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drivers/imu/analog_devices/adis16470: Analog Devices ADIS16470 IMU driver for CUAV x7pro

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This commit is contained in:
Daniel Agar
2021-03-16 18:00:06 -04:00
committed by GitHub
parent 4092f87390
commit dd479f9cca
11 changed files with 899 additions and 19 deletions
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boards/cuav/x7pro/default.cmake
+2
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@@ -31,6 +31,7 @@ px4_add_board(
heater
#imu # all available imu drivers
imu/analog_devices/adis16448
imu/analog_devices/adis16470
imu/bosch/bmi088
imu/invensense/icm20649
imu/invensense/icm20689
@@ -117,6 +118,7 @@ px4_add_board(
work_queue
EXAMPLES
fake_gps
fake_gyro
fake_magnetometer
#fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
#hello
boards/cuav/x7pro/init/rc.board_sensors
+4 -2
View File
@@ -5,8 +5,10 @@
board_adc start
# SPI1
#adis16470 -s start
icm20689 -s -b 1 -R 2 start
if ! icm20689 -s -b 1 -R 2 start
then
adis16470 -s -b 1 -R 2 start
fi
# SPI2
rm3100 -s -b 2 start
boards/cuav/x7pro/nuttx-config/include/board.h
+17 -15
View File
@@ -250,25 +250,27 @@
#define GPIO_CAN2_TX GPIO_CAN2_TX_1 /* PB13 */
/* SPI */
#define GPIO_SPI1_SCK GPIO_SPI1_SCK_3 /* PG11 */
#define GPIO_SPI1_MISO GPIO_SPI1_MISO_1 /* PA6 */
#define GPIO_SPI1_MOSI GPIO_SPI1_MOSI_3 /* PD7 */
#define ADJ_SLEW_RATE(p) (((p) & ~GPIO_SPEED_MASK) | (GPIO_SPEED_2MHz))
#define GPIO_SPI2_SCK GPIO_SPI2_SCK_6 /* PI1 */
#define GPIO_SPI2_MISO GPIO_SPI2_MISO_3 /* PI2 */
#define GPIO_SPI2_MOSI GPIO_SPI2_MOSI_4 /* PI3 */
#define GPIO_SPI1_SCK ADJ_SLEW_RATE(GPIO_SPI1_SCK_3) /* PG11 */
#define GPIO_SPI1_MISO GPIO_SPI1_MISO_1 /* PA6 */
#define GPIO_SPI1_MOSI GPIO_SPI1_MOSI_3 /* PD7 */
#define GPIO_SPI4_SCK GPIO_SPI4_SCK_2 /* PE2 */
#define GPIO_SPI4_MISO GPIO_SPI4_MISO_1 /* PE13 */
#define GPIO_SPI4_MOSI GPIO_SPI4_MOSI_2 /* PE6 */
#define GPIO_SPI2_SCK ADJ_SLEW_RATE(GPIO_SPI2_SCK_6) /* PI1 */
#define GPIO_SPI2_MISO GPIO_SPI2_MISO_3 /* PI2 */
#define GPIO_SPI2_MOSI GPIO_SPI2_MOSI_4 /* PI3 */
#define GPIO_SPI5_SCK GPIO_SPI5_SCK_1 /* PF7 */
#define GPIO_SPI5_MISO GPIO_SPI5_MISO_1 /* PF8 */
#define GPIO_SPI5_MOSI GPIO_SPI5_MOSI_2 /* PF9 */
#define GPIO_SPI4_SCK ADJ_SLEW_RATE(GPIO_SPI4_SCK_2) /* PE2 */
#define GPIO_SPI4_MISO GPIO_SPI4_MISO_1 /* PE13 */
#define GPIO_SPI4_MOSI GPIO_SPI4_MOSI_2 /* PE6 */
#define GPIO_SPI6_SCK GPIO_SPI6_SCK_1 /* PG13 */
#define GPIO_SPI6_MISO GPIO_SPI6_MISO_1 /* PG12 */
#define GPIO_SPI6_MOSI GPIO_SPI6_MOSI_2 /* PA7 */
#define GPIO_SPI5_SCK ADJ_SLEW_RATE(GPIO_SPI5_SCK_1) /* PF7 */
#define GPIO_SPI5_MISO GPIO_SPI5_MISO_1 /* PF8 */
#define GPIO_SPI5_MOSI GPIO_SPI5_MOSI_2 /* PF9 */
#define GPIO_SPI6_SCK ADJ_SLEW_RATE(GPIO_SPI6_SCK_1) /* PG13 */
#define GPIO_SPI6_MISO GPIO_SPI6_MISO_1 /* PG12 */
#define GPIO_SPI6_MOSI GPIO_SPI6_MOSI_2 /* PA7 */
/* I2C */
#define GPIO_I2C1_SCL GPIO_I2C1_SCL_2 /* PB8 */
boards/cuav/x7pro/src/spi.cpp
+1 -1
View File
@@ -37,7 +37,7 @@
constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
initSPIBus(SPI::Bus::SPI1, {
initSPIDevice(DRV_DEVTYPE_UNUSED, SPI::CS{GPIO::PortF, GPIO::Pin10}, SPI::DRDY{GPIO::PortE, GPIO::Pin7}), // ADIS16470
initSPIDevice(DRV_IMU_DEVTYPE_ADIS16470, SPI::CS{GPIO::PortF, GPIO::Pin10}, SPI::DRDY{GPIO::PortE, GPIO::Pin7}),
initSPIDevice(DRV_IMU_DEVTYPE_ICM20689, SPI::CS{GPIO::PortG, GPIO::Pin6}, SPI::DRDY{GPIO::PortJ, GPIO::Pin0}),
}, {GPIO::PortE, GPIO::Pin3}),
initSPIBus(SPI::Bus::SPI2, {