ADIS no-OS driver ¶

Supported Devices ¶

Overview ¶

The ADIS1650X device series is a precision, miniature microelectromechanical system (MEMS) inertial measurement unit (IMU) that includes a triaxial gyroscope and a triaxial accelerometer. Each inertial sensor in the ADIS1650X device series combines with signal conditioning that optimizes dynamic performance.

The factory calibration characterizes each sensor for sensitivity, bias, alignment, linear acceleration (gyroscope bias), and point of percussion (accelerometer location). As a result, each sensor has dynamic compensation formulas that provide accurate sensor measurements over a broad set of conditions.

Applications ¶

Navigation, stabilization, and instrumentation
Unmanned and autonomous vehicles
Smart agriculture and construction machinery
Factory/industrial automation, robotics
Virtual/augmented reality
Internet of Moving Things

ADIS Driver Source Code ¶

The source code for ADIS generic driver can be found here:

The generic ADIS driver has to be used together with the chip-specific ADIS driver. The source code for the supported chips is listed below:

ADIS1646X Driver Source Code:

Supported devices with ADIS1646X files:

ADIS1647X Driver Source Code:

Supported devices with ADIS1647X files:

ADIS16477

ADIS1650X Driver Source Code:

Supported devices with ADIS1650X files:

ADIS1657X Driver Source Code:

Supported devices with ADIS1657X files:

ADIS Driver Usage Outside of No-OS ¶

In order to be able to use this driver you will have to provide the specific implementation for the communication APIs and the specific types they use. For SPI communication, there are four functions which are called by the ADIS driver and have to be implemented:

no_os_spi_init() - initializes the communication peripheral.
no_os_spi_write_and_read() - writes and reads data to/from the device.
no_os_spi_transfer() - iterates over transfer lists and sends all SPI messages
no_os_spi_remove() - de-initializes the communication peripheral.

And there are three data types that have to be defined:

no_os_spi_desc - structure holding the SPI descriptor
no_os_spi_init_param - structure holding the parameters for SPI initialization
no_os_spi_msg - structure holding the description for a SPI transfer

An example of a header file containing the prototypes of the functions which have to be implemented, along with some generic data types they are using can be found below:

Generic header file for SPI Communication APIs

You will also have to provide specific APIs for GPIO handling. There are five functions which are called by the ADIS driver and have to be implemented:

no_os_gpio_get_optional - returns the descriptor to a specific GPIO
no_os_gpio_direction_output - enables the output direction of the specified GPIO descriptor
no_os_gpio_set_value - sets the value of the specified GPIO to high or low
no_os_gpio_remove - frees the resources allocated by no_os_gpio_get_optional

And there are two data types that have to be defined:

no_os_gpio_desc - structure holding the GPIO descriptor
no_os_gpio_init_param - structure holding the parameters for GPIO initialization

An example of a header file containing the prototypes of the functions which have to be implemented, along with some generic data types they are using can be found below:

Generic header file for GPIO APIs

The driver also uses the ADI util library, so make sure you also add the necessary files in your project. The source code for the util library can be found here:

ADIS Driver Usage with No-OS ¶

If you wish to use No-OS for evaluating ADIS devices, you may use the already existing example projects:

ADIS Device Initialization ¶

In order to be able to use the device, you will have to provide the support for the communication protocol and GPIO configuration as mentioned above. The first API to be called is adis_init by providing the adis descriptor and the adis1650x_chip_info. Make sure that it returns 0, which means that the driver was initialized correctly.

ADIS Device Measurements - Register Readings ¶

Acceleration Data¶

If you want to obtain a data set for each axis, you may use adis_read_x_accl, adis_read_y_accl and adis_read_z_accl APIs to obtain the raw data. The raw data does not have the scaling applied. Use adis_get_accl_scale to obtain the acceleration scale. The converted value meters / square second is obtained by the following formula:

result [m / s^2] = raw data * scale.dividend / scale.divisor

Gyroscope Data¶

If you want to obtain a data set for each axis, you may use adis_read_x_gyro, adis_read_y_gyro and adis_read_z_gyro APIs to obtain the raw data. The raw data does not have the scaling applied. Use adis_get_anglvel_scale to obtain the gyroscope scale. The converted value in radians / second is obtained by the following formula:

result [rad / s] = raw data * scale.dividend / scale.divisor

Delta Velocity Data¶

If you want to obtain a data set for each axis, you may use adis_read_x_deltvel, adis_read_y_deltvel and adis_read_z_deltvel APIs to obtain the raw data. The raw data does not have the scaling applied. Use adis_get_deltavelocity_scale to obtain the delta velocity scale. The converted value in meters / second is obtained by the following formula:

result [m / s] = raw data * scale.dividend / scale.divisor

Delta Angle Data¶

If you want to obtain a data set for each axis, you may use adis_read_x_deltang, adis_read_y_deltang and adis_read_z_deltang APIs to obtain the raw data. The raw data does not have the scaling applied. Use adis_get_deltaangl_scale to obtain the delta angle scale. The converted value in radians is obtained by the following formula:

result [rad] = raw data * scale.dividend / scale.divisor

Temperature Data¶

If you want to obtain the temperature data of the device, you may use adis_read_temp_out API to obtain the raw data. The raw data does not have the scaling applied. Use adis_get_temp_scale to obtain the temperature scale. The converted value in millidegrees Celsius is obtained by the following formula:

result [milli °C] = raw data * scale.dividend / scale.divisor

ADIS Device Measurements - Burst Readings ¶

The burst read function provides a way to read a batch of output data registers. If you want to perform a burst read, you may use adis_read_burst_data API.

You will have to provide the following parameters:

adis descriptor pointer
buffer - the buffer to be filled with the read data. Sufficient memory has to be allocated, as described with buffer size.
buffer size - the size of the provided buffer, in bytes. The size of the provided buffer has to be at least 18 bytes if burst32 is false and at least 30 bytes if burst32 is true.
burst32 - true if 32-bit data is requested for accel and gyro or delta angle and delta velocity measurements, false if 16-bit data is requested. It is supported only by adis1647x, adis1650x and adis1657x devices.
burst_sel - 0 if accel and gyro data is requested, 1 if delta angle and delta velocity is requested. It is supported only by adis1647x, adis1650x and adis1657x devices.
fifo_pop - in case FIFO is supported, will send a fifo pop request if parameter value is true. If FIFO is not supported, this parameter is ignored. It is supported only by adis1657x devices.
burst_request - in case FIFO is supported, will send a burst request and -EAGAIN will be returned if the request has been sent successfully. With this request, no burst data is returned. This burst request is needed if the previous command sent to the device was not a burst read. If FIFO is not supported, this parameter is ignored. It is supported only by adis1657x devices.

The buffer will contain the following data based on burst32 and burst_sel:

burst32 = false burst_sel = 0:

bytes 0-1: diagnosis register
bytes 2-3: anglvel_x
bytes 4-5: anglvel_y
bytes 6-7: anglvel_z
bytes 8-9: accel_x
bytes 10-11: accel_y
bytes 12-13: accel_z
bytes 14-15: temp0
bytes 16-17: data_cntr/timestamp

burst32 = false burst_sel = 1:

bytes 0-1: diagnosis register
bytes 2-3: deltaangl_x
bytes 4-5: deltaangl_y
bytes 6-7: deltaangl_z
bytes 8-9: deltavelocity_x
bytes 10-11: deltavelocity_y
bytes 12-13: deltavelocity_z
bytes 14-15: temp0
bytes 16-17: data_cntr/timestamp

burst32 = true burst_sel = 0:

bytes 0-1: diagnosis register
bytes 2-3: anglvel_x lsb
bytes 4-5: anglvel_x msb
bytes 6-7: anglvel_y lsb
bytes 8-9: anglvel_y msb
bytes 10-11: anglvel_z lsb
bytes 12-13: anglvel_z msb
bytes 14-15: accel_x lsb
bytes 16-17: accel_x msb
bytes 18-19: accel_y lsb
bytes 20-21: accel_y msb
bytes 22-23: accel_z lsb
bytes 24-25: accel_z msb
bytes 26-27: temp0
bytes 28-29: data_cntr/timestamp

burst32 = true burst_sel = 0:

bytes 0-1: diagnosis register
bytes 2-3: deltaangl_x lsb
bytes 4-5: deltaangl_x msb
bytes 6-7: deltaangl_y lsb
bytes 8-9: deltaangl_y msb
bytes 10-11: deltaangl_z lsb
bytes 12-13: deltaangl_z msb
bytes 14-15: deltavelocity_x lsb
bytes 16-17: deltavelocity_x msb
bytes 18-19: deltavelocity_y lsb
bytes 20-21: deltavelocity_y msb
bytes 22-23: deltavelocity_z lsb
bytes 24-25: deltavelocity_z msb
bytes 26-27: temp0
bytes 28-29: data_cntr/timestamp

ADIS Diagnosis Data ¶

If you want to obtain the diagnosis data of the device, you may use adis_read_diag_stat API to obtain the diagnosis flags structure. You may also use individual APIs for each diagnosis flag to obtain the individual value. The APIs for retrieving diagnosis flags are specific to the device, as shown below.

