ADIS16465 驱动（MC9S12XEP100）

手头有个ADIS16465，没事做了个两轮车，从网上down了段代码，对照数据手册后发现代码有bug，自己修改了下，把驱动部分贴出来，采用硬件SPI

原理图部分：

主要代码，使用时先imuInit()，然后用burstRead连续读取主要使用部分数据，要读其他寄存器数据用普通读即可，请自行查阅数据手册，请注意SPI速度不能太高 ，具体请仔细看手册。 

#define ADI_RST    PORTB_PB6
#define ADI_CS     PTS_PTS7

void spiInit(void) 
{
    MODRR = 0;
    SPI0CR1 = 0x5E;//SPI0CR1_SPE | SPI0CR1_MSTR | SPI0CR1_CPHA | SPI0CR1_CPOL | SPI0CR1_SSOE;         // master mode
    SPI0CR2 = 0x50;// SPI0CR2_MODFEN;// | SPI0CR2_XFRW;                                     // 16bit
  //  SPI0BR = 0x22; //SPI0BR_SPPR2 | SPI0BR_SPR1;                                         // (0x22)1.33M  (0x42)800 Kbit/s  (0x08)1M   for busclock 32m
    SPI0BR = 0x62; //SPI0BR_SPPR2 | SPI0BR_SPR1;                                         // (0x23)892K  for busclock 50M
}

void burstRead(int *buf)      
{
    unsigned char i = 0;
	ADI_CS = 0;
	while(!SPI0SR_SPTEF);
	SPI0DR = GLOB_CMD;
	while(!SPI0SR_SPIF);
	i = SPI0DRL;
	for(i=0; i<10; i++) 
	{	
	    while(!SPI0SR_SPTEF);
	    SPI0DR = 0x0000;
	    while(!SPI0SR_SPIF);
	    *buf++ = SPI0DR;
	}
	ADI_CS = 1;
}


unsigned int spiReadReg(unsigned int address)
{
	unsigned int data;
	ADI_CS = 0;
	while(!SPI0SR_SPTEF);
	SPI0DR = address;
	while(!SPI0SR_SPIF);
	data = SPI0DR;
	ADI_CS = 1;
    return data;
}

void spiWriteReg(unsigned char address,unsigned char data)
{
    unsigned int value;
    value = address | 0x80;
    value <<= 8;
    value |= data;
	ADI_CS = 0;    
	while(!SPI0SR_SPTEF);
	SPI0DR = value;
	while(!SPI0SR_SPIF);
	value = SPI0DR;
	ADI_CS = 1;
	_delay_us(63);
}

unsigned char adiReadID(void)
{
    if(0x4051 != spiReadReg(PROD_ID))
        return 0;
    else
        return 1;
}

void globalCommands(unsigned char data)
{
    spiWriteReg(GLOB_CMD_L,data); 
    spiWriteReg(GLOB_CMD_H,0x00);
}

void imuInit(void)
{
    unsigned int data = 0;
	_delay_ms(250);
    for(;;) 
    {
        spiWriteReg(NULL_CNFG_L,0x0A);        // 启动加速度计偏差校准
        spiWriteReg(NULL_CNFG_H,0x3F);
      	data = spiReadReg(NULL_CNF); 
		 _delay_us(50);
		data = spiReadReg(NULL_CNF);
	    if(0x3F0A == data)
	        break;  
        _delay_us(200);
    }
    
	for(;;) 
	{
	    spiWriteReg(DEC_RATE_L, 0x09);        // 配置采集速率为200Hz,即5ms读取一次
        spiWriteReg(DEC_RATE_H, 0x00);  
	    data = spiReadReg(DEC_RATE); 
		 _delay_us(50);
		data = spiReadReg(DEC_RATE);
	    if(9 == data)
	        break;
	    _delay_us(200);
	}	
	_delay_ms(250);
}

 头文件，借用了其他人的成果，特此声明。

#ifndef _ADIS16465_H
#define _ADIS16465_H

/* Private typedef -----------------------------------------------------------*/
#define  sADIS_ID                   0X4051     //ADIS16465

