IIO 全称是 Industrial I/O ,是 linux内核对ADC,DAC类型传感器设备的抽象, 目的是为上层提供统一的接口
主要功能包括读取传感器的值以及设置控制参数.
struct iio_dev 结构体代表一个iio设备.
/**
* struct iio_dev - industrial I/O device
* @id: [INTERN] used to identify device internally
* @modes: [DRIVER] operating modes supported by device
* @currentmode: [DRIVER] current operating mode
* @dev: [DRIVER] device structure, should be assigned a parent
* and owner
* @event_interface: [INTERN] event chrdevs associated with interrupt lines
* @buffer: [DRIVER] any buffer present
* @buffer_list: [INTERN] list of all buffers currently attached
* @scan_bytes: [INTERN] num bytes captured to be fed to buffer demux
* @mlock: [DRIVER] lock used to prevent simultaneous device state
* changes
* @available_scan_masks: [DRIVER] optional array of allowed bitmasks
* @masklength: [INTERN] the length of the mask established from
* channels
* @active_scan_mask: [INTERN] union of all scan masks requested by buffers
* @scan_timestamp: [INTERN] set if any buffers have requested timestamp
* @scan_index_timestamp:[INTERN] cache of the index to the timestamp
* @trig: [INTERN] current device trigger (buffer modes)
* @trig_readonly: [INTERN] mark the current trigger immutable
* @pollfunc: [DRIVER] function run on trigger being received
* @pollfunc_event: [DRIVER] function run on events trigger being received
* @channels: [DRIVER] channel specification structure table
* @num_channels: [DRIVER] number of channels specified in @channels.
* @channel_attr_list: [INTERN] keep track of automatically created channel
* attributes
* @chan_attr_group: [INTERN] group for all attrs in base directory
* @name: [DRIVER] name of the device.
* @info: [DRIVER] callbacks and constant info from driver
* @clock_id: [INTERN] timestamping clock posix identifier
* @info_exist_lock: [INTERN] lock to prevent use during removal
* @setup_ops: [DRIVER] callbacks to call before and after buffer
* enable/disable
* @chrdev: [INTERN] associated character device
* @groups: [INTERN] attribute groups
* @groupcounter: [INTERN] index of next attribute group
* @flags: [INTERN] file ops related flags including busy flag.
* @debugfs_dentry: [INTERN] device specific debugfs dentry.
* @cached_reg_addr: [INTERN] cached register address for debugfs reads.
*/
struct iio_dev {
int id;
int modes;
int currentmode;
struct device dev;
struct iio_event_interface *event_interface;
struct iio_buffer *buffer;
struct list_head buffer_list;
int scan_bytes;
struct mutex mlock;
/*如果使能了触发缓冲区,该变量是可用通道的掩码位,仅仅是可用,是否开启是active_scan_mask指定*/
const unsigned long *available_scan_masks;
unsigned masklength; /*掩码位长度*/
/*开启那些通道,这些通道触发时会把水写到触发缓冲区.*/
const unsigned long *active_scan_mask;
/*set if any buffers have requested timestamp*/
bool scan_timestamp;
/*时间戳的编号*/
unsigned scan_index_timestamp;
/*开启触发的情况下,指定该设备使用的触发器*/
struct iio_trigger *trig;
bool trig_readonly; //标记触发器不可变
struct iio_poll_func *pollfunc; //收到触发事件后执行的函数
struct iio_poll_func *pollfunc_event; //收到 event 触发事件后执行的函数
/*重点,设备用的通道和通道数*/
struct iio_chan_spec const *channels;
int num_channels;
/*内部管理使用.*/
struct list_head channel_attr_list;
struct attribute_group chan_attr_group; //根目录的sysfs文件节点.
const char *name; //设备名
const struct iio_info *info; // 核心, 驱动要实现的接口,编程重点.
