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path: root/drivers/staging/iio/imu/adis16400_core.c
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Diffstat (limited to 'drivers/staging/iio/imu/adis16400_core.c')
-rw-r--r--drivers/staging/iio/imu/adis16400_core.c660
1 files changed, 449 insertions, 211 deletions
diff --git a/drivers/staging/iio/imu/adis16400_core.c b/drivers/staging/iio/imu/adis16400_core.c
index fe89802..57cb92f 100644
--- a/drivers/staging/iio/imu/adis16400_core.c
+++ b/drivers/staging/iio/imu/adis16400_core.c
@@ -16,7 +16,6 @@
#include <linux/interrupt.h>
#include <linux/irq.h>
-#include <linux/gpio.h>
#include <linux/delay.h>
#include <linux/mutex.h>
#include <linux/device.h>
@@ -25,21 +24,17 @@
#include <linux/slab.h>
#include <linux/sysfs.h>
#include <linux/list.h>
+#include <linux/module.h>
+#include <linux/bitops.h>
#include "../iio.h"
#include "../sysfs.h"
-#include "../ring_generic.h"
-#include "../accel/accel.h"
-#include "../adc/adc.h"
-#include "../gyro/gyro.h"
-#include "../magnetometer/magnet.h"
-
+#include "../buffer_generic.h"
#include "adis16400.h"
-#define DRIVER_NAME "adis16400"
-
enum adis16400_chip_variant {
ADIS16300,
+ ADIS16334,
ADIS16350,
ADIS16360,
ADIS16362,
@@ -48,19 +43,12 @@ enum adis16400_chip_variant {
ADIS16400,
};
-static int adis16400_check_status(struct iio_dev *indio_dev);
-
-/* At the moment the spi framework doesn't allow global setting of cs_change.
- * It's in the likely to be added comment at the top of spi.h.
- * This means that use cannot be made of spi_write etc.
- */
-
/**
* adis16400_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 adis16400_spi_write_reg_8(struct iio_dev *indio_dev,
u8 reg_address,
u8 val)
@@ -84,7 +72,10 @@ static int adis16400_spi_write_reg_8(struct iio_dev *indio_dev,
* @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
- **/
+ *
+ * At the moment the spi framework doesn't allow global setting of cs_change.
+ * This means that use cannot be made of spi_write.
+ */
static int adis16400_spi_write_reg_16(struct iio_dev *indio_dev,
u8 lower_reg_address,
u16 value)
@@ -126,6 +117,9 @@ static int adis16400_spi_write_reg_16(struct iio_dev *indio_dev,
* @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
+ *
+ * At the moment the spi framework doesn't allow global setting of cs_change.
+ * This means that use cannot be made of spi_read.
**/
static int adis16400_spi_read_reg_16(struct iio_dev *indio_dev,
u8 lower_reg_address,
@@ -150,8 +144,6 @@ static int adis16400_spi_read_reg_16(struct iio_dev *indio_dev,
mutex_lock(&st->buf_lock);
st->tx[0] = ADIS16400_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);
@@ -240,23 +232,26 @@ static ssize_t adis16400_write_reset(struct device *dev,
struct device_attribute *attr,
const char *buf, size_t len)
{
- struct iio_dev *indio_dev = dev_get_drvdata(dev);
+ bool val;
+ int ret;
- if (len < 1)
- return -1;
- switch (buf[0]) {
- case '1':
- case 'y':
- case 'Y':
- return adis16400_reset(indio_dev);
+ ret = strtobool(buf, &val);
+ if (ret < 0)
+ return ret;
+ if (val) {
+ ret = adis16400_reset(dev_get_drvdata(dev));
+ if (ret < 0)
+ return ret;
}
- return -1;
+
+ return len;
}
int adis16400_set_irq(struct iio_dev *indio_dev, bool enable)
{
int ret;
u16 msc;
+
ret = adis16400_spi_read_reg_16(indio_dev, ADIS16400_MSC_CTRL, &msc);
if (ret)
goto error_ret;
@@ -289,24 +284,6 @@ static int adis16400_stop_device(struct iio_dev *indio_dev)
return ret;
}
