diff options
Diffstat (limited to 'drivers/staging/iio/gyro')
| -rw-r--r-- | drivers/staging/iio/gyro/Kconfig | 14 | ||||
| -rw-r--r-- | drivers/staging/iio/gyro/adis16060.h | 101 | ||||
| -rw-r--r-- | drivers/staging/iio/gyro/adis16060_core.c | 178 | ||||
| -rw-r--r-- | drivers/staging/iio/gyro/adis16080.h | 102 | ||||
| -rw-r--r-- | drivers/staging/iio/gyro/adis16080_core.c | 163 | ||||
| -rw-r--r-- | drivers/staging/iio/gyro/adis16130.h | 108 | ||||
| -rw-r--r-- | drivers/staging/iio/gyro/adis16130_core.c | 207 | ||||
| -rw-r--r-- | drivers/staging/iio/gyro/adis16251.h | 185 | ||||
| -rw-r--r-- | drivers/staging/iio/gyro/adis16251_core.c | 777 | ||||
| -rw-r--r-- | drivers/staging/iio/gyro/adis16260_core.c | 49 |
10 files changed, 225 insertions, 1659 deletions
diff --git a/drivers/staging/iio/gyro/Kconfig b/drivers/staging/iio/gyro/Kconfig index 236f15f..8b78fa0 100644 --- a/drivers/staging/iio/gyro/Kconfig +++ b/drivers/staging/iio/gyro/Kconfig @@ -25,23 +25,13 @@ config ADIS16130 Angular Rate Sensor driver. config ADIS16260 - tristate "Analog Devices ADIS16260 ADIS16265 Digital Gyroscope Sensor SPI driver" + tristate "Analog Devices ADIS16260 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 ADIS16265 - programmable digital gyroscope sensor. + ADIS16250 ADIS16255 and ADIS16251 programmable digital gyroscope sensors. This driver can also be built as a module. If so, the module will be called adis16260. - -config ADIS16251 - tristate "Analog Devices ADIS16251 Digital Gyroscope Sensor SPI driver" - depends on SPI - help - Say yes here to build support for Analog Devices adis16261 programmable - digital gyroscope sensor. - - This driver can also be built as a module. If so, the module - will be called adis16251. diff --git a/drivers/staging/iio/gyro/adis16060.h b/drivers/staging/iio/gyro/adis16060.h deleted file mode 100644 index 5c00e53..0000000 --- a/drivers/staging/iio/gyro/adis16060.h +++ /dev/null @@ -1,101 +0,0 @@ -#ifndef SPI_ADIS16060_H_ -#define SPI_ADIS16060_H_ - -#define ADIS16060_GYRO 0x20 /* Measure Angular Rate (Gyro) */ -#define ADIS16060_SUPPLY_OUT 0x10 /* Measure Temperature */ -#define ADIS16060_AIN2 0x80 /* Measure AIN2 */ -#define ADIS16060_AIN1 0x40 /* Measure AIN1 */ -#define ADIS16060_TEMP_OUT 0x22 /* Set Positive Self-Test and Output for Angular Rate */ -#define ADIS16060_ANGL_OUT 0x21 /* Set Negative Self-Test and Output for Angular Rate */ - -#define ADIS16060_MAX_TX 3 -#define ADIS16060_MAX_RX 3 - -/** - * struct adis16060_state - device instance specific data - * @us_w: actual spi_device to write data - * @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: recieve buffer - * @buf_lock: mutex to protect tx and rx - **/ -struct adis16060_state { - struct spi_device *us_w; - struct spi_device *us_r; - 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; -}; - -#if defined(CONFIG_IIO_RING_BUFFER) && defined(THIS_HAS_RING_BUFFER_SUPPORT) -/* At the moment triggers are only used for ring buffer - * filling. This may change! - */ - -enum adis16060_scan { - ADIS16060_SCAN_GYRO, - ADIS16060_SCAN_TEMP, - ADIS16060_SCAN_ADC_1, - ADIS16060_SCAN_ADC_2, -}; - -void adis16060_remove_trigger(struct iio_dev *indio_dev); -int adis16060_probe_trigger(struct iio_dev *indio_dev); - -ssize_t adis16060_read_data_from_ring(struct device *dev, - struct device_attribute *attr, - char *buf); - - -int adis16060_configure_ring(struct iio_dev *indio_dev); -void adis16060_unconfigure_ring(struct iio_dev *indio_dev); - -int adis16060_initialize_ring(struct iio_ring_buffer *ring); -void adis16060_uninitialize_ring(struct iio_ring_buffer *ring); -#else /* CONFIG_IIO_RING_BUFFER */ - -static inline void adis16060_remove_trigger(struct iio_dev *indio_dev) -{ -} - -static inline int adis16060_probe_trigger(struct iio_dev *indio_dev) -{ - return 0; -} - -static inline ssize_t -adis16060_read_data_from_ring(struct device *dev, - struct device_attribute *attr, - char *buf) -{ - return 0; -} - -static int adis16060_configure_ring(struct iio_dev *indio_dev) -{ - return 0; -} - -static inline void adis16060_unconfigure_ring(struct iio_dev *indio_dev) -{ -} - -static inline int adis16060_initialize_ring(struct iio_ring_buffer *ring) -{ - return 0; -} - -static inline void adis16060_uninitialize_ring(struct iio_ring_buffer *ring) -{ -} - -#endif /* CONFIG_IIO_RING_BUFFER */ -#endif /* SPI_ADIS16060_H_ */ diff --git a/drivers/staging/iio/gyro/adis16060_core.c b/drivers/staging/iio/gyro/adis16060_core.c index fc48aca..700eb39 100644 --- a/drivers/staging/iio/gyro/adis16060_core.c +++ b/drivers/staging/iio/gyro/adis16060_core.c @@ -6,9 +6,6 @@ * 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> @@ -16,20 +13,38 @@ #include <linux/spi/spi.h> #include <linux/slab.h> #include <linux/sysfs.h> -#include <linux/list.h> + #include "../iio.h" #include "../sysfs.h" #include "gyro.h" #include "../adc/adc.h" -#include "adis16060.h" - -#define DRIVER_NAME "adis16060" +#define ADIS16060_GYRO 0x20 /* Measure Angular Rate (Gyro) */ +#define ADIS16060_TEMP_OUT 0x10 /* Measure Temperature */ +#define ADIS16060_AIN2 0x80 /* Measure AIN2 */ +#define ADIS16060_AIN1 0x40 /* Measure AIN1 */ + +/** + * struct adis16060_state - device instance specific data + * @us_w: actual spi_device to write config + * @us_r: actual spi_device to read back data + * @indio_dev: industrial I/O device structure + * @buf: transmit or recieve buffer + * @buf_lock: mutex to protect tx and rx + **/ +struct adis16060_state { + struct spi_device *us_w; + struct spi_device *us_r; + struct iio_dev *indio_dev; + struct mutex buf_lock; + + u8 buf[3] ____cacheline_aligned; +}; -struct adis16060_state *adis16060_st; +static struct adis16060_state *adis16060_st; -int adis16060_spi_write(struct device *dev, +static int adis16060_spi_write(struct device *dev, u8 val) { int ret; @@ -37,17 +52,14 @@ int adis16060_spi_write(struct device *dev, struct adis16060_state *st = iio_dev_get_devdata(indio_dev); mutex_lock(&st->buf_lock); - st->tx[0] = 0; - st->tx[1] = 0; - st->tx[2] = val; /* The last 8 bits clocked in are latched */ - - ret = spi_write(st->us_w, st->tx, 3); + st->buf[2] = val; /* The last 8 bits clocked in are latched */ + ret = spi_write(st->us_w, st->buf, 3); mutex_unlock(&st->buf_lock); return ret; } -int adis16060_spi_read(struct device *dev, +static int adis16060_spi_read(struct device *dev, u16 *val) { int ret; @@ -56,14 +68,17 @@ int adis16060_spi_read(struct device *dev, mutex_lock(&st->buf_lock); - ret = spi_read(st->us_r, st->rx, 3); + ret = spi_read(st->us_r, st->buf, 3); - /* The internal successive approximation ADC begins the conversion process - * on the falling edge of MSEL1 and starts to place data MSB first on the - * DOUT line at the 6th falling edge of SCLK + /* The internal successive approximation ADC begins the + * conversion process on the falling edge of MSEL1 and + * starts to place data MSB first on the DOUT line at + * the 6th falling edge of SCLK */ if (ret == 0) - *val = ((st->rx[0] & 0x3) << 12) | (st->rx[1] << 4) | ((st->rx[2] >> 4) & 0xF); + *val = ((st->buf[0] & 0x3) << 