Add adis16545-3 support

Adding support for adis16545-3 sensor, initial commit

Signed-off-by: rbudai <[email protected]>

CMakeLists.txt

@@ -29,6 +29,13 @@ string (COMPARE EQUAL "adis16507-1" $ENV{DEVICE_ID} DEVICE_FOUND_ADIS16507_1)
 string (COMPARE EQUAL "adis16507-2" $ENV{DEVICE_ID} DEVICE_FOUND_ADIS16507_2)
 string (COMPARE EQUAL "adis16507-3" $ENV{DEVICE_ID} DEVICE_FOUND_ADIS16507_3)
 
+string (COMPARE EQUAL "adis16545-1" $ENV{DEVICE_ID} DEVICE_FOUND_ADIS16545_1)
+string (COMPARE EQUAL "adis16545-2" $ENV{DEVICE_ID} DEVICE_FOUND_ADIS16545_2)
+string (COMPARE EQUAL "adis16545-3" $ENV{DEVICE_ID} DEVICE_FOUND_ADIS16545_3)
+string (COMPARE EQUAL "adis16547-1" $ENV{DEVICE_ID} DEVICE_FOUND_ADIS16547_1)
+string (COMPARE EQUAL "adis16547-2" $ENV{DEVICE_ID} DEVICE_FOUND_ADIS16547_2)
+string (COMPARE EQUAL "adis16547-3" $ENV{DEVICE_ID} DEVICE_FOUND_ADIS16547_3)
+
 string (COMPARE EQUAL "adis16575-2" $ENV{DEVICE_ID} DEVICE_FOUND_ADIS16575_2)
 string (COMPARE EQUAL "adis16575-3" $ENV{DEVICE_ID} DEVICE_FOUND_ADIS16575_3)
 string (COMPARE EQUAL "adis16576-2" $ENV{DEVICE_ID} DEVICE_FOUND_ADIS16576_2)
@@ -62,6 +69,16 @@ elseif (${DEVICE_FOUND_ADIS16465_1} OR
   set(DEVICE_PATH adis1646x)
   add_compile_definitions(ADIS1646X)
 
+elseif (${DEVICE_FOUND_ADIS16545_1} OR
+        ${DEVICE_FOUND_ADIS16545_2} OR
+        ${DEVICE_FOUND_ADIS16545_3} OR
+        ${DEVICE_FOUND_ADIS16547_1} OR
+        ${DEVICE_FOUND_ADIS16547_2} OR
+        ${DEVICE_FOUND_ADIS16547_3})
+message(AUTHOR_WARNING "DEVICE_ID=$ENV{DEVICE_ID} which is a valid value.")
+set(DEVICE_PATH adis1654x)
+add_compile_definitions(ADIS1654X)
+
 elseif (${DEVICE_FOUND_ADIS16575_2} OR
         ${DEVICE_FOUND_ADIS16575_3} OR
         ${DEVICE_FOUND_ADIS16576_2} OR
@@ -92,6 +109,8 @@ else()
   adis16501,
   adis16505-1, adis16505-2, adis16505-3,
   adis16507-1, adis16507-2, adis16507-3,
+  adis16545-1, adis16545-2, adis16545-3,
+  adis16547-1, adis16547-2, adis16547-3,
   adis16575-2, adis16575-3,
   adis16576-2, adis16576-3,
   adis16577-2, adis16577-3.")

