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Diffstat (limited to 'drivers/staging/iio/imu/adis16400_core.c')
-rw-r--r--drivers/staging/iio/imu/adis16400_core.c164
1 files changed, 58 insertions, 106 deletions
diff --git a/drivers/staging/iio/imu/adis16400_core.c b/drivers/staging/iio/imu/adis16400_core.c
index e69e2ce47da3..cfb108a1545b 100644
--- a/drivers/staging/iio/imu/adis16400_core.c
+++ b/drivers/staging/iio/imu/adis16400_core.c
@@ -21,12 +21,13 @@
#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 "../adc/adc.h"
#include "../gyro/gyro.h"
@@ -36,6 +37,8 @@
#define DRIVER_NAME "adis16400"
+static int adis16400_check_status(struct device *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.
@@ -161,54 +164,6 @@ error_ret:
return ret;
}
-/**
- * adis16400_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 adis16400_spi_read_burst(struct device *dev, u8 *rx)
-{
- struct spi_message msg;
- struct iio_dev *indio_dev = dev_get_drvdata(dev);
- struct adis16400_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] = ADIS16400_READ_REG(ADIS16400_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(ADIS16400_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 adis16400_spi_read_signed(struct device *dev,
struct device_attribute *attr,
char *buf,
@@ -277,7 +232,6 @@ static ssize_t adis16400_read_12bit_signed(struct device *dev,
return ret;
}
-
static ssize_t adis16400_write_16bit(struct device *dev,
struct device_attribute *attr,
const char *buf,
@@ -349,6 +303,18 @@ static ssize_t adis16400_write_frequency(struct device *dev,
return ret ? ret : len;
}
+static int adis16400_reset(struct device *dev)
+{
+ int ret;
+ ret = adis16400_spi_write_reg_8(dev,
+ ADIS16400_GLOB_CMD,
+ ADIS16400_GLOB_CMD_SW_RESET);
+ if (ret)
+ dev_err(dev, "problem resetting device");
+
+ return ret;
+}
+
static ssize_t adis16400_write_reset(struct device *dev,
struct device_attribute *attr,
const char *buf, size_t len)
@@ -364,8 +330,6 @@ static ssize_t adis16400_write_reset(struct device *dev,
return -1;
}
-
-
int adis16400_set_irq(struct device *dev, bool enable)
{
int ret;
@@ -388,18 +352,6 @@ error_ret:
return ret;
}
-int adis16400_reset(struct device *dev)
-{
- int ret;
- ret = adis16400_spi_write_reg_8(dev,
- ADIS16400_GLOB_CMD,
- ADIS16400_GLOB_CMD_SW_RESET);
- if (ret)
- dev_err(dev, "problem resetting device");
-
- return ret;
-}
-
/* Power down the device */
static int adis16400_stop_device(struct device *dev)
{
@@ -430,7 +382,7 @@ err_ret:
return ret;
}
-int adis16400_check_status(struct device *dev)
+static int adis16400_check_status(struct device *dev)
{
u16 status;
int ret;
@@ -496,6 +448,11 @@ static int adis16400_initial_setup(struct adis16400_state *st)
}
/* Do self test */
+ ret = adis16400_self_test(dev);
+ if (ret) {
+ dev_err(dev, "self test failure");
+ goto err_ret;
+ }
/* Read status register to check the result */
ret = adis16400_check_status(dev);
@@ -533,24 +490,24 @@ err_ret:
return ret;
}
-static IIO_DEV_ATTR_ACCEL_X_OFFSET(S_IWUSR | S_IRUGO,
- adis16400_read_12bit_signed,
- adis16400_write_16bit,
- ADIS16400_XACCL_OFF);
+#define ADIS16400_DEV_ATTR_CALIBBIAS(_channel, _reg) \
+ IIO_DEV_ATTR_##_channel##_CALIBBIAS(S_IWUSR | S_IRUGO, \
+ adis16400_read_12bit_signed, \
+ adis16400_write_16bit, \
+ _reg)
+
+static ADIS16400_DEV_ATTR_CALIBBIAS(GYRO_X, ADIS16400_XGYRO_OFF);
+static ADIS16400_DEV_ATTR_CALIBBIAS(GYRO_Y, ADIS16400_XGYRO_OFF);
+static ADIS16400_DEV_ATTR_CALIBBIAS(GYRO_Z, ADIS16400_XGYRO_OFF);
-static IIO_DEV_ATTR_ACCEL_Y_OFFSET(S_IWUSR | S_IRUGO,
- adis16400_read_12bit_signed,
- adis16400_write_16bit,
- ADIS16400_YACCL_OFF);
+static ADIS16400_DEV_ATTR_CALIBBIAS(ACCEL_X, ADIS16400_XACCL_OFF);
+static ADIS16400_DEV_ATTR_CALIBBIAS(ACCEL_Y, ADIS16400_XACCL_OFF);
