diff options
Diffstat (limited to 'drivers/staging/iio/imu/adis16300_core.c')
| -rw-r--r-- | drivers/staging/iio/imu/adis16300_core.c | 208 |
1 files changed, 98 insertions, 110 deletions
diff --git a/drivers/staging/iio/imu/adis16300_core.c b/drivers/staging/iio/imu/adis16300_core.c index 5a7e5ef9bc5d..7ad13f4d3d74 100644 --- a/drivers/staging/iio/imu/adis16300_core.c +++ b/drivers/staging/iio/imu/adis16300_core.c @@ -14,12 +14,13 @@ #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" @@ -29,10 +30,7 @@ #define DRIVER_NAME "adis16300" -/* 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. - */ +static int adis16300_check_status(struct device *dev); /** * adis16300_spi_write_reg_8() - write single byte to a register @@ -79,11 +77,13 @@ static int adis16300_spi_write_reg_16(struct device *dev, .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, }, }; @@ -122,12 +122,14 @@ static int adis16300_spi_read_reg_16(struct device *dev, .tx_buf = st->tx, .bits_per_word = 8, .len = 2, - .cs_change = 0, + .cs_change = 1, + .delay_usecs = 75, }, { .rx_buf = st->rx, .bits_per_word = 8, .len = 2, - .cs_change = 0, + .cs_change = 1, + .delay_usecs = 75, }, }; @@ -154,54 +156,6 @@ error_ret: return ret; } -/** - * 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) - **/ -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 = min(ADIS16300_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; -} - static ssize_t adis16300_spi_read_signed(struct device *dev, struct device_attribute *attr, char *buf, @@ -240,6 +194,24 @@ static ssize_t adis16300_read_12bit_unsigned(struct device *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) @@ -356,6 +328,18 @@ static ssize_t adis16300_write_frequency(struct device *dev, 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) @@ -371,8 +355,6 @@ static ssize_t adis16300_write_reset(struct device *dev, return -1; } - - int adis16300_set_irq(struct device *dev, bool enable) { int ret; @@ -396,32 +378,37 @@ error_ret: return ret; } -int adis16300_reset(struct device *dev) +/* Power down the device */ +static int adis16300_stop_device(struct device *dev) { int ret; - ret = adis16300_spi_write_reg_8(dev, - ADIS16300_GLOB_CMD, - ADIS16300_GLOB_CMD_SW_RESET); + u16 val = ADIS16300_SLP_CNT_POWER_OFF; + + ret = adis16300_spi_write_reg_16(dev, ADIS16300_SLP_CNT, val); if (ret) - dev_err(dev, "problem resetting device"); + dev_err(dev, "problem with turning device off: SLP_CNT"); return ret; } -/* Power down the device */ -static int adis16300_stop_device(struct device *dev) +static int adis16300_self_test(struct device *dev) { int ret; - u16 val = ADIS16300_SLP_CNT_POWER_OFF; + 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; + } - ret = adis16300_spi_write_reg_16(dev, ADIS16300_SLP_CNT, val); - if (ret) - dev_err(dev, "problem with turning device off: SLP_CNT"); + adis16300_check_status(dev); +err_ret: return ret; } -int adis16300_check_status(struct device *dev) +static int adis16300_check_status(struct device *dev) { u16 status; int ret; @@ -483,6 +470,11 @@ static int adis16300_initial_setup(struct adis16300_state *st) } /* 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); @@ -511,28 +503,33 @@ err_ret: return ret; } -static IIO_DEV_ATTR_ACCEL_X_OFFSET(S_IWUSR | S_IRUGO, +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_OFFSET(S_IWUSR | S_IRUGO, +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_OFFSET(S_IWUSR | S_IRUGO, +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(supply, adis16300_read_14bit_signed, +static IIO_DEV_ATTR_IN_NAMED_RAW(0, supply, adis16300_read_14bit_unsigned, ADIS16300_SUPPLY_OUT); -static IIO_CONST_ATTR(in_supply_scale, "0.00242"); +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, "0.05 