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| Original file line number | Diff line number | Diff line change |
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| // coding: utf-8 | ||
| /* | ||
| * Copyright (c) 2022, Raphael Lehmann | ||
| * | ||
| * This file is part of the modm project. | ||
| * | ||
| * This Source Code Form is subject to the terms of the Mozilla Public | ||
| * License, v. 2.0. If a copy of the MPL was not distributed with this | ||
| * file, You can obtain one at http://mozilla.org/MPL/2.0/. | ||
| */ | ||
| // ---------------------------------------------------------------------------- | ||
|
|
||
| #ifndef MODM_ADIS16470_HPP | ||
| #define MODM_ADIS16470_HPP | ||
|
|
||
| #include <array> | ||
| #include <optional> | ||
| #include <span> | ||
| #include <modm/architecture/interface/spi_device.hpp> | ||
| #include <modm/architecture/interface/register.hpp> | ||
| #include <modm/architecture/interface/gpio.hpp> | ||
| #include <modm/processing/resumable.hpp> | ||
|
|
||
| namespace modm | ||
| { | ||
|
|
||
| /// @ingroup modm_driver_adis16470 | ||
| struct adis16470 | ||
| { | ||
| /// Available registers | ||
| enum class | ||
| Register : uint8_t | ||
| { | ||
| DIAG_STAT = 0x02, | ||
| X_GYRO_LOW = 0x04, | ||
| X_GYRO_OUT = 0x06, | ||
| Y_GYRO_LOW = 0x08, | ||
| Y_GYRO_OUT = 0x0A, | ||
| Z_GYRO_LOW = 0x0C, | ||
| Z_GYRO_OUT = 0x0E, | ||
| X_ACCL_LOW = 0x10, | ||
| X_ACCL_OUT = 0x12, | ||
| Y_ACCL_LOW = 0x14, | ||
| Y_ACCL_OUT = 0x16, | ||
| Z_ACCL_LOW = 0x18, | ||
| Z_ACCL_OUT = 0x1A, | ||
| TEMP_OUT = 0x1C, | ||
| TIME_STAMP = 0x1E, | ||
| DATA_CNTR = 0x22, | ||
| X_DELTANG_LOW = 0x24, | ||
| X_DELTANG_OUT = 0x26, | ||
| Y_DELTANG_LOW = 0x28, | ||
| Y_DELTANG_OUT = 0x2A, | ||
| Z_DELTANG_LOW = 0x2C, | ||
| Z_DELTANG_OUT = 0x2E, | ||
| X_DELTVEL_LOW = 0x30, | ||
| X_DELTVEL_OUT = 0x32, | ||
| Y_DELTVEL_LOW = 0x34, | ||
| Y_DELTVEL_OUT = 0x36, | ||
| Z_DELTVEL_LOW = 0x38, | ||
| Z_DELTVEL_OUT = 0x3A, | ||
| XG_BIAS_LOW = 0x40, | ||
| XG_BIAS_HIGH = 0x42, | ||
| YG_BIAS_LOW = 0x44, | ||
| YG_BIAS_HIGH = 0x46, | ||
| ZG_BIAS_LOW = 0x48, | ||
| ZG_BIAS_HIGH = 0x4A, | ||
| XA_BIAS_LOW = 0x4C, | ||
| XA_BIAS_HIGH = 0x4E, | ||
| YA_BIAS_LOW = 0x50, | ||
| YA_BIAS_HIGH = 0x52, | ||
| ZA_BIAS_LOW = 0x54, | ||
| ZA_BIAS_HIGH = 0x56, | ||
| FILT_CTRL = 0x5C, | ||
| MSC_CTRL = 0x60, | ||
| UP_SCALE = 0x62, | ||
| DEC_RATE = 0x64, | ||
| NULL_CNFG = 0x66, | ||
| GLOB_CMD = 0x68, | ||
| FIRM_REV = 0x6C, | ||
| FIRM_DM = 0x6E, | ||
| FIRM_Y = 0x70, | ||
| PROD_ID = 0x72, | ||
| SERIAL_NUM = 0x74, | ||
| USER_SCR1 = 0x76, | ||
| USER_SCR2 = 0x78, | ||
| USER_SCR3 = 0x7A, | ||
| FLSHCNT_LOW = 0x7C, | ||
| FLSHCNT_HIGH = 0x7E, | ||
| }; | ||
|
|
||
| enum class | ||
| AccessMethod : uint8_t | ||
| { | ||
| Read = 0b01, | ||
| Write = 0b10, | ||
| ReadWrite = 0b11, | ||
| }; | ||
|
|
||
| /// Get the allowed register access modes for a given Register | ||
| constexpr AccessMethod | ||
| getRegisterAccess(Register r) | ||
| { | ||
| if (r == Register::GLOB_CMD) { | ||
| return AccessMethod::Write; | ||
| } | ||
| if (r <= Register::Z_DELTVEL_OUT) { | ||
| return AccessMethod::Read; | ||
| } | ||
