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resources:tools-software:linux-drivers:iio-resolver:ad2s1210 [03 Jan 2013 20:42] – external edit resources:tools-software:linux-drivers:iio-resolver:ad2s1210 [07 Dec 2023 15:44] (current) – added setup images Trevor Gamblin
Line 7: Line 7:
 ===== Evaluation Boards ===== ===== Evaluation Boards =====
  
-  * [[adi>EVAL-AD2S1210EDZ]]+  * [[adi>EVAL-AD2S1210SDZ]]
  
 ===== Reference Circuits ===== ===== Reference Circuits =====
  
   * [[adi>CN0192]]   * [[adi>CN0192]]
 +  * [[adi>CN0276]]
 +  * [[adi>CN0317]]
 ===== Description ===== ===== Description =====
  
-{{scrape>adi>AD2S1210#description}}+
  
   * [[adi>ad2s1200|Product Page]]   * [[adi>ad2s1200|Product Page]]
-  * {{scrape>adi>AD2S1210#datasheet-details}} 
  
 This is a Linux industrial I/O ([[software:linux:docs:iio:iio|IIO]]) subsystem driver, targeting Resolver-to-Digital Converters. This is a Linux industrial I/O ([[software:linux:docs:iio:iio|IIO]]) subsystem driver, targeting Resolver-to-Digital Converters.
Line 27: Line 28:
 ===== Status ===== ===== Status =====
  
-^  Source  ^  Mainlined?  ^ +^ Source ^ Mainlined? ^ 
-| [[git.linux.org>drivers/staging/iio/resolver/ad2s1210.c|git]] |  [[git.linux.org>drivers/staging/iio/resolver/ad2s1210.c|Yes]]  |+| [[https://git.kernel.org/pub/scm/linux/kernel/git/torvalds/linux.git/tree/drivers/iio/resolver/ad2s1210.c|git]] | [[https://git.kernel.org/pub/scm/linux/kernel/git/torvalds/linux.git/tree/drivers/iio/resolver/ad2s1210.c?id=HEAD|Yes]] | 
 + 
 +Support for the AD2S1210 is in mainline for kernel v6.7 and is backported to v6.1 of the [[repo>linux|ADI tree]]. Some additional features are slated for v6.8. The device was previously supported by a staging driver with a different ABI. 
 ===== Files ===== ===== Files =====
  
 ^ Function ^ File ^ ^ Function ^ File ^
-| driver  | [[staging.kernel.org>drivers/staging/iio/resolver/ad2s1210.c]] | +| driver  | [[git.linux.org>drivers/iio/resolver/ad2s1210.c|drivers/iio/resolver/ad2s1210.c]] | 
-| include| [[staging.kernel.org>drivers/staging/iio/resolver/ad2s1210.h]] |+| devicetree | [[git.linux.org>Documentation/devicetree/bindings/iio/resolver/adi,ad2s1210.yaml|Documentation/devicetree/bindings/iio/resolver/adi,ad2s1210.yaml]] |
  
 ====== Adding Linux driver support ====== ====== Adding Linux driver support ======
Line 65: Line 69:
 ====== Driver Usage ====== ====== Driver Usage ======
  
