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91_magnetometer.c
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91_magnetometer.c
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#include <18f67j94.h>
//#fuses HS, NOWDT, NOBROWNOUT, NOPUT // FOR PIC16F877A
#include <math.h>
//#include <PIC16F1787_REG.h>
#fuses NOWDT // FOR pic18F
#use delay(crystal=16Mhz,clock=16Mhz)
//#use delay(crystal=20Mhz)
#use rs232(baud=9600, parity=N, bits=8,xmit=pin_b6,rcv=pin_b7, stream=port)
//#use rs232(baud=9600,parity=N,xmit=pin_b0,rcv=pin_b1,bits=8,stream=XX)
//#use rs232(baud=9600,parity=N,xmit=pin_d7,rcv=pin_d6,bits=8,stream=XX)
#use i2c(Master,Slow=200000,sda=pin_c4,scl=pin_c3)
#define x_low 0x00
#define x_high 0x01
#define temp 0x06
#define id 0x2f
#define write 0b01100000
#define read 0b01100001
int8 chi_id();
void read_data_SET();
void read_data_RESET();
unsigned int8 Lx,Ly,Lz,Hx,Hy,Hz, rLx,rLy,rLz,rHx,rHy,rHz;
double df,dg,dk,rf,rg,rk;
double X,Y,Z,Zpre;
void main()
{
//TRISD2=0;
while(true)
{
//printf("Hello");
//RD2=1;
delay_ms(300);
//RD2=0;
read_data_SET();
DELAY_MS(100);
read_data_reSET();
df = make16(Hx,Lx)-32768;
dg = make16(Hy,Ly)-32768;
dk = make16(Hz,Lz)-32768;
rf = make16(rHx,rLx)-32768;
rg = make16(rHy,rLy)-32768;
rk = make16(rHz,rLz)-32768;
X = (-rf+df)*0.244/2;
Y = (-rg+dg)*0.244/2;
Z = (-rk+dk)*0.244/2;
if(X > 600)
{
X = X + 600;
}else if(X < -600)
{
X = X - 600;
}
if(Y > 600)
{
Y = Y + 600;
}else if(Y < -600)
{
Y = Y - 600;
}
if(Z > 600)
{
Z = Z + 600;
}else if(Z < -600)
{
Z = Z - 600;
}
if(Z-Zpre<100&&Z-Zpre>-100)
{
//! printf("x=%03f\r\n", (-rf+df)*0.244/2);
//! printf("y=%03f\r\n", (-rg+dg)*0.244/2);
//! printf("z=%03f\r\n", (-rk+dk)*0.244/2);
printf("%03f,%03f,%03f\r\n", X,Y,Z);
delay_ms(500);
}
Zpre = Z;
}
}
void read_data_SET()
{
i2c_start();
if(i2c_write(0b01100000)==0) //10
{
i2c_write(0x08); // 2nd
delay_ms(1);
i2c_write(0b00001001); // 3rd
delay_ms(1);
}
i2c_start();
if(i2c_write(0b01100000)==0) //10
{
i2c_write(0x0a); // 2nd
delay_ms(1);
i2c_write(0b00000001); // 3rd
delay_ms(1);
}
//________________________________________________________________________
i2c_start();
i2c_write(0b01100000); // 8
delay_ms(1);
i2c_write(0x00); // 9
delay_ms(20);
//++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
i2c_start();
if(i2c_write(0b01100001)==0) //10
{
Lx = i2c_read(0);
}
i2c_start();
if(i2c_write(0b01100001)==0) //10
{
Hx = i2c_read(0);
}
//++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
i2c_start();
if(i2c_write(0b01100001)==0) //10
{
Ly = i2c_read(0);
}
i2c_start();
if(i2c_write(0b01100001)==0) //10
{
Hy = i2c_read(0);
}
//++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
i2c_start();
if(i2c_write(0b01100001)==0) //10
{
Lz = i2c_read(0);
}
i2c_start();
if(i2c_write(0b01100001)==0) //10
{
Hz = i2c_read(0);
}
//++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
i2c_stop();
//0000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000
//0000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000
}
void read_data_RESET()
{
i2c_start();
if(i2c_write(0b01100000)==0) //10
{
i2c_write(0x08); // 2nd control reg 0
delay_ms(1);
i2c_write(0b00010001); // 3rd
delay_ms(1);
}
delay_ms(2);
i2c_start();
if(i2c_write(0b01100000)==0) //10
{
i2c_write(0x0a); // 2nd
delay_ms(1);
i2c_write(0b00000001); // 3rd
delay_ms(1);
}
//________________________________________________________________________
i2c_start();
i2c_write(0b01100000); // 8
delay_ms(1);
i2c_write(0x00); // 9
delay_ms(6);
//++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
i2c_start();
if(i2c_write(0b01100001)==0) //10
{
rLx = i2c_read(0);
}
i2c_start();
if(i2c_write(0b01100001)==0) //10
{
rHx = i2c_read(0);
}
//++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
i2c_start();
if(i2c_write(0b01100001)==0) //10
{
rLy = i2c_read(0);
}
i2c_start();
if(i2c_write(0b01100001)==0) //10
{
rHy = i2c_read(0);
}
//++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
i2c_start();
if(i2c_write(0b01100001)==0) //10
{
rLz = i2c_read(0);
}
i2c_start();
if(i2c_write(0b01100001)==0) //10
{
rHz = i2c_read(0);
}
//++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
i2c_stop();
//0000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000
//0000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000
}
int8 chi_id()
{
i2c_start();
i2c_write(0b01100000);
delay_ms(1);
i2c_write(0x2f);
delay_ms(1);
i2c_start();
i2c_write(0b01100001);
delay_ms(1);
// = i2c_read(0);
i2c_stop();
//return k;
}