電子指南針.doc

有疑問聯(lián)系QQ286339554#include #include #include #define uchar unsigned char#define uint unsigned int #define RELOAD 0Xfd /2400 11.0592M 1T SMOD=0 2400 ?#define MMC2122_address 0x68 /2212 #define ENABLE_IAP 0X83sbit com1=P32;sbit com2=P33;sbit com3=P16;sbit com4=P17;sbit sda=P37;sbit scl =P27;sbit txd =P31;sbit G2 =P14;sbit DP =P15;uchar flag=0; /uchar flag1=0;uchar adjust_flag=2;float gcos=0;float gsin=0;float angle_cos=0;float angle_sin=0;float angle =0;unsigned char cunchu1;unsigned char cunchu2;unsigned char cunchu3;unsigned char cunchu4;unsigned char cunchu5;uchar calibarte_flag=0;int Maxx;int Minx;int Maxy;int Miny;int x,y;int x_max=0;int x_min=5000;int y_max=0;int y_min=5000;int xxyy_max=0;int xxyy_min=5000;int disturb_x=0; /int disturb_y=0; /void calibrate_mmc2122();void Port_initial(void) P1M0=0X00; P1M1=0XFF;P2M0=0X00;/0X80; P2M1=0XFF; com1=1;com2=1;com3=1;com4=1;void Serial_inial()SCON = 0X50;/8 BIT variable b rate no odd checkTMOD = 0X21; /TIMER1 8-AUTORELOAD TH1 = RELOAD;TL1 = RELOAD;TH0=0x3c;TL0=0xb0;TR1 = 1; ES = 1;ET0 =0; IT0=0;/1:FALLING 0:LOW LEVEL EX0=1;/ENABLEEA = 1;/* : Delays(number)* : * : number* : number*/void Delays(unsigned int number) /,number unsigned char temp; for(;number!=0;number-) for(temp=0;temp 4;if(cTemp 9)Send_uart(cTemp + A-10);elseSend_uart(cTemp + 0);cTemp = cHex & 0x0F;if(cTemp 9)Send_uart(cTemp + A-10);elseSend_uart(cTemp + 0);Send_uart( );/* : StartI2C()* : I2C* : * : */void StartI2C() /I2C sda=1; Delays(1); scl=1; Delays(1); sda=0; Delays(1); scl=0; Delays(1);/* : Stop2C()* : I2C* : * : */void StopI2C() /I2C scl=0; Delays(1); sda=0; Delays(1); scl=1; Delays(1); sda=1; Delays(1);/* : ackI2C()* : * : * : */ void ackI2C() / sda=0; Delays(1); scl=1; Delays(1); scl=0; Delays(1); sda=1; Delays(1);/* : NoackI2C()* : * : * : */ void NoackI2C() / sda=1; Delays(1); scl=1; Delays(1); scl=0; Delays(1);/* : TestackI2C()* : -ErrorBit* : * : */ bit TestackI2C() /-ErrorBit bit ErrorBit; sda=1; Delays(1); scl=1; Delays(1); ErrorBit=sda; Delays(1); scl=0; Delays(1); return(ErrorBit);/* : x24c02_init()* : 24c02* : * : */void freebus(void) scl = 1;Delays(1);sda = 1;Delays(1);/* : Write8BitI2C(unsigned char input)* : 8(input)* : input* : 8(input)*/ bit Write8BitI2C(uchar input) /8(input) unsigned char temp; for(temp=8;temp!=0;temp-) sda=(bit)(input&0x80); /input0x80 Delays(1); scl=1; Delays(1); scl=0; Delays(1); input=input1; return 1;/* : Read8BitI2C()* : 8* : * : rbyte*/ uchar Read8BitI2C() /8 uchar temp,rbyte; rbyte=0; for(temp=0;temp8;temp+) scl=1; Delays(1); rbyte=rbyte8;IAP_TRIG=0x46;IAP_TRIG=0xb9;dat=IAP_DATA;IAP_disable();return dat;void Byte_program(WORD addr, BYTE ch) IAP_CONTR=ENABLE_IAP;IAP_CMD=2;IAP_ADDRL=addr;IAP_ADDRH=addr8; IAP_DATA=ch;IAP_TRIG=0x46;IAP_TRIG=0xb9; IAP_disable(); /IAP , ,CPU , /IAP IAP ,void Sector_erase(WORD addr) IAP_CONTR=ENABLE_IAP;IAP_CMD=3;IAP_ADDRL=addr;IAP_ADDRH=addr8;IAP_TRIG=0x46;IAP_TRIG=0xb9;IAP_disable(); /IAP , ,CPU , /IAP IAP ,BYTE Get_inter(int i) return (i/256);BYTE Get_decimal(int i) return (i%256);/* : readMM2122()* : * : * : x1,x2,y1,y2*/void readMM2122() cunchu1=0,cunchu2=0,cunchu3=0,cunchu4=0,cunchu5=0; /*/ freebus(); StartI2C(); /1 Write8BitI2C(MMC2122_address); TestackI2C(); Write8BitI2C(00); /2 TestackI2C(); Write8BitI2C(05); /3 TestackI2C(); StopI2C(); Delays(15); freebus();StartI2C(); /1Write8BitI2C(MMC2122_address);TestackI2C();Write8BitI2C(00);/2 TestackI2C();Write8BitI2C(03);/3 PMTestackI2C(); StopI2C(); Delays(15); StartI2C(); /1 Write8BitI2C(MMC2122_address); TestackI2C(); Write8BitI2C(00); /2 TestackI2C(); Write8BitI2C(01); /3 TestackI2C(); StopI2C(); Delays(10); StartI2C(); /4 Write8BitI2C(MMC2122_address); TestackI2C(); Write8BitI2C(00); /5 TestackI2C(); StartI2C(); Write8BitI2C(0x69); /6 TestackI2C(); cunchu1=Read8BitI2C(); /7 ackI2C(); freebus(); /8 cunchu2=Read8BitI2C(); ackI2C(); freebus(); /9 cunchu3=Read8BitI2C(); ackI2C(); freebus(); /10 cunchu4=Read8BitI2C(); ackI2C(); freebus(); /11 cunchu5=Read8BitI2C(); NoackI2C(); StopI2C(); freebus(); x=(int)(cunchu2)*256+(int)cunchu3; y=(int)(cunchu4)*256+(int)cunchu5;Send_uart(0x7e);Send_uart(adjust_flag);Send_uart(0x04);Send_uart(cunchu2);Send_uart(cunchu3);Send_uart(cunchu4);Send_uart(cunchu5);/Send_uart(0x05+cunchu2+cunchu3+cunchu4+cunchu5);Send_uart(0xaa);void display_direction(uchar value) P1=(P1|0x3F); P2=(P2|0X7f); P3=(P3|0x30); com2 = 1; com4 = 1; switch(value) case 1: P1=(P1&0xEF); P2=(P2&0X86); P3=P3&0xff;com2=0;/Delays(300);break; /Ecase 2: P1=(P1&0xF6); P2=(P2&0XC9); P3=P3&0xff; com2=0;break; /N case 3: P1=(P1&0xF7); P2=(P2&0XC9); P3=P3&0xDF; com2=0;break; /W case 4: P1=(P1&0xEF); P2=(P2&0X92); P3=P3&0xff; com2=0; break; /S case 5: P1=(P1&0xEF); P2=(P2&0X86); P3=P3&0xff;com2=0;Delays(100);P1=(P1|0x3F); P2=(P2|0X7f); P3=(P3|0x30);com2=1;Delays(30);P1=(P1&0xF6); P2=(P2&0XC9); P3=P3&0xff;com3=0;Delays(100);P1=(P1|0x3F); P2=(P2|0X7f); P3=(P3|0x30);com2=1;com3=1;break; /EN case 6: P1=(P1&0xF6); P2=(P2&0XC9); P3=P3&0xff;com2=0;Delays(100);P1=(P1|0x3F); P2=(P2|0X7f); P3=(P3|0x30);com2=1;Delays(30);P1=(P1&0xF7); P2=(P2&0XC9); P3=P3&0xDF;com3=0;Delays(100);P1=(P1|0x3F); P2=(P2|0X7f); P3=(P3|0x30);com2=1;com3=1;break; /NWcase 7: P1=(P1&0xF7); P2=(P2&0XC9); P3=P3&0xDF;com2=0;Delays(100);P1=(P1|0x3F); P2=(P2|0X7f); P3=(P3|0x30);com2=1;Delays(30); P1=(P1&0xEF); P2=(P2&0X92); P3=P3&0xff;com3=0;Delays(100);P1=(P1|0x3F); P2=(P2|0X7f); P3=(P3|0x30);com2=1;com3=1;break; /WScase 8: P1=(P1&0xEF); P2=(P2&0X92); P3=P3&0xff;com2=0;Delays(100);P1=(P1|0x3F); P2=(P2|0X7f); P3=(P3|0x30);com2=1;Delays(30); P1=(P1&0xEF); P2=(P2&0X86); P3=P3&0xff;com3=0;Delays(100);P1=(P1|0x3F); P2=(P2|0X7f); P3=(P3|0x30);com2=1;com3=1;break; /SE void adjust(void)/ int i; int xxyy_value; int x_value; int y_value; readMM2122();x_value=x;y_value=y;xxyy_value = (int)sqrt(long)x*(long)x + (long)y*(long)y); for(i=1;i=5)|(x_value-x)=x_max) x_max=x; if(x=y_max) y_max=y;if(y=xxyy_max) xxyy_max=xxyy_value; if(xxyy_value=xxyy_min) xxyy_min=xxyy_value; readMM2122();x_value=x; y_value=y; while(!(x_max-x_min)-(y_max-y_min)-20) readMM2122(); xxyy_value = (int)sqrt(long)x*(long)x + (long)y*(long)y); / if(x=x_max) x_max=x; if(x=y_max) y_max=y;if(y=xxyy_max) xxyy_max=xxyy_value; if(xxyy_value=0)&(gsin=0)angle = angle_sin;else if(gcos=0)angle = angle_cos;else if(gcos=0)&(gsin=0)&(gsin=0)&( angle=10)&( a