Common¶

adis_read_diag_data_path_overrun - to obtain the data path overrun flag value
adis_read_diag_fls_mem_update_failure - to obtain the flash memory update error flag value
adis_read_diag_spi_comm_err - to obtain the SPI communication error flag value
adis_read_diag_standby_mode - to obtain the standby mode flag value
adis_read_diag_snsr_failure - to obtain the sensor self test error flag value
adis_read_diag_mem_failure - to obtain the flash memory test error flag value
adis_read_diag_clk_err - to obtain the clock error flag value
adis_read_diag_checksum_err - to obtain the checksum error flag value from a previous burst read
adis_read_diag_fls_mem_wr_cnt_exceed - to obtain the flash memory write counts exceeded flag value (set to true if the flash memory write counter exceeds the endurance value
adis_read_diag_stat - to obtain all error flags

ADIS1646X¶

There are no other specific diagnosis flags for this chip version.

ADIS1647X¶

There are no other specific diagnosis flags for this chip version.

ADIS1650X¶

adis_read_diag_gyro1_failure - to obtain the gyroscope1 self test error flag value
adis_read_diag_gyro2_failure - to obtain the gyroscope2 self test error flag value
adis_read_diag_accl_failure - to obtain the accelerometer self test error flag value

ADIS1657X¶

adis_read_diag_snsr_init_failure - to obtain the sensor initialization failure flag value
adis_read_diag_x_axis_gyro_failure - to obtain the X-Axis Gyroscope failure flag value
adis_read_diag_y_axis_gyro_failure - to obtain the Y-Axis Gyroscope failure flag value
adis_read_diag_z_axis_gyro_failure - to obtain the Z-Axis Gyroscope failure flag value
adis_read_diag_x_axis_accl_failure - to obtain the X-Axis Accelerometer failure flag value
adis_read_diag_y_axis_accl_failure - to obtain the Y-Axis Accelerometer failure flag value
adis_read_diag_z_axis_accl_failure - to obtain the Z-Axis Accelerometer failure flag value
adis_read_diag_aduc_mcu_fault - to obtain the ADuC microcontroller fault flag value

ADIS Identification Data ¶

If you want to obtain identification data specific to the device, you may use the following APIs:

adis_read_prod_id - to obtain the product id
adis_read_serial_num - to obtain the product serial number
adis_read_firm_rev - to obtain the firmware revision
adis_read_firm_d, adis_read_firm_m and adis_read_firm_y - to obtain the firmware date
adis_read_gyro_meas_range to obtain gyroscope measurement range encoded value

ADIS Configuration Data ¶

Accelerometer calibration offset¶

If you want to configure the accelerometer calibration offset on any axis, you may use the following APIs:

adis_write_xa_bias
adis_write_ya_bias
adis_write_za_bias

If you want to read the current accelerometer calibration on any axis, you may use the following APIs:

adis_read_xa_bias
adis_read_ya_bias
adis_read_za_bias

Gyroscope calibration offset¶

If you want to configure the gyroscope calibration offset on any axis, you may use the following APIs:

adis_write_xg_bias
adis_write_yg_bias
adis_write_zg_bias

If you want to read the current gyroscope calibration on any axis, you may use the following APIs:

adis_read_xg_bias
adis_read_yg_bias
adis_read_zg_bias

Filters configuration¶

adis_write_filt_size_var_b, adis_read_filt_size_var_b - Bartlett window FIR filter write/read APIs
adis_write_dec_rate, adis_read_dec_rate - decimation filter write/read APIs
adis_write_up_scale, adis_read_up_scale - scale factor for input clock for scaled sync mode write/read APIs

Continuous Bias Estimation Configuration¶

Some devices offer continuous bias estimation configuration capabilities. See the information below to view the configuration APIs for the devices which offer continuous bias estimation capabilities.

ADIS1646X

adis_write_bias_corr_tbc, adis_read_bias_corr_tbc - to write/read the time base control value

adis_write_bias_corr_en_xg, adis_read_bias_corr_en_xg - to write/read the X-axis gyroscope bias correction enable bit (0 - disabled, 1 - enabled)

adis_write_bias_corr_en_yg, adis_read_bias_corr_en_yg - to write/read the Y-axis gyroscope bias correction enable bit (0 - disabled, 1 - enabled)

adis_write_bias_corr_en_zg, adis_read_bias_corr_en_zg - to write/read the Z-axis gyroscope bias correction enable bit (0 - disabled, 1 - enabled)

adis_write_bias_corr_en_xa, adis_read_bias_corr_en_xa - to write/read the X-axis accelerometer bias correction enable bit (0 - disabled, 1 - enabled)

adis_write_bias_corr_en_ya, adis_read_bias_corr_en_ya - to write/read the Y-axis accelerometer bias correction enable bit (0 - disabled, 1 - enabled)

adis_write_bias_corr_en_za, adis_read_bias_corr_en_za - to write/read the Z-axis accelerometer bias correction enable bit (0 - disabled, 1 - enabled)

ADIS1647X

adis_write_bias_corr_tbc, adis_read_bias_corr_tbc - to write/read the time base control value

adis_write_bias_corr_en_xg, adis_read_bias_corr_en_xg - to write/read the X-axis gyroscope bias correction enable bit (0 - disabled, 1 - enabled)

adis_write_bias_corr_en_yg, adis_read_bias_corr_en_yg - to write/read the Y-axis gyroscope bias correction enable bit (0 - disabled, 1 - enabled)

adis_write_bias_corr_en_zg, adis_read_bias_corr_en_zg - to write/read the Z-axis gyroscope bias correction enable bit (0 - disabled, 1 - enabled)

adis_write_bias_corr_en_xa, adis_read_bias_corr_en_xa - to write/read the X-axis accelerometer bias correction enable bit (0 - disabled, 1 - enabled)

adis_write_bias_corr_en_ya, adis_read_bias_corr_en_ya - to write/read the Y-axis accelerometer bias correction enable bit (0 - disabled, 1 - enabled)

adis_write_bias_corr_en_za, adis_read_bias_corr_en_za - to write/read the Z-axis accelerometer bias correction enable bit (0 - disabled, 1 - enabled)

ADIS1650X

This device does not offer continuous bias estimation capabilities.

ADIS1657X

adis_write_bias_corr_tbc, adis_read_bias_corr_tbc - to write/read the time base control value

adis_write_bias_corr_en_xg, adis_read_bias_corr_en_xg - to write/read the X-axis gyroscope bias correction enable bit (0 - disabled, 1 - enabled)

adis_write_bias_corr_en_yg, adis_read_bias_corr_en_yg - to write/read the Y-axis gyroscope bias correction enable bit (0 - disabled, 1 - enabled)

adis_write_bias_corr_en_zg, adis_read_bias_corr_en_zg - to write/read the Z-axis gyroscope bias correction enable bit (0 - disabled, 1 - enabled)

adis_write_bias_corr_en_xa, adis_read_bias_corr_en_xa - to write/read the X-axis accelerometer bias correction enable bit (0 - disabled, 1 - enabled)

adis_write_bias_corr_en_ya, adis_read_bias_corr_en_ya - to write/read the Y-axis accelerometer bias correction enable bit (0 - disabled, 1 - enabled)

adis_write_bias_corr_en_za, adis_read_bias_corr_en_za - to write/read the Z-axis accelerometer bias correction enable bit (0 - disabled, 1 - enabled)

FIFO Configuration¶

Some devices offer a hardware FIFO and offer configuration capabilities for the FIFO. See the information below to view the FIFO configuration APIs for the devices which have a hardware FIFO.

