staging:iio:imu ADIS16400 and ADIS16405 driver
Signed-off-by: Manuel Stahl <manuel.stahl@iis.fraunhofer.de> Signed-off-by: Barry Song <Barry.Song@analog.com> Acked-by: Jonathan Cameron <jic23@cam.ac.uk> Signed-off-by: Greg Kroah-Hartman <gregkh@suse.de>
This commit is contained in:
Barry Song
Greg Kroah-Hartman
parent
1e3864e635
commit
a9d26f00b8
|
|
@ -12,3 +12,13 @@ config ADIS16300
|
|||
help
|
||||
Say yes here to build support for Analog Devices adis16300 four degrees
|
||||
of freedom inertial sensor.
|
||||
|
||||
config ADIS16400
|
||||
tristate "Analog Devices ADIS16400/5 IMU SPI driver"
|
||||
depends on SPI
|
||||
select IIO_SW_RING
|
||||
select IIO_RING_BUFFER
|
||||
select IIO_TRIGGER
|
||||
help
|
||||
Say yes here to build support for Analog Devices adis16400/5 triaxial
|
||||
inertial sensor with Magnetometer.
|
||||
|
|
@ -4,3 +4,7 @@
|
|||
adis16300-y := adis16300_core.o
|
||||
adis16300-$(CONFIG_IIO_RING_BUFFER) += adis16300_ring.o adis16300_trigger.o
|
||||
obj-$(CONFIG_ADIS16300) += adis16300.o
|
||||
|
||||
adis16400-y := adis16400_core.o
|
||||
adis16400-$(CONFIG_IIO_RING_BUFFER) += adis16400_ring.o adis16400_trigger.o
|
||||
obj-$(CONFIG_ADIS16400) += adis16400.o
|
||||
|
|
@ -0,0 +1,238 @@
|
|||
/*
|
||||
* adis16400.h support Analog Devices ADIS16400
|
||||
* 3d 18g accelerometers,
|
||||
* 3d gyroscopes,
|
||||
* 3d 2.5gauss magnetometers via SPI
|
||||
*
|
||||
* Copyright (c) 2009 Manuel Stahl <manuel.stahl@iis.fraunhofer.de>
|
||||
* Copyright (c) 2007 Jonathan Cameron <jic23@cam.ac.uk>
|
||||
*
|
||||
* Loosely based upon lis3l02dq.h
|
||||
*
|
||||
* 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.
|
||||
*/
|
||||
|
||||
#ifndef SPI_ADIS16400_H_
|
||||
#define SPI_ADIS16400_H_
|
||||
|
||||
#define ADIS16400_STARTUP_DELAY 220 /* ms */
|
||||
|
||||
#define ADIS16400_READ_REG(a) a
|
||||
#define ADIS16400_WRITE_REG(a) ((a) | 0x80)
|
||||
|
||||
#define ADIS16400_FLASH_CNT 0x00 /* Flash memory write count */
|
||||
#define ADIS16400_SUPPLY_OUT 0x02 /* Power supply measurement */
|
||||
#define ADIS16400_XGYRO_OUT 0x04 /* X-axis gyroscope output */
|
||||
#define ADIS16400_YGYRO_OUT 0x06 /* Y-axis gyroscope output */
|
||||
#define ADIS16400_ZGYRO_OUT 0x08 /* Z-axis gyroscope output */
|
||||
#define ADIS16400_XACCL_OUT 0x0A /* X-axis accelerometer output */
|
||||
#define ADIS16400_YACCL_OUT 0x0C /* Y-axis accelerometer output */
|
||||
#define ADIS16400_ZACCL_OUT 0x0E /* Z-axis accelerometer output */
|
||||
#define ADIS16400_XMAGN_OUT 0x10 /* X-axis magnetometer measurement */
|
||||
#define ADIS16400_YMAGN_OUT 0x12 /* Y-axis magnetometer measurement */
|
||||
#define ADIS16400_ZMAGN_OUT 0x14 /* Z-axis magnetometer measurement */
|
||||
#define ADIS16400_TEMP_OUT 0x16 /* Temperature output */
|
||||
#define ADIS16400_AUX_ADC 0x18 /* Auxiliary ADC measurement */
|
||||
|
||||
/* Calibration parameters */
|
||||
#define ADIS16400_XGYRO_OFF 0x1A /* X-axis gyroscope bias offset factor */
|
||||
#define ADIS16400_YGYRO_OFF 0x1C /* Y-axis gyroscope bias offset factor */
|
||||
#define ADIS16400_ZGYRO_OFF 0x1E /* Z-axis gyroscope bias offset factor */
|
||||
#define ADIS16400_XACCL_OFF 0x20 /* X-axis acceleration bias offset factor */
|
||||
#define ADIS16400_YACCL_OFF 0x22 /* Y-axis acceleration bias offset factor */
|
||||
#define ADIS16400_ZACCL_OFF 0x24 /* Z-axis acceleration bias offset factor */
|
||||
#define ADIS16400_XMAGN_HIF 0x26 /* X-axis magnetometer, hard-iron factor */
|
||||
#define ADIS16400_YMAGN_HIF 0x28 /* Y-axis magnetometer, hard-iron factor */
|
||||
#define ADIS16400_ZMAGN_HIF 0x2A /* Z-axis magnetometer, hard-iron factor */
|
||||
#define ADIS16400_XMAGN_SIF 0x2C /* X-axis magnetometer, soft-iron factor */
|
||||
#define ADIS16400_YMAGN_SIF 0x2E /* Y-axis magnetometer, soft-iron factor */
|
||||
#define ADIS16400_ZMAGN_SIF 0x30 /* Z-axis magnetometer, soft-iron factor */
|
||||
|
||||
#define ADIS16400_GPIO_CTRL 0x32 /* Auxiliary digital input/output control */
|
||||
#define ADIS16400_MSC_CTRL 0x34 /* Miscellaneous control */
|
||||
#define ADIS16400_SMPL_PRD 0x36 /* Internal sample period (rate) control */
|
||||
#define ADIS16400_SENS_AVG 0x38 /* Dynamic range and digital filter control */
|
||||
#define ADIS16400_SLP_CNT 0x3A /* Sleep mode control */
|
||||
#define ADIS16400_DIAG_STAT 0x3C /* System status */
|
||||
|
||||
/* Alarm functions */
|
||||
#define ADIS16400_GLOB_CMD 0x3E /* System command */
|
||||
#define ADIS16400_ALM_MAG1 0x40 /* Alarm 1 amplitude threshold */
|
||||
#define ADIS16400_ALM_MAG2 0x42 /* Alarm 2 amplitude threshold */
|
||||
#define ADIS16400_ALM_SMPL1 0x44 /* Alarm 1 sample size */
|
||||
#define ADIS16400_ALM_SMPL2 0x46 /* Alarm 2 sample size */
|
||||
#define ADIS16400_ALM_CTRL 0x48 /* Alarm control */
|
||||
#define ADIS16400_AUX_DAC 0x4A /* Auxiliary DAC data */
|
||||
|
||||
#define ADIS16400_PRODUCT_ID 0x56 /* Product identifier */
|
||||
#define ADIS16400_PRODUCT_ID_DEFAULT 0x4015 /* Datasheet says 0x4105, I get 0x4015 */
|
||||
|
||||
#define ADIS16400_ERROR_ACTIVE (1<<14)
|
||||
#define ADIS16400_NEW_DATA (1<<14)
|
||||
|
||||
/* MSC_CTRL */
|
||||
#define ADIS16400_MSC_CTRL_MEM_TEST (1<<11)
|
||||
#define ADIS16400_MSC_CTRL_INT_SELF_TEST (1<<10)
|
||||
#define ADIS16400_MSC_CTRL_NEG_SELF_TEST (1<<9)
|
||||
#define ADIS16400_MSC_CTRL_POS_SELF_TEST (1<<8)
|
||||
#define ADIS16400_MSC_CTRL_GYRO_BIAS (1<<7)
|
||||
#define ADIS16400_MSC_CTRL_ACCL_ALIGN (1<<6)
|
||||
#define ADIS16400_MSC_CTRL_DATA_RDY_EN (1<<2)
|
||||
#define ADIS16400_MSC_CTRL_DATA_RDY_POL_HIGH (1<<1)
|
||||
#define ADIS16400_MSC_CTRL_DATA_RDY_DIO2 (1<<0)
|
||||
|
||||
/* SMPL_PRD */
|
||||
#define ADIS16400_SMPL_PRD_TIME_BASE (1<<7)
|
||||
#define ADIS16400_SMPL_PRD_DIV_MASK 0x7F
|
||||
|
||||
/* DIAG_STAT */
|
||||
#define ADIS16400_DIAG_STAT_ZACCL_FAIL (1<<15)
|
||||
#define ADIS16400_DIAG_STAT_YACCL_FAIL (1<<14)
|
||||
#define ADIS16400_DIAG_STAT_XACCL_FAIL (1<<13)
|
||||
#define ADIS16400_DIAG_STAT_XGYRO_FAIL (1<<12)
|
||||
#define ADIS16400_DIAG_STAT_YGYRO_FAIL (1<<11)
|
||||
#define ADIS16400_DIAG_STAT_ZGYRO_FAIL (1<<10)
|
||||
#define ADIS16400_DIAG_STAT_ALARM2 (1<<9)
|
||||
#define ADIS16400_DIAG_STAT_ALARM1 (1<<8)
|
||||
#define ADIS16400_DIAG_STAT_FLASH_CHK (1<<6)
|
||||
#define ADIS16400_DIAG_STAT_SELF_TEST (1<<5)
|
||||
#define ADIS16400_DIAG_STAT_OVERFLOW (1<<4)
|
||||
#define ADIS16400_DIAG_STAT_SPI_FAIL (1<<3)
|
||||
#define ADIS16400_DIAG_STAT_FLASH_UPT (1<<2)
|
||||
#define ADIS16400_DIAG_STAT_POWER_HIGH (1<<1)
|
||||