+static ADIS16400_DEV_ATTR_CALIBBIAS(ACCEL_Z, ADIS16400_XACCL_OFF);
-static IIO_DEV_ATTR_ACCEL_Z_OFFSET(S_IWUSR | S_IRUGO,
- adis16400_read_12bit_signed,
- adis16400_write_16bit,
- ADIS16400_ZACCL_OFF);
-static IIO_DEV_ATTR_IN_NAMED_RAW(supply, adis16400_read_14bit_signed,
+static IIO_DEV_ATTR_IN_NAMED_RAW(0, supply, adis16400_read_14bit_signed,
ADIS16400_SUPPLY_OUT);
-static IIO_CONST_ATTR(in_supply_scale, "0.002418");
+static IIO_CONST_ATTR_IN_NAMED_SCALE(0, supply, "0.002418 V");
static IIO_DEV_ATTR_GYRO_X(adis16400_read_14bit_signed,
ADIS16400_XGYRO_OUT);
@@ -558,7 +515,7 @@ static IIO_DEV_ATTR_GYRO_Y(adis16400_read_14bit_signed,
ADIS16400_YGYRO_OUT);
static IIO_DEV_ATTR_GYRO_Z(adis16400_read_14bit_signed,
ADIS16400_ZGYRO_OUT);
-static IIO_CONST_ATTR(gyro_scale, "0.05 deg/s");
+static IIO_CONST_ATTR(gyro_scale, "0.0008726646");
static IIO_DEV_ATTR_ACCEL_X(adis16400_read_14bit_signed,
ADIS16400_XACCL_OUT);
@@ -566,7 +523,7 @@ static IIO_DEV_ATTR_ACCEL_Y(adis16400_read_14bit_signed,
ADIS16400_YACCL_OUT);
static IIO_DEV_ATTR_ACCEL_Z(adis16400_read_14bit_signed,
ADIS16400_ZACCL_OUT);
-static IIO_CONST_ATTR(accel_scale, "0.00333 g");
+static IIO_CONST_ATTR(accel_scale, "0.0326561445");
static IIO_DEV_ATTR_MAGN_X(adis16400_read_14bit_signed,
ADIS16400_XMAGN_OUT);
@@ -578,12 +535,12 @@ static IIO_CONST_ATTR(magn_scale, "0.0005 Gs");
static IIO_DEV_ATTR_TEMP_RAW(adis16400_read_12bit_signed);
-static IIO_CONST_ATTR(temp_offset, "198.16 K");
-static IIO_CONST_ATTR(temp_scale, "0.14 K");
+static IIO_CONST_ATTR_TEMP_OFFSET("198.16 K");
+static IIO_CONST_ATTR_TEMP_SCALE("0.14 K");
-static IIO_DEV_ATTR_IN_RAW(0, adis16400_read_12bit_unsigned,
+static IIO_DEV_ATTR_IN_RAW(1, adis16400_read_12bit_unsigned,
ADIS16400_AUX_ADC);
-static IIO_CONST_ATTR(in0_scale, "0.000806");
+static IIO_CONST_ATTR(in1_scale, "0.000806 V");
static IIO_DEV_ATTR_SAMP_FREQ(S_IWUSR | S_IRUGO,
adis16400_read_frequency,
@@ -591,9 +548,9 @@ static IIO_DEV_ATTR_SAMP_FREQ(S_IWUSR | S_IRUGO,
static IIO_DEVICE_ATTR(reset, S_IWUSR, NULL, adis16400_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, "adis16400");
+static IIO_CONST_ATTR_NAME("adis16400");
static struct attribute *adis16400_event_attributes[] = {
NULL
@@ -604,11 +561,14 @@ static struct attribute_group adis16400_event_attribute_group = {
};
static struct attribute *adis16400_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_gyro_y_calibbias.dev_attr.attr,
+ &iio_dev_attr_gyro_z_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_dev_attr_gyro_y_raw.dev_attr.attr,
&iio_dev_attr_gyro_z_raw.dev_attr.attr,
@@ -624,10 +584,10 @@ static struct attribute *adis16400_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
@@ -685,21 +645,13 @@ static int __devinit adis16400_probe(struct spi_device *spi)
goto error_unreg_ring_funcs;
regdone = 1;
- ret = adis16400_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,
- adis16400_thresh_handler_bh_no_check,
- 0,
- 0,
- st);
-#endif
ret = iio_register_interrupt_line(spi->irq,
st->indio_dev,
0,
@@ -726,7 +678,7 @@ error_unregister_line:
if (st->indio_dev->modes & INDIO_RING_TRIGGERED)
iio_unregister_interrupt_line(st->indio_dev, 0);
error_uninitialize_ring:
- adis16400_uninitialize_ring(st->indio_dev->ring);
+ iio_ring_buffer_unregister(st->indio_dev->ring);
error_unreg_ring_funcs:
adis16400_unconfigure_ring(st->indio_dev);
error_free_dev:
@@ -761,7 +713,7 @@ static int adis16400_remove(struct spi_device *spi)
if (spi->irq && gpio_is_valid(irq_to_gpio(spi->irq)) > 0)
iio_unregister_interrupt_line(indio_dev, 0);
- adis16400_uninitialize_ring(indio_dev->ring);
+ iio_ring_buffer_unregister(st->indio_dev->ring);
adis16400_unconfigure_ring(indio_dev);
iio_device_unregister(indio_dev);
kfree(st->tx);
generated by cgit v1.2.3-55-g7522 (git 2.39.0) at 2024-06-03 13:57:41 +0200