GY-273 HMC5883L电子指南针罗盘模块 三轴磁场传感器 avr 获取 三维位置

#ifndef _GY_273_H #define _GY_273_H  #define I2C_SCL_PIN 5 #define I2C_SDA_PIN 1 #define I2CPORT PORTC #define I2CDDR  DDRC #define I2CPIN  PINC   #define I2C_SCL_SET I2CPORT|=BIT(I2C_SCL_PIN); #define I2C_SCL_CLR I2CPORT&=~BIT(I2C_SCL_PIN);  #define I2C_SDA_SET I2CPORT|=BIT(I2C_SDA_PIN); #define I2C_SDA_CLR I2CPORT&=~BIT(I2C_SDA_PIN); #define I2C_SDA_DAT I2CPIN&BIT(I2C_SDA_PIN) #define I2C_SDA_OUT I2CDDR|=BIT(I2C_SDA_PIN); #define I2C_SDA_IN I2CDDR&=~BIT(I2C_SDA_PIN); #define I2C_Drop {I2C_SDA_SET I2C_SCL_SET} #define I2C_PIN_INIT I2CDDR|=BIT(I2C_SDA_PIN)|BIT(I2C_SCL_PIN);  #define START   0x08 #define RE_START  0x10 #define MT_SLA_ACK  0x18 #define MT_SLA_NOACK  0x20 #define MT_DATA_ACK  0x28 #define MT_DATA_NOACK 0x30 #define MR_SLA_ACK  0x40 #define MR_SLA_NOACK 0x48 #define MR_DATA_ACK  0x50 #define MR_DATA_NOACK 0x58                                #define DEVICE_ADDR  0x1e #define FilterSize   30   ///滤波系数      void GY273_Init(void); void GY273_Read(uint *Data); void GY273_Filter(uint *Data,uint *Out); void GY273_GetXYZ(uint *Data); #endif

