Analog Device ADIS16497 IMU initial support

boards/av/x-v1/default.cmake

@@ -26,6 +26,7 @@ px4_add_board(
 		gps
 		#heater
 		imu/adis16477
+		imu/adis16497
 		#imu # all available imu drivers
 		irlock
 		lights/blinkm

boards/px4/fmu-v5/default.cmake

@@ -27,6 +27,7 @@ px4_add_board(
 		gps
 		#heater
 		imu/adis16448
+		imu/adis16497
 		#imu # all available imu drivers
 		imu/bmi055
 		imu/icm20948

src/drivers/drv_sensor.h

@@ -109,6 +109,8 @@
 #define DRV_GYR_DEVTYPE_ADIS16477	0x60
 #define DRV_ACC_DEVTYPE_LSM303AGR	0x61
 #define DRV_MAG_DEVTYPE_LSM303AGR	0x62
+#define DRV_ACC_DEVTYPE_ADIS16497	0x63
+#define DRV_GYR_DEVTYPE_ADIS16497	0x64
 
 /*
  * ioctl() definitions

src/drivers/imu/CMakeLists.txt

@@ -33,6 +33,7 @@
 
 add_subdirectory(adis16448)
 add_subdirectory(adis16477)
+add_subdirectory(adis16497)
 add_subdirectory(bma180)
 add_subdirectory(bmi055)
 add_subdirectory(bmi160)

