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1.. SPDX-License-Identifier: GPL-2.02 3================4ADIS16480 driver5================6 7This driver supports Analog Device's IMUs on SPI bus.8 91. Supported devices10====================11 12* `ADIS16375 <https://www.analog.com/ADIS16375>`_13* `ADIS16480 <https://www.analog.com/ADIS16480>`_14* `ADIS16485 <https://www.analog.com/ADIS16485>`_15* `ADIS16488 <https://www.analog.com/ADIS16488>`_16* `ADIS16490 <https://www.analog.com/ADIS16490>`_17* `ADIS16495 <https://www.analog.com/ADIS16495>`_18* `ADIS16497 <https://www.analog.com/ADIS16497>`_19* `ADIS16545 <https://www.analog.com/ADIS16545>`_20* `ADIS16547 <https://www.analog.com/ADIS16547>`_21 22Each supported device is a complete inertial system that includes a triaxial23gyroscope and a triaxial accelerometer. Each inertial sensor in device combines24with signal conditioning that optimizes dynamic performance. The factory25calibration characterizes each sensor for sensitivity, bias, and alignment. As26a result, each sensor has its own dynamic compensation formulas that provide27accurate sensor measurements.28 292. Device attributes30====================31 32Accelerometer, gyroscope measurements are always provided. Furthermore, the33driver offers the capability to retrieve the delta angle and the delta velocity34measurements computed by the device.35 36The delta angle measurements represent a calculation of angular displacement37between each sample update, while the delta velocity measurements represent a38calculation of linear velocity change between each sample update.39 40Finally, temperature data are provided which show a coarse measurement of41the temperature inside of the IMU device. This data is most useful for42monitoring relative changes in the thermal environment.43 44ADIS16480 and ADIS16488 also provide access to barometric pressure data and45triaxial magnetometer measurements.46 47Each IIO device, has a device folder under ``/sys/bus/iio/devices/iio:deviceX``,48where X is the IIO index of the device. Under these folders reside a set of49device files, depending on the characteristics and features of the hardware50device in questions. These files are consistently generalized and documented in51the IIO ABI documentation.52 53The following tables show the adis16480 related device files, found in the54specific device folder path ``/sys/bus/iio/devices/iio:deviceX``.55 56**Available only for ADIS16480 and ADIS16488:**57 58+------------------------------------------+---------------------------------------------------------+59| 3-Axis Magnetometer related device files | Description |60+------------------------------------------+---------------------------------------------------------+61| in_magn_scale | Scale for the magnetometer channels. |62+------------------------------------------+---------------------------------------------------------+63| in_magn_x_calibbias | Calibration offset for the X-axis magnetometer channel. |64+------------------------------------------+---------------------------------------------------------+65| in_magn_x_filter_low_pass_3db_frequency | Bandwidth for the X-axis magnetometer channel. |66+------------------------------------------+---------------------------------------------------------+67| in_magn_x_raw | Raw X-axis magnetometer channel value. |68+------------------------------------------+---------------------------------------------------------+69| in_magn_y_calibbias | Calibration offset for the Y-axis magnetometer channel. |70+------------------------------------------+---------------------------------------------------------+71| in_magn_y_filter_low_pass_3db_frequency | Bandwidth for the Y-axis magnetometer channel. |72+------------------------------------------+---------------------------------------------------------+73| in_magn_y_raw | Raw Y-axis magnetometer channel value. |74+------------------------------------------+---------------------------------------------------------+75| in_magn_z_calibbias | Calibration offset for the Z-axis magnetometer channel. |76+------------------------------------------+---------------------------------------------------------+77| in_magn_z_filter_low_pass_3db_frequency | Bandwidth for the Z-axis magnetometer channel. |78+------------------------------------------+---------------------------------------------------------+79| in_magn_z_raw | Raw Z-axis magnetometer channel value. |80+------------------------------------------+---------------------------------------------------------+81 