-The device file path may looks like, +To configure the chip, use the attributes according to the device register to IIO ABI mapping below: 
-<code> + 
-/sys/devices/platform/bfin-spi.0/spi0.3/iio/device0/ad2s1210> +^ Register                  ^ Addr ^ IIO ABI (sysfs) ^ Units ^ Notes ^ 
-</code>+|DOS Overrange Threshold     | 0x89 | events/in_altvoltage0_thresh_rising_value | mV | | 
 +|DOS Mismatch Threshold      | 0x8A | events/in_altvoltage0_mag_rising_value | mV | | 
 +|DOS Reset Maximum Threshold | 0x8B | events/in_altvoltage0_mag_rising_reset_max | mV | | 
 +|DOS Reset Minimum Threshold | 0x8C | events/in_altvoltage0_mag_rising_reset_min | mV | | 
 +|LOT High Threshold          | 0x8D | events/in_angl1_thresh_rising_value | Radians | | 
 +|LOT Low Threshold           | 0x8E | events/in_angl1_thresh_rising_hysteresis | Radians | The value written to the LOT low register is high value minus the hysteresis. | 
 +|Excitation Frequency        | 0x91 | out_altvoltage0_frequency | Hz | | 
 +|Control                     | 0x92 | *as bit fields* | | | 
 +|  Phase lock range          | D5   | events/in_phase0_mag_rising_value | Radians | | 
 +|  Hysteresis                | D4   | in_angl0_hysteresis | | Convert to radians by multiplying channel scale | 
 +|  Encoder resolution        | D3:2 | *not implemented* | | | 
 +|  Resolution                | D1:0 | *device tree: assigned-resolution-bits* | Bits | 10, 12, 14, or 16 | 
 +|Soft Reset                  | 0xF0 | | | Soft reset is performed when `out_altvoltage0_frequency` is written.| 
 +|Fault                       | 0xFF | *not implemented* | | | 
 + 
 +===== Interfacing With the AD2S1210 via iio_attr ===== 
 + 
 +Accessing a list of channels: 
 + 
 +<WRAP box bggreen><wrap info>This specifies any shell prompt running on the target</wrap> 
 +<xterm> 
 +analog@setup-2-zed:~ $ iio_attr ad2s1210 -c 
 +dev 'ad2s1210', channel 'angl0' (input, index: 0, format: be:U16/16>>0), found 5 channel-specific attributes 
 +dev 'ad2s1210', channel 'anglvel0' (input, index: 1, format: be:S16/16>>0), found 3 channel-specific attributes 
 +dev 'ad2s1210', channel 'timestamp' (input, index: 2, format: le:S64/64>>0), found 0 channel-specific attributes 
 +dev 'ad2s1210', channel 'phase0' (input), found 1 channel-specific attributes 
 +dev 'ad2s1210', channel 'altvoltage0' (output), found 3 channel-specific attributes 
 +dev 'ad2s1210', channel 'altvoltage2' (input), found 1 channel-specific attributes 
 +dev 'ad2s1210', channel 'angl1' (input), found 1 channel-specific attributes 
 +dev 'ad2s1210', channel 'altvoltage0' (input), found 1 channel-specific attributes 
 +dev 'ad2s1210', channel 'altvoltage1' (input), found 1 channel-specific attributes 
 +</xterm></WRAP> 
 + 
 +For example, to get position channel **angl0**: 
 +<WRAP box bggreen><wrap info>This specifies any shell prompt running on the target</wrap> 
 +<xterm> 
 +analog@setup-2-zed:~ $ iio_attr ad2s1210 -ci angl0 
 +dev 'ad2s1210', channel 'angl0' (input), attr 'hysteresis', value '1' 
 +dev 'ad2s1210', channel 'angl0' (input), attr 'hysteresis_available', value '0 1' 
 +dev 'ad2s1210', channel 'angl0' (input), attr 'label', value 'position' 
 +dev 'ad2s1210', channel 'angl0' (input), attr 'raw', value '34114' 
 +dev 'ad2s1210', channel 'angl0' (input), attr 'scale', value '0.000095874' 
 +</xterm></WRAP> 
 + 
 +Or velocity channel **anglvel0**: 
 + 
 +<WRAP box bggreen><wrap info>This specifies any shell prompt running on the target</wrap> 
