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staging:iio:imu ADIS16300 driver
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Signed-off-by: Barry Song <Barry.Song@analog.com>
Acked-by: Jonathan Cameron <jic23@cam.ac.uk>
Signed-off-by: Greg Kroah-Hartman <gregkh@suse.de>
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Barry Song authored and Greg Kroah-Hartman committed May 11, 2010
1 parent 9d8ae6c commit 1e3864e
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1 change: 1 addition & 0 deletions drivers/staging/iio/Kconfig
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Expand Up @@ -41,6 +41,7 @@ config IIO_TRIGGER

source "drivers/staging/iio/accel/Kconfig"
source "drivers/staging/iio/adc/Kconfig"
source "drivers/staging/iio/imu/Kconfig"
source "drivers/staging/iio/light/Kconfig"

source "drivers/staging/iio/trigger/Kconfig"
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1 change: 1 addition & 0 deletions drivers/staging/iio/Makefile
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Expand Up @@ -11,6 +11,7 @@ obj-$(CONFIG_IIO_SW_RING) += ring_sw.o

obj-y += accel/
obj-y += adc/
obj-y += imu/
obj-y += light/

obj-y += trigger/
3 changes: 3 additions & 0 deletions drivers/staging/iio/adc/adc.h
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Expand Up @@ -16,6 +16,9 @@
#define IIO_DEV_ATTR_IN_RAW(_num, _show, _addr) \
IIO_DEVICE_ATTR(in##_num##_raw, S_IRUGO, _show, NULL, _addr)

#define IIO_DEV_ATTR_IN_NAMED_RAW(_name, _show, _addr) \
IIO_DEVICE_ATTR(in_##_name##_raw, S_IRUGO, _show, NULL, _addr)

#define IIO_DEV_ATTR_IN_DIFF_RAW(_nump, _numn, _show, _addr) \
IIO_DEVICE_ATTR_NAMED(in##_nump##min##_numn##_raw, \
in##_nump-in##_numn##_raw, \
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76 changes: 76 additions & 0 deletions drivers/staging/iio/gyro/gyro.h
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#include "../sysfs.h"

/* Gyroscope types of attribute */

#define IIO_DEV_ATTR_GYRO_OFFSET(_mode, _show, _store, _addr) \
IIO_DEVICE_ATTR(gyro_offset, _mode, _show, _store, _addr)

#define IIO_DEV_ATTR_GYRO_X_OFFSET(_mode, _show, _store, _addr) \
IIO_DEVICE_ATTR(gyro_x_offset, _mode, _show, _store, _addr)

#define IIO_DEV_ATTR_GYRO_Y_OFFSET(_mode, _show, _store, _addr) \
IIO_DEVICE_ATTR(gyro_y_offset, _mode, _show, _store, _addr)

#define IIO_DEV_ATTR_GYRO_Z_OFFSET(_mode, _show, _store, _addr) \
IIO_DEVICE_ATTR(gyro_z_offset, _mode, _show, _store, _addr)

#define IIO_DEV_ATTR_GYRO_X_GAIN(_mode, _show, _store, _addr) \
IIO_DEVICE_ATTR(gyro_x_gain, _mode, _show, _store, _addr)

#define IIO_DEV_ATTR_GYRO_Y_GAIN(_mode, _show, _store, _addr) \
IIO_DEVICE_ATTR(gyro_y_gain, _mode, _show, _store, _addr)

#define IIO_DEV_ATTR_GYRO_Z_GAIN(_mode, _show, _store, _addr) \
IIO_DEVICE_ATTR(gyro_z_gain, _mode, _show, _store, _addr)

#define IIO_DEV_ATTR_GYRO_SCALE(_mode, _show, _store, _addr) \
IIO_DEVICE_ATTR(gyro_scale, S_IRUGO, _show, _store, _addr)

#define IIO_DEV_ATTR_GYRO(_show, _addr) \
IIO_DEVICE_ATTR(gyro, S_IRUGO, _show, NULL, _addr)

#define IIO_DEV_ATTR_GYRO_X(_show, _addr) \
IIO_DEVICE_ATTR(gyro_x, S_IRUGO, _show, NULL, _addr)

#define IIO_DEV_ATTR_GYRO_Y(_show, _addr) \
IIO_DEVICE_ATTR(gyro_y, S_IRUGO, _show, NULL, _addr)