README.rst

@@ -16,6 +16,8 @@ Supported Devices
 * `ADIS16501 <https://www.analog.com/ADIS16501>`_
 * `ADIS16505 <https://www.analog.com/ADIS16505>`_
 * `ADIS16507 <https://www.analog.com/ADIS16507>`_
+* `ADIS16545 <https://www.analog.com/ADIS16545>`_
+* `ADIS16547 <https://www.analog.com/ADIS16547>`_
 * `ADIS16575 <https://www.analog.com/ADIS16575>`_
 * `ADIS16576 <https://www.analog.com/ADIS16576>`_
 * `ADIS16577 <https://www.analog.com/ADIS16577>`_
@@ -84,6 +86,8 @@ Evaluation setup - Required hardware with remote client
   `ADIS16501 <https://www.analog.com/ADIS16501>`_
   `ADIS16505 <https://www.analog.com/ADIS16505>`_
   `ADIS16507 <https://www.analog.com/ADIS16507>`_
+  `ADIS16545 <https://www.analog.com/ADIS16545>`_
+  `ADIS16547 <https://www.analog.com/ADIS16547>`_
   `ADIS16575 <https://www.analog.com/ADIS16575>`_
   `ADIS16576 <https://www.analog.com/ADIS16576>`_
   `ADIS16577 <https://www.analog.com/ADIS16577>`_
@@ -119,6 +123,8 @@ Evaluation setup - Required hardware with local client
   `ADIS16500 <https://www.analog.com/ADIS16500>`_
   `ADIS16501 <https://www.analog.com/ADIS16501>`_
   `ADIS16505 <https://www.analog.com/ADIS16505>`_
+  `ADIS16545 <https://www.analog.com/ADIS16545>`_
+  `ADIS16547 <https://www.analog.com/ADIS16547>`_
   `ADIS16507 <https://www.analog.com/ADIS16507>`_
   `ADIS16575 <https://www.analog.com/ADIS16575>`_
   `ADIS16576 <https://www.analog.com/ADIS16576>`_
@@ -159,6 +165,8 @@ based on the IMU chip:
         adis16501,
         adis16505-1, adis16505-2, adis16505-3,
         adis16507-1, adis16507-2, adis16507-3,
+        adis16545-1, adis16545-2, adis16545-3,
+        adis16547-1, adis16547-2, adis16547-3,
         adis16575-2, adis16575-3,
         adis16576-2, adis16576-3,
         adis16577-2, adis16577-3.

config/adis1654x/imu_config.yaml

@@ -0,0 +1,27 @@
+/imu_ros2_node:
+  ros__parameters:
+    command_to_execute: no_command
+    measured_data_topic_selection: 3
+    iio_context_string: ip:192.168.0.1
+    accel_calibbias_x: 0
+    accel_calibscale_x: 0
+    accel_calibbias_y: 0
+    accel_calibscale_y: 0
+    accel_calibbias_z: 0
+    accel_calibscale_z: 0
+    anglvel_calibbias_x: 0
+    anglvel_calibscale_x: 0
+    anglvel_calibbias_y: 0
+    anglvel_calibscale_y: 0
+    anglvel_calibbias_z: 0
+    anglvel_calibscale_z: 0
+    sampling_frequency: 4250.0
+    linear_acceleration_compensation: 1
+    bias_correction_time_base_control: 10
+    x_axis_gyroscope_bias_correction_enable: 0
+    y_axis_gyroscope_bias_correction_enable: 0
+    z_axis_gyroscope_bias_correction_enable: 0
+    x_axis_accelerometer_bias_correction_enable: 1
+    y_axis_accelerometer_bias_correction_enable: 1
+    z_axis_accelerometer_bias_correction_enable: 1
+

include/imu_ros2/adis1646x/adis1646x_data_access.h

@@ -9,15 +9,15 @@
 #define ADIS_FLS_MEM_UPDATE_FAIL_POS 2
 #define ADIS_SPI_COMM_ERR_POS 3
 #define ADIS_STDBY_MODE_POS 4
-#define AIDS_SNSR_FAIL_POS 5
+#define ADIS_SNSR_FAIL_POS 5
 #define ADIS_MEM_FAIL_POS 6
 #define ADIS_CLK_ERR_POS 7
 
