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Mon, 17 Feb 2025 07:59:41 -0500 From: Robert Budai To: Nuno Sa , Ramona Gradinariu , Antoniu Miclaus , Robert Budai , Lars-Peter Clausen , Michael Hennerich , Jonathan Cameron , Rob Herring , Krzysztof Kozlowski , Conor Dooley , Jonathan Corbet , , , , Subject: [RESEND PATCH v8 6/6] docs: iio: add documentation for adis16550 driver Date: Mon, 17 Feb 2025 12:57:50 +0200 Message-ID: <20250217105753.605465-7-robert.budai@analog.com> X-Mailer: git-send-email 2.34.1 In-Reply-To: <20250217105753.605465-1-robert.budai@analog.com> References: <20250217105753.605465-1-robert.budai@analog.com> Precedence: bulk X-Mailing-List: linux-kernel@vger.kernel.org List-Id: List-Subscribe: List-Unsubscribe: MIME-Version: 1.0 Content-Type: text/plain; charset="utf-8" Content-Transfer-Encoding: quoted-printable X-ADIRuleOP-NewSCL: Rule Triggered X-Authority-Analysis: v=2.4 cv=a5XK9VSF c=1 sm=1 tr=0 ts=67b332c6 cx=c_pps a=3WNzaoukacrqR9RwcOSAdA==:117 a=3WNzaoukacrqR9RwcOSAdA==:17 a=IkcTkHD0fZMA:10 a=T2h4t0Lz3GQA:10 a=gAnH3GRIAAAA:8 a=fAjUVFDDO8eWv5JNfJ0A:9 a=3ZKOabzyN94A:10 a=QEXdDO2ut3YA:10 a=oVHKYsEdi7-vN-J5QA_j:22 X-Proofpoint-GUID: Lp3yd6BTTx8RqDgN6-AKMJhwEZitmEWN X-Proofpoint-ORIG-GUID: Lp3yd6BTTx8RqDgN6-AKMJhwEZitmEWN X-Proofpoint-Virus-Version: vendor=baseguard engine=ICAP:2.0.293,Aquarius:18.0.1057,Hydra:6.0.680,FMLib:17.12.68.34 definitions=2025-02-17_05,2025-02-13_01,2024-11-22_01 X-Proofpoint-Spam-Details: rule=outbound_notspam policy=outbound score=0 impostorscore=0 phishscore=0 spamscore=0 mlxscore=0 clxscore=1015 priorityscore=1501 suspectscore=0 lowpriorityscore=0 malwarescore=0 bulkscore=0 adultscore=0 mlxlogscore=999 classifier=spam authscore=0 authtc=n/a authcc= route=outbound adjust=0 reason=mlx scancount=1 engine=8.19.0-2501170000 definitions=main-2502170114 Add documentation for adis16550 driver which describes the driver device files and shows how the user may use the ABI for various scenarios (configuration, measurement, etc.). Co-developed-by: Antoniu Miclaus Signed-off-by: Antoniu Miclaus Signed-off-by: Ramona Gradinariu Signed-off-by: Robert Budai --- v8: - corrected subsection numbering Documentation/iio/adis16550.rst | 376 ++++++++++++++++++++++++++++++++ Documentation/iio/index.rst | 1 + 2 files changed, 377 insertions(+) create mode 100644 Documentation/iio/adis16550.rst diff --git a/Documentation/iio/adis16550.rst b/Documentation/iio/adis16550.= rst new file mode 100644 index 000000000..25db7b806 --- /dev/null +++ b/Documentation/iio/adis16550.rst @@ -0,0 +1,376 @@ +.. SPDX-License-Identifier: GPL-2.0 + +=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D +ADIS16550 driver +=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D + +This driver supports Analog Device's IMUs on SPI bus. + +1. Supported devices +=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D + +* `ADIS16550 `_ + +The ADIS16550 is a complete inertial system that includes a triaxis gyrosc= ope +and a triaxis accelerometer. The factory calibration characterizes each se= nsor for +sensitivity, bias, and alignment. As a result, each sensor has its own dyn= amic +compensation formulas that provide accurate sensor measurements. + +2. Device attributes +=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D + +Accelerometer, gyroscope measurements are always provided. Furthermore, the +driver offers the capability to retrieve the delta angle and the delta vel= ocity +measurements computed by the device. + +The delta angle measurements represent a calculation of angular displaceme= nt +between each sample update, while the delta velocity measurements represen= t 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. + +Each IIO device, has a device folder under ``/sys/bus/iio/devices/iio:devi= ceX``, +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 document= ed in +the IIO ABI documentation. + +The following tables show the adis16550 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_filter_low_pass_3db_frequency | Bandwidth for the accelerome= ter channels. | ++-------------------------------------------+-----------------------------= -----------------------------+ +| in_accel_x_calibbias | Calibration offset for the X= -axis accelerometer channel. | ++-------------------------------------------+-----------------------------= -----------------------------+ +| in_accel_x_calibscale | Calibration scale for the X-= axis accelerometer channel. | ++-------------------------------------------+-----------------------------= -----------------------------+ +| in_accel_x_raw | Raw X-axis accelerometer cha= nnel value. | ++-------------------------------------------+-----------------------------= -----------------------------+ +| in_accel_y_calibbias | Calibration offset for the Y= -axis accelerometer channel. | ++-------------------------------------------+-----------------------------= -----------------------------+ +| in_accel_y_calibscale | Calibration scale for the Y-= axis accelerometer channel. | ++-------------------------------------------+-----------------------------= -----------------------------+ +| in_accel_y_raw | Raw Y-axis accelerometer cha= nnel value. | ++-------------------------------------------+-----------------------------= -----------------------------+ +| in_accel_z_calibbias | Calibration offset for the Z= -axis accelerometer channel. | ++-------------------------------------------+-----------------------------= -----------------------------+ +| in_accel_z_calibscale | Calibration scale for the Z-= axis accelerometer channel. | ++-------------------------------------------+-----------------------------= -----------------------------+ +| in_accel_z_raw | Raw Z-axis accelerometer cha= nnel value. | ++-------------------------------------------+-----------------------------= -----------------------------+ +| in_deltavelocity_scale | Scale for delta velocity cha= nnels. | ++-------------------------------------------+-----------------------------= -----------------------------+ +| in_deltavelocity_x_raw | Raw X-axis delta velocity ch= annel value. | ++-------------------------------------------+-----------------------------= -----------------------------+ +| in_deltavelocity_y_raw | Raw Y-axis delta velocity ch= annel value. | ++-------------------------------------------+-----------------------------= -----------------------------+ +| in_deltavelocity_z_raw | Raw Z-axis delta velocity ch= annel value. | ++-------------------------------------------+-----------------------------= -----------------------------+ + ++--------------------------------------------+----------------------------= --------------------------+ +| 3-Axis Gyroscope related device files | Description = | ++--------------------------------------------+----------------------------= --------------------------+ +| in_anglvel_scale | Scale for the gyroscope cha= nnels. | ++--------------------------------------------+----------------------------= --------------------------+ +| in_anglvel_filter_low_pass_3db_frequency | Scale for the gyroscope cha= nnels. | ++--------------------------------------------+----------------------------= --------------------------+ +| in_anglvel_x_calibbias | Calibration offset for the = X-axis gyroscope channel. | ++--------------------------------------------+----------------------------= --------------------------+ +| in_anglvel_x_calibscale | Calibration scale for the X= -axis gyroscope channel. | ++--------------------------------------------+----------------------------= --------------------------+ +| in_anglvel_x_raw | Raw X-axis gyroscope channe= l value. | ++--------------------------------------------+----------------------------= --------------------------+ +| in_anglvel_y_calibbias | Calibration offset for the = Y-axis gyroscope channel. | ++--------------------------------------------+----------------------------= --------------------------+ +| in_anglvel_y_calibscale | Calibration scale for the Y= -axis gyroscope channel. | ++--------------------------------------------+----------------------------= --------------------------+ +| in_anglvel_y_raw | Raw Y-axis gyroscope channe= l value. | ++--------------------------------------------+----------------------------= --------------------------+ +| in_anglvel_z_calibbias | Calibration offset for the = Z-axis gyroscope channel. | ++--------------------------------------------+----------------------------= --------------------------+ +| in_anglvel_z_calibscale | Calibration scale for the Z= -axis gyroscope channel. | ++--------------------------------------------+----------------------------= --------------------------+ +| in_anglvel_z_raw | Raw Z-axis gyroscope channe= l value. | ++--------------------------------------------+----------------------------= --------------------------+ +| in_deltaangl_scale | Scale for delta angle chann= els. | ++--------------------------------------------+----------------------------= --------------------------+ +| in_deltaangl_x_raw | Raw X-axis delta angle chan= nel value. | ++--------------------------------------------+----------------------------= --------------------------+ +| in_deltaangl_y_raw | Raw Y-axis delta angle chan= nel value. | ++--------------------------------------------+----------------------------= --------------------------+ +| in_deltaangl_z_raw | Raw Z-axis delta angle chan= nel value. | ++--------------------------------------------+----------------------------= --------------------------+ + ++----------------------------------+--------------------------------------= -----+ +| Temperature sensor related files | Description = | ++----------------------------------+--------------------------------------= -----+ +| in_temp0_raw | Raw temperature channel value. = | ++----------------------------------+--------------------------------------= -----+ +| in_temp0_offset | Offset for the temperature sensor cha= nnel.| ++----------------------------------+--------------------------------------= -----+ +| in_temp0_scale | Scale for the temperature sensor chan= nel. | ++----------------------------------+--------------------------------------= -----+ + ++----------------------------+--------------------------------------------= ------------------------------------+ +| Miscellaneous device files | Description = | ++----------------------------+--------------------------------------------= ------------------------------------+ +| name | Name of the IIO device. = | ++----------------------------+--------------------------------------------= ------------------------------------+ +| sampling_frequency | Currently selected sample rate. = | ++----------------------------+--------------------------------------------= ------------------------------------+ + +The following table shows the adis16550 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 form= at. | ++----------------------+--------------------------------------------------= -----------------------+ +| product_id | Chip specific product id (16550). = | ++----------------------+--------------------------------------------------= -----------------------+ +| flash_count | The number of flash writes performed on the devic= e. | ++----------------------+--------------------------------------------------= -----------------------+ +| firmware_revision | String containing the firmware revision in the fo= llowing format ##.##. | ++----------------------+--------------------------------------------------= -----------------------+ +| firmware_date | String containing the firmware date in the follow= ing 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 ch= annel, +apply the following formula: + +.. code-block:: bash + + processed value =3D (_raw + _offset) * _scale + +Where _offset and _scale are device attributes. If no _offset attribute is +present, simply assume its value is 0. + +The adis16550 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 + adis16550 + +Show accelerometer channels value: + +.. code-block:: bash + + root:/sys/bus/iio/devices/iio:device0> cat in_accel_x_raw + 6903851 + root:/sys/bus/iio/devices/iio:device0> cat in_accel_y_raw + 5650550 + root:/sys/bus/iio/devices/iio:device0> cat in_accel_z_raw + 104873530 + root:/sys/bus/iio/devices/iio:device0> cat in_accel_scale + 0.000000095 + +- X-axis acceleration =3D in_accel_x_raw * in_accel_scale =3D 0.655865845 = m/s^2 +- Y-axis acceleration =3D in_accel_y_raw * in_accel_scale =3D 0.53680225 m= /s^2 +- Z-axis acceleration =3D in_accel_z_raw * in_accel_scale =3D 9.96298535 m= /s^2 + +Show gyroscope channels value: + +.. code-block:: bash + + root:/sys/bus/iio/devices/iio:device0> cat in_anglvel_x_raw + 193309 + root:/sys/bus/iio/devices/iio:device0> cat in_anglvel_y_raw + -763676 + root:/sys/bus/iio/devices/iio:device0> cat in_anglvel_z_raw + -358108 + root:/sys/bus/iio/devices/iio:device0> cat in_anglvel_scale + 0.000000003 + +- X-axis angular velocity =3D in_anglvel_x_raw * in_anglvel_scale =3D 0.00= 