mirror of
https://github.com/PX4/PX4-Autopilot.git
synced 2026-05-21 13:02:25 +08:00
drivers/imu/analog_devices: experimental support for new ADIS16507 IMU (untested)
This commit is contained in:
Daniel Agar
GitHub
@@ -19,6 +19,7 @@ CONFIG_DRIVERS_DSHOT=y
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CONFIG_DRIVERS_GPS=y
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CONFIG_DRIVERS_HEATER=y
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CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16448=y
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CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16507=y
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CONFIG_DRIVERS_IMU_BOSCH_BMI088=y
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CONFIG_DRIVERS_IMU_INVENSENSE_ICM20602=y
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CONFIG_DRIVERS_IMU_INVENSENSE_ICM20649=y
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@@ -124,6 +124,7 @@
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#define DRV_IMU_DEVTYPE_ADIS16448 0x57
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#define DRV_IMU_DEVTYPE_ADIS16470 0x58
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#define DRV_IMU_DEVTYPE_ADIS16477 0x59
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#define DRV_IMU_DEVTYPE_ADIS16507 0x5A
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#define DRV_BARO_DEVTYPE_MPC2520 0x5F
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#define DRV_BARO_DEVTYPE_LPS22HB 0x60
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File diff suppressed because it is too large
Load Diff
@@ -0,0 +1,129 @@
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/****************************************************************************
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*
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* Copyright (c) 2022 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file ADIS16507.hpp
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*
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* Driver for the Analog Devices ADIS16507 connected via SPI.
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*
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*/
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#pragma once
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#include "Analog_Devices_ADIS16507_registers.hpp"
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#include <drivers/drv_hrt.h>
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#include <lib/drivers/accelerometer/PX4Accelerometer.hpp>
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#include <lib/drivers/device/spi.h>
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#include <lib/drivers/gyroscope/PX4Gyroscope.hpp>
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#include <lib/geo/geo.h>
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#include <lib/perf/perf_counter.h>
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#include <px4_platform_common/atomic.h>
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#include <px4_platform_common/i2c_spi_buses.h>
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using namespace Analog_Devices_ADIS16507;
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class ADIS16507 : public device::SPI, public I2CSPIDriver<ADIS16507>
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{
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public:
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ADIS16507(const I2CSPIDriverConfig &config);
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~ADIS16507() override;
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static void print_usage();
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void RunImpl();
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int init() override;
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void print_status() override;
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private:
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void exit_and_cleanup() override;
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struct register_config_t {
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Register reg;
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uint16_t set_bits{0};
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uint16_t clear_bits{0};
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};
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int probe() override;
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bool Reset();
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bool Configure();
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static int DataReadyInterruptCallback(int irq, void *context, void *arg);
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void DataReady();
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bool DataReadyInterruptConfigure();
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bool DataReadyInterruptDisable();
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bool RegisterCheck(const register_config_t ®_cfg);
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uint16_t RegisterRead(Register reg);
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void RegisterWrite(Register reg, uint16_t value);
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void RegisterSetAndClearBits(Register reg, uint16_t setbits, uint16_t clearbits);
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const spi_drdy_gpio_t _drdy_gpio;
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PX4Accelerometer _px4_accel;
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PX4Gyroscope _px4_gyro;
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perf_counter_t _reset_perf{perf_alloc(PC_COUNT, MODULE_NAME": reset")};
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perf_counter_t _bad_register_perf{perf_alloc(PC_COUNT, MODULE_NAME": bad register")};
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perf_counter_t _bad_transfer_perf{perf_alloc(PC_COUNT, MODULE_NAME": bad transfer")};
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perf_counter_t _perf_crc_bad{perf_counter_t(perf_alloc(PC_COUNT, MODULE_NAME": CRC16 bad"))};
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perf_counter_t _drdy_missed_perf{nullptr};
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hrt_abstime _reset_timestamp{0};
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hrt_abstime _last_config_check_timestamp{0};
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int _failure_count{0};
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px4::atomic<hrt_abstime> _drdy_timestamp_sample{0};
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bool _data_ready_interrupt_enabled{false};
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bool _self_test_passed{false};
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enum class STATE : uint8_t {
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RESET,
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WAIT_FOR_RESET,
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SELF_TEST_CHECK,
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CONFIGURE,
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READ,
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} _state{STATE::RESET};
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uint8_t _checked_register{0};
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static constexpr uint8_t size_register_cfg{1};
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register_config_t _register_cfg[size_register_cfg] {
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// Register | Set bits, Clear bits
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{ Register::MSC_CTRL, 0, MSC_CTRL_BIT::DR_polarity },
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};
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};
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@@ -0,0 +1,135 @@
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/****************************************************************************
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*
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* Copyright (c) 2022 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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||||
* 1. Redistributions of source code must retain the above copyright
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||||
* notice, this list of conditions and the following disclaimer.
