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Thu, 8 Feb 2024 05:01:49 -0500 Received: from ASHBMBX9.ad.analog.com (10.64.17.10) by ASHBMBX8.ad.analog.com (10.64.17.5) with Microsoft SMTP Server (version=TLS1_2, cipher=TLS_ECDHE_RSA_WITH_AES_256_GCM_SHA384) id 15.2.986.14; Thu, 8 Feb 2024 05:01:48 -0500 Received: from zeus.spd.analog.com (10.66.68.11) by ashbmbx9.ad.analog.com (10.64.17.10) with Microsoft SMTP Server id 15.2.986.14 via Frontend Transport; Thu, 8 Feb 2024 05:01:45 -0500 Received: from rbolboac.ad.analog.com ([10.48.65.135]) by zeus.spd.analog.com (8.15.1/8.15.1) with ESMTP id 418A1UNp027963; Thu, 8 Feb 2024 05:01:36 -0500 From: Ramona Gradinariu To: , , , , , CC: Ramona Gradinariu Subject: [PATCH v3 1/3] docs: iio: Refactor index.rst Date: Thu, 8 Feb 2024 12:01:24 +0200 Message-ID: <20240208100126.183697-2-ramona.gradinariu@analog.com> X-Mailer: git-send-email 2.34.1 In-Reply-To: <20240208100126.183697-1-ramona.gradinariu@analog.com> References: <20240208100126.183697-1-ramona.gradinariu@analog.com> Precedence: bulk X-Mailing-List: linux-kernel@vger.kernel.org List-Id: List-Subscribe: List-Unsubscribe: MIME-Version: 1.0 X-ADIRuleOP-NewSCL: Rule Triggered X-Proofpoint-ORIG-GUID: BAq0eKiqa3JMTUlYJpiAH5QI58jKQYX9 X-Proofpoint-GUID: BAq0eKiqa3JMTUlYJpiAH5QI58jKQYX9 X-Proofpoint-Virus-Version: vendor=baseguard engine=ICAP:2.0.272,Aquarius:18.0.1011,Hydra:6.0.619,FMLib:17.11.176.26 definitions=2024-02-08_01,2024-02-07_01,2023-05-22_02 X-Proofpoint-Spam-Details: rule=outbound_notspam policy=outbound score=0 impostorscore=0 suspectscore=0 phishscore=0 adultscore=0 priorityscore=1501 bulkscore=0 malwarescore=0 clxscore=1015 lowpriorityscore=0 mlxlogscore=834 mlxscore=0 spamscore=0 classifier=spam adjust=0 reason=mlx scancount=1 engine=8.19.0-2401310000 definitions=main-2402080051 X-getmail-retrieved-from-mailbox: INBOX X-GMAIL-THRID: 1790324908876328708 X-GMAIL-MSGID: 1790324908876328708 Refactor index.rst such that it contains a section for generic documentation and a section for Kernel Drivers documentation. Signed-off-by: Ramona Gradinariu --- changes in v3: - new patch Documentation/iio/index.rst | 7 ++++++- 1 file changed, 6 insertions(+), 1 deletion(-) -- 2.34.1 diff --git a/Documentation/iio/index.rst b/Documentation/iio/index.rst index 1b7292c58cd0..db341b45397f 100644 --- a/Documentation/iio/index.rst +++ b/Documentation/iio/index.rst @@ -9,6 +9,11 @@ Industrial I/O iio_configfs - ep93xx_adc +Industrial I/O Kernel Drivers +============================= + +.. toctree:: + :maxdepth: 1 bno055 + ep93xx_adc From patchwork Thu Feb 8 10:01:25 2024 Content-Type: text/plain; charset="utf-8" MIME-Version: 1.0 Content-Transfer-Encoding: 7bit X-Patchwork-Submitter: Ramona Gradinariu X-Patchwork-Id: 198269 Return-Path: Delivered-To: ouuuleilei@gmail.com Received: by 2002:a05:7300:50ea:b0:106:860b:bbdd with SMTP id r10csp62277dyd; Thu, 8 Feb 2024 02:07:59 -0800 (PST) X-Forwarded-Encrypted: i=3; AJvYcCURcO2mnd5VMXm2LrsGOKKw3gwvx6HOqcUF3F3GOg/djm7kZL+TDes4EwT4KGKPkknFb9JwURSVIo2aM/f+q5Zj8f+sqw== X-Google-Smtp-Source: AGHT+IGGQLDLlCYOE4PLR1E7bvxauou5lX7cFt8kEux3fNbssvhfq/3Po5f0GDt7pe2KDneYBzmU X-Received: by 2002:a05:620a:6285:b0:785:a41b:8247 with SMTP id ov5-20020a05620a628500b00785a41b8247mr2703573qkn.33.1707386879571; Thu, 08 Feb 2024 02:07:59 -0800 (PST) ARC-Seal: i=2; a=rsa-sha256; t=1707386879; cv=pass; d=google.com; s=arc-20160816; b=s0G427+6qumWQoJmo2XUoN+TVeMzqq3wnUZE897GeH5ib9K1zZaxoGo8//0tKxwn/t Xiftlb2DG/2cNhUxQXgqizZxGDR58ItTUKsg0+/oTHOCmzHqus/zU8wR9ViDjjnyDcgy H1y4GJ072M6qFWC6xyfps1TlN/0vaZcAT1pRoo2KbA11pa0aT5AGomARsEMF+Y5sfjCi 29gaLr9fVnCXvprw9/d0s8cxd5SMEadEfWzfHMK6MuEne80zRPOkIdCKg1fipX3mvr69 BdeOiZGruNdKMqHqC9dO8YmfqwDWV3ZL7KXQS6QLwPCwsIOrKB4OsJuRGxH5cA4BGVSC 88Lw== ARC-Message-Signature: i=2; a=rsa-sha256; c=relaxed/relaxed; d=google.com; s=arc-20160816; h=content-transfer-encoding:mime-version:list-unsubscribe :list-subscribe:list-id:precedence:references:in-reply-to:message-id :date:subject:cc:to:from:dkim-signature; bh=JcIOnqV+xnvEiy7Tt/3i5INlsQIUUxMJjPkdq0ILnBk=; fh=qn76+4p4Uf9TR1ok/e0kDr3jEQRo+/jHcr27z1HhAGc=; b=EstqDaJ7LtdWo30NypfVyg5/wRXVhC8hoy4QuJYCFWSqdOnJRO9WEhb8LC4UHw1z0e w7FI18WpUHzMqX1oRur1xOt5KIjMLjRDSGqjw4+KgGDGuZvTU0Tk9pxtCmAxuiUbqXg8 9ikFWs3GtDY3RNKI7n4YtT75GDELjoQz0Tg2XLUfVjS7KsqevGssLM04Xh8lh3BJMo/a 4MYjCjf8MCkRCwQWczaeaweCyNJyYDqFjWiIycdM/wPLEHOwa0qMeJK7yq6+Vet6JE70 QYgvHTmoQbrcHiLkm5/IWtWm/NZB2xRRJMqQpcc8U/krUYTvf0P0B3HjFxKgqdAB6A06 RBtg==; dara=google.com ARC-Authentication-Results: i=2; mx.google.com; dkim=pass header.i=@analog.com header.s=DKIM header.b=HNEusqfJ; arc=pass (i=1 spf=pass spfdomain=analog.com dkim=pass dkdomain=analog.com dmarc=pass fromdomain=analog.com); spf=pass (google.com: domain of linux-kernel+bounces-57818-ouuuleilei=gmail.com@vger.kernel.org designates 2604:1380:45d1:ec00::1 as permitted sender) smtp.mailfrom="linux-kernel+bounces-57818-ouuuleilei=gmail.com@vger.kernel.org"; dmarc=pass (p=NONE sp=NONE dis=NONE) header.from=analog.com X-Forwarded-Encrypted: i=2; AJvYcCVlDTFMVtwq/A5onrwFtbFl3i3K2mPIBGW5shiphZfz0473PaxHvtBdMeyVqxC28a+GdONoPosf+/NYriKUBSZnqvCABQ== Received: from ny.mirrors.kernel.org (ny.mirrors.kernel.org. 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Signed-off-by: Ramona Gradinariu --- changes in v3: - new patch Documentation/iio/iio_devbuf.rst | 121 +++++++++++++++++++++++++++++++ Documentation/iio/index.rst | 1 + 2 files changed, 122 insertions(+) create mode 100644 Documentation/iio/iio_devbuf.rst -- 2.34.1 diff --git a/Documentation/iio/iio_devbuf.rst b/Documentation/iio/iio_devbuf.rst new file mode 100644 index 000000000000..0563b65316cb --- /dev/null +++ b/Documentation/iio/iio_devbuf.rst @@ -0,0 +1,121 @@ +.. SPDX-License-Identifier: GPL-2.0 + +============================= +Industrial IIO device buffers +============================= + +1. Overview +=========== + +The Industrial I/O core offers a way for continuous data capture based on a +trigger source. Multiple data channels can be read at once from +/dev/iio:deviceX character device node, thus reducing the CPU load. + +2. Buffer attributes +==================== + +An IIO buffer has an associated attributes directory under +/sys/bus/iio/iio:deviceX/buffer/. Here are some of the existing attributes: + +Length +------ + +Read / Write attribute which states the total number of data samples (capacity) +that can be stored by the buffer. + +Enable +------ + +Read / Write attribute which starts / stops the buffer capture. This file should +be written last, after length and selection of scan elements. + +Watermark +--------- + +Read / Write positive integer attribute specifying the maximum number of scan +elements to wait for. + +Poll will block until the watermark is reached. + +Blocking read will wait until the minimum between the requested read amount or +the low water mark is available. + +Non-blocking read will retrieve the available samples from the buffer even if +there are less samples then watermark level. This allows the application to +block on poll with a timeout and read the available samples after the timeout +expires and thus have a maximum delay guarantee. + +Data available +-------------- + +Read-only attribute indicating the bytes of data available in the buffer. In the +case of an output buffer, this indicates the amount of empty space available to +write data to. In the case of an input buffer, this indicates the amount of data +available for reading. + +3. Scan elements +================ + +The meta information associated with a channel reading placed in a buffer is +called a scan element. The important bits configuring scan elements are exposed +to userspace applications via the /sys/bus/iio/iio:deviceX/scan_elements/ +directory. This