پروژه راه اندازی سنسور ژیروسکوپ و شتاب سنج ICM20689 با استفاده از مجموعه آموزشی AVR WIZARD به زبان C

				
					
#include <mega16a.h>
#include <alcd.h>
#include <delay.h>
#include <stdlib.h>
#include "TCS34725.h"
#include "Twi.h"
#define  WHO_AM_I   0x75
#define ICM20689_ADDRESS     0x68
#define ICM20689_ADDRESS_WRITE    0|(ICM20689_ADDRESS<< 1)
#define ICM20689_ADDRESS_READ     1|(ICM20689_ADDRESS<< 1)    
#define ICM20689_CONFIG     0X1A
#define ICM20689_GYRO_CONFIG        0X1B
#define ICM20689_ACCEL_CONFIG      0X1C
#define ICM20689_ACCEL_CONFIG2     0X1D
#define ICM20689_LPMODE_CFG        0X1E
#define ICM20689_FIFO_ENA               0X23
#define ICM20689_USER_CONTROL     0X6A
#define ICM20689_PWR_MGMT1           0X6B
#define ICM20689_PWR_MGMT2           0X6C
#define ACCEL_XOUT_H           0X3B
#define ACCEL_XOUT_L           0X3C
#define ACCEL_YOUT_H           0X3D
#define ACCEL_YOUT_L           0X3E
#define ACCEL_ZOUT_H           0X3F
#define ACCEL_ZOUT_L           0X40

void ICM20689_WriteData(uint8_t RegisterName,uint8_t value)
{
  Twi_Start();   
  Twi_Send(ICM20689_ADDRESS_WRITE);   
  Twi_Send(RegisterName);    
  Twi_Send(value);
}

uint8_t ICM20689_ReadData(uint8_t RegisterName)
{
  Twi_Start();   
  Twi_Send(ICM20689_ADDRESS_WRITE);   
  Twi_Send(RegisterName);    
  Twi_Start();
  Twi_Send(ICM20689_ADDRESS_READ);  
  return Twi_Read(NACK); 
}

void ICM20689_Init(void)
{
  ICM20689_WriteData(ICM20689_PWR_MGMT1,0x20) ;
  ICM20689_WriteData(ICM20689_PWR_MGMT2,0x80) ;
  ICM20689_WriteData(ICM20689_CONFIG,0x7) ;
  ICM20689_WriteData(ICM20689_GYRO_CONFIG,0x18) ;
  ICM20689_WriteData(ICM20689_ACCEL_CONFIG,0x18) ;
  ICM20689_WriteData(ICM20689_ACCEL_CONFIG2,0x37) ;
  ICM20689_WriteData(ICM20689_LPMODE_CFG,0x80) ;
  ICM20689_WriteData(ICM20689_FIFO_ENA,0xF8) ;
  ICM20689_WriteData(ICM20689_USER_CONTROL,0xC0) ;
}

uint16_t ICM20689_GetRawData(uint8_t hvalue,uint8_t lvalue)
{
  uint16_t x;
  uint16_t t;
  t=Tcs34725_ReadData(lvalue);  
 delay_ms(1); 
  x=Tcs34725_ReadData(hvalue);
  x <<= 8;
  x |= t;    
  return x;
}

// Declare your global variables here

// Standard Input/Output functions
#include <stdio.h>

void main(void)
{
  uint8_t data_rx    ;    
  uint16_t xa, ya, za;                         
  char xabuffer[6],yabuffer[6],zabuffer[6];
// 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=In Bit6=In Bit5=In Bit4=In Bit3=In Bit2=In Bit1=In Bit0=In 
DDRB=(0<<DDB7) | (0<<DDB6) | (0<<DDB5) | (0<<DDB4) | (0<<DDB3) | (0<<DDB2) | (0<<DDB1) | (0<<DDB0);
// State: Bit7=T Bit6=T Bit5=T Bit4=T Bit3=T Bit2=T Bit1=T Bit0=T 
PORTB=(0<<PORTB7) | (0<<PORTB6) | (0<<PORTB5) | (0<<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) | (0<<PORTD1) | (0<<PORTD0);

// USART initialization
// Communication Parameters: 8 Data, 1 Stop, No Parity
// USART Receiver: Off
// USART Transmitter: On
// USART Mode: Asynchronous
// USART Baud Rate: 9600
UCSRA=(0<<RXC) | (0<<TXC) | (0<<UDRE) | (0<<FE) | (0<<DOR) | (0<<UPE) | (0<<U2X) | (0<<MPCM);
UCSRB=(0<<RXCIE) | (0<<TXCIE) | (0<<UDRIE) | (0<<RXEN) | (1<<TXEN) | (0<<UCSZ2) | (0<<RXB8) | (0<<TXB8);
UCSRC=(1<<URSEL) | (0<<UMSEL) | (0<<UPM1) | (0<<UPM0) | (0<<USBS) | (1<<UCSZ1) | (1<<UCSZ0) | (0<<UCPOL);
UBRRH=0x00;
UBRRL=0x67;

// 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
//printf("hi "); 
lcd_init(16);
lcd_putsf( "   HI Wellcom   " ) ;
lcd_gotoxy( 0 , 1 );
lcd_putsf( "TO REDRONIC.COM" ) ;                     
delay_ms(2000);
lcd_clear();
Twi_Init() ;
ICM20689_Init();
while (1)
      {      
             lcd_clear();
             xa=ICM20689_GetRawData(ACCEL_XOUT_H,ACCEL_XOUT_L);           
             ya=ICM20689_GetRawData(ACCEL_YOUT_H,ACCEL_YOUT_L); 
             za=ICM20689_GetRawData(ACCEL_ZOUT_H,ACCEL_ZOUT_L);    
             itoa (xa,xabuffer);
             itoa (ya,yabuffer);
             itoa (za,zabuffer);
             lcd_gotoxy(0,0);
               lcd_putsf("XA:");
               lcd_gotoxy(3,0); 
               lcd_puts(xabuffer); 
               lcd_gotoxy(9,0);
               lcd_putsf("YA:");   
               lcd_gotoxy(12,0);  
               lcd_puts(yabuffer);
               lcd_gotoxy(0,1);
               lcd_putsf("ZA:");
               lcd_gotoxy(3,1); 
               lcd_puts(zabuffer);    
               delay_ms(200); 
//               lcd_gotoxy(9,1);  
//               lcd_putsf("C");       
//               lcd_gotoxy(11,1); 
//               lcd_puts(clearbuffer);        
//           data_rx=Tcs34725_ReadData(WHO_AM_I); 
//           printf("   id=%x  ",data_rx);      
//           delay_ms(2000); 
      }
}