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Analog Devices ADIS16448 rewrite

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- new IMU driver structure with state machine (no sleeps in bus thread)
 - verify all configured registers and trigger reset on failure
 - detect if DIO1 or DIO2 are actually connected for data ready interrupt usage
 - don't use CRC-16 on burst transfers except for verified lots
This commit is contained in:
Daniel Agar
2021-02-14 16:23:35 -05:00
committed by Lorenz Meier
parent 59b31e3c5b
commit 44df0fb7a2
49 changed files with 983 additions and 775 deletions
Download Patch File Download Diff File Expand all files Collapse all files
boards/cuav/x7pro/default.cmake
+1 -1
View File
@@ -30,7 +30,7 @@ px4_add_board(
gps
heater
#imu # all available imu drivers
imu/adis16448
imu/analog_devices/adis16448
imu/adis16477
imu/adis16497
imu/bosch/bmi088
boards/cubepilot/cubeorange/console.cmake
+1 -1
View File
@@ -30,7 +30,7 @@ px4_add_board(
gps
#heater
#imu # all available imu drivers
imu/adis16448
imu/analog_devices/adis16448
imu/adis16477
imu/adis16497
imu/invensense/icm20602
boards/cubepilot/cubeorange/default.cmake
+1 -1
View File
@@ -30,7 +30,7 @@ px4_add_board(
gps
#heater
#imu # all available imu drivers
imu/adis16448
imu/analog_devices/adis16448
imu/adis16477
imu/adis16497
imu/invensense/icm20602
boards/cubepilot/cubeyellow/console.cmake
+1 -1
View File
@@ -29,7 +29,7 @@ px4_add_board(
gps
#heater
#imu # all available imu drivers
imu/adis16448
imu/analog_devices/adis16448
imu/adis16477
imu/adis16497
imu/invensense/icm20602
boards/cubepilot/cubeyellow/default.cmake
+1 -1
View File
@@ -29,7 +29,7 @@ px4_add_board(
gps
#heater
#imu # all available imu drivers
imu/adis16448
imu/analog_devices/adis16448
imu/adis16477
imu/adis16497
imu/invensense/icm20602
boards/holybro/durandal-v1/default.cmake
+1 -1
View File
@@ -29,7 +29,7 @@ px4_add_board(
gps
heater
#imu # all available imu drivers
imu/adis16448
imu/analog_devices/adis16448
imu/adis16477
imu/adis16497
imu/bosch/bmi088
boards/holybro/pix32v5/default.cmake
+1 -1
View File
@@ -28,7 +28,7 @@ px4_add_board(
gps
#heater
#imu # all available imu drivers
imu/adis16448
imu/analog_devices/adis16448
imu/adis16477
imu/adis16497
imu/bosch/bmi055
boards/nxp/fmurt1062-v1/default.cmake
+1 -1
View File
@@ -24,7 +24,7 @@ px4_add_board(
distance_sensor # all available distance sensor drivers
# dshot not ported
gps
#imu/adis16448
#imu/analog_devices/adis16448
#imu/adis16477
#imu/adis16497
#imu # all available imu drivers
boards/px4/fmu-v2/default.cmake
+1 -1
View File
@@ -34,7 +34,7 @@ px4_add_board(
gps
#heater
#imu # all available imu drivers
#imu/adis16448
#imu/analog_devices/adis16448
#imu/adis16477
#imu/adis16497
imu/l3gd20
boards/px4/fmu-v2/lpe.cmake
+1 -1
View File
@@ -32,7 +32,7 @@ px4_add_board(
distance_sensor # all available distance sensor drivers
gps
#heater
#imu/adis16448
#imu/analog_devices/adis16448
#imu # all available imu drivers
imu/l3gd20
imu/lsm303d
boards/px4/fmu-v2/test.cmake
+1 -1
View File
@@ -33,7 +33,7 @@ px4_add_board(
gps
#heater
#imu # all available imu drivers
#imu/adis16448
#imu/analog_devices/adis16448
#imu/adis16477
#imu/adis16497
imu/l3gd20
boards/px4/fmu-v3/ctrlalloc.cmake
+1 -1
View File
@@ -31,7 +31,7 @@ px4_add_board(
gps
#heater
#imu # all available imu drivers
imu/adis16448
imu/analog_devices/adis16448
imu/adis16477
imu/adis16497
imu/l3gd20
boards/px4/fmu-v3/default.cmake
+1 -1
View File
@@ -31,7 +31,7 @@ px4_add_board(