 #define ADIS_DATA_PATH_OVERRUN (1 << ADIS_DATA_PATH_OVERRUN_POS)
 #define ADIS_FLS_MEM_UPDATE_FAIL (1 << ADIS_FLS_MEM_UPDATE_FAIL_POS)
 #define ADIS_SPI_COMM_ERR (1 << ADIS_SPI_COMM_ERR_POS)
 #define ADIS_STDBY_MODE (1 << ADIS_STDBY_MODE_POS)
-#define AIDS_SNSR_FAIL (1 << AIDS_SNSR_FAIL_POS)
+#define ADIS_SNSR_FAIL (1 << ADIS_SNSR_FAIL_POS)
 #define ADIS_MEM_FAIL (1 << ADIS_MEM_FAIL_POS)
 #define ADIS_CLK_ERR (1 << ADIS_CLK_ERR_POS)
 
@@ -29,12 +29,11 @@
 #define ADIS_MSC_CTRL_ADDR 0x60
 #define ADIS_DR_POL_POS 0
 #define ADIS_SYNC_POL_POS 1
-#define ADIS_PT_OF_PERG_ALGNMNT_POS 6
 #define ADIS_LN_ACCL_COMP_POS 7
 
 #define ADIS_DR_POL (1 << ADIS_DR_POL_POS)
 #define ADIS_SYNC_POL (1 << ADIS_SYNC_POL_POS)
-#define ADIS_PT_OF_PERG_ALGNMNT (1 << ADIS_PT_OF_PERG_ALGNMNT_POS)
+
 #define ADIS_LN_ACCL_COMP (1 << ADIS_LN_ACCL_COMP_POS)
 
 #define ADIS_NULL_CNFG_ADDR 0x66
@@ -62,4 +61,8 @@
 #define ADIS_FLASH_MEMORY_TEST (1 << 4)
 #define ADIS_SOFTWARE_RESET_CMD (1 << 7)
 
+#define ADIS_PT_OF_PERC_REG_ADDR ADIS_MSC_CTRL_ADDR
+#define ADIS_PT_OF_PERC_ALGNMNT_POS 6
+#define ADIS_PT_OF_PERC_ALGNMNT (1 << ADIS_PT_OF_PERC_ALGNMNT_POS)
+
 #endif

include/imu_ros2/adis1647x/adis1647x_data_access.h

@@ -11,15 +11,15 @@
 #define ADIS_FLS_MEM_UPDATE_FAIL_POS 2
 #define ADIS_SPI_COMM_ERR_POS 3
 #define ADIS_STDBY_MODE_POS 4
-#define AIDS_SNSR_FAIL_POS 5
+#define ADIS_SNSR_FAIL_POS 5
 #define ADIS_MEM_FAIL_POS 6
 #define ADIS_CLK_ERR_POS 7
 
 #define ADIS_DATA_PATH_OVERRUN (1 << ADIS_DATA_PATH_OVERRUN_POS)
 #define ADIS_FLS_MEM_UPDATE_FAIL (1 << ADIS_FLS_MEM_UPDATE_FAIL_POS)
 #define ADIS_SPI_COMM_ERR (1 << ADIS_SPI_COMM_ERR_POS)
 #define ADIS_STDBY_MODE (1 << ADIS_STDBY_MODE_POS)
-#define AIDS_SNSR_FAIL (1 << AIDS_SNSR_FAIL_POS)
+#define ADIS_SNSR_FAIL (1 << ADIS_SNSR_FAIL_POS)
 #define ADIS_MEM_FAIL (1 << ADIS_MEM_FAIL_POS)
 #define ADIS_CLK_ERR (1 << ADIS_CLK_ERR_POS)
 
@@ -31,12 +31,10 @@
 #define ADIS_MSC_CTRL_ADDR 0x60
 #define ADIS_DR_POL_POS 0
 #define ADIS_SYNC_POL_POS 1
-#define ADIS_PT_OF_PERG_ALGNMNT_POS 6
 #define ADIS_LN_ACCL_COMP_POS 7
 
 #define ADIS_DR_POL (1 << ADIS_DR_POL_POS)
 #define ADIS_SYNC_POL (1 << ADIS_SYNC_POL_POS)
-#define ADIS_PT_OF_PERG_ALGNMNT (1 << ADIS_PT_OF_PERG_ALGNMNT_POS)
 #define ADIS_LN_ACCL_COMP (1 << ADIS_LN_ACCL_COMP_POS)
 