#define ADIS16400_DIAG_STAT_POWER_LOW (1<<0)
|
||||
|
||||
/* GLOB_CMD */
|
||||
#define ADIS16400_GLOB_CMD_SW_RESET (1<<7)
|
||||
#define ADIS16400_GLOB_CMD_P_AUTO_NULL (1<<4)
|
||||
#define ADIS16400_GLOB_CMD_FLASH_UPD (1<<3)
|
||||
#define ADIS16400_GLOB_CMD_DAC_LATCH (1<<2)
|
||||
#define ADIS16400_GLOB_CMD_FAC_CALIB (1<<1)
|
||||
#define ADIS16400_GLOB_CMD_AUTO_NULL (1<<0)
|
||||
|
||||
/* SLP_CNT */
|
||||
#define ADIS16400_SLP_CNT_POWER_OFF (1<<8)
|
||||
|
||||
#define ADIS16400_MAX_TX 24
|
||||
#define ADIS16400_MAX_RX 24
|
||||
|
||||
#define ADIS16400_SPI_SLOW (u32)(300 * 1000)
|
||||
#define ADIS16400_SPI_BURST (u32)(1000 * 1000)
|
||||
#define ADIS16400_SPI_FAST (u32)(2000 * 1000)
|
||||
|
||||
/**
|
||||
* struct adis16400_state - device instance specific data
|
||||
* @us: actual spi_device
|
||||
* @work_trigger_to_ring: bh for triggered event handling
|
||||
* @work_cont_thresh: CLEAN
|
||||
* @inter: used to check if new interrupt has been triggered
|
||||
* @last_timestamp: passing timestamp from th to bh of interrupt handler
|
||||
* @indio_dev: industrial I/O device structure
|
||||
* @trig: data ready trigger registered with iio
|
||||
* @tx: transmit buffer
|
||||
* @rx: recieve buffer
|
||||
* @buf_lock: mutex to protect tx and rx
|
||||
**/
|
||||
struct adis16400_state {
|
||||
struct spi_device *us;
|
||||
struct work_struct work_trigger_to_ring;
|
||||
struct iio_work_cont work_cont_thresh;
|
||||
s64 last_timestamp;
|
||||
struct iio_dev *indio_dev;
|
||||
struct iio_trigger *trig;
|
||||
u8 *tx;
|
||||
u8 *rx;
|
||||
struct mutex buf_lock;
|
||||
};
|
||||
|
||||
int adis16400_spi_write_reg_8(struct device *dev,
|
||||
u8 reg_address,
|
||||
u8 val);
|
||||
|
||||
int adis16400_spi_read_burst(struct device *dev, u8 *rx);
|
||||
|
||||
int adis16400_spi_read_sequence(struct device *dev,
|
||||
u8 *tx, u8 *rx, int num);
|
||||
|
||||
int adis16400_set_irq(struct device *dev, bool enable);
|
||||
|
||||
int adis16400_reset(struct device *dev);
|
||||
|
||||
int adis16400_stop_device(struct device *dev);
|
||||
|
||||
int adis16400_check_status(struct device *dev);
|
||||
|
||||
#ifdef CONFIG_IIO_RING_BUFFER
|
||||
/* At the moment triggers are only used for ring buffer
|
||||
* filling. This may change!
|
||||
*/
|
||||
|
||||
enum adis16400_scan {
|
||||
ADIS16400_SCAN_SUPPLY,
|
||||
ADIS16400_SCAN_GYRO_X,
|
||||
ADIS16400_SCAN_GYRO_Y,
|
||||
ADIS16400_SCAN_GYRO_Z,
|
||||
ADIS16400_SCAN_ACC_X,
|
||||
ADIS16400_SCAN_ACC_Y,
|
||||
ADIS16400_SCAN_ACC_Z,
|
||||
ADIS16400_SCAN_MAGN_X,
|
||||
ADIS16400_SCAN_MAGN_Y,
|
||||
ADIS16400_SCAN_MAGN_Z,
|
||||
ADIS16400_SCAN_TEMP,
|
||||
ADIS16400_SCAN_ADC_0
|
||||
};
|
||||
|
||||
void adis16400_remove_trigger(struct iio_dev *indio_dev);
|
||||
int adis16400_probe_trigger(struct iio_dev *indio_dev);
|
||||
|
||||
ssize_t adis16400_read_data_from_ring(struct device *dev,
|
||||
struct device_attribute *attr,
|
||||
char *buf);
|
||||
|
||||
|
||||
int adis16400_configure_ring(struct iio_dev *indio_dev);
|
||||
void adis16400_unconfigure_ring(struct iio_dev *indio_dev);
|
||||
|
||||
int adis16400_initialize_ring(struct iio_ring_buffer *ring);
|
||||
void adis16400_uninitialize_ring(struct iio_ring_buffer *ring);
|
||||
#else /* CONFIG_IIO_RING_BUFFER */
|
||||
|
||||
static inline void adis16400_remove_trigger(struct iio_dev *indio_dev)
|
||||
{
|
||||
}
|
||||
|
||||
static inline int adis16400_probe_trigger(struct iio_dev *indio_dev)
|
||||
{
|
||||
return 0;
|
||||
}
|
||||
|
||||
static inline ssize_t
|
||||
adis16400_read_data_from_ring(struct device *dev,
|
||||
struct device_attribute *attr,
|
||||
char *buf)
|
||||
{
|
||||
return 0;
|
||||
}
|
||||
|
||||
static int adis16400_configure_ring(struct iio_dev *indio_dev)
|
||||
{
|
||||
return 0;
|
||||
}
|
||||
|
||||
static inline void adis16400_unconfigure_ring(struct iio_dev *indio_dev)
|
||||
{
|
||||
}
|
||||
|
||||
static inline int adis16400_initialize_ring(struct iio_ring_buffer *ring)
|
||||
{
|
||||
return 0;
|
||||
}
|
||||
|
||||
static inline void adis16400_uninitialize_ring(struct iio_ring_buffer *ring)
|
||||
{
|
||||
}
|
||||
|
||||
#endif /* CONFIG_IIO_RING_BUFFER */
|
||||
#endif /* SPI_ADIS16400_H_ */
|
||||
|
|
@ -0,0 +1,849 @@
|
|||
/*
|
||||
* adis16400.c support Analog Devices ADIS16400/5
|
||||
* 3d 2g Linear Accelerometers,
|
||||
* 3d Gyroscopes,
|
||||
* 3d Magnetometers via SPI
|
||||
*
|
||||
* Copyright (c) 2009 Manuel Stahl <manuel.stahl@iis.fraunhofer.de>
|
||||
* Copyright (c) 2007 Jonathan Cameron <jic23@cam.ac.uk>
|
||||
*
|
||||
* 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 <linux/interrupt.h>
|
||||
#include <linux/irq.h>
|
||||
#include <linux/gpio.h>
|
||||
#include <linux/delay.h>
|
||||
#include <linux/mutex.h>
|
||||
#include <linux/device.h>
|
||||
#include <linux/kernel.h>
|
||||
#include <linux/spi/spi.h>
|
||||
|
||||
#include <linux/sysfs.h>
|
||||
#include <linux/list.h>
|
||||
|
||||
#include "../iio.h"
|
||||
#include "../sysfs.h"
|
||||
#include "../accel/accel.h"
|
||||
#include "../adc/adc.h"
|
||||
#include "../gyro/gyro.h"
|
||||
#include "../magnetometer/magnet.h"
|
||||
|
||||
#include "adis16400.h"
|
||||
|
||||
#define DRIVER_NAME "adis16400"
|
||||
|
||||
/* At the moment the spi framework doesn't allow global setting of cs_change.
|
||||
* It's in the likely to be added comment at the top of spi.h.
|
||||
* This means that use cannot be made of spi_write etc.
|
||||
*/
|
||||
|
||||
/**
|
||||
* adis16400_spi_write_reg_8() - write single byte to a register
|
||||
* @dev: device associated with child of actual device (iio_dev or iio_trig)
|
||||
* @reg_address: the address of the register to be written
|
||||
* @val: the value to write
|
||||
**/
|
||||
int adis16400_spi_write_reg_8(struct device *dev,
|
||||
u8 reg_address,
|
||||
u8 val)
|
||||
{
|
||||
int ret;
|
||||
struct iio_dev *indio_dev = dev_get_drvdata(dev);
|
||||
struct adis16400_state *st = iio_dev_get_devdata(indio_dev);
|
||||
|
||||
mutex_lock(&st->buf_lock);
|
||||
st->tx[0] = ADIS16400_WRITE_REG(reg_address);
|
||||
st->tx[1] = val;
|
||||
|
||||
ret = spi_write(st->us, st->tx, 2);
|
||||
mutex_unlock(&st->buf_lock);
|
||||
|
||||
return ret;
|
||||
}
|
||||
|
||||
/**
|
||||
* adis16400_spi_write_reg_16() - write 2 bytes to a pair of registers
|
||||
* @dev: device associated with child of actual device (iio_dev or iio_trig)
|
||||
* @reg_address: the address of the lower of the two registers. Second register
|
||||
* is assumed to have address one greater.
