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staging: iio: gyro: new driver for ADIS16251 devices 

Signed-off-by: Barry Song <barry.song@analog.com>
Signed-off-by: Michael Hennerich <michael.hennerich@analog.com>
Acked-by: Jonathan Cameron <jic23@cam.ac.uk>
Signed-off-by: Mike Frysinger <vapier@gentoo.org>
Signed-off-by: Greg Kroah-Hartman <gregkh@suse.de>
hifive-unleashed-5.1
Barry Song 2010-10-27 21:44:03 -04:00 committed by Greg Kroah-Hartman
parent 06b86a75b1
commit 4f0cd86d66
5 changed files with 981 additions and 0 deletions
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10
drivers/staging/iio/gyro/Kconfig
View File

@ -14,3 +14,13 @@ config ADIS16260
This driver can also be built as a module. If so, the module
will be called adis16260.
config ADIS16251
tristate "Analog Devices ADIS16251 Digital Gyroscope Sensor SPI driver"
depends on SPI
help
Say yes here to build support for Analog Devices adis16261 programmable
digital gyroscope sensor.
This driver can also be built as a module. If so, the module
will be called adis16251.

3
drivers/staging/iio/gyro/Makefile
View File

@ -5,3 +5,6 @@
adis16260-y := adis16260_core.o
adis16260-$(CONFIG_IIO_RING_BUFFER) += adis16260_ring.o adis16260_trigger.o
obj-$(CONFIG_ADIS16260) += adis16260.o
adis16251-y := adis16251_core.o
obj-$(CONFIG_ADIS16251) += adis16251.o

