fork of Sam Grove's library
Fork of ADIS16488 by
Adis16488.cpp@0:e9a81060a092, 2013-04-10 (annotated)
- Committer:
- sam_grove
- Date:
- Wed Apr 10 04:41:21 2013 +0000
- Revision:
- 0:e9a81060a092
- Child:
- 1:18fe8829aa69
Initial commit - working in a basic way
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
sam_grove | 0:e9a81060a092 | 1 | /** |
sam_grove | 0:e9a81060a092 | 2 | * @file Adis16488.cpp |
sam_grove | 0:e9a81060a092 | 3 | * @brief Device driver - ADIS16488 IMU |
sam_grove | 0:e9a81060a092 | 4 | * @author sam grove |
sam_grove | 0:e9a81060a092 | 5 | * @version 1.0 |
sam_grove | 0:e9a81060a092 | 6 | * @see http://www.analog.com/static/imported-files/data_sheets/ADIS16488.pdf |
sam_grove | 0:e9a81060a092 | 7 | * |
sam_grove | 0:e9a81060a092 | 8 | * Copyright (c) 2013 |
sam_grove | 0:e9a81060a092 | 9 | * |
sam_grove | 0:e9a81060a092 | 10 | * Licensed under the Apache License, Version 2.0 (the "License"); |
sam_grove | 0:e9a81060a092 | 11 | * you may not use this file except in compliance with the License. |
sam_grove | 0:e9a81060a092 | 12 | * You may obtain a copy of the License at |
sam_grove | 0:e9a81060a092 | 13 | * |
sam_grove | 0:e9a81060a092 | 14 | * http://www.apache.org/licenses/LICENSE-2.0 |
sam_grove | 0:e9a81060a092 | 15 | * |
sam_grove | 0:e9a81060a092 | 16 | * Unless required by applicable law or agreed to in writing, software |
sam_grove | 0:e9a81060a092 | 17 | * distributed under the License is distributed on an "AS IS" BASIS, |
sam_grove | 0:e9a81060a092 | 18 | * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. |
sam_grove | 0:e9a81060a092 | 19 | * See the License for the specific language governing permissions and |
sam_grove | 0:e9a81060a092 | 20 | * limitations under the License. |
sam_grove | 0:e9a81060a092 | 21 | */ |
sam_grove | 0:e9a81060a092 | 22 | |
sam_grove | 0:e9a81060a092 | 23 | #include "Adis16488.h" |
sam_grove | 0:e9a81060a092 | 24 | |
sam_grove | 0:e9a81060a092 | 25 | uint16_t const GYRO_REGS[] = {0x1000, 0x1200, 0x1400, 0x1600, 0x1800, 0x1A00}; |
sam_grove | 0:e9a81060a092 | 26 | uint16_t const ACCL_REGS[] = {0x1C00, 0x1E00, 0x2000, 0x2200, 0x2400, 0x2600}; |
sam_grove | 0:e9a81060a092 | 27 | uint16_t const MAGN_REGS[] = {0x2800, 0x2A00, 0x2C00}; |
sam_grove | 0:e9a81060a092 | 28 | uint16_t const DELTANG_REGS[] = {0x4000, 0x4200, 0x4400, 0x4600, 0x4800, 0x4A00}; |
sam_grove | 0:e9a81060a092 | 29 | uint16_t const DELTVEL_REGS[] = {0x4C00, 0x4E00, 0x5000, 0x5200, 0x5400, 0x5600}; |
sam_grove | 0:e9a81060a092 | 30 | |
sam_grove | 0:e9a81060a092 | 31 | DigitalOut led_1(LED1); |
sam_grove | 0:e9a81060a092 | 32 | |
sam_grove | 0:e9a81060a092 | 33 | Adis16488::Adis16488(SPI &spi, DigitalOut &cs, DigitalOut &rst, InterruptIn &dr) |
sam_grove | 0:e9a81060a092 | 34 | { |
sam_grove | 0:e9a81060a092 | 35 | _spi = &spi; |
sam_grove | 0:e9a81060a092 | 36 | _cs = &cs; |
sam_grove | 0:e9a81060a092 | 37 | _rst = &rst; |
sam_grove | 0:e9a81060a092 | 38 | _dr = &dr; |
sam_grove | 0:e9a81060a092 | 39 | |
sam_grove | 0:e9a81060a092 | 40 | return; |
sam_grove | 0:e9a81060a092 | 41 | } |
sam_grove | 0:e9a81060a092 | 42 | |
sam_grove | 0:e9a81060a092 | 43 | void Adis16488::init(void) |
sam_grove | 0:e9a81060a092 | 44 | { |
sam_grove | 0:e9a81060a092 | 45 | _dr->mode(PullDown); |
sam_grove | 0:e9a81060a092 | 46 | _rst->write(0); |
sam_grove | 0:e9a81060a092 | 47 | _cs->write(0); |
