diff options
| -rw-r--r-- | drivers/staging/iio/imu/Kconfig | 9 | ||||
| -rw-r--r-- | drivers/staging/iio/imu/Makefile | 4 | ||||
| -rw-r--r-- | drivers/staging/iio/imu/adis16300.h | 184 | ||||
| -rw-r--r-- | drivers/staging/iio/imu/adis16300_core.c | 732 | ||||
| -rw-r--r-- | drivers/staging/iio/imu/adis16300_ring.c | 238 | ||||
| -rw-r--r-- | drivers/staging/iio/imu/adis16300_trigger.c | 119 |
6 files changed, 0 insertions, 1286 deletions
diff --git a/drivers/staging/iio/imu/Kconfig b/drivers/staging/iio/imu/Kconfig index 082614d..e0e0144 100644 --- a/drivers/staging/iio/imu/Kconfig +++ b/drivers/staging/iio/imu/Kconfig @@ -3,15 +3,6 @@ # comment "Inertial measurement units" -config ADIS16300 - tristate "Analog Devices ADIS16300 IMU SPI driver" - depends on SPI - select IIO_SW_RING if IIO_RING_BUFFER - select IIO_TRIGGER if IIO_RING_BUFFER - help - Say yes here to build support for Analog Devices adis16300 four degrees - of freedom inertial sensor. - config ADIS16400 tristate "Analog Devices ADIS16400 and similar IMU SPI driver" depends on SPI diff --git a/drivers/staging/iio/imu/Makefile b/drivers/staging/iio/imu/Makefile index de6b1e7..d46a691 100644 --- a/drivers/staging/iio/imu/Makefile +++ b/drivers/staging/iio/imu/Makefile @@ -2,10 +2,6 @@ # Makefile for Inertial Measurement Units # -adis16300-y := adis16300_core.o -adis16300-$(CONFIG_IIO_RING_BUFFER) += adis16300_ring.o adis16300_trigger.o -obj-$(CONFIG_ADIS16300) += adis16300.o - adis16400-y := adis16400_core.o adis16400-$(CONFIG_IIO_RING_BUFFER) += adis16400_ring.o adis16400_trigger.o obj-$(CONFIG_ADIS16400) += adis16400.o diff --git a/drivers/staging/iio/imu/adis16300.h b/drivers/staging/iio/imu/adis16300.h deleted file mode 100644 index c095759..0000000 --- a/drivers/staging/iio/imu/adis16300.h +++ /dev/null @@ -1,184 +0,0 @@ -#ifndef SPI_ADIS16300_H_ -#define SPI_ADIS16300_H_ - -#define ADIS16300_STARTUP_DELAY 220 /* ms */ - -#define ADIS16300_READ_REG(a) a -#define ADIS16300_WRITE_REG(a) ((a) | 0x80) - -#define ADIS16300_FLASH_CNT 0x00 /* Flash memory write count */ -#define ADIS16300_SUPPLY_OUT 0x02 /* Power supply measurement */ -#define ADIS16300_XGYRO_OUT 0x04 /* X-axis gyroscope output */ -#define ADIS16300_XACCL_OUT 0x0A /* X-axis accelerometer output */ -#define ADIS16300_YACCL_OUT 0x0C /* Y-axis accelerometer output */ -#define ADIS16300_ZACCL_OUT 0x0E /* Z-axis accelerometer output */ -#define ADIS16300_TEMP_OUT 0x10 /* Temperature output */ -#define ADIS16300_XINCLI_OUT 0x12 /* X-axis inclinometer output measurement */ -#define ADIS16300_YINCLI_OUT 0x14 /* Y-axis inclinometer output measurement */ -#define ADIS16300_AUX_ADC 0x16 /* Auxiliary ADC measurement */ - -/* Calibration parameters */ -#define ADIS16300_XGYRO_OFF 0x1A /* X-axis gyroscope bias offset factor */ -#define ADIS16300_XACCL_OFF 0x20 /* X-axis acceleration bias offset factor */ -#define ADIS16300_YACCL_OFF 0x22 /* Y-axis acceleration bias offset factor */ -#define ADIS16300_ZACCL_OFF 0x24 /* Z-axis acceleration bias offset factor */ - -#define ADIS16300_GPIO_CTRL 0x32 /* Auxiliary digital input/output control */ -#define ADIS16300_MSC_CTRL 0x34 /* Miscellaneous control */ -#define ADIS16300_SMPL_PRD 0x36 /* Internal sample period (rate) control */ -#define ADIS16300_SENS_AVG 0x38 /* Dynamic range and digital filter control */ -#define ADIS16300_SLP_CNT 0x3A /* Sleep mode control */ -#define ADIS16300_DIAG_STAT 0x3C /* System status */ - -/* Alarm functions */ -#define ADIS16300_GLOB_CMD 0x3E /* System command */ -#define ADIS16300_ALM_MAG1 0x26 /* Alarm 1 amplitude threshold */ -#define ADIS16300_ALM_MAG2 0x28 /* Alarm 2 amplitude threshold */ -#define ADIS16300_ALM_SMPL1 0x2A /* Alarm 1 sample size */ -#define ADIS16300_ALM_SMPL2 0x2C /* Alarm 2 sample size */ -#define ADIS16300_ALM_CTRL 0x2E /* Alarm control */ -#define ADIS16300_AUX_DAC 0x30 /* Auxiliary DAC data */ - -#define ADIS16300_ERROR_ACTIVE (1<<14) -#define ADIS16300_NEW_DATA (1<<15) - -/* MSC_CTRL */ -#define ADIS16300_MSC_CTRL_MEM_TEST (1<<11) -#define ADIS16300_MSC_CTRL_INT_SELF_TEST (1<<10) -#define ADIS16300_MSC_CTRL_NEG_SELF_TEST (1<<9) -#define ADIS16300_MSC_CTRL_POS_SELF_TEST (1<<8) -#define ADIS16300_MSC_CTRL_GYRO_BIAS (1<<7) -#define ADIS16300_MSC_CTRL_ACCL_ALIGN (1<<6) -#define ADIS16300_MSC_CTRL_DATA_RDY_EN (1<<2) -#define ADIS16300_MSC_CTRL_DATA_RDY_POL_HIGH (1<<1) -#define ADIS16300_MSC_CTRL_DATA_RDY_DIO2 (1<<0) - -/* SMPL_PRD */ -#define ADIS16300_SMPL_PRD_TIME_BASE (1<<7) -#define ADIS16300_SMPL_PRD_DIV_MASK 0x7F - -/* DIAG_STAT */ -#define ADIS16300_DIAG_STAT_ZACCL_FAIL (1<<15) -#define ADIS16300_DIAG_STAT_YACCL_FAIL (1<<14) -#define ADIS16300_DIAG_STAT_XACCL_FAIL (1<<13) -#define ADIS16300_DIAG_STAT_XGYRO_FAIL (1<<10) -#define ADIS16300_DIAG_STAT_ALARM2 (1<<9) -#define ADIS16300_DIAG_STAT_ALARM1 (1<<8) -#define ADIS16300_DIAG_STAT_FLASH_CHK (1<<6) -#define ADIS16300_DIAG_STAT_SELF_TEST (1<<5) -#define ADIS16300_DIAG_STAT_OVERFLOW (1<<4) -#define ADIS16300_DIAG_STAT_SPI_FAIL (1<<3) -#define ADIS16300_DIAG_STAT_FLASH_UPT (1<<2) -#define ADIS16300_DIAG_STAT_POWER_HIGH (1<<1) -#define ADIS16300_DIAG_STAT_POWER_LOW (1<<0) - -/* GLOB_CMD */ -#define ADIS16300_GLOB_CMD_SW_RESET (1<<7) -#define ADIS16300_GLOB_CMD_P_AUTO_NULL (1<<4) -#define ADIS16300_GLOB_CMD_FLASH_UPD (1<<3) -#define ADIS16300_GLOB_CMD_DAC_LATCH (1<<2) -#define ADIS16300_GLOB_CMD_FAC_CALIB (1<<1) -#define ADIS16300_GLOB_CMD_AUTO_NULL (1<<0) - -/* SLP_CNT */ -#define ADIS16300_SLP_CNT_POWER_OFF (1<<8) - -#define ADIS16300_MAX_TX 18 -#define ADIS16300_MAX_RX 18 - -#define ADIS16300_SPI_SLOW (u32)(300 * 1000) -#define ADIS16300_SPI_BURST (u32)(1000 * 1000) -#define ADIS16300_SPI_FAST (u32)(2000 * 1000) - -/** - * struct adis16300_state - device instance specific data - * @us: actual spi_device - * @work_trigger_to_ring: bh for triggered event handling - * @inter: used to check if new interrupt has been triggered - * @last_timestamp: passing timestamp from th to bh of interrupt handler - * @indio_dev: industrial I/O device structure - * @trig: data ready trigger registered with iio - * @tx: transmit buffer - * @rx: receive buffer - * @buf_lock: mutex to protect tx and rx - **/ -struct adis16300_state { - struct spi_device *us; - struct work_struct work_trigger_to_ring; - s64 last_timestamp; - struct iio_dev *indio_dev; - struct iio_trigger *trig; - u8 *tx; - u8 *rx; - struct mutex buf_lock; -}; - -int adis16300_set_irq(struct device *dev, bool enable); - -#ifdef CONFIG_IIO_RING_BUFFER -/* At the moment triggers are only used for ring buffer - * filling. This may change! - */ - -#define ADIS16300_SCAN_SUPPLY 0 -#define ADIS16300_SCAN_GYRO_X 1 -#define ADIS16300_SCAN_ACC_X 2 -#define ADIS16300_SCAN_ACC_Y 3 -#define ADIS16300_SCAN_ACC_Z 4 -#define ADIS16300_SCAN_TEMP 5 -#define ADIS16300_SCAN_ADC_0 6 -#define ADIS16300_SCAN_INCLI_X 7 -#define ADIS16300_SCAN_INCLI_Y 8 - -void adis16300_remove_trigger(struct iio_dev *indio_dev); -int adis16300_probe_trigger(struct iio_dev *indio_dev); - -ssize_t adis16300_read_data_from_ring(struct device *dev, - struct device_attribute *attr, - char *buf); - - -int adis16300_configure_ring(struct iio_dev *indio_dev); -void adis16300_unconfigure_ring(struct iio_dev *indio_dev); - -int adis16300_initialize_ring(struct iio_ring_buffer *ring); -void adis16300_uninitialize_ring(struct iio_ring_buffer *ring); -#else /* CONFIG_IIO_RING_BUFFER */ - -static inline void adis16300_remove_trigger(struct iio_dev *indio_dev) -{ -} - -static inline int adis16300_probe_trigger(struct iio_dev *indio_dev) -{ - return 0; -} - -static inline ssize_t -adis16300_read_data_from_ring(struct device *dev, - struct device_attribute *attr, - char *buf) -{ - return 0; -} - -static int adis16300_configure_ring(struct iio_dev *indio_dev) -{ - return 0; -} - -static inline void adis16300_unconfigure_ring(struct iio_dev *indio_dev) -{ -} - -static inline int adis16300_initialize_ring(struct iio_ring_buffer *ring) -{ - return 0; -} - -static inline void adis16300_uninitialize_ring(struct iio_ring_buffer *ring) -{ -} - -#endif /* CONFIG_IIO_RING_BUFFER */ -#endif /* SPI_ADIS16300_H_ */ diff --git a/drivers/staging/iio/imu/adis16300_core.c b/drivers/staging/iio/imu/adis16300_core.c deleted file mode 100644 index 903bb30..0000000 --- a/drivers/staging/iio/imu/adis16300_core.c +++ /dev/null @@ -1,732 +0,0 @@ -/* - * ADIS16300 Four Degrees of Freedom Inertial Sensor Driver - * - * Copyright 2010 Analog Devices Inc. - * - * Licensed under the GPL-2 or later. - */ - -#include <linux/interrupt.h> -#include <linux/irq.h> -#include <linux/gpio.h> -#include <linux/delay.h> -#include <linux/mutex.h> -#include <linux/device.h> -#include <linux/kernel.h> -#include <linux/spi/spi.h> -#include <linux/slab.h> -#include <linux/sysfs.h> -#include <linux/list.h> - -#include "../iio.h" -#include "../sysfs.h" -#include "../ring_generic.h" -#include "../accel/accel.h" -#include "../accel/inclinometer.h" -#include "../gyro/gyro.h" -#include "../adc/adc.h" - -#include "adis16300.h" - -#define DRIVER_NAME "adis16300" - -static int adis16300_check_status(struct device *dev); - -/** - * adis16300_spi_write_reg_8() - write single byte to a register - * @dev: device associated with child of actual device (iio_dev or iio_trig) - * @reg_address: the address of the register to be written - * @val: the value to write - **/ -static int adis16300_spi_write_reg_8(struct device *dev, - u8 reg_address, - u8 val) -{ - int ret; - struct iio_dev *indio_dev = dev_get_drvdata(dev); - struct adis16300_state *st = iio_dev_get_devdata(indio_dev); - - mutex_lock(&st->buf_lock); - st->tx[0] = ADIS16300_WRITE_REG(reg_address); - st->tx[1] = val; - - ret = spi_write(st->us, st->tx, 2); - mutex_unlock(&st->buf_lock); - - return ret; -} - -/** - * adis16300_spi_write_reg_16() - write 2 bytes to a pair of registers - * @dev: device associated with child of actual device (iio_dev or iio_trig) - * @reg_address: the address of the lower of the two registers. Second register - * is assumed to have address one greater. - * @val: value to be written - **/ -static int adis16300_spi_write_reg_16(struct device *dev, - u8 lower_reg_address, - u16 value) -{ - int ret; - struct spi_message msg; - struct iio_dev *indio_dev = dev_get_drvdata(dev); - struct adis16300_state *st = iio_dev_get_devdata(indio_dev); - struct spi_transfer xfers[] = { - { - .tx_buf = st->tx, - .bits_per_word = 8, - .len = 2, - .cs_change = 1, - .delay_usecs = 75, - }, { - .tx_buf = st->tx + 2, - .bits_per_word = 8, - .len = 2, - .cs_change = 1, - .delay_usecs = 75, - }, - }; - - mutex_lock(&st->buf_lock); - st->tx[0] = ADIS16300_WRITE_REG(lower_reg_address); - st->tx[1] = value & 0xFF; - st->tx[2] = ADIS16300_WRITE_REG(lower_reg_address + 1); - st->tx[3] = (value >> 8) & 0xFF; - - spi_message_init(&msg); - spi_message_add_tail(&xfers[0], &msg); - spi_message_add_tail(&xfers[1], &msg); - ret = spi_sync(st->us, &msg); - mutex_unlock(&st->buf_lock); - - return ret; -} - -/** - * adis16300_spi_read_reg_16() - read 2 bytes from a 16-bit register - * @dev: device associated with child of actual device (iio_dev or iio_trig) - * @reg_address: the address of the lower of the two registers. Second register - * is assumed to have address one greater. - * @val: somewhere to pass back the value read - **/ -static int adis16300_spi_read_reg_16(struct device *dev, - u8 lower_reg_address, - u16 *val) -{ - struct spi_message msg; - struct iio_dev *indio_dev = dev_get_drvdata(dev); - struct adis16300_state *st = iio_dev_get_devdata(indio_dev); - int ret; - struct spi_transfer xfers[] = { - { - .tx_buf = st->tx, - .bits_per_word = 8, - .len = 2, - .cs_change = 1, - .delay_usecs = 75, - }, { - .rx_buf = st->rx, - .bits_per_word = 8, - .len = 2, - .cs_change = 1, - .delay_usecs = 75, - }, - }; - - mutex_lock(&st->buf_lock); - st->tx[0] = ADIS16300_READ_REG(lower_reg_address); - st->tx[1] = 0; - st->tx[2] = 0; - st->tx[3] = 0; - - spi_message_init(&msg); - spi_message_add_tail(&xfers[0], &msg); - spi_message_add_tail(&xfers[1], &msg); - ret = spi_sync(st->us, &msg); - if (ret) { - dev_err(&st->us->dev, - "problem when reading 16 bit register 0x%02X", - lower_reg_address); - goto error_ret; - } - *val = (st->rx[0] << 8) | st->rx[1]; - -error_ret: - mutex_unlock(&st->buf_lock); - return ret; -} - -static ssize_t adis16300_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 = adis16300_spi_read_reg_16(dev, this_attr->address, (u16 *)&val); - if (ret) - return ret; - - if (val & ADIS16300_ERROR_ACTIVE) - adis16300_check_status(dev); - val = ((s16)(val << shift) >> shift); - return sprintf(buf, "%d\n", val); -} - -static ssize_t adis16300_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 = adis16300_spi_read_reg_16(dev, this_attr->address, &val); - if (ret) - return ret; - - if (val & ADIS16300_ERROR_ACTIVE) - adis16300_check_status(dev); - - return sprintf(buf, "%u\n", val & 0x0FFF); -} - -static ssize_t adis16300_read_14bit_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 = adis16300_spi_read_reg_16(dev, this_attr->address, &val); - if (ret) - return ret; - - if (val & ADIS16300_ERROR_ACTIVE) - adis16300_check_status(dev); - - return sprintf(buf, "%u\n", val & 0x3FFF); -} - -static ssize_t adis16300_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 = adis16300_spi_read_signed(dev, attr, buf, 14); - mutex_unlock(&indio_dev->mlock); - - return ret; -} - -static ssize_t adis16300_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 = adis16300_spi_read_signed(dev, attr, buf, 12); - mutex_unlock(&indio_dev->mlock); - - return ret; -} - -static ssize_t adis16300_read_13bit_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 = adis16300_spi_read_signed(dev, attr, buf, 13); - mutex_unlock(&indio_dev->mlock); - - return ret; -} - -static ssize_t adis16300_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 = adis16300_spi_write_reg_16(dev, this_attr->address, val); - -error_ret: - return ret ? ret : len; -} - -static ssize_t adis16300_read_frequency(struct device *dev, - struct device_attribute *attr, - char *buf) -{ - int ret, len = 0; - u16 t; - int sps; - ret = adis16300_spi_read_reg_16(dev, - ADIS16300_SMPL_PRD, - &t); - if (ret) - return ret; - sps = (t & ADIS16300_SMPL_PRD_TIME_BASE) ? 53 : 1638; - sps /= (t & ADIS16300_SMPL_PRD_DIV_MASK) + 1; - len = sprintf(buf, "%d SPS\n", sps); - return len; -} - -static ssize_t adis16300_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 adis16300_state *st = iio_dev_get_devdata(indio_dev); - long val; - int ret; - u8 t; - - ret = strict_strtol(buf, 10, &val); - if (ret) - return ret; - - mutex_lock(&indio_dev->mlock); - - t = (1638 / val); - if (t > 0) - t--; - t &= ADIS16300_SMPL_PRD_DIV_MASK; - if ((t & ADIS16300_SMPL_PRD_DIV_MASK) >= 0x0A) - st->us->max_speed_hz = ADIS16300_SPI_SLOW; - else - st->us->max_speed_hz = ADIS16300_SPI_FAST; - - ret = adis16300_spi_write_reg_8(dev, - ADIS16300_SMPL_PRD, - t); - - mutex_unlock(&indio_dev->mlock); - - return ret ? ret : len; -} - -static int adis16300_reset(struct device *dev) -{ - int ret; - ret = adis16300_spi_write_reg_8(dev, - ADIS16300_GLOB_CMD, - ADIS16300_GLOB_CMD_SW_RESET); - if (ret) - dev_err(dev, "problem resetting device"); - - return ret; -} - -static ssize_t adis16300_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 adis16300_reset(dev); - } - return -1; -} - -int adis16300_set_irq(struct device *dev, bool enable) -{ - int ret; - u16 msc; - ret = adis16300_spi_read_reg_16(dev, ADIS16300_MSC_CTRL, &msc); - if (ret) - goto error_ret; - - msc |= ADIS16300_MSC_CTRL_DATA_RDY_POL_HIGH; - msc &= ~ADIS16300_MSC_CTRL_DATA_RDY_DIO2; - if (enable) - msc |= ADIS16300_MSC_CTRL_DATA_RDY_EN; - else - msc &= ~ADIS16300_MSC_CTRL_DATA_RDY_EN; - - ret = adis16300_spi_write_reg_16(dev, ADIS16300_MSC_CTRL, msc); - if (ret) - goto error_ret; - -error_ret: - return ret; -} - -/* Power down the device */ -static int adis16300_stop_device(struct device *dev) -{ - int ret; - u16 val = ADIS16300_SLP_CNT_POWER_OFF; - - ret = adis16300_spi_write_reg_16(dev, ADIS16300_SLP_CNT, val); - if (ret) - dev_err(dev, "problem with turning device off: SLP_CNT"); - - return ret; -} - -static int adis16300_self_test(struct device *dev) -{ - int ret; - ret = adis16300_spi_write_reg_16(dev, - ADIS16300_MSC_CTRL, - ADIS16300_MSC_CTRL_MEM_TEST); - if (ret) { - dev_err(dev, "problem starting self test"); - goto err_ret; - } - - adis16300_check_status(dev); - -err_ret: - return ret; -} - -static int adis16300_check_status(struct device *dev) -{ - u16 status; - int ret; - - ret = adis16300_spi_read_reg_16(dev, ADIS16300_DIAG_STAT, &status); - - if (ret < 0) { - dev_err(dev, "Reading status failed\n"); - goto error_ret; - } - ret = status; - if (status & ADIS16300_DIAG_STAT_ZACCL_FAIL) - dev_err(dev, "Z-axis accelerometer self-test failure\n"); - if (status & ADIS16300_DIAG_STAT_YACCL_FAIL) - dev_err(dev, "Y-axis accelerometer self-test failure\n"); - if (status & ADIS16300_DIAG_STAT_XACCL_FAIL) - dev_err(dev, "X-axis accelerometer self-test failure\n"); - if (status & ADIS16300_DIAG_STAT_XGYRO_FAIL) - dev_err(dev, "X-axis gyroscope self-test failure\n"); - if (status & ADIS16300_DIAG_STAT_ALARM2) - dev_err(dev, "Alarm 2 active\n"); - if (status & ADIS16300_DIAG_STAT_ALARM1) - dev_err(dev, "Alarm 1 active\n"); - if (status & ADIS16300_DIAG_STAT_FLASH_CHK) - dev_err(dev, "Flash checksum error\n"); - if (status & ADIS16300_DIAG_STAT_SELF_TEST) - dev_err(dev, "Self test error\n"); - if (status & ADIS16300_DIAG_STAT_OVERFLOW) - dev_err(dev, "Sensor overrange\n"); - if (status & ADIS16300_DIAG_STAT_SPI_FAIL) - dev_err(dev, "SPI failure\n"); - if (status & ADIS16300_DIAG_STAT_FLASH_UPT) - dev_err(dev, "Flash update failed\n"); - if (status & ADIS16300_DIAG_STAT_POWER_HIGH) - dev_err(dev, "Power supply above 5.25V\n"); - if (status & ADIS16300_DIAG_STAT_POWER_LOW) - dev_err(dev, "Power supply below 4.75V\n"); - -error_ret: - return ret; -} - -static int adis16300_initial_setup(struct adis16300_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 = ADIS16300_SPI_SLOW; - st->us->mode = SPI_MODE_3; - spi_setup(st->us); - - /* Disable IRQ */ - ret = adis16300_set_irq(dev, false); - if (ret) { - dev_err(dev, "disable irq failed"); - goto err_ret; - } - - /* Do self test */ - ret = adis16300_self_test(dev); - if (ret) { - dev_err(dev, "self test failure"); - goto err_ret; - } - - /* Read status register to check the result */ - ret = adis16300_check_status(dev); - if (ret) { - adis16300_reset(dev); - dev_err(dev, "device not playing ball -> reset"); - msleep(ADIS16300_STARTUP_DELAY); - ret = adis16300_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 = adis16300_spi_read_reg_16(dev, ADIS16300_SMPL_PRD, &smp_prd); - if (!ret && (smp_prd & ADIS16300_SMPL_PRD_DIV_MASK) < 0x0A) { - st->us->max_speed_hz = ADIS16300_SPI_SLOW; - spi_setup(st->us); - } - -err_ret: - return ret; -} - -static IIO_DEV_ATTR_GYRO_X_CALIBBIAS(S_IWUSR | S_IRUGO, - adis16300_read_12bit_signed, - adis16300_write_16bit, - ADIS16300_XGYRO_OFF); - -static IIO_DEV_ATTR_ACCEL_X_CALIBBIAS(S_IWUSR | S_IRUGO, - adis16300_read_12bit_signed, - adis16300_write_16bit, - ADIS16300_XACCL_OFF); - -static IIO_DEV_ATTR_ACCEL_Y_CALIBBIAS(S_IWUSR | S_IRUGO, - adis16300_read_12bit_signed, - adis16300_write_16bit, - ADIS16300_YACCL_OFF); - -static IIO_DEV_ATTR_ACCEL_Z_CALIBBIAS(S_IWUSR | S_IRUGO, - adis16300_read_12bit_signed, - adis16300_write_16bit, - ADIS16300_ZACCL_OFF); - -static IIO_DEV_ATTR_IN_NAMED_RAW(0, supply, adis16300_read_14bit_unsigned, - ADIS16300_SUPPLY_OUT); -static IIO_CONST_ATTR_IN_NAMED_SCALE(0, supply, "0.00242"); - -static IIO_DEV_ATTR_GYRO_X(adis16300_read_14bit_signed, - ADIS16300_XGYRO_OUT); -static IIO_CONST_ATTR_GYRO_SCALE("0.000872664"); - -static IIO_DEV_ATTR_ACCEL_X(adis16300_read_14bit_signed, - ADIS16300_XACCL_OUT); -static IIO_DEV_ATTR_ACCEL_Y(adis16300_read_14bit_signed, - ADIS16300_YACCL_OUT); -static IIO_DEV_ATTR_ACCEL_Z(adis16300_read_14bit_signed, - ADIS16300_ZACCL_OUT); -static IIO_CONST_ATTR_ACCEL_SCALE("0.00588399"); - -static IIO_DEV_ATTR_INCLI_X(adis16300_read_13bit_signed, - ADIS16300_XINCLI_OUT); -static IIO_DEV_ATTR_INCLI_Y(adis16300_read_13bit_signed, - ADIS16300_YINCLI_OUT); -static IIO_CONST_ATTR_INCLI_SCALE("0.00076794487"); - -static IIO_DEV_ATTR_TEMP_RAW(adis16300_read_12bit_unsigned); -static IIO_CONST_ATTR_TEMP_OFFSET("198.16"); -static IIO_CONST_ATTR_TEMP_SCALE("0.14"); - -static IIO_DEV_ATTR_IN_RAW(1, adis16300_read_12bit_unsigned, - ADIS16300_AUX_ADC); -static IIO_CONST_ATTR(in1_scale, "0.000806"); - -static IIO_DEV_ATTR_SAMP_FREQ(S_IWUSR | S_IRUGO, - adis16300_read_frequency, - adis16300_write_frequency); - -static IIO_DEVICE_ATTR(reset, S_IWUSR, NULL, adis16300_write_reset, 0); - -static IIO_CONST_ATTR_SAMP_FREQ_AVAIL("409 546 819 1638"); - -static IIO_CONST_ATTR_NAME("adis16300"); - -static struct attribute *adis16300_attributes[] = { - &iio_dev_attr_gyro_x_calibbias.dev_attr.attr, - &iio_dev_attr_accel_x_calibbias.dev_attr.attr, - &iio_dev_attr_accel_y_calibbias.dev_attr.attr, - &iio_dev_attr_accel_z_calibbias.dev_attr.attr, - &iio_dev_attr_in0_supply_raw.dev_attr.attr, - &iio_const_attr_in0_supply_scale.dev_attr.attr, - &iio_dev_attr_gyro_x_raw.dev_attr.attr, - &iio_const_attr_gyro_scale.dev_attr.attr, - &iio_dev_attr_accel_x_raw.dev_attr.attr, - &iio_dev_attr_accel_y_raw.dev_attr.attr, - &iio_dev_attr_accel_z_raw.dev_attr.attr, - &iio_const_attr_accel_scale.dev_attr.attr, - &iio_dev_attr_incli_x_raw.dev_attr.attr, - &iio_dev_attr_incli_y_raw.dev_attr.attr, - &iio_const_attr_incli_scale.