185
drivers/staging/iio/gyro/adis16251.h 100644
View File

@ -0,0 +1,185 @@
#ifndef SPI_ADIS16251_H_
#define SPI_ADIS16251_H_
#define ADIS16251_STARTUP_DELAY 220 /* ms */
#define ADIS16251_READ_REG(a) a
#define ADIS16251_WRITE_REG(a) ((a) | 0x80)
#define ADIS16251_ENDURANCE 0x00 /* Flash memory write count */
#define ADIS16251_SUPPLY_OUT 0x02 /* Power supply measurement */
#define ADIS16251_GYRO_OUT 0x04 /* X-axis gyroscope output */
#define ADIS16251_AUX_ADC 0x0A /* analog input channel measurement */
#define ADIS16251_TEMP_OUT 0x0C /* internal temperature measurement */
#define ADIS16251_ANGL_OUT 0x0E /* angle displacement */
#define ADIS16251_GYRO_OFF 0x14 /* Calibration, offset/bias adjustment */
#define ADIS16251_GYRO_SCALE 0x16 /* Calibration, scale adjustment */
#define ADIS16251_ALM_MAG1 0x20 /* Alarm 1 magnitude/polarity setting */
#define ADIS16251_ALM_MAG2 0x22 /* Alarm 2 magnitude/polarity setting */
#define ADIS16251_ALM_SMPL1 0x24 /* Alarm 1 dynamic rate of change setting */
#define ADIS16251_ALM_SMPL2 0x26 /* Alarm 2 dynamic rate of change setting */
#define ADIS16251_ALM_CTRL 0x28 /* Alarm control */
#define ADIS16251_AUX_DAC 0x30 /* Auxiliary DAC data */
#define ADIS16251_GPIO_CTRL 0x32 /* Control, digital I/O line */
#define ADIS16251_MSC_CTRL 0x34 /* Control, data ready, self-test settings */
#define ADIS16251_SMPL_PRD 0x36 /* Control, internal sample rate */
#define ADIS16251_SENS_AVG 0x38 /* Control, dynamic range, filtering */
#define ADIS16251_SLP_CNT 0x3A /* Control, sleep mode initiation */
#define ADIS16251_DIAG_STAT 0x3C /* Diagnostic, error flags */
#define ADIS16251_GLOB_CMD 0x3E /* Control, global commands */
#define ADIS16251_ERROR_ACTIVE (1<<14)
#define ADIS16251_NEW_DATA (1<<14)
/* MSC_CTRL */
#define ADIS16251_MSC_CTRL_INT_SELF_TEST (1<<10) /* Internal self-test enable */
#define ADIS16251_MSC_CTRL_NEG_SELF_TEST (1<<9)
#define ADIS16251_MSC_CTRL_POS_SELF_TEST (1<<8)
#define ADIS16251_MSC_CTRL_DATA_RDY_EN (1<<2)
#define ADIS16251_MSC_CTRL_DATA_RDY_POL_HIGH (1<<1)
#define ADIS16251_MSC_CTRL_DATA_RDY_DIO2 (1<<0)
/* SMPL_PRD */
#define ADIS16251_SMPL_PRD_TIME_BASE (1<<7) /* Time base (tB): 0 = 1.953 ms, 1 = 60.54 ms */
#define ADIS16251_SMPL_PRD_DIV_MASK 0x7F
/* SLP_CNT */
#define ADIS16251_SLP_CNT_POWER_OFF 0x80
/* DIAG_STAT */
#define ADIS16251_DIAG_STAT_ALARM2 (1<<9)
#define ADIS16251_DIAG_STAT_ALARM1 (1<<8)
#define ADIS16251_DIAG_STAT_SELF_TEST (1<<5)
#define ADIS16251_DIAG_STAT_OVERFLOW (1<<4)
#define ADIS16251_DIAG_STAT_SPI_FAIL (1<<3)
#define ADIS16251_DIAG_STAT_FLASH_UPT (1<<2)
#define ADIS16251_DIAG_STAT_POWER_HIGH (1<<1)
#define ADIS16251_DIAG_STAT_POWER_LOW (1<<0)
#define ADIS16251_DIAG_STAT_ERR_MASK (ADIS16261_DIAG_STAT_ALARM2 | \
ADIS16261_DIAG_STAT_ALARM1 | \
ADIS16261_DIAG_STAT_SELF_TEST | \
ADIS16261_DIAG_STAT_OVERFLOW | \
ADIS16261_DIAG_STAT_SPI_FAIL | \
ADIS16261_DIAG_STAT_FLASH_UPT | \
ADIS16261_DIAG_STAT_POWER_HIGH | \
ADIS16261_DIAG_STAT_POWER_LOW)
/* GLOB_CMD */
#define ADIS16251_GLOB_CMD_SW_RESET (1<<7)
#define ADIS16251_GLOB_CMD_FLASH_UPD (1<<3)
#define ADIS16251_GLOB_CMD_DAC_LATCH (1<<2)
#define ADIS16251_GLOB_CMD_FAC_CALIB (1<<1)
#define ADIS16251_GLOB_CMD_AUTO_NULL (1<<0)
#define ADIS16251_MAX_TX 24
#define ADIS16251_MAX_RX 24
#define ADIS16251_SPI_SLOW (u32)(300 * 1000)
#define ADIS16251_SPI_BURST (u32)(1000 * 1000)
#define ADIS16251_SPI_FAST (u32)(2000 * 1000)
/**
* struct adis16251_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: recieve buffer
* @buf_lock: mutex to protect tx and rx
**/
struct adis16251_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 adis16251_spi_write_reg_8(struct device *dev,
u8 reg_address,
u8 val);
int adis16251_spi_read_burst(struct device *dev, u8 *rx);
int adis16251_spi_read_sequence(struct device *dev,
u8 *tx, u8 *rx, int num);
int adis16251_set_irq(struct device *dev, bool enable);
int adis16251_reset(struct device *dev);
int adis16251_stop_device(struct device *dev);
int adis16251_check_status(struct device *dev);
#if defined(CONFIG_IIO_RING_BUFFER) && defined(THIS_HAS_RING_BUFFER_SUPPORT)
/* At the moment triggers are only used for ring buffer
* filling. This may change!
*/
enum adis16251_scan {
ADIS16251_SCAN_SUPPLY,
ADIS16251_SCAN_GYRO,
ADIS16251_SCAN_TEMP,
ADIS16251_SCAN_ADC_0,
};
void adis16251_remove_trigger(struct iio_dev *indio_dev);
int adis16251_probe_trigger(struct iio_dev *indio_dev);
ssize_t adis16251_read_data_from_ring(struct device *dev,
struct device_attribute *attr,
char *buf);
int adis16251_configure_ring(struct iio_dev *indio_dev);
void adis16251_unconfigure_ring(struct iio_dev *indio_dev);
int adis16251_initialize_ring(struct iio_ring_buffer *ring);
void adis16251_uninitialize_ring(struct iio_ring_buffer *ring);
#else /* CONFIG_IIO_RING_BUFFER */
static inline void adis16251_remove_trigger(struct iio_dev *indio_dev)
{
}
static inline int adis16251_probe_trigger(struct iio_dev *indio_dev)
{
return 0;
}
static inline ssize_t
adis16251_read_data_from_ring(struct device *dev,
struct device_attribute *attr,
char *buf)
{
return 0;
}
static int adis16251_configure_ring(struct iio_dev *indio_dev)
{
return 0;
}
static inline void adis16251_unconfigure_ring(struct iio_dev *indio_dev)
{
}
static inline int adis16251_initialize_ring(struct iio_ring_buffer *ring)
{
return 0;
}
static inline void adis16251_uninitialize_ring(struct iio_ring_buffer *ring)
{
}
#endif /* CONFIG_IIO_RING_BUFFER */
#endif /* SPI_ADIS16251_H_ */

