Documentation/iio/adis16475.rst

Source file repositories/reference/linux-study-clean/Documentation/iio/adis16475.rst

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Documentation/iio/adis16475.rst
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.. SPDX-License-Identifier: GPL-2.0

================
ADIS16475 driver
================

This driver supports Analog Device's IMUs on SPI bus.

1. Supported devices
====================

* `ADIS16465 <https://www.analog.com/ADIS16465>`_
* `ADIS16467 <https://www.analog.com/ADIS16467>`_
* `ADIS16470 <https://www.analog.com/ADIS16470>`_
* `ADIS16475 <https://www.analog.com/ADIS16475>`_
* `ADIS16477 <https://www.analog.com/ADIS16477>`_
* `ADIS16500 <https://www.analog.com/ADIS16500>`_
* `ADIS16505 <https://www.analog.com/ADIS16505>`_
* `ADIS16507 <https://www.analog.com/ADIS16507>`_

Each supported device is a precision, miniature microelectromechanical system
(MEMS) inertial measurement unit (IMU) that includes a triaxial gyroscope and a
triaxial accelerometer. Each inertial sensor in the IMU device combines with
signal conditioning that optimizes dynamic performance. The factory calibration
characterizes each sensor for sensitivity, bias, alignment, linear acceleration
(gyroscope bias), and point of percussion (accelerometer location). As a result,
each sensor has dynamic compensation formulas that provide accurate sensor
measurements over a broad set of conditions.

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.

The signal chain of each inertial sensor (accelerometers and gyroscopes)
includes the application of unique correction formulas, which are derived from
extensive characterization of bias, sensitivity, alignment, response to linear
acceleration (gyroscopes), and point of percussion (accelerometer location)
over a temperature range of −40°C to +85°C, for each ADIS device. These
correction formulas are not accessible, but users do have the opportunity to
adjust the bias for each sensor individually through the calibbias attribute.

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 adis16475 related device files, found in the
specific device folder path ``/sys/bus/iio/devices/iio:deviceX``.

+-------------------------------------------+----------------------------------------------------------+
| 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_raw                            | Raw X-axis accelerometer channel value.                  |
+-------------------------------------------+----------------------------------------------------------+

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Implementation Notes