#include <ADIS16448.h>

Inheritance diagram for ADIS16448:

Collaboration diagram for ADIS16448:

Public Member Functions
	ADIS16448 (int bus, uint32_t device, enum Rotation rotation)

virtual	~ADIS16448 ()

virtual int	init ()

void	print_info ()
	Diagnostics - print some basic information about the driver and sensor. More...

Protected Member Functions
virtual int	probe ()

Private Types
enum	Register : uint8_t { Register::GPIO_CTRL = 0x32, Register::MSC_CTRL = 0x34, Register::SMPL_PRD = 0x36, Register::SENS_AVG = 0x38, Register::DIAG_STAT = 0x3C, Register::GLOB_CMD = 0x3E, Register::PRODUCT_ID = 0x56, Register::SERIAL_NUMBER = 0x58 }

Private Member Functions
int	measure ()
	Fetch measurements from the sensor and update the report buffers. More...

void	Run ()
	Static trampoline from the hrt_call context; because we don't have a generic hrt wrapper yet. More...

void	modify_reg16 (unsigned reg, uint16_t clearbits, uint16_t setbits)
	Modify a register in the ADIS16448 Bits are cleared before bits are set. More...

bool	reset ()
	Resets the chip and measurements ranges. More...

bool	self_test ()

uint16_t	read_reg16 (unsigned reg)
	Read a register from the ADIS16448. More...

void	write_reg16 (unsigned reg, uint16_t value)
	Write a register in the ADIS16448. More...

bool	set_dlpf_filter (uint16_t frequency_hz)
	Set low pass filter frequency. More...

bool	set_gyro_dyn_range (uint16_t desired_gyro_dyn_range)
	Set the gyroscope dynamic range. More...

bool	set_sample_rate (uint16_t desired_sample_rate_hz)
	Set sample rate (approximate) - 1kHz to 5Hz. More...

void	start ()
	Start automatic measurement. More...

void	stop ()
	Stop automatic measurement. More...

Private Attributes
PX4Accelerometer	_px4_accel

PX4Barometer	_px4_baro

PX4Gyroscope	_px4_gyro

PX4Magnetometer	_px4_mag

uint16_t	_product_ID {0}

perf_counter_t	_perf_read {perf_counter_t(perf_alloc(PC_ELAPSED, "ADIS16448: read"))}

perf_counter_t	_perf_transfer {perf_counter_t(perf_alloc(PC_ELAPSED, "ADIS16448: transfer"))}

perf_counter_t	_perf_bad_transfer {perf_counter_t(perf_alloc(PC_COUNT, "ADIS16448: bad transfers"))}

perf_counter_t	_perf_crc_bad {perf_counter_t(perf_alloc(PC_COUNT, "ADIS16448: CRC16 bad"))}

Static Private Attributes
static constexpr float	_sample_rate {ADIS16448_ACCEL_GYRO_UPDATE_RATE}

Detailed Description

Definition at line 101 of file ADIS16448.h.

Member Enumeration Documentation

◆ Register

enum ADIS16448::Register : uint8_t

strongprivate

Enumerator
GPIO_CTRL
MSC_CTRL
SMPL_PRD
SENS_AVG
DIAG_STAT
GLOB_CMD
PRODUCT_ID
SERIAL_NUMBER

Definition at line 119 of file ADIS16448.h.

Constructor & Destructor Documentation

◆ ADIS16448()

ADIS16448::ADIS16448	(	int	bus,
		uint32_t	device,
		enum Rotation	rotation
	)

Definition at line 40 of file ADIS16448.cpp.

References _px4_accel, _px4_baro, _px4_gyro, _px4_mag, ADIS16448_ACCEL_SENSITIVITY, ADIS16448_GYRO_INITIAL_SENSITIVITY, ADIS16448_MAG_SENSITIVITY, DRV_ACC_DEVTYPE_ADIS16448, DRV_GYR_DEVTYPE_ADIS16448, DRV_MAG_DEVTYPE_ADIS16448, PX4Barometer::set_device_type(), PX4Magnetometer::set_device_type(), PX4Accelerometer::set_device_type(), PX4Gyroscope::set_device_type(), PX4Magnetometer::set_external(), PX4Magnetometer::set_scale(), PX4Accelerometer::set_scale(), and PX4Gyroscope::set_scale().

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◆ ~ADIS16448()

ADIS16448::~ADIS16448 ( )

virtual

Definition at line 60 of file ADIS16448.cpp.

References _perf_bad_transfer, _perf_crc_bad, _perf_read, _perf_transfer, perf_free(), and stop().

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Member Function Documentation

◆ init()

int ADIS16448::init ( )

virtual

Definition at line 73 of file ADIS16448.cpp.

References DEVICE_DEBUG, ToneAlarmInterface::init(), measure(), OK, and start().

Referenced by adis16448::start().

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◆ measure()

int ADIS16448::measure ( )

private

Fetch measurements from the sensor and update the report buffers.