777
drivers/staging/iio/gyro/adis16251_core.c 100644
View File

@ -0,0 +1,777 @@
/*
* ADIS16251 Programmable Digital Gyroscope 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 "gyro.h"
#include "../adc/adc.h"
#include "adis16251.h"
#define DRIVER_NAME "adis16251"
/* 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.
*/
/**
* adis16251_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
**/
int adis16251_spi_write_reg_8(struct device *dev,
u8 reg_address,
u8 val)
{
int ret;
struct iio_dev *indio_dev = dev_get_drvdata(dev);
struct adis16251_state *st = iio_dev_get_devdata(indio_dev);
mutex_lock(&st->buf_lock);
st->tx[0] = ADIS16251_WRITE_REG(reg_address);
st->tx[1] = val;
ret = spi_write(st->us, st->tx, 2);
mutex_unlock(&st->buf_lock);
return ret;
}
/**
* adis16251_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 adis16251_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 adis16251_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,
}, {
.tx_buf = st->tx + 2,
.bits_per_word = 8,
.len = 2,
.cs_change = 1,
},
};
mutex_lock(&st->buf_lock);
st->tx[0] = ADIS16251_WRITE_REG(lower_reg_address);
st->tx[1] = value & 0xFF;
st->tx[2] = ADIS16251_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;
}
/**
* adis16251_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 adis16251_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 adis16251_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,
}, {
.rx_buf = st->rx,
.bits_per_word = 8,
.len = 2,
.cs_change = 1,
},
};
mutex_lock(&st->buf_lock);
st->tx[0] = ADIS16251_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;
}
/**
* 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");

6
drivers/staging/iio/sysfs.h
View File

@ -107,6 +107,12 @@ struct iio_const_attr {
#define IIO_DEV_ATTR_NAME(_show) \
IIO_DEVICE_ATTR(name, S_IRUGO, _show, NULL, 0)
/**
* IIO_DEV_ATTR_RESET: resets the device
**/
#define IIO_DEV_ATTR_RESET(_store) \
IIO_DEVICE_ATTR(reset, S_IWUGO, NULL, _store, 0)
/**
* IIO_CONST_ATTR_NAME - constant identifier
* @_string: the name