12) | + (st->buf[1] << 4) | + ((st->buf[2] >> 4) & 0xF); mutex_unlock(&st->buf_lock); return ret; @@ -73,13 +88,19 @@ static ssize_t adis16060_read(struct device *dev, struct device_attribute *attr, char *buf) { + struct iio_dev_attr *this_attr = to_iio_dev_attr(attr); struct iio_dev *indio_dev = dev_get_drvdata(dev); - u16 val; + u16 val = 0; ssize_t ret; /* Take the iio_dev status lock */ mutex_lock(&indio_dev->mlock); - ret = adis16060_spi_read(dev, &val); + + ret = adis16060_spi_write(dev, this_attr->address); + if (ret < 0) + goto error_ret; + ret = adis16060_spi_read(dev, &val); +error_ret: mutex_unlock(&indio_dev->mlock); if (ret == 0) @@ -88,45 +109,22 @@ static ssize_t adis16060_read(struct device *dev, return ret; } -static ssize_t adis16060_write(struct device *dev, - struct device_attribute *attr, - const char *buf, - size_t len) -{ - int ret; - long val; - - ret = strict_strtol(buf, 16, &val); - if (ret) - goto error_ret; - ret = adis16060_spi_write(dev, val); - -error_ret: - return ret ? ret : len; -} - -#define IIO_DEV_ATTR_IN(_show) \ - IIO_DEVICE_ATTR(in, S_IRUGO, _show, NULL, 0) - -#define IIO_DEV_ATTR_OUT(_store) \ - IIO_DEVICE_ATTR(out, S_IRUGO, NULL, _store, 0) - -static IIO_DEV_ATTR_IN(adis16060_read); -static IIO_DEV_ATTR_OUT(adis16060_write); - +static IIO_DEV_ATTR_GYRO_Z(adis16060_read, ADIS16060_GYRO); +static IIO_DEVICE_ATTR(temp_raw, S_IRUGO, adis16060_read, NULL, + ADIS16060_TEMP_OUT); +static IIO_CONST_ATTR_TEMP_SCALE("34"); /* Milli degrees C */ +static IIO_CONST_ATTR_TEMP_OFFSET("-7461.117"); /* Milli degrees C */ +static IIO_DEV_ATTR_IN_RAW(0, adis16060_read, ADIS16060_AIN1); +static IIO_DEV_ATTR_IN_RAW(1, adis16060_read, ADIS16060_AIN2); static IIO_CONST_ATTR(name, "adis16060"); -static struct attribute *adis16060_event_attributes[] = { - NULL -}; - -static struct attribute_group adis16060_event_attribute_group = { - .attrs = adis16060_event_attributes, -}; - static struct attribute *adis16060_attributes[] = { - &iio_dev_attr_in.dev_attr.attr, - &iio_dev_attr_out.dev_attr.attr, + &iio_dev_attr_gyro_z_raw.dev_attr.attr, + &iio_dev_attr_temp_raw.dev_attr.attr, + &iio_const_attr_temp_scale.dev_attr.attr, + &iio_const_attr_temp_offset.dev_attr.attr, + &iio_dev_attr_in0_raw.dev_attr.attr, + &iio_dev_attr_in1_raw.dev_attr.attr, &iio_const_attr_name.dev_attr.attr, NULL }; @@ -146,82 +144,34 @@ static int __devinit adis16060_r_probe(struct spi_device *spi) /* this is only used for removal purposes */ spi_set_drvdata(spi, st); - /* Allocate the comms buffers */ - st->rx = kzalloc(sizeof(*st->rx)*ADIS16060_MAX_RX, GFP_KERNEL); - if (st->rx == NULL) { - ret = -ENOMEM; - goto error_free_st; - } - st->tx = kzalloc(sizeof(*st->tx)*ADIS16060_MAX_TX, GFP_KERNEL); - if (st->tx == NULL) { - ret = -ENOMEM; - goto error_free_rx; - } st->us_r = spi; mutex_init(&st->buf_lock); /* setup the industrialio driver allocated elements */ st->indio_dev = iio_allocate_device(); if (st->indio_dev == NULL) { ret = -ENOMEM; - goto error_free_tx; + goto error_free_st; } st->indio_dev->dev.parent = &spi->dev; - st->indio_dev->num_interrupt_lines = 1; - st->indio_dev->event_attrs = &adis16060_event_attribute_group; st->indio_dev->attrs = &adis16060_attribute_group; st->indio_dev->dev_data = (void *)(st); st->indio_dev->driver_module = THIS_MODULE; st->indio_dev->modes = INDIO_DIRECT_MODE; - ret = adis16060_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; + goto error_free_dev; regdone = 1; - ret = adis16060_initialize_ring(st->indio_dev->ring); - if (ret) { - printk(KERN_ERR "failed to initialize the ring\n"); - goto error_unreg_ring_funcs; - } - - if (spi->irq && gpio_is_valid(irq_to_gpio(spi->irq)) > 0) { - ret = iio_register_interrupt_line(spi->irq, - st->indio_dev, - 0, - IRQF_TRIGGER_RISING, - "adis16060"); - if (ret) - goto error_uninitialize_ring; - - ret = adis16060_probe_trigger(st->indio_dev); - if (ret) - goto error_unregister_line; - } - adis16060_st = st; return 0; -error_unregister_line: - if (st->indio_dev->modes & INDIO_RING_TRIGGERED) - iio_unregister_interrupt_line(st->indio_dev, 0); -error_uninitialize_ring: - adis16060_uninitialize_ring(st->indio_dev->ring); -error_unreg_ring_funcs: - adis16060_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: @@ -234,17 +184,7 @@ static int adis16060_r_remove(struct spi_device *spi) struct adis16060_state *st = spi_get_drvdata(spi); struct iio_dev *indio_dev = st->indio_dev; - flush_scheduled_work(); - - adis16060_remove_trigger(indio_dev); - if (spi->irq && gpio_is_valid(irq_to_gpio(spi->irq)) > 0) - iio_unregister_interrupt_line(indio_dev, 0); - - adis16060_uninitialize_ring(indio_dev->ring); - adis16060_unconfigure_ring(indio_dev); iio_device_unregister(indio_dev); - kfree(st->tx); - kfree(st->rx); kfree(st); return 0; @@ -315,5 +255,5 @@ static __exit void adis16060_exit(void) module_exit(adis16060_exit); MODULE_AUTHOR("Barry Song <21cnbao@gmail.com>"); -MODULE_DESCRIPTION("Analog Devices ADIS16060 Yaw Rate Gyroscope with SPI driver"); +MODULE_DESCRIPTION("Analog Devices ADIS16060 Yaw Rate Gyroscope Driver"); MODULE_LICENSE("GPL v2"); diff --git a/drivers/staging/iio/gyro/adis16080.h b/drivers/staging/iio/gyro/adis16080.h deleted file mode 100644 index 3fcbe67..0000000 --- a/drivers/staging/iio/gyro/adis16080.h +++ /dev/null @@ -1,102 +0,0 @@ -#ifndef SPI_ADIS16080_H_ -#define SPI_ADIS16080_H_ - -#define ADIS16080_DIN_CODE 4 /* Output data format setting. 0: Twos complement. 1: Offset binary. */ -#define ADIS16080_DIN_GYRO (0 << 10) /* Gyroscope output */ -#define ADIS16080_DIN_TEMP (1 << 10) /* Temperature output */ -#define ADIS16080_DIN_AIN1 (2 << 10) -#define ADIS16080_DIN_AIN2 (3 << 10) -#define ADIS16080_DIN_WRITE (1 << 15) /* 1: Write contents on DIN to control register. - * 0: No changes to control register. - */ - -#define ADIS16080_MAX_TX 2 -#define ADIS16080_MAX_RX 2 - -/** - * struct adis16080_state - device instance specific data - * @us: actual spi_device to write data - * @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: recieve buffer - * @buf_lock: mutex to protect tx and rx - **/ -struct adis16080_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; -}; - -#if defined(CONFIG_IIO_RING_BUFFER) && defined(THIS_HAS_RING_BUFFER_SUPPORT) -/* At the moment triggers are only used for ring buffer - * filling. This may change! - */ - -enum adis16080_scan { - ADIS16080_SCAN_GYRO, - ADIS16080_SCAN_TEMP, - ADIS16080_SCAN_ADC_1, - ADIS16080_SCAN_ADC_2, -}; - -void adis16080_remove_trigger(struct iio_dev *indio_dev); -int adis16080_probe_trigger(struct iio_dev *indio_dev); - -ssize_t adis16080_read_data_from_ring(struct device *dev, - struct device_attribute *attr, - char *buf); - - -int adis16080_configure_ring(struct iio_dev *indio_dev); -void adis16080_unconfigure_ring(struct iio_dev *indio_dev); - -int adis16080_initialize_ring(struct iio_ring_buffer *ring); -void adis16080_uninitialize_ring(struct iio_ring_buffer *ring); -#else /* CONFIG_IIO_RING_BUFFER */ - -static inline void adis16080_remove_trigger(struct iio_dev *indio_dev) -{ -} - -static inline int adis16080_probe_trigger(struct