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[driver] IMU ADIS16470 #805

Merged
merged 3 commits into from
Jan 24, 2022
Merged

[driver] IMU ADIS16470 #805

merged 3 commits into from
Jan 24, 2022

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rleh
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@rleh rleh commented Jan 5, 2022 •
edited

  • Driver
    • Add some additional functions for configuration
  • Example
  • Test on real hardware

@salkinium salkinium added this to the 2022q1 milestone Jan 6, 2022
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rleh commented Jan 13, 2022

Chip seems to work (DR pin toggles as expected), but DOUT/MISO signal is constantly low.
image
Looks like it might be shorted to CS, but my multimeter measures approx. 20kOhm from CS to DOUT.

image

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Maybe the MISO needs a pullup?

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rleh commented Jan 13, 2022

Maybe the MISO needs a pullup?

I already enabled the STM32 internal pull-up, but maybe it is to weak for 600kHz SPI...

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salkinium commented Jan 13, 2022 •
edited

For F4 it's only 30-50kOhm for the pullup (see datasheet, I/O characteristics).

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rleh commented Jan 13, 2022

I added an external 3k9 pull-up to MISO and still same issue.
Maybe a hardware defect of the IMU (costs 300$)... 😒
I will test the driver with another identical IMUs (but already soldered on custom PCBs).

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chris-durand commented Jan 13, 2022 •
edited

Maybe the MISO needs a pullup?

I already enabled the STM32 internal pull-up, but maybe it is to weak for 600kHz SPI...

I guess it is. Rise time is 2.2 * R *C. With the pull up R=40kOhm and C=5pF for the STM32 IO we get 2.8 µS. The reciprocal is 362 kHz.

EDIT: Ah, the calculation is wrong, I made a typo with the calculator but it's not the issue anyways 🤦‍♂️ .

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Uiuiui, the gloves are off now, at your pencils, ready, math!

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The IMU requires SPI mode 3:

spi

This is never configured in the driver.

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The data out should not require a pull-up. I would remove it.

@rleh rleh marked this pull request as ready for review January 13, 2022 20:45
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rleh commented Jan 14, 2022

The IMU requires SPI mode 3: [image ...]
The data out should not require a pull-up. I would remove it.

Works now with SPI mode 3 and without any pull-up.

salkinium
salkinium requested changes Jan 14, 2022
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Nice driver, just needs to guard the IO module.

src/modm/driver/inertial/adis16470.hpp Outdated Show resolved Hide resolved
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salkinium
salkinium approved these changes Jan 21, 2022
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Squash?

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rleh commented Jan 22, 2022

Squash?

Yes, but after investigating why the MSC_CTRL register does not read back correctly.

@rleh rleh requested review from salkinium and chris-durand and removed request for chris-durand January 24, 2022 16:14
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rleh commented Jan 24, 2022

Squashed, tested (again) on real hardware & ready to merge!

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chris-durand approved these changes Jan 24, 2022
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Thanks! Very nice!

@rleh rleh merged commit b153186 into modm-io:develop Jan 24, 2022
@rleh rleh deleted the feature/driver_ADIS16470 branch January 24, 2022 18:07
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@salkinium salkinium salkinium approved these changes

@chris-durand chris-durand chris-durand approved these changes

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