ADIS1646X

This device does not offer a hardware FIFO.

ADIS1647X

This device does not offer a hardware FIFO.

ADIS1650X

This device does not offer a hardware FIFO.

ADIS1657X

adis_write_fifo_en, adis_read_fifo_en - to write/read the FIFO enable bit (0 - direct output mode, 1 - FIFO output mode)

adis_write_fifo_overflow, adis_read_fifo_overflow - to write/read the FIFO overflow behavior bit (0 - stop enqueuing samples, 1 - overwrite the oldest sample)

adis_write_fifo_wm_int_en, adis_read_fifo_wm_int_en - to write/read the FIFO watermark interrupt enable bit (0 - watermark interrupt disabled, 1 - watermark interrupt enabled)

adis_write_fifo_wm_int_pol, adis_read_fifo_wm_int_pol - to write/read the FIFO watermark interrupt polarity (0 - active low, 1 - active high)

adis_write_fifo_wm_lvl, adis_read_fifo_wm_lvl - to write/read the number of samples which must be enqueued into the FIFO to trigger the watermark interrupt

adis_read_fifo_cnt - to read the current number of samples in the FIFO

Miscellaneous configuration¶

Common

adis_write_dr_polarity, adis_read_dr_polarity - data ready polarity encoded value write/read APIs

adis_write_sync_polarity, adis_read_sync_polarity - sync polarity encoded value write/read APIs

adis_write_sync_mode, adis_read_sync_mode - synchronization mode encoded value write/read APIs

adis_write_pt_of_perc_algnmt, adis_read_pt_of_perc_algnmt - write/read APIs for point of percussion alignment enable bit (1 -enabled, 0 - disabled)

adis_write_linear_accl_comp, adis_read_linear_accl_comp - write/read APIs for linear acceleration compensation enable bit (1 -enabled, 0 - disabled)

ADIS1646X

There are no other specific APIs for miscellaneous configuration for this chip version.

ADIS1647X

adis_write_burst_sel, adis_read_burst_sel - write/read APIs for burst selection encoded value (0 - acceleration and angular velocity, 1 - delta velocity and delta angle)

adis_write_burst32, adis_read_burst32 - write/read APIs for burst32 enable bit (0 - for 16-bit burst data, 1 - for 32-bit burst data)

ADIS1650X

adis_write_sens_bw, adis_read_sens_bw - sensor bandwidth encoded value write/read APIs

adis_write_burst_sel, adis_read_burst_sel - write/read APIs for burst selection encoded value (0 - acceleration and angular velocity, 1 - delta velocity and delta angle)

adis_write_burst32, adis_read_burst32 - write/read APIs for burst32 enable bit (0 - for 16-bit burst data, 1 - for 32-bit burst data)

ADIS1657X

adis_write_sens_bw, adis_read_sens_bw - sensor bandwidth encoded value write/read APIs

adis_write_burst_sel, adis_read_burst_sel - write/read APIs for burst selection encoded value (0 - acceleration and angular velocity, 1 - delta velocity and delta angle)

adis_write_burst32, adis_read_burst32 - write/read APIs for burst32 enable bit (0 - for 16-bit burst data, 1 - for 32-bit burst data)

adis_write_timestamp32, adis_read_timestamp32 - write/read APIs for timestamp32 enable bit (0 - for 16-bit timestamp, 1 - for 32-bit timestamp)

adis_write_sync_4khz, adis_read_sync_4khz - write/read APIs for 4KHz internal sync enable bit (0 - for 2KHz internal sync, 1 - for 4KHz internal sync)

ADIS Commands¶

Common

adis_cmd_fact_calib_restore - to perform factory calibration restore command

adis_cmd_snsr_self_test - to perform sensor self test command

adis_cmd_fls_mem_update - to perform flash memory update command

adis_cmd_fls_mem_test - to perform flash memory test command

adis_cmd_sw_res - to perform software reset command

ADIS1646X

adis_cmd_bias_corr_update - to perform bias correction update command

ADIS1647X

adis_cmd_bias_corr_update - to perform bias correction update command

ADIS1650X

There are no other specific APIs for ADIS commands for this chip version.

ADIS1657X

adis_cmd_bias_corr_update - to perform bias correction update command

adis_cmd_fifo_flush - to perform fifo flush command

ADIS read-only registers ¶

Common

adis_read_time_stamp - reads the current sample time stamp

adis_read_data_cntr - reads the current sample data counter

ADIS1650X

There are no other APIs for this chip version.

ADIS1657X

adis_read_spi_chksum - reads current sample SPI transaction checksum

ADIS scratch pad registers ¶

In order to perform read/write operations for device scratch pad registers use the following APIs:

adis_write_usr_scr_1, adis_read_usr_scr_1 - write/read APIs for scratch pad register 1
adis_write_usr_scr_2, adis_read_usr_scr_2 - write/read APIs for scratch pad register 2
adis_write_usr_scr_3, adis_read_usr_scr_3 - write/read APIs for scratch pad register 3

ADIS Driver Initialization Example ¶

ADIS1646X¶

struct no_os_spi_init_param adis1646x_spi_ip = {
        .device_id = SPI_DEVICE_ID,
        .max_speed_hz = SPI_BAUDRATE,
        .bit_order = NO_OS_SPI_BIT_ORDER_MSB_FIRST,
        .mode = NO_OS_SPI_MODE_3,
        .platform_ops = SPI_OPS,
        .chip_select = SPI_CS,
        .extra = SPI_EXTRA,
};

struct no_os_gpio_init_param adis1646x_gpio_reset_ip = {
        .port = GPIO_RESET_PORT_NUM,
        .number = GPIO_RESET_PIN_NUM,
        .pull = NO_OS_PULL_NONE,
        .platform_ops = GPIO_OPS,
        .extra = GPIO_EXTRA
};

struct adis_init_param adis1646x_ip = {
        .gpio_reset = &adis1646x_gpio_reset_ip,
        .sync_mode = ADIS_SYNC_OUTPUT,
        .dev_id = ADIS16465_1,
};

struct adis_dev *adis1646x_desc;
int ret;
int val[7];

adis1646x_chip_info.ip = &adis1646x_ip;
ret = adis_init(&adis1646x_desc, &adis1646x_chip_info);
if (ret)
        goto error;

ret = adis_read_x_gyro(adis1646x_desc, &val[0]);
if (ret)
        goto error_remove;
ret = adis_read_y_gyro(adis1646x_desc, &val[1]);
if (ret)
        goto error_remove;
ret = adis_read_z_gyro(adis1646x_desc, &val[2]);
if (ret)
        goto error_remove;
ret = adis_read_x_accl(adis1646x_desc, &val[3]);
if (ret)
        goto error_remove;
ret = adis_read_y_accl(adis1646x_desc, &val[4]);
if (ret)
        goto error_remove;
ret = adis_read_z_accl(adis1646x_desc, &val[5]);
if (ret)
        goto error_remove;
ret = adis_read_temp_out(adis1646x_desc, &val[6]);
if (ret)
        goto error_remove;

error_remove:
        adis_remove(adis1646x_desc);
error:
        pr_info("Error!\n");
...

ADIS1647X¶

struct no_os_spi_init_param adis1647x_spi_ip = {
        .device_id = SPI_DEVICE_ID,
        .max_speed_hz = SPI_BAUDRATE,
        .bit_order = NO_OS_SPI_BIT_ORDER_MSB_FIRST,
        .mode = NO_OS_SPI_MODE_3,
        .platform_ops = SPI_OPS,
        .chip_select = SPI_CS,
        .extra = SPI_EXTRA,
};

struct no_os_gpio_init_param adis1647x_gpio_reset_ip = {
        .port = GPIO_RESET_PORT_NUM,
        .number = GPIO_RESET_PIN_NUM,
        .pull = NO_OS_PULL_NONE,
        .platform_ops = GPIO_OPS,
        .extra = GPIO_EXTRA
};

struct adis_init_param adis1647x_ip = {
        .gpio_reset = &adis1647x_gpio_reset_ip,
        .sync_mode = ADIS_SYNC_OUTPUT,
        .dev_id = ADIS16477_1,
};

struct adis_dev *adis1647x_desc;
int ret;
int val[7];

adis1647x_chip_info.ip = &adis1647x_ip;
ret = adis_init(&adis1647x_desc, &adis1647x_chip_info);
if (ret)
        goto error;

ret = adis_read_x_gyro(adis1647x_desc, &val[0]);
if (ret)
        goto error_remove;
ret = adis_read_y_gyro(adis1647x_desc, &val[1]);
if (ret)
        goto error_remove;
ret = adis_read_z_gyro(adis1647x_desc, &val[2]);
if (ret)
        goto error_remove;
ret = adis_read_x_accl(adis1647x_desc, &val[3]);
if (ret)
        goto error_remove;
ret = adis_read_y_accl(adis1647x_desc, &val[4]);
if (ret)
        goto error_remove;
ret = adis_read_z_accl(adis1647x_desc, &val[5]);
if (ret)
        goto error_remove;
ret = adis_read_temp_out(adis1647x_desc, &val[6]);
if (ret)
        goto error_remove;

error_remove:
        adis_remove(adis1647x_desc);
error:
        pr_info("Error!\n");
...