0579927 rad/s +- Y-axis angular velocity =3D in_anglvel_y_raw * in_anglvel_scale =3D =E2= =88=920.002291028 rad/s +- Z-axis angular velocity =3D in_anglvel_z_raw * in_anglvel_scale =3D =E2= =88=920.001074324 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_cali= bbias + 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_c= alibbias + 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 + 4000.000000 + + root:/sys/bus/iio/devices/iio:device0> echo 1000 > sampling_freque= ncy + 1000.000000 + +Set bandwidth for accelerometer channels: + +.. code-block:: bash + + root:/sys/bus/iio/devices/iio:device0> cat in_accel_filter_low_pas= s_3db_frequency + 0 + + root:/sys/bus/iio/devices/iio:device0> echo 100 > in_accel_filter_= low_pass_3db_frequency + root:/sys/bus/iio/devices/iio:device0> cat in_accel_filter_low_pas= s_3db_frequency + 100 + +Show serial number: + +.. code-block:: bash + + root:/sys/kernel/debug/iio/iio:device0> cat serial_number + 0x000000b6 + +Show product id: + +.. code-block:: bash + + root:/sys/kernel/debug/iio/iio:device0> cat product_id + 16550 + +Show flash count: + +.. code-block:: bash + + root:/sys/kernel/debug/iio/iio:device0> cat flash_count + 13 + +Show firmware revision: + +.. code-block:: bash + + root:/sys/kernel/debug/iio/iio:device0> cat firmware_revision + 1.5 + +Show firmware date: + +.. code-block:: bash + + root:/sys/kernel/debug/iio/iio:device0> cat firmware_date + 28-04-2021 + +3. Device buffers +=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D + +This driver supports IIO buffers. + +The device supports retrieving the raw acceleration, gyroscope, delta velo= city, +delta angle and temperature measurements using buffers. + +However, when retrieving acceleration or gyroscope data using buffers, del= ta +readings will not be available and vice versa. This is because the device = only +allows to read either acceleration and gyroscope data or delta velocity and +delta angle data at a time and switching between these two burst data sele= ction +modes is time consuming. + +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 adis16550-dev0 > trigg= er/current_trigger + root:/sys/bus/iio/devices/iio:device0> cat trigger/current_trigger + adis16550-dev0 + +Select channels for buffer read: + +.. code-block:: bash + + root:/sys/bus/iio/devices/iio:device0> echo 1 > scan_elements/in_d= eltavelocity_x_en + root:/sys/bus/iio/devices/iio:device0> echo 1 > scan_elements/in_d= eltavelocity_y_en + root:/sys/bus/iio/devices/iio:device0> echo 1 > scan_elements/in_d= eltavelocity_z_en + root:/sys/bus/iio/devices/iio:device0> echo 1 > scan_elements/in_t= emp0_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 + ... + 0000cdf0 00 00 0d 2f 00 00 08 43 00 00 09 09 00 00 a4 5f |.../.= ..C......._| + 0000ce00 00 00 0d 2f 00 00 07 de 00 00 08 db 00 00 a4 4b |.../.= ..........K| + 0000ce10 00 00 0d 2f 00 00 07 58 00 00 08 a3 00 00 a4 55 |.../.= ..X.......U| + 0000ce20 00 00 0d 2f 00 00 06 d6 00 00 08 5c 00 00 a4 62 |.../.= ......\...b| + 0000ce30 00 00 0d 2f 00 00 06 45 00 00 08 37 00 00 a4 47 |.../.= ..E...7...G| + 0000ce40 00 00 0d 2f 00 00 05 d4 00 00 08 30 00 00 a3 fa |.../.= ......0....| + 0000ce50 00 00 0d 2f 00 00 05 d0 00 00 08 12 00 00 a3 d3 |.../.= ...........| + 0000ce60 00 00 0d 2f 00 00 05 dd 00 00 08 2e 00 00 a3 e9 |.../.= ...........| + 0000ce70 00 00 0d 2f 00 00 05 cc 00 00 08 51 00 00 a3 d5 |.../.= ......Q....| + 0000ce80 00 00 0d 2f 00 00 05 ba 00 00 08 22 00 00 a3 9a |.../.= ......"....| + 0000ce90 00 00 0d 2f 00 00 05 9c 00 00 07 d9 00 00 a3 40 |.../.= ..........@| + 0000cea0 00 00 0d 2f 00 00 05 68 00 00 07 94 00 00 a2 e4 |.../.= ..h........| + 0000ceb0 00 00 0d 2f 00 00 05 25 00 00 07 8d 00 00 a2 ce |.../.= ..%........| + ... + +See ``Documentation/iio/iio_devbuf.rst`` for more information about how bu= ffered +data is structured. + +4. IIO Interfacing Tools +=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D + +See ``Documentation/iio/iio_tools.rst`` for the description of the availab= le IIO +interfacing tools. diff --git a/Documentation/iio/index.rst b/Documentation/iio/index.rst index 5710f5b9e..039ed2d75 100644 --- a/Documentation/iio/index.rst +++ b/Documentation/iio/index.rst @@ -26,6 +26,7 @@ Industrial I/O Kernel Drivers ad7944 adis16475 adis16480 + adis16550 adxl380 bno055 ep93xx_adc --=20 2.34.1