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staging:iio:adis16260: Use adis library
Use the new adis library for the adis16260 driver. This allows us to completely scrap the adis16260 buffer and trigger code and about half of the core driver code. Signed-off-by: Lars-Peter Clausen <lars@metafoo.de> Signed-off-by: Jonathan Cameron <jic23@kernel.org>
This commit is contained in:
Lars-Peter Clausen
Jonathan Cameron
parent
5cb7cb1191
commit
9d5e9fdf0f
@ -12,7 +12,6 @@ adis16130-y := adis16130_core.o
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obj-$(CONFIG_ADIS16130) += adis16130.o
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adis16260-y := adis16260_core.o
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adis16260-$(CONFIG_IIO_BUFFER) += adis16260_ring.o adis16260_trigger.o
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obj-$(CONFIG_ADIS16260) += adis16260.o
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adis16251-y := adis16251_core.o
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@ -1,12 +1,11 @@
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#ifndef SPI_ADIS16260_H_
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#define SPI_ADIS16260_H_
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#include "adis16260_platform_data.h"
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#include "../imu/adis.h"
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#define ADIS16260_STARTUP_DELAY 220 /* ms */
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#define ADIS16260_READ_REG(a) a
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#define ADIS16260_WRITE_REG(a) ((a) | 0x80)
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#define ADIS16260_FLASH_CNT 0x00 /* Flash memory write count */
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#define ADIS16260_SUPPLY_OUT 0x02 /* Power supply measurement */
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#define ADIS16260_GYRO_OUT 0x04 /* X-axis gyroscope output */
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@ -34,8 +33,6 @@
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* convert to decimal = 16,265/16,260 */
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#define ADIS16260_SERIAL_NUM 0x58 /* Serial number */
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#define ADIS16260_OUTPUTS 5
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#define ADIS16260_ERROR_ACTIVE (1<<14)
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#define ADIS16260_NEW_DATA (1<<15)
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@ -60,13 +57,13 @@
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/* DIAG_STAT */
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#define ADIS16260_DIAG_STAT_ALARM2 (1<<9)
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#define ADIS16260_DIAG_STAT_ALARM1 (1<<8)
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#define ADIS16260_DIAG_STAT_FLASH_CHK (1<<6)
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#define ADIS16260_DIAG_STAT_SELF_TEST (1<<5)
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#define ADIS16260_DIAG_STAT_OVERFLOW (1<<4)
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#define ADIS16260_DIAG_STAT_SPI_FAIL (1<<3)
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#define ADIS16260_DIAG_STAT_FLASH_UPT (1<<2)
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#define ADIS16260_DIAG_STAT_POWER_HIGH (1<<1)
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#define ADIS16260_DIAG_STAT_POWER_LOW (1<<0)
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#define ADIS16260_DIAG_STAT_FLASH_CHK_BIT 6
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#define ADIS16260_DIAG_STAT_SELF_TEST_BIT 5
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#define ADIS16260_DIAG_STAT_OVERFLOW_BIT 4
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#define ADIS16260_DIAG_STAT_SPI_FAIL_BIT 3
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#define ADIS16260_DIAG_STAT_FLASH_UPT_BIT 2
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#define ADIS16260_DIAG_STAT_POWER_HIGH_BIT 1
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#define ADIS16260_DIAG_STAT_POWER_LOW_BIT 0
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/* GLOB_CMD */
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#define ADIS16260_GLOB_CMD_SW_RESET (1<<7)
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@ -75,82 +72,27 @@
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#define ADIS16260_GLOB_CMD_FAC_CALIB (1<<1)
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#define ADIS16260_GLOB_CMD_AUTO_NULL (1<<0)
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#define ADIS16260_MAX_TX 24
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#define ADIS16260_MAX_RX 24
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#define ADIS16260_SPI_SLOW (u32)(300 * 1000)
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#define ADIS16260_SPI_BURST (u32)(1000 * 1000)
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#define ADIS16260_SPI_FAST (u32)(2000 * 1000)
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/**
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* struct adis16260_state - device instance specific data
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* @us: actual spi_device
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* @trig: data ready trigger registered with iio
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* @buf_lock: mutex to protect tx and rx
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* @negate: negate the scale parameter
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* @tx: transmit buffer
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* @rx: receive buffer
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**/
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struct adis16260_state {
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struct spi_device *us;
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struct iio_trigger *trig;
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struct mutex buf_lock;
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unsigned negate:1;
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u8 tx[ADIS16260_MAX_TX] ____cacheline_aligned;
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u8 rx[ADIS16260_MAX_RX];
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unsigned negate:1;
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struct adis adis;
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};
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int adis16260_set_irq(struct iio_dev *indio_dev, bool enable);
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/* At the moment triggers are only used for ring buffer
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* filling. This may change!
