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ADXRS453-用于瑞萨微控制器平台的无操作系统驱动程序
刘埃生
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Table of Contents
ADXRS453 - No-OS Driver for Renesas Microcontroller Platforms
Supported Devices
Evaluation Boards
Overview
The ADXRS453 is an angular rate sensor (gyroscope) intended for industrial, instrumentation, and stabilization applications in high vibration environments. An advanced, differential, quad sensor design rejects the influence of linear acceleration, enabling the ADXRS453 to offer high accuracy rate sensing in harsh environments where shock and vibration are present.
The ADXRS453 uses an internal, continuous self-test architecture. The integrity of the electromechanical system is checked by applying a high frequency electrostatic force to the sense structure to generate a rate signal that can be differentiated from the base-band rate data and internally analyzed.
The ADXRS453 is capable of sensing an angular rate of up to ±300°/sec. Angular rate data is presented as a 16-bit word that is part of a 32-bit SPI message.
The ADXRS453 is available in a 16-lead plastic cavity SOIC (SOIC_CAV) and an SMT-compatible vertical mount package (LCC_V), and is capable of operating across a wide voltage range (3.3 V to 5 V).
Applications
- Rotation sensing in high vibration environments
- Rotation sensing for industrial and instrumentation applications
- High performance platform stabilization
The goal of this project (Microcontroller No-OS) is to be able to provide reference projects for lower end processors, which can't run Linux, or aren't running a specific operating system, to help those customers using microcontrollers with ADI parts. Here you can find a generic driver which can be used as a base for any microcontroller platform and also specific drivers for different microcontroller platforms.
Driver Description
The driver contains two parts:
- The driver for the ADXRS453 part, which may be used, without modifications, with any microcontroller.
- The Communication Driver, where the specific communication functions for the desired type of processor and communication protocol have to be implemented. This driver implements the communication with the device and hides the actual details of the communication protocol to the ADI driver.
The Communication Driver has a standard interface, so the ADXRS453 driver can be used exactly as it is provided.
There are three functions which are called by the ADXRS453 driver:
- SPI_Init() – initializes the communication peripheral.
- SPI_Write() – writes data to the device.
- SPI_Read() – reads data from the device.
SPI driver architecture
The following functions are implemented in this version of ADXRS453 driver:
| Function | Description |
|---|---|
| char ADXRS453_Init(void) | Initializes the ADXRS453 and checks if the device is present. |
| unsigned short ADXRS453_GetRegisterValue(unsigned char regAddress) | Reads the value of a register. |
| void ADXRS453_SetRegisterValue(unsigned char regAddress, unsigned short regData) | Writes data into a register. |
| unsigned long ADXRS453_GetSensorData(void) | Reads the sensor data. |
| float ADXRS453_GetRate(void) | Reads the rate data and converts it to degrees/second. |
| float ADXRS453_GetTemperature(void) | Reads temperature from ADXRS453 and converts it to degrees Celsius. |
Downloads
- PmodGYRO2 Demo for RL78G14: https://github.com/analogdevicesinc/no-OS/tree/master/Renesas/RL78G14/PmodGYRO2
- RL78G14 Common Drivers: https://github.com/analogdevicesinc/no-OS/tree/master/Renesas/RL78G14/Common
Renesas RL78G13 Quick Start Guide
This section contains a description of the steps required to run the ADXRS453 demonstration project on a Renesas RL78G13 platform.
Required Hardware
Required Software
Hardware Setup
A PmodGYRO2 has to be connected to the PMOD1 connector, pins 1 to 6 (see image below).
Reference Project Overview
The reference project:
- reads the 10-Bit Temperature Data and the 16-Bit Rate Data;
- displays the values on the LCD as degrees Celsius and degrees/sec respectively.
Software Project Tutorial
This section presents the steps for developing a software application that will run on the Renesas Demo Kit for RL78G13 for controlling and monitoring the operation of the ADI part.
- Run the IAR Embedded Workbench for Renesas RL78 integrated development environment.
- Choose to create a new project (Project – Create New Project).
- Select the RL78 tool chain, the Empty project template and click OK.
- Select a location and a name for the project (ADIEvalBoard for example) and click Save.
- Open the project’s options window (Project – Options).
- From the Target tab of the General Options category select the RL78 – R5F100LE device.
- From the Setup tab of the Debugger category select the TK driver and click OK.
- Extract the files from the lab .zip archive and copy them into the project’s folder.
- The new source files have to be included into the project. Open the Add Files… window (Project – Add Files…), select all the copied files and click open.
- At this moment, all the files are included into the project.
- The project is ready to be compiled and downloaded on the board. Press the F7 key to compile it. Press CTRL + D to download and debug the project.
- A window will appear asking to configure the emulator. Keep the default settings and press OK.
- To run the project press F5.
Renesas RL78G14 Quick Start Guide
This section contains a description of the steps required to run the ADXRS453 demonstration project on a Renesas RL78G14 platform using the PmodGYRO2.
Required Hardware
Required Software
- The ADXRS453 demonstration project for the Renesas RL78G14 platform.
The ADXRS453 demonstration project for the Renesas RL78G14 platform consists of three parts: the ADXRS453 Driver, the PmodGYRO2 Demo for RL78G14 and the RL78G14 Common Drivers.
All three parts have to be downloaded.
Hardware Setup
A PmodGYRO2 has to be connected to the PMOD1 connector, pins 1 to 6 (see image below).
Reference Project Overview
The reference project:
- reads the 10-Bit Temperature Data and the 16-Bit Rate Data;
- displays the values on the LCD as degrees Celsius and degrees/sec respectively.
