Program Listing for File iio_wrapper.cpp
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/*******************************************************************************
* @file iio_wrapper.cpp
* @brief Implementation for iio wrapper library
* @author Vasile Holonec (Vasile.Holonec@analog.com)
*******************************************************************************/
// Copyright 2023 Analog Devices, Inc.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
#include "adi_imu/iio_wrapper.h"
#include <rclcpp/rclcpp.hpp>
#include "adi_imu/adis_register_map.h"
#include "adi_imu/utils/adis_device_registry.h"
#include "adi_imu/utils/adis_register_definitions.h"
namespace adi_imu
{
#define MAX_NO_OF_SAMPLES 1
struct iio_context * IIOWrapper::m_iio_context = nullptr;
struct iio_device * IIOWrapper::m_dev = nullptr;
struct iio_device * IIOWrapper::m_dev_trigger = nullptr;
struct iio_buffer * IIOWrapper::m_dev_buffer = nullptr;
struct iio_channel * IIOWrapper::m_channel_accel_x = nullptr;
struct iio_channel * IIOWrapper::m_channel_accel_y = nullptr;
struct iio_channel * IIOWrapper::m_channel_accel_z = nullptr;
struct iio_channel * IIOWrapper::m_channel_anglvel_x = nullptr;
struct iio_channel * IIOWrapper::m_channel_anglvel_y = nullptr;
struct iio_channel * IIOWrapper::m_channel_anglvel_z = nullptr;
struct iio_channel * IIOWrapper::m_channel_deltaangl_x = nullptr;
struct iio_channel * IIOWrapper::m_channel_deltaangl_y = nullptr;
struct iio_channel * IIOWrapper::m_channel_deltaangl_z = nullptr;
struct iio_channel * IIOWrapper::m_channel_deltavelocity_x = nullptr;
struct iio_channel * IIOWrapper::m_channel_deltavelocity_y = nullptr;
struct iio_channel * IIOWrapper::m_channel_deltavelocity_z = nullptr;
struct iio_channel * IIOWrapper::m_channel_temp = nullptr;
struct iio_channel * IIOWrapper::m_channel_timestamp = nullptr;
double IIOWrapper::m_scale_accel_x = 0;
double IIOWrapper::m_scale_accel_y = 0;
double IIOWrapper::m_scale_accel_z = 0;
double IIOWrapper::m_scale_anglvel_x = 0;
double IIOWrapper::m_scale_anglvel_y = 0;
double IIOWrapper::m_scale_anglvel_z = 0;
double IIOWrapper::m_scale_deltaangl_x = 0;
double IIOWrapper::m_scale_deltaangl_y = 0;
double IIOWrapper::m_scale_deltaangl_z = 0;
double IIOWrapper::m_scale_deltavelocity_x = 0;
double IIOWrapper::m_scale_deltavelocity_y = 0;
double IIOWrapper::m_scale_deltavelocity_z = 0;
double IIOWrapper::m_scale_temp = 0;
long long IIOWrapper::m_offset_temp = 0;
std::shared_ptr<ADISRegisterMap> IIOWrapper::m_device_descriptor = nullptr;
uint32_t IIOWrapper::CHAN_GYRO_X = 0;
uint32_t IIOWrapper::CHAN_GYRO_Y = 1;
uint32_t IIOWrapper::CHAN_GYRO_Z = 2;
uint32_t IIOWrapper::CHAN_ACCEL_X = 3;
uint32_t IIOWrapper::CHAN_ACCEL_Y = 4;
uint32_t IIOWrapper::CHAN_ACCEL_Z = 5;
uint32_t IIOWrapper::CHAN_TEMP = 6;
uint32_t IIOWrapper::CHAN_DELTA_ANGL_X = 7;
uint32_t IIOWrapper::CHAN_DELTA_ANGL_Y = 8;
uint32_t IIOWrapper::CHAN_DELTA_ANGL_Z = 9;
uint32_t IIOWrapper::CHAN_DELTA_VEL_X = 10;
uint32_t IIOWrapper::CHAN_DELTA_VEL_Y = 11;
uint32_t IIOWrapper::CHAN_DELTA_VEL_Z = 12;
uint32_t IIOWrapper::CHAN_DATA_TIMESTAMP = 13;
uint32_t IIOWrapper::NO_OF_CHANS = 14;
uint32_t IIOWrapper::buff_write_idx = 0;
uint32_t IIOWrapper::buff_read_idx = MAX_NO_OF_SAMPLES;
std::vector<std::vector<uint32_t>> IIOWrapper::buff_data{};
double IIOWrapper::samp_freq = 2000.0;
uint32_t IIOWrapper::no_of_samp = MAX_NO_OF_SAMPLES;
uint32_t IIOWrapper::current_data_selection = FULL_MEASURED_DATA;
bool IIOWrapper::has_delta_channels = true;
bool IIOWrapper::has_timestamp_channel = false;
IIOWrapper::IIOWrapper() {}
void IIOWrapper::setDeviceDescriptor(std::shared_ptr<ADISRegisterMap> device_descriptor)
{
m_device_descriptor = device_descriptor;
}
IIOWrapper::~IIOWrapper()
{
if (m_dev_buffer != nullptr) {
iio_buffer_destroy(m_dev_buffer);
m_dev_buffer = nullptr;
}
if (m_iio_context != nullptr) {
iio_context_destroy(m_iio_context);
m_iio_context = nullptr;
}
}
int IIOWrapper::createContext(const char * context)
{
if (m_iio_context) {
RCLCPP_INFO(rclcpp::get_logger("rclcpp_iiowrapper"), "IIO context already exists.");
return IIO_CONTEXT_ERROR;
}
if (!strcmp(context, "local:"))
m_iio_context = iio_create_local_context();
else
m_iio_context = iio_create_context_from_uri(context);
if (!m_iio_context) {
RCLCPP_INFO(rclcpp::get_logger("rclcpp_iiowrapper"), "IIO context is null");
return IIO_CONTEXT_ERROR;
}
RCLCPP_INFO(
rclcpp::get_logger("rclcpp_iiowrapper"), "IIO context created successfully from: %s", context);
iio_context_set_timeout(m_iio_context, 5000);
auto supported_devices = ADISDeviceRegistry::getSupportedDeviceNames();
auto dev_name = m_device_descriptor->getDeviceName();
m_dev = iio_context_find_device(m_iio_context, dev_name.c_str());
if (!m_dev) {
iio_context_destroy(m_iio_context);
m_iio_context = nullptr;
RCLCPP_WARN(
rclcpp::get_logger("rclcpp_iiowrapper"), "Device %s not found in IIO context.",
dev_name.c_str());
return IIO_CONTEXT_ERROR;
}
RCLCPP_INFO(rclcpp::get_logger("rclcpp_iiowrapper"), "Found device: %s", dev_name.c_str());
if (m_dev_trigger == nullptr) {
const std::string devid = iio_device_get_id(m_dev);
/* Get device number in the form of 0, 1, etc. to append to the
* trigger name. */
std::string dev_nb;
for (long unsigned int i = 0; i < devid.std::string::length(); i++)
if (isdigit(devid.c_str()[i])) dev_nb.std::string::append(&devid.c_str()[i]);
std::string triggerName = dev_name + "-dev" + dev_nb;
m_dev_trigger = iio_context_find_device(m_iio_context, triggerName.c_str());
if (!m_dev_trigger) {
RCLCPP_WARN(
rclcpp::get_logger("rclcpp_iiowrapper"), "Did not find trigger: %s for device: %s.",
triggerName.c_str(), dev_name.c_str());
return IIO_CONTEXT_ERROR;
}
RCLCPP_INFO(rclcpp::get_logger("rclcpp_iiowrapper"), "Found trigger: %s", triggerName.c_str());
}
iio_device_set_trigger(m_dev, m_dev_trigger);
auto dev_id = m_device_descriptor->getDeviceID();
std::vector<long> channel_buffer_idx{};
// Linear Acceleration channels
m_channel_accel_x = iio_device_find_channel(m_dev, "accel_x", false);
if (m_channel_accel_x) {
CHAN_ACCEL_X = iio_channel_get_index(m_channel_accel_x);
channel_buffer_idx.push_back(CHAN_ACCEL_X);
}
m_channel_accel_y = iio_device_find_channel(m_dev, "accel_y", false);
if (m_channel_accel_y) {
CHAN_ACCEL_Y = iio_channel_get_index(m_channel_accel_y);
channel_buffer_idx.push_back(CHAN_ACCEL_Y);
}
m_channel_accel_z = iio_device_find_channel(m_dev, "accel_z", false);
if (m_channel_accel_z) {
CHAN_ACCEL_Z = iio_channel_get_index(m_channel_accel_z);
channel_buffer_idx.push_back(CHAN_ACCEL_Z);
}
// Angular Velocity channels
m_channel_anglvel_x = iio_device_find_channel(m_dev, "anglvel_x", false);
if (m_channel_anglvel_x) {
CHAN_GYRO_X = iio_channel_get_index(m_channel_anglvel_x);
channel_buffer_idx.push_back(CHAN_GYRO_X);
}
m_channel_anglvel_y = iio_device_find_channel(m_dev, "anglvel_y", false);
if (m_channel_anglvel_y) {
CHAN_GYRO_Y = iio_channel_get_index(m_channel_anglvel_y);
channel_buffer_idx.push_back(CHAN_GYRO_Y);
}
m_channel_anglvel_z = iio_device_find_channel(m_dev, "anglvel_z", false);
