forked from Archive/PX4-Autopilot
drivers/imu/analog_devices/adis16470: Analog Devices ADIS16470 IMU driver for CUAV x7pro
This commit is contained in:
Daniel Agar
GitHub
parent
4092f87390
commit
dd479f9cca
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@ -31,6 +31,7 @@ px4_add_board(
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heater
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#imu # all available imu drivers
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imu/analog_devices/adis16448
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imu/analog_devices/adis16470
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imu/bosch/bmi088
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imu/invensense/icm20649
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imu/invensense/icm20689
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@ -117,6 +118,7 @@ px4_add_board(
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work_queue
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EXAMPLES
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fake_gps
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fake_gyro
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fake_magnetometer
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#fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
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#hello
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@ -5,8 +5,10 @@
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board_adc start
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# SPI1
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#adis16470 -s start
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icm20689 -s -b 1 -R 2 start
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if ! icm20689 -s -b 1 -R 2 start
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then
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adis16470 -s -b 1 -R 2 start
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fi
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# SPI2
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rm3100 -s -b 2 start
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@ -250,25 +250,27 @@
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#define GPIO_CAN2_TX GPIO_CAN2_TX_1 /* PB13 */
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/* SPI */
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#define GPIO_SPI1_SCK GPIO_SPI1_SCK_3 /* PG11 */
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#define GPIO_SPI1_MISO GPIO_SPI1_MISO_1 /* PA6 */
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#define GPIO_SPI1_MOSI GPIO_SPI1_MOSI_3 /* PD7 */
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#define ADJ_SLEW_RATE(p) (((p) & ~GPIO_SPEED_MASK) | (GPIO_SPEED_2MHz))
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#define GPIO_SPI2_SCK GPIO_SPI2_SCK_6 /* PI1 */
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#define GPIO_SPI2_MISO GPIO_SPI2_MISO_3 /* PI2 */
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#define GPIO_SPI2_MOSI GPIO_SPI2_MOSI_4 /* PI3 */
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#define GPIO_SPI1_SCK ADJ_SLEW_RATE(GPIO_SPI1_SCK_3) /* PG11 */
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#define GPIO_SPI1_MISO GPIO_SPI1_MISO_1 /* PA6 */
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#define GPIO_SPI1_MOSI GPIO_SPI1_MOSI_3 /* PD7 */
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#define GPIO_SPI4_SCK GPIO_SPI4_SCK_2 /* PE2 */
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#define GPIO_SPI4_MISO GPIO_SPI4_MISO_1 /* PE13 */
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#define GPIO_SPI4_MOSI GPIO_SPI4_MOSI_2 /* PE6 */
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#define GPIO_SPI2_SCK ADJ_SLEW_RATE(GPIO_SPI2_SCK_6) /* PI1 */
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#define GPIO_SPI2_MISO GPIO_SPI2_MISO_3 /* PI2 */
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#define GPIO_SPI2_MOSI GPIO_SPI2_MOSI_4 /* PI3 */
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#define GPIO_SPI5_SCK GPIO_SPI5_SCK_1 /* PF7 */
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#define GPIO_SPI5_MISO GPIO_SPI5_MISO_1 /* PF8 */
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#define GPIO_SPI5_MOSI GPIO_SPI5_MOSI_2 /* PF9 */
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#define GPIO_SPI4_SCK ADJ_SLEW_RATE(GPIO_SPI4_SCK_2) /* PE2 */
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#define GPIO_SPI4_MISO GPIO_SPI4_MISO_1 /* PE13 */
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#define GPIO_SPI4_MOSI GPIO_SPI4_MOSI_2 /* PE6 */
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#define GPIO_SPI6_SCK GPIO_SPI6_SCK_1 /* PG13 */
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#define GPIO_SPI6_MISO GPIO_SPI6_MISO_1 /* PG12 */
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#define GPIO_SPI6_MOSI GPIO_SPI6_MOSI_2 /* PA7 */
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#define GPIO_SPI5_SCK ADJ_SLEW_RATE(GPIO_SPI5_SCK_1) /* PF7 */
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#define GPIO_SPI5_MISO GPIO_SPI5_MISO_1 /* PF8 */
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#define GPIO_SPI5_MOSI GPIO_SPI5_MOSI_2 /* PF9 */
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#define GPIO_SPI6_SCK ADJ_SLEW_RATE(GPIO_SPI6_SCK_1) /* PG13 */
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#define GPIO_SPI6_MISO GPIO_SPI6_MISO_1 /* PG12 */
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#define GPIO_SPI6_MOSI GPIO_SPI6_MOSI_2 /* PA7 */
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/* I2C */
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#define GPIO_I2C1_SCL GPIO_I2C1_SCL_2 /* PB8 */
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@ -37,7 +37,7 @@
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constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