ADIS1650X¶

struct no_os_spi_init_param adis1650x_spi_ip = {
        .device_id = SPI_DEVICE_ID,
        .max_speed_hz = SPI_BAUDRATE,
        .bit_order = NO_OS_SPI_BIT_ORDER_MSB_FIRST,
        .mode = NO_OS_SPI_MODE_3,
        .platform_ops = SPI_OPS,
        .chip_select = SPI_CS,
        .extra = SPI_EXTRA,
};

struct no_os_gpio_init_param adis1650x_gpio_reset_ip = {
        .port = GPIO_RESET_PORT_NUM,
        .number = GPIO_RESET_PIN_NUM,
        .pull = NO_OS_PULL_NONE,
        .platform_ops = GPIO_OPS,
        .extra = GPIO_EXTRA
};

struct adis_init_param adis1650x_ip = {
        .gpio_reset = &adis1650x_gpio_reset_ip,
        .sync_mode = ADIS_SYNC_OUTPUT,
        .dev_id = ADIS16505_2,
};

struct adis_dev *adis1650x_desc;
int ret;
int val[7];

adis1650x_chip_info.ip = &adis1650x_ip;
ret = adis_init(&adis1650x_desc, &adis1650x_chip_info);
if (ret)
        goto error;

ret = adis_read_x_gyro(adis1650x_desc, &val[0]);
if (ret)
        goto error_remove;
ret = adis_read_y_gyro(adis1650x_desc, &val[1]);
if (ret)
        goto error_remove;
ret = adis_read_z_gyro(adis1650x_desc, &val[2]);
if (ret)
        goto error_remove;
ret = adis_read_x_accl(adis1650x_desc, &val[3]);
if (ret)
        goto error_remove;
ret = adis_read_y_accl(adis1650x_desc, &val[4]);
if (ret)
        goto error_remove;
ret = adis_read_z_accl(adis1650x_desc, &val[5]);
if (ret)
        goto error_remove;
ret = adis_read_temp_out(adis1650x_desc, &val[6]);
if (ret)
        goto error_remove;

error_remove:
        adis_remove(adis1650x_desc);
error:
        pr_info("Error!\n");
...

ADIS1657X¶

struct no_os_spi_init_param adis1657x_spi_ip = {
        .device_id = SPI_DEVICE_ID,
        .max_speed_hz = SPI_BAUDRATE,
        .bit_order = NO_OS_SPI_BIT_ORDER_MSB_FIRST,
        .mode = NO_OS_SPI_MODE_3,
        .platform_ops = SPI_OPS,
        .chip_select = SPI_CS,
        .extra = SPI_EXTRA,
};

struct no_os_gpio_init_param adis1657x_gpio_reset_ip = {
        .port = GPIO_RESET_PORT_NUM,
        .number = GPIO_RESET_PIN_NUM,
        .pull = NO_OS_PULL_NONE,
        .platform_ops = GPIO_OPS,
        .extra = GPIO_EXTRA
};

struct adis_init_param adis1657x_ip = {
        .gpio_reset = &adis1657x_gpio_reset_ip,
        .sync_mode = ADIS_SYNC_OUTPUT,
        .dev_id = ADIS16577_3,
};

struct adis_dev *adis1657x_desc;
int ret;
int val[7];

adis1657x_chip_info.ip = &adis1657x_ip;
ret = adis_init(&adis1657x_desc, &adis1657x_chip_info);
if (ret)
        goto error;

ret = adis_read_x_gyro(adis1657x_desc, &val[0]);
if (ret)
        goto error_remove;
ret = adis_read_y_gyro(adis1657x_desc, &val[1]);
if (ret)
        goto error_remove;
ret = adis_read_z_gyro(adis1657x_desc, &val[2]);
if (ret)
        goto error_remove;
ret = adis_read_x_accl(adis1657x_desc, &val[3]);
if (ret)
        goto error_remove;
ret = adis_read_y_accl(adis1657x_desc, &val[4]);
if (ret)
        goto error_remove;
ret = adis_read_z_accl(adis1657x_desc, &val[5]);
if (ret)
        goto error_remove;
ret = adis_read_temp_out(adis1657x_desc, &val[6]);
if (ret)
        goto error_remove;

error_remove:
        adis_remove(adis1657x_desc);
error:
        pr_info("Error!\n");
...

ADIS IIO Driver Source Code ¶

The IIO ADIS driver comes on top of ADIS driver and offers support for interfacing IIO clients through IIO lib.

The source code for ADIS generic driver can be found here:

The generic ADIS driver has to be used together with the chip-specific ADIS driver. The source code for the supported chips is listed below:

ADIS1646X IIO Driver Source Code:

Supported devices with IIO ADIS1646X files:

ADIS1647X IIO Driver Source Code:

Supported devices with IIO ADIS1646X files:

ADIS16477

ADIS1650X IIO Driver Source Code:

Supported devices with IIO ADIS1650X files:

ADIS1657X IIO Driver Source Code:

Supported devices with ADIS1657X files:

IIO ADIS Device Configuration ¶

Device Attributes¶

The generic IIO ADIS device has the following device specific attributes:

filter_low_pass_3db_frequency - which allows the configuration of the ADIS Bartlett window FIR filter
sampling_frequency - which allows the configuration of the ADIS sampling frequency

Device Channels¶

The generic IIO ADIS device has 0 output channels and 14 input channels: 3 angular velocity channels, 3 acceleration channels, 3 rotation channels, 3 velocity channels, 1 temperature channel and 1 counter channel.

Angular Velocity Channels

The angular velocity channels are:

Channel 0: anglvel_x

Channel 1: anglvel_y

Channel 2: anglvel_z

Each angular velocity channel has 3 attributes:

calibbias - calibration offset correction

raw - the raw angular velocity value read from the device

scale - the scale that has to be applied to the raw value in order to obtain the converted real value in rot/s, it has a constant value which is chip-specific

Acceleration Channels

The acceleration channels are:

Channel 3: accel_x

Channel 4: accel_y

Channel 5: accel_z

Each acceleration channel has 3 attributes:

calibbias - calibration offset correction

raw - the raw acceleration value read from the device

scale - the scale that has to be applied to the raw value in order to obtain the converted real value in m/s^2, it has a constant value which is chip-specific

Temperature Channel

The temperature channel is:

Channel 6: temp0

The temperature channel has 2 attributes:

raw - the raw temperature value read from the device

scale - the scale that has to be applied to the raw value in order to obtain the converted real value in millidegrees Celsius, it has a constant value which is chip-specific

Delta Angle Channels

The delta angle channels are:

Channel 7: deltaangl_x

Channel 8: deltaangl_y

Channel 9: deltaangl_z

Each rotation channel has 2 attributes:

raw - the raw delta angle value read from the device

scale - the scale that has to be applied to the raw value in order to obtain the converted real value in radians, it has a constant value which is chip-specific

Delta Velocity Channels

The delta velocity channels are:

Channel 10: deltavelocity_x

Channel 11: deltavelocity_y

Channel 12: deltavelocity_z

Each delta velocity channel has 2 attributes:

raw - the raw delta velocity value read from the device

scale - the scale that has to be applied to the raw value in order to obtain the converted real value in m/s, it has a constant value which is chip-specific

Device Debug Attributes¶

The IIO driver offers the possibility to configure the device and to retrieve diagnosis and configuration data from the device using debug attributes. The following list of debug attributes is available:

