mirror of
https://github.com/PX4/PX4-Autopilot.git
synced 2026-05-25 00:31:36 +08:00
drivers: imu: Add in ADIS16607 IMU Device (#26301)
* drivers: Add in ADIS16607 IMU Device * formatting and style, adjust debug output * Change variable types of accel_x/y/z and gyro_x/y/z. * Remove periodic register check --------- Co-authored-by: Jacob Dahl <dahl.jakejacob@gmail.com>
This commit is contained in:
CUAV Chen
GitHub
@@ -135,6 +135,7 @@
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#define DRV_IMU_DEVTYPE_ADIS16507 0x5A
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#define DRV_IMU_DEVTYPE_SCH16T 0x5B
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#define DRV_IMU_DEVTYPE_ADIS16607 0x5C
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#define DRV_BARO_DEVTYPE_MPC2520 0x5F
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#define DRV_BARO_DEVTYPE_LPS22HB 0x60
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@@ -6,6 +6,7 @@ menu "IMU"
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select DRIVERS_IMU_ANALOG_DEVICES_ADIS16497
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select DRIVERS_IMU_ANALOG_DEVICES_ADIS16448
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select DRIVERS_IMU_ANALOG_DEVICES_ADIS16470
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select DRIVERS_IMU_ANALOG_DEVICES_ADIS16607
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select DRIVERS_IMU_BOSCH_BMI055
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select DRIVERS_IMU_BOSCH_BMI088
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select DRIVERS_IMU_MURATA_SCH16T
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@@ -0,0 +1,430 @@
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/****************************************************************************
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*
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* Copyright (c) 2026 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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#include "ADIS16607.hpp"
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#include <endian.h>
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using namespace time_literals;
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ADIS16607::ADIS16607(const I2CSPIDriverConfig &config) :
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SPI(config),
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I2CSPIDriver(config),
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_drdy_gpio(config.drdy_gpio),
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_px4_accel(get_device_id(), config.rotation),
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_px4_gyro(get_device_id(), config.rotation)
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{
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if (_drdy_gpio != 0) {
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_drdy_missed_perf = perf_alloc(PC_COUNT, MODULE_NAME": DRDY missed");
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}
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}
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ADIS16607::~ADIS16607()
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{
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perf_free(_reset_perf);
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perf_free(_bad_transfer_perf);
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perf_free(_perf_crc_bad);
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perf_free(_drdy_missed_perf);
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}
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int ADIS16607::init()
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{
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int ret = SPI::init();
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if (ret != PX4_OK) {
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DEVICE_DEBUG("SPI::init failed (%i)", ret);
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return ret;
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}
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return Reset() ? 0 : -1;
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}
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bool ADIS16607::Reset()
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{
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_state = STATE::RESET;
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DataReadyInterruptDisable();
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ScheduleClear();
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ScheduleNow();
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return true;
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}
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void ADIS16607::exit_and_cleanup()
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{
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DataReadyInterruptDisable();
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I2CSPIDriverBase::exit_and_cleanup();
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}
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void ADIS16607::print_status()
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{
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I2CSPIDriverBase::print_status();
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perf_print_counter(_reset_perf);
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perf_print_counter(_bad_transfer_perf);
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perf_print_counter(_perf_crc_bad);
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perf_print_counter(_drdy_missed_perf);
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}
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int ADIS16607::probe()
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{
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// Power-On Start-Up Time 50 ms
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if (hrt_absolute_time() < 50_ms) {
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PX4_WARN("required Power-On Start-Up Time 50 ms");
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}
