Skip to content

L
linux
Commit 20e79c51 authored by Jonathan Cameron's avatar Jonathan Cameron Committed by Greg Kroah-Hartman
Browse files
Options

staging:iio:imu remove adis16300 driver. 

Support is now provided by the unified adis16400 driver.
Signed-off-by: default avatarJonathan Cameron <jic23@cam.ac.uk>
Signed-off-by: default avatarGreg Kroah-Hartman <gregkh@suse.de>
parent 8e886e65
Hide whitespace changes
Inline Side-by-side
Showing with 0 additions and 1286 deletions
drivers/staging/iio/imu/Kconfig
View file @ 20e79c51
......@@ -3,15 +3,6 @@
#
comment "Inertial measurement units"
config ADIS16300
tristate "Analog Devices ADIS16300 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 adis16300 four degrees
of freedom inertial sensor.
config ADIS16400
tristate "Analog Devices ADIS16400 and similar IMU SPI driver"
depends on SPI
......
drivers/staging/iio/imu/Makefile
View file @ 20e79c51
......@@ -2,10 +2,6 @@
# Makefile for Inertial Measurement Units
#
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
drivers/staging/iio/imu/adis16300.h deleted 100644 → 0
View file @ 8e886e65
#ifndef SPI_ADIS16300_H_
#define SPI_ADIS16300_H_
#define ADIS16300_STARTUP_DELAY 220 /* ms */
#define ADIS16300_READ_REG(a) a
#define ADIS16300_WRITE_REG(a) ((a) | 0x80)
#define ADIS16300_FLASH_CNT 0x00 /* Flash memory write count */
#define ADIS16300_SUPPLY_OUT 0x02 /* Power supply measurement */
#define ADIS16300_XGYRO_OUT 0x04 /* X-axis gyroscope output */
#define ADIS16300_XACCL_OUT 0x0A /* X-axis accelerometer output */
#define ADIS16300_YACCL_OUT 0x0C /* Y-axis accelerometer output */
#define ADIS16300_ZACCL_OUT 0x0E /* Z-axis accelerometer output */
#define ADIS16300_TEMP_OUT 0x10 /* Temperature output */
#define ADIS16300_XINCLI_OUT 0x12 /* X-axis inclinometer output measurement */
#define ADIS16300_YINCLI_OUT 0x14 /* Y-axis inclinometer output measurement */
#define ADIS16300_AUX_ADC 0x16 /* Auxiliary ADC measurement */
/* Calibration parameters */
#define ADIS16300_XGYRO_OFF 0x1A /* X-axis gyroscope bias offset factor */
#define ADIS16300_XACCL_OFF 0x20 /* X-axis acceleration bias offset factor */
#define ADIS16300_YACCL_OFF 0x22 /* Y-axis acceleration bias offset factor */
#define ADIS16300_ZACCL_OFF 0x24 /* Z-axis acceleration bias offset factor */
#define ADIS16300_GPIO_CTRL 0x32 /* Auxiliary digital input/output control */
#define ADIS16300_MSC_CTRL 0x34 /* Miscellaneous control */
#define ADIS16300_SMPL_PRD 0x36 /* Internal sample period (rate) control */
#define ADIS16300_SENS_AVG 0x38 /* Dynamic range and digital filter control */
#define ADIS16300_SLP_CNT 0x3A /* Sleep mode control */
#define ADIS16300_DIAG_STAT 0x3C /* System status */
/* Alarm functions */
#define ADIS16300_GLOB_CMD 0x3E /* System command */
#define ADIS16300_ALM_MAG1 0x26 /* Alarm 1 amplitude threshold */
#define ADIS16300_ALM_MAG2 0x28 /* Alarm 2 amplitude threshold */
#define ADIS16300_ALM_SMPL1 0x2A /* Alarm 1 sample size */
#define ADIS16300_ALM_SMPL2 0x2C /* Alarm 2 sample size */
#define ADIS16300_ALM_CTRL 0x2E /* Alarm control */
#define ADIS16300_AUX_DAC 0x30 /* Auxiliary DAC data */
#define ADIS16300_ERROR_ACTIVE (1<<14)
#define ADIS16300_NEW_DATA (1<<15)
/* MSC_CTRL */
#define ADIS16300_MSC_CTRL_MEM_TEST (1<<11)
#define ADIS16300_MSC_CTRL_INT_SELF_TEST (1<<10)
#define ADIS16300_MSC_CTRL_NEG_SELF_TEST (1<<9)
#define ADIS16300_MSC_CTRL_POS_SELF_TEST (1<<8)
#define ADIS16300_MSC_CTRL_GYRO_BIAS (1<<7)
#define ADIS16300_MSC_CTRL_ACCL_ALIGN (1<<6)
#define ADIS16300_MSC_CTRL_DATA_RDY_EN (1<<2)
#define ADIS16300_MSC_CTRL_DATA_RDY_POL_HIGH (1<<1)
#define ADIS16300_MSC_CTRL_DATA_RDY_DIO2 (1<<0)
/* SMPL_PRD */
#define ADIS16300_SMPL_PRD_TIME_BASE (1<<7)
#define ADIS16300_SMPL_PRD_DIV_MASK 0x7F
/* DIAG_STAT */
#define ADIS16300_DIAG_STAT_ZACCL_FAIL (1<<15)
#define ADIS16300_DIAG_STAT_YACCL_FAIL (1<<14)
#define ADIS16300_DIAG_STAT_XACCL_FAIL (1<<13)
#define ADIS16300_DIAG_STAT_XGYRO_FAIL (1<<10)
#define ADIS16300_DIAG_STAT_ALARM2 (1<<9)
#define ADIS16300_DIAG_STAT_ALARM1 (1<<8)
#define ADIS16300_DIAG_STAT_FLASH_CHK (1<<6)
#define ADIS16300_DIAG_STAT_SELF_TEST (1<<5)
#define ADIS16300_DIAG_STAT_OVERFLOW (1<<4)
#define ADIS16300_DIAG_STAT_SPI_FAIL (1<<3)
#define ADIS16300_DIAG_STAT_FLASH_UPT (1<<2)
