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Commit 70987b81 authored by Jonathan Cameron's avatar Jonathan Cameron Committed by Greg Kroah-Hartman
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staging:iio:imu remove old adis16350. Support now in adis16400 driver. 

Signed-off-by: default avatarJonathan Cameron <jic23@cam.ac.uk>
Signed-off-by: default avatarGreg Kroah-Hartman <gregkh@suse.de>
parent 2a29a90b
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drivers/staging/iio/imu/Kconfig
View file @ 70987b81
......@@ -12,15 +12,6 @@ config ADIS16300
Say yes here to build support for Analog Devices adis16300 four degrees
of freedom inertial sensor.
config ADIS16350
tristate "Analog Devices ADIS16350/54/55/60/62/64/65 IMU 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 adis16350/54/55/60/62/64/65
high precision tri-axis inertial sensor.
config ADIS16400
tristate "Analog Devices ADIS16400 and similar IMU SPI driver"
depends on SPI
......
drivers/staging/iio/imu/Makefile
View file @ 70987b81
......@@ -6,10 +6,6 @@ adis16300-y := adis16300_core.o
adis16300-$(CONFIG_IIO_RING_BUFFER) += adis16300_ring.o adis16300_trigger.o
obj-$(CONFIG_ADIS16300) += adis16300.o
adis16350-y := adis16350_core.o
adis16350-$(CONFIG_IIO_RING_BUFFER) += adis16350_ring.o adis16350_trigger.o
obj-$(CONFIG_ADIS16350) += adis16350.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/adis16350.h deleted 100644 → 0
View file @ 2a29a90b
#ifndef SPI_ADIS16350_H_
#define SPI_ADIS16350_H_
#define ADIS16350_STARTUP_DELAY 220 /* ms */
#define ADIS16350_READ_REG(a) a
#define ADIS16350_WRITE_REG(a) ((a) | 0x80)
#define ADIS16350_FLASH_CNT 0x00 /* Flash memory write count */
#define ADIS16350_SUPPLY_OUT 0x02 /* Power supply measurement */
#define ADIS16350_XGYRO_OUT 0x04 /* X-axis gyroscope output */
#define ADIS16350_YGYRO_OUT 0x06 /* Y-axis gyroscope output */
#define ADIS16350_ZGYRO_OUT 0x08 /* Z-axis gyroscope output */
#define ADIS16350_XACCL_OUT 0x0A /* X-axis accelerometer output */
#define ADIS16350_YACCL_OUT 0x0C /* Y-axis accelerometer output */
#define ADIS16350_ZACCL_OUT 0x0E /* Z-axis accelerometer output */
#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 ADIS16350_AUX_ADC 0x16 /* Auxiliary ADC measurement */
/* Calibration parameters */
#define ADIS16350_XGYRO_OFF 0x1A /* X-axis gyroscope bias offset factor */
#define ADIS16350_YGYRO_OFF 0x1C /* Y-axis gyroscope bias offset factor */
#define ADIS16350_ZGYRO_OFF 0x1E /* Z-axis gyroscope bias offset factor */
#define ADIS16350_XACCL_OFF 0x20 /* X-axis acceleration bias offset factor */
#define ADIS16350_YACCL_OFF 0x22 /* Y-axis acceleration bias offset factor */
#define ADIS16350_ZACCL_OFF 0x24 /* Z-axis acceleration bias offset factor */
#define ADIS16350_GPIO_CTRL 0x32 /* Auxiliary digital input/output control */
#define ADIS16350_MSC_CTRL 0x34 /* Miscellaneous control */
#define ADIS16350_SMPL_PRD 0x36 /* Internal sample period (rate) control */
#define ADIS16350_SENS_AVG 0x38 /* Dynamic range and digital filter control */
#define ADIS16350_SLP_CNT 0x3A /* Sleep mode control */
#define ADIS16350_DIAG_STAT 0x3C /* System status */
/* Alarm functions */