 #define ADIS_NULL_CNFG_ADDR 0x66
@@ -64,4 +62,8 @@
 #define ADIS_FLASH_MEMORY_TEST (1 << 4)
 #define ADIS_SOFTWARE_RESET_CMD (1 << 7)
 
+#define ADIS_PT_OF_PERC_REG_ADDR ADIS_MSC_CTRL_ADDR
+#define ADIS_PT_OF_PERC_ALGNMNT_POS 6
+#define ADIS_PT_OF_PERC_ALGNMNT (1 << ADIS_PT_OF_PERC_ALGNMNT_POS)
+
 #endif

include/imu_ros2/adis1650x/adis1650x_data_access.h

@@ -11,7 +11,7 @@
 #define ADIS_FLS_MEM_UPDATE_FAIL_POS 2
 #define ADIS_SPI_COMM_ERR_POS 3
 #define ADIS_STDBY_MODE_POS 4
-#define AIDS_SNSR_FAIL_POS 5
+#define ADIS_SNSR_FAIL_POS 5
 #define ADIS_MEM_FAIL_POS 6
 #define ADIS_CLK_ERR_POS 7
 #define ADIS_GYRO1_FAIL_POS 8
@@ -22,7 +22,7 @@
 #define ADIS_FLS_MEM_UPDATE_FAIL (1 << ADIS_FLS_MEM_UPDATE_FAIL_POS)
 #define ADIS_SPI_COMM_ERR (1 << ADIS_SPI_COMM_ERR_POS)
 #define ADIS_STDBY_MODE (1 << ADIS_STDBY_MODE_POS)
-#define AIDS_SNSR_FAIL (1 << AIDS_SNSR_FAIL_POS)
+#define ADIS_SNSR_FAIL (1 << ADIS_SNSR_FAIL_POS)
 #define ADIS_MEM_FAIL (1 << ADIS_MEM_FAIL_POS)
 #define ADIS_CLK_ERR (1 << ADIS_CLK_ERR_POS)
 #define ADIS_GYRO1_FAIL (1 << ADIS_GYRO1_FAIL_POS)
@@ -38,13 +38,11 @@
 #define ADIS_DR_POL_POS 0
 #define ADIS_SYNC_POL_POS 1
 #define ADIS_SENS_BW_POS 4
-#define ADIS_PT_OF_PERG_ALGNMNT_POS 6
 #define ADIS_LN_ACCL_COMP_POS 7
 
 #define ADIS_DR_POL (1 << ADIS_DR_POL_POS)
 #define ADIS_SYNC_POL (1 << ADIS_SYNC_POL_POS)
 #define ADIS_SENS_BW (1 << ADIS_SENS_BW_POS)
-#define ADIS_PT_OF_PERG_ALGNMNT (1 << ADIS_PT_OF_PERG_ALGNMNT_POS)
 #define ADIS_LN_ACCL_COMP (1 << ADIS_LN_ACCL_COMP_POS)
 
 #define ADIS_GLOB_CMD_ADDR 0x68
@@ -54,4 +52,8 @@
 #define ADIS_FLASH_MEMORY_TEST (1 << 4)
 #define ADIS_SOFTWARE_RESET_CMD (1 << 7)
 
