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staging:iio:imu:adis16350 etc support into adis16400 driver.
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Next patch will remove the current adis16350 driver.
These should have been merged a long time ago, but there we are.

V3: rebase fixup + add missing extend_name for supply on adis16350

V2: Move to single IIO_CHAN macro + use the new extend_name
to make the naming of the temperature sensors contain x, y, z
rather than messing with modifiers.  This a very weird case
and I don't want temperature to use axial modifiers.

Signed-off-by: Jonathan Cameron <jic23@cam.ac.uk>
Signed-off-by: Greg Kroah-Hartman <gregkh@suse.de>
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Jonathan Cameron authored and Greg Kroah-Hartman committed May 19, 2011
1 parent e785484 commit 2a29a90
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Showing 5 changed files with 260 additions and 47 deletions.
8 changes: 5 additions & 3 deletions drivers/staging/iio/imu/Kconfig
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Original file line number Diff line number Diff line change
Expand Up @@ -22,10 +22,12 @@ config ADIS16350
high precision tri-axis inertial sensor.

config ADIS16400
tristate "Analog Devices ADIS16400/5 IMU SPI driver"
tristate "Analog Devices ADIS16400 and similar IMU SPI driver"
depends on SPI
select IIO_SW_RING if IIO_RING_BUFFER
select IIO_TRIGGER if IIO_RING_BUFFER
help
Say yes here to build support for Analog Devices adis16400/5 triaxial
inertial sensor with Magnetometer.
Say yes here to build support for Analog Devices adis16350, adis16354,
adis16355, adis16360, adis16362, adis16364, adis16365, adis16400 and
adis16405 triaxial inertial sensors (adis16400 series also have
magnetometers).
22 changes: 21 additions & 1 deletion drivers/staging/iio/imu/adis16400.h
View file
Original file line number Diff line number Diff line change
Expand Up @@ -37,6 +37,10 @@
#define ADIS16400_TEMP_OUT 0x16 /* Temperature output */
#define ADIS16400_AUX_ADC 0x18 /* Auxiliary ADC measurement */

#define ADIS16350_XTEMP_OUT 0x10 /* X-axis gyroscope temperature measurement */
#define ADIS16350_YTEMP_OUT 0x12 /* Y-axis gyroscope temperature measurement */
#define ADIS16350_ZTEMP_OUT 0x14 /* Z-axis gyroscope temperature measurement */

/* Calibration parameters */
#define ADIS16400_XGYRO_OFF 0x1A /* X-axis gyroscope bias offset factor */
#define ADIS16400_YGYRO_OFF 0x1C /* Y-axis gyroscope bias offset factor */
Expand Down Expand Up @@ -68,7 +72,6 @@
#define ADIS16400_AUX_DAC 0x4A /* Auxiliary DAC data */

#define ADIS16400_PRODUCT_ID 0x56 /* Product identifier */
#define ADIS16400_PRODUCT_ID_DEFAULT 0x4015 /* Datasheet says 0x4105, I get 0x4015 */

#define ADIS16400_ERROR_ACTIVE (1<<14)
#define ADIS16400_NEW_DATA (1<<14)
Expand Down Expand Up @@ -123,6 +126,18 @@
#define ADIS16400_SPI_BURST (u32)(1000 * 1000)
#define ADIS16400_SPI_FAST (u32)(2000 * 1000)

#define ADIS16400_HAS_PROD_ID 1
#define ADIS16400_NO_BURST 2
struct adis16400_chip_info {
const struct iio_chan_spec *channels;
const int num_channels;
const int product_id;
const long flags;
unsigned int gyro_scale_micro;
unsigned int accel_scale_micro;
unsigned long default_scan_mask;
};

