1 .. SPDX-License-Identifier: GPL-2.0 1 .. SPDX-License-Identifier: GPL-2.0
2 2
3 ================ 3 ================
4 ADIS16475 driver 4 ADIS16475 driver
5 ================ 5 ================
6 6
7 This driver supports Analog Device's IMUs on S 7 This driver supports Analog Device's IMUs on SPI bus.
8 8
9 1. Supported devices 9 1. Supported devices
10 ==================== 10 ====================
11 11
12 * `ADIS16465 <https://www.analog.com/ADIS16465 12 * `ADIS16465 <https://www.analog.com/ADIS16465>`_
13 * `ADIS16467 <https://www.analog.com/ADIS16467 13 * `ADIS16467 <https://www.analog.com/ADIS16467>`_
14 * `ADIS16470 <https://www.analog.com/ADIS16470 14 * `ADIS16470 <https://www.analog.com/ADIS16470>`_
15 * `ADIS16475 <https://www.analog.com/ADIS16475 15 * `ADIS16475 <https://www.analog.com/ADIS16475>`_
16 * `ADIS16477 <https://www.analog.com/ADIS16477 16 * `ADIS16477 <https://www.analog.com/ADIS16477>`_
17 * `ADIS16500 <https://www.analog.com/ADIS16500 17 * `ADIS16500 <https://www.analog.com/ADIS16500>`_
18 * `ADIS16505 <https://www.analog.com/ADIS16505 18 * `ADIS16505 <https://www.analog.com/ADIS16505>`_
19 * `ADIS16507 <https://www.analog.com/ADIS16507 19 * `ADIS16507 <https://www.analog.com/ADIS16507>`_
20 20
21 Each supported device is a precision, miniatur 21 Each supported device is a precision, miniature microelectromechanical system
22 (MEMS) inertial measurement unit (IMU) that in 22 (MEMS) inertial measurement unit (IMU) that includes a triaxial gyroscope and a
23 triaxial accelerometer. Each inertial sensor i 23 triaxial accelerometer. Each inertial sensor in the IMU device combines with
24 signal conditioning that optimizes dynamic per 24 signal conditioning that optimizes dynamic performance. The factory calibration
25 characterizes each sensor for sensitivity, bia 25 characterizes each sensor for sensitivity, bias, alignment, linear acceleration
26 (gyroscope bias), and point of percussion (acc 26 (gyroscope bias), and point of percussion (accelerometer location). As a result,
27 each sensor has dynamic compensation formulas 27 each sensor has dynamic compensation formulas that provide accurate sensor
28 measurements over a broad set of conditions. 28 measurements over a broad set of conditions.
29 29
30 2. Device attributes 30 2. Device attributes
31 ==================== 31 ====================
32 32
33 Accelerometer, gyroscope measurements are alwa 33 Accelerometer, gyroscope measurements are always provided. Furthermore, the
34 driver offers the capability to retrieve the d 34 driver offers the capability to retrieve the delta angle and the delta velocity
35 measurements computed by the device. 35 measurements computed by the device.
36 36
37 The delta angle measurements represent a calcu 37 The delta angle measurements represent a calculation of angular displacement
38 between each sample update, while the delta ve 38 between each sample update, while the delta velocity measurements represent a
39 calculation of linear velocity change between 39 calculation of linear velocity change between each sample update.
40 40
41 Finally, temperature data are provided which s 41 Finally, temperature data are provided which show a coarse measurement of
42 the temperature inside of the IMU device. This 42 the temperature inside of the IMU device. This data is most useful for
43 monitoring relative changes in the thermal env 43 monitoring relative changes in the thermal environment.
44 44
45 The signal chain of each inertial sensor (acce 45 The signal chain of each inertial sensor (accelerometers and gyroscopes)
46 includes the application of unique correction 46 includes the application of unique correction formulas, which are derived from
47 extensive characterization of bias, sensitivit 47 extensive characterization of bias, sensitivity, alignment, response to linear
48 acceleration (gyroscopes), and point of percus 48 acceleration (gyroscopes), and point of percussion (accelerometer location)
49 over a temperature range of −40°C to +85°C 49 over a temperature range of −40°C to +85°C, for each ADIS device. These
50 correction formulas are not accessible, but us 50 correction formulas are not accessible, but users do have the opportunity to
51 adjust the bias for each sensor individually t 51 adjust the bias for each sensor individually through the calibbias attribute.
