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//======================================================
// 文件名稱： Compass.c
// 功能描述：向指南針模塊發(fā)送命令，完成數(shù)據(jù)的轉(zhuǎn)換
// 維護(hù)記錄： 2007-09-30 v1.0
//======================================================
#include "spce061a.h"
#include "Compass.h"
#include "Model.h"
#include "./SPLC501_Driver/SPLC501User.h"
#include "Key.h"
#include "math.h"
#include "PNI_Driver.h"
static float xOffset, yOffset; // 指南針校正參數(shù)
static float xRange, yRange; // 指南針校正參數(shù)
//========================================================================
// 語法格式： unsigned int Compass_Read(void)
// 實(shí)現(xiàn)功能：讀取當(dāng)前指南針角度值
// 參數(shù)：無
// 返回值：電子指南針的返回值
//========================================================================
unsigned int Compass_Read(void)
{
float xValue, yValue;
float xRevise,yRevise;
float Angle;
float Ratio;
xValue = F_PNI_11096_Read(0xE9);
yValue = F_PNI_11096_Read(0xEA);
xRevise = xValue - xOffset; // 根據(jù)校正結(jié)果，校正X軸
yRevise = yValue - yOffset; // 根據(jù)校正結(jié)果，校正X軸
if(xRange > yRange)
yRevise = (yRevise*xRange)/yRange;
else
xRevise = (xRevise*yRange)/xRange;
if((xRevise == 0) && (yRevise > 0))
return 0;
if((xRevise == 0) && (yRevise < 0))
return 180;
Ratio = yRevise / xRevise;
if( Ratio < 0)
Ratio = 0 - Ratio;
Angle = atanf(Ratio) *180 /PI; // 使用反正玄函數(shù)計(jì)算角度值
if((xRevise > 0) && (yRevise > 0)) // 如果角度是在其它象限中，那么進(jìn)行修正
return 360 - Angle;
else if((xRevise < 0) && (yRevise > 0))
return 180 + Angle;
else if((xRevise < 0) && (yRevise < 0))
return 180 - Angle;
else if((xRevise > 0) && (yRevise < 0))
return Angle;
return 0;
}
//========================================================================
// 語法格式： unsigned int Compass_Revise(void)
// 實(shí)現(xiàn)功能：進(jìn)入電子指南針模組校正模式，進(jìn)入此模式時應(yīng)不斷旋轉(zhuǎn)電子指南針模組
// 參數(shù)：無
// 返回值： 0
//========================================================================
unsigned int Compass_Revise(void)
{
int Xmax,Xmin,Ymax,Ymin;
int Xraw,Yraw;
int i;
Xmax = Ymax = -32768; // 將最大值賦值為最小值
Ymin = Ymin = 32767; // 將最小值賦值為最大值
for(i = 0; i <100; i++)
{
Xraw = F_PNI_11096_Read(0xE9); // 得到x軸大小
Yraw = F_PNI_11096_Read(0xEA); // 得到Y(jié)軸大小
if(Xraw > Xmax)
Xmax = Xraw; // 得到一個盡可能大的值作為X最大值
if(Xraw < Xmin)
Xmin = Xraw; // 得到一個盡可能小的值作為X最小值
if(Yraw > Ymax)
Ymax = Yraw; // 得到一個盡可能大的值作為Y最大值
if(Yraw < Ymin)
Ymin = Yraw; // 得到一個盡可能小的值作為Y最大值
LCD501_PutString(0,40,"Calibration... "); // 提示用戶現(xiàn)在在校正模式下
}
xOffset = (Xmax + Xmin)>>1; // 得到X軸偏移量
yOffset = (Ymax + Ymin)>>1; // 得到Y(jié)軸偏移量
xRange = Xmax - Xmin; // 得到X軸取值范圍
yRange = Ymax -Ymin; // 得到Y(jié)軸取值范圍
return 0;
}
//========================================================================
// 語法格式： void Compass_Line(unsigned int CompassValue)
// 實(shí)現(xiàn)功能：根據(jù)角度值，畫出在表盤上的表針
// 參數(shù)：角度值
// 返回值：無
//========================================================================
void Compass_Line(unsigned int CompassValue)
{
int x,y;
float Angle;
if( CompassValue < 0 || CompassValue > 360 ) // 無效的角度值
return ;
LCD501_Bitmap(0,0,(unsigned int*)encoding_yuan); // 重新畫表盤
Angle = Angle_Convert(CompassValue);
