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Commit 089a4198 authored by Barry Song's avatar Barry Song Committed by Greg Kroah-Hartman
Browse files

staging: iio: adis16260 digital gyro driver 



Signed-off-by: default avatarBarry Song <Barry.Song@analog.com>
Signed-off-by: default avatarJonathan Cameron <jic23@cam.ac.uk>
Signed-off-by: default avatarGreg Kroah-Hartman <gregkh@suse.de>
parent 935e99fb

drivers/staging/iio/Kconfig

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@@ -41,6 +41,7 @@ config IIO_TRIGGER 




source "drivers/staging/iio/accel/Kconfig"

source "drivers/staging/iio/accel/Kconfig"

source "drivers/staging/iio/adc/Kconfig"

source "drivers/staging/iio/adc/Kconfig"

source "drivers/staging/iio/gyro/Kconfig"

source "drivers/staging/iio/imu/Kconfig"

source "drivers/staging/iio/imu/Kconfig"

source "drivers/staging/iio/light/Kconfig"

source "drivers/staging/iio/light/Kconfig"

drivers/staging/iio/Makefile

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@@ -11,6 +11,7 @@ obj-$(CONFIG_IIO_SW_RING) += ring_sw.o 




obj-y += accel/

obj-y += accel/

obj-y += adc/

obj-y += adc/

obj-y += gyro/

obj-y += imu/

obj-y += imu/

obj-y += light/

obj-y += light/

drivers/staging/iio/gyro/Kconfig

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#

# IIO Digital Gyroscope Sensor drivers configuration

#

comment "Digital gyroscope sensors"



config ADIS16260

	tristate "Analog Devices ADIS16260/5 Digital Gyroscope Sensor SPI driver"

	depends on SPI

	select IIO_TRIGGER if IIO_RING_BUFFER

	select IIO_SW_RING if IIO_RING_BUFFER

	help

	  Say yes here to build support for Analog Devices adis16260/5

	  programmable digital gyroscope sensor.

drivers/staging/iio/gyro/Makefile

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# Makefile for digital gyroscope sensor drivers

#



adis16260-y             := adis16260_core.o

adis16260-$(CONFIG_IIO_RING_BUFFER) += adis16260_ring.o adis16260_trigger.o

obj-$(CONFIG_ADIS16260) += adis16260.o

drivers/staging/iio/gyro/adis16260.h

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#ifndef SPI_ADIS16260_H_

#define SPI_ADIS16260_H_



#define ADIS16260_STARTUP_DELAY	220 /* ms */



#define ADIS16260_READ_REG(a)    a

#define ADIS16260_WRITE_REG(a) ((a) | 0x80)



#define ADIS16260_FLASH_CNT  0x00 /* Flash memory write count */

#define ADIS16260_SUPPLY_OUT 0x02 /* Power supply measurement */

#define ADIS16260_GYRO_OUT   0x04 /* X-axis gyroscope output */

#define ADIS16260_AUX_ADC    0x0A /* analog input channel measurement */

#define ADIS16260_TEMP_OUT   0x0C /* internal temperature measurement */

#define ADIS16260_ANGL_OUT   0x0E /* angle displacement */

#define ADIS16260_GYRO_OFF   0x14 /* Calibration, offset/bias adjustment */

#define ADIS16260_GYRO_SCALE 0x16 /* Calibration, scale adjustment */

#define ADIS16260_ALM_MAG1   0x20 /* Alarm 1 magnitude/polarity setting */

#define ADIS16260_ALM_MAG2   0x22 /* Alarm 2 magnitude/polarity setting */

#define ADIS16260_ALM_SMPL1  0x24 /* Alarm 1 dynamic rate of change setting */

#define ADIS16260_ALM_SMPL2  0x26 /* Alarm 2 dynamic rate of change setting */

#define ADIS16260_ALM_CTRL   0x28 /* Alarm control */

#define ADIS16260_AUX_DAC    0x30 /* Auxiliary DAC data */

#define ADIS16260_GPIO_CTRL  0x32 /* Control, digital I/O line */

#define ADIS16260_MSC_CTRL   0x34 /* Control, data ready, self-test settings */

#define ADIS16260_SMPL_PRD   0x36 /* Control, internal sample rate */

#define ADIS16260_SENS_AVG   0x38 /* Control, dynamic range, filtering */

#define ADIS16260_SLP_CNT    0x3A /* Control, sleep mode initiation */

#define ADIS16260_DIAG_STAT  0x3C /* Diagnostic, error flags */

#define ADIS16260_GLOB_CMD   0x3E /* Control, global commands */

#define ADIS16260_LOT_ID1    0x52 /* Lot Identification Code 1 */

#define ADIS16260_LOT_ID2    0x54 /* Lot Identification Code 2 */

#define ADIS16260_PROD_ID    0x56 /* Product identifier;

