ADIS16475 driver

지원 IMU와 센서 보정 개요

이 드라이버는 SPI 버스에 연결된 Analog Devices IMU를 지원합니다.

각 지원 장치는 3축 자이로스코프와 3축 가속도계를 포함한 정밀 소형 MEMS 관성 측정 장치(IMU)입니다. IMU의 각 관성 센서는 동적 성능을 최적화하는 신호 조절 회로와 결합됩니다.

공장 보정은 각 센서의 감도, 바이어스, 정렬, 선형 가속도에 대한 자이로스코프 바이어스, 가속도계 위치에 해당하는 타격 중심을 특성화합니다. 그 결과 각 센서는 넓은 동작 조건에서 정확한 측정값을 제공하는 동적 보정 공식을 갖습니다.

가속도계와 자이로스코프 측정값은 항상 제공됩니다. 장치가 계산하는 delta angle과 delta velocity 측정값도 드라이버를 통해 읽을 수 있습니다. Delta angle은 샘플 갱신 사이의 각변위를, delta velocity는 샘플 갱신 사이의 선형 속도 변화를 나타냅니다.

온도 데이터는 IMU 내부 온도의 대략적인 측정값입니다. 절대 온도 정밀 측정보다는 열 환경의 상대적인 변화를 감시하는 데 가장 유용합니다.

각 관성 센서의 신호 경로에는 장치별 보정 공식이 적용됩니다. 이 공식은 −40°C부터 +85°C까지 바이어스, 감도, 정렬, 자이로스코프의 선형 가속도 응답, 가속도계 위치를 폭넓게 특성화해 얻습니다. 내부 공식 자체에는 접근할 수 없지만 각 센서의 `calibbias` 속성으로 바이어스를 개별 조정할 수 있습니다.

각 IIO 장치는 `/sys/bus/iio/devices/iio:deviceX` 폴더를 가지며 X는 IIO 장치 인덱스입니다. 하드웨어 특성에 따라 이 폴더 아래에 장치 파일이 만들어지고, 일반 규칙은 IIO ABI 문서에 정의됩니다.

.. SPDX-License-Identifier: GPL-2.0

================
ADIS16475 driver
================

This driver supports Analog Device's IMUs on SPI bus.

1. Supported devices
====================

* `ADIS16465 <https://www.analog.com/ADIS16465>`_
* `ADIS16467 <https://www.analog.com/ADIS16467>`_
* `ADIS16470 <https://www.analog.com/ADIS16470>`_
* `ADIS16475 <https://www.analog.com/ADIS16475>`_
* `ADIS16477 <https://www.analog.com/ADIS16477>`_
* `ADIS16500 <https://www.analog.com/ADIS16500>`_
* `ADIS16505 <https://www.analog.com/ADIS16505>`_
* `ADIS16507 <https://www.analog.com/ADIS16507>`_

Each supported device is a precision, miniature microelectromechanical system
(MEMS) inertial measurement unit (IMU) that includes a triaxial gyroscope and a
triaxial accelerometer. Each inertial sensor in the IMU device combines with
signal conditioning that optimizes dynamic performance. The factory calibration
characterizes each sensor for sensitivity, bias, alignment, linear acceleration
(gyroscope bias), and point of percussion (accelerometer location). As a result,
each sensor has dynamic compensation formulas that provide accurate sensor
measurements over a broad set of conditions.

2. Device attributes
====================

Accelerometer, gyroscope measurements are always provided. Furthermore, the
driver offers the capability to retrieve the delta angle and the delta velocity
measurements computed by the device.

The delta angle measurements represent a calculation of angular displacement
between each sample update, while the delta velocity measurements represent a
calculation of linear velocity change between each sample update.

Finally, temperature data are provided which show a coarse measurement of
the temperature inside of the IMU device. This data is most useful for
monitoring relative changes in the thermal environment.

The signal chain of each inertial sensor (accelerometers and gyroscopes)
includes the application of unique correction formulas, which are derived from
extensive characterization of bias, sensitivity, alignment, response to linear
acceleration (gyroscopes), and point of percussion (accelerometer location)
over a temperature range of −40°C to +85°C, for each ADIS device. These
correction formulas are not accessible, but users do have the opportunity to
adjust the bias for each sensor individually through the calibbias attribute.

Each IIO device, has a device folder under ``/sys/bus/iio/devices/iio:deviceX``,
where X is the IIO index of the device. Under these folders reside a set of
device files, depending on the characteristics and features of the hardware
device in questions. These files are consistently generalized and documented in
the IIO ABI documentation.