clockid_t clock_id; //时钟id, 这个决定了时间戳的时间类型
struct mutex info_exist_lock;
const struct iio_buffer_setup_ops *setup_ops; /*如果使能了iio buffer, 这里指定buffer的一些操作函数*/
struct cdev chrdev;
#define IIO_MAX_GROUPS 6
const struct attribute_group *groups[IIO_MAX_GROUPS + 1];
int groupcounter;
unsigned long flags;
#if defined(CONFIG_DEBUG_FS)
struct dentry *debugfs_dentry;
unsigned cached_reg_addr;
#endif
};
部分参数介绍:
@modes: 设备支持的工作模式,有如下工作模式
/* Device operating modes */
#define INDIO_DIRECT_MODE 0x01
#define INDIO_BUFFER_TRIGGERED 0x02
#define INDIO_BUFFER_SOFTWARE 0x04
#define INDIO_BUFFER_HARDWARE 0x08
#define INDIO_EVENT_TRIGGERED 0x10
一般不使用buffer和触发的情况选择INDIO_DIRECT_MODE普通模式即可.
@name: 设备的名字;
@dev: device structure, should be assigned a parent and owner, 必须指定父设备
@channels: 核心参数,描述通道,包括通道的功能,通道的设置参数.不同设备支持的功能就体现在这里.
@num_channels: 通道数量.
@info: 核心接口,channels 参数描述了通道支持的功能,这些功能的底层实现就定义在info指定的操作函数中,这是驱动实现的重点. channel和info是iio子系统两个核心结构体.
struct iio_chan_spec结构体
/**
* struct iio_chan_spec - specification of a single channel
* @type: What type of measurement is the channel making.
* @channel: What number do we wish to assign the channel.
* @channel2: If there is a second number for a differential
* channel then this is it. If modified is set then the
* value here specifies the modifier.
* @address: Driver specific identifier.
* @scan_index: Monotonic index to give ordering in scans when read
* from a buffer.
* @scan_type: sign: 's' or 'u' to specify signed or unsigned
* realbits: Number of valid bits of data
* storagebits: Realbits + padding
* shift: Shift right by this before masking out
* realbits.
* repeat: Number of times real/storage bits
* repeats. When the repeat element is
* more than 1, then the type element in
* sysfs will show a repeat value.
* Otherwise, the number of repetitions is
* omitted.
* endianness: little or big endian
* @info_mask_separate: What information is to be exported that is specific to
* this channel.
* @info_mask_separate_available: What availability information is to be
* exported that is specific to this channel.
* @info_mask_shared_by_type: What information is to be exported that is shared
* by all channels of the same type.
* @info_mask_shared_by_type_available: What availability information is to be
* exported that is shared by all channels of the same
* type.
* @info_mask_shared_by_dir: What information is to be exported that is shared
* by all channels of the same direction.
* @info_mask_shared_by_dir_available: What availability information is to be
* exported that is shared by all channels of the same
* direction.
* @info_mask_shared_by_all: What information is to be exported that is shared
* by all channels.
* @info_mask_shared_by_all_available: What availability information is to be
* exported that is shared by all channels.
* @event_spec: Array of events which should be registered for this
* channel.
* @num_event_specs: Size of the event_spec array.
* @ext_info: Array of extended info attributes for this channel.
* The array is NULL terminated, the last element should
* have its name field set to NULL.
* @extend_name: Allows labeling of channel attributes with an
* informative name. Note this has no effect codes etc,
* unlike modifiers.
* @datasheet_name: A name used in in-kernel mapping of channels. It should
* correspond to the first name that the channel is referred
* to by in the datasheet (e.g. IND), or the nearest
* possible compound name (e.g. IND-INC).
* @modified: Does a modifier apply to this channel. What these are
* depends on the channel type. Modifier is set in
* channel2. Examples are IIO_MOD_X for axial sensors about
* the 'x' axis.
* @indexed: Specify the channel has a numerical index. If not,
* the channel index number will be suppressed for sysfs
* attributes but not for event codes.
* @output: Channel is output.
* @differential: Channel is differential.