directory contains attributes of the following form: + +Enable +------ + +Read/ Write attribute used for enabling a channel. If and only if its value +is non zero, then a triggered capture will contain data samples for this +channel. + +Index +----- + +Read-only positive integer attribute specifying the position of the channel in +the buffer. Note these are not dependent on what is enabled and may not be +contiguous. Thus for user-space to establish the full layout these must be used +in conjunction with all _en attributes to establish which channels are present, +and the relevant _type attributes to establish the data storage format. + +Type +---- + +Read-only attribute containing the description of the scan element data storage +within the buffer and hence the form in which it is read from user space. Format +is [be|le]:[s|u]bits/storagebits[Xrepeat][>>shift], where: + +- **be** or **le** specifies big or little endian. +- **s** or **u**, specifies if signed (2's complement) or unsigned. +- **bits**, is the number of valid data bits. +- **storagebits**, is the number of bits (after padding) that it occupies in the + buffer. +- **repeat**, specifies the number of bits/storagebits repetitions. When the + repeat element is 0 or 1, then the repeat value is omitted. +- **shift**, if specified, is the shift that needs to be applied prior to + masking out unused bits. + +For example, a driver for a 3-axis accelerometer with 12 bit resolution where +data is stored in two 8-bits registers as follows: + +.. code-block:: bash + + 7 6 5 4 3 2 1 0 + +---+---+---+---+---+---+---+---+ + |D3 |D2 |D1 |D0 | X | X | X | X | (LOW byte, address 0x06) + +---+---+---+---+---+---+---+---+ + + 7 6 5 4 3 2 1 0 + +---+---+---+---+---+---+---+---+ + |D11|D10|D9 |D8 |D7 |D6 |D5 |D4 | (HIGH byte, address 0x07) + +---+---+---+---+---+---+---+---+ + +will have the following scan element type for each axis: + +.. code-block:: bash + + $ cat /sys/bus/iio/devices/iio:device0/scan_elements/in_accel_y_type + le:s12/16>>4 + +A user space application will interpret data samples read from the buffer as two +byte little endian signed data, that needs a 4 bits right shift before masking +out the 12 valid bits of data. diff --git a/Documentation/iio/index.rst b/Documentation/iio/index.rst index db341b45397f..206a0aff5ca1 100644 --- a/Documentation/iio/index.rst +++ b/Documentation/iio/index.rst @@ -8,6 +8,7 @@ Industrial I/O :maxdepth: 1 iio_configfs + iio_devbuf Industrial I/O Kernel Drivers ============================= From patchwork Thu Feb 8 10:01:26 2024 Content-Type: text/plain; charset="utf-8" MIME-Version: 1.0 Content-Transfer-Encoding: 8bit X-Patchwork-Submitter: Ramona Gradinariu X-Patchwork-Id: 198284 Return-Path: Delivered-To: ouuuleilei@gmail.com Received: by 2002:a05:7300:50ea:b0:106:860b:bbdd with SMTP id r10csp75633dyd; Thu, 8 Feb 2024 02:39:13 -0800 (PST) X-Google-Smtp-Source: AGHT+IE0nKrn/VKfo45qW7Rce7fdYQJUVC6GNoRWovM9XTpReTUdRQkQ4FEKU34gncZKtVW7WFku X-Received: by 2002:a05:6a20:748d:b0:19e:a335:7b12 with SMTP id p13-20020a056a20748d00b0019ea3357b12mr3565110pzd.4.1707388753591; Thu, 08 Feb 2024 02:39:13 -0800 (PST) ARC-Seal: i=2; a=rsa-sha256; t=1707388753; cv=pass; d=google.com; s=arc-20160816; b=E1C7gjqQbch/DxRH/Rj+nX7mRk6y61+6kPMTqpjv/YHtelHog//V05z2S+cDDu9OIS OhhK+ILsBp0Oqt2//ynUW5gNcfSDOGAfRIa440bmffM1Ez+h5T94iVIYnGYjPYc0hA6m o+qv1uSlO9qnlPw7ohkBmGdeERbFTy8FO464v51yR3xul5qg5+dJ8pwfQ3X0vZ0xxuZF +pqm/dIu6whjvYstK/a9DmAfFN07PGhv6+okLWtP4fMm2Zjeemh2wTybvq5PwH68vDXy FPEHhTme9Qv2E8FSnIRchCBkZcbxmKUsqOauwXB3UoYhcx8TnrwVTgtVr8W6EuB0k6Wc aAig== ARC-Message-Signature: i=2; a=rsa-sha256; c=relaxed/relaxed; d=google.com; s=arc-20160816; h=content-transfer-encoding:mime-version:list-unsubscribe :list-subscribe:list-id:precedence:references:in-reply-to:message-id :date:subject:cc:to:from:dkim-signature; bh=OODgPUbIiiX/r5s0AOv2sTN9wJH2slykPTsA27jtMoY=; fh=ao0w1TXes4xZrwKm1hE3+Zcwn8E+5/Z6nZEEpyPvYmk=; b=A59Dr1wTOlBA/ywE6djzGNPzJ/JVP8JlKzG1A4Pj91KeId+X6pE7a212wD4yT0U9me GCkbplkbzeSjX+tXY8lSjQkQf1Nhz6WouUAfQ1MLnGhi8pEJGxICyXfIUmXArXuk6lR3 i1JFTRFqUSgGHXF7GecADYl2xW/tZQFBkMiHfq/b4ynCrrH6UaPxSDM+6BHW4pmXBFdi ShCusMaALOsIkbsp6p6/EjYbT4ct/Yb+rzPfAJRTodbdVXs9mUt/1Iq6xHLR8S9dUzUA CbU1gRfdjnhNL36c3nvCuUFdnmENDxZJHJXdao3sJde8uJu0s4ycGukiGRAYzCUk1jfH AxIg==; dara=google.com ARC-Authentication-Results: i=2; mx.google.com; dkim=pass header.i=@analog.com header.s=DKIM header.b=r3NepsB4; arc=pass (i=1 spf=pass spfdomain=analog.com dkim=pass dkdomain=analog.com dmarc=pass fromdomain=analog.com); spf=pass (google.com: domain of linux-kernel+bounces-57819-ouuuleilei=gmail.com@vger.kernel.org designates 2604:1380:40f1:3f00::1 as permitted sender) smtp.mailfrom="linux-kernel+bounces-57819-ouuuleilei=gmail.com@vger.kernel.org"; dmarc=pass (p=NONE sp=NONE dis=NONE) header.from=analog.com X-Forwarded-Encrypted: i=2; AJvYcCVjH7MMWTeSZrH7p/rnXMa8j4ub5todcYaRUnr0RBWXehwco8nxu4GdwbCWob/FfKxl1RHW10LlicQN6Ig0beRlZIc5rg== Received: from sy.mirrors.kernel.org (sy.mirrors.kernel.org. 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Thu, 8 Feb 2024 05:02:12 -0500 Received: from ASHBCASHYB4.ad.analog.com (10.64.17.132) by ASHBMBX9.ad.analog.com (10.64.17.10) with Microsoft SMTP Server (version=TLS1_2, cipher=TLS_ECDHE_RSA_WITH_AES_256_GCM_SHA384) id 15.2.986.14; Thu, 8 Feb 2024 05:02:11 -0500 Received: from ASHBMBX9.ad.analog.com (10.64.17.10) by ASHBCASHYB4.ad.analog.com (10.64.17.132) with Microsoft SMTP Server (version=TLS1_2, cipher=TLS_ECDHE_RSA_WITH_AES_256_GCM_SHA384) id 15.2.986.14; Thu, 8 Feb 2024 05:01:47 -0500 Received: from zeus.spd.analog.com (10.66.68.11) by ashbmbx9.ad.analog.com (10.64.17.10) with Microsoft SMTP Server id 15.2.986.14 via Frontend Transport; Thu, 8 Feb 2024 05:01:47 -0500 Received: from rbolboac.ad.analog.com ([10.48.65.135]) by zeus.spd.analog.com (8.15.1/8.15.1) with ESMTP id 418A1UNr027963; Thu, 8 Feb 2024 05:01:38 -0500 From: Ramona Gradinariu To: , , , , , CC: Ramona Gradinariu Subject: [PATCH v3 3/3] docs: iio: add documentation for adis16475 driver Date: Thu, 8 Feb 2024 12:01:26 +0200 Message-ID: <20240208100126.183697-4-ramona.gradinariu@analog.com> X-Mailer: git-send-email 2.34.1 In-Reply-To: <20240208100126.183697-1-ramona.gradinariu@analog.com> References: <20240208100126.183697-1-ramona.gradinariu@analog.com> Precedence: bulk X-Mailing-List: linux-kernel@vger.kernel.org List-Id: List-Subscribe: List-Unsubscribe: MIME-Version: 1.0 X-ADIRuleOP-NewSCL: Rule Triggered X-Proofpoint-ORIG-GUID: 6Puik1dAj2zr2zFicsJRNQfruXdmb7JD X-Proofpoint-GUID: 6Puik1dAj2zr2zFicsJRNQfruXdmb7JD X-Proofpoint-Virus-Version: vendor=baseguard engine=ICAP:2.0.272,Aquarius:18.0.1011,Hydra:6.0.619,FMLib:17.11.176.26 definitions=2024-02-08_01,2024-02-07_01,2023-05-22_02 X-Proofpoint-Spam-Details: rule=outbound_notspam policy=outbound score=0 lowpriorityscore=0 adultscore=0 spamscore=0 suspectscore=0 impostorscore=0 bulkscore=0 mlxlogscore=999 malwarescore=0 phishscore=0 clxscore=1015 priorityscore=1501 mlxscore=0 classifier=spam adjust=0 reason=mlx scancount=1 engine=8.19.0-2401310000 definitions=main-2402080052 X-getmail-retrieved-from-mailbox: INBOX X-GMAIL-THRID: 1790326869687922395 X-GMAIL-MSGID: 1790326869687922395 Add documentation for adis16475 driver which describes the driver device files and shows how the user may use the ABI for various scenarios (configuration, measurement, etc.). Signed-off-by: Ramona Gradinariu --- changes in v3: - fixed wrapping - added sentence showing device files location - fixed typo in device file names by adding the in_ prefix - added new section for channels processed values - rephrased the trigger setting section - gave reference to iio_devbuf documentation for raw data Documentation/iio/adis16475.rst | 381 ++++++++++++++++++++++++++++++++ Documentation/iio/index.rst | 1 + 2 files changed, 382 insertions(+) create mode 100644 Documentation/iio/adis16475.rst -- 2.34.1 diff --git a/Documentation/iio/adis16475.rst b/Documentation/iio/adis16475.rst new file mode 100644 index 000000000000..192ec1225de5 --- /dev/null +++ b/Documentation/iio/adis16475.rst @@ -0,0 +1,381 @@ +.. SPDX-License-Identifier: GPL-2.0 + +================ +ADIS16475 driver +================ + +This driver supports Analog Device's IMUs on SPI bus. + +1. Supported devices +==================== + +* `ADIS16465 `_ +* `ADIS16467 `_ +* `ADIS16470 `_ +* `ADIS16475 `_ +* `ADIS16477 `_ +* `ADIS16500 `_ +* `ADIS16505 `_ +* `ADIS16507 `_ + +Each supported device 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 IMU device 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. + +2. Device attributes +==================== + +Accelerometer, gyroscope measures are always provided. Furthermore, the driver +offers the capability to retrieve the delta angle and the delta velocity +measurements computed by the device. + +The delta angle measurements represent a calculation of angular displacement +between each sample update, while the delta velocity measurements represent a +calculation of linear velocity change between each sample update. + +Finally, temperature data are provided which show a coarse measurement of +the temperature inside of the IMU device. This data is most useful for +monitoring relative changes in the thermal environment. + +The signal chain of each inertial sensor (accelerometers and gyroscopes) +includes the application of unique correction formulas, which are derived from +extensive characterization of bias, sensitivity, alignment, response to linear +acceleration (gyroscopes), and point of percussion (accelerometer location) +over a temperature range of −40°C to +85°C, for each ADIS device. These +correction formulas are not accessible, but users do have the opportunity to +adjust the bias for each sensor individually through the calibbias attribute. + +Each IIO device, has a device folder under /sys/bus/iio/devices/iio:deviceX, +where X is the IIO index of the device. Under these folders reside a set of +device files, depending on the characteristics and features of the hardware +device in questions. These files are consistently generalized and documented in +the IIO ABI documentation. + +The following tables show the adis16475 related device files, found in the +specific device folder path /sys/bus/iio/devices/iio:deviceX. + ++-------------------------------------------+----------------------------------------------------------+ +| 3-Axis Accelerometer related device files | Description | ++-------------------------------------------+----------------------------------------------------------+ +| in_accel_scale | Scale for the accelerometer channels. | ++-------------------------------------------+----------------------------------------------------------+ +| in_accel_x_calibbias | Calibration offset for the X-axis accelerometer channel. | ++-------------------------------------------+----------------------------------------------------------+ +| in_accel_calibbias_x | x-axis acceleration offset correction | ++-------------------------------------------+----------------------------------------------------------+ +| in_accel_x_raw | Raw X-axis accelerometer channel value. | ++-------------------------------------------+----------------------------------------------------------+ +| in_accel_calibbias_y | y-axis acceleration offset correction | ++-------------------------------------------+----------------------------------------------------------+ +| in_accel_y_raw | Raw Y-axis accelerometer channel value. | ++-------------------------------------------+----------------------------------------------------------+ +| in_accel_z_calibbias | Calibration offset for the Z-axis accelerometer channel. | ++-------------------------------------------+----------------------------------------------------------+ +| in_accel_z_raw | Raw Z-axis accelerometer channel value. | ++-------------------------------------------+----------------------------------------------------------+ +| in_deltavelocity_scale | Scale for delta velocity channels. | ++-------------------------------------------+----------------------------------------------------------+ +| in_deltavelocity_x_raw | Raw X-axis delta velocity channel value. | ++-------------------------------------------+----------------------------------------------------------+ +| in_deltavelocity_y_raw | Raw Y-axis delta velocity channel value. | ++-------------------------------------------+----------------------------------------------------------+ +| in_deltavelocity_z_raw | Raw Z-axis delta velocity channel value. | ++-------------------------------------------+----------------------------------------------------------+ + ++---------------------------------------+------------------------------------------------------+ +| 3-Axis Gyroscope related device files | Description | ++---------------------------------------+------------------------------------------------------+ +| in_anglvel_scale | Scale for the gyroscope channels. | ++---------------------------------------+------------------------------------------------------+ +| in_anglvel_x_calibbias | Calibration offset for the X-axis gyroscope channel. | ++---------------------------------------+------------------------------------------------------+ +| in_anglvel_calibbias_x | x-axis gyroscope offset correction | ++---------------------------------------+------------------------------------------------------+ +| in_anglvel_x_raw | Raw X-axis gyroscope channel value. | ++---------------------------------------+------------------------------------------------------+ +| in_anglvel_calibbias_y | y-axis gyroscope offset correction | ++---------------------------------------+------------------------------------------------------+ +| in_anglvel_y_raw | Raw Y-axis gyroscope channel value. | ++---------------------------------------+------------------------------------------------------+ +| in_anglvel_z_calibbias | Calibration offset for the Z-axis gyroscope channel. | ++---------------------------------------+------------------------------------------------------+ +| in_anglvel_z_raw | Raw Z-axis gyroscope channel value. | ++---------------------------------------+------------------------------------------------------+ +| in_deltaangl_scale | Scale for delta angle channels. | ++---------------------------------------+------------------------------------------------------+ +| in_deltaangl_x_raw | Raw X-axis delta angle channel value. | ++---------------------------------------+------------------------------------------------------+ +| in_deltaangl_y_raw | Raw Y-axis delta angle channel value. | ++---------------------------------------+------------------------------------------------------+ +| in_deltaangl_z_raw | Raw Z-axis delta angle channel value. | ++---------------------------------------+------------------------------------------------------+ + ++----------------------------------+-------------------------------------------+ +| Temperature sensor related files | Description | ++----------------------------------+-------------------------------------------+ +| in_temp0_raw | Raw temperature channel value. | ++----------------------------------+-------------------------------------------+ +| in_temp0_scale | Scale for the temperature sensor channel. | ++----------------------------------+-------------------------------------------+ + ++-------------------------------+---------------------------------------------------------+ +| Miscellaneous