Adis16470 stability fixes #862
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Fix issues related to unspecified delays in the ADIS sensor: 1. The reset occurs only after some delay from writing the SW reset, and the 193ms mentioned in the datasheet occurs only after that. When the reset sequence really starts can be determined with logic analyzer by monitoring DR signal and SPI writes. This delay is measured to be between 10-20ms, so add 20ms to SW reset recovery time. 2. The self test sequence starts only after some delay from writing the command, and the 14ms mentioned in the datasheet starts only after this delay. Again, the behaviour can be studied with logic analyzer by monitoring the DR signal and the SPI writes - when the self test is completed, the IMU starts measuring again and the DR starts toggling. This unspecified delay is measured to be somewhere between 5-10ms, so add 10ms to self test time. 3. After writing the register set in Configure(), there is an unspecified delay before the register can be read back. This was bisected to be around 50us, so add 100us delay after setting the registers before trying to read them back. In addition: 1. Make sure that the IMU has woken up after reset by reading the PROD_ID register always after the reset, also before starting the self test sequence on the first boot. 2. If self test fails, reset the IMU as a false result may occur due to moving the device during self test (according to the datasheet). Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
…ead and RegisterWrite calls Add a 1us delay before register read and register write. It is not specified in the datasheet, but it has been found via testing & oscilloscope measurements that > 1us inactive phase is required between reads and writes. Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
In case of any register read/write errors it is not enough to just check if one of the bits is 0; the whole register contents needs to be checked. Also, if initial read of the register fails in any reason, we should not write back some corrupted value such as 0 or 0xFFFE. Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
pussuw
approved these changes
Jan 8, 2025
jpaali
approved these changes
Jan 8, 2025
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Fix various issues in ADIS16470 initialization