adis16350.h

lpc2148 communicate with IMU ADIS16350 through SPI

//==========for SPI0 setup====================
#define BIT_ENABLE 1<<2 //if bit_enable then we choose number of bit select by BITs
#define CPHA 1<<3 //if CHPA then sampling data on the second clock edge .transfer data starts 
				//at fist CLK and ends with the last sampling edge when SSEL  activation
				 //else sampling on the 1st clock edge.transfer data starts and
				//ends with activation and deactivation of SSEL signal
#define CPOL 1<<4 //if CPOL then SCK active low else active high
#define SPI_MASTER 1<<5 //choose master mode .otherwise slave mode
#define LSBF 1<<6 // if LSBF  bit 0 fist else bit 7 first
#define SPIE ((unsigned long) 1<<7) //Interrupt enable each time of SPIF of MODF active
#define BITS(n) n<<8 //control number of bits per transfer
	//n=number of bits per transfer 8=<n<=15
	//n=0 16 bits per transfer
#define ABRT_MASK (unsigned long) (1<<3)//mask to read status of slave abort
#define MODF_MASK (unsigned long) (1<<4)//mask to read status of mode default abort
#define ROVR_MASK (unsigned long) (1<<5)//mask to read status of overrun
#define WCOL_MASK (unsigned long) (1<<6)//mask to read status of Write collision
#define SPIF_MASK (unsigned long) (1<<7)//mask to read status of SPI transfer complette
#define SPI_CLK_SCALE(n) n //SCK=PCLK/VPBDIV/n n>=8
#define SPI_INT_FLAG_CLR 1 //write to s0spint to clear SPI int flag

//select PIN CS to control ADIS16350 chip
#define CS_ADIS16350_SELECT_PIN      PINSEL0 &= (unsigned long) (~(0x11<<14))   /*select P0.7 as GPIO*/
#define CS_SETUP_OUTPUT_PIN	         IODIR0  |= (unsigned long) (1<<7)

//depend on chip slect pin defined
#define CS_ADIS16350_HIGH IOSET0 |= (unsigned long) 1<<7 /*set CS high*/
#define CS_ADIS16350_LOW  IOCLR0 |= (unsigned long) 1<<7 /*set CS low*/
//ADIS16350 Inertial Sensor 
//maximum sample rate of 819.2 samples per 	second		
	
#define SUPPLY_OUT  0x0200   /*Power supply measurement  */ 

#define XGYRO_OUT   0x0500	 /*X-axis gyroscope output measurement*/
#define YGYRO_OUT   0x0600	 /*Y-axis gyroscope output measurement*/
#define ZGYRO_OUT   0x0800	 /*Z-axis gyroscope output measurement*/

#define XACCL_OUT	0x0A00	 /*X-axis acceleration output measurement */
#define YACCL_OUT	0x0C00	 /*Y-axis acceleration output measurement */
#define ZACCL_OUT	0x0E00	 /*Z-axis acceleration output measurement */

#define XTEMP_OUT   0x1000	 /*X-axis gyroscope sensor temperature measurement*/
#define YTEMP_OUT   0x1200	 /*Y-axis gyroscope sensor temperature measurement*/
#define ZTEMP_OUT   0x1400 	 /*Z-axis gyroscope sensor temperature measurement*/

#define AUX_ADC 	0x1600	 /*Auxiliary analog input data 	*/

	
#define ENDURANCE_NoneVolatile  0x0000		 /*Flash memory write count length 2 bye*/
#define ENDURANCE_Volatile  	0x0200	     /* Output data length 22byte */

#define XGYRO_OFF_LSB	0x1A00	 /*X-axis gyroscope bias offset factor */
#define XGYRO_OFF_MSB	0x1B00	 /*X-axis gyroscope bias offset factor */

#define YGYRO_OFF_LSB	0x1C00	 /*Y-axis gyroscope bias offset factor */
#define YGYRO_OFF_MSB	0x1D00	 /*Y-axis gyroscope bias offset factor */

