پروژه شتاب سنج سه محوره ADXL355 با استفاده از میکروکنترلر ATMEGA

				
					
#include <mega32a.h>
// SPI functions
#include <spi.h>
// Alphanumeric LCD functions
#include <alcd.h>
// Declare your global variables here
// Standard Input/Output functions
#include <stdio.h>
#include <stdint.h>
#include <delay.h>
#include <stdlib.h>
#include <string.h>
#include <math.h>
//adxl registers
uint8_t status_reg=0x04;
uint8_t temp2=0x06;
uint8_t temp1=0x07;
uint8_t xdata3=0x08;
uint8_t xdata2=0x09;
uint8_t xdata1=0x0A;
uint8_t ydata3=0x0B;
uint8_t ydata2=0x0C;
uint8_t ydata1=0x0D;
uint8_t zdata3=0x0E;
uint8_t zdata2=0x0F;
uint8_t zdata1=0x10;
uint8_t filter=0x28;
uint8_t range=0x2C;
uint8_t mode=0x2D;
uint8_t mode_off=0x01;
uint8_t mode_on=0x00;
long int x,y,z;
float e=0,e1=0,e2=0,k1=.01,k2=.01,k3=0,delta_u=0,out; //PID variables (change k1,k2,k3 (must be<1) to see theire effects)
float acc_x,acc_y,acc_z;
float temperatur;
char x_ch[10],y_ch[10],z_ch[10];
/************** 2G, 4G, 8G *********/
uint8_t range_value[]={0x01,0x02,0x03};
/*******************4000,2000,1000,500,250,125,62.5,31.25,15.625,7.813,3.906 HZ****/
uint8_t ODR_LPF[]= {0x00,0x01,0x02,0x03,0x04,0x05,0x06,0x07,0x08,0x09,0x0A};
void adxl_config(uint8_t,uint8_t);
void adxl_readData(uint8_t);
void uart_print(char*);
void uart_putchar(char);
void main(void)
{
// Declare your local variables here
// Input/Output Ports initialization
// Port A initialization
// Function: Bit7=In Bit6=In Bit5=In Bit4=In Bit3=In Bit2=In Bit1=In Bit0=In
DDRA=(0<<DDA7) | (0<<DDA6) | (0<<DDA5) | (0<<DDA4) | (0<<DDA3) | (0<<DDA2) | (0<<DDA1) | (0<<DDA0);
// State: Bit7=T Bit6=T Bit5=T Bit4=T Bit3=T Bit2=T Bit1=T Bit0=T
PORTA=(0<<PORTA7) | (0<<PORTA6) | (0<<PORTA5) | (0<<PORTA4) | (0<<PORTA3) | (0<<PORTA2) | (0<<PORTA1) | (0<<PORTA0);
// Port B initialization
// Function: Bit7=Out Bit6=In Bit5=Out Bit4=Out Bit3=In Bit2=In Bit1=In Bit0=In
DDRB=(1<<DDB7) | (0<<DDB6) | (1<<DDB5) | (1<<DDB4) | (0<<DDB3) | (0<<DDB2) | (0<<DDB1) | (0<<DDB0);
// State: Bit7=0 Bit6=T Bit5=0 Bit4=0 Bit3=T Bit2=T Bit1=T Bit0=T
PORTB=(0<<PORTB7) | (0<<PORTB6) | (0<<PORTB5) | (0<<PORTB4) | (0<<PORTB3) | (0<<PORTB2) | (0<<PORTB1) | (0<<PORTB0);
// Port C initialization
// Function: Bit7=In Bit6=In Bit5=In Bit4=In Bit3=In Bit2=In Bit1=In Bit0=In
DDRC=(0<<DDC7) | (0<<DDC6) | (0<<DDC5) | (0<<DDC4) | (0<<DDC3) | (0<<DDC2) | (0<<DDC1) | (0<<DDC0);
// State: Bit7=T Bit6=T Bit5=T Bit4=T Bit3=T Bit2=T Bit1=T Bit0=T
PORTC=(0<<PORTC7) | (0<<PORTC6) | (0<<PORTC5) | (0<<PORTC4) | (0<<PORTC3) | (0<<PORTC2) | (0<<PORTC1) | (0<<PORTC0);
// Port D initialization
// Function: Bit7=In Bit6=In Bit5=In Bit4=In Bit3=In Bit2=In Bit1=In Bit0=In
DDRD=(0<<DDD7) | (0<<DDD6) | (0<<DDD5) | (0<<DDD4) | (0<<DDD3) | (0<<DDD2) | (0<<DDD1) | (0<<DDD0);
// State: Bit7=T Bit6=T Bit5=T Bit4=T Bit3=T Bit2=T Bit1=T Bit0=T
PORTD=(0<<PORTD7) | (0<<PORTD6) | (0<<PORTD5) | (0<<PORTD4) | (0<<PORTD3) | (0<<PORTD2) | (0<<PORTD1) | (0<<PORTD0);
// USART initialization
// Communication Parameters: 8 Data, 1 Stop, No Parity
// USART Receiver: On
// USART Transmitter: On
// USART Mode: Asynchronous
// USART Baud Rate: 9600
UCSRA=(0<<RXC) | (0<<TXC) | (0<<UDRE) | (0<<FE) | (0<<DOR) | (0<<UPE) | (0<<U2X) | (0<<MPCM);
UCSRB=(0<<RXCIE) | (0<<TXCIE) | (0<<UDRIE) | (1<<RXEN) | (1<<TXEN) | (0<<UCSZ2) | (0<<RXB8) | (0<<TXB8);
UCSRC=(1<<URSEL) | (0<<UMSEL) | (0<<UPM1) | (0<<UPM0) | (0<<USBS) | (1<<UCSZ1) | (1<<UCSZ0) | (0<<UCPOL);
UBRRH=0x00;
UBRRL=0x33;
// SPI initialization
// SPI Type: Master
// SPI Clock Rate: 500.000 kHz
// SPI Clock Phase: Cycle Start
// SPI Clock Polarity: Low
// SPI Data Order: MSB First