52 52
53 Each IIO device, has a device folder under ``/ 53 Each IIO device, has a device folder under ``/sys/bus/iio/devices/iio:deviceX``,
54 where X is the IIO index of the device. Under 54 where X is the IIO index of the device. Under these folders reside a set of
55 device files, depending on the characteristics 55 device files, depending on the characteristics and features of the hardware
56 device in questions. These files are consisten 56 device in questions. These files are consistently generalized and documented in
57 the IIO ABI documentation. 57 the IIO ABI documentation.
58 58
59 The following tables show the adis16475 relate 59 The following tables show the adis16475 related device files, found in the
60 specific device folder path ``/sys/bus/iio/dev 60 specific device folder path ``/sys/bus/iio/devices/iio:deviceX``.
61 61
62 +-------------------------------------------+- 62 +-------------------------------------------+----------------------------------------------------------+
63 | 3-Axis Accelerometer related device files | 63 | 3-Axis Accelerometer related device files | Description |
64 +-------------------------------------------+- 64 +-------------------------------------------+----------------------------------------------------------+
65 | in_accel_scale | 65 | in_accel_scale | Scale for the accelerometer channels. |
66 +-------------------------------------------+- 66 +-------------------------------------------+----------------------------------------------------------+
67 | in_accel_x_calibbias | 67 | in_accel_x_calibbias | Calibration offset for the X-axis accelerometer channel. |
68 +-------------------------------------------+- 68 +-------------------------------------------+----------------------------------------------------------+
69 | in_accel_x_raw | 69 | in_accel_x_raw | Raw X-axis accelerometer channel value. |
70 +-------------------------------------------+- 70 +-------------------------------------------+----------------------------------------------------------+
71 | in_accel_y_calibbias | 71 | in_accel_y_calibbias | Calibration offset for the Y-axis accelerometer channel. |
72 +-------------------------------------------+- 72 +-------------------------------------------+----------------------------------------------------------+
73 | in_accel_y_raw | 73 | in_accel_y_raw | Raw Y-axis accelerometer channel value. |
74 +-------------------------------------------+- 74 +-------------------------------------------+----------------------------------------------------------+
75 | in_accel_z_calibbias | 75 | in_accel_z_calibbias | Calibration offset for the Z-axis accelerometer channel. |
76 +-------------------------------------------+- 76 +-------------------------------------------+----------------------------------------------------------+
77 | in_accel_z_raw | 77 | in_accel_z_raw | Raw Z-axis accelerometer channel value. |
78 +-------------------------------------------+- 78 +-------------------------------------------+----------------------------------------------------------+
79 | in_deltavelocity_scale | 79 | in_deltavelocity_scale | Scale for delta velocity channels. |
80 +-------------------------------------------+- 80 +-------------------------------------------+----------------------------------------------------------+
81 | in_deltavelocity_x_raw | 81 | in_deltavelocity_x_raw | Raw X-axis delta velocity channel value. |
82 +-------------------------------------------+- 82 +-------------------------------------------+----------------------------------------------------------+
83 | in_deltavelocity_y_raw | 83 | in_deltavelocity_y_raw | Raw Y-axis delta velocity channel value. |
84 +-------------------------------------------+- 84 +-------------------------------------------+----------------------------------------------------------+
85 | in_deltavelocity_z_raw | 85 | in_deltavelocity_z_raw | Raw Z-axis delta velocity channel value. |
86 +-------------------------------------------+- 86 +-------------------------------------------+----------------------------------------------------------+
87 87
88 +---------------------------------------+----- 88 +---------------------------------------+------------------------------------------------------+
89 | 3-Axis Gyroscope related device files | Desc 89 | 3-Axis Gyroscope related device files | Description |
90 +---------------------------------------+----- 90 +---------------------------------------+------------------------------------------------------+
91 | in_anglvel_scale | Scal 91 | in_anglvel_scale | Scale for the gyroscope channels. |
92 +---------------------------------------+----- 92 +---------------------------------------+------------------------------------------------------+