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initSPIBus(SPI::Bus::SPI1, {
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initSPIDevice(DRV_DEVTYPE_UNUSED, SPI::CS{GPIO::PortF, GPIO::Pin10}, SPI::DRDY{GPIO::PortE, GPIO::Pin7}), // ADIS16470
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initSPIDevice(DRV_IMU_DEVTYPE_ADIS16470, SPI::CS{GPIO::PortF, GPIO::Pin10}, SPI::DRDY{GPIO::PortE, GPIO::Pin7}),
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initSPIDevice(DRV_IMU_DEVTYPE_ICM20689, SPI::CS{GPIO::PortG, GPIO::Pin6}, SPI::DRDY{GPIO::PortJ, GPIO::Pin0}),
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}, {GPIO::PortE, GPIO::Pin3}),
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initSPIBus(SPI::Bus::SPI2, {
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@ -112,10 +112,13 @@
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#define DRV_ACC_DEVTYPE_FXOS8701C 0x52
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#define DRV_GYR_DEVTYPE_FXAS2100C 0x54
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#define DRV_IMU_DEVTYPE_ADIS16448 0x57
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#define DRV_BARO_DEVTYPE_LPS22HB 0x58
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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_BARO_DEVTYPE_LPS22HB 0x60
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#define DRV_ACC_DEVTYPE_LSM303AGR 0x61
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#define DRV_MAG_DEVTYPE_LSM303AGR 0x62
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#define DRV_IMU_DEVTYPE_ADIS16497 0x63
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@ -32,3 +32,4 @@
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############################################################################
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add_subdirectory(adis16448)
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add_subdirectory(adis16470)
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@ -0,0 +1,462 @@
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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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*
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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 "ADIS16470.hpp"
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using namespace time_literals;
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static constexpr int16_t combine(uint8_t msb, uint8_t lsb)
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{
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return (msb << 8u) | lsb;
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}
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ADIS16470::ADIS16470(I2CSPIBusOption bus_option, int bus, uint32_t device, enum Rotation rotation, int bus_frequency,
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spi_drdy_gpio_t drdy_gpio) :
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SPI(DRV_IMU_DEVTYPE_ADIS16470, MODULE_NAME, bus, device, SPIDEV_MODE3, bus_frequency),
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I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus),
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_drdy_gpio(drdy_gpio),
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_px4_accel(get_device_id(), rotation),
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_px4_gyro(get_device_id(), rotation)
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{
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_debug_enabled = true;
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}
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ADIS16470::~ADIS16470()
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{
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perf_free(_bad_register_perf);
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perf_free(_bad_transfer_perf);
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}
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int ADIS16470::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 ADIS16470::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 ADIS16470::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 ADIS16470::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(_perf_crc_bad);
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perf_print_counter(_bad_register_perf);
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perf_print_counter(_bad_transfer_perf);
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}
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int ADIS16470::probe()
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{
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// Power-On Start-Up Time 205 ms
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if (hrt_absolute_time() < 205_ms) {
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PX4_WARN("Power-On Start-Up Time is 205 ms");
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}
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const uint16_t PROD_ID = RegisterRead(Register::PROD_ID);
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if (PROD_ID != Product_identification) {
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DEVICE_DEBUG("unexpected PROD_ID 0x%02x", PROD_ID);
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return PX4_ERROR;
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}
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const uint16_t SERIAL_NUM = RegisterRead(Register::SERIAL_NUM);
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const uint16_t FIRM_REV = RegisterRead(Register::FIRM_REV);
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const uint16_t FIRM_DM = RegisterRead(Register::FIRM_DM);
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const uint16_t FIRM_Y = RegisterRead(Register::FIRM_Y);