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*/
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#define ADIS16260_SCAN_SUPPLY 0
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#define ADIS16260_SCAN_GYRO 1
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#define ADIS16260_SCAN_GYRO 0
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#define ADIS16260_SCAN_SUPPLY 1
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#define ADIS16260_SCAN_AUX_ADC 2
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#define ADIS16260_SCAN_TEMP 3
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#define ADIS16260_SCAN_ANGL 4
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#ifdef CONFIG_IIO_BUFFER
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void adis16260_remove_trigger(struct iio_dev *indio_dev);
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int adis16260_probe_trigger(struct iio_dev *indio_dev);
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ssize_t adis16260_read_data_from_ring(struct device *dev,
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struct device_attribute *attr,
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char *buf);
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int adis16260_configure_ring(struct iio_dev *indio_dev);
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void adis16260_unconfigure_ring(struct iio_dev *indio_dev);
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#else /* CONFIG_IIO_BUFFER */
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static inline void adis16260_remove_trigger(struct iio_dev *indio_dev)
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{
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}
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static inline int adis16260_probe_trigger(struct iio_dev *indio_dev)
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{
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return 0;
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}
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static inline ssize_t
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adis16260_read_data_from_ring(struct device *dev,
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struct device_attribute *attr,
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char *buf)
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{
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return 0;
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}
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static int adis16260_configure_ring(struct iio_dev *indio_dev)
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{
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return 0;
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}
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static inline void adis16260_unconfigure_ring(struct iio_dev *indio_dev)
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{
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}
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#endif /* CONFIG_IIO_BUFFER */
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#endif /* SPI_ADIS16260_H_ */
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@ -24,132 +24,13 @@
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#include "adis16260.h"
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static int adis16260_check_status(struct iio_dev *indio_dev);
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/**
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* adis16260_spi_write_reg_8() - write single byte to a register
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* @indio_dev: iio_dev for the device
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* @reg_address: the address of the register to be written
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* @val: the value to write
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**/
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static int adis16260_spi_write_reg_8(struct iio_dev *indio_dev,
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u8 reg_address,
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u8 val)
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{
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int ret;
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struct adis16260_state *st = iio_priv(indio_dev);
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mutex_lock(&st->buf_lock);
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st->tx[0] = ADIS16260_WRITE_REG(reg_address);
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st->tx[1] = val;
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ret = spi_write(st->us, st->tx, 2);
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mutex_unlock(&st->buf_lock);
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return ret;
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}
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/**
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* adis16260_spi_write_reg_16() - write 2 bytes to a pair of registers
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* @indio_dev: iio_dev for the device
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* @reg_address: the address of the lower of the two registers. Second register
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* is assumed to have address one greater.
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* @val: value to be written
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**/
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static int adis16260_spi_write_reg_16(struct iio_dev *indio_dev,
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u8 lower_reg_address,
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u16 value)
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{
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int ret;
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struct spi_message msg;