gps
#heater
#imu # all available imu drivers
imu/adis16448
imu/analog_devices/adis16448
imu/adis16477
imu/adis16497
imu/l3gd20
boards/px4/fmu-v3/rtps.cmake
+1 -1
View File
@@ -30,7 +30,7 @@ px4_add_board(
gps
#heater
#imu # all available imu drivers
imu/adis16448
imu/analog_devices/adis16448
imu/adis16477
imu/adis16497
imu/l3gd20
boards/px4/fmu-v3/stackcheck.cmake
+1 -1
View File
@@ -30,7 +30,7 @@ px4_add_board(
distance_sensor # all available distance sensor drivers
gps
#heater
imu/adis16448
imu/analog_devices/adis16448
#imu # all available imu drivers
imu/l3gd20
imu/lsm303d
boards/px4/fmu-v4/cannode.cmake
+1 -1
View File
@@ -42,7 +42,7 @@ px4_add_board(
#dshot
gps
#imu # all available imu drivers
#imu/adis16448
#imu/analog_devices/adis16448
#imu/adis16477
#imu/adis16497
imu/invensense/icm20602
boards/px4/fmu-v4/ctrlalloc.cmake
+1 -1
View File
@@ -29,7 +29,7 @@ px4_add_board(
gps
heater
#imu # all available imu drivers
imu/adis16448
imu/analog_devices/adis16448
imu/adis16477
imu/adis16497
imu/invensense/icm20602
boards/px4/fmu-v4/default.cmake
+1 -1
View File
@@ -29,7 +29,7 @@ px4_add_board(
gps
heater
#imu # all available imu drivers
imu/adis16448
imu/analog_devices/adis16448
imu/adis16477
imu/adis16497
imu/invensense/icm20602
boards/px4/fmu-v4/optimized.cmake
+1 -1
View File
@@ -30,7 +30,7 @@ px4_add_board(
gps
#heater
#imu # all available imu drivers
#imu/adis16448
#imu/analog_devices/adis16448
#imu/adis16477
#imu/adis16497
imu/invensense/icm20602
boards/px4/fmu-v4/rtps.cmake
+1 -1
View File
@@ -26,7 +26,7 @@ px4_add_board(
gps
heater
#imu # all available imu drivers
imu/adis16448
imu/analog_devices/adis16448
imu/adis16477
imu/adis16497
imu/invensense/icm20602
boards/px4/fmu-v4/stackcheck.cmake
+1 -1
View File
@@ -26,7 +26,7 @@ px4_add_board(
gps
heater
#imu # all available imu drivers
#imu/adis16448
#imu/analog_devices/adis16448
#imu/adis16477
#imu/adis16497
imu/invensense/icm20602
boards/px4/fmu-v4/uavcanv1.cmake
+1 -1
View File
@@ -28,7 +28,7 @@ px4_add_board(
gps
heater
#imu # all available imu drivers
imu/adis16448
imu/analog_devices/adis16448
imu/adis16477
imu/adis16497
imu/invensense/icm20602
boards/px4/fmu-v5/critmonitor.cmake
+1 -1
View File
@@ -27,7 +27,7 @@ px4_add_board(
gps
#heater
#imu # all available imu drivers
imu/adis16448
imu/analog_devices/adis16448
imu/adis16477
imu/adis16497
imu/bosch/bmi055
boards/px4/fmu-v5/ctrlalloc.cmake
+1 -1
View File
@@ -28,7 +28,7 @@ px4_add_board(
gps
#heater
#imu # all available imu drivers
imu/adis16448
imu/analog_devices/adis16448
imu/adis16477
imu/adis16497
imu/bosch/bmi055
boards/px4/fmu-v5/debug.cmake
+1 -1
View File
@@ -29,7 +29,7 @@ px4_add_board(
gps
#heater
#imu # all available imu drivers
#imu/adis16448
#imu/analog_devices/adis16448
#imu/adis16477
#imu/adis16497
#imu/bosch/bmi055
boards/px4/fmu-v5/default.cmake
+1 -1
View File
@@ -28,7 +28,7 @@ px4_add_board(
gps
#heater
#imu # all available imu drivers
imu/adis16448
imu/analog_devices/adis16448
imu/adis16477
imu/adis16497
imu/bosch/bmi055
boards/px4/fmu-v5/fixedwing.cmake
+1 -1
View File
@@ -23,7 +23,7 @@ px4_add_board(
differential_pressure # all available differential pressure drivers
distance_sensor # all available distance sensor drivers
gps
imu/adis16448
imu/analog_devices/adis16448
imu/adis16477
imu/adis16497
#imu # all available imu drivers
boards/px4/fmu-v5/irqmonitor.cmake
+1 -1
View File
@@ -27,7 +27,7 @@ px4_add_board(
gps
#heater
#imu # all available imu drivers
imu/adis16448
imu/analog_devices/adis16448
