necesito ayuda con implementar el siguiente codigo, el codigo lee un sensor el gy-85 para ser exactos del cual segui la siguiente librería como ejemplo
http://libstock.mikroe.com/projects/view/1075/gy85-9dof-imu,o que pasa es que al implementar pwm ya no funciona, el programa se traba en la inicializacion del sensor que usa i2c como base, tal ves sea un error obvio o tal ves sea el compilador que en mi caso es mikroc 6.6.3. espero que me puedan ayudar de verdad.
el pic que estoy usando es el pic16f1827 con 4 modulos pwm, ademas con un rejor de 32mhz interno. les adjunto el código.
#define ACCEL_ADDRESS 0xA6 // 0x53 = 0xA6 / 2
#define GYRO_ADDRESS_Wr 0xD0// 0x68 = 0xD0 / 2
#define GYRO_ADDRESS_Rd 0xD1
#define HMC5883L_READ_ADDR 0x3D
#define HMC5883L_WRITE_ADDR 0x3C
/***************zone accelerometre************/
#define _X_LOW 0x32
#define _X_HIG 0x33
#define _Y_LOW 0x34
#define _Y_HIG 0x35
#define _Z_LOW 0x36
#define _Z_HIG 0x37
/*************magneto*********************/
#define Config_Reg_A 0x00
#define Config_Reg_B 0x01
#define Mode_Reg 0x02
#define X_MSB_Reg 0x03
/***************************/
extern volatile int accel[3];
extern volatile int magnetom[3];
extern volatile int gyro[3];
unsigned short duty1=0,duty2=0,duty3=0,duty4=0; //Valores de las señales PWM
char control;
//============================================================================
// Project: GY-85 9DOF IMU
volatile int accel[3];
volatile int magnetom[3];
volatile int gyro[3];
unsigned short accel_Read_Byte(unsigned short address_sensor,unsigned short register_address) {
unsigned short Data_Read = 0;
I2C1_Start();
I2C1_Wr(address_sensor);
I2C1_Wr(register_address);
I2C1_Start();
I2C1_Wr(address_sensor+1);
Data_Read = I2C1_Rd(0);
I2C1_Stop();
return Data_Read;
}
void Acc_Init(){
I2C1_Start();
I2C1_Wr(ACCEL_ADDRESS);
I2C1_Wr(0X2D);// Power register
I2C1_Wr(0X00); // standbay mode
I2C1_Stop();
Delay_ms(5);
I2C1_Start();
I2C1_Wr(ACCEL_ADDRESS);
I2C1_Wr(0X31);// Data format register
I2C1_Wr(0X08); // Set to full resolution
I2C1_Stop();
Delay_ms(5);
I2C1_Start();
I2C1_Wr(ACCEL_ADDRESS);
I2C1_Wr(0X2C);// Data format register
I2C1_Wr(0X09); // Set to full resolution
I2C1_Stop();
Delay_ms(5);
I2C1_Start();
I2C1_Wr(ACCEL_ADDRESS);
I2C1_Wr(0X2D);// Power register
I2C1_Wr(0X08); // measure mode
I2C1_Stop();
}
// Reads x, y and z accelerometer registers
void Acc_Read(){
unsigned short buffer[6];
buffer[0]=accel_Read_Byte(ACCEL_ADDRESS,_X_LOW); // low_x
buffer[1]=accel_Read_Byte(ACCEL_ADDRESS,_X_HIG); // high_x
buffer[2]=accel_Read_Byte(ACCEL_ADDRESS,_Y_LOW); // low_y
