ADIS16475

ADIS16475 IIO Inertial Measurement Unit.

Supported Devices

• ADIS16465

• ADIS16467

• ADIS16470

• ADIS16475

• ADIS16477

• ADIS16500

• ADIS16505

• ADIS16507

Evaluation Boards

• ADIS16IMU4/PCBZ

• EVAL-ADIS2

• ADIS16470/PCB

• ADIS16475-x/PCB

• ADIS16477-x/PCB

Description

This is a Linux industrial I/O (Linux Industrial I/O Subsystem) 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 Linux Industrial I/O Subsystem for more information.

Source Code

Status

Source	Mainlined?
ADI tree	Yes

Files

Function	File
driver	adis16475.c

Hardware configuration

The evaluation kits simplify the process of connecting an IMU to an embedded processor system using a 16-pin, 1mm ribbon cable. For a detailed description check the links (on the beginning of the page) for the appropriated evaluation kit. Here is an example of basic connection from one ADIS device interface connector to the host:(microprocessor):

DEVICE          HOST MICROPROCESSOR
* DR   ———————> IRQ GPIO
* CS   <——————— SPI_SEL
* SCLK <——————— SPI_SCLK
* DIN  <——————— SPI_MOSI
* DOUT ———————> SPI_MISO

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:

• IIO Oscilloscope

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/bus/iio/devices/iio:device0> ls -l
total 0
drwxr-xr-x 2 root root    0 Jul 12 10:17 buffer
-rw-r--r-- 1 root root 4096 Jul 12 10:17 current_timestamp_clock
-r--r--r-- 1 root root 4096 Jul 12 10:17 dev
-rw-r--r-- 1 root root 4096 Jul 12 10:17 filter_low_pass_3db_frequency
-rw-r--r-- 1 root root 4096 Jul 12 10:17 in_accel_scale
-rw-r--r-- 1 root root 4096 Jul 12 10:17 in_accel_x_calibbias
-rw-r--r-- 1 root root 4096 Jul 12 10:17 in_accel_x_raw
-rw-r--r-- 1 root root 4096 Jul 12 10:17 in_accel_y_calibbias
-rw-r--r-- 1 root root 4096 Jul 12 10:17 in_accel_y_raw
-rw-r--r-- 1 root root 4096 Jul 12 10:17 in_accel_z_calibbias
-rw-r--r-- 1 root root 4096 Jul 12 10:17 in_accel_z_raw
-rw-r--r-- 1 root root 4096 Jul 12 10:17 in_anglvel_scale
-rw-r--r-- 1 root root 4096 Jul 12 10:17 in_anglvel_x_calibbias
-rw-r--r-- 1 root root 4096 Jul 12 10:17 in_anglvel_x_raw
-rw-r--r-- 1 root root 4096 Jul 12 10:17 in_anglvel_y_calibbias
-rw-r--r-- 1 root root 4096 Jul 12 10:17 in_anglvel_y_raw
-rw-r--r-- 1 root root 4096 Jul 12 10:17 in_anglvel_z_calibbias
-rw-r--r-- 1 root root 4096 Jul 12 10:17 in_anglvel_z_raw
-rw-r--r-- 1 root root 4096 Jul 12 10:17 in_temp0_raw
-rw-r--r-- 1 root root 4096 Jul 12 10:17 in_temp0_scale
-r--r--r-- 1 root root 4096 Jul 12 10:17 name
lrwxrwxrwx 1 root root    0 Jul 12 10:17 of_node -> ../../../../../../../../firmware/devicetree/base/soc/spi@7e204000/adis16475@0
drwxr-xr-x 2 root root    0 Jul 12 10:17 power
-rw-r--r-- 1 root root 4096 Jul 12 10:17 sampling_frequency
drwxr-xr-x 2 root root    0 Jul 12 10:17 scan_elements
lrwxrwxrwx 1 root root    0 Jul 12 10:17 subsystem -> ../../../../../../../../bus/iio
drwxr-xr-x 2 root root    0 Jul 12 10:17 trigger
-rw-r--r-- 1 root root 4096 Jul 12 10:17 uevent

root:/sys/bus/iio/devices/iio:device0>

Adding Linux driver support

Kernel configuration

Configure kernel with make menuconfig (alternatively use make xconfig or make qconfig)