#define ADIS16350_GLOB_CMD 0x3E /* System command */
#define ADIS16350_ALM_MAG1 0x26 /* Alarm 1 amplitude threshold */
#define ADIS16350_ALM_MAG2 0x28 /* Alarm 2 amplitude threshold */
#define ADIS16350_ALM_SMPL1 0x2A /* Alarm 1 sample size */
#define ADIS16350_ALM_SMPL2 0x2C /* Alarm 2 sample size */
#define ADIS16350_ALM_CTRL 0x2E /* Alarm control */
#define ADIS16350_AUX_DAC 0x30 /* Auxiliary DAC data */
#define ADIS16350_ERROR_ACTIVE (1<<14)
#define ADIS16350_NEW_DATA (1<<15)
/* MSC_CTRL */
#define ADIS16350_MSC_CTRL_MEM_TEST (1<<11)
#define ADIS16350_MSC_CTRL_INT_SELF_TEST (1<<10)
#define ADIS16350_MSC_CTRL_NEG_SELF_TEST (1<<9)
#define ADIS16350_MSC_CTRL_POS_SELF_TEST (1<<8)
#define ADIS16350_MSC_CTRL_GYRO_BIAS (1<<7)
#define ADIS16350_MSC_CTRL_ACCL_ALIGN (1<<6)
#define ADIS16350_MSC_CTRL_DATA_RDY_EN (1<<2)
#define ADIS16350_MSC_CTRL_DATA_RDY_POL_HIGH (1<<1)
#define ADIS16350_MSC_CTRL_DATA_RDY_DIO2 (1<<0)
/* SMPL_PRD */
#define ADIS16350_SMPL_PRD_TIME_BASE (1<<7)
#define ADIS16350_SMPL_PRD_DIV_MASK 0x7F
/* DIAG_STAT */
#define ADIS16350_DIAG_STAT_ZACCL_FAIL (1<<15)
#define ADIS16350_DIAG_STAT_YACCL_FAIL (1<<14)
#define ADIS16350_DIAG_STAT_XACCL_FAIL (1<<13)
#define ADIS16350_DIAG_STAT_XGYRO_FAIL (1<<12)
#define ADIS16350_DIAG_STAT_YGYRO_FAIL (1<<11)
#define ADIS16350_DIAG_STAT_ZGYRO_FAIL (1<<10)
#define ADIS16350_DIAG_STAT_ALARM2 (1<<9)
#define ADIS16350_DIAG_STAT_ALARM1 (1<<8)
#define ADIS16350_DIAG_STAT_FLASH_CHK (1<<6)
#define ADIS16350_DIAG_STAT_SELF_TEST (1<<5)
#define ADIS16350_DIAG_STAT_OVERFLOW (1<<4)
#define ADIS16350_DIAG_STAT_SPI_FAIL (1<<3)
#define ADIS16350_DIAG_STAT_FLASH_UPT (1<<2)
#define ADIS16350_DIAG_STAT_POWER_HIGH (1<<1)
#define ADIS16350_DIAG_STAT_POWER_LOW (1<<0)
/* GLOB_CMD */
#define ADIS16350_GLOB_CMD_SW_RESET (1<<7)
#define ADIS16350_GLOB_CMD_P_AUTO_NULL (1<<4)
#define ADIS16350_GLOB_CMD_FLASH_UPD (1<<3)
#define ADIS16350_GLOB_CMD_DAC_LATCH (1<<2)
#define ADIS16350_GLOB_CMD_FAC_CALIB (1<<1)
#define ADIS16350_GLOB_CMD_AUTO_NULL (1<<0)
/* SLP_CNT */
#define ADIS16350_SLP_CNT_POWER_OFF (1<<8)
#define ADIS16350_MAX_TX 24
#define ADIS16350_MAX_RX 24
#define ADIS16350_SPI_SLOW (u32)(300 * 1000)
#define ADIS16350_SPI_BURST (u32)(1000 * 1000)
#define ADIS16350_SPI_FAST (u32)(2000 * 1000)
/**
* struct adis16350_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 adis16350_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 adis16350_set_irq(struct device *dev, bool enable);
#ifdef CONFIG_IIO_RING_BUFFER
#define ADIS16350_SCAN_SUPPLY 0
#define ADIS16350_SCAN_GYRO_X 1
#define ADIS16350_SCAN_GYRO_Y 2
#define ADIS16350_SCAN_GYRO_Z 3
#define ADIS16350_SCAN_ACC_X 4
#define ADIS16350_SCAN_ACC_Y 5
#define ADIS16350_SCAN_ACC_Z 6
#define ADIS16350_SCAN_TEMP_X 7
#define ADIS16350_SCAN_TEMP_Y 8
#define ADIS16350_SCAN_TEMP_Z 9
#define ADIS16350_SCAN_ADC_0 10
void adis16350_remove_trigger(struct iio_dev *indio_dev);
int adis16350_probe_trigger(struct iio_dev *indio_dev);
ssize_t adis16350_read_data_from_ring(struct device *dev,
struct device_attribute *attr,
char *buf);
int adis16350_configure_ring(struct iio_dev *indio_dev);
void adis16350_unconfigure_ring(struct iio_dev *indio_dev);
