staging:iio:imu ADIS16400 and ADIS16405 driver

Signed-off-by: Manuel Stahl <manuel.stahl@iis.fraunhofer.de> 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>
git-mirror · May 11, 2010 · a9d26f0 · a9d26f0
1 parent 1e3864e
commit a9d26f0
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diff --git a/drivers/staging/iio/imu/Kconfig b/drivers/staging/iio/imu/Kconfig
@@ -12,3 +12,13 @@ config ADIS16300
 	help
 	  Say yes here to build support for Analog Devices adis16300 four degrees
 	  of freedom inertial sensor.
+
+config ADIS16400
+	tristate "Analog Devices ADIS16400/5 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 adis16400/5 triaxial
+ 	  inertial sensor with Magnetometer.
diff --git a/drivers/staging/iio/imu/Makefile b/drivers/staging/iio/imu/Makefile
@@ -4,3 +4,7 @@
 adis16300-y             := adis16300_core.o
 adis16300-$(CONFIG_IIO_RING_BUFFER) += adis16300_ring.o adis16300_trigger.o
 obj-$(CONFIG_ADIS16300) += adis16300.o
+
+adis16400-y             := adis16400_core.o
+adis16400-$(CONFIG_IIO_RING_BUFFER) += adis16400_ring.o adis16400_trigger.o
+obj-$(CONFIG_ADIS16400) += adis16400.o
diff --git a/drivers/staging/iio/imu/adis16400.h b/drivers/staging/iio/imu/adis16400.h
@@ -0,0 +1,238 @@
+/*
+ * adis16400.h	support Analog Devices ADIS16400
+ *		3d 18g accelerometers,
+ *		3d gyroscopes,
+ *		3d 2.5gauss magnetometers via SPI
+ *
+ * Copyright (c) 2009 Manuel Stahl <manuel.stahl@iis.fraunhofer.de>
+ * Copyright (c) 2007 Jonathan Cameron <jic23@cam.ac.uk>
+ *
+ * Loosely based upon lis3l02dq.h
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
+ */
+
+#ifndef SPI_ADIS16400_H_
+#define SPI_ADIS16400_H_
+
+#define ADIS16400_STARTUP_DELAY	220 /* ms */
+
+#define ADIS16400_READ_REG(a)    a
+#define ADIS16400_WRITE_REG(a) ((a) | 0x80)
+
+#define ADIS16400_FLASH_CNT  0x00 /* Flash memory write count */
+#define ADIS16400_SUPPLY_OUT 0x02 /* Power supply measurement */
+#define ADIS16400_XGYRO_OUT 0x04 /* X-axis gyroscope output */
+#define ADIS16400_YGYRO_OUT 0x06 /* Y-axis gyroscope output */
+#define ADIS16400_ZGYRO_OUT 0x08 /* Z-axis gyroscope output */
+#define ADIS16400_XACCL_OUT 0x0A /* X-axis accelerometer output */
+#define ADIS16400_YACCL_OUT 0x0C /* Y-axis accelerometer output */
+#define ADIS16400_ZACCL_OUT 0x0E /* Z-axis accelerometer output */
+#define ADIS16400_XMAGN_OUT 0x10 /* X-axis magnetometer measurement */
+#define ADIS16400_YMAGN_OUT 0x12 /* Y-axis magnetometer measurement */
+#define ADIS16400_ZMAGN_OUT 0x14 /* Z-axis magnetometer measurement */
+#define ADIS16400_TEMP_OUT  0x16 /* Temperature output */
+#define ADIS16400_AUX_ADC   0x18 /* Auxiliary ADC 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 */
+#define ADIS16400_ZGYRO_OFF 0x1E /* Z-axis gyroscope bias offset factor */