src/drivers/imu/adis16497/ADIS16497.cpp

+/****************************************************************************
+ *
+ *   Copyright (c) 2018 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#include "ADIS16497.hpp"
+#include "ADIS16497_gyro.hpp"
+
+#include <px4_config.h>
+#include <ecl/geo/geo.h>
+
+#define DIR_READ				0x00
+#define DIR_WRITE				0x80
+
+// ADIS16497 registers
+static constexpr uint8_t PAGE_ID  		= 0x0; // Page identifier
+
+// Page 0x00
+static constexpr uint8_t SYS_E_FLAG 	= 0x08; // Output, system error flags
+static constexpr uint8_t DIAG_STS   	= 0x0A; // Output, self test error flags
+static constexpr uint8_t BURST_CMD  	= 0x7C; // Burst-read command
+static constexpr uint8_t PROD_ID    	= 0x7E; // Output, product identification
+
+// Page 0x03
+static constexpr uint8_t GLOB_CMD   	= 0x02; // Control, global commands
+static constexpr uint8_t FNCTIO_CTRL 	= 0x06; // Control, I/O pins, functional definitions
+static constexpr uint8_t GPIO_CTRL  	= 0x08; // Control, I/O pins, general-purpose
+static constexpr uint8_t CONFIG  		= 0x0A; // Control, clock and miscellaneous corrections
+static constexpr uint8_t DEC_RATE  		= 0x0C; // Control, output sample rate decimation
+static constexpr uint8_t NULL_CNFG  	= 0x0E; // Control, automatic bias correction configuration
+static constexpr uint8_t SYNC_SCALE  	= 0x10; // Control, automatic bias correction configuration
+static constexpr uint8_t RANG_MDL   	= 0x12; // Measurement range (model-specific) Identifier TODO use this
+static constexpr uint8_t FILTR_BNK_0   	= 0x16; // Filter selection
+static constexpr uint8_t FILTR_BNK_1   	= 0x18; // Filter selection
+
+// Stall time between SPI transfers
+static constexpr uint8_t T_STALL = 2;
+
+using namespace time_literals;
+
+ADIS16497::ADIS16497(int bus, const char *path_accel, const char *path_gyro, uint32_t device, enum Rotation rotation) :
+	SPI("ADIS16497", path_accel, bus, device, SPIDEV_MODE3, 5000000),
+	_gyro(new ADIS16497_gyro(this, path_gyro)),
+	_sample_perf(perf_alloc(PC_ELAPSED, "ADIS16497_read")),
+	_sample_interval_perf(perf_alloc(PC_INTERVAL, "ADIS16497_read_int")),
+	_bad_transfers(perf_alloc(PC_COUNT, "ADIS16497_bad_transfers")),
+	_rotation(rotation)
+{
+
+#ifdef GPIO_SPI1_RESET_ADIS16497
+	// Configure hardware reset line
+	px4_arch_configgpio(GPIO_SPI1_RESET_ADIS16497);
+#endif /* GPIO_SPI1_RESET_ADIS16497 */
+
+	_device_id.devid_s.devtype = DRV_ACC_DEVTYPE_ADIS16497;
+
+	_gyro->_device_id.devid = _device_id.devid;
+	_gyro->_device_id.devid_s.devtype = DRV_GYR_DEVTYPE_ADIS16497;
+
+	// Software low pass filter for controllers
+	const param_t accel_cut_ph = param_find("IMU_ACCEL_CUTOFF");
+	float accel_cut = ADIS16497_ACCEL_DEFAULT_DRIVER_FILTER_FREQ;
+
+	if (accel_cut_ph != PARAM_INVALID && param_get(accel_cut_ph, &accel_cut) == PX4_OK) {
+		_accel_filter.set_cutoff_frequency(_sample_rate, accel_cut);
+
+	} else {
+		PX4_ERR("IMU_ACCEL_CUTOFF param invalid");
+	}
+
+	const param_t gyro_cut_ph = param_find("IMU_GYRO_CUTOFF");
+	float gyro_cut = ADIS16497_GYRO_DEFAULT_DRIVER_FILTER_FREQ;
+
+	if (gyro_cut_ph != PARAM_INVALID && param_get(gyro_cut_ph, &gyro_cut) == PX4_OK) {
+		_gyro_filter.set_cutoff_frequency(_sample_rate, gyro_cut);
+
+	} else {
+		PX4_ERR("IMU_GYRO_CUTOFF param invalid");
+	}
+}
+
+ADIS16497::~ADIS16497()
+{
+	/* make sure we are truly inactive */
+	stop();
+
+	/* delete the gyro subdriver */
+	delete _gyro;
+
+	if (_accel_class_instance != -1) {
+		unregister_class_devname(ACCEL_BASE_DEVICE_PATH, _accel_class_instance);
+	}
+
+	/* delete the perf counter */
+	perf_free(_sample_perf);
+	perf_free(_sample_interval_perf);
+	perf_free(_bad_transfers);
+}
+
+int
+ADIS16497::init()
+{
+	if (hrt_absolute_time() < 250_ms) {
+		// Power-on startup time (if needed)
+		up_mdelay(250);
+	}
+
+	/* do SPI init (and probe) first */
+	if (SPI::init() != OK) {
+		/* if probe/setup failed, bail now */
+		DEVICE_DEBUG("SPI setup failed");
+		return PX4_ERROR;
+	}
+
+	/* Initialize offsets and scales */
+	_gyro_scale.x_offset = 0.0f;
+	_gyro_scale.x_scale  = 1.0f;
+	_gyro_scale.y_offset = 0.0f;
+	_gyro_scale.y_scale  = 1.0f;
+	_gyro_scale.z_offset = 0.0f;
+	_gyro_scale.z_scale  = 1.0f;
+
+	_accel_scale.x_offset = 0.0f;
+	_accel_scale.x_scale  = 1.0f;
+	_accel_scale.y_offset = 0.0f;
+	_accel_scale.y_scale  = 1.0f;
+	_accel_scale.z_offset = 0.0f;
+	_accel_scale.z_scale  = 1.0f;
+
+	/* do CDev init for the gyro device node, keep it optional */
+	int ret = _gyro->init();