#define ADIS16300_DIAG_STAT_POWER_HIGH (1<<1)
#define ADIS16300_DIAG_STAT_POWER_LOW (1<<0)
/* GLOB_CMD */
#define ADIS16300_GLOB_CMD_SW_RESET (1<<7)
#define ADIS16300_GLOB_CMD_P_AUTO_NULL (1<<4)
#define ADIS16300_GLOB_CMD_FLASH_UPD (1<<3)
#define ADIS16300_GLOB_CMD_DAC_LATCH (1<<2)
#define ADIS16300_GLOB_CMD_FAC_CALIB (1<<1)
#define ADIS16300_GLOB_CMD_AUTO_NULL (1<<0)
/* SLP_CNT */
#define ADIS16300_SLP_CNT_POWER_OFF (1<<8)
#define ADIS16300_MAX_TX 18
#define ADIS16300_MAX_RX 18
#define ADIS16300_SPI_SLOW (u32)(300 * 1000)
#define ADIS16300_SPI_BURST (u32)(1000 * 1000)
#define ADIS16300_SPI_FAST (u32)(2000 * 1000)
/**
* struct adis16300_state - device instance specific data
* @us: actual spi_device
* @work_trigger_to_ring: bh for triggered event handling
* @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: receive buffer
* @buf_lock: mutex to protect tx and rx
**/
struct adis16300_state {
struct spi_device *us;
struct work_struct work_trigger_to_ring;
s64 last_timestamp;
struct iio_dev *indio_dev;
struct iio_trigger *trig;
u8 *tx;
u8 *rx;
struct mutex buf_lock;
};
int adis16300_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!
*/
#define ADIS16300_SCAN_SUPPLY 0
#define ADIS16300_SCAN_GYRO_X 1
#define ADIS16300_SCAN_ACC_X 2
#define ADIS16300_SCAN_ACC_Y 3
#define ADIS16300_SCAN_ACC_Z 4
#define ADIS16300_SCAN_TEMP 5
#define ADIS16300_SCAN_ADC_0 6
#define ADIS16300_SCAN_INCLI_X 7
#define ADIS16300_SCAN_INCLI_Y 8
void adis16300_remove_trigger(struct iio_dev *indio_dev);
int adis16300_probe_trigger(struct iio_dev *indio_dev);
ssize_t adis16300_read_data_from_ring(struct device *dev,
struct device_attribute *attr,
char *buf);
int adis16300_configure_ring(struct iio_dev *indio_dev);
void adis16300_unconfigure_ring(struct iio_dev *indio_dev);
int adis16300_initialize_ring(struct iio_ring_buffer *ring);
void adis16300_uninitialize_ring(struct iio_ring_buffer *ring);
#else /* CONFIG_IIO_RING_BUFFER */
static inline void adis16300_remove_trigger(struct iio_dev *indio_dev)
{
}
static inline int adis16300_probe_trigger(struct iio_dev *indio_dev)
{
return 0;
}
static inline ssize_t
adis16300_read_data_from_ring(struct device *dev,
struct device_attribute *attr,
char *buf)
{
return 0;
}
static int adis16300_configure_ring(struct iio_dev *indio_dev)
{
return 0;
}
static inline void adis16300_unconfigure_ring(struct iio_dev *indio_dev)
{
}
static inline int adis16300_initialize_ring(struct iio_ring_buffer *ring)
{
return 0;
}
static inline void adis16300_uninitialize_ring(struct iio_ring_buffer *ring)
{
}
#endif /* CONFIG_IIO_RING_BUFFER */
#endif /* SPI_ADIS16300_H_ */
drivers/staging/iio/imu/adis16300_core.c deleted 100644 → 0
View file @ 8e886e65
/*
* ADIS16300 Four Degrees of Freedom Inertial Sensor Driver
*
* Copyright 2010 Analog Devices Inc.
*
* Licensed under the GPL-2 or later.
*/
#include <linux/interrupt.h>
#include <linux/irq.h>
#include <linux/gpio.h>
#include <linux/delay.h>
#include <linux/mutex.h>
#include <linux/device.h>
#include <linux/kernel.h>
#include <linux/spi/spi.h>
#include <linux/slab.h>
#include <linux/sysfs.h>
#include <linux/list.h>
#include "../iio.h"
#include "../sysfs.h"
#include "../ring_generic.h"
#include "../accel/accel.h"
#include "../accel/inclinometer.h"
#include "../gyro/gyro.h"
#include "../adc/adc.h"
#include "adis16300.h"
#define DRIVER_NAME "adis16300"
static int adis16300_check_status(struct device *dev);
/**
* adis16300_spi_write_reg_8() - write single byte to a register
* @dev: device associated with child of actual device (iio_dev or iio_trig)
* @reg_address: the address of the register to be written
* @val: the value to write
**/
static int adis16300_spi_write_reg_8(struct device *dev,
u8 reg_address,
u8 val)
{
int ret;
struct iio_dev *indio_dev = dev_get_drvdata(dev);
struct adis16300_state *st = iio_dev_get_devdata(indio_dev);
mutex_lock(&st->buf_lock);
st->tx[0] = ADIS16300_WRITE_REG(reg_address);
st->tx[1] = val;
ret = spi_write(st->us, st->tx, 2);
mutex_unlock(&st->buf_lock);
return ret;
}
/**
* adis16300_spi_write_reg_16() - write 2 bytes to a pair of registers
* @dev: device associated with child of actual device (iio_dev or iio_trig)
* @reg_address: the address of the lower of the two registers. Second register
* is assumed to have address one greater.
