Hoanghovuong
04-01-2012, 04:14 PM
Chào mọi người, em đang có đề tài thực hiện đọc dữ liệu từ VĐK Pic 16F887 với gyroscope ITG 3200 thông qua giao tiếp I2C, em viết code test thử địa chỉ thì PIC nhận được 4 địa chỉ D2, D3, D4, D5. Khi thực hiện giao tiếp thì có vẻ như hàm đọc giá trị hoạt động, còn hàm ghi giá trị không hoạt động, vì tất cả các giá trị thanh ghi đọc về đều là 0xFF trong khi em đã cố gắng ghi các giá trị khởi động vào cá thanh ghi trên. Nhờ anh em xem giúp đoạn code chương trình giùm mình xem có sai sót chỗ nào mà mạch không chạy, hoặc code hàm đọc cũng bị sai rồi mà mình không biết (giá trị thanh ghi WHO_I_AM mặc định là 0x69 nhưng đọc về lại là 0xff)
#include <16F887.h>
#fuses HS,NOWDT,NOPROTECT,NOLVP,PUT
#use delay (clock=20000000)
#use I2C(MASTER, sda=PIN_C4, scl=PIN_C3, FAST, FORCE_HW)
#use rs232(baud=9600, xmit=PIN_C6, rcv=PIN_C7, BITS=8, PARITY=N, ERRORS)
#include "LCD_CHANGED.c"
#include "ITG3200.h"
//int i2c_address = 0xD0;
int i2c_write = 0xD2;
int i2c_read = 0xD3;
int Read_gyro(int address)
{
int data;
i2c_start();
i2c_write(i2c_write);
i2c_write(address);
i2c_write(i2c_read);
data = i2c_read();
i2c_stop();
return data;
}
/*void Write_gyro(int address,int data)
{
i2c_start();
i2c_write(i2c_write);
i2c_write(0xD4);
i2c_write(address);
i2c_write(data);
i2c_stop();
} */
void ITG3200_init ()
{
i2c_start();
i2c_write(i2c_write);
i2c_write(PWR_M);
i2c_write(0x00);
delay_us(5);
i2c_write(SMPL);
i2c_write(0x00);
delay_us(5);
i2c_write(DLPF);
i2c_write(0x19);
delay_us(5);
/* Write_gyro(PWR_M, 0x00); Reset
Write_gyro(SMPL, 0x00); Sapmle Rate Divider
Write_gyro(DLPF, 0x19); DLPF Full Scale
Write_gyro(0x17, 0x00);
write (ITG, 0x3E, 0x40); Power Management - Sleeping
delay_us(10); */
}
void main()
{
int temp;
int16 Gx, Gy, Gz;
lcd_init();
delay_ms(100);
//printf(lcd_putc,"\f %u ",i2c_command);
ITG3200_init();
delay_ms(100);
printf(lcd_putc," Doc Gyro ");
delay_ms(1000);
printf("\nWHO_AM_I (0x00): 0x%x\n", Read_gyro(WHO));
delay_ms(1000);
printf("SMPLRT_DIV (0x15): 0x%x\n", Read_gyro(SMPL));
printf("DLPF_FS (0x16): 0x%x\n", Read_gyro(DLPF));
printf("INT_CFG (0x17): 0x%x\n", Read_gyro(INT_C));
printf("INT_STATUS (0x1A): 0x%x\n", Read_gyro(INT_S));
printf("TEMP_OUT_H (0x1B): 0x%x\n", Read_gyro(TMP_H));
printf("TEMP_OUT_L (0x1C): 0x%x\n", Read_gyro(TMP_L));
printf("GYRO_XOUT_H (0x1D): 0x%x\n", Read_gyro(GX_H));
printf("GYRO_XOUT_L (0x1E): 0x%x\n", Read_gyro(GX_L));
printf("GYRO_YOUT_H (0x1F): 0x%x\n", Read_gyro(GY_H));
printf("GYRO_YOUT_L (0x20): 0x%x\n", Read_gyro(GY_L));
printf("GYRO_ZOUT_H (0x21): 0x%x\n", Read_gyro(GZ_H));
printf("GYRO_ZOUT_L (0x22): 0x%x\n", Read_gyro(GZ_L));
printf("PWR_MGM (0x3E): 0x%x\n", Read_gyro(PWR_M));
while (true)
{
temp = 0;
temp = Read_gyro(GX_H);
Gx = temp << 8;
Gx |= Read_gyro(GX_L);
temp = 0;
