پروژه راه اندازی ماژول سنسور مغناطیسی سه محوره RM3100 با استفاده از میکروکنترلر ATMEGA

				
					
#include <mega32a.h>
// SPI functions
#include <spi.h>
// Alphanumeric LCD functions
#include <alcd.h>
#include <stdint.h>
#include <delay.h>
#include <stdlib.h>
#include <string.h>
#include <math.h>
// Declare your global variables here
Const int Data_rate[] = {0x92,0x93,0x94,0x95,0x96,0x97,0x98,0x99,0x9A,0x9B,0x9C,0x9D,0x9E,0x9F};
//600Hz,300Hz,150Hz,75Hz,37Hz,18Hz,9Hz,4.5Hz,2.3Hz,1.2Hz,.6Hz,.3Hz,.015Hz,.075Hz//
//0 1 2 3 4 5 6 7 8 9 10 11 12 13
uint8_t Status=0x00,i,mag[9],page=0;
uint8_t Status_add=0xB4;
int32_t x,y,z;
char x_ch[8],y_ch[8],z_ch[8],sta[8];
float norm;
void uart_putchar(char );
void cycleCount(uint8_t,uint8_t) ;
void reg_write(uint8_t,uint8_t ) ;
uint8_t reg_read(uint8_t );
void uart_print(char *st);
void main(void)
{
// Declare your local variables here
// Input/Output Ports initialization
// Port A initialization
// Function: Bit7=In Bit6=In Bit5=In Bit4=In Bit3=In Bit2=In Bit1=In Bit0=In
DDRA=(0<<DDA7) | (0<<DDA6) | (0<<DDA5) | (0<<DDA4) | (0<<DDA3) | (0<<DDA2) | (0<<DDA1) | (0<<DDA0);
// State: Bit7=T Bit6=T Bit5=T Bit4=T Bit3=T Bit2=T Bit1=T Bit0=T
PORTA=(0<<PORTA7) | (0<<PORTA6) | (0<<PORTA5) | (0<<PORTA4) | (0<<PORTA3) | (0<<PORTA2) | (0<<PORTA1) | (0<<PORTA0);
// Port B initialization
// Function: Bit7=Out Bit6=In Bit5=Out Bit4=Out Bit3=Out Bit2=In Bit1=In Bit0=In
DDRB=(1<<DDB7) | (0<<DDB6) | (1<<DDB5) | (1<<DDB4) | (1<<DDB3) | (0<<DDB2) | (0<<DDB1) | (0<<DDB0);
// State: Bit7=0 Bit6=T Bit5=0 Bit4=0 Bit3=0 Bit2=T Bit1=T Bit0=T
PORTB=(0<<PORTB7) | (0<<PORTB6) | (0<<PORTB5) | (1<<PORTB4) | (0<<PORTB3) | (0<<PORTB2) | (0<<PORTB1) | (0<<PORTB0);
// Port C initialization
// Function: Bit7=In Bit6=In Bit5=In Bit4=In Bit3=In Bit2=In Bit1=In Bit0=In
DDRC=(0<<DDC7) | (0<<DDC6) | (0<<DDC5) | (0<<DDC4) | (0<<DDC3) | (0<<DDC2) | (0<<DDC1) | (0<<DDC0);
// State: Bit7=T Bit6=T Bit5=T Bit4=T Bit3=T Bit2=T Bit1=T Bit0=T
PORTC=(0<<PORTC7) | (0<<PORTC6) | (0<<PORTC5) | (0<<PORTC4) | (0<<PORTC3) | (0<<PORTC2) | (0<<PORTC1) | (0<<PORTC0);
// Port D initialization
// Function: Bit7=In Bit6=In Bit5=In Bit4=In Bit3=In Bit2=In Bit1=In Bit0=In
DDRD=(0<<DDD7) | (0<<DDD6) | (0<<DDD5) | (0<<DDD4) | (0<<DDD3) | (0<<DDD2) | (0<<DDD1) | (0<<DDD0);
// State: Bit7=T Bit6=T Bit5=T Bit4=T Bit3=T Bit2=T Bit1=T Bit0=T
PORTD=(0<<PORTD7) | (0<<PORTD6) | (0<<PORTD5) | (0<<PORTD4) | (0<<PORTD3) | (0<<PORTD2) | (1<<PORTD1) | (0<<PORTD0);
// USART initialization
UCSRA=(0<<RXC) | (0<<TXC) | (0<<UDRE) | (0<<FE) | (0<<DOR) | (0<<UPE) | (0<<U2X) | (0<<MPCM);
UCSRB=(0<<RXCIE) | (0<<TXCIE) | (0<<UDRIE) | (1<<RXEN) | (1<<TXEN) | (0<<UCSZ2) | (0<<RXB8) | (0<<TXB8);
UCSRC=(0<<URSEL) | (0<<UMSEL) | (0<<UPM1) | (0<<UPM0) | (0<<USBS) | (1<<UCSZ1) | (1<<UCSZ0) | (0<<UCPOL);
UBRRH=0x00;
UBRRL=0x67;
// SPI initialization
// SPI Type: Master
// SPI Clock Rate: 125.000 kHz
// SPI Clock Phase: Cycle Start
// SPI Clock Polarity: Low
// SPI Data Order: MSB First
SPCR=(1<<SPIE) | (1<<SPE) | (0<<DORD) | (1<<MSTR) | (0<<CPOL) | (0<<CPHA) | (1<<SPR1) | (0<<SPR0);
SPSR=(0<<SPI2X);
// Alphanumeric LCD initialization
// Connections are specified in the
// Project|Configure|C Compiler|Libraries|Alphanumeric LCD menu:
// RS - PORTB Bit 0
// RD - PORTB Bit 1
// EN - PORTB Bit 2
// D4 - PORTA Bit 4
// D5 - PORTA Bit 5
// D6 - PORTA Bit 6
// D7 - PORTA Bit 7
// Characters/line: 16
lcd_init(16);
lcd_clear();
lcd_gotoxy(6,0); //row 0 column 6
lcd_printf("KEI");
lcd_gotoxy(6,1); //row 1 column 6
lcd_printf("CAN");
delay_ms(3000);
lcd_clear();
cycleCount(0x04,100); //cycle count register