*/
struct iio_chan_spec {
enum iio_chan_type type;
int channel;
int channel2;
unsigned long address;
int scan_index;
struct {
char sign;
u8 realbits;
u8 storagebits;
u8 shift;
u8 repeat;
enum iio_endian endianness;
} scan_type;
long info_mask_separate;
long info_mask_separate_available;
long info_mask_shared_by_type;
long info_mask_shared_by_type_available;
long info_mask_shared_by_dir;
long info_mask_shared_by_dir_available;
long info_mask_shared_by_all;
long info_mask_shared_by_all_available;
const struct iio_event_spec *event_spec;
unsigned int num_event_specs;
const struct iio_chan_spec_ext_info *ext_info;
const char *extend_name;
const char *datasheet_name;
unsigned modified:1;
unsigned indexed:1;
unsigned output:1;
unsigned differential:1;
};
@info_mask_separate 参数指定了通道支持的功能,如下:
enum iio_chan_info_enum {
IIO_CHAN_INFO_RAW = 0,
IIO_CHAN_INFO_PROCESSED,
IIO_CHAN_INFO_SCALE,
IIO_CHAN_INFO_OFFSET,
IIO_CHAN_INFO_CALIBSCALE,
IIO_CHAN_INFO_CALIBBIAS,
IIO_CHAN_INFO_PEAK,
IIO_CHAN_INFO_PEAK_SCALE,
IIO_CHAN_INFO_QUADRATURE_CORRECTION_RAW,
IIO_CHAN_INFO_AVERAGE_RAW,
IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY,
IIO_CHAN_INFO_HIGH_PASS_FILTER_3DB_FREQUENCY,
IIO_CHAN_INFO_SAMP_FREQ,
IIO_CHAN_INFO_FREQUENCY,
IIO_CHAN_INFO_PHASE,
IIO_CHAN_INFO_HARDWAREGAIN,
IIO_CHAN_INFO_HYSTERESIS,
IIO_CHAN_INFO_INT_TIME,
IIO_CHAN_INFO_ENABLE,
IIO_CHAN_INFO_CALIBHEIGHT,
IIO_CHAN_INFO_CALIBWEIGHT,
IIO_CHAN_INFO_DEBOUNCE_COUNT,
IIO_CHAN_INFO_DEBOUNCE_TIME,
IIO_CHAN_INFO_CALIBEMISSIVITY,
IIO_CHAN_INFO_OVERSAMPLING_RATIO,
};
一个通道支持那些功能这些功能就要在struct iio_dev->info 指定的函数中实现.
struct iio_info结构体
在 iio_chan_spec->info_mask_separate 通道描述中支持的那些功能就需要再这里一一实现
主要的实现函数是 read_raw()函数和write_raw()函数.
/**
* struct iio_info - constant information about device
* @driver_module: module structure used to ensure correct
* ownership of chrdevs etc
* @event_attrs: event control attributes
* @attrs: general purpose device attributes
* @read_raw: function to request a value from the device.
* mask specifies which value. Note 0 means a reading of
* the channel in question. Return value will specify the
* type of value returned by the device. val and val2 will
* contain the elements making up the returned value.
* @read_raw_multi: function to return values from the device.
* mask specifies which value. Note 0 means a reading of
* the channel in question. Return value will specify the
* type of value returned by the device. vals pointer
* contain the elements making up the returned value.
* max_len specifies maximum number of elements
* vals pointer can contain. val_len is used to return
* length of valid elements in vals.
* @read_avail: function to return the available values from the device.
* mask specifies which value. Note 0 means the available
* values for the channel in question. Return value
* specifies if a IIO_AVAIL_LIST or a IIO_AVAIL_RANGE is
* returned in vals. The type of the vals are returned in
* type and the number of vals is returned in length. For
* ranges, there are always three vals returned; min, step
* and max. For lists, all possible values are enumerated.
* @write_raw: function to write a value to the device.
* Parameters are the same as for read_raw.
* @write_raw_get_fmt: callback function to query the expected
* format/precision. If not set by the driver, write_raw
* returns IIO_VAL_INT_PLUS_MICRO.
* @read_event_config: find out if the event is enabled.
