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:

ADIS1650X Driver Source Code:

Supported devices with ADIS1650X files:

ADIS1654X Driver Source Code:

Supported devices with ADIS1654X files:

ADIS1655X Driver Source Code:

Supported devices with ADIS1655X 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:

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:

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

error:
        adis_remove(adis1646x_desc);
        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;
ret = adis_read_y_gyro(adis1647x_desc, &val[1]);
if (ret)
        goto error;
ret = adis_read_z_gyro(adis1647x_desc, &val[2]);
if (ret)
        goto error;
ret = adis_read_x_accl(adis1647x_desc, &val[3]);
if (ret)
        goto error;
ret = adis_read_y_accl(adis1647x_desc, &val[4]);
if (ret)
        goto error;
ret = adis_read_z_accl(adis1647x_desc, &val[5]);
if (ret)
        goto error;
ret = adis_read_temp_out(adis1647x_desc, &val[6]);
if (ret)
        goto error;

error:
        adis_remove(adis1647x_desc);
        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;
ret = adis_read_y_gyro(adis1650x_desc, &val[1]);
if (ret)
        goto error;
ret = adis_read_z_gyro(adis1650x_desc, &val[2]);
if (ret)
        goto error;
ret = adis_read_x_accl(adis1650x_desc, &val[3]);
if (ret)
        goto error;
ret = adis_read_y_accl(adis1650x_desc, &val[4]);
if (ret)
        goto error;
ret = adis_read_z_accl(adis1650x_desc, &val[5]);
if (ret)
        goto error;
ret = adis_read_temp_out(adis1650x_desc, &val[6]);
if (ret)
        goto error;

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

ADIS1654X#

struct no_os_spi_init_param adis1654x_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 adis1654x_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 adis1654x_ip = {
        .gpio_reset = &adis1654x_gpio_reset_ip,
        .sync_mode = ADIS_SYNC_DEFAULT,
        .dev_id = ADIS16545_3,
};

struct adis_dev *adis1654x_desc;
int ret;
int val[7];

adis1654x_chip_info.ip = &adis1654x_ip;
ret = adis_init(&adis1654x_desc, &adis1654x_chip_info);
if (ret)
        goto error;

ret = adis_read_x_gyro(adis1654x_desc, &val[0]);
if (ret)
        goto error;
ret = adis_read_y_gyro(adis1654x_desc, &val[1]);
if (ret)
        goto error;
ret = adis_read_z_gyro(adis1654x_desc, &val[2]);
if (ret)
        goto error;
ret = adis_read_x_accl(adis1654x_desc, &val[3]);
if (ret)
        goto error;
ret = adis_read_y_accl(adis1654x_desc, &val[4]);
if (ret)
        goto error;
ret = adis_read_z_accl(adis1654x_desc, &val[5]);
if (ret)
        goto error;
ret = adis_read_temp_out(adis1654x_desc, &val[6]);
if (ret)
        goto error;

error:
        adis_remove(adis1654x_desc);
        pr_info("Error!\n");

ADIS1655X#

struct no_os_spi_init_param adis1655x_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 adis1655x_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 adis1655x_ip = {
        .gpio_reset = &adis1655x_gpio_reset_ip,
        .sync_mode = ADIS_SYNC_DEFAULT,
        .dev_id = ADIS16550,
};

struct adis_dev *adis1655x_desc;
int ret;
int val[7];

adis1655x_chip_info.ip = &adis1655x_ip;
ret = adis_init(&adis1655x_desc, &adis1655x_chip_info);
if (ret)
        goto error;

ret = adis_read_x_gyro(adis1655x_desc, &val[0]);
if (ret)
        goto error;
ret = adis_read_y_gyro(adis1655x_desc, &val[1]);
if (ret)
        goto error;
ret = adis_read_z_gyro(adis1655x_desc, &val[2]);
if (ret)
        goto error;
ret = adis_read_x_accl(adis1655x_desc, &val[3]);
if (ret)
        goto error;
ret = adis_read_y_accl(adis1655x_desc, &val[4]);
if (ret)
        goto error;
ret = adis_read_z_accl(adis1655x_desc, &val[5]);
if (ret)
        goto error;
ret = adis_read_temp_out(adis1655x_desc, &val[6]);
if (ret)
        goto error;

