forked from Minki/linux
staging:iio:gyro remove adis16251 driver as now supported by adis16260 driver
Signed-off-by: Jonathan Cameron <jic23@cam.ac.uk> Acked-by: Michael Hennerich <michael.hennerich@analog.com> Signed-off-by: Greg Kroah-Hartman <gregkh@suse.de>
This commit is contained in:
Jonathan Cameron
Greg Kroah-Hartman
parent
03d1b7d3e4
commit
a301d425e6
@ -35,13 +35,3 @@ config ADIS16260
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This driver can also be built as a module. If so, the module
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This driver can also be built as a module. If so, the module
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will be called adis16260.
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will be called adis16260.
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config ADIS16251
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tristate "Analog Devices ADIS16251 Digital Gyroscope Sensor SPI driver"
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depends on SPI
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help
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Say yes here to build support for Analog Devices adis16261 programmable
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digital gyroscope sensor.
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This driver can also be built as a module. If so, the module
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will be called adis16251.
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@ -1,185 +0,0 @@
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#ifndef SPI_ADIS16251_H_
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#define SPI_ADIS16251_H_
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#define ADIS16251_STARTUP_DELAY 220 /* ms */
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#define ADIS16251_READ_REG(a) a
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#define ADIS16251_WRITE_REG(a) ((a) | 0x80)
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#define ADIS16251_ENDURANCE 0x00 /* Flash memory write count */
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#define ADIS16251_SUPPLY_OUT 0x02 /* Power supply measurement */
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#define ADIS16251_GYRO_OUT 0x04 /* X-axis gyroscope output */
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#define ADIS16251_AUX_ADC 0x0A /* analog input channel measurement */
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#define ADIS16251_TEMP_OUT 0x0C /* internal temperature measurement */
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#define ADIS16251_ANGL_OUT 0x0E /* angle displacement */
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#define ADIS16251_GYRO_OFF 0x14 /* Calibration, offset/bias adjustment */
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#define ADIS16251_GYRO_SCALE 0x16 /* Calibration, scale adjustment */
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#define ADIS16251_ALM_MAG1 0x20 /* Alarm 1 magnitude/polarity setting */
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#define ADIS16251_ALM_MAG2 0x22 /* Alarm 2 magnitude/polarity setting */
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#define ADIS16251_ALM_SMPL1 0x24 /* Alarm 1 dynamic rate of change setting */
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#define ADIS16251_ALM_SMPL2 0x26 /* Alarm 2 dynamic rate of change setting */
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#define ADIS16251_ALM_CTRL 0x28 /* Alarm control */
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#define ADIS16251_AUX_DAC 0x30 /* Auxiliary DAC data */
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#define ADIS16251_GPIO_CTRL 0x32 /* Control, digital I/O line */
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#define ADIS16251_MSC_CTRL 0x34 /* Control, data ready, self-test settings */
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#define ADIS16251_SMPL_PRD 0x36 /* Control, internal sample rate */
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#define ADIS16251_SENS_AVG 0x38 /* Control, dynamic range, filtering */
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#define ADIS16251_SLP_CNT 0x3A /* Control, sleep mode initiation */
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#define ADIS16251_DIAG_STAT 0x3C /* Diagnostic, error flags */
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#define ADIS16251_GLOB_CMD 0x3E /* Control, global commands */
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#define ADIS16251_ERROR_ACTIVE (1<<14)
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#define ADIS16251_NEW_DATA (1<<14)
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/* MSC_CTRL */
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#define ADIS16251_MSC_CTRL_INT_SELF_TEST (1<<10) /* Internal self-test enable */
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#define ADIS16251_MSC_CTRL_NEG_SELF_TEST (1<<9)
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#define ADIS16251_MSC_CTRL_POS_SELF_TEST (1<<8)
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#define ADIS16251_MSC_CTRL_DATA_RDY_EN (1<<2)
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#define ADIS16251_MSC_CTRL_DATA_RDY_POL_HIGH (1<<1)
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#define ADIS16251_MSC_CTRL_DATA_RDY_DIO2 (1<<0)
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/* SMPL_PRD */
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#define ADIS16251_SMPL_PRD_TIME_BASE (1<<7) /* Time base (tB): 0 = 1.953 ms, 1 = 60.54 ms */
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#define ADIS16251_SMPL_PRD_DIV_MASK 0x7F
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/* SLP_CNT */
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#define ADIS16251_SLP_CNT_POWER_OFF 0x80
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/* DIAG_STAT */
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#define ADIS16251_DIAG_STAT_ALARM2 (1<<9)
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#define ADIS16251_DIAG_STAT_ALARM1 (1<<8)
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#define ADIS16251_DIAG_STAT_SELF_TEST (1<<5)
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#define ADIS16251_DIAG_STAT_OVERFLOW (1<<4)
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#define ADIS16251_DIAG_STAT_SPI_FAIL (1<<3)
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#define ADIS16251_DIAG_STAT_FLASH_UPT (1<<2)
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#define ADIS16251_DIAG_STAT_POWER_HIGH (1<<1)
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#define ADIS16251_DIAG_STAT_POWER_LOW (1<<0)
