c_fad.h

08山东电子电子竞赛智能小车程序基于PIC+红外+电子罗盘ourdev551262 包含源码

#define Fad_sck		HardL_LCD_4
#define Fad_Miso	HardL_LCD_5
#define Fad_Mosi	HardL_LCD_6
#define Fad_start	HardL_LCD_7

//用户原点
unsigned int16 NorthMy;
	

//罗盘初始化
void init_spi()
{
output_high(Fad_start);
output_low(Fad_Miso);
output_low(Fad_Mosi);
output_low(Fad_sck);
}

//启动传输
void SpiStart()
{
output_low(Fad_start);
}
//结束传输
void SpiStop()
{
output_high(Fad_start);
}
//发送一字节
void SpiSend(unsigned char Sdata)
{
   int8 i;
   for(i=0; i<8; ++i)
   {
      output_bit(Fad_Mosi, shift_left(&Sdata,1,0));
      output_high(Fad_sck);                     
      output_low(Fad_sck);
   }
}
//接收一字节
unsigned char SpiGet()
{
   BYTE flashData;
   int i;
   for(i=0; i<8; ++i)                        // Get 8 bits of data
   {
      output_high(Fad_sck);
      shift_left(&flashData, 1, input(Fad_Miso));
      output_low(Fad_sck);
   }
   return flashData;


}


//硬磁补偿开始

unsigned char HardStart()
{
unsigned char ReData;
SpiStart();
SpiSend(0xA0);
ReData=SpiGet();
SpiStop();
if (ReData==0xA0)
{
	return 1;
}
else
{
	return 0;
}

}
//硬磁补偿结束
unsigned char HardStop()

{
unsigned char ReData;
SpiStart();
SpiSend(0xA1);
ReData=SpiGet();
SpiStop();
if (ReData==0xA1)
{
	return 1;
}
else
{
	return 0;

}

}



//正北校准
unsigned char North()
{
unsigned char ReData;
SpiStart();
SpiSend(0xB0);
ReData=SpiGet();
SpiStop();
if (ReData==0xB0)
{
return 1;
}
else
{
return 0;
}

}




//读原始方位角
unsigned int16 GetNorth()

{
unsigned char ReData1;

unsigned char ReData2;

unsigned char ReData3;

unsigned char ReData4;



unsigned int16 Chk;

unsigned int16 ChkSelf;

SpiStart();

SpiSend(0x5A);



ReData1=SpiGet();
ReData2=SpiGet();
ReData3=SpiGet();
ReData4=SpiGet();
SpiStop();

return (ReData1+ReData2*256);
//似乎没有校验
Chk=0x5A+ReData1+ReData2;
ChkSelf=make16(ReData3,ReData4);

if (Chk==ChkSelf)
{
return (ReData1+ReData2*256);
}
else
{
return  0xffff;
}

}

//设置相对原点
void SetOrg(unsigned int16 myNorthTmp)
{
	NorthMy=myNorthTmp;	
}


//获得用户相对方位角
unsigned int16 GetNorthMy()
{
unsigned int16 Northtmp;
Northtmp=GetNorth();

if (Northtmp<NorthMy)
{
	Northtmp=360+Northtmp-NorthMy;
}else
{
	Northtmp=Northtmp-NorthMy;
};
if (Northtmp>359)
{
	Northtmp=0;
}		
return Northtmp;
}


//显示方位
void dispNorth()
{
LCD_setpos(0,0);
LCD_disp_Putchar('N');
LCD_disp_Putchar(':');	
//获得罗盘角度
NorthRad=GetNorthmy();

LCD_disp_valueInt16(NorthRad);
LCD_disp_Putchar(' ');
LCD_disp_Putchar(' ');
}