diff --git a/Modelica_DeviceDrivers/Blocks/Examples/TestHardwareIIO.mo b/Modelica_DeviceDrivers/Blocks/Examples/TestHardwareIIO.mo
new file mode 100644
index 00000000..574b0ee7
--- /dev/null
+++ b/Modelica_DeviceDrivers/Blocks/Examples/TestHardwareIIO.mo
@@ -0,0 +1,101 @@
+within Modelica_DeviceDrivers.Blocks.Examples;
+model TestHardwareIIO "Example to access the Inertial Measurement Unit of a Pinephone via InternetIO"
+ import Modelica_DeviceDrivers;
+ extends Modelica.Icons.Example;
+
+ Modelica_DeviceDrivers.Blocks.HardwareIO.IIO.IIOConfig iio(deviceName="mobian.local")
+ annotation (Placement(transformation(extent={{-80,60},{-60,80}})));
+ Modelica_DeviceDrivers.Blocks.HardwareIO.IIO.PhysicalDataRead dataRead_x(
+ sampleTime=0.05,
+ iio=iio.dh,
+ devicename="mpu6050",
+ channelname="accel_x") annotation (Placement(transformation(extent={{-80,-10},{-60,10}})));
+ Modelica_DeviceDrivers.Blocks.OperatingSystem.RealtimeSynchronize
+ realtimeSynchronize(
+ enable=true,
+ sampled=true,
+ sampleTime=0.05)
+ annotation (Placement(transformation(extent={{60,60},{80,80}})));
+ Modelica_DeviceDrivers.Blocks.HardwareIO.IIO.PhysicalDataRead dataRead_y(
+ sampleTime=0.05,
+ iio=iio.dh,
+ devicename="mpu6050",
+ channelname="accel_y") annotation (Placement(transformation(extent={{-80,-40},{-60,-20}})));
+ Modelica_DeviceDrivers.Blocks.HardwareIO.IIO.PhysicalDataRead dataRead_z(
+ sampleTime=0.05,
+ iio=iio.dh,
+ devicename="mpu6050",
+ channelname="accel_z") annotation (Placement(transformation(extent={{-80,-70},{-60,-50}})));
+ Modelica.Blocks.Routing.Multiplex3 a annotation (Placement(transformation(extent={{-40,-40},{-20,-20}})));
+
+ BullsEyeLevel bullsEyeLevel(theta(fixed=true, start=0), psi(fixed=true, start=0))
+ annotation (Placement(transformation(extent={{10,-70},{90,10}})));
+
+ model BullsEyeLevel
+ extends Modelica.Blocks.Interfaces.MIMO(nin=3,nout=2);
+
+ parameter Modelica.Units.SI.Length d = 0.02 "Diameter of the virtual detection sphere";
+
+ Modelica.Units.SI.Length r[3] "Position of the ball";
+ Modelica.Units.SI.Velocity v[3] "Velocity of the ball";
+ Modelica.Units.SI.Acceleration a[3] "Acceleration of the ball";
+
+ Real theta "Polar angle from the origin to the ball" annotation (Dialog(showStartAttribute=true));
+ Real psi "Azimuth angle from the origin to the ball" annotation (Dialog(showStartAttribute=true));
+
+ Modelica.Mechanics.MultiBody.Types.Axis e_r "Normalized vector from the origin to the ball";
+ Modelica.Mechanics.MultiBody.Types.Axis e_theta "Normalized vector in azimuth direction on the sphere";
+ Modelica.Mechanics.MultiBody.Types.Axis e_psi "Normalized vector in altitude direction on the sphere";
+
+ Real x2D[2] "Coordinates of the ball center in 2D representation";
+
+ equation
+ e_r[1] = sin(theta)*cos(psi);
+ e_r[2] = sin(theta)*sin(psi);
+ e_r[3] = cos(theta);
+
+ e_theta[1] = cos(theta)*cos(psi);
+ e_theta[2] = cos(theta)*sin(psi);
+ e_theta[3] = -sin(theta);
+
+ e_psi = cross(e_r,e_theta);
+
+ r = d/2*e_r;
+ der(r) = v;
+ a = u;
+
+ der(theta) = a*e_theta;
+ der(psi) = a*e_psi/max(Modelica.Constants.eps,d/2*sin(theta));
+
+ y = {theta,psi};
+
+ x2D[1] = -80*sin(theta)*sin(psi);
+ x2D[2] = 80*sin(theta)*cos(psi);
+
+ annotation (Icon(graphics={
+ Ellipse(extent={{-80,80},{80,-80}}, lineColor={0,0,0}),
+ Ellipse(extent={{-40,40},{40,-40}}, lineColor={0,0,0}),
+ Line(
+ points={{0,-90},{0,90}},
+ color={0,0,0},
+ pattern=LinePattern.None),
+ Line(points={{0,-90},{0,90}}, color={0,0,0}),
+ Line(points={{-90,0},{90,0}}, color={0,0,0}),
+ Ellipse(
+ extent=DynamicSelect({{-10,10},{10,-10}},{{-10,10}+x2D,{10,-10}+x2D}),
+ pattern=LinePattern.None,
+ fillColor={0,0,0},
+ fillPattern=FillPattern.Solid)}), Documentation(info="
+This model implements a virtual ball hinged with a fixed radius to a central fixation resctricting its path to a sphere. The input accelerations act on that ball. The animation is a top view of the sphere with the current position of the ball.
+"));
+ end BullsEyeLevel;
+equation
+ connect(dataRead_x.y, a.u1[1]) annotation (Line(points={{-59,0},{-50,0},{-50,-23},{-42,-23}}, color={0,0,127}));
+ connect(dataRead_y.y, a.u2[1]) annotation (Line(points={{-59,-30},{-42,-30}}, color={0,0,127}));
+ connect(dataRead_z.y, a.u3[1]) annotation (Line(points={{-59,-60},{-50,-60},{-50,-37},{-42,-37}}, color={0,0,127}));
+ connect(a.y, bullsEyeLevel.u) annotation (Line(points={{-19,-30},{2,-30}}, color={0,0,127}));
+ annotation (Documentation(info="
+This example was tested with a Mobian installation on a Pinephone. The package iiod has to be installed on the phone. It works out-of-the-box without further configuration.
+Any other linux device supporting IIO (i. e. a Raspberry Pi connected to a MPU6050 chip) can be used. Only the IIO deamon has to be installed and configured.
+"));
+end TestHardwareIIO;
diff --git a/Modelica_DeviceDrivers/Blocks/Examples/package.order b/Modelica_DeviceDrivers/Blocks/Examples/package.order
index 673c5840..1d564b2d 100644
--- a/Modelica_DeviceDrivers/Blocks/Examples/package.order
+++ b/Modelica_DeviceDrivers/Blocks/Examples/package.order
@@ -16,6 +16,7 @@ TestInputJoystick
TestInputKeyboard
TestInputKeyboardKey
TestHardwareIOComedi
+TestHardwareIIO
TestSerialPackager_TCPIP
TestSerialPackager_LCM
TestSerialPackager_MQTT
diff --git a/Modelica_DeviceDrivers/Blocks/HardwareIO.mo b/Modelica_DeviceDrivers/Blocks/HardwareIO.mo
index 3e09b6bf..28889abc 100644
--- a/Modelica_DeviceDrivers/Blocks/HardwareIO.mo
+++ b/Modelica_DeviceDrivers/Blocks/HardwareIO.mo
@@ -325,4 +325,79 @@ Enumeration that defines the available reference channels used in a DAQ-card