93 | in_anglvel_x_calibbias | Cali 93 | in_anglvel_x_calibbias | Calibration offset for the X-axis gyroscope channel. |
94 +---------------------------------------+----- 94 +---------------------------------------+------------------------------------------------------+
95 | in_anglvel_x_raw | Raw 95 | in_anglvel_x_raw | Raw X-axis gyroscope channel value. |
96 +---------------------------------------+----- 96 +---------------------------------------+------------------------------------------------------+
97 | in_anglvel_y_calibbias | Cali 97 | in_anglvel_y_calibbias | Calibration offset for the Y-axis gyroscope channel. |
98 +---------------------------------------+----- 98 +---------------------------------------+------------------------------------------------------+
99 | in_anglvel_y_raw | Raw 99 | in_anglvel_y_raw | Raw Y-axis gyroscope channel value. |
100 +---------------------------------------+----- 100 +---------------------------------------+------------------------------------------------------+
101 | in_anglvel_z_calibbias | Cali 101 | in_anglvel_z_calibbias | Calibration offset for the Z-axis gyroscope channel. |
102 +---------------------------------------+----- 102 +---------------------------------------+------------------------------------------------------+
103 | in_anglvel_z_raw | Raw 103 | in_anglvel_z_raw | Raw Z-axis gyroscope channel value. |
104 +---------------------------------------+----- 104 +---------------------------------------+------------------------------------------------------+
105 | in_deltaangl_scale | Scal 105 | in_deltaangl_scale | Scale for delta angle channels. |
106 +---------------------------------------+----- 106 +---------------------------------------+------------------------------------------------------+
107 | in_deltaangl_x_raw | Raw 107 | in_deltaangl_x_raw | Raw X-axis delta angle channel value. |
108 +---------------------------------------+----- 108 +---------------------------------------+------------------------------------------------------+
109 | in_deltaangl_y_raw | Raw 109 | in_deltaangl_y_raw | Raw Y-axis delta angle channel value. |
110 +---------------------------------------+----- 110 +---------------------------------------+------------------------------------------------------+
111 | in_deltaangl_z_raw | Raw 111 | in_deltaangl_z_raw | Raw Z-axis delta angle channel value. |
112 +---------------------------------------+----- 112 +---------------------------------------+------------------------------------------------------+
113 113
114 +----------------------------------+---------- 114 +----------------------------------+-------------------------------------------+
115 | Temperature sensor related files | Descripti 115 | Temperature sensor related files | Description |
116 +----------------------------------+---------- 116 +----------------------------------+-------------------------------------------+
117 | in_temp0_raw | Raw tempe 117 | in_temp0_raw | Raw temperature channel value. |
118 +----------------------------------+---------- 118 +----------------------------------+-------------------------------------------+
119 | in_temp0_scale | Scale for 119 | in_temp0_scale | Scale for the temperature sensor channel. |
120 +----------------------------------+---------- 120 +----------------------------------+-------------------------------------------+
121 121
122 +-------------------------------+------------- 122 +-------------------------------+---------------------------------------------------------+
123 | Miscellaneous device files | Description 123 | Miscellaneous device files | Description |
124 +-------------------------------+------------- 124 +-------------------------------+---------------------------------------------------------+
125 | name | Name of the 125 | name | Name of the IIO device. |
126 +-------------------------------+------------- 126 +-------------------------------+---------------------------------------------------------+
127 | sampling_frequency | Currently se 127 | sampling_frequency | Currently selected sample rate. |
128 +-------------------------------+------------- 128 +-------------------------------+---------------------------------------------------------+
129 | filter_low_pass_3db_frequency | Bandwidth fo 129 | filter_low_pass_3db_frequency | Bandwidth for the accelerometer and gyroscope channels. |
130 +-------------------------------+------------- 130 +-------------------------------+---------------------------------------------------------+
131 131
132 The following table shows the adis16475 relate 132 The following table shows the adis16475 related device debug files, found in the
133 specific device debug folder path ``/sys/kerne 133 specific device debug folder path ``/sys/kernel/debug/iio/iio:deviceX``.
