From 50d69b5184169caeb85e082f627200da9b0e1677 Mon Sep 17 00:00:00 2001 From: Lars-Peter Clausen Date: Tue, 13 Nov 2012 11:48:00 +0000 Subject: iio: Fix iio_buffer_register stub signature MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Match the iio_buffer_register stub signature up to the real function and make the second parameter const. This fixes a the following warnings if CONFIG_IIO_BUFFER is disabled: drivers/staging/iio/accel/adis16201_core.c: In function ‘adis16201_probe’: drivers/staging/iio/accel/adis16201_core.c:536: warning: passing argument 2 of ‘iio_buffer_register’ discards qualifiers from pointer target type drivers/staging/iio/accel/adis16203_core.c: In function ‘adis16203_probe’: drivers/staging/iio/accel/adis16203_core.c:468: warning: passing argument 2 of ‘iio_buffer_register’ discards qualifiers from pointer target type drivers/staging/iio/accel/adis16204_core.c: In function ‘adis16204_probe’: drivers/staging/iio/accel/adis16204_core.c:527: warning: passing argument 2 of ‘iio_buffer_register’ discards qualifiers from pointer target type drivers/staging/iio/accel/adis16209_core.c: In function ‘adis16209_probe’: drivers/staging/iio/accel/adis16209_core.c:542: warning: passing argument 2 of ‘iio_buffer_register’ discards qualifiers from pointer target type drivers/staging/iio/accel/adis16240_core.c: In function ‘adis16240_probe’: drivers/staging/iio/accel/adis16240_core.c:588: warning: passing argument 2 of ‘iio_buffer_register’ discards qualifiers from pointer target type Signed-off-by: Lars-Peter Clausen Signed-off-by: Jonathan Cameron --- include/linux/iio/buffer.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) (limited to 'include/linux') diff --git a/include/linux/iio/buffer.h b/include/linux/iio/buffer.h index 027040569180..f3eea18fdf46 100644 --- a/include/linux/iio/buffer.h +++ b/include/linux/iio/buffer.h @@ -195,7 +195,7 @@ bool iio_validate_scan_mask_onehot(struct iio_dev *indio_dev, #else /* CONFIG_IIO_BUFFER */ static inline int iio_buffer_register(struct iio_dev *indio_dev, - struct iio_chan_spec *channels, + const struct iio_chan_spec *channels, int num_channels) { return 0; -- cgit From ec04cb048d79cd778c06e28f34395a46d774800d Mon Sep 17 00:00:00 2001 From: Lars-Peter Clausen Date: Tue, 13 Nov 2012 13:28:00 +0000 Subject: staging:iio: Move adis library out of staging Now that the adis library no longer depends on the sw_ring buffer implementation we can move it out of staging. While we are at it also sort the entries in the iio Kconfig and Makefile to be in alphabetical order. Signed-off-by: Lars-Peter Clausen Signed-off-by: Jonathan Cameron --- drivers/iio/Kconfig | 7 +- drivers/iio/Makefile | 7 +- drivers/iio/imu/Kconfig | 11 + drivers/iio/imu/Makefile | 8 + drivers/iio/imu/adis.c | 337 ++++++++++++++++++++++++++++ drivers/iio/imu/adis_buffer.c | 159 ++++++++++++++ drivers/iio/imu/adis_trigger.c | 89 ++++++++ drivers/staging/iio/accel/adis16201_core.c | 2 +- drivers/staging/iio/accel/adis16203_core.c | 2 +- drivers/staging/iio/accel/adis16204_core.c | 2 +- drivers/staging/iio/accel/adis16209_core.c | 2 +- drivers/staging/iio/accel/adis16220.h | 2 +- drivers/staging/iio/accel/adis16240_core.c | 2 +- drivers/staging/iio/gyro/adis16260.h | 2 +- drivers/staging/iio/imu/Kconfig | 12 - drivers/staging/iio/imu/Makefile | 5 - drivers/staging/iio/imu/adis.c | 338 ----------------------------- drivers/staging/iio/imu/adis.h | 186 ---------------- drivers/staging/iio/imu/adis_buffer.c | 160 -------------- drivers/staging/iio/imu/adis_trigger.c | 90 -------- include/linux/iio/imu/adis.h | 186 ++++++++++++++++ 21 files changed, 805 insertions(+), 804 deletions(-) create mode 100644 drivers/iio/imu/Kconfig create mode 100644 drivers/iio/imu/Makefile create mode 100644 drivers/iio/imu/adis.c create mode 100644 drivers/iio/imu/adis_buffer.c create mode 100644 drivers/iio/imu/adis_trigger.c delete mode 100644 drivers/staging/iio/imu/adis.c delete mode 100644 drivers/staging/iio/imu/adis.h delete mode 100644 drivers/staging/iio/imu/adis_buffer.c delete mode 100644 drivers/staging/iio/imu/adis_trigger.c create mode 100644 include/linux/iio/imu/adis.h (limited to 'include/linux') diff --git a/drivers/iio/Kconfig b/drivers/iio/Kconfig index 65ae734c607d..b2f963be3993 100644 --- a/drivers/iio/Kconfig +++ b/drivers/iio/Kconfig @@ -63,11 +63,12 @@ config IIO_CONSUMERS_PER_TRIGGER source "drivers/iio/accel/Kconfig" source "drivers/iio/adc/Kconfig" source "drivers/iio/amplifiers/Kconfig" -source "drivers/iio/light/Kconfig" -source "drivers/iio/frequency/Kconfig" -source "drivers/iio/dac/Kconfig" source "drivers/iio/common/Kconfig" +source "drivers/iio/dac/Kconfig" +source "drivers/iio/frequency/Kconfig" source "drivers/iio/gyro/Kconfig" +source "drivers/iio/imu/Kconfig" +source "drivers/iio/light/Kconfig" source "drivers/iio/magnetometer/Kconfig" endif # IIO diff --git a/drivers/iio/Makefile b/drivers/iio/Makefile index 31d76a07ec65..a0e8cdd67e4d 100644 --- a/drivers/iio/Makefile +++ b/drivers/iio/Makefile @@ -14,9 +14,10 @@ obj-$(CONFIG_IIO_KFIFO_BUF) += kfifo_buf.o obj-y += accel/ obj-y += adc/ obj-y += amplifiers/ -obj-y += light/ -obj-y += frequency/ -obj-y += dac/ obj-y += common/ +obj-y += dac/ obj-y += gyro/ +obj-y += frequency/ +obj-y += imu/ +obj-y += light/ obj-y += magnetometer/ diff --git a/drivers/iio/imu/Kconfig b/drivers/iio/imu/Kconfig new file mode 100644 index 000000000000..c24410c873c7 --- /dev/null +++ b/drivers/iio/imu/Kconfig @@ -0,0 +1,11 @@ +config IIO_ADIS_LIB + tristate + help + A set of IO helper functions for the Analog Devices ADIS* device family. + +config IIO_ADIS_LIB_BUFFER + bool + select IIO_TRIGGERED_BUFFER + help + A set of buffer helper functions for the Analog Devices ADIS* device + family. diff --git a/drivers/iio/imu/Makefile b/drivers/iio/imu/Makefile new file mode 100644 index 000000000000..97676ab5723d --- /dev/null +++ b/drivers/iio/imu/Makefile @@ -0,0 +1,8 @@ +# +# Makefile for Inertial Measurement Units +# + +adis_lib-y += adis.o +adis_lib-$(CONFIG_IIO_ADIS_LIB_BUFFER) += adis_trigger.o +adis_lib-$(CONFIG_IIO_ADIS_LIB_BUFFER) += adis_buffer.o +obj-$(CONFIG_IIO_ADIS_LIB) += adis_lib.o diff --git a/drivers/iio/imu/adis.c b/drivers/iio/imu/adis.c new file mode 100644 index 000000000000..8259b774078f --- /dev/null +++ b/drivers/iio/imu/adis.c @@ -0,0 +1,337 @@ +/* + * Common library for ADIS16XXX devices + * + * Copyright 2012 Analog Devices Inc. + * Author: Lars-Peter Clausen + * + * Licensed under the GPL-2 or later. + */ + +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include +#include +#include +#include + +#define ADIS_MSC_CTRL_DATA_RDY_EN BIT(2) +#define ADIS_MSC_CTRL_DATA_RDY_POL_HIGH BIT(1) +#define ADIS_MSC_CTRL_DATA_RDY_DIO2 BIT(0) +#define ADIS_GLOB_CMD_SW_RESET BIT(7) + +/** + * adis_write_reg_8() - Write single byte to a register + * @adis: The adis device + * @reg: The address of the register to be written + * @val: The value to write + */ +int adis_write_reg_8(struct adis *adis, unsigned int reg, uint8_t val) +{ + int ret; + + mutex_lock(&adis->txrx_lock); + adis->tx[0] = ADIS_WRITE_REG(reg); + adis->tx[1] = val; + + ret = spi_write(adis->spi, adis->tx, 2); + mutex_unlock(&adis->txrx_lock); + + return ret; +} +EXPORT_SYMBOL_GPL(adis_write_reg_8); + +/** + * adis_write_reg_16() - Write 2 bytes to a pair of registers + * @adis: The adis device + * @reg: The address of the lower of the two registers + * @val: Value to be written + */ +int adis_write_reg_16(struct adis *adis, unsigned int reg, uint16_t value) +{ + int ret; + struct spi_message msg; + struct spi_transfer xfers[] = { + { + .tx_buf = adis->tx, + .bits_per_word = 8, + .len = 2, + .cs_change = 1, + .delay_usecs = adis->data->write_delay, + }, { + .tx_buf = adis->tx + 2, + .bits_per_word = 8, + .len = 2, + .delay_usecs = adis->data->write_delay, + }, + }; + + mutex_lock(&adis->txrx_lock); + adis->tx[0] = ADIS_WRITE_REG(reg); + adis->tx[1] = value & 0xff; + adis->tx[2] = ADIS_WRITE_REG(reg + 1); + adis->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(adis->spi, &msg); + mutex_unlock(&adis->txrx_lock); + + return ret; +} +EXPORT_SYMBOL_GPL(adis_write_reg_16); + +/** + * adis_read_reg_16() - read 2 bytes from a 16-bit register + * @adis: The adis device + * @reg: The address of the lower of the two registers + * @val: The value read back from the device + */ +int adis_read_reg_16(struct adis *adis, unsigned int reg, uint16_t *val) +{ + struct spi_message msg; + int ret; + struct spi_transfer xfers[] = { + { + .tx_buf = adis->tx, + .bits_per_word = 8, + .len = 2, + .cs_change = 1, + .delay_usecs = adis->data->read_delay, + }, { + .rx_buf = adis->rx, + .bits_per_word = 8, + .len = 2, + .delay_usecs = adis->data->read_delay, + }, + }; + + mutex_lock(&adis->txrx_lock); + adis->tx[0] = ADIS_READ_REG(reg); + adis->tx[1] = 0; + + spi_message_init(&msg); + spi_message_add_tail(&xfers[0], &msg); + spi_message_add_tail(&xfers[1], &msg); + ret = spi_sync(adis->spi, &msg); + if (ret) { + dev_err(&adis->spi->dev, "Failed to read 16 bit register 0x%02X: %d\n", + reg, ret); + goto error_ret; + } + *val = get_unaligned_be16(adis->rx); + +error_ret: + mutex_unlock(&adis->txrx_lock); + return ret; +} +EXPORT_SYMBOL_GPL(adis_read_reg_16); + +/** + * adis_enable_irq() - Enable or disable data ready IRQ + * @adis: The adis device + * @enable: Whether to enable the IRQ + * + * Returns 0 on success, negative error code otherwise + */ +int adis_enable_irq(struct adis *adis, bool enable) +{ + int ret = 0; + uint16_t msc; + + ret = adis_read_reg_16(adis, adis->data->msc_ctrl_reg, &msc); + if (ret) + goto error_ret; + + msc |= ADIS_MSC_CTRL_DATA_RDY_POL_HIGH; + msc &= ~ADIS_MSC_CTRL_DATA_RDY_DIO2; + if (enable) + msc |= ADIS_MSC_CTRL_DATA_RDY_EN; + else + msc &= ~ADIS_MSC_CTRL_DATA_RDY_EN; + + ret = adis_write_reg_16(adis, adis->data->msc_ctrl_reg, msc); + +error_ret: + return ret; +} +EXPORT_SYMBOL(adis_enable_irq); + +/** + * adis_check_status() - Check the device for error conditions + * @adis: The adis device + * + * Returns 0 on success, a negative error code otherwise + */ +int adis_check_status(struct adis *adis) +{ + uint16_t status; + int ret; + int i; + + ret = adis_read_reg_16(adis, adis->data->diag_stat_reg, &status); + if (ret < 0) + return ret; + + status &= adis->data->status_error_mask; + + if (status == 0) + return 0; + + for (i = 0; i < 16; ++i) { + if (status & BIT(i)) { + dev_err(&adis->spi->dev, "%s.\n", + adis->data->status_error_msgs[i]); + } + } + + return -EIO; +} +EXPORT_SYMBOL_GPL(adis_check_status); + +/** + * adis_reset() - Reset the device + * @adis: The adis device + * + * Returns 0 on success, a negative error code otherwise + */ +int adis_reset(struct adis *adis) +{ + int ret; + + ret = adis_write_reg_8(adis, adis->data->glob_cmd_reg, + ADIS_GLOB_CMD_SW_RESET); + if (ret) + dev_err(&adis->spi->dev, "Failed to reset device: %d\n", ret); + + return ret; +} +EXPORT_SYMBOL_GPL(adis_reset); + +static int adis_self_test(struct adis *adis) +{ + int ret; + + ret = adis_write_reg_16(adis, adis->data->msc_ctrl_reg, + adis->data->self_test_mask); + if (ret) { + dev_err(&adis->spi->dev, "Failed to initiate self test: %d\n", + ret); + return ret; + } + + msleep(adis->data->startup_delay); + + return adis_check_status(adis); +} + +/** + * adis_inital_startup() - Performs device self-test + * @adis: The adis device + * + * Returns 0 if the device is operational, a negative error code otherwise. + * + * This function should be called early on in the device initialization sequence + * to ensure that the device is in a sane and known state and that it is usable. + */ +int adis_initial_startup(struct adis *adis) +{ + int ret; + + ret = adis_self_test(adis); + if (ret) { + dev_err(&adis->spi->dev, "Self-test failed, trying reset.\n"); + adis_reset(adis); + msleep(adis->data->startup_delay); + ret = adis_self_test(adis); + if (ret) { + dev_err(&adis->spi->dev, "Second self-test failed, giving up.\n"); + return ret; + } + } + + return 0; +} +EXPORT_SYMBOL_GPL(adis_initial_startup); + +/** + * adis_single_conversion() - Performs a single sample conversion + * @indio_dev: The IIO device + * @chan: The IIO channel + * @error_mask: Mask for the error bit + * @val: Result of the conversion + * + * Returns IIO_VAL_INT on success, a negative error code otherwise. + * + * The function performs a single conversion on a given channel and post + * processes the value accordingly to the channel spec. If a error_mask is given + * the function will check if the mask is set in the returned raw value. If it + * is set the function will perform a self-check. If the device does not report + * a error bit in the channels raw value set error_mask to 0. + */ +int adis_single_conversion(struct iio_dev *indio_dev, + const struct iio_chan_spec *chan, unsigned int error_mask, int *val) +{ + struct adis *adis = iio_device_get_drvdata(indio_dev); + uint16_t val16; + int ret; + + mutex_lock(&indio_dev->mlock); + + ret = adis_read_reg_16(adis, chan->address, &val16); + if (ret) + goto err_unlock; + + if (val16 & error_mask) { + ret = adis_check_status(adis); + if (ret) + goto err_unlock; + } + + if (chan->scan_type.sign == 's') + *val = sign_extend32(val16, chan->scan_type.realbits - 1); + else + *val = val16 & ((1 << chan->scan_type.realbits) - 1); + + ret = IIO_VAL_INT; +err_unlock: + mutex_unlock(&indio_dev->mlock); + return ret; +} +EXPORT_SYMBOL_GPL(adis_single_conversion); + +/** + * adis_init() - Initialize adis device structure + * @adis: The adis device + * @indio_dev: The iio device + * @spi: The spi device + * @data: Chip specific data + * + * Returns 0 on success, a negative error code otherwise. + * + * This function must be called, before any other adis helper function may be + * called. + */ +int adis_init(struct adis *adis, struct iio_dev *indio_dev, + struct spi_device *spi, const struct adis_data *data) +{ + mutex_init(&adis->txrx_lock); + adis->spi = spi; + adis->data = data; + iio_device_set_drvdata(indio_dev, adis); + + return adis_enable_irq(adis, false); +} +EXPORT_SYMBOL_GPL(adis_init); + +MODULE_LICENSE("GPL"); +MODULE_AUTHOR("Lars-Peter Clausen "); +MODULE_DESCRIPTION("Common library code for ADIS16XXX devices"); diff --git a/drivers/iio/imu/adis_buffer.c b/drivers/iio/imu/adis_buffer.c new file mode 100644 index 000000000000..a91b4cbdc73a --- /dev/null +++ b/drivers/iio/imu/adis_buffer.c @@ -0,0 +1,159 @@ +/* + * Common library for ADIS16XXX devices + * + * Copyright 2012 Analog Devices Inc. + * Author: Lars-Peter Clausen + * + * Licensed under the GPL-2 or later. + */ + +#include +#include +#include +#include +#include +#include + +#include +#include +#include +#include +#include + +int adis_update_scan_mode(struct iio_dev *indio_dev, + const unsigned long *scan_mask) +{ + struct adis *adis = iio_device_get_drvdata(indio_dev); + const struct iio_chan_spec *chan; + unsigned int scan_count; + unsigned int i, j; + __be16 *tx, *rx; + + kfree(adis->xfer); + kfree(adis->buffer); + + scan_count = indio_dev->scan_bytes / 2; + + adis->xfer = kcalloc(scan_count + 1, sizeof(*adis->xfer), GFP_KERNEL); + if (!adis->xfer) + return -ENOMEM; + + adis->buffer = kzalloc(indio_dev->scan_bytes * 2, GFP_KERNEL); + if (!adis->buffer) + return -ENOMEM; + + rx = adis->buffer; + tx = rx + indio_dev->scan_bytes; + + spi_message_init(&adis->msg); + + for (j = 0; j <= scan_count; j++) { + adis->xfer[j].bits_per_word = 8; + if (j != scan_count) + adis->xfer[j].cs_change = 1; + adis->xfer[j].len = 2; + adis->xfer[j].delay_usecs = adis->data->read_delay; + if (j < scan_count) + adis->xfer[j].tx_buf = &tx[j]; + if (j >= 1) + adis->xfer[j].rx_buf = &rx[j - 1]; + spi_message_add_tail(&adis->xfer[j], &adis->msg); + } + + chan = indio_dev->channels; + for (i = 0; i < indio_dev->num_channels; i++, chan++) { + if (!test_bit(chan->scan_index, scan_mask)) + continue; + *tx++ = cpu_to_be16(chan->address << 8); + } + + return 0; +} +EXPORT_SYMBOL_GPL(adis_update_scan_mode); + +static irqreturn_t adis_trigger_handler(int irq, void *p) +{ + struct iio_poll_func *pf = p; + struct iio_dev *indio_dev = pf->indio_dev; + struct adis *adis = iio_device_get_drvdata(indio_dev); + int ret; + + if (!adis->buffer) + return -ENOMEM; + + ret = spi_sync(adis->spi, &adis->msg); + if (ret) + dev_err(&adis->spi->dev, "Failed to read data: %d", ret); + + /* Guaranteed to be aligned with 8 byte boundary */ + if (indio_dev->scan_timestamp) { + void *b = adis->buffer + indio_dev->scan_bytes - sizeof(s64); + *(s64 *)b = pf->timestamp; + } + + iio_push_to_buffers(indio_dev, adis->buffer); + + iio_trigger_notify_done(indio_dev->trig); + + return IRQ_HANDLED; +} + +/** + * adis_setup_buffer_and_trigger() - Sets up buffer and trigger for the adis device + * @adis: The adis device. + * @indio_dev: The IIO device. + * @trigger_handler: Optional trigger handler, may be NULL. + * + * Returns 0 on success, a negative error code otherwise. + * + * This function sets up the buffer and trigger for a adis devices. If + * 'trigger_handler' is NULL the default trigger handler will be used. The + * default trigger handler will simply read the registers assigned to the + * currently active channels. + * + * adis_cleanup_buffer_and_trigger() should be called to free the resources + * allocated by this function. + */ +int adis_setup_buffer_and_trigger(struct adis *adis, struct iio_dev *indio_dev, + irqreturn_t (*trigger_handler)(int, void *)) +{ + int ret; + + if (!trigger_handler) + trigger_handler = adis_trigger_handler; + + ret = iio_triggered_buffer_setup(indio_dev, &iio_pollfunc_store_time, + trigger_handler, NULL); + if (ret) + return ret; + + if (adis->spi->irq) { + ret = adis_probe_trigger(adis, indio_dev); + if (ret) + goto error_buffer_cleanup; + } + return 0; + +error_buffer_cleanup: + iio_triggered_buffer_cleanup(indio_dev); + return ret; +} +EXPORT_SYMBOL_GPL(adis_setup_buffer_and_trigger); + +/** + * adis_cleanup_buffer_and_trigger() - Free buffer and trigger resources + * @adis: The adis device. + * @indio_dev: The IIO device. + * + * Frees resources allocated by adis_setup_buffer_and_trigger() + */ +void adis_cleanup_buffer_and_trigger(struct adis *adis, + struct iio_dev *indio_dev) +{ + if (adis->spi->irq) + adis_remove_trigger(adis); + kfree(adis->buffer); + kfree(adis->xfer); + iio_triggered_buffer_cleanup(indio_dev); +} +EXPORT_SYMBOL_GPL(adis_cleanup_buffer_and_trigger); diff --git a/drivers/iio/imu/adis_trigger.c b/drivers/iio/imu/adis_trigger.c new file mode 100644 index 000000000000..5a24c9cac343 --- /dev/null +++ b/drivers/iio/imu/adis_trigger.c @@ -0,0 +1,89 @@ +/* + * Common library for ADIS16XXX devices + * + * Copyright 2012 Analog Devices Inc. + * Author: Lars-Peter Clausen + * + * Licensed under the GPL-2 or later. + */ + +#include +#include +#include +#include + +#include +#include +#include + +static int adis_data_rdy_trigger_set_state(struct iio_trigger *trig, + bool state) +{ + struct adis *adis = trig->private_data; + + return adis_enable_irq(adis, state); +} + +static const struct iio_trigger_ops adis_trigger_ops = { + .owner = THIS_MODULE, + .set_trigger_state = &adis_data_rdy_trigger_set_state, +}; + +/** + * adis_probe_trigger() - Sets up trigger for a adis device + * @adis: The adis device + * @indio_dev: The IIO device + * + * Returns 0 on success or a negative error code + * + * adis_remove_trigger() should be used to free the trigger. + */ +int adis_probe_trigger(struct adis *adis, struct iio_dev *indio_dev) +{ + int ret; + + adis->trig = iio_trigger_alloc("%s-dev%d", indio_dev->name, + indio_dev->id); + if (adis->trig == NULL) + return -ENOMEM; + + ret = request_irq(adis->spi->irq, + &iio_trigger_generic_data_rdy_poll, + IRQF_TRIGGER_RISING, + indio_dev->name, + adis->trig); + if (ret) + goto error_free_trig; + + adis->trig->dev.parent = &adis->spi->dev; + adis->trig->ops = &adis_trigger_ops; + adis->trig->private_data = adis; + ret = iio_trigger_register(adis->trig); + + indio_dev->trig = adis->trig; + if (ret) + goto error_free_irq; + + return 0; + +error_free_irq: + free_irq(adis->spi->irq, adis->trig); +error_free_trig: + iio_trigger_free(adis->trig); + return ret; +} +EXPORT_SYMBOL_GPL(adis_probe_trigger); + +/** + * adis_remove_trigger() - Remove trigger for a adis devices + * @adis: The adis device + * + * Removes the trigger previously registered with adis_probe_trigger(). + */ +void adis_remove_trigger(struct adis *adis) +{ + iio_trigger_unregister(adis->trig); + free_irq(adis->spi->irq, adis->trig); + iio_trigger_free(adis->trig); +} +EXPORT_SYMBOL_GPL(adis_remove_trigger); diff --git a/drivers/staging/iio/accel/adis16201_core.c b/drivers/staging/iio/accel/adis16201_core.c index 833dd6b73bc3..ccdc8d23f6a3 100644 --- a/drivers/staging/iio/accel/adis16201_core.c +++ b/drivers/staging/iio/accel/adis16201_core.c @@ -18,9 +18,9 @@ #include #include #include +#include #include "adis16201.h" -#include "../imu/adis.h" static const u8 adis16201_addresses[] = { [ADIS16201_SCAN_ACC_X] = ADIS16201_XACCL_OFFS, diff --git a/drivers/staging/iio/accel/adis16203_core.c b/drivers/staging/iio/accel/adis16203_core.c index f631e578fbd1..202985ea3531 100644 --- a/drivers/staging/iio/accel/adis16203_core.c +++ b/drivers/staging/iio/accel/adis16203_core.c @@ -18,9 +18,9 @@ #include #include #include +#include #include "adis16203.h" -#include "../imu/adis.h" #define DRIVER_NAME "adis16203" diff --git a/drivers/staging/iio/accel/adis16204_core.c b/drivers/staging/iio/accel/adis16204_core.c index dbec841ce30c..6dafad67cd23 100644 --- a/drivers/staging/iio/accel/adis16204_core.c +++ b/drivers/staging/iio/accel/adis16204_core.c @@ -21,9 +21,9 @@ #include #include #include +#include #include "adis16204.h" -#include "../imu/adis.h" /* Unique to this driver currently */ diff --git a/drivers/staging/iio/accel/adis16209_core.c b/drivers/staging/iio/accel/adis16209_core.c index f9f9d582b32d..d2921c30a8bb 100644 --- a/drivers/staging/iio/accel/adis16209_core.c +++ b/drivers/staging/iio/accel/adis16209_core.c @@ -19,9 +19,9 @@ #include #include #include +#include #include "adis16209.h" -#include "../imu/adis.h" static const u8 adis16209_addresses[8][1] = { [ADIS16209_SCAN_SUPPLY] = { }, diff --git a/drivers/staging/iio/accel/adis16220.h b/drivers/staging/iio/accel/adis16220.h index 7cc4d2f3ec28..a894ad7fb26d 100644 --- a/drivers/staging/iio/accel/adis16220.h +++ b/drivers/staging/iio/accel/adis16220.h @@ -1,7 +1,7 @@ #ifndef SPI_ADIS16220_H_ #define SPI_ADIS16220_H_ -#include "../imu/adis.h" +#include #define ADIS16220_STARTUP_DELAY 220 /* ms */ diff --git a/drivers/staging/iio/accel/adis16240_core.c b/drivers/staging/iio/accel/adis16240_core.c index 3d1a8a9921ad..d098b49cc18b 100644 --- a/drivers/staging/iio/accel/adis16240_core.c +++ b/drivers/staging/iio/accel/adis16240_core.c @@ -22,9 +22,9 @@ #include #include #include +#include #include "adis16240.h" -#include "../imu/adis.h" static ssize_t adis16240_spi_read_signed(struct device *dev, struct device_attribute *attr, diff --git a/drivers/staging/iio/gyro/adis16260.h b/drivers/staging/iio/gyro/adis16260.h index ea5eba205bbf..df3c0b7e954a 100644 --- a/drivers/staging/iio/gyro/adis16260.h +++ b/drivers/staging/iio/gyro/adis16260.h @@ -2,7 +2,7 @@ #define SPI_ADIS16260_H_ #include "adis16260_platform_data.h" -#include "../imu/adis.h" +#include #define ADIS16260_STARTUP_DELAY 220 /* ms */ diff --git a/drivers/staging/iio/imu/Kconfig b/drivers/staging/iio/imu/Kconfig index 2c564edeb172..2c2f47de2630 100644 --- a/drivers/staging/iio/imu/Kconfig +++ b/drivers/staging/iio/imu/Kconfig @@ -15,15 +15,3 @@ config ADIS16400 (adis16400 series also have magnetometers). endmenu - -config IIO_ADIS_LIB - tristate - help - A set of IO helper functions for the Analog Devices ADIS* device family. - -config IIO_ADIS_LIB_BUFFER - bool - select IIO_TRIGGERED_BUFFER - help - A set of buffer helper functions for the Analog Devices ADIS* device - family. diff --git a/drivers/staging/iio/imu/Makefile b/drivers/staging/iio/imu/Makefile index 65dafba1e5df..3400a13d1522 100644 --- a/drivers/staging/iio/imu/Makefile +++ b/drivers/staging/iio/imu/Makefile @@ -5,8 +5,3 @@ adis16400-y := adis16400_core.o adis16400-$(CONFIG_IIO_BUFFER) += adis16400_ring.o adis16400_trigger.o obj-$(CONFIG_ADIS16400) += adis16400.o - -adis_lib-y += adis.o -adis_lib-$(CONFIG_IIO_ADIS_LIB_BUFFER) += adis_trigger.o -adis_lib-$(CONFIG_IIO_ADIS_LIB_BUFFER) += adis_buffer.o -obj-$(CONFIG_IIO_ADIS_LIB) += adis_lib.o diff --git a/drivers/staging/iio/imu/adis.c b/drivers/staging/iio/imu/adis.c deleted file mode 100644 index 0bd21022e4c0..000000000000 --- a/drivers/staging/iio/imu/adis.c +++ /dev/null @@ -1,338 +0,0 @@ -/* - * Common library for ADIS16XXX devices - * - * Copyright 2012 Analog Devices Inc. - * Author: Lars-Peter Clausen - * - * Licensed under the GPL-2 or later. - */ - -#include -#include -#include -#include -#include -#include -#include -#include -#include - -#include -#include -#include - -#include "adis.h" - -#define ADIS_MSC_CTRL_DATA_RDY_EN BIT(2) -#define ADIS_MSC_CTRL_DATA_RDY_POL_HIGH BIT(1) -#define ADIS_MSC_CTRL_DATA_RDY_DIO2 BIT(0) -#define ADIS_GLOB_CMD_SW_RESET BIT(7) - -/** - * adis_write_reg_8() - Write single byte to a register - * @adis: The adis device - * @reg: The address of the register to be written - * @val: The value to write - */ -int adis_write_reg_8(struct adis *adis, unsigned int reg, uint8_t val) -{ - int ret; - - mutex_lock(&adis->txrx_lock); - adis->tx[0] = ADIS_WRITE_REG(reg); - adis->tx[1] = val; - - ret = spi_write(adis->spi, adis->tx, 2); - mutex_unlock(&adis->txrx_lock); - - return ret; -} -EXPORT_SYMBOL_GPL(adis_write_reg_8); - -/** - * adis_write_reg_16() - Write 2 bytes to a pair of registers - * @adis: The adis device - * @reg: The address of the lower of the two registers - * @val: Value to be written - */ -int adis_write_reg_16(struct adis *adis, unsigned int reg, uint16_t value) -{ - int ret; - struct spi_message msg; - struct spi_transfer xfers[] = { - { - .tx_buf = adis->tx, - .bits_per_word = 8, - .len = 2, - .cs_change = 1, - .delay_usecs = adis->data->write_delay, - }, { - .tx_buf = adis->tx + 2, - .bits_per_word = 8, - .len = 2, - .delay_usecs = adis->data->write_delay, - }, - }; - - mutex_lock(&adis->txrx_lock); - adis->tx[0] = ADIS_WRITE_REG(reg); - adis->tx[1] = value & 0xff; - adis->tx[2] = ADIS_WRITE_REG(reg + 1); - adis->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(adis->spi, &msg); - mutex_unlock(&adis->txrx_lock); - - return ret; -} -EXPORT_SYMBOL_GPL(adis_write_reg_16); - -/** - * adis_read_reg_16() - read 2 bytes from a 16-bit register - * @adis: The adis device - * @reg: The address of the lower of the two registers - * @val: The value read back from the device - */ -int adis_read_reg_16(struct adis *adis, unsigned int reg, uint16_t *val) -{ - struct spi_message msg; - int ret; - struct spi_transfer xfers[] = { - { - .tx_buf = adis->tx, - .bits_per_word = 8, - .len = 2, - .cs_change = 1, - .delay_usecs = adis->data->read_delay, - }, { - .rx_buf = adis->rx, - .bits_per_word = 8, - .len = 2, - .delay_usecs = adis->data->read_delay, - }, - }; - - mutex_lock(&adis->txrx_lock); - adis->tx[0] = ADIS_READ_REG(reg); - adis->tx[1] = 0; - - spi_message_init(&msg); - spi_message_add_tail(&xfers[0], &msg); - spi_message_add_tail(&xfers[1], &msg); - ret = spi_sync(adis->spi, &msg); - if (ret) { - dev_err(&adis->spi->dev, "Failed to read 16 bit register 0x%02X: %d\n", - reg, ret); - goto error_ret; - } - *val = get_unaligned_be16(adis->rx); - -error_ret: - mutex_unlock(&adis->txrx_lock); - return ret; -} -EXPORT_SYMBOL_GPL(adis_read_reg_16); - -/** - * adis_enable_irq() - Enable or disable data ready IRQ - * @adis: The adis device - * @enable: Whether to enable the IRQ - * - * Returns 0 on success, negative error code otherwise - */ -int adis_enable_irq(struct adis *adis, bool enable) -{ - int ret = 0; - uint16_t msc; - - ret = adis_read_reg_16(adis, adis->data->msc_ctrl_reg, &msc); - if (ret) - goto error_ret; - - msc |= ADIS_MSC_CTRL_DATA_RDY_POL_HIGH; - msc &= ~ADIS_MSC_CTRL_DATA_RDY_DIO2; - if (enable) - msc |= ADIS_MSC_CTRL_DATA_RDY_EN; - else - msc &= ~ADIS_MSC_CTRL_DATA_RDY_EN; - - ret = adis_write_reg_16(adis, adis->data->msc_ctrl_reg, msc); - -error_ret: - return ret; -} -EXPORT_SYMBOL(adis_enable_irq); - -/** - * adis_check_status() - Check the device for error conditions - * @adis: The adis device - * - * Returns 0 on success, a negative error code otherwise - */ -int adis_check_status(struct adis *adis) -{ - uint16_t status; - int ret; - int i; - - ret = adis_read_reg_16(adis, adis->data->diag_stat_reg, &status); - if (ret < 0) - return ret; - - status &= adis->data->status_error_mask; - - if (status == 0) - return 0; - - for (i = 0; i < 16; ++i) { - if (status & BIT(i)) { - dev_err(&adis->spi->dev, "%s.\n", - adis->data->status_error_msgs[i]); - } - } - - return -EIO; -} -EXPORT_SYMBOL_GPL(adis_check_status); - -/** - * adis_reset() - Reset the device - * @adis: The adis device - * - * Returns 0 on success, a negative error code otherwise - */ -int adis_reset(struct adis *adis) -{ - int ret; - - ret = adis_write_reg_8(adis, adis->data->glob_cmd_reg, - ADIS_GLOB_CMD_SW_RESET); - if (ret) - dev_err(&adis->spi->dev, "Failed to reset device: %d\n", ret); - - return ret; -} -EXPORT_SYMBOL_GPL(adis_reset); - -static int adis_self_test(struct adis *adis) -{ - int ret; - - ret = adis_write_reg_16(adis, adis->data->msc_ctrl_reg, - adis->data->self_test_mask); - if (ret) { - dev_err(&adis->spi->dev, "Failed to initiate self test: %d\n", - ret); - return ret; - } - - msleep(adis->data->startup_delay); - - return adis_check_status(adis); -} - -/** - * adis_inital_startup() - Performs device self-test - * @adis: The adis device - * - * Returns 0 if the device is operational, a negative error code otherwise. - * - * This function should be called early on in the device initialization sequence - * to ensure that the device is in a sane and known state and that it is usable. - */ -int adis_initial_startup(struct adis *adis) -{ - int ret; - - ret = adis_self_test(adis); - if (ret) { - dev_err(&adis->spi->dev, "Self-test failed, trying reset.\n"); - adis_reset(adis); - msleep(adis->data->startup_delay); - ret = adis_self_test(adis); - if (ret) { - dev_err(&adis->spi->dev, "Second self-test failed, giving up.\n"); - return ret; - } - } - - return 0; -} -EXPORT_SYMBOL_GPL(adis_initial_startup); - -/** - * adis_single_conversion() - Performs a single sample conversion - * @indio_dev: The IIO device - * @chan: The IIO channel - * @error_mask: Mask for the error bit - * @val: Result of the conversion - * - * Returns IIO_VAL_INT on success, a negative error code otherwise. - * - * The function performs a single conversion on a given channel and post - * processes the value accordingly to the channel spec. If a error_mask is given - * the function will check if the mask is set in the returned raw value. If it - * is set the function will perform a self-check. If the device does not report - * a error bit in the channels raw value set error_mask to 0. - */ -int adis_single_conversion(struct iio_dev *indio_dev, - const struct iio_chan_spec *chan, unsigned int error_mask, int *val) -{ - struct adis *adis = iio_device_get_drvdata(indio_dev); - uint16_t val16; - int ret; - - mutex_lock(&indio_dev->mlock); - - ret = adis_read_reg_16(adis, chan->address, &val16); - if (ret) - goto err_unlock; - - if (val16 & error_mask) { - ret = adis_check_status(adis); - if (ret) - goto err_unlock; - } - - if (chan->scan_type.sign == 's') - *val = sign_extend32(val16, chan->scan_type.realbits - 1); - else - *val = val16 & ((1 << chan->scan_type.realbits) - 1); - - ret = IIO_VAL_INT; -err_unlock: - mutex_unlock(&indio_dev->mlock); - return ret; -} -EXPORT_SYMBOL_GPL(adis_single_conversion); - -/** - * adis_init() - Initialize adis device structure - * @adis: The adis device - * @indio_dev: The iio device - * @spi: The spi device - * @data: Chip specific data - * - * Returns 0 on success, a negative error code otherwise. - * - * This function must be called, before any other adis helper function may be - * called. - */ -int adis_init(struct adis *adis, struct iio_dev *indio_dev, - struct spi_device *spi, const struct adis_data *data) -{ - mutex_init(&adis->txrx_lock); - adis->spi = spi; - adis->data = data; - iio_device_set_drvdata(indio_dev, adis); - - return adis_enable_irq(adis, false); -} -EXPORT_SYMBOL_GPL(adis_init); - -MODULE_LICENSE("GPL"); -MODULE_AUTHOR("Lars-Peter Clausen "); -MODULE_DESCRIPTION("Common library code for ADIS16XXX devices"); diff --git a/drivers/staging/iio/imu/adis.h b/drivers/staging/iio/imu/adis.h deleted file mode 100644 index 8c3304d44b97..000000000000 --- a/drivers/staging/iio/imu/adis.h +++ /dev/null @@ -1,186 +0,0 @@ -/* - * Common library for ADIS16XXX devices - * - * Copyright 2012 Analog Devices Inc. - * Author: Lars-Peter Clausen - * - * Licensed under the GPL-2 or later. - */ - -#ifndef __IIO_ADIS_H__ -#define __IIO_ADIS_H__ - -#include -#include -#include - -#define ADIS_WRITE_REG(reg) (0x80 | (reg)) -#define ADIS_READ_REG(reg) (reg) - -/** - * struct adis_data - ADIS chip variant specific data - * @read_delay: SPI delay for read operations in us - * @write_delay: SPI delay for write operations in us - * @glob_cmd_reg: Register address of the GLOB_CMD register - * @msc_ctrl_reg: Register address of the MSC_CTRL register - * @diag_stat_reg: Register address of the DIAG_STAT register - * @status_error_msgs: Array of error messgaes - * @status_error_mask: - */ -struct adis_data { - unsigned int read_delay; - unsigned int write_delay; - - unsigned int glob_cmd_reg; - unsigned int msc_ctrl_reg; - unsigned int diag_stat_reg; - - unsigned int self_test_mask; - unsigned int startup_delay; - - const char * const *status_error_msgs; - unsigned int status_error_mask; -}; - -struct adis { - struct spi_device *spi; - struct iio_trigger *trig; - - const struct adis_data *data; - - struct mutex txrx_lock; - struct spi_message msg; - struct spi_transfer *xfer; - void *buffer; - - uint8_t tx[8] ____cacheline_aligned; - uint8_t rx[4]; -}; - -int adis_init(struct adis *adis, struct iio_dev *indio_dev, - struct spi_device *spi, const struct adis_data *data); -int adis_reset(struct adis *adis); - -int adis_write_reg_8(struct adis *adis, unsigned int reg, uint8_t val); -int adis_write_reg_16(struct adis *adis, unsigned int reg, uint16_t val); -int adis_read_reg_16(struct adis *adis, unsigned int reg, uint16_t *val); - -int adis_enable_irq(struct adis *adis, bool enable); -int adis_check_status(struct adis *adis); - -int adis_initial_startup(struct adis *adis); - -int adis_single_conversion(struct iio_dev *indio_dev, - const struct iio_chan_spec *chan, unsigned int error_mask, - int *val); - -#define ADIS_VOLTAGE_CHAN(addr, si, chan, name, bits) { \ - .type = IIO_VOLTAGE, \ - .indexed = 1, \ - .channel = (chan), \ - .extend_name = name, \ - .