+#define ADIS16400_XACCL_OFF 0x20 /* X-axis acceleration bias offset factor */
+#define ADIS16400_YACCL_OFF 0x22 /* Y-axis acceleration bias offset factor */
+#define ADIS16400_ZACCL_OFF 0x24 /* Z-axis acceleration bias offset factor */
+#define ADIS16400_XMAGN_HIF 0x26 /* X-axis magnetometer, hard-iron factor */
+#define ADIS16400_YMAGN_HIF 0x28 /* Y-axis magnetometer, hard-iron factor */
+#define ADIS16400_ZMAGN_HIF 0x2A /* Z-axis magnetometer, hard-iron factor */
+#define ADIS16400_XMAGN_SIF 0x2C /* X-axis magnetometer, soft-iron factor */
+#define ADIS16400_YMAGN_SIF 0x2E /* Y-axis magnetometer, soft-iron factor */
+#define ADIS16400_ZMAGN_SIF 0x30 /* Z-axis magnetometer, soft-iron factor */
+
+#define ADIS16400_GPIO_CTRL 0x32 /* Auxiliary digital input/output control */
+#define ADIS16400_MSC_CTRL  0x34 /* Miscellaneous control */
+#define ADIS16400_SMPL_PRD  0x36 /* Internal sample period (rate) control */
+#define ADIS16400_SENS_AVG  0x38 /* Dynamic range and digital filter control */
+#define ADIS16400_SLP_CNT   0x3A /* Sleep mode control */
+#define ADIS16400_DIAG_STAT 0x3C /* System status */
+
+/* Alarm functions */
+#define ADIS16400_GLOB_CMD  0x3E /* System command */
+#define ADIS16400_ALM_MAG1  0x40 /* Alarm 1 amplitude threshold */
+#define ADIS16400_ALM_MAG2  0x42 /* Alarm 2 amplitude threshold */
+#define ADIS16400_ALM_SMPL1 0x44 /* Alarm 1 sample size */
+#define ADIS16400_ALM_SMPL2 0x46 /* Alarm 2 sample size */
+#define ADIS16400_ALM_CTRL  0x48 /* Alarm control */
+#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)
+
+/* MSC_CTRL */
+#define ADIS16400_MSC_CTRL_MEM_TEST		(1<<11)
+#define ADIS16400_MSC_CTRL_INT_SELF_TEST	(1<<10)
+#define ADIS16400_MSC_CTRL_NEG_SELF_TEST	(1<<9)
+#define ADIS16400_MSC_CTRL_POS_SELF_TEST	(1<<8)
+#define ADIS16400_MSC_CTRL_GYRO_BIAS		(1<<7)
+#define ADIS16400_MSC_CTRL_ACCL_ALIGN		(1<<6)
+#define ADIS16400_MSC_CTRL_DATA_RDY_EN		(1<<2)
+#define ADIS16400_MSC_CTRL_DATA_RDY_POL_HIGH	(1<<1)
+#define ADIS16400_MSC_CTRL_DATA_RDY_DIO2	(1<<0)
+
+/* SMPL_PRD */
+#define ADIS16400_SMPL_PRD_TIME_BASE	(1<<7)
+#define ADIS16400_SMPL_PRD_DIV_MASK	0x7F
+
+/* DIAG_STAT */
+#define ADIS16400_DIAG_STAT_ZACCL_FAIL	(1<<15)
+#define ADIS16400_DIAG_STAT_YACCL_FAIL	(1<<14)
+#define ADIS16400_DIAG_STAT_XACCL_FAIL	(1<<13)
+#define ADIS16400_DIAG_STAT_XGYRO_FAIL	(1<<12)
+#define ADIS16400_DIAG_STAT_YGYRO_FAIL	(1<<11)
+#define ADIS16400_DIAG_STAT_ZGYRO_FAIL	(1<<10)
+#define ADIS16400_DIAG_STAT_ALARM2	(1<<9)
+#define ADIS16400_DIAG_STAT_ALARM1	(1<<8)
+#define ADIS16400_DIAG_STAT_FLASH_CHK	(1<<6)
+#define ADIS16400_DIAG_STAT_SELF_TEST	(1<<5)
+#define ADIS16400_DIAG_STAT_OVERFLOW	(1<<4)
+#define ADIS16400_DIAG_STAT_SPI_FAIL	(1<<3)
+#define ADIS16400_DIAG_STAT_FLASH_UPT	(1<<2)
+#define ADIS16400_DIAG_STAT_POWER_HIGH	(1<<1)