-static int adis16400_self_test(struct iio_dev *indio_dev)
-{
- int ret;
- ret = adis16400_spi_write_reg_16(indio_dev,
- ADIS16400_MSC_CTRL,
- ADIS16400_MSC_CTRL_MEM_TEST);
- if (ret) {
- dev_err(&indio_dev->dev, "problem starting self test");
- goto err_ret;
- }
-
- msleep(ADIS16400_MTEST_DELAY);
- adis16400_check_status(indio_dev);
-
-err_ret:
- return ret;
-}
-
static int adis16400_check_status(struct iio_dev *indio_dev)
{
u16 status;
@@ -356,11 +333,28 @@ error_ret:
return ret;
}
+static int adis16400_self_test(struct iio_dev *indio_dev)
+{
+ int ret;
+ ret = adis16400_spi_write_reg_16(indio_dev,
+ ADIS16400_MSC_CTRL,
+ ADIS16400_MSC_CTRL_MEM_TEST);
+ if (ret) {
+ dev_err(&indio_dev->dev, "problem starting self test");
+ goto err_ret;
+ }
+
+ msleep(ADIS16400_MTEST_DELAY);
+ adis16400_check_status(indio_dev);
+
+err_ret:
+ return ret;
+}
+
static int adis16400_initial_setup(struct iio_dev *indio_dev)
{
int ret;
u16 prod_id, smp_prd;
- struct device *dev = &indio_dev->dev;
struct adis16400_state *st = iio_priv(indio_dev);
/* use low spi speed for init */
@@ -368,29 +362,26 @@ static int adis16400_initial_setup(struct iio_dev *indio_dev)
st->us->mode = SPI_MODE_3;
spi_setup(st->us);
- /* Disable IRQ */
ret = adis16400_set_irq(indio_dev, false);
if (ret) {
- dev_err(dev, "disable irq failed");
+ dev_err(&indio_dev->dev, "disable irq failed");
goto err_ret;
}
- /* Do self test */
ret = adis16400_self_test(indio_dev);
if (ret) {
- dev_err(dev, "self test failure");
+ dev_err(&indio_dev->dev, "self test failure");
goto err_ret;
}
- /* Read status register to check the result */
ret = adis16400_check_status(indio_dev);
if (ret) {
adis16400_reset(indio_dev);
- dev_err(dev, "device not playing ball -> reset");
+ dev_err(&indio_dev->dev, "device not playing ball -> reset");
msleep(ADIS16400_STARTUP_DELAY);
ret = adis16400_check_status(indio_dev);
if (ret) {
- dev_err(dev, "giving up");
+ dev_err(&indio_dev->dev, "giving up");
goto err_ret;
}
}
@@ -401,10 +392,11 @@ static int adis16400_initial_setup(struct iio_dev *indio_dev)
goto err_ret;
if ((prod_id & 0xF000) != st->variant->product_id)
- dev_warn(dev, "incorrect id");
+ dev_warn(&indio_dev->dev, "incorrect id");
- printk(KERN_INFO DRIVER_NAME ": prod_id 0x%04x at CS%d (irq %d)\n",
- prod_id, st->us->chip_select, st->us->irq);
+ dev_info(&indio_dev->dev, "%s: prod_id 0x%04x at CS%d (irq %d)\n",
+ indio_dev->name, prod_id,
+ st->us->chip_select, st->us->irq);
}
/* use high spi speed if possible */
ret = adis16400_spi_read_reg_16(indio_dev,
@@ -414,15 +406,13 @@ static int adis16400_initial_setup(struct iio_dev *indio_dev)
spi_setup(st->us);
}
-
err_ret:
-
return ret;
}
static IIO_DEV_ATTR_SAMP_FREQ(S_IWUSR | S_IRUGO,
- adis16400_read_frequency,
- adis16400_write_frequency);
+ adis16400_read_frequency,
+ adis16400_write_frequency);
static IIO_DEVICE_ATTR(reset, S_IWUSR, NULL, adis16400_write_reset, 0);
@@ -441,25 +431,29 @@ enum adis16400_chan {
magn_z,
temp,
temp0, temp1, temp2,
- in1
+ in1,
+ incli_x,
+ incli_y,
};
-static u8 adis16400_addresses[16][2] = {
- [in_supply] = { ADIS16400_SUPPLY_OUT, 0 },
+static u8 adis16400_addresses[17][2] = {
+ [in_supply] = { ADIS16400_SUPPLY_OUT },
[gyro_x] = { ADIS16400_XGYRO_OUT, ADIS16400_XGYRO_OFF },
[gyro_y] = { ADIS16400_YGYRO_OUT, ADIS16400_YGYRO_OFF },
[gyro_z] = { ADIS16400_ZGYRO_OUT, ADIS16400_ZGYRO_OFF },
[accel_x] = { ADIS16400_XACCL_OUT, ADIS16400_XACCL_OFF },
[accel_y] = { ADIS16400_YACCL_OUT, ADIS16400_YACCL_OFF },
