资料介绍
Table of Contents
ADIS16480 IIO Inertial Measurement Unit Linux Driver
Supported Devices
Evaluation Boards
Description
This is a Linux industrial I/O (IIO) subsystem driver, targeting serial interface Inertial Measurement Units (IMU). The industrial I/O subsystem provides a unified framework for drivers for many different types of converters and sensors using a number of different physical interfaces (i2c, spi, etc). See IIO for more information.
Source Code
Status
Files
Function | File |
---|---|
driver | drivers/iio/imu/adis16480.c |
Declaring SPI slave devices
Unlike PCI or USB devices, SPI devices are not enumerated at the hardware level. Instead, the software must know which devices are connected on each SPI bus segment, and what slave selects these devices are using. For this reason, the kernel code must instantiate SPI devices explicitly. The most common method is to declare the SPI devices by bus number.
This method is appropriate when the SPI bus is a system bus, as in many embedded systems, wherein each SPI bus has a number which is known in advance. It is thus possible to pre-declare the SPI devices that inhabit this bus. This is done with an array of struct spi_board_info, which is registered by calling spi_register_board_info().
For more information see: Documentation/spi/spi-summary
Depending on the converter IC used, you may need to set the modalias accordingly, matching your part name. It may also required to adjust max_speed_hz. Please consult the datasheet, for maximum spi clock supported by the device in question.
static struct spi_board_info board_spi_board_info[] __initdata = { #if defined(CONFIG_adis16480) / || defined(CONFIG_adis16480_MODULE) { .modalias = "adis16480", .max_speed_hz = 2000000, /* max spi clock (SCK) speed in HZ */ .bus_num = 0, .chip_select = 1, /* CS, change it for your board */ .platform_data = NULL, /* No spi_driver specific config */ .mode = SPI_MODE_3, .irq = IRQ_PF5, }, #endif };
static int __init board_init(void) { [--snip--] spi_register_board_info(board_spi_board_info, ARRAY_SIZE(board_spi_board_info)); [--snip--] return 0; } arch_initcall(board_init);
Devicetree
Required properties for the ADIS16480:
- compatible: Must be one of
- “adi,adis16375”
- “adi,adis16480”
- “adi,adis16485”
- “adi,adis16488”
- “adi,adis16490”
- “adi,adis16495-1”
- “adi,adis16495-2”
- “adi,adis16495-3”
- “adi,adis16497-1”
- “adi,adis16497-2”
- “adi,adis16497-3”
- reg: SPI chip select number for the device
- spi-max-frequency: Max SPI frequency to use see: Documentation/devicetree/bindings/spi/spi-bus.txt
- spi-cpha: See Documentation/devicetree/bindings/spi/spi-bus.txt
- spi-cpol: See Documentation/devicetree/bindings/spi/spi-bus.txt
- interrupts: interrupt mapping for IRQ, accepted values are:
- IRQF_TRIGGER_RISING
- IRQF_TRIGGER_FALLING
Optional properties
- interrupt-names: Data ready line selection. Valid values are:
If this field is left empty, the factory default assigns DIO2 as data ready signal.
- DIO1
- DIO2
- DIO3
- DIO4
- reset-gpios: must be the device tree identifier of the RESET pin. As the line is active low, it should be marked GPIO_ACTIVE_LOW.
- clocks: phandle to the external clock. Should be set according to “clock-names”. If this field is left empty, the internal clock is used.
- clock-names: The name of the external clock to be used. Valid values are:
- sync: In sync mode, the internal clock is disabled and the frequency of the external clock signal establishes the rate of data collection and processing. The clock-frequency must be:
- 3000 to 4500 Hz for adis1649x devices.
- 700 to 2400 Hz for adis1648x devices.
- pps: In Pulse Per Second (PPS) Mode, the rate of data collection and production is equal to the product of the external clock frequency and the scale factor in the SYNC_SCALE register, see Table 154 in the datasheet. The clock-frequency must be:
- 1 to 128 Hz for adis1649x devices.
- This mode is not supported by adis1648x devices.
If this field is left empty, the internal clock is used.
- adi,ext-clk-pin: The DIOx line to be used as an external clock input. Valid values are:
- DIO1
- DIO2
- DIO3
- DIO4
Each DIOx pin supports only one function at a time (data ready line selection or external clock input). When a single pin has two assignments, the enable bit for the lower priority function automatically resets to zero (disabling the lower priority function). Data ready has highest priority. If this field is left empty, DIO2 is assigned as default external clock input pin.