imu/adis16477
imu/adis16497
imu/bosch/bmi055
boards/px4/fmu-v5/multicopter.cmake
+1 -1
View File
@@ -24,7 +24,7 @@ px4_add_board(
distance_sensor # all available distance sensor drivers
dshot
gps
imu/adis16448
imu/analog_devices/adis16448
imu/adis16477
imu/adis16497
#imu # all available imu drivers
boards/px4/fmu-v5/rover.cmake
+1 -1
View File
@@ -22,7 +22,7 @@ px4_add_board(
camera_trigger
distance_sensor # all available distance sensor drivers
gps
imu/adis16448
imu/analog_devices/adis16448
imu/adis16477
imu/adis16497
imu/bosch/bmi055
boards/px4/fmu-v5/rtps.cmake
+1 -1
View File
@@ -27,7 +27,7 @@ px4_add_board(
gps
#heater
#imu # all available imu drivers
imu/adis16448
imu/analog_devices/adis16448
imu/adis16477
imu/adis16497
imu/bosch/bmi055
boards/px4/fmu-v5/stackcheck.cmake
+1 -1
View File
@@ -29,7 +29,7 @@ px4_add_board(
gps
#heater
#imu # all available imu drivers
#imu/adis16448
#imu/analog_devices/adis16448
#imu/adis16477
#imu/adis16497
#imu/bosch/bmi055
boards/px4/fmu-v5/uavcanv1.cmake
+1 -1
View File
@@ -28,7 +28,7 @@ px4_add_board(
gps
#heater
#imu # all available imu drivers
imu/adis16448
imu/analog_devices/adis16448
imu/adis16477
imu/adis16497
imu/bosch/bmi055
boards/px4/fmu-v5x/base_phy_DP83848C.cmake
+1 -1
View File
@@ -28,7 +28,7 @@ px4_add_board(
gps
#heater
#imu # all available imu drivers
imu/adis16448
imu/analog_devices/adis16448
imu/adis16477
imu/adis16497
imu/bosch/bmi088
boards/px4/fmu-v5x/default.cmake
+1 -1
View File
@@ -29,7 +29,7 @@ px4_add_board(
gps
#heater
#imu # all available imu drivers
imu/adis16448
imu/analog_devices/adis16448
imu/adis16477
imu/adis16497
imu/bosch/bmi088
boards/px4/fmu-v6u/default.cmake
+1 -1
View File
@@ -28,7 +28,7 @@ px4_add_board(
gps
heater
#imu # all available imu drivers
imu/adis16448
imu/analog_devices/adis16448
imu/adis16477
imu/adis16497
imu/bosch/bmi088
boards/px4/fmu-v6u/stackcheck.cmake
+1 -1
View File
@@ -28,7 +28,7 @@ px4_add_board(
gps
heater
#imu # all available imu drivers
imu/adis16448
imu/analog_devices/adis16448
imu/adis16477
imu/adis16497
imu/bosch/bmi088
boards/px4/fmu-v6x/default.cmake
+1 -1
View File
@@ -29,7 +29,7 @@ px4_add_board(
gps
heater
#imu # all available imu drivers
imu/adis16448
imu/analog_devices/adis16448
imu/adis16477
imu/adis16497
imu/bosch/bmi088
boards/px4/fmu-v6x/stackcheck.cmake
+1 -1
View File
@@ -29,7 +29,7 @@ px4_add_board(
gps
heater
#imu # all available imu drivers
imu/adis16448
imu/analog_devices/adis16448
imu/adis16477
imu/adis16497
imu/bosch/bmi088
boards/spracing/h7extreme/default.cmake
+1 -1
View File
@@ -24,7 +24,7 @@ px4_add_board(
gps
#heater
#imu # all available imu drivers
#imu/adis16448
#imu/analog_devices/adis16448
#imu/adis16477
#imu/adis16497
#imu/bmi088
src/drivers/imu/CMakeLists.txt
+1 -1
View File
@@ -31,9 +31,9 @@
#
############################################################################
add_subdirectory(adis16448)
add_subdirectory(adis16477)
add_subdirectory(adis16497)
add_subdirectory(analog_devices)
add_subdirectory(bma180)
add_subdirectory(bmi055)
add_subdirectory(bmi088)
src/drivers/imu/adis16448/ADIS16448.cpp
-514
View File
File diff suppressed because it is too large Load Diff
src/drivers/imu/adis16448/ADIS16448.h
-206
View File
@@ -1,206 +0,0 @@
/****************************************************************************
*
* Copyright (c) 2018-2019 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file adis16448.cpp
*
* Driver for the Analog device ADIS16448 connected via SPI.