 +<xterm> 
 +analog@setup-2-zed:~ $ iio_attr ad2s1210 -ci anglvel0 
 +dev 'ad2s1210', channel 'anglvel0' (input), attr 'label', value 'velocity' 
 +dev 'ad2s1210', channel 'anglvel0' (input), attr 'raw', value '0' 
 +dev 'ad2s1210', channel 'anglvel0' (input), attr 'scale', value '0.023968449' 
 +</xterm></WRAP> 
 + 
 +===== Interfacing With the AD2S1210 via /sys/bus ===== 
 + 
 +Alternatively, you can read and write data directly from the device path in /sys/bus: 
 + 
 +<WRAP box bggreen><wrap info>This specifies any shell prompt running on the target</wrap> 
 +<xterm> 
 +analog@setup-2-zed:~ $ cd /sys/bus/iio/devices/iio\:device1/ 
 + 
 +analog@setup-2-zed:/sys/bus/iio/devices/iio:device1 $ tree 
 +. 
 +├── buffer 
 +│   ├── data_available 
 +│   ├── direction 
 +│   ├── enable 
 +│   ├── length 
 +│   └── watermark 
 +├── buffer0 
 +│   ├── data_available 
 +│   ├── direction 
 +│   ├── enable 
 +│   ├── in_angl0_en 
 +│   ├── in_angl0_index 
 +│   ├── in_angl0_type 
 +│   ├── in_anglvel0_en 
 +│   ├── in_anglvel0_index 
 +│   ├── in_anglvel0_type 
 +│   ├── in_timestamp_en 
 +│   ├── in_timestamp_index 
 +│   ├── in_timestamp_type 
 +│   ├── length 
 +│   └── watermark 
 +├── current_timestamp_clock 
 +├── dev 
 +├── events 
 +│   ├── in_altvoltage0_mag_rising_label 
 +│   ├── in_altvoltage0_mag_rising_reset_max 
 +│   ├── in_altvoltage0_mag_rising_reset_max_available 
 +│   ├── in_altvoltage0_mag_rising_reset_min 
 +│   ├── in_altvoltage0_mag_rising_reset_min_available 
 +│   ├── in_altvoltage0_mag_rising_value 
 +│   ├── in_altvoltage0_mag_rising_value_available 
 +│   ├── in_altvoltage0_thresh_falling_label 
 +│   ├── in_altvoltage0_thresh_falling_value 
 +│   ├── in_altvoltage0_thresh_falling_value_available 
 +│   ├── in_altvoltage0_thresh_rising_label 
 +│   ├── in_altvoltage0_thresh_rising_value 
 +│   ├── in_altvoltage0_thresh_rising_value_available 
 +│   ├── in_altvoltage1_mag_either_label 
 +│   ├── in_altvoltage2_mag_either_label 
 +│   ├── in_angl1_thresh_rising_hysteresis 
 +│   ├── in_angl1_thresh_rising_hysteresis_available 
 +│   ├── in_angl1_thresh_rising_label 
 +│   ├── in_angl1_thresh_rising_value 
 +│   ├── in_angl1_thresh_rising_value_available 
 +│   ├── in_anglvel0_mag_rising_label 
 +│   ├── in_phase0_mag_rising_label 
 +│   ├── in_phase0_mag_rising_value 
 +│   └── in_phase0_mag_rising_value_available 
 +├── in_altvoltage0_label 
 +├── in_altvoltage1_label 
 +├── in_altvoltage2_label 
 +├── in_angl0_hysteresis 
 +├── in_angl0_hysteresis_available 
 +├── in_angl0_label 
 +├── in_angl0_raw 
 +├── in_angl0_scale 
 +├── in_angl1_label 
 +├── in_anglvel0_label 
 +├── in_anglvel0_raw 
 +├── in_anglvel0_scale 
 +├── in_phase0_label 
 +├── name 
 +├── of_node -> ../../../../../../../../firmware/devicetree/base/axi/spi@e0006000/ad2s1210@0 
 +├── out_altvoltage0_frequency 
 +├── out_altvoltage0_frequency_available 
 +├── out_altvoltage0_label 
 +├── power 
 +│   ├── autosuspend_delay_ms 
 +│   ├── control 
 +│   ├── runtime_active_time 
 +│   ├── runtime_status 
 +│   └── runtime_suspended_time 
 +├── scan_elements 
 +│   ├── in_angl0_en 
 +│   ├── in_angl0_index 
 +│   ├── in_angl0_type 
 +│   ├── in_anglvel0_en 
 +│   ├── in_anglvel0_index 
 +│   ├── in_anglvel0_type 
 +│   ├── in_timestamp_en 
 +│   ├── in_timestamp_index 
 +│   └── in_timestamp_type 
 +├── subsystem -> ../../../../../../../../bus/iio 
 +├── trigger 
 +│   └── current_trigger 
 +├── uevent 
 +└── waiting_for_supplier 
 + 
