From a397004bf87a2d58508c2e38b96d442484e09959 Mon Sep 17 00:00:00 2001 From: Daniel Agar Date: Mon, 26 Jul 2021 12:19:20 -0400 Subject: [PATCH] adis16448: add additional delay after transfer in case of back to back transcations - add verified register read method --- .../analog_devices/adis16448/ADIS16448.cpp | 37 ++++++++++++++----- .../analog_devices/adis16448/ADIS16448.hpp | 1 + .../Analog_Devices_ADIS16448_registers.hpp | 2 +- 3 files changed, 29 insertions(+), 11 deletions(-) diff --git a/src/drivers/imu/analog_devices/adis16448/ADIS16448.cpp b/src/drivers/imu/analog_devices/adis16448/ADIS16448.cpp index c7a1e6c4df..f5e92604c7 100644 --- a/src/drivers/imu/analog_devices/adis16448/ADIS16448.cpp +++ b/src/drivers/imu/analog_devices/adis16448/ADIS16448.cpp @@ -164,12 +164,12 @@ int ADIS16448::probe() } for (int attempt = 0; attempt < 3; attempt++) { - const uint16_t PROD_ID = RegisterRead(Register::PROD_ID); + const uint16_t PROD_ID = RegisterReadVerified(Register::PROD_ID); if (PROD_ID == Product_identification) { - const uint16_t SERIAL_NUM = RegisterRead(Register::SERIAL_NUM); - const uint16_t LOT_ID1 = RegisterRead(Register::LOT_ID1); - const uint16_t LOT_ID2 = RegisterRead(Register::LOT_ID2); + const uint16_t SERIAL_NUM = RegisterReadVerified(Register::SERIAL_NUM); + const uint16_t LOT_ID1 = RegisterReadVerified(Register::LOT_ID1); + const uint16_t LOT_ID2 = RegisterReadVerified(Register::LOT_ID2); PX4_INFO("Serial Number: 0x%02x, Lot ID1: 0x%02x ID2: 0x%02x", SERIAL_NUM, LOT_ID1, LOT_ID2); @@ -201,7 +201,7 @@ void ADIS16448::RunImpl() case STATE::WAIT_FOR_RESET: if (_self_test_passed) { - if ((RegisterRead(Register::PROD_ID) == Product_identification)) { + if ((RegisterReadVerified(Register::PROD_ID) == Product_identification)) { // if reset succeeded then configure _state = STATE::CONFIGURE; ScheduleNow(); @@ -228,7 +228,7 @@ void ADIS16448::RunImpl() break; case STATE::SELF_TEST_CHECK: { - const uint16_t MSC_CTRL = RegisterRead(Register::MSC_CTRL); + const uint16_t MSC_CTRL = RegisterReadVerified(Register::MSC_CTRL); if (MSC_CTRL & MSC_CTRL_BIT::Internal_self_test) { // self test not finished, check again @@ -248,7 +248,7 @@ void ADIS16448::RunImpl() bool test_passed = true; - const uint16_t DIAG_STAT = RegisterRead(Register::DIAG_STAT); + const uint16_t DIAG_STAT = RegisterReadVerified(Register::DIAG_STAT); if (DIAG_STAT & DIAG_STAT_BIT::Self_test_diagnostic_error_flag) { PX4_ERR("self test failed"); @@ -493,7 +493,7 @@ void ADIS16448::RunImpl() bool ADIS16448::Configure() { - const uint16_t LOT_ID1 = RegisterRead(Register::LOT_ID1); + const uint16_t LOT_ID1 = RegisterReadVerified(Register::LOT_ID1); // Only enable CRC-16 for verified lots (HACK to support older ADIS16448AMLZ with no explicit detection) if (LOT_ID1 == 0x1824) { @@ -619,7 +619,7 @@ bool ADIS16448::RegisterCheck(const register_config_t ®_cfg) { bool success = true; - const uint16_t reg_value = RegisterRead(reg_cfg.reg); + const uint16_t reg_value = RegisterReadVerified(reg_cfg.reg); if (reg_cfg.set_bits && ((reg_value & reg_cfg.set_bits) != reg_cfg.set_bits)) { PX4_DEBUG("0x%02hhX: 0x%02hhX (0x%02hhX not set)", (uint8_t)reg_cfg.reg, reg_value, reg_cfg.set_bits); @@ -644,10 +644,26 @@ uint16_t ADIS16448::RegisterRead(Register reg) transferhword(cmd, nullptr, 1); px4_udelay(SPI_STALL_PERIOD); transferhword(nullptr, cmd, 1); + px4_udelay(SPI_STALL_PERIOD); return cmd[0]; } +uint16_t ADIS16448::RegisterReadVerified(Register reg, int retries) +{ + for (int attempt = 0; attempt < retries; attempt++) { + uint16_t read1 = RegisterRead(reg); + uint16_t read2 = RegisterRead(reg); + + if (read1 == read2) { + return read1; + } + } + + // failed + return 0; +} + void ADIS16448::RegisterWrite(Register reg, uint16_t value) { set_frequency(SPI_SPEED); @@ -659,11 +675,12 @@ void ADIS16448::RegisterWrite(Register reg, uint16_t value) transferhword(cmd, nullptr, 1); px4_udelay(SPI_STALL_PERIOD); transferhword(cmd + 1, nullptr, 1); + px4_udelay(SPI_STALL_PERIOD); } void ADIS16448::RegisterSetAndClearBits(Register reg, uint16_t setbits, uint16_t clearbits) { - const uint16_t orig_val = RegisterRead(reg); + const uint16_t orig_val = RegisterReadVerified(reg); uint16_t val = (orig_val & ~clearbits) | setbits; diff --git a/src/drivers/imu/analog_devices/adis16448/ADIS16448.hpp b/src/drivers/imu/analog_devices/adis16448/ADIS16448.hpp index 9e28919ab5..1df6060992 100644 --- a/src/drivers/imu/analog_devices/adis16448/ADIS16448.hpp +++ b/src/drivers/imu/analog_devices/adis16448/ADIS16448.hpp @@ -91,6 +91,7 @@ private: bool RegisterCheck(const register_config_t ®_cfg); uint16_t RegisterRead(Register reg); + uint16_t RegisterReadVerified(Register reg, int retries = 1); void RegisterWrite(Register reg, uint16_t value); void RegisterSetAndClearBits(Register reg, uint16_t setbits, uint16_t clearbits); diff --git a/src/drivers/imu/analog_devices/adis16448/Analog_Devices_ADIS16448_registers.hpp b/src/drivers/imu/analog_devices/adis16448/Analog_Devices_ADIS16448_registers.hpp index b16059afbf..d671cde77f 100644 --- a/src/drivers/imu/analog_devices/adis16448/Analog_Devices_ADIS16448_registers.hpp +++ b/src/drivers/imu/analog_devices/adis16448/Analog_Devices_ADIS16448_registers.hpp @@ -65,7 +65,7 @@ namespace Analog_Devices_ADIS16448 static constexpr uint32_t SPI_SPEED = 2 * 1000 * 1000; // 2 MHz SPI serial interface static constexpr uint32_t SPI_SPEED_BURST = 1 * 1000 * 1000; // 1 MHz SPI serial interface for burst read -static constexpr uint32_t SPI_STALL_PERIOD = 10; // 9 us Stall period between data +static constexpr uint32_t SPI_STALL_PERIOD = 11; // 9 us Stall period between data static constexpr uint16_t DIR_WRITE = 0x80;