Add support for adis16550 and adis16550w

Signed-off-by: rbudai <[email protected]>
analogdevicesinc · Oct 21, 2024 · 9b91d17 · 9b91d17
1 parent 3bce801
commit 9b91d17
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Showing 8 changed files with 276 additions and 31 deletions.
diff --git a/adi/adis16550.py b/adi/adis16550.py
@@ -21,30 +21,33 @@ class adis16550(rx, context_manager, ABC):
         "accel_y",
         "accel_z",
         "temp0",
+        "deltaangl_x",
+        "deltaangl_y",
+        "deltaangl_z",
+        "deltavelocity_x",
+        "deltavelocity_y",
+        "deltavelocity_z",
     ]
 
     _device_name = ""
 
     """Disable mapping of trigger to RX device."""
     disable_trigger = False
 
-    # @property
-    @abstractmethod
-    def compatible_parts(self):
-        raise NotImplementedError
-
     def __init__(self, uri="", device_name=None, trigger_name=None):
         context_manager.__init__(self, uri, self._device_name)
 
+        compatible_parts = ["adis16550", "adis16550w"]
+
         if not device_name:
-            device_name = self.compatible_parts[0]
+            device_name = compatible_parts[0]
 
-        if device_name not in self.compatible_parts:
+        if device_name not in compatible_parts:
             raise Exception(
                 "Not a compatible device:"
                 + str(device_name)
                 + ".Please select from:"
-                + str(self.compatible_parts)
+                + str(compatible_parts)
             )
         else:
             self._ctrl = self._ctx.find_device(device_name)
@@ -58,11 +61,11 @@ def __init__(self, uri="", device_name=None, trigger_name=None):
                 + device_name
                 + ". Searching for a device found in the compatible list."
             )
-            for i in self.compatible_parts:
+            for i in compatible_parts:
                 self._ctrl = self._ctx.find_device(i)
                 self._rxadc = self._ctx.find_device(i)
                 if self._ctrl is not None:
-                    print("Fond device = " + i + ". Will use this device instead.")
+                    print("Found device = " + i + ". Will use this device instead.")
                     break
             if self._ctrl is None:
                 raise Exception("No compatible device found")
@@ -446,19 +449,3 @@ class _delta_channels(_simple_channel):
         def __init__(self, ctrl, channel_name):
             self.name = channel_name
             self._ctrl = ctrl
-
-
-class adis16550(adis16550):
-    """ADIS1655X Six Degrees of Freedom Inertial Sensor
-
-    This class is compatible with the following parts:
-    - ADIS16550
-    - ADIS16550W
-
-    Args:
-        uri: URI of IIO context with ADIS16550 device
-        device_name: Name of the device in the IIO context. Default is adis16550
-        trigger_name: Name of the trigger in the IIO context. Default is adis16550-dev0
-    """
-
-    compatible_parts = ["adis16550", "adis16550w"]
diff --git a/doc/source/devices/adi.adis16550.rst b/doc/source/devices/adi.adis16550.rst
@@ -0,0 +1,8 @@
+adis16550
+====================
+
+.. autoclass:: adi.adis16550
+   :members:
+   :undoc-members:
+   :show-inheritance:
+   :inherited-members:
diff --git a/doc/source/devices/index.rst b/doc/source/devices/index.rst
@@ -79,6 +79,7 @@ Supported Devices
    adi.adis16507
    adi.adis16545
    adi.adis16547
+   adi.adis16550
    adi.adl5240
    adi.adl5960
    adi.admv8818

diff --git a/examples/adis16550_example.py b/examples/adis16550_example.py
@@ -14,14 +14,10 @@
 
 dev.rx_output_type = "raw"
 dev.rx_enabled_channels = [0, 1, 2, 3, 4, 5]
+# dev.rx_enabled_delta_channels = [7, 8, 9, 10, 11, 12]
 dev.sample_rate = 10
 dev.rx_buffer_size = 10
 
