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ADIS16477 run onboard self test during init

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This commit is contained in:
Daniel Agar 2018-07-29 11:41:17 -04:00
parent cc1c37ffd1
commit a4a040aa45
2 changed files with 29 additions and 16 deletions
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37
src/drivers/imu/adis16477/ADIS16477.cpp
View File

@ -227,11 +227,19 @@ ADIS16477::probe()
if (_product == PROD_ID_ADIS16477) {
DEVICE_DEBUG("PRODUCT: %X", _product);
return PX4_OK;
}
PX4_ERR("read product id attempt %d failed, resetting", i);
reset();
if (self_test()) {
return PX4_OK;
} else {
PX4_ERR("probe attempt %d: self test failed, resetting", i);
reset();
}
} else {
PX4_ERR("probe attempt %d: read product id failed, resetting", i);
reset();
}
}
return -EIO;
@ -270,15 +278,24 @@ ADIS16477::_set_gyro_dyn_range(uint16_t desired_gyro_dyn_range)
{
}
int
bool
ADIS16477::self_test()
{
if (perf_event_count(_sample_perf) == 0) {
measure();
DEVICE_DEBUG("self test");
// self test (global command bit 2)
uint8_t value[2] = {};
value[0] = (1 << 2);
write_reg16(GLOB_CMD, (uint16_t)value[0]);
// read DIAG_STAT to check result
uint16_t diag_stat = read_reg16(DIAG_STAT);
if (diag_stat != 0) {
return false;
}
/* return 0 on success, 1 else */
return (perf_event_count(_sample_perf) > 0) ? 0 : 1;
return true;
}
int
@ -537,7 +554,7 @@ ADIS16477::measure()
}
if (adis_report.checksum != checksum) {
PX4_ERR("adis_report.checksum: %X vs calculated: %X", adis_report.checksum, checksum);
DEVICE_DEBUG("adis_report.checksum: %X vs calculated: %X", adis_report.checksum, checksum);
perf_event_count(_bad_transfers);
perf_end(_sample_perf);
return -EIO;

8
src/drivers/imu/adis16477/ADIS16477.hpp
View File

@ -186,12 +186,8 @@ private:
void write_reg(uint8_t reg, uint8_t value);
void write_reg16(uint8_t reg, uint16_t value);
/**
* Measurement self test
*
* @return 0 on success, 1 on failure
*/
int self_test();
// ADIS16477 onboard self test
bool self_test();
/*
set low pass filter frequency