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_raw.dev_attr.attr, - &iio_const_attr_in1_scale.dev_attr.attr, - &iio_dev_attr_sampling_frequency.dev_attr.attr, - &iio_const_attr_sampling_frequency_available.dev_attr.attr, - &iio_dev_attr_reset.dev_attr.attr, - &iio_const_attr_name.dev_attr.attr, - NULL -}; - -static const struct attribute_group adis16300_attribute_group = { - .attrs = adis16300_attributes, -}; - -static int __devinit adis16300_probe(struct spi_device *spi) -{ - int ret, regdone = 0; - struct adis16300_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)*ADIS16300_MAX_RX, GFP_KERNEL); - if (st->rx == NULL) { - ret = -ENOMEM; - goto error_free_st; - } - st->tx = kzalloc(sizeof(*st->tx)*ADIS16300_MAX_TX, GFP_KERNEL); - if (st->tx == NULL) { - ret = -ENOMEM; - goto error_free_rx; - } - st->us = spi; - mutex_init(&st->buf_lock); - /* setup the industrialio driver allocated elements */ - st->indio_dev = iio_allocate_device(0); - if (st->indio_dev == NULL) { - ret = -ENOMEM; - goto error_free_tx; - } - - st->indio_dev->dev.parent = &spi->dev; - st->indio_dev->attrs = &adis16300_attribute_group; - st->indio_dev->dev_data = (void *)(st); - st->indio_dev->driver_module = THIS_MODULE; - st->indio_dev->modes = INDIO_DIRECT_MODE; - - ret = adis16300_configure_ring(st->indio_dev); - if (ret) - goto error_free_dev; - - ret = iio_device_register(st->indio_dev); - if (ret) - goto error_unreg_ring_funcs; - regdone = 1; - - ret = iio_ring_buffer_register(st->indio_dev->ring, 0); - if (ret) { - printk(KERN_ERR "failed to initialize the ring\n"); - goto error_unreg_ring_funcs; - } - - if (spi->irq) { - ret = adis16300_probe_trigger(st->indio_dev); - if (ret) - goto error_uninitialize_ring; - } - - /* Get the device into a sane initial state */ - ret = adis16300_initial_setup(st); - if (ret) - goto error_remove_trigger; - return 0; - -error_remove_trigger: - adis16300_remove_trigger(st->indio_dev); -error_uninitialize_ring: - iio_ring_buffer_unregister(st->indio_dev->ring); -error_unreg_ring_funcs: - adis16300_unconfigure_ring(st->indio_dev); -error_free_dev: - if (regdone) - iio_device_unregister(st->indio_dev); - else - iio_free_device(st->indio_dev); -error_free_tx: - kfree(st->tx); -error_free_rx: - kfree(st->rx); -error_free_st: - kfree(st); -error_ret: - return ret; -} - -static int adis16300_remove(struct spi_device *spi) -{ - int ret; - struct adis16300_state *st = spi_get_drvdata(spi); - struct iio_dev *indio_dev = st->indio_dev; - - ret = adis16300_stop_device(&(indio_dev->dev)); - if (ret) - goto err_ret; - - flush_scheduled_work(); - - adis16300_remove_trigger(indio_dev); - iio_ring_buffer_unregister(indio_dev->ring); - iio_device_unregister(indio_dev); - adis16300_unconfigure_ring(indio_dev); - kfree(st->tx); - kfree(st->rx); - kfree(st); - - return 0; - -err_ret: - return ret; -} - -static struct spi_driver adis16300_driver = { - .driver = { - .name = "adis16300", - .owner = THIS_MODULE, - }, - .probe = adis16300_probe, - .remove = __devexit_p(adis16300_remove), -}; - -static __init int adis16300_init(void) -{ - return spi_register_driver(&adis16300_driver); -} -module_init(adis16300_init); - -static __exit void adis16300_exit(void) -{ - spi_unregister_driver(&adis16300_driver); -} -module_exit(adis16300_exit); - -MODULE_AUTHOR("Barry Song <21cnbao@gmail.com>"); -MODULE_DESCRIPTION("Analog Devices ADIS16300 IMU SPI driver"); -MODULE_LICENSE("GPL v2"); diff --git a/drivers/staging/iio/imu/adis16300_ring.c b/drivers/staging/iio/imu/adis16300_ring.c deleted file mode 100644 index 114fdf4..0000000 --- a/drivers/staging/iio/imu/adis16300_ring.c +++ /dev/null @@ -1,238 +0,0 @@ -#include <linux/interrupt.h> -#include <linux/irq.h> -#include <linux/gpio.h> -#include <linux/workqueue.h> -#include <linux/mutex.h> -#include <linux/device.h> -#include <linux/kernel.h> -#include <linux/spi/spi.h> -#include <linux/slab.h> -#include <linux/sysfs.h> -#include <linux/list.h> - -#include "../iio.h" -#include "../sysfs.h" -#include "../ring_sw.h" -#include "../accel/accel.h" -#include "../trigger.h" -#include "adis16300.h" - -static IIO_SCAN_EL_C(in0_supply, ADIS16300_SCAN_SUPPLY, - ADIS16300_SUPPLY_OUT, NULL); -static IIO_CONST_ATTR_SCAN_EL_TYPE(in0_supply, u, 12, 16); -static IIO_SCAN_EL_C(gyro_x, ADIS16300_SCAN_GYRO_X, ADIS16300_XGYRO_OUT, NULL); -static IIO_CONST_ATTR_SCAN_EL_TYPE(gyro, s, 14, 16); - -static IIO_SCAN_EL_C(accel_x, ADIS16300_SCAN_ACC_X, ADIS16300_XACCL_OUT, NULL); -static IIO_SCAN_EL_C(accel_y, ADIS16300_SCAN_ACC_Y, ADIS16300_YACCL_OUT, NULL); -static IIO_SCAN_EL_C(accel_z, ADIS16300_SCAN_ACC_Z, ADIS16300_ZACCL_OUT, NULL); -static IIO_CONST_ATTR_SCAN_EL_TYPE(accel, s, 14, 16); - -static IIO_SCAN_EL_C(temp, ADIS16300_SCAN_TEMP, ADIS16300_TEMP_OUT, NULL); -static IIO_CONST_ATTR_SCAN_EL_TYPE(temp, s, 12, 16); - -static IIO_SCAN_EL_C(in1, ADIS16300_SCAN_ADC_0, ADIS16300_AUX_ADC, NULL); -static IIO_CONST_ATTR_SCAN_EL_TYPE(in1, u, 12, 16); - -static IIO_SCAN_EL_C(incli_x, ADIS16300_SCAN_INCLI_X, - ADIS16300_XINCLI_OUT, NULL); -static