Korzystam z tej noty katalogowej - https://www.pololu.com/file/download/L3 ... e_id=0J731
[syntax=c]#include <avr/pgmspace.h>
#include <avr/eeprom.h>
#include <avr/io.h>
#include <avr/wdt.h>
#include <util/delay.h>
#include <avr/power.h>
#include "zyroskop.h"
#include "lcd.h"
int main()
{
int Gx,Gy,Gz;
unsigned char Gx1,Gx2,Gy1,Gy2,Gz1,Gz2;
LCD_Initalize();
LCD_Clear();
Inicjacja();
initgyro();
while(1)
{
Gx1 =(unsigned char) TWI_read_register(gyroscope_W ,OUT_X_L);
Gx2 =(unsigned char) TWI_read_register(gyroscope_W ,OUT_X_H);
Gx = (int) (Gx2<<8) + Gx1;
LCD_GoTo(0,0);
lcd_int(Gx);
_delay_ms(400);
}
}[/syntax]
[syntax=c]#include <avr/io.h>
#ifndef ZYROSKOP_H_
#define ZYROSKOP_H_
#define WHO_AM_I 0x0F
#define gyroscope_W 0xD6
#define gyroscope_R 0xD7 // SA0 to + VDD through 10kOhm resistor, read
#define CTRL1 0x20
#define CTRL1REG 0x0F // 12,5 Hz (ODR), n.a. (cut-off[hz]), power mode normal, all axis enabled
#define CTRL2 0x21
#define CTRL3 0x22
#define CTRL4 0x23
#define CTRL5 0x24
#define CTRL6 0x25
#define OUT_X_L 0x28
#define OUT_X_H 0x29
#define OUT_Y_L 0x2A
#define OUT_Y_H 0x2B
#define OUT_Z_L 0x2C
#define OUT_Z_H 0x2D
#define FIFO_CTRL 0x2E
#define FIFO_SRC 0x2F
void initgyro(void);
void Inicjacja(void);
void Start(void);
void Write (uint8_t address);
void Read(void);
void Stop(void);
void TWI_write_register(uint8_t address, uint8_t reg, uint8_t val);
uint8_t TWI_read_register(uint8_t address, uint8_t reg);
#endif /* ZYROSKOP_H_ */[/syntax]
[syntax=c]#include "zyroskop.h"
#include <avr/io.h>
#include <avr/wdt.h>
#include <util/delay.h>
#include <avr/power.h>
void Inicjacja(void)
{
TWCR &= ~(1<<TWIE);
TWBR = 16;
TWSR &= ~(1<<TWPS1) | (1<<TWPS0);
}
void Start(void)
{
TWCR = (1<<TWINT)|(1<<TWEN)|(1<<TWSTA);
while(!(TWCR & (1<<TWINT)));
}
void Write(uint8_t address)
{
TWDR = address;
TWCR = (1<<TWINT)|(1<<TWEN);
while(!(TWCR&(1<<TWINT)));
}
void Read(void)
{
uint8_t zmienna=0;
zmienna = TWDR;
TWCR = (1<<TWINT)|(1<<TWEN);
while(!(TWCR&(1<<TWINT)));
}
void Stop(void)
{
TWCR = (1<<TWINT)|(1<<TWEN)|(1<<TWSTO);
}
void TWI_write_register(uint8_t address, uint8_t reg, uint8_t val)
{
Start(); // Send Start
Write(address); // Send IIC "Write" Address
Write(reg); // Send Register
Write(val); // Send Value
Stop(); // Send Stop
}
uint8_t TWI_read_register(uint8_t address, uint8_t reg)
{
Start();
Write(address); //adres slave
//pisanie adresu rejestru
Write(reg); //adres rejestru
Start();
Write(address+1); //adres slave+1
Read();
Stop();
return TWDR;
}
void initgyro(void)
{
//TWI_write_register(ADDR_WRITE,CTRL_Reg1,WriteCTRL1);
TWI_write_register(gyroscope_W,CTRL1,0x7F);
TWI_write_register(gyroscope_W,CTRL4,0x80);
}[/syntax]
Pozdrawiam,
MichałStatystyki: Napisane przez osip7 — 21 gru 2015, o 10:56
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