* @write_event_config: set if the event is enabled.
* @read_event_value: read a configuration value associated with the event.
* @write_event_value: write a configuration value for the event.
* @validate_trigger: function to validate the trigger when the
* current trigger gets changed.
* @update_scan_mode: function to configure device and scan buffer when
* channels have changed
* @debugfs_reg_access: function to read or write register value of device
* @of_xlate: function pointer to obtain channel specifier index.
* When #iio-cells is greater than '0', the driver could
* provide a custom of_xlate function that reads the
* *args* and returns the appropriate index in registered
* IIO channels array.
* @hwfifo_set_watermark: function pointer to set the current hardware
* fifo watermark level; see hwfifo_* entries in
* Documentation/ABI/testing/sysfs-bus-iio for details on
* how the hardware fifo operates
* @hwfifo_flush_to_buffer: function pointer to flush the samples stored
* in the hardware fifo to the device buffer. The driver
* should not flush more than count samples. The function
* must return the number of samples flushed, 0 if no
* samples were flushed or a negative integer if no samples
* were flushed and there was an error.
**/
struct iio_info {
struct module *driver_module;
const struct attribute_group *event_attrs;
const struct attribute_group *attrs;
int (*read_raw)(struct iio_dev *indio_dev,
struct iio_chan_spec const *chan,
int *val,
int *val2,
long mask);
int (*read_raw_multi)(struct iio_dev *indio_dev,
struct iio_chan_spec const *chan,
int max_len,
int *vals,
int *val_len,
long mask);
int (*read_avail)(struct iio_dev *indio_dev,
struct iio_chan_spec const *chan,
const int **vals,
int *type,
int *length,
long mask);
int (*write_raw)(struct iio_dev *indio_dev,
struct iio_chan_spec const *chan,
int val,
int val2,
long mask);
int (*write_raw_get_fmt)(struct iio_dev *indio_dev,
struct iio_chan_spec const *chan,
long mask);
int (*read_event_config)(struct iio_dev *indio_dev,
const struct iio_chan_spec *chan,
enum iio_event_type type,
enum iio_event_direction dir);
int (*write_event_config)(struct iio_dev *indio_dev,
const struct iio_chan_spec *chan,
enum iio_event_type type,
enum iio_event_direction dir,
int state);
int (*read_event_value)(struct iio_dev *indio_dev,
const struct iio_chan_spec *chan,
enum iio_event_type type,
enum iio_event_direction dir,
enum iio_event_info info, int *val, int *val2);
int (*write_event_value)(struct iio_dev *indio_dev,
const struct iio_chan_spec *chan,
enum iio_event_type type,
enum iio_event_direction dir,
enum iio_event_info info, int val, int val2);
int (*validate_trigger)(struct iio_dev *indio_dev,
struct iio_trigger *trig);
int (*update_scan_mode)(struct iio_dev *indio_dev,
const unsigned long *scan_mask);
int (*debugfs_reg_access)(struct iio_dev *indio_dev,
unsigned reg, unsigned writeval,
unsigned *readval);
int (*of_xlate)(struct iio_dev *indio_dev,
const struct of_phandle_args *iiospec);
int (*hwfifo_set_watermark)(struct iio_dev *indio_dev, unsigned val);
int (*hwfifo_flush_to_buffer)(struct iio_dev *indio_dev,
unsigned count);
};
int (*read_raw)(struct iio_dev *indio_dev,
struct iio_chan_spec const *chan,
int *val,
int *val2,
long mask);
函数参数:
@indio_dev , 要操作的dev,
@chan, 要操作的通道
@mask, 要读的是哪个功能,这和iio_chan_spec->info_mask_separate 指定的功能是一致的,即enum iio_chan_info_enum枚举
类型指定的那些功能.