Note

The adis16475 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 ADIS16475 and similar IMU driver
                [--snip--]

Devicetree configuration

Analog Devices ADIS16475 and similar IMUs

Required properties for the ADIS16475:

• compatible: Must be one of

  • adi,adis16465-1

  • adi,adis16465-2

  • adi,adis16465-3

  • adi,adis16467-1

  • adi,adis16467-2

  • adi,adis16467-3

  • adi,adis16470

  • adi,adis16475-1

  • adi,adis16475-2

  • adi,adis16475-3

  • adi,adis16477-1

  • adi,adis16477-2

  • adi,adis16477-3

  • adi,adis16500

  • adi,adis16505-1

  • adi,adis16505-2

  • adi,adis16505-3

  • adi,adis16507-1

  • adi,adis16507-2

  • adi,adis16507-3

• reg: SPI chip select number for the device

• 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:

  • IRQ_TYPE_EDGE_RISING

  • IRQ_TYPE_EDGE_FALLING

  These flags are defined in <dt-bindings/interrupt-controller/irq.h>.

Optional properties

• 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.

• spi-max-frequency: Max SPI frequency to use see: Documentation/devicetree/bindings/spi/spi-bus.txt. The maximum supported value is 2MHz.

• clocks: phandle to the external synchronization clock for an input mode. The driver acquires this clock without a name; clock-names does not select the synchronization mode.

• adi,sync-mode: numeric selection interpreted through the matched variant’s synchronization-mode table. If omitted, the driver uses the internal clock, even if clocks is present. For the ADIS1647x/ADIS1650x devices described below, the mode values are:

  • 0 (sync output): The device uses its internal clock and pulses the SYNC pin when the internal processor collects data from the inertial sensors. No external input clock is acquired in this mode.

  • 1 (direct input): In this mode, the signal of SYNC pin directly controls the sample clock. In this mode, the processor collects gyroscope data samples on the rising edge of the clock and it collects accelerometer data samples on both rising and falling edge of the clock. For ADIS16475, use a 50% duty-cycle input clock at 1900 to 2100 Hz. The duty-cycle requirement matters because the accelerometer collects and averages samples from both clock edges.

  • 2 (scaled input): This mode is useful when synchronizing the data processing with a PPS signal from a global positioning system (GPS) receiver or with a synchronization signal from a video processing system. The clock-frequency must be 1 to 128 Hz.

  • 3 (pulse input, where supported): In this mode, the processor only collects accelerometer samples on the leading edge of the clock, which enables the use of narrow pulse width in the clock signal. The clock-frequency must be 1000 to 2100 Hz (this mode is not supported by the adis1650x devices).

In scaled mode, the driver computes SYNC_SCALE during initialization and recomputes it when sampling_frequency changes.

Burst transfer width is selected internally from variant capabilities and whether filtering/decimation produces meaningful low bits.

Example

imu@0 {
           compatible = "adi,adis16475-3";
           reg = <0>;
           spi-cpha;
           spi-cpol;
           spi-max-frequency = <2000000>;
           interrupts = <4 IRQ_TYPE_EDGE_RISING>;
           interrupt-parent = <&gpio>;
   };

For more supported devicetree properties take a look to dt-bindings.

Setup on Raspbian image

Setting up the driver on the official Raspbian image.

• Step 1: Install official Raspberry Pi image

• Step 2: Rebuilding the kernel requires either native (on raspberry) build or cross-compilation. Follow the official steps: https://www.raspberrypi.com/documentation/computers/linux_kernel.html

Resources:

Properties	ADIS16475	ADIS16480
Supported sensors	adis16470, adis16475-1, adis16475-2, adis16475-3, adis16477-1, adis16477-2, adis16477-3, adis16465-1, adis16465-2, adis16465-3, adis16467-1, adis16467-2, adis16467-3, adis16500, adis16505-1, adis16505-2, adis16505-3, adis16507-1, adis16507-2, adis16507-3	adis16375, adis16480, adis16485, adis16488, adis16490, adis16495-1, adis16495-2, adis16495-3, adis16497-1, adis16497-2, adis16497-3
Required overlays	adis16475-overlays.dts	adis16480-overlays.dts