- If you rotate the Pmod slowly, you will see a smaller value (e.g. 30 Degrees/Second), while rotating the Pmod at a higher speed will result in a higher value (e.g. 300 degrees/second). Afterwards the device will auto calibrate according to its new position, thus displaying a value close to 0 degrees/second.
Software Project Tutorial
This section presents the steps for developing a software application that will run on the Renesas Demo Kit for RL78G14 for controlling and monitoring the operation of the ADI part.
- Run the IAR Embedded Workbench for Renesas RL78 integrated development environment.
- Choose to create a new project (Project – Create New Project).
- Select the RL78 tool chain, the Empty project template and click OK.
- Select a location and a name for the project (ADIEvalBoard for example) and click Save.
- Open the project’s options window (Project – Options).
- From the Target tab of the General Options category select the RL78 – R5F104PJ device.
- From the Setup tab of the Debugger category select the TK driver and click OK.
- Copy the downloaded files into the project's folder.
- The new source files have to be included into the project. Open the Add Files… window (Project – Add Files…), select all the copied files and click open.
- At this moment, all the files are included into the project.
- The project is ready to be compiled and downloaded on the board. Press the F7 key to compile it. Press CTRL + D to download and debug the project.
- A window will appear asking to configure the emulator. Keep the default settings and press OK.
- To run the project press F5.
Renesas RX62N Quick Start Guide
This section contains a description of the steps required to run the ADXRS453 demonstration project on a Renesas RX62N platform.
Required Hardware
- PmodGYRO2
Required Software
Hardware Setup
A PmodGYRO2 has to be interfaced with the Renesas Demonstration Kit (RDK) for RX62N:
PmodGYRO2 Pin 1 (CS) → YRDKRX62N J8 connector Pin 15 PmodGYRO2 Pin 2 (MOSI) → YRDKRX62N J8 connector Pin 19 PmodGYRO2 Pin 3 (MISO) → YRDKRX62N J8 connector Pin 22 PmodGYRO2 Pin 4 (CLK) → YRDKRX62N J8 connector Pin 20 PmodGYRO2 Pin 5 (GND) → YRDKRX62N J8 connector Pin 4 PmodGYRO2 Pin 6 (VCC) → YRDKRX62N J8 connector Pin 3
Reference Project Overview
The reference project reads the 10-Bit Temperature Data and the 16-Bit Rate Data. The values are displayed on the LCD as degrees Celsius and degrees/sec respectively.
Software Project Setup
This section presents the steps for developing a software application that will run on the Renesas Demo Kit for RX62N for controlling and monitoring the operation of the ADI part.
- Run the High-performance Embedded Workshop integrated development environment.
- A window will appear asking to create or open project workspace. Choose “Create a new project workspace” option and press OK.
- From “Project Types” option select “Application”, name the Workspace and the Project “ADIEvalBoard”, select the “RX” CPU family and “Renesas RX Standard” tool chain. Press OK.
- A few windows will appear asking to configure the project:
- In the “Select Target CPU” window, select “RX600” CPU series, “RX62N” CPU Type and press Next.
- In the “Option Setting” windows keep default settings and press Next.
- In the “Setting the Content of Files to be generated” window select “None” for the “Generate main() Function” option and press Next.
- In the “Setting the Standard Library” window press “Disable all” and then Next.
- In the “Setting the Stack Area” window check the “Use User Stack” option and press Next.
- In the “Setting the Vector” window keep default settings and press Next.
- In the “Setting the Target System for Debugging” window choose “RX600 Segger J-Link” target and press Next.
- In the “Setting the Debugger Options” and “Changing the Files Name to be created” windows keep default settings, press Next and Finish.
- The workspace is created.
- The RPDL (Renesas Peripheral Driver Library) has to integrated in the project. Unzip the RPDL files (double-click on the file “RPDL_RX62N.exe”). Navigate to where the RPDL files were unpacked and double-click on the “Copy_RPDL_RX62N.bat” to start the copy process. Choose the LQFP package, type the full path where the project was created and after the files were copied, press any key to close the window.
- The new source files have to be included in the project. Use the key sequence Alt, P, A to open the “Add files to project ‘ADIEvalBoard’” window. Double click on the RPDL folder. From the “Files of type” drop-down list, select “C source file (*.C)”. Select all of the files and press Add.
- To avoid conflicts with standard project files remove the files “intprg.c” and “vecttbl.c” which are included in the project. Use the key sequence Alt, P, R to open the “Remove Project Files” window. Select the files, click on Remove and press OK.
- Next the new directory has to be included in the project. Use the key sequence Alt, B, R to open the “RX Standard Toolchain” window. Select the C/C++ tab, select “Show entries for: Include file directories” and press Add. Select “Relative to: Project directory”, type “RPDL” as sub-directory and press OK.
- The library file path has to be added in the project. Select the Link/Library tab, select “Show entries for: Library files” and press Add. Select “Relative to: Project directory”, type “RPDL/RX62N_library” as file path and press OK.
- Because the “intprg.c” file was removed the “PIntPrg” specified in option “start” has to be removed. Change “Category” to “Section”. Press “Edit”, select “PIntPRG” and press “Remove”. From this window the address of each section can be also modified. After all the changes are made press OK two times.
- At this point the files extracted from the zip file located in the “Software Tools” section have to be added into the project. Copy all the files from the archive into the project folder.
- Now, the files have to be included in the project. Use the key sequence Alt, P, A to open the “Add files to project ‘ADIEvalBoard’” window. Navigate into ADI folder. From the “Files of type” drop-down list, select “Project Files”. Select all the copied files and press Add.
- Now, the project is ready to be built. Press F7. The message after the Build Process is finished has to be “0 Errors, 0 Warnings”. To run the program on the board, you have to download the firmware into the microprocessor’s memory.
More information
- Example questions:
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