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struct adis16260_state *st = iio_priv(indio_dev);
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struct spi_transfer xfers[] = {
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{
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.tx_buf = st->tx,
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.bits_per_word = 8,
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.len = 2,
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.cs_change = 1,
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.delay_usecs = 20,
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}, {
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.tx_buf = st->tx + 2,
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.bits_per_word = 8,
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.len = 2,
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.delay_usecs = 20,
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},
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};
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mutex_lock(&st->buf_lock);
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st->tx[0] = ADIS16260_WRITE_REG(lower_reg_address);
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st->tx[1] = value & 0xFF;
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st->tx[2] = ADIS16260_WRITE_REG(lower_reg_address + 1);
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st->tx[3] = (value >> 8) & 0xFF;
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spi_message_init(&msg);
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spi_message_add_tail(&xfers[0], &msg);
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spi_message_add_tail(&xfers[1], &msg);
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ret = spi_sync(st->us, &msg);
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mutex_unlock(&st->buf_lock);
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return ret;
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}
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/**
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* adis16260_spi_read_reg_16() - read 2 bytes from a 16-bit register
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* @indio_dev: iio_dev for the device
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* @reg_address: the address of the lower of the two registers. Second register
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* is assumed to have address one greater.
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* @val: somewhere to pass back the value read
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**/
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static int adis16260_spi_read_reg_16(struct iio_dev *indio_dev,
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u8 lower_reg_address,
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u16 *val)
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{
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struct spi_message msg;
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struct adis16260_state *st = iio_priv(indio_dev);
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int ret;
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struct spi_transfer xfers[] = {
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{
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.tx_buf = st->tx,
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.bits_per_word = 8,
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.len = 2,
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.cs_change = 1,
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.delay_usecs = 30,
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}, {
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.rx_buf = st->rx,
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.bits_per_word = 8,
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.len = 2,
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.delay_usecs = 30,
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},
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};
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mutex_lock(&st->buf_lock);
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st->tx[0] = ADIS16260_READ_REG(lower_reg_address);
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st->tx[1] = 0;
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spi_message_init(&msg);
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spi_message_add_tail(&xfers[0], &msg);
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spi_message_add_tail(&xfers[1], &msg);
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ret = spi_sync(st->us, &msg);
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if (ret) {
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dev_err(&st->us->dev,
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"problem when reading 16 bit register 0x%02X",
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lower_reg_address);
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goto error_ret;
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}
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*val = (st->rx[0] << 8) | st->rx[1];
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error_ret:
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mutex_unlock(&st->buf_lock);
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return ret;
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}
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static ssize_t adis16260_read_frequency_available(struct device *dev,
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struct device_attribute *attr,
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char *buf)
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{
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struct iio_dev *indio_dev = dev_to_iio_dev(dev);
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struct adis16260_state *st = iio_priv(indio_dev);
