Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Adis16470 stability fixes #862

Merged
merged 4 commits into from
Jan 8, 2025
Merged

Adis16470 stability fixes #862

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
4 commits
Select commit Hold shift + click to select a range
d50dbe6
ADIS16470: Fix reset and self-test sequence
jlaitine Jan 8, 2025
b8fb3df
ADIS16470: Ensure long enough CS-to-CS delay in consecutive RegisterR…
jlaitine Jan 8, 2025
222c378
ADIS16470: Explicitly write & check all bits in MSC_CTRL register
jlaitine Jan 8, 2025
ed01fe5
Update boards/ssrc/common submodule for ADIS16470 fixes
jlaitine Jan 8, 2025
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
2 changes: 1 addition & 1 deletion boards/ssrc/common
Open in desktop
Submodule common updated from 657737 to 3dc33f
48 changes: 29 additions & 19 deletions src/drivers/imu/analog_devices/adis16470/ADIS16470.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -137,34 +137,37 @@ void ADIS16470::RunImpl()
_reset_timestamp = now;
_failure_count = 0;
_state = STATE::WAIT_FOR_RESET;
ScheduleDelayed(193_ms); // 193 ms Software Reset Recovery Time
// 193 ms Software Reset Recovery Time + 20 ms measured delay for register write to take effect
ScheduleDelayed(193_ms + 20_ms);
break;

case STATE::WAIT_FOR_RESET:

if (_self_test_passed) {
if ((RegisterRead(Register::PROD_ID) == Product_identification)) {
if ((RegisterRead(Register::PROD_ID) != Product_identification)) {
// RESET not complete
if (hrt_elapsed_time(&_reset_timestamp) > 1000_ms) {
PX4_DEBUG("Reset failed, retrying");
_state = STATE::RESET;

} else {
PX4_DEBUG("Reset not complete, check again in 100 ms");
}

ScheduleDelayed(100_ms);

} else {
if (_self_test_passed) {
// if reset succeeded then configure
_state = STATE::CONFIGURE;
ScheduleNow();

} else {
// RESET not complete
if (hrt_elapsed_time(&_reset_timestamp) > 1000_ms) {
PX4_DEBUG("Reset failed, retrying");
_state = STATE::RESET;
ScheduleDelayed(100_ms);
RegisterWrite(Register::GLOB_CMD, GLOB_CMD_BIT::Sensor_self_test);
_state = STATE::SELF_TEST_CHECK;

} else {
PX4_DEBUG("Reset not complete, check again in 100 ms");
ScheduleDelayed(100_ms);
}
// Self Test Time + measured delay for register write to take effect
ScheduleDelayed(14_ms + 10_ms);
}

} else {
RegisterWrite(Register::GLOB_CMD, GLOB_CMD_BIT::Sensor_self_test);
_state = STATE::SELF_TEST_CHECK;
ScheduleDelayed(14_ms); // Self Test Time
}

break;
Expand All @@ -175,13 +178,15 @@ void ADIS16470::RunImpl()

if (DIAG_STAT != 0) {
PX4_ERR("DIAG_STAT: %#X", DIAG_STAT);
_state = STATE::RESET;

} else {
PX4_DEBUG("self test passed");
_self_test_passed = true;
_state = STATE::RESET;
ScheduleNow();
_state = STATE::CONFIGURE;
}

ScheduleNow();
}
break;

Expand Down Expand Up @@ -382,6 +387,9 @@ bool ADIS16470::Configure()
RegisterSetAndClearBits(reg_cfg.reg, reg_cfg.set_bits, reg_cfg.clear_bits);
}

// wait for register set to get into use
px4_udelay(100);

// now check that all are configured
bool success = true;

Expand Down Expand Up @@ -459,6 +467,7 @@ uint16_t ADIS16470::RegisterRead(Register reg)
uint16_t cmd[1];
cmd[0] = (static_cast<uint16_t>(reg) << 8);

px4_udelay(1);
transferhword(cmd, nullptr, 1);
px4_udelay(SPI_STALL_PERIOD);
transferhword(nullptr, cmd, 1);
Expand All @@ -474,6 +483,7 @@ void ADIS16470::RegisterWrite(Register reg, uint16_t value)
cmd[0] = (((static_cast<uint16_t>(reg)) | DIR_WRITE) << 8) | ((0x00FF & value));
cmd[1] = (((static_cast<uint16_t>(reg) + 1) | DIR_WRITE) << 8) | ((0xFF00 & value) >> 8);

px4_udelay(1);
transferhword(cmd, nullptr, 1);
px4_udelay(SPI_STALL_PERIOD);
transferhword(cmd + 1, nullptr, 1);
Expand Down
3 changes: 2 additions & 1 deletion src/drivers/imu/analog_devices/adis16470/ADIS16470.hpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -121,9 +121,10 @@ class ADIS16470 : public device::SPI, public I2CSPIDriver<ADIS16470>
} _state{STATE::RESET};

uint8_t _checked_register{0};
static constexpr uint16_t msc_ctrl_val = 0xC1 & ~MSC_CTRL_BIT::DR_polarity;
static constexpr uint8_t size_register_cfg{1};
register_config_t _register_cfg[size_register_cfg] {
// Register | Set bits, Clear bits
{ Register::MSC_CTRL, 0, MSC_CTRL_BIT::DR_polarity },
{ Register::MSC_CTRL, msc_ctrl_val, (uint16_t)~msc_ctrl_val},
};
};
Loading