ADIS16477.hpp

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/*
 * ADIS16477.hpp
 *
 */

#pragma once

#include <drivers/device/spi.h>
#include <ecl/geo/geo.h>
#include <lib/conversion/rotation.h>
#include <lib/drivers/accelerometer/PX4Accelerometer.hpp>
#include <lib/drivers/gyroscope/PX4Gyroscope.hpp>
#include <perf/perf_counter.h>
#include <px4_platform_common/getopt.h>
#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>

class ADIS16477 : public device::SPI, public px4::ScheduledWorkItem
{
public:
    ADIS16477(int bus, uint32_t device, enum Rotation rotation = ROTATION_NONE);
    virtual ~ADIS16477();

    virtual int     init();

    void            print_info();

protected:
    virtual int     probe();

private:

    PX4Accelerometer    _px4_accel;
    PX4Gyroscope        _px4_gyro;

    perf_counter_t      _sample_perf;
    perf_counter_t      _bad_transfers;

#pragma pack(push, 1)
    // Report conversation with in the ADIS16477, including command byte and interrupt status.
    struct ADISReport {
        uint16_t    cmd;
        uint16_t    diag_stat;
        int16_t     gyro_x;
        int16_t     gyro_y;
        int16_t     gyro_z;
        int16_t     accel_x;
        int16_t     accel_y;
        int16_t     accel_z;
        uint16_t    temp;
        uint16_t    DATA_CNTR;
        uint8_t     checksum;
        uint8_t     _padding; // 16 bit SPI mode
    };
#pragma pack(pop)

    /**
     * Start automatic measurement.
     */
    void            start();

    /**
     * Stop automatic measurement.
     */
    void            stop();

    /**
     * Reset chip.
     *
     * Resets the chip and measurements ranges, but not scale and offset.
     */
    int         reset();

    void            Run() override;

    static int      data_ready_interrupt(int irq, void *context, void *arg);

    /**
     * Fetch measurements from the sensor and update the report buffers.
     */
    int         measure();

    uint16_t        read_reg16(uint8_t reg);

    void            write_reg(uint8_t reg, uint8_t value);
    void            write_reg16(uint8_t reg, uint16_t value);

    // ADIS16477 onboard self test
    bool            self_test_memory();
    bool            self_test_sensor();

};