#include <modm/driver/inertial/adis16470.hpp>

Inheritance diagram for modm::adis16470< SpiMaster, Cs >:

Public Typedefs
using	SyncFunction_t = Configuration< MscCtrl_t, SyncFunction, 0b111, 2 >

Public Types
enum	Register : uint8_t { DIAG_STAT = 0x02, X_GYRO_LOW = 0x04, X_GYRO_OUT = 0x06, Y_GYRO_LOW = 0x08, Y_GYRO_OUT = 0x0A, Z_GYRO_LOW = 0x0C, Z_GYRO_OUT = 0x0E, X_ACCL_LOW = 0x10, X_ACCL_OUT = 0x12, Y_ACCL_LOW = 0x14, Y_ACCL_OUT = 0x16, Z_ACCL_LOW = 0x18, Z_ACCL_OUT = 0x1A, TEMP_OUT = 0x1C, TIME_STAMP = 0x1E, DATA_CNTR = 0x22, X_DELTANG_LOW = 0x24, X_DELTANG_OUT = 0x26, Y_DELTANG_LOW = 0x28, Y_DELTANG_OUT = 0x2A, Z_DELTANG_LOW = 0x2C, Z_DELTANG_OUT = 0x2E, X_DELTVEL_LOW = 0x30, X_DELTVEL_OUT = 0x32, Y_DELTVEL_LOW = 0x34, Y_DELTVEL_OUT = 0x36, Z_DELTVEL_LOW = 0x38, Z_DELTVEL_OUT = 0x3A, XG_BIAS_LOW = 0x40, XG_BIAS_HIGH = 0x42, YG_BIAS_LOW = 0x44, YG_BIAS_HIGH = 0x46, ZG_BIAS_LOW = 0x48, ZG_BIAS_HIGH = 0x4A, XA_BIAS_LOW = 0x4C, XA_BIAS_HIGH = 0x4E, YA_BIAS_LOW = 0x50, YA_BIAS_HIGH = 0x52, ZA_BIAS_LOW = 0x54, ZA_BIAS_HIGH = 0x56, FILT_CTRL = 0x5C, MSC_CTRL = 0x60, UP_SCALE = 0x62, DEC_RATE = 0x64, NULL_CNFG = 0x66, GLOB_CMD = 0x68, FIRM_REV = 0x6C, FIRM_DM = 0x6E, FIRM_Y = 0x70, PROD_ID = 0x72, SERIAL_NUM = 0x74, USER_SCR1 = 0x76, USER_SCR2 = 0x78, USER_SCR3 = 0x7A, FLSHCNT_LOW = 0x7C, FLSHCNT_HIGH = 0x7E }
	Available registers.

enum	AccessMethod : uint8_t { Read = 0b01, Write = 0b10, ReadWrite = 0b11 }

enum	DiagStat : uint16_t { DiagStat::ClockError = Bit7, DiagStat::MemoryFailure = Bit6, DiagStat::SensorFailure = Bit5, DiagStat::StandbyMode = Bit4, DiagStat::SpiCommunicationError = Bit3, DiagStat::FlashUpdateFailure = Bit2, DiagStat::DataPathOverrun = Bit1 }

enum	MscCtrl : uint16_t { MscCtrl::LinearGCompensationGyro = Bit7, MscCtrl::PointOfPercussionAlign = Bit6, MscCtrl::SyncFunction2 = Bit4, MscCtrl::SyncFunction1 = Bit3, MscCtrl::SyncFunction0 = Bit2, MscCtrl::SyncPolarity = Bit1, MscCtrl::DrPolarity = Bit0 }

enum	SyncFunction : uint16_t { PulseSync = 0b101, OutputSync = 0b011, ScaledSync = 0b010, DirectSync = 0b001, SyncFunction::InternalClock = 0b000 }

enum	GlobCmd : uint16_t { GlobCmd::SoftwareReset = Bit7, GlobCmd::FlashMemoryTest = Bit4, GlobCmd::FlashMemoryUpdate = Bit3, GlobCmd::SensorSelfTest = Bit2, GlobCmd::FactoryCalibrationRestore = Bit1, GlobCmd::BiasCorrectionUpdate = Bit0 }

Public Member Functions
constexpr AccessMethod	getRegisterAccess (Register r)
	Get the allowed register access modes for a given Register.