82+------------------------------------------+-----------------------------------------------------+83| Barometric pressure sensor related files | Description |84+------------------------------------------+-----------------------------------------------------+85| in_pressure0_calibbias | Calibration offset for barometric pressure channel. |86+------------------------------------------+-----------------------------------------------------+87| in_pressure0_raw | Raw barometric pressure channel value. |88+------------------------------------------+-----------------------------------------------------+89| in_pressure0_scale | Scale for the barometric pressure sensor channel. |90+------------------------------------------+-----------------------------------------------------+91 92**Available for all supported devices:**93 94+-------------------------------------------+----------------------------------------------------------+95| 3-Axis Accelerometer related device files | Description |96+-------------------------------------------+----------------------------------------------------------+97| in_accel_scale | Scale for the accelerometer channels. |98+-------------------------------------------+----------------------------------------------------------+99| in_accel_x_calibbias | Calibration offset for the X-axis accelerometer channel. |100+-------------------------------------------+----------------------------------------------------------+101| in_accel_x_calibscale | Calibration scale for the X-axis accelerometer channel. |102+-------------------------------------------+----------------------------------------------------------+103| in_accel_x_filter_low_pass_3db_frequency | Bandwidth for the X-axis accelerometer channel. |104+-------------------------------------------+----------------------------------------------------------+105| in_accel_x_raw | Raw X-axis accelerometer channel value. |106+-------------------------------------------+----------------------------------------------------------+107| in_accel_y_calibbias | Calibration offset for the Y-axis accelerometer channel. |108+-------------------------------------------+----------------------------------------------------------+109| in_accel_y_calibscale | Calibration scale for the Y-axis accelerometer channel. |110+-------------------------------------------+----------------------------------------------------------+111| in_accel_y_filter_low_pass_3db_frequency | Bandwidth for the Y-axis accelerometer channel. |112+-------------------------------------------+----------------------------------------------------------+113| in_accel_y_raw | Raw Y-axis accelerometer channel value. |114+-------------------------------------------+----------------------------------------------------------+115| in_accel_z_calibbias | Calibration offset for the Z-axis accelerometer channel. |116+-------------------------------------------+----------------------------------------------------------+117| in_accel_z_calibscale | Calibration scale for the Z-axis accelerometer channel. |118+-------------------------------------------+----------------------------------------------------------+119| in_accel_z_filter_low_pass_3db_frequency | Bandwidth for the Z-axis accelerometer channel. |120+-------------------------------------------+----------------------------------------------------------+121| in_accel_z_raw | Raw Z-axis accelerometer channel value. |122+-------------------------------------------+----------------------------------------------------------+123| in_deltavelocity_scale | Scale for delta velocity channels. |124+-------------------------------------------+----------------------------------------------------------+125| in_deltavelocity_x_raw | Raw X-axis delta velocity channel value. |126+-------------------------------------------+----------------------------------------------------------+127| in_deltavelocity_y_raw | Raw Y-axis delta velocity channel value. |128+-------------------------------------------+----------------------------------------------------------+129| in_deltavelocity_z_raw | Raw Z-axis delta velocity channel value. |130+-------------------------------------------+----------------------------------------------------------+131 132+--------------------------------------------+------------------------------------------------------+133| 3-Axis Gyroscope related device files | Description |134+--------------------------------------------+------------------------------------------------------+135| in_anglvel_scale | Scale for the