adis16350.c

lpc2148 communicate with IMU ADIS16350 through SPI

#include "ADIS16350.h"
#include "LPC214x.h"

unsigned short temp;

signed short map_14bit_to_16bit_format(unsigned short data14bit)
{
signed short tp;
	  if(data14bit&SIGN_BIT_MASK)
	  {
	  tp=(signed)(data14bit|(0x11<<14));
	  }
	  else
	  {
	  tp=(signed)(data14bit&0x3FFF);
	  }
return (tp);
}


void delay_loop(unsigned long  count1)
{
  while(count1 > 0) {count1--;}								// Loop Decrease Counter	
}

void SPI_write16_ADIS16350(unsigned short adis16350_addr)
{
	
	temp = S0SPDR;//read for empty buffer
	temp = S0SPSR;//dummy to clear status
	
	CS_ADIS16350_LOW;//start conection	
	temp= adis16350_addr|Cmd_Wr;
	S0SPDR =	   temp;
    while(((S0SPSR  & SPIF_MASK) >> 7) == 0);
	temp=S0SPDR;
   	CS_ADIS16350_HIGH;	//end connection
	delay_loop(800);//delay more than 9us  for t_datastall

}

void SPI_read16_ADIS16350(unsigned short *rbuffer)
{
	temp = S0SPSR;//dummy to clear status
	
	CS_ADIS16350_LOW;//start conection
	S0SPDR =	  (unsigned short) XGYRO_OUT|Cmd_Rd;
    while(((S0SPSR  & SPIF_MASK) >> 7) == 0);
	temp = S0SPDR;//PREVIOUS COMMAND data
	CS_ADIS16350_HIGH;	//end connection

	delay_loop(800);//delay more than 9us  for t_datastall

	CS_ADIS16350_LOW;//start conection
	S0SPDR =	  (unsigned short) YGYRO_OUT|Cmd_Rd;
    while(((S0SPSR  & SPIF_MASK) >> 7) == 0);
	rbuffer[0] = S0SPDR;//	XGYRO_OUT
	CS_ADIS16350_HIGH;	//end connection

	delay_loop(800);//delay more than 9us  for t_datastall


	CS_ADIS16350_LOW;//start conection
	S0SPDR =	  (unsigned short) ZGYRO_OUT|Cmd_Rd;
    while(((S0SPSR  & SPIF_MASK) >> 7) == 0);
	rbuffer[1] = S0SPDR;//	YGYRO_OUT
	CS_ADIS16350_HIGH;	//end connection

	delay_loop(800);//delay more than 9us  for t_datastall


	CS_ADIS16350_LOW;//start conection
	S0SPDR =	  (unsigned short) XACCL_OUT|Cmd_Rd;
    while(((S0SPSR  & SPIF_MASK) >> 7) == 0);
	rbuffer[2] = S0SPDR;//	ZGYRO_OUT
	CS_ADIS16350_HIGH;	//end connection

	delay_loop(800);//delay more than 9us  for t_datastall


	CS_ADIS16350_LOW;//start conection
	S0SPDR =	  (unsigned short) YACCL_OUT|Cmd_Rd;
    while(((S0SPSR  & SPIF_MASK) >> 7) == 0);
	rbuffer[3] = S0SPDR;//	XACCL_OUT
	CS_ADIS16350_HIGH;	//end connection

	delay_loop(800);//delay more than 9us  for t_datastall


	CS_ADIS16350_LOW;//start conection
	S0SPDR =	  (unsigned short) ZACCL_OUT|Cmd_Rd;
    while(((S0SPSR  & SPIF_MASK) >> 7) == 0);
	rbuffer[4] = S0SPDR;//	YACCL_OUT
	CS_ADIS16350_HIGH;	//end connection

	delay_loop(800);//delay more than 9us  for t_datastall


	CS_ADIS16350_LOW;//start conection
	S0SPDR =	  (unsigned short) SUPPLY_OUT|Cmd_Rd;
    while(((S0SPSR  & SPIF_MASK) >> 7) == 0);
	rbuffer[5] = S0SPDR;//	ZACCL_OUT
	CS_ADIS16350_HIGH;	//end connection

	delay_loop(800);//delay more than 9us  for t_datastall
	
	CS_ADIS16350_LOW;//start conection
	S0SPDR =	  (unsigned short) SUPPLY_OUT|Cmd_Rd;
    while(((S0SPSR  & SPIF_MASK) >> 7) == 0);
	rbuffer[6] = S0SPDR;//	SUPPLY_OUT
	CS_ADIS16350_HIGH;	//end connection

}
//init SPI0 of LPC2148
void init_SPI_to_connect_ADIS16350(void)
{
  // Initial SPI0 Pin Connect on P0[4] to P0[6]
  PINSEL0 &= 0xFFFF00FF;                                // Reset GPIO Pin Control Status Bit[15:8] 
  PINSEL0 |= 0x00000100;								// Bit[09:08] = 01 = P0.4 is SCK(SPI0)  
  PINSEL0 |= 0x00000400;								// Bit[11:10] = 01 = P0.5 is MISO(SPI0)  
  PINSEL0 |= 0x00001000;								// Bit[13:12] = 01 = P0.6 is MOSI(SPI0) 
  CS_ADIS16350_SELECT_PIN; 
  CS_SETUP_OUTPUT_PIN;
  CS_ADIS16350_HIGH;

  S0SPCR=0;//reset value
  //S0SPCR = (unsigned short)(~LSBF)&(~SPIE);	  //MSB first;use polling
  S0SPCR |=(unsigned short) CPHA|CPOL|SPI_MASTER|BIT_ENABLE; //SPI master mode  cpol=1;cpha=1  ;16bit mode
  //clock setup 1.5Mhz
  S0SPCCR =	10  ; //Pclk=15Mhz/10
}
//read_write data function
void ReadWrite_SPI16_ADIS16350(unsigned short adis16350_addr,unsigned short *rbuffer)
{   
	

	temp = S0SPDR;//read for empty buffer
	temp = S0SPSR;//dummy to clear status
	
	CS_ADIS16350_LOW;//start conection	
	S0SPDR =	   adis16350_addr;
    while(((S0SPSR  & SPIF_MASK) >> 7) == 0);
   *rbuffer=	 (unsigned short)S0SPDR;
  	CS_ADIS16350_HIGH;	//end connection



}
//init code
void init_ADIS16350	(void)
{
//calibration
/*A single-command, automatic bias calibration measures all 
three gyroscope output registers, then loads the three bias 
correction registers with values that return their outputs to zero */

SPI_write16_ADIS16350((unsigned short)(COMMAND_MSB|0x00));
SPI_write16_ADIS16350((unsigned short)(COMMAND_LSB|0x02));	//factory calib


//setup sample rate
/*The default value is the minimum register setting, 0x01, which 
corresponds to the maximum sample rate of 819.2 samples per second. 
The contents of this register are nonvolatile. */
SPI_write16_ADIS16350((unsigned short)(SMPL_PRD_MSB|0x00));
SPI_write16_ADIS16350((unsigned short)(SMPL_PRD_LSB|0x01));//


//setup Digital Filtering 	 and choose dynamic range
/*The signal conditioning circuit of each sensor has an analog 
bandwidth of approximately 350 Hz. A programmable-length 
Bartlett Window FIR filter provides opportunity for additional 
noise reduction on all of the output data registers.*/
SPI_write16_ADIS16350((unsigned short)(SENS_AVG_MSB|0x02));//chose range 150degree / and 8 tape for filter
SPI_write16_ADIS16350((unsigned short)(SENS_AVG_MSB|0x02));
															
}