超低功耗、3轴MEMS加速度计——ADXL362（二）

恋上你的芯

上一篇说原理，简单介绍，这篇只要讲编程的
四、加速度轴方向

符合迪卡儿坐标系（右手坐标系）

五、关键代码如下
值得注意的是 SPI定时方案遵循CPHA = CPOL = 0
第一个上升沿采样，空闲状态为低电平
ADSENSORAPP_RESULT_TYPE ADXL362_Init()
{
    ADSENSORAPP_RESULT_TYPE result;
    ADI_SPI_RESULT_TYPE status = ADI_SPI_SUCCESS;
    uint8_t TxD[10]= {0}, RxD[10]= {0};
    status = adi_SPI_SetChipSelect(hSPI1Dev, ADXL362_CS);
if (ADI_SPI_SUCCESS == status)
     status = adi_SPI_SetBitrate (hSPI1Dev, ADXL362_SPI_CLK); //4MHz SCLK
//设置运动 与静止阀值
    TxD[0]= XL362_REG_WRITE; //Command Byte = WRITE (0x0A)
    TxD[1]= XL362_THRESH_ACTL; //Starting Register Address XL362_THRESH_ACTL = 0x20
    TxD[2]= 150; //Data to write to register XL362_THRESH_ACTL (0x20) = 105
    TxD[3]= 0; //Data to write to register XL362_THRESH_ACTH (0x21) = 0
    TxD[4]= 0; //Data to write to register XL362_TIME_ACT (0x22) = 3 (secs)
    TxD[5]= 105; //Data to write to register XL362_THRESH_INACTL (0x23) = 105
    TxD[6]= 0; //Data to write to register XL362_THRESH_INACTH (0x24) = 0
    TxD[7]= 0; //Data to write to register XL362_TIME_INACTL (0x25) = 37 (3 secs)
    TxD[8]= 0; //Data to write to register XL362_TIME_INACTH (0x26) = 0
    TxD[9]= 0x3F;//Data to write to register XL362_ACT_INACT_CTL (0x27) = 0x3F
//TxD[10]= 0x00;//Data to write to register XL362_FIFO_CONTROL (0x28) = 0x00
//TxD[11]= 0x00;//Data to write to register XL362_FIFO_SAMPLES (0x29) = 0x00
if (ADI_SPI_SUCCESS == status)
     status = API_SPI_RW_Byte(&TxD[0],&RxD[0], 10); //Write & Read Register Data
//配置中断模式 电低为效中断， 使能唤醒与运动中断
//+-2G 滤波0DR=12.5HZ
   //最后设置 POWER_CTL 开始工作
    TxD[0]= XL362_REG_WRITE; //Command Byte = WRITE (0x0A)
    TxD[1]= XL362_INTMAP1; //Starting Register Address XL362_INTMAP1 = 0x2A
    TxD[2]= 0x50;//Data to write to register XL362_INTMAP1 (0x2A) = 0x00
    TxD[3]= 0x00;//Data to write to register XL362_INTMAP2 (0x2B) = 0x00
    TxD[4]= 0x00;//Data to write to register XL362_FILTER_CTL (0x2C) = 0x00
    TxD[5]= XL362_MEASURE_3D;//Data to write to register XL362_POWER_CTL (0x2D) = 0x00
if (ADI_SPI_SUCCESS == status)
     status = API_SPI_RW_Byte(&TxD[0],&RxD[0], 6); //Write & Read Register Data
if(ADI_SPI_SUCCESS == status)
     result = API_SUCCESS;
else
     result = API_FAIL;
return result;
}
ADSENSORAPP_RESULT_TYPE Get_Data_From_ADXL362()
{
    ADI_SPI_RESULT_TYPE status = ADI_SPI_SUCCESS;
    uint8_t TxD[6]= {0}, RxD[6]= {0};
    int16_t RxD_temp[3]= {0};
    status = adi_SPI_SetChipSelect(hSPI1Dev, ADXL362_CS);
if(ADXL362_SPI_CLK != (adi_SPI_GetBitrate(hSPI1Dev)))
     status = adi_SPI_SetBitrate (hSPI1Dev, ADXL362_SPI_CLK); //4MHz SCLK
#ifdef READ_8_BIT_DATA
    TxD[0]= XL362_REG_READ;//Command Byte = READ (0x0B)
    TxD[1]= XL362_XDATA8;//X-Data Reg.Addr = XDATA8 (0x08)
    TxD[2]= XL362_YDATA8;//Y-Data Reg.Addr = YDATA8 (0x09)
    TxD[3]= XL362_ZDATA8;//Z-Data Reg.Addr = ZDATA8 (0x0A)
    status = API_SPI_RW_Byte(&TxD[0],&RxD[0],6); //Write & Read Register Data
if (status == ADI_SPI_SUCCESS) {
     SensData.ADXL362[0] = RxD[2];
     SensData.ADXL362[1] = RxD[3];
     SensData.ADXL362[2] = RxD[4];
return API_SUCCESS;
}
#else
    TxD[0]= XL362_REG_READ;//Command Byte = READ (0x0B)
    TxD[1]= XL362_XDATAL;//XL-Data Reg.Addr = XL362_XDATAL (0x0E)
    TxD[2]= XL362_XDATAH;//XH-Data Reg.Addr = XL362_XDATAH (0x0F)
    status = API_SPI_RW_Byte(&TxD[0],&RxD[0],4); //Write & Read Register Data