|
||||
* @val: value to be written
|
||||
**/
|
||||
static int adis16400_spi_write_reg_16(struct device *dev,
|
||||
u8 lower_reg_address,
|
||||
u16 value)
|
||||
{
|
||||
int ret;
|
||||
struct spi_message msg;
|
||||
struct iio_dev *indio_dev = dev_get_drvdata(dev);
|
||||
struct adis16400_state *st = iio_dev_get_devdata(indio_dev);
|
||||
struct spi_transfer xfers[] = {
|
||||
{
|
||||
.tx_buf = st->tx,
|
||||
.bits_per_word = 8,
|
||||
.len = 2,
|
||||
.cs_change = 1,
|
||||
}, {
|
||||
.tx_buf = st->tx + 2,
|
||||
.bits_per_word = 8,
|
||||
.len = 2,
|
||||
.cs_change = 1,
|
||||
},
|
||||
};
|
||||
|
||||
mutex_lock(&st->buf_lock);
|
||||
st->tx[0] = ADIS16400_WRITE_REG(lower_reg_address);
|
||||
st->tx[1] = value & 0xFF;
|
||||
st->tx[2] = ADIS16400_WRITE_REG(lower_reg_address + 1);
|
||||
st->tx[3] = (value >> 8) & 0xFF;
|
||||
|
||||
spi_message_init(&msg);
|
||||
spi_message_add_tail(&xfers[0], &msg);
|
||||
spi_message_add_tail(&xfers[1], &msg);
|
||||
ret = spi_sync(st->us, &msg);
|
||||
mutex_unlock(&st->buf_lock);
|
||||
|
||||
return ret;
|
||||
}
|
||||
|
||||
/**
|
||||
* adis16400_spi_read_reg_16() - read 2 bytes from a 16-bit register
|
||||
* @dev: device associated with child of actual device (iio_dev or iio_trig)
|
||||
* @reg_address: the address of the lower of the two registers. Second register
|
||||
* is assumed to have address one greater.
|
||||
* @val: somewhere to pass back the value read
|
||||
**/
|
||||
static int adis16400_spi_read_reg_16(struct device *dev,
|
||||
u8 lower_reg_address,
|
||||
u16 *val)
|
||||
{
|
||||
struct spi_message msg;
|
||||
struct iio_dev *indio_dev = dev_get_drvdata(dev);
|
||||
struct adis16400_state *st = iio_dev_get_devdata(indio_dev);
|
||||
int ret;
|
||||
struct spi_transfer xfers[] = {
|
||||
{
|
||||
.tx_buf = st->tx,
|
||||
.bits_per_word = 8,
|
||||
.len = 2,
|
||||
.cs_change = 1,
|
||||
}, {
|
||||
.rx_buf = st->rx,
|
||||
.bits_per_word = 8,
|
||||
.len = 2,
|
||||
.cs_change = 1,
|
||||
},
|
||||
};
|
||||
|
||||
mutex_lock(&st->buf_lock);
|
||||
st->tx[0] = ADIS16400_READ_REG(lower_reg_address);
|
||||
st->tx[1] = 0;
|
||||
st->tx[2] = 0;
|
||||
st->tx[3] = 0;
|
||||
|
||||
spi_message_init(&msg);
|
||||
spi_message_add_tail(&xfers[0], &msg);
|
||||
spi_message_add_tail(&xfers[1], &msg);
|
||||
ret = spi_sync(st->us, &msg);
|
||||
if (ret) {
|
||||
dev_err(&st->us->dev,
|
||||
"problem when reading 16 bit register 0x%02X",
|
||||
lower_reg_address);
|
||||
goto error_ret;
|
||||
}
|
||||
*val = (st->rx[0] << 8) | st->rx[1];
|
||||
|
||||
error_ret:
|
||||
mutex_unlock(&st->buf_lock);
|
||||
return ret;
|
||||
}
|
||||
|
||||
/**
|
||||
* adis16400_spi_read_burst() - read all data registers
|
||||
* @dev: device associated with child of actual device (iio_dev or iio_trig)
|
||||
* @rx: somewhere to pass back the value read (min size is 24 bytes)
|
||||
**/
|
||||
int adis16400_spi_read_burst(struct device *dev, u8 *rx)
|
||||
{
|
||||
struct spi_message msg;
|
||||
struct iio_dev *indio_dev = dev_get_drvdata(dev);
|
||||
struct adis16400_state *st = iio_dev_get_devdata(indio_dev);
|
||||
u32 old_speed_hz = st->us->max_speed_hz;
|
||||
int ret;
|
||||
|
||||
struct spi_transfer xfers[] = {
|
||||
{
|
||||
.tx_buf = st->tx,
|
||||
.bits_per_word = 8,
|
||||
.len = 2,
|
||||
.cs_change = 0,
|
||||
}, {
|
||||
.rx_buf = rx,
|
||||
.bits_per_word = 8,
|
||||
.len = 24,
|
||||
.cs_change = 1,
|
||||
},
|
||||
};
|
||||
|
||||
mutex_lock(&st->buf_lock);
|
||||
st->tx[0] = ADIS16400_READ_REG(ADIS16400_GLOB_CMD);
|
||||
st->tx[1] = 0;
|
||||
|
||||
spi_message_init(&msg);
|
||||
spi_message_add_tail(&xfers[0], &msg);
|
||||
spi_message_add_tail(&xfers[1], &msg);
|
||||
|
||||
st->us->max_speed_hz = min(ADIS16400_SPI_BURST, old_speed_hz);
|
||||
spi_setup(st->us);
|
||||
|
||||
ret = spi_sync(st->us, &msg);
|
||||
if (ret)
|
||||
dev_err(&st->us->dev, "problem when burst reading");
|
||||
|
||||
st->us->max_speed_hz = old_speed_hz;
|
||||
spi_setup(st->us);
|
||||
mutex_unlock(&st->buf_lock);
|
||||
return ret;
|
||||
}
|
||||
|
||||
/**
|
||||
* adis16400_spi_read_sequence() - read a sequence of 16-bit registers
|
||||
* @dev: device associated with child of actual device (iio_dev or iio_trig)
|
||||
* @tx: register addresses in bytes 0,2,4,6... (min size is 2*num bytes)
|
||||
* @rx: somewhere to pass back the value read (min size is 2*num bytes)
|
||||
**/
|
||||
int adis16400_spi_read_sequence(struct device *dev,
|
||||
u8 *tx, u8 *rx, int num)
|
||||
{
|
||||
struct spi_message msg;
|
||||
struct spi_transfer *xfers;
|
||||
struct iio_dev *indio_dev = dev_get_drvdata(dev);
|
||||
struct adis16400_state *st = iio_dev_get_devdata(indio_dev);
|
||||
int ret, i;
|
||||
|
||||
xfers = kzalloc(num + 1, GFP_KERNEL);
|
||||
if (xfers == NULL) {
|
||||
dev_err(&st->us->dev, "memory alloc failed");
|
||||
ret = -ENOMEM;
|
||||
goto error_ret;
|
||||
}
|
||||
|
||||
/* tx: |add1|addr2|addr3|...|addrN |zero|
|
||||
* rx: |zero|res1 |res2 |...|resN-1|resN| */
|
||||
spi_message_init(&msg);
|
||||
for (i = 0; i < num + 1; i++) {
|
||||
if (i > 0)
|
||||
xfers[i].rx_buf = st->rx + 2*(i - 1);
|
||||
if (i < num)
|
||||
xfers[i].tx_buf = st->tx + 2*i;
|
||||
xfers[i].bits_per_word = 8;
|
||||
xfers[i].len = 2;
|
||||
xfers[i].cs_change = 1;
|
||||
spi_message_add_tail(&xfers[i], &msg);
|
||||
}
|
||||
|
||||
mutex_lock(&st->buf_lock);
|
||||
|
||||
ret = spi_sync(st->us, &msg);
|
||||
if (ret)
|
||||
dev_err(&st->us->dev, "problem when reading sequence");
|
||||
|
||||
mutex_unlock(&st->buf_lock);
|
||||
kfree(xfers);
|
||||
|
||||
error_ret:
|
||||
return ret;
|
||||
}
|
||||
|
||||
static ssize_t adis16400_spi_read_signed(struct device *dev,
|
||||
struct device_attribute *attr,
|
||||
char *buf,
|
||||
unsigned bits)
|
||||
{
|
||||
int ret;
|
||||
s16 val = 0;
|
||||
unsigned shift = 16 - bits;
|
||||
struct iio_dev_attr *this_attr = to_iio_dev_attr(attr);
|
||||
|
||||
ret = adis16400_spi_read_reg_16(dev, this_attr->address, (u16 *)&val);
|
||||
if (ret)
|
||||
return ret;
|
||||
|
||||
if (val & ADIS16400_ERROR_ACTIVE)
|
||||
adis16400_check_status(dev);
|
||||
val = ((s16)(val << shift) >> shift);
|
||||
return sprintf(buf, "%d\n", val);
|
||||
}
|
||||
|
||||
static ssize_t adis16400_read_12bit_unsigned(struct device *dev,
|
||||
struct device_attribute *attr,
|
||||
