1 .. SPDX-License-Identifier: GPL-2.0
2
3 ================
4 ADIS16475 driver
5 ================
6
7 This driver supports Analog Device's IMUs on S
8
9 1. Supported devices
10 ====================
11
12 * `ADIS16465 <https://www.analog.com/ADIS16465
13 * `ADIS16467 <https://www.analog.com/ADIS16467
14 * `ADIS16470 <https://www.analog.com/ADIS16470
15 * `ADIS16475 <https://www.analog.com/ADIS16475
16 * `ADIS16477 <https://www.analog.com/ADIS16477
17 * `ADIS16500 <https://www.analog.com/ADIS16500
18 * `ADIS16505 <https://www.analog.com/ADIS16505
19 * `ADIS16507 <https://www.analog.com/ADIS16507
20
21 Each supported device is a precision, miniatur
22 (MEMS) inertial measurement unit (IMU) that in
23 triaxial accelerometer. Each inertial sensor i
24 signal conditioning that optimizes dynamic per
25 characterizes each sensor for sensitivity, bia
26 (gyroscope bias), and point of percussion (acc
27 each sensor has dynamic compensation formulas
28 measurements over a broad set of conditions.
29
30 2. Device attributes
31 ====================
32
33 Accelerometer, gyroscope measurements are alwa
34 driver offers the capability to retrieve the d
35 measurements computed by the device.
36
37 The delta angle measurements represent a calcu
38 between each sample update, while the delta ve
39 calculation of linear velocity change between
40
41 Finally, temperature data are provided which s
42 the temperature inside of the IMU device. This
43 monitoring relative changes in the thermal env
44
45 The signal chain of each inertial sensor (acce
46 includes the application of unique correction
47 extensive characterization of bias, sensitivit
48 acceleration (gyroscopes), and point of percus
49 over a temperature range of −40°C to +85°C
50 correction formulas are not accessible, but us
51 adjust the bias for each sensor individually t
52
53 Each IIO device, has a device folder under ``/
54 where X is the IIO index of the device. Under
55 device files, depending on the characteristics
56 device in questions. These files are consisten
57 the IIO ABI documentation.
58
59 The following tables show the adis16475 relate
60 specific device folder path ``/sys/bus/iio/dev
61
62 +-------------------------------------------+-
63 | 3-Axis Accelerometer related device files |
64 +-------------------------------------------+-
65 | in_accel_scale |
66 +-------------------------------------------+-
67 | in_accel_x_calibbias |
68 +-------------------------------------------+-
69 | in_accel_x_raw |
70 +-------------------------------------------+-
71 | in_accel_y_calibbias |
72 +-------------------------------------------+-
73 | in_accel_y_raw |
74 +-------------------------------------------+-
75 | in_accel_z_calibbias |
76 +-------------------------------------------+-
77 | in_accel_z_raw |
78 +-------------------------------------------+-
79 | in_deltavelocity_scale |
80 +-------------------------------------------+-
81 | in_deltavelocity_x_raw |
82 +-------------------------------------------+-
83 | in_deltavelocity_y_raw |
84 +-------------------------------------------+-
85 | in_deltavelocity_z_raw |
86 +-------------------------------------------+-
87
88 +---------------------------------------+-----
89 | 3-Axis Gyroscope related device files | Desc
90 +---------------------------------------+-----
91 | in_anglvel_scale | Scal
92 +---------------------------------------+-----
93 | in_anglvel_x_calibbias | Cali
94 +---------------------------------------+-----
95 | in_anglvel_x_raw | Raw
96 +---------------------------------------+-----
97 | in_anglvel_y_calibbias | Cali
98 +---------------------------------------+-----
99 | in_anglvel_y_raw | Raw
100 +---------------------------------------+-----
101 | in_anglvel_z_calibbias | Cali
102 +---------------------------------------+-----
