Jetson Orin NX using adis16470 can not read data

lgc_tst · May 21, 2026, 2:41pm

Hi,
I’m using adis16470 to get motion data by compiling adis_lib and adis16475 to .ko and modprobe them into kernel. It seems that spi is not working properly.

Source code is from BSP 36.4.3 and Linux is 5.15.185

nvidia@ubuntu:/sys/bus/iio/devices/iio:device0$ sudo dmesg | grep spi
[ 10.622964] spi-tegra114 3210000.spi: Adding to iommu group 1
[ 10.654568] spi-tegra114 3230000.spi: Adding to iommu group 1
[ 11.330151] adis16475 spi0.0: Device ID(16470) and product ID(0) do not match.

By using logic analyzer,

The cs always act weired:
External Media

Willing to get your response to solve this issue.

```
  tspi->use_hw_based_cs = true;
```

  command1 &= \~(SPI_CS_SW_HW | SPI_CS_SW_VAL);

after add patch to
still got error on my jetson (jetpack 6.2.2)
[ 1033.042378] adis16475 spi0.0: Data Path Overrun.
[ 1033.042392] adis16475 spi0.0: Flash memory update failure.
[ 1033.042397] adis16475 spi0.0: SPI communication error.
[ 1033.042402] adis16475 spi0.0: Standby mode.
[ 1033.042406] adis16475 spi0.0: Sensor failure.
[ 1033.042411] adis16475 spi0.0: Memory failure.
[ 1033.042415] adis16475 spi0.0: Clock error.
[ 1033.042422] adis16475: probe of spi0.0 failed with error -5

When do execute modprobe adis16475, I got:
Seems the cs got something wrong.

DaneLLL · May 22, 2026, 3:05am

Hi,
You may not enable the interface in device tree correctly. Please check which interface is connected and modify device tree. For more examples, please refer to
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lgc_tst · May 22, 2026, 3:15am

This is my Overlay dts, I set the SPI function by sudo /opt/nvidia/jetson-io/jetson-io.py

And passed the spi-loop test. Can you help check if any issue in here?

/dts-v1/;
/plugin/;

/ {
    compatible = "nvidia,p3768-0000+p3767-0000", "nvidia,p3767-0000", "nvidia,tegra234";

    fragment@0 {
        target-path = "/bus@0/spi@3210000";
        __overlay__ {
            status = "okay";
        };
    };

    fragment@1 {
                target-path = "/bus@0/spi@3210000/spi@0";
        
                __overlay__ {
                        status = "disabled";
                };
        };

        fragment@2 {
                target-path = "/bus@0/spi@3210000/spi@1";
        
                __overlay__ {
                        status = "disabled";
                };
        };

    fragment@3 {
        target-path = "/bus@0/spi@3210000";
        __overlay__ {
            status = "okay";
            #address-cells = <1>;
            #size-cells = <0>;
            
            imu@0 {
                status = "okay";
                compatible = "adi,adis16470";
                reg = <0>;
                spi-max-frequency = <2000000>;
                spi-cpha;
                spi-cpol;
                interrupts = <118 1>;
                interrupt-parent =  <&gpio>;
                adi,sync-mode = <0x00>;
                controller-data {
                        nvidia,enable-hw-based-cs;
                        nvidia,rx-clk-tap-delay = <0x11>;
                        nvidia,tx-clk-tap-delay = <0x0>;
                };
            };
        };
    };

};

OVERLAYS /boot/jetson-io-hdr40-user-custom.dtbo,/boot/adis16470_overlay_2.dtbo

I have noted that nvidia,enable-hw-based-cs; may be a issue, and I tried to remove from my dts but helps nothing.

DaneLLL · May 22, 2026, 4:39am

Hi,
Would suggest use Jetpack 6.2.2 r36.5.
On r36.4.3, please apply the patches for a try:

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[GPIO] Fix bit 10(SFIO) been set by gpiod
[SPI] SPI2 DMA transaction failed issue

lgc_tst · May 22, 2026, 5:32am

Currently using jetpack 6.2.2 with r 36.5, spi-tegra114.patch applied, the same issue.

lgc_tst · May 22, 2026, 8:01am

Updates：After E8 80 E9 00 00 00 02 00 00 00, the next 72 00 , should return 40 56(16470) but no data on bus.

lgc_tst · May 25, 2026, 2:57am

For ADIS16470, I used the driver from BSP source, now I can read back the product ID, but after this, it does not as expected by DR burst mod, but as shown below:

lgc_tst · May 25, 2026, 8:16am

HI Dane,
I’m now able to read data from IMU16470, but when I follow the steps from ADIS16475 driver — The Linux Kernel documentation to set buffer, I got no output from hexdump, this is my newest dts. Can you help to identify which part is not correct?

