Merge pull request #610 from analogdevicesinc/adis16550_add_support

Add support for adis16550 and adis16550w
analogdevicesinc · Oct 28, 2024 · dde58ee · dde58ee
2 parents be6d695 + ac2e3da
commit dde58ee
Showing 9 changed files with 782 additions and 0 deletions.
diff --git a/adi/__init__.py b/adi/__init__.py
@@ -73,6 +73,7 @@
     adis16547,
 )
 from adi.adis16507 import adis16507
+from adi.adis16550 import adis16550
 from adi.adl5240 import adl5240
 from adi.adl5960 import adl5960
 from adi.admv8818 import admv8818

diff --git a/adi/adis16550.py b/adi/adis16550.py
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
@@ -0,0 +1,59 @@
+# Copyright (C) 2024 Analog Devices, Inc.
+#
+# SPDX short identifier: ADIBSD
+import sys
+
+import adi
+import matplotlib.pyplot as plt
+
+# Set up ADIS16550
+my_dev_name = sys.argv[1]
+my_uri = sys.argv[2]
+
+dev = adi.adis16550(device_name=my_dev_name, uri=my_uri)
+
+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("\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")
+
+print("\nX angular velocity: " + str(dev.anglvel_x_conv) + " rad/s")
+print("Y angular velocity: " + str(dev.anglvel_y_conv) + " rad/s")
+print("Z angular velocity: " + str(dev.anglvel_z_conv) + " rad/s")
+
+print("\nX delta velocity: " + str(dev.deltavelocity_x_conv) + " m/s")
+print("Y delta velocity: " + str(dev.deltavelocity_y_conv) + " m/s")
+print("Z delta velocity: " + str(dev.deltavelocity_z_conv) + " m/s")
+
+print("\nX delta angle: " + str(dev.deltaangl_x_conv) + " rad")
+print("Y delta angle: " + str(dev.deltaangl_y_conv) + " rad")
+print("Z delta angle: " + str(dev.deltaangl_z_conv) + " rad")
+
+dev.sample_rate = 2000
+dev.magn_x_filter_low_pass_3db_frequency = 100
+dev.anglvel_y_calibscale = 30
+dev.anglvel_x_calibbias = 100
+
+print("\nSampling frequency: " + str(dev.sample_rate))
+
+print("Temperature raw value: " + str(dev.temp.raw))
+print("Temperature scale value: " + str(dev.temp.scale))
+print("Temperature offset value: " + str(dev.temp.offset))
+
+print("X-axis gyro channel calibbias value: " + str(dev.anglvel_x_calibbias))
+print("X-axis gyro channel calibscale value: " + str(dev.anglvel_y_calibscale))
+print("X-axis magnetometer bandwidth: " + str(dev.magn_x_filter_low_pass_3db_frequency))
+
+for _ in range(100):
+    data = dev.rx()
+    plt.clf()
+    for i, d in enumerate(data):
+        plt.plot(d, label=dev._rx_channel_names[dev.rx_enabled_channels[i]])
+    plt.legend()
+    plt.show(block=False)
+    plt.pause(0.1)
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="adis16550">
+      <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="adis16550-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 +1,80 @@
+import iio
+
+import adi
+import pytest
+
+hardware = "adis16550"
+classname = "adi.adis16550"
+device_name = "adis16550"
+
+
+def do_mock():
+    def mock_set_trigger(self, value):
+        pass
+
+    # Mock the _set_trigger method in iio.Device
+    iio.Device._set_trigger = mock_set_trigger
+
+
+#########################################
+@pytest.mark.iio_hardware(hardware, False)
+def test_adis16550_conv_data(iio_uri):
+    do_mock()
+    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", 0, 65535, 1, 0),
+        ("anglvel_y_calibscale", 0, 65535, 1, 0),
+        ("anglvel_z_calibscale", 0, 65535, 1, 0),
+        ("accel_x_calibscale", 0, 65535, 1, 0),
+        ("accel_y_calibscale", 0, 65535, 1, 0),
+        ("accel_z_calibscale", 0, 65535, 1, 0),
+    ],
+)
+def test_adis16550_attr(
+    test_attribute_single_value, iio_uri, classname, attr, start, stop, step, tol
+):
+    do_mock()
+    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,
+):
+    do_mock()
+    test_attribute_multiple_values(iio_uri, classname, attr, values, tol, repeats)