if (m_channel_anglvel_z) {
CHAN_GYRO_Z = iio_channel_get_index(m_channel_anglvel_z);
channel_buffer_idx.push_back(CHAN_GYRO_Z);
}
// Initialize has_delta_channels
if (m_channel_deltaangl_x == nullptr) {
m_channel_deltaangl_x = iio_device_find_channel(m_dev, "deltaangl_x", false);
if (m_channel_deltaangl_x == nullptr) {
// channel not found
has_delta_channels = false;
} else {
// channel can't be included in buffered reading
has_delta_channels = iio_channel_is_scan_element(m_channel_deltaangl_x);
}
}
if (has_delta_channels) {
// Delta Angular channels
m_channel_deltaangl_x = iio_device_find_channel(m_dev, "deltaangl_x", false);
if (m_channel_deltaangl_x) {
CHAN_DELTA_ANGL_X = iio_channel_get_index(m_channel_deltaangl_x);
channel_buffer_idx.push_back(CHAN_DELTA_ANGL_X);
}
m_channel_deltaangl_y = iio_device_find_channel(m_dev, "deltaangl_y", false);
if (m_channel_deltaangl_y) {
CHAN_DELTA_ANGL_Y = iio_channel_get_index(m_channel_deltaangl_y);
channel_buffer_idx.push_back(CHAN_DELTA_ANGL_Y);
}
m_channel_deltaangl_z = iio_device_find_channel(m_dev, "deltaangl_z", false);
if (m_channel_deltaangl_z) {
CHAN_DELTA_ANGL_Z = iio_channel_get_index(m_channel_deltaangl_z);
channel_buffer_idx.push_back(CHAN_DELTA_ANGL_Z);
}
// Delta Velocity Channels
m_channel_deltavelocity_x = iio_device_find_channel(m_dev, "deltavelocity_x", false);
if (m_channel_deltavelocity_x) {
CHAN_DELTA_VEL_X = iio_channel_get_index(m_channel_deltavelocity_x);
channel_buffer_idx.push_back(CHAN_DELTA_VEL_X);
}
m_channel_deltavelocity_y = iio_device_find_channel(m_dev, "deltavelocity_y", false);
if (m_channel_deltavelocity_y) {
CHAN_DELTA_VEL_Y = iio_channel_get_index(m_channel_deltavelocity_y);
channel_buffer_idx.push_back(CHAN_DELTA_VEL_Y);
}
m_channel_deltavelocity_z = iio_device_find_channel(m_dev, "deltavelocity_z", false);
if (m_channel_deltavelocity_z) {
CHAN_DELTA_VEL_Z = iio_channel_get_index(m_channel_deltavelocity_z);
channel_buffer_idx.push_back(CHAN_DELTA_VEL_Z);
}
}
// Temperature channel
m_channel_temp = iio_device_find_channel(m_dev, "temp0", false);
if (m_channel_temp) {
CHAN_TEMP = iio_channel_get_index(m_channel_temp);
channel_buffer_idx.push_back(CHAN_TEMP);
}
// Data Timestamp channel
m_channel_timestamp = iio_device_find_channel(m_dev, "timestamp", false);
if (m_channel_timestamp) {
CHAN_DATA_TIMESTAMP = iio_channel_get_index(m_channel_timestamp);
channel_buffer_idx.push_back(CHAN_DATA_TIMESTAMP);
}
// Initialize buffer for channel readings
auto max_element = std::max_element(channel_buffer_idx.begin(), channel_buffer_idx.end());
// Buffer size calculation:
// +1: Convert from max index (0-based) to required array size
// +1: Extra slot for 64-bit timestamp upper 32 bits (uses CHAN_DATA_TIMESTAMP + 1)
NO_OF_CHANS = *max_element + 1 + 1; // +1 for timestamp channel
if (!buff_data.empty()) {
buff_data.clear();
}
buff_data.resize(NO_OF_CHANS, std::vector<uint32_t>(MAX_NO_OF_SAMPLES, 0));
if (m_channel_temp) iio_channel_enable(m_channel_temp);
if (m_channel_timestamp) {
iio_channel_enable(m_channel_timestamp);
has_timestamp_channel = true;
}
// Initialize channel scales
if (m_channel_accel_x) iio_channel_attr_read_double(m_channel_accel_x, "scale", &m_scale_accel_x);
if (m_channel_accel_y) iio_channel_attr_read_double(m_channel_accel_y, "scale", &m_scale_accel_y);
if (m_channel_accel_z) iio_channel_attr_read_double(m_channel_accel_z, "scale", &m_scale_accel_z);
if (m_channel_anglvel_x)
iio_channel_attr_read_double(m_channel_anglvel_x, "scale", &m_scale_anglvel_x);
if (m_channel_anglvel_y)
iio_channel_attr_read_double(m_channel_anglvel_y, "scale", &m_scale_anglvel_y);
if (m_channel_anglvel_z)
iio_channel_attr_read_double(m_channel_anglvel_z, "scale", &m_scale_anglvel_z);
if (has_delta_channels) {
iio_channel_attr_read_double(m_channel_deltaangl_x, "scale", &m_scale_deltaangl_x);
iio_channel_attr_read_double(m_channel_deltaangl_y, "scale", &m_scale_deltaangl_y);
iio_channel_attr_read_double(m_channel_deltaangl_z, "scale", &m_scale_deltaangl_z);
iio_channel_attr_read_double(m_channel_deltavelocity_x, "scale", &m_scale_deltavelocity_x);
iio_channel_attr_read_double(m_channel_deltavelocity_y, "scale", &m_scale_deltavelocity_y);
iio_channel_attr_read_double(m_channel_deltavelocity_z, "scale", &m_scale_deltavelocity_z);
} else {
/* Set scale manually in case delta channels are not available in the
* linux driver. */
setDeltaAngleScales(dev_id);
setDeltaVelocityScales(dev_id);
}
if (m_channel_temp) {
iio_channel_attr_read_double(m_channel_temp, "scale", &m_scale_temp);
iio_channel_attr_read_longlong(m_channel_temp, "offset", &m_offset_temp);
}
return 0;
}
bool IIOWrapper::updateField(uint32_t reg, uint32_t val, uint32_t mask)
{
int ret;
uint32_t __val;
if (!m_dev) return false;
ret = iio_device_reg_read(m_dev, reg, &__val);
if (ret) return false;
__val = (__val & ~mask) | (val & mask);
return (iio_device_reg_write(m_dev, reg, __val) == 0);
}
void IIOWrapper::setDeltaAngleScales(adis_device_id id)
{
switch (id) {
case ADIS16465_1:
case ADIS16467_1:
case ADIS16475_1:
case ADIS16477_1:
case ADIS16505_1:
case ADIS16507_1:
m_scale_deltaangl_x = 0.000000002;
m_scale_deltaangl_y = 0.000000002;
m_scale_deltaangl_z = 0.000000002;
return;
case ADIS16465_2:
case ADIS16467_2:
case ADIS16475_2:
case ADIS16477_2:
case ADIS16501:
case ADIS16505_2:
case ADIS16507_2:
case ADIS16550:
m_scale_deltaangl_x = 0.000000006;
m_scale_deltaangl_y = 0.000000006;
m_scale_deltaangl_z = 0.000000006;
return;
case ADIS16465_3:
case ADIS16467_3:
case ADIS16470:
case ADIS16475_3:
case ADIS16477_3:
case ADIS16500:
case ADIS16505_3:
case ADIS16507_3:
case ADIS16545_1:
case ADIS16545_2:
case ADIS16545_3:
case ADIS16547_1:
case ADIS16547_2:
case ADIS16547_3:
m_scale_deltaangl_x = 0.000000017;
m_scale_deltaangl_y = 0.000000017;
m_scale_deltaangl_z = 0.000000017;
return;
case ADIS16575_2:
case ADIS16576_2:
case ADIS16577_2:
m_scale_deltaangl_x = 0.000000003;
m_scale_deltaangl_y = 0.000000003;
m_scale_deltaangl_z = 0.000000003;
return;
case ADIS16575_3:
case ADIS16576_3:
case ADIS16577_3:
m_scale_deltaangl_x = 0.000000016;
m_scale_deltaangl_y = 0.000000016;
m_scale_deltaangl_z = 0.000000016;
return;
default:
return;
}
}
void IIOWrapper::setDeltaVelocityScales(adis_device_id id)
{
switch (id) {
case ADIS16467_1:
case ADIS16467_2:
case ADIS16467_3:
case ADIS16470:
case ADIS16477_1:
case ADIS16477_2:
case ADIS16477_3:
case ADIS16500:
case ADIS16507_1:
case ADIS16507_2:
case ADIS16507_3:
m_scale_deltavelocity_x = 0.000000186;
m_scale_deltavelocity_y = 0.000000186;
m_scale_deltavelocity_z = 0.000000186;
return;
case ADIS16465_1:
case ADIS16465_2:
case ADIS16465_3:
case ADIS16475_1:
case ADIS16475_2:
case ADIS16475_3:
case ADIS16505_1:
case ADIS16505_2:
case ADIS16505_3:
case ADIS16545_1:
case ADIS16545_2:
case ADIS16545_3:
case ADIS16547_1:
case ADIS16547_2:
case ADIS16547_3:
case ADIS16575_2:
case ADIS16575_3:
case ADIS16576_2:
case ADIS16576_3:
case ADIS16577_2:
case ADIS16577_3:
m_scale_deltavelocity_x = 0.000000046;
m_scale_deltavelocity_y = 0.000000046;