char *buf)
|
||||
{
|
||||
int ret;
|
||||
u16 val = 0;
|
||||
struct iio_dev_attr *this_attr = to_iio_dev_attr(attr);
|
||||
|
||||
ret = adis16400_spi_read_reg_16(dev, this_attr->address, &val);
|
||||
if (ret)
|
||||
return ret;
|
||||
|
||||
if (val & ADIS16400_ERROR_ACTIVE)
|
||||
adis16400_check_status(dev);
|
||||
|
||||
return sprintf(buf, "%u\n", val & 0x0FFF);
|
||||
}
|
||||
|
||||
static ssize_t adis16400_read_14bit_signed(struct device *dev,
|
||||
struct device_attribute *attr,
|
||||
char *buf)
|
||||
{
|
||||
struct iio_dev *indio_dev = dev_get_drvdata(dev);
|
||||
ssize_t ret;
|
||||
|
||||
/* Take the iio_dev status lock */
|
||||
mutex_lock(&indio_dev->mlock);
|
||||
ret = adis16400_spi_read_signed(dev, attr, buf, 14);
|
||||
mutex_unlock(&indio_dev->mlock);
|
||||
|
||||
return ret;
|
||||
}
|
||||
|
||||
static ssize_t adis16400_read_12bit_signed(struct device *dev,
|
||||
struct device_attribute *attr,
|
||||
char *buf)
|
||||
{
|
||||
struct iio_dev *indio_dev = dev_get_drvdata(dev);
|
||||
ssize_t ret;
|
||||
|
||||
/* Take the iio_dev status lock */
|
||||
mutex_lock(&indio_dev->mlock);
|
||||
ret = adis16400_spi_read_signed(dev, attr, buf, 12);
|
||||
mutex_unlock(&indio_dev->mlock);
|
||||
|
||||
return ret;
|
||||
}
|
||||
|
||||
|
||||
static ssize_t adis16400_write_16bit(struct device *dev,
|
||||
struct device_attribute *attr,
|
||||
const char *buf,
|
||||
size_t len)
|
||||
{
|
||||
struct iio_dev_attr *this_attr = to_iio_dev_attr(attr);
|
||||
int ret;
|
||||
long val;
|
||||
|
||||
ret = strict_strtol(buf, 10, &val);
|
||||
if (ret)
|
||||
goto error_ret;
|
||||
ret = adis16400_spi_write_reg_16(dev, this_attr->address, val);
|
||||
|
||||
error_ret:
|
||||
return ret ? ret : len;
|
||||
}
|
||||
|
||||
static ssize_t adis16400_read_frequency(struct device *dev,
|
||||
struct device_attribute *attr,
|
||||
char *buf)
|
||||
{
|
||||
int ret, len = 0;
|
||||
u16 t;
|
||||
int sps;
|
||||
ret = adis16400_spi_read_reg_16(dev,
|
||||
ADIS16400_SMPL_PRD,
|
||||
&t);
|
||||
if (ret)
|
||||
return ret;
|
||||
sps = (t & ADIS16400_SMPL_PRD_TIME_BASE) ? 53 : 1638;
|
||||
sps /= (t & ADIS16400_SMPL_PRD_DIV_MASK) + 1;
|
||||
len = sprintf(buf, "%d SPS\n", sps);
|
||||
return len;
|
||||
}
|
||||
|
||||
static ssize_t adis16400_write_frequency(struct device *dev,
|
||||
struct device_attribute *attr,
|
||||
const char *buf,
|
||||
size_t len)
|
||||
{
|
||||
struct iio_dev *indio_dev = dev_get_drvdata(dev);
|
||||
struct adis16400_state *st = iio_dev_get_devdata(indio_dev);
|
||||
long val;
|
||||
int ret;
|
||||
u8 t;
|
||||
|
||||
ret = strict_strtol(buf, 10, &val);
|
||||
if (ret)
|
||||
return ret;
|
||||
|
||||
mutex_lock(&indio_dev->mlock);
|
||||
|
||||
t = (1638 / val);
|
||||
if (t > 0)
|
||||
t--;
|
||||
t &= ADIS16400_SMPL_PRD_DIV_MASK;
|
||||
if ((t & ADIS16400_SMPL_PRD_DIV_MASK) >= 0x0A)
|
||||
st->us->max_speed_hz = ADIS16400_SPI_SLOW;
|
||||
else
|
||||
st->us->max_speed_hz = ADIS16400_SPI_FAST;
|
||||
|
||||
ret = adis16400_spi_write_reg_8(dev,
|
||||
ADIS16400_SMPL_PRD,
|
||||
t);
|
||||
|
||||
mutex_unlock(&indio_dev->mlock);
|
||||
|
||||
return ret ? ret : len;
|
||||
}
|
||||
|
||||
static ssize_t adis16400_write_reset(struct device *dev,
|
||||
struct device_attribute *attr,
|
||||
const char *buf, size_t len)
|
||||
{
|
||||
if (len < 1)
|
||||
return -1;
|
||||
switch (buf[0]) {
|
||||
case '1':
|
||||
case 'y':
|
||||
case 'Y':
|
||||
return adis16400_reset(dev);
|
||||
}
|
||||
return -1;
|
||||
}
|
||||
|
||||
|
||||
|
||||
int adis16400_set_irq(struct device *dev, bool enable)
|
||||
{
|
||||
int ret;
|
||||
u16 msc;
|
||||
ret = adis16400_spi_read_reg_16(dev, ADIS16400_MSC_CTRL, &msc);
|
||||
if (ret)
|
||||
goto error_ret;
|
||||
|
||||
msc |= ADIS16400_MSC_CTRL_DATA_RDY_POL_HIGH;
|
||||
if (enable)
|
||||
msc |= ADIS16400_MSC_CTRL_DATA_RDY_EN;
|
||||
else
|
||||
msc &= ~ADIS16400_MSC_CTRL_DATA_RDY_EN;
|
||||
|
||||
ret = adis16400_spi_write_reg_16(dev, ADIS16400_MSC_CTRL, msc);
|
||||
if (ret)
|
||||
goto error_ret;
|
||||
|
||||
error_ret:
|
||||
return ret;
|
||||
}
|
||||
|
||||
int adis16400_reset(struct device *dev)
|
||||
{
|
||||
int ret;
|
||||
ret = adis16400_spi_write_reg_8(dev,
|
||||
ADIS16400_GLOB_CMD,
|
||||
ADIS16400_GLOB_CMD_SW_RESET);
|
||||
if (ret)
|
||||
dev_err(dev, "problem resetting device");
|
||||
|
||||
return ret;
|
||||
}
|
||||
|
||||
/* Power down the device */
|
||||
int adis16400_stop_device(struct device *dev)
|
||||
{
|
||||
int ret;
|
||||
u16 val = ADIS16400_SLP_CNT_POWER_OFF;
|
||||
|
||||
ret = adis16400_spi_write_reg_16(dev, ADIS16400_SLP_CNT, val);
|
||||
if (ret)
|
||||
dev_err(dev, "problem with turning device off: SLP_CNT");
|
||||
|
||||
return ret;
|
||||
}
|
||||
|
||||
int adis16400_self_test(struct device *dev)
|
||||
{
|
||||
int ret;
|
||||
ret = adis16400_spi_write_reg_16(dev,
|
||||
ADIS16400_MSC_CTRL,
|
||||
ADIS16400_MSC_CTRL_MEM_TEST);
|
||||
if (ret) {
|
||||
dev_err(dev, "problem starting self test");
|
||||
goto err_ret;
|
||||
}
|
||||
|
||||
adis16400_check_status(dev);
|
||||
|
||||
err_ret:
|
||||
return ret;
|
||||
}
|
||||
|
||||
int adis16400_check_status(struct device *dev)
|
||||
{
|
||||
u16 status;
|
||||
int ret;
|
||||
|
||||
ret = adis16400_spi_read_reg_16(dev, ADIS16400_DIAG_STAT, &status);
|
||||
|
||||
if (ret < 0) {
|
||||
dev_err(dev, "Reading status failed\n");
|
||||
goto error_ret;
|
||||
}
|
||||
ret = status;
|
||||
if (status & ADIS16400_DIAG_STAT_ZACCL_FAIL)
|
||||
dev_err(dev, "Z-axis accelerometer self-test failure\n");
|
||||
if (status & ADIS16400_DIAG_STAT_YACCL_FAIL)
|
||||
dev_err(dev, "Y-axis accelerometer self-test failure\n");
|
||||
if (status & ADIS16400_DIAG_STAT_XACCL_FAIL)
|
||||
dev_err(dev, "X-axis accelerometer self-test failure\n");
|
||||
if (status & ADIS16400_DIAG_STAT_XGYRO_FAIL)
|
||||
dev_err(dev, "X-axis gyroscope self-test failure\n");
|
||||
if (status & ADIS16400_DIAG_STAT_YGYRO_FAIL)
|
||||
dev_err(dev, "Y-axis gyroscope self-test failure\n");
|
||||
if (status & ADIS16400_DIAG_STAT_ZGYRO_FAIL)
|
||||
dev_err(dev, "Z-axis gyroscope self-test failure\n");
|
||||
if (status & ADIS16400_DIAG_STAT_ALARM2)
|
||||
dev_err(dev, "Alarm 2 active\n");
|
||||
if (status & ADIS16400_DIAG_STAT_ALARM1)
|
||||
dev_err(dev, "Alarm 1 active\n");
|
||||
if (status & ADIS16400_DIAG_STAT_FLASH_CHK)
