Industrial I/O driver developer's guide

Return-Path: Received: (majordomo@vger.kernel.org) by vger.kernel.org via listexpand id S1756732AbbHDOSX (ORCPT ); Tue, 4 Aug 2015 10:18:23 -0400 Received: from mga01.intel.com ([192.55.52.88]:29154 "EHLO mga01.intel.com" rhost-flags-OK-OK-OK-OK) by vger.kernel.org with ESMTP id S1756008AbbHDOSU (ORCPT ); Tue, 4 Aug 2015 10:18:20 -0400 X-ExtLoop1: 1 X-IronPort-AV: E=Sophos;i="5.15,609,1432623600"; d="scan'208,217";a="776550960" From: Daniel Baluta To: jic23@kernel.org, corbet@lwn.net, rdunlap@infradead.org, cmo@melexis.com Cc: pmeerw@pmeerw.net, knaack.h@gmx.de, lars@metafoo.de, linux-kernel@vger.kernel.org, linux-iio@vger.kernel.org, herbert@gondor.apana.org.au, smueller@chronox.de, mmarek@suse.cz, daniel.baluta@intel.com, linux-doc@vger.kernel.org, cristina.opriceana@gmail.com Subject: [PATCH v5] DocBook: Add initial documentation for IIO Date: Tue, 4 Aug 2015 17:20:08 +0300 Message-Id: <1438698008-13718-2-git-send-email-daniel.baluta@intel.com> X-Mailer: git-send-email 1.9.1 In-Reply-To: <1438698008-13718-1-git-send-email-daniel.baluta@intel.com> References: <1438698008-13718-1-git-send-email-daniel.baluta@intel.com> Sender: linux-kernel-owner@vger.kernel.org List-ID: X-Mailing-List: linux-kernel@vger.kernel.org Content-Length: 28391 Lines: 737 This is intended to help developers faster find their way inside the Industrial I/O core and reduce time spent on IIO drivers development. Signed-off-by: Daniel Baluta Acked-by: Crt Mori Reviewed-by: Lars-Peter Clausen --- Documentation/DocBook/Makefile | 2 +- Documentation/DocBook/iio.tmpl | 697 +++++++++++++++++++++++++++++++++++++++++ 2 files changed, 698 insertions(+), 1 deletion(-) create mode 100644 Documentation/DocBook/iio.tmpl diff --git a/Documentation/DocBook/Makefile b/Documentation/DocBook/Makefile index b6a6a2e..9e08606 100644 --- a/Documentation/DocBook/Makefile +++ b/Documentation/DocBook/Makefile @@ -15,7 +15,7 @@ DOCBOOKS := z8530book.xml device-drivers.xml \ 80211.xml debugobjects.xml sh.xml regulator.xml \ alsa-driver-api.xml writing-an-alsa-driver.xml \ tracepoint.xml drm.xml media_api.xml w1.xml \ - writing_musb_glue_layer.xml crypto-API.xml + writing_musb_glue_layer.xml crypto-API.xml iio.xml include Documentation/DocBook/media/Makefile diff --git a/Documentation/DocBook/iio.tmpl b/Documentation/DocBook/iio.tmpl new file mode 100644 index 0000000..06bb53d --- /dev/null +++ b/Documentation/DocBook/iio.tmpl @@ -0,0 +1,697 @@ + + + + + + Industrial I/O driver developer's guide + + + + Daniel + Baluta + +

+ daniel.baluta@intel.com +

+ + + + + + 2015 + Intel Corporation + + + + + This documentation is free software; you can redistribute + it and/or modify it under the terms of the GNU General Public + License version 2. + + + + + + + + Introduction + + 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. + + + Devices that fall into this category include: + + + analog to digital converters (ADCs) + + + accelerometers + + + capacitance to digital converters (CDCs) + + + digital to analog converters (DACs) + + + gyroscopes + + + inertial measurement units (IMUs) + + + color and light sensors + + + magnetometers + + + pressure sensors + + + proximity sensors + + + temperature sensors + + + 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). + + + + Industrial I/O core + + The Industrial I/O core offers: + + + a unified framework for writing drivers for many different types of + embedded sensors. + + + a standard interface to user space applications manipulating sensors. + + + The implementation can be found under + drivers/iio/industrialio-* + + + Industrial I/O devices + +!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 + + + 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. + + + There are two ways for a user space application to interact + with an IIO driver. + + + /sys/bus/iio/iio:deviceX/, this + represents a hardware sensor and groups together the data + channels of the same chip. + + + /dev/iio:deviceX, character device node + interface used for buffered data transfer and for events information + retrieval. + + + + A typical IIO driver will register itself as an I2C or SPI driver and will + create two routines, probe and remove + . At probe: + + call iio_device_alloc, which allocates memory + for an IIO device. + + initialize IIO device fields with driver specific information + (e.g. device name, device channels). + + call iio_device_register, this registers the + device with the IIO core. After this call the device is ready to accept + requests from user space applications. + + + At