[accel_z] = { ADIS16400_ZACCL_OUT, ADIS16400_ZACCL_OFF },
- [magn_x] = { ADIS16400_XMAGN_OUT, 0 },
- [magn_y] = { ADIS16400_YMAGN_OUT, 0 },
- [magn_z] = { ADIS16400_ZMAGN_OUT, 0 },
- [temp] = { ADIS16400_TEMP_OUT, 0 },
+ [magn_x] = { ADIS16400_XMAGN_OUT },
+ [magn_y] = { ADIS16400_YMAGN_OUT },
+ [magn_z] = { ADIS16400_ZMAGN_OUT },
+ [temp] = { ADIS16400_TEMP_OUT },
[temp0] = { ADIS16350_XTEMP_OUT },
[temp1] = { ADIS16350_YTEMP_OUT },
[temp2] = { ADIS16350_ZTEMP_OUT },
- [in1] = { ADIS16400_AUX_ADC , 0 },
+ [in1] = { ADIS16400_AUX_ADC },
+ [incli_x] = { ADIS16300_PITCH_OUT },
+ [incli_y] = { ADIS16300_ROLL_OUT }
};
static int adis16400_write_raw(struct iio_dev *indio_dev,
@@ -469,6 +463,7 @@ static int adis16400_write_raw(struct iio_dev *indio_dev,
long mask)
{
int ret;
+
switch (mask) {
case (1 << IIO_CHAN_INFO_CALIBBIAS_SEPARATE):
mutex_lock(&indio_dev->mlock);
@@ -489,9 +484,8 @@ static int adis16400_read_raw(struct iio_dev *indio_dev,
long mask)
{
struct adis16400_state *st = iio_priv(indio_dev);
- int ret;
+ int ret, shift;
s16 val16;
- int shift;
switch (mask) {
case 0:
@@ -514,11 +508,11 @@ static int adis16400_read_raw(struct iio_dev *indio_dev,
case (1 << IIO_CHAN_INFO_SCALE_SHARED):
case (1 << IIO_CHAN_INFO_SCALE_SEPARATE):
switch (chan->type) {
- case IIO_GYRO:
+ case IIO_ANGL_VEL:
*val = 0;
*val2 = st->variant->gyro_scale_micro;
return IIO_VAL_INT_PLUS_MICRO;
- case IIO_IN:
+ case IIO_VOLTAGE:
*val = 0;
if (chan->channel == 0)
*val2 = 2418;
@@ -548,7 +542,7 @@ static int adis16400_read_raw(struct iio_dev *indio_dev,
mutex_unlock(&indio_dev->mlock);
if (ret)
return ret;
- val16 = ((val16 & 0xFFF) << 4) >> 4;
+ val16 = sign_extend32(val16, 11);
*val = val16;
return IIO_VAL_INT;
case (1 << IIO_CHAN_INFO_OFFSET_SEPARATE):
@@ -562,135 +556,371 @@ static int adis16400_read_raw(struct iio_dev *indio_dev,
}
static struct iio_chan_spec adis16400_channels[] = {
- IIO_CHAN(IIO_IN, 0, 1, 0, "supply", 0, 0,
- (1 << IIO_CHAN_INFO_SCALE_SEPARATE),
- in_supply, ADIS16400_SCAN_SUPPLY,
- IIO_ST('u', 14, 16, 0), 0),
- IIO_CHAN(IIO_GYRO, 1, 0, 0, NULL, 0, IIO_MOD_X,
- (1 << IIO_CHAN_INFO_CALIBBIAS_SEPARATE) |
- (1 << IIO_CHAN_INFO_SCALE_SHARED),
- gyro_x, ADIS16400_SCAN_GYRO_X, IIO_ST('s', 14, 16, 0), 0),
- IIO_CHAN(IIO_GYRO, 1, 0, 0, NULL, 0, IIO_MOD_Y,
- (1 << IIO_CHAN_INFO_CALIBBIAS_SEPARATE) |
- (1 << IIO_CHAN_INFO_SCALE_SHARED),
- gyro_y, ADIS16400_SCAN_GYRO_Y, IIO_ST('s', 14, 16, 0), 0),
- IIO_CHAN(IIO_GYRO, 1, 0, 0, NULL, 0, IIO_MOD_Z,
- (1 << IIO_CHAN_INFO_CALIBBIAS_SEPARATE) |
- (1 << IIO_CHAN_INFO_SCALE_SHARED),
- gyro_z, ADIS16400_SCAN_GYRO_Z, IIO_ST('s', 14, 16, 0), 0),
- IIO_CHAN(IIO_ACCEL, 1, 0, 0, NULL, 0, IIO_MOD_X,
- (1 << IIO_CHAN_INFO_CALIBBIAS_SEPARATE) |
- (1 << IIO_CHAN_INFO_SCALE_SHARED),
- accel_x, ADIS16400_SCAN_ACC_X, IIO_ST('s', 14, 16, 0), 0),
- IIO_CHAN(IIO_ACCEL, 1, 0, 0, NULL, 0, IIO_MOD_Y,
- (1 << IIO_CHAN_INFO_CALIBBIAS_SEPARATE) |
- (1 << IIO_CHAN_INFO_SCALE_SHARED),
- accel_y, ADIS16400_SCAN_ACC_Y, IIO_ST('s', 14, 16, 0), 0),
- IIO_CHAN(IIO_ACCEL, 1, 0, 0, NULL, 0, IIO_MOD_Z,
- (1 << IIO_CHAN_INFO_CALIBBIAS_SEPARATE) |
- (1 << IIO_CHAN_INFO_SCALE_SHARED),
- accel_z, ADIS16400_SCAN_ACC_Z, IIO_ST('s', 14, 16, 0), 0),
- IIO_CHAN(IIO_MAGN, 1, 0, 0, NULL, 0, IIO_MOD_X,
- (1 << IIO_CHAN_INFO_SCALE_SHARED),
- magn_x, ADIS16400_SCAN_MAGN_X, IIO_ST('s', 14, 16, 0), 0),
- IIO_CHAN(IIO_MAGN, 1, 0, 0, NULL, 0, IIO_MOD_Y,
- (1 << IIO_CHAN_INFO_SCALE_SHARED),
