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diff --git a/Documentation/DocBook/iio.tmpl b/Documentation/DocBook/iio.tmpl deleted file mode 100644 index f525bf56d1dd..000000000000 --- a/Documentation/DocBook/iio.tmpl +++ /dev/null @@ -1,697 +0,0 @@ -<?xml version="1.0" encoding="UTF-8"?> -<!DOCTYPE book PUBLIC "-//OASIS//DTD DocBook XML V4.1.2//EN" - "http://www.oasis-open.org/docbook/xml/4.1.2/docbookx.dtd" []> - -<book id="iioid"> - <bookinfo> - <title>Industrial I/O driver developer's guide </title> - - <authorgroup> - <author> - <firstname>Daniel</firstname> - <surname>Baluta</surname> - <affiliation> - <address> - <email>daniel.baluta@intel.com</email> - </address> - </affiliation> - </author> - </authorgroup> - - <copyright> - <year>2015</year> - <holder>Intel Corporation</holder> - </copyright> - - <legalnotice> - <para> - This documentation is free software; you can redistribute - it and/or modify it under the terms of the GNU General Public - License version 2. - </para> - </legalnotice> - </bookinfo> - - <toc></toc> - - <chapter id="intro"> - <title>Introduction</title> - <para> - The main purpose of the Industrial I/O subsystem (IIO) is to provide - support for devices that in some sense perform either analog-to-digital - conversion (ADC) or digital-to-analog conversion (DAC) or both. The aim - is to fill the gap between the somewhat similar hwmon and input - subsystems. - Hwmon is directed at low sample rate sensors used to monitor and - control the system itself, like fan speed control or temperature - measurement. Input is, as its name suggests, focused on human interaction - input devices (keyboard, mouse, touchscreen). In some cases there is - considerable overlap between these and IIO. - </para> - <para> - Devices that fall into this category include: - <itemizedlist> - <listitem> - analog to digital converters (ADCs) - </listitem> - <listitem> - accelerometers - </listitem> - <listitem> - capacitance to digital converters (CDCs) - </listitem> - <listitem> - digital to analog converters (DACs) - </listitem> - <listitem> - gyroscopes - </listitem> - <listitem> - inertial measurement units (IMUs) - </listitem> - <listitem> - color and light sensors - </listitem> - <listitem> - magnetometers - </listitem> - <listitem> - pressure sensors - </listitem> - <listitem> - proximity sensors - </listitem> - <listitem> - temperature sensors - </listitem> - </itemizedlist> - Usually these sensors are connected via SPI or I2C. A common use case of the - sensors devices is to have combined functionality (e.g. light plus proximity - sensor). - </para> - </chapter> - <chapter id='iiosubsys'> - <title>Industrial I/O core</title> - <para> - The Industrial I/O core offers: - <itemizedlist> - <listitem> - a unified framework for writing drivers for many different types of - embedded sensors. - </listitem> - <listitem> - a standard interface to user space applications manipulating sensors. - </listitem> - </itemizedlist> - The implementation can be found under <filename> - drivers/iio/industrialio-*</filename> - </para> - <sect1 id="iiodevice"> - <title> Industrial I/O devices </title> - -!Finclude/linux/iio/iio.h iio_dev -!Fdrivers/iio/industrialio-core.c iio_device_alloc -!Fdrivers/iio/industrialio-core.c iio_device_free -!Fdrivers/iio/industrialio-core.c iio_device_register -!Fdrivers/iio/industrialio-core.c iio_device_unregister - - <para> - An IIO device usually corresponds to a single hardware sensor and it - provides all the information needed by a driver handling a device. - Let's first have a look at the functionality embedded in an IIO - device then we will show how a device driver makes use of an IIO - device. - </para> - <para> - There are two ways for a user space application to interact - with an IIO driver. - <itemizedlist> - <listitem> - <filename>/sys/bus/iio/iio:deviceX/</filename>, this - represents a hardware sensor and groups together the data - channels of the same chip. - </listitem> - <listitem> - <filename>/dev/iio:deviceX</filename>, character device node - interface used for buffered data transfer and for events information - retrieval. - </listitem> - </itemizedlist> - </para> - A typical IIO driver will register itself as an I2C or SPI driver and will - create two routines, <function> probe </function> and <function> remove - </function>. At <function>probe</function>: - <itemizedlist> - <listitem>call <function>iio_device_alloc</function>, which allocates memory - for an IIO device. - </listitem> - <listitem> initialize IIO device fields with driver specific information - (e.g. device name, device channels). - </listitem> - <listitem>call <function> iio_device_register</function>, this registers the - device with the IIO core. After this call the device is ready to accept - requests from user space applications. - </listitem> - </itemizedlist> - At <function>remove</function>, we free the resources allocated in - <function>probe</function> in reverse order: - <itemizedlist> - <listitem><function>iio_device_unregister</function>, unregister the device - from the IIO core. - </listitem> - <listitem><function>iio_device_free</function>, free the memory allocated - for the IIO device. - </listitem> - </itemizedlist> - - <sect2 id="iioattr"> <title> IIO device sysfs interface </title> - <para> - Attributes are sysfs files used to expose chip info and also allowing - applications to set various configuration parameters. For device - with index X, attributes can be found under - <filename>/sys/bus/iio/iio:deviceX/ </filename> directory. - Common attributes are: - <itemizedlist> - <listitem><filename>name</filename>, description of the physical - chip. - </listitem> - <listitem><filename>dev</filename>, shows the major:minor pair - associated with <filename>/dev/iio:deviceX</filename> node. - </listitem> - <listitem><filename>sampling_frequency_available</filename>, - available discrete set of sampling frequency values for - device. - </listitem> - </itemizedlist> - Available standard attributes for IIO devices are described in the - <filename>Documentation/ABI/testing/sysfs-bus-iio </filename> file - in the Linux kernel sources. - </para> - </sect2> - <sect2 id="iiochannel"> <title> IIO device channels </title> -!Finclude/linux/iio/iio.h iio_chan_spec structure. - <para> - An IIO device channel is a representation of a data channel. An - IIO device can have one or multiple channels. For example: - <itemizedlist> - <listitem> - a thermometer sensor has one channel representing the - temperature measurement. - </listitem> - <listitem> - a light sensor with two channels indicating the measurements in - the visible and infrared spectrum. - </listitem> - <listitem> - an accelerometer can have up to 3 channels representing - acceleration on X, Y and Z axes. - </listitem> - </itemizedlist> - An IIO channel is described by the <type> struct iio_chan_spec - </type>. A thermometer driver for the temperature sensor in the - example above would have to describe its channel as follows: - <programlisting> - static const struct iio_chan_spec temp_channel[] = { - { - .type = IIO_TEMP, - .info_mask_separate = BIT(IIO_CHAN_INFO_PROCESSED), - }, - }; - - </programlisting> - Channel sysfs attributes exposed to userspace are specified in - the form of <emphasis>bitmasks</emphasis>. Depending on their - shared info, attributes can be set in one of the following masks: - <itemizedlist> - <listitem><emphasis>info_mask_separate</emphasis>, attributes will - be specific to this channel</listitem> - <listitem><emphasis>info_mask_shared_by_type</emphasis>, - attributes are shared by all channels of the same type</listitem> - <listitem><emphasis>info_mask_shared_by_dir</emphasis>, attributes - are shared by all channels of the same direction </listitem> - <listitem><emphasis>info_mask_shared_by_all</emphasis>, - attributes are shared by all channels</listitem> - </itemizedlist> - When there are multiple data channels per channel type we have two - ways to distinguish between them: - <itemizedlist> - <listitem> set <emphasis> .modified</emphasis> field of <type> - iio_chan_spec</type> to 1. Modifiers are specified using - <emphasis>.channel2</emphasis> field of the same - <type>iio_chan_spec</type> structure and are used to indicate a - physically unique characteristic of the channel such as its direction - or spectral response. For example, a light sensor can have two channels, - one for infrared light and one for both infrared and visible light. - </listitem> - <listitem> set <emphasis>.indexed </emphasis> field of - <type>iio_chan_spec</type> to 1. In this case the channel is - simply another instance with an index specified by the - <emphasis>.channel</emphasis> field. - </listitem> - </itemizedlist> - Here is how we can make use of the channel's modifiers: - <programlisting> - static const struct iio_chan_spec light_channels[] = { - { - .type = IIO_INTENSITY, - .modified = 1, - .channel2 = IIO_MOD_LIGHT_IR, - .info_mask_separate = BIT(IIO_CHAN_INFO_RAW), - .info_mask_shared = BIT(IIO_CHAN_INFO_SAMP_FREQ), - }, - { - .type = IIO_INTENSITY, - .modified = 1, - .channel2 = IIO_MOD_LIGHT_BOTH, - .info_mask_separate = BIT(IIO_CHAN_INFO_RAW), - .info_mask_shared = BIT(IIO_CHAN_INFO_SAMP_FREQ), - }, - { - .type = IIO_LIGHT, - .info_mask_separate = BIT(IIO_CHAN_INFO_PROCESSED), - .info_mask_shared = BIT(IIO_CHAN_INFO_SAMP_FREQ), - }, - - } - </programlisting> - This channel's definition will generate two separate sysfs files - for raw data retrieval: - <itemizedlist> - <listitem> - <filename>/sys/bus/iio/iio:deviceX/in_intensity_ir_raw</filename> - </listitem> - <listitem> - <filename>/sys/bus/iio/iio:deviceX/in_intensity_both_raw</filename> - </listitem> - </itemizedlist> - one file for processed data: - <itemizedlist> - <listitem> - <filename>/sys/bus/iio/iio:deviceX/in_illuminance_input - </filename> - </listitem> - </itemizedlist> - and one shared sysfs file for sampling frequency: - <itemizedlist> - <listitem> - <filename>/sys/bus/iio/iio:deviceX/sampling_frequency. - </filename> - </listitem> - </itemizedlist> - </para> - <para> - Here is how we can make use of the channel's indexing: - <programlisting> - static const struct iio_chan_spec light_channels[] = { - { - .type = IIO_VOLTAGE, - .indexed = 1, - .channel = 0, - .info_mask_separate = BIT(IIO_CHAN_INFO_RAW), - }, - { - .type = IIO_VOLTAGE, - .indexed = 1, - .channel = 1, - .info_mask_separate = BIT(IIO_CHAN_INFO_RAW), - }, - } - </programlisting> - This will generate two separate attributes files for raw data - retrieval: - <itemizedlist> - <listitem> - <filename>/sys/bus/iio/devices/iio:deviceX/in_voltage0_raw</filename>, - representing voltage measurement for channel 0. - </listitem> - <listitem> - <filename>/sys/bus/iio/devices/iio:deviceX/in_voltage1_raw</filename>, - representing voltage measurement for channel 1. - </listitem> - </itemizedlist> - </para> - </sect2> - </sect1> - - <sect1 id="iiobuffer"> <title> Industrial I/O buffers </title> -!Finclude/linux/iio/buffer.h iio_buffer -!Edrivers/iio/industrialio-buffer.c - - <para> - The Industrial I/O core offers a way for continuous data capture - based on a trigger source. Multiple data channels can be read at once - from <filename>/dev/iio:deviceX</filename> character device node, - thus reducing the CPU load. - </para> - - <sect2 id="iiobuffersysfs"> - <title>IIO buffer sysfs interface </title> - <para> - An IIO buffer has an associated attributes directory under <filename> - /sys/bus/iio/iio:deviceX/buffer/</filename>. Here are the existing - attributes: - <itemizedlist> - <listitem> - <emphasis>length</emphasis>, the total number of data samples - (capacity) that can be stored by the buffer. - </listitem> - <listitem> - <emphasis>enable</emphasis>, activate buffer capture. - </listitem> - </itemizedlist> - - </para> - </sect2> - <sect2 id="iiobuffersetup"> <title> IIO buffer setup </title> - <para>The meta information associated with a channel reading - placed in a buffer is called a <emphasis> scan element </emphasis>. - The important bits configuring scan elements are exposed to - userspace applications via the <filename> - /sys/bus/iio/iio:deviceX/scan_elements/</filename> directory. This - file contains attributes of the following form: - <itemizedlist> - <listitem><emphasis>enable</emphasis>, used for enabling a channel. - If and only if its attribute is non zero, then a triggered capture - will contain data samples for this channel. - </listitem> - <listitem><emphasis>type</emphasis>, description of the scan element - data storage within the buffer and hence the form in which it is - read from user space. Format is <emphasis> - [be|le]:[s|u]bits/storagebitsXrepeat[>>shift] </emphasis>. - <itemizedlist> - <listitem> <emphasis>be</emphasis> or <emphasis>le</emphasis>, specifies - big or little endian. - </listitem> - <listitem> - <emphasis>s </emphasis>or <emphasis>u</emphasis>, specifies if - signed (2's complement) or unsigned. - </listitem> - <listitem><emphasis>bits</emphasis>, is the number of valid data - bits. - </listitem> - <listitem><emphasis>storagebits</emphasis>, is the number of bits - (after padding) that it occupies in the buffer. - </listitem> - <listitem> - <emphasis>shift</emphasis>, if specified, is the shift that needs - to be applied prior to masking out unused bits. - </listitem> - <listitem> - <emphasis>repeat</emphasis>, specifies the number of bits/storagebits - repetitions. When the repeat element is 0 or 1, then the repeat - value is omitted. - </listitem> - </itemizedlist> - </listitem> - </itemizedlist> - For example, a driver for a 3-axis accelerometer with 12 bit - resolution where data is stored in two 8-bits registers as - follows: - <programlisting> - 7 6 5 4 3 2 1 0 - +---+---+---+---+---+---+---+---+ - |D3 |D2 |D1 |D0 | X | X | X | X | (LOW byte, address 0x06) - +---+---+---+---+---+---+---+---+ - - 7 6 5 4 3 2 1 0 - +---+---+---+---+---+---+---+---+ - |D11|D10|D9 |D8 |D7 |D6 |D5 |D4 | (HIGH byte, address 0x07) - +---+---+---+---+---+---+---+---+ - </programlisting> - - will have the following scan element type for each axis: - <programlisting> - $ cat /sys/bus/iio/devices/iio:device0/scan_elements/in_accel_y_type - le:s12/16>>4 - </programlisting> - A user space application will interpret data samples read from the - buffer as two byte little endian signed data, that needs a 4 bits - right shift before masking out the 12 valid bits of data. - </para> - <para> - For implementing buffer support a driver should initialize the following - fields in <type>iio_chan_spec</type> definition: - <programlisting> - struct iio_chan_spec { - /* other members */ - int scan_index - struct { - char sign; - u8 realbits; - u8 storagebits; - u8 shift; - u8 repeat; - enum iio_endian endianness; - } scan_type; - }; - </programlisting> - The driver implementing the accelerometer described above will - have the following channel definition: - <programlisting> - struct struct iio_chan_spec accel_channels[] = { - { - .type = IIO_ACCEL, - .modified = 1, - .channel2 = IIO_MOD_X, - /* other stuff here */ - .scan_index = 0, - .scan_type = { - .sign = 's', - .realbits = 12, - .storagebits = 16, - .shift = 4, - .endianness = IIO_LE, - }, - } - /* similar for Y (with channel2 = IIO_MOD_Y, scan_index = 1) - * and Z (with channel2 = IIO_MOD_Z, scan_index = 2) axis - */ - } - </programlisting> - </para> - <para> - Here <emphasis> scan_index </emphasis> defines the order in which - the enabled channels are placed inside the buffer. Channels with a lower - scan_index will be placed before channels with a higher index. Each - channel needs to have a unique scan_index. - </para> - <para> - Setting scan_index to -1 can be used to indicate that the specific - channel does not support buffered capture. In this case no entries will - be created for the channel in the scan_elements directory. - </para> - </sect2> - </sect1> - - <sect1 id="iiotrigger"> <title> Industrial I/O triggers </title> -!Finclude/linux/iio/trigger.h iio_trigger -!Edrivers/iio/industrialio-trigger.c - <para> - In many situations it is useful for a driver to be able to - capture data based on some external event (trigger) as opposed - to periodically polling for data. An IIO trigger can be provided - by a device driver that also has an IIO device based on hardware - generated events (e.g. data ready or threshold exceeded) or - provided by a separate driver from an independent interrupt - source (e.g. GPIO line connected to some external system, timer - interrupt or user space writing a specific file in sysfs). A - trigger may initiate data capture for a number of sensors and - also it may be completely unrelated to the sensor itself. - </para> - - <sect2 id="iiotrigsysfs"> <title> IIO trigger sysfs interface </title> - There are two locations in sysfs related to triggers: - <itemizedlist> - <listitem><filename>/sys/bus/iio/devices/triggerY</filename>, - this file is created once an IIO trigger is registered with - the IIO core and corresponds to trigger with index Y. Because - triggers can be very different depending on type there are few - standard attributes that we can describe here: - <itemizedlist> - <listitem> - <emphasis>name</emphasis>, trigger name that can be later - used for association with a device. - </listitem> - <listitem> - <emphasis>sampling_frequency</emphasis>, some timer based - triggers use this attribute to specify the frequency for - trigger calls. - </listitem> - </itemizedlist> - </listitem> - <listitem> - <filename>/sys/bus/iio/devices/iio:deviceX/trigger/</filename>, this - directory is created once the device supports a triggered - buffer. We can associate a trigger with our device by writing - the trigger's name in the <filename>current_trigger</filename> file. - </listitem> - </itemizedlist> - </sect2> - - <sect2 id="iiotrigattr"> <title> IIO trigger setup</title> - - <para> - Let's see a simple example of how to setup a trigger to be used - by a driver. - - <programlisting> - struct iio_trigger_ops trigger_ops = { - .set_trigger_state = sample_trigger_state, - .validate_device = sample_validate_device, - } - - struct iio_trigger *trig; - - /* first, allocate memory for our trigger */ - trig = iio_trigger_alloc(dev, "trig-%s-%d", name, idx); - - /* setup trigger operations field */ - trig->ops = &trigger_ops; - - /* now register the trigger with the IIO core */ - iio_trigger_register(trig); - </programlisting> - </para> - </sect2> - - <sect2 id="iiotrigsetup"> <title> IIO trigger ops</title> -!Finclude/linux/iio/trigger.h iio_trigger_ops - <para> - Notice that a trigger has a set of operations attached: - <itemizedlist> - <listitem> - <function>set_trigger_state</function>, switch the trigger on/off - on demand. - </listitem> - <listitem> - <function>validate_device</function>, function to validate the - device when the current trigger gets changed. - </listitem> - </itemizedlist> - </para> - </sect2> - </sect1> - <sect1 id="iiotriggered_buffer"> - <title> Industrial I/O triggered buffers </title> - <para> - Now that we know what buffers and triggers are let's see how they - work together. - </para> - <sect2 id="iiotrigbufsetup"> <title> IIO triggered buffer setup</title> -!Edrivers/iio/buffer/industrialio-triggered-buffer.c -!Finclude/linux/iio/iio.h iio_buffer_setup_ops - - - <para> - A typical triggered buffer setup looks like this: - <programlisting> - const struct iio_buffer_setup_ops sensor_buffer_setup_ops = { - .preenable = sensor_buffer_preenable, - .postenable = sensor_buffer_postenable, - .postdisable = sensor_buffer_postdisable, - .predisable = sensor_buffer_predisable, - }; - - irqreturn_t sensor_iio_pollfunc(int irq, void *p) - { - pf->timestamp = iio_get_time_ns(); - return IRQ_WAKE_THREAD; - } - - irqreturn_t sensor_trigger_handler(int irq, void *p) - { - u16 buf[8]; - int i = 0; - - /* read data for each active channel */ - for_each_set_bit(bit, active_scan_mask, masklength) - buf[i++] = sensor_get_data(bit) - - iio_push_to_buffers_with_timestamp(indio_dev, buf, timestamp); - - iio_trigger_notify_done(trigger); - return IRQ_HANDLED; - } - - /* setup triggered buffer, usually in probe function */ - iio_triggered_buffer_setup(indio_dev, sensor_iio_polfunc, - sensor_trigger_handler, - sensor_buffer_setup_ops); - </programlisting> - </para> - The important things to notice here are: - <itemizedlist> - <listitem><function> iio_buffer_setup_ops</function>, the buffer setup - functions to be called at predefined points in the buffer configuration - sequence (e.g. before enable, after disable). If not specified, the - IIO core uses the default <type>iio_triggered_buffer_setup_ops</type>. - </listitem> - <listitem><function>sensor_iio_pollfunc</function>, the function that - will be used as top half of poll function. It should do as little - processing as possible, because it runs in interrupt context. The most - common operation is recording of the current timestamp and for this reason - one can use the IIO core defined <function>iio_pollfunc_store_time - </function> function. - </listitem> - <listitem><function>sensor_trigger_handler</function>, the function that - will be used as bottom half of the poll function. This runs in the - context of a kernel thread and all the processing takes place here. - It usually reads data from the device and stores it in the internal - buffer together with the timestamp recorded in the top half. - </listitem> - </itemizedlist> - </sect2> - </sect1> - </chapter> - <chapter id='iioresources'> - <title> Resources </title> - IIO core may change during time so the best documentation to read is the - source code. There are several locations where you should look: - <itemizedlist> - <listitem> - <filename>drivers/iio/</filename>, contains the IIO core plus - and directories for each sensor type (e.g. accel, magnetometer, - etc.) - </listitem> - <listitem> - <filename>include/linux/iio/</filename>, contains the header - files, nice to read for the internal kernel interfaces. - </listitem> - <listitem> - <filename>include/uapi/linux/iio/</filename>, contains files to be - used by user space applications. - </listitem> - <listitem> - <filename>tools/iio/</filename>, contains tools for rapidly - testing buffers, events and device creation. - </listitem> - <listitem> - <filename>drivers/staging/iio/</filename>, contains code for some - drivers or experimental features that are not yet mature enough - to be moved out. - </listitem> - </itemizedlist> - <para> - Besides the code, there are some good online documentation sources: - <itemizedlist> - <listitem> - <ulink url="http://marc.info/?l=linux-iio"> Industrial I/O mailing - list </ulink> - </listitem> - <listitem> - <ulink url="http://wiki.analog.com/software/linux/docs/iio/iio"> - Analog Device IIO wiki page </ulink> - </listitem> - <listitem> - <ulink url="https://fosdem.org/2015/schedule/event/iiosdr/"> - Using the Linux IIO framework for SDR, Lars-Peter Clausen's - presentation at FOSDEM </ulink> - </listitem> - </itemizedlist> - </para> - </chapter> -</book> - -<!-- -vim: softtabstop=2:shiftwidth=2:expandtab:textwidth=72 ---> |