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||||
* 2. Redistributions in binary form must reproduce the above copyright
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||||
* notice, this list of conditions and the following disclaimer in
|
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* the documentation and/or other materials provided with the
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||||
* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
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||||
*
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||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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||||
* "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
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||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file Analog_Devices_ADIS16507_registers.hpp
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*
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* Analog Devices ADIS16507 registers.
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*
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*/
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#pragma once
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#include <cstdint>
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// TODO: move to a central header
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static constexpr uint16_t Bit0 = (1 << 0);
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static constexpr uint16_t Bit1 = (1 << 1);
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static constexpr uint16_t Bit2 = (1 << 2);
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static constexpr uint16_t Bit3 = (1 << 3);
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static constexpr uint16_t Bit4 = (1 << 4);
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static constexpr uint16_t Bit5 = (1 << 5);
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static constexpr uint16_t Bit6 = (1 << 6);
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static constexpr uint16_t Bit7 = (1 << 7);
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static constexpr uint16_t Bit8 = (1 << 8);
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static constexpr uint16_t Bit9 = (1 << 9);
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static constexpr uint16_t Bit10 = (1 << 10);
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static constexpr uint16_t Bit11 = (1 << 11);
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static constexpr uint16_t Bit12 = (1 << 12);
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static constexpr uint16_t Bit13 = (1 << 13);
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static constexpr uint16_t Bit14 = (1 << 14);
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static constexpr uint16_t Bit15 = (1 << 15);
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namespace Analog_Devices_ADIS16507
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{
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static constexpr uint32_t SPI_SPEED = 2 * 1000 * 1000; // 2 MHz SPI serial interface
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static constexpr uint32_t SPI_SPEED_BURST = 1 * 1000 * 1000; // 1 MHz SPI serial interface for burst read
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static constexpr uint32_t SPI_STALL_PERIOD = 16; // 16 us Stall period between data
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static constexpr uint16_t DIR_WRITE = 0x80;
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static constexpr uint16_t Product_identification = 0x407B;
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static constexpr uint32_t SAMPLE_INTERVAL_US = 500; // 2000 Hz
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enum class Register : uint16_t {
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DIAG_STAT = 0x02,
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FILT_CTRL = 0x5C,
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RANG_MDL = 0x5E,
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MSC_CTRL = 0x60,
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GLOB_CMD = 0x68,
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FIRM_REV = 0x6C, // Identification, firmware revision
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FIRM_DM = 0x6E, // Identification, date code, day and month
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FIRM_Y = 0x70, // Identification, date code, year
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PROD_ID = 0x72, // Identification, part number
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SERIAL_NUM = 0x74, // Identification, serial number
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FLSHCNT_LOW = 0x7C, // Output, flash memory write cycle counter, lower word
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FLSHCNT_HIGH = 0x7E, // Output, flash memory write cycle counter, upper word
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};
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// DIAG_STAT
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enum DIAG_STAT_BIT : uint16_t {
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Accelerometer_failure = Bit10, // A 1 indicates failure of the accelerometer at the conclusion of the self test
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Gyro_2_failure = Bit9, // A 1 indicates failure of Gyro 2 at the conclusion of the self test
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Gyro_1_failure = Bit8, // A 1 indicates failure of Gyro 1 at the conclusion of the self test
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Clock_error = Bit7, // A 1 indicates that the internal data sampling clock
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Memory_failure = Bit6, // A 1 indicates a failure in the flash memory test
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Sensor_failure = Bit5, // A 1 indicates failure of at least one sensor, at the conclusion of the self test
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Standby_mode = Bit4, // A 1 indicates that the voltage across VDD and GND is <2.8 V, which causes data processing to stop
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SPI_communication_error = Bit3, // A 1 indicates that the total number of SCLK cycles is not equal to an integer multiple of 16
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Flash_memory_update_failure = Bit2, // A 1 indicates that the most recent flash memory update failed
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Data_path_overrun = Bit1, // A 1 indicates that one of the data paths have experienced an overrun condition
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};
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// FILT_CTRL
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enum FILT_CTRL_BIT : uint16_t {
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};
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// MSC_CTRL
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enum MSC_CTRL_BIT : uint16_t {
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BURST32 = Bit9, // 32-bit burst enable bit
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GYRO_COMP = Bit7, // Linear acceleration compensation for gyroscopes