- magn_y, ADIS16400_SCAN_MAGN_Y, IIO_ST('s', 14, 16, 0), 0),
- IIO_CHAN(IIO_MAGN, 1, 0, 0, NULL, 0, IIO_MOD_Z,
- (1 << IIO_CHAN_INFO_SCALE_SHARED),
- magn_z, ADIS16400_SCAN_MAGN_Z, IIO_ST('s', 14, 16, 0), 0),
- IIO_CHAN(IIO_TEMP, 0, 1, 0, NULL, 0, 0,
- (1 << IIO_CHAN_INFO_OFFSET_SEPARATE) |
- (1 << IIO_CHAN_INFO_SCALE_SEPARATE),
- temp, ADIS16400_SCAN_TEMP, IIO_ST('s', 12, 16, 0), 0),
- IIO_CHAN(IIO_IN, 0, 1, 0, NULL, 1, 0,
- (1 << IIO_CHAN_INFO_SCALE_SEPARATE),
- in1, ADIS16400_SCAN_ADC_0, IIO_ST('s', 12, 16, 0), 0),
+ {
+ .type = IIO_VOLTAGE,
+ .indexed = 1,
+ .channel = 0,
+ .extend_name = "supply",
+ .info_mask = (1 << IIO_CHAN_INFO_SCALE_SEPARATE),
+ .address = in_supply,
+ .scan_index = ADIS16400_SCAN_SUPPLY,
+ .scan_type = IIO_ST('u', 14, 16, 0)
+ }, {
+ .type = IIO_ANGL_VEL,
+ .modified = 1,
+ .channel2 = IIO_MOD_X,
+ .info_mask = (1 << IIO_CHAN_INFO_CALIBBIAS_SEPARATE) |
+ (1 << IIO_CHAN_INFO_SCALE_SHARED),
+ .address = gyro_x,
+ .scan_index = ADIS16400_SCAN_GYRO_X,
+ .scan_type = IIO_ST('s', 14, 16, 0)
+ }, {
+ .type = IIO_ANGL_VEL,
+ .modified = 1,
+ .channel2 = IIO_MOD_Y,
+ .info_mask = (1 << IIO_CHAN_INFO_CALIBBIAS_SEPARATE) |
+ (1 << IIO_CHAN_INFO_SCALE_SHARED),
+ .address = gyro_y,
+ .scan_index = ADIS16400_SCAN_GYRO_Y,
+ .scan_type = IIO_ST('s', 14, 16, 0),
+ }, {
+ .type = IIO_ANGL_VEL,
+ .modified = 1,
+ .channel2 = IIO_MOD_Z,
+ .info_mask = (1 << IIO_CHAN_INFO_CALIBBIAS_SEPARATE) |
+ (1 << IIO_CHAN_INFO_SCALE_SHARED),
+ .address = gyro_z,
+ .scan_index = ADIS16400_SCAN_GYRO_Z,
+ .scan_type = IIO_ST('s', 14, 16, 0),
+ }, {
+ .type = IIO_ACCEL,
+ .modified = 1,
+ .channel2 = IIO_MOD_X,
+ .info_mask = (1 << IIO_CHAN_INFO_CALIBBIAS_SEPARATE) |
+ (1 << IIO_CHAN_INFO_SCALE_SHARED),
+ .address = accel_x,
+ .scan_index = ADIS16400_SCAN_ACC_X,
+ .scan_type = IIO_ST('s', 14, 16, 0),
+ }, {
+ .type = IIO_ACCEL,
+ .modified = 1,
+ .channel2 = IIO_MOD_Y,
+ .info_mask = (1 << IIO_CHAN_INFO_CALIBBIAS_SEPARATE) |
+ (1 << IIO_CHAN_INFO_SCALE_SHARED),
+ .address = accel_y,
+ .scan_index = ADIS16400_SCAN_ACC_Y,
+ .scan_type = IIO_ST('s', 14, 16, 0),
+ }, {
+ .type = IIO_ACCEL,
+ .modified = 1,
+ .channel2 = IIO_MOD_Z,
+ .info_mask = (1 << IIO_CHAN_INFO_CALIBBIAS_SEPARATE) |
+ (1 << IIO_CHAN_INFO_SCALE_SHARED),
+ .address = accel_z,
+ .scan_index = ADIS16400_SCAN_ACC_Z,
+ .scan_type = IIO_ST('s', 14, 16, 0),
+ }, {
+ .type = IIO_MAGN,
+ .modified = 1,
+ .channel2 = IIO_MOD_X,
+ .info_mask = (1 << IIO_CHAN_INFO_SCALE_SHARED),
+ .address = magn_x,
+ .scan_index = ADIS16400_SCAN_MAGN_X,
+ .scan_type = IIO_ST('s', 14, 16, 0),
+ }, {
+ .type = IIO_MAGN,
+ .modified = 1,
+ .channel2 = IIO_MOD_Y,
+ .info_mask = (1 << IIO_CHAN_INFO_SCALE_SHARED),
+ .address = magn_y,
+ .scan_index = ADIS16400_SCAN_MAGN_Y,
+ .scan_type = IIO_ST('s', 14, 16, 0),
+ }, {
+ .type = IIO_MAGN,
+ .modified = 1,
+ .channel2 = IIO_MOD_Z,
+ .info_mask = (1 << IIO_CHAN_INFO_SCALE_SHARED),
+ .address = magn_z,
+ .scan_index = ADIS16400_SCAN_MAGN_Z,
+ .scan_type = IIO_ST('s', 14, 16, 0),
+ }, {
+ .type = IIO_TEMP,
+ .indexed = 1,
+ .channel = 0,
+ .info_mask = (1 << IIO_CHAN_INFO_OFFSET_SEPARATE) |
+ (1 << IIO_CHAN_INFO_SCALE_SEPARATE),
+ .address = temp,
+ .scan_index = ADIS16400_SCAN_TEMP,
+ .scan_type = IIO_ST('s', 12, 16, 0),
+ }, {
+ .type = IIO_VOLTAGE,
+ .indexed = 1,
+ .channel = 1,
+ .info_mask = (1 << IIO_CHAN_INFO_SCALE_SEPARATE),
+ .address = in1,
+ .scan_index = ADIS16400_SCAN_ADC_0,
+ .scan_type = IIO_ST('s', 12, 16, 0),