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PX4_INFO("Serial Number: 0x%X, Firmware revision: 0x%X Date: Y %X DM %X", SERIAL_NUM, FIRM_REV, FIRM_Y, FIRM_DM);
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return PX4_OK;
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}
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void ADIS16470::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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// GLOB_CMD: software reset
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RegisterWrite(Register::GLOB_CMD, GLOB_CMD_BIT::Software_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(193_ms); // 193 ms Software Reset Recovery Time
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break;
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case STATE::WAIT_FOR_RESET:
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if (_self_test_passed) {
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if ((RegisterRead(Register::PROD_ID) == Product_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_DEBUG("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::GLOB_CMD, GLOB_CMD_BIT::Sensor_self_test);
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_state = STATE::SELF_TEST_CHECK;
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ScheduleDelayed(14_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("DIAG_STAT: %#X", DIAG_STAT);
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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_DEBUG("Configure failed, resetting");
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_state = STATE::RESET;
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} else {
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PX4_DEBUG("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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if (_data_ready_interrupt_enabled) {
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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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uint8_t cmd[2];
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uint8_t DIAG_STAT[2];
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uint8_t X_GYRO_OUT[2];
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uint8_t Y_GYRO_OUT[2];
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uint8_t Z_GYRO_OUT[2];
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uint8_t X_ACCL_OUT[2];
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uint8_t Y_ACCL_OUT[2];
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uint8_t Z_ACCL_OUT[2];
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uint8_t TEMP_OUT[2];
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uint8_t DATA_CNTR[2];
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uint8_t _padding; // 16 bit SPI mode
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uint8_t checksum;
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} buffer{};
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// ADIS16470 burst report should be 176 bits
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static_assert(sizeof(BurstRead) == (176 / 8), "ADIS16470 report not 176 bits");
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buffer.cmd[0] = static_cast<uint16_t>(Register::GLOB_CMD);// << 8;
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set_frequency(SPI_SPEED_BURST);
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//if (transferhword((uint16_t *)&buffer, (uint16_t *)&buffer, sizeof(buffer) / sizeof(uint16_t)) == PX4_OK) {
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if (transfer((uint8_t *)&buffer, (uint8_t *)&buffer, sizeof(buffer)) == PX4_OK) {
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// Calculate checksum and compare
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// Checksum = DIAG_STAT, Bits[15:8] + DIAG_STAT, Bits[7:0] +
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// X_GYRO_OUT, Bits[15:8] + X_GYRO_OUT, Bits[7:0] +
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// Y_GYRO_OUT, Bits[15:8] + Y_GYRO_OUT, Bits[7:0] +
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// Z_GYRO_OUT, Bits[15:8] + Z_GYRO_OUT, Bits[7:0] +
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// X_ACCL_OUT, Bits[15:8] + X_ACCL_OUT, Bits[7:0] +
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// Y_ACCL_OUT, Bits[15:8] + Y_ACCL_OUT, Bits[7:0] +
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// Z_ACCL_OUT, Bits[15:8] + Z_ACCL_OUT, Bits[7:0] +
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// TEMP_OUT, Bits[15:8] + TEMP_OUT, Bits[7:0] +
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// DATA_CNTR, Bits[15:8] + DATA_CNTR, Bits[7:0]
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uint8_t *checksum_helper = (uint8_t *)&buffer.DIAG_STAT;
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uint8_t checksum = 0;
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for (int i = 0; i < 18; i++) {
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checksum += checksum_helper[i];
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}
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if (buffer.checksum != checksum) {
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//PX4_DEBUG("adis_report.checksum: %X vs calculated: %X", buffer.checksum, checksum);
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perf_count(_bad_transfer_perf);
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}
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uint16_t DIAG_STAT = combine(buffer.DIAG_STAT[0], buffer.DIAG_STAT[1]);
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if (DIAG_STAT != DIAG_STAT_BIT::Data_path_overrun) {
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// Data path overrun. A 1 indicates that one of the
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// data paths have experienced an overrun condition.