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// lock the device to half duplex SPI mode
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RegisterWrite(Register::SPI_HALFDUPLEX_KEY, SPI_HALFDUPLEX_KEY_VALUE);
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const uint16_t device_id = RegisterRead(Register::DEV_ID);
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if (device_id != DEVICE_IDENTIFICATION) {
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PX4_ERR("unexpected DEV_ID 0x%02x", device_id);
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return PX4_ERROR;
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}
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return PX4_OK;
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}
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void ADIS16607::RunImpl()
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{
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const hrt_abstime now = hrt_absolute_time();
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switch (_state) {
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case STATE::RESET:
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perf_count(_reset_perf);
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RegisterWrite(Register::SOFT_RESET, SOFT_RESET_BIT::RESET);
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_reset_timestamp = now;
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_failure_count = 0;
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_state = STATE::WAIT_FOR_RESET;
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ScheduleDelayed(50_ms); // 50 ms Reset Recovery Time
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break;
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case STATE::WAIT_FOR_RESET:
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// lock the device to half duplex SPI mode
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RegisterWrite(Register::SPI_HALFDUPLEX_KEY, SPI_HALFDUPLEX_KEY_VALUE);
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// These bits are cleared when read
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RegisterRead(Register::DIAG_STAT);
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if (_self_test_passed) {
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if ((RegisterRead(Register::DEV_ID) == DEVICE_IDENTIFICATION)) {
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// if reset succeeded then configure
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_state = STATE::CONFIGURE;
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ScheduleNow();
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} else {
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// RESET not complete
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if (hrt_elapsed_time(&_reset_timestamp) > 1000_ms) {
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PX4_WARN("Reset failed, retrying");
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_state = STATE::RESET;
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ScheduleDelayed(100_ms);
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} else {
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PX4_DEBUG("Reset not complete, check again in 100 ms");
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ScheduleDelayed(100_ms);
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}
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}
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} else {
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RegisterWrite(Register::MSC_CTRL, MSC_CTRL_BIT::Self_test_1);
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_state = STATE::SELF_TEST_CHECK;
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ScheduleDelayed(50_ms); // Self Test Time
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}
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break;
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case STATE::SELF_TEST_CHECK: {
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// read DIAG_STAT to check result
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const uint16_t diag_stat = RegisterRead(Register::DIAG_STAT);
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if (diag_stat != 0) {
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PX4_ERR("self test failed, resetting. DIAG_STAT: %#X", diag_stat);
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_state = STATE::RESET;
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ScheduleDelayed(3_s);
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} else {
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PX4_DEBUG("self test passed");
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_self_test_passed = true;
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_state = STATE::RESET;
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ScheduleNow();
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}
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}
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break;
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case STATE::CONFIGURE:
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if (Configure()) {
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// if configure succeeded then start reading
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_state = STATE::READ;
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if (DataReadyInterruptConfigure()) {
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_data_ready_interrupt_enabled = true;
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// backup schedule as a watchdog timeout
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ScheduleDelayed(100_ms);
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} else {
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_data_ready_interrupt_enabled = false;
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ScheduleOnInterval(SAMPLE_INTERVAL_US, SAMPLE_INTERVAL_US);
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}
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} else {
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// CONFIGURE not complete
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if (hrt_elapsed_time(&_reset_timestamp) > 1000_ms) {
