Revision 0:73eaa4d98d25, committed 2013-10-15

Comitter:

tkreyche

Date:

Tue Oct 15 04:46:39 2013 +0000

Commit message:

v1.0

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Tue Oct 15 04:46:39 2013 +0000
@@ -0,0 +1,293 @@
+#include "mbed.h"
+
+// ACC Registers
+#define ID0 0x00
+#define STATUS 0x0b
+#define FIFO_EL 0x0c
+#define FIFO_EH 0x0d
+#define RESET 0x1f
+#define FIFO_CTL 0x28
+#define FIFO_SAM 0x29
+#define INTMAP1 0x2a
+#define INTMAP2 0x2b
+#define FILTER_CTL 0x2c
+#define POWER_CTL 0x2d
+
+#define WR_SPI 0x0a
+#define RD_SPI 0x0b
+#define RD_FIFO 0x0d
+#define DOWN 0
+#define UP 1
+
+#define SAMPLE_SET 128
+
+// function definitions
+void drSub();
+uint8_t ACC_ReadReg( uint8_t reg );
+void ACC_WriteReg( uint8_t reg, uint8_t reg );
+uint32_t drFlag;
+void ACC_GetXYZ12( int16_t *x, int16_t *y, int16_t *z);
+void ACC_GetXYZ8( int8_t *x, int8_t *y, int8_t *z);
+void ACC_GetFIFO(uint8_t *x, uint32_t samples);
+int16_t convertFIFOdata(uint8_t h, uint8_t l);
+
+// mbed hardware config
+SPI spi(p11, p12, p13); // mosi, miso, sclk
+DigitalOut cs(p14);
+InterruptIn dr(p15);
+Serial pc(USBTX, USBRX); // tx, rx
+
+
+int main()
+{
+    // local variables
+    uint8_t reg;
+
+    int8_t x8 = 0;
+    int8_t y8 = 0;
+    int8_t z8 = 0;
+
+    int16_t x12 = 0;
+    int16_t y12 = 0;
+    int16_t z12 = 0;
+
+    //uint8_t fl;
+    //uint8_t fh;
+    //uint32_t fb;
+
+    uint8_t xyz[1020];  // 6 bytes per 3x sample set
+    for (uint32_t i = 0; i < 1020; i++) xyz[i] = 0;
+
+     // mbed serial port config
+    pc.baud(115200);
+
+    // mbed spi config
+    // spi 8 bits, mode 0, 1 MHz for adxl362
+    spi.format(8,0);
+    // 5 MHz, max for acc - works fine
+    spi.frequency(5000000);
+
+    // mbed interrupt config
+    drFlag = 0;
+    dr.mode(PullDown);
+    dr.rise(&drSub);
+    __disable_irq();
+
+    // reset the adxl362
+    wait_ms(100);
+    ACC_WriteReg(RESET, 0x52);
+    wait_ms(100);
+
+    /*
+    // read adxl362 registers
+    printf("\r\n");
+    // read id register
+    reg = ACC_ReadReg(ID0);
+    pc.printf("ID0 = 0x%X\r\n", reg);
+    reg = ACC_ReadReg(FILTER_CTL);
+    pc.printf("FILTER_CTL = 0x%X\r\n", reg);
+    */
+
+    // set FIFO
+    ACC_WriteReg(FIFO_CTL,0x0A);  // stream mode, AH bit
+    //ACC_WriteReg(FIFO_CTL,0x02);  // stream mode, no AH bit
+    reg = ACC_ReadReg(FIFO_CTL);
+    pc.printf("FIFO_CTL = 0x%X\r\n", reg);
+
+    //ACC_WriteReg(FIFO_SAM,0xFF);   // fifo depth
+    ACC_WriteReg(FIFO_SAM,SAMPLE_SET * 3);   // fifo depth
+    reg = ACC_ReadReg(FIFO_SAM);
+    pc.printf("FIFO_SAM = 0x%X\r\n", reg);
+
+    // set adxl362 to 4g range, 25Hz
+    //ACC_WriteReg(FILTER_CTL,0x51);
+    // 2g, 25Hz
+    ACC_WriteReg(FILTER_CTL,0x11);
+    reg = ACC_ReadReg(FILTER_CTL);
+    printf("FILTER_CTL = 0x%X\r\n", reg);
+
+    // map adxl362 interrupts
+    //ACC_WriteReg(INTMAP1,0x01); //data ready
+    ACC_WriteReg(INTMAP1,0x04); //watermark
+    reg = ACC_ReadReg(INTMAP1);
+    pc.printf("INTMAP1 = 0x%X\r\n", reg);
+
+    // set adxl362 to measurement mode, ultralow noise
+    ACC_WriteReg(POWER_CTL,0x22);
+    reg = ACC_ReadReg(POWER_CTL);
+    pc.printf("POWER_CTL = 0x%X\r\n", reg);
+
+
+    // start continuous processing adxl362 data
+    __enable_irq();
+
+    uint64_t j = 0;
+
+    while(1) {
+
+        if(drFlag == 1) {
+
+
+            //fl = ACC_ReadReg(FIFO_EL);
+            //fh = ACC_ReadReg(FIFO_EH);
+            //fb =  (fh << 8) | fl;
+            //pc.printf("\r\n%04X\r\n", fb);
+
+            ACC_GetFIFO(&xyz[0],SAMPLE_SET);
+
+            pc.printf("--%u------------------------------------------------------------\r\n", j);
+
+            for (uint32_t i = 0; i < SAMPLE_SET * 6; i+=6) {
+
+                // useful use for testing
+                /*
+                uint8_t xAddr = (xyz[i+1] & 0xC0) >> 6;
+                uint8_t yAddr = (xyz[i+3] & 0xC0) >> 6;
+                uint8_t zAddr = (xyz[i+5] & 0xC0) >> 6;
+                pc.printf("%u %02x %02x %02x\r\n", j, xAddr, yAddr, zAddr);
+                */
+
+                int16_t x = convertFIFOdata(xyz[i+1], xyz[i]);