#define IIO_DEV_ATTR_GYRO_Z(_show, _addr) \
IIO_DEVICE_ATTR(gyro_z, S_IRUGO, _show, NULL, _addr)

#define IIO_DEV_ATTR_TEMP_X(_show, _addr) \
IIO_DEVICE_ATTR(temp_x, S_IRUGO, _show, NULL, _addr)

#define IIO_DEV_ATTR_TEMP_Y(_show, _addr) \
IIO_DEVICE_ATTR(temp_y, S_IRUGO, _show, NULL, _addr)

#define IIO_DEV_ATTR_TEMP_Z(_show, _addr) \
IIO_DEVICE_ATTR(temp_z, S_IRUGO, _show, NULL, _addr)

#define IIO_DEV_ATTR_INCLI_X(_show, _addr) \
IIO_DEVICE_ATTR(incli_x, S_IRUGO, _show, NULL, _addr)

#define IIO_DEV_ATTR_INCLI_Y(_show, _addr) \
IIO_DEVICE_ATTR(incli_y, S_IRUGO, _show, NULL, _addr)

#define IIO_DEV_ATTR_INCLI_Z(_show, _addr) \
IIO_DEVICE_ATTR(incli_z, S_IRUGO, _show, NULL, _addr)

#define IIO_DEV_ATTR_INCLI_X_OFFSET(_mode, _show, _store, _addr) \
IIO_DEVICE_ATTR(incli_x_offset, _mode, _show, _store, _addr)

#define IIO_DEV_ATTR_INCLI_Y_OFFSET(_mode, _show, _store, _addr) \
IIO_DEVICE_ATTR(incli_y_offset, _mode, _show, _store, _addr)

#define IIO_DEV_ATTR_INCLI_Z_OFFSET(_mode, _show, _store, _addr) \
IIO_DEVICE_ATTR(incli_z_offset, _mode, _show, _store, _addr)

#define IIO_DEV_ATTR_ROT(_show, _addr) \
IIO_DEVICE_ATTR(rot, S_IRUGO, _show, NULL, _addr)

#define IIO_DEV_ATTR_ROT_OFFSET(_mode, _show, _store, _addr) \
IIO_DEVICE_ATTR(rot_offset, _mode, _show, _store, _addr)

#define IIO_DEV_ATTR_ANGL(_show, _addr) \
IIO_DEVICE_ATTR(angl, S_IRUGO, _show, NULL, _addr)
14 changes: 14 additions & 0 deletions drivers/staging/iio/imu/Kconfig
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#
# IIO imu drivers configuration
#
comment "Inertial measurement units"

config ADIS16300
tristate "Analog Devices ADIS16300 IMU SPI driver"
depends on SPI
select IIO_SW_RING
select IIO_RING_BUFFER
select IIO_TRIGGER
help
Say yes here to build support for Analog Devices adis16300 four degrees
of freedom inertial sensor.
6 changes: 6 additions & 0 deletions drivers/staging/iio/imu/Makefile
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#
# Makefile for Inertial Measurement Units
#
adis16300-y := adis16300_core.o
adis16300-$(CONFIG_IIO_RING_BUFFER) += adis16300_ring.o adis16300_trigger.o
obj-$(CONFIG_ADIS16300) += adis16300.o
203 changes: 203 additions & 0 deletions drivers/staging/iio/imu/adis16300.h
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#ifndef SPI_ADIS16300_H_
#define SPI_ADIS16300_H_

#define ADIS16300_STARTUP_DELAY 220 /* ms */

#define ADIS16300_READ_REG(a) a
#define ADIS16300_WRITE_REG(a) ((a) | 0x80)

#define ADIS16300_FLASH_CNT 0x00 /* Flash memory write count */
#define ADIS16300_SUPPLY_OUT 0x02 /* Power supply measurement */
#define ADIS16300_XGYRO_OUT 0x04 /* X-axis gyroscope output */
#define ADIS16300_XACCL_OUT 0x0A /* X-axis accelerometer output */
#define ADIS16300_YACCL_OUT 0x0C /* Y-axis accelerometer output */
#define ADIS16300_ZACCL_OUT 0x0E /* Z-axis accelerometer output */
#define ADIS16300_TEMP_OUT 0x10 /* Temperature output */
#define ADIS16300_XINCLI_OUT 0x12 /* X-axis inclinometer output measurement */
#define ADIS16300_YINCLI_OUT 0x14 /* Y-axis inclinometer output measurement */
#define ADIS16300_AUX_ADC 0x16 /* Auxiliary ADC measurement */