Common

Debug Attribute Name	Access Type	Debug Attribute Description	Debug Attribute Valid Values
diag_data_path_overrun	Read-only	Data Path Overrun Error Flag	0 - error did not occur or 1 - error occurred
diag_flash_memory_update_error	Read-only	Flash Memory Update Error Flag	0 - error did not occur or 1 - error occurred
diag_spi_communication_error	Read-only	SPI Communication Error Flag	0 - error did not occur or 1 - error occurred
diag_standby_mode	Read-only	Standby Mode Flag	0 - device is in processing mode, 1 - device is in standby mode (not enough voltage supplied)
diag_sensor_self_test_error	Read-only	Sensor Self Test Error Flag	0 - error did not occur or 1 - error occurred
diag_flash_memory_test_error	Read-only	Flash Memory Test Error Flag	0 - error did not occur or 1 - error occurred
diag_clock_error	Read-only	Clock Error Flag	0 - error did not occur or 1 - error occurred
diag_checksum_error_flag	Read-only	SPI Checksum Error Flag	0 - error did not occur or 1 - error occurred
diag_flash_memory_write_count_exceeded_error	Read-only	Flash Memory Write Counts Exceeded Flag Error	0 - error did not occur or 1 - error occurred
lost_samples_count	Read-only	The number of lost samples during the previous buffer read command	0 - 4294967295
time_stamp	Read-only	The TIME_STAMP register value	0 - 65535
data_counter	Read-only	The DATA_CNTR register value	0 - 65535
filter_size	Read/Write	The FILT_CTRL register value	0 - 6
gyroscope_measurement_range	Read-only	The measurement range identifier	chip specific value with format “+/-###_degrees_per_sec”
data_ready_polarity Read/Write	Read/Write	Data Ready Pin Polarity Encoded Value	0 - active low, 1 - active high
sync_polarity	Read/Write	Sync Pin Polarity Encoded Value	0 - active low, 1 - active high
point_of_percussion_alignment	Read/Write	Point Of Percussion Alignment Enable Bit	0 - disabled, 1 - enabled
linear_acceleration_compensation	Read/Write	Linear Acceleration Compensation Enable Bit	0 - disabled, 1 - enabled
sync_signal_scale	Read/Write	Sync Input Frequency Multiplier Register Value	0 - 65535
factory_calibration_restore	Write-only	Triggers a factory calibration restore command	Any written value will trigger a factory calibration restore command on the device
sensor_self_test	Write-only	Triggers a self test command	Any written value will trigger a self test command on the device
flash_memory_update	Write-only	Triggers a flash memory update command	Any written value will trigger a flash memory update command on the device
flash_memory_test	Write-only	Triggers a flash memory test command	Any written value will trigger a flash memory test command on the device
software_reset	Write-only	Triggers a software reset command	Any written value will trigger a software reset command on the device
firmware_revision	Read-only	The firmware revision value	String containing the firmware revision in the following format ##.##
firmware_date	Read-only	The firmware date	String containing the firmware date in the following format mm-dd-yyyy
product_id	Read-only	The product id	Chip specific product id, e.g. 16505, 16575, 16576, 16577, etc.)
serial_number	Read-only	The serial number	The serial number of the chip - hexadecimal format
scratch_pad_register1	Read/Write	The scratch path register 1	0 - 65535
scratch_pad_register2	Read/Write	The scratch path register 2	0 - 65535
scratch_pad_register3	Read/Write	The scratch path register 3	0 - 65535
flash_count	Read-only	The number of the flash writes performed on the device	0 - 65535

ADIS1646X

Debug Attribute Name	Access Type	Debug Attribute Description	Debug Attribute Valid Values
bias_correction_time_base_control	Read/Write	Bias Correction Time Base Control Value	0 - 12
x_axis_gyroscope_bias_correction_enable	Read/Write	X Axis Gyroscope Bias Correction Enable Bit Value	0 - correction disabled, 1 - correction enabled
y_axis_gyroscope_bias_correction_enable	Read/Write	Y Axis Gyroscope Bias Correction Enable Bit Value	0 - correction disabled, 1 - correction enabled
z_axis_gyroscope_bias_correction_enable	Read/Write	Z Axis Gyroscope Bias Correction Enable Bit Value	0 - correction disabled, 1 - correction enabled
x_axis_accelerometer_bias_correction_enable	Read/Write	X Axis Accelerometer Bias Correction Enable Bit Value	0 - correction disabled, 1 - correction enabled
y_axis_accelerometer_bias_correction_enable	Read/Write	Y Axis Accelerometer Bias Correction Enable Bit Value	0 - correction disabled, 1 - correction enabled
z_axis_accelerometer_bias_correction_enable	Read/Write	Z Axis Accelerometer Bias Correction Enable Bit Value	0 - correction disabled, 1 - correction enabled
bias_correction_update	Write-only	Trigger a bias correction update command	Any written value will trigger a bias correction update command on the device
decimation_filter	Read/Write	Decimation Filter Register Value	0 - 1999
sync_mode_select	Read/Write	Sync Mode Select Encoded Value	0 - internal sync, 1 - direct input sync, 2 - scaled sync, 3 - output sync, 5 - pulse sync

ADIS1647X

Debug Attribute Name	Access Type	Debug Attribute Description	Debug Attribute Valid Values
bias_correction_time_base_control	Read/Write	Bias Correction Time Base Control Value	0 - 12
x_axis_gyroscope_bias_correction_enable	Read/Write	X Axis Gyroscope Bias Correction Enable Bit Value	0 - correction disabled, 1 - correction enabled
y_axis_gyroscope_bias_correction_enable	Read/Write	Y Axis Gyroscope Bias Correction Enable Bit Value	0 - correction disabled, 1 - correction enabled
z_axis_gyroscope_bias_correction_enable	Read/Write	Z Axis Gyroscope Bias Correction Enable Bit Value	0 - correction disabled, 1 - correction enabled
x_axis_accelerometer_bias_correction_enable	Read/Write	X Axis Accelerometer Bias Correction Enable Bit Value	0 - correction disabled, 1 - correction enabled
y_axis_accelerometer_bias_correction_enable	Read/Write	Y Axis Accelerometer Bias Correction Enable Bit Value	0 - correction disabled, 1 - correction enabled
z_axis_accelerometer_bias_correction_enable	Read/Write	Z Axis Accelerometer Bias Correction Enable Bit Value	0 - correction disabled, 1 - correction enabled
bias_correction_update	Write-only	Trigger a bias correction update command	Any written value will trigger a bias correction update command on the device
decimation_filter	Read/Write	Decimation Filter Register Value	0 - 1999
burst_data_selection	Read/Write	Burst Data Selection Encoded Bit	0 - burst data contains acceleration and angular velocity measurements, 1 - burst data contains delta-angle and delta-velocity measurements
burst_size_selection	Read/Write	Burst Size Selection Encoded Bit	0 - burst data contains 16-bit values, 1 - burst data contains 32-bit values
sync_mode_select	Read/Write	Sync Mode Select Encoded Value	0 - internal sync, 1 - direct input sync, 2 - scaled sync, 3 - output sync, 5 - pulse sync

ADIS1650X

Debug Attribute Name	Access Type	Debug Attribute Description	Debug Attribute Valid Values
diag_gyroscope1_self_test_error	Read-only	Gyroscope 1 Self Test Error Fla	0 - error did not occur or 1 - error occurred
diag_gyroscope1_self_test_error	Read-only	Gyroscope 1 Self Test Error Fla	0 - error did not occur or 1 - error occurred
diag_acceleration_self_test_error	Read-only	Accelerometer Self Test Error Flag	0 - error did not occur or 1 - error occurred
decimation_filter	Read/Write	Decimation Filter Register Value	0 - 1999
burst_data_selection	Read/Write	Burst Data Selection Encoded Bit	0 - burst data contains acceleration and angular velocity measurements, 1 - burst data contains delta-angle and delta-velocity measurements
burst_size_selection	Read/Write	Burst Size Selection Encoded Bit	0 - burst data contains 16-bit values, 1 - burst data contains 32-bit values
sync_mode_select	Read/Write	Sync Mode Select Encoded Value	0 - internal sync, 1 - direct input sync, 2 - scaled sync, 3 - output sync
internal_sensor_bandwidth	Read/Write	Internal Sensor Bandwidth Encoded Value	0 - wide bandwidth, 1 - 370 Hz