+
+	/* if probe/setup failed, bail now */
+	if (ret != OK) {
+		DEVICE_DEBUG("gyro init failed");
+		return ret;
+	}
+
+	_accel_class_instance = register_class_devname(ACCEL_BASE_DEVICE_PATH);
+
+	/* fetch an initial set of measurements for advertisement */
+	measure();
+
+	/* advertise sensor topic, measure manually to initialize valid report */
+	sensor_accel_s arp = {};
+
+	/* measurement will have generated a report, publish */
+	_accel_topic = orb_advertise_multi(ORB_ID(sensor_accel), &arp, &_accel_orb_class_instance, ORB_PRIO_MAX);
+
+	if (_accel_topic == nullptr) {
+		PX4_ERR("ADVERT FAIL");
+	}
+
+	sensor_gyro_s grp = {};
+	_gyro->_gyro_topic = orb_advertise_multi(ORB_ID(sensor_gyro), &grp, &_gyro->_gyro_orb_class_instance, ORB_PRIO_MAX);
+
+	if (_gyro->_gyro_topic == nullptr) {
+		PX4_ERR("ADVERT FAIL");
+	}
+
+	if (ret == PX4_OK) {
+		start();
+	}
+
+	return ret;
+}
+
+int ADIS16497::reset()
+{
+#ifdef GPIO_SPI1_RESET_ADIS16497
+	// Hardware reset
+	px4_arch_gpiowrite(GPIO_SPI1_RESET_ADIS16497, 0);
+
+	// The RST line must be in a low state for at least 10 μs to ensure a proper reset initiation and recovery.
+	up_udelay(10);
+
+	px4_arch_gpiowrite(GPIO_SPI1_RESET_ADIS16497, 1);
+
+	// Reset recovery time
+	up_mdelay(250);
+#else
+	// Software reset (global command bit 7)
+	uint8_t value[2] = {};
+	value[0] = (1 << 7);
+	write_reg16(PAGE_ID, 0x03);
+	write_reg16(GLOB_CMD, (uint16_t)value[0]);
+
+	// Reset recovery time
+	up_mdelay(210);
+#endif /* GPIO_SPI1_RESET_ADIS16497 */
+
+	// Switch to configuration page
+	write_reg16(PAGE_ID, 0x03);
+
+	// Functional IO control
+	static constexpr uint16_t FNCTIO_CTRL_DEFAULT = 0x000D;
+
+	write_reg16(FNCTIO_CTRL, FNCTIO_CTRL_DEFAULT);
+
+	up_udelay(340);
+
+	const uint16_t fnctio_ctrl = read_reg16(FNCTIO_CTRL);
+
+	if (fnctio_ctrl != FNCTIO_CTRL_DEFAULT) {
+		PX4_ERR("Invalid setup, FNCTIO_CTRL=%#X", fnctio_ctrl);
+		return PX4_ERROR;
+	}
+
+	// Miscellaneous configuration
+	static constexpr uint16_t CONFIG_DEFAULT = 0x00C0;
+
+	write_reg16(CONFIG, CONFIG_DEFAULT);
+
+	up_udelay(45);
+
+	const uint16_t config = read_reg16(CONFIG);
+
+	if (config != CONFIG_DEFAULT) {
+		PX4_ERR("Invalid setup, CONFIG=%#X", config);
+		return PX4_ERROR;
+	}
+
+	// Decimation Filter
+	static constexpr uint16_t DEC_RATE_DEFAULT = 0x0003; //  4250/4 = 1062 samples per second
+
+	write_reg16(DEC_RATE, DEC_RATE_DEFAULT);
+
+	up_udelay(340);
+
+	const uint16_t dec_rate = read_reg16(DEC_RATE);
+
+	if (dec_rate != DEC_RATE_DEFAULT) {
+		PX4_ERR("Invalid setup, DEC_RATE=%#X", dec_rate);
+		return PX4_ERROR;
+	}
+
+	// Continious bias estimation
+	static constexpr uint16_t NULL_CNFG_DEFAULT = 0x0000; // Disable continious bias estimation
+
+	write_reg16(NULL_CNFG, NULL_CNFG_DEFAULT);
+
+	up_udelay(71);
+
+	const uint16_t null_cnfg = read_reg16(NULL_CNFG);
+
+	if (null_cnfg != NULL_CNFG_DEFAULT) {
+		PX4_ERR("Invalid setup, NULL_CNFG=%#X", null_cnfg);
+		return PX4_ERROR;
+	}
+
+	// Bartlett Window FIR Filter
+	static constexpr uint16_t FILTR_BNK_0_SETUP = 0x0000; // Disable FIR filter
+	static constexpr uint16_t FILTR_BNK_1_SETUP = 0x0000; // Disable FIR filter
+
+	write_reg16(FILTR_BNK_0, FILTR_BNK_0_SETUP);
+	write_reg16(FILTR_BNK_1, FILTR_BNK_1_SETUP);
+
+	up_udelay(65);
+
+	const uint16_t filtr_bnk_0 = read_reg16(FILTR_BNK_0);
+
+	if (filtr_bnk_0 != FILTR_BNK_0_SETUP) {
+		PX4_ERR("Invalid setup, FILTR_BNK_0=%#X", filtr_bnk_0);
+		return PX4_ERROR;
+	}
+
+	const uint16_t filtr_bnk_1 = read_reg16(FILTR_BNK_1);
+
+	if (filtr_bnk_1 != FILTR_BNK_1_SETUP) {
+		PX4_ERR("Invalid setup, FILTR_BNK_1=%#X", filtr_bnk_1);
+		return PX4_ERROR;
+	}
+
+	/*
+	// Save to flash memory (NOTE : Limited cycles!)
+	uint8_t value[2] = {};
+	value[0] = (1 << 3);
+	write_reg16(PAGE_ID, 0x03);
+	write_reg16(GLOB_CMD, (uint16_t)value[0]);
+
+	// save Recovery Time
+	up_mdelay(1125);
+	*/
+
+	return OK;
+}
+
+int
+ADIS16497::probe()
+{
+	DEVICE_DEBUG("probe");
+
+	// read product id (5 attempts)
+	for (int i = 0; i < 5; i++) {
+
+		if (reset() != PX4_OK) {
+			continue;
+		}
+
+		// Switch to output page
+		write_reg16(PAGE_ID, 0x00);
+
+		// Check if the device is an ADIS16497
+		static constexpr uint16_t PROD_ID_ADIS16497 = 0x4071;
+
+		uint16_t product_id = read_reg16(PROD_ID);
+
+		if (product_id == PROD_ID_ADIS16497) {
+
+			if (self_test_sensor()) {
+				// TODO check model here and set measurement ranges
+				return PX4_OK;
+
+			} else {
+				PX4_ERR("probe attempt %d: self test failed, resetting", i);