remove, we free the resources allocated in + probe in reverse order: + + iio_device_unregister, unregister the device + from the IIO core. + + iio_device_free, free the memory allocated + for the IIO device. + + + + IIO device sysfs interface + + 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 + /sys/bus/iio/iio:deviceX/ directory. + Common attributes are: + + name, description of the physical + chip. + + dev, shows the major:minor pair + associated with /dev/iio:deviceX node. + + sampling_frequency_available, + available discrete set of sampling frequency values for + device. + + + Available standard attributes for IIO devices are described in the + Documentation/ABI/testing/sysfs-bus-iio file + in the Linux kernel sources. + + + IIO device channels +!Finclude/linux/iio/iio.h iio_chan_spec structure. + + An IIO device channel is a representation of a data channel. An + IIO device can have one or multiple channels. For example: + + + a thermometer sensor has one channel representing the + temperature measurement. + + + a light sensor with two channels indicating the measurements in + the visible and infrared spectrum. + + + an accelerometer can have up to 3 channels representing + acceleration on X, Y and Z axes. + + + An IIO channel is described by the struct iio_chan_spec + . A thermometer driver for the temperature sensor in the + example above would have to describe its channel as follows: + + static const struct iio_chan_spec temp_channel[] = { + { + .type = IIO_TEMP, + .info_mask_separate = BIT(IIO_CHAN_INFO_PROCESSED), + }, + }; + + + Channel sysfs attributes exposed to userspace are specified in + the form of bitmasks. Depending on their + shared info, attributes can be set in one of the following masks: + + info_mask_separate, attributes will + be specific to this channel + info_mask_shared_by_type, + attributes are shared by all channels of the same type + info_mask_shared_by_dir, attributes + are shared by all channels of the same direction + info_mask_shared_by_all, + attributes are shared by all channels + + When there are multiple data channels per channel type we have two + ways to distinguish between them: + + set .modified field of + iio_chan_spec to 1. Modifiers are specified using + .channel2 field of the same + iio_chan_spec 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. + + set .indexed field of + iio_chan_spec to 1. In this case the channel is + simply another instance with an index specified by the + .channel field. + + + Here is how we can make use of the channel's modifiers: + + 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), + }, + + } + + This channel's definition will generate two separate sysfs files + for raw data retrieval: + + + /sys/bus/iio/iio:deviceX/in_intensity_ir_raw + + + /sys/bus/iio/iio:deviceX/in_intensity_both_raw + + + one file for processed data: + + + /sys/bus/iio/iio:deviceX/in_illuminance_input + + + + and one shared sysfs file for sampling frequency: + + + /sys/bus/iio/iio:deviceX/sampling_frequency. + + + + + + Here is how we can make use of the channel's indexing: + + 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), + }, + } + + This will generate two separate attributes files for raw data + retrieval: + + + /sys/bus/iio/devices/iio:deviceX/in_voltage0_raw, + representing voltage measurement for channel 0. + + + /sys/bus/iio/devices/iio:deviceX/in_voltage1_raw, + representing voltage measurement for channel 1. + + + + + + + Industrial I/O buffers +!Finclude/linux/iio/buffer.h iio_buffer +!Edrivers/iio/industrialio-buffer.c + + + 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 /dev/iio:deviceX character device node, + thus reducing the CPU load. + + + + IIO buffer sysfs interface + + An IIO buffer has an associated attributes directory under + /sys/bus/iio/iio:deviceX/buffer/. Here are the existing + attributes: + + + length, the total number of data samples + (capacity) that can be stored by the buffer. + + + enable, activate buffer capture. + + + + + + IIO buffer setup + The meta information associated with a channel reading + placed in a buffer is called a scan element . + The important bits configuring scan elements are exposed to + userspace applications via the + /sys/bus/iio/iio:deviceX/scan_elements/ directory. This + file contains attributes of the following form: + + enable, 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. + + type, description of the scan element + data storage within the buffer and hence the form in which it is + read from user space. Format is + [be|le]:[s|u]bits/storagebitsXrepeat[>>shift] . + + be