<pre class="cpp" name="code">#include <Include.h>   void Delay(uint16 us) {  while(us--); }  /*------------------------------------------------------------------------------  Func: 启动I2C总线 ------------------------------------------------------------------------------*/ void I2C_Start(void) {       I2C_SCL_SET   Delay(1);           //在SCL高电平期SDA线产生下跳边         I2C_SDA_SET   Delay(1);    I2C_SDA_CLR   Delay(1);    I2C_SCL_CLR   Delay(1);          //占有主动权           }  /*------------------------------------------------------------------------------  Func: 停止I2C总线控制 ------------------------------------------------------------------------------*/ void I2C_Stop(void) {    I2C_SDA_CLR   Delay(2);          //在SCL的高电期间SDA线产生上跳边    I2C_SCL_SET   Delay(1);    I2C_SDA_SET   Delay(3); }  /*------------------------------------------------------------------------------  Func: 发送ACK信号 ------------------------------------------------------------------------------*/ void I2C_SendAck(uint8 Ack) {    if(Ack)I2C_SDA_SET    else   I2C_SDA_CLR                   //发送ACK信号    I2C_SCL_SET   Delay(1);    I2C_SCL_CLR   Delay(1);     I2C_SDA_SET  }  /*------------------------------------------------------------------------------  Func: 向I2C总线写数据   Time: 2010-7-20  Ver.: V1.0  Note: ------------------------------------------------------------------------------*/ uint8 I2C_SendBytes(uint8 *TxBuffer,uint8 TxLenth) {   uint8 i,j,Ack,k=TxLenth;   while(TxLenth)   {                j=*TxBuffer  ;     for(i=0;i<8;i  ,j<<=1)     {       if(j&0x80)I2C_SDA_SET       else      I2C_SDA_CLR       I2C_SCL_SET     Delay(1);       I2C_SCL_CLR     Delay(1);            }     I2C_SDA_SET      I2C_SCL_SET            Delay(1);     I2C_SDA_IN;            Delay(1);     Ack=I2C_SDA_DAT;    Delay(1);      I2C_SDA_OUT;           Delay(1);     I2C_SCL_CLR         Delay(1);     if(Ack)return (k-TxLenth);         TxLenth--;     }   return k; }   /*------------------------------------------------------------------------------  Func: 从I2C总线读数据   Time: 2010-7-20  Ver.: V1.0  Note: ------------------------------------------------------------------------------*/ uint8 I2C_RecvBytes(uint8 *RxBuffer,uint8 RxLenth) {    uint8 i,j,k=RxLenth;    while(RxLenth--)    {          I2C_SDA_IN; Delay(10);       I2C_SDA_SET;       for(i=0,j=0;i<8;i  )       {         j<<=1;         I2C_SCL_SET     Delay(1);         if(I2C_SDA_DAT)j|=0x01;         I2C_SCL_CLR     Delay(1);               }       I2C_SDA_OUT;        *RxBuffer  =j;       if(RxLenth>0)I2C_SendAck(0);       else I2C_SendAck(1);    }       return k;    }   /*------------------------------------------------------------------------------  Func: 写I2C总线  Time: 2010-7-20  Ver.: V1.0  Note: return 0/无响应   1/发送正常  ------------------------------------------------------------------------------*/ uint8 I2C_WriteDatas(uint8 Addr,uint8 *Cmd,uint8 CmdLen,uint8 *TxBuffer,uint8 TxLenth) {    uint8 Ack;    Addr<<=1;    I2C_Start();    Ack=I2C_SendBytes(&Addr,1);    if(Ack==0){I2C_Drop return 0;}    Ack=I2C_SendBytes(Cmd,CmdLen);    Ack=I2C_SendBytes(TxBuffer,TxLenth);    I2C_Stop();    return Ack; }  /*------------------------------------------------------------------------------  Func: 读I2C总线  Time: 2010-7-20  Ver.: V1.0  Note: return 0/无响应  1/正常 ------------------------------------------------------------------------------*/ uint8 I2C_ReadDatas(uint8 Addr,uint8 *Cmd,uint8 CmdLen,uint8 *RxBuffer,uint8 RxLenth) {    uint8 Ack=0;    Addr<<=1;    I2C_Start();    if(CmdLen>0){       Ack=I2C_SendBytes(&Addr,1);          if(Ack==0){I2C_Drop return 0;}          Ack=I2C_SendBytes(Cmd,CmdLen);          I2C_Start();    }    Addr|=0x01
   Ack=I2C_SendBytes(&Addr,1);
   Ack=I2C_RecvBytes(RxBuffer,RxLenth);
   I2C_Stop();
   return Ack;
}

#include <Include.h>
#include <GY_273.h>


void GY273_Init()
{ 
    I2C_PIN_INIT; 
}
void GY273_Read(uint *Data)
{         
    uint8 i;
    uint8 data[2];
    uint8 reg[3]={0x78,0x00,0x00};
    uint8 addr[1]={0x00}; 
    I2C_WriteDatas(DEVICE_ADDR,&addr[0],1,&reg[0],3); 
    for(i=0;i<3;i++)
    {
      addr[0]=0x03+i*2; 
      I2C_ReadDatas(DEVICE_ADDR,&addr[0],1,&data[0],2); 
      Data[i]=data[0];
      Data[i]<<=8;
      Data[i]|=data[1]; 
    } 
}
void GY273_Filter(uint *Data,uint *Out)
{
    static ulong Pool[3];
    static uchar Index[3]; 
    uchar i;
    for(i=0;i<3;i++)
    {
        Out[i]=FlowPoolFilter(&Pool[i],Data[i],&Index[i],FilterSize);
    }
}
void GY273_GetXYZ(uint *Data)
{
    uint Buf[3]; 
    GY273_Read(&Buf[0]);
    GY273_Filter(&Buf[0],Data);
}

说明   初始化  GY273_Init();

读取   uint Buf[3];    GY273_GetXYZ(&Buf[0]);

显示   printf("X=%d,Y=%d,Z=%d",Buf[0],Buf[2],Buf[1]);

效果如下

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