*
* @author Amir Melzer
* @author Andrew Tridgell
* @author Pat Hickey
* @author Lorenz Meier <lm@inf.ethz.ch>
*/
#include <drivers/device/spi.h>
#include <ecl/geo/geo.h>
#include <lib/conversion/rotation.h>
#include <lib/drivers/accelerometer/PX4Accelerometer.hpp>
#include <lib/drivers/barometer/PX4Barometer.hpp>
#include <lib/drivers/gyroscope/PX4Gyroscope.hpp>
#include <lib/drivers/magnetometer/PX4Magnetometer.hpp>
#include <perf/perf_counter.h>
#include <px4_platform_common/i2c_spi_buses.h>
using namespace time_literals;
#define DIR_READ 0x00
#define DIR_WRITE 0x80
#define ADIS16448_GPIO_CTRL 0x32 /* Auxiliary digital input/output control */
#define ADIS16448_MSC_CTRL 0x34 /* Miscellaneous control */
#define ADIS16448_SMPL_PRD 0x36 /* Internal sample period (rate) control */
#define ADIS16448_SENS_AVG 0x38 /* Dynamic range and digital filter control */
#define ADIS16448_DIAG_STAT 0x3C /* System status */
#define ADIS16448_GLOB_CMD 0x3E /* System command */
#define ADIS16448_PRODUCT_ID 0x56 /* Product identifier */
#define ADIS16334_SERIAL_NUMBER 0x58 /* Serial number, lot specific */
#define ADIS16448_Product 0x4040/* Product ID Description for ADIS16448 */
#define BITS_SMPL_PRD_NO_TAP_CFG (0<<8)
#define BITS_SMPL_PRD_2_TAP_CFG (1<<8)
#define BITS_SMPL_PRD_4_TAP_CFG (2<<8)
#define BITS_SMPL_PRD_8_TAP_CFG (3<<8)
#define BITS_SMPL_PRD_16_TAP_CFG (4<<8)
#define BITS_GYRO_DYN_RANGE_1000_CFG (4<<8)
#define BITS_GYRO_DYN_RANGE_500_CFG (2<<8)
#define BITS_GYRO_DYN_RANGE_250_CFG (1<<8)
#define BITS_FIR_NO_TAP_CFG (0<<0)
#define BITS_FIR_2_TAP_CFG (1<<0)
#define BITS_FIR_4_TAP_CFG (2<<0)
#define BITS_FIR_8_TAP_CFG (3<<0)
#define BITS_FIR_16_TAP_CFG (4<<0)
#define BITS_FIR_32_TAP_CFG (5<<0)
#define BITS_FIR_64_TAP_CFG (6<<0)
#define BITS_FIR_128_TAP_CFG (7<<0)
#define T_STALL 9
static constexpr float ADIS16448_ACCEL_SENSITIVITY{1.0f / 1200.0f * CONSTANTS_ONE_G}; // 1200 LSB/g
static constexpr float ADIS16448_GYRO_INITIAL_SENSITIVITY{math::radians(1.0 / 25.0)}; // 25 LSB/°/sec
static constexpr float ADIS16448_BARO_SENSITIVITY{0.02f}; // 20 microbar per LSB,
static constexpr float ADIS16448_MAG_SENSITIVITY{1.0 / 7.0 / 1000.0}; // 7 LSB/mgauss
static constexpr float ADIS16448_ACCEL_GYRO_UPDATE_RATE{819.2}; // accel and gryo max update 819.2 samples per second
static constexpr float ADIS16448_MAG_BARO_UPDATE_RATE{51.2}; // xMAGN_OUT and BARO_OUT registers update at 51.2 samples per second
class ADIS16448 : public device::SPI, public I2CSPIDriver<ADIS16448>
{
public:
ADIS16448(I2CSPIBusOption bus_option, int bus, int32_t device, enum Rotation rotation, int bus_frequency,
spi_mode_e spi_mode);
virtual ~ADIS16448();
static I2CSPIDriverBase *instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
int runtime_instance);
static void print_usage();
int init() override;
void print_status() override;
void RunImpl();
protected:
int probe() override;
private:
enum class
Register : uint8_t {
GPIO_CTRL = 0x32, // Auxiliary digital input/output control
MSC_CTRL = 0x34, // Miscellaneous control
SMPL_PRD = 0x36, // Internal sample period (rate) control
SENS_AVG = 0x38, // Dynamic range and digital filter control
DIAG_STAT = 0x3C, // System status
GLOB_CMD = 0x3E, // System command
PRODUCT_ID = 0x56, // Product identifier
SERIAL_NUMBER = 0x58, // Serial number, lot specific
};
/**
* Fetch measurements from the sensor and update the report buffers.