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PX4_WARN("Configure failed, resetting");
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_state = STATE::RESET;
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} else {
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PX4_WARN("Configure failed, retrying");
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}
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ScheduleDelayed(100_ms);
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}
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break;
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case STATE::READ: {
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hrt_abstime timestamp_sample = now;
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if (_data_ready_interrupt_enabled) {
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// scheduled from interrupt if _drdy_timestamp_sample was set as expected
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const hrt_abstime drdy_timestamp_sample = _drdy_timestamp_sample.fetch_and(0);
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if ((now - drdy_timestamp_sample) < SAMPLE_INTERVAL_US) {
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timestamp_sample = drdy_timestamp_sample;
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} else {
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perf_count(_drdy_missed_perf);
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}
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// push backup schedule back
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ScheduleDelayed(SAMPLE_INTERVAL_US * 2);
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}
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bool success = false;
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struct BurstRead {
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uint16_t cmd;
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uint16_t DIAG_STAT;
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int16_t X_ACCL_HIGH_OUT;
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int16_t X_ACCL_LOW_OUT;
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int16_t Y_ACCL_HIGH_OUT;
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int16_t Y_ACCL_LOW_OUT;
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int16_t Z_ACCL_HIGH_OUT;
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int16_t Z_ACCL_LOW_OUT;
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int16_t X_GYRO_HIGH_OUT;
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int16_t X_GYRO_LOW_OUT;
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int16_t Y_GYRO_HIGH_OUT;
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int16_t Y_GYRO_LOW_OUT;
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int16_t Z_GYRO_HIGH_OUT;
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int16_t Z_GYRO_LOW_OUT;
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int16_t TEMP_OUT;
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uint16_t COUNT;
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uint16_t checksum;
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} buffer{};
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// ADIS16607 burst report should be 272 bits
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static_assert(sizeof(BurstRead) == (272 / 8), "ADIS16607 report not 272 bits");
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buffer.cmd = static_cast<uint8_t>(Register::DIAG_STAT) | DIR_READ;
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if (transfer((uint8_t *)&buffer, ((uint8_t *)&buffer), sizeof(buffer) / sizeof(uint8_t)) == PX4_OK) {
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// Calculate checksum and compare
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uint16_t *checksum_helper = &buffer.DIAG_STAT;
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uint16_t checksum = 0;
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for (int i = 0; i < 15; i++) {
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checksum += be16toh(checksum_helper[i]);
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}
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if (be16toh(buffer.checksum) != checksum) {
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perf_count(_bad_transfer_perf);
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perf_count(_perf_crc_bad);
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}
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// Check all Status/Error Flag Indicators (DIAG_STAT)
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if (be16toh(buffer.DIAG_STAT) != 0) {
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perf_count(_bad_transfer_perf);
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}
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buffer.TEMP_OUT = (int16_t)be16toh(buffer.TEMP_OUT);
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float temperature = (float)(buffer.TEMP_OUT) * 0.005f + 25.0f;
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_px4_accel.set_temperature(temperature);
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_px4_gyro.set_temperature(temperature);
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// sensor's frame is +x forward, +y left, +z up
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// flip y & z to publish right handed with z down (x forward, y right, z down)
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float accel_x = (be16toh(buffer.X_ACCL_HIGH_OUT) << 16 | be16toh(buffer.X_ACCL_LOW_OUT)) >> 8;
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float accel_y = -1 * ((be16toh(buffer.Y_ACCL_HIGH_OUT) << 16 | be16toh(buffer.Y_ACCL_LOW_OUT)) >> 8);
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float accel_z = -1 * ((be16toh(buffer.Z_ACCL_HIGH_OUT) << 16 | be16toh(buffer.Z_ACCL_LOW_OUT)) >> 8);
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float gyro_x = (be16toh(buffer.X_GYRO_HIGH_OUT) << 16 | be16toh(buffer.X_GYRO_LOW_OUT)) >> 8;
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float gyro_y = -1 * ((be16toh(buffer.Y_GYRO_HIGH_OUT) << 16 | be16toh(buffer.Y_GYRO_LOW_OUT)) >> 8);
