BvAutoController/Device/adxl312.c

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/******************************************************************************
 * @version: V2.0.1  AC7840x  Demo
 ******************************************************************************/

/*!
* @file ADXL312.c
*
* @brief This file contains the user function.
*
*/

/* ===========================================  Includes  =========================================== */
#include "adxl312.h"
#include "spi_hw.h"
#include "spi_master_drv.h"
#include "spi_slave_drv.h"
#include "port_hw.h"
#include "gpio_hw.h"
#include "gpio.h"
#include "debugout_ac7840x.h"
#include "osif.h"

/* ==========================================  Variables  =========================================== */
/*! @brief SPI master configure parameter */
spi_master_config_t spiMasteConfig2 =
{
    .bitsPerSec = 100000UL,                    /*! 设置SPI波特率*/
    .whichPcs = SPI_PCS0,                       /*! 设置SPI片选引脚*/
    .pcsPolarity = SPI_ACTIVE_LOW,              /*! 设置SPI片选低有效*/
    .isPcsContinuous = true,                    /*! 设置片选连续模式*/
    .bitcount = 8UL,                            /*! SPI 帧长度,支持 4~32 bits*/
    .spiSrcClk = 2000000UL,                    /*! SPI时钟源频率*/
    .clkPhase = SPI_CLOCK_PHASE_2ND_EDGE,       /*! 设置数据采样相位,第1个边沿采样数据*/
    .clkPolarity = SPI_SCK_ACTIVE_LOW,         /*! 设置SCK工作时极性,工作时SCK为高*/
    .msbFirst = true,                           /*! 选择从最高位开始收发*/
    .transferType = SPI_USING_INTERRUPTS,       /*! 选择通信类型为中断方式*/
    .rxDMAChannel = 1UL,                        /*! 设置SPI DMA接收通道，若未使用DMA方式传输，则该配置可忽略*/
    .txDMAChannel = 0UL,                        /*! 设置SPI DMA发送通道，若未使用DMA方式传输，则该配置可忽略*/
    .callback = NULL,                           /*! 注册回调函数 */
    .callbackParam = NULL,                      /*! 回调函数参数 */
};

static spi_state_t s_spiMasterState2;
/*! SPI发送和接收数组*/
uint8_t g_adxTxBuff[8] = {1, 2, 3, 4, 5, 6, 7, 8};
uint8_t g_adxRxBuff[8] = {0};

/* ====================================  Functions declaration  ===================================== */
void WriteCmd(uint8_t cmd, uint8_t data)
{
		g_adxTxBuff[0] = cmd;
		g_adxTxBuff[1] = data;
		
		
		SPI_DRV_MasterTransferBlocking(ADXL_SPI_INSTANCE, g_adxTxBuff, g_adxRxBuff, 2, ADXL_SPI_TIMEOUT);
}

uint8_t ReadCmd(uint8_t cmd)
{
		cmd |=(0x80);
		g_adxTxBuff[0] = cmd;
		g_adxTxBuff[1] = 0x00;
		SPI_DRV_MasterTransferBlocking(ADXL_SPI_INSTANCE, g_adxTxBuff, g_adxRxBuff, 2, ADXL_SPI_TIMEOUT);
	
		return g_adxRxBuff[1];
}

uint8_t ReadCmd2(uint8_t cmd, uint8_t* data)
{
		g_adxTxBuff[0] = cmd;
		g_adxTxBuff[1] = 0x00;
		g_adxTxBuff[2] = 0x00;
		g_adxTxBuff[3] = 0x00;
		g_adxTxBuff[4] = 0x00;
		g_adxTxBuff[5] = 0x00;
		g_adxTxBuff[6] = 0x00;
		SPI_DRV_MasterTransferBlocking(ADXL_SPI_INSTANCE, g_adxTxBuff, g_adxRxBuff, 7, ADXL_SPI_TIMEOUT);
	
		data[0] = g_adxRxBuff[1];
		data[1] = g_adxRxBuff[2];
		data[2] = g_adxRxBuff[3];
		data[3] = g_adxRxBuff[4];
		data[4] = g_adxRxBuff[5];
		data[5] = g_adxRxBuff[6];
	
		return 0;
}


static void SPI_Init_Gpio(void)
{
    GPIO_DRV_SetMuxModeSel(ADXL_SPI_SCK, ADXL_PIN_SCK, PORT_MUX_ALT3);        /*! SCK */
    GPIO_DRV_SetMuxModeSel(ADXL_SPI_SOUT, ADXL_PIN_SOUT, PORT_MUX_ALT3);      /*! SOUT */
    GPIO_DRV_SetMuxModeSel(ADXL_SPI_SIN, ADXL_PIN_SIN, PORT_MUX_ALT3);        /*! SIN */
    GPIO_DRV_SetMuxModeSel(ADXL_SPI_CS, ADXL_PIN_CS, PORT_MUX_ALT3);          /*! CS */
	
		//GPIO_DRV_SetPullSel(ADXL_SPI_CS, ADXL_PIN_CS, PORT_INTERNAL_PULL_UP_ENABLED);
}

void ADXL312_Init(void)
{
		uint8_t tmp_data;
	
	  SPI_Init_Gpio();                                                        /*! 初始化对应引脚为SPI功能 */

    SPI_DRV_MasterInit(ADXL_SPI_INSTANCE, &s_spiMasterState2, &spiMasteConfig2);   /*! SPI主机模式初始化 */
    NVIC_SetPriority(ADXL_SPI_IRQ, 2);   	/*! 设置SPI中断优先级 */

		//SPI_DRV_MasterSetDelay(ADXL_SPI_INSTANCE, 1U,1U, 1U);
	
	
		tmp_data = ReadCmd(0x00);
		while(tmp_data!=0xE5)     //判断是否器件ID正确 验证SPI通信是否正常
		{
			OSIF_TimeDelay(20);
			tmp_data = ReadCmd(0x00);
			
		}
		
		WriteCmd(0x2E, 0x00);
		WriteCmd(0x31, 0x0B); // 4线SPI 13bit 全分辨率 12g量程
		
		WriteCmd(0x2D, 0x08); //传感器测试模式 
		WriteCmd(0x2C, 0x0E); //传感器传输数据速率 1600HZ 
		
		WriteCmd(0x2F, 0x03);
		WriteCmd(0x38, 0x94);  //FIFO 模式 
		
		WriteCmd(0x1E, 0x00);
		WriteCmd(0x1F, 0x00);
		WriteCmd(0x20, 0x00);
		
		
		//printf(" adxl312 ready 00 \r\n");
		
}

void ADXL312_ReadID(uint8_t* p_id)
{
	uint8_t tmp_data = 0x00;
	tmp_data = ReadCmd(0x00);
	*p_id = tmp_data;

}
	
uint8_t ADXL312_ReadAcc(int16_t* pAcc_x, int16_t* pAcc_y,int16_t* pAcc_z)
{
	uint8_t tmp[6];
	
	
	ReadCmd2(0xF2, tmp);

	*pAcc_x = ((tmp[1]<<8)|tmp[0]);
	*pAcc_y = ((tmp[3]<<8)|tmp[2]);
	*pAcc_z = ((tmp[5]<<8)|tmp[4]);
	
	return 0;
	
}