* @val: value to be written
**/
static int adis16300_spi_write_reg_16(struct device *dev,
u8 lower_reg_address,
u16 value)
{
int ret;
struct spi_message msg;
struct iio_dev *indio_dev = dev_get_drvdata(dev);
struct adis16300_state *st = iio_dev_get_devdata(indio_dev);
struct spi_transfer xfers[] = {
{
.tx_buf = st->tx,
.bits_per_word = 8,
.len = 2,
.cs_change = 1,
.delay_usecs = 75,
}, {
.tx_buf = st->tx + 2,
.bits_per_word = 8,
.len = 2,
.cs_change = 1,
.delay_usecs = 75,
},
};
mutex_lock(&st->buf_lock);
st->tx[0] = ADIS16300_WRITE_REG(lower_reg_address);
st->tx[1] = value & 0xFF;
st->tx[2] = ADIS16300_WRITE_REG(lower_reg_address + 1);
st->tx[3] = (value >> 8) & 0xFF;
spi_message_init(&msg);
spi_message_add_tail(&xfers[0], &msg);
spi_message_add_tail(&xfers[1], &msg);
ret = spi_sync(st->us, &msg);
mutex_unlock(&st->buf_lock);
return ret;
}
/**
* adis16300_spi_read_reg_16() - read 2 bytes from a 16-bit register
* @dev: device associated with child of actual device (iio_dev or iio_trig)
* @reg_address: the address of the lower of the two registers. Second register
* is assumed to have address one greater.
* @val: somewhere to pass back the value read
**/
static int adis16300_spi_read_reg_16(struct device *dev,
u8 lower_reg_address,
u16 *val)
{
struct spi_message msg;
struct iio_dev *indio_dev = dev_get_drvdata(dev);
struct adis16300_state *st = iio_dev_get_devdata(indio_dev);
int ret;
struct spi_transfer xfers[] = {
{
.tx_buf = st->tx,
.bits_per_word = 8,
.len = 2,
.cs_change = 1,
.delay_usecs = 75,
}, {
.rx_buf = st->rx,
.bits_per_word = 8,
.len = 2,
.cs_change = 1,
.delay_usecs = 75,
},
};
mutex_lock(&st->buf_lock);
st->tx[0] = ADIS16300_READ_REG(lower_reg_address);
st->tx[1] = 0;
st->tx[2] = 0;
st->tx[3] = 0;
spi_message_init(&msg);
spi_message_add_tail(&xfers[0], &msg);
spi_message_add_tail(&xfers[1], &msg);
ret = spi_sync(st->us, &msg);
if (ret) {
dev_err(&st->us->dev,
"problem when reading 16 bit register 0x%02X",
lower_reg_address);
goto error_ret;
}
*val = (st->rx[0] << 8) | st->rx[1];
error_ret:
mutex_unlock(&st->buf_lock);
return ret;
}
static ssize_t adis16300_spi_read_signed(struct device *dev,
struct device_attribute *attr,
char *buf,
unsigned bits)
{
int ret;
s16 val = 0;
unsigned shift = 16 - bits;
struct iio_dev_attr *this_attr = to_iio_dev_attr(attr);
ret = adis16300_spi_read_reg_16(dev, this_attr->address, (u16 *)&val);
if (ret)
return ret;
if (val & ADIS16300_ERROR_ACTIVE)
adis16300_check_status(dev);
val = ((s16)(val << shift) >> shift);
return sprintf(buf, "%d\n", val);
}
static ssize_t adis16300_read_12bit_unsigned(struct device *dev,
struct device_attribute *attr,
char *buf)
{
int ret;
u16 val = 0;
struct iio_dev_attr *this_attr = to_iio_dev_attr(attr);
ret = adis16300_spi_read_reg_16(dev, this_attr->address, &val);
if (ret)
return ret;
if (val & ADIS16300_ERROR_ACTIVE)
adis16300_check_status(dev);
return sprintf(buf, "%u\n", val & 0x0FFF);
}
static ssize_t adis16300_read_14bit_unsigned(struct device *dev,
struct device_attribute *attr,
char *buf)
{
int ret;
u16 val = 0;
struct iio_dev_attr *this_attr = to_iio_dev_attr(attr);
ret = adis16300_spi_read_reg_16(dev, this_attr->address, &val);
if (ret)
return ret;
if (val & ADIS16300_ERROR_ACTIVE)
adis16300_check_status(dev);
return sprintf(buf, "%u\n", val & 0x3FFF);
}
static ssize_t adis16300_read_14bit_signed(struct device *dev,
struct device_attribute *attr,
char *buf)
{
struct iio_dev *indio_dev = dev_get_drvdata(dev);
ssize_t ret;
/* Take the iio_dev status lock */
mutex_lock(&indio_dev->mlock);
ret = adis16300_spi_read_signed(dev, attr, buf, 14);
mutex_unlock(&indio_dev->mlock);
return ret;
}
static ssize_t adis16300_read_12bit_signed(struct device *dev,
struct device_attribute *attr,
char *buf)
{
struct iio_dev *indio_dev = dev_get_drvdata(dev);
ssize_t ret;
/* Take the iio_dev status lock */
mutex_lock(&indio_dev->mlock);
ret = adis16300_spi_read_signed(dev, attr, buf, 12);
mutex_unlock(&indio_dev->mlock);
return ret;
}
static ssize_t adis16300_read_13bit_signed(struct device *dev,
