From 32341859f04e0f0d418d0d0eec903a959cb09ebb Mon Sep 17 00:00:00 2001 From: Lars-Peter Clausen Date: Mon, 10 Jun 2013 15:00:00 +0100 Subject: staging:iio:adis16130: Move out of staging The adis16130 driver is fairly simple and it a good shape now, so move it out of staging. Remove an outdated FIXME along the way. Signed-off-by: Lars-Peter Clausen Signed-off-by: Jonathan Cameron diff --git a/drivers/iio/gyro/Kconfig b/drivers/iio/gyro/Kconfig index b8daf1b..8498e9d 100644 --- a/drivers/iio/gyro/Kconfig +++ b/drivers/iio/gyro/Kconfig @@ -10,6 +10,13 @@ config ADIS16080 Say yes here to build support for Analog Devices ADIS16080, ADIS16100 Yaw Rate Gyroscope with SPI. +config ADIS16130 + tristate "Analog Devices ADIS16130 High Precision Angular Rate Sensor driver" + depends on SPI + help + Say yes here to build support for Analog Devices ADIS16130 High Precision + Angular Rate Sensor driver. + config ADIS16136 tristate "Analog devices ADIS16136 and similar gyroscopes driver" depends on SPI_MASTER diff --git a/drivers/iio/gyro/Makefile b/drivers/iio/gyro/Makefile index 225d289..e9dc034 100644 --- a/drivers/iio/gyro/Makefile +++ b/drivers/iio/gyro/Makefile @@ -3,6 +3,7 @@ # obj-$(CONFIG_ADIS16080) += adis16080.o +obj-$(CONFIG_ADIS16130) += adis16130.o obj-$(CONFIG_ADIS16136) += adis16136.o obj-$(CONFIG_ADXRS450) += adxrs450.o diff --git a/drivers/iio/gyro/adis16130.c b/drivers/iio/gyro/adis16130.c new file mode 100644 index 0000000..129acdf --- /dev/null +++ b/drivers/iio/gyro/adis16130.c @@ -0,0 +1,207 @@ +/* + * ADIS16130 Digital Output, High Precision Angular Rate Sensor driver + * + * Copyright 2010 Analog Devices Inc. + * + * Licensed under the GPL-2 or later. + */ + +#include +#include +#include +#include + +#include + +#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 + * @buf_lock: mutex to protect tx and rx + * @buf: unified tx/rx buffer + **/ +struct adis16130_state { + struct spi_device *us; + struct mutex buf_lock; + u8 buf[4] ____cacheline_aligned; +}; + +static int adis16130_spi_read(struct iio_dev *indio_dev, u8 reg_addr, u32 *val) +{ + int ret; + struct adis16130_state *st = iio_priv(indio_dev); + struct spi_message msg; + struct spi_transfer xfer = { + .tx_buf = st->buf, + .rx_buf = st->buf, + .len = 4, + }; + + mutex_lock(&st->buf_lock); + + st->buf[0] = ADIS16130_CON_RD | reg_addr; + st->buf[1] = st->buf[2] = st->buf[3] = 0; + + spi_message_init(&msg); + spi_message_add_tail(&xfer, &msg); + ret = spi_sync(st->us, &msg); + + if (ret == 0) + *val = (st->buf[1] << 16) | (st->buf[2] << 8) | st->buf[3]; + mutex_unlock(&st->buf_lock); + + return ret; +} + +static int adis16130_read_raw(struct iio_dev *indio_dev, + struct iio_chan_spec const *chan, + int *val, int *val2, + long mask) +{ + int ret; + u32 temp; + + switch (mask) { + case IIO_CHAN_INFO_RAW: + /* Take the iio_dev status lock */ + mutex_lock(&indio_dev->mlock); + ret = adis16130_spi_read(indio_dev, chan->address, &temp); + mutex_unlock(&indio_dev->mlock); + if (ret) + return ret; + *val = temp; + return IIO_VAL_INT; + case IIO_CHAN_INFO_SCALE: + switch (chan->type) { + case IIO_ANGL_VEL: + /* 0 degree = 838860, 250 degree = 14260608 */ + *val = 250; + *val2 = 336440817; /* RAD_TO_DEGREE(14260608 - 8388608) */ + return IIO_VAL_FRACTIONAL; + case IIO_TEMP: + /* 0C = 8036283, 105C = 9516048 */ + *val = 105000; + *val2 = 9516048 - 8036283; + return IIO_VAL_FRACTIONAL; + default: + return -EINVAL; + } + break; + case IIO_CHAN_INFO_OFFSET: + switch (chan->type) { + case IIO_ANGL_VEL: + *val = -8388608; + return IIO_VAL_INT; + case IIO_TEMP: + *val = -8036283; + return IIO_VAL_INT; + default: + return -EINVAL; + } + break; + } + + return -EINVAL; +} + +static const struct iio_chan_spec adis16130_channels[] = { + { + .type = IIO_ANGL_VEL, + .modified = 1, + .channel2 = IIO_MOD_Z, + .