    RxD_temp[0] = (int16_t) ((RxD[3]<<8) | RxD[2]);
//RxD_temp[0] = RxD_temp[0] & 0x0FFF;
    TxD[0]= XL362_REG_READ;//Command Byte = READ (0x0B)
    TxD[1]= XL362_YDATAL;//YL-Data Reg.Addr = XL362_YDATAL (0x10)
    TxD[2]= XL362_YDATAH;//YH-Data Reg.Addr = XL362_YDATAH (0x11)
    status = API_SPI_RW_Byte(&TxD[0],&RxD[0],4); //Write & Read Register Data
    RxD_temp[1] = (int16_t) ((RxD[3]<<8) | RxD[2]);
//RxD_temp[1] = RxD_temp[1] & 0x0FFF;
    TxD[0]= XL362_REG_READ;//Command Byte = READ (0x0B)
    TxD[1]= XL362_ZDATAL;//ZL-Data Reg.Addr = XL362_ZDATAL (0x12)
    TxD[2]= XL362_ZDATAH;//ZH-Data Reg.Addr = XL362_ZDATAH (0x13)
    status = API_SPI_RW_Byte(&TxD[0],&RxD[0],4); //Write & Read Register Data
    RxD_temp[2] = (int16_t) ((RxD[3]<<8) | RxD[2]);
//RxD_temp[2] = RxD_temp[2] & 0x0FFF;
if (status == ADI_SPI_SUCCESS) {
     SensData.ADXL362[0] = RxD_temp[0];
     SensData.ADXL362[1] = RxD_temp[1];
     SensData.ADXL362[2] = RxD_temp[2];
return API_SUCCESS;
}
#endif
else {
     SensData.ADXL362[0] = 0;
     SensData.ADXL362[1] = 0;
     SensData.ADXL362[2] = 0;
return API_FAIL;
}
}
ADSENSORAPP_RESULT_TYPE SoftReset_ADXL362_Sensor()
{
    ADSENSORAPP_RESULT_TYPE result = API_SUCCESS;
    ADI_SPI_RESULT_TYPE status=ADI_SPI_SUCCESS;
    uint8_t TxD[3]= {0}, RxD[3]= {0};
    TxD[0]= XL362_REG_WRITE;//Command Byte = WRITE (0x0A)
    TxD[1]= XL362_SOFT_RESET;//ADXL362_SOFT_RESET_REG = 0x1F
    TxD[2]= XL362_SOFT_RESET_KEY; //ADXL362_SOFT_RESET_KEY = 0x52
    status = adi_SPI_SetChipSelect(hSPI1Dev, ADXL362_CS);
if(ADXL362_SPI_CLK != (adi_SPI_GetBitrate(hSPI1Dev)))
     status = adi_SPI_SetBitrate (hSPI1Dev, ADXL362_SPI_CLK); //4MHz SCLK
    status = API_SPI_RW_Byte(TxD, RxD, 3);
if (status == ADI_SPI_SUCCESS)
     result = API_SUCCESS;
else
     result = API_FAIL;
return result;
}
uint16_t ADXL362_Delay = 1000;
ADSENSORAPP_RESULT_TYPE Detect_ADXL362_Sensor()
{
    ADI_SPI_RESULT_TYPE status=ADI_SPI_SUCCESS;
    uint8_t TxD[5]= {0}, RxD[5]= {0};
    status = adi_SPI_SetChipSelect(hSPI1Dev, ADXL362_CS);
if(ADXL362_SPI_CLK != (adi_SPI_GetBitrate(hSPI1Dev)))
     status = adi_SPI_SetBitrate (hSPI1Dev, ADXL362_SPI_CLK); //4MHz SCLK
    SoftReset_ADXL362_Sensor();//复位
    adsAPI_Delay(ADXL362_Delay);
//读取ID
    TxD[0]= XL362_REG_READ;//Command Byte = READ (0x0B)
    TxD[1]= XL362_DEVID_AD;//ADXL362_DEVID_AD Reg.Addr = 0x00
    TxD[2]= XL362_DEVID_MST; //ADXL362_DEVID_MST Reg.Addr = 0x01
    TxD[3]= XL362_PARTID;//ADXL362_PARTID Reg.Addr = 0x02
if (ADI_SPI_SUCCESS == status)
     status = API_SPI_RW_Byte(&TxD[0],&RxD[0],5); //Write & Read Register Data
if (ADI_SPI_SUCCESS == status) {
if((RxD[2] == 0xAD)&&(RxD[3] == 0x1D)&&(RxD[4] == 0xF2))
return API_SUCCESS;
else
return API_FAIL;
}
return API_FAIL;
}
六、结果

值很大，实质是没进行转换，比例因子如下

代码修改如下
ADSENSORAPP_RESULT_TYPE Get_Data_From_ADXL362()
{
。。。。。。。。。。。。。。。。。。。。。。。。。。。。
    if (status == ADI_SPI_SUCCESS) {
#if 0
     SensData.ADXL362[0] = RxD_temp[0];
     SensData.ADXL362[1] = RxD_temp[1];
     SensData.ADXL362[2] = RxD_temp[2];
#else
SensData.ADXL362[0] = (float)RxD_temp[0]/1000;//2g ->1000 4g ->500
     SensData.ADXL362[1] = (float)RxD_temp[1]/1000;// 8g->250
     SensData.ADXL362[2] = (float)RxD_temp[2]/1000;
#endif
     return API_SUCCESS;
    }
#endif
    。。。。。。。。。。。。。。。。。。。。。。。。。。。。。。。。。。。。。。
}

运动学中,g的单位为m/s^2，1g = 9.8m/s^2 重力加速度