134 134
135 +----------------------+---------------------- 135 +----------------------+-------------------------------------------------------------------------+
136 | Debugfs device files | Description 136 | Debugfs device files | Description |
137 +----------------------+---------------------- 137 +----------------------+-------------------------------------------------------------------------+
138 | serial_number | The serial number of 138 | serial_number | The serial number of the chip in hexadecimal format. |
139 +----------------------+---------------------- 139 +----------------------+-------------------------------------------------------------------------+
140 | product_id | Chip specific product 140 | product_id | Chip specific product id (e.g. 16475, 16500, 16505, etc.). |
141 +----------------------+---------------------- 141 +----------------------+-------------------------------------------------------------------------+
142 | flash_count | The number of flash w 142 | flash_count | The number of flash writes performed on the device. |
143 +----------------------+---------------------- 143 +----------------------+-------------------------------------------------------------------------+
144 | firmware_revision | String containing the 144 | firmware_revision | String containing the firmware revision in the following format ##.##. |
145 +----------------------+---------------------- 145 +----------------------+-------------------------------------------------------------------------+
146 | firmware_date | String containing the 146 | firmware_date | String containing the firmware date in the following format mm-dd-yyyy. |
147 +----------------------+---------------------- 147 +----------------------+-------------------------------------------------------------------------+
148 148
149 Channels processed values 149 Channels processed values
150 ------------------------- 150 -------------------------
151 151
152 A channel value can be read from its _raw attr 152 A channel value can be read from its _raw attribute. The value returned is the
153 raw value as reported by the devices. To get t 153 raw value as reported by the devices. To get the processed value of the channel,
154 apply the following formula: 154 apply the following formula:
155 155
156 .. code-block:: bash 156 .. code-block:: bash
157 157
158 processed value = (_raw + _offset) * _ 158 processed value = (_raw + _offset) * _scale
159 159
160 Where _offset and _scale are device attributes 160 Where _offset and _scale are device attributes. If no _offset attribute is
161 present, simply assume its value is 0. 161 present, simply assume its value is 0.
162 162
163 The adis16475 driver offers data for 5 types o 163 The adis16475 driver offers data for 5 types of channels, the table below shows
164 the measurement units for the processed value, 164 the measurement units for the processed value, which are defined by the IIO
165 framework: 165 framework:
166 166
167 +-------------------------------------+------- 167 +-------------------------------------+---------------------------+
168 | Channel type | Measur 168 | Channel type | Measurement unit |
169 +-------------------------------------+------- 169 +-------------------------------------+---------------------------+
170 | Acceleration on X, Y, and Z axis | Meters 170 | Acceleration on X, Y, and Z axis | Meters per Second squared |
171 +-------------------------------------+------- 171 +-------------------------------------+---------------------------+
172 | Angular velocity on X, Y and Z axis | Radian 172 | Angular velocity on X, Y and Z axis | Radians per second |
173 +-------------------------------------+------- 173 +-------------------------------------+---------------------------+
174 | Delta velocity on X. Y, and Z axis | Meters 174 | Delta velocity on X. Y, and Z axis | Meters per Second |
175 +-------------------------------------+------- 175 +-------------------------------------+---------------------------+
176 | Delta angle on X, Y, and Z axis | Radian 176 | Delta angle on X, Y, and Z axis | Radians |
177 +-------------------------------------+------- 177 +-------------------------------------+---------------------------+
178 | Temperature | Millid 178 | Temperature | Millidegrees Celsius |
179 +-------------------------------------+------- 179 +-------------------------------------+---------------------------+
180 180
181 Usage examples 181 Usage examples
