Author:   ADI CAST (China Application Support Team)
Date:   2010-04-22
Rev:   V1.0
Description: Realize ADIS16405 Driver，Use ADuC7026 as MCU，Development Tool: KEIL C
    Test program by reading triple axis gyroscope and triple axis accelerometer
    and triple axis magnetometer and send the Z axis acceleration to PC through UART

---------------------------------------------------------------------------------------------------------*/
#include <ADuC7026.h>
#include "ADIS16405_IO.h"
#include "ADIS16405.h"

//Three Axis Gyro and Acceleration and Magnetometer Flag
#define  GyroX  0  
#define  GyroY  1
#define  GyroZ  2
#define  AccX  3  
#define  AccY  4
#define  AccZ  5
#define  MagX  6  
#define  MagY  7
#define  MagZ  8

signed  int  GyroAccMag[9];  //Three Axis Gyro and Three Axis Acceleration and Three Axis Magnetometer Value
unsigned char Calculate_Sign = 0; //Flag for Timer Out

unsigned char RegisterData[8];
union{unsigned int ui;unsigned char uc[4];}un;

void putchar(unsigned char ch)/* Write character to Serial Port  */ 
{         
 COMTX = ch;     //COMTX is an 8-bit transmit register.
    while(!(0x020==(COMSTA0 & 0x020)))
    {;}
}

void IRQ_Handler() __irq
{
    if(0 != (IRQSTA & GP_TIMER_BIT)) //TIMER1 Interrupt
    { 
  T1CLRI = 0;
  Calculate_Sign = 1;
  return;
    }
}
void ADuC7026_Initiate(void)
{
    //Clock Initial
    POWKEY1 = 0x01;    //Start PLL Setting
    POWCON = 0x00;    //Set PLL Active Mode With CD = 0  CPU CLOCK DIVIDER = 41.78MHz
    POWKEY2 = 0xF4;    //Finish PLL Setting

 GP1CON = 0x011;     //PIN set up for UART
 GP2DAT = GP2DAT | 0x04040000; //Disable LCD;
 GP0DAT = GP0DAT | 0x02020000; //Disable LED;
 
 GP0DAT = GP0DAT & 0xDFFFFFFF; //Configure the P0.5 pin as input for DOUT of ADIS16405

 GP4DAT = GP4DAT | 0x38380000; //Configure the P4.3 pin as output for CS of ADIS16405, CS Stall High
         //Configure the P4.4 pin as output for SCLK of ADIS16405, SCLK Stall High
         //Configure the P4.5 pin as output for DIN of ADIS16405 
/*  
 //UART Initial，Baud Rate = 9600
 COMCON0 = 0x080; 
 COMDIV0 = 0x088;      
 COMDIV1 = 0x000;
 COMCON0 = 0x007;
*/

 //UART Initial，Baud Rate = 115200  
 COMCON0 = 0x80;     
    COMDIV0 = 0x0B;     
 COMDIV1 = 0x00;
    COMCON0 = 0x07;
   COMDIV2 = 0x883E; 

 //Timer1 Initial
// T1LD = 0xCC010;     //Interval = 20ms
 T1LD = 0x13EC190;    //Interval = 0.5s
 T1CON = 0xC0;
     
 IRQEN = GP_TIMER_BIT;   //Enable Timer1 Interrupt 
}  
void main (void)
{
    ADuC7026_Initiate();
 ReadFromADIS16405ViaSpi(XGYRO_OUT,1,RegisterData);

 while(1)
 {
  if(1 == Calculate_Sign)
  {
   Calculate_Sign = 0;

   ReadFromADIS16405ViaSpi(YGYRO_OUT,1,RegisterData);
   RegisterData[1] &= 0x3F;
   GyroAccMag[GyroX] = RegisterData[1];
   GyroAccMag[GyroX] = (GyroAccMag[GyroX]<<8) | RegisterData[0];
   
   ReadFromADIS16405ViaSpi(ZGYRO_OUT,1,RegisterData);
   RegisterData[1] &= 0x3F;
   GyroAccMag[GyroY] = RegisterData[1];
   GyroAccMag[GyroY] = (GyroAccMag[GyroY]<<8) | RegisterData[0];  
  
   ReadFromADIS16405ViaSpi(XACCL_OUT,1,RegisterData);
   RegisterData[1] &= 0x3F;
   GyroAccMag[GyroZ] = RegisterData[1];
   GyroAccMag[GyroZ] = (GyroAccMag[GyroZ]<<8) | RegisterData[0];
  
   ReadFromADIS16405ViaSpi(YACCL_OUT,1,RegisterData);
   RegisterData[1] &= 0x3F;
   GyroAccMag[AccX] = RegisterData[1];
   GyroAccMag[AccX] = (GyroAccMag[AccX]<<8) | RegisterData[0];
 
   ReadFromADIS16405ViaSpi(ZACCL_OUT,1,RegisterData);
   RegisterData[1] &= 0x3F;
   GyroAccMag[AccY] = RegisterData[1];
   GyroAccMag[AccY] = (GyroAccMag[AccY]<<8) | RegisterData[0];

   ReadFromADIS16405ViaSpi(XMAGN_OUT,1,RegisterData);
   RegisterData[1] &= 0x3F;
   GyroAccMag[AccZ] = RegisterData[1];
   GyroAccMag[AccZ] = (GyroAccMag[AccZ]<<8) | RegisterData[0];
  
   ReadFromADIS16405ViaSpi(YMAGN_OUT,1,RegisterData);
   RegisterData[1] &= 0x3F;
   GyroAccMag[MagX] = RegisterData[1];
   GyroAccMag[MagX] = (GyroAccMag[MagX]<<8) | RegisterData[0];
 
   ReadFromADIS16405ViaSpi(ZMAGN_OUT,1,RegisterData);
   RegisterData[1] &= 0x3F;
   GyroAccMag[MagY] = RegisterData[1];
   GyroAccMag[MagY] = (GyroAccMag[MagY]<<8) | RegisterData[0];
  
   ReadFromADIS16405ViaSpi(XGYRO_OUT,1,RegisterData);
   RegisterData[1] &= 0x3F;
   GyroAccMag[MagZ] = RegisterData[1];
   GyroAccMag[MagZ] = (GyroAccMag[MagZ]<<8) | RegisterData[0];
    
   un.ui = GyroAccMag[AccZ];
   putchar(un.uc[1]);
   putchar(un.uc[0]);

  }
 } 

}