@int *val,
@int *val2, 这两个参数很重要, 这两个参数的含义和返回值类型有关,
函数返回值又如下值:
#define IIO_VAL_INT 1 //表示读的是一个整数,val2无效
#define IIO_VAL_INT_PLUS_MICRO 2 //val表示整数部分, val2表示小数部分*1000 000 , 后的整数部分
#define IIO_VAL_INT_PLUS_NANO 3 //同上,差异是 val2表示小数部分*1000 000 000
#define IIO_VAL_INT_PLUS_MICRO_DB 4 //未知
#define IIO_VAL_INT_MULTIPLE 5 //多值,这里用不到
#define IIO_VAL_FRACTIONAL 10 //分数值, 实际传递的值是 val/val2
#define IIO_VAL_FRACTIONAL_LOG2 11 //左移,实际传的值是val >> val2
上层读写通道值时根据返回值类型把数据重新转换一下.
下面是内核其中一个实现代码,可以看到和描述是一致的:
static int ads1015_read_raw(struct iio_dev *indio_dev,
struct iio_chan_spec const *chan, int *val,
int *val2, long mask)
{
int ret, idx;
struct ads1015_data *data = iio_priv(indio_dev);
mutex_lock(&data->lock);
switch (mask) {
case IIO_CHAN_INFO_RAW: {
int shift = chan->scan_type.shift;
ret = iio_device_claim_direct_mode(indio_dev);
if (ret)
break;
if (ads1015_event_channel_enabled(data) &&
data->event_channel != chan->address) {
ret = -EBUSY;
goto release_direct;
}
ret = ads1015_set_power_state(data, true);
if (ret < 0)
goto release_direct;
ret = ads1015_get_adc_result(data, chan->address, val);
if (ret < 0) {
ads1015_set_power_state(data, false);
goto release_direct;
}
*val = sign_extend32(*val >> shift, 15 - shift);
ret = ads1015_set_power_state(data, false);
if (ret < 0)
goto release_direct;
ret = IIO_VAL_INT;
release_direct:
iio_device_release_direct_mode(indio_dev);
break;
}
case IIO_CHAN_INFO_SCALE:
idx = data->channel_data[chan->address].pga;
*val = ads1015_fullscale_range[idx];
*val2 = chan->scan_type.realbits - 1;
ret = IIO_VAL_FRACTIONAL_LOG2;
break;
case IIO_CHAN_INFO_SAMP_FREQ:
idx = data->channel_data[chan->address].data_rate;
*val = data->data_rate[idx];
ret = IIO_VAL_INT;
break;
default:
ret = -EINVAL;
break;
}
mutex_unlock(&data->lock);
return ret;
}
int (*write_raw)(struct iio_dev *indio_dev,
struct iio_chan_spec const *chan,
int val,
int val2,
long mask);
相对来说 write_raw 就简单很多,因为我们配置数据输出的地方比较少,很少写的很复杂同样以ads1015为例,
实现代码就比较简单
static int ads1015_write_raw(struct iio_dev *indio_dev,
struct iio_chan_spec const *chan, int val,
int val2, long mask)
{
struct ads1015_data *data = iio_priv(indio_dev);
int ret;
mutex_lock(&data->lock);
switch (mask) {
case IIO_CHAN_INFO_SCALE:
ret = ads1015_set_scale(data, chan, val, val2);
break;
case IIO_CHAN_INFO_SAMP_FREQ:
ret = ads1015_set_data_rate(data, chan->address, val);
break;
default:
ret = -EINVAL;
break;
}
mutex_unlock(&data->lock);
return ret;
}
基于IIO子系统的ADC驱动.
ADC驱动一般由芯片厂商编写.源码位于/dev/iio/xxx.c目录下. 我们如何使用这些ADC呢?
如果是在应用层访问,则直接按照规则访问/sys/class/iio/xxxx目录下对应的sysfs节点即可.
如果驱动中要读取一个ADC通道的值如何实现?
在设备树里添加通道:
xxx {
io-channels = <&adc 1>, <&adc 0>;
io-channel-names = "adc_xxxx", "adc_nnnn";
};
int adc_value;
struct iio_channel * channles = iio_channel_get(data->dev, "adc_xxxx");
iio_read_channel_processed(channles,&adc_value);
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