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float gyro_z = -1 * ((be16toh(buffer.Z_GYRO_HIGH_OUT) << 16 | be16toh(buffer.Z_GYRO_LOW_OUT)) >> 8);
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_px4_accel.update(timestamp_sample, accel_x, accel_y, accel_z);
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_px4_gyro.update(timestamp_sample, gyro_x, gyro_y, gyro_z);
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success = true;
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if (_failure_count > 0) {
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_failure_count--;
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}
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} else {
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perf_count(_bad_transfer_perf);
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}
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if (!success) {
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_failure_count++;
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// full reset if things are failing consistently
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if (_failure_count > 10) {
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Reset();
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return;
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}
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}
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}
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break;
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}
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}
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bool ADIS16607::Configure()
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{
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// first set and clear all configured register bits
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for (const auto ®_cfg : _register_cfg) {
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RegisterSetAndClearBits(reg_cfg.reg, reg_cfg.set_bits, reg_cfg.clear_bits);
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}
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// now check that all are configured
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bool success = true;
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for (const auto ®_cfg : _register_cfg) {
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if (!RegisterCheck(reg_cfg)) {
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success = false;
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}
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}
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RegisterWrite(Register::USER_FIFO_CFG, USER_FIFO_CFG_BIT::CLEAR_FIFOB);
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// accel: ±40 g, 200000 LSB/g (24-bit format)
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_px4_accel.set_range(40.f * CONSTANTS_ONE_G);
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_px4_accel.set_scale(CONSTANTS_ONE_G / 200000.f); // scaling 200000 LSB/g -> m/s^2 per LSB
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// gyro: ±2000 °/sec, 4000 LSB/°/sec (24-bit format)
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_px4_gyro.set_range(math::radians(2000.f));
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_px4_gyro.set_scale(math::radians(1.f / 4000.f)); // scaling 4000 LSB/°/sec -> rad/s per LSB
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return success;
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}
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int ADIS16607::DataReadyInterruptCallback(int irq, void *context, void *arg)
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{
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static_cast<ADIS16607 *>(arg)->DataReady();
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return 0;
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}
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void ADIS16607::DataReady()
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{
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_drdy_timestamp_sample.store(hrt_absolute_time());
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ScheduleNow();
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}
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bool ADIS16607::DataReadyInterruptConfigure()
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{
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if (_drdy_gpio == 0) {
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return false;
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}
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// Setup data ready on falling edge
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return px4_arch_gpiosetevent(_drdy_gpio, false, true, false, &DataReadyInterruptCallback, this) == 0;
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}
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bool ADIS16607::DataReadyInterruptDisable()
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{
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if (_drdy_gpio == 0) {
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return false;
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}
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return px4_arch_gpiosetevent(_drdy_gpio, false, false, false, nullptr, nullptr) == 0;
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}
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bool ADIS16607::RegisterCheck(const register_config_t ®_cfg)
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{
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bool success = true;
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const uint16_t reg_value = RegisterRead(reg_cfg.reg);
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if (reg_cfg.set_bits && ((reg_value & reg_cfg.set_bits) != reg_cfg.set_bits)) {
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PX4_DEBUG("0x%02hhX: 0x%02hhX (0x%02hhX not set)", (uint8_t)reg_cfg.reg, reg_value, reg_cfg.set_bits);
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success = false;
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}
