////////////////////////////////////////////////////////////////////////////////////// // The MIT License (MIT) // // Submit Date: 03/09/2015 // Author: Juan Jose Chong // Copyright (c) 2015 Juan Jose Chong // ////////////////////////////////////////////////////////////////////////////////////// // adis16448.cxx ////////////////////////////////////////////////////////////////////////////////////// // // This library runs on an Intel Edison and uses mraa to acquire data // from an ADIS16448. This data is then scaled and printed onto the terminal. // // This software has been tested to connect to an ADIS16448 through a level shifter // such as the TI TXB0104. The SPI lines (DIN, DOUT, SCLK, /CS) are all wired through // the level shifter and the ADIS16448 is also being powered by the Intel Edison. // // Permission is hereby granted, free of charge, to any person obtaining // a copy of this software and associated documentation files (the // "Software"), to deal in the Software without restriction, including // without limitation the rights to use, copy, modify, merge, publish, // distribute, sublicense, and/or sell copies of the Software, and to // permit persons to whom the Software is furnished to do so, subject to // the following conditions: // // The above copyright notice and this permission notice shall be // included in all copies or substantial portions of the Software. // // THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, // EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF // MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND // NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE // LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION // OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION // WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. // ////////////////////////////////////////////////////////////////////////////////////// #include #include #include #include #include #include #include #include "adis16448.h" using namespace upm; //////////////////////////////////////////////////////////////////////////// // Constructor with configurable CS, DR, and RST //////////////////////////////////////////////////////////////////////////// // RST - Hardware reset pin //////////////////////////////////////////////////////////////////////////// ADIS16448::ADIS16448(int bus, int rst) { // Configure I/O //Initialize RST pin if ( !(_rst = mraa_gpio_init(rst)) ) { throw std::invalid_argument(std::string(__FUNCTION__) + ": mraa_gpio_init() failed, invalid pin?"); return; } mraa_gpio_dir(_rst, MRAA_GPIO_IN); //Set direction as INPUT // Configure SPI if ( !(_spi = mraa_spi_init(bus)) ) { throw std::invalid_argument(std::string(__FUNCTION__) + ": mraa_spi_init() failed"); return; } configSPI(); } //////////////////////////////////////////////////////////////////////////// // Destructor - Stops SPI and Closes all GPIO used. Reports an error if // unable to close either properly. //////////////////////////////////////////////////////////////////////////// ADIS16448::~ADIS16448() { // Close SPI bus mraa_result_t error; error = mraa_spi_stop(_spi); if(error != MRAA_SUCCESS) { mraa_result_print(error); } // Close GPIO error = mraa_gpio_close(_rst); if(error != MRAA_SUCCESS) { mraa_result_print(error); } } //////////////////////////////////////////////////////////////////////////// // Performs hardware reset by setting _RST pin low for 2 seconds. //////////////////////////////////////////////////////////////////////////// void ADIS16448::resetDUT() { mraa_gpio_write(_rst, 0); usleep(100000); //Sleep for 100ms mraa_gpio_write(_rst, 1); usleep(1000000); //Sleep for 1s } //////////////////////////////////////////////////////////////////////////// // Sets SPI bit order, clock divider, and data mode. This function is useful // when there are multiple SPI devices using different settings. //////////////////////////////////////////////////////////////////////////// void ADIS16448::configSPI() { mraa_spi_frequency(_spi, 1000000); //Set SPI frequency to 1MHz if ( mraa_spi_mode(_spi, MRAA_SPI_MODE3) != MRAA_SUCCESS ) { throw std::invalid_argument(std::string(__FUNCTION__) + ": mraa_spi_mode() failed"); return; } //Set # of bits per word if ( mraa_spi_bit_per_word(_spi, 16) != MRAA_SUCCESS ) { throw std::invalid_argument(std::string(__FUNCTION__) + ": mraa_spi_bit_per_word() failed"); return; } } //////////////////////////////////////////////////////////////////////////////////////////// // Reads two bytes (one word) in two sequential registers over SPI //////////////////////////////////////////////////////////////////////////////////////////// // regAddr - register address from the lookup table in ADIS16448.h // return - (int) signed 16 bit 2's complement number //////////////////////////////////////////////////////////////////////////////////////////// int16_t ADIS16448::regRead(uint8_t regAddr) { configSPI(); //Set up SPI (useful when multiple SPI devices present on bus) // Write register address to be read uint8_t buf[2]; //Allocate write buffer memset(buf, 