reg_write(0x0B,0x96); //dataRate
reg_write(0x01,0x79); //measurment mode (CMM register)
while (1)
{
// Place your code here
Status=reg_read(0xB4); //reading status register to check DRDY bit
Status=(Status & 0x80); //DRDY is bit 8th
if (Status == 0x80) //if DRDY=1
{
PORTB.4=0; //CS Low
for (i=0;i<20;i++); //delay
SPDR=0xA4; //sending register address
while(!(SPSR & (1<<SPIF))); //Wait for transmission complete
for(i=0;i<9;i++) //getting 9 byte data,each axis has 3 byte data
{
SPDR=0xFF; //sending any data to sensor's buffer to recieve it's data
while(!(SPSR & (1<<SPIF))); //Wait for transmission complete
mag[i]=SPDR; //recieved data
}
PORTB.4=1; //cs pin go to high
x=((int32_t)((int8_t) mag[0])<<16)|(int32_t)(mag[1])<<8|(mag[2]);//24 bit data X-axis
y=((int32_t)((int8_t) mag[3])<<16)|(int32_t)(mag[4])<<8|(mag[5]);//24 bit data Y-axis
z=((int32_t)((int8_t) mag[6])<<16)|(int32_t)(mag[7])<<8|(mag[8]);//24 bit data Z-axis
if (page==0) // selecting which axis data display on LCD
{
itoa(x,x_ch); // converting int data to string for displaying on LCD
lcd_clear(); //clearing LCD display
lcd_gotoxy(0,0); //row 0 column 0
lcd_printf("X = ");
lcd_puts(x_ch); //X axis data
uart_print("X= ");
uart_print(x_ch); // sending data by UART
uart_print(", ");
}
else if (page==1)
{
lcd_clear();
itoa(y,y_ch);
lcd_gotoxy(0,0);
lcd_printf("Y = ");
lcd_puts(y_ch); //Y axis data
uart_print("Y= ");
uart_print(y_ch); // sending data by UART
uart_print(", ");
}
else if (page==2)
{
itoa(z,z_ch);
lcd_clear();
lcd_gotoxy(0,0);
lcd_printf("Z = ");
lcd_puts(z_ch); //Z axis data
uart_print("Z= ");
uart_print(z_ch); // sending data by UART
uart_print(", ");
}
else if (page==3)
{
itoa(x,x_ch);
itoa(y,y_ch);
itoa(z,z_ch);
uart_print(x_ch);
uart_print(", ");
uart_print(y_ch);
uart_print(", ");
uart_print(z_ch);
uart_print(", ");
lcd_clear();
lcd_gotoxy(0,0);
lcd_printf("axises data are on serial port!");
}
if(PINC.3==0) // SW2 KEY
{
delay_ms(500);
page++;
}
if(page==4)
page=0;
}
delay_ms(1);
}
}
void cycleCount(uint8_t address,uint8_t data) //function for config cyclecount register
{
if(data==50)data=0x32; else if(data==100)data=0x64; else data=0xC8;
PORTB.4=0; //cs pin go to low
for (i=0;i<20;i++); //delay
SPDR=address; //send config register address to spi buffer
while(!(SPSR & (1<<SPIF))); //Wait for transmission complete
for(i=0;i<3;i++) //config 3-axis cyclecount registers
{
SPDR=0x00; //MSB data
while(!(SPSR & (1<<SPIF))); //Wait for transmission complete
SPDR=data; //LSB data
while(!(SPSR & (1<<SPIF)));//Wait for transmission complete
}
PORTB.4=1; //cs pin go to high
delay_ms(10);
}
void reg_write(uint8_t address,uint8_t data)
{
PORTB.4=0; //cs pin go to low
for (i=0;i<20;i++); //delay
SPDR=address; //send config register address to spi buffer
while(!(SPSR & (1<<SPIF))); //Wait for transmission complete
SPDR=data; //config data
while(!(SPSR & (1<<SPIF)));//Wait for transmission complete
PORTB.4=1; //cs pin go to high
delay_ms(10);
}
uint8_t reg_read(uint8_t address)
{
PORTB.4=0; //cs pin go to low
for (i=0;i<20;i++); //delay
SPDR=address; //send reading register address to spi buffer
while(!(SPSR & (1<<SPIF))); //Wait for transmission complete
SPDR=0xFF; //sending any data to sensor's buffer to recieve it's data
while(!(SPSR & (1<<SPIF)));//Wait for transmission complete
PORTB.4=1; //cs pin go to high
delay_ms(10);
return SPDR ;
}
void uart_putchar(char z) {
UDR = z;
while ( !( UCSRA & (1<<UDRE)) ) ; //Wait for transmission complete
}
void uart_print(char *st){
int stl, i;
stl = strlen(st);
for (i=0; i<stl; i++)
uart_putchar(*st++);
}