182 -------------- 182 --------------
183 183
184 Show device name: 184 Show device name:
185 185
186 .. code-block:: bash 186 .. code-block:: bash
187 187
188 root:/sys/bus/iio/devices/iio:device0> 188 root:/sys/bus/iio/devices/iio:device0> cat name
189 adis16505-2 189 adis16505-2
190 190
191 Show accelerometer channels value: 191 Show accelerometer channels value:
192 192
193 .. code-block:: bash 193 .. code-block:: bash
194 194
195 root:/sys/bus/iio/devices/iio:device0> 195 root:/sys/bus/iio/devices/iio:device0> cat in_accel_x_raw
196 -275924 196 -275924
197 root:/sys/bus/iio/devices/iio:device0> 197 root:/sys/bus/iio/devices/iio:device0> cat in_accel_y_raw
198 -30142222 198 -30142222
199 root:/sys/bus/iio/devices/iio:device0> 199 root:/sys/bus/iio/devices/iio:device0> cat in_accel_z_raw
200 261265769 200 261265769
201 root:/sys/bus/iio/devices/iio:device0> 201 root:/sys/bus/iio/devices/iio:device0> cat in_accel_scale
202 0.000000037 202 0.000000037
203 203
204 - X-axis acceleration = in_accel_x_raw * in_ac 204 - X-axis acceleration = in_accel_x_raw * in_accel_scale = −0.010209188 m/s^2
205 - Y-axis acceleration = in_accel_y_raw * in_ac 205 - Y-axis acceleration = in_accel_y_raw * in_accel_scale = −1.115262214 m/s^2
206 - Z-axis acceleration = in_accel_z_raw * in_ac 206 - Z-axis acceleration = in_accel_z_raw * in_accel_scale = 9.666833453 m/s^2
207 207
208 Show gyroscope channels value: 208 Show gyroscope channels value:
209 209
210 .. code-block:: bash 210 .. code-block:: bash
211 211
212 root:/sys/bus/iio/devices/iio:device0> 212 root:/sys/bus/iio/devices/iio:device0> cat in_anglvel_x_raw
213 -3324626 213 -3324626
214 root:/sys/bus/iio/devices/iio:device0> 214 root:/sys/bus/iio/devices/iio:device0> cat in_anglvel_y_raw
215 1336980 215 1336980
216 root:/sys/bus/iio/devices/iio:device0> 216 root:/sys/bus/iio/devices/iio:device0> cat in_anglvel_z_raw
217 -602983 217 -602983
218 root:/sys/bus/iio/devices/iio:device0> 218 root:/sys/bus/iio/devices/iio:device0> cat in_anglvel_scale
219 0.000000006 219 0.000000006
220 220
221 - X-axis angular velocity = in_anglvel_x_raw * 221 - X-axis angular velocity = in_anglvel_x_raw * in_anglvel_scale = −0.019947756 rad/s
222 - Y-axis angular velocity = in_anglvel_y_raw * 222 - Y-axis angular velocity = in_anglvel_y_raw * in_anglvel_scale = 0.00802188 rad/s
223 - Z-axis angular velocity = in_anglvel_z_raw * 223 - Z-axis angular velocity = in_anglvel_z_raw * in_anglvel_scale = −0.003617898 rad/s
224 224
225 Set calibration offset for accelerometer chann 225 Set calibration offset for accelerometer channels:
226 226
227 .. code-block:: bash 227 .. code-block:: bash
228 228
229 root:/sys/bus/iio/devices/iio:device0> 229 root:/sys/bus/iio/devices/iio:device0> cat in_accel_x_calibbias
230 0 230 0
231 231
232 root:/sys/bus/iio/devices/iio:device0> 232 root:/sys/bus/iio/devices/iio:device0> echo 5000 > in_accel_x_calibbias
233 root:/sys/bus/iio/devices/iio:device0> 233 root:/sys/bus/iio/devices/iio:device0> cat in_accel_x_calibbias
234 5000 234 5000
235 235
236 Set calibration offset for gyroscope channels: 236 Set calibration offset for gyroscope channels:
237 237
238 .. code-block:: bash 238 .. code-block:: bash
239 239
240 root:/sys/bus/iio/devices/iio:device0> 240 root:/sys/bus/iio/devices/iio:device0> cat in_anglvel_y_calibbias
241 0 241 0
242 242
243 root:/sys/bus/iio/devices/iio:device0> 243 root:/sys/bus/iio/devices/iio:device0> echo -5000 > in_anglvel_y_calibbias
244 root:/sys/bus/iio/devices/iio:device0> 244 root:/sys/bus/iio/devices/iio:device0> cat in_anglvel_y_calibbias
245 -5000 245 -5000
246 246
247 Set sampling frequency: 247 Set sampling frequency:
248 248
249 .. code-block:: bash 249 .. code-block:: bash
250 250
251 root:/sys/bus/iio/devices/iio:device0> 251 root:/sys/bus/iio/devices/iio:device0> cat sampling_frequency
252 2000.000000 252 2000.000000
253 253
254 root:/sys/bus/iio/devices/iio:device0> 254 root:/sys/bus/iio/devices/iio:device0> echo 1000 > sampling_frequency
255 1000.000000 255 1000.000000
256 256
257 Set bandwidth for accelerometer and gyroscope: 257 Set bandwidth for accelerometer and gyroscope:
258 258
259 .. code-block:: bash 259 .. code-block:: bash
260 260
261 root:/sys/bus/iio/devices/iio:device0> 261 root:/sys/bus/iio/devices/iio:device0> cat filter_low_pass_3db_frequency
262 720 262 720
263 263
264 root:/sys/bus/iio/devices/iio:device0> 264 root:/sys/bus/iio/devices/iio:device0> echo 360 > filter_low_pass_3db_frequency