sam_grove | 0:e9a81060a092 | 48 | |
sam_grove | 0:e9a81060a092 | 49 | _spi->format(16,3); |
sam_grove | 0:e9a81060a092 | 50 | _spi->frequency(10000000); |
sam_grove | 0:e9a81060a092 | 51 | |
sam_grove | 0:e9a81060a092 | 52 | return; |
sam_grove | 0:e9a81060a092 | 53 | } |
sam_grove | 0:e9a81060a092 | 54 | |
sam_grove | 0:e9a81060a092 | 55 | void Adis16488::enable(void) |
sam_grove | 0:e9a81060a092 | 56 | { |
sam_grove | 0:e9a81060a092 | 57 | LOG("Preparing the ADIS16488 IMU\n"); |
sam_grove | 0:e9a81060a092 | 58 | |
sam_grove | 0:e9a81060a092 | 59 | _rst->write(1); |
sam_grove | 0:e9a81060a092 | 60 | wait(1.0); |
sam_grove | 0:e9a81060a092 | 61 | |
sam_grove | 0:e9a81060a092 | 62 | writeRegister(0x8000); |
sam_grove | 0:e9a81060a092 | 63 | writeRegister(0x7e00); |
sam_grove | 0:e9a81060a092 | 64 | uint16_t id; |
sam_grove | 0:e9a81060a092 | 65 | readRegister(0x7e00, id); |
sam_grove | 0:e9a81060a092 | 66 | if(id != 0x4068) |
sam_grove | 0:e9a81060a092 | 67 | { |
sam_grove | 0:e9a81060a092 | 68 | ERROR("Product ID doesn't match, %04X\n", id); |
sam_grove | 0:e9a81060a092 | 69 | } |
sam_grove | 0:e9a81060a092 | 70 | LOG("Product ID is %04X\n", id); |
sam_grove | 0:e9a81060a092 | 71 | |
sam_grove | 0:e9a81060a092 | 72 | //this result correctly returns 0x4068 as per the ADIS16488 specification |
sam_grove | 0:e9a81060a092 | 73 | //get the SERIAL_NUM (page 4, reg: 0x20) |
sam_grove | 0:e9a81060a092 | 74 | writeRegister(0x8004); //first change the page to page 4 |
sam_grove | 0:e9a81060a092 | 75 | writeRegister(0x2000); //send the register to get on the next write |
sam_grove | 0:e9a81060a092 | 76 | uint16_t serial_num; |
sam_grove | 0:e9a81060a092 | 77 | readRegister(0x2000, serial_num); |
sam_grove | 0:e9a81060a092 | 78 | LOG("IMU serial number is %04X\n", serial_num); |
sam_grove | 0:e9a81060a092 | 79 | |
sam_grove | 0:e9a81060a092 | 80 | writeRegister(0x8003); //change to page 3 |
sam_grove | 0:e9a81060a092 | 81 | writeRegister(0x7800); //get FIRMWARE_REV |
sam_grove | 0:e9a81060a092 | 82 | uint16_t rev; |
sam_grove | 0:e9a81060a092 | 83 | readRegister(0x7800, rev); |
sam_grove | 0:e9a81060a092 | 84 | LOG("Firmware revision %04X\n", rev); |
sam_grove | 0:e9a81060a092 | 85 | |
sam_grove | 0:e9a81060a092 | 86 | writeRegister(0x7A00); //get FIRMWARE_DM |
sam_grove | 0:e9a81060a092 | 87 | uint16_t rev_dm; |
sam_grove | 0:e9a81060a092 | 88 | readRegister(0x7A00, rev_dm); |
sam_grove | 0:e9a81060a092 | 89 | |
sam_grove | 0:e9a81060a092 | 90 | writeRegister(0x7C00); //get FIRMWARE_YR |
sam_grove | 0:e9a81060a092 | 91 | uint16_t rev_yr; |
sam_grove | 0:e9a81060a092 | 92 | readRegister(0x7C00, rev_yr); |
sam_grove | 0:e9a81060a092 | 93 | LOG("Frimware date/month/year is %02X/%02X/%04X\n", ((rev_dm>>8)&0xff), (rev_dm&0xff), rev_yr); |
sam_grove | 0:e9a81060a092 | 94 | |
sam_grove | 0:e9a81060a092 | 95 | //change the DECRATE to 98.4 Hz (this is also in page 3) |
sam_grove | 0:e9a81060a092 | 96 | writeRegister(0x8C17); //write high byte (only page number can be written in a single byte) |
sam_grove | 0:e9a81060a092 | 97 | writeRegister(0x8D00); //write the low byte of DECRATE |
sam_grove | 0:e9a81060a092 | 98 | |
sam_grove | 0:e9a81060a092 | 99 | // using varf... |
sam_grove | 0:e9a81060a092 | 100 | writeRegister(0x86CD); //write high byte to register 0x06 |
sam_grove | 0:e9a81060a092 | 101 | writeRegister(0x8700); //write the low byte of 00 to registed 0x07 |