m_scale_deltavelocity_z = 0.000000046;
return;
case ADIS16501:
case ADIS16550:
m_scale_deltavelocity_x = 0.000000058;
m_scale_deltavelocity_y = 0.000000058;
m_scale_deltavelocity_z = 0.000000058;
return;
default:
return;
}
}
void IIOWrapper::stopBufferAcquisition()
{
if (m_dev_buffer != nullptr) {
iio_buffer_destroy(m_dev_buffer);
m_dev_buffer = nullptr;
}
}
ssize_t IIOWrapper::demux_sample(
const struct iio_channel * chn, void * sample, size_t size, __attribute__((unused)) void * d)
{
if (size == 2) {
int16_t val;
iio_channel_convert(chn, &val, sample);
buff_data[iio_channel_get_index(chn)][buff_write_idx] = val;
if (!has_timestamp_channel) {
// timestamp channel is not available, have to update buff_write_idx
buff_write_idx++;
}
} else if (size == 4) {
int32_t val;
iio_channel_convert(chn, &val, sample);
buff_data[iio_channel_get_index(chn)][buff_write_idx] = val;
if (!has_timestamp_channel) {
/* timestamp channel is not available, have to update buff_write_idx for last
* read channel */
if (m_device_descriptor->has(ADISRegister::HAS_DELTA_BURST)) {
if (iio_channel_get_index(chn) == CHAN_DELTA_VEL_Z) buff_write_idx++;
}
}
} else {
int64_t val;
iio_channel_convert(chn, &val, sample);
buff_data[CHAN_DATA_TIMESTAMP][buff_write_idx] = val;
buff_data[CHAN_DATA_TIMESTAMP + 1][buff_write_idx++] = val >> 32;
}
if (buff_write_idx == no_of_samp) buff_write_idx = 0;
return size;
}
bool IIOWrapper::updateBuffer(uint32_t data_selection)
{
ssize_t ret;
if (current_data_selection != data_selection) {
stopBufferAcquisition();
if (data_selection == ACCEL_GYRO_BUFFERED_DATA) {
if (m_device_descriptor->has(ADISRegister::HAS_DELTA_BURST)) {
if (has_delta_channels) {
iio_channel_disable(m_channel_deltaangl_x);
iio_channel_disable(m_channel_deltaangl_y);
iio_channel_disable(m_channel_deltaangl_z);
iio_channel_disable(m_channel_deltavelocity_x);
iio_channel_disable(m_channel_deltavelocity_y);
iio_channel_disable(m_channel_deltavelocity_z);
}
}
iio_channel_enable(m_channel_accel_x);
iio_channel_enable(m_channel_accel_y);
iio_channel_enable(m_channel_accel_z);
iio_channel_enable(m_channel_anglvel_x);
iio_channel_enable(m_channel_anglvel_y);
iio_channel_enable(m_channel_anglvel_z);
} else {
iio_channel_disable(m_channel_accel_x);
iio_channel_disable(m_channel_accel_y);
iio_channel_disable(m_channel_accel_z);
iio_channel_disable(m_channel_anglvel_x);
iio_channel_disable(m_channel_anglvel_y);
iio_channel_disable(m_channel_anglvel_z);
if (m_device_descriptor->has(ADISRegister::HAS_DELTA_BURST)) {
if (has_delta_channels) {
iio_channel_enable(m_channel_deltaangl_x);
iio_channel_enable(m_channel_deltaangl_y);
iio_channel_enable(m_channel_deltaangl_z);
iio_channel_enable(m_channel_deltavelocity_x);
iio_channel_enable(m_channel_deltavelocity_y);
iio_channel_enable(m_channel_deltavelocity_z);
} else {
stopBufferAcquisition();
}
}
}
current_data_selection = data_selection;
}
if (m_dev_buffer == nullptr) {
sampling_frequency(&samp_freq);
no_of_samp = MAX_NO_OF_SAMPLES;
if (no_of_samp > samp_freq)
/* Overwrite number of samples based on sampling frequency, to avoid
* timeout errors from LibIIO */
no_of_samp = samp_freq;
m_dev_buffer = iio_device_create_buffer(m_dev, no_of_samp, false);
if (!m_dev_buffer) throw std::runtime_error("Exception: device buffer is null");
buff_read_idx = 0;
buff_write_idx = 0;
} else {
buff_read_idx++;
if (buff_read_idx < no_of_samp) return true;
}
ret = iio_buffer_refill(m_dev_buffer);
if ((ret == 0) || (ret == -110)) {
RCLCPP_INFO(
rclcpp::get_logger("rclcpp_iiowrapper"), "no samples available yet, retrying ret = %ld", ret);
return false;
}
if (ret < 0) {
RCLCPP_INFO(rclcpp::get_logger("rclcpp_iiowrapper"), "buffer refill error status %ld", ret);
stopBufferAcquisition();
return false;
}
iio_buffer_foreach_sample(m_dev_buffer, demux_sample, NULL);
buff_read_idx = 0;
return true;
}
double IIOWrapper::getBuffLinearAccelerationX()
{
return (int32_t)buff_data[CHAN_ACCEL_X][buff_read_idx] * m_scale_accel_x;
}
double IIOWrapper::getBuffLinearAccelerationY()
{
return (int32_t)buff_data[CHAN_ACCEL_Y][buff_read_idx] * m_scale_accel_y;
}
double IIOWrapper::getBuffLinearAccelerationZ()
{
return (int32_t)buff_data[CHAN_ACCEL_Z][buff_read_idx] * m_scale_accel_z;
}
double IIOWrapper::getBuffAngularVelocityX()
{
return (int32_t)buff_data[CHAN_GYRO_X][buff_read_idx] * m_scale_anglvel_x;
}
double IIOWrapper::getBuffAngularVelocityY()
{
return (int32_t)buff_data[CHAN_GYRO_Y][buff_read_idx] * m_scale_anglvel_y;
}
double IIOWrapper::getBuffAngularVelocityZ()
{
return (int32_t)buff_data[CHAN_GYRO_Z][buff_read_idx] * m_scale_anglvel_z;
}
double IIOWrapper::getBuffDeltaAngleX()
{
if (!has_delta_channels) {
double result;
if (getConvertedDeltaAngleXFromDebug(result))
return result;
else
return 0.0;
}
return (int32_t)buff_data[CHAN_DELTA_ANGL_X][buff_read_idx] * m_scale_deltaangl_x;
}
double IIOWrapper::getBuffDeltaAngleY()
{
if (!has_delta_channels) {
double result;
if (getConvertedDeltaAngleYFromDebug(result))
return result;
else
return 0.0;
}
return (int32_t)buff_data[CHAN_DELTA_ANGL_Y][buff_read_idx] * m_scale_deltaangl_y;
}
double IIOWrapper::getBuffDeltaAngleZ()
{
if (!has_delta_channels) {
double result;
if (getConvertedDeltaAngleZFromDebug(result))
return result;
else
return 0.0;
}
return (int32_t)buff_data[CHAN_DELTA_ANGL_Z][buff_read_idx] * m_scale_deltaangl_z;
}
double IIOWrapper::getBuffDeltaVelocityX()
{
if (!has_delta_channels) {
double result;
if (getConvertedDeltaVelocityXFromDebug(result))
return result;
else
return 0.0;
}
return (int32_t)buff_data[CHAN_DELTA_VEL_X][buff_read_idx] * m_scale_deltavelocity_x;
}
double IIOWrapper::getBuffDeltaVelocityY()
{
if (!has_delta_channels) {
double result;
if (getConvertedDeltaVelocityYFromDebug(result))
return result;
else
return 0.0;
}
return (int32_t)buff_data[CHAN_DELTA_VEL_Y][buff_read_idx] * m_scale_deltavelocity_y;
}
double IIOWrapper::getBuffDeltaVelocityZ()
{
if (!has_delta_channels) {
double result;
if (getConvertedDeltaVelocityZFromDebug(result))
return result;
else
return 0.0;
}
return (int32_t)buff_data[CHAN_DELTA_VEL_Z][buff_read_idx] * m_scale_deltavelocity_z;
}
double IIOWrapper::getBuffTemperature()
{
return ((int32_t)buff_data[CHAN_TEMP][buff_read_idx] + m_offset_temp) * m_scale_temp / 1000.0;
}
void IIOWrapper::getBuffSampleTimestamp(int32_t & sec, uint32_t & nanosec)
{
if (has_timestamp_channel) {
uint16_t timestamp_0_15 = buff_data[CHAN_DATA_TIMESTAMP][buff_read_idx];
uint16_t timestamp_16_31 = buff_data[CHAN_DATA_TIMESTAMP][buff_read_idx] >> 16;
uint16_t timestamp_32_47 = buff_data[CHAN_DATA_TIMESTAMP + 1][buff_read_idx];
uint16_t timestamp_48_63 = buff_data[CHAN_DATA_TIMESTAMP + 1][buff_read_idx] >> 16;
uint64_t timestamp = ((uint64_t)timestamp_48_63 << 48) | ((uint64_t)timestamp_32_47 << 32) |
((uint64_t)timestamp_16_31 << 16) | timestamp_0_15;
sec = timestamp / 1000000000;
nanosec = timestamp % 1000000000;
} else {
sec = 0;
nanosec = 0;
}
}
bool IIOWrapper::getConvertedLinearAccelerationX(double & result)
{
long long valueRaw;