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT | \ - IIO_CHAN_INFO_SCALE_SEPARATE_BIT, \ - .address = (addr), \ - .scan_index = (si), \ - .scan_type = { \ - .sign = 'u', \ - .realbits = (bits), \ - .storagebits = 16, \ - .endianness = IIO_BE, \ - }, \ -} - -#define ADIS_SUPPLY_CHAN(addr, si, bits) \ - ADIS_VOLTAGE_CHAN(addr, si, 0, "supply", bits) - -#define ADIS_AUX_ADC_CHAN(addr, si, bits) \ - ADIS_VOLTAGE_CHAN(addr, si, 1, NULL, bits) - -#define ADIS_TEMP_CHAN(addr, si, bits) { \ - .type = IIO_TEMP, \ - .indexed = 1, \ - .channel = 0, \ - .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT | \ - IIO_CHAN_INFO_SCALE_SEPARATE_BIT | \ - IIO_CHAN_INFO_OFFSET_SEPARATE_BIT, \ - .address = (addr), \ - .scan_index = (si), \ - .scan_type = { \ - .sign = 'u', \ - .realbits = (bits), \ - .storagebits = 16, \ - .endianness = IIO_BE, \ - }, \ -} - -#define ADIS_MOD_CHAN(_type, mod, addr, si, info, bits) { \ - .type = (_type), \ - .modified = 1, \ - .channel2 = IIO_MOD_ ## mod, \ - .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT | \ - IIO_CHAN_INFO_SCALE_SHARED_BIT | \ - info, \ - .address = (addr), \ - .scan_index = (si), \ - .scan_type = { \ - .sign = 's', \ - .realbits = (bits), \ - .storagebits = 16, \ - .endianness = IIO_BE, \ - }, \ -} - -#define ADIS_ACCEL_CHAN(mod, addr, si, info, bits) \ - ADIS_MOD_CHAN(IIO_ACCEL, mod, addr, si, info, bits) - -#define ADIS_GYRO_CHAN(mod, addr, si, info, bits) \ - ADIS_MOD_CHAN(IIO_ANGL_VEL, mod, addr, si, info, bits) - -#define ADIS_INCLI_CHAN(mod, addr, si, info, bits) \ - ADIS_MOD_CHAN(IIO_INCLI, mod, addr, si, info, bits) - -#define ADIS_ROT_CHAN(mod, addr, si, info, bits) \ - ADIS_MOD_CHAN(IIO_ROT, mod, addr, si, info, bits) - -#ifdef CONFIG_IIO_ADIS_LIB_BUFFER - -int adis_setup_buffer_and_trigger(struct adis *adis, - struct iio_dev *indio_dev, irqreturn_t (*trigger_handler)(int, void *)); -void adis_cleanup_buffer_and_trigger(struct adis *adis, - struct iio_dev *indio_dev); - -int adis_probe_trigger(struct adis *adis, struct iio_dev *indio_dev); -void adis_remove_trigger(struct adis *adis); - -int adis_update_scan_mode(struct iio_dev *indio_dev, - const unsigned long *scan_mask); - -#else /* CONFIG_IIO_BUFFER */ - -static inline int adis_setup_buffer_and_trigger(struct adis *adis, - struct iio_dev *indio_dev, irqreturn_t (*trigger_handler)(int, void *)) -{ - return 0; -} - -static inline void adis_cleanup_buffer_and_trigger(struct adis *adis, - struct iio_dev *indio_dev) -{ -} - -static inline int adis_probe_trigger(struct adis *adis, - struct iio_dev *indio_dev) -{ - return 0; -} - -static inline void adis_remove_trigger(struct adis *adis) -{ -} - -#define adis_update_scan_mode NULL - -#endif /* CONFIG_IIO_BUFFER */ - -#endif diff --git a/drivers/staging/iio/imu/adis_buffer.c b/drivers/staging/iio/imu/adis_buffer.c deleted file mode 100644 index 342758c14d2b..000000000000 --- a/drivers/staging/iio/imu/adis_buffer.c +++ /dev/null @@ -1,160 +0,0 @@ -/* - * Common library for ADIS16XXX devices - * - * Copyright 2012 Analog Devices Inc. - * Author: Lars-Peter Clausen - * - * Licensed under the GPL-2 or later. - */ - -#include -#include -#include -#include -#include -#include - -#include -#include -#include -#include - -#include "adis.h" - -int adis_update_scan_mode(struct iio_dev *indio_dev, - const unsigned long *scan_mask) -{ - struct adis *adis = iio_device_get_drvdata(indio_dev); - const struct iio_chan_spec *chan; - unsigned int scan_count; - unsigned int i, j; - __be16 *tx, *rx; - - kfree(adis->xfer); - kfree(adis->buffer); - - scan_count = indio_dev->scan_bytes / 2; - - adis->xfer = kcalloc(scan_count + 1, sizeof(*adis->xfer), GFP_KERNEL); - if (!adis->xfer) - return -ENOMEM; - - adis->buffer = kzalloc(indio_dev->scan_bytes * 2, GFP_KERNEL); - if (!adis->buffer) - return -ENOMEM; - - rx = adis->buffer; - tx = rx + indio_dev->scan_bytes; - - spi_message_init(&adis->msg); - - for (j = 0; j <= scan_count; j++) { - adis->xfer[j].bits_per_word = 8; - if (j != scan_count) - adis->xfer[j].cs_change = 1; - adis->xfer[j].len = 2; - adis->xfer[j].delay_usecs = adis->data->read_delay; - if (j < scan_count) - adis->xfer[j].tx_buf = &tx[j]; - if (j >= 1) - adis->xfer[j].rx_buf = &rx[j - 1]; - spi_message_add_tail(&adis->xfer[j], &adis->msg); - } - - chan = indio_dev->channels; - for (i = 0; i < indio_dev->num_channels; i++, chan++) { - if (!test_bit(chan->scan_index, scan_mask)) - continue; - *tx++ = cpu_to_be16(chan->address << 8); - } - - return 0; -} -EXPORT_SYMBOL_GPL(adis_update_scan_mode); - -static irqreturn_t adis_trigger_handler(int irq, void *p) -{ - struct iio_poll_func *pf = p; - struct iio_dev *indio_dev = pf->indio_dev; - struct adis *adis = iio_device_get_drvdata(indio_dev); - int ret; - - if (!adis->buffer) - return -ENOMEM; - - ret = spi_sync(adis->spi, &adis->msg); - if (ret) - dev_err(&adis->spi->dev, "Failed to read data: %d", ret); - - /* Guaranteed to be aligned with 8 byte boundary */ - if (indio_dev->scan_timestamp) { - void *b = adis->buffer + indio_dev->scan_bytes - sizeof(s64); - *(s64 *)b = pf->timestamp; - } - - iio_push_to_buffers(indio_dev, adis->buffer); - - iio_trigger_notify_done(indio_dev->trig); - - return IRQ_HANDLED; -} - -/** - * adis_setup_buffer_and_trigger() - Sets up buffer and trigger for the adis device - * @adis: The adis device. - * @indio_dev: The IIO device. - * @trigger_handler: Optional trigger handler, may be NULL. - * - * Returns 0 on success, a negative error code otherwise. - * - * This function sets up the buffer and trigger for a adis devices. If - * 'trigger_handler' is NULL the default trigger handler will be used. The - * default trigger handler will simply read the registers assigned to the - * currently active channels. - * - * adis_cleanup_buffer_and_trigger() should be called to free the resources - * allocated by this function. - */ -int adis_setup_buffer_and_trigger(struct adis *adis, struct iio_dev *indio_dev, - irqreturn_t (*trigger_handler)(int, void *)) -{ - int ret; - - if (!trigger_handler) - trigger_handler = adis_trigger_handler; - - ret = iio_triggered_buffer_setup(indio_dev, &iio_pollfunc_store_time, - trigger_handler, NULL); - if (ret) - return ret; - - if (adis->spi->irq) { - ret = adis_probe_trigger(adis, indio_dev); - if (ret) - goto error_buffer_cleanup; - } - return 0; - -error_buffer_cleanup: - iio_triggered_buffer_cleanup(indio_dev); - return ret; -} -EXPORT_SYMBOL_GPL(adis_setup_buffer_and_trigger); - -/** - * adis_cleanup_buffer_and_trigger() - Free buffer and trigger resources - * @adis: The adis device. - * @indio_dev: The IIO device. - * - * Frees resources allocated by adis_setup_buffer_and_trigger() - */ -void adis_cleanup_buffer_and_trigger(struct adis *adis, - struct iio_dev *indio_dev) -{ - if (adis->spi->irq) - adis_remove_trigger(adis); - kfree(adis->buffer); - kfree(adis->xfer); - iio_triggered_buffer_cleanup(indio_dev); -} -EXPORT_SYMBOL_GPL(adis_cleanup_buffer_and_trigger); diff --git a/drivers/staging/iio/imu/adis_trigger.c b/drivers/staging/iio/imu/adis_trigger.c deleted file mode 100644 index 3e89b2e83708..000000000000 --- a/drivers/staging/iio/imu/adis_trigger.c +++ /dev/null @@ -1,90 +0,0 @@ -/* - * Common library for ADIS16XXX devices - * - * Copyright 2012 Analog Devices Inc. - * Author: Lars-Peter Clausen - * - * Licensed under the GPL-2 or later. - */ - -#include -#include -#include -#include - -#include -#include - -#include "adis.h" - -static int adis_data_rdy_trigger_set_state(struct iio_trigger *trig, - bool state) -{ - struct adis *adis = trig->private_data; - - return adis_enable_irq(adis, state); -} - -static const struct iio_trigger_ops adis_trigger_ops = { - .owner = THIS_MODULE, - .set_trigger_state = &adis_data_rdy_trigger_set_state, -}; - -/** - * adis_probe_trigger() - Sets up trigger for a adis device - * @adis: The adis device - * @indio_dev: The IIO device - * - * Returns 0 on success or a negative error code - * - * adis_remove_trigger() should be used to free the trigger. - */ -int adis_probe_trigger(struct adis *adis, struct iio_dev *indio_dev) -{ - int ret; - - adis->trig = iio_trigger_alloc("%s-dev%d", indio_dev->name, - indio_dev->id); - if (adis->trig == NULL) - return -ENOMEM; - - ret = request_irq(adis->spi->irq, - &iio_trigger_generic_data_rdy_poll, - IRQF_TRIGGER_RISING, - indio_dev->name, - adis->trig); - if (ret) - goto error_free_trig; - - adis->trig->dev.parent = &adis->spi->dev; - adis->trig->ops = &adis_trigger_ops; - adis->trig->private_data = adis; - ret = iio_trigger_register(adis->trig); - - indio_dev->trig = adis->trig; - if (ret) - goto error_free_irq; - - return 0; - -error_free_irq: - free_irq(adis->spi->irq, adis->trig); -error_free_trig: - iio_trigger_free(adis->trig); - return ret; -} -EXPORT_SYMBOL_GPL(adis_probe_trigger); - -/** - * adis_remove_trigger() - Remove trigger for a adis devices - * @adis: The adis device - * - * Removes the trigger previously registered with adis_probe_trigger(). - */ -void adis_remove_trigger(struct adis *adis) -{ - iio_trigger_unregister(adis->trig); - free_irq(adis->spi->irq, adis->trig); - iio_trigger_free(adis->trig); -} -EXPORT_SYMBOL_GPL(adis_remove_trigger); diff --git a/include/linux/iio/imu/adis.h b/include/linux/iio/imu/adis.h new file mode 100644 index 000000000000..8c3304d44b97 --- /dev/null +++ b/include/linux/iio/imu/adis.h @@ -0,0 +1,186 @@ +/* + * Common library for ADIS16XXX devices + * + * Copyright 2012 Analog Devices Inc. + * Author: Lars-Peter Clausen + * + * Licensed under the GPL-2 or later. + */ + +#ifndef __IIO_ADIS_H__ +#define __IIO_ADIS_H__ + +#include +#include +#include + +#define ADIS_WRITE_REG(reg) (0x80 | (reg)) +#define ADIS_READ_REG(reg) (reg) + +/** + * struct adis_data - ADIS chip variant specific data + * @read_delay: SPI delay for read operations in us + * @write_delay: SPI delay for write operations in us + * @glob_cmd_reg: Register address of the GLOB_CMD register + * @msc_ctrl_reg: Register address of the MSC_CTRL register + * @diag_stat_reg: Register address of the DIAG_STAT register + * @status_error_msgs: Array of error messgaes + * @status_error_mask: + */ +struct adis_data { + unsigned int read_delay; + unsigned int write_delay; + + unsigned int glob_cmd_reg; + unsigned int msc_ctrl_reg; + unsigned int diag_stat_reg; + + unsigned int self_test_mask; + unsigned int startup_delay; + + const char * const *status_error_msgs; + unsigned int status_error_mask; +}; + +struct adis { + struct spi_device *spi; + struct iio_trigger *trig; + + const struct adis_data *data; + + struct mutex txrx_lock; + struct spi_message msg; + struct spi_transfer *xfer; + void *buffer; + + uint8_t tx[8] ____cacheline_aligned; + uint8_t rx[4]; +}; + +int adis_init(struct adis *adis, struct iio_dev *indio_dev, + struct spi_device *spi, const struct adis_data *data); +int adis_reset(struct adis *adis); + +int adis_write_reg_8(struct adis *adis, unsigned int reg, uint8_t val); +int adis_write_reg_16(struct adis *adis, unsigned int reg, uint16_t val); +int adis_read_reg_16(struct adis *adis, unsigned int reg, uint16_t *val); + +int adis_enable_irq(struct adis *adis, bool enable); +int adis_check_status(struct adis *adis); + +int adis_initial_startup(struct adis *adis); + +int adis_single_conversion(struct iio_dev *indio_dev, + const struct iio_chan_spec *chan, unsigned int error_mask, + int *val); + +#define ADIS_VOLTAGE_CHAN(addr, si, chan, name, bits) { \ + .type = IIO_VOLTAGE, \ + .indexed = 1, \ + .channel = (chan), \ + .extend_name = name, \ + .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT | \ + IIO_CHAN_INFO_SCALE_SEPARATE_BIT, \ + .address = (addr), \ + .scan_index = (si), \ + .scan_type = { \ + .sign = 'u', \ + .realbits = (bits), \ + .storagebits = 16, \ + .endianness = IIO_BE, \ + }, \ +} + +#define ADIS_SUPPLY_CHAN(addr, si, bits) \ + ADIS_VOLTAGE_CHAN(addr, si, 0, "supply", bits) + +#define ADIS_AUX_ADC_CHAN(addr, si, bits) \ + ADIS_VOLTAGE_CHAN(addr, si, 1, NULL, bits) + +#define ADIS_TEMP_CHAN(addr, si, bits) { \ + .type = IIO_TEMP, \ + .indexed = 1, \ + .channel = 0, \ + .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT | \ + IIO_CHAN_INFO_SCALE_SEPARATE_BIT | \ + IIO_CHAN_INFO_OFFSET_SEPARATE_BIT, \ + .address = (addr), \ + .scan_index = (si), \ + .scan_type = { \ + .sign = 'u', \ + .realbits = (bits), \ + .storagebits = 16, \ + .endianness = IIO_BE, \ + }, \ +} + +#define ADIS_MOD_CHAN(_type, mod, addr, si, info, bits) { \ + .type = (_type), \ + .modified = 1, \ + .channel2 = IIO_MOD_ ## mod, \ + .