-print("Product id: " + str(dev.product_id))
-print("Serial number: " + dev.serial_number)
-print("Firmware revision: " + dev.firmware_revision)
-print("Firmware date: " + dev.firmware_date)
-
 print("\nX acceleration: " + str(dev.accel_x_conv) + " m/s^2")
 print("Y acceleration: " + str(dev.accel_y_conv) + " m/s^2")
 print("Z acceleration: " + str(dev.accel_z_conv) + " m/s^2")

diff --git a/supported_parts.md b/supported_parts.md
@@ -143,6 +143,8 @@
 - ADIS16507
 - ADIS16545
 - ADIS16547
+- ADIS16550
+- ADIS16550W
 - ADL5240
 - ADL5960
 - ADMV8818

diff --git a/test/emu/devices/adis16550.xml b/test/emu/devices/adis16550.xml
@@ -0,0 +1,149 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!DOCTYPE context [
+  <!ELEMENT context (device|context-attribute)*>
+  <!ELEMENT context-attribute EMPTY>
+  <!ELEMENT device (channel|attribute|debug-attribute|buffer-attribute)*>
+  <!ELEMENT channel (scan-element?,attribute*)>
+  <!ELEMENT attribute EMPTY>
+  <!ELEMENT scan-element EMPTY>
+  <!ELEMENT debug-attribute EMPTY>
+  <!ELEMENT buffer-attribute EMPTY>
+  <!ATTLIST context name CDATA #REQUIRED>
+  <!ATTLIST context description CDATA #IMPLIED>
+  <!ATTLIST context-attribute name CDATA #REQUIRED>
+  <!ATTLIST context-attribute value CDATA #REQUIRED>
+  <!ATTLIST device id CDATA #REQUIRED>
+  <!ATTLIST device name CDATA #IMPLIED>
+  <!ATTLIST channel id CDATA #REQUIRED>
+  <!ATTLIST channel type (input|output) #REQUIRED>
+  <!ATTLIST channel name CDATA #IMPLIED>
+  <!ATTLIST scan-element index CDATA #REQUIRED>
+  <!ATTLIST scan-element format CDATA #REQUIRED>
+  <!ATTLIST scan-element scale CDATA #IMPLIED>
+  <!ATTLIST attribute name CDATA #REQUIRED>
+  <!ATTLIST attribute filename CDATA #IMPLIED>
+  <!ATTLIST attribute value CDATA #IMPLIED>
+  <!ATTLIST debug-attribute name CDATA #REQUIRED>
+  <!ATTLIST debug-attribute value CDATA #IMPLIED>
+  <!ATTLIST buffer-attribute name CDATA #REQUIRED>
+  <!ATTLIST buffer-attribute value CDATA #IMPLIED>
+]>
+<context name="network" description="10.42.0.83 Linux analog 6.1.54-v7l+ #8 SMP Mon Sep 30 11:56:09 BST 2024 armv7l">
+   <context-attribute name="hw_carrier" value="Raspberry Pi 4 Model B Rev 1.2" />
+   <context-attribute name="dtoverlay" value="vc4-kms-v3d,adis16550" />
+   <context-attribute name="local,kernel" value="6.1.54-v7l+" />
+   <context-attribute name="uri" value="ip:10.42.0.83" />
+   <context-attribute name="ip,ip-addr" value="10.42.0.83" />
+   <device id="hwmon0" name="cpu_thermal">
+      <channel id="temp1" type="input">
+         <attribute name="crit" filename="temp1_crit" value="110000" />
+         <attribute name="input" filename="temp1_input" value="65731" />
+      </channel>
+   </device>
+   <device id="hwmon1" name="rpi_volt">
+      <channel id="in0" type="input">
+         <attribute name="lcrit_alarm" filename="in0_lcrit_alarm" value="0" />
+      </channel>
+   </device>
+   <device id="iio:device0" name="adis16550w">
+      <channel id="anglvel_x" type="input">
+         <scan-element index="0" format="be:S32/32&gt;&gt;0" scale="0.000000" />
+         <attribute name="calibbias" filename="in_anglvel_x_calibbias" value="100" />
+         <attribute name="calibscale" filename="in_anglvel_x_calibscale" value="0" />
