angle in brads
degr VAR Word 'angle in degrees
azimuth VAR Word 'value calculated using X ATN -Y
degr=0
PAUSE 500
LCDOUT $FE,$01'BRISI DISPLAY
LCDOUT $FE,$01,"PROBA"
PAUSE 500
LCDOUT $FE,$01'BRISI DISPLAY
' -----[ Main Routine ]-------------------------------------------------------
PAUSE 10 ' Give sensor needed power up time
I2CWRITE SDA,SCL,WRITE_DATA,MODE, [cont_Mode] ' Send continuous output command
main:
LCDOUT $FE,$01'BRISI DISPLAY
GOSUB GetRawReading ' Get RAW Compass reading
'RAW X,Y,Z data...
'lCDOUT $FE,$80, "X= " ,SDEC x
'LCDOUT $FE,$80+7,"Y= ", SDEC y
' LCDOUT $FE,$C0, "Z= ", SDEC z ' Print angle
'Calculate Azimuth
GOSUB GetAzimuth
brads = azimuth 'get angle
degr = brads */ 361 'convert to degrees
LCDOUT $FE,$80,"Degree " , dec degr
pause 500
goto main
' -----[ Subroutines ]--------------------------------------------------------
GetRawReading: 'Compass module subroutine
PAUSE 400 'Wait for new data to become available
I2CREAD SDA,SCL, READ_DATA, X_MSB, [X.HIGHBYTE] 'Read the data starting at x_msb 3
I2CREAD SDA,SCL, READ_DATA ,X_LSB, [X.LOWBYTE]
I2CREAD SDA,SCL, READ_DATA, Z_MSB, [Z.HIGHBYTE]
I2CREAD SDA,SCL, READ_DATA ,Z_LSB, [Z.LOWBYTE]
I2CREAD SDA,SCL, READ_DATA, Y_MSB, [Y.HIGHBYTE]
I2CREAD SDA,SCL, READ_DATA ,Y_LSB, [Y.LOWBYTE]
RETURN
GetAzimuth:
'The output range of the HMC5883L is -2048 to 2047 and the input range of the ATN function
'is -127 to 127. I used the method to scale the output to the input discribed in Parallax's Smart
'Sensors Student Guide v1 starting on page 76.
'SCALEFACTOR = 65536 * (255/4095) = 4081
'SCALEOFFSET = 2048
'ATNFACTOR = 127
'LOWRANGE = 0
'HIGRANGE = 4095 (2048 + 2047 = 4095)
x = x + SCALEOFFSET
' x = (x MIN LOWRANGE MAX HIGHRANGE) ** SCALEFACTOR - ATNFACTOR
y = y + SCALEOFFSET
' y = (y MIN LOWRANGE MAX HIGHRANGE) ** SCALEFACTOR - ATNFACTOR
azimuth = x ATN -y
LCDOUT $FE,$c0,"azimuth " , DEC azimuth
RETURNkad u labeli get azimuth izbacim ova dva reda onda dobijem neke kuteve kako okrecem modul ali nisu ni priblizno tocni.
o cemu se radi u ta dva reda ili jos nesto fali u njime neznam
x = (x MIN LOWRANGE MAX HIGHRANGE) ** SCALEFACTOR - ATNFACTOR
y = (y MIN LOWRANGE MAX HIGHRANGE) ** SCALEFACTOR - ATNFACTOR