*/
int measure();
/**
* Modify a register in the ADIS16448
* Bits are cleared before bits are set.
*
* @param reg The register to modify.
* @param clearbits Bits in the register to clear.
* @param setbits Bits in the register to set.
*/
void modify_reg16(unsigned reg, uint16_t clearbits, uint16_t setbits);
/**
* Resets the chip and measurements ranges
*/
bool reset();
bool self_test();
/**
* Read a register from the ADIS16448
* @arg reg The register to read.
* @return Returns the register value.
*/
uint16_t read_reg16(unsigned reg);
/**
* Write a register in the ADIS16448
* @param reg The register to write.
* @param value The new value to write.
*/
void write_reg16(unsigned reg, uint16_t value);
/**
* Set low pass filter frequency.
*/
bool set_dlpf_filter(uint16_t frequency_hz);
/**
* Set the gyroscope dynamic range.
*/
bool set_gyro_dyn_range(uint16_t desired_gyro_dyn_range);
/**
* Set sample rate (approximate) - 1kHz to 5Hz.
*/
bool set_sample_rate(uint16_t desired_sample_rate_hz);
/**
* Start automatic measurement.
*/
void start();
PX4Accelerometer _px4_accel;
PX4Barometer _px4_baro;
PX4Gyroscope _px4_gyro;
PX4Magnetometer _px4_mag;
uint16_t _product_ID{0}; // Product ID code.
static constexpr float _sample_rate{ADIS16448_ACCEL_GYRO_UPDATE_RATE};
perf_counter_t _perf_read{perf_counter_t(perf_alloc(PC_ELAPSED, "ADIS16448: read"))};
perf_counter_t _perf_transfer{perf_counter_t(perf_alloc(PC_ELAPSED, "ADIS16448: transfer"))};
perf_counter_t _perf_bad_transfer{perf_counter_t(perf_alloc(PC_COUNT, "ADIS16448: bad transfers"))};
perf_counter_t _perf_crc_bad{perf_counter_t(perf_alloc(PC_COUNT, "ADIS16448: CRC16 bad"))};
};
src/drivers/imu/analog_devices/CMakeLists.txt
+34
View File
@@ -0,0 +1,34 @@
############################################################################
#
# Copyright (c) 2021 PX4 Development Team. All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions
# are met:
#
# 1. Redistributions of source code must retain the above copyright
# notice, this list of conditions and the following disclaimer.
# 2. Redistributions in binary form must reproduce the above copyright
# notice, this list of conditions and the following disclaimer in
# the documentation and/or other materials provided with the
# distribution.
# 3. Neither the name PX4 nor the names of its contributors may be
# used to endorse or promote products derived from this software
# without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.
#
############################################################################
add_subdirectory(adis16448)
src/drivers/imu/analog_devices/adis16448/ADIS16448.cpp
+594
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src/drivers/imu/analog_devices/adis16448/ADIS16448.hpp
+138
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@@ -0,0 +1,138 @@
/****************************************************************************
*
* Copyright (c) 2021 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file ADIS16448.hpp
*
* Driver for the Analog Devices ADIS16448 connected via SPI.