if (!m_channel_accel_x) return false;
int ret = iio_channel_attr_read_longlong(m_channel_accel_x, "raw", &valueRaw);
result = valueRaw * m_scale_accel_x;
return (ret == 0);
}
bool IIOWrapper::getConvertedLinearAccelerationY(double & result)
{
long long valueRaw;
if (!m_channel_accel_y) return false;
int ret = iio_channel_attr_read_longlong(m_channel_accel_y, "raw", &valueRaw);
result = valueRaw * m_scale_accel_y;
return (ret == 0);
}
bool IIOWrapper::getConvertedLinearAccelerationZ(double & result)
{
long long valueRaw;
if (!m_channel_accel_z) return false;
int ret = iio_channel_attr_read_longlong(m_channel_accel_z, "raw", &valueRaw);
result = valueRaw * m_scale_accel_z;
return (ret == 0);
}
bool IIOWrapper::getConvertedAngularVelocityX(double & result)
{
long long valueRaw;
if (!m_channel_anglvel_x) return false;
int ret = iio_channel_attr_read_longlong(m_channel_anglvel_x, "raw", &valueRaw);
result = valueRaw * m_scale_anglvel_x;
return (ret == 0);
}
bool IIOWrapper::getConvertedAngularVelocityY(double & result)
{
long long valueRaw;
if (!m_channel_anglvel_y) return false;
int ret = iio_channel_attr_read_longlong(m_channel_anglvel_y, "raw", &valueRaw);
result = valueRaw * m_scale_anglvel_y;
return (ret == 0);
}
bool IIOWrapper::getConvertedAngularVelocityZ(double & result)
{
long long valueRaw;
if (!m_channel_anglvel_z) return false;
int ret = iio_channel_attr_read_longlong(m_channel_anglvel_z, "raw", &valueRaw);
result = valueRaw * m_scale_anglvel_z;
return (ret == 0);
}
bool IIOWrapper::getRawDeltaAngleXFromDebug(int32_t & result)
{
uint32_t reg_low;
uint32_t reg_high;
if (!m_dev) return false;
int ret =
iio_device_reg_read(m_dev, m_device_descriptor->get(ADISRegister::DELTANG_X_LOW_REG), ®_low);
if (ret) return false;
ret = iio_device_reg_read(
m_dev, m_device_descriptor->get(ADISRegister::DELTANG_X_OUT_REG), ®_high);
if (ret) return false;
result = reg_high << 16 | reg_low;
return true;
}
bool IIOWrapper::getConvertedDeltaAngleXFromDebug(double & result)
{
int32_t reg_val = 0;
bool ret = getRawDeltaAngleXFromDebug(reg_val);
result = reg_val * m_scale_deltaangl_x;
return ret;
}
bool IIOWrapper::getConvertedDeltaAngleX(double & result)
{
long long valueRaw;
if (!m_channel_deltaangl_x) return getConvertedDeltaAngleXFromDebug(result);
int ret = iio_channel_attr_read_longlong(m_channel_deltaangl_x, "raw", &valueRaw);
result = valueRaw * m_scale_deltaangl_x;
return (ret == 0);
}
bool IIOWrapper::getRawDeltaAngleYFromDebug(int32_t & result)
{
uint32_t reg_low;
uint32_t reg_high;
if (!m_dev) return false;
int ret =
iio_device_reg_read(m_dev, m_device_descriptor->get(ADISRegister::DELTANG_Y_LOW_REG), ®_low);
if (ret) return false;
ret = iio_device_reg_read(
m_dev, m_device_descriptor->get(ADISRegister::DELTANG_Y_OUT_REG), ®_high);
if (ret) return false;
result = reg_high << 16 | reg_low;
return true;
}
bool IIOWrapper::getConvertedDeltaAngleYFromDebug(double & result)
{
int32_t reg_val = 0;
bool ret = getRawDeltaAngleYFromDebug(reg_val);
result = reg_val * m_scale_deltaangl_y;
return ret;
}
bool IIOWrapper::getConvertedDeltaAngleY(double & result)
{
long long valueRaw;
if (!m_channel_deltaangl_y) return getConvertedDeltaAngleYFromDebug(result);
int ret = iio_channel_attr_read_longlong(m_channel_deltaangl_y, "raw", &valueRaw);
result = valueRaw * m_scale_deltaangl_y;
return (ret == 0);
}
bool IIOWrapper::getRawDeltaAngleZFromDebug(int32_t & result)
{
uint32_t reg_low;
uint32_t reg_high;
if (!m_dev) return false;
int ret =
iio_device_reg_read(m_dev, m_device_descriptor->get(ADISRegister::DELTANG_Z_LOW_REG), ®_low);
if (ret) return false;
ret = iio_device_reg_read(
m_dev, m_device_descriptor->get(ADISRegister::DELTANG_Z_OUT_REG), ®_high);
if (ret) return false;
result = reg_high << 16 | reg_low;
return true;
}
bool IIOWrapper::getConvertedDeltaAngleZFromDebug(double & result)
{
int32_t reg_val = 0;
bool ret = getRawDeltaAngleZFromDebug(reg_val);
result = reg_val * m_scale_deltaangl_z;
return ret;
}
bool IIOWrapper::getConvertedDeltaAngleZ(double & result)
{
long long valueRaw;
if (!m_channel_deltaangl_z) return getConvertedDeltaAngleZFromDebug(result);
int ret = iio_channel_attr_read_longlong(m_channel_deltaangl_z, "raw", &valueRaw);
result = valueRaw * m_scale_deltaangl_z;
return (ret == 0);
}
bool IIOWrapper::getRawDeltaVelocityXFromDebug(int32_t & result)
{
uint32_t reg_low;
uint32_t reg_high;
if (!m_dev) return false;
int ret =
iio_device_reg_read(m_dev, m_device_descriptor->get(ADISRegister::DELTVEL_X_LOW_REG), ®_low);
if (ret) return false;
ret = iio_device_reg_read(
m_dev, m_device_descriptor->get(ADISRegister::DELTVEL_X_OUT_REG), ®_high);
if (ret) return false;
result = reg_high << 16 | reg_low;
return true;
}
bool IIOWrapper::getConvertedDeltaVelocityXFromDebug(double & result)
{
int32_t reg_val = 0;
bool ret = getRawDeltaVelocityXFromDebug(reg_val);
result = reg_val * m_scale_deltavelocity_x;
return ret;
}
bool IIOWrapper::getConvertedDeltaVelocityX(double & result)
{
long long valueRaw;
if (!m_channel_deltavelocity_x) return getConvertedDeltaVelocityXFromDebug(result);
int ret = iio_channel_attr_read_longlong(m_channel_deltavelocity_x, "raw", &valueRaw);
result = valueRaw * m_scale_deltavelocity_x;
return (ret == 0);
}
bool IIOWrapper::getRawDeltaVelocityYFromDebug(int32_t & result)
{
uint32_t reg_low;
uint32_t reg_high;
if (!m_dev) return false;
int ret =
iio_device_reg_read(m_dev, m_device_descriptor->get(ADISRegister::DELTVEL_Y_LOW_REG), ®_low);
if (ret) return false;
ret = iio_device_reg_read(
m_dev, m_device_descriptor->get(ADISRegister::DELTVEL_Y_OUT_REG), ®_high);
if (ret) return false;
result = reg_high << 16 | reg_low;
return true;
}
bool IIOWrapper::getConvertedDeltaVelocityYFromDebug(double & result)
{
int32_t reg_val = 0;
bool ret = getRawDeltaVelocityYFromDebug(reg_val);
result = reg_val * m_scale_deltavelocity_y;
return ret;
}
bool IIOWrapper::getConvertedDeltaVelocityY(double & result)
{
long long valueRaw;
if (!m_channel_deltavelocity_y) return getConvertedDeltaVelocityYFromDebug(result);
int ret = iio_channel_attr_read_longlong(m_channel_deltavelocity_y, "raw", &valueRaw);
result = valueRaw * m_scale_deltavelocity_y;
return (ret == 0);
}
bool IIOWrapper::getRawDeltaVelocityZFromDebug(int32_t & result)
{
uint32_t reg_low;
uint32_t reg_high;
if (!m_dev) return false;
int ret =
iio_device_reg_read(m_dev, m_device_descriptor->get(ADISRegister::DELTVEL_Z_LOW_REG), ®_low);
if (ret) return false;
ret = iio_device_reg_read(
m_dev, m_device_descriptor->get(ADISRegister::DELTVEL_Z_OUT_REG), ®_high);
if (ret) return false;
result = reg_high << 16 | reg_low;
return true;
}
bool IIOWrapper::getConvertedDeltaVelocityZFromDebug(double & result)
{
int32_t reg_val = 0;
bool ret = getRawDeltaVelocityZFromDebug(reg_val);
result = reg_val * m_scale_deltavelocity_z;
return ret;
}
bool IIOWrapper::getConvertedDeltaVelocityZ(double & result)
{
long long valueRaw;
if (!m_channel_deltavelocity_z) return getConvertedDeltaVelocityZFromDebug(result);
int ret = iio_channel_attr_read_longlong(m_channel_deltavelocity_z, "raw", &valueRaw);