#define ZGYRO_OFF_LSB	0x1E00	 /*Z-axis gyroscope bias offset factor */
#define ZGYRO_OFF_MSB	0x1F00	 /*Z-axis gyroscope bias offset factor */


#define XACCL_OFF_LSB	0x2000	 /*X-axis acceleration bias offset factor */
#define XACCL_OFF_MSB	0x2100	 /*X-axis acceleration bias offset factor */


#define YACCL_OFF_LSB	0x2200	 /*Y-axis acceleration bias offset factor */
#define YACCL_OFF_MSB	0x2300	 /*Y-axis acceleration bias offset factor */

#define ZACCL_OFF_LSB	0x2400	 /*Z-axis acceleration bias offset factor */
#define ZACCL_OFF_MSB	0x2500	 /*Z-axis acceleration bias offset factor */

#define ALM_MAG1_LSB	0x2600	 /*Alarm 1 amplitude threshold */
#define ALM_MAG1_MSB	0x2700	 /*Alarm 1 amplitude threshold */

#define ALM_MAG2_LSB	0x2800	 /*Alarm 2 amplitude threshold */
#define ALM_MAG2_MSB	0x2900	 /*Alarm 2 amplitude threshold */

#define ALM_SMPL1_LSB   0x2A00	 /*Alarm 1 sample size */
#define ALM_SMPL1_MSB   0x2B00	 /*Alarm 1 sample size */

#define ALM_SMPL2_LSB   0x2C00	 /*Alarm 2 sample size */
#define ALM_SMPL2_MSB   0x2D00	 /*Alarm 2 sample size */

#define ALM_CTRL_LSB	0x2E00	 /*Alarm control */
#define ALM_CTRL_MSB	0x2F00	 /*Alarm control */


#define AUX_DAC_LSB		0x3000	 /* volatile Auxiliary DAC data */
#define AUX_DAC_MSB		0x3100	 /* volatile Auxiliary DAC data */

#define GPIO_CTRL_LSB  	0x3200	 /* Volatile Auxiliary digital input/output control */
#define GPIO_CTRL_MSB  	0x3300	 /* Volatile Auxiliary digital input/output control */


#define MSC_CTRL_LSB	0x3400	 /*Miscellaneous control*/
#define MSC_CTRL_MSB	0x3500	 /*Miscellaneous control*/


#define SMPL_PRD_LSB 	0x3600	 /*Internal sample period (rate) control */
#define SMPL_PRD_MSB 	0x3700	 /*Internal sample period (rate) control */

#define	SENS_AVG_LSB 	0x3800	 /* volatile Dynamic range/digital filter control */
#define	SENS_AVG_MSB 	0x3900	 /* volatile Dynamic range/digital filter control */


#define SLP_CNT_LSB     0x3A00	 /* Volatile Sleep mode control */
#define SLP_CNT_MSB     0x3B00	 /* Volatile Sleep mode control */


#define STATUS_LSB 	    0x3C00	 /* only Read Volatile System status */
#define STATUS_MSB 	    0x3D00	 /* only Read Volatile System status */

#define COMMAND_LSB     0x3E00	 /*only WR System command  */
#define COMMAND_MSB     0x3F00	 /*only WR System command  */


#define Cmd_Rd 				0<<15
#define Cmd_Wr				1<<15
#define SIGN_BIT_MASK		1<<13
									 //unit
#define SupplyScalar		1.8315	 //mVolt
#define GyroScalar			0.07326	 //degree/s2
#define AcclScalar			2.522	 //mg
#define TempScalar			0.1453	 //degree/C3
#define AUX_ADCScalar       0.6105   //mV 


signed short map_14bit_to_16bit_format(unsigned short data14bit);
void delay_loop(unsigned long  count1);
void init_SPI_to_connect_ADIS16350(void);
void init_ADIS16350	(void);
void SPI_write16_ADIS16350(unsigned short adis16350_addr);
void SPI_read16_ADIS16350(unsigned short *rbuffer) ;//read data from ADIS
void ReadWrite_SPI16_ADIS16350(unsigned short adis16350_addr,unsigned short *rbuffer);