iio_dev *indio_dev) -{ - return 0; -} - -static inline ssize_t -adis16080_read_data_from_ring(struct device *dev, - struct device_attribute *attr, - char *buf) -{ - return 0; -} - -static int adis16080_configure_ring(struct iio_dev *indio_dev) -{ - return 0; -} - -static inline void adis16080_unconfigure_ring(struct iio_dev *indio_dev) -{ -} - -static inline int adis16080_initialize_ring(struct iio_ring_buffer *ring) -{ - return 0; -} - -static inline void adis16080_uninitialize_ring(struct iio_ring_buffer *ring) -{ -} - -#endif /* CONFIG_IIO_RING_BUFFER */ -#endif /* SPI_ADIS16080_H_ */ diff --git a/drivers/staging/iio/gyro/adis16080_core.c b/drivers/staging/iio/gyro/adis16080_core.c index 0efb768..fb4336c 100644 --- a/drivers/staging/iio/gyro/adis16080_core.c +++ b/drivers/staging/iio/gyro/adis16080_core.c @@ -5,9 +5,6 @@ * * 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> @@ -16,20 +13,40 @@ #include <linux/spi/spi.h> #include <linux/slab.h> #include <linux/sysfs.h> -#include <linux/list.h> #include "../iio.h" #include "../sysfs.h" #include "gyro.h" #include "../adc/adc.h" -#include "adis16080.h" +#define ADIS16080_DIN_GYRO (0 << 10) /* Gyroscope output */ +#define ADIS16080_DIN_TEMP (1 << 10) /* Temperature output */ +#define ADIS16080_DIN_AIN1 (2 << 10) +#define ADIS16080_DIN_AIN2 (3 << 10) -#define DRIVER_NAME "adis16080" +/* + * 1: Write contents on DIN to control register. + * 0: No changes to control register. + */ -struct adis16080_state *adis16080_st; +#define ADIS16080_DIN_WRITE (1 << 15) + +/** + * struct adis16080_state - device instance specific data + * @us: actual spi_device to write data + * @indio_dev: industrial I/O device structure + * @buf: transmit or recieve buffer + * @buf_lock: mutex to protect tx and rx + **/ +struct adis16080_state { + struct spi_device *us; + struct iio_dev *indio_dev; + struct mutex buf_lock; + + u8 buf[2] ____cacheline_aligned; +}; -int adis16080_spi_write(struct device *dev, +static int adis16080_spi_write(struct device *dev, u16 val) { int ret; @@ -37,16 +54,16 @@ int adis16080_spi_write(struct device *dev, struct adis16080_state *st = iio_dev_get_devdata(indio_dev); mutex_lock(&st->buf_lock); - st->tx[0] = val >> 8; - st->tx[1] = val; + st->buf[0] = val >> 8; + st->buf[1] = val; - ret = spi_write(st->us, st->tx, 2); + ret = spi_write(st->us, st->buf, 2); mutex_unlock(&st->buf_lock); return ret; } -int adis16080_spi_read(struct device *dev, +static int adis16080_spi_read(struct device *dev, u16 *val) { int ret; @@ -55,10 +72,10 @@ int adis16080_spi_read(struct device *dev, mutex_lock(&st->buf_lock); - ret = spi_read(st->us, st->rx, 2); + ret = spi_read(st->us, st->buf, 2); if (ret == 0) - *val = ((st->rx[0] & 0xF) << 8) | st->rx[1]; + *val = ((st->buf[0] & 0xF) << 8) | st->buf[1]; mutex_unlock(&st->buf_lock); return ret; @@ -68,13 +85,19 @@ static ssize_t adis16080_read(struct device *dev, struct device_attribute *attr, char *buf) { + struct iio_dev_attr *this_attr = to_iio_dev_attr(attr); struct iio_dev *indio_dev = dev_get_drvdata(dev); - u16 val; + u16 val = 0; ssize_t ret; /* Take the iio_dev status lock */ mutex_lock(&indio_dev->mlock); + ret = adis16080_spi_write(dev, + this_attr->address | ADIS16080_DIN_WRITE); + if (ret < 0) + goto error_ret; ret = adis16080_spi_read(dev, &val); +error_ret: mutex_unlock(&indio_dev->mlock); if (ret == 0) @@ -82,46 +105,18 @@ static ssize_t adis16080_read(struct device *dev, else return ret; } - -static ssize_t adis16080_write(struct device *dev, - struct device_attribute *attr, - const char *buf, - size_t len) -{ - int ret; - long val; - - ret = strict_strtol(buf, 16, &val); - if (ret) - goto error_ret; - ret = adis16080_spi_write(dev, val); - -error_ret: - return ret ? ret : len; -} - -#define IIO_DEV_ATTR_IN(_show) \ - IIO_DEVICE_ATTR(in, S_IRUGO, _show, NULL, 0) - -#define IIO_DEV_ATTR_OUT(_store) \ - IIO_DEVICE_ATTR(out, S_IRUGO, NULL, _store, 0) - -static IIO_DEV_ATTR_IN(adis16080_read); -static IIO_DEV_ATTR_OUT(adis16080_write); - +static IIO_DEV_ATTR_GYRO_Z(adis16080_read, ADIS16080_DIN_GYRO); +static IIO_DEVICE_ATTR(temp_raw, S_IRUGO, adis16080_read, NULL, + ADIS16080_DIN_TEMP); +static IIO_DEV_ATTR_IN_RAW(0, adis16080_read, ADIS16080_DIN_AIN1); +static IIO_DEV_ATTR_IN_RAW(1, adis16080_read, ADIS16080_DIN_AIN2); static IIO_CONST_ATTR(name, "adis16080"); -static struct attribute *adis16080_event_attributes[] = { - NULL -}; - -static struct attribute_group adis16080_event_attribute_group = { - .attrs = adis16080_event_attributes, -}; - static struct attribute *adis16080_attributes[] = { - &iio_dev_attr_in.dev_attr.attr, - &iio_dev_attr_out.dev_attr.attr, + &iio_dev_attr_gyro_z_raw.dev_attr.attr, + &iio_dev_attr_temp_raw.dev_attr.attr, + &iio_dev_attr_in0_raw.dev_attr.attr, + &iio_dev_attr_in1_raw.dev_attr.attr, &iio_const_attr_name.dev_attr.attr, NULL }; @@ -142,81 +137,33 @@ static int __devinit adis16080_probe(struct spi_device *spi) spi_set_drvdata(spi, st); /* Allocate the comms buffers */ - st->rx = kzalloc(sizeof(*st->rx)*ADIS16080_MAX_RX, GFP_KERNEL); - if (st->rx == NULL) { - ret = -ENOMEM; - goto error_free_st; - } - st->tx = kzalloc(sizeof(*st->tx)*ADIS16080_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(); if (st->indio_dev == NULL) { ret = -ENOMEM; - goto error_free_tx; + goto error_free_st; } st->indio_dev->dev.parent = &spi->dev; - st->indio_dev->num_interrupt_lines = 1; - st->indio_dev->event_attrs = &adis16080_event_attribute_group; st->indio_dev->attrs = &adis16080_attribute_group; st->indio_dev->dev_data = (void *)(st); st->indio_dev->driver_module = THIS_MODULE; st->indio_dev->modes = INDIO_DIRECT_MODE; - ret = adis16080_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; + goto error_free_dev; regdone = 1; - ret = adis16080_initialize_ring(st->indio_dev->ring); - if (ret) { - printk(KERN_ERR "failed to initialize the ring\n"); - goto error_unreg_ring_funcs; - } - - if (spi->irq && gpio_is_valid(irq_to_gpio(spi->irq)) > 0) { - ret = iio_register_interrupt_line(spi->irq, - st->indio_dev, - 0, - IRQF_TRIGGER_RISING, - "adis16080"); - if (ret) - goto error_uninitialize_ring; - - ret = adis16080_probe_trigger(st->indio_dev); - if (ret) - goto error_unregister_line; - } - - adis16080_st = st; return 0; -error_unregister_line: - if (st->indio_dev->modes & INDIO_RING_TRIGGERED) - iio_unregister_interrupt_line(st->indio_dev, 0); -error_uninitialize_ring: - adis16080_uninitialize_ring(st->indio_dev->ring); -error_unreg_ring_funcs: - adis16080_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: @@ -229,17 +176,7 @@ static int adis16080_remove(struct spi_device *spi) struct adis16080_state *st = spi_get_drvdata(spi); struct iio_dev *indio_dev = st->indio_dev; - flush_scheduled_work(); - - adis16080_remove_trigger(indio_dev); - if (spi->irq && gpio_is_valid(irq_to_gpio(spi->irq)) > 0) - iio_unregister_interrupt_line(indio_dev, 0); - - adis16080_uninitialize_ring(indio_dev->ring); - adis16080_unconfigure_ring(indio_dev); iio_device_unregister(indio_dev); - kfree(st->tx); - kfree(st->rx); kfree(st); return 0; @@ -267,5 +204,5 @@ static __exit