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT | \ + IIO_CHAN_INFO_SCALE_SHARED_BIT | \ + info, \ + .address = (addr), \ + .scan_index = (si), \ + .scan_type = { \ + .sign = 's', \ + .realbits = (bits), \ + .storagebits = 16, \ + .endianness = IIO_BE, \ + }, \ +} + +#define ADIS_ACCEL_CHAN(mod, addr, si, info, bits) \ + ADIS_MOD_CHAN(IIO_ACCEL, mod, addr, si, info, bits) + +#define ADIS_GYRO_CHAN(mod, addr, si, info, bits) \ + ADIS_MOD_CHAN(IIO_ANGL_VEL, mod, addr, si, info, bits) + +#define ADIS_INCLI_CHAN(mod, addr, si, info, bits) \ + ADIS_MOD_CHAN(IIO_INCLI, mod, addr, si, info, bits) + +#define ADIS_ROT_CHAN(mod, addr, si, info, bits) \ + ADIS_MOD_CHAN(IIO_ROT, mod, addr, si, info, bits) + +#ifdef CONFIG_IIO_ADIS_LIB_BUFFER + +int adis_setup_buffer_and_trigger(struct adis *adis, + struct iio_dev *indio_dev, irqreturn_t (*trigger_handler)(int, void *)); +void adis_cleanup_buffer_and_trigger(struct adis *adis, + struct iio_dev *indio_dev); + +int adis_probe_trigger(struct adis *adis, struct iio_dev *indio_dev); +void adis_remove_trigger(struct adis *adis); + +int adis_update_scan_mode(struct iio_dev *indio_dev, + const unsigned long *scan_mask); + +#else /* CONFIG_IIO_BUFFER */ + +static inline int adis_setup_buffer_and_trigger(struct adis *adis, + struct iio_dev *indio_dev, irqreturn_t (*trigger_handler)(int, void *)) +{ + return 0; +} + +static inline void adis_cleanup_buffer_and_trigger(struct adis *adis, + struct iio_dev *indio_dev) +{ +} + +static inline int adis_probe_trigger(struct adis *adis, + struct iio_dev *indio_dev) +{ + return 0; +} + +static inline void adis_remove_trigger(struct adis *adis) +{ +} + +#define adis_update_scan_mode NULL + +#endif /* CONFIG_IIO_BUFFER */ + +#endif -- cgit From 709ab36e9559ff5c7df6e6f2d9e3c4a4410f8d49 Mon Sep 17 00:00:00 2001 From: Lars-Peter Clausen Date: Sat, 17 Nov 2012 11:42:59 +0000 Subject: staging:iio: Move the ad7298 driver out of staging The driver does not expose any custom API to userspace and none of the standard static code checker tools report any issues, so move it out of staging. Signed-off-by: Lars-Peter Clausen Signed-off-by: Jonathan Cameron --- drivers/iio/adc/Kconfig | 12 ++ drivers/iio/adc/Makefile | 1 + drivers/iio/adc/ad7298.c | 408 +++++++++++++++++++++++++++++++++++ drivers/staging/iio/adc/Kconfig | 12 -- drivers/staging/iio/adc/Makefile | 2 - drivers/staging/iio/adc/ad7298.c | 408 ----------------------------------- drivers/staging/iio/adc/ad7298.h | 20 -- include/linux/platform_data/ad7298.h | 20 ++ 8 files changed, 441 insertions(+), 442 deletions(-) create mode 100644 drivers/iio/adc/ad7298.c delete mode 100644 drivers/staging/iio/adc/ad7298.c delete mode 100644 drivers/staging/iio/adc/ad7298.h create mode 100644 include/linux/platform_data/ad7298.h (limited to 'include/linux') diff --git a/drivers/iio/adc/Kconfig b/drivers/iio/adc/Kconfig index ef5200a6850e..cd5eed60be28 100644 --- a/drivers/iio/adc/Kconfig +++ b/drivers/iio/adc/Kconfig @@ -18,6 +18,18 @@ config AD7266 Say yes here to build support for Analog Devices AD7265 and AD7266 ADCs. +config AD7298 + tristate "Analog Devices AD7298 ADC driver" + depends on SPI + select IIO_BUFFER + select IIO_TRIGGERED_BUFFER + help + Say yes here to build support for Analog Devices AD7298 + 8 Channel ADC with temperature sensor. + + To compile this driver as a module, choose M here: the + module will be called ad7298. + config AD7791 tristate "Analog Devices AD7791 ADC driver" depends on SPI diff --git a/drivers/iio/adc/Makefile b/drivers/iio/adc/Makefile index 54ac7bbcd01b..3256dc64a466 100644 --- a/drivers/iio/adc/Makefile +++ b/drivers/iio/adc/Makefile @@ -4,6 +4,7 @@ obj-$(CONFIG_AD_SIGMA_DELTA) += ad_sigma_delta.o obj-$(CONFIG_AD7266) += ad7266.o +obj-$(CONFIG_AD7298) += ad7298.o obj-$(CONFIG_AD7476) += ad7476.o obj-$(CONFIG_AD7791) += ad7791.o obj-$(CONFIG_AD7887) += ad7887.o diff --git a/drivers/iio/adc/ad7298.c b/drivers/iio/adc/ad7298.c new file mode 100644 index 000000000000..441a9a265c12 --- /dev/null +++ b/drivers/iio/adc/ad7298.c @@ -0,0 +1,408 @@ +/* + * AD7298 SPI ADC driver + * + * Copyright 2011 Analog Devices Inc. + * + * Licensed under the GPL-2. + */ + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include +#include +#include +#include +#include + +#include + +#define AD7298_WRITE (1 << 15) /* write to the control register */ +#define AD7298_REPEAT (1 << 14) /* repeated conversion enable */ +#define AD7298_CH(x) (1 << (13 - (x))) /* channel select */ +#define AD7298_TSENSE (1 << 5) /* temperature conversion enable */ +#define AD7298_EXTREF (1 << 2) /* external reference enable */ +#define AD7298_TAVG (1 << 1) /* temperature sensor averaging enable */ +#define AD7298_PDD (1 << 0) /* partial power down enable */ + +#define AD7298_MAX_CHAN 8 +#define AD7298_BITS 12 +#define AD7298_STORAGE_BITS 16 +#define AD7298_INTREF_mV 2500 + +#define AD7298_CH_TEMP 9 + +#define RES_MASK(bits) ((1 << (bits)) - 1) + +struct ad7298_state { + struct spi_device *spi; + struct regulator *reg; + unsigned ext_ref; + struct spi_transfer ring_xfer[10]; + struct spi_transfer scan_single_xfer[3]; + struct spi_message ring_msg; + struct spi_message scan_single_msg; + /* + * DMA (thus cache coherency maintenance) requires the + * transfer buffers to live in their own cache lines. + */ + unsigned short rx_buf[12] ____cacheline_aligned; + unsigned short tx_buf[2]; +}; + +#define AD7298_V_CHAN(index) \ + { \ + .type = IIO_VOLTAGE, \ + .indexed = 1, \ + .channel = index, \ + .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT | \ + IIO_CHAN_INFO_SCALE_SHARED_BIT, \ + .address = index, \ + .scan_index = index, \ + .scan_type = { \ + .sign = 'u', \ + .realbits = 12, \ + .storagebits = 16, \ + .endianness = IIO_BE, \ + }, \ + } + +static const struct iio_chan_spec ad7298_channels[] = { + { + .type = IIO_TEMP, + .indexed = 1, + .channel = 0, + .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT | + IIO_CHAN_INFO_SCALE_SEPARATE_BIT | + IIO_CHAN_INFO_OFFSET_SEPARATE_BIT, + .address = AD7298_CH_TEMP, + .scan_index = -1, + .scan_type = { + .sign = 's', + .realbits = 32, + .storagebits = 32, + }, + }, + AD7298_V_CHAN(0), + AD7298_V_CHAN(1), + AD7298_V_CHAN(2), + AD7298_V_CHAN(3), + AD7298_V_CHAN(4), + AD7298_V_CHAN(5), + AD7298_V_CHAN(6), + AD7298_V_CHAN(7), + IIO_CHAN_SOFT_TIMESTAMP(8), +}; + +/** + * ad7298_update_scan_mode() setup the spi transfer buffer for the new scan mask + **/ +static int ad7298_update_scan_mode(struct iio_dev *indio_dev, + const unsigned long *active_scan_mask) +{ + struct ad7298_state *st = iio_priv(indio_dev); + int i, m; + unsigned short command; + int scan_count; + + /* Now compute overall size */ + scan_count = bitmap_weight(active_scan_mask, indio_dev->masklength); + + command = AD7298_WRITE | st->ext_ref; + + for (i = 0, m = AD7298_CH(0); i < AD7298_MAX_CHAN; i++, m >>= 1) + if (test_bit(i, active_scan_mask)) + command |= m; + + st->tx_buf[0] = cpu_to_be16(command); + + /* build spi ring message */ + st->ring_xfer[0].tx_buf = &st->tx_buf[0]; + st->ring_xfer[0].len = 2; + st->ring_xfer[0].cs_change = 1; + st->ring_xfer[1].tx_buf = &st->tx_buf[1]; + st->ring_xfer[1].len = 2; + st->ring_xfer[1].cs_change = 1; + + spi_message_init(&st->ring_msg); + spi_message_add_tail(&st->ring_xfer[0], &st->ring_msg); + spi_message_add_tail(&st->ring_xfer[1], &st->ring_msg); + + for (i = 0; i < scan_count; i++) { + st->ring_xfer[i + 2].rx_buf = &st->rx_buf[i]; + st->ring_xfer[i + 2].len = 2; + st->ring_xfer[i + 2].cs_change = 1; + spi_message_add_tail(&st->ring_xfer[i + 2], &st->ring_msg); + } + /* make sure last transfer cs_change is not set */ + st->ring_xfer[i + 1].cs_change = 0; + + return 0; +} + +/** + * ad7298_trigger_handler() bh of trigger launched polling to ring buffer + * + * Currently there is no option in this driver to disable the saving of + * timestamps within the ring. + **/ +static irqreturn_t ad7298_trigger_handler(int irq, void *p) +{ + struct iio_poll_func *pf = p; + struct iio_dev *indio_dev = pf->indio_dev; + struct ad7298_state *st = iio_priv(indio_dev); + s64 time_ns = 0; + int b_sent; + + b_sent = spi_sync(st->spi, &st->ring_msg); + if (b_sent) + goto done; + + if (indio_dev->scan_timestamp) { + time_ns = iio_get_time_ns(); + memcpy((u8 *)st->rx_buf + indio_dev->scan_bytes - sizeof(s64), + &time_ns, sizeof(time_ns)); + } + + iio_push_to_buffers(indio_dev, (u8 *)st->rx_buf); + +done: + iio_trigger_notify_done(indio_dev->trig); + + return IRQ_HANDLED; +} + +static int ad7298_scan_direct(struct ad7298_state *st, unsigned ch) +{ + int ret; + st->tx_buf[0] = cpu_to_be16(AD7298_WRITE | st->ext_ref | + (AD7298_CH(0) >> ch)); + + ret = spi_sync(st->spi, &st->scan_single_msg); + if (ret) + return ret; + + return be16_to_cpu(st->rx_buf[0]); +} + +static int ad7298_scan_temp(struct ad7298_state *st, int *val) +{ + int ret; + __be16 buf; + + buf = cpu_to_be16(AD7298_WRITE | AD7298_TSENSE | + AD7298_TAVG | st->ext_ref); + + ret = spi_write(st->spi, (u8 *)&buf, 2); + if (ret) + return ret; + + buf = cpu_to_be16(0); + + ret = spi_write(st->spi, (u8 *)&buf, 2); + if (ret) + return ret; + + usleep_range(101, 1000); /* sleep > 100us */ + + ret = spi_read(st->spi, (u8 *)&buf, 2); + if (ret) + return ret; + + *val = sign_extend32(be16_to_cpu(buf), 11); + + return 0; +} + +static int ad7298_get_ref_voltage(struct ad7298_state *st) +{ + int vref; + + if (st->ext_ref) { + vref = regulator_get_voltage(st->reg); + if (vref < 0) + return vref; + + return vref / 1000; + } else { + return AD7298_INTREF_mV; + } +} + +static int ad7298_read_raw(struct iio_dev *indio_dev, + struct iio_chan_spec const *chan, + int *val, + int *val2, + long m) +{ + int ret; + struct ad7298_state *st = iio_priv(indio_dev); + + switch (m) { + case IIO_CHAN_INFO_RAW: + mutex_lock(&indio_dev->mlock); + if (indio_dev->currentmode == INDIO_BUFFER_TRIGGERED) { + ret = -EBUSY; + } else { + if (chan->address == AD7298_CH_TEMP) + ret = ad7298_scan_temp(st, val); + else + ret = ad7298_scan_direct(st, chan->address); + } + mutex_unlock(&indio_dev->mlock); + + if (ret < 0) + return ret; + + if (chan->address != AD7298_CH_TEMP) + *val = ret & RES_MASK(AD7298_BITS); + + return IIO_VAL_INT; + case IIO_CHAN_INFO_SCALE: + switch (chan->type) { + case IIO_VOLTAGE: + *val = ad7298_get_ref_voltage(st); + *val2 = chan->scan_type.realbits; + return IIO_VAL_FRACTIONAL_LOG2; + case IIO_TEMP: + *val = ad7298_get_ref_voltage(st); + *val2 = 10; + return IIO_VAL_FRACTIONAL; + default: + return -EINVAL; + } + case IIO_CHAN_INFO_OFFSET: + *val = 1093 - 2732500 / ad7298_get_ref_voltage(st); + return IIO_VAL_INT; + } + return -EINVAL; +} + +static const struct iio_info ad7298_info = { + .read_raw = &ad7298_read_raw, + .update_scan_mode = ad7298_update_scan_mode, + .driver_module = THIS_MODULE, +}; + +static int __devinit ad7298_probe(struct spi_device *spi) +{ + struct ad7298_platform_data *pdata = spi->dev.platform_data; + struct ad7298_state *st; + struct iio_dev *indio_dev = iio_device_alloc(sizeof(*st)); + int ret; + + if (indio_dev == NULL) + return -ENOMEM; + + st = iio_priv(indio_dev); + + if (pdata && pdata->ext_ref) + st->ext_ref = AD7298_EXTREF; + + if (st->ext_ref) { + st->reg = regulator_get(&spi->dev, "vref"); + if (IS_ERR(st->reg)) { + ret = PTR_ERR(st->reg); + goto error_free; + } + ret = regulator_enable(st->reg); + if (ret) + goto error_put_reg; + } + + spi_set_drvdata(spi, indio_dev); + + st->spi = spi; + + indio_dev->name = spi_get_device_id(spi)->name; + indio_dev->dev.parent = &spi->dev; + indio_dev->modes = INDIO_DIRECT_MODE; + indio_dev->channels = ad7298_channels; + indio_dev->num_channels = ARRAY_SIZE(ad7298_channels); + indio_dev->info = &ad7298_info; + + /* Setup default message */ + + st->scan_single_xfer[0].tx_buf = &st->tx_buf[0]; + st->scan_single_xfer[0].len = 2; + st->scan_single_xfer[0].cs_change = 1; + st->scan_single_xfer[1].tx_buf = &st->tx_buf[1]; + st->scan_single_xfer[1].len = 2; + st->scan_single_xfer[1].cs_change = 1; + st->scan_single_xfer[2].rx_buf = &st->rx_buf[0]; + st->scan_single_xfer[2].len = 2; + + spi_message_init(&st->scan_single_msg); + spi_message_add_tail(&st->scan_single_xfer[0], &st->scan_single_msg); + spi_message_add_tail(&st->scan_single_xfer[1], &st->scan_single_msg); + spi_message_add_tail(&st->scan_single_xfer[2], &st->scan_single_msg); + + ret = iio_triggered_buffer_setup(indio_dev, NULL, + &ad7298_trigger_handler, NULL); + if (ret) + goto error_disable_reg; + + ret = iio_device_register(indio_dev); + if (ret) + goto error_cleanup_ring; + + return 0; + +error_cleanup_ring: + iio_triggered_buffer_cleanup(indio_dev); +error_disable_reg: + if (st->ext_ref) + regulator_disable(st->reg); +error_put_reg: + if (st->ext_ref) + regulator_put(st->reg); +error_free: + iio_device_free(indio_dev); + + return ret; +} + +static int __devexit ad7298_remove(struct spi_device *spi) +{ + struct iio_dev *indio_dev = spi_get_drvdata(spi); + struct ad7298_state *st = iio_priv(indio_dev); + + iio_device_unregister(indio_dev); + iio_triggered_buffer_cleanup(indio_dev); + if (st->ext_ref) { + regulator_disable(st->reg); + regulator_put(st->reg); + } + iio_device_free(indio_dev); + + return 0; +} + +static const struct spi_device_id ad7298_id[] = { + {"ad7298", 0}, + {} +}; +MODULE_DEVICE_TABLE(spi, ad7298_id); + +static struct spi_driver ad7298_driver = { + .driver = { + .name = "ad7298", + .owner = THIS_MODULE, + }, + .probe = ad7298_probe, + .remove = __devexit_p(ad7298_remove), + .id_table = ad7298_id, +}; +module_spi_driver(ad7298_driver); + +MODULE_AUTHOR("Michael Hennerich "); +MODULE_DESCRIPTION("Analog Devices AD7298 ADC"); +MODULE_LICENSE("GPL v2"); diff --git a/drivers/staging/iio/adc/Kconfig b/drivers/staging/iio/adc/Kconfig index 5086a46b8e9a..dc8582b95b61 100644 --- a/drivers/staging/iio/adc/Kconfig +++ b/drivers/staging/iio/adc/Kconfig @@ -10,18 +10,6 @@ config AD7291 Say yes here to build support for Analog Devices AD7291 8 Channel ADC with temperature sensor. -config AD7298 - tristate "Analog Devices AD7298 ADC driver" - depends on SPI - select IIO_BUFFER - select IIO_TRIGGERED_BUFFER - help - Say yes here to build support for Analog Devices AD7298 - 8 Channel ADC with temperature sensor. - - To compile this driver as a module, choose M here: the - module will be called ad7298. - config AD7606 tristate "Analog Devices AD7606 ADC driver" depends on GPIOLIB diff --git a/drivers/staging/iio/adc/Makefile b/drivers/staging/iio/adc/Makefile index 4beaa588256b..7281451a613a 100644 --- a/drivers/staging/iio/adc/Makefile +++ b/drivers/staging/iio/adc/Makefile @@ -12,8 +12,6 @@ ad799x-y := ad799x_core.o ad799x-$(CONFIG_AD799X_RING_BUFFER) += ad799x_ring.o obj-$(CONFIG_AD799X) += ad799x.o -obj-$(CONFIG_AD7298) += ad7298.o - obj-$(CONFIG_AD7291) += ad7291.o obj-$(CONFIG_AD7780) += ad7780.o obj-$(CONFIG_AD7793) += ad7793.o diff --git a/drivers/staging/iio/adc/ad7298.c b/drivers/staging/iio/adc/ad7298.c deleted file mode 100644 index 2742a9de05db..000000000000 --- a/drivers/staging/iio/adc/ad7298.c +++ /dev/null @@ -1,408 +0,0 @@ -/* - * AD7298 SPI ADC driver - * - * Copyright 2011 Analog Devices Inc. - * - * Licensed under the GPL-2. - */ - -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include - -#include -#include -#include -#include -#include - -#include "ad7298.h" - -#define AD7298_WRITE (1 << 15) /* write to the control register */ -#define AD7298_REPEAT (1 << 14) /* repeated conversion enable */ -#define AD7298_CH(x) (1 << (13 - (x))) /* channel select */ -#define AD7298_TSENSE (1 << 5) /* temperature conversion enable */ -#define AD7298_EXTREF (1 << 2) /* external reference enable */ -#define AD7298_TAVG (1 << 1) /* temperature sensor averaging enable */ -#define AD7298_PDD (1 << 0) /* partial power down enable */ - -#define AD7298_MAX_CHAN 8 -#define AD7298_BITS 12 -#define AD7298_STORAGE_BITS 16 -#define AD7298_INTREF_mV 2500 - -#define AD7298_CH_TEMP 9 - -#define RES_MASK(bits) ((1 << (bits)) - 1) - -struct ad7298_state { - struct spi_device *spi; - struct regulator *reg; - unsigned ext_ref; - struct spi_transfer ring_xfer[10]; - struct spi_transfer scan_single_xfer[3]; - struct spi_message ring_msg; - struct spi_message scan_single_msg; - /* - * DMA (thus cache coherency maintenance) requires the - * transfer buffers to live in their own cache lines. - */ - unsigned short rx_buf[12] ____cacheline_aligned; - unsigned short tx_buf[2]; -}; - -#define AD7298_V_CHAN(index) \ - { \ - .type = IIO_VOLTAGE, \ - .indexed = 1, \ - .channel = index, \ - .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT | \ - IIO_CHAN_INFO_SCALE_SHARED_BIT, \ - .address = index, \ - .scan_index = index, \ - .scan_type = { \ - .sign = 'u', \ - .realbits = 12, \ - .storagebits = 16, \ - .endianness = IIO_BE, \ - }, \ - } - -static const struct iio_chan_spec ad7298_channels[] = { - { - .type = IIO_TEMP, - .indexed = 1, - .channel = 0, - .