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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>
This commit is contained in:
Jonathan Cameron 2011-05-18 14:41:28 +01:00 committed by Greg Kroah-Hartman
parent e78548455d
commit 2a29a90b58
5 changed files with 260 additions and 47 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

8
drivers/staging/iio/imu/Kconfig
View File

@ -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
drivers/staging/iio/imu/adis16400.h
View File

@ -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 */
@ -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)
@ -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
@ -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);
@ -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);

175
drivers/staging/iio/imu/adis16400_core.c
View File

@ -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.
@ -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;
if ((prod_id & 0xF000) != ADIS16400_PRODUCT_ID_DEFAULT)
dev_warn(dev, "unknown product id");
if ((prod_id & 0xF000) != st->variant->product_id)
dev_warn(dev, "incorrect id");
dev_info(dev, ": prod_id 0x%04x at CS%d (irq %d)\n",
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);
@ -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,
@ -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 },
@ -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 },
};
@ -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;
@ -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;
@ -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;
@ -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);
if (ret)
return ret;
}
val16 = ((val16 & 0xFFF) << 4) >> 4;
*val = val16;
return IIO_VAL_INT;
@ -597,11 +617,57 @@ 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
};
@ -609,6 +675,64 @@ 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;
@ -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);
@ -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;
@ -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);
@ -724,11 +851,25 @@ err_ret:
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),
};