sam_grove | 0:e9a81060a092 | 102 | writeRegister(0x8000); //change to page 0 |
sam_grove | 0:e9a81060a092 | 103 | |
sam_grove | 0:e9a81060a092 | 104 | // configred so IRQ is allowed |
sam_grove | 0:e9a81060a092 | 105 | _dr->rise(this, &Adis16488::drHandler); |
sam_grove | 0:e9a81060a092 | 106 | |
sam_grove | 0:e9a81060a092 | 107 | return; |
sam_grove | 0:e9a81060a092 | 108 | } |
sam_grove | 0:e9a81060a092 | 109 | |
sam_grove | 0:e9a81060a092 | 110 | void Adis16488::disable(void) |
sam_grove | 0:e9a81060a092 | 111 | { |
sam_grove | 0:e9a81060a092 | 112 | _dr->rise(NULL); |
sam_grove | 0:e9a81060a092 | 113 | _rst->write(0); |
sam_grove | 0:e9a81060a092 | 114 | } |
sam_grove | 0:e9a81060a092 | 115 | |
sam_grove | 0:e9a81060a092 | 116 | void Adis16488::readRegister(uint16_t const reg, uint16_t &data) |
sam_grove | 0:e9a81060a092 | 117 | { |
sam_grove | 0:e9a81060a092 | 118 | _cs->write(0); |
sam_grove | 0:e9a81060a092 | 119 | _spi->write(reg); |
sam_grove | 0:e9a81060a092 | 120 | data = _spi->write(reg); |
sam_grove | 0:e9a81060a092 | 121 | _cs->write(1); |
sam_grove | 0:e9a81060a092 | 122 | |
sam_grove | 0:e9a81060a092 | 123 | return; |
sam_grove | 0:e9a81060a092 | 124 | } |
sam_grove | 0:e9a81060a092 | 125 | |
sam_grove | 0:e9a81060a092 | 126 | void Adis16488::writeRegister(uint16_t const reg) |
sam_grove | 0:e9a81060a092 | 127 | { |
sam_grove | 0:e9a81060a092 | 128 | _cs->write(0); |
sam_grove | 0:e9a81060a092 | 129 | _spi->write(reg); |
sam_grove | 0:e9a81060a092 | 130 | _cs->write(1); |
sam_grove | 0:e9a81060a092 | 131 | |
sam_grove | 0:e9a81060a092 | 132 | return; |
sam_grove | 0:e9a81060a092 | 133 | } |
sam_grove | 0:e9a81060a092 | 134 | |
sam_grove | 0:e9a81060a092 | 135 | void Adis16488::drHandler(void) |
sam_grove | 0:e9a81060a092 | 136 | { |
sam_grove | 0:e9a81060a092 | 137 | led_1 = !led_1; |
sam_grove | 0:e9a81060a092 | 138 | // read gyro |
sam_grove | 0:e9a81060a092 | 139 | for(int i=0; i<6; ++i) |
sam_grove | 0:e9a81060a092 | 140 | { |
sam_grove | 0:e9a81060a092 | 141 | readRegister(GYRO_REGS[i], gyro.data[i]); |
sam_grove | 0:e9a81060a092 | 142 | } |
sam_grove | 0:e9a81060a092 | 143 | // read accel data |
sam_grove | 0:e9a81060a092 | 144 | for(int i=0; i<6; ++i) |
sam_grove | 0:e9a81060a092 | 145 | { |
sam_grove | 0:e9a81060a092 | 146 | readRegister(ACCL_REGS[i], accel.data[i]); |
sam_grove | 0:e9a81060a092 | 147 | } |
sam_grove | 0:e9a81060a092 | 148 | // read mag data |
sam_grove | 0:e9a81060a092 | 149 | for(int i=0; i<3; ++i) |
sam_grove | 0:e9a81060a092 | 150 | { |
sam_grove | 0:e9a81060a092 | 151 | readRegister(MAGN_REGS[i], magn.data[i]); |
sam_grove | 0:e9a81060a092 | 152 | } |
sam_grove | 0:e9a81060a092 | 153 | // read delta angles |
sam_grove | 0:e9a81060a092 | 154 | for(int i=0; i<6; ++i) |
sam_grove | 0:e9a81060a092 | 155 | { |
sam_grove | 0:e9a81060a092 | 156 | readRegister(DELTANG_REGS[i], deltang.data[i]); |
sam_grove | 0:e9a81060a092 | 157 | } |
sam_grove | 0:e9a81060a092 | 158 | // read delta velocity |
sam_grove | 0:e9a81060a092 | 159 | for(int i=0; i<6; ++i) |
sam_grove | 0:e9a81060a092 | 160 | { |
sam_grove | 0:e9a81060a092 | 161 | readRegister(DELTVEL_REGS[i], deltvel.data[i]); |
sam_grove | 0:e9a81060a092 | 162 | } |
sam_grove | 0:e9a81060a092 | 163 | |
sam_grove | 0:e9a81060a092 | 164 | return; |
sam_grove | 0:e9a81060a092 | 165 | } |
sam_grove | 0:e9a81060a092 | 166 |