#define DRIVER_NAME "adis16400"
+enum adis16400_chip_variant {
+ ADIS16350,
+ ADIS16360,
+ ADIS16362,
+ ADIS16364,
+ ADIS16365,
+ ADIS16400,
+};
+
static int adis16400_check_status(struct iio_dev *indio_dev);
/* At the moment the spi framework doesn't allow global setting of cs_change.
goto err_ret;
}
}
+ if (st->variant->flags & ADIS16400_HAS_PROD_ID) {
+ ret = adis16400_spi_read_reg_16(st->indio_dev,
+ ADIS16400_PRODUCT_ID, &prod_id);
+ if (ret)
+ goto err_ret;
- ret = adis16400_spi_read_reg_16(st->indio_dev,
- ADIS16400_PRODUCT_ID, &prod_id);
- if (ret)
- goto err_ret;
-
- if ((prod_id & 0xF000) != ADIS16400_PRODUCT_ID_DEFAULT)
- dev_warn(dev, "unknown product id");
-
-
- dev_info(dev, ": prod_id 0x%04x at CS%d (irq %d)\n",
- prod_id, st->us->chip_select, st->us->irq);
+ if ((prod_id & 0xF000) != st->variant->product_id)
+ dev_warn(dev, "incorrect id");
+ printk(KERN_INFO DRIVER_NAME ": prod_id 0x%04x at CS%d (irq %d)\n",
+ prod_id, st->us->chip_select, st->us->irq);
+ }
/* use high spi speed if possible */
ret = adis16400_spi_read_reg_16(st->indio_dev,
ADIS16400_SMPL_PRD, &smp_prd);
static IIO_CONST_ATTR_SAMP_FREQ_AVAIL("409 546 819 1638");
-static IIO_CONST_ATTR_NAME("adis16400");
+static ssize_t adis16400_show_name(struct device *dev,
+ struct device_attribute *attr,
+ char *buf)
+{
+ struct adis16400_state *st
+ = iio_dev_get_devdata(dev_get_drvdata(dev));
+ return sprintf(buf, "%s\n", spi_get_device_id(st->us)->name);
+}
+static IIO_DEVICE_ATTR(name, S_IRUGO, adis16400_show_name, NULL, 0);
enum adis16400_chan {
in_supply,
magn_y,
magn_z,
temp,
+ temp0, temp1, temp2,
in1
};
-static u8 adis16400_addresses[12][2] = {
+static u8 adis16400_addresses[16][2] = {
[in_supply] = { ADIS16400_SUPPLY_OUT, 0 },
[gyro_x] = { ADIS16400_XGYRO_OUT, ADIS16400_XGYRO_OFF },
[gyro_y] = { ADIS16400_YGYRO_OUT, ADIS16400_YGYRO_OFF },
[magn_y] = { ADIS16400_YMAGN_OUT, 0 },
[magn_z] = { ADIS16400_ZMAGN_OUT, 0 },
[temp] = { ADIS16400_TEMP_OUT, 0 },
+ [temp0] = { ADIS16350_XTEMP_OUT },
+ [temp1] = { ADIS16350_YTEMP_OUT },
+ [temp2] = { ADIS16350_ZTEMP_OUT },
[in1] = { ADIS16400_AUX_ADC , 0 },
};
int *val2,
long mask)
{
+ struct adis16400_state *st = iio_dev_get_devdata(indio_dev);
int ret;
s16 val16;
int shift;
switch (chan->type) {
case IIO_GYRO:
*val = 0;
- *val2 = 873;
+ *val2 = st->variant->gyro_scale_micro;
return IIO_VAL_INT_PLUS_MICRO;
case IIO_IN:
*val = 0;
return IIO_VAL_INT_PLUS_MICRO;
case IIO_ACCEL:
*val = 0;
- *val2 = 32656;
+ *val2 = st->variant->accel_scale_micro;