result = valueRaw * m_scale_deltavelocity_z;
return (ret == 0);
}
bool IIOWrapper::getConvertedTemperature(double & result)
{
long long valueRaw;
if (!m_channel_temp) return false;
int ret = iio_channel_attr_read_longlong(m_channel_temp, "raw", &valueRaw);
result = (valueRaw + m_offset_temp) * m_scale_temp / 1000.0;
return (ret == 0);
}
bool IIOWrapper::anglvel_x_calibbias(int32_t & result)
{
long long valuel;
if (!m_channel_anglvel_x) return false;
int ret = iio_channel_attr_read_longlong(m_channel_anglvel_x, "calibbias", &valuel);
result = valuel;
return (ret == 0);
}
bool IIOWrapper::update_anglvel_calibbias_x(int32_t val)
{
if (!m_channel_anglvel_x) return false;
return (iio_channel_attr_write_longlong(m_channel_anglvel_x, "calibbias", val) == 0);
}
bool IIOWrapper::anglvel_y_calibbias(int32_t & result)
{
long long valuel;
if (!m_channel_anglvel_y) return false;
int ret = iio_channel_attr_read_longlong(m_channel_anglvel_y, "calibbias", &valuel);
result = valuel;
return (ret == 0);
}
bool IIOWrapper::update_anglvel_calibbias_y(int32_t val)
{
if (!m_channel_anglvel_y) return false;
return (iio_channel_attr_write_longlong(m_channel_anglvel_y, "calibbias", val) == 0);
}
bool IIOWrapper::anglvel_z_calibbias(int32_t & result)
{
long long valuel;
if (!m_channel_anglvel_z) return false;
int ret = iio_channel_attr_read_longlong(m_channel_anglvel_z, "calibbias", &valuel);
result = valuel;
return (ret == 0);
}
bool IIOWrapper::update_anglvel_calibbias_z(int32_t val)
{
if (!m_channel_anglvel_z) return false;
return (iio_channel_attr_write_longlong(m_channel_anglvel_z, "calibbias", val) == 0);
}
bool IIOWrapper::accel_x_calibbias(int32_t & result)
{
long long valuel;
if (!m_channel_accel_x) return false;
int ret = iio_channel_attr_read_longlong(m_channel_accel_x, "calibbias", &valuel);
result = valuel;
return (ret == 0);
}
bool IIOWrapper::update_accel_calibbias_x(int32_t val)
{
if (!m_channel_accel_x) return false;
return (iio_channel_attr_write_longlong(m_channel_accel_x, "calibbias", val) == 0);
}
bool IIOWrapper::accel_y_calibbias(int32_t & result)
{
long long valuel;
if (!m_channel_accel_y) return false;
int ret = iio_channel_attr_read_longlong(m_channel_accel_y, "calibbias", &valuel);
result = valuel;
return (ret == 0);
}
bool IIOWrapper::update_accel_calibbias_y(int32_t val)
{
if (!m_channel_accel_y) return false;
return (iio_channel_attr_write_longlong(m_channel_accel_y, "calibbias", val) == 0);
}
bool IIOWrapper::accel_z_calibbias(int32_t & result)
{
long long valuel;
if (!m_channel_accel_z) return false;
int ret = iio_channel_attr_read_longlong(m_channel_accel_z, "calibbias", &valuel);
result = valuel;
return (ret == 0);
}
bool IIOWrapper::update_accel_calibbias_z(int32_t val)
{
if (!m_channel_accel_z) return false;
return (iio_channel_attr_write_longlong(m_channel_accel_z, "calibbias", val) == 0);
}
bool IIOWrapper::sampling_frequency(double * result)
{
int ret;
if (!m_dev) return false;
ret = iio_device_attr_read_double(m_dev, "sampling_frequency", result);
if (ret) return false;
samp_freq = *result;
return true;
}
bool IIOWrapper::update_sampling_frequency(double val)
{
int ret;
if (!m_dev) return false;
ret = iio_device_attr_write_double(m_dev, "sampling_frequency", val);
if (ret) return false;
samp_freq = val;
return true;
}
bool IIOWrapper::angvel_x_filter_low_pass_3db(uint32_t & result)
{
long long valuel;
if (!m_channel_anglvel_x) return false;
int ret =
iio_channel_attr_read_longlong(m_channel_anglvel_x, "filter_low_pass_3db_frequency", &valuel);
result = valuel;
return (ret == 0);
}
bool IIOWrapper::update_angvel_x_filter_low_pass_3db(uint32_t val)
{
if (!m_channel_anglvel_x) return false;
return (
iio_channel_attr_write_longlong(m_channel_anglvel_x, "filter_low_pass_3db_frequency", val) ==
0);
}
bool IIOWrapper::angvel_y_filter_low_pass_3db(uint32_t & result)
{
long long valuel;
if (!m_channel_anglvel_y) return false;
int ret =
iio_channel_attr_read_longlong(m_channel_anglvel_y, "filter_low_pass_3db_frequency", &valuel);
result = valuel;
return (ret == 0);
}
bool IIOWrapper::update_angvel_y_filter_low_pass_3db(uint32_t val)
{
if (!m_channel_anglvel_y) return false;
return (
iio_channel_attr_write_longlong(m_channel_anglvel_y, "filter_low_pass_3db_frequency", val) ==
0);
}
bool IIOWrapper::angvel_z_filter_low_pass_3db(uint32_t & result)
{
long long valuel;
if (!m_channel_anglvel_z) return false;
int ret =
iio_channel_attr_read_longlong(m_channel_anglvel_z, "filter_low_pass_3db_frequency", &valuel);
result = valuel;
return (ret == 0);
}
bool IIOWrapper::update_angvel_z_filter_low_pass_3db(uint32_t val)
{
if (!m_channel_anglvel_z) return false;
return (
iio_channel_attr_write_longlong(m_channel_anglvel_z, "filter_low_pass_3db_frequency", val) ==
0);
}
bool IIOWrapper::accel_x_filter_low_pass_3db(uint32_t & result)
{
long long valuel;
if (!m_channel_accel_x) return false;
int ret =
iio_channel_attr_read_longlong(m_channel_accel_x, "filter_low_pass_3db_frequency", &valuel);
result = valuel;
return (ret == 0);
}
bool IIOWrapper::update_accel_x_filter_low_pass_3db(uint32_t val)
{
if (!m_channel_accel_x) return false;
return (
iio_channel_attr_write_longlong(m_channel_accel_x, "filter_low_pass_3db_frequency", val) == 0);
}
bool IIOWrapper::accel_y_filter_low_pass_3db(uint32_t & result)
{
long long valuel;
if (!m_channel_accel_y) return false;
int ret =
iio_channel_attr_read_longlong(m_channel_accel_y, "filter_low_pass_3db_frequency", &valuel);
result = valuel;
return (ret == 0);
}
bool IIOWrapper::update_accel_y_filter_low_pass_3db(uint32_t val)
{
if (!m_channel_accel_y) return false;
return (
iio_channel_attr_write_longlong(m_channel_accel_y, "filter_low_pass_3db_frequency", val) == 0);
}
bool IIOWrapper::accel_z_filter_low_pass_3db(uint32_t & result)
{
long long valuel;
if (!m_channel_accel_z) return false;
int ret =
iio_channel_attr_read_longlong(m_channel_accel_z, "filter_low_pass_3db_frequency", &valuel);
result = valuel;
return (ret == 0);
}
bool IIOWrapper::update_accel_z_filter_low_pass_3db(uint32_t val)
{
if (!m_channel_accel_z) return false;
return (
iio_channel_attr_write_longlong(m_channel_accel_z, "filter_low_pass_3db_frequency", val) == 0);
}
bool IIOWrapper::filter_low_pass_3db_frequency(uint32_t & result)
{
long long valuel;
if (!m_dev) return false;
int ret = iio_device_attr_read_longlong(m_dev, "filter_low_pass_3db_frequency", &valuel);
if (ret) return false;
result = valuel;
return true;
}
bool IIOWrapper::update_filter_low_pass_3db_frequency(uint32_t val)
{
if (!m_dev) return false;
return (iio_device_attr_write_longlong(m_dev, "filter_low_pass_3db_frequency", val) == 0);
}
bool IIOWrapper::accel_x_calibscale(int32_t & result)
{
long long valuel;
if (!m_channel_accel_x) return false;
int ret = iio_channel_attr_read_longlong(m_channel_accel_x, "calibscale", &valuel);
result = valuel;
return (ret == 0);
}
bool IIOWrapper::accel_y_calibscale(int32_t & result)
{
long long valuel;
if (!m_channel_accel_y) return false;
int ret = iio_channel_attr_read_longlong(m_channel_accel_y, "calibscale", &valuel);
