main.c

Atmega168+HMC1052+OLED开发指南针

#include "common.h"
#include "oled.h"

static float eepXsf EEMEM;
static float eepYsf EEMEM;
static float eepXoff EEMEM;
static float eepYoff EEMEM;
static uint8_t eepHMC1052CalibrationisOK EEMEM = 1;
static uint16_t eepACCXaxis_0g EEMEM = 0;
static uint16_t eepACCYaxis_0g EEMEM = 0;
static uint8_t eepACCCalibrationisOK EEMEM = 1;
static uint8_t eepFirstTimeON EEMEM = 1;
/*********************eeprom_read/write program***********************/
/**																	**/
/**			  load the data from the eeprom memory and				**/
/**			  save the useful data in the eeprom memory				**/	
/*********************************************************************/
/*uchar eeprom_read_asm(uchar eepAddr_asm)
{
	asm volatile (	" aa:sbic	0x1F,1	\n\t"
					" rjmp	aa			\n\t"
					" clr	r25			\n\t"
					" out	0x22,r25	\n\t"
					" out	0x21,r24	\n\t"
					" sbi	0x1F,0		\n\t"
					" clr	r25			\n\t"
					" in	r24,0x20	\n\t"
					: :
					);
}

void eeprom_write_asm(uchar eepAddr_asm,uchar eepData_asm)
{
	asm volatile (	" bb:sbic	0x1F,1	\n\t"
					" rjmp	bb			\n\t"
					" clr	r25			\n\t"
					" out	0x22,r25	\n\t"
					" out	0x21,r24	\n\t"
					" out	0x20,r22	\n\t"
					" sbi	0x1F,2		\n\t"
					" sbi	0x1F,1		\n\t"
					: :
					);
}*/
/*********************************************************************/

SIGNAL(SIG_OVERFLOW2){}

uchar updata_OSCCAL(void)
{
	asm volatile (	" ldi	r31,0x0f 	\n\t"
					" ldi	r30,0xfe  	\n\t"
					" lpm				\n\t"
					" mov r24,r0		\n\t"
					: :
					);
}
void ioinit(void)
{
	DDRB = 0Xff;PORTB = 0X00;
	DDRC = 0X07;PORTC = 0X04;
	DDRD = 0Xff;PORTD = 0X00;
	OSCCAL = updata_OSCCAL();
}

