So, changing to 0x0208 still didn't change anything:
I wrote a little startup routine which checks the status/error registers, but all looks good and it confirms the EKF_CFG register content (I ran this twice without restarting --> before == after):
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<code>
Starting the SPI communication
libsoc-debug: debug enabled (libsoc_set_debug)
libsoc-spi-debug: initialising spidev device 1.0 (NULL, libsoc_spi_init)
libsoc-spi-debug: setting mode to 3 (spidev1.0, libsoc_spi_set_mode)
libsoc-spi-debug: read mode as 3 (spidev1.0, libsoc_spi_get_mode)
libsoc-spi-debug: setting speed to 11999999Hz (spidev1.0, libsoc_spi_set_speed)
libsoc-spi-debug: read speed as 11999999Hz (spidev1.0, libsoc_spi_get_speed)
libsoc-spi-debug: setting bits per word to 16 (spidev1.0, libsoc_spi_set_bits_per_word)
libsoc-spi-debug: read bits per word as 16 (spidev1.0, libsoc_spi_get_bits_per_word)
ADIS16480: Reading Product ID
libsoc-spi-debug: performing duplex rw transfer of 6 bytes (spidev1.0, libsoc_spi_rw)
ADIS16480: correct PROD_ID: 0x4060
ADIS16480: Reading Self Test Results
libsoc-spi-debug: performing duplex rw transfer of 6 bytes (spidev1.0, libsoc_spi_rw)
ADIS16480: Self Test results show NO errors
ADIS16480: Reading Error Flags
libsoc-spi-debug: performing duplex rw transfer of 6 bytes (spidev1.0, libsoc_spi_rw)
ADIS16480: System Errors occured:
ADIS16480: 0x300
ADIS16480: System Error - New Barometer Data
ADIS16480: System Error - New Magnetometer Data
libsoc-debug: debug disabled (libsoc_set_debug)
ADIS16480 - Register Write - Setting the following bits: 0x8 in Register (base address): 0x5000 on Page: 3
ADIS16480 - Register Write - Before: 0x208
ADIS16480 - Register Write: Success, register now contains: 0x208
libsoc-debug: debug enabled (libsoc_set_debug)
libsoc-gpio-debug: requested gpio (49, libsoc_gpio_request)
libsoc-gpio-debug: setting direction to in (49, libsoc_gpio_set_direction)
libsoc-gpio-debug: read direction as input (49, libsoc_gpio_get_direction)
libsoc-gpio-debug: setting edge to rising (49, libsoc_gpio_set_edge)
libsoc-gpio-debug: read edge as rising (49, libsoc_gpio_get_edge)
libsoc-debug: debug disabled (libsoc_set_debug)
ADIS_16480: Interrupt Handler has been initiated
libsoc-debug: debug enabled (libsoc_set_debug)
ADIS_16480: Interrupt Handler has been stopped
libsoc-gpio-debug: freeing gpio (49, libsoc_gpio_free)
libsoc-spi-debug: freeing spi device (spidev1.0, libsoc_spi_free)
</code>
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At the moment on every data_ready signal I read the x,y,z linear acceleration, x,y,z linear velocity. The accelerations look OK, but the velocities only jump inbetween 0 and -0.00610352 ...
Thank you for your help,
Rapha