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// If this occurs, initiate a reset,
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//Reset();
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//return;
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}
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// Check all Status/Error Flag Indicators (DIAG_STAT)
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if (DIAG_STAT != 0) {
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perf_count(_bad_transfer_perf);
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}
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// temperature 1 LSB = 0.1°C
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const float temperature = combine(buffer.TEMP_OUT[0], buffer.TEMP_OUT[1]) * 0.1f;
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_px4_accel.set_temperature(temperature);
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_px4_gyro.set_temperature(temperature);
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int16_t accel_x = combine(buffer.X_ACCL_OUT[0], buffer.X_ACCL_OUT[1]);
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int16_t accel_y = combine(buffer.Y_ACCL_OUT[0], buffer.Y_ACCL_OUT[1]);
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int16_t accel_z = combine(buffer.Z_ACCL_OUT[0], buffer.Z_ACCL_OUT[1]);
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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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accel_y = (accel_y == INT16_MIN) ? INT16_MAX : -accel_y;
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accel_z = (accel_z == INT16_MIN) ? INT16_MAX : -accel_z;
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_px4_accel.update(now, accel_x, accel_y, accel_z);
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int16_t gyro_x = combine(buffer.X_GYRO_OUT[0], buffer.X_GYRO_OUT[1]);
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int16_t gyro_y = combine(buffer.Y_GYRO_OUT[0], buffer.Y_GYRO_OUT[1]);
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int16_t gyro_z = combine(buffer.Z_GYRO_OUT[0], buffer.Z_GYRO_OUT[1]);
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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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gyro_y = (gyro_y == INT16_MIN) ? INT16_MAX : -gyro_y;
|
||||
gyro_z = (gyro_z == INT16_MIN) ? INT16_MAX : -gyro_z;
|
||||
_px4_gyro.update(now, gyro_x, gyro_y, gyro_z);
|
||||
|
||||
success = true;
|
||||
|
||||
if (_failure_count > 0) {
|
||||
_failure_count--;
|
||||
}
|
||||
|
||||
} else {
|
||||
perf_count(_bad_transfer_perf);
|
||||
}
|
||||
|
||||
if (!success) {
|
||||
_failure_count++;
|
||||
|
||||
// full reset if things are failing consistently
|
||||
if (_failure_count > 10) {
|
||||
Reset();
|
||||
return;
|
||||
}
|
||||
}
|
||||
|
||||
if (!success || hrt_elapsed_time(&_last_config_check_timestamp) > 100_ms) {
|
||||
// check configuration registers periodically or immediately following any failure
|
||||
if (RegisterCheck(_register_cfg[_checked_register])) {
|
||||
_last_config_check_timestamp = now;
|
||||
_checked_register = (_checked_register + 1) % size_register_cfg;
|
||||
|
||||
} else {
|
||||
// register check failed, force reset
|
||||
perf_count(_bad_register_perf);
|
||||
Reset();
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
bool ADIS16470::Configure()
|
||||
{
|
||||
// first set and clear all configured register bits