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT | - IIO_CHAN_INFO_SCALE_SEPARATE_BIT | - IIO_CHAN_INFO_OFFSET_SEPARATE_BIT, - .address = AD7298_CH_TEMP, - .scan_index = -1, - .scan_type = { - .sign = 's', - .realbits = 32, - .storagebits = 32, - }, - }, - AD7298_V_CHAN(0), - AD7298_V_CHAN(1), - AD7298_V_CHAN(2), - AD7298_V_CHAN(3), - AD7298_V_CHAN(4), - AD7298_V_CHAN(5), - AD7298_V_CHAN(6), - AD7298_V_CHAN(7), - IIO_CHAN_SOFT_TIMESTAMP(8), -}; - -/** - * ad7298_update_scan_mode() setup the spi transfer buffer for the new scan mask - **/ -static int ad7298_update_scan_mode(struct iio_dev *indio_dev, - const unsigned long *active_scan_mask) -{ - struct ad7298_state *st = iio_priv(indio_dev); - int i, m; - unsigned short command; - int scan_count; - - /* Now compute overall size */ - scan_count = bitmap_weight(active_scan_mask, indio_dev->masklength); - - command = AD7298_WRITE | st->ext_ref; - - for (i = 0, m = AD7298_CH(0); i < AD7298_MAX_CHAN; i++, m >>= 1) - if (test_bit(i, active_scan_mask)) - command |= m; - - st->tx_buf[0] = cpu_to_be16(command); - - /* build spi ring message */ - st->ring_xfer[0].tx_buf = &st->tx_buf[0]; - st->ring_xfer[0].len = 2; - st->ring_xfer[0].cs_change = 1; - st->ring_xfer[1].tx_buf = &st->tx_buf[1]; - st->ring_xfer[1].len = 2; - st->ring_xfer[1].cs_change = 1; - - spi_message_init(&st->ring_msg); - spi_message_add_tail(&st->ring_xfer[0], &st->ring_msg); - spi_message_add_tail(&st->ring_xfer[1], &st->ring_msg); - - for (i = 0; i < scan_count; i++) { - st->ring_xfer[i + 2].rx_buf = &st->rx_buf[i]; - st->ring_xfer[i + 2].len = 2; - st->ring_xfer[i + 2].cs_change = 1; - spi_message_add_tail(&st->ring_xfer[i + 2], &st->ring_msg); - } - /* make sure last transfer cs_change is not set */ - st->ring_xfer[i + 1].cs_change = 0; - - return 0; -} - -/** - * ad7298_trigger_handler() bh of trigger launched polling to ring buffer - * - * Currently there is no option in this driver to disable the saving of - * timestamps within the ring. - **/ -static irqreturn_t ad7298_trigger_handler(int irq, void *p) -{ - struct iio_poll_func *pf = p; - struct iio_dev *indio_dev = pf->indio_dev; - struct ad7298_state *st = iio_priv(indio_dev); - s64 time_ns = 0; - int b_sent; - - b_sent = spi_sync(st->spi, &st->ring_msg); - if (b_sent) - goto done; - - if (indio_dev->scan_timestamp) { - time_ns = iio_get_time_ns(); - memcpy((u8 *)st->rx_buf + indio_dev->scan_bytes - sizeof(s64), - &time_ns, sizeof(time_ns)); - } - - iio_push_to_buffers(indio_dev, (u8 *)st->rx_buf); - -done: - iio_trigger_notify_done(indio_dev->trig); - - return IRQ_HANDLED; -} - -static int ad7298_scan_direct(struct ad7298_state *st, unsigned ch) -{ - int ret; - st->tx_buf[0] = cpu_to_be16(AD7298_WRITE | st->ext_ref | - (AD7298_CH(0) >> ch)); - - ret = spi_sync(st->spi, &st->scan_single_msg); - if (ret) - return ret; - - return be16_to_cpu(st->rx_buf[0]); -} - -static int ad7298_scan_temp(struct ad7298_state *st, int *val) -{ - int ret; - __be16 buf; - - buf = cpu_to_be16(AD7298_WRITE | AD7298_TSENSE | - AD7298_TAVG | st->ext_ref); - - ret = spi_write(st->spi, (u8 *)&buf, 2); - if (ret) - return ret; - - buf = cpu_to_be16(0); - - ret = spi_write(st->spi, (u8 *)&buf, 2); - if (ret) - return ret; - - usleep_range(101, 1000); /* sleep > 100us */ - - ret = spi_read(st->spi, (u8 *)&buf, 2); - if (ret) - return ret; - - *val = sign_extend32(be16_to_cpu(buf), 11); - - return 0; -} - -static int ad7298_get_ref_voltage(struct ad7298_state *st) -{ - int vref; - - if (st->ext_ref) { - vref = regulator_get_voltage(st->reg); - if (vref < 0) - return vref; - - return vref / 1000; - } else { - return AD7298_INTREF_mV; - } -} - -static int ad7298_read_raw(struct iio_dev *indio_dev, - struct iio_chan_spec const *chan, - int *val, - int *val2, - long m) -{ - int ret; - struct ad7298_state *st = iio_priv(indio_dev); - - switch (m) { - case IIO_CHAN_INFO_RAW: - mutex_lock(&indio_dev->mlock); - if (indio_dev->currentmode == INDIO_BUFFER_TRIGGERED) { - ret = -EBUSY; - } else { - if (chan->address == AD7298_CH_TEMP) - ret = ad7298_scan_temp(st, val); - else - ret = ad7298_scan_direct(st, chan->address); - } - mutex_unlock(&indio_dev->mlock); - - if (ret < 0) - return ret; - - if (chan->address != AD7298_CH_TEMP) - *val = ret & RES_MASK(AD7298_BITS); - - return IIO_VAL_INT; - case IIO_CHAN_INFO_SCALE: - switch (chan->type) { - case IIO_VOLTAGE: - *val = ad7298_get_ref_voltage(st); - *val2 = chan->scan_type.realbits; - return IIO_VAL_FRACTIONAL_LOG2; - case IIO_TEMP: - *val = ad7298_get_ref_voltage(st); - *val2 = 10; - return IIO_VAL_FRACTIONAL; - default: - return -EINVAL; - } - case IIO_CHAN_INFO_OFFSET: - *val = 1093 - 2732500 / ad7298_get_ref_voltage(st); - return IIO_VAL_INT; - } - return -EINVAL; -} - -static const struct iio_info ad7298_info = { - .read_raw = &ad7298_read_raw, - .update_scan_mode = ad7298_update_scan_mode, - .driver_module = THIS_MODULE, -}; - -static int __devinit ad7298_probe(struct spi_device *spi) -{ - struct ad7298_platform_data *pdata = spi->dev.platform_data; - struct ad7298_state *st; - struct iio_dev *indio_dev = iio_device_alloc(sizeof(*st)); - int ret; - - if (indio_dev == NULL) - return -ENOMEM; - - st = iio_priv(indio_dev); - - if (pdata && pdata->ext_ref) - st->ext_ref = AD7298_EXTREF; - - if (st->ext_ref) { - st->reg = regulator_get(&spi->dev, "vref"); - if (IS_ERR(st->reg)) { - ret = PTR_ERR(st->reg); - goto error_free; - } - ret = regulator_enable(st->reg); - if (ret) - goto error_put_reg; - } - - spi_set_drvdata(spi, indio_dev); - - st->spi = spi; - - indio_dev->name = spi_get_device_id(spi)->name; - indio_dev->dev.parent = &spi->dev; - indio_dev->modes = INDIO_DIRECT_MODE; - indio_dev->channels = ad7298_channels; - indio_dev->num_channels = ARRAY_SIZE(ad7298_channels); - indio_dev->info = &ad7298_info; - - /* Setup default message */ - - st->scan_single_xfer[0].tx_buf = &st->tx_buf[0]; - st->scan_single_xfer[0].len = 2; - st->scan_single_xfer[0].cs_change = 1; - st->scan_single_xfer[1].tx_buf = &st->tx_buf[1]; - st->scan_single_xfer[1].len = 2; - st->scan_single_xfer[1].cs_change = 1; - st->scan_single_xfer[2].rx_buf = &st->rx_buf[0]; - st->scan_single_xfer[2].len = 2; - - spi_message_init(&st->scan_single_msg); - spi_message_add_tail(&st->scan_single_xfer[0], &st->scan_single_msg); - spi_message_add_tail(&st->scan_single_xfer[1], &st->scan_single_msg); - spi_message_add_tail(&st->scan_single_xfer[2], &st->scan_single_msg); - - ret = iio_triggered_buffer_setup(indio_dev, NULL, - &ad7298_trigger_handler, NULL); - if (ret) - goto error_disable_reg; - - ret = iio_device_register(indio_dev); - if (ret) - goto error_cleanup_ring; - - return 0; - -error_cleanup_ring: - iio_triggered_buffer_cleanup(indio_dev); -error_disable_reg: - if (st->ext_ref) - regulator_disable(st->reg); -error_put_reg: - if (st->ext_ref) - regulator_put(st->reg); -error_free: - iio_device_free(indio_dev); - - return ret; -} - -static int __devexit ad7298_remove(struct spi_device *spi) -{ - struct iio_dev *indio_dev = spi_get_drvdata(spi); - struct ad7298_state *st = iio_priv(indio_dev); - - iio_device_unregister(indio_dev); - iio_triggered_buffer_cleanup(indio_dev); - if (st->ext_ref) { - regulator_disable(st->reg); - regulator_put(st->reg); - } - iio_device_free(indio_dev); - - return 0; -} - -static const struct spi_device_id ad7298_id[] = { - {"ad7298", 0}, - {} -}; -MODULE_DEVICE_TABLE(spi, ad7298_id); - -static struct spi_driver ad7298_driver = { - .driver = { - .name = "ad7298", - .owner = THIS_MODULE, - }, - .probe = ad7298_probe, - .remove = __devexit_p(ad7298_remove), - .id_table = ad7298_id, -}; -module_spi_driver(ad7298_driver); - -MODULE_AUTHOR("Michael Hennerich "); -MODULE_DESCRIPTION("Analog Devices AD7298 ADC"); -MODULE_LICENSE("GPL v2"); diff --git a/drivers/staging/iio/adc/ad7298.h b/drivers/staging/iio/adc/ad7298.h deleted file mode 100644 index c8ac969ec016..000000000000 --- a/drivers/staging/iio/adc/ad7298.h +++ /dev/null @@ -1,20 +0,0 @@ -/* - * AD7298 SPI ADC driver - * - * Copyright 2011 Analog Devices Inc. - * - * Licensed under the GPL-2. - */ - -#ifndef IIO_ADC_AD7298_H_ -#define IIO_ADC_AD7298_H_ - -/** - * struct ad7298_platform_data - Platform data for the ad7298 ADC driver - * @ext_ref: Whether to use an external reference voltage. - **/ -struct ad7298_platform_data { - bool ext_ref; -}; - -#endif /* IIO_ADC_AD7298_H_ */ diff --git a/include/linux/platform_data/ad7298.h b/include/linux/platform_data/ad7298.h new file mode 100644 index 000000000000..fbf8adf1363a --- /dev/null +++ b/include/linux/platform_data/ad7298.h @@ -0,0 +1,20 @@ +/* + * AD7298 SPI ADC driver + * + * Copyright 2011 Analog Devices Inc. + * + * Licensed under the GPL-2. + */ + +#ifndef __LINUX_PLATFORM_DATA_AD7298_H__ +#define __LINUX_PLATFORM_DATA_AD7298_H__ + +/** + * struct ad7298_platform_data - Platform data for the ad7298 ADC driver + * @ext_ref: Whether to use an external reference voltage. + **/ +struct ad7298_platform_data { + bool ext_ref; +}; + +#endif /* IIO_ADC_AD7298_H_ */ -- cgit From 78026a6fde8f7b0ca77c059da11f476d69dfde3b Mon Sep 17 00:00:00 2001 From: Lars-Peter Clausen Date: Tue, 20 Nov 2012 13:36:00 +0000 Subject: iio:imu:adis: Add debugfs register access support Provide a IIO debugfs register access function for the ADIS library. This function can be used by individual drivers to allow raw register access via debugfs. Signed-off-by: Lars-Peter Clausen Signed-off-by: Jonathan Cameron --- drivers/iio/imu/adis.c | 23 +++++++++++++++++++++++ include/linux/iio/imu/adis.h | 11 +++++++++++ 2 files changed, 34 insertions(+) (limited to 'include/linux') diff --git a/drivers/iio/imu/adis.c b/drivers/iio/imu/adis.c index 8259b774078f..28d4df2fe76a 100644 --- a/drivers/iio/imu/adis.c +++ b/drivers/iio/imu/adis.c @@ -135,6 +135,29 @@ error_ret: } EXPORT_SYMBOL_GPL(adis_read_reg_16); +#ifdef CONFIG_DEBUG_FS + +int adis_debugfs_reg_access(struct iio_dev *indio_dev, + unsigned int reg, unsigned int writeval, unsigned int *readval) +{ + struct adis *adis = iio_device_get_drvdata(indio_dev); + + if (readval) { + uint16_t val16; + int ret; + + ret = adis_read_reg_16(adis, reg, &val16); + *readval = val16; + + return ret; + } else { + return adis_write_reg_16(adis, reg, writeval); + } +} +EXPORT_SYMBOL(adis_debugfs_reg_access); + +#endif + /** * adis_enable_irq() - Enable or disable data ready IRQ * @adis: The adis device diff --git a/include/linux/iio/imu/adis.h b/include/linux/iio/imu/adis.h index 8c3304d44b97..fce7bc3ba0b5 100644 --- a/include/linux/iio/imu/adis.h +++ b/include/linux/iio/imu/adis.h @@ -183,4 +183,15 @@ static inline void adis_remove_trigger(struct adis *adis) #endif /* CONFIG_IIO_BUFFER */ +#ifdef CONFIG_DEBUG_FS + +int adis_debugfs_reg_access(struct iio_dev *indio_dev, + unsigned int reg, unsigned int writeval, unsigned int *readval); + +#else + +#define adis_debugfs_reg_access NULL + +#endif + #endif -- cgit From 57a1228a06b7a5939a8b0078a92b44fa30855bcb Mon Sep 17 00:00:00 2001 From: Lars-Peter Clausen Date: Tue, 20 Nov 2012 13:36:00 +0000 Subject: iio:imu:adis: Add support for 32bit registers Some of the newer generation devices from the ADIS16XXX family have 32bit wide register which spans two 16bit wide registers. This patch adds support for reading and writing a 32bit wide register. Signed-off-by: Lars-Peter Clausen Signed-off-by: Jonathan Cameron --- drivers/iio/imu/adis.c | 145 +++++++++++++++++++++++++++--------------- drivers/iio/imu/adis_buffer.c | 2 + include/linux/iio/imu/adis.h | 81 +++++++++++++++++++++-- 3 files changed, 171 insertions(+), 57 deletions(-) (limited to 'include/linux') diff --git a/drivers/iio/imu/adis.c b/drivers/iio/imu/adis.c index 28d4df2fe76a..280a49584adf 100644 --- a/drivers/iio/imu/adis.c +++ b/drivers/iio/imu/adis.c @@ -27,36 +27,10 @@ #define ADIS_MSC_CTRL_DATA_RDY_DIO2 BIT(0) #define ADIS_GLOB_CMD_SW_RESET BIT(7) -/** - * adis_write_reg_8() - Write single byte to a register - * @adis: The adis device - * @reg: The address of the register to be written - * @val: The value to write - */ -int adis_write_reg_8(struct adis *adis, unsigned int reg, uint8_t val) -{ - int ret; - - mutex_lock(&adis->txrx_lock); - adis->tx[0] = ADIS_WRITE_REG(reg); - adis->tx[1] = val; - - ret = spi_write(adis->spi, adis->tx, 2); - mutex_unlock(&adis->txrx_lock); - - return ret; -} -EXPORT_SYMBOL_GPL(adis_write_reg_8); - -/** - * adis_write_reg_16() - Write 2 bytes to a pair of registers - * @adis: The adis device - * @reg: The address of the lower of the two registers - * @val: Value to be written - */ -int adis_write_reg_16(struct adis *adis, unsigned int reg, uint16_t value) +int adis_write_reg(struct adis *adis, unsigned int reg, + unsigned int value, unsigned int size) { - int ret; + int ret, i; struct spi_message msg; struct spi_transfer xfers[] = { { @@ -69,33 +43,69 @@ int adis_write_reg_16(struct adis *adis, unsigned int reg, uint16_t value) .tx_buf = adis->tx + 2, .bits_per_word = 8, .len = 2, + .cs_change = 1, + .delay_usecs = adis->data->write_delay, + }, { + .tx_buf = adis->tx + 4, + .bits_per_word = 8, + .len = 2, + .cs_change = 1, + .delay_usecs = adis->data->write_delay, + }, { + .tx_buf = adis->tx + 6, + .bits_per_word = 8, + .len = 2, .delay_usecs = adis->data->write_delay, }, }; mutex_lock(&adis->txrx_lock); - adis->tx[0] = ADIS_WRITE_REG(reg); - adis->tx[1] = value & 0xff; - adis->tx[2] = ADIS_WRITE_REG(reg + 1); - adis->tx[3] = (value >> 8) & 0xff; spi_message_init(&msg); - spi_message_add_tail(&xfers[0], &msg); - spi_message_add_tail(&xfers[1], &msg); + switch (size) { + case 4: + adis->tx[6] = ADIS_WRITE_REG(reg + 3); + adis->tx[7] = (value >> 24) & 0xff; + adis->tx[4] = ADIS_WRITE_REG(reg + 2); + adis->tx[5] = (value >> 16) & 0xff; + case 2: + adis->tx[2] = ADIS_WRITE_REG(reg + 1); + adis->tx[3] = (value >> 8) & 0xff; + case 1: + adis->tx[0] = ADIS_WRITE_REG(reg); + adis->tx[1] = value & 0xff; + break; + default: + ret = -EINVAL; + goto out_unlock; + } + + xfers[size - 1].cs_change = 0; + + for (i = 0; i < size; i++) + spi_message_add_tail(&xfers[i], &msg); + ret = spi_sync(adis->spi, &msg); + if (ret) { + dev_err(&adis->spi->dev, "Failed to write register 0x%02X: %d\n", + reg, ret); + } + +out_unlock: mutex_unlock(&adis->txrx_lock); return ret; } -EXPORT_SYMBOL_GPL(adis_write_reg_16); +EXPORT_SYMBOL_GPL(adis_write_reg); /** - * adis_read_reg_16() - read 2 bytes from a 16-bit register + * adis_read_reg() - read 2 bytes from a 16-bit register * @adis: The adis device * @reg: The address of the lower of the two registers * @val: The value read back from the device */ -int adis_read_reg_16(struct adis *adis, unsigned int reg, uint16_t *val) +int adis_read_reg(struct adis *adis, unsigned int reg, + unsigned int *val, unsigned int size) { struct spi_message msg; int ret; @@ -107,33 +117,61 @@ int adis_read_reg_16(struct adis *adis, unsigned int reg, uint16_t *val) .cs_change = 1, .delay_usecs = adis->data->read_delay, }, { + .tx_buf = adis->tx + 2, .rx_buf = adis->rx, .bits_per_word = 8, .len = 2, + .cs_change = 1, + .delay_usecs = adis->data->read_delay, + }, { + .rx_buf = adis->rx + 2, + .bits_per_word = 8, + .len = 2, .delay_usecs = adis->data->read_delay, }, }; mutex_lock(&adis->txrx_lock); - adis->tx[0] = ADIS_READ_REG(reg); - adis->tx[1] = 0; - spi_message_init(&msg); - spi_message_add_tail(&xfers[0], &msg); - spi_message_add_tail(&xfers[1], &msg); + + switch (size) { + case 4: + adis->tx[0] = ADIS_READ_REG(reg + 2); + adis->tx[1] = 0; + spi_message_add_tail(&xfers[0], &msg); + case 2: + adis->tx[2] = ADIS_READ_REG(reg); + adis->tx[3] = 0; + spi_message_add_tail(&xfers[1], &msg); + spi_message_add_tail(&xfers[2], &msg); + break; + default: + ret = -EINVAL; + goto out_unlock; + } + ret = spi_sync(adis->spi, &msg); if (ret) { - dev_err(&adis->spi->dev, "Failed to read 16 bit register 0x%02X: %d\n", + dev_err(&adis->spi->dev, "Failed to read register 0x%02X: %d\n", reg, ret); - goto error_ret; + goto out_unlock; } - *val = get_unaligned_be16(adis->rx); -error_ret: + switch (size) { + case 4: + *val = get_unaligned_be32(adis->rx); + break; + case 2: + *val = get_unaligned_be16(adis->rx + 2); + break; + } + +out_unlock: mutex_unlock(&adis->txrx_lock); + return ret; } -EXPORT_SYMBOL_GPL(adis_read_reg_16); +EXPORT_SYMBOL_GPL(adis_read_reg); #ifdef CONFIG_DEBUG_FS @@ -304,25 +342,26 @@ int adis_single_conversion(struct iio_dev *indio_dev, const struct iio_chan_spec *chan, unsigned int error_mask, int *val) { struct adis *adis = iio_device_get_drvdata(indio_dev); - uint16_t val16; + unsigned int uval; int ret; mutex_lock(&indio_dev->mlock); - ret = adis_read_reg_16(adis, chan->address, &val16); + ret = adis_read_reg(adis, chan->address, &uval, + chan->scan_type.storagebits / 8); if (ret) goto err_unlock; - if (val16 & error_mask) { + if (uval & error_mask) { ret = adis_check_status(adis); if (ret) goto err_unlock; } if (chan->scan_type.sign == 's') - *val = sign_extend32(val16, chan->scan_type.realbits - 1); + *val = sign_extend32(uval, chan->scan_type.realbits - 1); else - *val = val16 & ((1 << chan->scan_type.realbits) - 1); + *val = uval & ((1 << chan->scan_type.realbits) - 1); ret = IIO_VAL_INT; err_unlock: diff --git a/drivers/iio/imu/adis_buffer.c b/drivers/iio/imu/adis_buffer.c index a91b4cbdc73a..785713349e9f 100644 --- a/drivers/iio/imu/adis_buffer.c +++ b/drivers/iio/imu/adis_buffer.c @@ -64,6 +64,8 @@ int adis_update_scan_mode(struct iio_dev *indio_dev, for (i = 0; i < indio_dev->num_channels; i++, chan++) { if (!test_bit(chan->scan_index, scan_mask)) continue; + if (chan->scan_type.storagebits == 32) + *tx++ = cpu_to_be16((chan->address + 2) << 8); *tx++ = cpu_to_be16(chan->address << 8); } diff --git a/include/linux/iio/imu/adis.h b/include/linux/iio/imu/adis.h index fce7bc3ba0b5..6402a08c0e65 100644 --- a/include/linux/iio/imu/adis.h +++ b/include/linux/iio/imu/adis.h @@ -53,7 +53,7 @@ struct adis { struct spi_transfer *xfer; void *buffer; - uint8_t tx[8] ____cacheline_aligned; + uint8_t tx[10] ____cacheline_aligned; uint8_t rx[4]; }; @@ -61,9 +61,82 @@ int adis_init(struct adis *adis, struct iio_dev *indio_dev, struct spi_device *spi, const struct adis_data *data); int adis_reset(struct adis *adis); -int adis_write_reg_8(struct adis *adis, unsigned int reg, uint8_t val); -int adis_write_reg_16(struct adis *adis, unsigned int reg, uint16_t val); -int adis_read_reg_16(struct adis *adis, unsigned int reg, uint16_t *val); +int adis_write_reg(struct adis *adis, unsigned int reg, + unsigned int val, unsigned int size); +int adis_read_reg(struct adis *adis, unsigned int reg, + unsigned int *val, unsigned int size); + +/** + * adis_write_reg_8() - Write single byte to a register + * @adis: The adis device + * @reg: The address of the register to be written + * @value: The value to write + */ +static inline int adis_write_reg_8(struct adis *adis, unsigned int reg, + uint8_t val) +{ + return adis_write_reg(adis, reg, val, 1); +} + +/** + * adis_write_reg_16() - Write 2 bytes to a pair of registers + * @adis: The adis device + * @reg: The address of the lower of the two registers + * @value: Value to be written + */ +static inline int adis_write_reg_16(struct adis *adis, unsigned int reg, + uint16_t val) +{ + return adis_write_reg(adis, reg, val, 2); +} + +/** + * adis_write_reg_32() - write 4 bytes to four registers + * @adis: The adis device + * @reg: The address of the lower of the four register + * @value: Value to be written + */ +static inline int adis_write_reg_32(struct adis *adis, unsigned int reg, + uint32_t val) +{ + return adis_write_reg(adis, reg, val, 4); +} + +/** + * adis_read_reg_16() - read 2 bytes from a 16-bit register + * @adis: The adis device + * @reg: The address of the lower of the two registers + * @val: The value read back from the device + */ +static inline int adis_read_reg_16(struct adis *adis, unsigned int reg, + uint16_t *val) +{ + unsigned int tmp; + int ret; + + ret = adis_read_reg(adis, reg, &tmp, 2); + *val = tmp; + + return ret; +} + +/** + * adis_read_reg_32() - read 4 bytes from a 32-bit register + * @adis: The adis device + * @reg: The address of the lower of the two registers + * @val: The value read back from the device + */ +static inline int adis_read_reg_32(struct adis *adis, unsigned int reg, + uint32_t *val) +{ + unsigned int tmp; + int ret; + + ret = adis_read_reg(adis, reg, &tmp, 4); + *val = tmp; + + return ret; +} int adis_enable_irq(struct adis *adis, bool enable); int adis_check_status(struct adis *adis); -- cgit From 484a0bf091c93c379e6524a17bb037c33c898e01 Mon Sep 17 00:00:00 2001 From: Lars-Peter Clausen Date: Tue, 20 Nov 2012 13:36:00 +0000 Subject: iio:imu:adis: Add paging support Some of the newer generation devices from the ADIS16XXX series have more registers than what can be supported with the current register addressing scheme. These devices implement register paging to support a larger register range. Each page is 128 registers large and the currently active page can be selected via register 0x00 in each page. This patch implements transparent paging inside the common adis library. The register read/write interface stays the same and when a register is accessed the library automatically switches to the correct page if it is not already selected. The page number is encoded in the upper bits of the register number, e.g. register 0x5 of page 1 is 0x85. Signed-off-by: Lars-Peter Clausen Signed-off-by: Jonathan Cameron --- drivers/iio/imu/adis.c | 70 +++++++++++++++++++++++++++++++++---------- drivers/iio/imu/adis_buffer.c | 15 ++++++++++ include/linux/iio/imu/adis.h | 10 +++++-- 3 files changed, 77 insertions(+), 18 deletions(-) (limited to 'include/linux') diff --git a/drivers/iio/imu/adis.c b/drivers/iio/imu/adis.c index 280a49584adf..c4ea04ffa60e 100644 --- a/drivers/iio/imu/adis.c +++ b/drivers/iio/imu/adis.c @@ -30,6 +30,7 @@ int adis_write_reg(struct adis *adis, unsigned int reg, unsigned int value, unsigned int size) { + unsigned int page = reg / ADIS_PAGE_SIZE; int ret, i; struct spi_message msg; struct spi_transfer xfers[] = { @@ -56,39 +57,53 @@ int adis_write_reg(struct adis *adis, unsigned int reg, .bits_per_word = 8, .len = 2, .delay_usecs = adis->data->write_delay, + }, { + .tx_buf = adis->tx + 8, + .bits_per_word = 8, + .len = 2, + .delay_usecs = adis->data->write_delay, }, }; mutex_lock(&adis->txrx_lock); spi_message_init(&msg); + + if (adis->current_page != page) { + adis->tx[0] = ADIS_WRITE_REG(ADIS_REG_PAGE_ID); + adis->tx[1] = page; + spi_message_add_tail(&xfers[0], &msg); + } + switch (size) { case 4: - adis->tx[6] = ADIS_WRITE_REG(reg + 3); - adis->tx[7] = (value >> 24) & 0xff; - adis->tx[4] = ADIS_WRITE_REG(reg + 2); - adis->tx[5] = (value >> 16) & 0xff; + adis->tx[8] = ADIS_WRITE_REG(reg + 3); + adis->tx[9] = (value >> 24) & 0xff; + adis->tx[6] = ADIS_WRITE_REG(reg + 2); + adis->tx[7] = (value >> 16) & 0xff; case 2: - adis->tx[2] = ADIS_WRITE_REG(reg + 1); - adis->tx[3] = (value >> 8) & 0xff; + adis->tx[4] = ADIS_WRITE_REG(reg + 1); + adis->tx[5] = (value >> 8) & 0xff; case 1: - adis->tx[0] = ADIS_WRITE_REG(reg); - adis->tx[1] = value & 0xff; + adis->tx[2] = ADIS_WRITE_REG(reg); + adis->tx[3] = value & 0xff; break; default: ret = -EINVAL; goto out_unlock; } - xfers[size - 1].cs_change = 0; + xfers[size].cs_change = 0; - for (i = 0; i < size; i++) + for (i = 1; i <= size; i++) spi_message_add_tail(&xfers[i], &msg); ret = spi_sync(adis->spi, &msg); if (ret) { dev_err(&adis->spi->dev, "Failed to write register 0x%02X: %d\n", reg, ret); + } else { + adis->current_page = page; } out_unlock: @@ -107,6 +122,7 @@ EXPORT_SYMBOL_GPL(adis_write_reg); int adis_read_reg(struct adis *adis, unsigned int reg, unsigned int *val, unsigned int size) { + unsigned int page = reg / ADIS_PAGE_SIZE; struct spi_message msg; int ret; struct spi_transfer xfers[] = { @@ -115,9 +131,15 @@ int adis_read_reg(struct adis *adis, unsigned int reg, .bits_per_word = 8, .len = 2, .cs_change = 1, - .delay_usecs = adis->data->read_delay, + .delay_usecs = adis->data->write_delay, }, { .tx_buf = adis->tx + 2, + .bits_per_word = 8, + .len = 2, + .cs_change = 1, + .delay_usecs = adis->data->read_delay, + }, { + .tx_buf = adis->tx + 4, .rx_buf = adis->rx, .bits_per_word = 8, .len = 2, @@ -134,16 +156,22 @@ int adis_read_reg(struct adis *adis, unsigned int reg, mutex_lock(&adis->txrx_lock); spi_message_init(&msg); + if (adis->current_page != page) { + adis->tx[0] = ADIS_WRITE_REG(ADIS_REG_PAGE_ID); + adis->tx[1] = page; + spi_message_add_tail(&xfers[0], &msg); + } + switch (size) { case 4: - adis->tx[0] = ADIS_READ_REG(reg + 2); - adis->tx[1] = 0; - spi_message_add_tail(&xfers[0], &msg); - case 2: - adis->tx[2] = ADIS_READ_REG(reg); + adis->tx[2] = ADIS_READ_REG(reg + 2); adis->tx[3] = 0; spi_message_add_tail(&xfers[1], &msg); + case 2: + adis->tx[4] = ADIS_READ_REG(reg); + adis->tx[5] = 0; spi_message_add_tail(&xfers[2], &msg); + spi_message_add_tail(&xfers[3], &msg); break; default: ret = -EINVAL; @@ -155,6 +183,8 @@ int adis_read_reg(struct adis *adis, unsigned int reg, dev_err(&adis->spi->dev, "Failed to read register 0x%02X: %d\n", reg, ret); goto out_unlock; + } else { + adis->current_page = page; } switch (size) { @@ -390,6 +420,14 @@ int adis_init(struct adis *adis, struct iio_dev *indio_dev, adis->data = data; iio_device_set_drvdata(indio_dev, adis); + if (data->has_paging) { + /* Need to set the page before first read/write */ + adis->current_page = -1; + } else { + /* Page will always be 0 */ + adis->current_page = 0; + } + return adis_enable_irq(adis, false); } EXPORT_SYMBOL_GPL(adis_init); diff --git a/drivers/iio/imu/adis_buffer.c b/drivers/iio/imu/adis_buffer.c index 785713349e9f..99d8e0b0dd34 100644 --- a/drivers/iio/imu/adis_buffer.c +++ b/drivers/iio/imu/adis_buffer.c @@ -83,10 +83,25 @@ static irqreturn_t adis_trigger_handler(int irq, void *p) if (!adis->buffer) return -ENOMEM; + if (adis->data->has_paging) { + mutex_lock(&adis->txrx_lock); + if (adis->current_page != 0) { + adis->tx[0] = ADIS_WRITE_REG(ADIS_REG_PAGE_ID); + adis->tx[1] = 0; + spi_write(adis->spi, adis->tx, 2); + } + } + ret = spi_sync(adis->spi, &adis->msg); if (ret) dev_err(&adis->spi->dev, "Failed to read data: %d", ret); + + if (adis->data->has_paging) { + adis->current_page = 0; + mutex_unlock(&adis->txrx_lock); + } + /* Guaranteed to be aligned with 8 byte boundary */ if (indio_dev->scan_timestamp) { void *b = adis->buffer + indio_dev->scan_bytes - sizeof(s64); diff --git a/include/linux/iio/imu/adis.h b/include/linux/iio/imu/adis.h index 6402a08c0e65..e82cd0827e91 100644 --- a/include/linux/iio/imu/adis.h +++ b/include/linux/iio/imu/adis.h @@ -14,8 +14,11 @@ #include #include -#define ADIS_WRITE_REG(reg) (0x80 | (reg)) -#define ADIS_READ_REG(reg) (reg) +#define ADIS_WRITE_REG(reg) ((0x80 | (reg))) +#define ADIS_READ_REG(reg) ((reg) & 0x7f) + +#define ADIS_PAGE_SIZE 0x80 +#define ADIS_REG_PAGE_ID 0x00 /** * struct adis_data - ADIS chip variant specific data @@ -40,6 +43,8 @@ struct adis_data { const char * const *status_error_msgs; unsigned int status_error_mask; + + bool has_paging; }; struct adis { @@ -51,6 +56,7 @@ struct adis { struct mutex txrx_lock; struct spi_message msg; struct spi_transfer *xfer; + unsigned int current_page; void *buffer; uint8_t tx[10] ____cacheline_aligned; -- cgit From c4f0c6936762ecd6b453275611a785dfdee0d417 Mon Sep 17 00:00:00 2001 From: Lars-Peter Clausen Date: Tue, 20 Nov 2012 13:36:00 +0000 Subject: iio: Add pressure channel type This patch adds support for a new IIO channel type for pressure measurements. This can for example be used for barometric pressure sensors. Signed-off-by: Lars-Peter Clausen Signed-off-by: Jonathan Cameron --- Documentation/ABI/testing/sysfs-bus-iio | 24 ++++++++++++++++++++++++ drivers/iio/industrialio-core.c | 1 + include/linux/iio/types.h | 1 + 3 files changed, 26 insertions(+) (limited to 'include/linux') diff --git a/Documentation/ABI/testing/sysfs-bus-iio b/Documentation/ABI/testing/sysfs-bus-iio index 2f06d40fe07d..2e33dc6b2346 100644 --- a/Documentation/ABI/testing/sysfs-bus-iio +++ b/Documentation/ABI/testing/sysfs-bus-iio @@ -189,6 +189,14 @@ Description: A computed peak value based on the sum squared magnitude of the underlying value in the specified directions. +What: /sys/bus/iio/devices/iio:deviceX/in_pressureY_raw +What: /sys/bus/iio/devices/iio:deviceX/in_pressure_raw +KernelVersion: 3.8 +Contact: linux-iio@vger.kernel.org +Description: + Raw pressure measurement from channel Y. Units after + application of scale and offset are kilopascal. + What: /sys/bus/iio/devices/iio:deviceX/in_accel_offset What: /sys/bus/iio/devices/iio:deviceX/in_accel_x_offset What: /sys/bus/iio/devices/iio:deviceX/in_accel_y_offset @@ -197,6 +205,8 @@ What: /sys/bus/iio/devices/iio:deviceX/in_voltageY_offset What: /sys/bus/iio/devices/iio:deviceX/in_voltage_offset What: /sys/bus/iio/devices/iio:deviceX/in_tempY_offset What: /sys/bus/iio/devices/iio:deviceX/in_temp_offset +What: /sys/bus/iio/devices/iio:deviceX/in_pressureY_offset +What: /sys/bus/iio/devices/iio:deviceX/in_pressure_offset KernelVersion: 2.6.35 Contact: linux-iio@vger.kernel.org Description: @@ -226,6 +236,8 @@ What: /sys/bus/iio/devices/iio:deviceX/in_magn_scale What: /sys/bus/iio/devices/iio:deviceX/in_magn_x_scale What: /sys/bus/iio/devices/iio:deviceX/in_magn_y_scale What: /sys/bus/iio/devices/iio:deviceX/in_magn_z_scale +What: /sys/bus/iio/devices/iio:deviceX/in_pressureY_scale +What: /sys/bus/iio/devices/iio:deviceX/in_pressure_scale KernelVersion: 2.6.35 Contact: linux-iio@vger.kernel.org Description: @@ -245,6 +257,8 @@ What: /sys/bus/iio/devices/iio:deviceX/in_anglvel_y_calibbias What: /sys/bus/iio/devices/iio:deviceX/in_anglvel_z_calibbias What: /sys/bus/iio/devices/iio:deviceX/in_illuminance0_calibbias What: /sys/bus/iio/devices/iio:deviceX/in_proximity0_calibbias +What: /sys/bus/iio/devices/iio:deviceX/in_pressureY_calibbias +What: /sys/bus/iio/devices/iio:deviceX/in_pressure_calibbias KernelVersion: 2.6.35 Contact: linux-iio@vger.kernel.org Description: @@ -262,6 +276,8 @@ What /sys/bus/iio/devices/iio:deviceX/in_anglvel_y_calibscale What /sys/bus/iio/devices/iio:deviceX/in_anglvel_z_calibscale what /sys/bus/iio/devices/iio:deviceX/in_illuminance0_calibscale what /sys/bus/iio/devices/iio:deviceX/in_proximity0_calibscale +What: /sys/bus/iio/devices/iio:deviceX/in_pressureY_calibscale +What: /sys/bus/iio/devices/iio:deviceX/in_pressure_calibscale KernelVersion: 2.6.35 Contact: linux-iio@vger.kernel.org Description: @@ -275,6 +291,8 @@ What: /sys/.../iio:deviceX/in_voltage-voltage_scale_available What: /sys/.../iio:deviceX/out_voltageX_scale_available What: /sys/.../iio:deviceX/out_altvoltageX_scale_available What: /sys/.../iio:deviceX/in_capacitance_scale_available +What: /sys/.../iio:deviceX/in_pressure_scale_available +What: /sys/.../iio:deviceX/in_pressureY_scale_available KernelVersion: 2.6.35 Contact: linux-iio@vger.kernel.org Description: @@ -694,6 +712,8 @@ What: /sys/.../buffer/scan_elements/in_voltageY_en What: /sys/.../buffer/scan_elements/in_voltageY-voltageZ_en What: /sys/.../buffer/scan_elements/in_incli_x_en What: /sys/.../buffer/scan_elements/in_incli_y_en +What: /sys/.../buffer/scan_elements/in_pressureY_en +What: /sys/.../buffer/scan_elements/in_pressure_en KernelVersion: 2.6.37 Contact: linux-iio@vger.kernel.org Description: @@ -707,6 +727,8 @@ What: /sys/.../buffer/scan_elements/in_voltageY_type What: /sys/.../buffer/scan_elements/in_voltage_type What: /sys/.../buffer/scan_elements/in_voltageY_supply_type What: /sys/.../buffer/scan_elements/in_timestamp_type +What: /sys/.../buffer/scan_elements/in_pressureY_type +What: /sys/.../buffer/scan_elements/in_pressure_type KernelVersion: 2.6.37 Contact: linux-iio@vger.kernel.org Description: @@ -751,6 +773,8 @@ What: /sys/.../buffer/scan_elements/in_magn_z_index What: /sys/.../buffer/scan_elements/in_incli_x_index What: /sys/.../buffer/scan_elements/in_incli_y_index What: /sys/.../buffer/scan_elements/in_timestamp_index +What: /sys/.../buffer/scan_elements/in_pressureY_index +What: /sys/.../buffer/scan_elements/in_pressure_index KernelVersion: 2.6.37 Contact: linux-iio@vger.kernel.org Description: diff --git a/drivers/iio/industrialio-core.c b/drivers/iio/industrialio-core.c index 060a4045be85..3dccd6c3a889 100644 --- a/drivers/iio/industrialio-core.c +++ b/drivers/iio/industrialio-core.c @@ -65,6 +65,7 @@ static const char * const iio_chan_type_name_spec[] = { [IIO_CAPACITANCE] = "capacitance", [IIO_ALTVOLTAGE] = "altvoltage", [IIO_CCT] = "cct", + [IIO_PRESSURE] = "pressure", }; static const char * const iio_modifier_names[] = { diff --git a/include/linux/iio/types.h b/include/linux/iio/types.h index 87b196a2d698..88bf0f0d27b4 100644 --- a/include/linux/iio/types.h +++ b/include/linux/iio/types.h @@ -28,6 +28,7 @@ enum iio_chan_type { IIO_CAPACITANCE, IIO_ALTVOLTAGE, IIO_CCT, + IIO_PRESSURE, }; enum iio_modifier { -- cgit From 6807d7211327dbdd8df3692f3d26ca711514ba71 Mon Sep 17 00:00:00 2001 From: Lars-Peter Clausen Date: Tue, 20 Nov 2012 13:36:00 +0000 Subject: iio: Factor out fixed point number parsing into its own function Factor out the code for parsing fixed point numbers into its own function and make this function globally available. This allows us to reuse the code to parse fixed point numbers in individual IIO drivers. Signed-off-by: Lars-Peter Clausen Signed-off-by: Jonathan Cameron --- drivers/iio/industrialio-core.c | 98 ++++++++++++++++++++++++++--------------- include/linux/iio/iio.h | 3 ++ 2 files changed, 66 insertions(+), 35 deletions(-) (limited to 'include/linux') diff --git a/drivers/iio/industrialio-core.c b/drivers/iio/industrialio-core.c index 3dccd6c3a889..8848f16c547b 