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if (spi_get_device_id(st->us)->driver_data)
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if (spi_get_device_id(st->adis.spi)->driver_data)
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return sprintf(buf, "%s\n", "0.129 ~ 256");
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else
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return sprintf(buf, "%s\n", "256 2048");
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@ -164,13 +45,11 @@ static ssize_t adis16260_read_frequency(struct device *dev,
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int ret, len = 0;
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u16 t;
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int sps;
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ret = adis16260_spi_read_reg_16(indio_dev,
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ADIS16260_SMPL_PRD,
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&t);
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ret = adis_read_reg_16(&st->adis, ADIS16260_SMPL_PRD, &t);
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if (ret)
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return ret;
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if (spi_get_device_id(st->us)->driver_data) /* If an adis16251 */
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if (spi_get_device_id(st->adis.spi)->driver_data) /* If an adis16251 */
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sps = (t & ADIS16260_SMPL_PRD_TIME_BASE) ? 8 : 256;
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else
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sps = (t & ADIS16260_SMPL_PRD_TIME_BASE) ? 66 : 2048;
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@ -197,7 +76,7 @@ static ssize_t adis16260_write_frequency(struct device *dev,
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return -EINVAL;
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mutex_lock(&indio_dev->mlock);
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if (spi_get_device_id(st->us)) {
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if (spi_get_device_id(st->adis.spi)->driver_data) {
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t = (256 / val);
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if (t > 0)
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t--;
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@ -209,10 +88,10 @@ static ssize_t adis16260_write_frequency(struct device *dev,
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t &= ADIS16260_SMPL_PRD_DIV_MASK;
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}
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if ((t & ADIS16260_SMPL_PRD_DIV_MASK) >= 0x0A)
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st->us->max_speed_hz = ADIS16260_SPI_SLOW;
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st->adis.spi->max_speed_hz = ADIS16260_SPI_SLOW;
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else
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st->us->max_speed_hz = ADIS16260_SPI_FAST;
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ret = adis16260_spi_write_reg_8(indio_dev,
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st->adis.spi->max_speed_hz = ADIS16260_SPI_FAST;
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ret = adis_write_reg_8(&st->adis,
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ADIS16260_SMPL_PRD,
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t);
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@ -221,140 +100,20 @@ static ssize_t adis16260_write_frequency(struct device *dev,
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return ret ? ret : len;
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}
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static int adis16260_reset(struct iio_dev *indio_dev)
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{
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int ret;
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ret = adis16260_spi_write_reg_8(indio_dev,
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ADIS16260_GLOB_CMD,
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ADIS16260_GLOB_CMD_SW_RESET);
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if (ret)
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dev_err(&indio_dev->dev, "problem resetting device");
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return ret;
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}
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int adis16260_set_irq(struct iio_dev *indio_dev, bool enable)
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{
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int ret;
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u16 msc;
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ret = adis16260_spi_read_reg_16(indio_dev, ADIS16260_MSC_CTRL, &msc);
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if (ret)
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goto error_ret;
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msc |= ADIS16260_MSC_CTRL_DATA_RDY_POL_HIGH;
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if (enable)
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msc |= ADIS16260_MSC_CTRL_DATA_RDY_EN;
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else
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msc &= ~ADIS16260_MSC_CTRL_DATA_RDY_EN;
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ret = adis16260_spi_write_reg_16(indio_dev, ADIS16260_MSC_CTRL, msc);
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if (ret)
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goto error_ret;
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error_ret:
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return ret;
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}
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/* Power down the device */