Definition at line 443 of file ADIS16448.cpp.

References _perf_bad_transfer, _perf_crc_bad, _perf_read, _perf_transfer, _px4_accel, _px4_baro, _px4_gyro, _px4_mag, ADIS16448_BARO_SENSITIVITY, ADIS16448_GLOB_CMD, ComputeCRC16(), convert12BitToINT16(), DIR_READ, f(), hrt_absolute_time(), hrt_abstime, OK, perf_begin(), perf_count(), perf_end(), perf_event_count(), PX4Barometer::set_error_count(), PX4Magnetometer::set_error_count(), PX4Accelerometer::set_error_count(), PX4Gyroscope::set_error_count(), PX4Barometer::set_temperature(), PX4Magnetometer::set_temperature(), PX4Accelerometer::set_temperature(), PX4Gyroscope::set_temperature(), PX4Barometer::update(), PX4Magnetometer::update(), PX4Accelerometer::update(), and PX4Gyroscope::update().

Referenced by init(), and Run().

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◆ modify_reg16()

void ADIS16448::modify_reg16	(	unsigned	reg,
		uint16_t	clearbits,
		uint16_t	setbits
	)

private

Modify a register in the ADIS16448 Bits are cleared before bits are set.

Parameters

reg	The register to modify.
clearbits	Bits in the register to clear.
setbits	Bits in the register to set.

Definition at line 327 of file ADIS16448.cpp.

References read_reg16(), and write_reg16().

Referenced by probe(), set_dlpf_filter(), set_gyro_dyn_range(), and set_sample_rate().

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◆ print_info()

void ADIS16448::print_info ( )

Diagnostics - print some basic information about the driver and sensor.

Definition at line 313 of file ADIS16448.cpp.

References _perf_bad_transfer, _perf_crc_bad, _perf_read, _perf_transfer, _px4_accel, _px4_baro, _px4_gyro, _px4_mag, perf_print_counter(), PX4Barometer::print_status(), PX4Magnetometer::print_status(), PX4Accelerometer::print_status(), and PX4Gyroscope::print_status().

Referenced by adis16448::status().

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◆ probe()

int ADIS16448::probe ( )

protectedvirtual

Definition at line 195 of file ADIS16448.cpp.

References _product_ID, ADIS16334_SERIAL_NUMBER, ADIS16448_GPIO_CTRL, ADIS16448_Product, ADIS16448_PRODUCT_ID, DEVICE_DEBUG, modify_reg16(), OK, read_reg16(), and reset().

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◆ read_reg16()

uint16_t ADIS16448::read_reg16 ( unsigned reg )

private

Read a register from the ADIS16448.

reg The register to read.
Returns
Returns the register value.

Definition at line 336 of file ADIS16448.cpp.

References DIR_READ, and T_STALL.

Referenced by modify_reg16(), probe(), self_test(), set_dlpf_filter(), set_gyro_dyn_range(), and set_sample_rate().

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◆ reset()

bool ADIS16448::reset ( )

private

Resets the chip and measurements ranges.

Definition at line 97 of file ADIS16448.cpp.

References _sample_rate, ADIS16448_GLOB_CMD, ADIS16448_MSC_CTRL, self_test(), set_sample_rate(), and write_reg16().

Referenced by probe().

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◆ Run()

void ADIS16448::Run ( )

private

Static trampoline from the hrt_call context; because we don't have a generic hrt wrapper yet.

Called by the HRT in interrupt context at the specified rate if automatic polling is enabled.

Parameters

arg	Instance pointer for the driver that is polling.

Definition at line 533 of file ADIS16448.cpp.

References measure().

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◆ self_test()

bool ADIS16448::self_test ( )

private

Definition at line 136 of file ADIS16448.cpp.

References ADIS16448_DIAG_STAT, ADIS16448_MSC_CTRL, read_reg16(), status, and write_reg16().

Referenced by reset().

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◆ set_dlpf_filter()

bool ADIS16448::set_dlpf_filter ( uint16_t frequency_hz )

private

Set low pass filter frequency.

Definition at line 268 of file ADIS16448.cpp.

References ADIS16448_SENS_AVG, modify_reg16(), and read_reg16().

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◆ set_gyro_dyn_range()

bool ADIS16448::set_gyro_dyn_range ( uint16_t desired_gyro_dyn_range )

private

Set the gyroscope dynamic range.

Definition at line 284 of file ADIS16448.cpp.

References _px4_gyro, ADIS16448_SENS_AVG, BITS_GYRO_DYN_RANGE_1000_CFG, BITS_GYRO_DYN_RANGE_250_CFG, BITS_GYRO_DYN_RANGE_500_CFG, f(), M_PI_F, modify_reg16(), read_reg16(), and PX4Gyroscope::set_scale().

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◆ set_sample_rate()

bool ADIS16448::set_sample_rate ( uint16_t desired_sample_rate_hz )

private

Set sample rate (approximate) - 1kHz to 5Hz.