#else /* CONFIG_IIO_RING_BUFFER */
static inline void adis16350_remove_trigger(struct iio_dev *indio_dev)
{
}
static inline int adis16350_probe_trigger(struct iio_dev *indio_dev)
{
return 0;
}
static inline ssize_t
adis16350_read_data_from_ring(struct device *dev,
struct device_attribute *attr,
char *buf)
{
return 0;
}
static inline int adis16350_configure_ring(struct iio_dev *indio_dev)
{
return 0;
}
static inline void adis16350_unconfigure_ring(struct iio_dev *indio_dev)
{
}
#endif /* CONFIG_IIO_RING_BUFFER */
#endif /* SPI_ADIS16350_H_ */
drivers/staging/iio/imu/adis16350_core.c deleted 100644 → 0
View file @ 2a29a90b
/*
* ADIS16350/54/55/60/62/64/65 high precision tri-axis inertial sensor
*
* 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 "../adc/adc.h"
#include "../gyro/gyro.h"
#include "adis16350.h"
#define DRIVER_NAME "adis16350"
static int adis16350_check_status(struct device *dev);
/**
* adis16350_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 adis16350_spi_write_reg_8(struct device *dev,
u8 reg_address,
u8 val)
{
int ret;
struct iio_dev *indio_dev = dev_get_drvdata(dev);
struct adis16350_state *st = iio_dev_get_devdata(indio_dev);
mutex_lock(&st->buf_lock);
st->tx[0] = ADIS16350_WRITE_REG(reg_address);
st->tx[1] = val;
ret = spi_write(st->us, st->tx, 2);
mutex_unlock(&st->buf_lock);
return ret;
}
/**
* adis16350_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 adis16350_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 adis16350_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 = 35,
}, {
.tx_buf = st->tx + 2,
.bits_per_word = 8,
.len = 2,
.cs_change = 1,
.delay_usecs = 35,
},
};
mutex_lock(&st->buf_lock);
st->tx[0] = ADIS16350_WRITE_REG(lower_reg_address);
st->tx[1] = value & 0xFF;
st->tx[2] = ADIS16350_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;
}
/**
* adis16350_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 adis16350_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 adis16350_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 = 35,
}, {
.rx_buf = st->rx,
.bits_per_word = 8,
.len = 2,
.cs_change = 1,
.delay_usecs = 35,
},
};
mutex_lock(&st->buf_lock);
st->tx[0] = ADIS16350_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 adis16350_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 = adis16350_spi_read_reg_16(dev, this_attr->address, (u16 *)&val);
if (ret)
return ret;
if (val & ADIS16350_ERROR_ACTIVE)
adis16350_check_status(dev);
val = ((s16)(val << shift) >> shift);
return sprintf(buf, "%d\n", val);
}
static ssize_t adis16350_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 = adis16350_spi_read_reg_16(dev, this_attr->address, &val);
if (ret)
return ret;
if (val & ADIS16350_ERROR_ACTIVE)
adis16350_check_status(dev);
return sprintf(buf, "%u\n", val & 0x0FFF);
}
static ssize_t adis16350_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 = adis16350_spi_read_signed(dev, attr, buf, 14);
mutex_unlock(&indio_dev->mlock);
return ret;
}
static ssize_t adis16350_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 = adis16350_spi_read_signed(dev, attr, buf, 12);
mutex_unlock(&indio_dev->mlock);
return ret;
}