/* Calibration parameters */
#define ADIS16300_XGYRO_OFF 0x1A /* X-axis gyroscope bias offset factor */
#define ADIS16300_XACCL_OFF 0x20 /* X-axis acceleration bias offset factor */
#define ADIS16300_YACCL_OFF 0x22 /* Y-axis acceleration bias offset factor */
#define ADIS16300_ZACCL_OFF 0x24 /* Z-axis acceleration bias offset factor */

#define ADIS16300_GPIO_CTRL 0x32 /* Auxiliary digital input/output control */
#define ADIS16300_MSC_CTRL 0x34 /* Miscellaneous control */
#define ADIS16300_SMPL_PRD 0x36 /* Internal sample period (rate) control */
#define ADIS16300_SENS_AVG 0x38 /* Dynamic range and digital filter control */
#define ADIS16300_SLP_CNT 0x3A /* Sleep mode control */
#define ADIS16300_DIAG_STAT 0x3C /* System status */

/* Alarm functions */
#define ADIS16300_GLOB_CMD 0x3E /* System command */
#define ADIS16300_ALM_MAG1 0x26 /* Alarm 1 amplitude threshold */
#define ADIS16300_ALM_MAG2 0x28 /* Alarm 2 amplitude threshold */
#define ADIS16300_ALM_SMPL1 0x2A /* Alarm 1 sample size */
#define ADIS16300_ALM_SMPL2 0x2C /* Alarm 2 sample size */
#define ADIS16300_ALM_CTRL 0x2E /* Alarm control */
#define ADIS16300_AUX_DAC 0x30 /* Auxiliary DAC data */

#define ADIS16300_ERROR_ACTIVE (1<<14)
#define ADIS16300_NEW_DATA (1<<15)

/* MSC_CTRL */
#define ADIS16300_MSC_CTRL_MEM_TEST (1<<11)
#define ADIS16300_MSC_CTRL_INT_SELF_TEST (1<<10)
#define ADIS16300_MSC_CTRL_NEG_SELF_TEST (1<<9)
#define ADIS16300_MSC_CTRL_POS_SELF_TEST (1<<8)
#define ADIS16300_MSC_CTRL_GYRO_BIAS (1<<7)
#define ADIS16300_MSC_CTRL_ACCL_ALIGN (1<<6)
#define ADIS16300_MSC_CTRL_DATA_RDY_EN (1<<2)
#define ADIS16300_MSC_CTRL_DATA_RDY_POL_HIGH (1<<1)
#define ADIS16300_MSC_CTRL_DATA_RDY_DIO2 (1<<0)

/* SMPL_PRD */
#define ADIS16300_SMPL_PRD_TIME_BASE (1<<7)
#define ADIS16300_SMPL_PRD_DIV_MASK 0x7F

/* DIAG_STAT */
#define ADIS16300_DIAG_STAT_ZACCL_FAIL (1<<15)
#define ADIS16300_DIAG_STAT_YACCL_FAIL (1<<14)
#define ADIS16300_DIAG_STAT_XACCL_FAIL (1<<13)
#define ADIS16300_DIAG_STAT_XGYRO_FAIL (1<<10)
#define ADIS16300_DIAG_STAT_ALARM2 (1<<9)
#define ADIS16300_DIAG_STAT_ALARM1 (1<<8)
#define ADIS16300_DIAG_STAT_FLASH_CHK (1<<6)
#define ADIS16300_DIAG_STAT_SELF_TEST (1<<5)
#define ADIS16300_DIAG_STAT_OVERFLOW (1<<4)
#define ADIS16300_DIAG_STAT_SPI_FAIL (1<<3)
#define ADIS16300_DIAG_STAT_FLASH_UPT (1<<2)
#define ADIS16300_DIAG_STAT_POWER_HIGH (1<<1)
#define ADIS16300_DIAG_STAT_POWER_LOW (1<<0)

