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ADIS16130 IIO High Precision Angular Rate Gyroscope Linux Driver
Supported Devices
Description
This is a Linux industrial I/O (IIO) subsystem driver, targeting serial interface Gyroscopes. The industrial I/O subsystem provides a unified framework for drivers for many different types of converters and sensors using a number of different physical interfaces (i2c, spi, etc). See IIO for more information.
Source Code
Status
Files
| Function | File |
|---|---|
| driver | drivers/staging/iio/accel/adis16130_core.c |
Declaring SPI slave devices
Unlike PCI or USB devices, SPI devices are not enumerated at the hardware level. Instead, the software must know which devices are connected on each SPI bus segment, and what slave selects these devices are using. For this reason, the kernel code must instantiate SPI devices explicitly. The most common method is to declare the SPI devices by bus number.
This method is appropriate when the SPI bus is a system bus, as in many embedded systems, wherein each SPI bus has a number which is known in advance. It is thus possible to pre-declare the SPI devices that inhabit this bus. This is done with an array of struct spi_board_info, which is registered by calling spi_register_board_info().
For more information see: Documentation/spi/spi-summary
Depending on the converter IC used, you may need to set the modalias accordingly, matching your part name. It may also required to adjust max_speed_hz. Please consult the datasheet, for maximum spi clock supported by the device in question.
static struct spi_board_info board_spi_board_info[] __initdata = { #if defined(CONFIG_ADIS16130) / || defined(CONFIG_ADIS16130_MODULE) { .modalias = "adis16130", .max_speed_hz = 1000000, /* max spi clock (SCK) speed in HZ */ .bus_num = 0, .chip_select = 1, /* CS for read, change it for your board */ .platform_data = NULL, /* No spi_driver specific config */ .mode = SPI_MODE_3, }, #endif };
static int __init board_init(void) { [--snip--] spi_register_board_info(board_spi_board_info, ARRAY_SIZE(board_spi_board_info)); [--snip--] return 0; } arch_initcall(board_init);
Adding Linux driver support
Configure kernel with “make menuconfig” (alternatively use “make xconfig” or “make qconfig”)
The ADIS16130 Driver depends on CONFIG_SPI
Linux Kernel Configuration Device Drivers ---> [*] Staging drivers ---> <*> Industrial I/O support ---> --- Industrial I/O support -*- Enable ring buffer support within IIO -*- Industrial I/O lock free software ring -*- Enable triggered sampling support *** Digital gyroscope sensors *** [--snip--] <*> Analog Devices ADIS16130 High Precision Angular Rate Sensor driver [--snip--]
Hardware configuration
Driver testing
Each and every IIO device, typically a hardware chip, has a device folder under /sys/bus/iio/devices/iio:deviceX. Where X is the IIO index of the device. Under every of these directory folders reside a set of files, depending on the characteristics and features of the hardware device in question. These files are consistently generalized and documented in the IIO ABI documentation. In order to determine which IIO deviceX corresponds to which hardware device, the user can read the name file /sys/bus/iio/devices/iio:deviceX/name. In case the sequence in which the iio device drivers are loaded/registered is constant, the numbering is constant and may be known in advance.
This specifies any shell prompt running on the target
root:/> cd /sys/bus/iio/devices/ root:/sys/bus/iio/devices> ls iio:device0 trigger0 root:/sys/bus/iio/devices> cd iio:device0 root:/sys/devices/platform/bfin-spi.0/spi0.1/iio:device0> ls -l -r--r--r-- 1 root root 4096 Jan 3 20:40 dev -r--r--r-- 1 root root 4096 Jan 3 20:40 in_gyro_z_raw -r--r--r-- 1 root root 4096 Jan 3 20:40 in_temp0_raw -r--r--r-- 1 root root 4096 Jan 3 20:40 name drwxr-xr-x 2 root root 0 Jan 3 20:40 power lrwxrwxrwx 1 root root 0 Jan 3 20:40 subsystem -> ../../../../../bus/iio -rw-r--r-- 1 root root 4096 Jan 3 20:40 uevent root:/sys/devices/platform/bfin-spi.0/spi0.1/iio:device0>
Show device name
This specifies any shell prompt running on the target
root:/sys/devices/platform/bfin-spi.0/spi0.1/iio:device0> cat name adis16130
ADIS16130 device attributes
For a detailed description please see: drivers/staging/iio/Documentation/sysfs-bus-iio
| Device files |
|---|
| in_gyro_z_raw |
| in_temp0_raw |
| name |
More Information
- IIO mailing list: linux [dash] iio [at] vger [dot] kernel [dot] org
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