ADIS16470.hpp
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/****************************************************************************
*
* 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 },
};
};