void adis16080_exit(void) module_exit(adis16080_exit); MODULE_AUTHOR("Barry Song <21cnbao@gmail.com>"); -MODULE_DESCRIPTION("Analog Devices ADIS16080/100 Yaw Rate Gyroscope with SPI driver"); +MODULE_DESCRIPTION("Analog Devices ADIS16080/100 Yaw Rate Gyroscope Driver"); MODULE_LICENSE("GPL v2"); diff --git a/drivers/staging/iio/gyro/adis16130.h b/drivers/staging/iio/gyro/adis16130.h deleted file mode 100644 index ab80ef6..0000000 --- a/drivers/staging/iio/gyro/adis16130.h +++ /dev/null @@ -1,108 +0,0 @@ -#ifndef SPI_ADIS16130_H_ -#define SPI_ADIS16130_H_ - -#define ADIS16130_CON 0x0 -#define ADIS16130_CON_RD (1 << 6) -#define ADIS16130_IOP 0x1 -#define ADIS16130_IOP_ALL_RDY (1 << 3) /* 1 = data-ready signal low when unread data on all channels; */ -#define ADIS16130_IOP_SYNC (1 << 0) /* 1 = synchronization enabled */ -#define ADIS16130_RATEDATA 0x8 /* Gyroscope output, rate of rotation */ -#define ADIS16130_TEMPDATA 0xA /* Temperature output */ -#define ADIS16130_RATECS 0x28 /* Gyroscope channel setup */ -#define ADIS16130_RATECS_EN (1 << 3) /* 1 = channel enable; */ -#define ADIS16130_TEMPCS 0x2A /* Temperature channel setup */ -#define ADIS16130_TEMPCS_EN (1 << 3) -#define ADIS16130_RATECONV 0x30 -#define ADIS16130_TEMPCONV 0x32 -#define ADIS16130_MODE 0x38 -#define ADIS16130_MODE_24BIT (1 << 1) /* 1 = 24-bit resolution; */ - -#define ADIS16130_MAX_TX 4 -#define ADIS16130_MAX_RX 4 - -/** - * struct adis16130_state - device instance specific data - * @us: actual spi_device to write data - * @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: recieve buffer - * @buf_lock: mutex to protect tx and rx - **/ -struct adis16130_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; - u32 mode; /* 1: 24bits mode 0:16bits mode */ - struct mutex buf_lock; -}; - -#if defined(CONFIG_IIO_RING_BUFFER) && defined(THIS_HAS_RING_BUFFER_SUPPORT) -/* At the moment triggers are only used for ring buffer - * filling. This may change! - */ - -enum adis16130_scan { - ADIS16130_SCAN_GYRO, - ADIS16130_SCAN_TEMP, -}; - -void adis16130_remove_trigger(struct iio_dev *indio_dev); -int adis16130_probe_trigger(struct iio_dev *indio_dev); - -ssize_t adis16130_read_data_from_ring(struct device *dev, - struct device_attribute *attr, - char *buf); - - -int adis16130_configure_ring(struct iio_dev *indio_dev); -void adis16130_unconfigure_ring(struct iio_dev *indio_dev); - -int adis16130_initialize_ring(struct iio_ring_buffer *ring); -void adis16130_uninitialize_ring(struct iio_ring_buffer *ring); -#else /* CONFIG_IIO_RING_BUFFER */ - -static inline void adis16130_remove_trigger(struct iio_dev *indio_dev) -{ -} - -static inline int adis16130_probe_trigger(struct iio_dev *indio_dev) -{ - return 0; -} - -static inline ssize_t -adis16130_read_data_from_ring(struct device *dev, - struct device_attribute *attr, - char *buf) -{ - return 0; -} - -static int adis16130_configure_ring(struct iio_dev *indio_dev) -{ - return 0; -} - -static inline void adis16130_unconfigure_ring(struct iio_dev *indio_dev) -{ -} - -static inline int adis16130_initialize_ring(struct iio_ring_buffer *ring) -{ - return 0; -} - -static inline void adis16130_uninitialize_ring(struct iio_ring_buffer *ring) -{ -} - -#endif /* CONFIG_IIO_RING_BUFFER */ -#endif /* SPI_ADIS16130_H_ */ diff --git a/drivers/staging/iio/gyro/adis16130_core.c b/drivers/staging/iio/gyro/adis16130_core.c index 49ffc7b..70e2831 100644 --- a/drivers/staging/iio/gyro/adis16130_core.c +++ b/drivers/staging/iio/gyro/adis16130_core.c @@ -6,9 +6,6 @@ * 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> @@ -23,13 +20,41 @@ #include "gyro.h" #include "../adc/adc.h" -#include "adis16130.h" - -#define DRIVER_NAME "adis16130" - -struct adis16130_state *adis16130_st; +#define ADIS16130_CON 0x0 +#define ADIS16130_CON_RD (1 << 6) +#define ADIS16130_IOP 0x1 + +/* 1 = data-ready signal low when unread data on all channels; */ +#define ADIS16130_IOP_ALL_RDY (1 << 3) +#define ADIS16130_IOP_SYNC (1 << 0) /* 1 = synchronization enabled */ +#define ADIS16130_RATEDATA 0x8 /* Gyroscope output, rate of rotation */ +#define ADIS16130_TEMPDATA 0xA /* Temperature output */ +#define ADIS16130_RATECS 0x28 /* Gyroscope channel setup */ +#define ADIS16130_RATECS_EN (1 << 3) /* 1 = channel enable; */ +#define ADIS16130_TEMPCS 0x2A /* Temperature channel setup */ +#define ADIS16130_TEMPCS_EN (1 << 3) +#define ADIS16130_RATECONV 0x30 +#define ADIS16130_TEMPCONV 0x32 +#define ADIS16130_MODE 0x38 +#define ADIS16130_MODE_24BIT (1 << 1) /* 1 = 24-bit resolution; */ + +/** + * struct adis16130_state - device instance specific data + * @us: actual spi_device to write data + * @indio_dev: industrial I/O device structure + * @mode: 24 bits (1) or 16 bits (0) + * @buf_lock: mutex to protect tx and rx + * @buf: unified tx/rx buffer + **/ +struct adis16130_state { + struct spi_device *us; + struct iio_dev *indio_dev; + u32 mode; + struct mutex buf_lock; + u8 buf[4] ____cacheline_aligned; +}; -int adis16130_spi_write(struct device *dev, u8 reg_addr, +static int adis16130_spi_write(struct device *dev, u8 reg_addr, u8 val) { int ret; @@ -37,16 +62,16 @@ int adis16130_spi_write(struct device *dev, u8 reg_addr, struct adis16130_state *st = iio_dev_get_devdata(indio_dev); mutex_lock(&st->buf_lock); - st->tx[0] = reg_addr; - st->tx[1] = val; + st->buf[0] = reg_addr; + st->buf[1] = val; - ret = spi_write(st->us, st->tx, 2); + ret = spi_write(st->us, st->buf, 2); mutex_unlock(&st->buf_lock); return ret; } -int adis16130_spi_read(struct device *dev, u8 reg_addr, +static int adis16130_spi_read(struct device *dev, u8 reg_addr, u32 *val) { int ret; @@ -55,17 +80,19 @@ int adis16130_spi_read(struct device *dev, u8 reg_addr, mutex_lock(&st->buf_lock); - st->tx[0] = ADIS16130_CON_RD | reg_addr; + st->buf[0] = ADIS16130_CON_RD | reg_addr; if (st->mode) - ret = spi_read(st->us, st->rx, 4); + ret = spi_read(st->us, st->buf, 4); else - ret = spi_read(st->us, st->rx, 3); + ret = spi_read(st->us, st->buf, 3); if (ret == 0) { if (st->mode) - *val = (st->rx[1] << 16) | (st->rx[2] << 8) | st->rx[3]; + *val = (st->buf[1] << 16) | + (st->buf[2] << 8) | + st->buf[3]; else - *val = (st->rx[1] << 8) | st->rx[2]; + *val = (st->buf[1] << 8) | st->buf[2]; } mutex_unlock(&st->buf_lock); @@ -73,36 +100,18 @@ int adis16130_spi_read(struct device *dev, u8 reg_addr, return ret; } -static ssize_t adis16130_gyro_read(struct device *dev, - struct device_attribute *attr, - char *buf) -{ - struct iio_dev *indio_dev = dev_get_drvdata(dev); - u32 val; - ssize_t ret; - - /* Take the iio_dev status lock */ - mutex_lock(&indio_dev->mlock); - ret = adis16130_spi_read(dev, ADIS16130_RATEDATA, &val); - mutex_unlock(&indio_dev->mlock); - - if (ret == 0) - return sprintf(buf, "%d\n", val); - else - return ret; -} - -static ssize_t adis16130_temp_read(struct device *dev, +static ssize_t adis16130_val_read(struct device *dev, struct device_attribute *attr, char *buf) { + struct iio_dev_attr *this_attr = to_iio_dev_attr(attr); struct iio_dev *indio_dev = dev_get_drvdata(dev); u32 val; ssize_t ret; /* Take the iio_dev status lock */ mutex_lock(&indio_dev->mlock); - ret = adis16130_spi_read(dev, ADIS16130_TEMPDATA, &val); + ret = adis16130_spi_read(dev, this_attr->address, &val); mutex_unlock(&indio_dev->mlock); if (ret == 0) @@ -118,7 +127,10 @@ static ssize_t adis16130_bitsmode_read(struct device *dev, struct iio_dev *indio_dev = dev_get_drvdata(dev); struct adis16130_state *st = iio_dev_get_devdata(indio_dev); - return sprintf(buf, "%d\n", st->mode); + if (st->mode == 1) + return sprintf(buf, "s24\n"); + else + return sprintf(buf, "s16\n"); } static ssize_t adis16130_bitsmode_write(struct device *dev, @@ -127,43 +139,38 @@ static ssize_t adis16130_bitsmode_write(struct device *dev, size_t len) { int ret; - long val; + u8 val; - ret = strict_strtol(buf, 16, &val); - if (ret) - goto error_ret; - ret = adis16130_spi_write(dev, ADIS16130_MODE, !!val); + if (sysfs_streq(buf, "s16")) + val = 0; + else if (sysfs_streq(buf, "s24")) + val = 1; + else + return -EINVAL; + + ret = adis16130_spi_write(dev, ADIS16130_MODE, val); -error_ret: return ret ? ret : len; } - -static IIO_DEV_ATTR_TEMP_RAW(adis16130_temp_read); +static IIO_DEVICE_ATTR(temp_raw, S_IRUGO, adis16130_val_read, NULL, + ADIS16130_TEMPDATA); static IIO_CONST_ATTR(name, "adis16130"); -static IIO_DEV_ATTR_GYRO(adis16130_gyro_read, - ADIS16130_RATEDATA); - -#define IIO_DEV_ATTR_BITS_MODE(_mode, _show, _store, _addr) \ - IIO_DEVICE_ATTR(bits_mode, _mode, _show, _store, _addr) +static IIO_DEV_ATTR_GYRO_Z(adis16130_val_read, ADIS16130_RATEDATA); -static IIO_DEV_ATTR_BITS_MODE(S_IWUSR | S_IRUGO, adis16130_bitsmode_read, adis16130_bitsmode_write, +static IIO_DEVICE_ATTR(gyro_z_type, S_IWUSR | S_IRUGO, adis16130_bitsmode_read, + adis16130_bitsmode_write, ADIS16130_MODE); -static struct attribute *adis16130_event_attributes[] = { - NULL -}; - -static struct attribute_group adis16130_event_attribute_group = { - .attrs = adis16130_event_attributes, -}; +static IIO_CONST_ATTR(gyro_z_type_available, "s16 s24"); static struct attribute *adis16130_attributes[] = { &iio_dev_attr_temp_raw.dev_attr.attr, &iio_const_attr_name.dev_attr.attr, - &iio_dev_attr_gyro_raw.dev_attr.attr, - &iio_dev_attr_bits_mode.dev_attr.attr, + &iio_dev_attr_gyro_z_raw.dev_attr.attr, + &iio_dev_attr_gyro_z_type.dev_attr.attr, + &iio_const_attr_gyro_z_type_available.dev_attr.attr, NULL }; @@ -173,7 +180,7 @@ static const struct attribute_group adis16130_attribute_group = { static int __devinit adis16130_probe(struct spi_device *spi) { - int ret, regdone = 0; + int ret; struct adis16130_state *st = kzalloc(sizeof *st, GFP_KERNEL); if (!st) { ret = -ENOMEM; @@ -181,84 +188,30 @@ static int __devinit adis16130_probe(struct spi_device *spi) } /* this is only used for removal purposes */ spi_set_drvdata(spi, st); - - /* Allocate the comms buffers */ - st->rx = kzalloc(sizeof(*st->rx)*ADIS16130_MAX_RX, GFP_KERNEL); - if (st->rx == NULL) { - ret = -ENOMEM; - goto error_free_st; - } - st->tx = kzalloc(sizeof(*st->tx)*ADIS16130_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(); if (st->indio_dev == NULL) { ret = -ENOMEM; - goto error_free_tx; + goto error_free_st; } st->indio_dev->dev.parent = &spi->dev; - st->indio_dev->num_interrupt_lines = 1; - st->indio_dev->event_attrs = &adis16130_event_attribute_group; st->indio_dev->attrs = &adis16130_attribute_group; st->indio_dev->dev_data = (void *)(st); st->indio_dev->driver_module = THIS_MODULE; st->indio_dev->modes = INDIO_DIRECT_MODE; st->mode = 1; - ret = adis16130_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 = adis16130_initialize_ring(st->indio_dev->ring); - if (ret) { - printk(KERN_ERR "failed to initialize the ring\n"); - goto error_unreg_ring_funcs; - } - - if (spi->irq && gpio_is_valid(irq_to_gpio(spi->irq)) > 0) { - ret = iio_register_interrupt_line(spi->irq, - st->indio_dev, - 0, - IRQF_TRIGGER_RISING, - "adis16130"); - if (ret) - goto error_uninitialize_ring; - - ret = adis16130_probe_trigger(st->indio_dev); - if (ret) - goto error_unregister_line; - } + goto error_free_dev; - adis16130_st = st; return 0; -error_unregister_line: - if (st->indio_dev->modes & INDIO_RING_TRIGGERED) - iio_unregister_interrupt_line(st->indio_dev, 0); -error_uninitialize_ring: - adis16130_uninitialize_ring(st->indio_dev->ring); -error_unreg_ring_funcs: - adis16130_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); + iio_free_device(st->indio_dev); error_free_st: kfree(st); error_ret: @@ -271,17 +224,7 @@ static int adis16130_remove(struct spi_device *spi) struct adis16130_state *st = spi_get_drvdata(spi); struct iio_dev *indio_dev = st->indio_dev; - flush_scheduled_work(); - - adis16130_remove_trigger(indio_dev); - if (spi->irq && gpio_is_valid(irq_to_gpio(spi->irq)) > 0) - iio_unregister_interrupt_line(indio_dev, 0); - - adis16130_uninitialize_ring(indio_dev->ring); - adis16130_unconfigure_ring(indio_dev); iio_device_unregister(indio_dev); - kfree(st->tx); - kfree(st->rx); kfree(st); return 0; @@ -309,5 +252,5 @@ static __exit void adis16130_exit(void) module_exit(adis16130_exit); MODULE_AUTHOR("Barry Song <21cnbao@gmail.com>"); -MODULE_DESCRIPTION("Analog Devices ADIS16130 High Precision Angular Rate Sensor driver"); +MODULE_DESCRIPTION("Analog Devices ADIS16130 High Precision Angular Rate"); MODULE_LICENSE("GPL v2"); diff --git a/drivers/staging/iio/gyro/adis16251.h b/drivers/staging/iio/gyro/adis16251.h deleted file mode 100644 index d23852c..0000000 --- a/drivers/staging/iio/gyro/adis16251.h +++ /dev/null @@ -1,185 +0,0 @@ -#ifndef SPI_ADIS16251_H_ -#define SPI_ADIS16251_H_ - -#define ADIS16251_STARTUP_DELAY 220 /* ms */ - -#define ADIS16251_READ_REG(a) a -#define ADIS16251_WRITE_REG(a) ((a) | 0x80) - -#define ADIS16251_ENDURANCE 0x00 /* Flash memory write count */ -#define ADIS16251_SUPPLY_OUT 0x02 /* Power supply measurement */ -#define ADIS16251_GYRO_OUT 0x04 /* X-axis gyroscope output */ -#define ADIS16251_AUX_ADC 0x0A /* analog input channel measurement */ -#define ADIS16251_TEMP_OUT 0x0C /* internal temperature measurement */ -#define ADIS16251_ANGL_OUT 0x0E /* angle displacement */ -#define ADIS16251_GYRO_OFF 0x14 /* Calibration, offset/bias adjustment */ -#define ADIS16251_GYRO_SCALE 0x16 /* Calibration, scale adjustment */ -#define ADIS16251_ALM_MAG1 0x20 /* Alarm 1 magnitude/polarity setting */ -#define ADIS16251_ALM_MAG2 0x22 /* Alarm 2 magnitude/polarity setting */ -#define ADIS16251_ALM_SMPL1 0x24 /* Alarm 1 dynamic rate of change setting */ -#define ADIS16251_ALM_SMPL2 0x26 /* Alarm 2 dynamic rate of change setting */ -#define ADIS16251_ALM_CTRL 0x28 /* Alarm control */ -#define ADIS16251_AUX_DAC 0x30 /* Auxiliary DAC data */ -#define ADIS16251_GPIO_CTRL 0x32 /* Control, digital I/O line */ -#define ADIS16251_MSC_CTRL 0x34 /* Control, data ready, self-test settings */ -#define ADIS16251_SMPL_PRD 0x36 /* Control, internal sample rate */ -#define ADIS16251_SENS_AVG 0x38 /* Control, dynamic range, filtering */ -#define ADIS16251_SLP_CNT 0x3A /* Control, sleep mode initiation */ -#define ADIS16251_DIAG_STAT 0x3C /* Diagnostic, error flags */ -#define ADIS16251_GLOB_CMD 0x3E /* Control, global commands */ - -#define ADIS16251_ERROR_ACTIVE (1<<14) -#define ADIS16251_NEW_DATA (1<<14) - -/* MSC_CTRL */ -#define ADIS16251_MSC_CTRL_INT_SELF_TEST (1<<10) /* Internal self-test enable */ -#define ADIS16251_MSC_CTRL_NEG_SELF_TEST (1<<9) -#define ADIS16251_MSC_CTRL_POS_SELF_TEST (1<<8) -#define ADIS16251_MSC_CTRL_DATA_RDY_EN (1<<2) -#define ADIS16251_MSC_CTRL_DATA_RDY_POL_HIGH (1<<1) -#define ADIS16251_MSC_CTRL_DATA_RDY_DIO2 (1<<0) - -/* SMPL_PRD */ -#define ADIS16251_SMPL_PRD_TIME_BASE (1<<7) /* Time base (tB): 0 = 1.953 ms, 1 = 60.54 ms */ -#define ADIS16251_SMPL_PRD_DIV_MASK 0x7F - -/* SLP_CNT */ -#define ADIS16251_SLP_CNT_POWER_OFF 0x80 - -/* DIAG_STAT */ -#define ADIS16251_DIAG_STAT_ALARM2 (1<<9) -#define ADIS16251_DIAG_STAT_ALARM1 (1<<8) -#define ADIS16251_DIAG_STAT_SELF_TEST (1<<5) -#define ADIS16251_DIAG_STAT_OVERFLOW (1<<4) -#define ADIS16251_DIAG_STAT_SPI_FAIL (1<<3) -#define ADIS16251_DIAG_STAT_FLASH_UPT (1<<2) -#define ADIS16251_DIAG_STAT_POWER_HIGH (1<<1) -#define ADIS16251_DIAG_STAT_POWER_LOW (1<<0) - -#define ADIS16251_DIAG_STAT_ERR_MASK (ADIS16251_DIAG_STAT_ALARM2 | \ - ADIS16251_DIAG_STAT_ALARM1 | \ - ADIS16251_DIAG_STAT_SELF_TEST | \ - ADIS16251_DIAG_STAT_OVERFLOW | \ - ADIS16251_DIAG_STAT_SPI_FAIL | \ - ADIS16251_DIAG_STAT_FLASH_UPT | \ - ADIS16251_DIAG_STAT_POWER_HIGH | \ - ADIS16251_DIAG_STAT_POWER_LOW) - -/* GLOB_CMD */ -#define ADIS16251_GLOB_CMD_SW_RESET (1<<7) -#define ADIS16251_GLOB_CMD_FLASH_UPD (1<<3) -#define ADIS16251_GLOB_CMD_DAC_LATCH (1<<2) -#define ADIS16251_GLOB_CMD_FAC_CALIB (1<<1) -#define ADIS16251_GLOB_CMD_AUTO_NULL (1<<0) - -#define ADIS16251_MAX_TX 24 -#define ADIS16251_MAX_RX 24 - -#define ADIS16251_SPI_SLOW (u32)(300 * 1000) -#define ADIS16251_SPI_BURST (u32)(1000 * 1000) -#define ADIS16251_SPI_FAST (u32)(2000 * 1000) - -/** - * struct adis16251_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: recieve buffer - * @buf_lock: mutex to protect tx and rx - **/ -struct adis16251_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 adis16251_spi_write_reg_8(struct device *dev, - u8 reg_address, - u8 val); - -int adis16251_spi_read_burst(struct device *dev, u8 *rx); - -int adis16251_spi_read_sequence(struct device *dev, - u8 *tx, u8 *rx, int num); - -int adis16251_set_irq(struct device *dev, bool enable); - -int adis16251_reset(struct device *dev); - -int adis16251_stop_device(struct device *dev); - -int adis16251_check_status(struct device *dev); - -#if defined(CONFIG_IIO_RING_BUFFER) && defined(THIS_HAS_RING_BUFFER_SUPPORT) -/* At the moment triggers are only used for ring buffer - * filling. This may change! - */ - -enum adis16251_scan { - ADIS16251_SCAN_SUPPLY, - ADIS16251_SCAN_GYRO, - ADIS16251_SCAN_TEMP, - ADIS16251_SCAN_ADC_0, -}; - -void adis16251_remove_trigger(struct iio_dev *indio_dev); -int adis16251_probe_trigger(struct iio_dev *indio_dev); - -ssize_t adis16251_read_data_from_ring(struct device *dev, - struct device_attribute *attr, - char *buf); - - -int adis16251_configure_ring(struct iio_dev *indio_dev); -void adis16251_unconfigure_ring(struct iio_dev *indio_dev); - -int adis16251_initialize_ring(struct iio_ring_buffer *ring); -void adis16251_uninitialize_ring(struct iio_ring_buffer *ring); -#else /* CONFIG_IIO_RING_BUFFER */ - -static inline void adis16251_remove_trigger(struct iio_dev *indio_dev) -{ -} - -static inline int adis16251_probe_trigger(struct iio_dev *indio_dev) -{ - return 0; -} - -static inline ssize_t -adis16251_read_data_from_ring(struct device *dev, - struct device_attribute *attr, - char *buf) -{ - return 0; -} - -static int adis16251_configure_ring(struct iio_dev *indio_dev) -{ - return 0; -} - -static inline void adis16251_unconfigure_ring(struct iio_dev *indio_dev) -{ -} - -static inline int adis16251_initialize_ring(struct iio_ring_buffer *ring) -{ - return 0; -} - -static inline void adis16251_uninitialize_ring(struct iio_ring_buffer *ring) -{ -} - -#endif /* CONFIG_IIO_RING_BUFFER */ -#endif /* SPI_ADIS16251_H_ */ diff --git a/drivers/staging/iio/gyro/adis16251_core.c b/drivers/staging/iio/gyro/adis16251_core.c deleted file mode 100644 index a0d400f..0000000 --- a/drivers/staging/iio/gyro/adis16251_core.c +++ /dev/null @@ -1,777 +0,0 @@ -/* - * ADIS16251 Programmable Digital Gyroscope 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 "gyro.h" -#include "../adc/adc.h" - -#include "adis16251.h" - -#define DRIVER_NAME "adis16251" - -/* At the moment the spi framework doesn't allow global setting of cs_change. - * It's in the likely to be added comment at the top of spi.h. - * This means that use cannot be made of spi_write etc. - */ - -/** - * adis16251_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 - **/ -int adis16251_spi_write_reg_8(struct device *dev, - u8 reg_address, - u8 val) -{ - int ret; - struct iio_dev *indio_dev = dev_get_drvdata(dev); - struct adis16251_state *st = iio_dev_get_devdata(indio_dev); - - mutex_lock(&st->buf_lock); - st->tx[0] = ADIS16251_WRITE_REG(reg_address); - st->tx[1] = val; - - ret = spi_write(st->us, st->tx, 2); - mutex_unlock(&st->buf_lock); - - return ret; -} - -/** - * adis16251_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 adis16251_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 adis16251_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, - }, { - .tx_buf = st->tx + 2, - .bits_per_word = 8, - .len = 2, - .cs_change = 1, - }, - }; - - mutex_lock(&st->buf_lock); - st->tx[0] = ADIS16251_WRITE_REG(lower_reg_address); - st->tx[1] = value & 0xFF; - st->tx[2] = ADIS16251_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; -} - -/** - * adis16251_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 adis16251_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 adis16251_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, - }, { - .rx_buf = st->rx, - .bits_per_word = 8, - .len = 2, - .cs_change = 1, - }, - }; - - mutex_lock(&st->buf_lock); - st->tx[0] = ADIS16251_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; -} - -/** - * adis16251_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) - **/ -int adis16251_spi_read_burst(struct device *dev, u8 *rx) -{ - struct spi_message msg; - struct iio_dev *indio_dev = dev_get_drvdata(dev); - struct adis16251_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 = 24, - .cs_change = 1, - }, - }; - - mutex_lock(&st->buf_lock); - st->tx[0] = ADIS16251_READ_REG(ADIS16251_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 = min(ADIS16251_SPI_BURST, old_speed_hz); - 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; -} - -/** - * adis16251_spi_read_sequence() - read a sequence of 16-bit registers - * @dev: device associated with child of actual device (iio_dev or iio_trig) - * @tx: register addresses in bytes 0,2,4,6... (min size is 2*num bytes) - * @rx: somewhere to pass back the value read (min size is 2*num bytes) - **/ -int adis16251_spi_read_sequence(struct device *dev, - u8 *tx, u8 *rx, int num) -{ - struct spi_message msg; - struct spi_transfer *xfers; - struct iio_dev *indio_dev = dev_get_drvdata(dev); - struct adis16251_state *st = iio_dev_get_devdata(indio_dev); - int ret, i; - - xfers = kzalloc(num + 1, GFP_KERNEL); - if (xfers == NULL) { - dev_err(&st->us->dev, "memory alloc failed"); - ret = -ENOMEM; - goto error_ret; - } - - /* tx: |add1|addr2|addr3|...