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | + BIT(IIO_CHAN_INFO_SCALE) | + BIT(IIO_CHAN_INFO_OFFSET), + .address = ADIS16130_RATEDATA, + }, { + .type = IIO_TEMP, + .indexed = 1, + .channel = 0, + .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | + BIT(IIO_CHAN_INFO_SCALE) | + BIT(IIO_CHAN_INFO_OFFSET), + .address = ADIS16130_TEMPDATA, + } +}; + +static const struct iio_info adis16130_info = { + .read_raw = &adis16130_read_raw, + .driver_module = THIS_MODULE, +}; + +static int adis16130_probe(struct spi_device *spi) +{ + int ret; + struct adis16130_state *st; + struct iio_dev *indio_dev; + + /* setup the industrialio driver allocated elements */ + indio_dev = iio_device_alloc(sizeof(*st)); + if (indio_dev == NULL) { + ret = -ENOMEM; + goto error_ret; + } + st = iio_priv(indio_dev); + /* this is only used for removal purposes */ + spi_set_drvdata(spi, indio_dev); + st->us = spi; + mutex_init(&st->buf_lock); + indio_dev->name = spi->dev.driver->name; + indio_dev->channels = adis16130_channels; + indio_dev->num_channels = ARRAY_SIZE(adis16130_channels); + indio_dev->dev.parent = &spi->dev; + indio_dev->info = &adis16130_info; + indio_dev->modes = INDIO_DIRECT_MODE; + + ret = iio_device_register(indio_dev); + if (ret) + goto error_free_dev; + + return 0; + +error_free_dev: + iio_device_free(indio_dev); + +error_ret: + return ret; +} + +static int adis16130_remove(struct spi_device *spi) +{ + iio_device_unregister(spi_get_drvdata(spi)); + iio_device_free(spi_get_drvdata(spi)); + + return 0; +} + +static struct spi_driver adis16130_driver = { + .driver = { + .name = "adis16130", + .owner = THIS_MODULE, + }, + .probe = adis16130_probe, + .remove = adis16130_remove, +}; +module_spi_driver(adis16130_driver); + +MODULE_AUTHOR("Barry Song <21cnbao@gmail.com>"); +MODULE_DESCRIPTION("Analog Devices ADIS16130 High Precision Angular Rate"); +MODULE_LICENSE("GPL v2"); +MODULE_ALIAS("spi:adis16130"); diff --git a/drivers/staging/iio/gyro/Kconfig b/drivers/staging/iio/gyro/Kconfig index 8360662..b433371 100644 --- a/drivers/staging/iio/gyro/Kconfig +++ b/drivers/staging/iio/gyro/Kconfig @@ -10,13 +10,6 @@ config ADIS16060 Say yes here to build support for Analog Devices adis16060 wide bandwidth yaw rate gyroscope with SPI. -config ADIS16130 - tristate "Analog Devices ADIS16130 High Precision Angular Rate Sensor driver" - depends on SPI - help - Say yes here to build support for Analog Devices ADIS16130 High Precision - Angular Rate Sensor driver. - config ADIS16260 tristate "Analog Devices ADIS16260 Digital Gyroscope Sensor SPI driver" depends on SPI diff --git a/drivers/staging/iio/gyro/Makefile b/drivers/staging/iio/gyro/Makefile index 98e6500..975f95b 100644 --- a/drivers/staging/iio/gyro/Makefile +++ b/drivers/staging/iio/gyro/Makefile @@ -5,8 +5,5 @@ adis16060-y := adis16060_core.o obj-$(CONFIG_ADIS16060) += adis16060.o -adis16130-y := adis16130_core.o -obj-$(CONFIG_ADIS16130) += adis16130.o - adis16260-y := adis16260_core.o obj-$(CONFIG_ADIS16260) += adis16260.o diff --git a/drivers/staging/iio/gyro/adis16130_core.c b/drivers/staging/iio/gyro/adis16130_core.c deleted file mode 100644 index 8979435..0000000 --- a/drivers/staging/iio/gyro/adis16130_core.c +++ /dev/null @@ -1,208 +0,0 @@ -/* - * ADIS16130 Digital Output, High Precision Angular Rate Sensor driver - * - * Copyright 2010 Analog Devices Inc. - * - * Licensed under the GPL-2 or later. - */ - -#include -#include -#include -#include - -#include - -#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 - * @buf_lock: mutex to protect tx and rx - * @buf: unified tx/rx buffer - **/ -struct adis16130_state { - struct spi_device *us; - struct mutex buf_lock; - u8 buf[4] ____cacheline_aligned; -}; - -static int adis16130_spi_read(struct