Definition at line 233 of file ADIS16448.cpp.

References _px4_accel, _px4_gyro, ADIS16448_SMPL_PRD, BITS_SMPL_PRD_16_TAP_CFG, BITS_SMPL_PRD_2_TAP_CFG, BITS_SMPL_PRD_4_TAP_CFG, BITS_SMPL_PRD_8_TAP_CFG, BITS_SMPL_PRD_NO_TAP_CFG, modify_reg16(), read_reg16(), PX4Accelerometer::set_sample_rate(), and PX4Gyroscope::set_sample_rate().

Referenced by reset().

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◆ start()

void ADIS16448::start ( )

private

Start automatic measurement.

Definition at line 365 of file ADIS16448.cpp.

References _sample_rate, and stop().

Referenced by init().

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◆ stop()

void ADIS16448::stop ( )

private

Stop automatic measurement.

Definition at line 375 of file ADIS16448.cpp.

Referenced by start(), and ~ADIS16448().

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◆ write_reg16()

void ADIS16448::write_reg16	(	unsigned	reg,
		uint16_t	value
	)

private

Write a register in the ADIS16448.

Parameters

reg	The register to write.
value	The new value to write.

Definition at line 351 of file ADIS16448.cpp.

References DIR_WRITE, and T_STALL.

Referenced by modify_reg16(), reset(), and self_test().

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Member Data Documentation

◆ _perf_bad_transfer

perf_counter_t ADIS16448::_perf_bad_transfer {perf_counter_t(perf_alloc(PC_COUNT, "ADIS16448: bad transfers"))}

private

Definition at line 215 of file ADIS16448.h.

Referenced by measure(), print_info(), and ~ADIS16448().

◆ _perf_crc_bad

perf_counter_t ADIS16448::_perf_crc_bad {perf_counter_t(perf_alloc(PC_COUNT, "ADIS16448: CRC16 bad"))}

private

Definition at line 216 of file ADIS16448.h.

Referenced by measure(), print_info(), and ~ADIS16448().

◆ _perf_read

perf_counter_t ADIS16448::_perf_read {perf_counter_t(perf_alloc(PC_ELAPSED, "ADIS16448: read"))}

private

Definition at line 213 of file ADIS16448.h.

Referenced by measure(), print_info(), and ~ADIS16448().

◆ _perf_transfer

perf_counter_t ADIS16448::_perf_transfer {perf_counter_t(perf_alloc(PC_ELAPSED, "ADIS16448: transfer"))}

private

Definition at line 214 of file ADIS16448.h.

Referenced by measure(), print_info(), and ~ADIS16448().

◆ _product_ID

uint16_t ADIS16448::_product_ID {0}

private

Definition at line 209 of file ADIS16448.h.

Referenced by probe().

◆ _px4_accel

PX4Accelerometer ADIS16448::_px4_accel

private

Definition at line 204 of file ADIS16448.h.

Referenced by ADIS16448(), measure(), print_info(), and set_sample_rate().

◆ _px4_baro

PX4Barometer ADIS16448::_px4_baro

private

Definition at line 205 of file ADIS16448.h.

Referenced by ADIS16448(), measure(), and print_info().

◆ _px4_gyro

PX4Gyroscope ADIS16448::_px4_gyro

private

Definition at line 206 of file ADIS16448.h.

Referenced by ADIS16448(), measure(), print_info(), set_gyro_dyn_range(), and set_sample_rate().

◆ _px4_mag

PX4Magnetometer ADIS16448::_px4_mag

private

Definition at line 207 of file ADIS16448.h.

Referenced by ADIS16448(), measure(), and print_info().

◆ _sample_rate

constexpr float ADIS16448::_sample_rate {ADIS16448_ACCEL_GYRO_UPDATE_RATE}

staticprivate

Definition at line 211 of file ADIS16448.h.

Referenced by reset(), and start().

The documentation for this class was generated from the following files:

src/drivers/imu/adis16448/ADIS16448.h
src/drivers/imu/adis16448/ADIS16448.cpp

Public Member Functions

Protected Member Functions

Private Types

Private Member Functions

Private Attributes

Static Private Attributes

Detailed Description

Member Enumeration Documentation

◆ Register

Constructor & Destructor Documentation

◆ ADIS16448()

◆ ~ADIS16448()

Member Function Documentation

◆ init()

◆ measure()

◆ modify_reg16()

◆ print_info()

◆ probe()

◆ read_reg16()

◆ reset()

◆ Run()

◆ self_test()

◆ set_dlpf_filter()

◆ set_gyro_dyn_range()

◆ set_sample_rate()

◆ start()

◆ stop()

◆ write_reg16()

Member Data Documentation

◆ _perf_bad_transfer

◆ _perf_crc_bad

◆ _perf_read

◆ _perf_transfer

◆ _product_ID

◆ _px4_accel

◆ _px4_baro

◆ _px4_gyro

◆ _px4_mag

◆ _sample_rate