uint16_t Readout7705( uint8_t ChannelSelect )
{
uint8_t state, ResultH, ResultL;
BOOL isReady;
uint16_t iRetry;
for ( iRetry = 20u; iRetry; --iRetry )
{
ShiftOut( RS_0 + READ + ChannelSelect );
state = ShiftIn();
isReady = ( state & DRDY ) ? FALSE : TRUE; // DRDY 低电平有效
if ( isReady )
{
ShiftOut( RS_3 + READ + ChannelSelect ); // do Read
ResultH = ShiftIn();
ResultL = ShiftIn();
return ( ResultL + ( ResultH * 256u ));
}
delay( 10u );
}
return 0u; // failure !!!
}
void Convert7705( uint8_t ChannelSelect )
{
ShiftOut( RS_1 + ChannelSelect ); // 启动指定通道的校准转换
if( 0u == ChannelSelect )
{
ShiftOut( MD_0 + BIPOLAR + G_5 + BUF );
}
else
{
ShiftOut( MD_0 + BIPOLAR + G_4 + BUF );
}
ShiftOut( RS_3 + READ + ChannelSelect ); // Reset DRDY#
ShiftIn();
ShiftIn();
}
void event_handler_rcv(int8_t angle_presc)
{
int8_t initial_angle = 0;
uint8_t is_init_angle_read = FALSE;
uint8_t angle_found = FALSE;
int target_angle=0;
// pin 12 arduino uno -- when is high -- angle was found
pin_mode(DDRB,PORTB4, OUTPUT);
/*init compass*/
HM55B_PinInit();
HM55B_Reset();
pin_mode(DDRB, CLK_PIN,OUTPUT);
/*read data from compass until angle will be found*/
while(!angle_found)
{
HM55B_StartMeasurementCommand(); // necessary!!
_delay_ms(40); // the data is 40ms later ready
HM55B_ReadCommand(); // read data and print Status
int X_Data = ShiftIn(11); // Field strength in X
int Y_Data = ShiftIn(11); // and Y direction
set_pin(PORTB,EN_PIN); // ok deselect chip
int actual_angle = 180 * (atan2(-1 * Y_Data , X_Data) / M_PI); // angle is atan( -y/x) !!!
if(!is_init_angle_read)
{
initial_angle = actual_angle;
target_angle = adjust_angle(initial_angle, angle_presc);
is_init_angle_read = TRUE;
}
if(is_init_angle_read)
{
if( (actual_angle >= target_angle) && (angle_presc <=0) && (target_angle >=0) )
{
angle_found = TRUE;
}
else if( (actual_angle >= target_angle) && (angle_presc < 0) && (target_angle<0) )
{
angle_found = TRUE;
}
else if( (actual_angle <= target_angle) && (angle_presc>=0) && (target_angle<0) )
{
angle_found = TRUE;
}
else if( (actual_angle <= target_angle) && (angle_presc>=0) && (target_angle>=0) )
{
angle_found = TRUE;
}
if(angle_found) /*if angle was found, set pin to high*/
set_pin(PORTB,PORTB4);
}
}
}