Example
imu@0 { compatible = "adi,adis16495-1"; reg = <0>; spi-max-frequency = <3200000>; spi-cpol; spi-cpha; interrupts = <25 IRQF_TRIGGER_FALLING>; interrupt-parent = <&gpio>; interrupt-names = "DIO2"; clocks = <&adis16495_sync>; clock-names = "sync"; adi,ext-clk-pin = "DIO1"; };
Adding Linux driver support
Configure kernel with “make menuconfig” (alternatively use “make xconfig” or “make qconfig”)
The adis16480 driver depends on CONFIG_SPI_MASTER
Linux Kernel Configuration Device Drivers ---> <*> Industrial I/O support ---> --- Industrial I/O support [*] Enable buffer support within IIO -*- Industrial I/O buffering based on kfifo -*- Enable triggered sampling support [--snip--] Inertial measurement units ---> [--snip--] <*> Analog Devices ADIS16480 and similar IMU driver [--snip--]
Hardware configuration
The ADIS16IMU1/PCBZ is the primary breakout board for the ADIS1649x products. This breakout board simplifies the process of connecting an ADIS1649x IMU to an embedded processor system using a 16-pin, 1mm ribbon cable. For a detailed description, please see: adis1649x Here is an example of basic connection from the ADIS1649X interface connector to the host (microprocessor):
ADIS1649X HOST MICROPROCESSOR * DIO2 ———————> IRQ GPIO * CS <——————— SPI_SEL * SCLK <——————— SPI_SCLK * DIN <——————— SPI_MOSI * DOUT ———————> SPI_MISO
Note: IRQ GPIO can be connected to any DIOx pin. See the Devicetree section.
Driver testing
Each and every IIO device, typically a hardware chip, has a device folder under /sys/bus/iio/devices/iio:deviceX. Where X is the IIO index of the device. Under every of these directory folders reside a set of files, depending on the characteristics and features of the hardware device in question. These files are consistently generalized and documented in the IIO ABI documentation. In order to determine which IIO deviceX corresponds to which hardware device, the user can read the name file /sys/bus/iio/devices/iio:deviceX/name. In case the sequence in which the iio device drivers are loaded/registered is constant, the numbering is constant and may be known in advance.
TIP: An example program which uses the interface can be found here:
This specifies any shell prompt running on the target
root:/> cd /sys/bus/iio/devices/ root:/sys/bus/iio/devices> ls iio:device0 trigger0 root:/sys/bus/iio/devices> cd iio:device0 root:/sys/devices/platform/bfin-spi.0/spi0.1/iio:device0> ls -l drwxr-xr-x 2 root root 0 Jan 4 00:03 buffer -r--r--r-- 1 root root 4096 Jan 4 00:03 dev -rw-r--r-- 1 root root 4096 Jan 4 00:03 in_accel_filter_low_pass_3db_frequency -rw-r--r-- 1 root root 4096 Jan 4 00:03 in_accel_scale -rw-r--r-- 1 root root 4096 Jan 4 00:03 in_accel_x_calibbias -r--r--r-- 1 root root 4096 Jan 4 00:03 in_accel_x_raw -rw-r--r-- 1 root root 4096 Jan 4 00:03 in_accel_y_calibbias -r--r--r-- 1 root root 4096 Jan 4 00:03 in_accel_y_raw -rw-r--r-- 1 root root 4096 Jan 4 00:03 in_accel_z_calibbias -r--r--r-- 1 root root 4096 Jan 4 00:03 in_accel_z_raw -rw-r--r-- 1 root root 4096 Jan 4 00:03 in_anglvel_filter_low_pass_3db_frequency -rw-r--r-- 1 root root 4096 Jan 4 00:03 in_anglvel_scale -rw-r--r-- 1 root root 4096 Jan 4 00:03 in_anglvel_x_calibbias -r--r--r-- 1 root root 4096 Jan 4 00:03 in_anglvel_x_raw -rw-r--r-- 1 root root 4096 Jan 4 00:03 in_anglvel_y_calibbias -r--r--r-- 1 root root 4096 Jan 4 00:03 in_anglvel_y_raw -rw-r--r-- 1 root root 4096 Jan 4 00:03 in_anglvel_z_calibbias -r--r--r-- 1 root root 4096 Jan 4 00:03 in_anglvel_z_raw -rw-r--r-- 1 root root 4096 Jan 4 00:03 in_magn_filter_low_pass_3db_frequency -rw-r--r-- 1 root root 4096 Jan 4 00:03 in_magn_scale -r--r--r-- 1 root root 4096 Jan 4 00:03 in_magn_x_raw -r--r--r-- 1 root root 4096 Jan 4 00:03 in_magn_y_raw -r--r--r-- 1 root root 4096 Jan 4 00:03 in_magn_z_raw -rw-r--r-- 1 root root 4096 Jan 4 00:03 in_temp0_offset -r--r--r-- 1 root root 4096 Jan 4 00:03 in_temp0_raw -rw-r--r-- 1 root root 4096 Jan 4 00:03 in_temp0_scale -r--r--r-- 1 root root 4096 Jan 4 00:03 name drwxr-xr-x 2 root root 0 Jan 4 00:03 power -rw-r--r-- 1 root root 4096 Jan 4 00:03 sampling_frequency drwxr-xr-x 2 root root 0 Jan 4 00:03 scan_elements lrwxrwxrwx 1 root root 0 Jan 4 00:03 subsystem -> ../../../../../bus/iio drwxr-xr-x 2 root root 0 Jan 4 00:03 trigger -rw-r--r-- 1 root root 4096 Jan 4 00:03 uevent root:/sys/devices/platform/bfin-spi.0/spi0.1/iio:device0>