	MODM_FLAGS16 (DiagStat)

	MODM_FLAGS16 (MscCtrl)

	MODM_FLAGS16 (GlobCmd)

modm::ResumableResult< void >	initialize ()
	Initialize. More...

modm::ResumableResult< std::optional< uint16_t > >	readRegister (Register reg)
	Read a single register. More...

modm::ResumableResult< modm::adis16470::DiagStat_t >	readDiagStat ()
	Read the DIAG_STAT register. More...

modm::ResumableResult< modm::adis16470::MscCtrl_t >	readMscCtrl ()
	Read the MSC_CTRL register. More...

modm::ResumableResult< bool >	writeRegister (Register reg, uint16_t value)
	Write a single register. More...

modm::ResumableResult< void >	writeMscCtrl (modm::adis16470::MscCtrl_t value)
	Write the MSC_CTRL register. More...

modm::ResumableResult< void >	writeGlobCmd (modm::adis16470::GlobCmd_t value)
	Write the MSC_CTRL register. More...

template<frequency_t frequency, percent_t tolerance = pct(1)>
modm::ResumableResult< void >	setDataOutputFrequency ()
	Set the desired data output frequency from 1Hz to 2kHz. More...

modm::ResumableResult< bool >	readRegisterSequence (std::span< const Register > sequence, std::span< uint16_t > values)
	Read a sequence of registers. Improves SPI usage efficiency by 100% compared to `accessRegister(...)`. More...

modm::ResumableResult< bool >	readRegisterBurst (std::array< uint16_t, 11 > &data)
	Read all output data registers using burst mode. More...

void	attachConfigurationHandler (Spi::ConfigurationHandler handler)

Protected Member Functions
bool	acquireMaster ()

bool	releaseMaster ()

int8_t	getResumableDepth () const

bool	isResumableRunning () const

void	stopResumable ()

Detailed Description

template<class SpiMaster, class Cs>
class modm::adis16470< SpiMaster, Cs >

Author: Raphael Lehmann

Member Enumeration Documentation

template<class SpiMaster , class Cs >

enum modm::adis16470::DiagStat : uint16_t

strong

Status/Error Flag Indicators DIAG_STAT register (address 0x02, 0x03) reset value is 0x0000

Enum Values	Documentation
ClockError	Indicates that the internal data sampling clock does not synchronize with the external clock, which only applies when using scale sync mode.
MemoryFailure	Indicates a failure in the flash memory test.
SensorFailure	Indicates failure of at least one sensor, at the conclusion of the self test.
StandbyMode	Indicates that the voltage across VDD and GND is <2.8 V, which causes data processing to stop.
SpiCommunicationError	Indicates that the total number of SCLK cycles is not equal to an integer multiple of 16.
FlashUpdateFailure	Indicates that the most recent flash memory update failed.
DataPathOverrun	Indicates that one of the data paths have experienced an overrun condition.

template<class SpiMaster , class Cs >

enum modm::adis16470::GlobCmd : uint16_t

strong

Global Commands GLOB_CMD register (address 0x68, 0x69) is write only

Enum Values	Documentation
SoftwareReset	This reset clears all data, and then restarts data sampling and processing. Software alternative to toggling the RST pin.
FlashMemoryTest	Triggers flash memory test; result can be read from DIAG_STAT register.
FlashMemoryUpdate	Backups all applicable registers in the flash memory.
SensorSelfTest	Triggers a self test. Motion during the execution of this test can indicate a false failure.
FactoryCalibrationRestore	Triggers a factory calibration restore.
BiasCorrectionUpdate	Triggers a bias correction update.

template<class SpiMaster , class Cs >

enum modm::adis16470::MscCtrl : uint16_t

strong

Miscellaneous Control Register MSC_CTRL register (address 0x60, 0x61) reset value is 0x00C1

Enum Values	Documentation
LinearGCompensationGyro	Linear g compensation for gyroscopes (enabled if bit is set)
PointOfPercussionAlign	Point of percussion alignment (enabled if bit is set)
SyncFunction2	See SyncFunction_t.
SyncFunction1	See SyncFunction_t.
SyncFunction0	See SyncFunction_t.
SyncPolarity	Rising edge triggers sampling if this bit is set, falling edge otherwise.
DrPolarity	DR pins is active high when data is valid if this bit is set, DR is actice low otherwise.

template<class SpiMaster , class Cs >

enum modm::adis16470::SyncFunction : uint16_t

strong

Enum Values	Documentation
InternalClock	InternalClock is default mode.

Member Function Documentation

template<class SpiMaster , class Cs >

modm::ResumableResult<void> modm::adis16470< SpiMaster, Cs >::initialize ( )

Initialize.

Sets used pins as output.

SPI must be initialized by the user!