device files | Description | ++-------------------------------+---------------------------------------------------------+ +| name | Name of the IIO device. | ++-------------------------------+---------------------------------------------------------+ +| sampling_frequency | Currently selected sample rate. | ++-------------------------------+---------------------------------------------------------+ +| filter_low_pass_3db_frequency | Bandwidth for the accelerometer and gyroscope channels. | ++-------------------------------+---------------------------------------------------------+ + +The following table shows the adis16475 related device debug files, found in the +specific device debug folder path /sys/kernel/debug/iio/iio:deviceX. + ++----------------------+-------------------------------------------------------------------------+ +| Debugfs device files | Description | ++----------------------+-------------------------------------------------------------------------+ +| serial_number | The serial number of the chip in hexadecimal format. | ++----------------------+-------------------------------------------------------------------------+ +| product_id | Chip specific product id (e.g. 16475, 16500, 16505, etc.). | ++----------------------+-------------------------------------------------------------------------+ +| flash_count | The number of flash writes performed on the device. | ++----------------------+-------------------------------------------------------------------------+ +| firmware_revision | String containing the firmware revision in the following format ##.##. | ++----------------------+-------------------------------------------------------------------------+ +| firmware_date | String containing the firmware date in the following format mm-dd-yyyy. | ++----------------------+-------------------------------------------------------------------------+ + +Channels processed values +------------------------- + +A channel value can be read from its _raw attribute. The value returned is the +raw value as reported by the devices. To get the processed value of the channel, +apply the following formula: + +.. code-block:: bash + + processed value = (_raw + _offset) * _scale + +Where _offset and _scale are device attributes. If no _offset attribute is +present, simply assume its value is 0. + +The adis16475 driver offers data for 5 types of channels, the table below shows +the measurement units for the processed value, which are defined by the IIO +framework: + ++-------------------------------------+---------------------------+ +| Channel type | Measurement unit | ++-------------------------------------+---------------------------+ +| Acceleration on X, Y, and Z axis | Meters per Second squared | ++-------------------------------------+---------------------------+ +| Angular velocity on X, Y and Z axis | Radians per second | ++-------------------------------------+---------------------------+ +| Delta velocity on X. Y, and Z axis | Meters per Second | ++-------------------------------------+---------------------------+ +| Delta angle on X, Y, and Z axis | Radians | ++-------------------------------------+---------------------------+ +| Temperature | Millidegrees Celsius | ++-------------------------------------+---------------------------+ + +Usage examples +-------------- + +Show device name: + +.. code-block:: bash + + root:/sys/bus/iio/devices/iio:device0> cat name + adis16505-2 + +Show accelerometer channels value: + +.. code-block:: bash + + root:/sys/bus/iio/devices/iio:device0> cat in_accel_x_raw + -275924 + root:/sys/bus/iio/devices/iio:device0> cat in_accel_y_raw + -30142222 + root:/sys/bus/iio/devices/iio:device0> cat in_accel_z_raw + 261265769 + root:/sys/bus/iio/devices/iio:device0> cat in_accel_scale + 0.000000037 + +- X-axis acceleration = in_accel_x_raw * in_accel_scale = −0.010209188 