static ssize_t adis16350_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 = adis16350_spi_write_reg_16(dev, this_attr->address, val);
error_ret:
return ret ? ret : len;
}
static ssize_t adis16350_read_frequency(struct device *dev,
struct device_attribute *attr,
char *buf)
{
int ret, len = 0;
u16 t;
int sps;
ret = adis16350_spi_read_reg_16(dev,
ADIS16350_SMPL_PRD,
&t);
if (ret)
return ret;
sps = (t & ADIS16350_SMPL_PRD_TIME_BASE) ? 53 : 1638;
sps /= (t & ADIS16350_SMPL_PRD_DIV_MASK) + 1;
len = sprintf(buf, "%d SPS\n", sps);
return len;
}
static ssize_t adis16350_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 adis16350_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 &= ADIS16350_SMPL_PRD_DIV_MASK;
if ((t & ADIS16350_SMPL_PRD_DIV_MASK) >= 0x0A)
st->us->max_speed_hz = ADIS16350_SPI_SLOW;
else
st->us->max_speed_hz = ADIS16350_SPI_FAST;
ret = adis16350_spi_write_reg_8(dev,
ADIS16350_SMPL_PRD,
t);
mutex_unlock(&indio_dev->mlock);
return ret ? ret : len;
}
static int adis16350_reset(struct device *dev)
{
int ret;
ret = adis16350_spi_write_reg_8(dev,
ADIS16350_GLOB_CMD,
ADIS16350_GLOB_CMD_SW_RESET);
if (ret)
dev_err(dev, "problem resetting device");
return ret;
}
static ssize_t adis16350_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 adis16350_reset(dev);
}
return -1;
}
int adis16350_set_irq(struct device *dev, bool enable)
{
int ret;
u16 msc;
ret = adis16350_spi_read_reg_16(dev, ADIS16350_MSC_CTRL, &msc);
if (ret)
goto error_ret;
msc |= ADIS16350_MSC_CTRL_DATA_RDY_POL_HIGH;
msc &= ~ADIS16350_MSC_CTRL_DATA_RDY_DIO2;
if (enable)
msc |= ADIS16350_MSC_CTRL_DATA_RDY_EN;
else
msc &= ~ADIS16350_MSC_CTRL_DATA_RDY_EN;
ret = adis16350_spi_write_reg_16(dev, ADIS16350_MSC_CTRL, msc);
if (ret)
goto error_ret;
error_ret:
return ret;
}
/* Power down the device */
static int adis16350_stop_device(struct device *dev)
{
int ret;
u16 val = ADIS16350_SLP_CNT_POWER_OFF;
ret = adis16350_spi_write_reg_16(dev, ADIS16350_SLP_CNT, val);
if (ret)
dev_err(dev, "problem with turning device off: SLP_CNT");
return ret;
}
static int adis16350_self_test(struct device *dev)
{
int ret;
ret = adis16350_spi_write_reg_16(dev,
ADIS16350_MSC_CTRL,
ADIS16350_MSC_CTRL_MEM_TEST);
if (ret) {
dev_err(dev, "problem starting self test");
goto err_ret;
}
adis16350_check_status(dev);
err_ret:
return ret;
}
static int adis16350_check_status(struct device *dev)
{
u16 status;
int ret;
ret = adis16350_spi_read_reg_16(dev, ADIS16350_DIAG_STAT, &status);
if (ret < 0) {
dev_err(dev, "Reading status failed\n");
goto error_ret;
}
ret = status;
if (status & ADIS16350_DIAG_STAT_ZACCL_FAIL)
dev_err(dev, "Z-axis accelerometer self-test failure\n");
if (status & ADIS16350_DIAG_STAT_YACCL_FAIL)
dev_err(dev, "Y-axis accelerometer self-test failure\n");
if (status & ADIS16350_DIAG_STAT_XACCL_FAIL)
dev_err(dev, "X-axis accelerometer self-test failure\n");
if (status & ADIS16350_DIAG_STAT_XGYRO_FAIL)
dev_err(dev, "X-axis gyroscope self-test failure\n");
if (status & ADIS16350_DIAG_STAT_YGYRO_FAIL)
dev_err(dev, "Y-axis gyroscope self-test failure\n");
if (status & ADIS16350_DIAG_STAT_ZGYRO_FAIL)
dev_err(dev, "Z-axis gyroscope self-test failure\n");