struct device_attribute *attr,
char *buf)
{
struct iio_dev *indio_dev = dev_get_drvdata(dev);
ssize_t ret;
/* Take the iio_dev status lock */
mutex_lock(&indio_dev->mlock);
ret = adis16300_spi_read_signed(dev, attr, buf, 13);
mutex_unlock(&indio_dev->mlock);
return ret;
}
static ssize_t adis16300_write_16bit(struct device *dev,
struct device_attribute *attr,
const char *buf,
size_t len)
{
struct iio_dev_attr *this_attr = to_iio_dev_attr(attr);
int ret;
long val;
ret = strict_strtol(buf, 10, &val);
if (ret)
goto error_ret;
ret = adis16300_spi_write_reg_16(dev, this_attr->address, val);
error_ret:
return ret ? ret : len;
}
static ssize_t adis16300_read_frequency(struct device *dev,
struct device_attribute *attr,
char *buf)
{
int ret, len = 0;
u16 t;
int sps;
ret = adis16300_spi_read_reg_16(dev,
ADIS16300_SMPL_PRD,
&t);
if (ret)
return ret;
sps = (t & ADIS16300_SMPL_PRD_TIME_BASE) ? 53 : 1638;
sps /= (t & ADIS16300_SMPL_PRD_DIV_MASK) + 1;
len = sprintf(buf, "%d SPS\n", sps);
return len;
}
static ssize_t adis16300_write_frequency(struct device *dev,
struct device_attribute *attr,
const char *buf,
size_t len)
{
struct iio_dev *indio_dev = dev_get_drvdata(dev);
struct adis16300_state *st = iio_dev_get_devdata(indio_dev);
long val;
int ret;
u8 t;
ret = strict_strtol(buf, 10, &val);
if (ret)
return ret;
mutex_lock(&indio_dev->mlock);
t = (1638 / val);
if (t > 0)
t--;
t &= ADIS16300_SMPL_PRD_DIV_MASK;
if ((t & ADIS16300_SMPL_PRD_DIV_MASK) >= 0x0A)
st->us->max_speed_hz = ADIS16300_SPI_SLOW;
else
st->us->max_speed_hz = ADIS16300_SPI_FAST;
ret = adis16300_spi_write_reg_8(dev,
ADIS16300_SMPL_PRD,
t);
mutex_unlock(&indio_dev->mlock);
return ret ? ret : len;
}
static int adis16300_reset(struct device *dev)
{
int ret;
ret = adis16300_spi_write_reg_8(dev,
ADIS16300_GLOB_CMD,
ADIS16300_GLOB_CMD_SW_RESET);
if (ret)
dev_err(dev, "problem resetting device");
return ret;
}
static ssize_t adis16300_write_reset(struct device *dev,
struct device_attribute *attr,
const char *buf, size_t len)
{
if (len < 1)
return -1;
switch (buf[0]) {
case '1':
case 'y':
case 'Y':
return adis16300_reset(dev);
}
return -1;
}
int adis16300_set_irq(struct device *dev, bool enable)
{
int ret;
u16 msc;
ret = adis16300_spi_read_reg_16(dev, ADIS16300_MSC_CTRL, &msc);
if (ret)
goto error_ret;
msc |= ADIS16300_MSC_CTRL_DATA_RDY_POL_HIGH;
msc &= ~ADIS16300_MSC_CTRL_DATA_RDY_DIO2;
if (enable)
msc |= ADIS16300_MSC_CTRL_DATA_RDY_EN;
else
msc &= ~ADIS16300_MSC_CTRL_DATA_RDY_EN;
ret = adis16300_spi_write_reg_16(dev, ADIS16300_MSC_CTRL, msc);
if (ret)
goto error_ret;
error_ret:
return ret;
}
/* Power down the device */
static int adis16300_stop_device(struct device *dev)
{
int ret;
u16 val = ADIS16300_SLP_CNT_POWER_OFF;
ret = adis16300_spi_write_reg_16(dev, ADIS16300_SLP_CNT, val);
if (ret)
dev_err(dev, "problem with turning device off: SLP_CNT");
return ret;
}
static int adis16300_self_test(struct device *dev)
{
int ret;
ret = adis16300_spi_write_reg_16(dev,
ADIS16300_MSC_CTRL,
ADIS16300_MSC_CTRL_MEM_TEST);
if (ret) {
dev_err(dev, "problem starting self test");
goto err_ret;
}
adis16300_check_status(dev);
err_ret:
return ret;
}
static int adis16300_check_status(struct device *dev)
{
u16 status;
int ret;
ret = adis16300_spi_read_reg_16(dev, ADIS16300_DIAG_STAT, &status);
if (ret < 0) {
dev_err(dev, "Reading status failed\n");
goto error_ret;
}
ret = status;
if (status & ADIS16300_DIAG_STAT_ZACCL_FAIL)
dev_err(dev, "Z-axis accelerometer self-test failure\n");
if (status & ADIS16300_DIAG_STAT_YACCL_FAIL)
dev_err(dev, "Y-axis accelerometer self-test failure\n");
if (status & ADIS16300_DIAG_STAT_XACCL_FAIL)
dev_err(dev, "X-axis accelerometer self-test failure\n");
if (status & ADIS16300_DIAG_STAT_XGYRO_FAIL)
dev_err(dev, "X-axis gyroscope self-test failure\n");
if (status & ADIS16300_DIAG_STAT_ALARM2)
dev_err(dev, "Alarm 2 active\n");
if (status & ADIS16300_DIAG_STAT_ALARM1)
dev_err(dev, "Alarm 1 active\n");
if (status & ADIS16300_DIAG_STAT_FLASH_CHK)
dev_err(dev, "Flash checksum error\n");
