imu/ADIS16470: Add minimum delay of 200ns from CS assertion to transf…

…er start This is required by the datasheet, and the delay is too short causing errors on some platforms Signed-off-by: Jukka Laitinen <[email protected]>
tiiuae · Oct 23, 2024 · 8d8094e · 8d8094e
1 parent 8693839
commit 8d8094e
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diff --git a/src/drivers/imu/analog_devices/adis16470/ADIS16470.cpp b/src/drivers/imu/analog_devices/adis16470/ADIS16470.cpp
@@ -50,6 +50,8 @@ ADIS16470::ADIS16470(const I2CSPIDriverConfig &config) :
 	if (_drdy_gpio != 0) {
 		_drdy_missed_perf = perf_alloc(PC_COUNT, MODULE_NAME": DRDY missed");
 	}
+
+	set_cs_to_sck_delay(SPI_CS_TO_SCK_PERIOD_NS);
 }
 
 ADIS16470::~ADIS16470()

diff --git a/src/drivers/imu/analog_devices/adis16470/Analog_Devices_ADIS16470_registers.hpp b/src/drivers/imu/analog_devices/adis16470/Analog_Devices_ADIS16470_registers.hpp
@@ -67,6 +67,8 @@ static constexpr uint32_t SPI_SPEED_BURST = 1 * 1000 * 1000; // 1 MHz SPI serial
 
 static constexpr uint32_t SPI_STALL_PERIOD = 16; // 16 us Stall period between data
 
+static constexpr uint32_t SPI_CS_TO_SCK_PERIOD_NS = 200; // 200 ns delay from CS to SCK edge
+
 static constexpr uint16_t DIR_WRITE = 0x80;
 
 static constexpr uint16_t Product_identification = 0x4056;