adis16470_overlay.txt (1.4 KB)

KevinFFF · May 25, 2026, 8:44am

Hi lgc_tst,

For the CS related issue, please check if the patch from the following thread could help for your case.
Jetson orin nano SPI Speed not changing - #9 by KevinFFF

lgc_tst · May 26, 2026, 3:54am

Hi Kevin,
I have solved the scs issue and can read data by using cat in_xxxxx_, but when I follow the instruction by: ADIS16475 driver — The Linux Kernel documentation to trigger burst mode, 16470 give wrong data, something like:

00023570 13 00 e1 0c 88 ff b2 18 00 00 00 00 00 00 00 00 |…|
00023580 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 |…|
00023590 00 00 00 00 00 00 00 00 04 a7 ea 0c 88 ff b2 18 |…|
000235a0 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 |…|
*
000235c0 b2 77 f2 0c 88 ff b2 18 00 00 00 00 00 00 00 00 |.w…|
000235d0 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 |…|
000235e0 00 00 00 00 00 00 00 00 4e ad 01 0d 88 ff b2 18 |…N…|
000235f0 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 |…|
*
00023610 84 f6 0d 0d 88 ff b2 18 00 00 00 00 00 00 00 00 |…|
00023620 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 |…|
00023630 00 00 00 00 00 00 00 00 d7 44 18 0d 88 ff b2 18 |…D…|
00023640 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 |…|

Usage examples

Set device trigger in current_trigger, if not already set:

root:/sys/bus/iio/devices/iio:device0> cat trigger/current_trigger

root:/sys/bus/iio/devices/iio:device0> echo adis16505-2-dev0 > trigger/current_trigger
root:/sys/bus/iio/devices/iio:device0> cat trigger/current_trigger
adis16505-2-dev0

Select channels for buffer read:

root:/sys/bus/iio/devices/iio:device0> echo 1 > scan_elements/in_deltavelocity_x_en
root:/sys/bus/iio/devices/iio:device0> echo 1 > scan_elements/in_deltavelocity_y_en
root:/sys/bus/iio/devices/iio:device0> echo 1 > scan_elements/in_deltavelocity_z_en
root:/sys/bus/iio/devices/iio:device0> echo 1 > scan_elements/in_temp0_en

Set the number of samples to be stored in the buffer:

root:/sys/bus/iio/devices/iio:device0> echo 10 > buffer/length

Enable buffer readings:

root:/sys/bus/iio/devices/iio:device0> echo 1 > buffer/enable

Obtain buffered data:

root:/sys/bus/iio/devices/iio:device0> hexdump -C /dev/iio\:device0
...
00001680  01 1f 00 00 ff ff fe ef  00 00 47 bf 00 03 35 55  |..........G...5U|
00001690  01 1f 00 00 ff ff ff d9  00 00 46 f1 00 03 35 35  |..........F...55|
000016a0  01 1f 00 00 ff ff fe fc  00 00 46 cb 00 03 35 7b  |..........F...5{|
000016b0  01 1f 00 00 ff ff fe 41  00 00 47 0d 00 03 35 8b  |.......A..G...5.|
000016c0  01 1f 00 00 ff ff fe 37  00 00 46 b4 00 03 35 90  |.......7..F...5.|
000016d0  01 1d 00 00 ff ff fe 5a  00 00 45 d7 00 03 36 08  |.......Z..E...6.|
000016e0  01 1b 00 00 ff ff fe fb  00 00 45 e7 00 03 36 60  |..........E...6`|
000016f0  01 1a 00 00 ff ff ff 17  00 00 46 bc 00 03 36 de  |..........F...6.|
00001700  01 1a 00 00 ff ff fe 59  00 00 46 d7 00 03 37 b8  |.......Y..F...7.|
00001710  01 1a 00 00 ff ff fe ae  00 00 46 95 00 03 37 ba  |..........F...7.|
00001720  01 1a 00 00 ff ff fe c5  00 00 46 63 00 03 37 9f  |..........Fc..7.|
00001730  01 1a 00 00 ff ff fe 55  00 00 46 89 00 03 37 c1  |.......U..F...7.|
00001740  01 1a 00 00 ff ff fe 31  00 00 46 aa 00 03 37 f7  |.......1..F...7.|
...

See Documentation/iio/iio_devbuf.rst for more information about how buffered data is structured.

Can you help with the issue?

KevinFFF · May 26, 2026, 8:00am

What was the root cause of the previous issue?
Did the patch I provided resolve the problem?

Sorry that we don’t have this module to verify ADIS16470 locally.
If the issue is specific to ADIS16475 driver, please also request your vendor for the help.

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Jetson Orin NX using adis16470 can not read data

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