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diff --git a/Documentation/iio/adis16480.rst b/Documentation/iio/adis16480.rst new file mode 100644 index 000000000000..bc78fa04d958 --- /dev/null +++ b/Documentation/iio/adis16480.rst @@ -0,0 +1,443 @@ +.. SPDX-License-Identifier: GPL-2.0 + +================ +ADIS16480 driver +================ + +This driver supports Analog Device's IMUs on SPI bus. + +1. Supported devices +==================== + +* `ADIS16375 <https://www.analog.com/ADIS16375>`_ +* `ADIS16480 <https://www.analog.com/ADIS16480>`_ +* `ADIS16485 <https://www.analog.com/ADIS16485>`_ +* `ADIS16488 <https://www.analog.com/ADIS16488>`_ +* `ADIS16490 <https://www.analog.com/ADIS16490>`_ +* `ADIS16495 <https://www.analog.com/ADIS16495>`_ +* `ADIS16497 <https://www.analog.com/ADIS16497>`_ +* `ADIS16545 <https://www.analog.com/ADIS16545>`_ +* `ADIS16547 <https://www.analog.com/ADIS16547>`_ + +Each supported device is a complete inertial system that includes a triaxial +gyroscope and a triaxial accelerometer. Each inertial sensor in device combines +with signal conditioning that optimizes dynamic performance. The factory +calibration characterizes each sensor for sensitivity, bias, and alignment. As +a result, each sensor has its own dynamic compensation formulas that provide +accurate sensor measurements. + +2. Device attributes +==================== + +Accelerometer, gyroscope measurements 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. + +ADIS16480 and ADIS16488 also provide access to barometric pressure data and +triaxial magnetometer measurements. + +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 adis16480 related device files, found in the +specific device folder path ``/sys/bus/iio/devices/iio:deviceX``. + +**Available only for ADIS16480 and ADIS16488:** + ++------------------------------------------+---------------------------------------------------------+ +| 3-Axis Magnetometer related device files | Description | ++------------------------------------------+---------------------------------------------------------+ +| in_magn_scale | Scale for the magnetometer channels. | ++------------------------------------------+---------------------------------------------------------+ +| in_magn_x_calibbias | Calibration offset for the X-axis magnetometer channel. | ++------------------------------------------+---------------------------------------------------------+ +| in_magn_x_filter_low_pass_3db_frequency | Bandwidth for the X-axis magnetometer channel. | ++------------------------------------------+---------------------------------------------------------+ +| in_magn_x_raw | Raw X-axis magnetometer channel value. | ++------------------------------------------+---------------------------------------------------------+ +| in_magn_y_calibbias | Calibration offset for the Y-axis magnetometer channel. | ++------------------------------------------+---------------------------------------------------------+ +| in_magn_y_filter_low_pass_3db_frequency | Bandwidth for the Y-axis magnetometer channel. | ++------------------------------------------+---------------------------------------------------------+ +| in_magn_y_raw | Raw Y-axis magnetometer channel value. | ++------------------------------------------+---------------------------------------------------------+ +| in_magn_z_calibbias | Calibration offset for the Z-axis magnetometer channel. | ++------------------------------------------+---------------------------------------------------------+ +| in_magn_z_filter_low_pass_3db_frequency | Bandwidth for the Z-axis magnetometer channel. | ++------------------------------------------+---------------------------------------------------------+ +| in_magn_z_raw | Raw Z-axis magnetometer channel value. | ++------------------------------------------+---------------------------------------------------------+ + ++------------------------------------------+-----------------------------------------------------+ +| Barometric pressure sensor related files | Description | ++------------------------------------------+-----------------------------------------------------+ +| in_pressure0_calibbias | Calibration offset for barometric pressure channel. | ++------------------------------------------+-----------------------------------------------------+ +| in_pressure0_raw | Raw barometric pressure channel value. | ++------------------------------------------+-----------------------------------------------------+ +| in_pressure0_scale | Scale for the barometric pressure sensor channel. | ++------------------------------------------+-----------------------------------------------------+ + +**Available for all supported devices:** + ++-------------------------------------------+----------------------------------------------------------+ +| 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_x_calibscale | Calibration scale for the X-axis accelerometer channel. | ++-------------------------------------------+----------------------------------------------------------+ +| in_accel_x_filter_low_pass_3db_frequency | Bandwidth for the X-axis accelerometer channel. | ++-------------------------------------------+----------------------------------------------------------+ +| in_accel_x_raw | Raw X-axis accelerometer channel 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_filter_low_pass_3db_frequency | Bandwidth for the Y-axis accelerometer channel. | ++-------------------------------------------+----------------------------------------------------------+ +| 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_calibscale | Calibration scale for the Z-axis accelerometer channel. | ++-------------------------------------------+----------------------------------------------------------+ +| in_accel_z_filter_low_pass_3db_frequency | Bandwidth 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_x_calibscale | Calibration scale for the X-axis gyroscope