/* Private define ------------------------------------------------------------*/
/**************寄存器定义-开头**************/
#define DIAG_STAT	      	  		0x0200
#define X_GYRO_LOW	      	  		0x0400
#define X_GYRO_OUT	      	  		0x0600
#define Y_GYRO_LOW	      	  		0x0800
#define Y_GYRO_OUT	      	  		0x0A00
#define Z_GYRO_LOW	      	  		0x0C00
#define Z_GYRO_OUT	      	  		0x0E00
#define X_ACCL_LOW	      	  		0x1000
#define X_ACCL_OUT	      	  		0x1200
#define Y_ACCL_LOW	      	  		0x1400
#define Y_ACCL_OUT	      	  		0x1600
#define Z_ACCL_LOW	      	 		0x1800
#define Z_ACCL_OUT	      	  		0x1A00
#define TEMP_OUT	      	  	 	0x1C00
#define TIME_STAMP	      	  		0x1E00
#define DATA_CNTR	      	  		0x2200
#define X_DELTANG_LOW	      		0x2400
#define X_DELTANG_OUT	      	    0x2600
#define Y_DELTANG_LOW	      	    0x2800
#define Y_DELTANG_OUT  	      	    0x2A00
#define Z_DELTANG_LOW	      	    0x2C00
#define Z_DELTANG_OUT	      	    0x2E00
#define X_DELTVEL_LOW	      	    0x3000
#define X_DELTVEL_OUT	      	    0x3200
#define Y_DELTVEL_LOW 	      	    0x3400
#define Y_DELTVEL_OUT	      	    0x3600
#define Z_DELTVEL_LOW	      	    0x3800
#define Z_DELTVEL_OUT	      	    0x3A00
#define XG_BIAS_LOW	      	  		0x4000
#define XG_BIAS_HIGH	      	  	0x4200

#define YG_BIAS_L	      	  		0x44
#define YG_BIAS_H	      	  		0x45
#define YG_BIAS_H_L	      	  	    0x46
#define YG_BIAS_H_H	      	  	    0x47

#define ZG_BIAS_LOW	      	  		0x4800
#define ZG_BIAS_HIGH	      	  	0x4A00
#define XA_BIAS_LOW	      	  		0x4C00
#define XA_BIAS_HIGH	      	  	0x4E00
#define YA_BIAS_LOW	      	  		0x5000
#define YA_BIAS_HIGH	      	  	0x5200
#define ZA_BIAS_LOW	      	  		0x5400
#define ZA_BIAS_HIGH	      	    0x5600

#define RANG_MDL	      	  		0x5E00
#define MSC_CTRL	  	      	    0x6000
#define UP_SCALE	      	  		0x6200

#define FILT_CTRL_L	      	  		0x5C
#define FILT_CTRL_H	      	  		0x5D

#define DEC_RATE                    0x6400
#define DEC_RATE_L	      	  		0x64
#define DEC_RATE_H	      	  		0x65

#define NULL_CNF	      	  		0x6600
#define NULL_CNFG_L	      	  		0x66
#define NULL_CNFG_H	      	  		0x67

#define GLOB_CMD	      	  		0x6800
#define GLOB_CMD_L	      	  		0x68
#define GLOB_CMD_H	      	  		0x69

#define FIRM_REV	      	  		0x6C00
#define FIRM_DM	      	  			0x6E00
#define FIRM_Y		  	      	    0x7000
#define PROD_ID	      				0x7200
#define SERIAL_NUM      		  	0x7400
#define USER_SCR_1	      		    0x7600
#define USER_SCR_2	      		    0x7800
#define USER_SCR_3	  	      	    0x7A00
#define FLSHCNT_LOW		      	    0x7C00
#define FLSHCNT_HIGH  		      	0x7E00

#define BURST_READ        			0x6800
#define Dummy_Byte                  0x0FFF

/*******Global Commands (GLOB_CMD)命令***********/
#define SOFTWARE_RESET            	0x80 
#define FLASH_MEMORY_TEST           0x10 
#define FLASH_MEMORY_UPDATE         0x08 
#define SENSOR_SELF_TEST            0x04 
#define FACTORY_CALIBRATION_RESTORE 0x02       //工厂校准恢复
#define BIAS_CORRECTION_UPDATE      0x01       //偏差纠正更新


#define PI 3.1415



void    burstRead(int *buf);
unsigned int  spiReadReg(unsigned int address);
void    spiWriteReg(unsigned char address,unsigned char data);
void    globalCommands(unsigned char data);

void imuInit(void);

#endif /* __SPI_ADIS_H */