return IIO_VAL_INT_PLUS_MICRO;
case IIO_MAGN:
*val = 0;
ret = adis16400_spi_read_reg_16(indio_dev,
adis16400_addresses[chan->address][1],
&val16);
- if (ret) {
- mutex_unlock(&indio_dev->mlock);
+ mutex_unlock(&indio_dev->mlock);
+ if (ret)
return ret;
- }
val16 = ((val16 & 0xFFF) << 4) >> 4;
*val = val16;
return IIO_VAL_INT;
IIO_CHAN_SOFT_TIMESTAMP(12)
};
+static struct iio_chan_spec adis16350_channels[] = {
+ IIO_CHAN(IIO_IN, 0, 1, 0, "supply", 0, 0,
+ (1 << IIO_CHAN_INFO_SCALE_SEPARATE),
+ 0, ADIS16400_SCAN_SUPPLY, IIO_ST('u', 12, 16, 0), 0),
+ IIO_CHAN(IIO_GYRO, 1, 0, 0, NULL, 0, IIO_MOD_X,
+ (1 << IIO_CHAN_INFO_CALIBBIAS_SEPARATE) |
+ (1 << IIO_CHAN_INFO_SCALE_SHARED),
+ 1, ADIS16400_SCAN_GYRO_X, IIO_ST('s', 14, 16, 0), 0),
+ IIO_CHAN(IIO_GYRO, 1, 0, 0, NULL, 0, IIO_MOD_Y,
+ (1 << IIO_CHAN_INFO_CALIBBIAS_SEPARATE) |
+ (1 << IIO_CHAN_INFO_SCALE_SHARED),
+ 2, ADIS16400_SCAN_GYRO_Y, IIO_ST('s', 14, 16, 0), 0),
+ IIO_CHAN(IIO_GYRO, 1, 0, 0, NULL, 0, IIO_MOD_Z,
+ (1 << IIO_CHAN_INFO_CALIBBIAS_SEPARATE) |
+ (1 << IIO_CHAN_INFO_SCALE_SHARED),
+ 3, ADIS16400_SCAN_GYRO_Z, IIO_ST('s', 14, 16, 0), 0),
+ IIO_CHAN(IIO_ACCEL, 1, 0, 0, NULL, 0, IIO_MOD_X,
+ (1 << IIO_CHAN_INFO_CALIBBIAS_SEPARATE) |
+ (1 << IIO_CHAN_INFO_SCALE_SHARED),
+ 4, ADIS16400_SCAN_ACC_X, IIO_ST('s', 14, 16, 0), 0),
+ IIO_CHAN(IIO_ACCEL, 1, 0, 0, NULL, 0, IIO_MOD_Y,
+ (1 << IIO_CHAN_INFO_CALIBBIAS_SEPARATE) |
+ (1 << IIO_CHAN_INFO_SCALE_SHARED),
+ 0, ADIS16400_SCAN_ACC_Y, IIO_ST('s', 14, 16, 0), 0),
+ IIO_CHAN(IIO_ACCEL, 1, 0, 0, NULL, 0, IIO_MOD_Z,
+ (1 << IIO_CHAN_INFO_CALIBBIAS_SEPARATE) |
+ (1 << IIO_CHAN_INFO_SCALE_SHARED),
+ 0, ADIS16400_SCAN_ACC_Z, IIO_ST('s', 14, 16, 0), 0),
+ IIO_CHAN(IIO_TEMP, 0, 1, 0, "x", 0, 0,
+ (1 << IIO_CHAN_INFO_OFFSET_SEPARATE) |
+ (1 << IIO_CHAN_INFO_SCALE_SEPARATE),
+ 0, ADIS16350_SCAN_TEMP_X, IIO_ST('s', 12, 16, 0), 0),
+ IIO_CHAN(IIO_TEMP, 0, 1, 0, "y", 1, 0,
+ (1 << IIO_CHAN_INFO_OFFSET_SEPARATE) |
+ (1 << IIO_CHAN_INFO_SCALE_SEPARATE),
+ 0, ADIS16350_SCAN_TEMP_Y, IIO_ST('s', 12, 16, 0), 0),
+ IIO_CHAN(IIO_TEMP, 0, 1, 0, "z", 2, 0,
+ (1 << IIO_CHAN_INFO_OFFSET_SEPARATE) |
+ (1 << IIO_CHAN_INFO_SCALE_SEPARATE),
+ 0, ADIS16350_SCAN_TEMP_Z, IIO_ST('s', 12, 16, 0), 0),
+ IIO_CHAN(IIO_IN, 0, 1, 0, NULL, 1, 0,
+ (1 << IIO_CHAN_INFO_SCALE_SEPARATE),
+ 0, ADIS16350_SCAN_ADC_0, IIO_ST('s', 12, 16, 0), 0),
+ IIO_CHAN_SOFT_TIMESTAMP(11)
+};
+
static struct attribute *adis16400_attributes[] = {
&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,
+ &iio_dev_attr_name.dev_attr.attr,