+         <attribute name="filter_low_pass_3db_frequency" filename="in_anglvel_filter_low_pass_3db_frequency" value="0" />
+         <attribute name="raw" filename="in_anglvel_x_raw" value="294318" />
+         <attribute name="scale" filename="in_anglvel_scale" value="0.000000003" />
+      </channel>
+      <channel id="anglvel_y" type="input">
+         <scan-element index="1" format="be:S32/32&gt;&gt;0" scale="0.000000" />
+         <attribute name="calibbias" filename="in_anglvel_y_calibbias" value="0" />
+         <attribute name="calibscale" filename="in_anglvel_y_calibscale" value="30" />
+         <attribute name="filter_low_pass_3db_frequency" filename="in_anglvel_filter_low_pass_3db_frequency" value="0" />
+         <attribute name="raw" filename="in_anglvel_y_raw" value="-656865" />
+         <attribute name="scale" filename="in_anglvel_scale" value="0.000000003" />
+      </channel>
+      <channel id="anglvel_z" type="input">
+         <scan-element index="2" format="be:S32/32&gt;&gt;0" scale="0.000000" />
+         <attribute name="calibbias" filename="in_anglvel_z_calibbias" value="0" />
+         <attribute name="calibscale" filename="in_anglvel_z_calibscale" value="0" />
+         <attribute name="filter_low_pass_3db_frequency" filename="in_anglvel_filter_low_pass_3db_frequency" value="0" />
+         <attribute name="raw" filename="in_anglvel_z_raw" value="431669" />
+         <attribute name="scale" filename="in_anglvel_scale" value="0.000000003" />
+      </channel>
+      <channel id="accel_x" type="input">
+         <scan-element index="3" format="be:S32/32&gt;&gt;0" scale="0.000000" />
+         <attribute name="calibbias" filename="in_accel_x_calibbias" value="0" />
+         <attribute name="calibscale" filename="in_accel_x_calibscale" value="0" />
+         <attribute name="filter_low_pass_3db_frequency" filename="in_accel_filter_low_pass_3db_frequency" value="0" />
+         <attribute name="raw" filename="in_accel_x_raw" value="-210881" />
+         <attribute name="scale" filename="in_accel_scale" value="0.000000095" />
+      </channel>
+      <channel id="accel_y" type="input">
+         <scan-element index="4" format="be:S32/32&gt;&gt;0" scale="0.000000" />
+         <attribute name="calibbias" filename="in_accel_y_calibbias" value="0" />
+         <attribute name="calibscale" filename="in_accel_y_calibscale" value="0" />
+         <attribute name="filter_low_pass_3db_frequency" filename="in_accel_filter_low_pass_3db_frequency" value="0" />
+         <attribute name="raw" filename="in_accel_y_raw" value="1598455" />
+         <attribute name="scale" filename="in_accel_scale" value="0.000000095" />
+      </channel>
+      <channel id="accel_z" type="input">
+         <scan-element index="5" format="be:S32/32&gt;&gt;0" scale="0.000000" />
+         <attribute name="calibbias" filename="in_accel_z_calibbias" value="0" />
+         <attribute name="calibscale" filename="in_accel_z_calibscale" value="0" />
+         <attribute name="filter_low_pass_3db_frequency" filename="in_accel_filter_low_pass_3db_frequency" value="0" />
+         <attribute name="raw" filename="in_accel_z_raw" value="103145573" />
+         <attribute name="scale" filename="in_accel_scale" value="0.000000095" />
+      </channel>
+      <channel id="temp0" type="input">
