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adis16448 bmlz fixes (#8519)

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* small bit mask fix

* Restore factory calibration values in drivers start-up sequence

* Restore factory calibration values in drivers start-up sequence (reverted from commit 09ba45501f87f77e53d670fcf880b3cfc419fe38)

* Restore factory calibration values in drivers start-up sequence

* Initialization of the Adis16448 report struct

* Add stall time after write and read cycle

* Increasing the stall time for being compatible with the B sensor version

* small clean up

* Add settling time after initialization
This commit is contained in:
Amir Melzer
2017-12-22 19:17:54 +01:00
committed by Daniel Agar
parent 5d6edcc15d
commit 55be098e3b
1 changed files with 24 additions and 7 deletions
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src/drivers/adis16448/adis16448.cpp
+24 -7
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@@ -176,7 +176,7 @@
#define FW_FILTER false
#define SPI_BUS_SPEED 1000000
#define T_STALL 5
#define T_STALL 9
#define GYROINITIALSENSITIVITY 250
#define ACCELINITIALSENSITIVITY (1.0f / 1200.0f)
@@ -293,6 +293,21 @@ private:
uint16_t mag_z;
uint16_t baro;
uint16_t temp;
ADISReport():
cmd(0),
status(0),
gyro_x(0),
gyro_y(0),
gyro_z(0),
accel_x(0),
accel_y(0),
accel_z(0),
mag_x(0),
mag_y(0),
mag_z(0),
baro(0),
temp(0) {}
};
#pragma pack(pop)
@@ -711,21 +726,21 @@ int ADIS16448::reset()
/* Set gyroscope scale to default value */
_set_gyro_dyn_range(GYROINITIALSENSITIVITY);
usleep(1000);
/* Set digital FIR filter tap */
_set_dlpf_filter(BITS_FIR_16_TAP_CFG);
usleep(1000);
/* Set IMU sample rate */
_set_sample_rate(_sample_rate);
usleep(1000);
_accel_range_scale = ADIS16448_ONE_G * ACCELINITIALSENSITIVITY;
_accel_range_m_s2 = ADIS16448_ONE_G * ACCELDYNAMICRANGE;
_mag_range_scale = MAGINITIALSENSITIVITY;
_mag_range_mgauss = MAGDYNAMICRANGE;
/* settling time */
up_udelay(50000);
return OK;
}
@@ -753,6 +768,7 @@ ADIS16448::probe()
case ADIS16448_Product:
DEVICE_DEBUG("ADIS16448 is detected ID: 0x%02x, Serial: 0x%02x", _product, serial_number);
modify_reg16(ADIS16448_GPIO_CTRL, 0x0200, 0x0002); /* Turn on ADIS16448 adaptor board led */
_set_factory_default(); /* Restore factory calibration */
return OK;
}
@@ -782,9 +798,9 @@ ADIS16448::_set_sample_rate(uint16_t desired_sample_rate_hz)
smpl_prd = BITS_SMPL_PRD_NO_TAP_CFG;
}
modify_reg16(ADIS16448_SMPL_PRD, 0x0700, smpl_prd);
modify_reg16(ADIS16448_SMPL_PRD, 0x1f00, smpl_prd);
if ((read_reg16(ADIS16448_SMPL_PRD) & 0x0700) != smpl_prd) {
if ((read_reg16(ADIS16448_SMPL_PRD) & 0x1f00) != smpl_prd) {
DEVICE_DEBUG("failed to set IMU sample rate");
}
@@ -809,7 +825,6 @@ void
ADIS16448::_set_factory_default()
{
write_reg16(ADIS16448_GLOB_CMD, 0x02);
warnx("Set IMU to factory default!");
}
/* set the gyroscope dynamic range */
@@ -1316,6 +1331,7 @@ ADIS16448::read_reg16(unsigned reg)
transferhword(cmd, nullptr, 1);
up_udelay(T_STALL);
transferhword(nullptr, cmd, 1);
up_udelay(T_STALL);
return cmd[0];
}
@@ -1331,6 +1347,7 @@ ADIS16448::write_reg16(unsigned reg, uint16_t value)
transferhword(cmd, nullptr, 1);
up_udelay(T_STALL);
transferhword(cmd + 1, nullptr, 1);
up_udelay(T_STALL);
}
void