+                int16_t y = convertFIFOdata(xyz[i+3], xyz[i+2]);
+                int16_t z = convertFIFOdata(xyz[i+5], xyz[i+4]);
+
+                pc.printf("%+05d %+05d %+05d\r\n",x,y,z);
+                j++;
+                drFlag = 0;
+            }
+        }
+
+        if(drFlag == 8) {
+            ACC_GetXYZ8(&x8, &y8, &z8);
+            pc.printf("%+04d %+04d %+04d\r\n", x8,y8,z8);
+            drFlag = 0;
+        }
+
+        else if(drFlag == 12) {
+            ACC_GetXYZ12(&x12, &y12, &z12);
+            pc.printf ("%+05d %+05d %+05d\r\n",x12, y12, z12);
+            //pc.printf("%04X, %04X, %04X\r\n", x12, y12, z12);
+            drFlag = 0;
+        }
+
+    }
+}
+
+////////////////////////////////////////////////////////////////////////////////////
+// convert fifo sample to unsigned int
+////////////////////////////////////////////////////////////////////////////////////
+int16_t convertFIFOdata(uint8_t hiByte, uint8_t loByte)
+{
+    /*
+    //mask off type bits
+    uint16_t x = ((h & 0x3F) << 8);
+    // combine low byte
+    x = x | l;
+    // get sign bits, copy into B15, B14, combine
+    x = ((x & 0x3000) << 2) | x;
+    int16_t y = x;
+    return (y);
+    */
+    //mask off id bits, combine low byte
+    int16_t x = ((hiByte & 0x3F) << 8) | loByte;
+    // get sign bits, copy into B15, B14, combine
+    x = ((x & 0x3000) << 2) | x;
+    return(x);
+}
+
+
+////////////////////////////////////////////////////////////////////////////////////
+// read FIFO
+////////////////////////////////////////////////////////////////////////////////////
+
+void ACC_GetFIFO(uint8_t *x, uint32_t samples)
+{
+    cs = DOWN;
+    spi.write(RD_FIFO);
+    for(int i = 0; i < samples * 6; i++) {
+        *x = spi.write(0x00);
+        x++;
+    }
+
+    cs = UP;
+}
+
+////////////////////////////////////////////////////////////////////////////////////
+// read 8-bit x,y,z data
+////////////////////////////////////////////////////////////////////////////////////
+
+void ACC_GetXYZ8(int8_t* x, int8_t* y, int8_t* z)
+{
+
+    cs = DOWN;
+    spi.write(RD_SPI);
+    spi.write(0x08);
+
+    *x = spi.write(0x00);
+    *y = spi.write(0x00);
+    *z = spi.write(0x00);
+
+    cs = UP;
+}
+
+////////////////////////////////////////////////////////////////////////////////////
+// read 12-bit x,y,z data
+////////////////////////////////////////////////////////////////////////////////////
+
+void ACC_GetXYZ12(int16_t* x, int16_t* y, int16_t* z)
+{
+    int16_t xyzVal[6] = {0, 0, 0, 0, 0, 0};
+
+    cs = DOWN;
+    spi.write(RD_SPI);
+    spi.write(0x0E);
+
+    for (uint32_t i = 0; i < 6; i++) {
+        xyzVal[i] = spi.write(0x00);
+    }
+
+    *x = (xyzVal[1] << 8) + xyzVal[0];
+    *y = (xyzVal[3] << 8) + xyzVal[2];
+    *z = (xyzVal[5] << 8) + xyzVal[4];
+
+    cs = UP;
+}
+
+////////////////////////////////////////////////////////////////////////////////////
+// read ACC 8-bit registers
+////////////////////////////////////////////////////////////////////////////////////
+
+uint8_t ACC_ReadReg( uint8_t reg )
+{
+    cs = DOWN;
+    spi.write(RD_SPI);
+    spi.write(reg);
+    uint8_t val = spi.write(0x00);
+    cs = UP;
+    return (val);
+}
+
+////////////////////////////////////////////////////////////////////////////////////
+// write ACC 8-bit register
+////////////////////////////////////////////////////////////////////////////////////
+
+void ACC_WriteReg( uint8_t reg, uint8_t cmd )
+{
+    cs = DOWN;
+    spi.write(WR_SPI);
+    spi.write(reg);
+    spi.write(cmd);
+    cs = UP;
+}
+
+////////////////////////////////////////////////////////////////////////////////////
+// Handle data ready interrupt
+// just sets data ready flag
+////////////////////////////////////////////////////////////////////////////////////
+
+void drSub()
+{
+    drFlag = 1;
+    //drFlag = 8;
+    //drFlag = 12;
+}
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed.bld	Tue Oct 15 04:46:39 2013 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/mbed_official/code/mbed/builds/a9913a65894f
\ No newline at end of file