buffer[3]=accel_Read_Byte(ACCEL_ADDRESS,_Y_HIG); // high_y
buffer[4]=accel_Read_Byte(ACCEL_ADDRESS,_Z_LOW); // low_y
buffer[5]=accel_Read_Byte(ACCEL_ADDRESS,_Z_HIG); // high_y
accel[0] = (((int) buffer[1]) << 8) | buffer[0]; // X axis
accel[1] = (((int) buffer[3]) << 8) | buffer[2]; // Y axis
accel[2] = (((int) buffer[5]) << 8) | buffer[4]; // Z axis
}
//============================================//
/***********HMC5883L******************/
void HMC5883L_write(unsigned char reg_address, unsigned char value)
{
I2C1_Start();
I2C1_Wr(HMC5883L_WRITE_ADDR);
I2C1_Wr(reg_address);
I2C1_Wr(value);
I2C1_Stop();
}
/*void Magneto_Init()
{
unsigned char value = 0;
HMC5883L_write(Config_Reg_A, 0b00011000);
HMC5883L_write(Config_Reg_B, 0xA0);
HMC5883L_write(Mode_Reg, 0x00);
}*/
/*void Magneto_Read(){
unsigned short buffer[6];
I2C1_Start();
I2C1_Wr(HMC5883L_WRITE_ADDR);
I2C1_Wr(X_MSB_Reg);
I2C1_Start();
I2C1_Wr(HMC5883L_READ_ADDR);
buffer[0]=I2C1_Rd(1);
buffer[1]=I2C1_Rd(1);
buffer[2]=I2C1_Rd(1);
buffer[3]=I2C1_Rd(1);
buffer[4]=I2C1_Rd(1);
buffer[5]=I2C1_Rd(0);
I2C1_Stop();
magnetom[1] = 1 * ((((int) buffer[0]) << 8) | buffer[1]); // X axis (internal sensor -y axis)
magnetom[0] = 1 * ((((int) buffer[4]) << 8) | buffer[5]); // Y axis (internal sensor -x axis)
magnetom[2] = 1 * ((((int) buffer[2]) << 8) | buffer[3]); // Z axis (internal sensor -z axis)
}*/
/**********ITG3025**************/
void Gyro_Init(){
// Power up reset defaults
I2C1_Start();
I2C1_Wr(GYRO_ADDRESS_Wr);
I2C1_Wr(0X3E);
I2C1_Wr(0X80);
I2C1_Stop();
// Set sample rato to 50Hz
I2C1_Start();
I2C1_Wr(GYRO_ADDRESS_Wr);
I2C1_Wr(0X15);
I2C1_Wr(0X0A); //SMPLRT_DIV = 10 (50Hz)
I2C1_Stop();
// Select full-scale range of the gyro sensors
// Set LP filter bandwidth to 42Hz
I2C1_Start();
I2C1_Wr(GYRO_ADDRESS_Wr);
I2C1_Wr(0X16);
I2C1_Wr(0X1B);
I2C1_Stop();
// Set clock to PLL with z gyro reference
I2C1_Start();
I2C1_Wr(GYRO_ADDRESS_Wr);
I2C1_Wr(0X3E);
I2C1_Wr(0X03);
I2C1_Stop();
}
// Reads x, y and z
void Gyro_Read(){
unsigned short buffer[6];
I2C1_Start();
I2C1_Wr(GYRO_ADDRESS_Wr);
I2C1_Wr(0X1D);
I2C1_Start();
I2C1_Wr(GYRO_ADDRESS_Rd);
buffer[0]=I2C1_Rd(1);
buffer[1]=I2C1_Rd(1);
buffer[2]=I2C1_Rd(1);
buffer[3]=I2C1_Rd(1);
buffer[4]=I2C1_Rd(1);
buffer[5]=I2C1_Rd(0);
I2C1_Stop();
gyro[0] = 1 * ((((int) buffer[0]) << 8) | buffer[1]); // X axis (internal sensor -y axis)
gyro[1] = 1 * ((((int) buffer[2]) << 8) | buffer[3]); // Y axis (internal sensor -x axis)
gyro[2] = 1 * ((((int) buffer[4]) << 8) | buffer[5]); // Z axis (internal sensor -z axis)
}