/**
* struct adis16400_state - device instance specific data
* @us: actual spi_device
Expand All @@ -139,6 +154,7 @@ struct adis16400_state {
u8 *tx;
u8 *rx;
struct mutex buf_lock;
struct adis16400_chip_info *variant;
};

int adis16400_set_irq(struct iio_dev *indio_dev, bool enable);
Expand All @@ -156,9 +172,13 @@ int adis16400_set_irq(struct iio_dev *indio_dev, bool enable);
#define ADIS16400_SCAN_ACC_Y 5
#define ADIS16400_SCAN_ACC_Z 6
#define ADIS16400_SCAN_MAGN_X 7
#define ADIS16350_SCAN_TEMP_X 7
#define ADIS16400_SCAN_MAGN_Y 8
#define ADIS16350_SCAN_TEMP_Y 8
#define ADIS16400_SCAN_MAGN_Z 9
#define ADIS16350_SCAN_TEMP_Z 9
#define ADIS16400_SCAN_TEMP 10
#define ADIS16350_SCAN_ADC_0 10
#define ADIS16400_SCAN_ADC_0 11

void adis16400_remove_trigger(struct iio_dev *indio_dev);
Expand Down
187 changes: 164 additions & 23 deletions drivers/staging/iio/imu/adis16400_core.c
View file
Original file line number Diff line number Diff line change
Expand Up @@ -38,6 +38,15 @@

#define DRIVER_NAME "adis16400"

enum adis16400_chip_variant {
ADIS16350,
ADIS16360,
ADIS16362,
ADIS16364,
ADIS16365,
ADIS16400,
};

static int adis16400_check_status(struct iio_dev *indio_dev);

/* At the moment the spi framework doesn't allow global setting of cs_change.
Expand Down Expand Up @@ -383,19 +392,18 @@ static int adis16400_initial_setup(struct adis16400_state *st)
goto err_ret;
}
}
if (st->variant->flags & ADIS16400_HAS_PROD_ID) {
ret = adis16400_spi_read_reg_16(st->indio_dev,
ADIS16400_PRODUCT_ID, &prod_id);
if (ret)
goto err_ret;

ret = adis16400_spi_read_reg_16(st->indio_dev,
ADIS16400_PRODUCT_ID, &prod_id);
if (ret)
goto err_ret;

if ((prod_id & 0xF000) != ADIS16400_PRODUCT_ID_DEFAULT)
dev_warn(dev, "unknown product id");


dev_info(dev, ": prod_id 0x%04x at CS%d (irq %d)\n",
prod_id, st->us->chip_select, st->us->irq);
if ((prod_id & 0xF000) != st->variant->product_id)
dev_warn(dev, "incorrect id");

printk(KERN_INFO DRIVER_NAME ": prod_id 0x%04x at CS%d (irq %d)\n",
prod_id, st->us->chip_select, st->us->irq);
}
/* use high spi speed if possible */
ret = adis16400_spi_read_reg_16(st->indio_dev,
ADIS16400_SMPL_PRD, &smp_prd);
Expand All @@ -418,7 +426,15 @@ static IIO_DEVICE_ATTR(reset, S_IWUSR, NULL, adis16400_write_reset, 0);

static IIO_CONST_ATTR_SAMP_FREQ_AVAIL("409 546 819 1638");

static IIO_CONST_ATTR_NAME("adis16400");
static ssize_t adis16400_show_name(struct device *dev,
struct device_attribute *attr,
char *buf)
{
struct adis16400_state *st
= iio_dev_get_devdata(dev_get_drvdata(dev));
return sprintf(buf, "%s\n", spi_get_device_id(st->us)->name);
}
static IIO_DEVICE_ATTR(name, S_IRUGO, adis16400_show_name, NULL, 0);

enum adis16400_chan {
in_supply,
Expand All @@ -432,10 +448,11 @@ enum adis16400_chan {
magn_y,
magn_z,
temp,
temp0, temp1, temp2,
in1
};