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if (reg_cfg.clear_bits && ((reg_value & reg_cfg.clear_bits) != 0)) {
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PX4_DEBUG("0x%02hhX: 0x%02hhX (0x%02hhX not cleared)", (uint8_t)reg_cfg.reg, reg_value, reg_cfg.clear_bits);
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success = false;
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}
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||||
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return success;
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}
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uint16_t ADIS16607::RegisterRead(Register reg)
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{
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uint8_t cmd[4];
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cmd[0] = (static_cast<uint8_t>(reg) | DIR_READ);
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||||
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transfer(&cmd[0], &cmd[0], 4);
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return (uint16_t)((cmd[2] << 8) | cmd[3]);
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}
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void ADIS16607::RegisterWrite(Register reg, uint16_t value)
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{
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uint8_t cmd[3];
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cmd[0] = static_cast<uint8_t>(reg);
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cmd[1] = (value >> 8) & 0xFF;
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cmd[2] = value & 0xFF;
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transfer(&cmd[0], nullptr, 3);
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}
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void ADIS16607::RegisterSetAndClearBits(Register reg, uint16_t setbits, uint16_t clearbits)
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{
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const uint16_t orig_val = RegisterRead(reg);
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uint16_t val = (orig_val & ~clearbits) | setbits;
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if (orig_val != val) {
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RegisterWrite(reg, val);
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||||
}
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||||
}
|
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@@ -0,0 +1,134 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2026 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 ADIS16607.hpp
|
||||
*
|
||||
* Driver for the Analog Devices ADIS16607 connected via SPI.
|
||||
*
|
||||
*/
|
||||
|
||||
#pragma once
|
||||
|
||||
#include "Analog_Devices_ADIS16607_registers.hpp"
|
||||
|
||||
#include <drivers/drv_hrt.h>
|
||||
#include <lib/drivers/accelerometer/PX4Accelerometer.hpp>
|
||||
#include <lib/drivers/device/spi.h>
|
||||
#include <lib/drivers/gyroscope/PX4Gyroscope.hpp>
|
||||
#include <lib/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_ADIS16607;
|
||||
|
||||
class ADIS16607 : public device::SPI, public I2CSPIDriver<ADIS16607>
|
||||
{
|
||||
public:
|
||||
ADIS16607(const I2CSPIDriverConfig &config);
|
||||
~ADIS16607() override;
|
||||
|
||||
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 ®_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;
|
||||
PX4Gyroscope _px4_gyro;
|
||||
|
||||
perf_counter_t _reset_perf{perf_alloc(PC_COUNT, MODULE_NAME": reset")};
|
||||
perf_counter_t _bad_transfer_perf{perf_alloc(PC_COUNT, MODULE_NAME": bad transfer")};
|
||||
perf_counter_t _perf_crc_bad{perf_counter_t(perf_alloc(PC_COUNT, MODULE_NAME": CRC16 bad"))};
|
||||
perf_counter_t _drdy_missed_perf{nullptr};
|
||||
|
||||
hrt_abstime _reset_timestamp{0};
|
||||
int _failure_count{0};
|
||||
|
||||
px4::atomic<hrt_abstime> _drdy_timestamp_sample{0};
|
||||
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};
|
||||
|
||||
register_config_t _register_cfg[3] {
|
||||
// Register | Set bits, Clear bits
|
||||
{Register::USER_GPIO_CFG1, USER_GPIO_CFG1_BIT::GPIO3_DR, 0},
|
||||
{
|
||||
Register::USER_DATA_CFG,
|
||||
USER_DATA_CFG_BIT::WORD_SIZE_32 | USER_DATA_CFG_BIT::TEMPERATURE_EN | USER_DATA_CFG_BIT::DATA_CNTR_EN |
|
||||
USER_DATA_CFG_BIT::Z_GYRO_EN | USER_DATA_CFG_BIT::Y_GYRO_EN | USER_DATA_CFG_BIT::X_GYRO_EN |
|
||||
USER_DATA_CFG_BIT::Z_ACCEL_EN | USER_DATA_CFG_BIT::Y_ACCEL_EN | USER_DATA_CFG_BIT::X_ACCEL_EN,
|
||||
USER_DATA_CFG_BIT::Z_DELTANG_EN | USER_DATA_CFG_BIT::Y_DELTANG_EN | USER_DATA_CFG_BIT::X_DELTANG_EN |
|
||||
USER_DATA_CFG_BIT::Z_DELTVEL_EN | USER_DATA_CFG_BIT::Y_DELTVEL_EN | USER_DATA_CFG_BIT::X_DELTVEL_EN
|
||||
},
|
||||
{Register::MSC_CTRL, MSC_CTRL_BIT::FILT_BW_500Hz, 0},
|
||||
};
|
||||
};
|
||||
@@ -0,0 +1,137 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2026 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_ADIS16607_registers.hpp
|
||||
*
|
||||
* Analog Devices ADIS16607 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_ADIS16607
|
||||
{
|
||||
static constexpr uint32_t SPI_SPEED = 10 * 1000 * 1000; // 10 MHz SPI serial interface
|
||||
static constexpr uint16_t DIR_READ = 0x80;
|
||||
static constexpr uint16_t DEVICE_IDENTIFICATION = 0x6000;
|
||||
static constexpr uint16_t SPI_HALFDUPLEX_KEY_VALUE = 0xB4B4;
|
||||
static constexpr uint32_t SAMPLE_INTERVAL_US = 125; // 8000 Hz
|
||||
|
||||
enum class Register : uint16_t {
|
||||
DEV_ID = 0x00,
|
||||
DIAG_STAT = 0x05,
|
||||
USER_GPIO_CFG1 = 0x2F,
|
||||
SPI_HALFDUPLEX_KEY = 0x32,
|
||||
USER_DATA_CFG = 0x34,
|
||||
USER_FIFO_CFG = 0x35,
|
||||
SOFT_RESET = 0x36,
|
||||
MSC_CTRL = 0x39,
|
||||
};
|
||||
|
||||
// DIAG_STAT
|
||||
enum DIAG_STAT_BIT : uint16_t {
|
||||
Gyro_CST_fault = Bit15, // The gyro continuous self-test has failed.
|
||||
Accelerometer_CST_fault = Bit14, // An accelerometer continuous self-test has failed
|
||||
Gyro_fault = Bit13, // The gyro sensor has been disabled
|
||||
Accelerometer_overload_or_fault = Bit12, // The accelerometer has been disabled
|
||||
Power_supplies_fault = Bit11, // Fault in Any of the Power Supplies
|
||||
SDSP_fault = Bit10, // SDSP Combined Error Status
|
||||
BL_fault = Bit9, // Bootloader Fault
|
||||
FW_fault = Bit8, // Firmware Faults.