if (status & ADIS16300_DIAG_STAT_SELF_TEST)
dev_err(dev, "Self test error\n");
if (status & ADIS16300_DIAG_STAT_OVERFLOW)
dev_err(dev, "Sensor overrange\n");
if (status & ADIS16300_DIAG_STAT_SPI_FAIL)
dev_err(dev, "SPI failure\n");
if (status & ADIS16300_DIAG_STAT_FLASH_UPT)
dev_err(dev, "Flash update failed\n");
if (status & ADIS16300_DIAG_STAT_POWER_HIGH)
dev_err(dev, "Power supply above 5.25V\n");
if (status & ADIS16300_DIAG_STAT_POWER_LOW)
dev_err(dev, "Power supply below 4.75V\n");
error_ret:
return ret;
}
static int adis16300_initial_setup(struct adis16300_state *st)
{
int ret;
u16 smp_prd;
struct device *dev = &st->indio_dev->dev;
/* use low spi speed for init */
st->us->max_speed_hz = ADIS16300_SPI_SLOW;
st->us->mode = SPI_MODE_3;
spi_setup(st->us);
/* Disable IRQ */
ret = adis16300_set_irq(dev, false);
if (ret) {
dev_err(dev, "disable irq failed");
goto err_ret;
}
/* Do self test */
ret = adis16300_self_test(dev);
if (ret) {
dev_err(dev, "self test failure");
goto err_ret;
}
/* Read status register to check the result */
ret = adis16300_check_status(dev);
if (ret) {
adis16300_reset(dev);
dev_err(dev, "device not playing ball -> reset");
msleep(ADIS16300_STARTUP_DELAY);
ret = adis16300_check_status(dev);
if (ret) {
dev_err(dev, "giving up");
goto err_ret;
}
}
printk(KERN_INFO DRIVER_NAME ": at CS%d (irq %d)\n",
st->us->chip_select, st->us->irq);
/* use high spi speed if possible */
ret = adis16300_spi_read_reg_16(dev, ADIS16300_SMPL_PRD, &smp_prd);
if (!ret && (smp_prd & ADIS16300_SMPL_PRD_DIV_MASK) < 0x0A) {
st->us->max_speed_hz = ADIS16300_SPI_SLOW;
spi_setup(st->us);
}
err_ret:
return ret;
}
static IIO_DEV_ATTR_GYRO_X_CALIBBIAS(S_IWUSR | S_IRUGO,
adis16300_read_12bit_signed,
adis16300_write_16bit,
ADIS16300_XGYRO_OFF);
static IIO_DEV_ATTR_ACCEL_X_CALIBBIAS(S_IWUSR | S_IRUGO,
adis16300_read_12bit_signed,
adis16300_write_16bit,
ADIS16300_XACCL_OFF);
static IIO_DEV_ATTR_ACCEL_Y_CALIBBIAS(S_IWUSR | S_IRUGO,
adis16300_read_12bit_signed,
adis16300_write_16bit,
ADIS16300_YACCL_OFF);
static IIO_DEV_ATTR_ACCEL_Z_CALIBBIAS(S_IWUSR | S_IRUGO,
adis16300_read_12bit_signed,
adis16300_write_16bit,
ADIS16300_ZACCL_OFF);
static IIO_DEV_ATTR_IN_NAMED_RAW(0, supply, adis16300_read_14bit_unsigned,
ADIS16300_SUPPLY_OUT);
static IIO_CONST_ATTR_IN_NAMED_SCALE(0, supply, "0.00242");
static IIO_DEV_ATTR_GYRO_X(adis16300_read_14bit_signed,
ADIS16300_XGYRO_OUT);
static IIO_CONST_ATTR_GYRO_SCALE("0.000872664");
static IIO_DEV_ATTR_ACCEL_X(adis16300_read_14bit_signed,
ADIS16300_XACCL_OUT);
static IIO_DEV_ATTR_ACCEL_Y(adis16300_read_14bit_signed,
ADIS16300_YACCL_OUT);
static IIO_DEV_ATTR_ACCEL_Z(adis16300_read_14bit_signed,
ADIS16300_ZACCL_OUT);
static IIO_CONST_ATTR_ACCEL_SCALE("0.00588399");
static IIO_DEV_ATTR_INCLI_X(adis16300_read_13bit_signed,
ADIS16300_XINCLI_OUT);
static IIO_DEV_ATTR_INCLI_Y(adis16300_read_13bit_signed,
ADIS16300_YINCLI_OUT);
static IIO_CONST_ATTR_INCLI_SCALE("0.00076794487");
static IIO_DEV_ATTR_TEMP_RAW(adis16300_read_12bit_unsigned);
static IIO_CONST_ATTR_TEMP_OFFSET("198.16");
static IIO_CONST_ATTR_TEMP_SCALE("0.14");
static IIO_DEV_ATTR_IN_RAW(1, adis16300_read_12bit_unsigned,
ADIS16300_AUX_ADC);
static IIO_CONST_ATTR(in1_scale, "0.000806");
static IIO_DEV_ATTR_SAMP_FREQ(S_IWUSR | S_IRUGO,
adis16300_read_frequency,
adis16300_write_frequency);
static IIO_DEVICE_ATTR(reset, S_IWUSR, NULL, adis16300_write_reset, 0);
static IIO_CONST_ATTR_SAMP_FREQ_AVAIL("409 546 819 1638");
static IIO_CONST_ATTR_NAME("adis16300");
static struct attribute *adis16300_attributes[] = {
&iio_dev_attr_gyro_x_calibbias.dev_attr.attr,
&iio_dev_attr_accel_x_calibbias.dev_attr.attr,
&iio_dev_attr_accel_y_calibbias.dev_attr.attr,
&iio_dev_attr_accel_z_calibbias.dev_attr.attr,
&iio_dev_attr_in0_supply_raw.dev_attr.attr,
&iio_const_attr_in0_supply_scale.dev_attr.attr,
&iio_dev_attr_gyro_x_raw.dev_attr.attr,
&iio_const_attr_gyro_scale.dev_attr.attr,
&iio_dev_attr_accel_x_raw.dev_attr.attr,
&iio_dev_attr_accel_y_raw.dev_attr.attr,
&iio_dev_attr_accel_z_raw.dev_attr.attr,