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#define ADIS16251_DIAG_STAT_ERR_MASK (ADIS16251_DIAG_STAT_ALARM2 | \
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ADIS16251_DIAG_STAT_ALARM1 | \
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ADIS16251_DIAG_STAT_SELF_TEST | \
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ADIS16251_DIAG_STAT_OVERFLOW | \
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ADIS16251_DIAG_STAT_SPI_FAIL | \
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ADIS16251_DIAG_STAT_FLASH_UPT | \
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ADIS16251_DIAG_STAT_POWER_HIGH | \
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ADIS16251_DIAG_STAT_POWER_LOW)
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/* GLOB_CMD */
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#define ADIS16251_GLOB_CMD_SW_RESET (1<<7)
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#define ADIS16251_GLOB_CMD_FLASH_UPD (1<<3)
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#define ADIS16251_GLOB_CMD_DAC_LATCH (1<<2)
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#define ADIS16251_GLOB_CMD_FAC_CALIB (1<<1)
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#define ADIS16251_GLOB_CMD_AUTO_NULL (1<<0)
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#define ADIS16251_MAX_TX 24
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#define ADIS16251_MAX_RX 24
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#define ADIS16251_SPI_SLOW (u32)(300 * 1000)
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#define ADIS16251_SPI_BURST (u32)(1000 * 1000)
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#define ADIS16251_SPI_FAST (u32)(2000 * 1000)
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/**
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* struct adis16251_state - device instance specific data
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* @us: actual spi_device
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* @work_trigger_to_ring: bh for triggered event handling
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* @inter: used to check if new interrupt has been triggered
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* @last_timestamp: passing timestamp from th to bh of interrupt handler
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* @indio_dev: industrial I/O device structure
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* @trig: data ready trigger registered with iio
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* @tx: transmit buffer
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* @rx: recieve buffer
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* @buf_lock: mutex to protect tx and rx
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**/
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struct adis16251_state {
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struct spi_device *us;
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struct work_struct work_trigger_to_ring;
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s64 last_timestamp;
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struct iio_dev *indio_dev;
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struct iio_trigger *trig;
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u8 *tx;
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u8 *rx;
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struct mutex buf_lock;
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};
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int adis16251_spi_write_reg_8(struct device *dev,
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u8 reg_address,
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u8 val);
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int adis16251_spi_read_burst(struct device *dev, u8 *rx);
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int adis16251_spi_read_sequence(struct device *dev,
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u8 *tx, u8 *rx, int num);
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int adis16251_set_irq(struct device *dev, bool enable);
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int adis16251_reset(struct device *dev);
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int adis16251_stop_device(struct device *dev);
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int adis16251_check_status(struct device *dev);
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#if defined(CONFIG_IIO_RING_BUFFER) && defined(THIS_HAS_RING_BUFFER_SUPPORT)
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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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enum adis16251_scan {
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ADIS16251_SCAN_SUPPLY,
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ADIS16251_SCAN_GYRO,
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ADIS16251_SCAN_TEMP,
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ADIS16251_SCAN_ADC_0,
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};
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void adis16251_remove_trigger(struct iio_dev *indio_dev);
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int adis16251_probe_trigger(struct iio_dev *indio_dev);
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ssize_t adis16251_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 adis16251_configure_ring(struct iio_dev *indio_dev);
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void adis16251_unconfigure_ring(struct iio_dev *indio_dev);
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int adis16251_initialize_ring(struct iio_ring_buffer *ring);
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void adis16251_uninitialize_ring(struct iio_ring_buffer *ring);
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#else /* CONFIG_IIO_RING_BUFFER */
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static inline void adis16251_remove_trigger(struct iio_dev *indio_dev)
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{
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}
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static inline int adis16251_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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adis16251_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 adis16251_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 adis16251_unconfigure_ring(struct iio_dev *indio_dev)
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{
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}
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static inline int adis16251_initialize_ring(struct iio_ring_buffer *ring)
