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[example] ADIS16470 IMU example for Nucleo-F429ZI
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‎examples/nucleo_f429zi/imu_adis16470/main.cpp

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/*
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* Copyright (c) 2022, Raphael Lehmann
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*
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* This file is part of the modm project.
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*
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* This Source Code Form is subject to the terms of the Mozilla Public
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* License, v. 2.0. If a copy of the MPL was not distributed with this
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* file, You can obtain one at http://mozilla.org/MPL/2.0/.
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*/
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// ----------------------------------------------------------------------------
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#include <modm/board.hpp>
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#include <modm/platform/spi/spi_master_1.hpp>
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#include <modm/driver/inertial/adis16470.hpp>
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#include <optional>
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using namespace Board;
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using SpiMaster = SpiMaster1;
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using Mosi = GpioB5;
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using Miso = GpioB4;
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using Sck = GpioB3;
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using Cs = GpioA4;
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using Dr = GpioB9;
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using Rst = GpioB8;
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using Adis16470 = modm::Adis16470<SpiMaster, Cs>;
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Adis16470 imu{};
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int
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main()
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{
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Board::initialize();
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Leds::setOutput();
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MODM_LOG_INFO << "ADIS16470 IMU demo on Nucleo-F429ZI\n" << modm::endl;
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SpiMaster::initialize<Board::SystemClock, 650_kHz>();
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SpiMaster::connect<Sck::Sck, Mosi::Mosi, Miso::Miso>();
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Rst::setOutput();
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Dr::setInput(Gpio::InputType::PullUp);
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// Reset ADS816x chip
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Rst::reset();
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modm::delay(10ms);
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Rst::set();
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// Wait start-up time
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modm::delay(252ms);
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MODM_LOG_INFO << "Initializing IMU..." << modm::endl;
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RF_CALL_BLOCKING(imu.initialize());
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// Software reset
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RF_CALL_BLOCKING(imu.writeGlobCmd(modm::adis16470::GlobCmd::SoftwareReset));
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// Wait start-up time after reset
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modm::delay(252ms);
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// Trigger self test
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RF_CALL_BLOCKING(imu.writeGlobCmd(modm::adis16470::GlobCmd::SensorSelfTest));
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// Wait for self test to complete
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modm::delay(14ms);
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modm::adis16470::DiagStat_t diagStat = RF_CALL_BLOCKING(imu.readDiagStat());
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MODM_LOG_INFO << "Reading DIAG_STAT register = " << diagStat << modm::endl;
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modm::delay(1ms);
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auto result = RF_CALL_BLOCKING(imu.readRegister(modm::adis16470::Register::PROD_ID));
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if (result.has_value()) {
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MODM_LOG_INFO << "ADIS16470 product id = " << *result << " (should be 16470==0x4056)" << modm::endl;
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}
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else {
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MODM_LOG_INFO << "Unable to reag PROD_ID register" << modm::endl;
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}
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modm::adis16470::MscCtrl_t mscCtrl = RF_CALL_BLOCKING(imu.readMscCtrl());
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MODM_LOG_INFO << "Reading MSC_CTRL register = " << mscCtrl << modm::endl;
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RF_CALL_BLOCKING(imu.setDataOutputFrequency<10_Hz>());
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RF_CALL_BLOCKING(imu.writeRegister(modm::adis16470::Register::FILT_CTRL, 8)); // N_B = 2^8 = 64
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mscCtrl = modm::adis16470::MscCtrl::DrPolarity | modm::adis16470::MscCtrl::PointOfPercussionAlign;
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MODM_LOG_INFO << "Writing MSC_CTRL register = " << mscCtrl << modm::endl;
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RF_CALL_BLOCKING(imu.writeMscCtrl(mscCtrl));
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diagStat = RF_CALL_BLOCKING(imu.readDiagStat());
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MODM_LOG_INFO << "Reading DIAG_STAT register = " << diagStat << modm::endl;
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mscCtrl = RF_CALL_BLOCKING(imu.readMscCtrl());
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MODM_LOG_INFO << "Reading MSC_CTRL register = " << mscCtrl << modm::endl;
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// Writing and reading USER_SCR1 register
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std::optional<uint16_t> scr1 = RF_CALL_BLOCKING(imu.readRegister(modm::adis16470::Register::USER_SCR1));
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if (scr1.has_value()) {
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MODM_LOG_INFO << "Reading USER_SCR1 register = " << *scr1 << modm::endl;
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}
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else {
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MODM_LOG_INFO << "Unable to USER_SCR1 register." << modm::endl;
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}
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MODM_LOG_INFO << "Writing USER_SCR1 register = 42" << modm::endl;
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RF_CALL_BLOCKING(imu.writeRegister(modm::adis16470::Register::USER_SCR1, 42));
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scr1 = RF_CALL_BLOCKING(imu.readRegister(modm::adis16470::Register::USER_SCR1));
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if (scr1.has_value()) {
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MODM_LOG_INFO << "Reading USER_SCR1 register = " << *scr1 << modm::endl;
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}
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else {
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MODM_LOG_INFO << "Unable to USER_SCR1 register." << modm::endl;
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}
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std::array<uint16_t, 11> data;
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while (true)
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{
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MODM_LOG_INFO.printf("\nIMU data: ");
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while (!Dr::read()) {}
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while (Dr::read()) {}
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if( !RF_CALL_BLOCKING(imu.readRegisterBurst(data))) {
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MODM_LOG_INFO.printf("checksum mismatch! ");
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Board::LedRed::toggle();
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}
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// print data anyways
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MODM_LOG_INFO.printf("DIAG_STAT=%05u, ", data[1]);
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MODM_LOG_INFO.printf("X_GYRO_OUT=%+05i, ", static_cast<int16_t>(data[2]));
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MODM_LOG_INFO.printf("Y_GYRO_OUT=%+05i, ", static_cast<int16_t>(data[3]));
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MODM_LOG_INFO.printf("Z_GYRO_OUT=%+05i, ", static_cast<int16_t>(data[4]));
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MODM_LOG_INFO.printf("X_ACCL_OUT=%+05i, ", static_cast<int16_t>(data[5]));
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MODM_LOG_INFO.printf("Y_ACCL_OUT=%+05i, ", static_cast<int16_t>(data[6]));
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MODM_LOG_INFO.printf("Z_ACCL_OUT=%+05i, ", static_cast<int16_t>(data[7]));
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MODM_LOG_INFO.printf("TEMP_OUT=%+05i (1/10 C), ", data[8]);
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MODM_LOG_INFO.printf("DATA_CNTR=%05u, ", data[9]);
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MODM_LOG_INFO.printf("checksum=%05u", data[10]);
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Board::LedGreen::toggle();
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}
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return 0;
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}

‎examples/nucleo_f429zi/imu_adis16470/project.xml

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<library>
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<extends>modm:nucleo-f429zi</extends>
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<options>
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<option name="modm:build:build.path">../../../build/nucleo_f429zi/imu_adis16470</option>
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</options>
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<modules>
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<module>modm:build:scons</module>
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<module>modm:platform:spi:1</module>
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<module>modm:driver:adis16470</module>
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</modules>
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</library>

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