| if ((r >= Register::FIRM_REV) && (r != Register::USER_SCR1) && (r != Register::USER_SCR2) && (r != Register::USER_SCR3)) { | ||
| return AccessMethod::Read; | ||
| } | ||
| return AccessMethod::ReadWrite; | ||
| } | ||
|
|
||
| /// Status/Error Flag Indicators | ||
| /// DIAG_STAT register (address 0x02, 0x03) reset value is 0x0000 | ||
| enum class | ||
| DiagStat : uint16_t | ||
| { | ||
| // Reserved = Bit8 to Bit15, | ||
| ClockError = Bit7, ///< Indicates that the internal data sampling clock does not synchronize with the external clock, which only applies when using scale sync mode. | ||
| MemoryFailure = Bit6, ///< Indicates a failure in the flash memory test. | ||
| SensorFailure = Bit5, ///< Indicates failure of at least one sensor, at the conclusion of the self test. | ||
| StandbyMode = Bit4, ///< Indicates that the voltage across VDD and GND is <2.8 V, which causes data processing to stop. | ||
| SpiCommunicationError = Bit3, ///< Indicates that the total number of SCLK cycles is not equal to an integer multiple of 16. | ||
| FlashUpdateFailure = Bit2, ///< Indicates that the most recent flash memory update failed. | ||
| DataPathOverrun = Bit1, ///< Indicates that one of the data paths have experienced an overrun condition. | ||
| // Reserved = Bit0, | ||
| }; | ||
| MODM_FLAGS8(DiagStat); | ||
|
|
||
| }; | ||
|
|
||
| /** | ||
| * \ingroup modm_driver_adis16470 | ||
| * \author Raphael Lehmann | ||
| */ | ||
| template<class SpiMaster, class Cs> | ||
| class Adis16470 : public adis16470, | ||
| public modm::SpiDevice<SpiMaster>, | ||
| protected modm::NestedResumable<2> | ||
| { | ||
| public: | ||
| Adis16470() = default; | ||
|
|
||
| /** | ||
| * @brief Initialize | ||
| * | ||
| * Sets used pins as output. | ||
| * | ||
| * SPI must be initialized by the user! | ||
| * @warning The SPI frequency must not exceed 2 MHz for this chip, | ||
| * or 1 MHz with burst mode. | ||
| */ | ||
| modm::ResumableResult<void> | ||
| initialize(); | ||
|
|
||
| /** | ||
| * @brief Read a single register. | ||
| * | ||
| * @param reg The register to be read | ||
| * @return The register value in case of a read access, or std::nullopt if | ||
| * an error occured, e.g. if some register access is not permitted. | ||
| */ | ||
| modm::ResumableResult<std::optional<uint16_t>> | ||
| readRegister(Register reg); | ||
|
|
||
| /** | ||
| * @brief Write a single register. | ||
| * | ||
| * @param reg The register to be written | ||
| * @param value The value to be written to the register. | ||
| * @return False in case of any error, e.g. if some register acces is not | ||
| * permitted. | ||
| */ | ||
| modm::ResumableResult<bool> | ||
| writeRegister(Register reg, uint16_t value); | ||
|
|
||
| /** | ||
| * @brief Read a sequence of registers. | ||
| * Improves SPI usage efficiency by 100% compared to `accessRegister(...)`. | ||
| * | ||
| * @param sequence All registers in the std::span will be read and the | ||
| * results will be stored in values. | ||
| * @param values Results of the read operations | ||
| * @return False in case of any error, e.g. if some register access is not | ||
| * permitted. | ||
| */ | ||
| modm::ResumableResult<bool> | ||