				   * convert to decimal = 16,265/16,260 */

#define ADIS16260_SERIAL_NUM 0x58 /* Serial number */



#define ADIS16260_OUTPUTS    5



#define ADIS16260_ERROR_ACTIVE			(1<<14)

#define ADIS16260_NEW_DATA			(1<<15)



/* MSC_CTRL */

#define ADIS16260_MSC_CTRL_MEM_TEST		(1<<11)

/* Internal self-test enable */

#define ADIS16260_MSC_CTRL_INT_SELF_TEST	(1<<10)

#define ADIS16260_MSC_CTRL_NEG_SELF_TEST	(1<<9)

#define ADIS16260_MSC_CTRL_POS_SELF_TEST	(1<<8)

#define ADIS16260_MSC_CTRL_DATA_RDY_EN		(1<<2)

#define ADIS16260_MSC_CTRL_DATA_RDY_POL_HIGH	(1<<1)

#define ADIS16260_MSC_CTRL_DATA_RDY_DIO2	(1<<0)



/* SMPL_PRD */

/* Time base (tB): 0 = 1.953 ms, 1 = 60.54 ms */

#define ADIS16260_SMPL_PRD_TIME_BASE	(1<<7)

#define ADIS16260_SMPL_PRD_DIV_MASK	0x7F



/* SLP_CNT */

#define ADIS16260_SLP_CNT_POWER_OFF     0x80



/* DIAG_STAT */

#define ADIS16260_DIAG_STAT_ALARM2	(1<<9)

#define ADIS16260_DIAG_STAT_ALARM1	(1<<8)

#define ADIS16260_DIAG_STAT_FLASH_CHK	(1<<6)

#define ADIS16260_DIAG_STAT_SELF_TEST	(1<<5)

#define ADIS16260_DIAG_STAT_OVERFLOW	(1<<4)

#define ADIS16260_DIAG_STAT_SPI_FAIL	(1<<3)

#define ADIS16260_DIAG_STAT_FLASH_UPT	(1<<2)

#define ADIS16260_DIAG_STAT_POWER_HIGH	(1<<1)

#define ADIS16260_DIAG_STAT_POWER_LOW	(1<<0)



/* GLOB_CMD */

#define ADIS16260_GLOB_CMD_SW_RESET	(1<<7)

#define ADIS16260_GLOB_CMD_FLASH_UPD	(1<<3)

#define ADIS16260_GLOB_CMD_DAC_LATCH	(1<<2)

#define ADIS16260_GLOB_CMD_FAC_CALIB	(1<<1)

#define ADIS16260_GLOB_CMD_AUTO_NULL	(1<<0)



#define ADIS16260_MAX_TX 24

#define ADIS16260_MAX_RX 24



#define ADIS16260_SPI_SLOW	(u32)(300 * 1000)

#define ADIS16260_SPI_BURST	(u32)(1000 * 1000)

#define ADIS16260_SPI_FAST	(u32)(2000 * 1000)



/**

 * struct adis16260_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 adis16260_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 adis16260_set_irq(struct device *dev, bool enable);



#ifdef CONFIG_IIO_RING_BUFFER

/* At the moment triggers are only used for ring buffer

 * filling. This may change!

 */



enum adis16260_scan {

	ADIS16260_SCAN_SUPPLY,

	ADIS16260_SCAN_GYRO,

	ADIS16260_SCAN_AUX_ADC,

	ADIS16260_SCAN_TEMP,

	ADIS16260_SCAN_ANGL,

};



void adis16260_remove_trigger(struct iio_dev *indio_dev);

int adis16260_probe_trigger(struct iio_dev *indio_dev);



ssize_t adis16260_read_data_from_ring(struct device *dev,

				      struct device_attribute *attr,

				      char *buf);





int adis16260_configure_ring(struct iio_dev *indio_dev);

void adis16260_unconfigure_ring(struct iio_dev *indio_dev);



int adis16260_initialize_ring(struct iio_ring_buffer *ring);

void adis16260_uninitialize_ring(struct iio_ring_buffer *ring);

#else /* CONFIG_IIO_RING_BUFFER */



static inline void adis16260_remove_trigger(struct iio_dev *indio_dev)

{

}



static inline int adis16260_probe_trigger(struct iio_dev *indio_dev)

{

	return 0;

}



static inline ssize_t

adis16260_read_data_from_ring(struct device *dev,

			      struct device_attribute *attr,

			      char *buf)

{

	return 0;

}



static int adis16260_configure_ring(struct iio_dev *indio_dev)

{

	return 0;

}



static inline void adis16260_unconfigure_ring(struct iio_dev *indio_dev)

{

}



static inline int adis16260_initialize_ring(struct iio_ring_buffer *ring)

{

	return 0;

}



static inline void adis16260_uninitialize_ring(struct iio_ring_buffer *ring)

{

}



#endif /* CONFIG_IIO_RING_BUFFER */

#endif /* SPI_ADIS16260_H_ */