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{
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return 0;
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}
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static inline void adis16251_uninitialize_ring(struct iio_ring_buffer *ring)
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{
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}
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#endif /* CONFIG_IIO_RING_BUFFER */
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#endif /* SPI_ADIS16251_H_ */
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@ -1,777 +0,0 @@
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/*
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* ADIS16251 Programmable Digital Gyroscope Sensor Driver
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*
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* Copyright 2010 Analog Devices Inc.
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*
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* Licensed under the GPL-2 or later.
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*/
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#include <linux/interrupt.h>
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#include <linux/irq.h>
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#include <linux/gpio.h>
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#include <linux/delay.h>
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#include <linux/mutex.h>
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#include <linux/device.h>
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#include <linux/kernel.h>
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#include <linux/spi/spi.h>
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#include <linux/slab.h>
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#include <linux/sysfs.h>
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#include <linux/list.h>
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#include "../iio.h"
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#include "../sysfs.h"
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#include "gyro.h"
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#include "../adc/adc.h"
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#include "adis16251.h"
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#define DRIVER_NAME "adis16251"
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/* At the moment the spi framework doesn't allow global setting of cs_change.
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* It's in the likely to be added comment at the top of spi.h.
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* This means that use cannot be made of spi_write etc.
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*/
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/**
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* adis16251_spi_write_reg_8() - write single byte to a register
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* @dev: device associated with child of actual device (iio_dev or iio_trig)
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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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int adis16251_spi_write_reg_8(struct device *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 iio_dev *indio_dev = dev_get_drvdata(dev);
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struct adis16251_state *st = iio_dev_get_devdata(indio_dev);
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mutex_lock(&st->buf_lock);
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st->tx[0] = ADIS16251_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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* adis16251_spi_write_reg_16() - write 2 bytes to a pair of registers
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* @dev: device associated with child of actual device (iio_dev or iio_trig)
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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 adis16251_spi_write_reg_16(struct device *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 iio_dev *indio_dev = dev_get_drvdata(dev);
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struct adis16251_state *st = iio_dev_get_devdata(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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}, {
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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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.cs_change = 1,
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},
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};
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mutex_lock(&st->buf_lock);
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st->tx[0] = ADIS16251_WRITE_REG(lower_reg_address);
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st->tx[1] = value & 0xFF;
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st->tx[2] = ADIS16251_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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* adis16251_spi_read_reg_16() - read 2 bytes from a 16-bit register
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* @dev: device associated with child of actual device (iio_dev or iio_trig)
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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 adis16251_spi_read_reg_16(struct device *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 iio_dev *indio_dev = dev_get_drvdata(dev);
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struct adis16251_state *st = iio_dev_get_devdata(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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}, {
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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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.cs_change = 1,
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},
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};
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mutex_lock(&st->buf_lock);
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st->tx[0] = ADIS16251_READ_REG(lower_reg_address);
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st->tx[1] = 0;
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st->tx[2] = 0;
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st->tx[3] = 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, "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);
|
|
||||||
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");
|
|
||||||
Loading…
Reference in New Issue
Block a user