static u8 adis16400_addresses[12][2] = {
static u8 adis16400_addresses[16][2] = {
[in_supply] = { ADIS16400_SUPPLY_OUT, 0 },
[gyro_x] = { ADIS16400_XGYRO_OUT, ADIS16400_XGYRO_OFF },
[gyro_y] = { ADIS16400_YGYRO_OUT, ADIS16400_YGYRO_OFF },
Expand All @@ -447,6 +464,9 @@ static u8 adis16400_addresses[12][2] = {
[magn_y] = { ADIS16400_YMAGN_OUT, 0 },
[magn_z] = { ADIS16400_ZMAGN_OUT, 0 },
[temp] = { ADIS16400_TEMP_OUT, 0 },
[temp0] = { ADIS16350_XTEMP_OUT },
[temp1] = { ADIS16350_YTEMP_OUT },
[temp2] = { ADIS16350_ZTEMP_OUT },
[in1] = { ADIS16400_AUX_ADC , 0 },
};

Expand Down Expand Up @@ -476,6 +496,7 @@ static int adis16400_read_raw(struct iio_dev *indio_dev,
int *val2,
long mask)
{
struct adis16400_state *st = iio_dev_get_devdata(indio_dev);
int ret;
s16 val16;
int shift;
Expand Down Expand Up @@ -503,7 +524,7 @@ static int adis16400_read_raw(struct iio_dev *indio_dev,
switch (chan->type) {
case IIO_GYRO:
*val = 0;
*val2 = 873;
*val2 = st->variant->gyro_scale_micro;
return IIO_VAL_INT_PLUS_MICRO;
case IIO_IN:
*val = 0;
Expand All @@ -514,7 +535,7 @@ static int adis16400_read_raw(struct iio_dev *indio_dev,
return IIO_VAL_INT_PLUS_MICRO;
case IIO_ACCEL:
*val = 0;
*val2 = 32656;
*val2 = st->variant->accel_scale_micro;
return IIO_VAL_INT_PLUS_MICRO;
case IIO_MAGN:
*val = 0;
Expand All @@ -532,10 +553,9 @@ static int adis16400_read_raw(struct iio_dev *indio_dev,
ret = adis16400_spi_read_reg_16(indio_dev,
adis16400_addresses[chan->address][1],
&val16);
if (ret) {
mutex_unlock(&indio_dev->mlock);
mutex_unlock(&indio_dev->mlock);
if (ret)
return ret;
}
val16 = ((val16 & 0xFFF) << 4) >> 4;
*val = val16;
return IIO_VAL_INT;
Expand Down Expand Up @@ -597,18 +617,122 @@ static struct iio_chan_spec adis16400_channels[] = {
IIO_CHAN_SOFT_TIMESTAMP(12)
};