if (status & ADIS16350_DIAG_STAT_ALARM2)
dev_err(dev, "Alarm 2 active\n");
if (status & ADIS16350_DIAG_STAT_ALARM1)
dev_err(dev, "Alarm 1 active\n");
if (status & ADIS16350_DIAG_STAT_FLASH_CHK)
dev_err(dev, "Flash checksum error\n");
if (status & ADIS16350_DIAG_STAT_SELF_TEST)
dev_err(dev, "Self test error\n");
if (status & ADIS16350_DIAG_STAT_OVERFLOW)
dev_err(dev, "Sensor overrange\n");
if (status & ADIS16350_DIAG_STAT_SPI_FAIL)
dev_err(dev, "SPI failure\n");
if (status & ADIS16350_DIAG_STAT_FLASH_UPT)
dev_err(dev, "Flash update failed\n");
if (status & ADIS16350_DIAG_STAT_POWER_HIGH)
dev_err(dev, "Power supply above 5.25V\n");
if (status & ADIS16350_DIAG_STAT_POWER_LOW)
dev_err(dev, "Power supply below 4.75V\n");
error_ret:
return ret;
}
static int adis16350_initial_setup(struct adis16350_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 = ADIS16350_SPI_SLOW;
st->us->mode = SPI_MODE_3;
spi_setup(st->us);
/* Disable IRQ */
ret = adis16350_set_irq(dev, false);
if (ret) {
dev_err(dev, "disable irq failed");
goto err_ret;
}
/* Do self test */
ret = adis16350_self_test(dev);
if (ret) {
dev_err(dev, "self test failure");
goto err_ret;
}
/* Read status register to check the result */
ret = adis16350_check_status(dev);
if (ret) {
adis16350_reset(dev);
dev_err(dev, "device not playing ball -> reset");
msleep(ADIS16350_STARTUP_DELAY);
ret = adis16350_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 = adis16350_spi_read_reg_16(dev, ADIS16350_SMPL_PRD, &smp_prd);
if (!ret && (smp_prd & ADIS16350_SMPL_PRD_DIV_MASK) < 0x0A) {
st->us->max_speed_hz = ADIS16350_SPI_SLOW;
spi_setup(st->us);
}
err_ret:
return ret;
}
static IIO_DEV_ATTR_GYRO_X_CALIBBIAS(S_IWUSR | S_IRUGO,
adis16350_read_12bit_signed,
adis16350_write_16bit,
ADIS16350_XGYRO_OFF);
static IIO_DEV_ATTR_GYRO_Y_CALIBBIAS(S_IWUSR | S_IRUGO,
adis16350_read_12bit_signed,
adis16350_write_16bit,
ADIS16350_YGYRO_OFF);
static IIO_DEV_ATTR_GYRO_Z_CALIBBIAS(S_IWUSR | S_IRUGO,
adis16350_read_12bit_signed,
adis16350_write_16bit,
ADIS16350_ZGYRO_OFF);
static IIO_DEV_ATTR_ACCEL_X_CALIBBIAS(S_IWUSR | S_IRUGO,
adis16350_read_12bit_signed,
adis16350_write_16bit,
ADIS16350_XACCL_OFF);
static IIO_DEV_ATTR_ACCEL_Y_CALIBBIAS(S_IWUSR | S_IRUGO,
adis16350_read_12bit_signed,
adis16350_write_16bit,
ADIS16350_YACCL_OFF);
static IIO_DEV_ATTR_ACCEL_Z_CALIBBIAS(S_IWUSR | S_IRUGO,
adis16350_read_12bit_signed,
adis16350_write_16bit,
ADIS16350_ZACCL_OFF);
static IIO_DEV_ATTR_IN_NAMED_RAW(0, supply, adis16350_read_12bit_unsigned,
ADIS16350_SUPPLY_OUT);
static IIO_CONST_ATTR_IN_NAMED_SCALE(0, supply, "0.002418");
static IIO_DEV_ATTR_GYRO_X(adis16350_read_14bit_signed,
ADIS16350_XGYRO_OUT);
static IIO_DEV_ATTR_GYRO_Y(adis16350_read_14bit_signed,
ADIS16350_YGYRO_OUT);
static IIO_DEV_ATTR_GYRO_Z(adis16350_read_14bit_signed,
ADIS16350_ZGYRO_OUT);
static IIO_CONST_ATTR_GYRO_SCALE("0.00127862821");
static IIO_DEV_ATTR_ACCEL_X(adis16350_read_14bit_signed,
ADIS16350_XACCL_OUT);
static IIO_DEV_ATTR_ACCEL_Y(adis16350_read_14bit_signed,
ADIS16350_YACCL_OUT);
static IIO_DEV_ATTR_ACCEL_Z(adis16350_read_14bit_signed,
ADIS16350_ZACCL_OUT);
static IIO_CONST_ATTR_ACCEL_SCALE("0.0247323713");
