+++ /dev/null
-#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_ */
+++ /dev/null
-/*
- * 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");
projects / platform / adaptation / renesas_rcar / renesas_kernel.git / commitdiff