Add a driver for the ADIS16448 IMU

[ASM3]

This driver allows interfacing the AD's ADIS16448 IMU via the external SPI port and the usage of its gyroscope, accelerometer and magnetometer by using an adapter interface.

[dagar]

Overall looks good. What are the additional IOCTLs for?

[dagar]

CI failed due to style errors (run make format) and this pushed the px4fmu-v2_default over the flash limit. You could add it to px4fmu-v3_default and commented out in px4fmu-v2_default.

[ASM3]

for internal IMU settings (dynamic range, internal filter, sampling rate, etc)

[ASM3]

Additional IOCTLs where added for obtaining the device product ID, which is described with a unique product ID number of 0x4040 (16448) for configuration purpose.

[ASM3]

How come continuous-integration fails because of ADIS16448 driver on nuttx_px4fmu-v2_default? (ADIS16448 driver is commented out on px4fmu-v2_default)

[dagar]

You can remove the optimization setting.

[dagar]

Would you mind rebasing? There's been some churn in the driver layer to handle compatibility issues between all the pixhawk variants that were supposed to be binary compatible (but weren't).

src/drivers/device/spi.h moved to src/drivers/device/nuttx/SPI.hpp

Once it's rebased and CI is happy we can merge this immediately.

[dagar]

Thanks!

[jinchengde]

that‘s looks great!
does it need to modify EKF anywhere?
@ASM3

[ASM3]

Yes I am currently working on this

[huotan]

Impressive!
Look forward to your follow-up work。
@ASM3