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static int adis16260_stop_device(struct iio_dev *indio_dev)
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{
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struct adis16260_state *st = iio_priv(indio_dev);
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int ret;
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u16 val = ADIS16260_SLP_CNT_POWER_OFF;
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ret = adis16260_spi_write_reg_16(indio_dev, ADIS16260_SLP_CNT, val);
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ret = adis_write_reg_16(&st->adis, ADIS16260_SLP_CNT, val);
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if (ret)
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dev_err(&indio_dev->dev, "problem with turning device off: SLP_CNT");
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return ret;
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}
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static int adis16260_self_test(struct iio_dev *indio_dev)
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{
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int ret;
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ret = adis16260_spi_write_reg_16(indio_dev,
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ADIS16260_MSC_CTRL,
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ADIS16260_MSC_CTRL_MEM_TEST);
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if (ret) {
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dev_err(&indio_dev->dev, "problem starting self test");
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goto err_ret;
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}
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adis16260_check_status(indio_dev);
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err_ret:
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return ret;
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}
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static int adis16260_check_status(struct iio_dev *indio_dev)
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{
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u16 status;
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int ret;
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struct device *dev = &indio_dev->dev;
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ret = adis16260_spi_read_reg_16(indio_dev,
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ADIS16260_DIAG_STAT,
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&status);
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if (ret < 0) {
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dev_err(dev, "Reading status failed\n");
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goto error_ret;
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}
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ret = status & 0x7F;
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if (status & ADIS16260_DIAG_STAT_FLASH_CHK)
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dev_err(dev, "Flash checksum error\n");
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if (status & ADIS16260_DIAG_STAT_SELF_TEST)
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dev_err(dev, "Self test error\n");
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if (status & ADIS16260_DIAG_STAT_OVERFLOW)
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dev_err(dev, "Sensor overrange\n");
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if (status & ADIS16260_DIAG_STAT_SPI_FAIL)
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dev_err(dev, "SPI failure\n");
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if (status & ADIS16260_DIAG_STAT_FLASH_UPT)
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dev_err(dev, "Flash update failed\n");
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if (status & ADIS16260_DIAG_STAT_POWER_HIGH)
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dev_err(dev, "Power supply above 5.25V\n");
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if (status & ADIS16260_DIAG_STAT_POWER_LOW)
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dev_err(dev, "Power supply below 4.75V\n");
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error_ret:
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return ret;
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}
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static int adis16260_initial_setup(struct iio_dev *indio_dev)
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{
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int ret;
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struct device *dev = &indio_dev->dev;
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/* Disable IRQ */
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ret = adis16260_set_irq(indio_dev, false);
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if (ret) {
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dev_err(dev, "disable irq failed");
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goto err_ret;
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}
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/* Do self test */
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ret = adis16260_self_test(indio_dev);
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if (ret) {
|
||||
dev_err(dev, "self test failure");
|
||||
goto err_ret;
|
||||
}
|
||||
|
||||
/* Read status register to check the result */
|
||||
ret = adis16260_check_status(indio_dev);
|
||||
if (ret) {
|
||||
adis16260_reset(indio_dev);
|
||||
dev_err(dev, "device not playing ball -> reset");
|
||||
msleep(ADIS16260_STARTUP_DELAY);
|
||||
ret = adis16260_check_status(indio_dev);
|
||||
if (ret) {
|
||||
dev_err(dev, "giving up");
|
||||
goto err_ret;
|
||||
}
|
||||
}
|
||||
|
||||
err_ret:
|
||||
return ret;
|
||||
}
|
||||
|
||||
