void nrf24_read_reg(unsigned short int cmd, unsigned short int *val,unsigned short int num_bytes)
{
unsigned short int output, i=0;
CSN = 0;
output = SPI1_Read(cmd);
for(i=0; i<num_bytes; ++i)
val[i] = SPI1_Read(cmd);
CSN = 1;
}
unsigned char ReadAcc(unsigned char reg) {
select_acc();
SPI1_Write(XL362_REG_READ);
SPI1_Write(reg);
unsigned char read_val = SPI1_Read();
deselect_acc();
return read_val;
}
void ADXL362_Init(void){
/*configure processor for the XL interrupt*/
/*not currently being used, going off counters in main loop instead
configure_pin_ss();
configure_pin_irq();
configure_irq_direction();
configure_int_wakeup();
configure_VIC_int();
*/
configure_trigger_pin();
configure_cs();
deselect_acc();
rprintf("Pinsel1: %x\n\r", PINSEL1);
/*configure accelerometer*/
//enables the FIFO in stream mode, 384 sample deep watermark (128 in 3 axes)
ConfigureAcc(XL362_FIFO_CTL, (XL362_FIFO_MODE_STREAM | XL362_FIFO_SAMPLES_AH));
//set int1 to a watermark interrupt (watermark configured in FILTER_CONTROL; 128samples of each axis)
ConfigureAcc(XL362_INTMAP1, XL362_INT_FIFO_WATERMARK);
//set the sampling rate to 100Hz ****so the filter is set to 50Hz***** Does not actually impact sampling rate
//since it is externally triggered
ConfigureAcc(XL362_FILTER_CTL, XL362_RATE_100);
//set into low noise mode
ConfigureAcc(XL362_POWER_CTL, XL362_LOW_NOISE2);
//Configure activity interrups to >0 so if enabled, they don't trigger constantly (still not enabled, though)
ConfigureAcc(XL362_THRESH_ACTH, 0x04);
ConfigureAcc(XL362_TIME_ACT, 0xFF);
//Configure external trigger sampling
ConfigureAcc(XL362_FILTER_CTL, XL362_EXT_TRIGGER);
//Do this last: enable the accelerometer into measurement mode
ConfigureAcc(XL362_POWER_CTL, XL362_MEASURE_3D);
//Clear out all the existing samples in the FIFO
int samplesInFifo = readNumSamplesFifo();
select_ADXL362();
SPI1_Write(XL362_FIFO_READ);
//2 bytes per sample
for (int i = 0; i < 2*samplesInFifo; i++) {
SPI1_Read();
//rprintf("Accel: %x %x\n\r", dataOutMSB, dataOutLSB);
//rprintf("FIFO OUT: %d\n\r", dataOut); //uncomment to see accel data as it comes from the FIFO
}
rprintf("%d samples in the FIFO\n\r", samplesInFifo);
deselect_ADXL362();
}