error:
        adis_remove(adis1655x_desc);
        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;
ret = adis_read_y_gyro(adis1657x_desc, &val[1]);
if (ret)
        goto error;
ret = adis_read_z_gyro(adis1657x_desc, &val[2]);
if (ret)
        goto error;
ret = adis_read_x_accl(adis1657x_desc, &val[3]);
if (ret)
        goto error;
ret = adis_read_y_accl(adis1657x_desc, &val[4]);
if (ret)
        goto error;
ret = adis_read_z_accl(adis1657x_desc, &val[5]);
if (ret)
        goto error;
ret = adis_read_temp_out(adis1657x_desc, &val[6]);
if (ret)
        goto error;

error:
        adis_remove(adis1657x_desc);
        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:

ADIS1650X IIO Driver Source Code:

Supported devices with IIO ADIS1650X files:

ADIS1654X IIO Driver Source Code:

Supported devices with IIO ADIS1654X files:

ADIS1655X IIO Driver Source Code:

Supported devices with IIO ADIS1655X 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)
        goto exit;

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

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

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 exit;

/* 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 exit;

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

ret = iio_app_run(app);

iio_app_remove(app);

exit:
        iio_hw_trig_remove(adis1646x_trig_desc);
        no_os_irq_ctrl_remove(adis1646x_irq_desc);
        adis1646x_iio_remove(adis1646x_iio_desc);
        if (ret)
                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)
        goto exit;

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

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

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 exit;

/* 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 exit;

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

ret = iio_app_run(app);

iio_app_remove(app);

exit:
        iio_hw_trig_remove(adis1647x_trig_desc);
        no_os_irq_ctrl_remove(adis1647x_irq_desc);
        adis1647x_iio_remove(adis1647x_iio_desc);
        if (ret)
                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)
        goto exit;

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

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

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 exit;

/* 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 exit;

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

ret = iio_app_run(app);

iio_app_remove(app);

exit:
        iio_hw_trig_remove(adis1650x_trig_desc);
        no_os_irq_ctrl_remove(adis1650x_irq_desc);
        adis1650x_iio_remove(adis1650x_iio_desc);
        if (ret)
                pr_info("Error!\n");
        return ret;

ADIS1654X#

struct no_os_spi_init_param adis1654x_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 adis1654x_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 adis1654x_ip = {
        .gpio_reset = &adis1654x_gpio_reset_ip,
        .sync_mode = ADIS_SYNC_DEFAULT,
        .dev_id = ADIS16545_3,
};

struct no_os_irq_init_param adis1654x_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 = ADIS1654X_GPIO_CB_HANDLE,
};

struct iio_hw_trig_init_param adis1654x_gpio_trig_ip = {
        .irq_id = ADIS1654X_GPIO_TRIG_IRQ_ID,
        .irq_trig_lvl = NO_OS_IRQ_EDGE_RISING,
        .cb_info = gpio_cb_info,
        .name = ADIS1654X_GPIO_TRIG_NAME,
};

#define DATA_BUFFER_SIZE 400
uint8_t iio_data_buffer[DATA_BUFFER_SIZE * 13 * sizeof(int)];
struct adis_iio_dev *adis1654x_iio_desc;

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

struct iio_hw_trig *adis1654x_trig_desc;
struct no_os_irq_ctrl_desc *adis1654x_irq_desc;
struct iio_app_desc *app;
struct iio_app_init_param app_init_param = { 0 };

ret = adis1654x_iio_init(&adis1654x_iio_desc, &adis1654x_ip);
if (ret)
        goto exit;

/* Initialize interrupt controller */
ret = no_os_irq_ctrl_init(&adis1654x_irq_desc, &adis1654x_gpio_irq_ip);
if (ret)
        goto exit;

ret = no_os_irq_set_priority(adis1654x_irq_desc, adis1654x_gpio_trig_ip.irq_id, 1);
if (ret)
        goto exit;

adis1654x_gpio_trig_ip.irq_ctrl = adis1654x_irq_desc;

/* Initialize hardware trigger */
ret = iio_hw_trig_init(&adis1654x_trig_desc, &adis1654x_gpio_trig_ip);
if (ret)
        goto exit;

/* List of devices */
struct iio_app_device iio_devices[] = {
        {
                .name = "adis16545-3",
                .dev = adis1654x_iio_desc,
                .dev_descriptor = adis1654x_iio_desc->iio_dev,
                .read_buff = &data_buff,
        }
};