+ },
IIO_CHAN_SOFT_TIMESTAMP(12)
};
static struct iio_chan_spec adis16350_channels[] = {
- IIO_CHAN(IIO_IN, 0, 1, 0, "supply", 0, 0,
- (1 << IIO_CHAN_INFO_SCALE_SEPARATE),
- 0, ADIS16400_SCAN_SUPPLY, IIO_ST('u', 12, 16, 0), 0),
- IIO_CHAN(IIO_GYRO, 1, 0, 0, NULL, 0, IIO_MOD_X,
- (1 << IIO_CHAN_INFO_CALIBBIAS_SEPARATE) |
- (1 << IIO_CHAN_INFO_SCALE_SHARED),
- 1, ADIS16400_SCAN_GYRO_X, IIO_ST('s', 14, 16, 0), 0),
- IIO_CHAN(IIO_GYRO, 1, 0, 0, NULL, 0, IIO_MOD_Y,
- (1 << IIO_CHAN_INFO_CALIBBIAS_SEPARATE) |
- (1 << IIO_CHAN_INFO_SCALE_SHARED),
- 2, ADIS16400_SCAN_GYRO_Y, IIO_ST('s', 14, 16, 0), 0),
- IIO_CHAN(IIO_GYRO, 1, 0, 0, NULL, 0, IIO_MOD_Z,
- (1 << IIO_CHAN_INFO_CALIBBIAS_SEPARATE) |
- (1 << IIO_CHAN_INFO_SCALE_SHARED),
- 3, ADIS16400_SCAN_GYRO_Z, IIO_ST('s', 14, 16, 0), 0),
- IIO_CHAN(IIO_ACCEL, 1, 0, 0, NULL, 0, IIO_MOD_X,
- (1 << IIO_CHAN_INFO_CALIBBIAS_SEPARATE) |
- (1 << IIO_CHAN_INFO_SCALE_SHARED),
- 4, ADIS16400_SCAN_ACC_X, IIO_ST('s', 14, 16, 0), 0),
- IIO_CHAN(IIO_ACCEL, 1, 0, 0, NULL, 0, IIO_MOD_Y,
- (1 << IIO_CHAN_INFO_CALIBBIAS_SEPARATE) |
- (1 << IIO_CHAN_INFO_SCALE_SHARED),
- 0, ADIS16400_SCAN_ACC_Y, IIO_ST('s', 14, 16, 0), 0),
- IIO_CHAN(IIO_ACCEL, 1, 0, 0, NULL, 0, IIO_MOD_Z,
- (1 << IIO_CHAN_INFO_CALIBBIAS_SEPARATE) |
- (1 << IIO_CHAN_INFO_SCALE_SHARED),
- 0, ADIS16400_SCAN_ACC_Z, IIO_ST('s', 14, 16, 0), 0),
- IIO_CHAN(IIO_TEMP, 0, 1, 0, "x", 0, 0,
- (1 << IIO_CHAN_INFO_OFFSET_SEPARATE) |
- (1 << IIO_CHAN_INFO_SCALE_SEPARATE),
- 0, ADIS16350_SCAN_TEMP_X, IIO_ST('s', 12, 16, 0), 0),
- IIO_CHAN(IIO_TEMP, 0, 1, 0, "y", 1, 0,
- (1 << IIO_CHAN_INFO_OFFSET_SEPARATE) |
- (1 << IIO_CHAN_INFO_SCALE_SEPARATE),
- 0, ADIS16350_SCAN_TEMP_Y, IIO_ST('s', 12, 16, 0), 0),
- IIO_CHAN(IIO_TEMP, 0, 1, 0, "z", 2, 0,
- (1 << IIO_CHAN_INFO_OFFSET_SEPARATE) |
- (1 << IIO_CHAN_INFO_SCALE_SEPARATE),
- 0, ADIS16350_SCAN_TEMP_Z, IIO_ST('s', 12, 16, 0), 0),
- IIO_CHAN(IIO_IN, 0, 1, 0, NULL, 1, 0,
- (1 << IIO_CHAN_INFO_SCALE_SEPARATE),
- 0, ADIS16350_SCAN_ADC_0, IIO_ST('s', 12, 16, 0), 0),
+ {
+ .type = IIO_VOLTAGE,
+ .indexed = 1,
+ .channel = 0,
+ .extend_name = "supply",
+ .info_mask = (1 << IIO_CHAN_INFO_SCALE_SEPARATE),
+ .address = in_supply,
+ .scan_index = ADIS16400_SCAN_SUPPLY,
+ .scan_type = IIO_ST('u', 12, 16, 0)
+ }, {
+ .type = IIO_ANGL_VEL,
+ .modified = 1,
+ .channel2 = IIO_MOD_X,
+ .info_mask = (1 << IIO_CHAN_INFO_CALIBBIAS_SEPARATE) |
+ (1 << IIO_CHAN_INFO_SCALE_SHARED),
+ .address = gyro_x,
+ .scan_index = ADIS16400_SCAN_GYRO_X,
+ .scan_type = IIO_ST('s', 14, 16, 0)
+ }, {
+ .type = IIO_ANGL_VEL,
+ .modified = 1,
+ .channel2 = IIO_MOD_Y,
+ .info_mask = (1 << IIO_CHAN_INFO_CALIBBIAS_SEPARATE) |
+ (1 << IIO_CHAN_INFO_SCALE_SHARED),
+ .address = gyro_y,
+ .scan_index = ADIS16400_SCAN_GYRO_Y,
+ .scan_type = IIO_ST('s', 14, 16, 0),
+ }, {
+ .type = IIO_ANGL_VEL,
+ .modified = 1,
+ .channel2 = IIO_MOD_Z,
+ .info_mask = (1 << IIO_CHAN_INFO_CALIBBIAS_SEPARATE) |
+ (1 << IIO_CHAN_INFO_SCALE_SHARED),
+ .address = gyro_z,
+ .scan_index = ADIS16400_SCAN_GYRO_Z,
+ .scan_type = IIO_ST('s', 14, 16, 0),
+ }, {
+ .type = IIO_ACCEL,
+ .modified = 1,
+ .channel2 = IIO_MOD_X,
+ .info_mask = (1 << IIO_CHAN_INFO_CALIBBIAS_SEPARATE) |
+ (1 << IIO_CHAN_INFO_SCALE_SHARED),
+ .address = accel_x,
+ .scan_index = ADIS16400_SCAN_ACC_X,
+ .scan_type = IIO_ST('s', 14, 16, 0),
+ }, {
+ .type = IIO_ACCEL,
+ .modified = 1,
+ .channel2 = IIO_MOD_Y,
+ .info_mask = (1 << IIO_CHAN_INFO_CALIBBIAS_SEPARATE) |