static IIO_DEV_ATTR_SAMP_FREQ(S_IWUSR | S_IRUGO,
|
||||
adis16260_read_frequency,
|
||||
adis16260_write_frequency);
|
||||
@ -362,100 +121,26 @@ static IIO_DEV_ATTR_SAMP_FREQ(S_IWUSR | S_IRUGO,
|
||||
static IIO_DEVICE_ATTR(sampling_frequency_available,
|
||||
S_IRUGO, adis16260_read_frequency_available, NULL, 0);
|
||||
|
||||
enum adis16260_channel {
|
||||
gyro,
|
||||
temp,
|
||||
in_supply,
|
||||
in_aux,
|
||||
angle,
|
||||
};
|
||||
#define ADIS16260_GYRO_CHANNEL_SET(axis, mod) \
|
||||
struct iio_chan_spec adis16260_channels_##axis[] = { \
|
||||
{ \
|
||||
.type = IIO_ANGL_VEL, \
|
||||
.modified = 1, \
|
||||
.channel2 = mod, \
|
||||
.info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT | \
|
||||
IIO_CHAN_INFO_CALIBBIAS_SEPARATE_BIT | \
|
||||
IIO_CHAN_INFO_CALIBSCALE_SEPARATE_BIT | \
|
||||
IIO_CHAN_INFO_SCALE_SEPARATE_BIT, \
|
||||
.address = gyro, \
|
||||
.scan_index = ADIS16260_SCAN_GYRO, \
|
||||
.scan_type = { \
|
||||
.sign = 's', \
|
||||
.realbits = 14, \
|
||||
.storagebits = 16, \
|
||||
}, \
|
||||
}, { \
|
||||
.type = IIO_ANGL, \
|
||||
.modified = 1, \
|
||||
.channel2 = mod, \
|
||||
.info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT, \
|
||||
.address = angle, \
|
||||
.scan_index = ADIS16260_SCAN_ANGL, \
|
||||
.scan_type = { \
|
||||
.sign = 'u', \
|
||||
.realbits = 14, \
|
||||
.storagebits = 16, \
|
||||
}, \
|
||||
}, { \
|
||||
.type = IIO_TEMP, \
|
||||
.indexed = 1, \
|
||||
.channel = 0, \
|
||||
.info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT | \
|
||||
IIO_CHAN_INFO_OFFSET_SEPARATE_BIT | \
|
||||
IIO_CHAN_INFO_SCALE_SEPARATE_BIT, \
|
||||
.address = temp, \
|
||||
.scan_index = ADIS16260_SCAN_TEMP, \
|
||||
.scan_type = { \
|
||||
.sign = 'u', \
|
||||
.realbits = 12, \
|
||||
.storagebits = 16, \
|
||||
}, \
|
||||
}, { \
|
||||
.type = IIO_VOLTAGE, \
|
||||
.indexed = 1, \
|
||||
.channel = 0, \
|
||||
.extend_name = "supply", \
|
||||
.info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT | \
|
||||
IIO_CHAN_INFO_SCALE_SEPARATE_BIT, \
|
||||
.address = in_supply, \
|
||||
.scan_index = ADIS16260_SCAN_SUPPLY, \
|
||||
.scan_type = { \
|
||||
.sign = 'u', \
|
||||
.realbits = 12, \
|
||||
.storagebits = 16, \
|
||||
}, \
|
||||
}, { \
|
||||
.type = IIO_VOLTAGE, \
|
||||
.indexed = 1, \
|
||||
.channel = 1, \
|
||||
.info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT | \
|
||||
IIO_CHAN_INFO_SCALE_SEPARATE_BIT, \
|
||||
.address = in_aux, \
|
||||
.scan_index = ADIS16260_SCAN_AUX_ADC, \
|
||||
.scan_type = { \
|
||||
.sign = 'u', \
|
||||
.realbits = 12, \
|
||||
.storagebits = 16, \
|
||||
}, \
|
||||
}, \
|
||||
IIO_CHAN_SOFT_TIMESTAMP(5), \
|
||||
}
|
||||
struct iio_chan_spec adis16260_channels_##axis[] = { \
|
||||
ADIS_GYRO_CHAN(mod, ADIS16260_GYRO_OUT, ADIS16260_SCAN_GYRO, \
|
||||
IIO_CHAN_INFO_CALIBBIAS_SEPARATE_BIT | \
|
||||
IIO_CHAN_INFO_CALIBSCALE_SEPARATE_BIT, 14), \
|
||||
ADIS_INCLI_CHAN(mod, ADIS16260_ANGL_OUT, ADIS16260_SCAN_ANGL, 0, 14), \
|
||||
ADIS_TEMP_CHAN(ADIS16260_TEMP_OUT, ADIS16260_SCAN_TEMP, 12), \
|
||||
ADIS_SUPPLY_CHAN(ADIS16260_SUPPLY_OUT, ADIS16260_SCAN_SUPPLY, 12), \
|
||||
ADIS_AUX_ADC_CHAN(ADIS16260_AUX_ADC, ADIS16260_SCAN_AUX_ADC, 12), \
|
||||
IIO_CHAN_SOFT_TIMESTAMP(5), \
|
||||
}
|
||||
|
||||
static const ADIS16260_GYRO_CHANNEL_SET(x, IIO_MOD_X);
|
||||
static const ADIS16260_GYRO_CHANNEL_SET(y, IIO_MOD_Y);
|
||||
static const ADIS16260_GYRO_CHANNEL_SET(z, IIO_MOD_Z);
|
||||
static const ADIS16260_GYRO_CHANNEL_SET(x, X);
|
||||
static const ADIS16260_GYRO_CHANNEL_SET(y, Y);
|
||||
static const ADIS16260_GYRO_CHANNEL_SET(z, Z);
|
||||
|
||||
static const u8 adis16260_addresses[5][3] = {
|
||||
[gyro] = { ADIS16260_GYRO_OUT,
|
||||
ADIS16260_GYRO_OFF,
|
||||
ADIS16260_GYRO_SCALE },
|
||||
[angle] = { ADIS16260_ANGL_OUT },
|
||||
[in_supply] = { ADIS16260_SUPPLY_OUT },
|
||||
[in_aux] = { ADIS16260_AUX_ADC },
|
||||
[temp] = { ADIS16260_TEMP_OUT },
|
||||
static const u8 adis16260_addresses[][2] = {
|
||||
[ADIS16260_SCAN_GYRO] = { ADIS16260_GYRO_OFF, ADIS16260_GYRO_SCALE },
|
||||
};
|
||||
|
||||
static int adis16260_read_raw(struct iio_dev *indio_dev,
|
||||
struct iio_chan_spec const *chan,
|
||||
int *val, int *val2,
|
||||
@ -469,34 +154,13 @@ static int adis16260_read_raw(struct iio_dev *indio_dev,
|
||||
|
||||
switch (mask) {
|
||||
case IIO_CHAN_INFO_RAW:
|
||||
mutex_lock(&indio_dev->mlock);
|
||||
addr = adis16260_addresses[chan->address][0];
|
||||
ret = adis16260_spi_read_reg_16(indio_dev, addr, &val16);
|
||||
if (ret) {
|
||||
mutex_unlock(&indio_dev->mlock);
|
||||
return ret;
|
||||
}
|
||||
|
||||
if (val16 & ADIS16260_ERROR_ACTIVE) {
|
||||
ret = adis16260_check_status(indio_dev);
|
||||
if (ret) {
|
||||
mutex_unlock(&indio_dev->mlock);
|
||||
return ret;
|
||||
}
|
||||
}
|
||||
val16 = val16 & ((1 << chan->scan_type.realbits) - 1);
|
||||
if (chan->scan_type.sign == 's')
|
||||
val16 = (s16)(val16 <<
|
||||
(16 - chan->scan_type.realbits)) >>
|
||||
(16 - chan->scan_type.realbits);
|
||||
*val = val16;
|
||||
mutex_unlock(&indio_dev->mlock);
|
||||
return IIO_VAL_INT;
|
||||
return adis_single_conversion(indio_dev, chan,
|
||||
ADIS16260_ERROR_ACTIVE, val);
|
||||
case IIO_CHAN_INFO_SCALE:
|
||||
switch (chan->type) {
|
||||
case IIO_ANGL_VEL:
|
||||
*val = 0;
|
||||
if (spi_get_device_id(st->us)->driver_data) {
|
||||
if (spi_get_device_id(st->adis.spi)->driver_data) {
|
||||
/* 0.01832 degree / sec */
|
||||
*val2 = IIO_DEGREE_TO_RAD(18320);
|
||||
} else {
|
||||
@ -533,8 +197,8 @@ static int adis16260_read_raw(struct iio_dev *indio_dev,
|
||||
return -EINVAL;
|
||||
}
|
||||
mutex_lock(&indio_dev->mlock);
|
||||
addr = adis16260_addresses[chan->address][1];
|
||||
ret = adis16260_spi_read_reg_16(indio_dev, addr, &val16);
|
||||
addr = adis16260_addresses[chan->scan_index][0];
|
||||
ret = adis_read_reg_16(&st->adis, addr, &val16);
|
||||
if (ret) {
|
||||
mutex_unlock(&indio_dev->mlock);
|
||||
return ret;
|
||||
@ -553,8 +217,8 @@ static int adis16260_read_raw(struct iio_dev *indio_dev,
|
||||
return -EINVAL;
|
||||
}
|
||||