+         <scan-element index="6" format="be:s16/32&gt;&gt;0" scale="4.000000" />
+         <attribute name="offset" filename="in_temp0_offset" value="6250" />
+         <attribute name="raw" filename="in_temp0_raw" value="4369" />
+         <attribute name="scale" filename="in_temp0_scale" value="4" />
+      </channel>
+      <channel id="deltaangl_x" type="input">
+         <scan-element index="7" format="be:S32/32&gt;&gt;0" scale="0.000000" />
+         <attribute name="raw" filename="in_deltaangl_x_raw" value="-86" />
+         <attribute name="scale" filename="in_deltaangl_scale" value="0.000000006" />
+      </channel>
+      <channel id="deltaangl_y" type="input">
+         <scan-element index="8" format="be:S32/32&gt;&gt;0" scale="0.000000" />
+         <attribute name="raw" filename="in_deltaangl_y_raw" value="-162" />
+         <attribute name="scale" filename="in_deltaangl_scale" value="0.000000006" />
+      </channel>
+      <channel id="deltaangl_z" type="input">
+         <scan-element index="9" format="be:S32/32&gt;&gt;0" scale="0.000000" />
+         <attribute name="raw" filename="in_deltaangl_z_raw" value="169" />
+         <attribute name="scale" filename="in_deltaangl_scale" value="0.000000006" />
+      </channel>
+      <channel id="deltavelocity_x" type="input">
+         <scan-element index="10" format="be:S32/32&gt;&gt;0" scale="0.000000" />
+         <attribute name="raw" filename="in_deltavelocity_x_raw" value="246" />
+         <attribute name="scale" filename="in_deltavelocity_scale" value="0.000000058" />
+      </channel>
+      <channel id="deltavelocity_y" type="input">
+         <scan-element index="11" format="be:S32/32&gt;&gt;0" scale="0.000000" />
+         <attribute name="raw" filename="in_deltavelocity_y_raw" value="-75" />
+         <attribute name="scale" filename="in_deltavelocity_scale" value="0.000000058" />
+      </channel>
+      <channel id="deltavelocity_z" type="input">
+         <scan-element index="12" format="be:S32/32&gt;&gt;0" scale="0.000000" />
+         <attribute name="raw" filename="in_deltavelocity_z_raw" value="84684" />
+         <attribute name="scale" filename="in_deltavelocity_scale" value="0.000000058" />
+      </channel>
+      <channel id="timestamp" type="input">
+         <scan-element index="13" format="le:S64/64&gt;&gt;0" />
+      </channel>
+      <attribute name="current_timestamp_clock" value="realtime " />
+      <attribute name="sampling_frequency" value="2000.000000" />
+      <attribute name="waiting_for_supplier" value="0" />
+      <buffer-attribute name="data_available" value="64" />
+      <buffer-attribute name="direction" value="in" />
+      <debug-attribute name="flash_count" value="13" />
+      <debug-attribute name="firmware_date" value="28-04-2021" />
+      <debug-attribute name="firmware_revision" value="1.5" />
+      <debug-attribute name="product_id" value="16550" />
+      <debug-attribute name="serial_number" value="0x000000b6" />
+      <debug-attribute name="direct_reg_access" value="0x0" />
+   </device>
+   <device id="trigger0" name="adis16550w-dev0" />
+</context>
diff --git a/test/emu/hardware_map.yml b/test/emu/hardware_map.yml
@@ -584,6 +584,15 @@ adis16480:
   - pyadi_iio_class_support:
       - adis16480
 