channel. | ++--------------------------------------------+------------------------------------------------------+ +| in_anglvel_x_filter_low_pass_3db_frequency | Bandwidth for the X-axis gyroscope channel. | ++--------------------------------------------+------------------------------------------------------+ +| in_anglvel_x_raw | Raw X-axis gyroscope channel 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_filter_low_pass_3db_frequency | Bandwidth for the Y-axis gyroscope channel. | ++--------------------------------------------+------------------------------------------------------+ +| 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_calibscale | Calibration scale for the Z-axis gyroscope channel. | ++--------------------------------------------+------------------------------------------------------+ +| in_anglvel_z_filter_low_pass_3db_frequency | Bandwidth 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_offset | Offset for the temperature sensor channel.| ++----------------------------------+-------------------------------------------+ +| 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. | ++-------------------------------+---------------------------------------------------------+ + +The following table shows the adis16480 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. 16480, 16488, 16545, 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 adis16480 driver offers data for 7 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 | ++--------------------------------------+---------------------------+ +| Magnetic field along X, Y and Z axis | Gauss | ++--------------------------------------+---------------------------+ +| Barometric pressure | kilo Pascal | ++--------------------------------------+---------------------------+ + +Usage examples +-------------- + +Show device name: + +.. code-block:: bash + + root:/sys/bus/iio/devices/iio:device0> cat name + adis16545-1 + +Show accelerometer channels value: + +.. code-block:: bash + + root:/sys/bus/iio/devices/iio:device0> cat in_accel_x_raw + 1376728 + root:/sys/bus/iio/devices/iio:device0> cat in_accel_y_raw + 4487621 + root:/sys/bus/iio/devices/iio:device0> cat in_accel_z_raw + 262773792 + root:/sys/bus/iio/devices/iio:device0> cat in_accel_scale + 0.000000037 + +- X-axis acceleration = in_accel_x_raw * in_accel_scale = 0.050938936 m/s^2 +- Y-axis acceleration = in_accel_y_raw * in_accel_scale = 0.166041977 m/s^2 +- Z-axis acceleration = in_accel_z_raw * in_accel_scale = 9.722630304 m/s^2 + +Show gyroscope channels value: + +.. code-block:: bash + + root:/sys/bus/iio/devices/iio:device0> cat in_anglvel_x_raw + -1041702 + root:/sys/bus/iio/devices/iio:device0> cat in_anglvel_y_raw + -273013 + root:/sys/bus/iio/devices/iio:device0> cat in_anglvel_z_raw + 2745116 + root:/sys/bus/iio/devices/iio:device0> cat in_anglvel_scale + 0.000000001 + +- X-axis angular velocity = in_anglvel_x_raw * in_anglvel_scale = −0.001041702 rad/s +- Y-axis angular velocity = in_anglvel_y_raw * in_anglvel_scale = −0.000273013 rad/s +- Z-axis angular velocity = in_anglvel_z_raw * in_anglvel_scale = 0.002745116 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 + 4250.000000 + + root:/sys/bus/iio/devices/iio:device0> echo 1000 > sampling_frequency + 1062.500000 + +Set bandwidth for accelerometer channels: + +.. code-block:: bash + + root:/sys/bus/iio/devices/iio:device0> cat in_accel_x_filter_low_pass_3db_frequency + 0 + + root:/sys/bus/iio/devices/iio:device0> echo 300 > in_accel_x_filter_low_pass_3db_frequency + root:/sys/bus/iio/devices/iio:device0> cat in_accel_x_filter_low_pass_3db_frequency + 300 + +Show serial number: + +.. code-block:: bash + + root:/sys/kernel/debug/iio/iio:device0> cat serial_number + 0x000c + +Show product id: + +.. code-block:: bash + + root:/sys/kernel/debug/iio/iio:device0> cat product_id + 16545 + +Show flash count: + +.. code-block:: bash + + root:/sys/kernel/debug/iio/iio:device0> cat flash_count + 88 + +Show firmware revision: + +.. code-block:: bash + + root:/sys/kernel/debug/iio/iio:device0> cat firmware_revision + 1.4 + +Show firmware date: + +.. code-block:: bash + + root:/sys/kernel/debug/iio/iio:device0> cat firmware_date + 09-23-2023 + +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: + +- ADIS16545 +- ADIS16547 + +However, when retrieving acceleration or gyroscope data using buffers, delta +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 selection +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 adis16545-1-dev0 > trigger/current_trigger + root:/sys/bus/iio/devices/iio:device0> cat trigger/current_trigger + adis16545-1-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:: + + root:/sys/bus/iio/devices/iio:device0> hexdump -C /dev/iio\:device0 + ... + 00006aa0 09 62 00 00 ff ff fc a4 00 00 01 69 00 03 3c 08 |.b.........i..<.| + 00006ab0 09 61 00 00 00 00 02 96 00 00 02 8f 00 03 37 50 |.a............7P| + 00006ac0 09 61 00 00 00 00 12 3d 00 00 0b 89 00 03 2c 0b |.a.....=......,.| + 00006ad0 09 61 00 00 00 00 1e dc 00 00 16 dd 00 03 25 bf |.a............%.| + 00006ae0 09 61 00 00 00 00 1e e3 00 00 1b bf 00 03 27 0b |.a............'.| + 00006af0 09 61 00 00 00 00 15 50 00 00 19 44 00 03 30 fd |.a.....P...D..0.| + 00006b00 09 61 00 00 00 00 09 0e 00 00 14 41 00 03 3d 7f |.a.........A..=.| + 00006b10 09 61 00 00 ff ff ff f0 00 00 0e bc 00 03 48 d0 |.a............H.| + 00006b20 09 63 00 00 00 00 00 9f 00 00 0f 37 00 03 4c fe |.c.........7..L.| + 00006b30 09 64 00 00 00 00 0b f6 00 00 18 92 00 03 43 22 |.d............C"| + 00006b40 09 64 00 00 00 00 18 df 00 00 22 33 00 03 33 ab |.d........"3..3.| + 00006b50 09 63 00 00 00 00 1e 81 00 00 26 be 00 03 29 60 |.c........&...)`| + 00006b60 09 63 00 00 00 00 1b 13 00 00 22 2f 00 03 23 91 |.c........"/..#.| + ... + +See ``Documentation/iio/iio_devbuf.rst`` for more information about how buffered +data is structured. + +4. IIO Interfacing Tools +======================== + +See ``Documentation/iio/iio_tools.rst`` for the description of the available IIO +interfacing tools. |