mutex_lock(&indio_dev->mlock);
|
||||
addr = adis16260_addresses[chan->address][2];
|
||||
ret = adis16260_spi_read_reg_16(indio_dev, addr, &val16);
|
||||
addr = adis16260_addresses[chan->scan_index][1];
|
||||
ret = adis_read_reg_16(&st->adis, addr, &val16);
|
||||
if (ret) {
|
||||
mutex_unlock(&indio_dev->mlock);
|
||||
return ret;
|
||||
@ -572,18 +236,19 @@ static int adis16260_write_raw(struct iio_dev *indio_dev,
|
||||
int val2,
|
||||
long mask)
|
||||
{
|
||||
struct adis16260_state *st = iio_priv(indio_dev);
|
||||
int bits = 12;
|
||||
s16 val16;
|
||||
u8 addr;
|
||||
switch (mask) {
|
||||
case IIO_CHAN_INFO_CALIBBIAS:
|
||||
val16 = val & ((1 << bits) - 1);
|
||||
addr = adis16260_addresses[chan->address][1];
|
||||
return adis16260_spi_write_reg_16(indio_dev, addr, val16);
|
||||
addr = adis16260_addresses[chan->scan_index][0];
|
||||
return adis_write_reg_16(&st->adis, addr, val16);
|
||||
case IIO_CHAN_INFO_CALIBSCALE:
|
||||
val16 = val & ((1 << bits) - 1);
|
||||
addr = adis16260_addresses[chan->address][2];
|
||||
return adis16260_spi_write_reg_16(indio_dev, addr, val16);
|
||||
addr = adis16260_addresses[chan->scan_index][1];
|
||||
return adis_write_reg_16(&st->adis, addr, val16);
|
||||
}
|
||||
return -EINVAL;
|
||||
}
|
||||
@ -605,6 +270,36 @@ static const struct iio_info adis16260_info = {
|
||||
.driver_module = THIS_MODULE,
|
||||
};
|
||||
|
||||
static const char * const adis1620_status_error_msgs[] = {
|
||||
[ADIS16260_DIAG_STAT_FLASH_CHK_BIT] = "Flash checksum error",
|
||||
[ADIS16260_DIAG_STAT_SELF_TEST_BIT] = "Self test error",
|
||||
[ADIS16260_DIAG_STAT_OVERFLOW_BIT] = "Sensor overrange",
|
||||
[ADIS16260_DIAG_STAT_SPI_FAIL_BIT] = "SPI failure",
|
||||
[ADIS16260_DIAG_STAT_FLASH_UPT_BIT] = "Flash update failed",
|
||||
[ADIS16260_DIAG_STAT_POWER_HIGH_BIT] = "Power supply above 5.25",
|
||||
[ADIS16260_DIAG_STAT_POWER_LOW_BIT] = "Power supply below 4.75",
|
||||
};
|
||||
|
||||
static const struct adis_data adis16260_data = {
|
||||
.write_delay = 30,
|
||||
.read_delay = 30,
|
||||
.msc_ctrl_reg = ADIS16260_MSC_CTRL,
|
||||
.glob_cmd_reg = ADIS16260_GLOB_CMD,
|
||||
.diag_stat_reg = ADIS16260_DIAG_STAT,
|
||||
|
||||
.self_test_mask = ADIS16260_MSC_CTRL_MEM_TEST,
|
||||
.startup_delay = ADIS16260_STARTUP_DELAY,
|
||||
|
||||
.status_error_msgs = adis1620_status_error_msgs,
|
||||
.status_error_mask = BIT(ADIS16260_DIAG_STAT_FLASH_CHK_BIT) |
|
||||
BIT(ADIS16260_DIAG_STAT_SELF_TEST_BIT) |
|
||||
BIT(ADIS16260_DIAG_STAT_OVERFLOW_BIT) |
|
||||
BIT(ADIS16260_DIAG_STAT_SPI_FAIL_BIT) |
|
||||
BIT(ADIS16260_DIAG_STAT_FLASH_UPT_BIT) |
|
||||
BIT(ADIS16260_DIAG_STAT_POWER_HIGH_BIT) |
|
||||
BIT(ADIS16260_DIAG_STAT_POWER_LOW_BIT),
|
||||
};
|
||||
|
||||
static int __devinit adis16260_probe(struct spi_device *spi)
|
||||
{
|
||||
int ret;
|
||||
@ -624,10 +319,7 @@ static int __devinit adis16260_probe(struct spi_device *spi)
|
||||
/* 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_get_device_id(st->us)->name;
|
||||
indio_dev->name = spi_get_device_id(spi)->name;
|
||||
indio_dev->dev.parent = &spi->dev;
|
||||
indio_dev->info = &adis16260_info;
|
||||
indio_dev->num_channels
|
||||
@ -651,17 +343,14 @@ static int __devinit adis16260_probe(struct spi_device *spi)
|
||||
indio_dev->num_channels = ARRAY_SIZE(adis16260_channels_x);
|
||||
indio_dev->modes = INDIO_DIRECT_MODE;
|
||||
|
||||
ret = adis16260_configure_ring(indio_dev);
|
||||
ret = adis_init(&st->adis, indio_dev, spi, &adis16260_data);
|
||||
if (ret)
|
||||
goto error_free_dev;
|
||||
|
||||
ret = adis_setup_buffer_and_trigger(&st->adis, indio_dev, NULL);
|
||||
if (ret)
|
||||
goto error_free_dev;
|
||||
|
||||
ret = iio_buffer_register(indio_dev,
|
||||
indio_dev->channels,
|
||||
ARRAY_SIZE(adis16260_channels_x));
|
||||
if (ret) {
|
||||
printk(KERN_ERR "failed to initialize the ring\n");
|
||||
goto error_unreg_ring_funcs;
|
||||
}
|
||||
if (indio_dev->buffer) {
|
||||
/* Set default scan mode */
|
||||
iio_scan_mask_set(indio_dev, indio_dev->buffer,
|
||||
@ -675,28 +364,19 @@ static int __devinit adis16260_probe(struct spi_device *spi)
|
||||
iio_scan_mask_set(indio_dev, indio_dev->buffer,
|
||||
ADIS16260_SCAN_ANGL);
|
||||
}
|
||||
if (spi->irq) {
|
||||
ret = adis16260_probe_trigger(indio_dev);
|
||||
if (ret)
|
||||
goto error_uninitialize_ring;
|
||||
}
|
||||
|
||||
/* Get the device into a sane initial state */
|
||||
ret = adis16260_initial_setup(indio_dev);
|
||||
ret = adis_initial_startup(&st->adis);
|
||||
if (ret)
|
||||
goto error_remove_trigger;
|
||||
goto error_cleanup_buffer_trigger;
|
||||
ret = iio_device_register(indio_dev);
|
||||
if (ret)
|
||||
goto error_remove_trigger;
|
||||
goto error_cleanup_buffer_trigger;
|
||||
|
||||
return 0;
|
||||
|
||||
error_remove_trigger:
|
||||
adis16260_remove_trigger(indio_dev);
|
||||
error_uninitialize_ring:
|
||||
iio_buffer_unregister(indio_dev);
|
||||
error_unreg_ring_funcs:
|
||||
adis16260_unconfigure_ring(indio_dev);
|
||||
error_cleanup_buffer_trigger:
|
||||
adis_cleanup_buffer_and_trigger(&st->adis, indio_dev);
|
||||
error_free_dev:
|
||||
iio_device_free(indio_dev);
|
||||
error_ret:
|
||||
@ -706,12 +386,11 @@ error_ret:
|
||||
static int __devexit adis16260_remove(struct spi_device *spi)
|
||||
{
|
||||
struct iio_dev *indio_dev = spi_get_drvdata(spi);
|
||||
struct adis16260_state *st = iio_priv(indio_dev);
|
||||
|
||||
iio_device_unregister(indio_dev);
|
||||
adis16260_stop_device(indio_dev);
|
||||
adis16260_remove_trigger(indio_dev);
|
||||
iio_buffer_unregister(indio_dev);
|
||||
adis16260_unconfigure_ring(indio_dev);
|
||||
adis_cleanup_buffer_and_trigger(&st->adis, indio_dev);
|
||||
iio_device_free(indio_dev);
|
||||
|
||||
return 0;
|
||||
|
||||
@ -1,136 +0,0 @@
|
||||
#include <linux/export.h>
|
||||
#include <linux/interrupt.h>
|
||||
#include <linux/mutex.h>
|
||||
#include <linux/kernel.h>
|
||||
#include <linux/spi/spi.h>
|
||||
#include <linux/slab.h>
|
||||
|
||||
#include <linux/iio/iio.h>
|
||||
#include "../ring_sw.h"
|
||||
#include <linux/iio/trigger_consumer.h>
|
||||