100644 --- a/drivers/iio/industrialio-core.c +++ b/drivers/iio/industrialio-core.c @@ -408,6 +408,64 @@ static ssize_t iio_read_channel_info(struct device *dev, } } +/** + * iio_str_to_fixpoint() - Parse a fixed-point number from a string + * @str: The string to parse + * @fract_mult: Multiplier for the first decimal place, should be a power of 10 + * @integer: The integer part of the number + * @fract: The fractional part of the number + * + * Returns 0 on success, or a negative error code if the string could not be + * parsed. + */ +int iio_str_to_fixpoint(const char *str, int fract_mult, + int *integer, int *fract) +{ + int i = 0, f = 0; + bool integer_part = true, negative = false; + + if (str[0] == '-') { + negative = true; + str++; + } else if (str[0] == '+') { + str++; + } + + while (*str) { + if ('0' <= *str && *str <= '9') { + if (integer_part) { + i = i * 10 + *str - '0'; + } else { + f += fract_mult * (*str - '0'); + fract_mult /= 10; + } + } else if (*str == '\n') { + if (*(str + 1) == '\0') + break; + else + return -EINVAL; + } else if (*str == '.' && integer_part) { + integer_part = false; + } else { + return -EINVAL; + } + str++; + } + + if (negative) { + if (i) + i = -i; + else + f = -f; + } + + *integer = i; + *fract = f; + + return 0; +} +EXPORT_SYMBOL_GPL(iio_str_to_fixpoint); + static ssize_t iio_write_channel_info(struct device *dev, struct device_attribute *attr, const char *buf, @@ -415,8 +473,8 @@ static ssize_t iio_write_channel_info(struct device *dev, { struct iio_dev *indio_dev = dev_to_iio_dev(dev); struct iio_dev_attr *this_attr = to_iio_dev_attr(attr); - int ret, integer = 0, fract = 0, fract_mult = 100000; - bool integer_part = true, negative = false; + int ret, fract_mult = 100000; + int integer, fract; /* Assumes decimal - precision based on number of digits */ if (!indio_dev->info->write_raw) @@ -435,39 +493,9 @@ static ssize_t iio_write_channel_info(struct device *dev, return -EINVAL; } - if (buf[0] == '-') { - negative = true; - buf++; - } else if (buf[0] == '+') { - buf++; - } - - while (*buf) { - if ('0' <= *buf && *buf <= '9') { - if (integer_part) - integer = integer*10 + *buf - '0'; - else { - fract += fract_mult*(*buf - '0'); - fract_mult /= 10; - } - } else if (*buf == '\n') { - if (*(buf + 1) == '\0') - break; - else - return -EINVAL; - } else if (*buf == '.' && integer_part) { - integer_part = false; - } else { - return -EINVAL; - } - buf++; - } - if (negative) { - if (integer) - integer = -integer; - else - fract = -fract; - } + ret = iio_str_to_fixpoint(buf, fract_mult, &integer, &fract); + if (ret) + return ret; ret = indio_dev->info->write_raw(indio_dev, this_attr->c, integer, fract, this_attr->address); diff --git a/include/linux/iio/iio.h b/include/linux/iio/iio.h index adca93a999a7..da8c776ba0bd 100644 --- a/include/linux/iio/iio.h +++ b/include/linux/iio/iio.h @@ -620,6 +620,9 @@ static inline struct dentry *iio_get_debugfs_dentry(struct iio_dev *indio_dev) }; #endif +int iio_str_to_fixpoint(const char *str, int fract_mult, int *integer, + int *fract); + /** * IIO_DEGREE_TO_RAD() - Convert degree to rad * @deg: A value in degree -- cgit From 2f3abe6cbb6c963ac790b40936b6761c9f0497b4 Mon Sep 17 00:00:00 2001 From: Lars-Peter Clausen Date: Tue, 20 Nov 2012 13:36:00 +0000 Subject: iio:imu: Add support for the ADIS16480 and similar IMUs This patch adds support for the ADIS16375, ADIS16480, ADIS16485, ADIS16488 6 degree to 10 degree of freedom IMUs. Signed-off-by: Lars-Peter Clausen Signed-off-by: Jonathan Cameron --- drivers/iio/imu/Kconfig | 16 + drivers/iio/imu/Makefile | 2 + drivers/iio/imu/adis.c | 3 + drivers/iio/imu/adis16480.c | 925 +++++++++++++++++++++++++++++++++++++++++++ include/linux/iio/imu/adis.h | 4 + 5 files changed, 950 insertions(+) create mode 100644 drivers/iio/imu/adis16480.c (limited to 'include/linux') diff --git a/drivers/iio/imu/Kconfig b/drivers/iio/imu/Kconfig index c24410c873c7..3d79a40e916b 100644 --- a/drivers/iio/imu/Kconfig +++ b/drivers/iio/imu/Kconfig @@ -1,3 +1,19 @@ +# +# IIO imu drivers configuration +# +menu "Inertial measurement units" + +config ADIS16480 + tristate "Analog Devices ADIS16480 and similar IMU driver" + depends on SPI + select IIO_ADIS_LIB + select IIO_ADIS_LIB_BUFFER if IIO_BUFFER + help + Say yes here to build support for Analog Devices ADIS16375, ADIS16480, + ADIS16485, ADIS16488 inertial sensors. + +endmenu + config IIO_ADIS_LIB tristate help diff --git a/drivers/iio/imu/Makefile b/drivers/iio/imu/Makefile index 97676ab5723d..cfe57638f6f9 100644 --- a/drivers/iio/imu/Makefile +++ b/drivers/iio/imu/Makefile @@ -2,6 +2,8 @@ # Makefile for Inertial Measurement Units # +obj-$(CONFIG_ADIS16480) += adis16480.o + adis_lib-y += adis.o adis_lib-$(CONFIG_IIO_ADIS_LIB_BUFFER) += adis_trigger.o adis_lib-$(CONFIG_IIO_ADIS_LIB_BUFFER) += adis_buffer.o diff --git a/drivers/iio/imu/adis.c b/drivers/iio/imu/adis.c index c4ea04ffa60e..911255d41c1a 100644 --- a/drivers/iio/imu/adis.c +++ b/drivers/iio/imu/adis.c @@ -238,6 +238,9 @@ int adis_enable_irq(struct adis *adis, bool enable) int ret = 0; uint16_t msc; + if (adis->data->enable_irq) + return adis->data->enable_irq(adis, enable); + ret = adis_read_reg_16(adis, adis->data->msc_ctrl_reg, &msc); if (ret) goto error_ret; diff --git a/drivers/iio/imu/adis16480.c b/drivers/iio/imu/adis16480.c new file mode 100644 index 000000000000..a080b3515015 --- /dev/null +++ b/drivers/iio/imu/adis16480.c @@ -0,0 +1,925 @@ +/* + * ADIS16480 and similar IMUs driver + * + * Copyright 2012 Analog Devices Inc. + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License version 2 as + * published by the Free Software Foundation. + * + */ + +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include +#include +#include +#include + +#include +#include + +#define ADIS16480_PAGE_SIZE 0x80 + +#define ADIS16480_REG(page, reg) ((page) * ADIS16480_PAGE_SIZE + (reg)) + +#define ADIS16480_REG_PAGE_ID 0x00 /* Same address on each page */ +#define ADIS16480_REG_SEQ_CNT ADIS16480_REG(0x00, 0x06) +#define ADIS16480_REG_SYS_E_FLA ADIS16480_REG(0x00, 0x08) +#define ADIS16480_REG_DIAG_STS ADIS16480_REG(0x00, 0x0A) +#define ADIS16480_REG_ALM_STS ADIS16480_REG(0x00, 0x0C) +#define ADIS16480_REG_TEMP_OUT ADIS16480_REG(0x00, 0x0E) +#define ADIS16480_REG_X_GYRO_OUT ADIS16480_REG(0x00, 0x10) +#define ADIS16480_REG_Y_GYRO_OUT ADIS16480_REG(0x00, 0x14) +#define ADIS16480_REG_Z_GYRO_OUT ADIS16480_REG(0x00, 0x18) +#define ADIS16480_REG_X_ACCEL_OUT ADIS16480_REG(0x00, 0x1C) +#define ADIS16480_REG_Y_ACCEL_OUT ADIS16480_REG(0x00, 0x20) +#define ADIS16480_REG_Z_ACCEL_OUT ADIS16480_REG(0x00, 0x24) +#define ADIS16480_REG_X_MAGN_OUT ADIS16480_REG(0x00, 0x28) +#define ADIS16480_REG_Y_MAGN_OUT ADIS16480_REG(0x00, 0x2A) +#define ADIS16480_REG_Z_MAGN_OUT ADIS16480_REG(0x00, 0x2C) +#define ADIS16480_REG_BAROM_OUT ADIS16480_REG(0x00, 0x2E) +#define ADIS16480_REG_X_DELTAANG_OUT ADIS16480_REG(0x00, 0x40) +#define ADIS16480_REG_Y_DELTAANG_OUT ADIS16480_REG(0x00, 0x44) +#define ADIS16480_REG_Z_DELTAANG_OUT ADIS16480_REG(0x00, 0x48) +#define ADIS16480_REG_X_DELTAVEL_OUT ADIS16480_REG(0x00, 0x4C) +#define ADIS16480_REG_Y_DELTAVEL_OUT ADIS16480_REG(0x00, 0x50) +#define ADIS16480_REG_Z_DELTAVEL_OUT ADIS16480_REG(0x00, 0x54) +#define ADIS16480_REG_PROD_ID ADIS16480_REG(0x00, 0x7E) + +#define ADIS16480_REG_X_GYRO_SCALE ADIS16480_REG(0x02, 0x04) +#define ADIS16480_REG_Y_GYRO_SCALE ADIS16480_REG(0x02, 0x06) +#define ADIS16480_REG_Z_GYRO_SCALE ADIS16480_REG(0x02, 0x08) +#define ADIS16480_REG_X_ACCEL_SCALE ADIS16480_REG(0x02, 0x0A) +#define ADIS16480_REG_Y_ACCEL_SCALE ADIS16480_REG(0x02, 0x0C) +#define ADIS16480_REG_Z_ACCEL_SCALE ADIS16480_REG(0x02, 0x0E) +#define ADIS16480_REG_X_GYRO_BIAS ADIS16480_REG(0x02, 0x10) +#define ADIS16480_REG_Y_GYRO_BIAS ADIS16480_REG(0x02, 0x14) +#define ADIS16480_REG_Z_GYRO_BIAS ADIS16480_REG(0x02, 0x18) +#define ADIS16480_REG_X_ACCEL_BIAS ADIS16480_REG(0x02, 0x1C) +#define ADIS16480_REG_Y_ACCEL_BIAS ADIS16480_REG(0x02, 0x20) +#define ADIS16480_REG_Z_ACCEL_BIAS ADIS16480_REG(0x02, 0x24) +#define ADIS16480_REG_X_HARD_IRON ADIS16480_REG(0x02, 0x28) +#define ADIS16480_REG_Y_HARD_IRON ADIS16480_REG(0x02, 0x2A) +#define ADIS16480_REG_Z_HARD_IRON ADIS16480_REG(0x02, 0x2C) +#define ADIS16480_REG_BAROM_BIAS ADIS16480_REG(0x02, 0x40) +#define ADIS16480_REG_FLASH_CNT ADIS16480_REG(0x02, 0x7C) + +#define ADIS16480_REG_GLOB_CMD ADIS16480_REG(0x03, 0x02) +#define ADIS16480_REG_FNCTIO_CTRL ADIS16480_REG(0x03, 0x06) +#define ADIS16480_REG_GPIO_CTRL ADIS16480_REG(0x03, 0x08) +#define ADIS16480_REG_CONFIG ADIS16480_REG(0x03, 0x0A) +#define ADIS16480_REG_DEC_RATE ADIS16480_REG(0x03, 0x0C) +#define ADIS16480_REG_SLP_CNT ADIS16480_REG(0x03, 0x10) +#define ADIS16480_REG_FILTER_BNK0 ADIS16480_REG(0x03, 0x16) +#define ADIS16480_REG_FILTER_BNK1 ADIS16480_REG(0x03, 0x18) +#define ADIS16480_REG_ALM_CNFG0 ADIS16480_REG(0x03, 0x20) +#define ADIS16480_REG_ALM_CNFG1 ADIS16480_REG(0x03, 0x22) +#define ADIS16480_REG_ALM_CNFG2 ADIS16480_REG(0x03, 0x24) +#define ADIS16480_REG_XG_ALM_MAGN ADIS16480_REG(0x03, 0x28) +#define ADIS16480_REG_YG_ALM_MAGN ADIS16480_REG(0x03, 0x2A) +#define ADIS16480_REG_ZG_ALM_MAGN ADIS16480_REG(0x03, 0x2C) +#define ADIS16480_REG_XA_ALM_MAGN ADIS16480_REG(0x03, 0x2E) +#define ADIS16480_REG_YA_ALM_MAGN ADIS16480_REG(0x03, 0x30) +#define ADIS16480_REG_ZA_ALM_MAGN ADIS16480_REG(0x03, 0x32) +#define ADIS16480_REG_XM_ALM_MAGN ADIS16480_REG(0x03, 0x34) +#define ADIS16480_REG_YM_ALM_MAGN ADIS16480_REG(0x03, 0x36) +#define ADIS16480_REG_ZM_ALM_MAGN ADIS16480_REG(0x03, 0x38) +#define ADIS16480_REG_BR_ALM_MAGN ADIS16480_REG(0x03, 0x3A) +#define ADIS16480_REG_FIRM_REV ADIS16480_REG(0x03, 0x78) +#define ADIS16480_REG_FIRM_DM ADIS16480_REG(0x03, 0x7A) +#define ADIS16480_REG_FIRM_Y ADIS16480_REG(0x03, 0x7C) + +#define ADIS16480_REG_SERIAL_NUM ADIS16480_REG(0x04, 0x20) + +/* Each filter coefficent bank spans two pages */ +#define ADIS16480_FIR_COEF(page) (x < 60 ? ADIS16480_REG(page, (x) + 8) : \ + ADIS16480_REG((page) + 1, (x) - 60 + 8)) +#define ADIS16480_FIR_COEF_A(x) ADIS16480_FIR_COEF(0x05, (x)) +#define ADIS16480_FIR_COEF_B(x) ADIS16480_FIR_COEF(0x07, (x)) +#define ADIS16480_FIR_COEF_C(x) ADIS16480_FIR_COEF(0x09, (x)) +#define ADIS16480_FIR_COEF_D(x) ADIS16480_FIR_COEF(0x0B, (x)) + +struct adis16480_chip_info { + unsigned int num_channels; + const struct iio_chan_spec *channels; +}; + +struct adis16480 { + const struct adis16480_chip_info *chip_info; + + struct adis adis; +}; + +#ifdef CONFIG_DEBUG_FS + +static ssize_t adis16480_show_firmware_revision(struct file *file, + char __user *userbuf, size_t count, loff_t *ppos) +{ + struct adis16480 *adis16480 = file->private_data; + char buf[6]; + size_t len; + u16 rev; + int ret; + + ret = adis_read_reg_16(&adis16480->adis, ADIS16480_REG_FIRM_REV, &rev); + if (ret < 0) + return ret; + + len = snprintf(buf, sizeof(buf), "%x.%x\n", rev >> 8, rev & 0xff); + + return simple_read_from_buffer(userbuf, count, ppos, buf, len); +} + +static const struct file_operations adis16480_firmware_revision_fops = { + .open = simple_open, + .read = adis16480_show_firmware_revision, + .llseek = default_llseek, + .owner = THIS_MODULE, +}; + +static ssize_t adis16480_show_firmware_date(struct file *file, + char __user *userbuf, size_t count, loff_t *ppos) +{ + struct adis16480 *adis16480 = file->private_data; + u16 md, year; + char buf[12]; + size_t len; + int ret; + + ret = adis_read_reg_16(&adis16480->adis, ADIS16480_REG_FIRM_Y, &year); + if (ret < 0) + return ret; + + ret = adis_read_reg_16(&adis16480->adis, ADIS16480_REG_FIRM_DM, &md); + if (ret < 0) + return ret; + + len = snprintf(buf, sizeof(buf), "%.2x-%.2x-%.4x\n", + md >> 8, md & 0xff, year); + + return simple_read_from_buffer(userbuf, count, ppos, buf, len); +} + +static const struct file_operations adis16480_firmware_date_fops = { + .open = simple_open, + .read = adis16480_show_firmware_date, + .llseek = default_llseek, + .owner = THIS_MODULE, +}; + +static int adis16480_show_serial_number(void *arg, u64 *val) +{ + struct adis16480 *adis16480 = arg; + u16 serial; + int ret; + + ret = adis_read_reg_16(&adis16480->adis, ADIS16480_REG_SERIAL_NUM, + &serial); + if (ret < 0) + return ret; + + *val = serial; + + return 0; +} +DEFINE_SIMPLE_ATTRIBUTE(adis16480_serial_number_fops, + adis16480_show_serial_number, NULL, "0x%.4llx\n"); + +static int adis16480_show_product_id(void *arg, u64 *val) +{ + struct adis16480 *adis16480 = arg; + u16 prod_id; + int ret; + + ret = adis_read_reg_16(&adis16480->adis, ADIS16480_REG_PROD_ID, + &prod_id); + if (ret < 0) + return ret; + + *val = prod_id; + + return 0; +} +DEFINE_SIMPLE_ATTRIBUTE(adis16480_product_id_fops, + adis16480_show_product_id, NULL, "%llu\n"); + +static int adis16480_show_flash_count(void *arg, u64 *val) +{ + struct adis16480 *adis16480 = arg; + u32 flash_count; + int ret; + + ret = adis_read_reg_32(&adis16480->adis, ADIS16480_REG_FLASH_CNT, + &flash_count); + if (ret < 0) + return ret; + + *val = flash_count; + + return 0; +} +DEFINE_SIMPLE_ATTRIBUTE(adis16480_flash_count_fops, + adis16480_show_flash_count, NULL, "%lld\n"); + +static int adis16480_debugfs_init(struct iio_dev *indio_dev) +{ + struct adis16480 *adis16480 = iio_priv(indio_dev); + + debugfs_create_file("firmware_revision", 0400, + indio_dev->debugfs_dentry, adis16480, + &adis16480_firmware_revision_fops); + debugfs_create_file("firmware_date", 0400, indio_dev->debugfs_dentry, + adis16480, &adis16480_firmware_date_fops); + debugfs_create_file("serial_number", 0400, indio_dev->debugfs_dentry, + adis16480, &adis16480_serial_number_fops); + debugfs_create_file("product_id", 0400, indio_dev->debugfs_dentry, + adis16480, &adis16480_product_id_fops); + debugfs_create_file("flash_count", 0400, indio_dev->debugfs_dentry, + adis16480, &adis16480_flash_count_fops); + + return 0; +} + +#else + +static int adis16480_debugfs_init(struct iio_dev *indio_dev) +{ + return 0; +} + +#endif + +static int adis16480_set_freq(struct adis16480 *st, unsigned int freq) +{ + unsigned int t; + + t = 2460000 / freq; + if (t > 2048) + t = 2048; + + if (t != 0) + t--; + + return adis_write_reg_16(&st->adis, ADIS16480_REG_DEC_RATE, t); +} + +static int adis16480_get_freq(struct adis16480 *st, unsigned int *freq) +{ + uint16_t t; + int ret; + + ret = adis_read_reg_16(&st->adis, ADIS16480_REG_DEC_RATE, &t); + if (ret < 0) + return ret; + + *freq = 2460000 / (t + 1); + + return 0; +} + +static ssize_t adis16480_read_frequency(struct device *dev, + struct device_attribute *attr, + char *buf) +{ + struct iio_dev *indio_dev = dev_to_iio_dev(dev); + struct adis16480 *st = iio_priv(indio_dev); + unsigned int freq; + int ret; + + ret = adis16480_get_freq(st, &freq); + if (ret < 0) + return ret; + + return sprintf(buf, "%d.