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[driver] IMU ADIS16470 #805

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Jan 24, 2022
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[driver] IMU ADIS16470 #805

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4dbc2c4
[architecture] Register: Fix documentation
rleh Jan 13, 2022
2b4855b
[driver] IMU ADIS16470
rleh Jan 1, 2022
b153186
[example] ADIS16470 IMU example for Nucleo-F429ZI
rleh Jan 3, 2022
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26 changes: 14 additions & 12 deletions README.md
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Original file line number Diff line number Diff line change
Expand Up @@ -633,93 +633,95 @@ you specific needs.
<tr>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-ad7280a">AD7280A</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-ad7928">AD7928</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-adis16470">ADIS16470</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-adns9800">ADNS9800</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-ads7843">ADS7843</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-ads816x">ADS816X</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-ams5915">AMS5915</a></td>
</tr><tr>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-ams5915">AMS5915</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-apa102">APA102</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-block-device-spi-flash">SPI-FLASH</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-bme280">BME280</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-bmp085">BMP085</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-bno055">BNO055</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-cat24aa">CAT24AA</a></td>
</tr><tr>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-cat24aa">CAT24AA</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-drv832x_spi">DRV832X</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-ds1302">DS1302</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-ds1631">DS1631</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-ds18b20">DS18B20</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-ea_dog">EA-DOG</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-encoder_input">ENCODER-INPUT</a></td>
</tr><tr>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-encoder_input">ENCODER-INPUT</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-encoder_input-bitbang">ENCODER-INPUT-BITBANG</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-encoder_output-bitbang">ENCODER-OUTPUT-BITBANG</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-ft245">FT245</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-ft6x06">FT6X06</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-gpio_sampler">GPIO-SAMPLER</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-hclax">HCLAx</a></td>
</tr><tr>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-hclax">HCLAx</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-hd44780">HD44780</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-hmc58x">HMC58x</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-hmc6343">HMC6343</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-hx711">HX711</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-i2c-eeprom">I2C-EEPROM</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-ili9341">ILI9341</a></td>
</tr><tr>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-ili9341">ILI9341</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-is31fl3733">IS31FL3733</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-itg3200">ITG3200</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-l3gd20">L3GD20</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-lan8720a">LAN8720A</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-lawicel">LAWICEL</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-lis302dl">LIS302DL</a></td>
</tr><tr>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-lis302dl">LIS302DL</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-lis3dsh">LIS3DSH</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-lis3mdl">LIS3MDL</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-lm75">LM75</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-lp503x">LP503X</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-lsm303a">LSM303A</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-lsm6ds33">LSM6DS33</a></td>
</tr><tr>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-lsm6ds33">LSM6DS33</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-ltc2984">LTC2984</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-max6966">MAX6966</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-max7219">MAX7219</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-mcp23x17">MCP23X17</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-mcp2515">MCP2515</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-mcp7941x">MCP7941X</a></td>
</tr><tr>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-mcp7941x">MCP7941X</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-mmc5603">MMC5603</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-nokia5110">NOKIA5110</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-nrf24">NRF24</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-parallel_tft_display">TFT-DISPLAY</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-pat9125el">PAT9125EL</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-pca8574">PCA8574</a></td>
</tr><tr>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-pca8574">PCA8574</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-pca9535">PCA9535</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-pca9548a">PCA9548A</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-pca9685">PCA9685</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-sh1106">SH1106</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-siemens_s65">SIEMENS-S65</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-siemens_s75">SIEMENS-S75</a></td>
</tr><tr>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-siemens_s75">SIEMENS-S75</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-sk6812">SK6812</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-sk9822">SK9822</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-ssd1306">SSD1306</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-st7586s">ST7586S</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-stts22h">STTS22H</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-stusb4500">STUSB4500</a></td>
</tr><tr>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-stusb4500">STUSB4500</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-sx1276">SX1276</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-tcs3414">TCS3414</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-tcs3472">TCS3472</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-tlc594x">TLC594X</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-tmp102">TMP102</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-tmp12x">TMP12X</a></td>
</tr><tr>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-tmp12x">TMP12X</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-tmp175">TMP175</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-touch2046">TOUCH2046</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-vl53l0">VL53L0</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-vl6180">VL6180</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-ws2812">WS2812</a></td>
</tr><tr>
</tr>
</table>
<!--/drivertable-->
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143 changes: 143 additions & 0 deletions examples/nucleo_f429zi/imu_adis16470/main.cpp
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/*
* 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>
#include <optional>

using namespace Board;

using SpiMaster = SpiMaster1;
using Mosi = GpioB5;
using Miso = GpioB4;
using Sck = GpioB3;
using Cs = GpioA4;
using Dr = GpioB9;
using Rst = GpioB8;

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, 650_kHz>();
SpiMaster::connect<Sck::Sck, Mosi::Mosi, Miso::Miso>();

Rst::setOutput();
Dr::setInput(Gpio::InputType::PullUp);

// 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());

// Software reset
RF_CALL_BLOCKING(imu.writeGlobCmd(modm::adis16470::GlobCmd::SoftwareReset));
// Wait start-up time after reset
modm::delay(252ms);

// Trigger self test
RF_CALL_BLOCKING(imu.writeGlobCmd(modm::adis16470::GlobCmd::SensorSelfTest));
// Wait for self test to complete
modm::delay(14ms);

modm::adis16470::DiagStat_t diagStat = RF_CALL_BLOCKING(imu.readDiagStat());
MODM_LOG_INFO << "Reading DIAG_STAT register = " << diagStat << modm::endl;

modm::delay(1ms);
auto result = RF_CALL_BLOCKING(imu.readRegister(modm::adis16470::Register::PROD_ID));
if (result.has_value()) {
MODM_LOG_INFO << "ADIS16470 product id = " << *result << " (should be 16470==0x4056)" << modm::endl;
}
else {
MODM_LOG_INFO << "Unable to reag PROD_ID register" << modm::endl;
}

modm::adis16470::MscCtrl_t mscCtrl = RF_CALL_BLOCKING(imu.readMscCtrl());
MODM_LOG_INFO << "Reading MSC_CTRL register = " << mscCtrl << modm::endl;

