ADIS16060

The ADIS16060 driver was removed from the kernel in v4.19 (commit adca2d68d7041, “staging: iio: Drop ADIS16060 driver from staging”).

ADIS16060 IIO Yaw Rate Gyroscope.

Supported Devices

Evaluation Boards

Description

This is a Linux industrial I/O (Linux Industrial I/O Subsystem) subsystem driver, targeting serial interface Gyroscopes. The industrial I/O subsystem provides a unified framework for drivers for many different types of converters and sensors using a number of different physical interfaces (i2c, spi, etc). See Linux Industrial I/O Subsystem for more information.

Source Code

Status

Source

Mainlined?

git

Deprecated (removed in v4.19)

Files

Function

File

driver

drivers/staging/iio/gyro/adis16060_core.c

Unlike PCI or USB devices, SPI devices are not enumerated at the hardware level. Instead, the software must know which devices are connected on each SPI bus segment, and what slave selects these devices are using. For this reason, the kernel code must instantiate SPI devices explicitly. The most common method is to declare the SPI devices by bus number.

This method is appropriate when the SPI bus is a system bus, as in many embedded systems, wherein each SPI bus has a number which is known in advance. It is thus possible to pre-declare the SPI devices that inhabit this bus. This is done with an array of struct spi_board_info, which is registered by calling spi_register_board_info().

For more information see: Overview of Linux kernel SPI support

Depending on the converter IC used, you may need to set the modalias accordingly, matching your part name. It may also required to adjust max_speed_hz. Please consult the datasheet, for maximum spi clock supported by the device in question.

static struct spi_board_info board_spi_board_info[] __initdata = {
#if defined(CONFIG_ADIS16060) \
    || defined(CONFIG_ADIS16060_MODULE)
    {
        .modalias = "adis16060_r",
        .max_speed_hz = 2900000,     /* max spi clock (SCK) speed in HZ */
        .bus_num = 0,
        .chip_select = 1, /* CS for read, change it for your board */
        .platform_data = NULL, /* No spi_driver specific config */
        .mode = SPI_MODE_0,
    },
    {
        .modalias = "adis16060_w",
        .max_speed_hz = 2900000,     /* max spi clock (SCK) speed in HZ */
        .bus_num = 0,
        .chip_select = 2, /* CS for write, change it for your board */
        .platform_data = NULL, /* No spi_driver specific config */
        .mode = SPI_MODE_1,
    },
#endif
};

static int __init board_init(void)
{
    [--snip--]

    spi_register_board_info(board_spi_board_info, ARRAY_SIZE(board_spi_board_info));

    [--snip--]

    return 0;
}
arch_initcall(board_init);

Adding Linux driver support

Kernel configuration

Configure kernel with make menuconfig (alternatively use make xconfig or make qconfig)

Note

The ADIS16060 Driver depends on CONFIG_SPI

Linux Kernel Configuration
    Device Drivers  --->
        [*] Staging drivers  --->
            <*>     Industrial I/O support --->
                --- Industrial I/O support
                -*-   Enable buffer support within IIO
                -*-   Enable triggered sampling support

                      *** Digital gyroscope sensors ***
                [--snip--]

                <*>   Analog Devices ADIS16060 Yaw Rate Gyroscope with SPI driver

                [--snip--]

Driver testing

Each and every IIO device, typically a hardware chip, has a device folder under /sys/bus/iio/devices/iio:deviceX. Where X is the IIO index of the device. Under every of these directory folders reside a set of files, depending on the characteristics and features of the hardware device in question. These files are consistently generalized and documented in the IIO ABI documentation. In order to determine which IIO deviceX corresponds to which hardware device, the user can read the name file /sys/bus/iio/devices/iio:deviceX/name. In case the sequence in which the iio device drivers are loaded/registered is constant, the numbering is constant and may be known in advance.

root:/> cd /sys/bus/iio/devices/
root:/sys/bus/iio/devices> ls
iio:device0

root:/sys/bus/iio/devices> cd iio:device0
root:/sys/devices/platform/bfin-spi.0/spi0.1/iio:device0> ls -l
-r--r--r--    1 root     root          4096 Jan  3 19:32 dev
-r--r--r--    1 root     root          4096 Jan  3 19:32 in_anglvel_z_raw
-rw-r--r--    1 root     root          4096 Jan  3 19:32 in_temp0_offset
-r--r--r--    1 root     root          4096 Jan  3 19:32 in_temp0_raw
-rw-r--r--    1 root     root          4096 Jan  3 19:32 in_temp0_scale
-r--r--r--    1 root     root          4096 Jan  3 19:32 in_voltage0_raw
-r--r--r--    1 root     root          4096 Jan  3 19:32 in_voltage1_raw
-r--r--r--    1 root     root          4096 Jan  3 19:32 name
drwxr-xr-x    2 root     root             0 Jan  3 19:32 power
lrwxrwxrwx    1 root     root             0 Jan  3 19:32 subsystem -> ../../../../../bus/iio
-rw-r--r--    1 root     root          4096 Jan  3 19:32 uevent
root:/sys/devices/platform/bfin-spi.0/spi0.1/iio:device0>

The driver implements only read_raw: in_temp0_offset and in_temp0_scale return fixed values (-7.461117 and 0.034000). Writes to channel attributes fail with -EINVAL, even when their sysfs mode bits allow writing. The device operates in direct mode only; no buffer or trigger is registered.

Identify the device

root:/sys/devices/platform/bfin-spi.0/spi0.1/iio:device0> cat name
adis16060_r

Attribute reference

ADIS16060 device attributes

For a detailed description please see: drivers/staging/iio/Documentation/sysfs-bus-iio

Device files

in_anglvel_z_raw

in_temp0_offset

in_temp0_raw

in_temp0_scale

in_voltage0_raw

in_voltage1_raw

name

More Information