/* GLOB_CMD */
#define ADIS16300_GLOB_CMD_SW_RESET (1<<7)
#define ADIS16300_GLOB_CMD_P_AUTO_NULL (1<<4)
#define ADIS16300_GLOB_CMD_FLASH_UPD (1<<3)
#define ADIS16300_GLOB_CMD_DAC_LATCH (1<<2)
#define ADIS16300_GLOB_CMD_FAC_CALIB (1<<1)
#define ADIS16300_GLOB_CMD_AUTO_NULL (1<<0)

/* SLP_CNT */
#define ADIS16300_SLP_CNT_POWER_OFF (1<<8)

#define ADIS16300_MAX_TX 18
#define ADIS16300_MAX_RX 18

#define ADIS16300_SPI_SLOW (u32)(300 * 1000)
#define ADIS16300_SPI_BURST (u32)(1000 * 1000)
#define ADIS16300_SPI_FAST (u32)(2000 * 1000)

/**
* struct adis16300_state - device instance specific data
* @us: actual spi_device
* @work_trigger_to_ring: bh for triggered event handling
* @work_cont_thresh: CLEAN
* @inter: used to check if new interrupt has been triggered
* @last_timestamp: passing timestamp from th to bh of interrupt handler
* @indio_dev: industrial I/O device structure
* @trig: data ready trigger registered with iio
* @tx: transmit buffer
* @rx: recieve buffer
* @buf_lock: mutex to protect tx and rx
**/
struct adis16300_state {
struct spi_device *us;
struct work_struct work_trigger_to_ring;
struct iio_work_cont work_cont_thresh;
s64 last_timestamp;
struct iio_dev *indio_dev;
struct iio_trigger *trig;
u8 *tx;
u8 *rx;
struct mutex buf_lock;
};

int adis16300_spi_write_reg_8(struct device *dev,
u8 reg_address,
u8 val);

int adis16300_spi_read_burst(struct device *dev, u8 *rx);

int adis16300_spi_read_sequence(struct device *dev,
u8 *tx, u8 *rx, int num);

int adis16300_set_irq(struct device *dev, bool enable);

int adis16300_reset(struct device *dev);

int adis16300_stop_device(struct device *dev);

int adis16300_check_status(struct device *dev);

#ifdef CONFIG_IIO_RING_BUFFER
/* At the moment triggers are only used for ring buffer
* filling. This may change!
*/

enum adis16300_scan {
ADIS16300_SCAN_SUPPLY,
ADIS16300_SCAN_GYRO_X,
ADIS16300_SCAN_ACC_X,
ADIS16300_SCAN_ACC_Y,
ADIS16300_SCAN_ACC_Z,
ADIS16300_SCAN_TEMP,
ADIS16300_SCAN_ADC_0,
ADIS16300_SCAN_INCLI_X,
ADIS16300_SCAN_INCLI_Y,
};

void adis16300_remove_trigger(struct iio_dev *indio_dev);
int adis16300_probe_trigger(struct iio_dev *indio_dev);

ssize_t adis16300_read_data_from_ring(struct device *dev,
struct device_attribute *attr,
char *buf);


int adis16300_configure_ring(struct iio_dev *indio_dev);
void adis16300_unconfigure_ring(struct iio_dev *indio_dev);

int adis16300_initialize_ring(struct iio_ring_buffer *ring);
void adis16300_uninitialize_ring(struct iio_ring_buffer *ring);
#else /* CONFIG_IIO_RING_BUFFER */

static inline void adis16300_remove_trigger(struct iio_dev *indio_dev)
{
}

static inline int adis16300_probe_trigger(struct iio_dev *indio_dev)
{
return 0;
}

static inline ssize_t
adis16300_read_data_from_ring(struct device *dev,
struct device_attribute *attr,
char *buf)
{
return 0;
}

static int adis16300_configure_ring(struct iio_dev *indio_dev)
{
return 0;
}

static inline void adis16300_unconfigure_ring(struct iio_dev *indio_dev)
{
}

static inline int adis16300_initialize_ring(struct iio_ring_buffer *ring)
{
return 0;
}

static inline void adis16300_uninitialize_ring(struct iio_ring_buffer *ring)
{
}

#endif /* CONFIG_IIO_RING_BUFFER */
#endif /* SPI_ADIS16300_H_ */
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