103 | in_anglvel_z_raw | Raw
104 +---------------------------------------+-----
105 | in_deltaangl_scale | Scal
106 +---------------------------------------+-----
107 | in_deltaangl_x_raw | Raw
108 +---------------------------------------+-----
109 | in_deltaangl_y_raw | Raw
110 +---------------------------------------+-----
111 | in_deltaangl_z_raw | Raw
112 +---------------------------------------+-----
113
114 +----------------------------------+----------
115 | Temperature sensor related files | Descripti
116 +----------------------------------+----------
117 | in_temp0_raw | Raw tempe
118 +----------------------------------+----------
119 | in_temp0_scale | Scale for
120 +----------------------------------+----------
121
122 +-------------------------------+-------------
123 | Miscellaneous device files | Description
124 +-------------------------------+-------------
125 | name | Name of the
126 +-------------------------------+-------------
127 | sampling_frequency | Currently se
128 +-------------------------------+-------------
129 | filter_low_pass_3db_frequency | Bandwidth fo
130 +-------------------------------+-------------
131
132 The following table shows the adis16475 relate
133 specific device debug folder path ``/sys/kerne
134
135 +----------------------+----------------------
136 | Debugfs device files | Description
137 +----------------------+----------------------
138 | serial_number | The serial number of
139 +----------------------+----------------------
140 | product_id | Chip specific product
141 +----------------------+----------------------
142 | flash_count | The number of flash w
143 +----------------------+----------------------
144 | firmware_revision | String containing the
145 +----------------------+----------------------
146 | firmware_date | String containing the
147 +----------------------+----------------------
148
149 Channels processed values
150 -------------------------
151
152 A channel value can be read from its _raw attr
153 raw value as reported by the devices. To get t
154 apply the following formula:
155
156 .. code-block:: bash
157
158 processed value = (_raw + _offset) * _
159
160 Where _offset and _scale are device attributes
161 present, simply assume its value is 0.
162
163 The adis16475 driver offers data for 5 types o
164 the measurement units for the processed value,
165 framework:
166
167 +-------------------------------------+-------
168 | Channel type | Measur
169 +-------------------------------------+-------
170 | Acceleration on X, Y, and Z axis | Meters
171 +-------------------------------------+-------
172 | Angular velocity on X, Y and Z axis | Radian
173 +-------------------------------------+-------
174 | Delta velocity on X. Y, and Z axis | Meters
175 +-------------------------------------+-------
176 | Delta angle on X, Y, and Z axis | Radian
177 +-------------------------------------+-------
178 | Temperature | Millid
179 +-------------------------------------+-------
180
181 Usage examples
182 --------------
183
184 Show device name:
185
186 .. code-block:: bash
187
188 root:/sys/bus/iio/devices/iio:device0>
189 adis16505-2
190
191 Show accelerometer channels value:
192
193 .. code-block:: bash
194
195 root:/sys/bus/iio/devices/iio:device0>
196 -275924
197 root:/sys/bus/iio/devices/iio:device0>
198 -30142222
199 root:/sys/bus/iio/devices/iio:device0>
200 261265769
201 root:/sys/bus/iio/devices/iio:device0>
202 0.000000037
203
204 - X-axis acceleration = in_accel_x_raw * in_ac
205 - Y-axis acceleration = in_accel_y_raw * in_ac
206 - Z-axis acceleration = in_accel_z_raw * in_ac
207
208 Show gyroscope channels value:
209
210 .. code-block:: bash
211
212 root:/sys/bus/iio/devices/iio:device0>
213 -3324626
214 root:/sys/bus/iio/devices/iio:device0>
215 1336980
216 root:/sys/bus/iio/devices/iio:device0>