The following tables show the adis16475 related device files, found in the
specific device folder path ``/sys/bus/iio/devices/iio:deviceX``.

센서 속성과 debugfs 파일

ADIS16475 관련 디버그 파일은 `/sys/kernel/debug/iio/iio:deviceX` 장치 디버그 폴더에 있습니다.

+-------------------------------------------+----------------------------------------------------------+
| 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.                  |
+-------------------------------------------+----------------------------------------------------------+
| in_deltavelocity_scale                    | Scale for delta velocity channels.                       |
+-------------------------------------------+----------------------------------------------------------+
| in_deltavelocity_x_raw                    | Raw X-axis delta velocity channel value.                 |
+-------------------------------------------+----------------------------------------------------------+
| in_deltavelocity_y_raw                    | Raw Y-axis delta velocity channel value.                 |
+-------------------------------------------+----------------------------------------------------------+
| in_deltavelocity_z_raw                    | Raw Z-axis delta velocity channel value.                 |
+-------------------------------------------+----------------------------------------------------------+

+---------------------------------------+------------------------------------------------------+
| 3-Axis Gyroscope 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.                  |
+---------------------------------------+------------------------------------------------------+
| in_deltaangl_scale                    | Scale for delta angle channels.                      |
+---------------------------------------+------------------------------------------------------+
| in_deltaangl_x_raw                    | Raw X-axis delta angle channel value.                |
+---------------------------------------+------------------------------------------------------+
| in_deltaangl_y_raw                    | Raw Y-axis delta angle channel value.                |
+---------------------------------------+------------------------------------------------------+
| in_deltaangl_z_raw                    | Raw Z-axis delta angle 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. |
+-------------------------------+---------------------------------------------------------+

The following table shows the adis16475 related device debug files, found in the
specific device debug folder path ``/sys/kernel/debug/iio/iio:deviceX``.

+----------------------+-------------------------------------------------------------------------+
| Debugfs device files | Description                                                             |
+----------------------+-------------------------------------------------------------------------+
| serial_number        | The serial number of the chip in hexadecimal format.                    |
+----------------------+-------------------------------------------------------------------------+
| product_id           | Chip specific product id (e.g. 16475, 16500, 16505, etc.).              |
+----------------------+-------------------------------------------------------------------------+
| flash_count          | The number of flash writes performed on the device.                     |
+----------------------+-------------------------------------------------------------------------+
| firmware_revision    | String containing the firmware revision in the following format ##.##.  |
+----------------------+-------------------------------------------------------------------------+
| firmware_date        | String containing the firmware date in the following format mm-dd-yyyy. |
+----------------------+-------------------------------------------------------------------------+

처리값 공식과 가속도 예제

채널 값은 해당 `_raw` 속성에서 읽습니다. 반환값은 장치가 보고한 원시 값입니다. 처리된 채널 값은 다음 공식을 적용해 계산합니다.

processed value = (_raw + _offset) * _scale

여기서 `_offset`과 `_scale`은 장치 속성입니다. `_offset` 속성이 없다면 0으로 간주합니다.

장치 이름 확인 예제에서는 `name`을 읽어 `adis16505-2`를 얻습니다.

root:/sys/bus/iio/devices/iio:device0> cat name
adis16505-2

가속도계 예제는 X·Y·Z축 원시 값과 공통 배율을 읽습니다.

root:/sys/bus/iio/devices/iio:device0> cat in_accel_x_raw
-275924
root:/sys/bus/iio/devices/iio:device0> cat in_accel_y_raw
-30142222
root:/sys/bus/iio/devices/iio:device0> cat in_accel_z_raw
261265769
root:/sys/bus/iio/devices/iio:device0> cat in_accel_scale
0.000000037

보정 오프셋이 0이라고 하면 X축 가속도는 −0.010209188 m/s², Y축은 −1.115262214 m/s², Z축은 9.666833453 m/s²입니다.

Channels processed values
-------------------------

A channel value can be read from its _raw attribute. The value returned is the
raw value as reported by the devices. To get the processed value of the channel,
apply the following formula:

.. code-block:: bash

        processed value = (_raw + _offset) * _scale

Where _offset and _scale are device attributes. If no _offset attribute is
present, simply assume its value is 0.