+			}
+
+		} else {
+			PX4_ERR("probe attempt %d: read product id failed, resetting", i);
+		}
+	}
+
+	return -EIO;
+}
+
+bool
+ADIS16497::self_test_sensor()
+{
+	// Switch to configuration page
+	write_reg16(PAGE_ID, 0x03);
+
+	// Self test (globa l command bit 1)
+	uint8_t value[2] = {};
+	value[0] = (1 << 1);
+	write_reg16(GLOB_CMD, (uint16_t)value[0]);
+
+	up_mdelay(20); // Self test time
+
+	// Switch to output page
+	write_reg16(PAGE_ID, 0x0);
+
+	// Read SYS_E_FLAG to check overall result
+	uint16_t sys_e_flag = read_reg16(SYS_E_FLAG);
+
+	if (sys_e_flag != 0) {
+		PX4_ERR("SYS_E_FLAG: %#X", sys_e_flag);
+
+		// Read DIAG_STS to check per-sensor results
+		uint16_t diag_sts_flag = read_reg16(DIAG_STS);
+
+		if (diag_sts_flag != 0) {
+			PX4_ERR("DIAG_STS: %#X", diag_sts_flag);
+		}
+
+		return false;
+	}
+
+	return true;
+}
+
+int
+ADIS16497::ioctl(struct file *filp, int cmd, unsigned long arg)
+{
+	switch (cmd) {
+	case SENSORIOCRESET:
+		return reset();
+
+	case ACCELIOCSSCALE: {
+			/* copy scale, but only if off by a few percent */
+			struct accel_calibration_s *s = (struct accel_calibration_s *) arg;
+			memcpy(&_accel_scale, s, sizeof(_accel_scale));
+			return OK;
+		}
+
+	default:
+		/* give it to the superclass */
+		return SPI::ioctl(filp, cmd, arg);
+	}
+}
+
+int
+ADIS16497::gyro_ioctl(struct file *filp, int cmd, unsigned long arg)
+{
+	switch (cmd) {
+
+	/* these are shared with the accel side */
+	case SENSORIOCRESET:
+		return ioctl(filp, cmd, arg);
+
+	case GYROIOCSSCALE:
+		/* copy scale in */
+		memcpy(&_gyro_scale, (struct gyro_calibration_s *) arg, sizeof(_gyro_scale));
+		return OK;
+
+	default:
+		/* give it to the superclass */
+		return SPI::ioctl(filp, cmd, arg);
+	}
+}
+
+uint16_t
+ADIS16497::read_reg16(uint8_t reg)
+{
+	uint16_t cmd[1];
+
+	cmd[0] = ((reg | DIR_READ) << 8) & 0xff00;
+	transferhword(cmd, nullptr, 1);
+	up_udelay(T_STALL);
+	transferhword(nullptr, cmd, 1);
+	up_udelay(T_STALL);
+
+	return cmd[0];
+}
+
+void
+ADIS16497::write_reg(uint8_t reg, uint8_t val)
+{
+	uint8_t cmd[2];
+	cmd[0] = reg | 0x8;
+	cmd[1] = val;
+	transfer(cmd, cmd, sizeof(cmd));
+}
+
+void
+ADIS16497::write_reg16(uint8_t reg, uint16_t value)
+{
+	uint16_t cmd[2];
+
+	cmd[0] = ((reg | DIR_WRITE) << 8) | (0x00ff & value);
+	cmd[1] = (((reg + 0x1) | DIR_WRITE) << 8) | ((0xff00 & value) >> 8);
+
+	transferhword(cmd, nullptr, 1);
+	up_udelay(T_STALL);
+	transferhword(cmd + 1, nullptr, 1);
+	up_udelay(T_STALL);
+}
+
+void
+ADIS16497::start()
+{
+#ifdef GPIO_SPI1_DRDY1_ADIS16497
+	// Setup data ready on rising edge
+	px4_arch_gpiosetevent(GPIO_SPI1_DRDY1_ADIS16497, true, false, true, &ADIS16497::data_ready_interrupt, this);
+#else
+	// Make sure we are stopped first
+	stop();
+
+	// Start polling at the specified rate
+	hrt_call_every(&_call, 1000, _call_interval, (hrt_callout)&ADIS16497::measure_trampoline, this);
+#endif
+}
+
+void
+ADIS16497::stop()
+{
+#ifdef GPIO_SPI1_DRDY1_ADIS16497
+	// Disable data ready callback
+	px4_arch_gpiosetevent(GPIO_SPI1_DRDY1_ADIS16497, false, false, false, nullptr, nullptr);
+#else
+	hrt_cancel(&_call);
+#endif
+}
+
+int
+ADIS16497::data_ready_interrupt(int irq, void *context, void *arg)
+{
+	ADIS16497 *dev = reinterpret_cast<ADIS16497 *>(arg);
+
+	/* make another measurement */
+	dev->measure();
+
+	return PX4_OK;
+}
+
+void
+ADIS16497::measure_trampoline(void *arg)
+{
+	ADIS16497 *dev = reinterpret_cast<ADIS16497 *>(arg);
+
+	/* make another measurement */
+	dev->measure();
+}
+
+int
+ADIS16497::measure()
+{
+	perf_begin(_sample_perf);
+	perf_count(_sample_interval_perf);
+
+	// Fetch the full set of measurements from the ADIS16497 in one pass (burst read).
+	ADISReport adis_report {};
+	adis_report.cmd = ((BURST_CMD | DIR_READ) << 8) & 0xff00;
+
+	// ADIS16497 burst report should be 320 bits
+	static_assert(sizeof(adis_report) == (320 / 8), "ADIS16497 report not 320 bits");
+
+	const hrt_abstime t = hrt_absolute_time();
+
+	if (OK != transferhword((uint16_t *)&adis_report, ((uint16_t *)&adis_report), sizeof(adis_report) / sizeof(uint16_t))) {
+		perf_count(_bad_transfers);
+		perf_end(_sample_perf);
+		return -EIO;
+	}
+
+	// Check burst ID to make sure the correct SPI speed is being used.
+	// The sensor uses a different burst report format at slower speeds
+	static constexpr uint16_t BURST_ID_DEFAULT = 0xA5A5;
+
+	if (adis_report.BURST_ID != BURST_ID_DEFAULT) {
+		PX4_ERR("BURST_ID: %#X", adis_report.BURST_ID);
+
+		perf_count(_bad_transfers);
