ADIS16460 IMU's with Raspberry Pi

Hi Ingrid

IngridM said:

2. I configure my Raspberry pi with overlay in boot/config.txt  (dtoverlay=adis16460)

Did you created an overlay for adis16460? AFAICT, there's no overlay in the pi branch so I do not thing you'll have on in the sdcard image... That means that no overlay will be loaded during boot and  your device won't show up in iio_info since it's not probed.

- Nuno Sá

Ok, thank you so much for your help!

Ok, thank you so much for your help!

Let me know if you need any help with the overlay. A good place to look is the adis16475 and the adis16480 overlays.

- Nuno Sá

Ok, tahnk you so much. Do you have the adis16460 overlay? (I don't understand very well

that codes)

Sorry for the late reply... Unfortunately, we do not have any overlay for adis16460. However, it should be pretty similar to what we have for the examples I pointed you.

Hello,

I had tried with two codes to see the answer for the IMU, but it continues without working.

I will show you the response of the IMU connected to the raspberry pi when I use the next two codes! The MISO have a offset level, but I don't receive anything!

1. case 1

import sys
import spidev
import RPi.GPIO as GPIO
import time
import array
from struct import *

spi=spidev.SpiDev()
spi.open(0, 0)
spi.max_speed_hz=400000
spi.mode=3
bcmRst=12
GPIO.setup(bcmRst,GPIO.OUT)
GPIO.output(bcmRst,GPIO.HIGH)

while True:
    res=spi.wrytebytes([0x56,0x00])
    data=spi.readbytes(2)
    print(data)
    
finally:
    spi.close()
    GPIO.cleanup()

• SCLK     CH1   (Yellow)
• MISO     CH2    (Purple)
• MOSI     CH3    (Blue)
• CS         CH4    (Green)

2. case 2

import sys
import spidev
import RPi.GPIO as GPIO
import time
import array
from struct import *

spi=spidev.SpiDev()
spi.open(0, 0)
spi.max_speed_hz=400000
spi.mode=3
bcmRst=12
GPIO.setup(bcmRst,GPIO.OUT)
GPIO.output(bcmRst,GPIO.HIGH)

while True:
    res=spi.wrytebytes([0x56,0x00])
    res=spi.wrytebytes([0x56,0x00])
    
    
finally:
    spi.close()
    GPIO.cleanup()

• SCLK     CH1   (Yellow)
• MISO     CH2    (Purple)
• MOSI     CH3    (Blue)
• CS         CH4    (Green)

I will be very grateful if you can help me or see something strange on the code! I always obtain the same answer.

I will be very attentive. Best regards!

Hi,

Using spidev is not the intended way to use devices and never did it myself. So, I'm not sure what's not working in here but I do know that these parts are typically very sensitive with spi timings and for example, the time delay between cs deassert and assert during a transfer. Another thing worth mentioning is the RST pin... Are you sure that's the correct one? And that the pin is active low?

You might also try to lower the max spi speed to see if it helps.

- Nuno Sá

Hey, I was also looking for how to use the ADIS16460 on the Raspberry Pi.

I initially started writing a device tree overlay based on the adis16475 and 16480, but then I saw this post which solved my issue:  RE: 64-bit build of Kuiper Linux with IndustrialIO for Raspberry Pi 4B 

So there is no need for a new overlay, the ADIS16475 overlay was developed to be also compatible with the ADIS16460 and 16465 by using the "drdy_gpio25" param which changes the data ready pin to the Raspberry Pi's GPIO25 pin to match the pinout of the ADIS16460/16465 and of the P7 port of the eval-adisimu1-rpiz adapter. So you only need to add these parameters to the /boot/config.txt file on the raspberry pi:

dtoverlay=adis16475
dtparam=device=adis16460
dtparam=drdy_gpio25

With this, you don't need to turn on the SPI on the Raspberry nor to use the spidev library, you should use the official pyadi-iio library instead, the ADIS16460 example should work out of the box: https://github.com/analogdevicesinc/pyadi-iio/blob/main/examples/adis16460.py

Hi! Im facing a similar issue, I have tried with my RST pin on the 3v3 pin, but also on a "regular" RPi5 pin, i used GPIO23.

Im using the ADIS16470/PCBZ, directly plugged into my Raspberry pi 5.

I want to use the SPI so my config file is:

dtoverlay=spi1-1cs,cs0_spidev=off
dtoverlay=adis16470-spi1

This results in me not being able to find the ls /dev/iio* directory anymore...(I tried using spidev but not anymore)

Im very bad at this and im not sure if im doing this correctly.

When I used the GPIO23, I could read with iio, and I always got "0". 

Is it possible to get it to run this way? 

Hello Hetpotatis

The easiest path to get this running will be to use Kuiper Linux, which is our own linux distribution preconfigured for many ADI devices.  However, we don't support the RPi5 yet (and I don't have a schedule for that).  If you can use rpi4 and Kuiper Linux, it may be easier to support.

If you must use rpi5, then you will need to build the kernel yourself, being sure to use 'make menuconfig' to configure the kernel with support for the ADIS device.  Note that the driver you need is ADIS16475.c, which is compatible with ADIS16470.  You will also need a device tree binary file for the ADIS device.  An example device tree source file can be found here.  Note that the example targets spi0, so if you want to use spi1, you will need to change it accordingly.  It may need other adjustments as well for the rpi5.  The compiled dtb file needs to be placed in the /boot/overlays folder

On the GPIO pin, please read the note in the example device tree source file.  You will see that gpio25 is required for ADIS16470; I don't think you can use gpio23.

In the /boot/config.txt file, you will need the following text at the end of the file:

dtoverlay=adis16475   // assumes the name of the file is adis16475.dtb in /boot/overlays
dtparam=device=adis16470
dtparam=drdy_gpio25

The following documents should be useful to you:

ADIS1647x/PCBZ BREAKOUT BOARD WIKI GUIDE [Analog Devices Wiki]

linux/Documentation/iio/adis16475.rst at rpi-6.6.y · analogdevicesinc/linux

Hope this helps

Regards

Andy