0, sizeof(uint8_t)*2); //Initialize buffer and write 0s buf[1] = regAddr; //Write the user-requested register address to the buffer mraa_spi_write_buf(_spi, buf, 2); //Write the buffer onto the SPI port usleep(20); //Delay to not violate read rate (210us) // Read data from register requested buf[1] = 0; //Clear contents of write buffer uint8_t* x = mraa_spi_write_buf(_spi, buf, 2); //Write 0x0000 to SPI and read data requested above int16_t _dataOut = (x[1] << 8) | (x[0] & 0xFF);; //Concatenate upper and lower bytes usleep(20); //delay to not violate read rate (210us) return(_dataOut); } //////////////////////////////////////////////////////////////////////////// // Writes one byte of data to the specified register over SPI //////////////////////////////////////////////////////////////////////////// // regAddr - register address from the lookup table // regData - data to be written to the register //////////////////////////////////////////////////////////////////////////// void ADIS16448::regWrite(uint8_t regAddr,uint16_t regData) { configSPI(); // Separate the 16 bit command word into two bytes uint16_t addr = (((regAddr & 0x7F) | 0x80) << 8); //Check that the address is 7 bits, flip the sign bit uint16_t lowWord = (addr | (regData & 0xFF)); uint16_t highWord = ((addr | 0x100) | ((regData >> 8) & 0xFF)); // Write the low byte to the SPI bus uint8_t lbuf[2]; //Allocate write buffer memset(lbuf, 0, sizeof(uint8_t)*2); //Fill low buffer with 0's lbuf[0] = (lowWord >> 8); lbuf[1] = (lowWord); mraa_spi_write_buf(_spi, lbuf, 2); //Write the buffer to the SPI port usleep(20); // Write the high byte to the SPI bus uint8_t hbuf[2]; //Allocate write buffer memset(hbuf, 0, sizeof(uint8_t)*2); //Fill high buffer with 0's hbuf[0] = (highWord >> 8); hbuf[1] = (highWord); mraa_spi_write_buf(_spi, hbuf, 2); //Write the buffer to the SPI port usleep(20); } ///////////////////////////////////////////////////////////////////////////////////////// // Converts accelerometer data output from the sensorRead() function and returns // acceleration in g's ///////////////////////////////////////////////////////////////////////////////////////// // sensorData - data output from sensorRead() // return - (float) signed/scaled accelerometer in G's ///////////////////////////////////////////////////////////////////////////////////////// float ADIS16448::accelScale(int16_t sensorData) { float finalData = sensorData * 0.000833; // multiply by accel sensitivity (250uG/LSB) return finalData; } ///////////////////////////////////////////////////////////////////////////////////////////// // Converts gyro data output from the sensorRead() function and returns gyro rate in deg/sec ///////////////////////////////////////////////////////////////////////////////////////////// // sensorData - data output from sensorRead() // return - (float) signed/scaled gyro in degrees/sec ///////////////////////////////////////////////////////////////////////////////////////// float ADIS16448::gyroScale(int16_t sensorData) { float finalData = sensorData * 0.04; //multiply by gyro sensitivity (0.005 LSB/dps) return finalData; } ///////////////////////////////////////////////////////////////////////////////////////////// // Converts temperature data output from the sensorRead() function and returns temperature // in degrees Celcius ///////////////////////////////////////////////////////////////////////////////////////////// // sensorData - data output from sensorRead() // return - (float) signed/scaled temperature in degrees Celcius ///////////////////////////////////////////////////////////////////////////////////////// float ADIS16448::tempScale(int16_t sensorData) { float finalData = (sensorData * 0.07386) + 31; //multiply by temperature scale and add 31 to equal 0x0000 return finalData; } ///////////////////////////////////////////////////////////////////////////////////////////// // Converts barometer data output from sensorRead() function and returns pressure in bar ///////////////////////////////////////////////////////////////////////////////////////////// // sensorData - data output from sensorRead() // return - (float) signed/scaled temperature in degrees Celcius ///////////////////////////////////////////////////////////////////////////////////////// float ADIS16448::pressureScale(int16_t sensorData) { float finalData = (sensorData * 0.02); //multiply by gyro sensitivity (0.005 LSB/dps) return finalData; } ///////////////////////////////////////////////////////////////////////////////////////////// // Converts magnetometer output from sensorRead() function and returns magnetic field // reading in Gauss ///////////////////////////////////////////////////////////////////////////////////////////// // sensorData - data output from sensorRead() // return - (float) signed/scaled temperature in degrees Celcius ///////////////////////////////////////////////////////////////////////////////////////// float ADIS16448::magnetometerScale(int16_t sensorData) { float finalData = (sensorData * 0.0001429); //multiply by sensor resolution (142.9uGa LSB/dps) return finalData; }