 +analog@setup-2-zed:/sys/bus/iio/devices/iio:device1 $ cat name 
 +ad2s1210 
 + 
 +analog@setup-2-zed:/sys/bus/iio/devices/iio:device1 $ cat in_angl0_raw 
 +34115 
 +</xterm></WRAP> 
 + 
 +Hysteresis can be enabled or disabled this way. To do so, first check the output of in_angl0_hysteresis_available: 
 + 
 +<WRAP box bggreen><wrap info>This specifies any shell prompt running on the target</wrap> 
 +<xterm> 
 +root@setup-2-zed:/sys/bus/iio/devices/iio:device1# cat in_angl0_hysteresis_available  
 +0 1 
 +</xterm></WRAP> 
 + 
 +To turn hysteresis off, write the first value from the output to in_angl0_hysteresis: 
 + 
 +<WRAP box bggreen><wrap info>This specifies any shell prompt running on the target</wrap> 
 +<xterm> 
 +root@setup-2-zed:/sys/bus/iio/devices/iio:device1# echo 0 > in_angl0_hysteresis 
 +</xterm></WRAP> 
 + 
 +To turn it on, write the second value (which is dependent on the assigned bits for resolution and may not always be 1): 
 + 
 +<WRAP box bggreen><wrap info>This specifies any shell prompt running on the target</wrap> 
 +<xterm> 
 +root@setup-2-zed:/sys/bus/iio/devices/iio:device1# echo 1 > in_angl0_hysteresis 
 +</xterm></WRAP> 
 + 
 +===== Triggered buffer ===== 
 + 
 +To generate samples using the triggered buffer, you will need a trigger. You can create an hrtimer trigger and test it by retrieving samples like this: 
 + 
 +<WRAP box bggreen><wrap info>This specifies any shell prompt running on the target</wrap> 
 +<xterm> 
 +root@setup-2-zed:~# mkdir /sys/kernel/config/iio/triggers/hrtimer/test 
 +root@setup-2-zed:~# iio_readdev ad2s1210 -t test -s 1000 -T 10000 | hd 
 +WARNING: High-speed mode not enabled 
 +00000000  85 41 00 00 00 00 00 00  82 e1 7d ad 09 54 9e 17  |.A........}..T..| 
 +00000010  85 41 00 00 00 00 00 00  00 70 16 ae 09 54 9e 17  |.A.......p...T..| 
 +00000020  85 42 00 00 00 00 00 00  5f 06 af ae 09 54 9e 17  |.B......_....T..| 
 +00000030  85 41 00 00 00 00 00 00  3f a2 47 af 09 54 9e 17  |.A......?.G..T..| 
 +00000040  85 42 00 00 00 00 00 00  7f 32 e0 af 09 54 9e 17  |.B.......2...T..| 
 +00000050  85 41 00 00 00 00 00 00  41 c8 78 b0 09 54 9e 17  |.A......A.x..T..| 
 +00000060  85 41 00 00 00 00 00 00  ab 64 11 b1 09 54 9e 17  |.A.......d...T..| 
 +00000070  85 41 00 00 00 00 00 00  fb f6 a9 b1 09 54 9e 17  |.A...........T..| 
 +00000080  85 41 00 00 00 00 00 00  85 8b 42 b2 09 54 9e 17  |.A........B..T..| 
 +00000090  85 41 ff ff 00 00 00 00  13 22 db b2 09 54 9e 17  |.A......."...T..| 
 +000000a0  85 42 00 00 00 00 00 00  e3 b8 73 b3 09 54 9e 17  |.B........s..T..| 
 +000000b0  85 42 00 00 00 00 00 00  53 4f 0c b4 09 54 9e 17  |.B......SO...T..| 
 +000000c0  85 41 00 00 00 00 00 00  6a e8 a4 b4 09 54 9e 17  |.A......j....T..| 
 +000000d0  85 41 00 00 00 00 00 00  24 7d 3d b5 09 54 9e 17  |.A......$}=..T..| 
 +000000e0  85 41 ff ff 00 00 00 00  7c 13 d6 b5 09 54 9e 17  |.A......|....T..| 
 +000000f0  85 41 00 00 00 00 00 00  2c a9 6e b6 09 54 9e 17  |.A......,.n..T..| 
 +... 
 +</xterm></WRAP> 
 + 
 +<note important> using the -t option to specify the trigger with iio_readdev resets the sampling rate of the hrtimer trigger back to 100Hz!</note> 
 + 
 +For other apps, we probably want a high sample rate. You can change the rate like this: 
 + 
 +<WRAP box bggreen><wrap info>This specifies any shell prompt running on the target</wrap> 
 +<xterm> 
 +root@setup-2-zed:~# iio_attr -d test sampling_frequency 10000 
 +10000.000000 
 +</xterm></WRAP> 
 + 
 +===== Reading IIO Events ===== 