+ (1 << IIO_CHAN_INFO_SCALE_SHARED),
+ .address = accel_y,
+ .scan_index = ADIS16400_SCAN_ACC_Y,
+ .scan_type = IIO_ST('s', 14, 16, 0),
+ }, {
+ .type = IIO_ACCEL,
+ .modified = 1,
+ .channel2 = IIO_MOD_Z,
+ .info_mask = (1 << IIO_CHAN_INFO_CALIBBIAS_SEPARATE) |
+ (1 << IIO_CHAN_INFO_SCALE_SHARED),
+ .address = accel_z,
+ .scan_index = ADIS16400_SCAN_ACC_Z,
+ .scan_type = IIO_ST('s', 14, 16, 0),
+ }, {
+ .type = IIO_TEMP,
+ .indexed = 1,
+ .channel = 0,
+ .extend_name = "x",
+ .info_mask = (1 << IIO_CHAN_INFO_OFFSET_SEPARATE) |
+ (1 << IIO_CHAN_INFO_SCALE_SEPARATE),
+ .address = temp0,
+ .scan_index = ADIS16350_SCAN_TEMP_X,
+ .scan_type = IIO_ST('s', 12, 16, 0),
+ }, {
+ .type = IIO_TEMP,
+ .indexed = 1,
+ .channel = 1,
+ .extend_name = "y",
+ .info_mask = (1 << IIO_CHAN_INFO_OFFSET_SEPARATE) |
+ (1 << IIO_CHAN_INFO_SCALE_SEPARATE),
+ .address = temp1,
+ .scan_index = ADIS16350_SCAN_TEMP_Y,
+ .scan_type = IIO_ST('s', 12, 16, 0),
+ }, {
+ .type = IIO_TEMP,
+ .indexed = 1,
+ .channel = 2,
+ .extend_name = "z",
+ .info_mask = (1 << IIO_CHAN_INFO_OFFSET_SEPARATE) |
+ (1 << IIO_CHAN_INFO_SCALE_SEPARATE),
+ .address = temp2,
+ .scan_index = ADIS16350_SCAN_TEMP_Z,
+ .scan_type = IIO_ST('s', 12, 16, 0),
+ }, {
+ .type = IIO_VOLTAGE,
+ .indexed = 1,
+ .channel = 1,
+ .info_mask = (1 << IIO_CHAN_INFO_SCALE_SEPARATE),
+ .address = in1,
+ .scan_index = ADIS16350_SCAN_ADC_0,
+ .scan_type = IIO_ST('s', 12, 16, 0),
+ },
IIO_CHAN_SOFT_TIMESTAMP(11)
};
static struct iio_chan_spec adis16300_channels[] = {
- IIO_CHAN(IIO_IN, 0, 1, 0, "supply", 0, 0,
- (1 << IIO_CHAN_INFO_SCALE_SEPARATE),
- 0, ADIS16400_SCAN_SUPPLY, IIO_ST('u', 12, 16, 0), 0),
- IIO_CHAN(IIO_GYRO, 1, 0, 0, NULL, 0, IIO_MOD_X,
- (1 << IIO_CHAN_INFO_CALIBBIAS_SEPARATE) |
- (1 << IIO_CHAN_INFO_SCALE_SHARED),
- 1, ADIS16400_SCAN_GYRO_X, IIO_ST('s', 14, 16, 0), 0),
- IIO_CHAN(IIO_ACCEL, 1, 0, 0, NULL, 0, IIO_MOD_X,
- (1 << IIO_CHAN_INFO_CALIBBIAS_SEPARATE) |
- (1 << IIO_CHAN_INFO_SCALE_SHARED),
- 4, ADIS16400_SCAN_ACC_X, IIO_ST('s', 14, 16, 0), 0),
- IIO_CHAN(IIO_ACCEL, 1, 0, 0, NULL, 0, IIO_MOD_Y,
- (1 << IIO_CHAN_INFO_CALIBBIAS_SEPARATE) |
- (1 << IIO_CHAN_INFO_SCALE_SHARED),
- 0, ADIS16400_SCAN_ACC_Y, IIO_ST('s', 14, 16, 0), 0),
- IIO_CHAN(IIO_ACCEL, 1, 0, 0, NULL, 0, IIO_MOD_Z,
- (1 << IIO_CHAN_INFO_CALIBBIAS_SEPARATE) |
- (1 << IIO_CHAN_INFO_SCALE_SHARED),
- 0, ADIS16400_SCAN_ACC_Z, IIO_ST('s', 14, 16, 0), 0),
- IIO_CHAN(IIO_TEMP, 0, 1, 0, NULL, 0, 0,
- (1 << IIO_CHAN_INFO_OFFSET_SEPARATE) |
- (1 << IIO_CHAN_INFO_SCALE_SEPARATE),
- 0, ADIS16400_SCAN_TEMP, IIO_ST('s', 12, 16, 0), 0),
- IIO_CHAN(IIO_IN, 0, 1, 0, NULL, 1, 0,
- (1 << IIO_CHAN_INFO_SCALE_SEPARATE),
- 0, ADIS16350_SCAN_ADC_0, IIO_ST('s', 12, 16, 0), 0),
- IIO_CHAN(IIO_INCLI, 1, 0, 0, NULL, 0, IIO_MOD_X,
- (1 << IIO_CHAN_INFO_SCALE_SHARED),
- 0, ADIS16300_SCAN_INCLI_X, IIO_ST('s', 13, 16, 0), 0),
- IIO_CHAN(IIO_INCLI, 1, 0, 0, NULL, 0, IIO_MOD_Y,
- (1 << IIO_CHAN_INFO_SCALE_SHARED),
- 0, ADIS16300_SCAN_INCLI_Y, IIO_ST('s', 13, 16, 0), 0),
+ {
+ .type = IIO_VOLTAGE,
+ .indexed = 1,
+ .channel = 0,
+ .extend_name = "supply",
+ .info_mask = (1 << IIO_CHAN_INFO_SCALE_SEPARATE),
+ .address = in_supply,
+ .scan_index = ADIS16400_SCAN_SUPPLY,
+ .scan_type = IIO_ST('u', 12, 16, 0)
+ }, {
+ .type = IIO_ANGL_VEL,
+ .modified = 1,
+ .channel2 = IIO_MOD_X,
+ .info_mask = (1 << IIO_CHAN_INFO_CALIBBIAS_SEPARATE) |
+ (1 << IIO_CHAN_INFO_SCALE_SHARED),
+ .address = gyro_x,
+ .scan_index = ADIS16400_SCAN_GYRO_X,