&iio_const_attr_accel_scale.dev_attr.attr,
&iio_dev_attr_incli_x_raw.dev_attr.attr,
&iio_dev_attr_incli_y_raw.dev_attr.attr,
&iio_const_attr_incli_scale.dev_attr.attr,
&iio_dev_attr_temp_raw.dev_attr.attr,
&iio_const_attr_temp_offset.dev_attr.attr,
&iio_const_attr_temp_scale.dev_attr.attr,
&iio_dev_attr_in1_raw.dev_attr.attr,
&iio_const_attr_in1_scale.dev_attr.attr,
&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,
NULL
};
static const struct attribute_group adis16300_attribute_group = {
.attrs = adis16300_attributes,
};
static int __devinit adis16300_probe(struct spi_device *spi)
{
int ret, regdone = 0;
struct adis16300_state *st = kzalloc(sizeof *st, GFP_KERNEL);
if (!st) {
ret = -ENOMEM;
goto error_ret;
}
/* this is only used for removal purposes */
spi_set_drvdata(spi, st);
/* Allocate the comms buffers */
st->rx = kzalloc(sizeof(*st->rx)*ADIS16300_MAX_RX, GFP_KERNEL);
if (st->rx == NULL) {
ret = -ENOMEM;
goto error_free_st;
}
st->tx = kzalloc(sizeof(*st->tx)*ADIS16300_MAX_TX, GFP_KERNEL);
if (st->tx == NULL) {
ret = -ENOMEM;
goto error_free_rx;
}
st->us = spi;
mutex_init(&st->buf_lock);
/* setup the industrialio driver allocated elements */
st->indio_dev = iio_allocate_device(0);
if (st->indio_dev == NULL) {
ret = -ENOMEM;
goto error_free_tx;
}
st->indio_dev->dev.parent = &spi->dev;
st->indio_dev->attrs = &adis16300_attribute_group;
st->indio_dev->dev_data = (void *)(st);
st->indio_dev->driver_module = THIS_MODULE;
st->indio_dev->modes = INDIO_DIRECT_MODE;
ret = adis16300_configure_ring(st->indio_dev);
if (ret)
goto error_free_dev;
ret = iio_device_register(st->indio_dev);
if (ret)
goto error_unreg_ring_funcs;
regdone = 1;
ret = iio_ring_buffer_register(st->indio_dev->ring, 0);
if (ret) {
printk(KERN_ERR "failed to initialize the ring\n");
goto error_unreg_ring_funcs;
}
if (spi->irq) {
ret = adis16300_probe_trigger(st->indio_dev);
if (ret)
goto error_uninitialize_ring;
}
/* Get the device into a sane initial state */
ret = adis16300_initial_setup(st);
if (ret)
goto error_remove_trigger;
return 0;
error_remove_trigger:
adis16300_remove_trigger(st->indio_dev);
error_uninitialize_ring:
iio_ring_buffer_unregister(st->indio_dev->ring);
error_unreg_ring_funcs:
adis16300_unconfigure_ring(st->indio_dev);
error_free_dev:
if (regdone)
iio_device_unregister(st->indio_dev);
else
iio_free_device(st->indio_dev);
error_free_tx:
kfree(st->tx);
error_free_rx:
kfree(st->rx);
error_free_st:
kfree(st);
error_ret:
return ret;
}
static int adis16300_remove(struct spi_device *spi)
{
int ret;
struct adis16300_state *st = spi_get_drvdata(spi);
struct iio_dev *indio_dev = st->indio_dev;
ret = adis16300_stop_device(&(indio_dev->dev));
if (ret)
goto err_ret;
flush_scheduled_work();
adis16300_remove_trigger(indio_dev);
iio_ring_buffer_unregister(indio_dev->ring);
iio_device_unregister(indio_dev);
adis16300_unconfigure_ring(indio_dev);
kfree(st->tx);
kfree(st->rx);
kfree(st);
return 0;
err_ret:
return ret;
}
static struct spi_driver adis16300_driver = {
.driver = {
.name = "adis16300",
.owner = THIS_MODULE,
},
.probe = adis16300_probe,
.remove = __devexit_p(adis16300_remove),
};
static __init int adis16300_init(void)
{
return spi_register_driver(&adis16300_driver);
}
module_init(adis16300_init);
static __exit void adis16300_exit(void)
{
spi_unregister_driver(&adis16300_driver);
}
module_exit(adis16300_exit);
MODULE_AUTHOR("Barry Song <21cnbao@gmail.com>");
MODULE_DESCRIPTION("Analog Devices ADIS16300 IMU SPI driver");
MODULE_LICENSE("GPL v2");
drivers/staging/iio/imu/adis16300_ring.c deleted 100644 → 0
View file @ 8e886e65
#include <linux/interrupt.h>
#include <linux/irq.h>
#include <linux/gpio.h>
#include <linux/workqueue.h>
#include <linux/mutex.h>
#include <linux/device.h>
#include <linux/kernel.h>
#include <linux/spi/spi.h>
#include <linux/slab.h>
#include <linux/sysfs.h>
#include <linux/list.h>
#include "../iio.h"
#include "../sysfs.h"
#include "../ring_sw.h"
#include "../accel/accel.h"
#include "../trigger.h"
#include "adis16300.h"
