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Re: ADIS16480 X_DELTVEL_OUT Linear Velocity measurements

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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>

------

 

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 ...

 

ADIS-Data-07-Jul-2014-11-19_body_frame_linear_accelerations_velos_velos_internally_calc.jpg

 

Thank you for your help,

 

Rapha


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