87
drivers/staging/iio/imu/adis16400_ring.c
View File

@ -9,6 +9,7 @@
#include <linux/slab.h>
#include <linux/sysfs.h>
#include <linux/list.h>
#include <linux/bitops.h>
#include "../iio.h"
#include "../sysfs.h"
@ -63,6 +64,56 @@ static int adis16400_spi_read_burst(struct device *dev, u8 *rx)
return ret;
}
static const u16 read_all_tx_array[] = {
cpu_to_be16(ADIS16400_READ_REG(ADIS16400_SUPPLY_OUT)),
cpu_to_be16(ADIS16400_READ_REG(ADIS16400_XGYRO_OUT)),
cpu_to_be16(ADIS16400_READ_REG(ADIS16400_YGYRO_OUT)),
cpu_to_be16(ADIS16400_READ_REG(ADIS16400_ZGYRO_OUT)),
cpu_to_be16(ADIS16400_READ_REG(ADIS16400_XACCL_OUT)),
cpu_to_be16(ADIS16400_READ_REG(ADIS16400_YACCL_OUT)),
cpu_to_be16(ADIS16400_READ_REG(ADIS16400_ZACCL_OUT)),
cpu_to_be16(ADIS16400_READ_REG(ADIS16350_XTEMP_OUT)),
cpu_to_be16(ADIS16400_READ_REG(ADIS16350_YTEMP_OUT)),
cpu_to_be16(ADIS16400_READ_REG(ADIS16350_ZTEMP_OUT)),
cpu_to_be16(ADIS16400_READ_REG(ADIS16400_AUX_ADC)),
};
static int adis16350_spi_read_all(struct device *dev, u8 *rx)
{
struct iio_dev *indio_dev = dev_get_drvdata(dev);
struct adis16400_state *st = iio_dev_get_devdata(indio_dev);
struct spi_message msg;
int i, j = 0, ret;
struct spi_transfer *xfers;
xfers = kzalloc(sizeof(*xfers)*
st->indio_dev->ring->scan_count + 1,
GFP_KERNEL);
if (xfers == NULL)
return -ENOMEM;
for (i = 0; i < ARRAY_SIZE(read_all_tx_array); i++)
if (st->indio_dev->ring->scan_mask & (1 << i)) {
xfers[j].tx_buf = &read_all_tx_array[i];
xfers[j].bits_per_word = 16;
xfers[j].len = 2;
xfers[j + 1].rx_buf = rx + j*2;
j++;
}
xfers[j].bits_per_word = 16;
xfers[j].len = 2;
spi_message_init(&msg);
for (j = 0; j < st->indio_dev->ring->scan_count + 1; j++)
spi_message_add_tail(&xfers[j], &msg);
ret = spi_sync(st->us, &msg);
kfree(xfers);
return ret;
}
/* Whilst this makes a lot of calls to iio_sw_ring functions - it is to device
* specific to be rolled into the core.
*/
@ -72,7 +123,7 @@ static irqreturn_t adis16400_trigger_handler(int irq, void *p)
struct iio_dev *indio_dev = pf->private_data;
struct adis16400_state *st = iio_dev_get_devdata(indio_dev);
struct iio_ring_buffer *ring = indio_dev->ring;
int i = 0, j;
int i = 0, j, ret = 0;
s16 *data;
size_t datasize = ring->access.get_bytes_per_datum(ring);
unsigned long mask = ring->scan_mask;
@ -83,15 +134,25 @@ static irqreturn_t adis16400_trigger_handler(int irq, void *p)
return -ENOMEM;
}
if (ring->scan_count)
if (adis16400_spi_read_burst(&indio_dev->dev, st->rx) >= 0)
for (; i < ring->scan_count; i++) {
if (ring->scan_count) {
if (st->variant->flags & ADIS16400_NO_BURST) {
ret = adis16350_spi_read_all(&indio_dev->dev, st->rx);
if (ret < 0)
return ret;
for (; i < ring->scan_count; i++)
data[i] = *(s16 *)(st->rx + i*2);
} else {
ret = adis16400_spi_read_burst(&indio_dev->dev, st->rx);
if (ret < 0)
return ret;
for (; i < indio_dev->ring->scan_count; i++) {
j = __ffs(mask);
mask &= ~(1 << j);
data[i] = be16_to_cpup(
(__be16 *)&(st->rx[j*2]));
}
}
}
/* Guaranteed to be aligned with 8 byte boundary */
if (ring->scan_timestamp)
*((s64 *)(data + ((i + 3)/4)*4)) = pf->timestamp;
@ -113,6 +174,7 @@ void adis16400_unconfigure_ring(struct iio_dev *indio_dev)
int adis16400_configure_ring(struct iio_dev *indio_dev)
{
int ret = 0;
struct adis16400_state *st = iio_dev_get_devdata(indio_dev);
struct iio_ring_buffer *ring;
ring = iio_sw_rb_allocate(indio_dev);
@ -129,20 +191,9 @@ int adis16400_configure_ring(struct iio_dev *indio_dev)
ring->postenable = &iio_triggered_ring_postenable;
ring->predisable = &iio_triggered_ring_predisable;
ring->owner = THIS_MODULE;
ring->scan_mask = st->variant->default_scan_mask;
ring->scan_count = hweight_long(st->variant->default_scan_mask);
/* Set default scan mode */
iio_scan_mask_set(ring, ADIS16400_SCAN_SUPPLY);
iio_scan_mask_set(ring, ADIS16400_SCAN_GYRO_X);
iio_scan_mask_set(ring, ADIS16400_SCAN_GYRO_Y);
iio_scan_mask_set(ring, ADIS16400_SCAN_GYRO_Z);
iio_scan_mask_set(ring, ADIS16400_SCAN_ACC_X);
iio_scan_mask_set(ring, ADIS16400_SCAN_ACC_Y);
iio_scan_mask_set(ring, ADIS16400_SCAN_ACC_Z);
iio_scan_mask_set(ring, ADIS16400_SCAN_MAGN_X);
iio_scan_mask_set(ring, ADIS16400_SCAN_MAGN_Y);
iio_scan_mask_set(ring, ADIS16400_SCAN_MAGN_Z);
iio_scan_mask_set(ring, ADIS16400_SCAN_TEMP);
iio_scan_mask_set(ring, ADIS16400_SCAN_ADC_0);
indio_dev->pollfunc = kzalloc(sizeof(*indio_dev->pollfunc), GFP_KERNEL);
if (indio_dev->pollfunc == NULL) {

1
drivers/staging/iio/imu/adis16400_trigger.c
View File

@ -64,7 +64,6 @@ int adis16400_probe_trigger(struct iio_dev *indio_dev)
st->trig);
if (ret)
goto error_free_trig;
st->trig->dev.parent = &st->us->dev;
st->trig->owner = THIS_MODULE;
st->trig->private_data = st;