+#define ADIS_PT_OF_PERC_REG_ADDR ADIS_MSC_CTRL_ADDR
+#define ADIS_PT_OF_PERC_ALGNMNT_POS 6
+#define ADIS_PT_OF_PERC_ALGNMNT (1 << ADIS_PT_OF_PERC_ALGNMNT_POS)
+
 #endif

include/imu_ros2/adis1654x/adis1654x_data_access.h

@@ -0,0 +1,94 @@
+#ifndef ADIS1654X_DATA_ACCESS_H
+#define ADIS1654X_DATA_ACCESS_H
+
+// has delta channels
+#define ADIS_HAS_DELTA_BURST
+
+// has calibration scale channel
+#define ADIS_HAS_CALIB_SCALE
+
+#define ADIS_FLS_MEM_ENDURANCE 100000
+#define ADIS_MAX_SAMP_FREQ 4250.0
+
+// value to add to reg addr per page
+#define ADIS_PAGE_ID_VAL 0x80
+
+// global commands
+#define ADIS_GLOB_CMD_PAGE_ID 0x03
+#define ADIS_GLOB_CMD_ADDR_WITHOUT_PAGE 0x02
+#define ADIS_GLOB_CMD_ADDR \
+  (ADIS_PAGE_ID_VAL * ADIS_PT_OF_PERC_PAGE_ID + ADIS_GLOB_CMD_ADDR_WITHOUT_PAGE)
+
+#define ADIS_BIAS_CORRECTION_UPDATE_POS 0
+#define ADIS_SENSOR_SELF_TEST_POS 1
+#define ADIS_FLASH_MEMORY_UPDATE_POS 3
+#define ADIS_FACTORY_CALIBRATION_RESTORE_POS 6
+#define ADIS_SOFTWARE_RESET_CMD_POS 7
+
+#define ADIS_BIAS_CORRECTION_UPDATE (1 << ADIS_BIAS_CORRECTION_UPDATE_POS)
+#define ADIS_SENSOR_SELF_TEST (1 << ADIS_SENSOR_SELF_TEST_POS)
+#define ADIS_FLASH_MEMORY_UPDATE (1 << ADIS_FLASH_MEMORY_UPDATE_POS)
+#define ADIS_FACTORY_CALIBRATION_RESTORE (1 << ADIS_FACTORY_CALIBRATION_RESTORE_POS)
+#define ADIS_SOFTWARE_RESET_CMD (1 << ADIS_SOFTWARE_RESET_CMD_POS)
+
+// status and error flag indication
+#define ADIS_DIAG_STAT_PAGE_ID 0x00
+#define ADIS_DIAG_STAT_ADDR_WITHOUT_PAGE 0x08
+#define ADIS_DIAG_STAT_ADDR \
+  (ADIS_PAGE_ID_VAL * ADIS_DIAG_STAT_PAGE_ID + ADIS_DIAG_STAT_ADDR_WITHOUT_PAGE)
+#define ADIS_MEM_FAIL_POS 1
+#define ADIS_CRC_ERROR_POS 2
+#define ADIS_SPI_COMM_ERR_POS 3
+#define ADIS_SNSR_FAIL_POS 5
+#define ADIS_FLS_MEM_UPDATE_FAIL_POS 6
+#define ADIS_DATA_PATH_OVERRUN_POS 7
+#define ADIS_CLK_ERR_POS 8
+#define ADIS_WDG_TIMER_FLAG_POS 15
+
+#define ADIS_MEM_FAIL (1 << ADIS_MEM_FAIL_POS)