|
||||
dev_err(dev, "Flash checksum error\n");
|
||||
if (status & ADIS16400_DIAG_STAT_SELF_TEST)
|
||||
dev_err(dev, "Self test error\n");
|
||||
if (status & ADIS16400_DIAG_STAT_OVERFLOW)
|
||||
dev_err(dev, "Sensor overrange\n");
|
||||
if (status & ADIS16400_DIAG_STAT_SPI_FAIL)
|
||||
dev_err(dev, "SPI failure\n");
|
||||
if (status & ADIS16400_DIAG_STAT_FLASH_UPT)
|
||||
dev_err(dev, "Flash update failed\n");
|
||||
if (status & ADIS16400_DIAG_STAT_POWER_HIGH)
|
||||
dev_err(dev, "Power supply above 5.25V\n");
|
||||
if (status & ADIS16400_DIAG_STAT_POWER_LOW)
|
||||
dev_err(dev, "Power supply below 4.75V\n");
|
||||
|
||||
error_ret:
|
||||
return ret;
|
||||
}
|
||||
|
||||
static int adis16400_initial_setup(struct adis16400_state *st)
|
||||
{
|
||||
int ret;
|
||||
u16 prod_id, smp_prd;
|
||||
struct device *dev = &st->indio_dev->dev;
|
||||
|
||||
/* use low spi speed for init */
|
||||
st->us->max_speed_hz = ADIS16400_SPI_SLOW;
|
||||
st->us->mode = SPI_MODE_3;
|
||||
spi_setup(st->us);
|
||||
|
||||
/* Disable IRQ */
|
||||
ret = adis16400_set_irq(dev, false);
|
||||
if (ret) {
|
||||
dev_err(dev, "disable irq failed");
|
||||
goto err_ret;
|
||||
}
|
||||
|
||||
/* Do self test */
|
||||
|
||||
/* Read status register to check the result */
|
||||
ret = adis16400_check_status(dev);
|
||||
if (ret) {
|
||||
adis16400_reset(dev);
|
||||
dev_err(dev, "device not playing ball -> reset");
|
||||
msleep(ADIS16400_STARTUP_DELAY);
|
||||
ret = adis16400_check_status(dev);
|
||||
if (ret) {
|
||||
dev_err(dev, "giving up");
|
||||
goto err_ret;
|
||||
}
|
||||
}
|
||||
|
||||
ret = adis16400_spi_read_reg_16(dev, ADIS16400_PRODUCT_ID, &prod_id);
|
||||
if (ret)
|
||||
goto err_ret;
|
||||
|
||||
if (prod_id != ADIS16400_PRODUCT_ID_DEFAULT)
|
||||
dev_warn(dev, "unknown product id");
|
||||
|
||||
printk(KERN_INFO DRIVER_NAME ": prod_id 0x%04x at CS%d (irq %d)\n",
|
||||
prod_id, st->us->chip_select, st->us->irq);
|
||||
|
||||
/* use high spi speed if possible */
|
||||
ret = adis16400_spi_read_reg_16(dev, ADIS16400_SMPL_PRD, &smp_prd);
|
||||
if (!ret && (smp_prd & ADIS16400_SMPL_PRD_DIV_MASK) < 0x0A) {
|
||||
st->us->max_speed_hz = ADIS16400_SPI_SLOW;
|
||||
spi_setup(st->us);
|
||||
}
|
||||
|
||||
|
||||
err_ret:
|
||||
|
||||
return ret;
|
||||
}
|
||||
|
||||
static IIO_DEV_ATTR_ACCEL_X_OFFSET(S_IWUSR | S_IRUGO,
|
||||
adis16400_read_12bit_signed,
|
||||
adis16400_write_16bit,
|
||||
ADIS16400_XACCL_OFF);
|
||||
|
||||
static IIO_DEV_ATTR_ACCEL_Y_OFFSET(S_IWUSR | S_IRUGO,
|
||||
adis16400_read_12bit_signed,
|
||||
adis16400_write_16bit,
|
||||
ADIS16400_YACCL_OFF);
|
||||
|
||||
static IIO_DEV_ATTR_ACCEL_Z_OFFSET(S_IWUSR | S_IRUGO,
|
||||
adis16400_read_12bit_signed,
|
||||
adis16400_write_16bit,
|
||||
ADIS16400_ZACCL_OFF);
|
||||
|
||||
static IIO_DEV_ATTR_IN_NAMED_RAW(supply, adis16400_read_14bit_signed,
|
||||
ADIS16400_SUPPLY_OUT);
|
||||
static IIO_CONST_ATTR(in_supply_scale, "0.002418");
|
||||
|
||||
static IIO_DEV_ATTR_GYRO_X(adis16400_read_14bit_signed,
|
||||
ADIS16400_XGYRO_OUT);
|
||||
static IIO_DEV_ATTR_GYRO_Y(adis16400_read_14bit_signed,
|
||||
ADIS16400_YGYRO_OUT);
|
||||
static IIO_DEV_ATTR_GYRO_Z(adis16400_read_14bit_signed,
|
||||
ADIS16400_ZGYRO_OUT);
|
||||
static IIO_CONST_ATTR(gyro_scale, "0.05 deg/s");
|
||||
|
||||
static IIO_DEV_ATTR_ACCEL_X(adis16400_read_14bit_signed,
|
||||
ADIS16400_XACCL_OUT);
|
||||
static IIO_DEV_ATTR_ACCEL_Y(adis16400_read_14bit_signed,
|
||||
ADIS16400_YACCL_OUT);
|
||||
static IIO_DEV_ATTR_ACCEL_Z(adis16400_read_14bit_signed,
|
||||
ADIS16400_ZACCL_OUT);
|
||||
static IIO_CONST_ATTR(accel_scale, "0.00333 g");
|
||||
|
||||
static IIO_DEV_ATTR_MAGN_X(adis16400_read_14bit_signed,
|
||||
ADIS16400_XMAGN_OUT);
|
||||
static IIO_DEV_ATTR_MAGN_Y(adis16400_read_14bit_signed,
|
||||
ADIS16400_YMAGN_OUT);
|
||||
static IIO_DEV_ATTR_MAGN_Z(adis16400_read_14bit_signed,
|
||||
ADIS16400_ZMAGN_OUT);
|
||||
static IIO_CONST_ATTR(magn_scale, "0.0005 Gs");
|
||||
|
||||
|
||||
static IIO_DEV_ATTR_TEMP(adis16400_read_12bit_signed);
|
||||
static IIO_CONST_ATTR(temp_offset, "198.16 K");
|
||||
static IIO_CONST_ATTR(temp_scale, "0.14 K");
|
||||
|
||||
static IIO_DEV_ATTR_IN_RAW(0, adis16400_read_12bit_unsigned,
|
||||
ADIS16400_AUX_ADC);
|
||||
static IIO_CONST_ATTR(in0_scale, "0.000806");
|
||||
|
||||
static IIO_DEV_ATTR_SAMP_FREQ(S_IWUSR | S_IRUGO,
|
||||
adis16400_read_frequency,
|
||||
adis16400_write_frequency);
|
||||
|
||||
static IIO_DEVICE_ATTR(reset, S_IWUSR, NULL, adis16400_write_reset, 0);
|
||||
|
||||
static IIO_CONST_ATTR_AVAIL_SAMP_FREQ("409 546 819 1638");
|
||||
|
||||
static IIO_CONST_ATTR(name, "adis16400");
|
||||
|
||||
static struct attribute *adis16400_event_attributes[] = {
|
||||
NULL
|
||||
};
|
||||
|
||||
static struct attribute_group adis16400_event_attribute_group = {
|
||||
.attrs = adis16400_event_attributes,
|
||||
};
|
||||
|
||||
static struct attribute *adis16400_attributes[] = {
|
||||
&iio_dev_attr_accel_x_offset.dev_attr.attr,
|
||||
&iio_dev_attr_accel_y_offset.dev_attr.attr,
|
||||
&iio_dev_attr_accel_z_offset.dev_attr.attr,
|
||||
&iio_dev_attr_in_supply_raw.dev_attr.attr,
|
||||
&iio_const_attr_in_supply_scale.dev_attr.attr,
|
||||
&iio_dev_attr_gyro_x.dev_attr.attr,
|
||||
&iio_dev_attr_gyro_y.dev_attr.attr,
|
||||
&iio_dev_attr_gyro_z.dev_attr.attr,
|
||||
&iio_const_attr_gyro_scale.dev_attr.attr,
|
||||
&iio_dev_attr_accel_x_raw.dev_attr.attr,
|
||||
&iio_dev_attr_accel_y_raw.dev_attr.attr,
|
||||
&iio_dev_attr_accel_z_raw.dev_attr.attr,
|
||||
&iio_const_attr_accel_scale.dev_attr.attr,
|
||||
&iio_dev_attr_magn_x.dev_attr.attr,
|
||||
&iio_dev_attr_magn_y.dev_attr.attr,
|
||||
&iio_dev_attr_magn_z.dev_attr.attr,
|
||||
&iio_const_attr_magn_scale.dev_attr.attr,
|
||||
&iio_dev_attr_temp.dev_attr.attr,
|
||||
&iio_const_attr_temp_offset.dev_attr.attr,
|
||||
&iio_const_attr_temp_scale.dev_attr.attr,
|
||||
&iio_dev_attr_in0_raw.dev_attr.attr,
|
||||
&iio_const_attr_in0_scale.dev_attr.attr,
|
||||
&iio_dev_attr_sampling_frequency.dev_attr.attr,
|
||||
&iio_const_attr_available_sampling_frequency.dev_attr.attr,
|
||||
&iio_dev_attr_reset.dev_attr.attr,
|
||||
&iio_const_attr_name.dev_attr.attr,
|
||||
NULL
|
||||
};
|
||||
|
||||
static const struct attribute_group adis16400_attribute_group = {
|
||||
.attrs = adis16400_attributes,
|
||||
};
|