The adis16475 driver offers data for 5 types of channels, the table below shows
the measurement units for the processed value, which are defined by the IIO
framework:

+-------------------------------------+---------------------------+
| Channel type                        | Measurement unit          |
+-------------------------------------+---------------------------+
| Acceleration on X, Y, and Z axis    | Meters per Second squared |
+-------------------------------------+---------------------------+
| Angular velocity on X, Y and Z axis | Radians per second        |
+-------------------------------------+---------------------------+
| Delta velocity on X. Y, and Z axis  | Meters per Second         |
+-------------------------------------+---------------------------+
| Delta angle on X, Y, and Z axis     | Radians                   |
+-------------------------------------+---------------------------+
| Temperature                         | Millidegrees Celsius      |
+-------------------------------------+---------------------------+

Usage examples
--------------

Show device name:

.. code-block:: bash

        root:/sys/bus/iio/devices/iio:device0> cat name
        adis16505-2

Show accelerometer channels value:

.. code-block:: bash

        root:/sys/bus/iio/devices/iio:device0> cat in_accel_x_raw
        -275924
        root:/sys/bus/iio/devices/iio:device0> cat in_accel_y_raw
        -30142222
        root:/sys/bus/iio/devices/iio:device0> cat in_accel_z_raw
        261265769
        root:/sys/bus/iio/devices/iio:device0> cat in_accel_scale
        0.000000037

- X-axis acceleration = in_accel_x_raw * in_accel_scale = −0.010209188 m/s^2
- Y-axis acceleration = in_accel_y_raw * in_accel_scale = −1.115262214 m/s^2
- Z-axis acceleration = in_accel_z_raw * in_accel_scale = 9.666833453 m/s^2

각속도·보정·샘플링·진단 예제

자이로스코프 예제는 X·Y·Z축 원시 각속도와 공통 배율을 읽습니다.

root:/sys/bus/iio/devices/iio:device0> cat in_anglvel_x_raw
-3324626
root:/sys/bus/iio/devices/iio:device0> cat in_anglvel_y_raw
1336980
root:/sys/bus/iio/devices/iio:device0> cat in_anglvel_z_raw
-602983
root:/sys/bus/iio/devices/iio:device0> cat in_anglvel_scale
0.000000006

배율을 적용하면 X축 각속도는 −0.019947756 rad/s, Y축은 0.00802188 rad/s, Z축은 −0.003617898 rad/s입니다.

가속도계 X축의 보정 오프셋은 처음 0이며, `in_accel_x_calibbias`에 5000을 쓰면 다시 읽었을 때 5000이 반환됩니다.

root:/sys/bus/iio/devices/iio:device0> cat in_accel_x_calibbias
0
root:/sys/bus/iio/devices/iio:device0> echo 5000 > in_accel_x_calibbias
root:/sys/bus/iio/devices/iio:device0> cat in_accel_x_calibbias
5000

자이로스코프 Y축의 보정 오프셋도 같은 방식으로 설정합니다. `in_anglvel_y_calibbias`에 −5000을 쓰면 이후 읽기 결과가 −5000입니다.

root:/sys/bus/iio/devices/iio:device0> cat in_anglvel_y_calibbias
0
root:/sys/bus/iio/devices/iio:device0> echo -5000 > in_anglvel_y_calibbias
root:/sys/bus/iio/devices/iio:device0> cat in_anglvel_y_calibbias
-5000

샘플링 주파수 예제는 현재 2000.000000을 확인한 뒤 `sampling_frequency`에 1000을 써서 1000.000000으로 변경합니다.

root:/sys/bus/iio/devices/iio:device0> cat sampling_frequency
2000.000000
root:/sys/bus/iio/devices/iio:device0> echo 1000 > sampling_frequency
1000.000000

가속도계와 자이로스코프의 저역 통과 3 dB 대역폭은 `filter_low_pass_3db_frequency`로 설정합니다. 예제에서는 720을 확인한 뒤 360을 써서 대역폭을 360으로 바꿉니다.

root:/sys/bus/iio/devices/iio:device0> cat filter_low_pass_3db_frequency
720
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

Debugfs에서는 일련번호 `0x04f9`, 제품 ID `16505`, flash write 횟수 `150`, 펌웨어 리비전 `1.6`, 펌웨어 날짜 `06-27-2019`를 각각 확인하는 예제를 제공합니다.

root:/sys/kernel/debug/iio/iio:device0> cat serial_number
0x04f9
root:/sys/kernel/debug/iio/iio:device0> cat product_id
16505
root:/sys/kernel/debug/iio/iio:device0> cat flash_count
150
root:/sys/kernel/debug/iio/iio:device0> cat firmware_revision
1.6
root:/sys/kernel/debug/iio/iio:device0> cat firmware_date
06-27-2019

