Add a driver for the Analog Devices ADIS16448 IMU (#8301)

cmake/configs/nuttx_px4fmu-v2_default.cmake

@@ -7,6 +7,7 @@ set(config_module_list
 	#
 	# Board support modules
 	#
+	#drivers/adis16448
 	drivers/airspeed
 	#drivers/blinkm
 	#drivers/bmi160

cmake/configs/nuttx_px4fmu-v3_default.cmake

@@ -12,6 +12,7 @@ set(config_module_list
 	#
 	# Board support modules
 	#
+	drivers/adis16448
 	drivers/airspeed
 	drivers/blinkm
 	drivers/bmi160
@@ -27,8 +28,8 @@ set(config_module_list
 	drivers/hott
 	drivers/hott/hott_sensors
 	drivers/hott/hott_telemetry
-	drivers/irlock
 	drivers/iridiumsbd
+	drivers/irlock
 	drivers/l3gd20
 	drivers/led
 	drivers/lis3mdl

src/drivers/adis16448/CMakeLists.txt

@@ -0,0 +1,43 @@
+############################################################################
+#
+#   Copyright (c) 2015 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__adis16448
+	MAIN adis16448
+	STACK_MAIN 1200
+	COMPILE_FLAGS
+	SRCS
+		adis16448.cpp
+	DEPENDS
+		platforms__common
+	)
+# vim: set noet ft=cmake fenc=utf-8 ff=unix : 

src/drivers/device/nuttx/SPI.cpp

@@ -181,4 +181,56 @@ SPI::_transfer(uint8_t *send, uint8_t *recv, unsigned len)
 	return OK;
 }
 
+int
+SPI::transferhword(uint16_t *send, uint16_t *recv, unsigned len)
+{
+	int result;
+
+	if ((send == nullptr) && (recv == nullptr)) {
+		return -EINVAL;
+	}
+
+	LockMode mode = up_interrupt_context() ? LOCK_NONE : locking_mode;
+
+	/* lock the bus as required */
+	switch (mode) {
+	default:
+	case LOCK_PREEMPTION: {
+			irqstate_t state = px4_enter_critical_section();
+			result = _transferhword(send, recv, len);
+			px4_leave_critical_section(state);
+		}
+		break;
+
+	case LOCK_THREADS:
+		SPI_LOCK(_dev, true);
+		result = _transferhword(send, recv, len);
+		SPI_LOCK(_dev, false);
+		break;
+
+	case LOCK_NONE:
+		result = _transferhword(send, recv, len);
+		break;
+	}
+
+	return result;
+}
+
+int
+SPI::_transferhword(uint16_t *send, uint16_t *recv, unsigned len)
+{
+	SPI_SETFREQUENCY(_dev, _frequency);
+	SPI_SETMODE(_dev, _mode);
+	SPI_SETBITS(_dev, 16);							/* 16 bit transfer */
+	SPI_SELECT(_dev, _device, true);
+
+	/* do the transfer */
+	SPI_EXCHANGE(_dev, send, recv, len);
+
+	/* and clean up */
+	SPI_SELECT(_dev, _device, false);
+
+	return OK;
+}
+
 } // namespace device

src/drivers/device/nuttx/SPI.hpp

@@ -108,6 +108,27 @@ protected:
 	 */
 	int		transfer(uint8_t *send, uint8_t *recv, unsigned len);
 
+	/**
+	 * Perform a SPI 16 bit transfer.
+	 *
+	 * If called from interrupt context, this interface does not lock
+	 * the bus and may interfere with non-interrupt-context callers.
+	 *
+	 * Clients in a mixed interrupt/non-interrupt configuration must
+	 * ensure appropriate interlocking.
+	 *
+	 * At least one of send or recv must be non-null.
+	 *
+	 * @param send		Words to send to the device, or nullptr if
+	 *			no data is to be sent.
+	 * @param recv		Words for receiving bytes from the device,
+	 *			or nullptr if no bytes are to be received.
+	 * @param len		Number of words to transfer.
+	 * @return		OK if the exchange was successful, -errno
+	 *			otherwise.
+	 */
+	int		transferhword(uint16_t *send, uint16_t *recv, unsigned len);
+
 	/**
 	 * Set the SPI bus frequency
 	 * This is used to change frequency on the fly. Some sensors
@@ -144,6 +165,8 @@ private:
 protected:
 	int	_transfer(uint8_t *send, uint8_t *recv, unsigned len);
 
+	int	_transferhword(uint16_t *send, uint16_t *recv, unsigned len);
+
 	bool	external() { return px4_spi_bus_external(get_device_bus()); }
 
 };

src/drivers/drv_accel.h

@@ -112,5 +112,7 @@ struct accel_calibration_s {
 /** determine if hardware is external or onboard */
 #define ACCELIOCGEXTERNAL	_ACCELIOC(12)
 
+/** get the current accel type */
+#define ACCELIOCTYPE		_ACCELIOC(13)
 
 #endif /* _DRV_ACCEL_H */

src/drivers/drv_gyro.h

@@ -109,5 +109,7 @@ struct gyro_calibration_s {
 /** determine if hardware is external or onboard */
 #define GYROIOCGEXTERNAL	_GYROIOC(12)
 
+/** get the current gyro type */
+#define GYROIOCTYPE			_GYROIOC(13)
 
 #endif /* _DRV_GYRO_H */

src/drivers/drv_mag.h

@@ -108,4 +108,7 @@ struct mag_calibration_s {
 /** enable/disable temperature compensation */
 #define MAGIOCSTEMPCOMP		_MAGIOC(12)
 
+/** get the current mag type */
+#define MAGIOCTYPE			_MAGIOC(13)
+
 #endif /* _DRV_MAG_H */

src/drivers/drv_sensor.h

@@ -100,6 +100,9 @@
 #define DRV_ACC_DEVTYPE_FXOS8701C	0x52
 #define DRV_MAG_DEVTYPE_FXOS8701C	0x53
 #define DRV_GYR_DEVTYPE_FXAS2100C	0x54
+#define DRV_ACC_DEVTYPE_ADIS16448	0x55
+#define DRV_MAG_DEVTYPE_ADIS16448	0x56
+#define DRV_GYR_DEVTYPE_ADIS16448	0x57
 
 /*
  * ioctl() definitions