+adis16550:
+  - adis16550
+  - emulate:
+      - filename: adis16550.xml
+      - data_devices:
+        - iio:device0
+  - pyadi_iio_class_support:
+      - adis16550
+
 ad7124-8:
   - ad7124
   - pyadi_iio_class_support:

diff --git a/test/test_adis16550.py b/test/test_adis16550.py
@@ -0,0 +1,93 @@
+import adi
+import pytest
+
+hardware = "adis16550"
+classname = "adi.adis16550"
+device_name = "adis16550"
+
+########################################
+@pytest.mark.iio_hardware(hardware, True)
+@pytest.mark.parametrize("classname", [(classname)])
+@pytest.mark.parametrize("channel", [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10])
+def test_adis16550_rx_data(test_dma_rx, iio_uri, classname, channel):
+    test_dma_rx(iio_uri, classname, channel, buffer_size=16)
+
+
+#########################################
+@pytest.mark.iio_hardware(hardware, True)
+def test_adis16550_conv_data(iio_uri):
+    adis16550 = adi.adis16550(uri=iio_uri)
+
+    assert adis16550.accel_x_conv != 0.0
+    assert adis16550.accel_y_conv != 0.0
+    assert adis16550.accel_z_conv != 0.0
+    assert adis16550.anglvel_x_conv != 0.0
+    assert adis16550.anglvel_y_conv != 0.0
+    assert adis16550.anglvel_z_conv != 0.0
+    assert adis16550.temp_conv != 0.0
+
+
+#########################################
+@pytest.mark.iio_hardware(hardware, True)
+@pytest.mark.parametrize("classname", [(classname)])
+@pytest.mark.parametrize(
+    "attr, start, stop, step, tol",
+    [
+        ("anglvel_x_calibbias", -2147483648, 2147483647, 1, 0),
+        ("anglvel_y_calibbias", -2147483648, 2147483647, 1, 0),
+        ("anglvel_z_calibbias", -2147483648, 2147483647, 1, 0),
+        ("accel_x_calibbias", -2147483648, 2147483647, 1, 0),
+        ("accel_y_calibbias", -2147483648, 2147483647, 1, 0),
+        ("accel_z_calibbias", -2147483648, 2147483647, 1, 0),
+        ("anglvel_x_calibscale", -32134, 32134, 1, 0),
+        ("anglvel_y_calibscale", -32134, 32134, 1, 0),
+        ("anglvel_z_calibscale", -32134, 32134, 1, 0),
+        ("accel_x_calibscale", -32134, 32134, 1, 0),
+        ("accel_y_calibscale", -32134, 32134, 1, 0),
+        ("accel_z_calibscale", -32134, 32134, 1, 0),
+    ],
+)
+def test_adis16550_attr(
+    test_attribute_single_value, iio_uri, classname, attr, start, stop, step, tol
+):
+    test_attribute_single_value(iio_uri, classname, attr, start, stop, step, tol)
+
+
+#########################################
+@pytest.mark.iio_hardware(hardware, True)
+@pytest.mark.parametrize("classname", [(classname)])
+@pytest.mark.parametrize(
+    "attr, values, tol, repeats",
+    [
+        ("sample_rate", [5, 10, 246, 1230, 2460], 0.5, 2),
+        ("anglvel_x_filter_low_pass_3db_frequency", [0, 55, 275, 310], 0.5, 2),
+        ("anglvel_y_filter_low_pass_3db_frequency", [0, 55, 275, 310], 0.5, 2),
+        ("anglvel_z_filter_low_pass_3db_frequency", [0, 55, 275, 310], 0.5, 2),
+        ("accel_x_filter_low_pass_3db_frequency", [0, 55, 275, 310], 0.5, 2),
+        ("accel_y_filter_low_pass_3db_frequency", [0, 55, 275, 310], 0.5, 2),
+        ("accel_z_filter_low_pass_3db_frequency", [0, 55, 275, 310], 0.5, 2),
+    ],
+)
+def test_adis16550_attr_multiple_val(
+    test_attribute_multiple_values, iio_uri, classname, attr, values, tol, repeats,
+):
+    test_attribute_multiple_values(iio_uri, classname, attr, values, tol, repeats)
+
+@pytest.mark.iio_hardware(hardware)
+@pytest.mark.parametrize(
+    "classname",
+    [
+        "adi.adis16550",
+        "adi.adis16550w",
+    ],
+)
+def test_adis16XXX_create(iio_uri, classname):
+    # This test is a little hack to just enumerate all the classes even though
+    # we don't have the exact hardware
+    emulation_hw = "adis16550"
+    imu = eval(classname)
+    imu.compatible_parts = [emulation_hw]
+    imu.disable_trigger = True
+
+    # Try to create the object
+    imu = imu(uri=iio_uri)