#include "adis16260.h"
|
||||
|
||||
/**
|
||||
* adis16260_read_ring_data() read data registers which will be placed into ring
|
||||
* @indio_dev: the IIO device
|
||||
* @rx: somewhere to pass back the value read
|
||||
**/
|
||||
static int adis16260_read_ring_data(struct iio_dev *indio_dev, u8 *rx)
|
||||
{
|
||||
struct spi_message msg;
|
||||
struct adis16260_state *st = iio_priv(indio_dev);
|
||||
struct spi_transfer xfers[ADIS16260_OUTPUTS + 1];
|
||||
int ret;
|
||||
int i;
|
||||
|
||||
mutex_lock(&st->buf_lock);
|
||||
|
||||
spi_message_init(&msg);
|
||||
|
||||
memset(xfers, 0, sizeof(xfers));
|
||||
for (i = 0; i <= ADIS16260_OUTPUTS; i++) {
|
||||
xfers[i].bits_per_word = 8;
|
||||
xfers[i].cs_change = 1;
|
||||
xfers[i].len = 2;
|
||||
xfers[i].delay_usecs = 30;
|
||||
xfers[i].tx_buf = st->tx + 2 * i;
|
||||
if (i < 2) /* SUPPLY_OUT:0x02 GYRO_OUT:0x04 */
|
||||
st->tx[2 * i]
|
||||
= ADIS16260_READ_REG(ADIS16260_SUPPLY_OUT
|
||||
+ 2 * i);
|
||||
else /* 0x06 to 0x09 is reserved */
|
||||
st->tx[2 * i]
|
||||
= ADIS16260_READ_REG(ADIS16260_SUPPLY_OUT
|
||||
+ 2 * i + 4);
|
||||
st->tx[2 * i + 1] = 0;
|
||||
if (i >= 1)
|
||||
xfers[i].rx_buf = rx + 2 * (i - 1);
|
||||
spi_message_add_tail(&xfers[i], &msg);
|
||||
}
|
||||
|
||||
ret = spi_sync(st->us, &msg);
|
||||
if (ret)
|
||||
dev_err(&st->us->dev, "problem when burst reading");
|
||||
|
||||
mutex_unlock(&st->buf_lock);
|
||||
|
||||
return ret;
|
||||
}
|
||||
|
||||
static irqreturn_t adis16260_trigger_handler(int irq, void *p)
|
||||
{
|
||||
struct iio_poll_func *pf = p;
|
||||
struct iio_dev *indio_dev = pf->indio_dev;
|
||||
struct adis16260_state *st = iio_priv(indio_dev);
|
||||
int i = 0;
|
||||
s16 *data;
|
||||
|
||||
data = kmalloc(indio_dev->scan_bytes, GFP_KERNEL);
|
||||
if (data == NULL) {
|
||||
dev_err(&st->us->dev, "memory alloc failed in ring bh");
|
||||
goto done;
|
||||
}
|
||||
|
||||
if (!bitmap_empty(indio_dev->active_scan_mask, indio_dev->masklength) &&
|
||||
adis16260_read_ring_data(indio_dev, st->rx) >= 0)
|
||||
for (; i < bitmap_weight(indio_dev->active_scan_mask,
|
||||
indio_dev->masklength); i++)
|
||||
data[i] = be16_to_cpup((__be16 *)&(st->rx[i*2]));
|
||||
|
||||
/* Guaranteed to be aligned with 8 byte boundary */
|
||||
if (indio_dev->scan_timestamp)
|
||||
*((s64 *)(data + ((i + 3)/4)*4)) = pf->timestamp;
|
||||
|
||||
iio_push_to_buffers(indio_dev, (u8 *)data);
|
||||
|
||||
kfree(data);
|
||||
done:
|
||||
iio_trigger_notify_done(indio_dev->trig);
|
||||
|
||||
return IRQ_HANDLED;
|
||||
}
|
||||
|
||||
void adis16260_unconfigure_ring(struct iio_dev *indio_dev)
|
||||
{
|
||||
iio_dealloc_pollfunc(indio_dev->pollfunc);
|
||||
iio_sw_rb_free(indio_dev->buffer);
|
||||
}
|
||||
|
||||
static const struct iio_buffer_setup_ops adis16260_ring_setup_ops = {
|
||||
.preenable = &iio_sw_buffer_preenable,
|
||||
.postenable = &iio_triggered_buffer_postenable,
|
||||
.predisable = &iio_triggered_buffer_predisable,
|
||||
};
|
||||
|
||||
int adis16260_configure_ring(struct iio_dev *indio_dev)
|
||||
{
|
||||
int ret = 0;
|
||||
struct iio_buffer *ring;
|
||||
|
||||
ring = iio_sw_rb_allocate(indio_dev);
|
||||
if (!ring) {
|
||||
ret = -ENOMEM;
|
||||
return ret;
|
||||
}
|
||||
indio_dev->buffer = ring;
|
||||
ring->scan_timestamp = true;
|
||||
indio_dev->setup_ops = &adis16260_ring_setup_ops;
|
||||
|
||||
indio_dev->pollfunc = iio_alloc_pollfunc(&iio_pollfunc_store_time,
|
||||
&adis16260_trigger_handler,
|
||||
IRQF_ONESHOT,
|
||||
indio_dev,
|
||||
"adis16260_consumer%d",
|
||||
indio_dev->id);
|
||||
if (indio_dev->pollfunc == NULL) {
|
||||
ret = -ENOMEM;
|
||||
goto error_iio_sw_rb_free;
|
||||
}
|
||||
|
||||
indio_dev->modes |= INDIO_BUFFER_TRIGGERED;
|
||||
return 0;
|
||||
|
||||
error_iio_sw_rb_free:
|
||||
iio_sw_rb_free(indio_dev->buffer);
|
||||
return ret;
|
||||
}
|
||||
@ -1,75 +0,0 @@
|
||||
#include <linux/interrupt.h>
|
||||
#include <linux/kernel.h>
|
||||
#include <linux/spi/spi.h>
|
||||
#include <linux/export.h>
|
||||
|
||||
#include <linux/iio/iio.h>
|
||||
#include <linux/iio/trigger.h>
|
||||
#include "adis16260.h"
|
||||
|
||||
/**
|
||||
* adis16260_data_rdy_trigger_set_state() set datardy interrupt state
|
||||
**/
|
||||
static int adis16260_data_rdy_trigger_set_state(struct iio_trigger *trig,
|
||||
bool state)
|
||||
{
|
||||
struct iio_dev *indio_dev = trig->private_data;
|
||||
|
||||
dev_dbg(&indio_dev->dev, "%s (%d)\n", __func__, state);
|
||||
return adis16260_set_irq(indio_dev, state);
|
||||
}
|
||||
|
||||
static const struct iio_trigger_ops adis16260_trigger_ops = {
|
||||
.owner = THIS_MODULE,
|
||||
.set_trigger_state = &adis16260_data_rdy_trigger_set_state,
|
||||
};
|
||||
|
||||
int adis16260_probe_trigger(struct iio_dev *indio_dev)
|
||||
{
|
||||
int ret;
|
||||
struct adis16260_state *st = iio_priv(indio_dev);
|
||||
|
||||
st->trig = iio_trigger_alloc("%s-dev%d",
|
||||
spi_get_device_id(st->us)->name,
|
||||
indio_dev->id);
|
||||
if (st->trig == NULL) {
|
||||
ret = -ENOMEM;
|
||||
goto error_ret;
|
||||
}
|
||||
|
||||
ret = request_irq(st->us->irq,
|
||||
&iio_trigger_generic_data_rdy_poll,
|
||||
IRQF_TRIGGER_RISING,
|
||||
"adis16260",
|
||||
st->trig);
|
||||
if (ret)
|
||||
goto error_free_trig;
|
||||
|
||||
st->trig->dev.parent = &st->us->dev;
|
||||
st->trig->ops = &adis16260_trigger_ops;
|
||||
st->trig->private_data = indio_dev;
|
||||
ret = iio_trigger_register(st->trig);
|
||||
|
||||
/* select default trigger */
|
||||
indio_dev->trig = st->trig;
|
||||
if (ret)
|
||||
goto error_free_irq;
|
||||
|
||||
return 0;
|
||||
|
||||
error_free_irq:
|
||||
free_irq(st->us->irq, st->trig);
|
||||
error_free_trig:
|
||||
iio_trigger_free(st->trig);
|
||||
error_ret:
|
||||
return ret;
|
||||
}
|
||||
|
||||
void adis16260_remove_trigger(struct iio_dev *indio_dev)
|
||||
{
|
||||
struct adis16260_state *st = iio_priv(indio_dev);
|
||||
|
||||
iio_trigger_unregister(st->trig);
|
||||
free_irq(st->us->irq, st->trig);
|
||||
iio_trigger_free(st->trig);
|
||||
}
|
||||
Loading…
Reference in New Issue
Block a user