+#define ADIS_CRC_ERROR (1 << ADIS_CRC_ERROR_POS)
+#define ADIS_SPI_COMM_ERR (1 << ADIS_SPI_COMM_ERR_POS)
+#define ADIS_SNSR_FAIL (1 << ADIS_SNSR_FAIL_POS)
+#define ADIS_FLS_MEM_UPDATE_FAIL (1 << ADIS_FLS_MEM_UPDATE_FAIL_POS)
+#define ADIS_DATA_PATH_OVERRUN (1 << ADIS_DATA_PATH_OVERRUN_POS)
+#define ADIS_CLK_ERR (1 << ADIS_CLK_ERR_POS)
+#define ADIS_WDG_TIMER_FLAG (1 << ADIS_WDG_TIMER_FLAG_POS)
+
+// self test error flags
+#define ADIS_DIAG_STS_PAGE_ID 0x00
+#define ADIS_DIAG_STS_REG_WITHOUT_PAGE 0x0A
+#define ADIS_DIAG_STS_REG \
+  (ADIS_PAGE_ID_VAL * ADIS_DIAG_STS_PAGE_ID + ADIS_DIAG_STS_REG_WITHOUT_PAGE)
+
+#define ADIS_GYRO_ACCEL_FAIL_REG ADIS_DIAG_STS_REG
+#define ADIS_GYRO_X_FAIL_POS 0
+#define ADIS_GYRO_Y_FAIL_POS 1
+#define ADIS_GYRO_Z_FAIL_POS 2
+#define ADIS_ACCEL_X_FAIL_POS 3
+#define ADIS_ACCEL_Y_FAIL_POS 4
+#define ADIS_ACCEL_Z_FAIL_POS 5
+
+#define ADIS_GYRO_X_FAIL (1 << ADIS_GYRO_X_FAIL_POS)
+#define ADIS_GYRO_Y_FAIL (1 << ADIS_GYRO_Y_FAIL_POS)
+#define ADIS_GYRO_Z_FAIL (1 << ADIS_GYRO_Z_FAIL_POS)
+#define ADIS_ACCEL_X_FAIL (1 << ADIS_ACCEL_X_FAIL_POS)
+#define ADIS_ACCEL_Y_FAIL (1 << ADIS_ACCEL_Y_FAIL_POS)
+#define ADIS_ACCEL_Z_FAIL (1 << ADIS_ACCEL_Z_FAIL_POS)
+
+// measurement range identifier
+#define ADIS_RANG_MDL_PAGE_ID 0x03
+#define ADIS_RANG_MDL_ADDR_WITHOUT_PAGE 0x12
+#define ADIS_RANG_MDL_ADDR \
+  (ADIS_PAGE_ID_VAL * ADIS_RANG_MDL_PAGE_ID + ADIS_RANG_MDL_ADDR_WITHOUT_PAGE)
+#define ADIS_GYRO_MEAS_RANG_POS 2
+#define ADIS_GYRO_MEAS_RANG (3 << ADIS_GYRO_MEAS_RANG_POS)
+
+// point of percussion
+#define ADIS_PT_OF_PERC_PAGE_ID 0x03
+#define ADIS_PT_OF_PERC_REG_ADDR_WITHOUT_PAGE 0x0A
+#define ADIS_PT_OF_PERC_REG_ADDR \
+  (ADIS_PAGE_ID_VAL * ADIS_PT_OF_PERC_PAGE_ID + ADIS_PT_OF_PERC_REG_ADDR_WITHOUT_PAGE)
+#define ADIS_PT_OF_PERC_ALGNMNT_POS 6
+#define ADIS_PT_OF_PERC_ALGNMNT (1 << ADIS_PT_OF_PERC_ALGNMNT_POS)
+
+#endif

