From mboxrd@z Thu Jan 1 00:00:00 1970 Return-Path: From: Mike Frysinger To: linux-iio@vger.kernel.org, Jonathan Cameron Cc: device-drivers-devel@blackfin.uclinux.org, Barry Song , Michael Hennerich Subject: [PATCH 18/36] staging: iio: gyro: new driver for ADIS16251 devices Date: Tue, 26 Oct 2010 14:17:28 -0400 Message-Id: <1288117066-18055-19-git-send-email-vapier@gentoo.org> In-Reply-To: <1288117066-18055-1-git-send-email-vapier@gentoo.org> References: <1288117066-18055-1-git-send-email-vapier@gentoo.org> List-ID: From: Barry Song Signed-off-by: Barry Song Signed-off-by: Michael Hennerich Acked-by: Jonathan Cameron Signed-off-by: Mike Frysinger --- drivers/staging/iio/gyro/Kconfig | 10 + drivers/staging/iio/gyro/Makefile | 3 + drivers/staging/iio/gyro/adis16251.h | 185 +++++++ drivers/staging/iio/gyro/adis16251_core.c | 777 +++++++++++++++++++++++++++++ drivers/staging/iio/sysfs.h | 6 + 5 files changed, 981 insertions(+), 0 deletions(-) create mode 100644 drivers/staging/iio/gyro/adis16251.h create mode 100644 drivers/staging/iio/gyro/adis16251_core.c diff --git a/drivers/staging/iio/gyro/Kconfig b/drivers/staging/iio/gyro/Kconfig index d1dde82..c7a7d29 100644 --- a/drivers/staging/iio/gyro/Kconfig +++ b/drivers/staging/iio/gyro/Kconfig @@ -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. diff --git a/drivers/staging/iio/gyro/Makefile b/drivers/staging/iio/gyro/Makefile index b5f0dc0..8a592d8 100644 --- a/drivers/staging/iio/gyro/Makefile +++ b/drivers/staging/iio/gyro/Makefile @@ -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 diff --git a/drivers/staging/iio/gyro/adis16251.h b/drivers/staging/iio/gyro/adis16251.h new file mode 100644 index 0000000..999db49 --- /dev/null +++ b/drivers/staging/iio/gyro/adis16251.h @@ -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_ */ diff --git a/drivers/staging/iio/gyro/adis16251_core.c b/drivers/staging/iio/gyro/adis16251_core.c new file mode 100644 index 0000000..a0d400f --- /dev/null +++ b/drivers/staging/iio/gyro/adis16251_core.c @@ -0,0 +1,777 @@ +/* + * ADIS16251 Programmable Digital Gyroscope Sensor Driver + * + * Copyright 2010 Analog Devices Inc. + * + * Licensed under the GPL-2 or later. + */ + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#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"); diff --git a/drivers/staging/iio/sysfs.h b/drivers/staging/iio/sysfs.h index ee91a95..18bdaac 100644 --- a/drivers/staging/iio/sysfs.h +++ b/drivers/staging/iio/sysfs.h @@ -108,6 +108,12 @@ struct iio_const_attr { 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 **/ -- 1.7.3.2