void main()
{
	uchar row1,row2,n,m,Backtodisplay=1,AutoOFFtimer=0;
	char *string={"NEW COMPASS"};
	char string1[10],string2[10]={"   ^COURSE "};
	ioinit();
	//oled_initial();
	//clear_screen();
	eeprom_read_block((void*)&Xsf,(void*)&eepXsf,4);
	eeprom_read_block((void*)&Ysf,(void*)&eepYsf,4);
	eeprom_read_block((void*)&Xoff,(void*)&eepXoff,4);
	eeprom_read_block((void*)&Yoff,(void*)&eepYoff,4);
	HMC1052CalibrationisOK=eeprom_read_byte(&eepHMC1052CalibrationisOK);
	ACCXaxis_0g=eeprom_read_word(&eepACCXaxis_0g);
	ACCYaxis_0g=eeprom_read_word(&eepACCYaxis_0g);
	ACCCalibrationisOK=eeprom_read_byte(&eepACCCalibrationisOK);
	FirstTimeON=eeprom_read_byte(&eepFirstTimeON);
	TCNT2=0x00;						// 256/(8/256)=8.192mS
	TCCR2B=(1<<CS22)|(1<<CS21);		// Frequency:8MHz/256
	set_sleep_mode(SLEEP_MODE_PWR_SAVE);
	TIMSK2=(1<<TOIE2);sei();
while(1)
{
	Key();
	if((KeyCounter>=500)&(UnitONmark))
	{
		//clear_screen();
		//string="CALIBRATION";
		//print_asc8x16_center(0,string,ASCII8X16,0);
		string=" OBLIQUITU ";
		print_asc8x16_center(2,string,ASCII8X16,0);
		FirstTimeON=0;
		eeprom_write_byte(&eepFirstTimeON,FirstTimeON);
	}
	else if((KeyCounter>=250)&(UnitONmark))
	{
		//clear_screen();
		string="CALIBRATION";
		print_asc8x16_center(0,string,ASCII8X16,0);
		string="GYROCOMPASS";
		print_asc8x16_center(2,string,ASCII8X16,0);
	}
	else
	{
		if(UnitONmark)
		{
			while(HMC1052CalibrationisOK!=1)
			{
				TCCR2B=00;			// close timer
				TIMSK2=(0<<TOIE2);cli();
				Calibration();
				if(HMC1052CalibrationisOK==1)
				{
					string="   SUCCEED   ";
					eeprom_write_block((void*)&Xsf,(void*)&eepXsf,4);
					eeprom_write_block((void*)&Ysf,(void*)&eepYsf,4);
					eeprom_write_block((void*)&Xoff,(void*)&eepXoff,4);
					eeprom_write_block((void*)&Yoff,(void*)&eepYoff,4);
					eeprom_write_byte(&eepHMC1052CalibrationisOK,HMC1052CalibrationisOK);
				}
				else
				{
					eeprom_read_block((void*)&Xsf,(void*)&eepXsf,4);
					eeprom_read_block((void*)&Ysf,(void*)&eepYsf,4);
					eeprom_read_block((void*)&Xoff,(void*)&eepXoff,4);
					eeprom_read_block((void*)&Yoff,(void*)&eepYoff,4);
					string="   EXIT...   ";
					HMC1052CalibrationisOK=1;
				}
				print_asc8x16_center(2,string,ASCII8X16,0);
				for(n=0;n<8;n++) delaytimeforCBRT();
				TCNT2=0x00;						// 256/(8/256)=8.192mS
				TCCR2B=(1<<CS22)|(1<<CS21);		// Frequency:8MHz/256
				TIMSK2=(1<<TOIE2);sei();
			}
			while(ACCCalibrationisOK!=1)
			{
				TCCR2B=00;			// close timer
				TIMSK2=(0<<TOIE2);cli();
				string=" KEEP LEVEL ";
				print_asc8x16_center(0,string,ASCII8X16,0);
				string="            ";
				print_asc8x16_center(2,string,ASCII8X16,0);
				while(1)
				{
					delaytimeforCBRT();
					Sample_ACCXandYaxis();
					ACCXaxis_0g=ACC_XaxisADC;
					ACCYaxis_0g=ACC_YaxisADC;
					itoa(ACCXaxis_0g,string1,10);
					print_asc8x16(2,16,string1,ASCII8X16,0);
					itoa(ACCYaxis_0g,string1,10);
					print_asc8x16(2,48,string1,ASCII8X16,0);
					if(KeyValue)
					{
						_delay_loop_1(100);
						if(KeyValue)
						{	
							while(KeyValue);
							ACCCalibrationisOK=1;
							break;
						}
					}
				}
				string="CALIBRATION";
				print_asc8x16_center(0,string,ASCII8X16,0);
				string="   SUCCEED   ";
				print_asc8x16_center(2,string,ASCII8X16,0);
				for(n=0;n<8;n++) delaytimeforCBRT();
				string="  COMPASS  ";
				print_asc8x16_center(0,string,ASCII8X16,0);
				eeprom_write_word(&eepACCXaxis_0g,ACCXaxis_0g);
				eeprom_write_word(&eepACCYaxis_0g,ACCYaxis_0g);
				eeprom_write_byte(&eepACCCalibrationisOK,ACCCalibrationisOK);
				TCNT2=0x00;						// 256/(8/256)=8.192mS
				TCCR2B=(1<<CS22)|(1<<CS21);		// Frequency:8MHz/256
				TIMSK2=(1<<TOIE2);sei();
			}
			if(FirstTimeON==0)
			{if(m==125)
			  {	
				m=0;
				Sample_ACCXandYaxis();
				ACC_XaxisADC=abs(ACCXaxis_0g-ACC_XaxisADC);
				ACC_YaxisADC=abs(ACCYaxis_0g-ACC_YaxisADC);
				if((ACC_XaxisADC>30)|(ACC_YaxisADC>30))
				{
					if(!Backtodisplay)
					{
						Backtodisplay=1;
						clear_screen();
						oled_reset();
						SPI_MasterInit();
						MainOLED_WCom(0xAD);	// SET DC/DC BOOSTER(8AH=OFF,8BH=ON)
    					MainOLED_WCom(0x8A);	// built-in DC-DC turn off
						MainOLED_WCom(0xAE);	// Display turn off
						PORTD&=0b00011111;
						PORTD|=0b11100000;
						OLED_POWER_OFF;
					}
				}
				else
				{
					if(Backtodisplay)
					{
						AutoOFFtimer=0;
						Backtodisplay=0;
						oled_initial();
						clear_screen();	
					}
					Sample_XandYaxis();
					CalculateforAngle();
					GetCurrentPointer();
					if(Angle<10)
					{
						row1=20;
						//row2=0;
						//string2[10]="   ^COURSE  ";
					}
					else if(Angle<100) 
					{
						row1=12;
						//row2=4;
						//string2[10]="   ^COURSE  ";
					}
					else 
					{
						row1=4;
						//row2=8;
						//string2[10]="   ^COURSE  ";
					}
					itoa(Angle,string1,10);
					print_asc8x16(2,4,string2,ASCII8X16,0);
					print_asc8x16(2,row1,string1,ASCII8X16,0);
					string="  COMPASS  ";
					print_asc8x16_center(0,string,ASCII8X16,0);

					AutoOFFtimer++;		  // if there is no display
					if(AutoOFFtimer==60)  // it turns off automaticly after 1 min. 
					{
						KeyProcess(1);
					}
				}
			  }
			}
			else
			{
				string="  COMPASS  ";
				print_asc8x16_center(0,string,ASCII8X16,0);
			}
			m++;
		}
	}
	sleep_mode();
}
}