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adis16448: add additional delay after transfer in case of back to back transcations

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- add verified register read method
This commit is contained in:
Daniel Agar
2021-07-26 12:19:20 -04:00
committed by Lorenz Meier
parent 0033c0fc51
commit a397004bf8
3 changed files with 29 additions and 11 deletions
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src/drivers/imu/analog_devices/adis16448/ADIS16448.cpp
+27 -10
View File
@@ -164,12 +164,12 @@ int ADIS16448::probe()
}
for (int attempt = 0; attempt < 3; attempt++) {
const uint16_t PROD_ID = RegisterRead(Register::PROD_ID);
const uint16_t PROD_ID = RegisterReadVerified(Register::PROD_ID);
if (PROD_ID == Product_identification) {
const uint16_t SERIAL_NUM = RegisterRead(Register::SERIAL_NUM);
const uint16_t LOT_ID1 = RegisterRead(Register::LOT_ID1);
const uint16_t LOT_ID2 = RegisterRead(Register::LOT_ID2);
const uint16_t SERIAL_NUM = RegisterReadVerified(Register::SERIAL_NUM);
const uint16_t LOT_ID1 = RegisterReadVerified(Register::LOT_ID1);
const uint16_t LOT_ID2 = RegisterReadVerified(Register::LOT_ID2);
PX4_INFO("Serial Number: 0x%02x, Lot ID1: 0x%02x ID2: 0x%02x", SERIAL_NUM, LOT_ID1, LOT_ID2);
@@ -201,7 +201,7 @@ void ADIS16448::RunImpl()
case STATE::WAIT_FOR_RESET:
if (_self_test_passed) {
if ((RegisterRead(Register::PROD_ID) == Product_identification)) {
if ((RegisterReadVerified(Register::PROD_ID) == Product_identification)) {
// if reset succeeded then configure
_state = STATE::CONFIGURE;
ScheduleNow();
@@ -228,7 +228,7 @@ void ADIS16448::RunImpl()
break;
case STATE::SELF_TEST_CHECK: {
const uint16_t MSC_CTRL = RegisterRead(Register::MSC_CTRL);
const uint16_t MSC_CTRL = RegisterReadVerified(Register::MSC_CTRL);
if (MSC_CTRL & MSC_CTRL_BIT::Internal_self_test) {
// self test not finished, check again
@@ -248,7 +248,7 @@ void ADIS16448::RunImpl()
bool test_passed = true;
const uint16_t DIAG_STAT = RegisterRead(Register::DIAG_STAT);
const uint16_t DIAG_STAT = RegisterReadVerified(Register::DIAG_STAT);
if (DIAG_STAT & DIAG_STAT_BIT::Self_test_diagnostic_error_flag) {
PX4_ERR("self test failed");
@@ -493,7 +493,7 @@ void ADIS16448::RunImpl()
bool ADIS16448::Configure()
{
const uint16_t LOT_ID1 = RegisterRead(Register::LOT_ID1);
const uint16_t LOT_ID1 = RegisterReadVerified(Register::LOT_ID1);
// Only enable CRC-16 for verified lots (HACK to support older ADIS16448AMLZ with no explicit detection)
if (LOT_ID1 == 0x1824) {
@@ -619,7 +619,7 @@ bool ADIS16448::RegisterCheck(const register_config_t &reg_cfg)
{
bool success = true;
const uint16_t reg_value = RegisterRead(reg_cfg.reg);
const uint16_t reg_value = RegisterReadVerified(reg_cfg.reg);
if (reg_cfg.set_bits && ((reg_value & reg_cfg.set_bits) != reg_cfg.set_bits)) {
PX4_DEBUG("0x%02hhX: 0x%02hhX (0x%02hhX not set)", (uint8_t)reg_cfg.reg, reg_value, reg_cfg.set_bits);
@@ -644,10 +644,26 @@ uint16_t ADIS16448::RegisterRead(Register reg)
transferhword(cmd, nullptr, 1);
px4_udelay(SPI_STALL_PERIOD);
transferhword(nullptr, cmd, 1);
px4_udelay(SPI_STALL_PERIOD);
return cmd[0];
}
uint16_t ADIS16448::RegisterReadVerified(Register reg, int retries)
{
for (int attempt = 0; attempt < retries; attempt++) {
uint16_t read1 = RegisterRead(reg);
uint16_t read2 = RegisterRead(reg);
if (read1 == read2) {
return read1;
}
}
// failed
return 0;
}
void ADIS16448::RegisterWrite(Register reg, uint16_t value)
{
set_frequency(SPI_SPEED);
@@ -659,11 +675,12 @@ void ADIS16448::RegisterWrite(Register reg, uint16_t value)
transferhword(cmd, nullptr, 1);
px4_udelay(SPI_STALL_PERIOD);
transferhword(cmd + 1, nullptr, 1);
px4_udelay(SPI_STALL_PERIOD);
}
void ADIS16448::RegisterSetAndClearBits(Register reg, uint16_t setbits, uint16_t clearbits)
{
const uint16_t orig_val = RegisterRead(reg);
const uint16_t orig_val = RegisterReadVerified(reg);
uint16_t val = (orig_val & ~clearbits) | setbits;
src/drivers/imu/analog_devices/adis16448/ADIS16448.hpp
+1
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@@ -91,6 +91,7 @@ private:
bool RegisterCheck(const register_config_t &reg_cfg);
uint16_t RegisterRead(Register reg);
uint16_t RegisterReadVerified(Register reg, int retries = 1);
void RegisterWrite(Register reg, uint16_t value);
void RegisterSetAndClearBits(Register reg, uint16_t setbits, uint16_t clearbits);
src/drivers/imu/analog_devices/adis16448/Analog_Devices_ADIS16448_registers.hpp
+1 -1
View File
@@ -65,7 +65,7 @@ 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 = 10; // 9 us Stall period between data
static constexpr uint32_t SPI_STALL_PERIOD = 11; // 9 us Stall period between data
static constexpr uint16_t DIR_WRITE = 0x80;