|
||||
for (const auto ®_cfg : _register_cfg) {
|
||||
RegisterSetAndClearBits(reg_cfg.reg, reg_cfg.set_bits, reg_cfg.clear_bits);
|
||||
}
|
||||
|
||||
// now check that all are configured
|
||||
bool success = true;
|
||||
|
||||
for (const auto ®_cfg : _register_cfg) {
|
||||
if (!RegisterCheck(reg_cfg)) {
|
||||
success = false;
|
||||
}
|
||||
}
|
||||
|
||||
_px4_accel.set_scale(CONSTANTS_ONE_G / 2048.f);
|
||||
_px4_accel.set_range(40.f * CONSTANTS_ONE_G);
|
||||
_px4_gyro.set_scale(math::radians(2000.f / 32768.f));
|
||||
_px4_gyro.set_range(math::radians(2000.f));
|
||||
|
||||
_px4_accel.set_scale(1.25f * CONSTANTS_ONE_G / 1000.0f); // accel 1.25 mg/LSB
|
||||
_px4_gyro.set_scale(math::radians(0.025f)); // gyro 0.025 °/sec/LSB
|
||||
|
||||
return success;
|
||||
}
|
||||
|
||||
int ADIS16470::DataReadyInterruptCallback(int irq, void *context, void *arg)
|
||||
{
|
||||
static_cast<ADIS16470 *>(arg)->DataReady();
|
||||
return 0;
|
||||
}
|
||||
|
||||
void ADIS16470::DataReady()
|
||||
{
|
||||
ScheduleNow();
|
||||
}
|
||||
|
||||
bool ADIS16470::DataReadyInterruptConfigure()
|
||||
{
|
||||
if (_drdy_gpio == 0) {
|
||||
return false;
|
||||
}
|
||||
|
||||
// Setup data ready on falling edge
|
||||
return px4_arch_gpiosetevent(_drdy_gpio, false, true, false, &DataReadyInterruptCallback, this) == 0;
|
||||
}
|
||||
|
||||
bool ADIS16470::DataReadyInterruptDisable()
|
||||
{
|
||||
if (_drdy_gpio == 0) {
|
||||
return false;
|
||||
}
|
||||
|
||||
return px4_arch_gpiosetevent(_drdy_gpio, false, false, false, nullptr, nullptr) == 0;
|
||||
}
|
||||
|
||||
bool ADIS16470::RegisterCheck(const register_config_t ®_cfg)
|
||||
{
|
||||
bool success = true;
|
||||
|
||||
const uint16_t reg_value = RegisterRead(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);
|
||||
success = false;
|
||||
}
|
||||
|
||||
if (reg_cfg.clear_bits && ((reg_value & reg_cfg.clear_bits) != 0)) {
|
||||
PX4_DEBUG("0x%02hhX: 0x%02hhX (0x%02hhX not cleared)", (uint8_t)reg_cfg.reg, reg_value, reg_cfg.clear_bits);
|
||||
success = false;
|
||||
}
|
||||
|
||||
return success;
|
||||
}
|
||||
|
||||
uint16_t ADIS16470::RegisterRead(Register reg)
|
||||
{
|
||||
set_frequency(SPI_SPEED);
|
||||
|
||||
uint16_t cmd[1];
|
||||
cmd[0] = (static_cast<uint16_t>(reg) << 8);
|
||||
|
||||
transferhword(cmd, nullptr, 1);
|
||||
px4_udelay(SPI_STALL_PERIOD);
|
||||
transferhword(nullptr, cmd, 1);
|
||||
|
||||
return cmd[0];
|
||||
}
|
||||
|
||||
void ADIS16470::RegisterWrite(Register reg, uint16_t value)
|
||||
{
|
||||
set_frequency(SPI_SPEED);
|
||||
|
||||
uint16_t cmd[2];
|
||||
cmd[0] = (((static_cast<uint16_t>(reg)) | DIR_WRITE) << 8) | ((0x00FF & value));
|
||||
cmd[1] = (((static_cast<uint16_t>(reg) + 1) | DIR_WRITE) << 8) | ((0xFF00 & value) >> 8);
|
||||
|
||||
transferhword(cmd, nullptr, 1);
|
||||
px4_udelay(SPI_STALL_PERIOD);
|
||||
transferhword(cmd + 1, nullptr, 1);
|
||||
}
|
||||
|
||||
void ADIS16470::RegisterSetAndClearBits(Register reg, uint16_t setbits, uint16_t clearbits)
|
||||
{
|
||||
const uint16_t orig_val = RegisterRead(reg);
|
||||
|
||||
uint16_t val = (orig_val & ~clearbits) | setbits;
|
||||
|
||||
if (orig_val != val) {
|
||||
RegisterWrite(reg, val);
|
||||
}
|
||||
}
|
||||
|
|
@ -0,0 +1,129 @@
|
|||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2021 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 ADIS16470.hpp
|
||||
*
|
||||
* Driver for the Analog Devices ADIS16470 connected via SPI.