+		perf_end(_sample_perf);
+		return -EIO;
+	}
+
+	// Check all Status/Error Flag Indicators
+	if (adis_report.SYS_E_FLAG != 0) {
+		PX4_ERR("SYS_E_FLAG: %#X", adis_report.SYS_E_FLAG);
+
+		perf_count(_bad_transfers);
+		perf_end(_sample_perf);
+		return -EIO;
+	}
+
+	uint32_t checksum = uint32_t(adis_report.CRC_UPR) << 16 | adis_report.CRC_LWR;
+	uint32_t checksum_calc = crc32((uint16_t *)&adis_report.SYS_E_FLAG, 15);
+
+	if (checksum != checksum_calc) {
+		PX4_ERR("CHECKSUM: %#X vs. calculated: %#X", checksum, checksum_calc);
+		perf_count(_bad_transfers);
+		perf_end(_sample_perf);
+		return -EIO;
+	}
+
+	// TODO check data counter here to see if we're missing samples/getting repeated samples
+
+	publish_accel(t, adis_report);
+	publish_gyro(t, adis_report);
+
+	perf_end(_sample_perf);
+	return OK;
+}
+
+void
+ADIS16497::publish_accel(const hrt_abstime &t, const ADISReport &report)
+{
+	float xraw_f = (int32_t(report.X_ACCEL_OUT) << 16 | report.X_ACCEL_LOW) / 65536.0f * _accel_range_scale;
+	float yraw_f = (int32_t(report.Y_ACCEL_OUT) << 16 | report.Y_ACCEL_LOW) / 65536.0f * _accel_range_scale;
+	float zraw_f = (int32_t(report.Z_ACCEL_OUT) << 16 | report.Z_ACCEL_LOW) / 65536.0f * _accel_range_scale;
+
+	// Apply user specified rotation
+	rotate_3f(_rotation, xraw_f, yraw_f, zraw_f);
+
+	const float x_in_new = (xraw_f - _accel_scale.x_offset) * _accel_scale.x_scale;
+	const float y_in_new = (yraw_f - _accel_scale.y_offset) * _accel_scale.y_scale;
+	const float z_in_new = (zraw_f - _accel_scale.z_offset) * _accel_scale.z_scale;
+
+	matrix::Vector3f aval(x_in_new, y_in_new, z_in_new);
+
+	const matrix::Vector3f val_filt = _accel_filter.apply(aval);
+
+	sensor_accel_s arb{};
+	matrix::Vector3f aval_integrated;
+
+	if (_accel_int.put(t, aval, aval_integrated, arb.integral_dt)) {
+		arb.timestamp = t;
+
+		arb.device_id = _device_id.devid;
+		arb.error_count = perf_event_count(_bad_transfers);
+
+		// Raw sensor readings
+		arb.x_raw = report.X_ACCEL_OUT;
+		arb.y_raw = report.Y_ACCEL_OUT;
+		arb.z_raw = report.Z_ACCEL_OUT;
+		arb.scaling = _accel_range_scale;
+
+		// Filtered values for controls
+		arb.x = val_filt(0);
+		arb.y = val_filt(1);
+		arb.z = val_filt(2);
+
+		// Intgrated values for estimation
+		arb.x_integral = aval_integrated(0);
+		arb.y_integral = aval_integrated(1);
+		arb.z_integral = aval_integrated(2);
+
+		arb.temperature = report.TEMP_OUT * 0.1f - 25.0f; // 1 LSB = 0.1°C, 0x0000 at 25°C
+
+		orb_publish(ORB_ID(sensor_accel), _accel_topic, &arb);
+	}
+}
+
+void
+ADIS16497::publish_gyro(const hrt_abstime &t, const ADISReport &report)
+{
+	float xraw_f = (int32_t(report.X_GYRO_OUT) << 16 | report.X_GYRO_LOW) / 65536.0f;
+	float yraw_f = (int32_t(report.Y_GYRO_OUT) << 16 | report.Y_GYRO_LOW) / 65536.0f;
+	float zraw_f = (int32_t(report.Z_GYRO_OUT) << 16 | report.Z_GYRO_LOW) / 65536.0f;
+
+	// Apply user specified rotation
+	rotate_3f(_rotation, xraw_f, yraw_f, zraw_f);
+
+	const float x_gyro_in_new = (math::radians(xraw_f * _gyro_range_scale) - _gyro_scale.x_offset) * _gyro_scale.x_scale;
+	const float y_gyro_in_new = (math::radians(yraw_f * _gyro_range_scale) - _gyro_scale.y_offset) * _gyro_scale.y_scale;
+	const float z_gyro_in_new = (math::radians(zraw_f * _gyro_range_scale) - _gyro_scale.z_offset) * _gyro_scale.z_scale;
+
+	matrix::Vector3f gval(x_gyro_in_new, y_gyro_in_new, z_gyro_in_new);
+
+	const matrix::Vector3f gval_filt = _gyro_filter.apply(gval);
+
+	sensor_gyro_s grb{};
+	matrix::Vector3f gval_integrated;
+
+	if (_gyro_int.put(t, gval, gval_integrated, grb.integral_dt)) {
+		grb.timestamp = t;
+
+		grb.device_id = _gyro->_device_id.devid;
+		grb.error_count = perf_event_count(_bad_transfers);
+
+		// Raw sensor readings
+		grb.x_raw = report.X_GYRO_OUT;
+		grb.y_raw = report.Y_GYRO_OUT;
+		grb.z_raw = report.Z_GYRO_OUT;
+		grb.scaling = math::radians(_gyro_range_scale);
+
+		// Filtered values for controls
+		grb.x = gval_filt(0);
+		grb.y = gval_filt(1);
+		grb.z = gval_filt(2);
+
+		// Unfiltered integrated values for estimation
+		grb.x_integral = gval_integrated(0);
+		grb.y_integral = gval_integrated(1);
+		grb.z_integral = gval_integrated(2);
+
+		grb.temperature = report.TEMP_OUT * 0.1f - 25.0f; // 1 LSB = 0.1°C, 0x0000 at 25°C
+
+		orb_publish(ORB_ID(sensor_gyro), _gyro->_gyro_topic, &grb);
+	}
+}
+
+void
+ADIS16497::print_info()
+{
+	perf_print_counter(_sample_perf);
+	perf_print_counter(_sample_interval_perf);
+	perf_print_counter(_bad_transfers);
+}