Overlay contents:

adis16475-overlay.dts

adis16480-overlay.dts

|

// SPDX-License-Identifier: GPL-2.0
/dts-v1/;
/plugin/;

#include <dt-bindings/interrupt-controller/irq.h>
#include <dt-bindings/gpio/gpio.h>

/ {
    compatible = "brcm,bcm2835";

    fragment@0 {
        target = <&spi0>;
        __overlay__ {
            status = "okay";
        };
    };

    fragment@1 {
        target = <&spidev0>;
        __overlay__ {
            status = "disabled";
        };
    };

    fragment@2 {
        target = <&spidev1>;
        __overlay__ {
            status = "disabled";
        };
    };

     fragment@3 {
        target = <&gpio>;
        __overlay__ {
            adis16475_pins: adis16475_pins {
                brcm,pins = <4 12>; // interrupt and reset
                brcm,function = <0 1>; // in out
            };
        };
    };

    fragment@4 {
        target-path = "/";
        __overlay__ {
            clocks {
                adis16475_ref_clk: clock@0 {
                         #clock-cells = <0>;
                         compatible = "fixed-clock";
                };
            };
        };
    };

    fragment@5 {
        target = <&spi0>;
        __overlay__ {
            /* needed to avoid dtc warning */
            #address-cells = <1>;
            #size-cells = <0>;

            adis16475: adis16475@0 {
                reg = <0>;
                pinctrl-names = "default";
                pinctrl-0 = <&adis16475_pins>;
                spi-cpha;
                spi-cpol;
                reset-gpios = <&gpio 12 GPIO_ACTIVE_LOW>;
                spi-max-frequency = <2000000>;
                interrupts = <4 IRQ_TYPE_EDGE_RISING>;
                interrupt-parent = <&gpio>;
            };
        };
    };

    __overrides__ {
        /*
  * This gives an option to use the gpio25 as the data ready pin. This
  * must be used for the adis16465/7 families as these devices use the
  * 14 pin connector where DR is using gpio25. Note that this should
  * not be used for the other devices as the gpio25 is both connected to
  * the sync selector and to the sync pin (because the sync and DR pins
  * are swapped in the 16 pin connector).
         */
        drdy_gpio25 = <&adis16475_pins>,"brcm,pins:0=25",
                <&adis16475>,"interrupts:0=25";
        device = <&adis16475>,"compatible";
        sync_mode = <&adis16475>,"adi,sync-mode:0";
        ext_sync_freq = <&adis16475_ref_clk>, "clock-frequency:0",
                <&adis16475>,"clocks:0=",<&adis16475_ref_clk>;
    };
};

|

// SPDX-License-Identifier: GPL-2.0
/dts-v1/;
/plugin/;

#include <dt-bindings/interrupt-controller/irq.h>
#include <dt-bindings/gpio/gpio.h>

/ {
    compatible = "brcm,bcm2835";

    fragment@0 {
        target = <&spi0>;
        __overlay__ {
            status = "okay";
        };
    };

    fragment@1 {
        target = <&spidev0>;
        __overlay__ {
            status = "disabled";
        };
    };

    fragment@2 {
        target = <&spidev1>;
        __overlay__ {
            status = "disabled";
        };
    };

     fragment@3 {
        target = <&gpio>;
        __overlay__ {
            adis16480_pins: adis16480_pins {
                brcm,pins = <6 12>; // interrupt and reset
                brcm,function = <0 1>; // in out
            };
        };
    };
    fragment@4 {
        target = <&spi0>;
        __overlay__ {
            /* needed to avoid dtc warning */
            #address-cells = <1>;
            #size-cells = <0>;

            adis16480: adis16480@0 {
                reg = <0>;
                pinctrl-names = "default";
                pinctrl-0 = <&adis16480_pins>;
                spi-cpha;
                spi-cpol;
                reset-gpios = <&gpio 12 GPIO_ACTIVE_LOW>;
                spi-max-frequency = <15000000>;
                /* use DIO1 as data ready by default */
                interrupts = <6 IRQ_TYPE_EDGE_RISING>;
                interrupt-parent = <&gpio>;
            };
        };
    };

