staging:iio: Move adis16400 out of staging

This adis16400 driver is in pretty good shape now, so move it out of staging.

Signed-off-by: Lars-Peter Clausen <lars@metafoo.de>
Signed-off-by: Jonathan Cameron <jic23@kernel.org>

1 files changed, 204 insertions, 0 deletions

diff --git a/drivers/iio/imu/adis16400.h b/drivers/iio/imu/adis16400.h
new file mode 100644
index 000000000000..a3b9e56c5bd1
--- /dev/null
+++ b/drivers/iio/imu/adis16400.h
@@ -0,0 +1,204 @@
+/*
+ * 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@kernel.org>
+ *
+ * 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_
+
+#include <linux/iio/imu/adis.h>
+
+#define ADIS16400_STARTUP_DELAY 290 /* ms */
+#define ADIS16400_MTEST_DELAY 90 /* ms */
+
+#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 */
+
+#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 */
+
+#define ADIS16300_PITCH_OUT 0x12 /* X axis inclinometer output measurement */
+#define ADIS16300_ROLL_OUT  0x14 /* Y axis inclinometer output measurement */
+#define ADIS16300_AUX_ADC   0x16 /* 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_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  15
+#define ADIS16400_DIAG_STAT_YACCL_FAIL  14
+#define ADIS16400_DIAG_STAT_XACCL_FAIL  13
+#define ADIS16400_DIAG_STAT_XGYRO_FAIL  12
+#define ADIS16400_DIAG_STAT_YGYRO_FAIL  11
+#define ADIS16400_DIAG_STAT_ZGYRO_FAIL  10
+#define ADIS16400_DIAG_STAT_ALARM2      9
+#define ADIS16400_DIAG_STAT_ALARM1      8
+#define ADIS16400_DIAG_STAT_FLASH_CHK   6
+#define ADIS16400_DIAG_STAT_SELF_TEST   5
+#define ADIS16400_DIAG_STAT_OVERFLOW    4
+#define ADIS16400_DIAG_STAT_SPI_FAIL    3
+#define ADIS16400_DIAG_STAT_FLASH_UPT   2
+#define ADIS16400_DIAG_STAT_POWER_HIGH  1
+#define ADIS16400_DIAG_STAT_POWER_LOW   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 ADIS16334_RATE_DIV_SHIFT 8
+#define ADIS16334_RATE_INT_CLK BIT(0)
+
+#define ADIS16400_SPI_SLOW      (u32)(300 * 1000)
+#define ADIS16400_SPI_BURST     (u32)(1000 * 1000)
+#define ADIS16400_SPI_FAST      (u32)(2000 * 1000)
+
+#define ADIS16400_HAS_PROD_ID           BIT(0)
+#define ADIS16400_NO_BURST              BIT(1)
+#define ADIS16400_HAS_SLOW_MODE         BIT(2)
+
+struct adis16400_state;
+
+struct adis16400_chip_info {
+        const struct iio_chan_spec *channels;
+        const int num_channels;
+        const long flags;
+        unsigned int gyro_scale_micro;
+        unsigned int accel_scale_micro;
+        int temp_scale_nano;
+        int temp_offset;
+        int (*set_freq)(struct adis16400_state *st, unsigned int freq);
+        int (*get_freq)(struct adis16400_state *st);
+};
+
+/**
+ * struct adis16400_state - device instance specific data
+ * @variant:    chip variant info
+ * @filt_int:   integer part of requested filter frequency
+ * @adis:       adis device
+ **/
+struct adis16400_state {
+        struct adis16400_chip_info      *variant;
+        int                             filt_int;
+
+        struct adis adis;
+};
+
+/* At the moment triggers are only used for ring buffer
+ * filling. This may change!
+ */
+
+enum {
+        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,
+        ADIS16350_SCAN_TEMP_X,
+        ADIS16350_SCAN_TEMP_Y,
+        ADIS16350_SCAN_TEMP_Z,
+        ADIS16300_SCAN_INCLI_X,
+        ADIS16300_SCAN_INCLI_Y,
+        ADIS16400_SCAN_ADC,
+};
+
+#ifdef CONFIG_IIO_BUFFER
+
+ssize_t adis16400_read_data_from_ring(struct device *dev,
+                                      struct device_attribute *attr,
+                                      char *buf);
+
+
+int adis16400_update_scan_mode(struct iio_dev *indio_dev,
+        const unsigned long *scan_mask);
+irqreturn_t adis16400_trigger_handler(int irq, void *p);
+
+#else /* CONFIG_IIO_BUFFER */
+
+#define adis16400_update_scan_mode NULL
+#define adis16400_trigger_handler NULL
+
+#endif /* CONFIG_IIO_BUFFER */
+
+#endif /* SPI_ADIS16400_H_ */