|
||||
*
|
||||
*/
|
||||
|
||||
#pragma once
|
||||
|
||||
#include "Analog_Devices_ADIS16470_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/ecl/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_ADIS16470;
|
||||
|
||||
class ADIS16470 : public device::SPI, public I2CSPIDriver<ADIS16470>
|
||||
{
|
||||
public:
|
||||
ADIS16470(I2CSPIBusOption bus_option, int bus, uint32_t device, enum Rotation rotation, int bus_frequency,
|
||||
spi_drdy_gpio_t drdy_gpio);
|
||||
~ADIS16470() override;
|
||||
|
||||
static I2CSPIDriverBase *instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
|
||||
int runtime_instance);
|
||||
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 _perf_crc_bad{perf_counter_t(perf_alloc(PC_COUNT, MODULE_NAME": CRC16 bad"))};
|
||||
perf_counter_t _bad_register_perf{perf_alloc(PC_COUNT, MODULE_NAME": bad register")};
|
||||
perf_counter_t _bad_transfer_perf{perf_alloc(PC_COUNT, MODULE_NAME": bad transfer")};
|
||||
|
||||
hrt_abstime _reset_timestamp{0};
|
||||
hrt_abstime _last_config_check_timestamp{0};
|
||||
int _failure_count{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};
|
||||
|
||||
uint8_t _checked_register{0};
|
||||
static constexpr uint8_t size_register_cfg{1};
|
||||
register_config_t _register_cfg[size_register_cfg] {
|
||||
// Register | Set bits, Clear bits
|
||||
{ Register::MSC_CTRL, 0, MSC_CTRL_BIT::DR_polarity },
|
||||
};
|
||||
};
|
||||
|
|
@ -0,0 +1,126 @@
|
|||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2021 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_ADIS16470_registers.hpp
|
||||
*
|
||||
* Analog Devices ADIS16470 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_ADIS16470
|
||||
{
|
||||
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 = 16; // 16 us Stall period between data
|
||||
|
||||
static constexpr uint16_t DIR_WRITE = 0x80;
|
||||
|
||||
static constexpr uint16_t Product_identification = 0x4056;
|
||||
|
||||
static constexpr uint32_t SAMPLE_INTERVAL_US = 500; // 2000 Hz
|
||||
|
||||
enum class Register : uint16_t {
|
||||
DIAG_STAT = 0x02,
|
||||
|
||||
FILT_CTRL = 0x5C,
|
||||
|
||||
MSC_CTRL = 0x60,
|
||||
|
||||
GLOB_CMD = 0x68,
|
||||
|
||||
FIRM_REV = 0x6C, // Identification, firmware revision
|
||||
FIRM_DM = 0x6E, // Identification, date code, day and month
|
||||
FIRM_Y = 0x70, // Identification, date code, year
|
||||
PROD_ID = 0x72, // Identification, part number
|
||||
SERIAL_NUM = 0x74, // Identification, serial number
|
||||
|
||||
FLSHCNT_LOW = 0x7C, // Output, flash memory write cycle counter, lower word
|
||||
FLSHCNT_HIGH = 0x7E, // Output, flash memory write cycle counter, upper word
|
||||
};
|
||||
|
||||
// DIAG_STAT
|
||||
enum DIAG_STAT_BIT : uint16_t {
|
||||
Clock_error = Bit7, // A 1 indicates that the internal data sampling clock
|
||||
Memory_failure = Bit6, // A 1 indicates a failure in the flash memory test
