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Classes | Macros | Variables
ADIS16448.h File Reference
#include <drivers/device/spi.h>
#include <ecl/geo/geo.h>
#include <lib/conversion/rotation.h>
#include <lib/drivers/accelerometer/PX4Accelerometer.hpp>
#include <lib/drivers/barometer/PX4Barometer.hpp>
#include <lib/drivers/gyroscope/PX4Gyroscope.hpp>
#include <lib/drivers/magnetometer/PX4Magnetometer.hpp>
#include <perf/perf_counter.h>
#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
Include dependency graph for ADIS16448.h:
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Classes

class  ADIS16448
 

Macros

#define DIR_READ   0x00
 
#define DIR_WRITE   0x80
 
#define ADIS16448_GPIO_CTRL   0x32 /* Auxiliary digital input/output control */
 
#define ADIS16448_MSC_CTRL   0x34 /* Miscellaneous control */
 
#define ADIS16448_SMPL_PRD   0x36 /* Internal sample period (rate) control */
 
#define ADIS16448_SENS_AVG   0x38 /* Dynamic range and digital filter control */
 
#define ADIS16448_DIAG_STAT   0x3C /* System status */
 
#define ADIS16448_GLOB_CMD   0x3E /* System command */
 
#define ADIS16448_PRODUCT_ID   0x56 /* Product identifier */
 
#define ADIS16334_SERIAL_NUMBER   0x58 /* Serial number, lot specific */
 
#define ADIS16448_Product   0x4040/* Product ID Description for ADIS16448 */
 
#define BITS_SMPL_PRD_NO_TAP_CFG   (0<<8)
 
#define BITS_SMPL_PRD_2_TAP_CFG   (1<<8)
 
#define BITS_SMPL_PRD_4_TAP_CFG   (2<<8)
 
#define BITS_SMPL_PRD_8_TAP_CFG   (3<<8)
 
#define BITS_SMPL_PRD_16_TAP_CFG   (4<<8)
 
#define BITS_GYRO_DYN_RANGE_1000_CFG   (4<<8)
 
#define BITS_GYRO_DYN_RANGE_500_CFG   (2<<8)
 
#define BITS_GYRO_DYN_RANGE_250_CFG   (1<<8)
 
#define BITS_FIR_NO_TAP_CFG   (0<<0)
 
#define BITS_FIR_2_TAP_CFG   (1<<0)
 
#define BITS_FIR_4_TAP_CFG   (2<<0)
 
#define BITS_FIR_8_TAP_CFG   (3<<0)
 
#define BITS_FIR_16_TAP_CFG   (4<<0)
 
#define BITS_FIR_32_TAP_CFG   (5<<0)
 
#define BITS_FIR_64_TAP_CFG   (6<<0)
 
#define BITS_FIR_128_TAP_CFG   (7<<0)
 
#define T_STALL   9
 

Variables

static constexpr float ADIS16448_ACCEL_SENSITIVITY {1.0f / 1200.0f * CONSTANTS_ONE_G}
 
static constexpr float ADIS16448_GYRO_INITIAL_SENSITIVITY {math::radians(1.0 / 25.0)}
 
static constexpr float ADIS16448_BARO_SENSITIVITY {0.02f}
 
static constexpr float ADIS16448_MAG_SENSITIVITY {1.0 / 7.0 / 1000.0}
 
static constexpr float ADIS16448_ACCEL_GYRO_UPDATE_RATE {819.2}
 
static constexpr float ADIS16448_MAG_BARO_UPDATE_RATE {51.2}
 

Macro Definition Documentation

◆ ADIS16334_SERIAL_NUMBER

#define ADIS16334_SERIAL_NUMBER   0x58 /* Serial number, lot specific */

Definition at line 67 of file ADIS16448.h.

Referenced by ADIS16448::probe().

◆ ADIS16448_DIAG_STAT

#define ADIS16448_DIAG_STAT   0x3C /* System status */

Definition at line 64 of file ADIS16448.h.

Referenced by ADIS16448::self_test().

◆ ADIS16448_GLOB_CMD

#define ADIS16448_GLOB_CMD   0x3E /* System command */

Definition at line 65 of file ADIS16448.h.

Referenced by ADIS16448::measure(), and ADIS16448::reset().

◆ ADIS16448_GPIO_CTRL

#define ADIS16448_GPIO_CTRL   0x32 /* Auxiliary digital input/output control */

Definition at line 60 of file ADIS16448.h.

Referenced by ADIS16448::probe().

◆ ADIS16448_MSC_CTRL

#define ADIS16448_MSC_CTRL   0x34 /* Miscellaneous control */

Definition at line 61 of file ADIS16448.h.

Referenced by ADIS16448::reset(), and ADIS16448::self_test().

◆ ADIS16448_Product

#define ADIS16448_Product   0x4040/* Product ID Description for ADIS16448 */

Definition at line 69 of file ADIS16448.h.

Referenced by ADIS16448::probe().

◆ ADIS16448_PRODUCT_ID

#define ADIS16448_PRODUCT_ID   0x56 /* Product identifier */

Definition at line 66 of file ADIS16448.h.

Referenced by ADIS16448::probe().

◆ ADIS16448_SENS_AVG

#define ADIS16448_SENS_AVG   0x38 /* Dynamic range and digital filter control */

Definition at line 63 of file ADIS16448.h.

Referenced by ADIS16448::set_dlpf_filter(), and ADIS16448::set_gyro_dyn_range().

