ADIS16477.hpp
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/****************************************************************************
*
* Copyright (c) 2018-2019 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.
*
****************************************************************************/
/*
* ADIS16477.hpp
*
*/
#pragma once
#include <drivers/device/spi.h>
#include <ecl/geo/geo.h>
#include <lib/conversion/rotation.h>
#include <lib/drivers/accelerometer/PX4Accelerometer.hpp>
#include <lib/drivers/gyroscope/PX4Gyroscope.hpp>
#include <perf/perf_counter.h>
#include <px4_platform_common/getopt.h>
#include <px4_platform_common/i2c_spi_buses.h>
class ADIS16477 : public device::SPI, public I2CSPIDriver<ADIS16477>
{
public:
ADIS16477(I2CSPIBusOption bus_option, int bus, int32_t device, enum Rotation rotation, int bus_frequency,
spi_mode_e spi_mode, spi_drdy_gpio_t drdy_gpio);
virtual ~ADIS16477();
static I2CSPIDriverBase *instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
int runtime_instance);
static void print_usage();
int init();
void print_status() override;
void RunImpl();
protected:
int probe() override;
void exit_and_cleanup() override;
private:
PX4Accelerometer _px4_accel;
PX4Gyroscope _px4_gyro;
perf_counter_t _sample_perf;
perf_counter_t _bad_transfers;
const spi_drdy_gpio_t _drdy_gpio;
#pragma pack(push, 1)
// Report conversation with in the ADIS16477, including command byte and interrupt status.
struct ADISReport {
uint16_t cmd;
uint16_t diag_stat;
int16_t gyro_x;
int16_t gyro_y;
int16_t gyro_z;
int16_t accel_x;
int16_t accel_y;
int16_t accel_z;
uint16_t temp;
uint16_t DATA_CNTR;
uint8_t checksum;
uint8_t _padding; // 16 bit SPI mode
};
#pragma pack(pop)
/**
* Start automatic measurement.
*/
void start();
/**
* Reset chip.
*
* Resets the chip and measurements ranges, but not scale and offset.
*/
int reset();
static int data_ready_interrupt(int irq, void *context, void *arg);
/**
* Fetch measurements from the sensor and update the report buffers.
*/
int measure();
uint16_t read_reg16(uint8_t reg);
int write_reg(uint8_t reg, uint8_t value);
void write_reg16(uint8_t reg, uint16_t value);
// ADIS16477 onboard self test
bool self_test_memory();
bool self_test_sensor();
};