|
||||
Sensor_failure = Bit5, // A 1 indicates failure of at least one sensor, at the conclusion of the self test
|
||||
Standby_mode = Bit4, // A 1 indicates that the voltage across VDD and GND is <2.8 V, which causes data processing to stop
|
||||
SPI_communication_error = Bit3, // A 1 indicates that the total number of SCLK cycles is not equal to an integer multiple of 16
|
||||
Flash_memory_update_failure = Bit2, // A 1 indicates that the most recent flash memory update failed
|
||||
Data_path_overrun = Bit1, // A 1 indicates that one of the data paths have experienced an overrun condition
|
||||
};
|
||||
|
||||
// FILT_CTRL
|
||||
enum FILT_CTRL_BIT : uint16_t {
|
||||
|
||||
};
|
||||
|
||||
// MSC_CTRL
|
||||
enum MSC_CTRL_BIT : uint16_t {
|
||||
DR_polarity = Bit0, // 1 = active high when data is valid
|
||||
};
|
||||
|
||||
// GLOB_CMD
|
||||
enum GLOB_CMD_BIT : uint16_t {
|
||||
Software_reset = Bit7,
|
||||
|
||||
Flash_memory_test = Bit4,
|
||||
|
||||
Sensor_self_test = Bit2,
|
||||
};
|
||||
|
||||
|
||||
} // namespace Analog_Devices_ADIS16470
|
||||
|
|
@ -0,0 +1,47 @@
|
|||
############################################################################
|
||||
#
|
||||
# Copyright (c) 2021 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__adis16470
|
||||
MAIN adis16470
|
||||
COMPILE_FLAGS
|
||||
SRCS
|
||||
ADIS16470.cpp
|
||||
ADIS16470.hpp
|
||||
adis16470_main.cpp
|
||||
Analog_Devices_ADIS16470_registers.hpp
|
||||
DEPENDS
|
||||
drivers_accelerometer
|
||||
drivers_gyroscope
|
||||
px4_work_queue
|
||||
)
|
||||
|
|
@ -0,0 +1,106 @@
|
|||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2021 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 "ADIS16470.hpp"
|
||||
|
||||
#include <px4_platform_common/getopt.h>
|
||||
#include <px4_platform_common/module.h>
|
||||
|
||||
void ADIS16470::print_usage()
|
||||
{
|
||||
PRINT_MODULE_USAGE_NAME("adis16470", "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();
|
||||
}
|
||||
|
||||
I2CSPIDriverBase *ADIS16470::instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
|
||||
int runtime_instance)
|
||||
{
|
||||
ADIS16470 *instance = new ADIS16470(iterator.configuredBusOption(), iterator.bus(), iterator.devid(), cli.rotation,
|
||||
cli.bus_frequency, iterator.DRDYGPIO());
|
||||
|
||||
if (!instance) {
|
||||
PX4_ERR("alloc failed");
|
||||
return nullptr;
|
||||
}
|
||||
|
||||
if (OK != instance->init()) {
|
||||
delete instance;
|
||||
return nullptr;
|
||||
}
|
||||
|
||||
return instance;
|
||||
}
|
||||
|
||||
extern "C" int adis16470_main(int argc, char *argv[])
|
||||
{
|
||||
int ch;
|
||||
using ThisDriver = ADIS16470;
|
||||
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_ADIS16470);
|
||||
|
||||
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;
|
||||
}
|
||||
Loading…
Reference in New Issue