SPCR=(0<<SPIE) | (1<<SPE) | (0<<DORD) | (1<<MSTR) | (0<<CPOL) | (0<<CPHA) | (0<<SPR1) | (1<<SPR0);
SPSR=(0<<SPI2X);
// TWI initialization
// TWI disabled
TWCR=(0<<TWEA) | (0<<TWSTA) | (0<<TWSTO) | (0<<TWEN) | (0<<TWIE);
// Alphanumeric LCD initialization
// Connections are specified in the
// Project|Configure|C Compiler|Libraries|Alphanumeric LCD menu:
// RS - PORTB Bit 0
// RD - PORTB Bit 1
// EN - PORTB Bit 2
// D4 - PORTA Bit 4
// D5 - PORTA Bit 5
// D6 - PORTA Bit 6
// D7 - PORTA Bit 7
// Characters/line: 16
lcd_init(16);
lcd_init(16);
lcd_clear();
lcd_gotoxy(6,0); //row 0 column 6
lcd_printf("KEI");
lcd_gotoxy(6,1); //row 1 column 6
lcd_printf("CAN");
adxl_config(mode,mode_off);
adxl_config(filter, ODR_LPF[8]);
adxl_config(range,range_value[0]);
delay_ms(500);
adxl_config(mode,mode_on);
delay_ms(500);
while (1)
{
// Place your code here
adxl_readData(temp2);
}
}
void adxl_config(uint8_t address,uint8_t value)
{
uint8_t i;
PORTB.4=0;
for (i=0;i<20;i++);
SPDR=(address<<1 | 0x00); //sending register address
while(!(SPSR & (1<<SPIF))); //Wait for transmission complete
SPDR=value; //sending register value
while(!(SPSR & (1<<SPIF))); //Wait for transmission complete
PORTB.4=1;
}
void adxl_readData(uint8_t address)
{
uint8_t status_r,i,read_data[11];
char st[5],temp_ch[5],acc_xch[10],acc_ych[10],acc_zch[10];
/*********check status register************/
PORTB.4=0;//chip select pin
for (i=0;i<20;i++);//delay
SPDR=(status_reg<<1 | 0x01);//status register address
while(!(SPSR & (1<<SPIF)));
SPDR=0xFF;
while(!(SPSR & (1<<SPIF)));
status_r=SPDR;
PORTB.4=1;
for (i=0;i<60;i++);
if(status_r &0x01==1)//if data ready?
{
PORTB.4=0;
for (i=0;i<20;i++);
SPDR=((address)<<1 | 0x01);
while(!(SPSR & (1<<SPIF)));
for(i=0;i<11;++i)
{
SPDR=0xFF;
while(!(SPSR & (1<<SPIF)));
read_data[i]=SPDR;
}
for (i=0;i<20;i++);
PORTB.4=1;
/**************temperature data***********/
temperatur=(long)read_data[0]<<8| read_data[1];
temperatur=((1852-temperatur)/9.05)+25; //from datasheet
/**************PID controller*************/
e2=e1;
e1=e;
e=-temperatur;
delta_u=k1*e + k2*e1 + k3*e2;
temperatur=temperatur+delta_u;
out=temperatur-delta_u;
/**************************************/
x=(long)read_data[2]<<12 | (long)read_data[3]<<4 | read_data[4]>>4; //x-axis data(20 bit)
if(x>=0x00080000) //Data is left justified and formatted as twos complement.
{
x=-1048576 - (~x+1);
}
y=(long)read_data[5]<<12 | (long)read_data[6]<<4 | read_data[7]>>4;
if(y>=0x00080000)
{
y=-1048576 - (~y+1);
}
z=(long)read_data[8]<<12 | (long)read_data[9]<<4 | read_data[10]>>4;
if(z>=0x00080000)
{
z=-1048576 - (~z+1);
}
ltoa(x,x_ch);//ltoa() function in C language converts long data type to string data type
ltoa(y,y_ch);
ltoa(z,z_ch);
acc_x=(float)x/262144; //This formula is for 2G range mode!
acc_y=(float)y/262144;
acc_z=(float)z/262144;
ftoa(acc_x,1,acc_xch); //convert a floating point number to a character array to display on LCD
ftoa(acc_y,1,acc_ych);
ftoa(acc_z,1,acc_zch);
ftoa(out,2,temp_ch);
lcd_clear();
lcd_gotoxy(0,0); //row 0 column 0
lcd_puts(acc_xch);
lcd_puts(", ");
lcd_puts(acc_ych);
lcd_puts(", ");
lcd_puts(acc_zch);
lcd_gotoxy(0,1); //row 1 column 0
lcd_puts("Temp: ");
lcd_puts(temp_ch);
lcd_puts(" 0C");
uart_print("X= ");
uart_print(x_ch); // sending data by UART
uart_print(", ");
uart_print(y_ch); // sending data by UART
uart_print(", ");
uart_print(z_ch); // sending data by UART
uart_print(". \r\n ");
}
}
void uart_putchar(char z)
{
UDR = z;
while ( !( UCSRA & (1<<UDRE)) ) ; //Wait for transmission complete
}
void uart_print(char *st)
{
int stl, i;
stl = strlen(st);
for (i=0; i<stl; i++)
uart_putchar(*st++);
}