Show gyroscope channels value:

.. code-block:: bash

        root:/sys/bus/iio/devices/iio:device0> cat in_anglvel_x_raw
        -3324626
        root:/sys/bus/iio/devices/iio:device0> cat in_anglvel_y_raw
        1336980
        root:/sys/bus/iio/devices/iio:device0> cat in_anglvel_z_raw
        -602983
        root:/sys/bus/iio/devices/iio:device0> cat in_anglvel_scale
        0.000000006

- X-axis angular velocity = in_anglvel_x_raw * in_anglvel_scale = −0.019947756 rad/s
- Y-axis angular velocity = in_anglvel_y_raw * in_anglvel_scale = 0.00802188 rad/s
- Z-axis angular velocity = in_anglvel_z_raw * in_anglvel_scale = −0.003617898 rad/s

Set calibration offset for accelerometer channels:

.. code-block:: bash

        root:/sys/bus/iio/devices/iio:device0> cat in_accel_x_calibbias
        0

        root:/sys/bus/iio/devices/iio:device0> echo 5000 > in_accel_x_calibbias
        root:/sys/bus/iio/devices/iio:device0> cat in_accel_x_calibbias
        5000

Set calibration offset for gyroscope channels:

.. code-block:: bash

        root:/sys/bus/iio/devices/iio:device0> cat in_anglvel_y_calibbias
        0

        root:/sys/bus/iio/devices/iio:device0> echo -5000 > in_anglvel_y_calibbias
        root:/sys/bus/iio/devices/iio:device0> cat in_anglvel_y_calibbias
        -5000

Set sampling frequency:

.. code-block:: bash

        root:/sys/bus/iio/devices/iio:device0> cat sampling_frequency
        2000.000000

        root:/sys/bus/iio/devices/iio:device0> echo 1000 > sampling_frequency
        1000.000000

Set bandwidth for accelerometer and gyroscope:

.. code-block:: bash

        root:/sys/bus/iio/devices/iio:device0> cat filter_low_pass_3db_frequency
        720

        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

Show serial number:

.. code-block:: bash

        root:/sys/kernel/debug/iio/iio:device0> cat serial_number
        0x04f9

Show product id:

.. code-block:: bash

        root:/sys/kernel/debug/iio/iio:device0> cat product_id
        16505

Show flash count:

.. code-block:: bash

        root:/sys/kernel/debug/iio/iio:device0> cat flash_count
        150

Show firmware revision:

.. code-block:: bash

        root:/sys/kernel/debug/iio/iio:device0> cat firmware_revision
        1.6

Show firmware date:

.. code-block:: bash

        root:/sys/kernel/debug/iio/iio:device0> cat firmware_date
        06-27-2019

IIO 버퍼와 인터페이스 도구

이 드라이버는 IIO 버퍼를 지원합니다. 모든 지원 장치는 버퍼를 통해 원시 가속도, 자이로스코프, 온도 측정값을 읽을 수 있습니다.

ADIS16477, ADIS16500, ADIS16505, ADIS16507 계열은 delta velocity, delta angle, 온도 측정값도 버퍼로 읽을 수 있습니다.

버퍼에서 가속도 또는 자이로스코프 데이터를 읽는 동안에는 delta 측정값을 사용할 수 없습니다. 반대로 delta 측정값을 읽는 동안에는 가속도와 자이로스코프 데이터를 함께 사용할 수 없습니다.

버퍼 사용 전에 `trigger/current_trigger`를 확인하고 비어 있으면 장치 트리거 이름 `adis16505-2-dev0`을 설정합니다.

root:/sys/bus/iio/devices/iio:device0> cat trigger/current_trigger
root:/sys/bus/iio/devices/iio:device0> echo adis16505-2-dev0 > trigger/current_trigger
root:/sys/bus/iio/devices/iio:device0> cat trigger/current_trigger
adis16505-2-dev0

예제는 X·Y·Z축 delta velocity와 온도 채널을 scan element로 활성화합니다.

root:/sys/bus/iio/devices/iio:device0> echo 1 > scan_elements/in_deltavelocity_x_en
root:/sys/bus/iio/devices/iio:device0> echo 1 > scan_elements/in_deltavelocity_y_en
root:/sys/bus/iio/devices/iio:device0> echo 1 > scan_elements/in_deltavelocity_z_en
root:/sys/bus/iio/devices/iio:device0> echo 1 > scan_elements/in_temp0_en

저장할 샘플 수는 `buffer/length`에 10을 쓰고, `buffer/enable`에 1을 써서 버퍼 읽기를 시작합니다.