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DR_polarity = Bit0, // 1 = active high when data is valid
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};
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// GLOB_CMD
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enum GLOB_CMD_BIT : uint16_t {
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Software_reset = Bit7,
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Flash_memory_test = Bit4,
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Sensor_self_test = Bit2,
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};
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} // namespace Analog_Devices_ADIS16507
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+15
-3
@@ -1,6 +1,6 @@
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############################################################################
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#
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# Copyright (c) 2021 PX4 Development Team. All rights reserved.
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# Copyright (c) 2022 PX4 Development Team. All rights reserved.
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#
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# Redistribution and use in source and binary forms, with or without
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# modification, are permitted provided that the following conditions
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@@ -31,5 +31,17 @@
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#
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############################################################################
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add_subdirectory(adis16448)
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add_subdirectory(adis16470)
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px4_add_module(
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MODULE drivers__imu__analog_devices__adis16507
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MAIN adis16507
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COMPILE_FLAGS
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SRCS
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ADIS16507.cpp
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ADIS16507.hpp
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adis16507_main.cpp
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Analog_Devices_ADIS16507_registers.hpp
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DEPENDS
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drivers_accelerometer
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drivers_gyroscope
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px4_work_queue
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)
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@@ -0,0 +1,5 @@
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menuconfig DRIVERS_IMU_ANALOG_DEVICES_ADIS16507
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bool "ADIS16507"
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default n
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---help---
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Enable support for analog_devices ADIS16507
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@@ -0,0 +1,87 @@
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/****************************************************************************
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*
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* Copyright (c) 2022 PX4 Development Team. All rights reserved.
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*
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* 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.
|
||||
*
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****************************************************************************/
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#include "ADIS16507.hpp"
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#include <px4_platform_common/getopt.h>
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#include <px4_platform_common/module.h>
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void ADIS16507::print_usage()
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{
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PRINT_MODULE_USAGE_NAME("adis16507", "driver");
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PRINT_MODULE_USAGE_SUBCATEGORY("imu");
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PRINT_MODULE_USAGE_COMMAND("start");
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PRINT_MODULE_USAGE_PARAMS_I2C_SPI_DRIVER(false, true);
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PRINT_MODULE_USAGE_PARAM_INT('R', 0, 0, 35, "Rotation", true);
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PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
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}
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extern "C" int adis16507_main(int argc, char *argv[])
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{
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int ch;
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using ThisDriver = ADIS16507;
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BusCLIArguments cli{false, true};
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cli.default_spi_frequency = SPI_SPEED;
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while ((ch = cli.getOpt(argc, argv, "R:")) != EOF) {
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switch (ch) {
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case 'R':
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cli.rotation = (enum Rotation)atoi(cli.optArg());
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break;
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}
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}
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const char *verb = cli.optArg();
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if (!verb) {
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ThisDriver::print_usage();
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return -1;
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}
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BusInstanceIterator iterator(MODULE_NAME, cli, DRV_IMU_DEVTYPE_ADIS16507);
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if (!strcmp(verb, "start")) {
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return ThisDriver::module_start(cli, iterator);
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}
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if (!strcmp(verb, "stop")) {
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return ThisDriver::module_stop(iterator);
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}
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if (!strcmp(verb, "status")) {
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return ThisDriver::module_status(iterator);
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}
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ThisDriver::print_usage();
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return -1;
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}
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