gyroscope channels. |136+--------------------------------------------+------------------------------------------------------+137| in_anglvel_x_calibbias | Calibration offset for the X-axis gyroscope channel. |138+--------------------------------------------+------------------------------------------------------+139| in_anglvel_x_calibscale | Calibration scale for the X-axis gyroscope channel. |140+--------------------------------------------+------------------------------------------------------+141| in_anglvel_x_filter_low_pass_3db_frequency | Bandwidth for the X-axis gyroscope channel. |142+--------------------------------------------+------------------------------------------------------+143| in_anglvel_x_raw | Raw X-axis gyroscope channel value. |144+--------------------------------------------+------------------------------------------------------+145| in_anglvel_y_calibbias | Calibration offset for the Y-axis gyroscope channel. |146+--------------------------------------------+------------------------------------------------------+147| in_anglvel_y_calibscale | Calibration scale for the Y-axis gyroscope channel. |148+--------------------------------------------+------------------------------------------------------+149| in_anglvel_y_filter_low_pass_3db_frequency | Bandwidth for the Y-axis gyroscope channel. |150+--------------------------------------------+------------------------------------------------------+151| in_anglvel_y_raw | Raw Y-axis gyroscope channel value. |152+--------------------------------------------+------------------------------------------------------+153| in_anglvel_z_calibbias | Calibration offset for the Z-axis gyroscope channel. |154+--------------------------------------------+------------------------------------------------------+155| in_anglvel_z_calibscale | Calibration scale for the Z-axis gyroscope channel. |156+--------------------------------------------+------------------------------------------------------+157| in_anglvel_z_filter_low_pass_3db_frequency | Bandwidth for the Z-axis gyroscope channel. |158+--------------------------------------------+------------------------------------------------------+159| in_anglvel_z_raw | Raw Z-axis gyroscope channel value. |160+--------------------------------------------+------------------------------------------------------+161| in_deltaangl_scale | Scale for delta angle channels. |162+--------------------------------------------+------------------------------------------------------+163| in_deltaangl_x_raw | Raw X-axis delta angle channel value. |164+--------------------------------------------+------------------------------------------------------+165| in_deltaangl_y_raw | Raw Y-axis delta angle channel value. |166+--------------------------------------------+------------------------------------------------------+167| in_deltaangl_z_raw | Raw Z-axis delta angle channel value. |168+--------------------------------------------+------------------------------------------------------+169 170+----------------------------------+-------------------------------------------+171| Temperature sensor related files | Description |172+----------------------------------+-------------------------------------------+173| in_temp0_raw | Raw temperature channel value. |174+----------------------------------+-------------------------------------------+175| in_temp0_offset | Offset for the temperature sensor channel.|176+----------------------------------+-------------------------------------------+177| in_temp0_scale | Scale for the temperature sensor channel. |178+----------------------------------+-------------------------------------------+179 180+-------------------------------+---------------------------------------------------------+181| Miscellaneous device files | Description |182+-------------------------------+---------------------------------------------------------+183| name | Name of the IIO device. |184+-------------------------------+---------------------------------------------------------+185| sampling_frequency | Currently selected sample rate. |186+-------------------------------+---------------------------------------------------------+187 188The following table shows the adis16480 related device debug files, found in the189specific device debug folder path ``/sys/kernel/debug/iio/iio:deviceX``.190 191+----------------------+-------------------------------------------------------------------------+192| Debugfs device files | Description |193+----------------------+-------------------------------------------------------------------------+194| serial_number | The serial number of the chip in hexadecimal format. |195+----------------------+-------------------------------------------------------------------------+196| product_id | Chip specific product id (e.g. 16480, 16488, 16545, etc.). |197+----------------------+-------------------------------------------------------------------------+198| flash_count | The number of flash writes performed on the device. |199+----------------------+-------------------------------------------------------------------------+200| firmware_revision | String containing the firmware revision in the following format ##.