src/drivers/imu/adis16497/ADIS16497.hpp

+/****************************************************************************
+ *
+ *   Copyright (c) 2018 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/*
+ * ADIS16497.hpp
+ *
+ */
+
+#ifndef DRIVERS_IMU_ADIS16497_ADIS16497_HPP_
+#define DRIVERS_IMU_ADIS16497_ADIS16497_HPP_
+
+#include <drivers/device/ringbuffer.h>
+#include <drivers/device/spi.h>
+#include <drivers/drv_hrt.h>
+#include <drivers/drv_accel.h>
+#include <drivers/drv_gyro.h>
+#include <mathlib/math/filter/LowPassFilter2pVector3f.hpp>
+#include <drivers/device/integrator.h>
+#include <lib/conversion/rotation.h>
+#include <perf/perf_counter.h>
+#include <ecl/geo/geo.h>
+
+#define ADIS16497_GYRO_DEFAULT_RATE			1000
+#define ADIS16497_GYRO_DEFAULT_DRIVER_FILTER_FREQ	80
+
+#define ADIS16497_ACCEL_DEFAULT_RATE			1000
+#define ADIS16497_ACCEL_DEFAULT_DRIVER_FILTER_FREQ	30
+
+// TODO : This is a copy of the NuttX CRC32 table
+static const uint32_t crc32_tab[] = {
+	0x00000000, 0x77073096, 0xee0e612c, 0x990951ba, 0x076dc419, 0x706af48f, 0xe963a535, 0x9e6495a3,
+	0x0edb8832, 0x79dcb8a4, 0xe0d5e91e, 0x97d2d988, 0x09b64c2b, 0x7eb17cbd, 0xe7b82d07, 0x90bf1d91,
+	0x1db71064, 0x6ab020f2, 0xf3b97148, 0x84be41de, 0x1adad47d, 0x6ddde4eb, 0xf4d4b551, 0x83d385c7,
+	0x136c9856, 0x646ba8c0, 0xfd62f97a, 0x8a65c9ec, 0x14015c4f, 0x63066cd9, 0xfa0f3d63, 0x8d080df5,
+	0x3b6e20c8, 0x4c69105e, 0xd56041e4, 0xa2677172, 0x3c03e4d1, 0x4b04d447, 0xd20d85fd, 0xa50ab56b,
+	0x35b5a8fa, 0x42b2986c, 0xdbbbc9d6, 0xacbcf940, 0x32d86ce3, 0x45df5c75, 0xdcd60dcf, 0xabd13d59,
+	0x26d930ac, 0x51de003a, 0xc8d75180, 0xbfd06116, 0x21b4f4b5, 0x56b3c423, 0xcfba9599, 0xb8bda50f,
+	0x2802b89e, 0x5f058808, 0xc60cd9b2, 0xb10be924, 0x2f6f7c87, 0x58684c11, 0xc1611dab, 0xb6662d3d,
+	0x76dc4190, 0x01db7106, 0x98d220bc, 0xefd5102a, 0x71b18589, 0x06b6b51f, 0x9fbfe4a5, 0xe8b8d433,
+	0x7807c9a2, 0x0f00f934, 0x9609a88e, 0xe10e9818, 0x7f6a0dbb, 0x086d3d2d, 0x91646c97, 0xe6635c01,
+	0x6b6b51f4, 0x1c6c6162, 0x856530d8, 0xf262004e, 0x6c0695ed, 0x1b01a57b, 0x8208f4c1, 0xf50fc457,
+	0x65b0d9c6, 0x12b7e950, 0x8bbeb8ea, 0xfcb9887c, 0x62dd1ddf, 0x15da2d49, 0x8cd37cf3, 0xfbd44c65,
+	0x4db26158, 0x3ab551ce, 0xa3bc0074, 0xd4bb30e2, 0x4adfa541, 0x3dd895d7, 0xa4d1c46d, 0xd3d6f4fb,
+	0x4369e96a, 0x346ed9fc, 0xad678846, 0xda60b8d0, 0x44042d73, 0x33031de5, 0xaa0a4c5f, 0xdd0d7cc9,
+	0x5005713c, 0x270241aa, 0xbe0b1010, 0xc90c2086, 0x5768b525, 0x206f85b3, 0xb966d409, 0xce61e49f,
+	0x5edef90e, 0x29d9c998, 0xb0d09822, 0xc7d7a8b4, 0x59b33d17, 0x2eb40d81, 0xb7bd5c3b, 0xc0ba6cad,
+	0xedb88320, 0x9abfb3b6, 0x03b6e20c, 0x74b1d29a, 0xead54739, 0x9dd277af, 0x04db2615, 0x73dc1683,
+	0xe3630b12, 0x94643b84, 0x0d6d6a3e, 0x7a6a5aa8, 0xe40ecf0b, 0x9309ff9d, 0x0a00ae27, 0x7d079eb1,
+	0xf00f9344, 0x8708a3d2, 0x1e01f268, 0x6906c2fe, 0xf762575d, 0x806567cb, 0x196c3671, 0x6e6b06e7,
+	0xfed41b76, 0x89d32be0, 0x10da7a5a, 0x67dd4acc, 0xf9b9df6f, 0x8ebeeff9, 0x17b7be43, 0x60b08ed5,
+	0xd6d6a3e8, 0xa1d1937e, 0x38d8c2c4, 0x4fdff252, 0xd1bb67f1, 0xa6bc5767, 0x3fb506dd, 0x48b2364b,
+	0xd80d2bda, 0xaf0a1b4c, 0x36034af6, 0x41047a60, 0xdf60efc3, 0xa867df55, 0x316e8eef, 0x4669be79,
+	0xcb61b38c, 0xbc66831a, 0x256fd2a0, 0x5268e236, 0xcc0c7795, 0xbb0b4703, 0x220216b9, 0x5505262f,
+	0xc5ba3bbe, 0xb2bd0b28, 0x2bb45a92, 0x5cb36a04, 0xc2d7ffa7, 0xb5d0cf31, 0x2cd99e8b, 0x5bdeae1d,
+	0x9b64c2b0, 0xec63f226, 0x756aa39c, 0x026d930a, 0x9c0906a9, 0xeb0e363f, 0x72076785, 0x05005713,
+	0x95bf4a82, 0xe2b87a14, 0x7bb12bae, 0x0cb61b38, 0x92d28e9b, 0xe5d5be0d, 0x7cdcefb7, 0x0bdbdf21,
+	0x86d3d2d4, 0xf1d4e242, 0x68ddb3f8, 0x1fda836e, 0x81be16cd, 0xf6b9265b, 0x6fb077e1, 0x18b74777,
+	0x88085ae6, 0xff0f6a70, 0x66063bca, 0x11010b5c, 0x8f659eff, 0xf862ae69, 0x616bffd3, 0x166ccf45,
+	0xa00ae278, 0xd70dd2ee, 0x4e048354, 0x3903b3c2, 0xa7672661, 0xd06016f7, 0x4969474d, 0x3e6e77db,
+	0xaed16a4a, 0xd9d65adc, 0x40df0b66, 0x37d83bf0, 0xa9bcae53, 0xdebb9ec5, 0x47b2cf7f, 0x30b5ffe9,
+	0xbdbdf21c, 0xcabac28a, 0x53b39330, 0x24b4a3a6, 0xbad03605, 0xcdd70693, 0x54de5729, 0x23d967bf,
+	0xb3667a2e, 0xc4614ab8, 0x5d681b02, 0x2a6f2b94, 0xb40bbe37, 0xc30c8ea1, 0x5a05df1b, 0x2d02ef8d
+};
+
+class ADIS16497_gyro;
+
+class ADIS16497 : public device::SPI
+{
+public:
+	ADIS16497(int bus, const char *path_accel, const char *path_gyro, uint32_t device, enum Rotation rotation);
+	virtual ~ADIS16497();
+
+	virtual int		init();
+
+	virtual int		ioctl(struct file *filp, int cmd, unsigned long arg);
+
+	void			print_info();
+
+protected:
+	virtual int		probe();
+
+	friend class ADIS16497_gyro;
+
+	virtual int		gyro_ioctl(struct file *filp, int cmd, unsigned long arg);
+
+private:
+	ADIS16497_gyro		*_gyro{nullptr};
+
+	struct hrt_call		_call {};
+	unsigned		_call_interval{1000};
+
+	struct gyro_calibration_s	_gyro_scale {};
+
+	// gyro 0.025 °/sec/LSB
+	float				_gyro_range_scale{0.025f};
+	float				_gyro_range_rad_s{math::radians(500.0f)};
+
+	struct accel_calibration_s	_accel_scale {};
+
+	// accel 1.25 mg/LSB
+	float				_accel_range_scale{1.25f * CONSTANTS_ONE_G / 1000.0f};
+	float				_accel_range_m_s2{40.0f * CONSTANTS_ONE_G};
+
+	orb_advert_t		_accel_topic{nullptr};
+
+	int					_accel_orb_class_instance{-1};
+	int					_accel_class_instance{-1};
+
+	unsigned			_sample_rate{1000};
+
+	perf_counter_t		_sample_perf;
+	perf_counter_t		_sample_interval_perf;
+
+	perf_counter_t		_bad_transfers;
+
+	math::LowPassFilter2pVector3f	_gyro_filter{ADIS16497_GYRO_DEFAULT_RATE, ADIS16497_GYRO_DEFAULT_DRIVER_FILTER_FREQ};
+	math::LowPassFilter2pVector3f	_accel_filter{ADIS16497_ACCEL_DEFAULT_RATE, ADIS16497_ACCEL_DEFAULT_DRIVER_FILTER_FREQ};
+
+	Integrator			_accel_int{4000, false};
+	Integrator			_gyro_int{4000, true};
+
+	enum Rotation		_rotation;
+
+#pragma pack(push, 1)
+	/**
+	 * Report conversation with the ADIS16497, including command byte.
+	 */
+	struct ADISReport {
+		uint16_t	cmd;
+		uint16_t	ZEROES;
+		uint16_t	BURST_ID;
+		uint16_t	SYS_E_FLAG;
+		uint16_t	TEMP_OUT;
+		uint16_t	X_GYRO_LOW;
+		uint16_t	X_GYRO_OUT;
+		uint16_t	Y_GYRO_LOW;
+		uint16_t	Y_GYRO_OUT;
+		uint16_t	Z_GYRO_LOW;
+		uint16_t	Z_GYRO_OUT;
+		uint16_t	X_ACCEL_LOW;
+		uint16_t	X_ACCEL_OUT;
+		uint16_t	Y_ACCEL_LOW;
+		uint16_t	Y_ACCEL_OUT;
+		uint16_t	Z_ACCEL_LOW;
+		uint16_t	Z_ACCEL_OUT;
+		uint16_t	DATA_CNT;
+		uint16_t	CRC_LWR;
+		uint16_t	CRC_UPR;
+	};
+#pragma pack(pop)
+
+	/**
+	 * Start automatic measurement.
+	 */
+	void		start();
+
+	/**
+	 * Stop automatic measurement.
+	 */
+	void		stop();
+
+	/**
+	 * Reset chip.
+	 *
+	 * Resets the chip and measurements ranges, but not scale and offset.
+	 */
+	int			reset();
+
+	/**
+	 * Static trampoline from the hrt_call context; because we don't have a
+	 * generic hrt wrapper yet.
+	 *
+	 * Called by the HRT in interrupt context at the specified rate if
+	 * automatic polling is enabled.
+	 *
+	 * @param arg		Instance pointer for the driver that is polling.
+	 */
+	static void		measure_trampoline(void *arg);
+
+	static int		data_ready_interrupt(int irq, void *context, void *arg);
+
+	/**
+	 * Fetch measurements from the sensor and update the report buffers.
+	 */
+	int			measure();
+
+	void			publish_accel(const hrt_abstime &t, const ADISReport &report);
+	void			publish_gyro(const hrt_abstime &t, const ADISReport &report);
+
+	uint16_t		read_reg16(uint8_t reg);
+
+	void			write_reg(uint8_t reg, uint8_t value);
+	void			write_reg16(uint8_t reg, uint16_t value);
+
+	// ADIS16497 onboard self test
+	bool 			self_test_sensor();
+
+	ADIS16497(const ADIS16497 &);
+	ADIS16497 operator=(const ADIS16497 &);
+
+	uint32_t crc32(const uint16_t *data, size_t len)
+	{
+		uint32_t crc = 0xffffffff;
+		uint8_t tbl_idx;
+		uint8_t b;
+
+		while (len--) {
+			b = *data;
+			tbl_idx = crc ^ b;
+			crc = (crc32_tab[tbl_idx] ^ (crc >> 8));
+
+			b = *data >> 8;
+			tbl_idx = crc ^ b;
+			crc = (crc32_tab[tbl_idx] ^ (crc >> 8));
+
+			data++;
+		}
+
+		return crc ^ 0xffffffff;
+	}
+
+};
+
+#endif /* DRIVERS_IMU_ADIS16497_ADIS16497_HPP_ */