%.3d\n", freq / 1000, freq % 1000); +} + +static ssize_t adis16480_write_frequency(struct device *dev, + struct device_attribute *attr, + const char *buf, + size_t len) +{ + struct iio_dev *indio_dev = dev_to_iio_dev(dev); + struct adis16480 *st = iio_priv(indio_dev); + int freq_int, freq_fract; + long val; + int ret; + + ret = iio_str_to_fixpoint(buf, 100, &freq_int, &freq_fract); + if (ret) + return ret; + + val = freq_int * 1000 + freq_fract; + + if (val <= 0) + return -EINVAL; + + ret = adis16480_set_freq(st, val); + + return ret ? ret : len; +} + +static IIO_DEV_ATTR_SAMP_FREQ(S_IWUSR | S_IRUGO, + adis16480_read_frequency, + adis16480_write_frequency); + +enum { + ADIS16480_SCAN_GYRO_X, + ADIS16480_SCAN_GYRO_Y, + ADIS16480_SCAN_GYRO_Z, + ADIS16480_SCAN_ACCEL_X, + ADIS16480_SCAN_ACCEL_Y, + ADIS16480_SCAN_ACCEL_Z, + ADIS16480_SCAN_MAGN_X, + ADIS16480_SCAN_MAGN_Y, + ADIS16480_SCAN_MAGN_Z, + ADIS16480_SCAN_BARO, + ADIS16480_SCAN_TEMP, +}; + +static const unsigned int adis16480_calibbias_regs[] = { + [ADIS16480_SCAN_GYRO_X] = ADIS16480_REG_X_GYRO_BIAS, + [ADIS16480_SCAN_GYRO_Y] = ADIS16480_REG_Y_GYRO_BIAS, + [ADIS16480_SCAN_GYRO_Z] = ADIS16480_REG_Z_GYRO_BIAS, + [ADIS16480_SCAN_ACCEL_X] = ADIS16480_REG_X_ACCEL_BIAS, + [ADIS16480_SCAN_ACCEL_Y] = ADIS16480_REG_Y_ACCEL_BIAS, + [ADIS16480_SCAN_ACCEL_Z] = ADIS16480_REG_Z_ACCEL_BIAS, + [ADIS16480_SCAN_MAGN_X] = ADIS16480_REG_X_HARD_IRON, + [ADIS16480_SCAN_MAGN_Y] = ADIS16480_REG_Y_HARD_IRON, + [ADIS16480_SCAN_MAGN_Z] = ADIS16480_REG_Z_HARD_IRON, + [ADIS16480_SCAN_BARO] = ADIS16480_REG_BAROM_BIAS, +}; + +static const unsigned int adis16480_calibscale_regs[] = { + [ADIS16480_SCAN_GYRO_X] = ADIS16480_REG_X_GYRO_SCALE, + [ADIS16480_SCAN_GYRO_Y] = ADIS16480_REG_Y_GYRO_SCALE, + [ADIS16480_SCAN_GYRO_Z] = ADIS16480_REG_Z_GYRO_SCALE, + [ADIS16480_SCAN_ACCEL_X] = ADIS16480_REG_X_ACCEL_SCALE, + [ADIS16480_SCAN_ACCEL_Y] = ADIS16480_REG_Y_ACCEL_SCALE, + [ADIS16480_SCAN_ACCEL_Z] = ADIS16480_REG_Z_ACCEL_SCALE, +}; + +static int adis16480_set_calibbias(struct iio_dev *indio_dev, + const struct iio_chan_spec *chan, int bias) +{ + unsigned int reg = adis16480_calibbias_regs[chan->scan_index]; + struct adis16480 *st = iio_priv(indio_dev); + + switch (chan->type) { + case IIO_MAGN: + case IIO_PRESSURE: + if (bias < -0x8000 || bias >= 0x8000) + return -EINVAL; + return adis_write_reg_16(&st->adis, reg, bias); + case IIO_ANGL_VEL: + case IIO_ACCEL: + return adis_write_reg_32(&st->adis, reg, bias); + default: + break; + } + + return -EINVAL; +} + +static int adis16480_get_calibbias(struct iio_dev *indio_dev, + const struct iio_chan_spec *chan, int *bias) +{ + unsigned int reg = adis16480_calibbias_regs[chan->scan_index]; + struct adis16480 *st = iio_priv(indio_dev); + uint16_t val16; + uint32_t val32; + int ret; + + switch (chan->type) { + case IIO_MAGN: + case IIO_PRESSURE: + ret = adis_read_reg_16(&st->adis, reg, &val16); + *bias = sign_extend32(val16, 15); + break; + case IIO_ANGL_VEL: + case IIO_ACCEL: + ret = adis_read_reg_32(&st->adis, reg, &val32); + *bias = sign_extend32(val32, 31); + break; + default: + ret = -EINVAL; + } + + if (ret < 0) + return ret; + + return IIO_VAL_INT; +} + +static int adis16480_set_calibscale(struct iio_dev *indio_dev, + const struct iio_chan_spec *chan, int scale) +{ + unsigned int reg = adis16480_calibscale_regs[chan->scan_index]; + struct adis16480 *st = iio_priv(indio_dev); + + if (scale < -0x8000 || scale >= 0x8000) + return -EINVAL; + + return adis_write_reg_16(&st->adis, reg, scale); +} + +static int adis16480_get_calibscale(struct iio_dev *indio_dev, + const struct iio_chan_spec *chan, int *scale) +{ + unsigned int reg = adis16480_calibscale_regs[chan->scan_index]; + struct adis16480 *st = iio_priv(indio_dev); + uint16_t val16; + int ret; + + ret = adis_read_reg_16(&st->adis, reg, &val16); + if (ret < 0) + return ret; + + *scale = sign_extend32(val16, 15); + return IIO_VAL_INT; +} + +static const unsigned int adis16480_def_filter_freqs[] = { + 310, + 55, + 275, + 63, +}; + +static const unsigned int ad16480_filter_data[][2] = { + [ADIS16480_SCAN_GYRO_X] = { ADIS16480_REG_FILTER_BNK0, 0 }, + [ADIS16480_SCAN_GYRO_Y] = { ADIS16480_REG_FILTER_BNK0, 3 }, + [ADIS16480_SCAN_GYRO_Z] = { ADIS16480_REG_FILTER_BNK0, 6 }, + [ADIS16480_SCAN_ACCEL_X] = { ADIS16480_REG_FILTER_BNK0, 9 }, + [ADIS16480_SCAN_ACCEL_Y] = { ADIS16480_REG_FILTER_BNK0, 12 }, + [ADIS16480_SCAN_ACCEL_Z] = { ADIS16480_REG_FILTER_BNK1, 0 }, + [ADIS16480_SCAN_MAGN_X] = { ADIS16480_REG_FILTER_BNK1, 3 }, + [ADIS16480_SCAN_MAGN_Y] = { ADIS16480_REG_FILTER_BNK1, 6 }, + [ADIS16480_SCAN_MAGN_Z] = { ADIS16480_REG_FILTER_BNK1, 9 }, +}; + +static int adis16480_get_filter_freq(struct iio_dev *indio_dev, + const struct iio_chan_spec *chan, int *freq) +{ + struct adis16480 *st = iio_priv(indio_dev); + unsigned int enable_mask, offset, reg; + uint16_t val; + int ret; + + reg = ad16480_filter_data[chan->scan_index][0]; + offset = ad16480_filter_data[chan->scan_index][1]; + enable_mask = BIT(offset + 2); + + ret = adis_read_reg_16(&st->adis, reg, &val); + if (ret < 0) + return ret; + + if (!(val & enable_mask)) + *freq = 0; + else + *freq = adis16480_def_filter_freqs[(val >> offset) & 0x3]; + + return IIO_VAL_INT; +} + +static int adis16480_set_filter_freq(struct iio_dev *indio_dev, + const struct iio_chan_spec *chan, unsigned int freq) +{ + struct adis16480 *st = iio_priv(indio_dev); + unsigned int enable_mask, offset, reg; + unsigned int diff, best_diff; + unsigned int i, best_freq; + uint16_t val; + int ret; + + reg = ad16480_filter_data[chan->scan_index][0]; + offset = ad16480_filter_data[chan->scan_index][1]; + enable_mask = BIT(offset + 2); + + ret = adis_read_reg_16(&st->adis, reg, &val); + if (ret < 0) + return ret; + + if (freq == 0) { + val &= ~enable_mask; + } else { + best_freq = 0; + best_diff = 310; + for (i = 0; i < ARRAY_SIZE(adis16480_def_filter_freqs); i++) { + if (adis16480_def_filter_freqs[i] >= freq) { + diff = adis16480_def_filter_freqs[i] - freq; + if (diff < best_diff) { + best_diff = diff; + best_freq = i; + } + } + } + + val &= ~(0x3 << offset); + val |= best_freq << offset; + val |= enable_mask; + } + + return adis_write_reg_16(&st->adis, reg, val); +} + +static int adis16480_read_raw(struct iio_dev *indio_dev, + const struct iio_chan_spec *chan, int *val, int *val2, long info) +{ + switch (info) { + case IIO_CHAN_INFO_RAW: + return adis_single_conversion(indio_dev, chan, 0, val); + case IIO_CHAN_INFO_SCALE: + switch (chan->type) { + case IIO_ANGL_VEL: + *val = 0; + *val2 = IIO_DEGREE_TO_RAD(20000); /* 0.02 degree/sec */ + return IIO_VAL_INT_PLUS_MICRO; + case IIO_ACCEL: + *val = 0; + *val2 = IIO_G_TO_M_S_2(800); /* 0.8 mg */ + return IIO_VAL_INT_PLUS_MICRO; + case IIO_MAGN: + *val = 0; + *val2 = 100; /* 0.0001 gauss */ + return IIO_VAL_INT_PLUS_MICRO; + case IIO_TEMP: + *val = 5; + *val2 = 650000; /* 5.65 milli degree Celsius */ + return IIO_VAL_INT_PLUS_MICRO; + case IIO_PRESSURE: + *val = 0; + *val2 = 4000; /* 40ubar = 0.004 kPa */ + return IIO_VAL_INT_PLUS_MICRO; + default: + return -EINVAL; + } + case IIO_CHAN_INFO_OFFSET: + /* Only the temperature channel has a offset */ + *val = 4425; /* 25 degree Celsius = 0x0000 */ + return IIO_VAL_INT; + case IIO_CHAN_INFO_CALIBBIAS: + return adis16480_get_calibbias(indio_dev, chan, val); + case IIO_CHAN_INFO_CALIBSCALE: + return adis16480_get_calibscale(indio_dev, chan, val); + case IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY: + return adis16480_get_filter_freq(indio_dev, chan, val); + default: + return -EINVAL; + } +} + +static int adis16480_write_raw(struct iio_dev *indio_dev, + const struct iio_chan_spec *chan, int val, int val2, long info) +{ + switch (info) { + case IIO_CHAN_INFO_CALIBBIAS: + return adis16480_set_calibbias(indio_dev, chan, val); + case IIO_CHAN_INFO_CALIBSCALE: + return adis16480_set_calibscale(indio_dev, chan, val); + case IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY: + return adis16480_set_filter_freq(indio_dev, chan, val); + default: + return -EINVAL; + } +} + +#define ADIS16480_MOD_CHANNEL(_type, _mod, _address, _si, _info, _bits) \ + { \ + .type = (_type), \ + .modified = 1, \ + .channel2 = (_mod), \ + .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT | \ + IIO_CHAN_INFO_CALIBBIAS_SEPARATE_BIT | \ + IIO_CHAN_INFO_SCALE_SHARED_BIT | \ + _info, \ + .address = (_address), \ + .scan_index = (_si), \ + .scan_type = { \ + .sign = 's', \ + .realbits = (_bits), \ + .storagebits = (_bits), \ + .endianness = IIO_BE, \ + }, \ + } + +#define ADIS16480_GYRO_CHANNEL(_mod) \ + ADIS16480_MOD_CHANNEL(IIO_ANGL_VEL, IIO_MOD_ ## _mod, \ + ADIS16480_REG_ ## _mod ## _GYRO_OUT, ADIS16480_SCAN_GYRO_ ## _mod, \ + IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY_SEPARATE_BIT | \ + IIO_CHAN_INFO_CALIBSCALE_SEPARATE_BIT, \ + 32) + +#define ADIS16480_ACCEL_CHANNEL(_mod) \ + ADIS16480_MOD_CHANNEL(IIO_ACCEL, IIO_MOD_ ## _mod, \ + ADIS16480_REG_ ## _mod ## _ACCEL_OUT, ADIS16480_SCAN_ACCEL_ ## _mod, \ + IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY_SEPARATE_BIT | \ + IIO_CHAN_INFO_CALIBSCALE_SEPARATE_BIT, \ + 32) + +#define ADIS16480_MAGN_CHANNEL(_mod) \ + ADIS16480_MOD_CHANNEL(IIO_MAGN, IIO_MOD_ ## _mod, \ + ADIS16480_REG_ ## _mod ## _MAGN_OUT, ADIS16480_SCAN_MAGN_ ## _mod, \ + IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY_SEPARATE_BIT, \ + 16) + +#define ADIS16480_PRESSURE_CHANNEL() \ + { \ + .type = IIO_PRESSURE, \ + .indexed = 1, \ + .channel = 0, \ + .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT | \ + IIO_CHAN_INFO_CALIBBIAS_SEPARATE_BIT | \ + IIO_CHAN_INFO_SCALE_SEPARATE_BIT, \ + .address = ADIS16480_REG_BAROM_OUT, \ + .scan_index = ADIS16480_SCAN_BARO, \ + .scan_type = { \ + .sign = 's', \ + .realbits = 32, \ + .storagebits = 32, \ + .endianness = IIO_BE, \ + }, \ + } + +#define ADIS16480_TEMP_CHANNEL() { \ + .type = IIO_TEMP, \ + .indexed = 1, \ + .channel = 0, \ + .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT | \ + IIO_CHAN_INFO_SCALE_SEPARATE_BIT | \ + IIO_CHAN_INFO_OFFSET_SEPARATE_BIT, \ + .address = ADIS16480_REG_TEMP_OUT, \ + .scan_index = ADIS16480_SCAN_TEMP, \ + .scan_type = { \ + .sign = 's', \ + .realbits = 16, \ + .storagebits = 16, \ + .endianness = IIO_BE, \ + }, \ + } + +static const struct iio_chan_spec adis16480_channels[] = { + ADIS16480_GYRO_CHANNEL(X), + ADIS16480_GYRO_CHANNEL(Y), + ADIS16480_GYRO_CHANNEL(Z), + ADIS16480_ACCEL_CHANNEL(X), + ADIS16480_ACCEL_CHANNEL(Y), + ADIS16480_ACCEL_CHANNEL(Z), + ADIS16480_MAGN_CHANNEL(X), + ADIS16480_MAGN_CHANNEL(Y), + ADIS16480_MAGN_CHANNEL(Z), + ADIS16480_PRESSURE_CHANNEL(), + ADIS16480_TEMP_CHANNEL(), + IIO_CHAN_SOFT_TIMESTAMP(11) +}; + +static const struct iio_chan_spec adis16485_channels[] = { + ADIS16480_GYRO_CHANNEL(X), + ADIS16480_GYRO_CHANNEL(Y), + ADIS16480_GYRO_CHANNEL(Z), + ADIS16480_ACCEL_CHANNEL(X), + ADIS16480_ACCEL_CHANNEL(Y), + ADIS16480_ACCEL_CHANNEL(Z), + ADIS16480_TEMP_CHANNEL(), + IIO_CHAN_SOFT_TIMESTAMP(7) +}; + +enum adis16480_variant { + ADIS16375, + ADIS16480, + ADIS16485, + ADIS16488, +}; + +static const struct adis16480_chip_info adis16480_chip_info[] = { + [ADIS16375] = { + .channels = adis16485_channels, + .num_channels = ARRAY_SIZE(adis16485_channels), + }, + [ADIS16480] = { + .channels = adis16480_channels, + .num_channels = ARRAY_SIZE(adis16480_channels), + }, + [ADIS16485] = { + .channels = adis16485_channels, + .num_channels = ARRAY_SIZE(adis16485_channels), + }, + [ADIS16488] = { + .channels = adis16480_channels, + .num_channels = ARRAY_SIZE(adis16480_channels), + }, +}; + +static struct attribute *adis16480_attributes[] = { + &iio_dev_attr_sampling_frequency.dev_attr.attr, + NULL +}; + +static const struct attribute_group adis16480_attribute_group = { + .attrs = adis16480_attributes, +}; + +static const struct iio_info adis16480_info = { + .attrs = &adis16480_attribute_group, + .read_raw = &adis16480_read_raw, + .write_raw = &adis16480_write_raw, + .update_scan_mode = adis_update_scan_mode, + .driver_module = THIS_MODULE, +}; + +static int adis16480_stop_device(struct iio_dev *indio_dev) +{ + struct adis16480 *st = iio_priv(indio_dev); + int ret; + + ret = adis_write_reg_16(&st->adis, ADIS16480_REG_SLP_CNT, BIT(9)); + if (ret) + dev_err(&indio_dev->dev, + "Could not power down device: %d\n", ret); + + return ret; +} + +static int adis16480_enable_irq(struct adis *adis, bool enable) +{ + return adis_write_reg_16(adis, ADIS16480_REG_FNCTIO_CTRL, + enable ? BIT(3) : 0); +} + +static int adis16480_initial_setup(struct iio_dev *indio_dev) +{ + struct adis16480 *st = iio_priv(indio_dev); + uint16_t prod_id; + unsigned int device_id; + int ret; + + adis_reset(&st->adis); + msleep(70); + + ret = adis_write_reg_16(&st->adis, ADIS16480_REG_GLOB_CMD, BIT(1)); + if (ret) + return ret; + msleep(30); + + ret = adis_check_status(&st->adis); + if (ret) + return ret; + + ret = adis_read_reg_16(&st->adis, ADIS16480_REG_PROD_ID, &prod_id); + if (ret) + return ret; + + sscanf(indio_dev->name, "adis%u\n", &device_id); + + if (prod_id != device_id) + dev_warn(&indio_dev->dev, "Device ID(%u) and product ID(%u) do not match.", + device_id, prod_id); + + return 0; +} + +#define ADIS16480_DIAG_STAT_XGYRO_FAIL 0 +#define ADIS16480_DIAG_STAT_YGYRO_FAIL 1 +#define ADIS16480_DIAG_STAT_ZGYRO_FAIL 2 +#define ADIS16480_DIAG_STAT_XACCL_FAIL 3 +#define ADIS16480_DIAG_STAT_YACCL_FAIL 4 +#define ADIS16480_DIAG_STAT_ZACCL_FAIL 5 +#define ADIS16480_DIAG_STAT_XMAGN_FAIL 8 +#define ADIS16480_DIAG_STAT_YMAGN_FAIL 9 +#define ADIS16480_DIAG_STAT_ZMAGN_FAIL 10 +#define ADIS16480_DIAG_STAT_BARO_FAIL 11 + +static const char * const adis16480_status_error_msgs[] = { + [ADIS16480_DIAG_STAT_XGYRO_FAIL] = "X-axis gyroscope self-test failure", + [ADIS16480_DIAG_STAT_YGYRO_FAIL] = "Y-axis gyroscope self-test failure", + [ADIS16480_DIAG_STAT_ZGYRO_FAIL] = "Z-axis gyroscope self-test failure", + [ADIS16480_DIAG_STAT_XACCL_FAIL] = "X-axis accelerometer self-test failure", + [ADIS16480_DIAG_STAT_YACCL_FAIL] = "Y-axis accelerometer self-test failure", + [ADIS16480_DIAG_STAT_ZACCL_FAIL] = "Z-axis accelerometer self-test failure", + [ADIS16480_DIAG_STAT_XMAGN_FAIL] = "X-axis magnetometer self-test failure", + [ADIS16480_DIAG_STAT_YMAGN_FAIL] = "Y-axis magnetometer self-test failure", + [ADIS16480_DIAG_STAT_ZMAGN_FAIL] = "Z-axis magnetometer self-test failure", + [ADIS16480_DIAG_STAT_BARO_FAIL] = "Barometer self-test failure", +}; + +static const struct adis_data adis16480_data = { + .diag_stat_reg = ADIS16480_REG_DIAG_STS, + .glob_cmd_reg = ADIS16480_REG_GLOB_CMD, + .has_paging = true, + + .read_delay = 5, + .write_delay = 5, + + .status_error_msgs = adis16480_status_error_msgs, + .status_error_mask = BIT(ADIS16480_DIAG_STAT_XGYRO_FAIL) | + BIT(ADIS16480_DIAG_STAT_YGYRO_FAIL) | + BIT(ADIS16480_DIAG_STAT_ZGYRO_FAIL) | + BIT(ADIS16480_DIAG_STAT_XACCL_FAIL) | + BIT(ADIS16480_DIAG_STAT_YACCL_FAIL) | + BIT(ADIS16480_DIAG_STAT_ZACCL_FAIL) | + BIT(ADIS16480_DIAG_STAT_XMAGN_FAIL) | + BIT(ADIS16480_DIAG_STAT_YMAGN_FAIL) | + BIT(ADIS16480_DIAG_STAT_ZMAGN_FAIL) | + BIT(ADIS16480_DIAG_STAT_BARO_FAIL), + + .enable_irq = adis16480_enable_irq, +}; + +static int adis16480_probe(struct spi_device *spi) +{ + const struct spi_device_id *id = spi_get_device_id(spi); + struct iio_dev *indio_dev; + struct adis16480 *st; + int ret; + + indio_dev = iio_device_alloc(sizeof(*st)); + if (indio_dev == NULL) + return -ENOMEM; + + spi_set_drvdata(spi, indio_dev); + + st = iio_priv(indio_dev); + + st->chip_info = &adis16480_chip_info[id->driver_data]; + indio_dev->dev.parent = &spi->dev; + indio_dev->name = spi_get_device_id(spi)->name; + indio_dev->channels = st->chip_info->channels; + indio_dev->num_channels = st->chip_info->num_channels; + indio_dev->info = &adis16480_info; + indio_dev->modes = INDIO_DIRECT_MODE; + + ret = adis_init(&st->adis, indio_dev, spi, &adis16480_data); + if (ret) + goto error_free_dev; + + ret = adis_setup_buffer_and_trigger(&st->adis, indio_dev, NULL); + if (ret) + goto error_free_dev; + + ret = adis16480_initial_setup(indio_dev); + if (ret) + goto error_cleanup_buffer; + + ret = iio_device_register(indio_dev); + if (ret) + goto error_stop_device; + + adis16480_debugfs_init(indio_dev); + + return 0; + +error_stop_device: + adis16480_stop_device(indio_dev); +error_cleanup_buffer: + adis_cleanup_buffer_and_trigger(&st->adis, indio_dev); +error_free_dev: + iio_device_free(indio_dev); + return ret; +} + +static int adis16480_remove(struct spi_device *spi) +{ + struct iio_dev *indio_dev = spi_get_drvdata(spi); + struct adis16480 *st = iio_priv(indio_dev); + + iio_device_unregister(indio_dev); + adis16480_stop_device(indio_dev); + + adis_cleanup_buffer_and_trigger(&st->adis, indio_dev); + + iio_device_free(indio_dev); + + return 0; +} + +static const struct spi_device_id adis16480_ids[] = { + { "adis16375", ADIS16375 }, + { "adis16480", ADIS16480 }, + { "adis16485", ADIS16485 }, + { "adis16488", ADIS16488 }, + { } +}; +MODULE_DEVICE_TABLE(spi, adis16480_ids); + +static struct spi_driver adis16480_driver = { + .driver = { + .name = "adis16480", + .owner = THIS_MODULE, + }, + .id_table = adis16480_ids, + .probe = adis16480_probe, + .remove = adis16480_remove, +}; +module_spi_driver(adis16480_driver); + +MODULE_AUTHOR("Lars-Peter Clausen "); +MODULE_DESCRIPTION("Analog Devices ADIS16480 IMU driver"); +MODULE_LICENSE("GPL v2"); diff --git a/include/linux/iio/imu/adis.h b/include/linux/iio/imu/adis.h index e82cd0827e91..ff781dca2e9a 100644 --- a/include/linux/iio/imu/adis.h +++ b/include/linux/iio/imu/adis.h @@ -20,6 +20,8 @@ #define ADIS_PAGE_SIZE 0x80 #define ADIS_REG_PAGE_ID 0x00 +struct adis; + /** * struct adis_data - ADIS chip variant specific data * @read_delay: SPI delay for read operations in us @@ -44,6 +46,8 @@ struct adis_data { const char * const *status_error_msgs; unsigned int status_error_mask; + int (*enable_irq)(struct adis *adis, bool enable); + bool has_paging; }; -- cgit