NULL
};
.attrs = adis16400_attributes,
};
+static struct adis16400_chip_info adis16400_chips[] = {
+ [ADIS16350] = {
+ .channels = adis16350_channels,
+ .num_channels = ARRAY_SIZE(adis16350_channels),
+ .gyro_scale_micro = 872664,
+ .accel_scale_micro = 24732,
+ .default_scan_mask = 0x7FF,
+ .flags = ADIS16400_NO_BURST,
+ },
+ [ADIS16360] = {
+ .channels = adis16350_channels,
+ .num_channels = ARRAY_SIZE(adis16350_channels),
+ .flags = ADIS16400_HAS_PROD_ID,
+ .product_id = 0x3FE8,
+ .gyro_scale_micro = 1279,
+ .accel_scale_micro = 24732,
+ .default_scan_mask = 0x7FF,
+ },
+ [ADIS16362] = {
+ .channels = adis16350_channels,
+ .num_channels = ARRAY_SIZE(adis16350_channels),
+ .flags = ADIS16400_HAS_PROD_ID,
+ .product_id = 0x3FEA,
+ .gyro_scale_micro = 1279,
+ .accel_scale_micro = 24732,
+ .default_scan_mask = 0x7FF,
+ },
+ [ADIS16364] = {
+ .channels = adis16350_channels,
+ .num_channels = ARRAY_SIZE(adis16350_channels),
+ .flags = ADIS16400_HAS_PROD_ID,
+ .product_id = 0x3FEC,
+ .gyro_scale_micro = 1279,
+ .accel_scale_micro = 24732,
+ .default_scan_mask = 0x7FF,
+ },
+ [ADIS16365] = {
+ .channels = adis16350_channels,
+ .num_channels = ARRAY_SIZE(adis16350_channels),
+ .flags = ADIS16400_HAS_PROD_ID,
+ .product_id = 0x3FED,
+ .gyro_scale_micro = 1279,
+ .accel_scale_micro = 24732,
+ .default_scan_mask = 0x7FF,
+ },
+ [ADIS16400] = {
+ .channels = adis16400_channels,
+ .num_channels = ARRAY_SIZE(adis16400_channels),
+ .flags = ADIS16400_HAS_PROD_ID,
+ .product_id = 0x4015,
+ .gyro_scale_micro = 873,
+ .accel_scale_micro = 32656,
+ .default_scan_mask = 0xFFF,
+ }
+};
+
+
+
static int __devinit adis16400_probe(struct spi_device *spi)
{
int ret, regdone = 0;
ret = -ENOMEM;
goto error_free_tx;
}
-
+ st->variant = &adis16400_chips[spi_get_device_id(spi)->driver_data];
st->indio_dev->dev.parent = &spi->dev;
st->indio_dev->attrs = &adis16400_attribute_group;
- st->indio_dev->channels = adis16400_channels;
- st->indio_dev->num_channels = ARRAY_SIZE(adis16400_channels);
+ st->indio_dev->channels = st->variant->channels;
+ st->indio_dev->num_channels = st->variant->num_channels;
st->indio_dev->read_raw = &adis16400_read_raw;
st->indio_dev->write_raw = &adis16400_write_raw;
st->indio_dev->dev_data = (void *)(st);
goto error_unreg_ring_funcs;
regdone = 1;
- ret = iio_ring_buffer_register(st->indio_dev->ring, 0);
+ ret = iio_ring_buffer_register_ex(st->indio_dev->ring, 0,
+ st->variant->channels,
+ st->variant->num_channels);
if (ret) {