result = valuel;
return (ret == 0);
}
bool IIOWrapper::accel_z_calibscale(int32_t & result)
{
long long valuel;
if (!m_channel_accel_z) return false;
int ret = iio_channel_attr_read_longlong(m_channel_accel_z, "calibscale", &valuel);
result = valuel;
return (ret == 0);
}
bool IIOWrapper::anglvel_x_calibscale(int32_t & result)
{
long long valuel;
if (!m_channel_anglvel_x) return false;
int ret = iio_channel_attr_read_longlong(m_channel_anglvel_x, "calibscale", &valuel);
result = valuel;
return (ret == 0);
}
bool IIOWrapper::anglvel_y_calibscale(int32_t & result)
{
long long valuel;
if (!m_channel_anglvel_y) return false;
int ret = iio_channel_attr_read_longlong(m_channel_anglvel_y, "calibscale", &valuel);
result = valuel;
return (ret == 0);
}
bool IIOWrapper::anglvel_z_calibscale(int32_t & result)
{
long long valuel;
if (!m_channel_anglvel_z) return false;
int ret = iio_channel_attr_read_longlong(m_channel_anglvel_z, "calibscale", &valuel);
result = valuel;
return (ret == 0);
}
bool IIOWrapper::update_accel_calibscale_x(int32_t val)
{
if (!m_channel_accel_x) return false;
return (iio_channel_attr_write_longlong(m_channel_accel_x, "calibscale", val) == 0);
}
bool IIOWrapper::update_accel_calibscale_y(int32_t val)
{
if (!m_channel_accel_y) return false;
return (iio_channel_attr_write_longlong(m_channel_accel_y, "calibscale", val) == 0);
}
bool IIOWrapper::update_accel_calibscale_z(int32_t val)
{
if (!m_channel_accel_z) return false;
return (iio_channel_attr_write_longlong(m_channel_accel_z, "calibscale", val) == 0);
}
bool IIOWrapper::update_anglvel_calibscale_x(int32_t val)
{
if (!m_channel_anglvel_x) return false;
return (iio_channel_attr_write_longlong(m_channel_anglvel_x, "calibscale", val) == 0);
}
bool IIOWrapper::update_anglvel_calibscale_y(int32_t val)
{
if (!m_channel_anglvel_y) return false;
return (iio_channel_attr_write_longlong(m_channel_anglvel_y, "calibscale", val) == 0);
}
bool IIOWrapper::update_anglvel_calibscale_z(int32_t val)
{
if (!m_channel_anglvel_z) return false;
return (iio_channel_attr_write_longlong(m_channel_anglvel_z, "calibscale", val) == 0);
}
bool IIOWrapper::diag_sensor_initialization_failure(bool & result)
{
uint32_t reg_val;
if (!m_dev) return false;
int ret =
iio_device_reg_read(m_dev, m_device_descriptor->get(ADISRegister::DIAG_STAT_ADDR), ®_val);
if (ret) return false;
reg_val = (reg_val & m_device_descriptor->get(ADISRegister::SNSR_INIT_FAIL)) >>
m_device_descriptor->get(ADISRegister::SNSR_FAIL_POS);
result = reg_val;
return true;
}
bool IIOWrapper::diag_data_path_overrun(bool & result)
{
uint32_t reg_val;
if (!m_dev) return false;
int ret =
iio_device_reg_read(m_dev, m_device_descriptor->get(ADISRegister::DIAG_STAT_ADDR), ®_val);
if (ret) return false;
reg_val = (reg_val & m_device_descriptor->get(ADISRegister::DATA_PATH_OVERRUN)) >>
m_device_descriptor->get(ADISRegister::DATA_PATH_OVERRUN_POS);
result = reg_val;
return true;
}
bool IIOWrapper::diag_automatic_reset(bool & result)
{
uint32_t reg_val;
if (!m_dev) return false;
int ret =
iio_device_reg_read(m_dev, m_device_descriptor->get(ADISRegister::DIAG_STAT_ADDR), ®_val);
if (ret) return false;
reg_val = (reg_val & m_device_descriptor->get(ADISRegister::WDG_TIMER_FLAG)) >>
m_device_descriptor->get(ADISRegister::WDG_TIMER_FLAG_POS);
result = reg_val;
return true;
}
bool IIOWrapper::diag_flash_memory_update_error(bool & result)
{
uint32_t reg_val;
if (!m_dev) return false;
int ret =
iio_device_reg_read(m_dev, m_device_descriptor->get(ADISRegister::DIAG_STAT_ADDR), ®_val);
if (ret) return false;
reg_val = (reg_val & m_device_descriptor->get(ADISRegister::FLS_MEM_UPDATE_FAIL)) >>
m_device_descriptor->get(ADISRegister::FLS_MEM_UPDATE_FAIL_POS);
result = reg_val;
return true;
}
bool IIOWrapper::diag_spi_communication_error(bool & result)
{
uint32_t reg_val;
if (!m_dev) return false;
int ret =
iio_device_reg_read(m_dev, m_device_descriptor->get(ADISRegister::DIAG_STAT_ADDR), ®_val);
if (ret) return false;
reg_val = (reg_val & m_device_descriptor->get(ADISRegister::SPI_COMM_ERR)) >>
m_device_descriptor->get(ADISRegister::SPI_COMM_ERR_POS);
result = reg_val;
return true;
}
bool IIOWrapper::diag_crc_error(bool & result)
{
uint32_t reg_val;
if (!m_dev) return false;
int ret =
iio_device_reg_read(m_dev, m_device_descriptor->get(ADISRegister::DIAG_STAT_ADDR), ®_val);
if (ret) return false;
reg_val = (reg_val & m_device_descriptor->get(ADISRegister::CRC_ERROR)) >>
m_device_descriptor->get(ADISRegister::CRC_ERROR_POS);
result = reg_val;
return true;
}
bool IIOWrapper::diag_standby_mode(bool & result)
{
uint32_t reg_val;
if (!m_dev) return false;
int ret =
iio_device_reg_read(m_dev, m_device_descriptor->get(ADISRegister::DIAG_STAT_ADDR), ®_val);
if (ret) return false;
reg_val = (reg_val & m_device_descriptor->get(ADISRegister::STDBY_MODE)) >>
m_device_descriptor->get(ADISRegister::STDBY_MODE_POS);
result = reg_val;
return true;
}
bool IIOWrapper::diag_sensor_self_test_error(bool & result)
{
uint32_t reg_val;
if (!m_dev) return false;
int ret =
iio_device_reg_read(m_dev, m_device_descriptor->get(ADISRegister::DIAG_STAT_ADDR), ®_val);
if (ret) return false;
reg_val = (reg_val & m_device_descriptor->get(ADISRegister::SNSR_FAIL)) >>
m_device_descriptor->get(ADISRegister::SNSR_FAIL_POS);
result = reg_val;
return true;
}
bool IIOWrapper::diag_flash_memory_test_error(bool & result)
{
uint32_t reg_val;
if (!m_dev) return false;
int ret =
iio_device_reg_read(m_dev, m_device_descriptor->get(ADISRegister::DIAG_STAT_ADDR), ®_val);
if (ret) return false;
reg_val = (reg_val & m_device_descriptor->get(ADISRegister::MEM_FAIL)) >>
m_device_descriptor->get(ADISRegister::MEM_FAIL_POS);
result = reg_val;
return true;
}
bool IIOWrapper::diag_clock_error(bool & result)
{
uint32_t reg_val;
if (!m_dev) return false;
int ret =
iio_device_reg_read(m_dev, m_device_descriptor->get(ADISRegister::DIAG_STAT_ADDR), ®_val);
if (ret) return false;
reg_val = (reg_val & m_device_descriptor->get(ADISRegister::CLK_ERR)) >>
m_device_descriptor->get(ADISRegister::CLK_ERR_POS);
result = reg_val;
return true;
}
bool IIOWrapper::diag_gyroscope1_self_test_error(bool & result)
{
uint32_t reg_val;
if (!m_dev) return false;
int ret =
iio_device_reg_read(m_dev, m_device_descriptor->get(ADISRegister::DIAG_STAT_ADDR), ®_val);
if (ret) return false;
reg_val = (reg_val & m_device_descriptor->get(ADISRegister::GYRO1_FAIL)) >>
m_device_descriptor->get(ADISRegister::GYRO1_FAIL_POS);
result = reg_val;
return true;
}
bool IIOWrapper::diag_gyroscope2_self_test_error(bool & result)
{
uint32_t reg_val;
if (!m_dev) return false;
int ret =
iio_device_reg_read(m_dev, m_device_descriptor->get(ADISRegister::DIAG_STAT_ADDR), ®_val);
if (ret) return false;
reg_val = (reg_val & m_device_descriptor->get(ADISRegister::GYRO2_FAIL)) >>
m_device_descriptor->get(ADISRegister::GYRO2_FAIL_POS);
result = reg_val;
return true;
}
bool IIOWrapper::diag_acceleration_self_test_error(bool & result)
{
uint32_t reg_val;
if (!m_dev) return false;
int ret =