ADIS16480 device attributes
For a detailed description please see: Documentation/ABI/testing/sysfs-bus-iio
3-Axis Accelerometer related device files | Description |
---|---|
in_accel_filter_low_pass_3db_frequency | Bandwidth for the accelerometer channels. |
in_accel_scale | Scale for the accelerometer channels. |
in_accel_x_calibbias | Calibration offset 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_raw | Raw Y-axis accelerometer channel value. |
in_accel_z_calibbias | Calibration offset for the Z-axis accelerometer channel. |
in_accel_z_raw | Raw Z-axis accelerometer channel value. |
3-Axis Gyro related device files | Description |
in_anglvel_filter_low_pass_3db_frequency | Bandwidth for the gyroscope channels. |
in_anglvel_scale | Scale for the gyroscope channels. |
in_anglvel_x_calibbias | Calibration offset 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_raw | Raw Y-axis gyroscope channel value. |
in_anglvel_z_calibbias | Calibration offset for the Z-axis gyroscope channel. |
in_anglvel_z_raw | Raw Z-axis gyroscope channel value. |
3-Axis Magnetometer related device files | Description |
in_magn_filter_low_pass_3db_frequency | Bandwidth for the magnetometer channels. |
in_magn_scale | Scale for the magnetometer channels. |
in_magn_x_raw | Raw X-axis magnetometer channel value. |
in_magn_y_raw | Raw Y-axis magnetometer channel value. |
in_magn_z_raw | Raw Z-axis magnetometer channel value. |
Barometric pressure sensor related files | Description |
in_pressure_raw | Raw barometric pressure sensor channel value. |
in_pressure_scale | Scale for the barometric pressure sensor channel. |
Temperature sensor related files | Description |
in_temp0_offset | Offset for temperature sensor channel. |
in_temp0_raw | Raw temperature channel value. |
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. |
Show device name
This specifies any shell prompt running on the target
root:/sys/devices/platform/bfin-spi.0/spi0.1/iio:device0> cat name adis16480
Set sampling frequency
The sampling frequency of the device can be set by writing the desired value to the sampling_frequency
file. The driver will automatically round up to the nearest supported sampling frequency.
Example:
This specifies any shell prompt running on the target
root:/sys/devices/platform/bfin-spi.0/spi0.1/iio:device0> cat sampling_frequency 4250.000000 pi@raspberrypi:/s root:/sys/devices/platform/bfin-spi.0/spi0.1/iio:device0> echo 2000 > sampling_frequency root:/sys/devices/platform/bfin-spi.0/spi0.1/iio:device0> cat sampling_frequency 2125.000000
Show channel value
A channel value can be read from its _raw
attribute. The value returned by the _raw
attribute is the raw value as reported by the device. To get the processed value of the channel in a standardized unit add the channels _offset
attribute to the _raw
value and multiply the result by _scale
attribute. If no _offset
attribute is present assume 0 for the offset.
processed value = (raw + offset) * scale
The units by the IIO framework are:
- Acceleration: Meter per Second squared
- Angular velocity: Rad per second
- Pressure: kilo Pascal
- Magnetometer: milli Gauss
- Temperature: milli Degree Celsius
Example:
This specifies any shell prompt running on the target
root:/sys/devices/platform/bfin-spi.0/spi0.1/iio:device0> cat in_accel_z_raw 265126938 root:/sys/devices/platform/bfin-spi.0/spi0.1/iio:device0> cat in_accel_scale 0.002451731
Z-axis acceleration = in_accel_z_raw * in_accel_scale = 265126938 * 0.002451731 m/s^2 = 650019.932 m/s^2
Set channel bandwidth
The channels bandwidth can be set by writing the desired value to the channels _filter_low_pass_3db_frequency
attribute. The driver will automatically round up to the nearest supported bandwidth.
