Analog_Devices_ADIS16448_registers.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 Analog_Devices_ADIS16448_registers.hpp
*
* Analog Devices ADIS16448 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_ADIS16448
{
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 = 10; // 9 us Stall period between data
static constexpr uint16_t DIR_WRITE = 0x80;
static constexpr uint16_t Product_identification = 0x4040;
static constexpr uint32_t SAMPLE_INTERVAL_US = (1e6f / 819.2f); // ~819.2 Hz
enum class Register : uint16_t {
GPIO_CTRL = 0x32, // Auxiliary digital input/output control
MSC_CTRL = 0x34, // Miscellaneous control
SMPL_PRD = 0x36, // Internal sample period (rate) control
SENS_AVG = 0x38, // Dynamic range and digital filter control
DIAG_STAT = 0x3C, // System status
GLOB_CMD = 0x3E, // System command
LOT_ID1 = 0x52, // Lot identification number
LOT_ID2 = 0x54, // Lot identification number
PROD_ID = 0x56, // Product identifier
SERIAL_NUM = 0x58, // Lot-specific serial number
};
// MSC_CTRL
enum MSC_CTRL_BIT : uint16_t {
Checksum_memory_test = Bit11, // Checksum memory test (cleared upon completion)
Internal_self_test = Bit10, // Internal self test (cleared upon completion)
// Not used = Bit5
CRC16_for_burst = Bit4, // include the CRC-16 code in burst read output sequence
// Not used = Bit3
Data_ready_enable = Bit2,
Data_ready_polarity = Bit1, // 1 = active high when data is valid
Data_ready_line_select = Bit0, // Data ready line select 1 = DIO2, 0 = DIO1
};
// DIAG_STAT
enum DIAG_STAT_BIT : uint16_t {
Z_axis_accelerometer_self_test_failure = Bit15, // 1 = fail, 0 = pass
Y_axis_accelerometer_self_test_failure = Bit14, // 1 = fail, 0 = pass
X_axis_accelerometer_self_test_failure = Bit13, // 1 = fail, 0 = pass
Z_axis_gyroscope_self_test_failure = Bit12, // 1 = fail, 0 = pass
Y_axis_gyroscope_self_test_failure = Bit11, // 1 = fail, 0 = pass
X_axis_gyroscope_self_test_failure = Bit10, // 1 = fail, 0 = pass
New_data_xMAGN_OUT_BARO_OUT = Bit7, // New data, xMAGN_OUT/BARO_OUT
Flash_test_checksum_flag = Bit6, // 1 = fail, 0 = pass
Self_test_diagnostic_error_flag = Bit5, // 1 = fail, 0 = pass
SPI_communication_failure = Bit3, // 1 = fail, 0 = pass
Barometer_functional_test = Bit1, // 1 = fail, 0 = pass
Magnetometer_functional_test = Bit0, // 1 = fail, 0 = pass
};
// GLOB_CMD
enum GLOB_CMD_BIT : uint16_t {
Software_reset = Bit7,
};
// SMPL_PRD
enum SMPL_PRD_BIT : uint16_t {
// [12:8] D, decimation rate setting, binomial
decimation_rate = Bit12 | Bit11 | Bit10 | Bit9 | Bit8, // disable
internal_sampling_clock = Bit0, // 1 = internal sampling clock, 819.2 SPS
};
// SENS_AVG
enum SENS_AVG_BIT : uint16_t {
// [10:8] Measurement range (sensitivity) selection
Measurement_range_1000_set = Bit10, // 100 = ±1000°/sec (default condition)
Measurement_range_1000_clear = Bit9 | Bit8,
// [2:0] Filter Size Variable B
Filter_Size_Variable_B_set = Bit1,
Filter_Size_Variable_B_clear = Bit2 | Bit0,
};
// GPIO_CTRL
enum GPIO_CTRL_BIT : uint16_t {
GPIO4_DATA_LEVEL = Bit11, // General-Purpose I/O Line 1 (DIO1) data level
GPIO3_DATA_LEVEL = Bit10, // General-Purpose I/O Line 1 (DIO1) data level
GPIO2_DATA_LEVEL = Bit9, // General-Purpose I/O Line 1 (DIO1) data level
GPIO1_DATA_LEVEL = Bit8, // General-Purpose I/O Line 1 (DIO1) data level
GPIO4_DIRECTION = Bit3, // General-Purpose I/O Line 4 (DIO4) direction control 1 = output, 0 = input
GPIO3_DIRECTION = Bit2, // General-Purpose I/O Line 3 (DIO3) direction control 1 = output, 0 = input
GPIO2_DIRECTION = Bit1, // General-Purpose I/O Line 2 (DIO2) direction control 1 = output, 0 = input
GPIO1_DIRECTION = Bit0, // General-Purpose I/O Line 1 (DIO1) direction control 1 = output, 0 = input
};
} // namespace Analog_Devices_ADIS16448