src/drivers/imu/adis16497/ADIS16497_gyro.cpp

+/****************************************************************************
+ *
+ *   Copyright (c) 2018 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#include "ADIS16497_gyro.hpp"
+
+ADIS16497_gyro::ADIS16497_gyro(ADIS16497 *parent, const char *path) :
+	CDev("ADIS16497_gyro", path),
+	_parent(parent),
+	_gyro_topic(nullptr),
+	_gyro_orb_class_instance(-1),
+	_gyro_class_instance(-1)
+{
+}
+
+ADIS16497_gyro::~ADIS16497_gyro()
+{
+	if (_gyro_class_instance != -1) {
+		unregister_class_devname(GYRO_BASE_DEVICE_PATH, _gyro_class_instance);
+	}
+}
+
+int
+ADIS16497_gyro::init()
+{
+	int ret = CDev::init();
+
+	/* if probe/setup failed, bail now */
+	if (ret != OK) {
+		DEVICE_DEBUG("gyro init failed");
+		return ret;
+	}
+
+	_gyro_class_instance = register_class_devname(GYRO_BASE_DEVICE_PATH);
+
+	return ret;
+}
+
+int
+ADIS16497_gyro::ioctl(struct file *filp, int cmd, unsigned long arg)
+{
+	switch (cmd) {
+	case DEVIOCGDEVICEID:
+		return (int)CDev::ioctl(filp, cmd, arg);
+		break;
+
+	default:
+		return _parent->gyro_ioctl(filp, cmd, arg);
+	}
+}

src/drivers/imu/adis16497/ADIS16497_gyro.hpp

+/****************************************************************************
+ *
+ *   Copyright (c) 2018 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#ifndef DRIVERS_IMU_ADIS16497_ADIS16497_GYRO_HPP_
+#define DRIVERS_IMU_ADIS16497_ADIS16497_GYRO_HPP_
+
+#include "ADIS16497.hpp"
+
+#include <drivers/device/CDev.hpp>
+#include <drivers/drv_gyro.h>
+
+/**
+ * Helper class implementing the gyro driver node.
+ */
+class ADIS16497_gyro : public device::CDev
+{
+public:
+	ADIS16497_gyro(ADIS16497 *parent, const char *path);
+	virtual ~ADIS16497_gyro();
+
+	virtual int		ioctl(struct file *filp, int cmd, unsigned long arg);
+
+	virtual int		init();
+
+protected:
+	friend class ADIS16497;
+
+private:
+	ADIS16497			*_parent{nullptr};
+	orb_advert_t		_gyro_topic{nullptr};
+
+	int					_gyro_orb_class_instance{-1};
+	int					_gyro_class_instance{-1};
+
+	/* do not allow to copy this class due to pointer data members */
+	ADIS16497_gyro(const ADIS16497_gyro &);
+	ADIS16497_gyro operator=(const ADIS16497_gyro &);
+
+};
+
+#endif /* DRIVERS_IMU_ADIS16497_ADIS16497_GYRO_HPP_ */