RF_CALL_BLOCKING(imu.setDataOutputFrequency<10_Hz>());

RF_CALL_BLOCKING(imu.writeRegister(modm::adis16470::Register::FILT_CTRL, 8)); // N_B = 2^8 = 64

mscCtrl = modm::adis16470::MscCtrl::DrPolarity | modm::adis16470::MscCtrl::PointOfPercussionAlign;
MODM_LOG_INFO << "Writing MSC_CTRL register = " << mscCtrl << modm::endl;
RF_CALL_BLOCKING(imu.writeMscCtrl(mscCtrl));

diagStat = RF_CALL_BLOCKING(imu.readDiagStat());
MODM_LOG_INFO << "Reading DIAG_STAT register = " << diagStat << modm::endl;

mscCtrl = RF_CALL_BLOCKING(imu.readMscCtrl());
MODM_LOG_INFO << "Reading MSC_CTRL register = " << mscCtrl << modm::endl;

// Writing and reading USER_SCR1 register
std::optional<uint16_t> scr1 = RF_CALL_BLOCKING(imu.readRegister(modm::adis16470::Register::USER_SCR1));
if (scr1.has_value()) {
MODM_LOG_INFO << "Reading USER_SCR1 register = " << *scr1 << modm::endl;
}
else {
MODM_LOG_INFO << "Unable to USER_SCR1 register." << modm::endl;
}
MODM_LOG_INFO << "Writing USER_SCR1 register = 42" << modm::endl;
RF_CALL_BLOCKING(imu.writeRegister(modm::adis16470::Register::USER_SCR1, 42));
scr1 = RF_CALL_BLOCKING(imu.readRegister(modm::adis16470::Register::USER_SCR1));
if (scr1.has_value()) {
MODM_LOG_INFO << "Reading USER_SCR1 register = " << *scr1 << modm::endl;
}
else {
MODM_LOG_INFO << "Unable to USER_SCR1 register." << modm::endl;
}

std::array<uint16_t, 11> data;

while (true)
{
MODM_LOG_INFO.printf("\nIMU data: ");

while (!Dr::read()) {}
while (Dr::read()) {}

if( !RF_CALL_BLOCKING(imu.readRegisterBurst(data))) {
MODM_LOG_INFO.printf("checksum mismatch! ");
Board::LedRed::toggle();
}

// print data anyways
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", data[10]);

Board::LedGreen::toggle();
}

return 0;
}
11 changes: 11 additions & 0 deletions examples/nucleo_f429zi/imu_adis16470/project.xml
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<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>
2 changes: 1 addition & 1 deletion src/modm/architecture/interface/register.hpp
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Expand Up @@ -493,7 +493,7 @@ struct FlagsGroup<T> : public Register<typename T::UnderlyingType>
* the meanings [Div1, Div2, Div4, Div8].
*
* The Configuration class belongs to a specific Flags class and connects a
* corresponding Sascha Schade enum with a specific mask and bit position.
* corresponding strongly typed enum with a specific mask and bit position.
* This means that the Configuration class will mask and shift the values whenever
* needed.
* However, shifting is only done when the Position template parameter is non-zero.
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71 changes: 71 additions & 0 deletions src/modm/driver/inertial/adis16470.cpp
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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/.
*/
// ----------------------------------------------------------------------------

#include "adis16470.hpp"

modm::IOStream&
modm::operator << (modm::IOStream& os, const adis16470::DiagStat_t& c) {
os << "DiagStat(";
if(c & adis16470::DiagStat::ClockError)
os << "ClockError ";
if(c & adis16470::DiagStat::MemoryFailure)
os << "MemoryFailure ";
if(c & adis16470::DiagStat::SensorFailure)
os << "SensorFailure ";
if(c & adis16470::DiagStat::StandbyMode)
os << "StandbyMode ";
if(c & adis16470::DiagStat::SpiCommunicationError)
os << "SpiCommunicationError ";
if(c & adis16470::DiagStat::FlashUpdateFailure)
os << "FlashUpdateFailure ";
if(c & adis16470::DiagStat::DataPathOverrun)
os << "DataPathOverrun ";
os << ")";
return os;
}

modm::IOStream&
modm::operator << (modm::IOStream& os, const adis16470::MscCtrl_t& c) {
os << "MscCtrl(";
if(c & adis16470::MscCtrl::LinearGCompensationGyro)
os << "LinearGCompensationGyro ";
if(c & adis16470::MscCtrl::PointOfPercussionAlign)
os << "PointOfPercussionAlign ";
os << "SyncFunction=";
switch (adis16470::SyncFunction_t::get(c))
{
case adis16470::SyncFunction::PulseSync:
os << "PulseSync ";
break;
case adis16470::SyncFunction::OutputSync:
os << "OutputSync ";
break;
case adis16470::SyncFunction::ScaledSync:
os << "ScaledSync ";
break;
case adis16470::SyncFunction::DirectSync:
os << "DirectSync ";
break;
case adis16470::SyncFunction::InternalClock:
os << "InternalClock ";
break;
default:
os << "? ";
break;
}
if(c & adis16470::MscCtrl::SyncPolarity)
os << "SyncPolarity ";
if(c & adis16470::MscCtrl::DrPolarity)
os << "DrPolarity ";
os << ")";
return os;
}
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