||||
|
||||
static int __devinit adis16400_probe(struct spi_device *spi)
|
||||
{
|
||||
int ret, regdone = 0;
|
||||
struct adis16400_state *st = kzalloc(sizeof *st, GFP_KERNEL);
|
||||
if (!st) {
|
||||
ret = -ENOMEM;
|
||||
goto error_ret;
|
||||
}
|
||||
/* this is only used for removal purposes */
|
||||
spi_set_drvdata(spi, st);
|
||||
|
||||
/* Allocate the comms buffers */
|
||||
st->rx = kzalloc(sizeof(*st->rx)*ADIS16400_MAX_RX, GFP_KERNEL);
|
||||
if (st->rx == NULL) {
|
||||
ret = -ENOMEM;
|
||||
goto error_free_st;
|
||||
}
|
||||
st->tx = kzalloc(sizeof(*st->tx)*ADIS16400_MAX_TX, GFP_KERNEL);
|
||||
if (st->tx == NULL) {
|
||||
ret = -ENOMEM;
|
||||
goto error_free_rx;
|
||||
}
|
||||
st->us = spi;
|
||||
mutex_init(&st->buf_lock);
|
||||
/* setup the industrialio driver allocated elements */
|
||||
st->indio_dev = iio_allocate_device();
|
||||
if (st->indio_dev == NULL) {
|
||||
ret = -ENOMEM;
|
||||
goto error_free_tx;
|
||||
}
|
||||
|
||||
st->indio_dev->dev.parent = &spi->dev;
|
||||
st->indio_dev->num_interrupt_lines = 1;
|
||||
st->indio_dev->event_attrs = &adis16400_event_attribute_group;
|
||||
st->indio_dev->attrs = &adis16400_attribute_group;
|
||||
st->indio_dev->dev_data = (void *)(st);
|
||||
st->indio_dev->driver_module = THIS_MODULE;
|
||||
st->indio_dev->modes = INDIO_DIRECT_MODE;
|
||||
|
||||
ret = adis16400_configure_ring(st->indio_dev);
|
||||
if (ret)
|
||||
goto error_free_dev;
|
||||
|
||||
ret = iio_device_register(st->indio_dev);
|
||||
if (ret)
|
||||
goto error_unreg_ring_funcs;
|
||||
regdone = 1;
|
||||
|
||||
ret = adis16400_initialize_ring(st->indio_dev->ring);
|
||||
if (ret) {
|
||||
printk(KERN_ERR "failed to initialize the ring\n");
|
||||
goto error_unreg_ring_funcs;
|
||||
}
|
||||
|
||||
if (spi->irq && gpio_is_valid(irq_to_gpio(spi->irq)) > 0) {
|
||||
#if 0 /* fixme: here we should support */
|
||||
iio_init_work_cont(&st->work_cont_thresh,
|
||||
NULL,
|
||||
adis16400_thresh_handler_bh_no_check,
|
||||
0,
|
||||
0,
|
||||
st);
|
||||
#endif
|
||||
ret = iio_register_interrupt_line(spi->irq,
|
||||
st->indio_dev,
|
||||
0,
|
||||
IRQF_TRIGGER_RISING,
|
||||
"adis16400");
|
||||
if (ret)
|
||||
goto error_uninitialize_ring;
|
||||
|
||||
ret = adis16400_probe_trigger(st->indio_dev);
|
||||
if (ret)
|
||||
goto error_unregister_line;
|
||||
}
|
||||
|
||||
/* Get the device into a sane initial state */
|
||||
ret = adis16400_initial_setup(st);
|
||||
if (ret)
|
||||
goto error_remove_trigger;
|
||||
return 0;
|
||||
|
||||
error_remove_trigger:
|
||||
if (st->indio_dev->modes & INDIO_RING_TRIGGERED)
|
||||
adis16400_remove_trigger(st->indio_dev);
|
||||
error_unregister_line:
|
||||
if (st->indio_dev->modes & INDIO_RING_TRIGGERED)
|
||||
iio_unregister_interrupt_line(st->indio_dev, 0);
|
||||
error_uninitialize_ring:
|
||||
adis16400_uninitialize_ring(st->indio_dev->ring);
|
||||
error_unreg_ring_funcs:
|
||||
adis16400_unconfigure_ring(st->indio_dev);
|
||||
error_free_dev:
|
||||
if (regdone)
|
||||
iio_device_unregister(st->indio_dev);
|
||||
else
|
||||
iio_free_device(st->indio_dev);
|
||||
error_free_tx:
|
||||
kfree(st->tx);
|
||||
error_free_rx:
|
||||
kfree(st->rx);
|
||||
error_free_st:
|
||||
kfree(st);
|
||||
error_ret:
|
||||
return ret;
|
||||
}
|
||||
|
||||
/* fixme, confirm ordering in this function */
|
||||
static int adis16400_remove(struct spi_device *spi)
|
||||
{
|
||||
int ret;
|
||||
struct adis16400_state *st = spi_get_drvdata(spi);
|
||||
struct iio_dev *indio_dev = st->indio_dev;
|
||||
|
||||
ret = adis16400_stop_device(&(indio_dev->dev));
|
||||
if (ret)
|
||||
goto err_ret;
|
||||
|
||||
flush_scheduled_work();
|
||||
|
||||
adis16400_remove_trigger(indio_dev);
|
||||
if (spi->irq && gpio_is_valid(irq_to_gpio(spi->irq)) > 0)
|
||||
iio_unregister_interrupt_line(indio_dev, 0);
|
||||
|
||||
adis16400_uninitialize_ring(indio_dev->ring);
|
||||
adis16400_unconfigure_ring(indio_dev);
|
||||
iio_device_unregister(indio_dev);
|
||||
kfree(st->tx);
|
||||
kfree(st->rx);
|
||||
kfree(st);
|
||||
|
||||
return 0;
|
||||
|
||||
err_ret:
|
||||
return ret;
|
||||
}
|
||||
|
||||
static struct spi_driver adis16400_driver = {
|
||||
.driver = {
|
||||
.name = "adis16400",
|
||||
.owner = THIS_MODULE,
|
||||
},
|
||||
.probe = adis16400_probe,
|
||||
.remove = __devexit_p(adis16400_remove),
|
||||
};
|
||||
|
||||
static __init int adis16400_init(void)
|
||||
{
|
||||
return spi_register_driver(&adis16400_driver);
|
||||
}
|
||||
module_init(adis16400_init);
|
||||
|
||||
static __exit void adis16400_exit(void)
|
||||
{
|
||||
spi_unregister_driver(&adis16400_driver);
|
||||
}
|
||||
module_exit(adis16400_exit);
|
||||
|
||||
MODULE_AUTHOR("Manuel Stahl <manuel.stahl@iis.fraunhofer.de>");
|
||||
MODULE_DESCRIPTION("Analog Devices ADIS16400/5 IMU SPI driver");
|
||||
MODULE_LICENSE("GPL v2");
|
||||
|
|
@ -0,0 +1,245 @@
|
|||
#include <linux/interrupt.h>
|
||||
#include <linux/irq.h>
|
||||
#include <linux/gpio.h>
|
||||
#include <linux/workqueue.h>
|
||||
#include <linux/mutex.h>
|
||||
#include <linux/device.h>
|
||||
#include <linux/kernel.h>
|
||||
#include <linux/spi/spi.h>
|
||||
#include <linux/sysfs.h>
|
||||
#include <linux/list.h>
|
||||
|
||||
#include "../iio.h"
|
||||
#include "../sysfs.h"
|
||||
#include "../ring_sw.h"
|
||||
#include "../accel/accel.h"
|
||||
#include "../trigger.h"
|
||||
#include "adis16400.h"
|
||||
|
||||
/**
|
||||
* combine_8_to_16() utility function to munge to u8s into u16
|
||||
**/
|
||||
static inline u16 combine_8_to_16(u8 lower, u8 upper)
|
||||
{
|
||||
u16 _lower = lower;
|
||||
u16 _upper = upper;
|
||||
return _lower | (_upper << 8);
|
||||
}
|
||||
|
||||
static IIO_SCAN_EL_C(supply, ADIS16400_SCAN_SUPPLY, IIO_SIGNED(14),
|
||||
ADIS16400_SUPPLY_OUT, NULL);
|
||||
|
||||
static IIO_SCAN_EL_C(gyro_x, ADIS16400_SCAN_GYRO_X, IIO_SIGNED(14),
|
||||
ADIS16400_XGYRO_OUT, NULL);
|
||||
static IIO_SCAN_EL_C(gyro_y, ADIS16400_SCAN_GYRO_Y, IIO_SIGNED(14),
|
||||
ADIS16400_YGYRO_OUT, NULL);
|
||||
static IIO_SCAN_EL_C(gyro_z, ADIS16400_SCAN_GYRO_Z, IIO_SIGNED(14),
|
||||
ADIS16400_ZGYRO_OUT, NULL);
|
||||
|
||||
static IIO_SCAN_EL_C(accel_x, ADIS16400_SCAN_ACC_X, IIO_SIGNED(14),
|
||||
ADIS16400_XACCL_OUT, NULL);
|
||||
static IIO_SCAN_EL_C(accel_y, ADIS16400_SCAN_ACC_Y, IIO_SIGNED(14),
|
||||
ADIS16400_YACCL_OUT, NULL);
|
||||