ADIS1657X

Debug Attribute Name	Access Type	Debug Attribute Description	Debug Attribute Valid Values
diag_sensor_initialization_failure	Read-only	Sensor Initialization Failure Flag	0 - error did not occur or 1 - error occurred
diag_x_axis_gyroscope_failure	Read-only	X Axis Gyroscope Failure Flag	0 - error did not occur or 1 - error occurred
diag_y_axis_gyroscope_failure	Read-only	Y Axis Gyroscope Failure Flag	0 - error did not occur or 1 - error occurred
diag_z_axis_gyroscope_failure	Read-only	Z Axis Gyroscope Failure Flag	0 - error did not occur or 1 - error occurred
diag_x_axis_accelerometer_failure	Read-only	X Axis Accelerometer Failure Flag	0 - error did not occur or 1 - error occurred
diag_y_axis_accelerometer_failure	Read-only	Y Axis Accelerometer Failure Flag	0 - error did not occur or 1 - error occurred
diag_z_axis_accelerometer_failure	Read-only	Z Axis Accelerometer Failure Flag	0 - error did not occur or 1 - error occurred
diag_aduc_mcu_fault	Read-only	Internal Mcu Fault Flag	0 - error did not occur or 1 - error occurred
fifo_sample_count	Read-only	The FIFO_CNT register value	0 - 511
spi_checksum	Read-only	The SPI_CHKSUM register value	0 - 65535
fifo_enable	Read/Write	IFO Enable Bit Value	0 - FIFO disabled, 1 - FIFO enabled
fifo_overflow_behavior	Read/Write	FIFO Overflow Behavior Encoded Value	0 - stop enqueuing samples, 1 - overwrite the oldest sample
fifo_watermark_interrupt_enable	Read/Write	FIFO Watermark Interrupt Enable Bit Value	0 - watermark interrupt disabled, 1 - watermark interrupt enabled
fifo_watermark_interrupt_polarity	Read/Write	FIFO Watermark Interrupt Polarity Encoded Value	0 - active low, 1 - active high
fifo_watermark_threshold_level	Read/Write	FIFO Watermark Threshold Level	0 - 511
time_stamp_size	Read/Write	Timestamp Size Encoded Bit	0 - timestamp is in 16-bit format, 1 - timestamp is in 32-bit format
internal_sync_enable_4khz	Read/Write	4KHz Internal Sync Enable bit	0 - 2KHz Internal Sync, 1 - 4KHz Internal Sync
bias_correction_time_base_control	Read/Write	Bias Correction Time Base Control Value	0 - 12
x_axis_gyroscope_bias_correction_enable	Read/Write	X Axis Gyroscope Bias Correction Enable Bit Value	0 - correction disabled, 1 - correction enabled
y_axis_gyroscope_bias_correction_enable	Read/Write	Y Axis Gyroscope Bias Correction Enable Bit Value	0 - correction disabled, 1 - correction enabled
z_axis_gyroscope_bias_correction_enable	Read/Write	Z Axis Gyroscope Bias Correction Enable Bit Value	0 - correction disabled, 1 - correction enabled
x_axis_accelerometer_bias_correction_enable	Read/Write	X Axis Accelerometer Bias Correction Enable Bit Value	0 - correction disabled, 1 - correction enabled
y_axis_accelerometer_bias_correction_enable	Read/Write	Y Axis Accelerometer Bias Correction Enable Bit Value	0 - correction disabled, 1 - correction enabled
z_axis_accelerometer_bias_correction_enable	Read/Write	Z Axis Accelerometer Bias Correction Enable Bit Value	0 - correction disabled, 1 - correction enabled
bias_correction_update	Write-only	Trigger a bias correction update command	Any written value will trigger a bias correction update command on the device
fifo_flush	Write-only	Triggers a FIFO flush command	Any written value will trigger a FIFO flush command on the device
decimation_filter	Read/Write	Decimation Filter Register Value	0 - 3999
burst_data_selection	Read/Write	Burst Data Selection Encoded Bit	0 - burst data contains acceleration and angular velocity measurements, 1 - burst data contains delta-angle and delta-velocity measurements
burst_size_selection	Read/Write	Burst Size Selection Encoded Bit	0 - burst data contains 16-bit values, 1 - burst data contains 32-bit values
sync_mode_select	Read/Write	Sync Mode Select Encoded Value	0 - internal sync, 1 - direct input sync, 2 - scaled sync, 3 - output sync
internal_sensor_bandwidth	Read/Write	Internal Sensor Bandwidth Encoded Value	0 - wide bandwidth, 1 - 370 Hz

Device Buffers¶

The IIO AIDS device driver supports the usage of a data buffer for samples reading purposes. The following channels are available for buffer readings, based on the chip used:

ADIS1646X:

anglvel_x
anglvel_y
anglvel_z
accel_x
accel_y
accel_z
temp0

ADIS1647X:

Burst data selection = 0:

anglvel_x

anglvel_y

anglvel_z

accel_x

accel_y

accel_z

temp0

Burst data selection = 1:

deltaangl_x

deltaangl_y

deltaangl_z

deltavelocity_x

deltavelocity_y

deltavelocity_z

temp0

ADIS1650X:

Burst data selection = 0:

anglvel_x

anglvel_y

anglvel_z

accel_x

accel_y

accel_z

temp0

Burst data selection = 1:

deltaangl_x

deltaangl_y

deltaangl_z

deltavelocity_x

deltavelocity_y

deltavelocity_z

temp0

ADIS1657X:

Burst data selection = 0:

anglvel_x

anglvel_y

anglvel_z

accel_x

accel_y

accel_z

temp0

Burst data selection = 1:

deltaangl_x

deltaangl_y

deltaangl_z

deltavelocity_x

deltavelocity_y

deltavelocity_z

temp0

IIO ADIS Driver Initialization Example ¶

ADIS1646X¶

struct no_os_spi_init_param adis1646x_spi_ip = {
.device_id = SPI_DEVICE_ID,
.max_speed_hz = SPI_BAUDRATE,
.bit_order = NO_OS_SPI_BIT_ORDER_MSB_FIRST,
.mode = NO_OS_SPI_MODE_3,
.platform_ops = SPI_OPS,
.chip_select = SPI_CS,
.extra = SPI_EXTRA,
};

struct no_os_gpio_init_param adis1646x_gpio_reset_ip = {
        .port = GPIO_RESET_PORT_NUM,
        .number = GPIO_RESET_PIN_NUM,
        .pull = NO_OS_PULL_NONE,
        .platform_ops = GPIO_OPS,
        .extra = GPIO_EXTRA
};

struct adis_init_param adis1646x_ip = {
        .gpio_reset = &adis1646x_gpio_reset_ip,
        .sync_mode = ADIS_SYNC_OUTPUT,
        .dev_id = ADIS16465_1,
};

struct no_os_irq_init_param adis1646x_gpio_irq_ip = {
        .irq_ctrl_id = GPIO_IRQ_ID,
        .platform_ops = GPIO_IRQ_OPS,
        .extra = GPIO_IRQ_EXTRA,
};

const struct iio_hw_trig_cb_info gpio_cb_info = {
        .event = NO_OS_EVT_GPIO,
        .peripheral = NO_OS_GPIO_IRQ,
        .handle = ADIS1646X_GPIO_CB_HANDLE,
};

struct iio_hw_trig_init_param adis1646x_gpio_trig_ip = {
        .irq_id = ADIS1646X_GPIO_TRIG_IRQ_ID,
        .irq_trig_lvl = NO_OS_IRQ_EDGE_RISING,
        .cb_info = gpio_cb_info,
        .name = ADIS1646X_GPIO_TRIG_NAME,
};

#define DATA_BUFFER_SIZE 400
uint8_t iio_data_buffer[DATA_BUFFER_SIZE * 7 * sizeof(int)];
struct adis_iio_dev *adis1646x_iio_desc;

struct iio_data_buffer data_buff = {
        .buff = (void *)iio_data_buffer,
        .size = DATA_BUFFER_SIZE * 7 * sizeof(int)
};

struct iio_hw_trig *adis1646x_trig_desc;
struct no_os_irq_ctrl_desc *adis1646x_irq_desc;
struct iio_app_desc *app;
struct iio_app_init_param app_init_param = { 0 };

ret = adis1646x_iio_init(&adis1646x_iio_desc, &adis1646x_ip);
if (ret)
        return ret;