*
*/
#pragma once
#include "Analog_Devices_ADIS16448_registers.hpp"
#include <drivers/drv_hrt.h>
#include <lib/drivers/device/spi.h>
#include <lib/drivers/accelerometer/PX4Accelerometer.hpp>
#include <lib/drivers/barometer/PX4Barometer.hpp>
#include <lib/drivers/gyroscope/PX4Gyroscope.hpp>
#include <lib/drivers/magnetometer/PX4Magnetometer.hpp>
#include <lib/ecl/geo/geo.h>
#include <lib/perf/perf_counter.h>
#include <px4_platform_common/atomic.h>
#include <px4_platform_common/i2c_spi_buses.h>
using namespace Analog_Devices_ADIS16448;
class ADIS16448 : public device::SPI, public I2CSPIDriver<ADIS16448>
{
public:
ADIS16448(I2CSPIBusOption bus_option, int bus, uint32_t device, enum Rotation rotation, int bus_frequency,
spi_drdy_gpio_t drdy_gpio);
~ADIS16448() override;
static I2CSPIDriverBase *instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
int runtime_instance);
static void print_usage();
void RunImpl();
int init() override;
void print_status() override;
private:
void exit_and_cleanup() override;
struct register_config_t {
Register reg;
uint16_t set_bits{0};
uint16_t clear_bits{0};
};
int probe() override;
bool Reset();
bool Configure();
static int DataReadyInterruptCallback(int irq, void *context, void *arg);
void DataReady();
bool DataReadyInterruptConfigure();
bool DataReadyInterruptDisable();
bool RegisterCheck(const register_config_t &reg_cfg);
uint16_t RegisterRead(Register reg);
void RegisterWrite(Register reg, uint16_t value);
void RegisterSetAndClearBits(Register reg, uint16_t setbits, uint16_t clearbits);
const spi_drdy_gpio_t _drdy_gpio;
PX4Accelerometer _px4_accel;
PX4Barometer _px4_baro;
PX4Gyroscope _px4_gyro;
PX4Magnetometer _px4_mag;
perf_counter_t _reset_perf{perf_alloc(PC_COUNT, MODULE_NAME": reset")};
perf_counter_t _perf_crc_bad{perf_counter_t(perf_alloc(PC_COUNT, MODULE_NAME": CRC16 bad"))};
perf_counter_t _bad_register_perf{perf_alloc(PC_COUNT, MODULE_NAME": bad register")};
perf_counter_t _bad_transfer_perf{perf_alloc(PC_COUNT, MODULE_NAME": bad transfer")};
hrt_abstime _reset_timestamp{0};
hrt_abstime _last_config_check_timestamp{0};
int _failure_count{0};
bool _check_crc{false}; // CRC-16 not supported on earlier models (eg ADIS16448AMLZ)
bool _data_ready_interrupt_enabled{false};
bool _self_test_passed{false};
enum class STATE : uint8_t {
RESET,
WAIT_FOR_RESET,
SELF_TEST_CHECK,
CONFIGURE,
READ,
} _state{STATE::RESET};
uint8_t _checked_register{0};
static constexpr uint8_t size_register_cfg{4};
register_config_t _register_cfg[size_register_cfg] {
// Register | Set bits, Clear bits
{ Register::MSC_CTRL, MSC_CTRL_BIT::CRC16_for_burst, 0 },
{ Register::SMPL_PRD, SMPL_PRD_BIT::internal_sampling_clock, SMPL_PRD_BIT::decimation_rate },
{ Register::SENS_AVG, SENS_AVG_BIT::Measurement_range_1000_set, SENS_AVG_BIT::Measurement_range_1000_clear | SENS_AVG_BIT::Filter_Size_Variable_B },
{ Register::GPIO_CTRL, GPIO_CTRL_BIT::GPIO2_DIRECTION | GPIO_CTRL_BIT::GPIO1_DIRECTION, 0},
};
};
src/drivers/imu/analog_devices/adis16448/Analog_Devices_ADIS16448_registers.hpp
+161
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@@ -0,0 +1,161 @@
/****************************************************************************
*
* Copyright (c) 2021 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file Analog_Devices_ADIS16448_registers.hpp
*
* Analog Devices ADIS16448 registers.