217 -602983
218 root:/sys/bus/iio/devices/iio:device0>
219 0.000000006
220
221 - X-axis angular velocity = in_anglvel_x_raw *
222 - Y-axis angular velocity = in_anglvel_y_raw *
223 - Z-axis angular velocity = in_anglvel_z_raw *
224
225 Set calibration offset for accelerometer chann
226
227 .. code-block:: bash
228
229 root:/sys/bus/iio/devices/iio:device0>
230 0
231
232 root:/sys/bus/iio/devices/iio:device0>
233 root:/sys/bus/iio/devices/iio:device0>
234 5000
235
236 Set calibration offset for gyroscope channels:
237
238 .. code-block:: bash
239
240 root:/sys/bus/iio/devices/iio:device0>
241 0
242
243 root:/sys/bus/iio/devices/iio:device0>
244 root:/sys/bus/iio/devices/iio:device0>
245 -5000
246
247 Set sampling frequency:
248
249 .. code-block:: bash
250
251 root:/sys/bus/iio/devices/iio:device0>
252 2000.000000
253
254 root:/sys/bus/iio/devices/iio:device0>
255 1000.000000
256
257 Set bandwidth for accelerometer and gyroscope:
258
259 .. code-block:: bash
260
261 root:/sys/bus/iio/devices/iio:device0>
262 720
263
264 root:/sys/bus/iio/devices/iio:device0>
265 root:/sys/bus/iio/devices/iio:device0>
266 360
267
268 Show serial number:
269
270 .. code-block:: bash
271
272 root:/sys/kernel/debug/iio/iio:device0
273 0x04f9
274
275 Show product id:
276
277 .. code-block:: bash
278
279 root:/sys/kernel/debug/iio/iio:device0
280 16505
281
282 Show flash count:
283
284 .. code-block:: bash
285
286 root:/sys/kernel/debug/iio/iio:device0
287 150
288
289 Show firmware revision:
290
291 .. code-block:: bash
292
293 root:/sys/kernel/debug/iio/iio:device0
294 1.6
295
296 Show firmware date:
297
298 .. code-block:: bash
299
300 root:/sys/kernel/debug/iio/iio:device0
301 06-27-2019
302
303 3. Device buffers
304 =================
305
306 This driver supports IIO buffers.
307
308 All devices support retrieving the raw acceler
309 measurements using buffers.
310
311 The following device families also support ret
312 angle and temperature measurements using buffe
313
314 - ADIS16477
315 - ADIS16500
316 - ADIS16505
317 - ADIS16507
318
319 However, when retrieving acceleration or gyros
320 readings will not be available and vice versa.
321
322 Usage examples
323 --------------
324
325 Set device trigger in current_trigger, if not
326
327 .. code-block:: bash
328
329 root:/sys/bus/iio/devices/iio:device0>
330
331 root:/sys/bus/iio/devices/iio:device0>
332 root:/sys/bus/iio/devices/iio:device0>
333 adis16505-2-dev0
334
335 Select channels for buffer read:
336
337 .. code-block:: bash
338
339 root:/sys/bus/iio/devices/iio:device0>
340 root:/sys/bus/iio/devices/iio:device0>
341 root:/sys/bus/iio/devices/iio:device0>
342 root:/sys/bus/iio/devices/iio:device0>
343
344 Set the number of samples to be stored in the
345
346 .. code-block:: bash
347
348 root:/sys/bus/iio/devices/iio:device0>
349
350 Enable buffer readings:
351
352 .. code-block:: bash
353
354 root:/sys/bus/iio/devices/iio:device0>
355
356 Obtain buffered data:
357
358 .. code-block:: bash
359
360 root:/sys/bus/iio/devices/iio:device0>
361 ...
362 00001680 01 1f 00 00 ff ff fe ef 00
363 00001690 01 1f 00 00 ff ff ff d9 00
364 000016a0 01 1f 00 00 ff ff fe fc 00
365 000016b0 01 1f 00 00 ff ff fe 41 00
366 000016c0 01 1f 00 00 ff ff fe 37 00
367 000016d0 01 1d 00 00 ff ff fe 5a 00
368 000016e0 01 1b 00 00 ff ff fe fb 00
369 000016f0 01 1a 00 00 ff ff ff 17 00
370 00001700 01 1a 00 00 ff ff fe 59 00
371 00001710 01 1a 00 00 ff ff fe ae 00
372 00001720 01 1a 00 00 ff ff fe c5 00
373 00001730 01 1a 00 00 ff ff fe 55 00
374 00001740 01 1a 00 00 ff ff fe 31 00
375 ...
376
377 See ``Documentation/iio/iio_devbuf.rst`` for m
378 data is structured.
379
380 4. IIO Interfacing Tools
381 ========================
382
383 See ``Documentation/iio/iio_tools.rst`` for th
384 interfacing tools.
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