|addrN |zero| - * rx: |zero|res1 |res2 |...|resN-1|resN| */ - spi_message_init(&msg); - for (i = 0; i < num + 1; i++) { - if (i > 0) - xfers[i].rx_buf = st->rx + 2*(i - 1); - if (i < num) - xfers[i].tx_buf = st->tx + 2*i; - xfers[i].bits_per_word = 8; - xfers[i].len = 2; - xfers[i].cs_change = 1; - spi_message_add_tail(&xfers[i], &msg); - } - - mutex_lock(&st->buf_lock); - - ret = spi_sync(st->us, &msg); - if (ret) - dev_err(&st->us->dev, "problem when reading sequence"); - - mutex_unlock(&st->buf_lock); - kfree(xfers); - -error_ret: - return ret; -} - -static ssize_t adis16251_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 = adis16251_spi_read_reg_16(dev, this_attr->address, (u16 *)&val); - if (ret) - return ret; - - if (val & ADIS16251_ERROR_ACTIVE) - adis16251_check_status(dev); - val = ((s16)(val << shift) >> shift); - return sprintf(buf, "%d\n", val); -} - -static ssize_t adis16251_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 = adis16251_spi_read_reg_16(dev, this_attr->address, &val); - if (ret) - return ret; - - if (val & ADIS16251_ERROR_ACTIVE) - adis16251_check_status(dev); - - return sprintf(buf, "%u\n", val & 0x0FFF); -} - -static ssize_t adis16251_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 = adis16251_spi_read_signed(dev, attr, buf, 14); - mutex_unlock(&indio_dev->mlock); - - return ret; -} - -static ssize_t adis16251_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 = adis16251_spi_read_signed(dev, attr, buf, 12); - mutex_unlock(&indio_dev->mlock); - - return ret; -} - -static ssize_t adis16251_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 = adis16251_spi_write_reg_16(dev, this_attr->address, val); - -error_ret: - return ret ? ret : len; -} - -static ssize_t adis16251_read_frequency(struct device *dev, - struct device_attribute *attr, - char *buf) -{ - int ret, len = 0; - u16 t; - int sps; - ret = adis16251_spi_read_reg_16(dev, - ADIS16251_SMPL_PRD, - &t); - if (ret) - return ret; - sps = (t & ADIS16251_SMPL_PRD_TIME_BASE) ? 8 : 256; - sps /= (t & ADIS16251_SMPL_PRD_DIV_MASK) + 1; - len = sprintf(buf, "%d SPS\n", sps); - return len; -} - -static ssize_t adis16251_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 adis16251_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 = (256 / val); - if (t > 0) - t--; - t &= ADIS16251_SMPL_PRD_DIV_MASK; - if ((t & ADIS16251_SMPL_PRD_DIV_MASK) >= 0x0A) - st->us->max_speed_hz = ADIS16251_SPI_SLOW; - else - st->us->max_speed_hz = ADIS16251_SPI_FAST; - - ret = adis16251_spi_write_reg_8(dev, - ADIS16251_SMPL_PRD, - t); - - mutex_unlock(&indio_dev->mlock); - - return ret ? ret : len; -} - -static ssize_t adis16251_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 adis16251_reset(dev); - } - return -1; -} - - - -int adis16251_set_irq(struct device *dev, bool enable) -{ - int ret; - u16 msc; - ret = adis16251_spi_read_reg_16(dev, ADIS16251_MSC_CTRL, &msc); - if (ret) - goto error_ret; - - msc |= ADIS16251_MSC_CTRL_DATA_RDY_POL_HIGH; - if (enable) - msc |= ADIS16251_MSC_CTRL_DATA_RDY_EN; - else - msc &= ~ADIS16251_MSC_CTRL_DATA_RDY_EN; - - ret = adis16251_spi_write_reg_16(dev, ADIS16251_MSC_CTRL, msc); - if (ret) - goto error_ret; - -error_ret: - return ret; -} - -int adis16251_reset(struct device *dev) -{ - int ret; - ret = adis16251_spi_write_reg_8(dev, - ADIS16251_GLOB_CMD, - ADIS16251_GLOB_CMD_SW_RESET); - if (ret) - dev_err(dev, "problem resetting device"); - - return ret; -} - -/* Power down the device */ -int adis16251_stop_device(struct device *dev) -{ - int ret; - u16 val = ADIS16251_SLP_CNT_POWER_OFF; - - ret = adis16251_spi_write_reg_16(dev, ADIS16251_SLP_CNT, val); - if (ret) - dev_err(dev, "problem with turning device off: SLP_CNT"); - - return ret; -} - -static int adis16251_self_test(struct device *dev) -{ - int ret; - - ret = adis16251_spi_write_reg_16(dev, - ADIS16251_MSC_CTRL, - ADIS16251_MSC_CTRL_INT_SELF_TEST); - if (ret) { - dev_err(dev, "problem starting self test"); - goto err_ret; - } - - adis16251_check_status(dev); - -err_ret: - return ret; -} - -int adis16251_check_status(struct device *dev) -{ - u16 status; - int ret; - - ret = adis16251_spi_read_reg_16(dev, ADIS16251_DIAG_STAT, &status); - - if (ret < 0) { - dev_err(dev, "Reading status failed\n"); - goto error_ret; - } - - if (!(status & ADIS16251_DIAG_STAT_ERR_MASK)) { - ret = 0; - goto error_ret; - } - - ret = -EFAULT; - - if (status & ADIS16251_DIAG_STAT_ALARM2) - dev_err(dev, "Alarm 2 active\n"); - if (status & ADIS16251_DIAG_STAT_ALARM1) - dev_err(dev, "Alarm 1 active\n"); - if (status & ADIS16251_DIAG_STAT_SELF_TEST) - dev_err(dev, "Self test error\n"); - if (status & ADIS16251_DIAG_STAT_OVERFLOW) - dev_err(dev, "Sensor overrange\n"); - if (status & ADIS16251_DIAG_STAT_SPI_FAIL) - dev_err(dev, "SPI failure\n"); - if (status & ADIS16251_DIAG_STAT_FLASH_UPT) - dev_err(dev, "Flash update failed\n"); - if (status & ADIS16251_DIAG_STAT_POWER_HIGH) - dev_err(dev, "Power supply above 5.25V\n"); - if (status & ADIS16251_DIAG_STAT_POWER_LOW) - dev_err(dev, "Power supply below 4.75V\n"); - -error_ret: - return ret; -} - -static int adis16251_initial_setup(struct adis16251_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 = ADIS16251_SPI_SLOW; - st->us->mode = SPI_MODE_3; - spi_setup(st->us); - - /* Disable IRQ */ - ret = adis16251_set_irq(dev, false); - if (ret) { - dev_err(dev, "disable irq failed"); - goto err_ret; - } - - /* Do self test */ - - /* Read status register to check the result */ - ret = adis16251_check_status(dev); - if (ret) { - adis16251_reset(dev); - dev_err(dev, "device not playing ball -> reset"); - msleep(ADIS16251_STARTUP_DELAY); - ret = adis16251_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 = adis16251_spi_read_reg_16(dev, ADIS16251_SMPL_PRD, &smp_prd); - if (!ret && (smp_prd & ADIS16251_SMPL_PRD_DIV_MASK) < 0x0A) { - st->us->max_speed_hz = ADIS16251_SPI_SLOW; - spi_setup(st->us); - } - -err_ret: - return ret; -} - -static IIO_DEV_ATTR_IN_NAMED_RAW(0, supply, adis16251_read_12bit_signed, - ADIS16251_SUPPLY_OUT); -static IIO_CONST_ATTR(in0_supply_scale, "0.0018315"); - -static IIO_DEV_ATTR_GYRO(adis16251_read_14bit_signed, - ADIS16251_GYRO_OUT); -static IIO_DEV_ATTR_GYRO_SCALE(S_IWUSR | S_IRUGO, - adis16251_read_12bit_signed, - adis16251_write_16bit, - ADIS16251_GYRO_SCALE); -static IIO_DEV_ATTR_GYRO_OFFSET(S_IWUSR | S_IRUGO, - adis16251_read_12bit_signed, - adis16251_write_16bit, - ADIS16251_GYRO_OFF); - -static IIO_DEV_ATTR_TEMP_RAW(adis16251_read_12bit_signed); -static IIO_CONST_ATTR(temp_offset, "25 K"); -static IIO_CONST_ATTR(temp_scale, "0.1453 K"); - -static IIO_DEV_ATTR_IN_NAMED_RAW(1, aux, adis16251_read_12bit_unsigned, - ADIS16251_AUX_ADC); -static IIO_CONST_ATTR(in1_aux_scale, "0.0006105"); - -static IIO_DEV_ATTR_SAMP_FREQ(S_IWUSR | S_IRUGO, - adis16251_read_frequency, - adis16251_write_frequency); -static IIO_DEV_ATTR_ANGL(adis16251_read_14bit_signed, - ADIS16251_ANGL_OUT); - -static IIO_DEV_ATTR_RESET(adis16251_write_reset); - -static IIO_CONST_ATTR_SAMP_FREQ_AVAIL("0.129 ~ 256"); - -static IIO_CONST_ATTR(name, "adis16251"); - -static struct attribute *adis16251_event_attributes[] = { - NULL -}; - -static struct attribute_group adis16251_event_attribute_group = { - .attrs = adis16251_event_attributes, -}; - -static struct attribute *adis16251_attributes[] = { - &iio_dev_attr_in0_supply_raw.dev_attr.attr, - &iio_const_attr_in0_supply_scale.dev_attr.attr, - &iio_dev_attr_gyro_raw.dev_attr.attr, - &iio_dev_attr_gyro_scale.dev_attr.attr, - &iio_dev_attr_gyro_offset.dev_attr.attr, - &iio_dev_attr_angl_raw.