##. |201+----------------------+-------------------------------------------------------------------------+202| firmware_date | String containing the firmware date in the following format mm-dd-yyyy. |203+----------------------+-------------------------------------------------------------------------+204 205Channels processed values206-------------------------207 208A channel value can be read from its _raw attribute. The value returned is the209raw value as reported by the devices. To get the processed value of the channel,210apply the following formula:211 212.. code-block:: bash213 214 processed value = (_raw + _offset) * _scale215 216Where _offset and _scale are device attributes. If no _offset attribute is217present, simply assume its value is 0.218 219The adis16480 driver offers data for 7 types of channels, the table below shows220the measurement units for the processed value, which are defined by the IIO221framework:222 223+--------------------------------------+---------------------------+224| Channel type | Measurement unit |225+--------------------------------------+---------------------------+226| Acceleration on X, Y, and Z axis | Meters per Second squared |227+--------------------------------------+---------------------------+228| Angular velocity on X, Y and Z axis | Radians per second |229+--------------------------------------+---------------------------+230| Delta velocity on X. Y, and Z axis | Meters per Second |231+--------------------------------------+---------------------------+232| Delta angle on X, Y, and Z axis | Radians |233+--------------------------------------+---------------------------+234| Temperature | Millidegrees Celsius |235+--------------------------------------+---------------------------+236| Magnetic field along X, Y and Z axis | Gauss |237+--------------------------------------+---------------------------+238| Barometric pressure | kilo Pascal |239+--------------------------------------+---------------------------+240 241Usage examples242--------------243 244Show device name:245 246.. code-block:: bash247 248 root:/sys/bus/iio/devices/iio:device0> cat name249 adis16545-1250 251Show accelerometer channels value:252 253.. code-block:: bash254 255 root:/sys/bus/iio/devices/iio:device0> cat in_accel_x_raw256 1376728257 root:/sys/bus/iio/devices/iio:device0> cat in_accel_y_raw258 4487621259 root:/sys/bus/iio/devices/iio:device0> cat in_accel_z_raw260 262773792261 root:/sys/bus/iio/devices/iio:device0> cat in_accel_scale262 0.000000037263 264- X-axis acceleration = in_accel_x_raw * in_accel_scale = 0.050938936 m/s^2265- Y-axis acceleration = in_accel_y_raw * in_accel_scale = 0.166041977 m/s^2266- Z-axis acceleration = in_accel_z_raw * in_accel_scale = 9.722630304 m/s^2267 268Show gyroscope channels value:269 270.. code-block:: bash271 272 root:/sys/bus/iio/devices/iio:device0> cat in_anglvel_x_raw273 -1041702274 root:/sys/bus/iio/devices/iio:device0> cat in_anglvel_y_raw275 -273013276 root:/sys/bus/iio/devices/iio:device0> cat in_anglvel_z_raw277 2745116278 root:/sys/bus/iio/devices/iio:device0> cat in_anglvel_scale279 0.000000001280 281- X-axis angular velocity = in_anglvel_x_raw * in_anglvel_scale = −0.001041702 rad/s282- Y-axis angular velocity = in_anglvel_y_raw * in_anglvel_scale = −0.000273013 rad/s283- Z-axis angular velocity = in_anglvel_z_raw * in_anglvel_scale = 0.002745116 rad/s284 285Set calibration offset for accelerometer channels:286 287.. code-block:: bash288 289 root:/sys/bus/iio/devices/iio:device0> cat in_accel_x_calibbias290 0291 292 root:/sys/bus/iio/devices/iio:device0> echo 5000 > in_accel_x_calibbias293 root:/sys/bus/iio/devices/iio:device0> cat in_accel_x_calibbias294 5000295 296Set calibration offset for gyroscope channels:297 298.. code-block:: bash299 300 root:/sys/bus/iio/devices/iio:device0> cat in_anglvel_y_calibbias301 0302 303 root:/sys/bus/iio/devices/iio:device0> echo -5000 > in_anglvel_y_calibbias304 root:/sys/bus/iio/devices/iio:device0> cat in_anglvel_y_calibbias305 -5000306 307Set sampling frequency:308 309.. code-block:: bash310 311 root:/sys/bus/iio/devices/iio:device0> cat sampling_frequency312 4250.000000313 314 root:/sys/bus/iio/devices/iio:device0> echo 1000 > sampling_frequency315 1062.500000316 317Set bandwidth for accelerometer channels:318 319.. code-block:: bash320 321 root:/sys/bus/iio/devices/iio:device0> cat in_accel_x_filter_low_pass_3db_frequency322 0323 324 root:/sys/bus/iio/devices/iio:device0> echo 300 > in_accel_x_filter_low_pass_3db_frequency325 root:/sys/bus/iio/devices/iio:device0> cat in_accel_x_filter_low_pass_3db_frequency326 300327 328Show serial number:329 330.. code-block:: bash331 332 root:/sys/kernel/debug/iio/iio:device0> cat serial_number333 0x000c334 335Show product id:336 337.. code-block:: bash338 339 root:/sys/kernel/debug/iio/iio:device0> cat product_id340 16545341 342Show flash count:343 344.. code-block:: bash345 346 root:/sys/kernel/debug/iio/iio:device0> cat flash_count347 88348 349Show firmware revision:350 351.. code-block:: bash352 353 root:/sys/kernel/debug/iio/iio:device0> cat firmware_revision354 1.4355 356Show firmware date:357 358.. code-block:: bash359 360 root:/sys/kernel/debug/iio/iio:device0> cat firmware_date361 09-23-2023362 3633. Device buffers364=================365 366This driver supports IIO buffers.367 368All devices support retrieving the raw acceleration, gyroscope and temperature369measurements using buffers.370 371The following device families also support retrieving the delta velocity, delta372angle and temperature measurements using buffers:373 374- ADIS16545375- ADIS16547376 377However, when retrieving acceleration or gyroscope data using buffers, delta378readings will not be available and vice versa. This is because the device only379allows to read either acceleration and gyroscope data or delta velocity and380delta angle data at a time and switching between these two burst data selection381modes is time consuming.382 383Usage examples384--------------385 386Set device trigger in current_trigger, if not already set:387 388.. code-block:: bash389 390 root:/sys/bus/iio/devices/iio:device0> cat trigger/current_trigger391 392 root:/sys/bus/iio/devices/iio:device0> echo adis16545-1-dev0 > trigger/current_trigger393 root:/sys/bus/iio/devices/iio:device0> cat trigger/current_trigger394 adis16545-1-dev0395 396Select channels for buffer read:397 398.. code-block:: bash399 400 root:/sys/bus/iio/devices/iio:device0> echo 1 > scan_elements/in_deltavelocity_x_en401 root:/sys/bus/iio/devices/iio:device0> echo 1 > scan_elements/in_deltavelocity_y_en402 root:/sys/bus/iio/devices/iio:device0> echo 1 > scan_elements/in_deltavelocity_z_en403 root:/sys/bus/iio/devices/iio:device0> echo 1 > scan_elements/in_temp0_en404 405Set the number of samples to be stored in the buffer:406 407.. code-block:: bash408 409 root:/sys/bus/iio/devices/iio:device0> echo 10 > buffer/length410 411Enable buffer readings:412 413.. code-block:: bash414 415 root:/sys/bus/iio/devices/iio:device0> echo 1 > buffer/enable416 417Obtain buffered data::418 419 root:/sys/bus/iio/devices/iio:device0> hexdump -C /dev/iio\:device0420 ...421 00006aa0 09 62 00 00 ff ff fc a4 00 00 01 69 00 03 3c 08 |.b.........i..<.|422 00006ab0 09 61 00 00 00 00 02 96 00 00 02 8f 00 03 37 50 |.a............7P|423 00006ac0 09 61 00 00 00 00 12 3d 00 00 0b 89 00 03 2c 0b |.a.....=......,.|424 00006ad0 09 61 00 00 00 00 1e dc 00 00 16 dd 00 03 25 bf |.a............%.|425 00006ae0 09 61 00 00 00 00 1e e3 00 00 1b bf 00 03 27 0b |.a............'.|426 00006af0 09 61 00 00 00 00 15 50 00 00 19 44 00 03 30 fd |.a.....P...D..0.|427 00006b00 09 61 00 00 00 00 09 0e 00 00 14 41 00 03 3d 7f |.a.........A..=.|428 00006b10 09 61 00 00 ff ff ff f0 00 00 0e bc 00 03 48 d0 |.a............H.|429 00006b20 09 63 00 00 00 00 00 9f 00 00 0f 37 00 03 4c fe |.c.........7..L.|430 00006b30 09 64 00 00 00 00 0b f6 00 00 18 92 00 03 43 22 |.d............C"|431 00006b40 09 64 00 00 00 00 18 df 00 00 22 33 00 03 33 ab |.d........"3..3.|432 00006b50 09 63 00 00 00 00 1e 81 00 00 26 be 00 03 29 60 |.c........&...)`|433 00006b60 09 63 00 00 00 00 1b 13 00 00 22 2f 00 03 23 91 |.c........"/..#.|434 ...435 436See ``Documentation/iio/iio_devbuf.rst`` for more information about how buffered437data is structured.438 4394. IIO Interfacing Tools440========================441 442See ``Documentation/iio/iio_tools.rst`` for the description of the available IIO443interfacing tools.444