void UART1_Printf(int value){
char txt[7];
IntToStr(value, txt);
UART1_Write_Text(txt);
}
void printf_result(){
UART1_Write_Text("X_acc:");UART1_Printf(accel[0]); UART1_Write_Text(" ");
UART1_Write_Text("Y_acc:");UART1_Printf(accel[1]); UART1_Write_Text(" ");
UART1_Write_Text("Z_acc:");UART1_Printf(accel[2]); UART1_Write_Text(" ");
UART1_Write_Text("\r\n");
UART1_Write_Text("X_mag:");UART1_Printf(magnetom[0]); UART1_Write_Text(" ");
UART1_Write_Text("Y_mag:");UART1_Printf(magnetom[1]); UART1_Write_Text(" ");
UART1_Write_Text("Z_mag:");UART1_Printf(magnetom[2]); UART1_Write_Text(" ");
UART1_Write_Text("\r\n");
/*UART1_Write_Text("X_gyro:");UART1_Printf(gyro[0]); UART1_Write_Text(" ");
UART1_Write_Text("Y_gyro:");UART1_Printf(gyro[1]); UART1_Write_Text(" ");
UART1_Write_Text("Z_gyro:");UART1_Printf(gyro[2]); UART1_Write_Text(" ");
UART1_Write_Text("\r\n");*/
}
void GY_85_Init(){
Acc_Init();
//Magneto_Init();
Gyro_Init();
}
void GY_85_Read(){
Acc_Read();
//Magneto_Read();
Gyro_Read();
}
void main() {
OSCCON=0b11110000;
ANSELA=0x00;
ANSELB=0x00;
TRISA=0;
PORTA=0;
TRISB=0;
PORTB=0;
UART1_Init(9600);
TRISB2_bit = 1; // only change if pin remap done
TRISB5_bit = 0; // only change if pin remap done
TXCKSEL_bit=1;
RXDTSEL_bit=1;
Delay_ms(100);
UART1_Write_Text("uart init\r\n");
PWM1_Init(5000);
PWM2_Init(5000);
PWM3_Init(5000);
PWM4_Init(5000);
Delay_ms(100);
CCP1SEL_bit=1;
CCP2SEL_bit=1;
TRISB2_bit = 1; // only change if pin remap done
TRISB5_bit = 0; // only change if pin remap done
UART1_Write_Text("pwm init\r\n");
PWM1_Start();
PWM2_Start();
PWM3_Start();
PWM4_Start();
Delay_ms(100);
duty1 = 4;
duty2 = 4;
duty3 = 4;
duty4 = 4 ;
PWM1_Set_Duty(duty1);
PWM2_Set_Duty(duty2);
PWM3_Set_Duty(duty3);
PWM4_Set_Duty(duty4);
UART1_Write_Text("pwm start\r\n");
I2C1_Init(1000000);
Delay_ms(100);
GY_85_Init(); // Init GY-85 sensor
Delay_ms(100);
UART1_Write_Text("GY-85 Start\r\n");
while(1){
GY_85_Read(); // Read GY-85 sensor
printf_result();// Send the data to the USART
Delay_ms(100);
control = UART1_Read();
if(control == 'a'){
UART_Write_Text("PWM+\n\r");
Delay_ms(100);
duty1++; //Impulso de 0,8 msg de pwm0 posición 0º
duty2++; //Impulso de 0,8 msg de pwm1 posición 0º
duty3++; //Impulso de 0,8 msg de pwm2 posición 0º
duty4++; //Impulso de 0,8 msg de pwm3 posición 0º
}
if(control == 'b'){
UART_Write_Text("PWM-\n\r");
Delay_ms(100);
duty1--; //Impulso de 0,8 msg de pwm0 posición 0º
duty2--; //Impulso de 0,8 msg de pwm1 posición 0º
duty3--; //Impulso de 0,8 msg de pwm2 posición 0º
duty4--; //Impulso de 0,8 msg de pwm3 posición 0º
}
}
}
