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Adis16470 fixes #788

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merged 2 commits into from
Oct 23, 2024
Merged

Adis16470 fixes #788

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13e7277
nuttx/SPI: Add SPI chip select to first clock edge delay
jlaitine Oct 22, 2024
8adb663
imu/ADIS16470: Add minimum delay of 200ns from CS assertion to transf…
jlaitine Oct 22, 2024
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2 changes: 2 additions & 0 deletions src/drivers/imu/analog_devices/adis16470/ADIS16470.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -50,6 +50,8 @@ ADIS16470::ADIS16470(const I2CSPIDriverConfig &config) :
if (_drdy_gpio != 0) {
_drdy_missed_perf = perf_alloc(PC_COUNT, MODULE_NAME": DRDY missed");
}

set_cs_to_sck_delay(SPI_CS_TO_SCK_PERIOD_NS);
}

ADIS16470::~ADIS16470()
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2 changes: 2 additions & 0 deletions src/drivers/imu/analog_devices/adis16470/Analog_Devices_ADIS16470_registers.hpp
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Expand Up @@ -67,6 +67,8 @@ static constexpr uint32_t SPI_SPEED_BURST = 1 * 1000 * 1000; // 1 MHz SPI serial

static constexpr uint32_t SPI_STALL_PERIOD = 16; // 16 us Stall period between data

static constexpr uint32_t SPI_CS_TO_SCK_PERIOD_NS = 200; // 200 ns delay from CS to SCK edge

static constexpr uint16_t DIR_WRITE = 0x80;

static constexpr uint16_t Product_identification = 0x4056;
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6 changes: 6 additions & 0 deletions src/lib/drivers/device/nuttx/SPI.cpp
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Expand Up @@ -50,6 +50,10 @@
# error This driver requires CONFIG_SPI_EXCHANGE
#endif

#ifndef SPI_CS_TO_SCK_DELAY
#define SPI_CS_TO_SCK_DELAY(dev, dly_ns) if (dly_ns) px4_udelay(((dly_ns) + 999) / 1000)
#endif

namespace device
{

Expand Down Expand Up @@ -169,6 +173,7 @@ SPI::_transfer(uint8_t *send, uint8_t *recv, unsigned len)
SPI_SETMODE(_dev, _mode);
SPI_SETBITS(_dev, 8);
SPI_SELECT(_dev, _device, true);
SPI_CS_TO_SCK_DELAY(_dev, _cs_to_sck_ns);

/* do the transfer */
SPI_EXCHANGE(_dev, send, recv, len);
Expand Down Expand Up @@ -221,6 +226,7 @@ SPI::_transferhword(uint16_t *send, uint16_t *recv, unsigned len)
SPI_SETMODE(_dev, _mode);
SPI_SETBITS(_dev, 16); /* 16 bit transfer */
SPI_SELECT(_dev, _device, true);
SPI_CS_TO_SCK_DELAY(_dev, _cs_to_sck_ns);

/* do the transfer */
SPI_EXCHANGE(_dev, send, recv, len);
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2 changes: 2 additions & 0 deletions src/lib/drivers/device/nuttx/SPI.hpp
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Expand Up @@ -161,10 +161,12 @@ class __EXPORT SPI : public CDev
*/
void set_lockmode(enum LockMode mode) { _locking_mode = mode; }

void set_cs_to_sck_delay(uint32_t delay_ns) { _cs_to_sck_ns = delay_ns; }
private:
uint32_t _device;
enum spi_mode_e _mode;
uint32_t _frequency;
uint32_t _cs_to_sck_ns {0};
struct spi_dev_s *_dev {nullptr};

LockMode _locking_mode{LOCK_THREADS}; /**< selected locking mode */
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