Code:

/*****************************************************
This program was produced by the
CodeWizardAVR V2.03.4 Standard
Automatic Program Generator
© Copyright 1998-2008 Pavel Haiduc, HP InfoTech s.r.l.
http://www.hpinfotech.com

Project :
Version :
Date    : 7/12/2010
Author  :
Company :
Comments:


Chip type           : ATmega8535
Program type        : Application
Clock frequency     : 11.059200 MHz
Memory model        : Small
External RAM size   : 0
Data Stack size     : 128
*****************************************************/

#include <mega8535>
#include <stdlib>
#include <string>
#include <delay>


unsigned int headinga, pitcha, rolla;
unsigned char heading[4], pitch[4], roll[4];
unsigned int temp[6];
int i;

// I2C Bus functions
#asm
   .equ __i2c_port=0x15 ;PORTC
   .equ __sda_bit=1
   .equ __scl_bit=0
#endasm
#include <i2c>

// Alphanumeric LCD Module functions
#asm
   .equ __lcd_port=0x1B ;PORTA
#endasm
#include <lcd>

// Declare your global variables here

void command (unsigned char cmd)
{
i2c_start();
i2c_write(0x32);
i2c_write(cmd);
i2c_stop();
}

void read ()
{

  i2c_start();
  i2c_write(0x33);
for(i=0;i<6;i++)
{
  temp[i] = i2c_read(1);
}
  i2c_stop();


}

void count()
{
headinga = (temp[0]<<8 + temp [1])/10;
pitcha = (temp[2]<<8 + temp [3])/10;
rolla = (temp[4]<<8 + temp [5])/10;
   
      heading[0] = headinga % 1000 / 100 + 48;
      heading[1] = headinga % 100 / 10 + 48;
      heading[2] = headinga % 10 / 1 + 48;   
      heading[3] = NULL;
     
/* this part is used to convert binary to ascii. for example, if the heading result 271 degree, then
1. mod it with 1000 result in 271, then devide it with 100 result will be 2 (rounded) then add the result with  0 ascii (48) then it store at heading[0];
2. mod it with 100 result in 71, then devide it with 10 result will be 7 (rounded) then add the result with  0 ascii (48) then it store at heading[1];
3. mod it with 10 result in 1, then devide it with 1 result will be 1 (rounded) then add the result with  0 ascii (48) then it store at heading[3];
*/
      pitch[0] = pitcha % 1000 / 100 + 48;
      pitch[1] = pitcha % 100 / 10 + 48;
      pitch[2] = pitcha % 10 / 1 + 48;   
      pitch[3] = NULL;
     
      roll[0] = rolla % 1000 / 100 + 48;
      roll[1] = rolla % 100 / 10 + 48;
      roll[2] = rolla % 10 / 1 + 48;   
      roll[3] = NULL;
 
 
}

void main(void)
{
// Declare your local variables here

// Input/Output Ports initialization
// Port A initialization
// Func7=In Func6=In Func5=In Func4=In Func3=In Func2=In Func1=In Func0=In
// State7=T State6=T State5=T State4=T State3=T State2=T State1=T State0=T
PORTA=0x00;
DDRA=0x00;

// Port B initialization
// Func7=In Func6=In Func5=In Func4=In Func3=In Func2=In Func1=In Func0=In
// State7=T State6=T State5=T State4=T State3=T State2=T State1=T State0=T
PORTB=0x00;
DDRB=0x00;

// Port C initialization
// Func7=In Func6=In Func5=In Func4=In Func3=In Func2=In Func1=In Func0=In
// State7=T State6=T State5=T State4=T State3=T State2=T State1=T State0=T
PORTC=0x00;
DDRC=0x00;

// Port D initialization
// Func7=In Func6=In Func5=In Func4=In Func3=In Func2=In Func1=In Func0=In
// State7=T State6=T State5=T State4=T State3=T State2=T State1=T State0=T
PORTD=0x00;
DDRD=0x00;

// I2C Bus initialization
i2c_init();

// LCD module initialization
lcd_init(16);
command(0x82);
delay_ms(500);

while (1)
      {       
       command(0x50);
       delay_ms(2);
       read();
       count();
       lcd_clear();
       lcd_puts(heading);
       
}



Statistics: Posted by pujiyanto — Mon Aug 09, 2010 8:18 am

Statistics: Posted by veltrop — Mon Apr 05, 2010 3:45 am

Code:

#include <roboard>
#include <iostream>
#include <iomanip>
using namespace std;

int main(int argz, char** argv)
{
    if (!i2c_Initialize(I2CIRQ_DISABLE)) {
        cout << "Failed to Initialize i2c." <<endl;
    }

    i2c0_SetSpeed(I2CMODE_STANDARD, 100000);
   
    /////////////////////////////////////////////////////////////////
    // Calibration
    cout << "Calibrate? (y/n)"<<endl>> a;
       
    if (a == 'y') {
        usleep( 500000 ); // 500ms
       
        i2c0master_StartN(0x32>>1, I2C_WRITE, 1);
        i2c0master_WriteN(0x71);  // heading data
        usleep( 1000 ); // 1 ms

        cout << "Press y and enter when finished calibrating to save calibration."<<endl>> a;
       
        if (a == 'y') {
            i2c0master_StartN(0x32>>1, I2C_WRITE, 1);
            i2c0master_WriteN(0x7E);  // heading data
            cout <<"Calibration Saved"<<endl>>1, I2C_WRITE, 1);
        i2c0master_WriteN(0x50);  // heading data
        //i2c0master_WriteN(0x55);  // tilt data
        //i2c0master_WriteN(0x40);    // accel data
        //0x45 // mag data
        usleep( 1000 ); // 1 ms
   
        i2c0master_StartN( 0x33>>1, I2C_WRITE, 1 );
        i2c0master_SetRestartN( I2C_READ, 6 );
        i2c0master_WriteN(6);
        char msb1 = i2c0master_ReadN();
        char lsb1 = i2c0master_ReadN();
        char msb2 = i2c0master_ReadN();
        char lsb2 = i2c0master_ReadN();
        char msb3 = i2c0master_ReadN();
        char lsb3 = i2c0master_ReadN();
       
        int head = 0;
        if (msb1 & 0x0080) // 128 (2's compliment negative)
            head |= (msb1<<8 & 0xFFFFFF00) | (lsb1 & 0xFFFF00FF);
        else
            head |= (msb1<<8 & 0x0000FF00) | (lsb1 & 0x000000FF);
       
        int pitch = 0;
        if (msb2 & 0x0080) // 128 (2's compliment negative)
            pitch |= (msb2<<8 & 0xFFFFFF00) | (lsb2 & 0xFFFF00FF);
        else
            pitch |= (msb2<<8 & 0x0000FF00) | (lsb2 & 0x000000FF);
       
        int roll = 0;
        if (msb3 & 0x0080) // 128 (2's compliment negative)
            roll |= (msb3<<8 & 0xFFFFFF00) | (lsb3 & 0xFFFF00FF);
        else
            roll |= (msb3<<8 & 0x0000FF00) | (lsb3 & 0x000000FF);
       
        cout << setw(6) << (float)head/10.0f << " " << setw(6) << (float)pitch/10.0f << " " << setw(6) << (float)roll/10.0f <<endl;
               
        usleep(200000); // 200ms
    } while (1);
    ////////////////////////////////////////////////////////////////

    i2c_Close();

    return 0;
}

Statistics: Posted by veltrop — Mon Mar 29, 2010 9:30 am