void WriteAcc(unsigned char reg, unsigned char value) {
select_acc();
SPI1_Write(XL362_REG_WRITE);
SPI1_Write(reg);
SPI1_Write(value);
deselect_acc();
return;
}
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 main(void)
{
ADCON1=0x0F; //all pins are digital IO
//ss pin is output
TRISB&=0xFB;
ss=1;
SPI1_Init_Advanced(_SPI_MASTER_OSC_DIV64, _SPI_DATA_SAMPLE_MIDDLE, _SPI_CLK_IDLE_LOW, _SPI_LOW_2_HIGH); //initialize SPI in 00 mode
//send data for D/A conversion
ss=0;
SPI1_Write(0x37);
SPI1_Write(0xFF);
ss=1;
Delay_ms(1);
//write code to read data from SPI bus if needed
while(1);
}
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();
}
static void mpu6000GyroInit(void)
{
GPIO_InitTypeDef GPIO_InitStructure;
// PB13 - MPU_INT output on rev4 hardware
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_2MHz;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN;
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;
GPIO_Init(GPIOB, &GPIO_InitStructure);
/* SPI1_Write(MPU_RA_PWR_MGMT_1, 0x80); //PWR_MGMT_1 -- DEVICE_RESET 1
delay(5);
SPI1_Write( MPU_RA_SMPLRT_DIV, 0x00); //SMPLRT_DIV -- SMPLRT_DIV = 0 Sample Rate = Gyroscope Output Rate / (1 + SMPLRT_DIV)
SPI1_Write( MPU_RA_PWR_MGMT_1, 0x03); //PWR_MGMT_1 -- SLEEP 0; CYCLE 0; TEMP_DIS 0; CLKSEL 3 (PLL with Z Gyro reference)
SPI1_Write( MPU_RA_INT_PIN_CFG, 0 << 7 | 0 << 6 | 0 << 5 | 0 << 4 | 0 << 3 | 0 << 2 | 1 << 1 | 0 << 0); // INT_PIN_CFG -- INT_LEVEL_HIGH, INT_OPEN_DIS, LATCH_INT_DIS, INT_RD_CLEAR_DIS, FSYNC_INT_LEVEL_HIGH, FSYNC_INT_DIS, I2C_BYPASS_EN, CLOCK_DIS
SPI1_Write( MPU_RA_CONFIG, MPU6000_DLPF_CFG); //CONFIG -- EXT_SYNC_SET 0 (disable input pin for data sync) ; default DLPF_CFG = 0 => ACC bandwidth = 260Hz GYRO bandwidth = 256Hz)
SPI1_Write( MPU_RA_GYRO_CONFIG, 0x18); //GYRO_CONFIG -- FS_SEL = 3: Full scale set to 2000 deg/sec
*/
SPI1_Write(MPUREG_PWR_MGMT_1, BIT_H_RESET);
delay(100);
SPI1_Write(MPUREG_PWR_MGMT_1, MPU_CLK_SEL_PLLGYROZ); // Set PLL source to gyro output
// SPI1_Write(MPUREG_USER_CTRL, 0b00110000); // I2C_MST_EN
SPI1_Write(MPUREG_USER_CTRL, BIT_I2C_IF_DIS); // Disable I2C bus
SPI1_Write(MPUREG_SMPLRT_DIV, 0x04); // Sample rate = 200Hz Fsample = 1Khz / (4 + 1) = 200Hz
SPI1_Write(MPUREG_CONFIG, 0); // BITS_DLPF_CFG_42HZ); // Fs & DLPF Fs = 1kHz, DLPF = 42Hz (low pass filter)
SPI1_Write(MPUREG_GYRO_CONFIG, BITS_FS_2000DPS); // Gyro scale 2000?/s
SPI1_Write(MPUREG_ACCEL_CONFIG, BITS_AFS_8G); // Accel scale 4G
SPI1_Write(MPUREG_INT_ENABLE, BIT_RAW_RDY_EN); // INT: Raw data ready
SPI1_Write(MPUREG_INT_PIN_CFG, BIT_INT_ANYRD_2CLEAR); // INT: Clear on any read
// ACC Init stuff. Moved into gyro init because the reset above would screw up accel config. Oops.
// Accel scale 8g (4096 LSB/g)
SPI1_Write( MPU_RA_CONFIG, mpuLowPassFilter);
SPI1_Write( MPU_RA_ACCEL_CONFIG, 2 << 3);
}