265 root:/sys/bus/iio/devices/iio:device0> 265 root:/sys/bus/iio/devices/iio:device0> cat filter_low_pass_3db_frequency
266 360 266 360
267 267
268 Show serial number: 268 Show serial number:
269 269
270 .. code-block:: bash 270 .. code-block:: bash
271 271
272 root:/sys/kernel/debug/iio/iio:device0 272 root:/sys/kernel/debug/iio/iio:device0> cat serial_number
273 0x04f9 273 0x04f9
274 274
275 Show product id: 275 Show product id:
276 276
277 .. code-block:: bash 277 .. code-block:: bash
278 278
279 root:/sys/kernel/debug/iio/iio:device0 279 root:/sys/kernel/debug/iio/iio:device0> cat product_id
280 16505 280 16505
281 281
282 Show flash count: 282 Show flash count:
283 283
284 .. code-block:: bash 284 .. code-block:: bash
285 285
286 root:/sys/kernel/debug/iio/iio:device0 286 root:/sys/kernel/debug/iio/iio:device0> cat flash_count
287 150 287 150
288 288
289 Show firmware revision: 289 Show firmware revision:
290 290
291 .. code-block:: bash 291 .. code-block:: bash
292 292
293 root:/sys/kernel/debug/iio/iio:device0 293 root:/sys/kernel/debug/iio/iio:device0> cat firmware_revision
294 1.6 294 1.6
295 295
296 Show firmware date: 296 Show firmware date:
297 297
298 .. code-block:: bash 298 .. code-block:: bash
299 299
300 root:/sys/kernel/debug/iio/iio:device0 300 root:/sys/kernel/debug/iio/iio:device0> cat firmware_date
301 06-27-2019 301 06-27-2019
302 302
303 3. Device buffers 303 3. Device buffers
304 ================= 304 =================
305 305
306 This driver supports IIO buffers. 306 This driver supports IIO buffers.
307 307
308 All devices support retrieving the raw acceler 308 All devices support retrieving the raw acceleration, gyroscope and temperature
309 measurements using buffers. 309 measurements using buffers.
310 310
311 The following device families also support ret 311 The following device families also support retrieving the delta velocity, delta
312 angle and temperature measurements using buffe 312 angle and temperature measurements using buffers:
313 313
314 - ADIS16477 314 - ADIS16477
315 - ADIS16500 315 - ADIS16500
316 - ADIS16505 316 - ADIS16505
317 - ADIS16507 317 - ADIS16507
318 318
319 However, when retrieving acceleration or gyros 319 However, when retrieving acceleration or gyroscope data using buffers, delta
320 readings will not be available and vice versa. 320 readings will not be available and vice versa.
321 321
322 Usage examples 322 Usage examples
323 -------------- 323 --------------
324 324
325 Set device trigger in current_trigger, if not 325 Set device trigger in current_trigger, if not already set:
326 326
327 .. code-block:: bash 327 .. code-block:: bash
328 328
329 root:/sys/bus/iio/devices/iio:device0> 329 root:/sys/bus/iio/devices/iio:device0> cat trigger/current_trigger
330 330
331 root:/sys/bus/iio/devices/iio:device0> 331 root:/sys/bus/iio/devices/iio:device0> echo adis16505-2-dev0 > trigger/current_trigger
332 root:/sys/bus/iio/devices/iio:device0> 332 root:/sys/bus/iio/devices/iio:device0> cat trigger/current_trigger
333 adis16505-2-dev0 333 adis16505-2-dev0
334 334
335 Select channels for buffer read: 335 Select channels for buffer read:
336 336
337 .. code-block:: bash 337 .. code-block:: bash
338 338
339 root:/sys/bus/iio/devices/iio:device0> 339 root:/sys/bus/iio/devices/iio:device0> echo 1 > scan_elements/in_deltavelocity_x_en
340 root:/sys/bus/iio/devices/iio:device0> 340 root:/sys/bus/iio/devices/iio:device0> echo 1 > scan_elements/in_deltavelocity_y_en
341 root:/sys/bus/iio/devices/iio:device0> 341 root:/sys/bus/iio/devices/iio:device0> echo 1 > scan_elements/in_deltavelocity_z_en
342 root:/sys/bus/iio/devices/iio:device0> 342 root:/sys/bus/iio/devices/iio:device0> echo 1 > scan_elements/in_temp0_en
343 343
344 Set the number of samples to be stored in the 344 Set the number of samples to be stored in the buffer:
345 345
346 .. code-block:: bash 346 .. code-block:: bash
347 347
348 root:/sys/bus/iio/devices/iio:device0> 348 root:/sys/bus/iio/devices/iio:device0> echo 10 > buffer/length
349 349
350 Enable buffer readings: 350 Enable buffer readings:
351 351
352 .. code-block:: bash 352 .. code-block:: bash
353 353
354 root:/sys/bus/iio/devices/iio:device0> 354 root:/sys/bus/iio/devices/iio:device0> echo 1 > buffer/enable
355 355
356 Obtain buffered data: 356 Obtain buffered data:
357 357
358 .. code-block:: bash 358 .. code-block:: bash
359 359
360 root:/sys/bus/iio/devices/iio:device0> 360 root:/sys/bus/iio/devices/iio:device0> hexdump -C /dev/iio\:device0
361 ... 361 ...