/* Initialize interrupt controller */
ret = no_os_irq_ctrl_init(&adis1646x_irq_desc, &adis1646x_gpio_irq_ip);
if (ret)
        goto err_irq_init;

ret = no_os_irq_set_priority(adis1646x_irq_desc, adis1646x_gpio_trig_ip.irq_id, 1);
if (ret)
        goto err_irq_set_prio;

adis1646x_gpio_trig_ip.irq_ctrl = adis1646x_irq_desc;

/* Initialize hardware trigger */
ret = iio_hw_trig_init(&adis1646x_trig_desc, &adis1646x_gpio_trig_ip);
if (ret)
        goto err_irq_set_prio;

/* List of devices */
struct iio_app_device iio_devices[] = {
        {
                .name = "adis16465-1",
                .dev = adis1646x_iio_desc,
                .dev_descriptor = adis1646x_iio_desc->iio_dev,
                .read_buff = &data_buff,
        }
};

/* List of triggers */
struct iio_trigger_init trigs[] = {
        IIO_APP_TRIGGER(ADIS1646X_GPIO_TRIG_NAME, adis1646x_trig_desc, &adis_iio_trig_desc)
};

app_init_param.devices = iio_devices;
app_init_param.nb_devices = NO_OS_ARRAY_SIZE(iio_devices);
app_init_param.uart_init_params = adis1646x_uart_ip;
app_init_param.trigs = trigs;
app_init_param.nb_trigs = NO_OS_ARRAY_SIZE(trigs);
app_init_param.irq_desc = adis1646x_irq_desc;

ret = iio_app_init(&app, app_init_param);
if (ret)
        goto err_iio_app_init;

/* Update the reference to iio_desc */
adis1646x_trig_desc->iio_desc = app->iio_desc;

ret = iio_app_run(app);
if (ret)
        goto iio_app_err;

return 0;

iio_app_err:
        iio_app_remove(app);
err_iio_app_init:
        iio_hw_trig_remove(adis1646x_trig_desc);
err_irq_set_prio:
        no_os_irq_ctrl_remove(adis1646x_irq_desc);
err_irq_init:
        adis1646x_iio_remove(adis1646x_iio_desc);
        pr_info("Error!\n");
        return ret;

ADIS1647X¶

struct no_os_spi_init_param adis1647x_spi_ip = {
.device_id = SPI_DEVICE_ID,
.max_speed_hz = SPI_BAUDRATE,
.bit_order = NO_OS_SPI_BIT_ORDER_MSB_FIRST,
.mode = NO_OS_SPI_MODE_3,
.platform_ops = SPI_OPS,
.chip_select = SPI_CS,
.extra = SPI_EXTRA,
};

struct no_os_gpio_init_param adis1647x_gpio_reset_ip = {
        .port = GPIO_RESET_PORT_NUM,
        .number = GPIO_RESET_PIN_NUM,
        .pull = NO_OS_PULL_NONE,
        .platform_ops = GPIO_OPS,
        .extra = GPIO_EXTRA
};

struct adis_init_param adis1647x_ip = {
        .gpio_reset = &adis1647x_gpio_reset_ip,
        .sync_mode = ADIS_SYNC_OUTPUT,
        .dev_id = ADIS16477_1,
};

struct no_os_irq_init_param adis1647x_gpio_irq_ip = {
        .irq_ctrl_id = GPIO_IRQ_ID,
        .platform_ops = GPIO_IRQ_OPS,
        .extra = GPIO_IRQ_EXTRA,
};

const struct iio_hw_trig_cb_info gpio_cb_info = {
        .event = NO_OS_EVT_GPIO,
        .peripheral = NO_OS_GPIO_IRQ,
        .handle = ADIS1647X_GPIO_CB_HANDLE,
};

struct iio_hw_trig_init_param adis1647x_gpio_trig_ip = {
        .irq_id = ADIS1647X_GPIO_TRIG_IRQ_ID,
        .irq_trig_lvl = NO_OS_IRQ_EDGE_RISING,
        .cb_info = gpio_cb_info,
        .name = ADIS1647X_GPIO_TRIG_NAME,
};

#define DATA_BUFFER_SIZE 400
uint8_t iio_data_buffer[DATA_BUFFER_SIZE * 13 * sizeof(int)];
struct adis_iio_dev *adis1647x_iio_desc;

struct iio_data_buffer data_buff = {
        .buff = (void *)iio_data_buffer,
        .size = DATA_BUFFER_SIZE * 13 * sizeof(int)
};

struct iio_hw_trig *adis1647x_trig_desc;
struct no_os_irq_ctrl_desc *adis1647x_irq_desc;
struct iio_app_desc *app;
struct iio_app_init_param app_init_param = { 0 };

ret = adis1647x_iio_init(&adis1647x_iio_desc, &adis1647x_ip);
if (ret)
        return ret;

/* Initialize interrupt controller */
ret = no_os_irq_ctrl_init(&adis1647x_irq_desc, &adis1647x_gpio_irq_ip);
if (ret)
        goto err_irq_init;

ret = no_os_irq_set_priority(adis1647x_irq_desc, adis1647x_gpio_trig_ip.irq_id, 1);
if (ret)
        goto err_irq_set_prio;

adis1647x_gpio_trig_ip.irq_ctrl = adis1647x_irq_desc;

/* Initialize hardware trigger */
ret = iio_hw_trig_init(&adis1647x_trig_desc, &adis1647x_gpio_trig_ip);
if (ret)
        goto err_irq_set_prio;

/* List of devices */
struct iio_app_device iio_devices[] = {
        {
                .name = "adis16477-1",
                .dev = adis1647x_iio_desc,
                .dev_descriptor = adis1647x_iio_desc->iio_dev,
                .read_buff = &data_buff,
        }
};

/* List of triggers */
struct iio_trigger_init trigs[] = {
        IIO_APP_TRIGGER(ADIS1647X_GPIO_TRIG_NAME, adis1647x_trig_desc, &adis_iio_trig_desc)
};

app_init_param.devices = iio_devices;
app_init_param.nb_devices = NO_OS_ARRAY_SIZE(iio_devices);
app_init_param.uart_init_params = adis1647x_uart_ip;
app_init_param.trigs = trigs;
app_init_param.nb_trigs = NO_OS_ARRAY_SIZE(trigs);
app_init_param.irq_desc = adis1647x_irq_desc;

ret = iio_app_init(&app, app_init_param);
if (ret)
        goto err_iio_app_init;

/* Update the reference to iio_desc */
adis1647x_trig_desc->iio_desc = app->iio_desc;

ret = iio_app_run(app);
if (ret)
        goto iio_app_err;

return 0;

iio_app_err:
        iio_app_remove(app);
err_iio_app_init:
        iio_hw_trig_remove(adis1647x_trig_desc);
err_irq_set_prio:
        no_os_irq_ctrl_remove(adis1647x_irq_desc);
err_irq_init:
        adis1647x_iio_remove(adis1647x_iio_desc);
        pr_info("Error!\n");
        return ret;

ADIS1650X¶

struct no_os_spi_init_param adis1650x_spi_ip = {
.device_id = SPI_DEVICE_ID,
.max_speed_hz = SPI_BAUDRATE,
.bit_order = NO_OS_SPI_BIT_ORDER_MSB_FIRST,
.mode = NO_OS_SPI_MODE_3,
.platform_ops = SPI_OPS,
.chip_select = SPI_CS,
.extra = SPI_EXTRA,
};

struct no_os_gpio_init_param adis1650x_gpio_reset_ip = {
        .port = GPIO_RESET_PORT_NUM,
        .number = GPIO_RESET_PIN_NUM,
        .pull = NO_OS_PULL_NONE,
        .platform_ops = GPIO_OPS,
        .extra = GPIO_EXTRA
};

struct adis_init_param adis1650x_ip = {
        .gpio_reset = &adis1650x_gpio_reset_ip,
        .sync_mode = ADIS_SYNC_OUTPUT,
        .dev_id = ADIS16505_2,
};

struct no_os_irq_init_param adis1650x_gpio_irq_ip = {
        .irq_ctrl_id = GPIO_IRQ_ID,
        .platform_ops = GPIO_IRQ_OPS,
        .extra = GPIO_IRQ_EXTRA,
};

const struct iio_hw_trig_cb_info gpio_cb_info = {
        .event = NO_OS_EVT_GPIO,
        .peripheral = NO_OS_GPIO_IRQ,
        .handle = ADIS1650X_GPIO_CB_HANDLE,
};

struct iio_hw_trig_init_param adis1650x_gpio_trig_ip = {
        .irq_id = ADIS1650X_GPIO_TRIG_IRQ_ID,
        .irq_trig_lvl = NO_OS_IRQ_EDGE_RISING,
        .cb_info = gpio_cb_info,
        .name = ADIS1650X_GPIO_TRIG_NAME,
};