static struct iio_chan_spec adis16350_channels[] = {
IIO_CHAN(IIO_IN, 0, 1, 0, "supply", 0, 0,
(1 << IIO_CHAN_INFO_SCALE_SEPARATE),
0, ADIS16400_SCAN_SUPPLY, IIO_ST('u', 12, 16, 0), 0),
IIO_CHAN(IIO_GYRO, 1, 0, 0, NULL, 0, IIO_MOD_X,
(1 << IIO_CHAN_INFO_CALIBBIAS_SEPARATE) |
(1 << IIO_CHAN_INFO_SCALE_SHARED),
1, ADIS16400_SCAN_GYRO_X, IIO_ST('s', 14, 16, 0), 0),
IIO_CHAN(IIO_GYRO, 1, 0, 0, NULL, 0, IIO_MOD_Y,
(1 << IIO_CHAN_INFO_CALIBBIAS_SEPARATE) |
(1 << IIO_CHAN_INFO_SCALE_SHARED),
2, ADIS16400_SCAN_GYRO_Y, IIO_ST('s', 14, 16, 0), 0),
IIO_CHAN(IIO_GYRO, 1, 0, 0, NULL, 0, IIO_MOD_Z,
(1 << IIO_CHAN_INFO_CALIBBIAS_SEPARATE) |
(1 << IIO_CHAN_INFO_SCALE_SHARED),
3, ADIS16400_SCAN_GYRO_Z, IIO_ST('s', 14, 16, 0), 0),
IIO_CHAN(IIO_ACCEL, 1, 0, 0, NULL, 0, IIO_MOD_X,
(1 << IIO_CHAN_INFO_CALIBBIAS_SEPARATE) |
(1 << IIO_CHAN_INFO_SCALE_SHARED),
4, ADIS16400_SCAN_ACC_X, IIO_ST('s', 14, 16, 0), 0),
IIO_CHAN(IIO_ACCEL, 1, 0, 0, NULL, 0, IIO_MOD_Y,
(1 << IIO_CHAN_INFO_CALIBBIAS_SEPARATE) |
(1 << IIO_CHAN_INFO_SCALE_SHARED),
0, ADIS16400_SCAN_ACC_Y, IIO_ST('s', 14, 16, 0), 0),
IIO_CHAN(IIO_ACCEL, 1, 0, 0, NULL, 0, IIO_MOD_Z,
(1 << IIO_CHAN_INFO_CALIBBIAS_SEPARATE) |
(1 << IIO_CHAN_INFO_SCALE_SHARED),
0, ADIS16400_SCAN_ACC_Z, IIO_ST('s', 14, 16, 0), 0),
IIO_CHAN(IIO_TEMP, 0, 1, 0, "x", 0, 0,
(1 << IIO_CHAN_INFO_OFFSET_SEPARATE) |
(1 << IIO_CHAN_INFO_SCALE_SEPARATE),
0, ADIS16350_SCAN_TEMP_X, IIO_ST('s', 12, 16, 0), 0),
IIO_CHAN(IIO_TEMP, 0, 1, 0, "y", 1, 0,
(1 << IIO_CHAN_INFO_OFFSET_SEPARATE) |
(1 << IIO_CHAN_INFO_SCALE_SEPARATE),
0, ADIS16350_SCAN_TEMP_Y, IIO_ST('s', 12, 16, 0), 0),
IIO_CHAN(IIO_TEMP, 0, 1, 0, "z", 2, 0,
(1 << IIO_CHAN_INFO_OFFSET_SEPARATE) |
(1 << IIO_CHAN_INFO_SCALE_SEPARATE),
0, ADIS16350_SCAN_TEMP_Z, IIO_ST('s', 12, 16, 0), 0),
IIO_CHAN(IIO_IN, 0, 1, 0, NULL, 1, 0,
(1 << IIO_CHAN_INFO_SCALE_SEPARATE),
0, ADIS16350_SCAN_ADC_0, IIO_ST('s', 12, 16, 0), 0),
IIO_CHAN_SOFT_TIMESTAMP(11)
};

static struct attribute *adis16400_attributes[] = {
&iio_dev_attr_sampling_frequency.dev_attr.attr,
&iio_const_attr_sampling_frequency_available.dev_attr.attr,
&iio_dev_attr_reset.dev_attr.attr,
&iio_const_attr_name.dev_attr.attr,
&iio_dev_attr_name.dev_attr.attr,
NULL
};

static const struct attribute_group adis16400_attribute_group = {
.attrs = adis16400_attributes,
};