Note that the low pass filter frequency depends on the sampling frequency, so changing the sampling frequency will scale the low pass filter frequency accordingly. E.g. reducing the sampling frequency by a factor of two will also reduce the bandwidth by a factor of two.
Example:
This specifies any shell prompt running on the target
root:/sys/devices/platform/bfin-spi.0/spi0.1/iio:device0> cat in_anglvel_filter_low_pass_3db_frequency TDB root:/sys/devices/platform/bfin-spi.0/spi0.1/iio:device0> echo TBD > in_anglvel_filter_low_pass_3db_frequency root:/sys/devices/platform/bfin-spi.0/spi0.1/iio:device0> cat in_anglvel_filter_low_pass_3db_frequency TBD
Trigger management
This driver only supports it's own default trigger source adis16480-dev0
This specifies any shell prompt running on the target
root:/sys/devices/platform/bfin-spi.0/spi0.1/iio:device0> cat trigger/current_trigger adis16480-dev0
Buffer management
This specifies any shell prompt running on the target
root:/sys/devices/platform/bfin-spi.0/spi0.1/iio:device0/buffer> ls enable length
The Industrial I/O subsystem provides support for various ring buffer based data acquisition methods. Apart from device specific hardware buffer support, the user can chose between two different software ring buffer implementations. One is the IIO lock free software ring, and the other is based on Linux kfifo. Devices with buffer support feature an additional sub-folder in the /sys/bus/iio/devices/deviceX/ folder hierarchy. Called deviceX:bufferY, where Y defaults to 0, for devices with a single buffer.
Every buffer implementation features a set of files:
length
Get/set the number of sample sets that may be held by the buffer.
enable
Enables/disables the buffer. This file should be written last, after length and selection of scan elements.
watermark
A single positive integer specifying the maximum number of scan
elements to wait for.
Poll will block until the watermark is reached.
Blocking read will wait until the minimum between the requested
read amount or the low water mark is available.
Non-blocking read will retrieve the available samples from the
buffer even if there are less samples then watermark level. This
allows the application to block on poll with a timeout and read
the available samples after the timeout expires and thus have a
maximum delay guarantee.
data_available
A read-only value indicating the bytes of data available in the
buffer. In the case of an output buffer, this indicates the
amount of empty space available to write data to. In the case of
an input buffer, this indicates the amount of data available for
reading.
length_align_bytes
Using the high-speed interface. DMA buffers may have an alignment requirement for the buffer length.
Newer versions of the kernel will report the alignment requirements
associated with a device through the `length_align_bytes` property.
scan_elements
The scan_elements directory contains interfaces for elements that will be captured for a single triggered sample set in the buffer.
This specifies any shell prompt running on the target
root:/sys/devices/platform/bfin-spi.0/spi0.1/iio:device0/scan_elements> ls TBD root:/sys/devices/platform/bfin-spi.0/spi0.1/iio:device0/scan_elements>
in_voltageX_en / in_voltageX-voltageY_en / timestamp_en:
Scan element control for triggered data capture.
Writing 1 will enable the scan element, writing 0 will disable it
in_voltageX_type / in_voltageX-voltageY_type / timestamp_type:
Description of the scan element data storage within the buffer
and therefore in the form in which it is read from user-space.
Form is [s|u]bits/storage-bits. s or u specifies if signed
(2's complement) or unsigned. bits is the number of bits of
data and storage-bits is the space (after padding) that it
occupies in the buffer. Note that some devices will have
additional information in the unused bits so to get a clean
value, the bits value must be used to mask the buffer output
value appropriately. The storage-bits value also specifies the
data alignment. So u12/16 will be a unsigned 12 bit integer
stored in a 16 bit location aligned to a 16 bit boundary.
For other storage combinations this attribute will be extended
appropriately.
in_voltageX_index / in_voltageX-voltageY_index / timestamp_index:
A single positive integer specifying the position of this
scan element in the buffer. Note these are not dependent on
what is enabled and may not be contiguous. Thus for user-space
to establish the full layout these must be used in conjunction
with all _en attributes to establish which channels are present,
and the relevant _type attributes to establish the data storage
format.