iio_device_reg_read(m_dev, m_device_descriptor->get(ADISRegister::DIAG_STAT_ADDR), ®_val);
if (ret) return false;
reg_val = (reg_val & m_device_descriptor->get(ADISRegister::ACCEL_FAIL)) >>
m_device_descriptor->get(ADISRegister::ACCEL_FAIL_POS);
result = reg_val;
return true;
}
bool IIOWrapper::diag_x_axis_gyroscope_failure(bool & result)
{
uint32_t reg_val;
if (!m_dev) return false;
int ret = iio_device_reg_read(
m_dev, m_device_descriptor->get(ADISRegister::GYRO_ACCEL_FAIL_REG), ®_val);
if (ret) return false;
reg_val = (reg_val & m_device_descriptor->get(ADISRegister::GYRO_X_FAIL)) >>
m_device_descriptor->get(ADISRegister::GYRO_X_FAIL_POS);
result = reg_val;
return true;
}
bool IIOWrapper::diag_y_axis_gyroscope_failure(bool & result)
{
uint32_t reg_val;
if (!m_dev) return false;
int ret = iio_device_reg_read(
m_dev, m_device_descriptor->get(ADISRegister::GYRO_ACCEL_FAIL_REG), ®_val);
if (ret) return false;
reg_val = (reg_val & m_device_descriptor->get(ADISRegister::GYRO_Y_FAIL)) >>
m_device_descriptor->get(ADISRegister::GYRO_Y_FAIL_POS);
result = reg_val;
return true;
}
bool IIOWrapper::diag_z_axis_gyroscope_failure(bool & result)
{
uint32_t reg_val;
if (!m_dev) return false;
int ret = iio_device_reg_read(
m_dev, m_device_descriptor->get(ADISRegister::GYRO_ACCEL_FAIL_REG), ®_val);
if (ret) return false;
reg_val = (reg_val & m_device_descriptor->get(ADISRegister::GYRO_Z_FAIL)) >>
m_device_descriptor->get(ADISRegister::GYRO_Z_FAIL_POS);
result = reg_val;
return true;
}
bool IIOWrapper::diag_x_axis_accelerometer_failure(bool & result)
{
uint32_t reg_val;
if (!m_dev) return false;
int ret = iio_device_reg_read(
m_dev, m_device_descriptor->get(ADISRegister::GYRO_ACCEL_FAIL_REG), ®_val);
if (ret) return false;
reg_val = (reg_val & m_device_descriptor->get(ADISRegister::ACCEL_X_FAIL)) >>
m_device_descriptor->get(ADISRegister::ACCEL_X_FAIL_POS);
result = reg_val;
return true;
}
bool IIOWrapper::diag_y_axis_accelerometer_failure(bool & result)
{
uint32_t reg_val;
if (!m_dev) return false;
int ret = iio_device_reg_read(
m_dev, m_device_descriptor->get(ADISRegister::GYRO_ACCEL_FAIL_REG), ®_val);
if (ret) return false;
reg_val = (reg_val & m_device_descriptor->get(ADISRegister::ACCEL_Y_FAIL)) >>
m_device_descriptor->get(ADISRegister::ACCEL_Y_FAIL_POS);
result = reg_val;
return true;
}
bool IIOWrapper::diag_z_axis_accelerometer_failure(bool & result)
{
uint32_t reg_val;
if (!m_dev) return false;
int ret = iio_device_reg_read(
m_dev, m_device_descriptor->get(ADISRegister::GYRO_ACCEL_FAIL_REG), ®_val);
if (ret) return false;
reg_val = (reg_val & m_device_descriptor->get(ADISRegister::ACCEL_Z_FAIL)) >>
m_device_descriptor->get(ADISRegister::ACCEL_Z_FAIL_POS);
result = reg_val;
return true;
}
bool IIOWrapper::diag_aduc_mcu_fault(bool & result)
{
uint32_t reg_val;
if (!m_dev) return false;
int ret =
iio_device_reg_read(m_dev, m_device_descriptor->get(ADISRegister::DIAG_STAT_ADDR), ®_val);
if (ret) return false;
reg_val = (reg_val & m_device_descriptor->get(ADISRegister::ADUC_MCU_FAULT)) >>
m_device_descriptor->get(ADISRegister::ADUC_MCU_FAULT_POS);
result = reg_val;
return true;
}
bool IIOWrapper::diag_flash_memory_write_count_exceeded_error(bool & result)
{
uint32_t reg_val;
bool ret = flash_counter(reg_val);
if (!ret) return false;
result = reg_val > m_device_descriptor->get(ADISRegister::FLS_MEM_ENDURANCE);
return true;
}
bool IIOWrapper::gyroscope_measurement_range(std::string & result)
{
uint32_t reg_val;
if (!m_dev) return false;
int ret =
iio_device_reg_read(m_dev, m_device_descriptor->get(ADISRegister::RANG_MDL_ADDR), ®_val);
if (ret) return false;
if (m_device_descriptor->getDeviceFamily() == "adis1655x") {
result = "+/-300_degrees_per_sec";
return true;
} else {
reg_val = (reg_val & m_device_descriptor->get(ADISRegister::GYRO_MEAS_RANG)) >>
m_device_descriptor->get(ADISRegister::GYRO_MEAS_RANG_POS);
switch (reg_val) {
case 0:
result = "+/-125_degrees_per_sec";
return true;
case 1:
if (m_device_descriptor->getDeviceFamily() == "adis1654x") {
result = "+/-450_degrees_per_sec";
} else {
result = "+/-500_degrees_per_sec";
}
return true;
case 3:
result = "+/-2000_degrees_per_sec";
return true;
default:
return false;
}
}
}
bool IIOWrapper::internal_sensor_bandwidth(uint32_t & result)
{
if (!m_dev) return false;
int ret =
iio_device_reg_read(m_dev, m_device_descriptor->get(ADISRegister::MSC_CTRL_ADDR), &result);
if (ret) return false;
result = (result & m_device_descriptor->get(ADISRegister::SENS_BW)) >>
m_device_descriptor->get(ADISRegister::SENS_BW_POS);
return true;
}
bool IIOWrapper::update_internal_sensor_bandwidth(uint32_t val)
{
return updateField(
m_device_descriptor->get(ADISRegister::MSC_CTRL_ADDR),
val << m_device_descriptor->get(ADISRegister::SENS_BW_POS),
m_device_descriptor->get(ADISRegister::SENS_BW));
}
bool IIOWrapper::point_of_percussion_alignment(uint32_t & result)
{
if (!m_dev) return false;
int ret = iio_device_reg_read(
m_dev, m_device_descriptor->get(ADISRegister::PT_OF_PERC_REG_ADDR), &result);
if (ret) return false;
result = (result & m_device_descriptor->get(ADISRegister::PT_OF_PERC_ALGNMNT)) >>
m_device_descriptor->get(ADISRegister::PT_OF_PERC_ALGNMNT_POS);
return true;
}
bool IIOWrapper::update_point_of_percussion_alignment(uint32_t val)
{
return updateField(
m_device_descriptor->get(ADISRegister::PT_OF_PERC_REG_ADDR),
val << m_device_descriptor->get(ADISRegister::PT_OF_PERC_ALGNMNT_POS),
m_device_descriptor->get(ADISRegister::PT_OF_PERC_ALGNMNT));
}
bool IIOWrapper::linear_acceleration_compensation(uint32_t & result)
{
if (!m_dev) return false;
int ret =
iio_device_reg_read(m_dev, m_device_descriptor->get(ADISRegister::MSC_CTRL_ADDR), &result);
if (ret) return false;
result = (result & m_device_descriptor->get(ADISRegister::LN_ACCL_COMP)) >>
m_device_descriptor->get(ADISRegister::LN_ACCL_COMP_POS);
return true;
}
bool IIOWrapper::update_linear_acceleration_compensation(uint32_t val)
{
return updateField(
m_device_descriptor->get(ADISRegister::MSC_CTRL_ADDR),
val << m_device_descriptor->get(ADISRegister::LN_ACCL_COMP_POS),
m_device_descriptor->get(ADISRegister::LN_ACCL_COMP));
}
bool IIOWrapper::bias_correction_time_base_control(uint32_t & result)
{
if (!m_dev) return false;
int ret =
iio_device_reg_read(m_dev, m_device_descriptor->get(ADISRegister::NULL_CNFG_ADDR), &result);
if (ret) return false;
result = (result & m_device_descriptor->get(ADISRegister::TIME_BASE_CONTROL)) >>
m_device_descriptor->get(ADISRegister::TIME_BASE_CONTROL_POS);
return true;
}
bool IIOWrapper::update_bias_correction_time_base_control(uint32_t val)
{
return updateField(
m_device_descriptor->get(ADISRegister::NULL_CNFG_ADDR),
val << m_device_descriptor->get(ADISRegister::TIME_BASE_CONTROL_POS),
m_device_descriptor->get(ADISRegister::TIME_BASE_CONTROL));
}
bool IIOWrapper::x_axis_gyroscope_bias_correction_enable(uint32_t & result)
{
if (!m_dev) return false;
int ret =
iio_device_reg_read(m_dev, m_device_descriptor->get(ADISRegister::NULL_CNFG_ADDR), &result);
if (ret) return false;