dev_err(&spi->dev, "failed to initialize the ring\n");
goto error_unreg_ring_funcs;
iio_ring_buffer_unregister(st->indio_dev->ring);
adis16400_unconfigure_ring(indio_dev);
iio_device_unregister(indio_dev);
+
kfree(st->tx);
kfree(st->rx);
kfree(st);
return ret;
}
+static const struct spi_device_id adis16400_id[] = {
+ {"adis16350", ADIS16350},
+ {"adis16354", ADIS16350},
+ {"adis16355", ADIS16350},
+ {"adis16360", ADIS16360},
+ {"adis16362", ADIS16362},
+ {"adis16364", ADIS16364},
+ {"adis16365", ADIS16365},
+ {"adis16400", ADIS16400},
+ {"adis16405", ADIS16400},
+ {}
+};
+
static struct spi_driver adis16400_driver = {
.driver = {
.name = "adis16400",
.owner = THIS_MODULE,
},
+ .id_table = adis16400_id,
.probe = adis16400_probe,
.remove = __devexit_p(adis16400_remove),
};
#include <linux/slab.h>
#include <linux/sysfs.h>
#include <linux/list.h>
+#include <linux/bitops.h>
#include "../iio.h"
#include "../sysfs.h"
return ret;
}
+static const u16 read_all_tx_array[] = {
+ cpu_to_be16(ADIS16400_READ_REG(ADIS16400_SUPPLY_OUT)),
+ cpu_to_be16(ADIS16400_READ_REG(ADIS16400_XGYRO_OUT)),
+ cpu_to_be16(ADIS16400_READ_REG(ADIS16400_YGYRO_OUT)),
+ cpu_to_be16(ADIS16400_READ_REG(ADIS16400_ZGYRO_OUT)),
+ cpu_to_be16(ADIS16400_READ_REG(ADIS16400_XACCL_OUT)),
+ cpu_to_be16(ADIS16400_READ_REG(ADIS16400_YACCL_OUT)),
+ cpu_to_be16(ADIS16400_READ_REG(ADIS16400_ZACCL_OUT)),
+ cpu_to_be16(ADIS16400_READ_REG(ADIS16350_XTEMP_OUT)),
+ cpu_to_be16(ADIS16400_READ_REG(ADIS16350_YTEMP_OUT)),
+ cpu_to_be16(ADIS16400_READ_REG(ADIS16350_ZTEMP_OUT)),
+ cpu_to_be16(ADIS16400_READ_REG(ADIS16400_AUX_ADC)),
+};
+
+static int adis16350_spi_read_all(struct device *dev, u8 *rx)
+{
+ struct iio_dev *indio_dev = dev_get_drvdata(dev);
+ struct adis16400_state *st = iio_dev_get_devdata(indio_dev);
+
+ struct spi_message msg;
+ int i, j = 0, ret;
+ struct spi_transfer *xfers;
+
+ xfers = kzalloc(sizeof(*xfers)*
+ st->indio_dev->ring->scan_count + 1,
+ GFP_KERNEL);
+ if (xfers == NULL)
+ return -ENOMEM;
+
+ for (i = 0; i < ARRAY_SIZE(read_all_tx_array); i++)
+ if (st->indio_dev->ring->scan_mask & (1 << i)) {
+ xfers[j].tx_buf = &read_all_tx_array[i];
+ xfers[j].bits_per_word = 16;
+ xfers[j].len = 2;
+ xfers[j + 1].rx_buf = rx + j*2;
+ j++;
+ }
+ xfers[j].bits_per_word = 16;
+ xfers[j].len = 2;
+
+ spi_message_init(&msg);
+ for (j = 0; j < st->indio_dev->ring->scan_count + 1; j++)
+ spi_message_add_tail(&xfers[j], &msg);
+
+ ret = spi_sync(st->us, &msg);
+ kfree(xfers);
+
+ 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.