 + 
 +See [[https://git.kernel.org/pub/scm/linux/kernel/git/torvalds/linux.git/tree/tools/iio/iio_event_monitor.c|iio_event_monitor]] for an example of a program designed to read IIO events. 
 + 
 +Fault to event mapping: 
 + 
 +^ Fault                                 ^    ^ Channel     ^ Type   ^ Direction ^ Notes ^ 
 +|Sine/cosine inputs clipped              | D7 | altvoltage1 | mag    | either | The chip does not differentiate between fault on sine vs. cosine so there will also be an event on the altvoltage2 channel. | 
 +|Sine/cosine inputs below LOS            | D6 | altvoltage0 | thresh | falling | | 
 +|Sine/cosine inputs exceed DOS overrange | D5 | altvoltage0 | thresh | rising | | 
 +|Sine/cosine inputs exceed DOS mismatch  | D4 | altvoltage0 | mag    | rising | | 
 +|Tracking error exceeds LOT              | D3 | angl1       | thresh | rising | | 
 +|Velocity exceeds maximum tracking rate  | D2 | anglvel0    | mag    | rising | | 
 +|Phase error exceeds phase lock range    | D1 | phase0      | mag    | rising | | 
 +|Configuration parity error              | D0 | *writes to kernel log* | | 
 + 
 +====== Usage With the EVAL-AD2S1210SDZ Evaluation Board ====== 
 + 
 +===== Interfacing With a Raspberry Pi ===== 
 + 
 +==== Wiring ==== 
 + 
 +^ AD2S1210 Pin ^ Eval Board Pin ^ RPi Header Pin ^ RPi Function ^ Notes ^ 
 +| RES0 | LK6 | 15 | GPIO22 | There aren’t J4 pins for RES0/1 so have to use jumper pins. It is also possible to hard-wire resolution pins RES0/1, but device tree would need to be changed accordingly. | 
 +| RES1 | LK7 | 16 | GPIO23 | There aren’t J4 pins for RES0/1 so have to use jumper pins. It is also possible to hard-wire resolution pins RES0/1, but device tree would need to be changed accordingly. | 
 +| A0 | J4-12 | 18 | GPIO24 | 
 +| A1 | J4-11 | 22 | GPIO25 | 
 +| WR/FSYNC | J4-4 | 24 | SPI0 CE0 | 
 +| SAMPLE | J4-1 | 12 | GPIO18 | 
 +| VDRIVE | J704-1 | 1 | 3.3V | 
 +| DGND | J704-2 | 9 | GND | 
 +| SCLK | J4-10 | 23 | SPI0 SCLK | 
 +| SDI | J4-9 | 19 | SPI0 MOSI | 
 +| SDO | J4-8 | 21 | SPI0 MISO | 
 + 
 +^ AD2S1210 Pin ^ Eval Board Pins (Jumpered) ^ Eval Board Signal ^ 
 +| RD | J4-3, J4-7 | VDRIVE | 
 +| CS | J4-2, J4-6 | DGND | 
 + 
 +^ Eval Board Signal ^ Eval Board Jumper ^ Position ^ Notes ^ 
 +| SAMPLE | LK1 | B | | 
 +| CS | LK2 | C | | 
 +| RD | LK3 | C | | 
 +| A0 | LK 4 | C | | 
 +| A1 | LK5 | C | | 
 +| RES0 | LK6 | C | There aren’t J4 pins for RES0/1 so have to use jumper pins. It is also possible to hard-wire resolution pins RES0/1, but device tree would need to be changed accordingly. | 
 +| RES1 | LK7 | C | There aren’t J4 pins for RES0/1 so have to use jumper pins. It is also possible to hard-wire resolution pins RES0/1, but device tree would need to be changed accordingly. | 
 +| SOE | LK9 | B | | 
 +| VDRIVE | LK703 | B | | 
 + 
 +==== Device Tree ==== 
 + 
 +Add ''dtoverlay=ad2s1210'' to ''/boot/config.txt''. 
 + 
 +Overlay: [[https://raw.githubusercontent.com/analogdevicesinc/linux/rpi-6.1.y/arch/arm/boot/dts/overlays/ad2s1210-overlay.dts|ad2s1210-overlay.dts]] 
 + 
 +==== Sample Images ==== 
 + 
 +Eval board connections: 
 + 
 +{{:resources:tools-software:linux-drivers:iio-resolver:img_20231206_135017785_hdr.jpg?400|}} 
 + 
 +Raspberry Pi connections: 
 + 
 +{{:resources:tools-software:linux-drivers:iio-resolver:img_20231206_135039086.jpg?400|}} 
 + 
 +===== Zedboard ===== 
 + 
 +{{:resources:tools-software:linux-drivers:iio-resolver:img_20231207_080341.jpg?400|}}
  