static IIO_DEVICE_ATTR(temp_x_raw, S_IRUGO, adis16350_read_12bit_signed,
NULL, ADIS16350_XTEMP_OUT);
static IIO_DEVICE_ATTR(temp_y_raw, S_IRUGO, adis16350_read_12bit_signed,
NULL, ADIS16350_YTEMP_OUT);
static IIO_DEVICE_ATTR(temp_z_raw, S_IRUGO, adis16350_read_12bit_signed,
NULL, ADIS16350_ZTEMP_OUT);
static IIO_CONST_ATTR_TEMP_SCALE("0.14534");
static IIO_CONST_ATTR_TEMP_OFFSET("198.16");
static IIO_DEV_ATTR_IN_RAW(1, adis16350_read_12bit_unsigned,
ADIS16350_AUX_ADC);
static IIO_CONST_ATTR(in1_scale, "0.000806");
static IIO_DEV_ATTR_SAMP_FREQ(S_IWUSR | S_IRUGO,
adis16350_read_frequency,
adis16350_write_frequency);
static IIO_DEVICE_ATTR(reset, S_IWUSR, NULL,
adis16350_write_reset, 0);
static IIO_CONST_ATTR_SAMP_FREQ_AVAIL("409 546 819 1638");
static IIO_CONST_ATTR_NAME("adis16350");
static struct attribute *adis16350_attributes[] = {
&iio_dev_attr_gyro_x_calibbias.dev_attr.attr,
&iio_dev_attr_gyro_y_calibbias.dev_attr.attr,
&iio_dev_attr_gyro_z_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_dev_attr_gyro_y_raw.dev_attr.attr,
&iio_dev_attr_gyro_z_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_temp_x_raw.dev_attr.attr,
&iio_dev_attr_temp_y_raw.dev_attr.attr,
&iio_dev_attr_temp_z_raw.dev_attr.attr,
&iio_const_attr_temp_scale.dev_attr.attr,
&iio_const_attr_temp_offset.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 adis16350_attribute_group = {
.attrs = adis16350_attributes,
};
static int __devinit adis16350_probe(struct spi_device *spi)
{
int ret, regdone = 0;
struct adis16350_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)*ADIS16350_MAX_RX, GFP_KERNEL);
if (st->rx == NULL) {
ret = -ENOMEM;
goto error_free_st;
}
st->tx = kzalloc(sizeof(*st->tx)*ADIS16350_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 = &adis16350_attribute_group;
st->indio_dev->dev_data = (void *)(st);
st->indio_dev->driver_module = THIS_MODULE;
st->indio_dev->modes = INDIO_DIRECT_MODE;
ret = adis16350_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 = adis16350_probe_trigger(st->indio_dev);
if (ret)
goto error_uninitialize_ring;
}
/* Get the device into a sane initial state */
ret = adis16350_initial_setup(st);
if (ret)
goto error_remove_trigger;
return 0;
error_remove_trigger:
adis16350_remove_trigger(st->indio_dev);
error_uninitialize_ring:
iio_ring_buffer_unregister(st->indio_dev->ring);
error_unreg_ring_funcs:
adis16350_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 adis16350_remove(struct spi_device *spi)
{
int ret;
struct adis16350_state *st = spi_get_drvdata(spi);
struct iio_dev *indio_dev = st->indio_dev;
ret = adis16350_stop_device(&(indio_dev->dev));
if (ret)
goto err_ret;
flush_scheduled_work();
adis16350_remove_trigger(indio_dev);
iio_ring_buffer_unregister(indio_dev->ring);
iio_device_unregister(indio_dev);
adis16350_unconfigure_ring(indio_dev);
kfree(st->tx);
kfree(st->rx);
kfree(st);
return 0;
err_ret:
return ret;
}
static const struct spi_device_id adis16350_id[] = {
{"adis16350", 0},
{"adis16354", 0},
{"adis16355", 0},
{"adis16360", 0},
{"adis16362", 0},
{"adis16364", 0},
{"adis16365", 0},
{}
};
static struct spi_driver adis16350_driver = {
.driver = {
.name = "adis16350",
