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#include <reg52.h>
#include <math.h>
#include <stdio.h>
#include <intrins.h>
typedef unsigned char uchar;
typedef unsigned int uint;
/*12864液晶引腳定義*/
sbit CS=P3^3;
sbit SID=P3^4;
sbit SCLK=P3^5;
sbit SCL=P1^0; //IIC時(shí)鐘引腳定義
sbit SDA=P1^1; //IIC數(shù)據(jù)引腳定義
#define SlaveAddress 0x3c //定義器件在IIC總線中的從地址
uchar Rec_Data[6];
void Send_byte(unsigned char bbyte);
void Delaynms(unsigned int di);
/*延時(shí)函數(shù)*/
void Delay(uint t)
{
while(t--)
{}
}
/********************************************
**LCD顯示函數(shù)
********************************************/
/*寫入一個(gè)數(shù)據(jù)或指令*/
void Send_DATA(uchar ddata,uchar start)
{
unsigned char start_data,Hdata,Ldata;
if(start==0)
start_data=0xf8;//寫指令
else
start_data=0xfa; //寫數(shù)據(jù)
SCLK=0;
CS=1;
Hdata=ddata&0xf0; //取高四位
Ldata=(ddata<<4)&0xf0; //取低四位
Send_byte(start_data); //發(fā)送起始信號(hào)
Delaynms(5); //延時(shí)是必須的
Send_byte(Hdata); //發(fā)送高四位
Delaynms(1); //延時(shí)是必須的
Send_byte(Ldata); //發(fā)送低四位
Delaynms(1); //延時(shí)是必須的
CS=0;
Delay(20);
}
void Delaynms(unsigned int di) //??
{
unsigned int da,db;
for(da=0;da<di;da++)
for(db=0;db<10;db++);
}
void Send_byte(unsigned char bbyte) //發(fā)送一個(gè)字節(jié)
{
unsigned char i;
for(i=0;i<8;i++)
{
SID=bbyte&0x80; //取出最高位
SCLK=1;
SCLK=0;
bbyte<<=1; //左移
}
}
void LCD_set_xy( unsigned char x, unsigned char y )
{ //設(shè)置LCD顯示的起始位置，X為行，Y為列
unsigned char address;
switch(x)
{
case 0: address = 0x80 + y; break;
case 1: address = 0x80 + y; break;
case 2: address = 0x90 + y; break;
case 3: address = 0x88 + y; break;
case 4: address = 0x98 + y; break;
default:address = 0x80 + y; break;
}
Send_DATA(address,0);
}
/*12864液晶初始化*/
void LCD_Init(void)
{
Delay(60000);
Send_DATA(0x30,0);
Send_DATA(0x04,0);
Send_DATA(0x0c,0);
Send_DATA(0x01,0);
Delay(3000);
}
/*顯示字符串*/
void Dis_str(uchar Addr,uchar *str)
{
Send_DATA(Addr,0);
Delay(10);
while(*str!='\0')
{
Send_DATA(*str,1);
str++;
Delay(10);
}
}
/*起始信號(hào)*/
void IIC_Start(void)
{
SDA=1;
SCL=1;
Delay(5);
SDA=0;
Delay(5);
SCL=0;
}
/*停止信號(hào)*/
void IIC_Stop(void)
{
SDA=0;
SCL=1;
Delay(5);
SDA=1;
Delay(5);
}
/*發(fā)送應(yīng)答信號(hào)*/
void IIC_SendAck(bit Ack)
{
SDA=Ack;//ack (0:ACK 1:NACK)
SCL=1;
Delay(5);
SCL=0;
Delay(5);
}
/*接收應(yīng)答信號(hào)*/
bit IIC_RecAck(void)
{
SCL=1;
Delay(5);
CY=SDA;
SCL=0;
Delay(5);
return CY;
}
/*向IIC總線發(fā)送一個(gè)字節(jié)數(shù)據(jù)*/
void HMC5883_Send_Byte(uchar Dat)
{
uchar i;
for(i=0;i<8;i++)
{
Dat<<=1;
SDA=CY;
SCL=1;
Delay(5);
SCL=0;
Delay(5);
}
IIC_RecAck();
}
/*從IIC總線接收一個(gè)字節(jié)數(shù)據(jù)*/
uchar HMC5883_Rec_Byte(void)
{
uchar i,Dat=0;
SDA=1;
for(i=0;i<8;i++)
{
Dat<<=1;
SCL=1;
Delay(5);
Dat |=SDA;
SCL=0;
Delay(5);
}
return Dat;
}
/*單字節(jié)寫HMC5833*/
void Single_Write_HMC5883(uchar Address,uchar Dat)
{
IIC_Start();
HMC5883_Send_Byte(SlaveAddress);
HMC5883_Send_Byte(Address);
HMC5883_Send_Byte(Dat);
IIC_Stop();
}
/*單字節(jié)讀HMC5833*/
/*uchar Single_Read_HMC5883(uchar Addr)
{
uchar Value;
IIC_Start();
HMC5883_Send_Byte(SlaveAddress);
HMC5883_Send_Byte(Addr);
IIC_Start();
HMC5883_Send_Byte(SlaveAddress+1);
Value=HMC5883_Rec_Byte();
IIC_SendAck(1);
IIC_Stop();
return Value;
}*/
/*多字節(jié)讀HMC5833*/
void Multiple_Read_HMC5883(void)
{
uchar i; //連續(xù)讀出HMC5883內(nèi)部角度數(shù)據(jù)，地址范圍0x3~0x5
IIC_Start();
HMC5883_Send_Byte(SlaveAddress);
HMC5883_Send_Byte(0x03);//發(fā)送存儲(chǔ)單元地址，從0x03開始
IIC_Start();
HMC5883_Send_Byte(SlaveAddress+1);
for(i=0;i<6;i++) //連續(xù)讀取6個(gè)地址數(shù)據(jù)，存儲(chǔ)在Rec_Data
{
Rec_Data[i]=HMC5883_Rec_Byte();
if(i==5)
IIC_SendAck(1); //最后一個(gè)數(shù)據(jù)需要回NOACK
else
IIC_SendAck(0); //回應(yīng)ACK
}
IIC_Stop();
Delay(100);
}
//初始化HMC5883，根據(jù)需要請(qǐng)參考pdf進(jìn)行修改****
void HMC5883_Init(void)
{
Single_Write_HMC5883(0x02,0x00);
}
/*主函數(shù)*/
void main(void)
{
int X,Y,Z;
double Angle;
uint Acr;
LCD_Init();//LCD12864液晶初始化
HMC5883_Init();//HMC5883初始化
while(1)
{
Multiple_Read_HMC5883();//連續(xù)讀出數(shù)據(jù)，存儲(chǔ)在Rec_Data[]中
X=Rec_Data[0]<<8 | Rec_Data[1];//Combine MSB and LSB of X Data output register
Z=Rec_Data[2]<<8 | Rec_Data[3];//Combine MSB and LSB of Z Data output register
Y=Rec_Data[4]<<8 | Rec_Data[5];//Combine MSB and LSB of Y Data output register
Angle= atan2((double)Y,(double)X)*(180/3.14159265)+180;//單位：角度 (0~360)
Angle*=10;
Acr=(uint)Angle;
LCD_set_xy(2,0);
Send_DATA(Acr%10000/1000+0x30,1);
Send_DATA(Acr%1000/100+0x30,1);
Send_DATA(Acr%100/10+0x30,1);
Send_DATA('.',1);
Send_DATA(Acr%10+0x30,1);
Delay(50000);
}
}

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