#define DATA_BUFFER_SIZE 400
uint8_t iio_data_buffer[DATA_BUFFER_SIZE * 13 * sizeof(int)];
struct adis_iio_dev *adis1650x_iio_desc;

struct iio_data_buffer data_buff = {
        .buff = (void *)iio_data_buffer,
        .size = DATA_BUFFER_SIZE * 13 * sizeof(int)
};

struct iio_hw_trig *adis1650x_trig_desc;
struct no_os_irq_ctrl_desc *adis1650x_irq_desc;
struct iio_app_desc *app;
struct iio_app_init_param app_init_param = { 0 };

ret = adis1650x_iio_init(&adis1650x_iio_desc, &adis1650x_ip);
if (ret)
        return ret;

/* Initialize interrupt controller */
ret = no_os_irq_ctrl_init(&adis1650x_irq_desc, &adis1650x_gpio_irq_ip);
if (ret)
        goto err_irq_init;

ret = no_os_irq_set_priority(adis1650x_irq_desc, adis1650x_gpio_trig_ip.irq_id, 1);
if (ret)
        goto err_irq_set_prio;

adis1650x_gpio_trig_ip.irq_ctrl = adis1650x_irq_desc;

/* Initialize hardware trigger */
ret = iio_hw_trig_init(&adis1650x_trig_desc, &adis1650x_gpio_trig_ip);
if (ret)
        goto err_irq_set_prio;

/* List of devices */
struct iio_app_device iio_devices[] = {
        {
                .name = "adis16505-2",
                .dev = adis1650x_iio_desc,
                .dev_descriptor = adis1650x_iio_desc->iio_dev,
                .read_buff = &data_buff,
        }
};

/* List of triggers */
struct iio_trigger_init trigs[] = {
        IIO_APP_TRIGGER(ADIS1650X_GPIO_TRIG_NAME, adis1650x_trig_desc, &adis_iio_trig_desc)
};

app_init_param.devices = iio_devices;
app_init_param.nb_devices = NO_OS_ARRAY_SIZE(iio_devices);
app_init_param.uart_init_params = adis1650x_uart_ip;
app_init_param.trigs = trigs;
app_init_param.nb_trigs = NO_OS_ARRAY_SIZE(trigs);
app_init_param.irq_desc = adis1650x_irq_desc;

ret = iio_app_init(&app, app_init_param);
if (ret)
        goto err_iio_app_init;

/* Update the reference to iio_desc */
adis1650x_trig_desc->iio_desc = app->iio_desc;

ret = iio_app_run(app);
if (ret)
        goto iio_app_err;

return 0;

iio_app_err:
        iio_app_remove(app);
err_iio_app_init:
        iio_hw_trig_remove(adis1650x_trig_desc);
err_irq_set_prio:
        no_os_irq_ctrl_remove(adis1650x_irq_desc);
err_irq_init:
        adis1650x_iio_remove(adis1650x_iio_desc);
        pr_info("Error!\n");
        return ret;

ADIS1657X¶

struct no_os_spi_init_param adis1657x_spi_ip = {
.device_id = SPI_DEVICE_ID,
.max_speed_hz = SPI_BAUDRATE,
.bit_order = NO_OS_SPI_BIT_ORDER_MSB_FIRST,
.mode = NO_OS_SPI_MODE_3,
.platform_ops = SPI_OPS,
.chip_select = SPI_CS,
.extra = SPI_EXTRA,
};

struct no_os_gpio_init_param adis1657x_gpio_reset_ip = {
        .port = GPIO_RESET_PORT_NUM,
        .number = GPIO_RESET_PIN_NUM,
        .pull = NO_OS_PULL_NONE,
        .platform_ops = GPIO_OPS,
        .extra = GPIO_EXTRA
};

struct adis_init_param adis1657x_ip = {
        .gpio_reset = &adis1657x_gpio_reset_ip,
        .sync_mode = ADIS_SYNC_OUTPUT,
        .dev_id = ADIS16577_3,
};

struct no_os_irq_init_param adis1657x_gpio_irq_ip = {
        .irq_ctrl_id = GPIO_IRQ_ID,
        .platform_ops = GPIO_IRQ_OPS,
        .extra = GPIO_IRQ_EXTRA,
};

const struct iio_hw_trig_cb_info gpio_cb_info = {
        .event = NO_OS_EVT_GPIO,
        .peripheral = NO_OS_GPIO_IRQ,
        .handle = ADIS1657X_GPIO_CB_HANDLE,
};

struct iio_hw_trig_init_param adis1657x_gpio_trig_ip = {
        .irq_id = ADIS1657X_GPIO_TRIG_IRQ_ID,
        .irq_trig_lvl = NO_OS_IRQ_EDGE_RISING,
        .cb_info = gpio_cb_info,
        .name = ADIS1657X_GPIO_TRIG_NAME,
};

#define DATA_BUFFER_SIZE 400
uint8_t iio_data_buffer[DATA_BUFFER_SIZE * 13 * sizeof(int)];
struct adis_iio_dev *adis1657x_iio_desc;

struct iio_data_buffer data_buff = {
        .buff = (void *)iio_data_buffer,
        .size = DATA_BUFFER_SIZE * 13 * sizeof(int)
};

struct iio_hw_trig *adis1657x_trig_desc;
struct no_os_irq_ctrl_desc *adis1657x_irq_desc;
struct iio_app_desc *app;
struct iio_app_init_param app_init_param = { 0 };

ret = adis1657x_iio_init(&adis1657x_iio_desc, &adis1657x_ip);
if (ret)
        return ret;

/* Initialize interrupt controller */
ret = no_os_irq_ctrl_init(&adis1657x_irq_desc, &adis1657x_gpio_irq_ip);
if (ret)
        goto err_irq_init;

ret = no_os_irq_set_priority(adis1657x_irq_desc, adis1657x_gpio_trig_ip.irq_id, 1);
if (ret)
        goto err_irq_set_prio;

adis1657x_gpio_trig_ip.irq_ctrl = adis1657x_irq_desc;

/* Initialize hardware trigger */
ret = iio_hw_trig_init(&adis1657x_trig_desc, &adis1657x_gpio_trig_ip);
if (ret)
        goto err_irq_set_prio;

/* List of devices */
struct iio_app_device iio_devices[] = {
        {
                .name = "adis16577-3",
                .dev = adis1657x_iio_desc,
                .dev_descriptor = adis1657x_iio_desc->iio_dev,
                .read_buff = &data_buff,
        }
};

/* List of triggers */
struct iio_trigger_init trigs[] = {
        IIO_APP_TRIGGER(ADIS1657X_GPIO_TRIG_NAME, adis1657x_trig_desc, &adis_iio_trig_desc)
};

app_init_param.devices = iio_devices;
app_init_param.nb_devices = NO_OS_ARRAY_SIZE(iio_devices);
app_init_param.uart_init_params = adis1657x_uart_ip;
app_init_param.trigs = trigs;
app_init_param.nb_trigs = NO_OS_ARRAY_SIZE(trigs);
app_init_param.irq_desc = adis1657x_irq_desc;

ret = iio_app_init(&app, app_init_param);
if (ret)
        goto err_iio_app_init;

/* Update the reference to iio_desc */
adis1657x_trig_desc->iio_desc = app->iio_desc;

ret = iio_app_run(app);
if (ret)
        goto iio_app_err;

return 0;

iio_app_err:
        iio_app_remove(app);
err_iio_app_init:
        iio_hw_trig_remove(adis1657x_trig_desc);
err_irq_set_prio:
        no_os_irq_ctrl_remove(adis1657x_irq_desc);
err_irq_init:
        adis1657x_iio_remove(adis1657x_iio_desc);
        pr_info("Error!\n");
        return ret;