temp = Read_gyro(GY_H);
Gy = temp << 8;
Gy |= Read_gyro(GY_L);
temp = 0;
temp = Read_gyro(GZ_H);
Gz = temp << 8;
Gz |= Read_gyro(GZ_L);
printf(lcd_putc,"\f Gx %lu ",Gx);
delay_ms(500);
printf(lcd_putc,"\f Gy %lu ",Gy);
delay_ms(500);
printf(lcd_putc,"\f Gz %lu ",Gz);
delay_ms(500);
}
}
File Mplab project và datasheet của ITG 3200 đính kèm bên dưới
#include <16F887.h>
#fuses HS,NOWDT,NOPROTECT,NOLVP,PUT
#use delay (clock=20000000)
#use I2C(MASTER, sda=PIN_C4, scl=PIN_C3, FAST, FORCE_HW)
#use rs232(baud=9600, xmit=PIN_C6, rcv=PIN_C7, BITS=8, PARITY=N, ERRORS)
#include "LCD_CHANGED.c"
#include "ITG3200.h"
//int i2c_address = 0xD0;
int i2c_write = 0xD2;
int i2c_read = 0xD3;
int Read_gyro(int address)
{
int data;
i2c_start();
i2c_write(i2c_write);
i2c_write(address);
i2c_write(i2c_read);
data = i2c_read();
i2c_stop();
return data;
}
/*void Write_gyro(int address,int data)
{
i2c_start();
i2c_write(i2c_write);
i2c_write(0xD4);
i2c_write(address);
i2c_write(data);
i2c_stop();
} */
void ITG3200_init ()
{
i2c_start();
i2c_write(i2c_write);
i2c_write(PWR_M);
i2c_write(0x00);
delay_us(5);
i2c_write(SMPL);
i2c_write(0x00);
delay_us(5);
i2c_write(DLPF);
i2c_write(0x19);
delay_us(5);
/* Write_gyro(PWR_M, 0x00); Reset
Write_gyro(SMPL, 0x00); Sapmle Rate Divider
Write_gyro(DLPF, 0x19); DLPF Full Scale
Write_gyro(0x17, 0x00);
write (ITG, 0x3E, 0x40); Power Management - Sleeping
delay_us(10); */
}
void main()
{
int temp;
int16 Gx, Gy, Gz;
lcd_init();
delay_ms(100);
//printf(lcd_putc,"\f %u ",i2c_command);
ITG3200_init();
delay_ms(100);
printf(lcd_putc," Doc Gyro ");
delay_ms(1000);
printf("\nWHO_AM_I (0x00): 0x%x\n", Read_gyro(WHO));
delay_ms(1000);
printf("SMPLRT_DIV (0x15): 0x%x\n", Read_gyro(SMPL));
printf("DLPF_FS (0x16): 0x%x\n", Read_gyro(DLPF));
printf("INT_CFG (0x17): 0x%x\n", Read_gyro(INT_C));
printf("INT_STATUS (0x1A): 0x%x\n", Read_gyro(INT_S));
printf("TEMP_OUT_H (0x1B): 0x%x\n", Read_gyro(TMP_H));
printf("TEMP_OUT_L (0x1C): 0x%x\n", Read_gyro(TMP_L));
printf("GYRO_XOUT_H (0x1D): 0x%x\n", Read_gyro(GX_H));
printf("GYRO_XOUT_L (0x1E): 0x%x\n", Read_gyro(GX_L));
printf("GYRO_YOUT_H (0x1F): 0x%x\n", Read_gyro(GY_H));
printf("GYRO_YOUT_L (0x20): 0x%x\n", Read_gyro(GY_L));
printf("GYRO_ZOUT_H (0x21): 0x%x\n", Read_gyro(GZ_H));
printf("GYRO_ZOUT_L (0x22): 0x%x\n", Read_gyro(GZ_L));
printf("PWR_MGM (0x3E): 0x%x\n", Read_gyro(PWR_M));
while (true)
{
temp = 0;
temp = Read_gyro(GX_H);
Gx = temp << 8;
Gx |= Read_gyro(GX_L);
temp = 0;
temp = Read_gyro(GY_H);
Gy = temp << 8;
Gy |= Read_gyro(GY_L);
temp = 0;
temp = Read_gyro(GZ_H);
Gz = temp << 8;
Gz |= Read_gyro(GZ_L);
printf(lcd_putc,"\f Gx %lu ",Gx);
delay_ms(500);
printf(lcd_putc,"\f Gy %lu ",Gy);
delay_ms(500);
printf(lcd_putc,"\f Gz %lu ",Gz);
delay_ms(500);
}
}
File Mplab project và datasheet của ITG 3200 đính kèm bên dưới