static IIO_SCAN_EL_C(in0_supply, ADIS16300_SCAN_SUPPLY,
ADIS16300_SUPPLY_OUT, NULL);
static IIO_CONST_ATTR_SCAN_EL_TYPE(in0_supply, u, 12, 16);
static IIO_SCAN_EL_C(gyro_x, ADIS16300_SCAN_GYRO_X, ADIS16300_XGYRO_OUT, NULL);
static IIO_CONST_ATTR_SCAN_EL_TYPE(gyro, s, 14, 16);
static IIO_SCAN_EL_C(accel_x, ADIS16300_SCAN_ACC_X, ADIS16300_XACCL_OUT, NULL);
static IIO_SCAN_EL_C(accel_y, ADIS16300_SCAN_ACC_Y, ADIS16300_YACCL_OUT, NULL);
static IIO_SCAN_EL_C(accel_z, ADIS16300_SCAN_ACC_Z, ADIS16300_ZACCL_OUT, NULL);
static IIO_CONST_ATTR_SCAN_EL_TYPE(accel, s, 14, 16);
static IIO_SCAN_EL_C(temp, ADIS16300_SCAN_TEMP, ADIS16300_TEMP_OUT, NULL);
static IIO_CONST_ATTR_SCAN_EL_TYPE(temp, s, 12, 16);
static IIO_SCAN_EL_C(in1, ADIS16300_SCAN_ADC_0, ADIS16300_AUX_ADC, NULL);
static IIO_CONST_ATTR_SCAN_EL_TYPE(in1, u, 12, 16);
static IIO_SCAN_EL_C(incli_x, ADIS16300_SCAN_INCLI_X,
ADIS16300_XINCLI_OUT, NULL);
static IIO_SCAN_EL_C(incli_y, ADIS16300_SCAN_INCLI_Y,
ADIS16300_YINCLI_OUT, NULL);
static IIO_CONST_ATTR_SCAN_EL_TYPE(incli, s, 13, 16);
static IIO_SCAN_EL_TIMESTAMP(9);
static IIO_CONST_ATTR_SCAN_EL_TYPE(timestamp, s, 64, 64);
static struct attribute *adis16300_scan_el_attrs[] = {
&iio_scan_el_in0_supply.dev_attr.attr,
&iio_const_attr_in0_supply_index.dev_attr.attr,
&iio_const_attr_in0_supply_type.dev_attr.attr,
&iio_scan_el_gyro_x.dev_attr.attr,
&iio_const_attr_gyro_x_index.dev_attr.attr,
&iio_const_attr_gyro_type.dev_attr.attr,
&iio_scan_el_temp.dev_attr.attr,
&iio_const_attr_temp_index.dev_attr.attr,
&iio_const_attr_temp_type.dev_attr.attr,
&iio_scan_el_accel_x.dev_attr.attr,
&iio_const_attr_accel_x_index.dev_attr.attr,
&iio_scan_el_accel_y.dev_attr.attr,
&iio_const_attr_accel_y_index.dev_attr.attr,
&iio_scan_el_accel_z.dev_attr.attr,
&iio_const_attr_accel_z_index.dev_attr.attr,
&iio_const_attr_accel_type.dev_attr.attr,
&iio_scan_el_incli_x.dev_attr.attr,
&iio_const_attr_incli_x_index.dev_attr.attr,
&iio_scan_el_incli_y.dev_attr.attr,
&iio_const_attr_incli_y_index.dev_attr.attr,
&iio_const_attr_incli_type.dev_attr.attr,
&iio_scan_el_in1.dev_attr.attr,
&iio_const_attr_in1_index.dev_attr.attr,
&iio_const_attr_in1_type.dev_attr.attr,
&iio_scan_el_timestamp.dev_attr.attr,
&iio_const_attr_timestamp_index.dev_attr.attr,
&iio_const_attr_timestamp_type.dev_attr.attr,
NULL,
};
static struct attribute_group adis16300_scan_el_group = {
.attrs = adis16300_scan_el_attrs,
.name = "scan_elements",
};
/**
* adis16300_poll_func_th() top half interrupt handler called by trigger
* @private_data: iio_dev
**/
static void adis16300_poll_func_th(struct iio_dev *indio_dev, s64 time)
{
struct adis16300_state *st = iio_dev_get_devdata(indio_dev);
st->last_timestamp = time;
schedule_work(&st->work_trigger_to_ring);
/* Indicate that this interrupt is being handled */
/* Technically this is trigger related, but without this
* handler running there is currently no way for the interrupt
* to clear.
*/
}
/**
* adis16300_spi_read_burst() - read all data registers
* @dev: device associated with child of actual device (iio_dev or iio_trig)
* @rx: somewhere to pass back the value read (min size is 24 bytes)
**/
static int adis16300_spi_read_burst(struct device *dev, u8 *rx)
{
struct spi_message msg;
struct iio_dev *indio_dev = dev_get_drvdata(dev);
struct adis16300_state *st = iio_dev_get_devdata(indio_dev);
u32 old_speed_hz = st->us->max_speed_hz;
int ret;
struct spi_transfer xfers[] = {
{
.tx_buf = st->tx,
.bits_per_word = 8,
.len = 2,
.cs_change = 0,
}, {
.rx_buf = rx,
.bits_per_word = 8,
.len = 18,
.cs_change = 0,
},
};
mutex_lock(&st->buf_lock);
st->tx[0] = ADIS16300_READ_REG(ADIS16300_GLOB_CMD);
st->tx[1] = 0;
spi_message_init(&msg);
spi_message_add_tail(&xfers[0], &msg);
spi_message_add_tail(&xfers[1], &msg);
st->us->max_speed_hz = ADIS16300_SPI_BURST;
spi_setup(st->us);
ret = spi_sync(st->us, &msg);
if (ret)
dev_err(&st->us->dev, "problem when burst reading");
st->us->max_speed_hz = old_speed_hz;
spi_setup(st->us);
mutex_unlock(&st->buf_lock);
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.