static IIO_SCAN_EL_C(accel_z, ADIS16400_SCAN_ACC_Z, IIO_SIGNED(14),
|
||||
ADIS16400_ZACCL_OUT, NULL);
|
||||
|
||||
static IIO_SCAN_EL_C(magn_x, ADIS16400_SCAN_MAGN_X, IIO_SIGNED(14),
|
||||
ADIS16400_XMAGN_OUT, NULL);
|
||||
static IIO_SCAN_EL_C(magn_y, ADIS16400_SCAN_MAGN_Y, IIO_SIGNED(14),
|
||||
ADIS16400_YMAGN_OUT, NULL);
|
||||
static IIO_SCAN_EL_C(magn_z, ADIS16400_SCAN_MAGN_Z, IIO_SIGNED(14),
|
||||
ADIS16400_ZMAGN_OUT, NULL);
|
||||
|
||||
static IIO_SCAN_EL_C(temp, ADIS16400_SCAN_TEMP, IIO_SIGNED(12),
|
||||
ADIS16400_TEMP_OUT, NULL);
|
||||
static IIO_SCAN_EL_C(adc_0, ADIS16400_SCAN_ADC_0, IIO_SIGNED(12),
|
||||
ADIS16400_AUX_ADC, NULL);
|
||||
|
||||
static IIO_SCAN_EL_TIMESTAMP(12);
|
||||
|
||||
static struct attribute *adis16400_scan_el_attrs[] = {
|
||||
&iio_scan_el_supply.dev_attr.attr,
|
||||
&iio_scan_el_gyro_x.dev_attr.attr,
|
||||
&iio_scan_el_gyro_y.dev_attr.attr,
|
||||
&iio_scan_el_gyro_z.dev_attr.attr,
|
||||
&iio_scan_el_accel_x.dev_attr.attr,
|
||||
&iio_scan_el_accel_y.dev_attr.attr,
|
||||
&iio_scan_el_accel_z.dev_attr.attr,
|
||||
&iio_scan_el_magn_x.dev_attr.attr,
|
||||
&iio_scan_el_magn_y.dev_attr.attr,
|
||||
&iio_scan_el_magn_z.dev_attr.attr,
|
||||
&iio_scan_el_temp.dev_attr.attr,
|
||||
&iio_scan_el_adc_0.dev_attr.attr,
|
||||
&iio_scan_el_timestamp.dev_attr.attr,
|
||||
NULL,
|
||||
};
|
||||
|
||||
static struct attribute_group adis16400_scan_el_group = {
|
||||
.attrs = adis16400_scan_el_attrs,
|
||||
.name = "scan_elements",
|
||||
};
|
||||
|
||||
/**
|
||||
* adis16400_poll_func_th() top half interrupt handler called by trigger
|
||||
* @private_data: iio_dev
|
||||
**/
|
||||
static void adis16400_poll_func_th(struct iio_dev *indio_dev)
|
||||
{
|
||||
struct adis16400_state *st = iio_dev_get_devdata(indio_dev);
|
||||
st->last_timestamp = indio_dev->trig->timestamp;
|
||||
schedule_work(&st->work_trigger_to_ring);
|
||||
/* Indicate that this interrupt is being handled */
|
||||
|
||||
/* Technically this is trigger related, but without this
|
||||
* handler running there is currently no way for the interrupt
|
||||
* to clear.
|
||||
*/
|
||||
}
|
||||
|
||||
/* Whilst this makes a lot of calls to iio_sw_ring functions - it is to device
|
||||
* specific to be rolled into the core.
|
||||
*/
|
||||
static void adis16400_trigger_bh_to_ring(struct work_struct *work_s)
|
||||
{
|
||||
struct adis16400_state *st
|
||||
= container_of(work_s, struct adis16400_state,
|
||||
work_trigger_to_ring);
|
||||
|
||||
int i = 0;
|
||||
s16 *data;
|
||||
size_t datasize = st->indio_dev
|
||||
->ring->access.get_bpd(st->indio_dev->ring);
|
||||
|
||||
data = kmalloc(datasize , GFP_KERNEL);
|
||||
if (data == NULL) {
|
||||
dev_err(&st->us->dev, "memory alloc failed in ring bh");
|
||||
return;
|
||||
}
|
||||
|
||||
if (st->indio_dev->scan_count)
|
||||
if (adis16400_spi_read_burst(&st->indio_dev->dev, st->rx) >= 0)
|
||||
for (; i < st->indio_dev->scan_count; i++) {
|
||||
data[i] = combine_8_to_16(st->rx[i*2+1],
|
||||
st->rx[i*2]);
|
||||
}
|
||||
|
||||
/* Guaranteed to be aligned with 8 byte boundary */
|
||||
if (st->indio_dev->scan_timestamp)
|
||||
*((s64 *)(data + ((i + 3)/4)*4)) = st->last_timestamp;
|
||||
|
||||
st->indio_dev->ring->access.store_to(st->indio_dev->ring,
|
||||
(u8 *)data,
|
||||
st->last_timestamp);
|
||||
|
||||
iio_trigger_notify_done(st->indio_dev->trig);
|
||||
kfree(data);
|
||||
|
||||
return;
|
||||
}
|
||||
/* in these circumstances is it better to go with unaligned packing and
|
||||
* deal with the cost?*/
|
||||
static int adis16400_data_rdy_ring_preenable(struct iio_dev *indio_dev)
|
||||
{
|
||||
size_t size;
|
||||
dev_dbg(&indio_dev->dev, "%s\n", __func__);
|
||||
/* Check if there are any scan elements enabled, if not fail*/
|
||||
if (!(indio_dev->scan_count || indio_dev->scan_timestamp))
|
||||
return -EINVAL;
|
||||
|
||||
if (indio_dev->ring->access.set_bpd) {
|
||||
if (indio_dev->scan_timestamp)
|
||||
if (indio_dev->scan_count) /* Timestamp and data */
|
||||
size = 6*sizeof(s64);
|
||||
else /* Timestamp only */
|
||||
size = sizeof(s64);
|
||||
else /* Data only */
|
||||
size = indio_dev->scan_count*sizeof(s16);
|
||||
indio_dev->ring->access.set_bpd(indio_dev->ring, size);
|
||||
}
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
static int adis16400_data_rdy_ring_postenable(struct iio_dev *indio_dev)
|
||||
{
|
||||
return indio_dev->trig
|
||||
? iio_trigger_attach_poll_func(indio_dev->trig,
|
||||
indio_dev->pollfunc)
|
||||
: 0;
|
||||
}
|
||||
|
||||
static int adis16400_data_rdy_ring_predisable(struct iio_dev *indio_dev)
|
||||
{
|
||||
return indio_dev->trig
|
||||
? iio_trigger_dettach_poll_func(indio_dev->trig,
|
||||
indio_dev->pollfunc)
|
||||
: 0;
|
||||
}
|
||||
|
||||
void adis16400_unconfigure_ring(struct iio_dev *indio_dev)
|
||||
{
|
||||
kfree(indio_dev->pollfunc);
|
||||
iio_sw_rb_free(indio_dev->ring);
|
||||
}
|
||||
|
||||
int adis16400_configure_ring(struct iio_dev *indio_dev)
|
||||
{
|
||||
int ret = 0;
|
||||
struct adis16400_state *st = indio_dev->dev_data;
|
||||
struct iio_ring_buffer *ring;
|
||||
INIT_WORK(&st->work_trigger_to_ring, adis16400_trigger_bh_to_ring);
|
||||
/* Set default scan mode */
|
||||
|
||||
iio_scan_mask_set(indio_dev, iio_scan_el_supply.number);
|
||||
iio_scan_mask_set(indio_dev, iio_scan_el_gyro_x.number);
|
||||
iio_scan_mask_set(indio_dev, iio_scan_el_gyro_y.number);
|
||||
iio_scan_mask_set(indio_dev, iio_scan_el_gyro_z.number);
|
||||
iio_scan_mask_set(indio_dev, iio_scan_el_accel_x.number);
|
||||
iio_scan_mask_set(indio_dev, iio_scan_el_accel_y.number);
|
||||
iio_scan_mask_set(indio_dev, iio_scan_el_accel_z.number);
|
||||
iio_scan_mask_set(indio_dev, iio_scan_el_magn_x.number);
|
||||
iio_scan_mask_set(indio_dev, iio_scan_el_magn_y.number);
|
||||
iio_scan_mask_set(indio_dev, iio_scan_el_magn_z.number);
|
||||
iio_scan_mask_set(indio_dev, iio_scan_el_temp.number);
|
||||
iio_scan_mask_set(indio_dev, iio_scan_el_adc_0.number);
|
||||
indio_dev->scan_timestamp = true;
|
||||
|
||||
indio_dev->scan_el_attrs = &adis16400_scan_el_group;
|
||||
|
||||
ring = iio_sw_rb_allocate(indio_dev);
|
||||
if (!ring) {
|
||||
ret = -ENOMEM;
|
||||
return ret;
|
||||
}
|
||||
indio_dev->ring = ring;
|
||||
/* Effectively select the ring buffer implementation */
|
||||
iio_ring_sw_register_funcs(&ring->access);