m/s^2 +- Y-axis acceleration = in_accel_y_raw * in_accel_scale = −1.115262214 m/s^2 +- Z-axis acceleration = in_accel_z_raw * in_accel_scale = 9.666833453 m/s^2 + +Show gyroscope channels value: + +.. code-block:: bash + + root:/sys/bus/iio/devices/iio:device0> cat in_anglvel_x_raw + -3324626 + root:/sys/bus/iio/devices/iio:device0> cat in_anglvel_y_raw + 1336980 + root:/sys/bus/iio/devices/iio:device0> cat in_anglvel_z_raw + -602983 + root:/sys/bus/iio/devices/iio:device0> cat in_anglvel_scale + 0.000000006 + +- X-axis angular velocity = in_anglvel_x_raw * in_anglvel_scale = −0.019947756 rad/s +- Y-axis angular velocity = in_anglvel_y_raw * in_anglvel_scale = 0.00802188 rad/s +- Z-axis angular velocity = in_anglvel_z_raw * in_anglvel_scale = −0.003617898 rad/s + +Set calibration offset for accelerometer channels: + +.. code-block:: bash + + root:/sys/bus/iio/devices/iio:device0> cat in_accel_x_calibbias + 0 + + root:/sys/bus/iio/devices/iio:device0> echo 5000 > in_accel_x_calibbias + root:/sys/bus/iio/devices/iio:device0> cat in_accel_x_calibbias + 5000 + +Set calibration offset for gyroscope channels: + +.. code-block:: bash + + root:/sys/bus/iio/devices/iio:device0> cat in_anglvel_y_calibbias + 0 + + root:/sys/bus/iio/devices/iio:device0> echo -5000 > in_anglvel_y_calibbias + root:/sys/bus/iio/devices/iio:device0> cat in_anglvel_y_calibbias + -5000 + +Set sampling frequency: + +.. code-block:: bash + + root:/sys/bus/iio/devices/iio:device0> cat sampling_frequency + 2000.000000 + + root:/sys/bus/iio/devices/iio:device0> echo 1000 > sampling_frequency + 1000.000000 + +Set bandwidth for accelerometer and gyroscope: + +.. code-block:: bash + + root:/sys/bus/iio/devices/iio:device0> cat filter_low_pass_3db_frequency + 720 + + root:/sys/bus/iio/devices/iio:device0> echo 360 > filter_low_pass_3db_frequency + root:/sys/bus/iio/devices/iio:device0> cat filter_low_pass_3db_frequency + 360 + +Show serial number: + +.. code-block:: bash + + root:/sys/kernel/debug/iio/iio:device0> cat serial_number + 0x04f9 + +Show product id: + +.. code-block:: bash + + root:/sys/kernel/debug/iio/iio:device0> cat product_id + 16505 + +Show flash count: + +.. code-block:: bash + + root:/sys/kernel/debug/iio/iio:device0> cat flash_count + 150 + +Show firmware revision: + +.. code-block:: bash + + root:/sys/kernel/debug/iio/iio:device0> cat firmware_revision + 1.6 + +Show firmware date: + +.. code-block:: bash + + root:/sys/kernel/debug/iio/iio:device0> cat firmware_date + 06-27-2019 + +3. Device buffers +================= + +This driver supports IIO buffers. + +All devices support retrieving the raw acceleration, gyroscope and temperature +measurements using buffers. + +The following device families also support retrieving the delta velocity, delta +angle and temperature measurements using buffers: + - ADIS16477 + - ADIS16500 + - ADIS16505 + - ADIS16507 + +However, when retrieving acceleration or gyroscope data using buffers, delta +readings will not be available and vice versa. + +Usage examples +-------------- + +Set device trigger in current_trigger, if not already set: + +.. code-block:: bash + + 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: + +.. code-block:: bash + + 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: + +.. code-block:: bash + + root:/sys/bus/iio/devices/iio:device0> echo 10 > buffer/length + +Enable buffer readings: + +.. code-block:: bash + + root:/sys/bus/iio/devices/iio:device0> echo 1 > buffer/enable + +Obtain buffered data: + +.. code-block:: bash + + 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. diff --git a/Documentation/iio/index.rst b/Documentation/iio/index.rst index 206a0aff5ca1..30b09eefe75e 100644 --- a/Documentation/iio/index.rst +++ b/Documentation/iio/index.rst @@ -16,5 +16,6 @@ Industrial I/O Kernel Drivers .. toctree:: :maxdepth: 1 + adis16475 bno055 ep93xx_adc