*/
struct iio_dev *indio_dev = pf->private_data;
struct adis16400_state *st = iio_dev_get_devdata(indio_dev);
struct iio_ring_buffer *ring = indio_dev->ring;
- int i = 0, j;
+ int i = 0, j, ret = 0;
s16 *data;
size_t datasize = ring->access.get_bytes_per_datum(ring);
unsigned long mask = ring->scan_mask;
return -ENOMEM;
}
- if (ring->scan_count)
- if (adis16400_spi_read_burst(&indio_dev->dev, st->rx) >= 0)
- for (; i < ring->scan_count; i++) {
+ if (ring->scan_count) {
+ if (st->variant->flags & ADIS16400_NO_BURST) {
+ ret = adis16350_spi_read_all(&indio_dev->dev, st->rx);
+ if (ret < 0)
+ return ret;
+ for (; i < ring->scan_count; i++)
+ data[i] = *(s16 *)(st->rx + i*2);
+ } else {
+ ret = adis16400_spi_read_burst(&indio_dev->dev, st->rx);
+ if (ret < 0)
+ return ret;
+ for (; i < indio_dev->ring->scan_count; i++) {
j = __ffs(mask);
mask &= ~(1 << j);
- data[i] = be16_to_cpup(
+ data[i] = be16_to_cpup(
(__be16 *)&(st->rx[j*2]));
}
-
+ }
+ }
/* Guaranteed to be aligned with 8 byte boundary */
if (ring->scan_timestamp)
*((s64 *)(data + ((i + 3)/4)*4)) = pf->timestamp;
int adis16400_configure_ring(struct iio_dev *indio_dev)
{
int ret = 0;
+ struct adis16400_state *st = iio_dev_get_devdata(indio_dev);
struct iio_ring_buffer *ring;
ring = iio_sw_rb_allocate(indio_dev);
ring->postenable = &iio_triggered_ring_postenable;
ring->predisable = &iio_triggered_ring_predisable;
ring->owner = THIS_MODULE;
-
+ ring->scan_mask = st->variant->default_scan_mask;
+ ring->scan_count = hweight_long(st->variant->default_scan_mask);
/* Set default scan mode */
- iio_scan_mask_set(ring, ADIS16400_SCAN_SUPPLY);
- iio_scan_mask_set(ring, ADIS16400_SCAN_GYRO_X);
- iio_scan_mask_set(ring, ADIS16400_SCAN_GYRO_Y);
- iio_scan_mask_set(ring, ADIS16400_SCAN_GYRO_Z);
- iio_scan_mask_set(ring, ADIS16400_SCAN_ACC_X);
- iio_scan_mask_set(ring, ADIS16400_SCAN_ACC_Y);
- iio_scan_mask_set(ring, ADIS16400_SCAN_ACC_Z);
- iio_scan_mask_set(ring, ADIS16400_SCAN_MAGN_X);
- iio_scan_mask_set(ring, ADIS16400_SCAN_MAGN_Y);
- iio_scan_mask_set(ring, ADIS16400_SCAN_MAGN_Z);
- iio_scan_mask_set(ring, ADIS16400_SCAN_TEMP);
- iio_scan_mask_set(ring, ADIS16400_SCAN_ADC_0);
indio_dev->pollfunc = kzalloc(sizeof(*indio_dev->pollfunc), GFP_KERNEL);
if (indio_dev->pollfunc == NULL) {
projects / platform / kernel / linux-rpi.git / commitdiff