+ .scan_type = IIO_ST('s', 14, 16, 0),
+ }, {
+ .type = IIO_ACCEL,
+ .modified = 1,
+ .channel2 = IIO_MOD_X,
+ .info_mask = (1 << IIO_CHAN_INFO_CALIBBIAS_SEPARATE) |
+ (1 << IIO_CHAN_INFO_SCALE_SHARED),
+ .address = accel_x,
+ .scan_index = ADIS16400_SCAN_ACC_X,
+ .scan_type = IIO_ST('s', 14, 16, 0),
+ }, {
+ .type = IIO_ACCEL,
+ .modified = 1,
+ .channel2 = IIO_MOD_Y,
+ .info_mask = (1 << IIO_CHAN_INFO_CALIBBIAS_SEPARATE) |
+ (1 << IIO_CHAN_INFO_SCALE_SHARED),
+ .address = accel_y,
+ .scan_index = ADIS16400_SCAN_ACC_Y,
+ .scan_type = IIO_ST('s', 14, 16, 0),
+ }, {
+ .type = IIO_ACCEL,
+ .modified = 1,
+ .channel2 = IIO_MOD_Z,
+ .info_mask = (1 << IIO_CHAN_INFO_CALIBBIAS_SEPARATE) |
+ (1 << IIO_CHAN_INFO_SCALE_SHARED),
+ .address = accel_z,
+ .scan_index = ADIS16400_SCAN_ACC_Z,
+ .scan_type = IIO_ST('s', 14, 16, 0),
+ }, {
+ .type = IIO_TEMP,
+ .indexed = 1,
+ .channel = 0,
+ .info_mask = (1 << IIO_CHAN_INFO_OFFSET_SEPARATE) |
+ (1 << IIO_CHAN_INFO_SCALE_SEPARATE),
+ .address = temp,
+ .scan_index = ADIS16400_SCAN_TEMP,
+ .scan_type = IIO_ST('s', 12, 16, 0),
+ }, {
+ .type = IIO_VOLTAGE,
+ .indexed = 1,
+ .channel = 1,
+ .info_mask = (1 << IIO_CHAN_INFO_SCALE_SEPARATE),
+ .address = in1,
+ .scan_index = ADIS16350_SCAN_ADC_0,
+ .scan_type = IIO_ST('s', 12, 16, 0),
+ }, {
+ .type = IIO_INCLI,
+ .modified = 1,
+ .channel2 = IIO_MOD_X,
+ .info_mask = (1 << IIO_CHAN_INFO_SCALE_SHARED),
+ .address = incli_x,
+ .scan_index = ADIS16300_SCAN_INCLI_X,
+ .scan_type = IIO_ST('s', 13, 16, 0),
+ }, {
+ .type = IIO_INCLI,
+ .modified = 1,
+ .channel2 = IIO_MOD_Y,
+ .info_mask = (1 << IIO_CHAN_INFO_SCALE_SHARED),
+ .address = incli_y,
+ .scan_index = ADIS16300_SCAN_INCLI_Y,
+ .scan_type = IIO_ST('s', 13, 16, 0),
+ },
IIO_CHAN_SOFT_TIMESTAMP(14)
};
+static const struct iio_chan_spec adis16334_channels[] = {
+ {
+ .type = IIO_ANGL_VEL,
+ .modified = 1,
+ .channel2 = IIO_MOD_X,
+ .info_mask = (1 << IIO_CHAN_INFO_CALIBBIAS_SEPARATE) |
+ (1 << IIO_CHAN_INFO_SCALE_SHARED),
+ .address = gyro_x,
+ .scan_index = ADIS16400_SCAN_GYRO_X,
+ .scan_type = IIO_ST('s', 14, 16, 0),
+ }, {
+ .type = IIO_ANGL_VEL,
+ .modified = 1,
+ .channel2 = IIO_MOD_Y,
+ .info_mask = (1 << IIO_CHAN_INFO_CALIBBIAS_SEPARATE) |
+ (1 << IIO_CHAN_INFO_SCALE_SHARED),
+ .address = gyro_y,
+ .scan_index = ADIS16400_SCAN_GYRO_Y,
+ .scan_type = IIO_ST('s', 14, 16, 0),
+ }, {
+ .type = IIO_ANGL_VEL,
+ .modified = 1,
+ .channel2 = IIO_MOD_Z,
+ .info_mask = (1 << IIO_CHAN_INFO_CALIBBIAS_SEPARATE) |
+ (1 << IIO_CHAN_INFO_SCALE_SHARED),
+ .address = gyro_z,
+ .scan_index = ADIS16400_SCAN_GYRO_Z,
+ .scan_type = IIO_ST('s', 14, 16, 0),
+ }, {
+ .type = IIO_ACCEL,
+ .modified = 1,
+ .channel2 = IIO_MOD_X,
+ .info_mask = (1 << IIO_CHAN_INFO_CALIBBIAS_SEPARATE) |
+ (1 << IIO_CHAN_INFO_SCALE_SHARED),
+ .address = accel_x,
+ .scan_index = ADIS16400_SCAN_ACC_X,
+ .scan_type = IIO_ST('s', 14, 16, 0),
+ }, {
+ .type = IIO_ACCEL,
+ .modified = 1,
+ .channel2 = IIO_MOD_Y,
+ .info_mask = (1 << IIO_CHAN_INFO_CALIBBIAS_SEPARATE) |
+ (1 << IIO_CHAN_INFO_SCALE_SHARED),
+ .address = accel_y,
+ .scan_index = ADIS16400_SCAN_ACC_Y,
+ .scan_type = IIO_ST('s', 14, 16, 0),
+ }, {
+ .type = IIO_ACCEL,
+ .modified = 1,
+ .channel2 = IIO_MOD_Z,
+ .info_mask = (1 << IIO_CHAN_INFO_CALIBBIAS_SEPARATE) |
+ (1 << IIO_CHAN_INFO_SCALE_SHARED),
+ .address = accel_z,
+ .scan_index = ADIS16400_SCAN_ACC_Z,
+ .scan_type = IIO_ST('s', 14, 16, 0),
+ }, {
+ .type = IIO_TEMP,
+ .indexed = 1,
+ .channel = 0,