static struct adis16400_chip_info adis16400_chips[] = {
[ADIS16350] = {
.channels = adis16350_channels,
.num_channels = ARRAY_SIZE(adis16350_channels),
.gyro_scale_micro = 872664,
.accel_scale_micro = 24732,
.default_scan_mask = 0x7FF,
.flags = ADIS16400_NO_BURST,
},
[ADIS16360] = {
.channels = adis16350_channels,
.num_channels = ARRAY_SIZE(adis16350_channels),
.flags = ADIS16400_HAS_PROD_ID,
.product_id = 0x3FE8,
.gyro_scale_micro = 1279,
.accel_scale_micro = 24732,
.default_scan_mask = 0x7FF,
},
[ADIS16362] = {
.channels = adis16350_channels,
.num_channels = ARRAY_SIZE(adis16350_channels),
.flags = ADIS16400_HAS_PROD_ID,
.product_id = 0x3FEA,
.gyro_scale_micro = 1279,
.accel_scale_micro = 24732,
.default_scan_mask = 0x7FF,
},
[ADIS16364] = {
.channels = adis16350_channels,
.num_channels = ARRAY_SIZE(adis16350_channels),
.flags = ADIS16400_HAS_PROD_ID,
.product_id = 0x3FEC,
.gyro_scale_micro = 1279,
.accel_scale_micro = 24732,
.default_scan_mask = 0x7FF,
},
[ADIS16365] = {
.channels = adis16350_channels,
.num_channels = ARRAY_SIZE(adis16350_channels),
.flags = ADIS16400_HAS_PROD_ID,
.product_id = 0x3FED,
.gyro_scale_micro = 1279,
.accel_scale_micro = 24732,
.default_scan_mask = 0x7FF,
},
[ADIS16400] = {
.channels = adis16400_channels,
.num_channels = ARRAY_SIZE(adis16400_channels),
.flags = ADIS16400_HAS_PROD_ID,
.product_id = 0x4015,
.gyro_scale_micro = 873,
.accel_scale_micro = 32656,
.default_scan_mask = 0xFFF,
}
};



static int __devinit adis16400_probe(struct spi_device *spi)
{
int ret, regdone = 0;
Expand Down Expand Up @@ -639,11 +763,11 @@ static int __devinit adis16400_probe(struct spi_device *spi)
ret = -ENOMEM;
goto error_free_tx;
}

st->variant = &adis16400_chips[spi_get_device_id(spi)->driver_data];
st->indio_dev->dev.parent = &spi->dev;
st->indio_dev->attrs = &adis16400_attribute_group;
st->indio_dev->channels = adis16400_channels;
st->indio_dev->num_channels = ARRAY_SIZE(adis16400_channels);
st->indio_dev->channels = st->variant->channels;
st->indio_dev->num_channels = st->variant->num_channels;
st->indio_dev->read_raw = &adis16400_read_raw;
st->indio_dev->write_raw = &adis16400_write_raw;
st->indio_dev->dev_data = (void *)(st);
Expand All @@ -659,7 +783,9 @@ static int __devinit adis16400_probe(struct spi_device *spi)
goto error_unreg_ring_funcs;
regdone = 1;

ret = iio_ring_buffer_register(st->indio_dev->ring, 0);
ret = iio_ring_buffer_register_ex(st->indio_dev->ring, 0,
st->variant->channels,
st->variant->num_channels);
if (ret) {
dev_err(&spi->dev, "failed to initialize the ring\n");
goto error_unreg_ring_funcs;
Expand Down Expand Up @@ -714,6 +840,7 @@ static int adis16400_remove(struct spi_device *spi)
iio_ring_buffer_unregister(st->indio_dev->ring);
adis16400_unconfigure_ring(indio_dev);
iio_device_unregister(indio_dev);

kfree(st->tx);
kfree(st->rx);
kfree(st);
Expand All @@ -724,11 +851,25 @@ static int adis16400_remove(struct spi_device *spi)
return ret;
}

static const struct spi_device_id adis16400_id[] = {
{"adis16350", ADIS16350},
{"adis16354", ADIS16350},
{"adis16355", ADIS16350},
{"adis16360", ADIS16360},
{"adis16362", ADIS16362},
{"adis16364", ADIS16364},
{"adis16365", ADIS16365},
{"adis16400", ADIS16400},
{"adis16405", ADIS16400},
{}
};

static struct spi_driver adis16400_driver = {
.driver = {
.name = "adis16400",
.owner = THIS_MODULE,
},
.id_table = adis16400_id,
.probe = adis16400_probe,
.remove = __devexit_p(adis16400_remove),
};
Expand Down
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