From c1a2d5a307702a7cff671b251309f6f3b34c9087 Mon Sep 17 00:00:00 2001
From: Raphael Lehmann <raphael@rleh.de>
Date: Mon, 3 Jan 2022 09:47:36 +0100
Subject: [PATCH] [example] ADIS16470 IMU example for Nucleo-F429ZI

---
 examples/nucleo_f429zi/imu_adis16470/main.cpp | 93 +++++++++++++++++++
 .../nucleo_f429zi/imu_adis16470/project.xml   | 11 +++
 2 files changed, 104 insertions(+)
 create mode 100644 examples/nucleo_f429zi/imu_adis16470/main.cpp
 create mode 100644 examples/nucleo_f429zi/imu_adis16470/project.xml

diff --git a/examples/nucleo_f429zi/imu_adis16470/main.cpp b/examples/nucleo_f429zi/imu_adis16470/main.cpp
new file mode 100644
index 0000000000..628a588ccb
--- /dev/null
+++ b/examples/nucleo_f429zi/imu_adis16470/main.cpp
@@ -0,0 +1,93 @@
+/*
+ * 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/.
+ */
+// ----------------------------------------------------------------------------
+
+#include <modm/board.hpp>
+#include <modm/platform/spi/spi_master_1.hpp>
+#include <modm/driver/inertial/adis16470.hpp>
+
+using namespace Board;
+
+using SpiMaster = SpiMaster1;
+using Mosi = GpioB5;
+using Miso = GpioB4;
+using Sck = GpioB3;
+using Cs = GpioA4;
+using Dr = GpioF12;
+using Rst = GpioUnused;
+
+using Adis16470 = modm::Adis16470<SpiMaster, Cs>;
+
+Adis16470 imu{};
+
+int
+main()
+{
+	Board::initialize();
+	Leds::setOutput();
+
+	MODM_LOG_INFO << "ADIS16470 IMU demo on Nucleo-F429ZI\n" << modm::endl;
+
+	SpiMaster::initialize<Board::SystemClock, 1.3_MHz>();
+	SpiMaster::connect<Sck::Sck, Mosi::Mosi, Miso::Miso>();
+
+	Rst::setOutput();
+	Dr::setInput();
+
+	// Reset ADS816x chip
+	Rst::reset();
+	modm::delay(10ms);
+	Rst::set();
+
+	// Wait start-up time
+	modm::delay(252ms);
+
+	MODM_LOG_INFO << "Initializing IMU..." << modm::endl;
+	RF_CALL_BLOCKING(imu.initialize());
+
+	// Configure IMU ...
+	imu.writeRegister(modm::adis16470::Register::FILT_CTRL, 0);
+	// ...
+
+	uint32_t counter(0);
+
+	std::array<uint16_t, 11> data;
+
+	while (true)
+	{
+		Leds::write(counter % ((1 << (Leds::width+1)) - 1));
+
+		MODM_LOG_INFO.printf("\nIMU data: ");
+
+		while( !Dr::read() ) {
+			// wait...
+			modm::delay(1us);
+		}
+		if( !RF_CALL_BLOCKING(imu.readRegisterBurst(data))) {
+			MODM_LOG_INFO.printf("checksum mismatch!\n\n");
+		}
+		else {
+			MODM_LOG_INFO.printf("DIAG_STAT=%05u, ", data[1]);
+			MODM_LOG_INFO.printf("X_GYRO_OUT=%+05i, ", static_cast<int16_t>(data[2]));
+			MODM_LOG_INFO.printf("Y_GYRO_OUT=%+05i, ", static_cast<int16_t>(data[3]));
+			MODM_LOG_INFO.printf("Z_GYRO_OUT=%+05i, ", static_cast<int16_t>(data[4]));
+			MODM_LOG_INFO.printf("X_ACCL_OUT=%+05i, ", static_cast<int16_t>(data[5]));
+			MODM_LOG_INFO.printf("Y_ACCL_OUT=%+05i, ", static_cast<int16_t>(data[6]));
+			MODM_LOG_INFO.printf("Z_ACCL_OUT=%+05i, ", static_cast<int16_t>(data[7]));
+			MODM_LOG_INFO.printf("TEMP_OUT=%+05i (1/10 °C), ", data[8]);
+			MODM_LOG_INFO.printf("DATA_CNTR=%05u, ", data[9]);
+			MODM_LOG_INFO.printf("checksum=%05u\n", data[10]);
+		}
+
+		modm::delay(750us);
+	}
+
+	return 0;
+}
diff --git a/examples/nucleo_f429zi/imu_adis16470/project.xml b/examples/nucleo_f429zi/imu_adis16470/project.xml
new file mode 100644
index 0000000000..5692204e28
--- /dev/null
+++ b/examples/nucleo_f429zi/imu_adis16470/project.xml
@@ -0,0 +1,11 @@
+<library>
+  <extends>modm:nucleo-f429zi</extends>
+  <options>
+    <option name="modm:build:build.path">../../../build/nucleo_f429zi/imu_adis16470</option>
+  </options>
+  <modules>
+    <module>modm:build:scons</module>
+    <module>modm:platform:spi:1</module>
+    <module>modm:driver:adis16470</module>
+  </modules>
+</library>