.owner = THIS_MODULE,
},
.probe = adis16350_probe,
.remove = __devexit_p(adis16350_remove),
.id_table = adis16350_id,
};
static __init int adis16350_init(void)
{
return spi_register_driver(&adis16350_driver);
}
module_init(adis16350_init);
static __exit void adis16350_exit(void)
{
spi_unregister_driver(&adis16350_driver);
}
module_exit(adis16350_exit);
MODULE_AUTHOR("Barry Song <21cnbao@gmail.com>");
MODULE_DESCRIPTION("Analog Devices ADIS16350/54/55/60/62/64/65 IMU SPI driver");
MODULE_LICENSE("GPL v2");
drivers/staging/iio/imu/adis16350_ring.c deleted 100644 → 0
View file @ 2a29a90b
#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 "adis16350.h"
static IIO_SCAN_EL_C(in0_supply, ADIS16350_SCAN_SUPPLY,
ADIS16350_SUPPLY_OUT, NULL);
static IIO_CONST_ATTR_SCAN_EL_TYPE(in0_supply, u, 12, 16);
static IIO_SCAN_EL_C(gyro_x, ADIS16350_SCAN_GYRO_X, ADIS16350_XGYRO_OUT, NULL);
static IIO_SCAN_EL_C(gyro_y, ADIS16350_SCAN_GYRO_Y, ADIS16350_YGYRO_OUT, NULL);
static IIO_SCAN_EL_C(gyro_z, ADIS16350_SCAN_GYRO_Z, ADIS16350_ZGYRO_OUT, NULL);
static IIO_CONST_ATTR_SCAN_EL_TYPE(gyro, s, 14, 16);
static IIO_SCAN_EL_C(accel_x, ADIS16350_SCAN_ACC_X, ADIS16350_XACCL_OUT, NULL);
static IIO_SCAN_EL_C(accel_y, ADIS16350_SCAN_ACC_Y, ADIS16350_YACCL_OUT, NULL);
static IIO_SCAN_EL_C(accel_z, ADIS16350_SCAN_ACC_Z, ADIS16350_ZACCL_OUT, NULL);
static IIO_CONST_ATTR_SCAN_EL_TYPE(accel, s, 14, 16);
static IIO_SCAN_EL_C(temp_x, ADIS16350_SCAN_TEMP_X, ADIS16350_XTEMP_OUT, NULL);
static IIO_SCAN_EL_C(temp_y, ADIS16350_SCAN_TEMP_Y, ADIS16350_YTEMP_OUT, NULL);
static IIO_SCAN_EL_C(temp_z, ADIS16350_SCAN_TEMP_Z, ADIS16350_ZTEMP_OUT, NULL);
static IIO_CONST_ATTR_SCAN_EL_TYPE(temp, s, 12, 16);
static IIO_SCAN_EL_C(in1, ADIS16350_SCAN_ADC_0, ADIS16350_AUX_ADC, NULL);
static IIO_CONST_ATTR_SCAN_EL_TYPE(in1, u, 12, 16);
static IIO_SCAN_EL_TIMESTAMP(11);
static IIO_CONST_ATTR_SCAN_EL_TYPE(timestamp, s, 64, 64);
static struct attribute *adis16350_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_scan_el_gyro_y.dev_attr.attr,
&iio_const_attr_gyro_y_index.dev_attr.attr,
&iio_scan_el_gyro_z.dev_attr.attr,
&iio_const_attr_gyro_z_index.dev_attr.attr,
&iio_const_attr_gyro_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_temp_x.dev_attr.attr,
&iio_const_attr_temp_x_index.dev_attr.attr,
&iio_scan_el_temp_y.dev_attr.attr,
&iio_const_attr_temp_y_index.dev_attr.attr,
&iio_scan_el_temp_z.dev_attr.attr,
&iio_const_attr_temp_z_index.dev_attr.attr,
&iio_const_attr_temp_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 adis16350_scan_el_group = {
.attrs = adis16350_scan_el_attrs,
.name = "scan_elements",
};
/**
* adis16350_poll_func_th() top half interrupt handler called by trigger
* @private_data: iio_dev
**/
static void adis16350_poll_func_th(struct iio_dev *indio_dev, s64 time)
{
struct adis16350_state *st = iio_dev_get_devdata(indio_dev);
st->last_timestamp = time;
schedule_work(&st->work_trigger_to_ring);
}
/**
* adis16350_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 adis16350_spi_read_burst(struct device *dev, u8 *rx)
{
struct spi_message msg;
struct iio_dev *indio_dev = dev_get_drvdata(dev);