*/
static void adis16300_trigger_bh_to_ring(struct work_struct *work_s)
{
struct adis16300_state *st
= container_of(work_s, struct adis16300_state,
work_trigger_to_ring);
struct iio_ring_buffer *ring = st->indio_dev->ring;
int i = 0;
s16 *data;
size_t datasize = ring->access.get_bytes_per_datum(ring);
data = kmalloc(datasize , GFP_KERNEL);
if (data == NULL) {
dev_err(&st->us->dev, "memory alloc failed in ring bh");
return;
}
if (ring->scan_count)
if (adis16300_spi_read_burst(&st->indio_dev->dev, st->rx) >= 0)
for (; i < ring->scan_count; i++)
data[i] = be16_to_cpup(
(__be16 *)&(st->rx[i*2]));
/* Guaranteed to be aligned with 8 byte boundary */
if (ring->scan_timestamp)
*((s64 *)(data + ((i + 3)/4)*4)) = st->last_timestamp;
ring->access.store_to(ring,
(u8 *)data,
st->last_timestamp);
iio_trigger_notify_done(st->indio_dev->trig);
kfree(data);
return;
}
void adis16300_unconfigure_ring(struct iio_dev *indio_dev)
{
kfree(indio_dev->pollfunc);
iio_sw_rb_free(indio_dev->ring);
}
int adis16300_configure_ring(struct iio_dev *indio_dev)
{
int ret = 0;
struct adis16300_state *st = indio_dev->dev_data;
struct iio_ring_buffer *ring;
INIT_WORK(&st->work_trigger_to_ring, adis16300_trigger_bh_to_ring);
ring = iio_sw_rb_allocate(indio_dev);
if (!ring) {
ret = -ENOMEM;
return ret;
}
indio_dev->ring = ring;
/* Effectively select the ring buffer implementation */
iio_ring_sw_register_funcs(&ring->access);
ring->bpe = 2;
ring->scan_el_attrs = &adis16300_scan_el_group;
ring->scan_timestamp = true;
ring->preenable = &iio_sw_ring_preenable;
ring->postenable = &iio_triggered_ring_postenable;
ring->predisable = &iio_triggered_ring_predisable;
ring->owner = THIS_MODULE;
/* Set default scan mode */
iio_scan_mask_set(ring, iio_scan_el_in0_supply.number);
iio_scan_mask_set(ring, iio_scan_el_gyro_x.number);
iio_scan_mask_set(ring, iio_scan_el_accel_x.number);
iio_scan_mask_set(ring, iio_scan_el_accel_y.number);
iio_scan_mask_set(ring, iio_scan_el_accel_z.number);
iio_scan_mask_set(ring, iio_scan_el_temp.number);
iio_scan_mask_set(ring, iio_scan_el_in1.number);
iio_scan_mask_set(ring, iio_scan_el_incli_x.number);
iio_scan_mask_set(ring, iio_scan_el_incli_y.number);
ret = iio_alloc_pollfunc(indio_dev, NULL, &adis16300_poll_func_th);
if (ret)
goto error_iio_sw_rb_free;
indio_dev->modes |= INDIO_RING_TRIGGERED;
return 0;
error_iio_sw_rb_free:
iio_sw_rb_free(indio_dev->ring);
return ret;
}
drivers/staging/iio/imu/adis16300_trigger.c deleted 100644 → 0
View file @ 8e886e65
#include <linux/interrupt.h>
#include <linux/irq.h>
#include <linux/mutex.h>
#include <linux/device.h>
#include <linux/kernel.h>
#include <linux/sysfs.h>
#include <linux/list.h>
#include <linux/spi/spi.h>
#include "../iio.h"
#include "../sysfs.h"
#include "../trigger.h"
#include "adis16300.h"
/**
* adis16300_data_rdy_trig_poll() the event handler for the data rdy trig
**/
static irqreturn_t adis16300_data_rdy_trig_poll(int irq, void *private)
{
disable_irq_nosync(irq);
iio_trigger_poll(private, iio_get_time_ns());
return IRQ_HANDLED;
}
static IIO_TRIGGER_NAME_ATTR;
static struct attribute *adis16300_trigger_attrs[] = {
&dev_attr_name.attr,
NULL,
};
static const struct attribute_group adis16300_trigger_attr_group = {
.attrs = adis16300_trigger_attrs,
};
/**
* adis16300_data_rdy_trigger_set_state() set datardy interrupt state
**/
static int adis16300_data_rdy_trigger_set_state(struct iio_trigger *trig,
bool state)
{
struct adis16300_state *st = trig->private_data;
struct iio_dev *indio_dev = st->indio_dev;
dev_dbg(&indio_dev->dev, "%s (%d)\n", __func__, state);
return adis16300_set_irq(&st->indio_dev->dev, state);
}
/**
* adis16300_trig_try_reen() try renabling irq for data rdy trigger
* @trig: the datardy trigger
**/
static int adis16300_trig_try_reen(struct iio_trigger *trig)
{
struct adis16300_state *st = trig->private_data;
enable_irq(st->us->irq);
/* irq reenabled so success! */
return 0;
}
int adis16300_probe_trigger(struct iio_dev *indio_dev)
{
int ret;
struct adis16300_state *st = indio_dev->dev_data;
st->trig = iio_allocate_trigger();
if (st->trig == NULL) {
ret = -ENOMEM;
goto error_ret;
}
ret = request_irq(st->us->irq,
adis16300_data_rdy_trig_poll,
IRQF_TRIGGER_RISING,
"adis16300",
st->trig);
if (ret)
goto error_free_trig;
st->trig->name = kasprintf(GFP_KERNEL,
"adis16300-dev%d",
indio_dev->id);
if (!st->trig->name) {
ret = -ENOMEM;
goto error_free_irq;
}
st->trig->dev.parent = &st->us->dev;
st->trig->owner = THIS_MODULE;
st->trig->private_data = st;
st->trig->set_trigger_state = &adis16300_data_rdy_trigger_set_state;
st->trig->try_reenable = &adis16300_trig_try_reen;
st->trig->control_attrs = &adis16300_trigger_attr_group;
ret = iio_trigger_register(st->trig);
/* select default trigger */
indio_dev->trig = st->trig;
if (ret)
goto error_free_trig_name;
return 0;
error_free_trig_name:
kfree(st->trig->name);
error_free_irq:
free_irq(st->us->irq, st->trig);
error_free_trig:
iio_free_trigger(st->trig);
error_ret:
return ret;
}
void adis16300_remove_trigger(struct iio_dev *indio_dev)
{
struct adis16300_state *state = indio_dev->dev_data;
iio_trigger_unregister(state->trig);
kfree(state->trig->name);
free_irq(state->us->irq, state->trig);
iio_free_trigger(state->trig);
}
Markdown is supported
0% or
You are about to add 0 people to the discussion. Proceed with caution.
Finish editing this message first!
Please register or to comment
GitLab Nexedi Edition | About GitLab | About Nexedi | 沪ICP备2021021310号-2 | 沪ICP备2021021310号-7