root:/sys/bus/iio/devices/iio:device0> echo 10 > buffer/length
root:/sys/bus/iio/devices/iio:device0> echo 1 > buffer/enable

버퍼 데이터는 `/dev/iio:device0`을 읽어 얻습니다. 원문의 `hexdump -C` 예제는 각 스캔 레코드의 원시 바이트를 주소와 ASCII 열로 표시합니다.

root:/sys/bus/iio/devices/iio:device0> hexdump -C /dev/iio\:device0

버퍼 데이터 구조에 관한 자세한 내용은 `Documentation/iio/iio_devbuf.rst`를 참고합니다. 사용 가능한 IIO 인터페이스 도구는 `Documentation/iio/iio_tools.rst`에 설명되어 있습니다.

3. Device buffers
=================

This driver supports IIO buffers.

All devices support retrieving the raw acceleration, gyroscope and temperature
measurements using buffers.

The following device families also support retrieving the delta velocity, delta
angle and temperature measurements using buffers:

- ADIS16477
- ADIS16500
- ADIS16505
- ADIS16507

However, when retrieving acceleration or gyroscope data using buffers, delta
readings will not be available and vice versa.

Usage examples
--------------

Set device trigger in current_trigger, if not already set:

.. code-block:: bash

        root:/sys/bus/iio/devices/iio:device0> cat trigger/current_trigger

        root:/sys/bus/iio/devices/iio:device0> echo adis16505-2-dev0 > trigger/current_trigger
        root:/sys/bus/iio/devices/iio:device0> cat trigger/current_trigger
        adis16505-2-dev0

Select channels for buffer read:

.. code-block:: bash

        root:/sys/bus/iio/devices/iio:device0> echo 1 > scan_elements/in_deltavelocity_x_en
        root:/sys/bus/iio/devices/iio:device0> echo 1 > scan_elements/in_deltavelocity_y_en
        root:/sys/bus/iio/devices/iio:device0> echo 1 > scan_elements/in_deltavelocity_z_en
        root:/sys/bus/iio/devices/iio:device0> echo 1 > scan_elements/in_temp0_en

Set the number of samples to be stored in the buffer:

.. code-block:: bash

        root:/sys/bus/iio/devices/iio:device0> echo 10 > buffer/length

Enable buffer readings:

.. code-block:: bash

        root:/sys/bus/iio/devices/iio:device0> echo 1 > buffer/enable

Obtain buffered data:

.. code-block:: bash

        root:/sys/bus/iio/devices/iio:device0> hexdump -C /dev/iio\:device0
        ...
        00001680  01 1f 00 00 ff ff fe ef  00 00 47 bf 00 03 35 55  |..........G...5U|
        00001690  01 1f 00 00 ff ff ff d9  00 00 46 f1 00 03 35 35  |..........F...55|
        000016a0  01 1f 00 00 ff ff fe fc  00 00 46 cb 00 03 35 7b  |..........F...5{|
        000016b0  01 1f 00 00 ff ff fe 41  00 00 47 0d 00 03 35 8b  |.......A..G...5.|
        000016c0  01 1f 00 00 ff ff fe 37  00 00 46 b4 00 03 35 90  |.......7..F...5.|
        000016d0  01 1d 00 00 ff ff fe 5a  00 00 45 d7 00 03 36 08  |.......Z..E...6.|
        000016e0  01 1b 00 00 ff ff fe fb  00 00 45 e7 00 03 36 60  |..........E...6`|
        000016f0  01 1a 00 00 ff ff ff 17  00 00 46 bc 00 03 36 de  |..........F...6.|
        00001700  01 1a 00 00 ff ff fe 59  00 00 46 d7 00 03 37 b8  |.......Y..F...7.|
        00001710  01 1a 00 00 ff ff fe ae  00 00 46 95 00 03 37 ba  |..........F...7.|
        00001720  01 1a 00 00 ff ff fe c5  00 00 46 63 00 03 37 9f  |..........Fc..7.|
        00001730  01 1a 00 00 ff ff fe 55  00 00 46 89 00 03 37 c1  |.......U..F...7.|
        00001740  01 1a 00 00 ff ff fe 31  00 00 46 aa 00 03 37 f7  |.......1..F...7.|
        ...

See ``Documentation/iio/iio_devbuf.rst`` for more information about how buffered
data is structured.

4. IIO Interfacing Tools
========================

See ``Documentation/iio/iio_tools.rst`` for the description of the available IIO
interfacing tools.