*
*/
#pragma once
#include <cstdint>
// TODO: move to a central header
static constexpr uint16_t Bit0 = (1 << 0);
static constexpr uint16_t Bit1 = (1 << 1);
static constexpr uint16_t Bit2 = (1 << 2);
static constexpr uint16_t Bit3 = (1 << 3);
static constexpr uint16_t Bit4 = (1 << 4);
static constexpr uint16_t Bit5 = (1 << 5);
static constexpr uint16_t Bit6 = (1 << 6);
static constexpr uint16_t Bit7 = (1 << 7);
static constexpr uint16_t Bit8 = (1 << 8);
static constexpr uint16_t Bit9 = (1 << 9);
static constexpr uint16_t Bit10 = (1 << 10);
static constexpr uint16_t Bit11 = (1 << 11);
static constexpr uint16_t Bit12 = (1 << 12);
static constexpr uint16_t Bit13 = (1 << 13);
static constexpr uint16_t Bit14 = (1 << 14);
static constexpr uint16_t Bit15 = (1 << 15);
namespace Analog_Devices_ADIS16448
{
static constexpr uint32_t SPI_SPEED = 2 * 1000 * 1000; // 2 MHz SPI serial interface
static constexpr uint32_t SPI_SPEED_BURST = 1 * 1000 * 1000; // 1 MHz SPI serial interface for burst read
static constexpr uint32_t SPI_STALL_PERIOD = 9; // 9 us Stall period between data
static constexpr uint16_t DIR_WRITE = 0x80;
static constexpr uint16_t Product_identification = 0x4040;
static constexpr uint32_t SAMPLE_INTERVAL_US = (1e6f / 819.2f); // ~819.2 Hz
enum class Register : uint16_t {
GPIO_CTRL = 0x32, // Auxiliary digital input/output control
MSC_CTRL = 0x34, // Miscellaneous control
SMPL_PRD = 0x36, // Internal sample period (rate) control
SENS_AVG = 0x38, // Dynamic range and digital filter control
DIAG_STAT = 0x3C, // System status
GLOB_CMD = 0x3E, // System command
LOT_ID1 = 0x52, // Lot identification number
LOT_ID2 = 0x54, // Lot identification number
PROD_ID = 0x56, // Product identifier
SERIAL_NUM = 0x58, // Lot-specific serial number
};
// MSC_CTRL
enum MSC_CTRL_BIT : uint16_t {
Checksum_memory_test = Bit11, // Checksum memory test (cleared upon completion)
Internal_self_test = Bit10, // Internal self test (cleared upon completion)
// Not used = Bit5
CRC16_for_burst = Bit4, // include the CRC-16 code in burst read output sequence
// Not used = Bit3
Data_ready_enable = Bit2,
Data_ready_polarity = Bit1, // 1 = active high when data is valid
Data_ready_line_select = Bit0, // Data ready line select 1 = DIO2, 0 = DIO1
};
// DIAG_STAT
enum DIAG_STAT_BIT : uint16_t {
Z_axis_accelerometer_self_test_failure = Bit15, // 1 = fail, 0 = pass
Y_axis_accelerometer_self_test_failure = Bit14, // 1 = fail, 0 = pass
X_axis_accelerometer_self_test_failure = Bit13, // 1 = fail, 0 = pass
Z_axis_gyroscope_self_test_failure = Bit12, // 1 = fail, 0 = pass
Y_axis_gyroscope_self_test_failure = Bit11, // 1 = fail, 0 = pass
X_axis_gyroscope_self_test_failure = Bit10, // 1 = fail, 0 = pass
New_data_xMAGN_OUT_BARO_OUT = Bit7, // New data, xMAGN_OUT/BARO_OUT
Flash_test_checksum_flag = Bit6, // 1 = fail, 0 = pass
Self_test_diagnostic_error_flag = Bit5, // 1 = fail, 0 = pass
SPI_communication_failure = Bit3, // 1 = fail, 0 = pass
Barometer_functional_test = Bit1, // 1 = fail, 0 = pass
Magnetometer_functional_test = Bit0, // 1 = fail, 0 = pass
};
// GLOB_CMD
enum GLOB_CMD_BIT : uint16_t {
Software_reset = Bit7,
};
// SMPL_PRD
enum SMPL_PRD_BIT : uint16_t {
// [12:8] D, decimation rate setting, binomial,
decimation_rate = Bit12 | Bit11 | Bit10 | Bit9, // disable
internal_sampling_clock = Bit0, // 1 = internal sampling clock, 819.2 SPS
};
// SENS_AVG
enum SENS_AVG_BIT : uint16_t {
// [10:8] Measurement range (sensitivity) selection
Measurement_range_1000_set = Bit10, // 100 = ±1000°/sec (default condition)
Measurement_range_1000_clear = Bit9 | Bit8,