|
||||
SYNC_LOST = Bit2, // DPLL Has lost its sync input
|
||||
DPLL_UnLocked = Bit1, // Status of the DPLL
|
||||
FIFO_Threshold_Met = Bit0, // FIFO contains at least the desired number of samples
|
||||
};
|
||||
|
||||
// USER_GPIO_CFG1
|
||||
enum USER_GPIO_CFG1_BIT : uint16_t {
|
||||
GPIO3_DR = Bit9, // Configure GPIO pins(GPIO3 as DR)
|
||||
};
|
||||
|
||||
// USER_DATA_CFG
|
||||
enum USER_DATA_CFG_BIT : uint16_t {
|
||||
WORD_SIZE_32 = Bit15, // 32-bit Output Word Length
|
||||
DATA_CNTR_EN = Bit14, // Enable Output Data Counter
|
||||
TEMPERATURE_EN = Bit12, // Enable Temperature Sensor
|
||||
Z_DELTANG_EN = Bit11,
|
||||
Y_DELTANG_EN = Bit10,
|
||||
X_DELTANG_EN = Bit9,
|
||||
Z_DELTVEL_EN = Bit8,
|
||||
Y_DELTVEL_EN = Bit7,
|
||||
X_DELTVEL_EN = Bit6,
|
||||
Z_GYRO_EN = Bit5,
|
||||
Y_GYRO_EN = Bit4,
|
||||
X_GYRO_EN = Bit3,
|
||||
Z_ACCEL_EN = Bit2,
|
||||
Y_ACCEL_EN = Bit1,
|
||||
X_ACCEL_EN = Bit0,
|
||||
};
|
||||
|
||||
// USER_FIFO_CFG
|
||||
enum USER_FIFO_CFG_BIT : uint16_t {
|
||||
CLEAR_FIFOB = Bit15, // Clear the FIFO pointers to reset it
|
||||
};
|
||||
|
||||
// SOFT_RESET
|
||||
enum SOFT_RESET_BIT : uint16_t {
|
||||
RESET = Bit0, // Trigger soft reset
|
||||
};
|
||||
|
||||
// MSC_CTRL
|
||||
enum MSC_CTRL_BIT : uint16_t {
|
||||
FILT_BW_500Hz = Bit8, // fc= 500 Hz
|
||||
Self_test_1 = Bit6, // enable Self-Test mode
|
||||
};
|
||||
|
||||
} // namespace Analog_Devices_ADIS16607
|
||||
@@ -0,0 +1,47 @@
|
||||
############################################################################
|
||||
#
|
||||
# Copyright (c) 2026 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.
|
||||
#
|
||||
############################################################################
|
||||
|
||||
px4_add_module(
|
||||
MODULE drivers__imu__analog_devices__adis16607
|
||||
MAIN adis16607
|
||||
COMPILE_FLAGS
|
||||
SRCS
|
||||
ADIS16607.cpp
|
||||
ADIS16607.hpp
|
||||
adis16607_main.cpp
|
||||
Analog_Devices_ADIS16607_registers.hpp
|
||||
DEPENDS
|
||||
drivers_accelerometer
|
||||
drivers_gyroscope
|
||||
px4_work_queue
|
||||
)
|
||||
@@ -0,0 +1,5 @@
|
||||
menuconfig DRIVERS_IMU_ANALOG_DEVICES_ADIS16607
|
||||
bool "ADIS16607"
|
||||
default n
|
||||
---help---
|
||||
Enable support for analog_devices ADIS16607
|
||||
@@ -0,0 +1,87 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2026 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.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
#include "ADIS16607.hpp"
|
||||
|
||||
#include <px4_platform_common/getopt.h>
|
||||
#include <px4_platform_common/module.h>
|
||||
|
||||
void ADIS16607::print_usage()
|
||||
{
|
||||
PRINT_MODULE_USAGE_NAME("adis16607", "driver");
|
||||
PRINT_MODULE_USAGE_SUBCATEGORY("imu");
|
||||
PRINT_MODULE_USAGE_COMMAND("start");
|
||||
PRINT_MODULE_USAGE_PARAMS_I2C_SPI_DRIVER(false, true);
|
||||
PRINT_MODULE_USAGE_PARAM_INT('R', 0, 0, 35, "Rotation", true);
|
||||
PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
|
||||
}
|
||||
|
||||
extern "C" int adis16607_main(int argc, char *argv[])
|
||||
{
|
||||
int ch;
|
||||
using ThisDriver = ADIS16607;
|
||||
BusCLIArguments cli{false, true};
|
||||
cli.default_spi_frequency = SPI_SPEED;
|
||||
|
||||
while ((ch = cli.getOpt(argc, argv, "R:")) != EOF) {
|
||||
switch (ch) {
|
||||
case 'R':
|
||||
cli.rotation = (enum Rotation)atoi(cli.optArg());
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
const char *verb = cli.optArg();
|
||||
|
||||
if (!verb) {
|
||||
ThisDriver::print_usage();
|
||||
return -1;
|
||||
}
|
||||
|
||||
BusInstanceIterator iterator(MODULE_NAME, cli, DRV_IMU_DEVTYPE_ADIS16607);
|
||||
|
||||
if (!strcmp(verb, "start")) {
|
||||
return ThisDriver::module_start(cli, iterator);
|
||||
}
|
||||
|
||||
if (!strcmp(verb, "stop")) {
|
||||
return ThisDriver::module_stop(iterator);
|
||||
}
|
||||
|
||||
if (!strcmp(verb, "status")) {
|
||||
return ThisDriver::module_status(iterator);
|
||||
}
|
||||
|
||||
ThisDriver::print_usage();
|
||||
return -1;
|
||||
}
|
||||
Reference in New Issue
Block a user