◆ ADIS16448_SMPL_PRD

#define ADIS16448_SMPL_PRD   0x36 /* Internal sample period (rate) control */

Definition at line 62 of file ADIS16448.h.

Referenced by ADIS16448::set_sample_rate().

◆ BITS_FIR_128_TAP_CFG

#define BITS_FIR_128_TAP_CFG   (7<<0)

Definition at line 88 of file ADIS16448.h.

◆ BITS_FIR_16_TAP_CFG

#define BITS_FIR_16_TAP_CFG   (4<<0)

Definition at line 85 of file ADIS16448.h.

◆ BITS_FIR_2_TAP_CFG

#define BITS_FIR_2_TAP_CFG   (1<<0)

Definition at line 82 of file ADIS16448.h.

◆ BITS_FIR_32_TAP_CFG

#define BITS_FIR_32_TAP_CFG   (5<<0)

Definition at line 86 of file ADIS16448.h.

◆ BITS_FIR_4_TAP_CFG

#define BITS_FIR_4_TAP_CFG   (2<<0)

Definition at line 83 of file ADIS16448.h.

◆ BITS_FIR_64_TAP_CFG

#define BITS_FIR_64_TAP_CFG   (6<<0)

Definition at line 87 of file ADIS16448.h.

◆ BITS_FIR_8_TAP_CFG

#define BITS_FIR_8_TAP_CFG   (3<<0)

Definition at line 84 of file ADIS16448.h.

◆ BITS_FIR_NO_TAP_CFG

#define BITS_FIR_NO_TAP_CFG   (0<<0)

Definition at line 81 of file ADIS16448.h.

◆ BITS_GYRO_DYN_RANGE_1000_CFG

#define BITS_GYRO_DYN_RANGE_1000_CFG   (4<<8)

Definition at line 77 of file ADIS16448.h.

Referenced by ADIS16448::set_gyro_dyn_range().

◆ BITS_GYRO_DYN_RANGE_250_CFG

#define BITS_GYRO_DYN_RANGE_250_CFG   (1<<8)

Definition at line 79 of file ADIS16448.h.

Referenced by ADIS16448::set_gyro_dyn_range().

◆ BITS_GYRO_DYN_RANGE_500_CFG

#define BITS_GYRO_DYN_RANGE_500_CFG   (2<<8)

Definition at line 78 of file ADIS16448.h.

Referenced by ADIS16448::set_gyro_dyn_range().

◆ BITS_SMPL_PRD_16_TAP_CFG

#define BITS_SMPL_PRD_16_TAP_CFG   (4<<8)

Definition at line 75 of file ADIS16448.h.

Referenced by ADIS16448::set_sample_rate().

◆ BITS_SMPL_PRD_2_TAP_CFG

#define BITS_SMPL_PRD_2_TAP_CFG   (1<<8)

Definition at line 72 of file ADIS16448.h.

Referenced by ADIS16448::set_sample_rate().

◆ BITS_SMPL_PRD_4_TAP_CFG

#define BITS_SMPL_PRD_4_TAP_CFG   (2<<8)

Definition at line 73 of file ADIS16448.h.

Referenced by ADIS16448::set_sample_rate().

◆ BITS_SMPL_PRD_8_TAP_CFG

#define BITS_SMPL_PRD_8_TAP_CFG   (3<<8)

Definition at line 74 of file ADIS16448.h.

Referenced by ADIS16448::set_sample_rate().

◆ BITS_SMPL_PRD_NO_TAP_CFG

#define BITS_SMPL_PRD_NO_TAP_CFG   (0<<8)

Definition at line 71 of file ADIS16448.h.

Referenced by ADIS16448::set_sample_rate().

◆ DIR_READ

#define DIR_READ   0x00

Definition at line 57 of file ADIS16448.h.

◆ DIR_WRITE

#define DIR_WRITE   0x80

Definition at line 58 of file ADIS16448.h.

◆ T_STALL

#define T_STALL   9

Definition at line 90 of file ADIS16448.h.

Referenced by ADIS16448::read_reg16(), and ADIS16448::write_reg16().

Variable Documentation

◆ ADIS16448_ACCEL_GYRO_UPDATE_RATE

constexpr float ADIS16448_ACCEL_GYRO_UPDATE_RATE {819.2}
static

Definition at line 98 of file ADIS16448.h.

◆ ADIS16448_ACCEL_SENSITIVITY

constexpr float ADIS16448_ACCEL_SENSITIVITY {1.0f / 1200.0f * CONSTANTS_ONE_G}
static

Definition at line 92 of file ADIS16448.h.

Referenced by ADIS16448::ADIS16448().

◆ ADIS16448_BARO_SENSITIVITY

constexpr float ADIS16448_BARO_SENSITIVITY {0.02f}
static

Definition at line 94 of file ADIS16448.h.

Referenced by ADIS16448::measure().

◆ ADIS16448_GYRO_INITIAL_SENSITIVITY

constexpr float ADIS16448_GYRO_INITIAL_SENSITIVITY {math::radians(1.0 / 25.0)}
static

Definition at line 93 of file ADIS16448.h.

Referenced by ADIS16448::ADIS16448().

◆ ADIS16448_MAG_BARO_UPDATE_RATE

constexpr float ADIS16448_MAG_BARO_UPDATE_RATE {51.2}
static

Definition at line 99 of file ADIS16448.h.

◆ ADIS16448_MAG_SENSITIVITY

constexpr float ADIS16448_MAG_SENSITIVITY {1.0 / 7.0 / 1000.0}
static

Definition at line 95 of file ADIS16448.h.

Referenced by ADIS16448::ADIS16448().