+#define ADIS16400_DIAG_STAT_POWER_LOW	(1<<0)
+
+/* GLOB_CMD */
+#define ADIS16400_GLOB_CMD_SW_RESET	(1<<7)
+#define ADIS16400_GLOB_CMD_P_AUTO_NULL	(1<<4)
+#define ADIS16400_GLOB_CMD_FLASH_UPD	(1<<3)
+#define ADIS16400_GLOB_CMD_DAC_LATCH	(1<<2)
+#define ADIS16400_GLOB_CMD_FAC_CALIB	(1<<1)
+#define ADIS16400_GLOB_CMD_AUTO_NULL	(1<<0)
+
+/* SLP_CNT */
+#define ADIS16400_SLP_CNT_POWER_OFF	(1<<8)
+
+#define ADIS16400_MAX_TX 24
+#define ADIS16400_MAX_RX 24
+
+#define ADIS16400_SPI_SLOW	(u32)(300 * 1000)
+#define ADIS16400_SPI_BURST	(u32)(1000 * 1000)
+#define ADIS16400_SPI_FAST	(u32)(2000 * 1000)
+
+/**
+ * struct adis16400_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 adis16400_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 adis16400_spi_write_reg_8(struct device *dev,
+			      u8 reg_address,
+			      u8 val);
+
+int adis16400_spi_read_burst(struct device *dev, u8 *rx);
+
+int adis16400_spi_read_sequence(struct device *dev,
+				      u8 *tx, u8 *rx, int num);
+
+int adis16400_set_irq(struct device *dev, bool enable);
+
+int adis16400_reset(struct device *dev);
+
+int adis16400_stop_device(struct device *dev);
+
+int adis16400_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 adis16400_scan {
+	ADIS16400_SCAN_SUPPLY,
+	ADIS16400_SCAN_GYRO_X,
+	ADIS16400_SCAN_GYRO_Y,
+	ADIS16400_SCAN_GYRO_Z,
+	ADIS16400_SCAN_ACC_X,
+	ADIS16400_SCAN_ACC_Y,
+	ADIS16400_SCAN_ACC_Z,
+	ADIS16400_SCAN_MAGN_X,
+	ADIS16400_SCAN_MAGN_Y,
+	ADIS16400_SCAN_MAGN_Z,
+	ADIS16400_SCAN_TEMP,
+	ADIS16400_SCAN_ADC_0
+};
+
+void adis16400_remove_trigger(struct iio_dev *indio_dev);
+int adis16400_probe_trigger(struct iio_dev *indio_dev);
+
+ssize_t adis16400_read_data_from_ring(struct device *dev,
+				      struct device_attribute *attr,
+				      char *buf);
+
+
+int adis16400_configure_ring(struct iio_dev *indio_dev);
+void adis16400_unconfigure_ring(struct iio_dev *indio_dev);
+
+int adis16400_initialize_ring(struct iio_ring_buffer *ring);
+void adis16400_uninitialize_ring(struct iio_ring_buffer *ring);
+#else /* CONFIG_IIO_RING_BUFFER */
+
+static inline void adis16400_remove_trigger(struct iio_dev *indio_dev)
+{
+}
+
+static inline int adis16400_probe_trigger(struct iio_dev *indio_dev)
+{
+	return 0;
+}
+
+static inline ssize_t
+adis16400_read_data_from_ring(struct device *dev,
+			      struct device_attribute *attr,
+			      char *buf)
+{
+	return 0;
+}
+
+static int adis16400_configure_ring(struct iio_dev *indio_dev)
+{
+	return 0;
+}
+
+static inline void adis16400_unconfigure_ring(struct iio_dev *indio_dev)
+{
+}
+
+static inline int adis16400_initialize_ring(struct iio_ring_buffer *ring)
+{
+	return 0;
+}
+
+static inline void adis16400_uninitialize_ring(struct iio_ring_buffer *ring)
+{
+}
+
+#endif /* CONFIG_IIO_RING_BUFFER */
+#endif /* SPI_ADIS16400_H_ */