-There are two files: +See [[:resources:eval:user-guides:ad2s1210_sdz]] for a detailed setup guide
-^  File Name  ^  Permission  ^  Usage  ^ +
-| raw_io | read/write | raw SPI read/write | +
-| reset | write only | soft reset | +
-| fclkin | read/write | show/store input clock | +
-| fexcit | read/write | show/store excitation clock | +
-| control | read/write | show/store control register | +
-| bits | read/write | show/store resolution | +
-| fault | read only | show fault register  | +
-| pos | read only | 10/12/14/16 bits unsigned angular value | +
-| vel | read only | 10/12/14/16 bits signed velocity value | +
-| pos_vel | read only | 10/12/14/16 bits unsigned angular and signed velocity value | +
-| los_thrd | read/write | show/store los threshold register | +
-| dos_ovr_thrd | read/write | show/store dos overange register | +
-| dos_mis_thrd | read/write | show/store dos mismatch register | +
-| dos_rst_max_thrd | read/write | show/store dos reset maximum register | +
-| dos_rst_min_thrd | read/write | show/store dos reset minimum register | +
-| lot_high_thrd | read/write | show/store lot high threshold | +
-| lot_low_thrd | read/write | show/store lot low threshold | +
-| description | read only | description about this chip |+
  
 ====== More Information ====== ====== More Information ======
  
 {{page>software:linux:docs:iio:iio_snippets#iio pointers&noheader&firstseconly&noeditbtn}} {{page>software:linux:docs:iio:iio_snippets#iio pointers&noheader&firstseconly&noeditbtn}}
resources/tools-software/linux-drivers/iio-resolver/ad2s1210.1357242154.txt.gz · Last modified: 06 Feb 2014 11:56 (external edit)

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