| readRegisterSequence(std::span<Register> sequence, std::span<uint16_t> values); | ||
|
|
||
| /** | ||
| * @brief Read all output data registers using burst mode. | ||
| * | ||
| * In all clock modes, except when operating in scaled sync mode (Register | ||
| * MSC_CTRL, Bits[4:2] = 010), the burst read response includes the | ||
| * following registers and checksum value: | ||
| * DIAG_STAT, X_GYRO_OUT, Y_GYRO_OUT, Z_GYRO_OUT, X_ACCL_OUT, Y_ACCL_OUT, | ||
| * Z_ACCL_OUT, TEMP_OUT, DATA_CNTR, and checksum. | ||
| * | ||
| * When operating in scaled sync mode (Register MSC_CTRL, Bits[4:2] = 010), | ||
| * the burst read response includes the following registers and value: | ||
| * DIAG_STAT, X_GYRO_OUT, Y_GYRO_OUT, Z_GYRO_OUT, X_ACCL_OUT, Y_ACCL_OUT, | ||
| * Z_ACCL_OUT, TEMP_OUT, TIME_STMP, and checksum. | ||
| * | ||
| * This is useful with DMA accelerated SPI to retrieve the measurement | ||
| * data, because it only triggers a single SPI transfer. | ||
| * | ||
| * @warning The SPI frequency must not exceed 1 MHz for this mode. | ||
| * | ||
| * @param data Reference to a array of 11 uint16_t entries, the read | ||
| * register values are written here. | ||
| * data[0] is empty and the last entry (data[10]) contains a checksum which | ||
| * has already been checked by this driver. | ||
| * @return False in case of a checksum mismatch. | ||
| */ | ||
| modm::ResumableResult<bool> | ||
| readRegisterBurst(std::array<uint16_t, 11>& data); | ||
|
|
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| private: | ||
| static constexpr std::size_t bufferSize = 22; | ||
| std::array<uint8_t, bufferSize> buffer; | ||
| std::size_t i; | ||
| uint8_t checksum; | ||
| }; | ||
|
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|
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| } // modm namespace | ||
|
|
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| #include "adis16470_impl.hpp" | ||
|
|
||
| #endif // MODM_ADIS16470_HPP |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,33 @@ | ||
| #!/usr/bin/env python3 | ||
| # -*- coding: utf-8 -*- | ||
| # | ||
| # Copyright (c) 2022, Raphael Lehmann | ||
| # | ||
| # This file is part of the modm project. | ||
| # | ||
| # This Source Code Form is subject to the terms of the Mozilla Public | ||
| # License, v. 2.0. If a copy of the MPL was not distributed with this | ||
| # file, You can obtain one at http://mozilla.org/MPL/2.0/. | ||
| # ----------------------------------------------------------------------------- | ||
|
|
||
|
|
||
| def init(module): | ||
| module.name = ":driver:adis16470" | ||
| module.description = """\ | ||
| # ADIS16470 Inertial Measurement Unit | ||
| [Datasheet](https://www.analog.com/media/en/technical-documentation/data-sheets/ADIS16470.pdf) | ||
| """ | ||
|
|
||
| def prepare(module, options): | ||
| module.depends( | ||
| ":architecture:gpio", | ||
| ":architecture:register", | ||
| ":architecture:spi.device", | ||
| ":processing:resumable") | ||
| return True | ||
|
|
||
| def build(env): | ||
| env.outbasepath = "modm/src/modm/driver/inertial" | ||
| env.copy("adis16470.hpp") | ||
| env.copy("adis16470_impl.hpp") |
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