+++ /dev/null
-#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_ */
+++ /dev/null
-/*
- * 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");
+++ /dev/null
-#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;
-}
-
projects / profile / ivi / kernel-x86-ivi.git / commitdiff