+ .info_mask = (1 << IIO_CHAN_INFO_CALIBBIAS_SEPARATE) |
+ (1 << IIO_CHAN_INFO_SCALE_SHARED),
+ .address = accel_z,
+ .scan_index = ADIS16400_SCAN_ACC_Z,
+ .scan_type = IIO_ST('s', 14, 16, 0),
+ },
+ IIO_CHAN_SOFT_TIMESTAMP(12)
+};
+
static struct attribute *adis16400_attributes[] = {
&iio_dev_attr_sampling_frequency.dev_attr.attr,
&iio_const_attr_sampling_frequency_available.dev_attr.attr,
@@ -715,6 +945,16 @@ static struct adis16400_chip_info adis16400_chips[] = {
(1 << ADIS16300_SCAN_INCLI_X) | (1 << ADIS16300_SCAN_INCLI_Y) |
(1 << 14),
},
+ [ADIS16334] = {
+ .channels = adis16334_channels,
+ .num_channels = ARRAY_SIZE(adis16334_channels),
+ .gyro_scale_micro = 873,
+ .accel_scale_micro = 981,
+ .default_scan_mask = (1 << ADIS16400_SCAN_GYRO_X) |
+ (1 << ADIS16400_SCAN_GYRO_Y) | (1 << ADIS16400_SCAN_GYRO_Z) |
+ (1 << ADIS16400_SCAN_ACC_X) | (1 << ADIS16400_SCAN_ACC_Y) |
+ (1 << ADIS16400_SCAN_ACC_Z),
+ },
[ADIS16350] = {
.channels = adis16350_channels,
.num_channels = ARRAY_SIZE(adis16350_channels),
@@ -779,7 +1019,7 @@ static const struct iio_info adis16400_info = {
static int __devinit adis16400_probe(struct spi_device *spi)
{
- int ret, regdone = 0;
+ int ret;
struct adis16400_state *st;
struct iio_dev *indio_dev = iio_allocate_device(sizeof(*st));
if (indio_dev == NULL) {
@@ -806,20 +1046,15 @@ static int __devinit adis16400_probe(struct spi_device *spi)
if (ret)
goto error_free_dev;
- ret = iio_device_register(indio_dev);
- if (ret)
- goto error_unreg_ring_funcs;
- regdone = 1;
-
- ret = iio_ring_buffer_register_ex(indio_dev->ring, 0,
- st->variant->channels,
- st->variant->num_channels);
+ ret = iio_buffer_register(indio_dev,
+ st->variant->channels,
+ st->variant->num_channels);
if (ret) {
dev_err(&spi->dev, "failed to initialize the ring\n");
goto error_unreg_ring_funcs;
}
- if (spi->irq && gpio_is_valid(irq_to_gpio(spi->irq)) > 0) {
+ if (spi->irq) {
ret = adis16400_probe_trigger(indio_dev);
if (ret)
goto error_uninitialize_ring;
@@ -829,20 +1064,21 @@ static int __devinit adis16400_probe(struct spi_device *spi)
ret = adis16400_initial_setup(indio_dev);
if (ret)
goto error_remove_trigger;
+ ret = iio_device_register(indio_dev);
+ if (ret)
+ goto error_remove_trigger;
+
return 0;
error_remove_trigger:
- if (indio_dev->modes & INDIO_RING_TRIGGERED)
+ if (indio_dev->modes & INDIO_BUFFER_TRIGGERED)
adis16400_remove_trigger(indio_dev);
error_uninitialize_ring:
- iio_ring_buffer_unregister(indio_dev->ring);
+ iio_buffer_unregister(indio_dev);
error_unreg_ring_funcs:
adis16400_unconfigure_ring(indio_dev);
error_free_dev:
- if (regdone)
- iio_device_unregister(indio_dev);
- else
- iio_free_device(indio_dev);
+ iio_free_device(indio_dev);
error_ret:
return ret;
}
@@ -853,14 +1089,15 @@ static int adis16400_remove(struct spi_device *spi)
int ret;
struct iio_dev *indio_dev = spi_get_drvdata(spi);
+ iio_device_unregister(indio_dev);
ret = adis16400_stop_device(indio_dev);
if (ret)
goto err_ret;
adis16400_remove_trigger(indio_dev);
- iio_ring_buffer_unregister(indio_dev->ring);
+ iio_buffer_unregister(indio_dev);
adis16400_unconfigure_ring(indio_dev);
- iio_device_unregister(indio_dev);
+ iio_free_device(indio_dev);
return 0;
@@ -870,6 +1107,7 @@ err_ret:
static const struct spi_device_id adis16400_id[] = {
{"adis16300", ADIS16300},
+ {"adis16334", ADIS16334},
{"adis16350", ADIS16350},
{"adis16354", ADIS16350},
{"adis16355", ADIS16350},
generated by cgit v1.1 at 2024-04-26 10:49:06 +0000