// [2:0] Filter Size Variable B
Filter_Size_Variable_B = Bit2 | Bit1 | Bit0, // disable
};
// GPIO_CTRL
enum GPIO_CTRL_BIT : uint16_t {
GPIO4_DATA_LEVEL = Bit11, // General-Purpose I/O Line 1 (DIO1) data level
GPIO3_DATA_LEVEL = Bit10, // General-Purpose I/O Line 1 (DIO1) data level
GPIO2_DATA_LEVEL = Bit9, // General-Purpose I/O Line 1 (DIO1) data level
GPIO1_DATA_LEVEL = Bit8, // General-Purpose I/O Line 1 (DIO1) data level
GPIO4_DIRECTION = Bit3, // General-Purpose I/O Line 4 (DIO4) direction control 1 = output, 0 = input
GPIO3_DIRECTION = Bit2, // General-Purpose I/O Line 3 (DIO3) direction control 1 = output, 0 = input
GPIO2_DIRECTION = Bit1, // General-Purpose I/O Line 2 (DIO2) direction control 1 = output, 0 = input
GPIO1_DIRECTION = Bit0, // General-Purpose I/O Line 1 (DIO1) direction control 1 = output, 0 = input
};
} // namespace Analog_Devices_ADIS16448
src/drivers/imu/adis16448/CMakeLists.txt → src/drivers/imu/analog_devices/adis16448/CMakeLists.txt
+8 -4
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@@ -1,6 +1,6 @@
############################################################################
#
# Copyright (c) 2019 PX4 Development Team. All rights reserved.
# Copyright (c) 2021 PX4 Development Team. All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions
@@ -30,18 +30,22 @@
# POSSIBILITY OF SUCH DAMAGE.
#
############################################################################
px4_add_module(
MODULE drivers__imu__adis16448
MODULE drivers__imu__analog_devices__adis16448
MAIN adis16448
COMPILE_FLAGS
-Wno-cast-align # TODO: fix and enable
${MAX_CUSTOM_OPT_LEVEL}
#-DDEBUG_BUILD
SRCS
ADIS16448.cpp
ADIS16448.hpp
adis16448_main.cpp
Analog_Devices_ADIS16448_registers.hpp
DEPENDS
px4_work_queue
drivers_accelerometer
drivers_barometer
drivers_gyroscope
drivers_magnetometer
px4_work_queue
)
src/drivers/imu/adis16448/adis16448_main.cpp → src/drivers/imu/analog_devices/adis16448/adis16448_main.cpp
+7 -10
View File
@@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (c) 2018-2019 PX4 Development Team. All rights reserved.
* Copyright (c) 2021 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@@ -31,13 +31,12 @@
*
****************************************************************************/
#include "ADIS16448.h"
#include "ADIS16448.hpp"
#include <px4_platform_common/getopt.h>
#include <px4_platform_common/module.h>
void
ADIS16448::print_usage()
void ADIS16448::print_usage()
{
PRINT_MODULE_USAGE_NAME("adis16448", "driver");
PRINT_MODULE_USAGE_SUBCATEGORY("imu");
@@ -51,7 +50,7 @@ I2CSPIDriverBase *ADIS16448::instantiate(const BusCLIArguments &cli, const BusIn
int runtime_instance)
{
ADIS16448 *instance = new ADIS16448(iterator.configuredBusOption(), iterator.bus(), iterator.devid(), cli.rotation,
cli.bus_frequency, cli.spi_mode);
cli.bus_frequency, iterator.DRDYGPIO());
if (!instance) {
PX4_ERR("alloc failed");
@@ -71,7 +70,7 @@ extern "C" int adis16448_main(int argc, char *argv[])
int ch;
using ThisDriver = ADIS16448;
BusCLIArguments cli{false, true};
cli.default_spi_frequency = 1000000;
cli.default_spi_frequency = SPI_SPEED;
while ((ch = cli.getopt(argc, argv, "R:")) != EOF) {
switch (ch) {
@@ -92,13 +91,11 @@ extern "C" int adis16448_main(int argc, char *argv[])
if (!strcmp(verb, "start")) {
return ThisDriver::module_start(cli, iterator);
}
if (!strcmp(verb, "stop")) {
} else if (!strcmp(verb, "stop")) {
return ThisDriver::module_stop(iterator);
}
if (!strcmp(verb, "status")) {
} else if (!strcmp(verb, "status")) {
return ThisDriver::module_status(iterator);
}