x = 25 + R * cos(Angle);
y = 22 - R * sin(Angle);
LCD501_Line( 25,22,x,y);
}
//========================================================================
// 語法格式： void Compass_Text(unsigned int CompassValue)
// 實(shí)現(xiàn)功能：顯示傳入的角度值
// 參數(shù)：角度值
// 返回值：無
//========================================================================
void Compass_Text(unsigned int Compass_Value)
{
int Direction;
unsigned char Str[5];
unsigned int i = 0 ;
unsigned int Num;
for(i = 48; i < 128; i = i + 8) //清空經(jīng)緯度顯示區(qū)域
LCD501_Bitmap(i,28,(unsigned int *)encoding_empty);
if( Compass_Value < 0 || Compass_Value > 360 )
{
LCD501_PutChar(58, 28, 'E');
LCD501_PutChar(66, 28, 'R');
LCD501_PutChar(74, 28, 'R');
LCD501_PutChar(82, 28, 'O');
LCD501_PutChar(88, 28, 'R');
return ;
}
Direction = Compass_Value / 90;
switch(Direction)
{
case 0:
LCD501_Bitmap(58, 28, (unsigned int *)encoding_dong);
LCD501_Bitmap(58+ 1 * SIZE, 28, (unsigned int *)encoding_bei);
break;
case 1:
LCD501_Bitmap(58, 28, (unsigned int *)encoding_dong);
LCD501_Bitmap(58+ 1 * SIZE, 28, (unsigned int *)encoding_nan);
break;
case 2:
LCD501_Bitmap(58, 28, (unsigned int *)encoding_xi);
LCD501_Bitmap(58 + 1 * SIZE, 28, (unsigned int *)encoding_nan);
break;
case 3:
LCD501_Bitmap(58, 28, (unsigned int *)encoding_xi);
LCD501_Bitmap(58 + 1 * SIZE, 28, (unsigned int *)encoding_bei);
break;
}
if(Compass_Value >= 100) // 測試角度有幾位
Num =3;
else if(Compass_Value >= 10)
Num = 2;
else
Num =1;
Int_To_Str(Compass_Value,Str,Num);
i=0;
while(Str[i] != '\0')
{
*P_Watchdog_Clear = 0x1;
LCD501_PutChar(58 + 2*SIZE + i * 8, 28, Str[i]);
i++;
}
LCD501_Bitmap(58 + 2 * SIZE + i * 8, 28,(unsigned int *)encoding_du);
}
//========================================================================
// 語法格式： float Angle_Convert(unsigned int Angle)
// 實(shí)現(xiàn)功能：把從電子指南針傳來的角度值轉(zhuǎn)化為正常坐標(biāo)系的角度值
// 參數(shù)：角度值
// 返回值：轉(zhuǎn)化后的角度值
//========================================================================
float Angle_Convert(unsigned int Angle)
{
int Direction;
float Angle_t;
Direction = Angle / 90;
switch(Direction)
{
case 0:
Angle_t = 90 - Angle;
break;
case 1:
Angle_t = 450 - Angle;
break;
case 2:
Angle_t = 450 - Angle;
break;
case 3:
Angle_t = 450 - Angle;
break;
}
return (Angle_t / 360) * 2 * 3.142 ;
}
//========================================================================
// 語法格式： void Int_To_Str(unsigned int Integer, unsigned char *Str,unsigned int Num)
// 實(shí)現(xiàn)功能：把整數(shù)轉(zhuǎn)化成字符串
// 參數(shù)： Integer 帶轉(zhuǎn)化的整數(shù)
// Str 轉(zhuǎn)化后的字符串
// Num 轉(zhuǎn)化字符的位數(shù)
// 返回值：無
//注意： Buf 數(shù)組的大小至少是Num+1
//========================================================================
void Int_To_Str(unsigned int Integer, unsigned char *Str,unsigned int Num)
{
int Jin_Zhi;
int i=0;
int Num_s ;
Num_s = Num;
Jin_Zhi = 1;
if(Num == 1)
Jin_Zhi = 1;
while(Num > 1)
{
Jin_Zhi = Jin_Zhi * 10;
Num --;
}
do
{
Str[i] = Integer / Jin_Zhi + 0x30;
Integer = Integer % Jin_Zhi ;
Jin_Zhi = Jin_Zhi / 10 ;
i ++;
Num_s--;
}while(Num_s > 0);
Str[i] = '\0';
}

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