src/drivers/imu/adis16497/ADIS16497_main.cpp

+/****************************************************************************
+ *
+ *   Copyright (c) 2018 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#include "ADIS16497.hpp"
+#include <systemlib/err.h>
+
+#define ADIS16497_DEVICE_PATH_ACCEL		"/dev/ADIS16497_accel"
+#define ADIS16497_DEVICE_PATH_GYRO		"/dev/ADIS16497_gyro"
+
+extern "C" { __EXPORT int adis16497_main(int argc, char *argv[]); }
+
+/**
+ * Local functions in support of the shell command.
+ */
+namespace adis16497
+{
+
+ADIS16497	*g_dev;
+
+void	start(enum Rotation rotation);
+void	test();
+void	reset();
+void	info();
+void	usage();
+/**
+ * Start the driver.
+ */
+void
+start(enum Rotation rotation)
+{
+	if (g_dev != nullptr)
+		/* if already started, the still command succeeded */
+	{
+		errx(0, "already started");
+	}
+
+	/* create the driver */
+#if defined(PX4_SPIDEV_EXTERNAL1_1)
+	g_dev = new ADIS16497(PX4_SPI_BUS_EXTERNAL1, ADIS16497_DEVICE_PATH_ACCEL, ADIS16497_DEVICE_PATH_GYRO,
+			      PX4_SPIDEV_EXTERNAL1_1, rotation);
+#else
+	PX4_ERR("External SPI not available");
+	exit(0);
+#endif
+
+	if (g_dev == nullptr) {
+		goto fail;
+	}
+
+	if (OK != g_dev->init()) {
+		goto fail;
+	}
+
+	exit(0);
+fail:
+
+	if (g_dev != nullptr) {
+		delete g_dev;
+		g_dev = nullptr;
+	}
+
+	errx(1, "driver start failed");
+}
+
+/**
+ * Perform some basic functional tests on the driver;
+ * make sure we can collect data from the sensor in polled
+ * and automatic modes.
+ */
+void
+test()
+{
+	sensor_accel_s a_report{};
+	sensor_gyro_s g_report{};
+
+	ssize_t sz;
+
+	/* get the driver */
+	int fd = px4_open(ADIS16497_DEVICE_PATH_ACCEL, O_RDONLY);
+
+	if (fd < 0) {
+		err(1, "%s open failed", ADIS16497_DEVICE_PATH_ACCEL);
+	}
+
+	/* get the gyro driver */
+	int fd_gyro = px4_open(ADIS16497_DEVICE_PATH_GYRO, O_RDONLY);
+
+	if (fd_gyro < 0) {
+		err(1, "%s open failed", ADIS16497_DEVICE_PATH_GYRO);
+	}
+
+	/* do a simple demand read */
+	sz = read(fd, &a_report, sizeof(a_report));
+
+	if (sz != sizeof(a_report)) {
+		PX4_ERR("ret: %d, expected: %d", sz, sizeof(a_report));
+		err(1, "immediate acc read failed");
+	}
+
+	print_message(a_report);
+
+	/* do a simple demand read */
+	sz = px4_read(fd_gyro, &g_report, sizeof(g_report));
+
+	if (sz != sizeof(g_report)) {
+		warnx("ret: %d, expected: %d", sz, sizeof(g_report));
+		err(1, "immediate gyro read failed");
+	}
+
+	print_message(g_report);
+
+	px4_close(fd_gyro);
+	px4_close(fd);
+
+	reset();
+	errx(0, "PASS");
+}
+
+/**
+ * Reset the driver.
+ */
+void
+reset()
+{
+	int fd = px4_open(ADIS16497_DEVICE_PATH_ACCEL, O_RDONLY);
+
+	if (fd < 0) {
+		err(1, "open failed");
+	}
+
+	if (px4_ioctl(fd, SENSORIOCRESET, 0) < 0) {
+		err(1, "driver reset failed");
+	}
+
+	px4_close(fd);
+
+	exit(0);
+}
+
+/**
+ * Print a little info about the driver.
+ */
+void
+info()
+{
+	if (g_dev == nullptr) {
+		errx(1, "driver not running");
+	}
+
+	printf("state @ %p\n", g_dev);
+	g_dev->print_info();
+
+	exit(0);
+}
+
+void
+usage()
+{
+	PX4_INFO("missing command: try 'start', 'test', 'info', 'reset'");
+	PX4_INFO("options:");
+	PX4_INFO("    -R rotation");
+}
+
+}
+// namespace
+
+int
+adis16497_main(int argc, char *argv[])
+{
+	enum Rotation rotation = ROTATION_NONE;
+	int ch;
+
+	/* start options */
+	while ((ch = getopt(argc, argv, "R:")) != EOF) {
+		switch (ch) {
+		case 'R':
+			rotation = (enum Rotation)atoi(optarg);
+			break;
+
+		default:
+			adis16497::usage();
+			exit(0);
+		}
+	}
+
+	const char *verb = argv[optind];
+
+	/*
+	 * Start/load the driver.
+
+	 */
+	if (!strcmp(verb, "start")) {
+		adis16497::start(rotation);
+	}
+
+	/*
+	 * Test the driver/device.
+	 */
+	if (!strcmp(verb, "test")) {
+		adis16497::test();
+	}
+
+	/*
+	 * Reset the driver.
+	 */
+	if (!strcmp(verb, "reset")) {
+		adis16497::reset();
+	}
+
+	/*
+	 * Print driver information.
+	 */
+	if (!strcmp(verb, "info")) {
+		adis16497::info();
+	}
+
+	adis16497::usage();
+	exit(1);
+}

src/drivers/imu/adis16497/CMakeLists.txt

+############################################################################
+#
+#   Copyright (c) 2018 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+px4_add_module(
+	MODULE drivers__imu__adis16497
+	MAIN adis16497
+	STACK_MAIN 1200
+	COMPILE_FLAGS
+	SRCS
+		ADIS16497.cpp
+		ADIS16497_gyro.cpp
+		ADIS16497_main.cpp
+	)