More Information
- IIO mailing list: linux [dash] iio [at] vger [dot] kernel [dot] org
IMU Evaluation Board User Guides
- ADIS1625x评估软件下载
- ADIS16407-D型号(.STEP格式,ADIS1636x3D.Lip)
- ADIS16480-D型号(.STEP格式,ADIS16375字样)
- ADISUSB的ADIS16375评估软件
- ADIS1649x三维阶跃模型(ADIS1649x-xBMLZ.zip)
- ADIS16375:异常数据表
- ADIS16375:低调、低噪声六自由度惯性传感器硅异常数据表
- ADIS16375对ADISUSB系统的评估
- ADIS1649x三维阶跃模型(ADIS1649x-xBMLZ.zip)
- ADIS1650x/PCBZ Wiki指南
- ADIS1613x Linux设备驱动程序
- ADIS1646x/ADIS1647x/ADIS1650x Linux设备漂流器
- ADIS1640x 评估工具概述
- AN-1295: ADIS16375、ADIS16480、ADIS16485和ADIS16488的机械设计技巧
- ADIS1649x 3-D STEP Models (ADIS1649x-xBMLZ.zip)
- X-RAY检测设备操作指南 386次阅读
- arm架构和x86架构区别 linux是x86还是arm 1.3w次阅读
- Linux内核驱动与单个PCI设备的绑定和解绑定 1303次阅读
- SSD20X上如何移植WK2124驱动? 883次阅读
- 如何写一个Linux设备驱动程序 4314次阅读
- 自动X射线检查的应用原理及设备使用的类型 3822次阅读
- Linux设备驱动开发的基本知识 4260次阅读
- 米尔科技Linux设备驱动研究浅谈 1914次阅读
- 米尔科技LINUX设备驱动程序教程 1966次阅读
- X射线探伤的设备_X射线探伤的方法 7672次阅读
- ADI公司推出了一款双轴倾斜计传感器能提供出小于0.1度线性倾斜误差 1169次阅读
- 美国模拟器件公司ADI推出了一款多轴运动传感器ADIS16355 1858次阅读
- ADIS16355芯片MEMS陀螺仪数据采集硬件设计 5960次阅读
- 想要驾驭Linux驱动开发,必须深刻理解Linux总线设备驱动框架 1w次阅读
- 关于Linux设备驱动中input子系统的介绍 2663次阅读
下载排行
本周
- 1电子电路原理第七版PDF电子教材免费下载
- 0.00 MB | 1491次下载 | 免费
- 2单片机典型实例介绍
- 18.19 MB | 95次下载 | 1 积分
- 3S7-200PLC编程实例详细资料
- 1.17 MB | 27次下载 | 1 积分
- 4笔记本电脑主板的元件识别和讲解说明
- 4.28 MB | 18次下载 | 4 积分
- 5开关电源原理及各功能电路详解
- 0.38 MB | 11次下载 | 免费
- 6100W短波放大电路图
- 0.05 MB | 4次下载 | 3 积分
- 7基于单片机和 SG3525的程控开关电源设计
- 0.23 MB | 4次下载 | 免费
- 8基于AT89C2051/4051单片机编程器的实验
- 0.11 MB | 4次下载 | 免费
本月
- 1OrCAD10.5下载OrCAD10.5中文版软件
- 0.00 MB | 234313次下载 | 免费
- 2PADS 9.0 2009最新版 -下载
- 0.00 MB | 66304次下载 | 免费
- 3protel99下载protel99软件下载(中文版)
- 0.00 MB | 51209次下载 | 免费
- 4LabView 8.0 专业版下载 (3CD完整版)
- 0.00 MB | 51043次下载 | 免费
- 5555集成电路应用800例(新编版)
- 0.00 MB | 33562次下载 | 免费
- 6接口电路图大全
- 未知 | 30320次下载 | 免费
- 7Multisim 10下载Multisim 10 中文版
- 0.00 MB | 28588次下载 | 免费
- 8开关电源设计实例指南
- 未知 | 21539次下载 | 免费
总榜
- 1matlab软件下载入口
- 未知 | 935053次下载 | 免费
- 2protel99se软件下载(可英文版转中文版)
- 78.1 MB | 537793次下载 | 免费
- 3MATLAB 7.1 下载 (含软件介绍)
- 未知 | 420026次下载 | 免费
- 4OrCAD10.5下载OrCAD10.5中文版软件
- 0.00 MB | 234313次下载 | 免费
- 5Altium DXP2002下载入口
- 未知 | 233046次下载 | 免费
- 6电路仿真软件multisim 10.0免费下载
- 340992 | 191183次下载 | 免费
- 7十天学会AVR单片机与C语言视频教程 下载
- 158M | 183277次下载 | 免费
- 8proe5.0野火版下载(中文版免费下载)
- 未知 | 138039次下载 | 免费
评论
查看更多