struct adis16350_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 = 22,
.cs_change = 0,
},
};
mutex_lock(&st->buf_lock);
st->tx[0] = ADIS16350_READ_REG(ADIS16350_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 = ADIS16350_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 adis16350_trigger_bh_to_ring(struct work_struct *work_s)
{
struct adis16350_state *st
= container_of(work_s, struct adis16350_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 (adis16350_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 adis16350_unconfigure_ring(struct iio_dev *indio_dev)
{
kfree(indio_dev->pollfunc);
iio_sw_rb_free(indio_dev->ring);
}
int adis16350_configure_ring(struct iio_dev *indio_dev)
{
int ret = 0;
struct adis16350_state *st = indio_dev->dev_data;
struct iio_ring_buffer *ring;
INIT_WORK(&st->work_trigger_to_ring, adis16350_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 = &adis16350_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_gyro_y.number);
iio_scan_mask_set(ring, iio_scan_el_gyro_z.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_x.number);
iio_scan_mask_set(ring, iio_scan_el_temp_y.number);
iio_scan_mask_set(ring, iio_scan_el_temp_z.number);
iio_scan_mask_set(ring, iio_scan_el_in1.number);
ret = iio_alloc_pollfunc(indio_dev, NULL, &adis16350_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/adis16350_trigger.c deleted 100644 → 0
View file @ 2a29a90b
#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 "adis16350.h"
/**
* adis16350_data_rdy_trig_poll() the event handler for the data rdy trig
**/
static irqreturn_t adis16350_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 *adis16350_trigger_attrs[] = {
&dev_attr_name.attr,
NULL,
};
static const struct attribute_group adis16350_trigger_attr_group = {
.attrs = adis16350_trigger_attrs,
};
/**
* adis16350_data_rdy_trigger_set_state() set datardy interrupt state
**/
static int adis16350_data_rdy_trigger_set_state(struct iio_trigger *trig,
bool state)
{
struct adis16350_state *st = trig->private_data;
struct iio_dev *indio_dev = st->indio_dev;
dev_dbg(&indio_dev->dev, "%s (%d)\n", __func__, state);
return adis16350_set_irq(&st->indio_dev->dev, state);
}
/**
* adis16350_trig_try_reen() try renabling irq for data rdy trigger
* @trig: the datardy trigger
**/
static int adis16350_trig_try_reen(struct iio_trigger *trig)
{
struct adis16350_state *st = trig->private_data;
enable_irq(st->us->irq);
/* irq reenabled so success! */
return 0;
}
int adis16350_probe_trigger(struct iio_dev *indio_dev)
{
int ret;
struct adis16350_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,
adis16350_data_rdy_trig_poll,
IRQF_TRIGGER_RISING,
"adis16350",
st->trig);
if (ret)
goto error_free_trig;
st->trig->name = kasprintf(GFP_KERNEL,
"adis16350-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 = &adis16350_data_rdy_trigger_set_state;
st->trig->try_reenable = &adis16350_trig_try_reen;
st->trig->control_attrs = &adis16350_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 adis16350_remove_trigger(struct iio_dev *indio_dev)
{
struct adis16350_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);
}
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