iio_dev *indio_dev, u8 reg_addr, u32 *val) -{ - int ret; - struct adis16130_state *st = iio_priv(indio_dev); - struct spi_message msg; - struct spi_transfer xfer = { - .tx_buf = st->buf, - .rx_buf = st->buf, - .len = 4, - }; - - mutex_lock(&st->buf_lock); - - st->buf[0] = ADIS16130_CON_RD | reg_addr; - st->buf[1] = st->buf[2] = st->buf[3] = 0; - - spi_message_init(&msg); - spi_message_add_tail(&xfer, &msg); - ret = spi_sync(st->us, &msg); - - if (ret == 0) - *val = (st->buf[1] << 16) | (st->buf[2] << 8) | st->buf[3]; - mutex_unlock(&st->buf_lock); - - return ret; -} - -static int adis16130_read_raw(struct iio_dev *indio_dev, - struct iio_chan_spec const *chan, - int *val, int *val2, - long mask) -{ - int ret; - u32 temp; - - switch (mask) { - case IIO_CHAN_INFO_RAW: - /* Take the iio_dev status lock */ - mutex_lock(&indio_dev->mlock); - ret = adis16130_spi_read(indio_dev, chan->address, &temp); - mutex_unlock(&indio_dev->mlock); - if (ret) - return ret; - *val = temp; - return IIO_VAL_INT; - case IIO_CHAN_INFO_SCALE: - switch (chan->type) { - case IIO_ANGL_VEL: - /* 0 degree = 838860, 250 degree = 14260608 */ - *val = 250; - *val2 = 336440817; /* RAD_TO_DEGREE(14260608 - 8388608) */ - return IIO_VAL_FRACTIONAL; - case IIO_TEMP: - /* 0C = 8036283, 105C = 9516048 */ - *val = 105000; - *val2 = 9516048 - 8036283; - return IIO_VAL_FRACTIONAL; - default: - return -EINVAL; - } - break; - case IIO_CHAN_INFO_OFFSET: - switch (chan->type) { - case IIO_ANGL_VEL: - *val = -8388608; - return IIO_VAL_INT; - case IIO_TEMP: - *val = -8036283; - return IIO_VAL_INT; - default: - return -EINVAL; - } - break; - } - - return -EINVAL; -} - -static const struct iio_chan_spec adis16130_channels[] = { - { - .type = IIO_ANGL_VEL, - .modified = 1, - .channel2 = IIO_MOD_Z, - .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | - BIT(IIO_CHAN_INFO_SCALE) | - BIT(IIO_CHAN_INFO_OFFSET), - .address = ADIS16130_RATEDATA, - }, { - .type = IIO_TEMP, - .indexed = 1, - .channel = 0, - .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | - BIT(IIO_CHAN_INFO_SCALE) | - BIT(IIO_CHAN_INFO_OFFSET), - .address = ADIS16130_TEMPDATA, - } -}; - -static const struct iio_info adis16130_info = { - .read_raw = &adis16130_read_raw, - .driver_module = THIS_MODULE, -}; - -static int adis16130_probe(struct spi_device *spi) -{ - int ret; - struct adis16130_state *st; - struct iio_dev *indio_dev; - - /* setup the industrialio driver allocated elements */ - indio_dev = iio_device_alloc(sizeof(*st)); - if (indio_dev == NULL) { - ret = -ENOMEM; - goto error_ret; - } - st = iio_priv(indio_dev); - /* this is only used for removal purposes */ - spi_set_drvdata(spi, indio_dev); - st->us = spi; - mutex_init(&st->buf_lock); - indio_dev->name = spi->dev.driver->name; - indio_dev->channels = adis16130_channels; - indio_dev->num_channels = ARRAY_SIZE(adis16130_channels); - indio_dev->dev.parent = &spi->dev; - indio_dev->info = &adis16130_info; - indio_dev->modes = INDIO_DIRECT_MODE; - - ret = iio_device_register(indio_dev); - if (ret) - goto error_free_dev; - - return 0; - -error_free_dev: - iio_device_free(indio_dev); - -error_ret: - return ret; -} - -/* fixme, confirm ordering in this function */ -static int adis16130_remove(struct spi_device *spi) -{ - iio_device_unregister(spi_get_drvdata(spi)); - iio_device_free(spi_get_drvdata(spi)); - - return 0; -} - -static struct spi_driver adis16130_driver = { - .driver = { - .name = "adis16130", - .owner = THIS_MODULE, - }, - .probe = adis16130_probe, - .remove = adis16130_remove, -}; -module_spi_driver(adis16130_driver); - -MODULE_AUTHOR("Barry Song <21cnbao@gmail.com>"); -MODULE_DESCRIPTION("Analog Devices ADIS16130 High Precision Angular Rate"); -MODULE_LICENSE("GPL v2"); -MODULE_ALIAS("spi:adis16130"); -- cgit v0.10.2