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microrobotics

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May 5th, 2023
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  1. #include <SPI.h>
  2.  
  3. // AD7793 register addresses
  4. #define AD7793_REG_COMM 0x00
  5. #define AD7793_REG_MODE 0x01
  6. #define AD7793_REG_CONFIG 0x02
  7. #define AD7793_REG_DATA 0x03
  8.  
  9. // AD7793 command codes
  10. #define AD7793_CMD_WRITE 0x10
  11. #define AD7793_CMD_READ 0x20
  12.  
  13. // AD7793 mode codes
  14. #define AD7793_MODE_SINGLE 0x0800
  15.  
  16. // AD7793 configuration codes
  17. #define AD7793_CONFIG_GAIN(x) (((x) & 0x07) << 8)
  18. #define AD7793_CONFIG_REFSEL(x) (((x) & 0x01) << 15)
  19.  
  20. // AD7793 reference selection codes
  21. #define AD7793_REFSEL_INTERNAL 0
  22. #define AD7793_REFSEL_EXTERNAL 1
  23.  
  24. // SPI pin definitions
  25. #define AD7793_CS_PIN 10
  26.  
  27. // Function prototypes
  28. void AD7793_WriteRegister(unsigned char regAddress, unsigned long regValue);
  29. unsigned long AD7793_ReadRegister(unsigned char regAddress);
  30.  
  31. void setup() {
  32.   // Initialize SPI interface
  33.   SPI.begin();
  34.   SPI.setBitOrder(MSBFIRST);
  35.   SPI.setDataMode(SPI_MODE1);
  36.   SPI.setClockDivider(SPI_CLOCK_DIV8);
  37.  
  38.   // Configure AD7793
  39.   AD7793_WriteRegister(AD7793_REG_MODE, AD7793_MODE_SINGLE);
  40.   AD7793_WriteRegister(AD7793_REG_CONFIG, AD7793_CONFIG_GAIN(1) | AD7793_CONFIG_REFSEL(AD7793_REFSEL_INTERNAL));
  41. }
  42.  
  43. void loop() {
  44.   // Read data from AD7793
  45.   unsigned long data = AD7793_ReadRegister(AD7793_REG_DATA);
  46.  
  47.   // Do something with the data
  48.   // ...
  49.  
  50.   // Wait for a bit before reading again
  51.   delay(100);
  52. }
  53.  
  54. void AD7793_WriteRegister(unsigned char regAddress, unsigned long regValue) {
  55.   // Send command byte
  56.   SPI.beginTransaction(SPISettings(1000000, MSBFIRST, SPI_MODE1));
  57.   digitalWrite(AD7793_CS_PIN, LOW);
  58.   SPI.transfer(AD7793_CMD_WRITE | regAddress);
  59.  
  60.   // Send register value
  61.   SPI.transfer((regValue >> 16) & 0xFF);
  62.   SPI.transfer((regValue >> 8) & 0xFF);
  63.   SPI.transfer(regValue & 0xFF);
  64.  
  65.   digitalWrite(AD7793_CS_PIN, HIGH);
  66.   SPI.endTransaction();
  67. }
  68.  
  69. unsigned long AD7793_ReadRegister(unsigned char regAddress) {
  70.   unsigned long regValue = 0;
  71.  
  72.   // Send command byte
  73.   SPI.beginTransaction(SPISettings(1000000, MSBFIRST, SPI_MODE1));
  74.   digitalWrite(AD7793_CS_PIN, LOW);
  75.   SPI.transfer(AD7793_CMD_READ | regAddress);
  76.  
  77.   // Read register value
  78.   regValue |= (unsigned long)SPI.transfer(0) << 16;
  79.   regValue |= (unsigned long)SPI.transfer(0) << 8;
  80.   regValue |= (unsigned long)SPI.transfer(0);
  81.  
  82.   digitalWrite(AD7793_CS_PIN, HIGH);
  83.   SPI.endTransaction();
  84.  
  85.   return regValue;
  86. }
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