include/imu_ros2/adis1657x/adis1657x_data_access.h

@@ -12,31 +12,32 @@
 #define ADIS_FLS_MEM_UPDATE_FAIL_POS 2
 #define ADIS_SPI_COMM_ERR_POS 3
 #define ADIS_STDBY_MODE_POS 4
-#define AIDS_SNSR_FAIL_POS 5
+#define ADIS_SNSR_FAIL_POS 5
 #define ADIS_MEM_FAIL_POS 6
 #define ADIS_CLK_ERR_POS 7
+#define ADIS_DATA_PATH_OVERRUN (1 << ADIS_DATA_PATH_OVERRUN_POS)
+#define ADIS_FLS_MEM_UPDATE_FAIL (1 << ADIS_FLS_MEM_UPDATE_FAIL_POS)
+#define ADIS_SPI_COMM_ERR (1 << ADIS_SPI_COMM_ERR_POS)
+#define ADIS_STDBY_MODE (1 << ADIS_STDBY_MODE_POS)
+#define ADIS_SNSR_FAIL (1 << ADIS_SNSR_FAIL_POS)
+#define ADIS_MEM_FAIL (1 << ADIS_MEM_FAIL_POS)
+#define ADIS_ADUC_MCU_FAULT (1 << ADIS_ADUC_MCU_FAULT_POS)
+
+#define ADIS_GYRO_ACCEL_FAIL_REG ADIS_DIAG_STAT_ADDR
 #define ADIS_GYRO_X_FAIL_POS 8
 #define ADIS_GYRO_Y_FAIL_POS 9
 #define ADIS_GYRO_Z_FAIL_POS 10
 #define ADIS_ACCEL_X_FAIL_POS 11
 #define ADIS_ACCEL_Y_FAIL_POS 12
 #define ADIS_ACCEL_Z_FAIL_POS 13
 #define ADIS_ADUC_MCU_FAULT_POS 15
-
-#define ADIS_DATA_PATH_OVERRUN (1 << ADIS_DATA_PATH_OVERRUN_POS)
-#define ADIS_FLS_MEM_UPDATE_FAIL (1 << ADIS_FLS_MEM_UPDATE_FAIL_POS)
-#define ADIS_SPI_COMM_ERR (1 << ADIS_SPI_COMM_ERR_POS)
-#define ADIS_STDBY_MODE (1 << ADIS_STDBY_MODE_POS)
-#define AIDS_SNSR_FAIL (1 << AIDS_SNSR_FAIL_POS)
-#define ADIS_MEM_FAIL (1 << ADIS_MEM_FAIL_POS)
 #define ADIS_CLK_ERR (1 << ADIS_CLK_ERR_POS)
 #define ADIS_GYRO_X_FAIL (1 << ADIS_GYRO_X_FAIL_POS)
 #define ADIS_GYRO_Y_FAIL (1 << ADIS_GYRO_Y_FAIL_POS)
 #define ADIS_GYRO_Z_FAIL (1 << ADIS_GYRO_Z_FAIL_POS)
 #define ADIS_ACCEL_X_FAIL (1 << ADIS_ACCEL_X_FAIL_POS)
 #define ADIS_ACCEL_Y_FAIL (1 << ADIS_ACCEL_Y_FAIL_POS)
 #define ADIS_ACCEL_Z_FAIL (1 << ADIS_ACCEL_Z_FAIL_POS)
-#define ADIS_ADUC_MCU_FAULT (1 << ADIS_ADUC_MCU_FAULT_POS)
 
 #define ADIS_RANG_MDL_ADDR 0x5E
 #define ADIS_GYRO_MEAS_RANG_POS 2
@@ -46,13 +47,11 @@
 #define ADIS_MSC_CTRL_ADDR 0x60
 #define ADIS_DR_POL_POS 0
 #define ADIS_SYNC_POL_POS 1
-#define ADIS_PT_OF_PERG_ALGNMNT_POS 6
 #define ADIS_LN_ACCL_COMP_POS 7
 #define ADIS_SENS_BW_POS 12
 
 #define ADIS_DR_POL (1 << ADIS_DR_POL_POS)
 #define ADIS_SYNC_POL (1 << ADIS_SYNC_POL_POS)
-#define ADIS_PT_OF_PERG_ALGNMNT (1 << ADIS_PT_OF_PERG_ALGNMNT_POS)
 #define ADIS_LN_ACCL_COMP (1 << ADIS_LN_ACCL_COMP_POS)
 #define ADIS_SENS_BW (1 << ADIS_SENS_BW_POS)
 
@@ -81,4 +80,9 @@
 #define ADIS_FLASH_MEMORY_TEST (1 << 4)
 #define ADIS_SOFTWARE_RESET_CMD (1 << 7)
 
+// Point of percussion
+#define ADIS_PT_OF_PERC_REG_ADDR ADIS_MSC_CTRL_ADDR
+#define ADIS_PT_OF_PERC_ALGNMNT_POS 6
+#define ADIS_PT_OF_PERC_ALGNMNT (1 << ADIS_PT_OF_PERC_ALGNMNT_POS)
+
 #endif