Warning: The SPI frequency must not exceed 2 MHz for this chip, or 1 MHz with burst mode.

template<class SpiMaster , class Cs >

modm::ResumableResult<modm::adis16470::DiagStat_t> modm::adis16470< SpiMaster, Cs >::readDiagStat ( )

Read the DIAG_STAT register.

Returns: The register value

template<class SpiMaster , class Cs >

modm::ResumableResult<modm::adis16470::MscCtrl_t> modm::adis16470< SpiMaster, Cs >::readMscCtrl ( )

Read the MSC_CTRL register.

Returns: The register value

template<class SpiMaster , class Cs >

modm::ResumableResult<std::optional<uint16_t> > modm::adis16470< SpiMaster, Cs >::readRegister ( Register reg )

Read a single register.

Parameters

reg	The register to be read

Returns: The register value in case of a read access, or std::nullopt if an error occured, e.g. if some register access is not permitted.

template<class SpiMaster , class Cs >

modm::ResumableResult<bool> modm::adis16470< SpiMaster, Cs >::readRegisterBurst ( std::array< uint16_t, 11 > & data )

Read all output data registers using burst mode.

In all clock modes, except when operating in scaled sync mode (Register MSC_CTRL, Bits[4:2] = 010), the burst read response includes the following registers and checksum value: DIAG_STAT, X_GYRO_OUT, Y_GYRO_OUT, Z_GYRO_OUT, X_ACCL_OUT, Y_ACCL_OUT, Z_ACCL_OUT, TEMP_OUT, DATA_CNTR, and checksum.

When operating in scaled sync mode (Register MSC_CTRL, Bits[4:2] = 010), the burst read response includes the following registers and value: DIAG_STAT, X_GYRO_OUT, Y_GYRO_OUT, Z_GYRO_OUT, X_ACCL_OUT, Y_ACCL_OUT, Z_ACCL_OUT, TEMP_OUT, TIME_STMP, and checksum.

This is useful with DMA accelerated SPI to retrieve the measurement data, because it only triggers a single SPI transfer.

Warning: The SPI frequency must not exceed 1 MHz for this mode.

Parameters

data	Reference to a array of 11 uint16_t entries, the read register values are written here. data[0] is empty and the last entry (data[10]) contains a checksum which has already been checked by this driver.

Returns: False in case of a checksum mismatch.

template<class SpiMaster , class Cs >

modm::ResumableResult<bool> modm::adis16470< SpiMaster, Cs >::readRegisterSequence	(	std::span< const Register >	sequence,
		std::span< uint16_t >	values
	)

Read a sequence of registers. Improves SPI usage efficiency by 100% compared to accessRegister(...).

Parameters

sequence	All registers in the std::span will be read and the results will be stored in values.
values	Results of the read operations

Returns: False in case of any error, e.g. if some register access is not permitted.

template<class SpiMaster , class Cs >

template<frequency_t frequency, percent_t tolerance = pct(1)>

modm::ResumableResult<void> modm::adis16470< SpiMaster, Cs >::setDataOutputFrequency ( )

Set the desired data output frequency from 1Hz to 2kHz.

Template Parameters

frequency	desired frequency
tolerance	acceptable tolerance, default 1%

template<class SpiMaster , class Cs >

modm::ResumableResult<void> modm::adis16470< SpiMaster, Cs >::writeGlobCmd ( modm::adis16470< SpiMaster, Cs >::GlobCmd_t value )

Write the MSC_CTRL register.

Parameters

value The value to be written to the MSC_CTRL register.

template<class SpiMaster , class Cs >

modm::ResumableResult<void> modm::adis16470< SpiMaster, Cs >::writeMscCtrl ( modm::adis16470< SpiMaster, Cs >::MscCtrl_t value )

Write the MSC_CTRL register.

Parameters

value The value to be written to the MSC_CTRL register.

template<class SpiMaster , class Cs >

modm::ResumableResult<bool> modm::adis16470< SpiMaster, Cs >::writeRegister	(	Register	reg,
		uint16_t	value
	)

Write a single register.

Parameters

reg	The register to be written
value	The value to be written to the register.

Returns: False in case of any error, e.g. if some register acces is not permitted.

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

adis16470.hpp

Public Typedefs

Public Types

Public Member Functions

Protected Member Functions

Detailed Description

template<class SpiMaster, class Cs> class modm::adis16470< SpiMaster, Cs >

Member Enumeration Documentation

Member Function Documentation

template<class SpiMaster, class Cs>
class modm::adis16470< SpiMaster, Cs >