/* List of triggers */
struct iio_trigger_init trigs[] = {
        IIO_APP_TRIGGER(ADIS1654X_GPIO_TRIG_NAME, adis1654x_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 = adis1654x_uart_ip;
app_init_param.trigs = trigs;
app_init_param.nb_trigs = NO_OS_ARRAY_SIZE(trigs);
app_init_param.irq_desc = adis1654x_irq_desc;

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

/* Update the reference to iio_desc */
adis1654x_trig_desc->iio_desc = app->iio_desc;

ret = iio_app_run(app);

iio_app_remove(app);

exit:
        iio_hw_trig_remove(adis1654x_trig_desc);
        no_os_irq_ctrl_remove(adis1654x_irq_desc);
        adis1654x_iio_remove(adis1654x_iio_desc);
        if (ret)
                pr_info("Error!\n");
        return ret;

ADIS1655X#

struct no_os_spi_init_param adis1655x_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 adis1655x_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 adis1655x_ip = {
        .gpio_reset = &adis1655x_gpio_reset_ip,
        .sync_mode = ADIS_SYNC_DEFAULT,
        .dev_id = ADIS16550,
};

struct no_os_irq_init_param adis1655x_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 = ADIS1655X_GPIO_CB_HANDLE,
};

struct iio_hw_trig_init_param adis1655x_gpio_trig_ip = {
        .irq_id = ADIS1655X_GPIO_TRIG_IRQ_ID,
        .irq_trig_lvl = NO_OS_IRQ_EDGE_RISING,
        .cb_info = gpio_cb_info,
        .name = ADIS1655X_GPIO_TRIG_NAME,
};

#define DATA_BUFFER_SIZE 400
uint8_t iio_data_buffer[DATA_BUFFER_SIZE * 13 * sizeof(int)];
struct adis_iio_dev *adis1655x_iio_desc;

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

struct iio_hw_trig *adis1655x_trig_desc;
struct no_os_irq_ctrl_desc *adis1655x_irq_desc;
struct iio_app_desc *app;
struct iio_app_init_param app_init_param = { 0 };

ret = adis1655x_iio_init(&adis1655x_iio_desc, &adis1655x_ip);
if (ret)
        goto exit;

/* Initialize interrupt controller */
ret = no_os_irq_ctrl_init(&adis1655x_irq_desc, &adis1655x_gpio_irq_ip);
if (ret)
        goto exit;

ret = no_os_irq_set_priority(adis1655x_irq_desc, adis1655x_gpio_trig_ip.irq_id, 1);
if (ret)
        goto exit;

adis1655x_gpio_trig_ip.irq_ctrl = adis1655x_irq_desc;

/* Initialize hardware trigger */
ret = iio_hw_trig_init(&adis1655x_trig_desc, &adis1655x_gpio_trig_ip);
if (ret)
        goto exit;

/* List of devices */
struct iio_app_device iio_devices[] = {
        {
                .name = "adis16550",
                .dev = adis1655x_iio_desc,
                .dev_descriptor = adis1655x_iio_desc->iio_dev,
                .read_buff = &data_buff,
        }
};

/* List of triggers */
struct iio_trigger_init trigs[] = {
        IIO_APP_TRIGGER(ADIS1655X_GPIO_TRIG_NAME, adis1655x_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 = adis1655x_uart_ip;
app_init_param.trigs = trigs;
app_init_param.nb_trigs = NO_OS_ARRAY_SIZE(trigs);
app_init_param.irq_desc = adis1655x_irq_desc;

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

/* Update the reference to iio_desc */
adis1655x_trig_desc->iio_desc = app->iio_desc;

ret = iio_app_run(app);

iio_app_remove(app);

exit:
        iio_hw_trig_remove(adis1655x_trig_desc);
        no_os_irq_ctrl_remove(adis1655x_irq_desc);
        adis1655x_iio_remove(adis1655x_iio_desc);
        if (ret)
                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)
        goto exit;

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

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

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 exit;

/* 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 exit;

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

ret = iio_app_run(app);

iio_app_remove(app);

exit:
        iio_hw_trig_remove(adis1657x_trig_desc);
        no_os_irq_ctrl_remove(adis1657x_irq_desc);
        adis1657x_iio_remove(adis1657x_iio_desc);
        if (ret)
                pr_info("Error!\n");
        return ret;