or le, specifies + big or little endian. + + + s or u, specifies if + signed (2's complement) or unsigned. + + bits, is the number of valid data + bits. + + storagebits, is the number of bits + (after padding) that it occupies in the buffer. + + + shift, if specified, is the shift that needs + to be applied prior to masking out unused bits. + + + repeat, specifies the number of bits/storagebits + repetitions. When the repeat element is 0 or 1, then the repeat + value is omitted. + + + + + For example, a driver for a 3-axis accelerometer with 12 bit + resolution where data is stored in two 8-bits registers as + follows: + + 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) + +---+---+---+---+---+---+---+---+ + + + will have the following scan element type for each axis: + + $ cat /sys/bus/iio/devices/iio:device0/scan_elements/in_accel_y_type + le:s12/16>>4 + + 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. + + + For implementing buffer support a driver should initialize the following + fields in iio_chan_spec definition: + + 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; + }; + + The driver implementing the accelerometer described above will + have the following channel definition: + + 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, + .storgebits = 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 + */ + } + + + + Here scan_index 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. + + + 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. + + + + + Industrial I/O triggers +!Finclude/linux/iio/trigger.h iio_trigger +!Edrivers/iio/industrialio-trigger.c + + 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. + + + IIO trigger sysfs interface + There are two locations in sysfs related to triggers: + + /sys/bus/iio/devices/triggerY, + 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: + + + name, trigger name that can be later + used for association with a device. + + + sampling_frequency, some timer based + triggers use this attribute to specify the frequency for + trigger calls. + + + + + /sys/bus/iio/devices/iio:deviceX/trigger/, 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 current_trigger file. + + + + + IIO trigger setup + + + Let's see a simple example of how to setup a trigger to be used + by a driver. + + + 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); + + + + + IIO trigger ops +!Finclude/linux/iio/trigger.h iio_trigger_ops + + Notice that a trigger has a set of operations attached: + + + set_trigger_state, switch the trigger on/off + on demand. + + + validate_device, function to validate the + device when the current trigger gets changed. + + + + + + + Industrial I/O triggered buffers + + Now that we know what buffers and triggers are let's see how they + work together. + + IIO triggered buffer setup +!Edrivers/iio/industrialio-triggered-buffer.c +!Finclude/linux/iio/iio.h iio_buffer_setup_ops + + + + A typical triggered buffer setup looks like this: + + 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); + + + The important things to notice here are: + + iio_buffer_setup_ops, 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 iio_triggered_buffer_setup_ops. + + sensor_iio_pollfunc, 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 iio_pollfunc_store_time + function. + + sensor_trigger_handler, 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. + + + + + + + Resources + IIO core may change during time so the best documentation to read is the + source code. There are several locations where you should look: + + + drivers/iio/, contains the IIO core plus + and directories for each sensor type (e.g. accel, magnetometer, + etc.) + + + include/linux/iio/, contains the header + files, nice to read for the internal kernel interfaces. + + + include/uapi/linux/iio/, contains files to be + used by user space applications. + + + tools/iio/, contains tools for rapidly + testing buffers, events and device creation. + + + drivers/staging/iio/, contains code for some + drivers or experimental features that are not yet mature enough + to be moved out. + + + + Besides the code, there are some good online documentation sources: + + + Industrial I/O mailing + list + + + + Analog Device IIO wiki page + + + + Using the Linux IIO framework for SDR, Lars-Peter Clausen's + presentation at FOSDEM + + + + + + + -- 1.9.1 -- To unsubscribe from this list: send the line "unsubscribe linux-kernel" in the body of a message to majordomo@vger.kernel.org More majordomo info at http://vger.kernel.org/majordomo-info.html Please read the FAQ at http://www.tux.org/lkml/