362 00001680 01 1f 00 00 ff ff fe ef 00 362 00001680 01 1f 00 00 ff ff fe ef 00 00 47 bf 00 03 35 55 |..........G...5U|
363 00001690 01 1f 00 00 ff ff ff d9 00 363 00001690 01 1f 00 00 ff ff ff d9 00 00 46 f1 00 03 35 35 |..........F...55|
364 000016a0 01 1f 00 00 ff ff fe fc 00 364 000016a0 01 1f 00 00 ff ff fe fc 00 00 46 cb 00 03 35 7b |..........F...5{|
365 000016b0 01 1f 00 00 ff ff fe 41 00 365 000016b0 01 1f 00 00 ff ff fe 41 00 00 47 0d 00 03 35 8b |.......A..G...5.|
366 000016c0 01 1f 00 00 ff ff fe 37 00 366 000016c0 01 1f 00 00 ff ff fe 37 00 00 46 b4 00 03 35 90 |.......7..F...5.|
367 000016d0 01 1d 00 00 ff ff fe 5a 00 367 000016d0 01 1d 00 00 ff ff fe 5a 00 00 45 d7 00 03 36 08 |.......Z..E...6.|
368 000016e0 01 1b 00 00 ff ff fe fb 00 368 000016e0 01 1b 00 00 ff ff fe fb 00 00 45 e7 00 03 36 60 |..........E...6`|
369 000016f0 01 1a 00 00 ff ff ff 17 00 369 000016f0 01 1a 00 00 ff ff ff 17 00 00 46 bc 00 03 36 de |..........F...6.|
370 00001700 01 1a 00 00 ff ff fe 59 00 370 00001700 01 1a 00 00 ff ff fe 59 00 00 46 d7 00 03 37 b8 |.......Y..F...7.|
371 00001710 01 1a 00 00 ff ff fe ae 00 371 00001710 01 1a 00 00 ff ff fe ae 00 00 46 95 00 03 37 ba |..........F...7.|
372 00001720 01 1a 00 00 ff ff fe c5 00 372 00001720 01 1a 00 00 ff ff fe c5 00 00 46 63 00 03 37 9f |..........Fc..7.|
373 00001730 01 1a 00 00 ff ff fe 55 00 373 00001730 01 1a 00 00 ff ff fe 55 00 00 46 89 00 03 37 c1 |.......U..F...7.|
374 00001740 01 1a 00 00 ff ff fe 31 00 374 00001740 01 1a 00 00 ff ff fe 31 00 00 46 aa 00 03 37 f7 |.......1..F...7.|
375 ... 375 ...
376 376
377 See ``Documentation/iio/iio_devbuf.rst`` for m 377 See ``Documentation/iio/iio_devbuf.rst`` for more information about how buffered
378 data is structured. 378 data is structured.
379 379
380 4. IIO Interfacing Tools 380 4. IIO Interfacing Tools
381 ======================== 381 ========================
382 382
383 See ``Documentation/iio/iio_tools.rst`` for th 383 See ``Documentation/iio/iio_tools.rst`` for the description of the available IIO
384 interfacing tools. 384 interfacing tools.
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