    __overrides__ {
        device = <&adis16480>,"compatible";
        drdy_dio2 = <&adis16480_pins>,"brcm,pins:0=25",
                <&adis16480>,"interrupts:0=25",
                <&adis16480>,"interrupt-names=DIO2";
        drdy_dio3 = <&adis16480_pins>,"brcm,pins:0=4",
                <&adis16480>,"interrupts:0=4",
                <&adis16480>,"interrupt-names=DIO3";
        drdy_dio4 = <&adis16480_pins>,"brcm,pins:0=5",
                <&adis16480>,"interrupts:0=5",
                <&adis16480>,"interrupt-names=DIO4";
    };
};

|

• Step 2.1: Follow instructions until Customize the kernel part

• Step 2.2: Activate the desired sensor module by running make menuconfig, look for module by typing ./adis16475 or ./adis16480 and setting the module with [M] in front of their name. Save changes.

• Step 2.3: Overlay files must be created in the following directory:

arch/arm64/boot/dts/overlays/adis16475-overlay.dts \

or

arch/arm64/boot/dts/overlays/adis16480-overlay.dts \

and added to Makefile: arch/arm64/boot/dts/overlays/Makefile the following line:

adis16475.dtbo \

or

adis16480.dtbo \

• Step 2.4: After these changes, the kernel build steps can be continued. After the kernel image and the overlays have been copied to the boot file system, the following lines have to be added to the end of /boot/firmware/config.txt:

[all]
dtoverlay=adis164XX
dtparam=device="adi,adis16YYY-Z"

An example for adis16505-2, supported by module adis16475:

[all]
dtoverlay=adis16475
dtparam=device="adi,adis16505-2"

• Step 3 (Optional): Install libiio according to: https://wiki.analog.com/resources/tools-software/linux-software/libiio

After reboot, the driver should be ready to use.

Driver testing

Identify the device

root:/sys/bus/iio/devices/iio:device0> cat name
adis16477-1

Attribute reference

ADIS16475 device attributes

For a detailed description please see: Documentation/ABI/testing/sysfs-bus-iio

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.
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_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.
Temperature sensor related files	Description
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.
filter_low_pass_3db_frequency	Bandwidth for the accelerometer and gyroscope channels.

Set sampling frequency

The sampling frequency of the device can be set by writing the desired value to the sampling_frequency file. The driver rounds the required decimation divisor to the nearest integer (with variant bounds); the resulting sample frequency can be either above or below the requested rate. Read sampling_frequency back after writing it.

Example:

root:/sys/bus/iio/devices/iio:device0> cat sampling_frequency
2000.000000
pi@raspberrypi:/s
root:/sys/bus/iio/devices/iio:device0> echo 1000 > sampling_frequency
root:/sys/bus/iio/devices/iio:device0> cat sampling_frequency
1000.000000

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

• Temperature: milli Degree Celsius

Example:

root:/sys/bus/iio/devices/iio:device0> cat in_accel_z_raw
52612913
root:/sys/bus/iio/devices/iio:device0> cat in_accel_scale
0.000000187

Z-axis acceleration = in_accel_z_raw * in_accel_scale = 52612913 * 0.000000187 m/s^2 = 9.838 m/s^2

Set gyro and accel bandwidth

The gyro and accel bandwidth can be set by writing the desired value to the filter_low_pass_3db_frequency attribute. The driver will automatically round up to the nearest supported bandwidth.

Example:

root:/sys/bus/iio/devices/iio:device0> cat filter_low_pass_3db_frequency
720.000000
root:/sys/bus/iio/devices/iio:device0> echo 360 > filter_low_pass_3db_frequency
root:/sys/bus/iio/devices/iio:device0> cat filter_low_pass_3db_frequency
360.000000

Trigger management

Note

This driver only supports it’s own default trigger source adis16477-1-dev0

root:/sys/bus/iio/devices/iio:device0> cat trigger/current_trigger
adis16477-1-dev0

Tip

In case there is no trigger specified, run the following command:

root@analog:/sys/bus/iio/devices# cat trigger0/name > iio\:device0/trigger/current_trigger

Buffer management

root:/sys/bus/iio/devices/iio:device0/buffer> ls
data_available  enable  length  watermark

The Industrial I/O subsystem supports buffered data acquisition. Buffer implementation and capabilities depend on the driver. Devices with buffer support expose each buffer at /sys/bus/iio/devices/iio:deviceX/bufferY, where Y is the buffer index, starting at 0. The first buffer is additionally exposed through the legacy buffer directory, which contains its buffer-control attributes. Its scan configuration is exposed through the legacy scan_elements directory, while multi-buffer systems expose the scan attributes in the corresponding bufferY directory. Read samples from the device character node /dev/iio:deviceX; the selected buffer is determined by the active buffer configuration.