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_aux_raw.dev_attr.attr, - &iio_const_attr_in1_aux_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 adis16251_attribute_group = { - .attrs = adis16251_attributes, -}; - -static int __devinit adis16251_probe(struct spi_device *spi) -{ - int ret, regdone = 0; - struct adis16251_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)*ADIS16251_MAX_RX, GFP_KERNEL); - if (st->rx == NULL) { - ret = -ENOMEM; - goto error_free_st; - } - st->tx = kzalloc(sizeof(*st->tx)*ADIS16251_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(); - if (st->indio_dev == NULL) { - ret = -ENOMEM; - goto error_free_tx; - } - - st->indio_dev->dev.parent = &spi->dev; - st->indio_dev->num_interrupt_lines = 1; - st->indio_dev->event_attrs = &adis16251_event_attribute_group; - st->indio_dev->attrs = &adis16251_attribute_group; - st->indio_dev->dev_data = (void *)(st); - st->indio_dev->driver_module = THIS_MODULE; - st->indio_dev->modes = INDIO_DIRECT_MODE; - - ret = adis16251_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 = adis16251_initialize_ring(st->indio_dev->ring); - if (ret) { - printk(KERN_ERR "failed to initialize the ring\n"); - goto error_unreg_ring_funcs; - } - - if (spi->irq && gpio_is_valid(irq_to_gpio(spi->irq)) > 0) { - ret = iio_register_interrupt_line(spi->irq, - st->indio_dev, - 0, - IRQF_TRIGGER_RISING, - "adis16251"); - if (ret) - goto error_uninitialize_ring; - - ret = adis16251_probe_trigger(st->indio_dev); - if (ret) - goto error_unregister_line; - } - - /* Get the device into a sane initial state */ - ret = adis16251_initial_setup(st); - if (ret) - goto error_remove_trigger; - return 0; - -error_remove_trigger: - if (st->indio_dev->modes & INDIO_RING_TRIGGERED) - adis16251_remove_trigger(st->indio_dev); -error_unregister_line: - if (st->indio_dev->modes & INDIO_RING_TRIGGERED) - iio_unregister_interrupt_line(st->indio_dev, 0); -error_uninitialize_ring: - adis16251_uninitialize_ring(st->indio_dev->ring); -error_unreg_ring_funcs: - adis16251_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; -} - -/* fixme, confirm ordering in this function */ -static int adis16251_remove(struct spi_device *spi) -{ - int ret; - struct adis16251_state *st = spi_get_drvdata(spi); - struct iio_dev *indio_dev = st->indio_dev; - - ret = adis16251_stop_device(&(indio_dev->dev)); - if (ret) - goto err_ret; - - flush_scheduled_work(); - - adis16251_remove_trigger(indio_dev); - if (spi->irq && gpio_is_valid(irq_to_gpio(spi->irq)) > 0) - iio_unregister_interrupt_line(indio_dev, 0); - - adis16251_uninitialize_ring(indio_dev->ring); - adis16251_unconfigure_ring(indio_dev); - iio_device_unregister(indio_dev); - kfree(st->tx); - kfree(st->rx); - kfree(st); - - return 0; - -err_ret: - return ret; -} - -static struct spi_driver adis16251_driver = { - .driver = { - .name = "adis16251", - .owner = THIS_MODULE, - }, - .probe = adis16251_probe, - .remove = __devexit_p(adis16251_remove), -}; - -static __init int adis16251_init(void) -{ - return spi_register_driver(&adis16251_driver); -} -module_init(adis16251_init); - -static __exit void adis16251_exit(void) -{ - spi_unregister_driver(&adis16251_driver); -} -module_exit(adis16251_exit); - -MODULE_AUTHOR("Barry Song <21cnbao@gmail.com>"); -MODULE_DESCRIPTION("Analog Devices ADIS16251 Digital Gyroscope Sensor SPI driver"); -MODULE_LICENSE("GPL v2"); diff --git a/drivers/staging/iio/gyro/adis16260_core.c b/drivers/staging/iio/gyro/adis16260_core.c index 045e27d..69a29ec 100644 --- a/drivers/staging/iio/gyro/adis16260_core.c +++ b/drivers/staging/iio/gyro/adis16260_core.c @@ -238,10 +238,24 @@ error_ret: return ret ? ret : len; } +static ssize_t adis16260_read_frequency_available(struct device *dev, + struct device_attribute *attr, + char *buf) +{ + struct iio_dev *indio_dev = dev_get_drvdata(dev); + struct adis16260_state *st = iio_dev_get_devdata(indio_dev); + if (spi_get_device_id(st->us)->driver_data) + return sprintf(buf, "%s\n", "0.129 ~ 256"); + else + return sprintf(buf, "%s\n", "256 2048"); +} + static ssize_t adis16260_read_frequency(struct device *dev, struct device_attribute *attr, char *buf) { + struct iio_dev *indio_dev = dev_get_drvdata(dev); + struct adis16260_state *st = iio_dev_get_devdata(indio_dev); int ret, len = 0; u16 t; int sps; @@ -250,7 +264,11 @@ static ssize_t adis16260_read_frequency(struct device *dev, &t); if (ret) return ret; - sps = (t & ADIS16260_SMPL_PRD_TIME_BASE) ? 66 : 2048; + + if (spi_get_device_id(st->us)->driver_data) /* If an adis16251 */ + sps = (t & ADIS16260_SMPL_PRD_TIME_BASE) ? 8 : 256; + else + sps = (t & ADIS16260_SMPL_PRD_TIME_BASE) ? 66 : 2048; sps /= (t & ADIS16260_SMPL_PRD_DIV_MASK) + 1; len = sprintf(buf, "%d SPS\n", sps); return len; @@ -272,16 +290,21 @@ static ssize_t adis16260_write_frequency(struct device *dev, return ret; mutex_lock(&indio_dev->mlock); - - t = (2048 / val); - if (t > 0) - t--; - t &= ADIS16260_SMPL_PRD_DIV_MASK; + if (spi_get_device_id(st->us)) { + t = (256 / val); + if (t > 0) + t--; + t &= ADIS16260_SMPL_PRD_DIV_MASK; + } else { + t = (2048 / val); + if (t > 0) + t--; + t &= ADIS16260_SMPL_PRD_DIV_MASK; + } if ((t & ADIS16260_SMPL_PRD_DIV_MASK) >= 0x0A) st->us->max_speed_hz = ADIS16260_SPI_SLOW; else st->us->max_speed_hz = ADIS16260_SPI_FAST; - ret = adis16260_spi_write_reg_8(dev, ADIS16260_SMPL_PRD, t); @@ -302,7 +325,10 @@ static ssize_t adis16260_read_gyro_scale(struct device *dev, if (st->negate) ret = sprintf(buf, "-"); /* Take the iio_dev status lock */ - ret += sprintf(buf + ret, "%s\n", "0.00127862821"); + if (spi_get_device_id(st->us)->driver_data) + ret += sprintf(buf + ret, "%s\n", "0.00031974432"); + else + ret += sprintf(buf + ret, "%s\n", "0.00127862821"); return ret; } @@ -475,7 +501,9 @@ static IIO_DEV_ATTR_SAMP_FREQ(S_IWUSR | S_IRUGO, static IIO_DEVICE_ATTR(reset, S_IWUSR, NULL, adis16260_write_reset, 0); -static IIO_CONST_ATTR_SAMP_FREQ_AVAIL("256 2048"); + +static IIO_DEVICE_ATTR(sampling_frequency_available, + S_IRUGO, adis16260_read_frequency_available, NULL, 0); static IIO_CONST_ATTR_NAME("adis16260"); @@ -525,7 +553,7 @@ static ADIS16260_GYRO_ATTR_SET(_Z); &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_sampling_frequency_available.dev_attr.attr, \ &iio_dev_attr_reset.dev_attr.attr, \ &iio_const_attr_name.dev_attr.attr, \ NULL \ @@ -693,6 +721,7 @@ static const struct spi_device_id adis16260_id[] = { {"adis16265", 0}, {"adis16250", 0}, {"adis16255", 0}, + {"adis16251", 1}, {} }; |