IIO_SCAN_EL_C(incli_y, ADIS16300_SCAN_INCLI_Y, - ADIS16300_YINCLI_OUT, NULL); -static IIO_CONST_ATTR_SCAN_EL_TYPE(incli, s, 13, 16); - -static IIO_SCAN_EL_TIMESTAMP(9); -static IIO_CONST_ATTR_SCAN_EL_TYPE(timestamp, s, 64, 64); - -static struct attribute *adis16300_scan_el_attrs[] = { - &iio_scan_el_in0_supply.dev_attr.attr, - &iio_const_attr_in0_supply_index.dev_attr.attr, - &iio_const_attr_in0_supply_type.dev_attr.attr, - &iio_scan_el_gyro_x.dev_attr.attr, - &iio_const_attr_gyro_x_index.dev_attr.attr, - &iio_const_attr_gyro_type.dev_attr.attr, - &iio_scan_el_temp.dev_attr.attr, - &iio_const_attr_temp_index.dev_attr.attr, - &iio_const_attr_temp_type.dev_attr.attr, - &iio_scan_el_accel_x.dev_attr.attr, - &iio_const_attr_accel_x_index.dev_attr.attr, - &iio_scan_el_accel_y.dev_attr.attr, - &iio_const_attr_accel_y_index.dev_attr.attr, - &iio_scan_el_accel_z.dev_attr.attr, - &iio_const_attr_accel_z_index.dev_attr.attr, - &iio_const_attr_accel_type.dev_attr.attr, - &iio_scan_el_incli_x.dev_attr.attr, - &iio_const_attr_incli_x_index.dev_attr.attr, - &iio_scan_el_incli_y.dev_attr.attr, - &iio_const_attr_incli_y_index.dev_attr.attr, - &iio_const_attr_incli_type.dev_attr.attr, - &iio_scan_el_in1.dev_attr.attr, - &iio_const_attr_in1_index.dev_attr.attr, - &iio_const_attr_in1_type.dev_attr.attr, - &iio_scan_el_timestamp.dev_attr.attr, - &iio_const_attr_timestamp_index.dev_attr.attr, - &iio_const_attr_timestamp_type.dev_attr.attr, - NULL, -}; - -static struct attribute_group adis16300_scan_el_group = { - .attrs = adis16300_scan_el_attrs, - .name = "scan_elements", -}; - -/** - * adis16300_poll_func_th() top half interrupt handler called by trigger - * @private_data: iio_dev - **/ -static void adis16300_poll_func_th(struct iio_dev *indio_dev, s64 time) -{ - struct adis16300_state *st = iio_dev_get_devdata(indio_dev); - st->last_timestamp = time; - schedule_work(&st->work_trigger_to_ring); - /* Indicate that this interrupt is being handled */ - - /* Technically this is trigger related, but without this - * handler running there is currently no way for the interrupt - * to clear. - */ -} - -/** - * adis16300_spi_read_burst() - read all data registers - * @dev: device associated with child of actual device (iio_dev or iio_trig) - * @rx: somewhere to pass back the value read (min size is 24 bytes) - **/ -static int adis16300_spi_read_burst(struct device *dev, u8 *rx) -{ - struct spi_message msg; - struct iio_dev *indio_dev = dev_get_drvdata(dev); - struct adis16300_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 = 18, - .cs_change = 0, - }, - }; - - mutex_lock(&st->buf_lock); - st->tx[0] = ADIS16300_READ_REG(ADIS16300_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 = ADIS16300_SPI_BURST; - spi_setup(st->us); - - ret = spi_sync(st->us, &msg); - if (ret) - dev_err(&st->us->dev, "problem when burst reading"); - - st->us->max_speed_hz = old_speed_hz; - spi_setup(st->us); - mutex_unlock(&st->buf_lock); - return ret; -} - -/* Whilst this makes a lot of calls to iio_sw_ring functions - it is to device - * specific to be rolled into the core. - */ -static void adis16300_trigger_bh_to_ring(struct work_struct *work_s) -{ - struct adis16300_state *st - = container_of(work_s, struct adis16300_state, - work_trigger_to_ring); - struct iio_ring_buffer *ring = st->indio_dev->ring; - - int i = 0; - s16 *data; - size_t datasize = ring->access.get_bytes_per_datum(ring); - - data = kmalloc(datasize , GFP_KERNEL); - if (data == NULL) { - dev_err(&st->us->dev, "memory alloc failed in ring bh"); - return; - } - - if (ring->scan_count) - if (adis16300_spi_read_burst(&st->indio_dev->dev, st->rx) >= 0) - for (; i < ring->scan_count; i++) - data[i] = be16_to_cpup( - (__be16 *)&(st->rx[i*2])); - - /* Guaranteed to be aligned with 8 byte boundary */ - if (ring->scan_timestamp) - *((s64 *)(data + ((i + 3)/4)*4)) = st->last_timestamp; - - ring->access.store_to(ring, - (u8 *)data, - st->last_timestamp); - - iio_trigger_notify_done(st->indio_dev->trig); - kfree(data); - - return; -} - -void adis16300_unconfigure_ring(struct iio_dev *indio_dev) -{ - kfree(indio_dev->pollfunc); - iio_sw_rb_free(indio_dev->ring); -} - -int adis16300_configure_ring(struct iio_dev *indio_dev) -{ - int ret = 0; - struct adis16300_state *st = indio_dev->dev_data; - struct iio_ring_buffer *ring; - INIT_WORK(&st->work_trigger_to_ring, adis16300_trigger_bh_to_ring); - - ring = iio_sw_rb_allocate(indio_dev); - if (!ring) { - ret = -ENOMEM; - return ret; - } - indio_dev->ring = ring; - /* Effectively select the ring buffer implementation */ - iio_ring_sw_register_funcs(&ring->access); - ring->bpe = 2; - ring->scan_el_attrs = &adis16300_scan_el_group; - ring->scan_timestamp = true; - ring->preenable = &iio_sw_ring_preenable; - ring->postenable = &iio_triggered_ring_postenable; - ring->predisable = &iio_triggered_ring_predisable; - ring->owner = THIS_MODULE; - - /* Set default scan mode */ - iio_scan_mask_set(ring, iio_scan_el_in0_supply.number); - iio_scan_mask_set(ring, iio_scan_el_gyro_x.number); - iio_scan_mask_set(ring, iio_scan_el_accel_x.number); - iio_scan_mask_set(ring, iio_scan_el_accel_y.number); - iio_scan_mask_set(ring, iio_scan_el_accel_z.number); - iio_scan_mask_set(ring, iio_scan_el_temp.number); - iio_scan_mask_set(ring, iio_scan_el_in1.number); - iio_scan_mask_set(ring, iio_scan_el_incli_x.number); - iio_scan_mask_set(ring, iio_scan_el_incli_y.number); - - ret = iio_alloc_pollfunc(indio_dev, NULL, &adis16300_poll_func_th); - if (ret) - goto error_iio_sw_rb_free; - - indio_dev->modes |= INDIO_RING_TRIGGERED; - return 0; - -error_iio_sw_rb_free: - iio_sw_rb_free(indio_dev->ring); - return ret; -} - diff --git a/drivers/staging/iio/imu/adis16300_trigger.c b/drivers/staging/iio/imu/adis16300_trigger.c deleted file mode 100644 index fd7656f..0000000 --- a/drivers/staging/iio/imu/adis16300_trigger.c +++ /dev/null @@ -1,119 +0,0 @@ -#include <linux/interrupt.h> -#include <linux/irq.h> -#include <linux/mutex.h> -#include <linux/device.h> -#include <linux/kernel.h> -#include <linux/sysfs.h> -#include <linux/list.h> -#include <linux/spi/spi.h> - -#include "../iio.h" -#include "../sysfs.h" -#include "../trigger.h" -#include "adis16300.h" - -/** - * adis16300_data_rdy_trig_poll() the event handler for the data rdy trig - **/ -static irqreturn_t adis16300_data_rdy_trig_poll(int irq, void *private) -{ - disable_irq_nosync(irq); - iio_trigger_poll(private, iio_get_time_ns()); - return IRQ_HANDLED; -} - -static IIO_TRIGGER_NAME_ATTR; - -static struct attribute *adis16300_trigger_attrs[] = { - &dev_attr_name.attr, - NULL, -}; - -static const struct attribute_group adis16300_trigger_attr_group = { - .attrs = adis16300_trigger_attrs, -}; - -/** - * adis16300_data_rdy_trigger_set_state() set datardy interrupt state - **/ -static int adis16300_data_rdy_trigger_set_state(struct iio_trigger *trig, - bool state) -{ - struct adis16300_state *st = trig->private_data; - struct iio_dev *indio_dev = st->indio_dev; - - dev_dbg(&indio_dev->dev, "%s (%d)\n", __func__, state); - return adis16300_set_irq(&st->indio_dev->dev, state); -} - -/** - * adis16300_trig_try_reen() try renabling irq for data rdy trigger - * @trig: the datardy trigger - **/ -static int adis16300_trig_try_reen(struct iio_trigger *trig) -{ - struct adis16300_state *st = trig->private_data; - enable_irq(st->us->irq); - /* irq reenabled so success! */ - return 0; -} - -int adis16300_probe_trigger(struct iio_dev *indio_dev) -{ - int ret; - struct adis16300_state *st = indio_dev->dev_data; - - st->trig = iio_allocate_trigger(); - if (st->trig == NULL) { - ret = -ENOMEM; - goto error_ret; - } - ret = request_irq(st->us->irq, - adis16300_data_rdy_trig_poll, - IRQF_TRIGGER_RISING, - "adis16300", - st->trig); - if (ret) - goto error_free_trig; - - st->trig->name = kasprintf(GFP_KERNEL, - "adis16300-dev%d", - indio_dev->id); - if (!st->trig->name) { - ret = -ENOMEM; - goto error_free_irq; - } - st->trig->dev.parent = &st->us->dev; - st->trig->owner = THIS_MODULE; - st->trig->private_data = st; - st->trig->set_trigger_state = &adis16300_data_rdy_trigger_set_state; - st->trig->try_reenable = &adis16300_trig_try_reen; - st->trig->control_attrs = &adis16300_trigger_attr_group; - ret = iio_trigger_register(st->trig); - - /* select default trigger */ - indio_dev->trig = st->trig; - if (ret) - goto error_free_trig_name; - - return 0; - -error_free_trig_name: - kfree(st->trig->name); -error_free_irq: - free_irq(st->us->irq, st->trig); -error_free_trig: - iio_free_trigger(st->trig); -error_ret: - return ret; -} - -void adis16300_remove_trigger(struct iio_dev *indio_dev) -{ - struct adis16300_state *state = indio_dev->dev_data; - - iio_trigger_unregister(state->trig); - kfree(state->trig->name); - free_irq(state->us->irq, state->trig); - iio_free_trigger(state->trig); -} |