result = (result & m_device_descriptor->get(ADISRegister::X_AXIS_GYRO_BIAS_CORR_EN)) >>
m_device_descriptor->get(ADISRegister::X_AXIS_GYRO_BIAS_CORR_EN_POS);
return true;
}
bool IIOWrapper::update_x_axis_gyroscope_bias_correction_enable(uint32_t val)
{
return updateField(
m_device_descriptor->get(ADISRegister::NULL_CNFG_ADDR),
val << m_device_descriptor->get(ADISRegister::X_AXIS_GYRO_BIAS_CORR_EN_POS),
m_device_descriptor->get(ADISRegister::X_AXIS_GYRO_BIAS_CORR_EN));
}
bool IIOWrapper::y_axis_gyroscope_bias_correction_enable(uint32_t & result)
{
if (!m_dev) return false;
int ret =
iio_device_reg_read(m_dev, m_device_descriptor->get(ADISRegister::NULL_CNFG_ADDR), &result);
if (ret) return false;
result = (result & m_device_descriptor->get(ADISRegister::Y_AXIS_GYRO_BIAS_CORR_EN)) >>
m_device_descriptor->get(ADISRegister::Y_AXIS_GYRO_BIAS_CORR_EN_POS);
return true;
}
bool IIOWrapper::update_y_axis_gyroscope_bias_correction_enable(uint32_t val)
{
return updateField(
m_device_descriptor->get(ADISRegister::NULL_CNFG_ADDR),
val << m_device_descriptor->get(ADISRegister::Y_AXIS_GYRO_BIAS_CORR_EN_POS),
m_device_descriptor->get(ADISRegister::Y_AXIS_GYRO_BIAS_CORR_EN));
}
bool IIOWrapper::z_axis_gyroscope_bias_correction_enable(uint32_t & result)
{
if (!m_dev) return false;
int ret =
iio_device_reg_read(m_dev, m_device_descriptor->get(ADISRegister::NULL_CNFG_ADDR), &result);
if (ret) return false;
result = (result & m_device_descriptor->get(ADISRegister::Z_AXIS_GYRO_BIAS_CORR_EN)) >>
m_device_descriptor->get(ADISRegister::Z_AXIS_GYRO_BIAS_CORR_EN_POS);
return true;
}
bool IIOWrapper::update_z_axis_gyroscope_bias_correction_enable(uint32_t val)
{
return updateField(
m_device_descriptor->get(ADISRegister::NULL_CNFG_ADDR),
val << m_device_descriptor->get(ADISRegister::Z_AXIS_GYRO_BIAS_CORR_EN_POS),
m_device_descriptor->get(ADISRegister::Z_AXIS_GYRO_BIAS_CORR_EN));
}
bool IIOWrapper::x_axis_accelerometer_bias_correction_enable(uint32_t & result)
{
if (!m_dev) return false;
int ret =
iio_device_reg_read(m_dev, m_device_descriptor->get(ADISRegister::NULL_CNFG_ADDR), &result);
if (ret) return false;
result = (result & m_device_descriptor->get(ADISRegister::X_AXIS_ACCEL_BIAS_CORR_EN)) >>
m_device_descriptor->get(ADISRegister::X_AXIS_ACCEL_BIAS_CORR_EN_POS);
return true;
}
bool IIOWrapper::update_x_axis_accelerometer_bias_correction_enable(uint32_t val)
{
return updateField(
m_device_descriptor->get(ADISRegister::NULL_CNFG_ADDR),
val << m_device_descriptor->get(ADISRegister::X_AXIS_ACCEL_BIAS_CORR_EN_POS),
m_device_descriptor->get(ADISRegister::X_AXIS_ACCEL_BIAS_CORR_EN));
}
bool IIOWrapper::y_axis_accelerometer_bias_correction_enable(uint32_t & result)
{
if (!m_dev) return false;
int ret =
iio_device_reg_read(m_dev, m_device_descriptor->get(ADISRegister::NULL_CNFG_ADDR), &result);
if (ret) return false;
result = (result & m_device_descriptor->get(ADISRegister::Y_AXIS_ACCEL_BIAS_CORR_EN)) >>
m_device_descriptor->get(ADISRegister::Y_AXIS_ACCEL_BIAS_CORR_EN_POS);
return true;
}
bool IIOWrapper::update_y_axis_accelerometer_bias_correction_enable(uint32_t val)
{
return updateField(
m_device_descriptor->get(ADISRegister::NULL_CNFG_ADDR),
val << m_device_descriptor->get(ADISRegister::Y_AXIS_ACCEL_BIAS_CORR_EN_POS),
m_device_descriptor->get(ADISRegister::Y_AXIS_ACCEL_BIAS_CORR_EN));
}
bool IIOWrapper::z_axis_accelerometer_bias_correction_enable(uint32_t & result)
{
if (!m_dev) return false;
int ret =
iio_device_reg_read(m_dev, m_device_descriptor->get(ADISRegister::NULL_CNFG_ADDR), &result);
if (ret) return false;
result = (result & m_device_descriptor->get(ADISRegister::Z_AXIS_ACCEL_BIAS_CORR_EN)) >>
m_device_descriptor->get(ADISRegister::Z_AXIS_ACCEL_BIAS_CORR_EN_POS);
return true;
}
bool IIOWrapper::update_z_axis_accelerometer_bias_correction_enable(uint32_t val)
{
return updateField(
m_device_descriptor->get(ADISRegister::NULL_CNFG_ADDR),
val << m_device_descriptor->get(ADISRegister::Z_AXIS_ACCEL_BIAS_CORR_EN_POS),
m_device_descriptor->get(ADISRegister::Z_AXIS_ACCEL_BIAS_CORR_EN));
}
bool IIOWrapper::bias_correction_update()
{
if (!m_dev) return false;
uint16_t cmd = m_device_descriptor->get(ADISRegister::BIAS_CORRECTION_UPDATE);
return (
iio_device_reg_write(m_dev, m_device_descriptor->get(ADISRegister::GLOB_CMD_ADDR), cmd) == 0);
}
bool IIOWrapper::factory_calibration_restore()
{
if (!m_dev) return false;
uint16_t cmd = m_device_descriptor->get(ADISRegister::FACTORY_CALIBRATION_RESTORE);
return (
iio_device_reg_write(m_dev, m_device_descriptor->get(ADISRegister::GLOB_CMD_ADDR), cmd) == 0);
}
bool IIOWrapper::sensor_self_test()
{
if (!m_dev) return false;
uint16_t cmd = m_device_descriptor->get(ADISRegister::SENSOR_SELF_TEST);
return (
iio_device_reg_write(m_dev, m_device_descriptor->get(ADISRegister::GLOB_CMD_ADDR), cmd) == 0);
}
bool IIOWrapper::flash_memory_update()
{
if (!m_dev) return false;
uint16_t cmd = m_device_descriptor->get(ADISRegister::FLASH_MEMORY_UPDATE);
return (
iio_device_reg_write(m_dev, m_device_descriptor->get(ADISRegister::GLOB_CMD_ADDR), cmd) == 0);
}
bool IIOWrapper::flash_memory_test()
{
if (!m_dev) return false;
uint16_t cmd = m_device_descriptor->get(ADISRegister::FLASH_MEMORY_TEST);
return (
iio_device_reg_write(m_dev, m_device_descriptor->get(ADISRegister::GLOB_CMD_ADDR), cmd) == 0);
}
bool IIOWrapper::software_reset()
{
if (!m_dev) return false;
uint16_t cmd = m_device_descriptor->get(ADISRegister::SOFTWARE_RESET_CMD);
return (
iio_device_reg_write(m_dev, m_device_descriptor->get(ADISRegister::GLOB_CMD_ADDR), cmd) == 0);
}
bool IIOWrapper::firmware_revision(std::string & result)
{
if (!m_dev) return false;
char valuec[32];
int ret = iio_device_debug_attr_read(m_dev, "firmware_revision", valuec, 32);
if (ret < 0) return false;
result = valuec;
return true;
}
bool IIOWrapper::firmware_date(std::string & result)
{
if (!m_dev) return false;
char valuec[32];
int ret = iio_device_debug_attr_read(m_dev, "firmware_date", valuec, 32);
if (ret < 0) return false;
result = valuec;
return true;
}
bool IIOWrapper::product_id(uint32_t & result)
{
if (!m_dev) return false;
long long valuel;
int ret = iio_device_debug_attr_read_longlong(m_dev, "product_id", &valuel);
if (ret) return false;
result = valuel;
return true;
}
bool IIOWrapper::serial_number(uint32_t & result)
{
if (!m_dev) return false;
long long valuel;
int ret = iio_device_debug_attr_read_longlong(m_dev, "serial_number", &valuel);
if (ret) return false;
result = valuel;
return true;
}
bool IIOWrapper::flash_counter(uint32_t & result)
{
if (!m_dev) return false;
long long valuel;
int ret = iio_device_debug_attr_read_longlong(m_dev, "flash_count", &valuel);
if (ret) return false;
result = valuel;
return true;
}
double IIOWrapper::get_scale_accel() { return m_scale_accel_x; }
double IIOWrapper::get_scale_anglvel() { return m_scale_anglvel_x; }
double IIOWrapper::get_scale_deltavelocity() { return m_scale_deltavelocity_x; }
double IIOWrapper::get_scale_deltaangl() { return m_scale_deltaangl_x; }
double IIOWrapper::get_scale_temp() { return m_scale_temp / 1000.0; }
} // namespace adi_imu