|
||||
ring->preenable = &adis16400_data_rdy_ring_preenable;
|
||||
ring->postenable = &adis16400_data_rdy_ring_postenable;
|
||||
ring->predisable = &adis16400_data_rdy_ring_predisable;
|
||||
ring->owner = THIS_MODULE;
|
||||
|
||||
indio_dev->pollfunc = kzalloc(sizeof(*indio_dev->pollfunc), GFP_KERNEL);
|
||||
if (indio_dev->pollfunc == NULL) {
|
||||
ret = -ENOMEM;
|
||||
goto error_iio_sw_rb_free;;
|
||||
}
|
||||
indio_dev->pollfunc->poll_func_main = &adis16400_poll_func_th;
|
||||
indio_dev->pollfunc->private_data = indio_dev;
|
||||
indio_dev->modes |= INDIO_RING_TRIGGERED;
|
||||
return 0;
|
||||
|
||||
error_iio_sw_rb_free:
|
||||
iio_sw_rb_free(indio_dev->ring);
|
||||
return ret;
|
||||
}
|
||||
|
||||
int adis16400_initialize_ring(struct iio_ring_buffer *ring)
|
||||
{
|
||||
return iio_ring_buffer_register(ring, 0);
|
||||
}
|
||||
|
||||
void adis16400_uninitialize_ring(struct iio_ring_buffer *ring)
|
||||
{
|
||||
iio_ring_buffer_unregister(ring);
|
||||
}
|
||||
|
|
@ -0,0 +1,127 @@
|
|||
#include <linux/interrupt.h>
|
||||
#include <linux/irq.h>
|
||||
#include <linux/mutex.h>
|
||||
#include <linux/device.h>
|
||||
#include <linux/kernel.h>
|
||||
#include <linux/sysfs.h>
|
||||
#include <linux/list.h>
|
||||
#include <linux/spi/spi.h>
|
||||
|
||||
#include "../iio.h"
|
||||
#include "../sysfs.h"
|
||||
#include "../trigger.h"
|
||||
#include "adis16400.h"
|
||||
|
||||
/**
|
||||
* adis16400_data_rdy_trig_poll() the event handler for the data rdy trig
|
||||
**/
|
||||
static int adis16400_data_rdy_trig_poll(struct iio_dev *dev_info,
|
||||
int index,
|
||||
s64 timestamp,
|
||||
int no_test)
|
||||
{
|
||||
struct adis16400_state *st = iio_dev_get_devdata(dev_info);
|
||||
struct iio_trigger *trig = st->trig;
|
||||
|
||||
trig->timestamp = timestamp;
|
||||
iio_trigger_poll(trig);
|
||||
|
||||
return IRQ_HANDLED;
|
||||
}
|
||||
|
||||
IIO_EVENT_SH(data_rdy_trig, &adis16400_data_rdy_trig_poll);
|
||||
|
||||
static DEVICE_ATTR(name, S_IRUGO, iio_trigger_read_name, NULL);
|
||||
|
||||
static struct attribute *adis16400_trigger_attrs[] = {
|
||||
&dev_attr_name.attr,
|
||||
NULL,
|
||||
};
|
||||
|
||||
static const struct attribute_group adis16400_trigger_attr_group = {
|
||||
.attrs = adis16400_trigger_attrs,
|
||||
};
|
||||
|
||||
/**
|
||||
* adis16400_data_rdy_trigger_set_state() set datardy interrupt state
|
||||
**/
|
||||
static int adis16400_data_rdy_trigger_set_state(struct iio_trigger *trig,
|
||||
bool state)
|
||||
{
|
||||
struct adis16400_state *st = trig->private_data;
|
||||
struct iio_dev *indio_dev = st->indio_dev;
|
||||
int ret = 0;
|
||||
|
||||
dev_dbg(&indio_dev->dev, "%s (%d)\n", __func__, state);
|
||||
ret = adis16400_set_irq(&st->indio_dev->dev, state);
|
||||
if (state == false) {
|
||||
iio_remove_event_from_list(&iio_event_data_rdy_trig,
|
||||
&indio_dev->interrupts[0]
|
||||
->ev_list);
|
||||
/* possible quirk with handler currently worked around
|
||||
by ensuring the work queue is empty */
|
||||
flush_scheduled_work();
|
||||
} else {
|
||||
iio_add_event_to_list(&iio_event_data_rdy_trig,
|
||||
&indio_dev->interrupts[0]->ev_list);
|
||||
}
|
||||
return ret;
|
||||
}
|
||||
|
||||
/**
|
||||
* adis16400_trig_try_reen() try renabling irq for data rdy trigger
|
||||
* @trig: the datardy trigger
|
||||
**/
|
||||
static int adis16400_trig_try_reen(struct iio_trigger *trig)
|
||||
{
|
||||
struct adis16400_state *st = trig->private_data;
|
||||
enable_irq(st->us->irq);
|
||||
/* irq reenabled so success! */
|
||||
return 0;
|
||||
}
|
||||
|
||||
int adis16400_probe_trigger(struct iio_dev *indio_dev)
|
||||
{
|
||||
int ret;
|
||||
struct adis16400_state *st = indio_dev->dev_data;
|
||||
|
||||
st->trig = iio_allocate_trigger();
|
||||
st->trig->name = kmalloc(IIO_TRIGGER_NAME_LENGTH, GFP_KERNEL);
|
||||
if (!st->trig->name) {
|
||||
ret = -ENOMEM;
|
||||
goto error_free_trig;
|
||||
}
|
||||
snprintf((char *)st->trig->name,
|
||||
IIO_TRIGGER_NAME_LENGTH,
|
||||
"adis16400-dev%d", indio_dev->id);
|
||||
st->trig->dev.parent = &st->us->dev;
|
||||
st->trig->owner = THIS_MODULE;
|
||||
st->trig->private_data = st;
|
||||
st->trig->set_trigger_state = &adis16400_data_rdy_trigger_set_state;
|
||||
st->trig->try_reenable = &adis16400_trig_try_reen;
|
||||
st->trig->control_attrs = &adis16400_trigger_attr_group;
|
||||
ret = iio_trigger_register(st->trig);
|
||||
|
||||
/* select default trigger */
|
||||
indio_dev->trig = st->trig;
|
||||
if (ret)
|
||||
goto error_free_trig_name;
|
||||
|
||||
return 0;
|
||||
|
||||
error_free_trig_name:
|
||||
kfree(st->trig->name);
|
||||
error_free_trig:
|
||||
iio_free_trigger(st->trig);
|
||||
|
||||
return ret;
|
||||
}
|
||||
|
||||
void adis16400_remove_trigger(struct iio_dev *indio_dev)
|
||||
{
|
||||
struct adis16400_state *state = indio_dev->dev_data;
|
||||
|
||||
iio_trigger_unregister(state->trig);
|
||||
kfree(state->trig->name);
|
||||
iio_free_trigger(state->trig);
|
||||
}
|
||||
|
|
@ -0,0 +1,31 @@
|
|||
|
||||
#include "../sysfs.h"
|
||||
|
||||
/* Magnetometer types of attribute */
|
||||
|
||||
#define IIO_DEV_ATTR_MAGN_X_OFFSET(_mode, _show, _store, _addr) \
|
||||
IIO_DEVICE_ATTR(magn_x_offset, _mode, _show, _store, _addr)
|
||||
|
||||
#define IIO_DEV_ATTR_MAGN_Y_OFFSET(_mode, _show, _store, _addr) \
|
||||
IIO_DEVICE_ATTR(magn_y_offset, _mode, _show, _store, _addr)
|
||||
|
||||
#define IIO_DEV_ATTR_MAGN_Z_OFFSET(_mode, _show, _store, _addr) \
|
||||
IIO_DEVICE_ATTR(magn_z_offset, _mode, _show, _store, _addr)
|
||||
|
||||
#define IIO_DEV_ATTR_MAGN_X_GAIN(_mode, _show, _store, _addr) \
|
||||
IIO_DEVICE_ATTR(magn_x_gain, _mode, _show, _store, _addr)
|
||||
|
||||
#define IIO_DEV_ATTR_MAGN_Y_GAIN(_mode, _show, _store, _addr) \
|
||||
IIO_DEVICE_ATTR(magn_y_gain, _mode, _show, _store, _addr)
|
||||
|
||||
#define IIO_DEV_ATTR_MAGN_Z_GAIN(_mode, _show, _store, _addr) \
|
||||
IIO_DEVICE_ATTR(magn_z_gain, _mode, _show, _store, _addr)
|
||||
|
||||
#define IIO_DEV_ATTR_MAGN_X(_show, _addr) \
|
||||
IIO_DEVICE_ATTR(magn_x, S_IRUGO, _show, NULL, _addr)
|
||||
|
||||
#define IIO_DEV_ATTR_MAGN_Y(_show, _addr) \
|
||||
IIO_DEVICE_ATTR(magn_y, S_IRUGO, _show, NULL, _addr)
|
||||
|
||||
#define IIO_DEV_ATTR_MAGN_Z(_show, _addr) \
|
||||
IIO_DEVICE_ATTR(magn_z, S_IRUGO, _show, NULL, _addr)
|
||||
Loading…
Reference in New Issue