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.

root:/sys/bus/iio/devices/iio:device0/scan_elements> ls -l
total 0
-rw-r--r-- 1 root root 4096 Jul 12 10:17 in_accel_x_en
-r--r--r-- 1 root root 4096 Jul 12 10:17 in_accel_x_index
-r--r--r-- 1 root root 4096 Jul 12 10:17 in_accel_x_type
-rw-r--r-- 1 root root 4096 Jul 12 10:17 in_accel_y_en
-r--r--r-- 1 root root 4096 Jul 12 10:17 in_accel_y_index
-r--r--r-- 1 root root 4096 Jul 12 10:17 in_accel_y_type
-rw-r--r-- 1 root root 4096 Jul 12 10:17 in_accel_z_en
-r--r--r-- 1 root root 4096 Jul 12 10:17 in_accel_z_index
-r--r--r-- 1 root root 4096 Jul 12 10:17 in_accel_z_type
-rw-r--r-- 1 root root 4096 Jul 12 10:17 in_anglvel_x_en
-r--r--r-- 1 root root 4096 Jul 12 10:17 in_anglvel_x_index
-r--r--r-- 1 root root 4096 Jul 12 10:17 in_anglvel_x_type
-rw-r--r-- 1 root root 4096 Jul 12 10:17 in_anglvel_y_en
-r--r--r-- 1 root root 4096 Jul 12 10:17 in_anglvel_y_index
-r--r--r-- 1 root root 4096 Jul 12 10:17 in_anglvel_y_type
-rw-r--r-- 1 root root 4096 Jul 12 10:17 in_anglvel_z_en
-r--r--r-- 1 root root 4096 Jul 12 10:17 in_anglvel_z_index
-r--r--r-- 1 root root 4096 Jul 12 10:17 in_anglvel_z_type
-rw-r--r-- 1 root root 4096 Jul 12 10:17 in_temp0_en
-r--r--r-- 1 root root 4096 Jul 12 10:17 in_temp0_index
-r--r--r-- 1 root root 4096 Jul 12 10:17 in_temp0_type
-rw-r--r-- 1 root root 4096 Jul 12 10:17 in_timestamp_en
-r--r--r-- 1 root root 4096 Jul 12 10:17 in_timestamp_index
-r--r--r-- 1 root root 4096 Jul 12 10:17 in_timestamp_type
root:/sys/bus/iio/devices/iio:device0/scan_elements>

The driver does not register diagnostic or CRC flag scan channels. It validates the burst checksum internally and rejects an invalid burst before delivering samples to the buffer.

in_voltageX_en / in_voltageX-voltageY_en / in_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 / in_timestamp_type:

Describes the scan element’s representation in the buffer. The format is [be|le]:[s|u]bits/storagebits[Xrepeat]>>shift. The prefix gives byte order; s or u specifies signed (two’s complement) or unsigned data. bits is the number of meaningful bits and storagebits is the storage width. The optional repeat count describes repeated elements. After interpreting byte order, shift the storage value right by shift and mask it to bits; signed values also require sign extension. For example, be:u12/16>>1 describes an unsigned 12-bit value in big-endian 16-bit storage, shifted right by one bit. Account for alignment padding when combining enabled elements into a complete scan.

in_voltageX_index / in_voltageX-voltageY_index / in_timestamp_index:

A nonnegative integer specifying the ordering 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-iio@vger.kernel.org

• IIO Linux Kernel Documentation sysfs-bus-iio-*

• IIO Documentation

• IIO Oscilloscope

• Libiio

• About libiio

• IIO High Speed

• Software Defined Radio using the IIO framework

• libiio introduction