deg/s"); +static IIO_CONST_ATTR_GYRO_SCALE("0.000872664"); static IIO_DEV_ATTR_ACCEL_X(adis16300_read_14bit_signed, ADIS16300_XACCL_OUT); @@ -540,21 +537,21 @@ 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, "0.0006 g"); +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, "0.044 d"); +static IIO_CONST_ATTR_INCLI_SCALE("0.00076794487"); -static IIO_DEV_ATTR_TEMP_RAW(adis16300_read_12bit_signed); -static IIO_CONST_ATTR(temp_offset, "198.16 K"); -static IIO_CONST_ATTR(temp_scale, "0.14 K"); +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(0, adis16300_read_12bit_unsigned, +static IIO_DEV_ATTR_IN_RAW(1, adis16300_read_12bit_unsigned, ADIS16300_AUX_ADC); -static IIO_CONST_ATTR(in0_scale, "0.000806"); +static IIO_CONST_ATTR(in1_scale, "0.000806"); static IIO_DEV_ATTR_SAMP_FREQ(S_IWUSR | S_IRUGO, adis16300_read_frequency, @@ -562,9 +559,9 @@ static IIO_DEV_ATTR_SAMP_FREQ(S_IWUSR | S_IRUGO, static IIO_DEVICE_ATTR(reset, S_IWUSR, NULL, adis16300_write_reset, 0); -static IIO_CONST_ATTR_AVAIL_SAMP_FREQ("409 546 819 1638"); +static IIO_CONST_ATTR_SAMP_FREQ_AVAIL("409 546 819 1638"); -static IIO_CONST_ATTR(name, "adis16300"); +static IIO_CONST_ATTR_NAME("adis16300"); static struct attribute *adis16300_event_attributes[] = { NULL @@ -575,11 +572,12 @@ static struct attribute_group adis16300_event_attribute_group = { }; static struct attribute *adis16300_attributes[] = { - &iio_dev_attr_accel_x_offset.dev_attr.attr, - &iio_dev_attr_accel_y_offset.dev_attr.attr, - &iio_dev_attr_accel_z_offset.dev_attr.attr, - &iio_dev_attr_in_supply_raw.dev_attr.attr, - &iio_const_attr_in_supply_scale.dev_attr.attr, + &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, @@ -592,10 +590,10 @@ static struct attribute *adis16300_attributes[] = { &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_in0_raw.dev_attr.attr, - &iio_const_attr_in0_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_available_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 @@ -653,21 +651,13 @@ static int __devinit adis16300_probe(struct spi_device *spi) goto error_unreg_ring_funcs; regdone = 1; - ret = adis16300_initialize_ring(st->indio_dev->ring); + 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 && gpio_is_valid(irq_to_gpio(spi->irq)) > 0) { -#if 0 /* fixme: here we should support */ - iio_init_work_cont(&st->work_cont_thresh, - NULL, - adis16300_thresh_handler_bh_no_check, - 0, - 0, - st); -#endif + if (spi->irq) { ret = iio_register_interrupt_line(spi->irq, st->indio_dev, 0, @@ -688,13 +678,12 @@ static int __devinit adis16300_probe(struct spi_device *spi) return 0; error_remove_trigger: - if (st->indio_dev->modes & INDIO_RING_TRIGGERED) - adis16300_remove_trigger(st->indio_dev); + adis16300_remove_trigger(st->indio_dev); error_unregister_line: - if (st->indio_dev->modes & INDIO_RING_TRIGGERED) + if (spi->irq) iio_unregister_interrupt_line(st->indio_dev, 0); error_uninitialize_ring: - adis16300_uninitialize_ring(st->indio_dev->ring); + iio_ring_buffer_unregister(st->indio_dev->ring); error_unreg_ring_funcs: adis16300_unconfigure_ring(st->indio_dev); error_free_dev: @@ -712,7 +701,6 @@ error_ret: return ret; } -/* fixme, confirm ordering in this function */ static int adis16300_remove(struct spi_device *spi) { int ret; @@ -726,12 +714,12 @@ static int adis16300_remove(struct spi_device *spi) flush_scheduled_work(); adis16300_remove_trigger(indio_dev); - if (spi->irq && gpio_is_valid(irq_to_gpio(spi->irq)) > 0) + if (spi->irq) iio_unregister_interrupt_line(indio_dev, 0); - adis16300_uninitialize_ring(indio_dev->ring); - adis16300_unconfigure_ring(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); |