diff options
author | Barry Song <Barry.Song@analog.com> | 2010-05-04 09:43:15 -0400 |
---|---|---|
committer | Greg Kroah-Hartman <gregkh@suse.de> | 2010-05-11 14:36:06 -0400 |
commit | a9d26f00b8b1b2a79e42cfa4ca20ec9a1c11c1d2 (patch) | |
tree | 8137bf4691da0ad7d11d3fb2d44d146d7bf9f47f | |
parent | 1e3864e63576e33dd1b26ab750ffaab3066aaba9 (diff) |
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>
-rw-r--r-- | drivers/staging/iio/imu/Kconfig | 10 | ||||
-rw-r--r-- | drivers/staging/iio/imu/Makefile | 4 | ||||
-rw-r--r-- | drivers/staging/iio/imu/adis16400.h | 238 | ||||
-rw-r--r-- | drivers/staging/iio/imu/adis16400_core.c | 849 | ||||
-rw-r--r-- | drivers/staging/iio/imu/adis16400_ring.c | 245 | ||||
-rw-r--r-- | drivers/staging/iio/imu/adis16400_trigger.c | 127 | ||||
-rw-r--r-- | drivers/staging/iio/magnetometer/magnet.h | 31 |
7 files changed, 1504 insertions, 0 deletions
diff --git a/drivers/staging/iio/imu/Kconfig b/drivers/staging/iio/imu/Kconfig index 3fe47161e76..411804f11a7 100644 --- a/drivers/staging/iio/imu/Kconfig +++ b/drivers/staging/iio/imu/Kconfig | |||
@@ -12,3 +12,13 @@ config ADIS16300 | |||
12 | help | 12 | help |
13 | Say yes here to build support for Analog Devices adis16300 four degrees | 13 | Say yes here to build support for Analog Devices adis16300 four degrees |
14 | of freedom inertial sensor. | 14 | of freedom inertial sensor. |
15 | |||
16 | config ADIS16400 | ||
17 | tristate "Analog Devices ADIS16400/5 IMU SPI driver" | ||
18 | depends on SPI | ||
19 | select IIO_SW_RING | ||
20 | select IIO_RING_BUFFER | ||
21 | select IIO_TRIGGER | ||
22 | help | ||
23 | Say yes here to build support for Analog Devices adis16400/5 triaxial | ||
24 | inertial sensor with Magnetometer. \ No newline at end of file | ||
diff --git a/drivers/staging/iio/imu/Makefile b/drivers/staging/iio/imu/Makefile index 4cd5984137b..de454dd08c6 100644 --- a/drivers/staging/iio/imu/Makefile +++ b/drivers/staging/iio/imu/Makefile | |||
@@ -4,3 +4,7 @@ | |||
4 | adis16300-y := adis16300_core.o | 4 | adis16300-y := adis16300_core.o |
5 | adis16300-$(CONFIG_IIO_RING_BUFFER) += adis16300_ring.o adis16300_trigger.o | 5 | adis16300-$(CONFIG_IIO_RING_BUFFER) += adis16300_ring.o adis16300_trigger.o |
6 | obj-$(CONFIG_ADIS16300) += adis16300.o | 6 | obj-$(CONFIG_ADIS16300) += adis16300.o |
7 | |||
8 | adis16400-y := adis16400_core.o | ||
9 | adis16400-$(CONFIG_IIO_RING_BUFFER) += adis16400_ring.o adis16400_trigger.o | ||
10 | obj-$(CONFIG_ADIS16400) += adis16400.o \ No newline at end of file | ||
diff --git a/drivers/staging/iio/imu/adis16400.h b/drivers/staging/iio/imu/adis16400.h new file mode 100644 index 00000000000..a8062f60579 --- /dev/null +++ b/drivers/staging/iio/imu/adis16400.h | |||
@@ -0,0 +1,238 @@ | |||
1 | /* | ||
2 | * adis16400.h support Analog Devices ADIS16400 | ||
3 | * 3d 18g accelerometers, | ||
4 | * 3d gyroscopes, | ||
5 | * 3d 2.5gauss magnetometers via SPI | ||
6 | * | ||
7 | * Copyright (c) 2009 Manuel Stahl <manuel.stahl@iis.fraunhofer.de> | ||
8 | * Copyright (c) 2007 Jonathan Cameron <jic23@cam.ac.uk> | ||
9 | * | ||
10 | * Loosely based upon lis3l02dq.h | ||
11 | * | ||
12 | * This program is free software; you can redistribute it and/or modify | ||
13 | * it under the terms of the GNU General Public License version 2 as | ||
14 | * published by the Free Software Foundation. | ||
15 | */ | ||
16 | |||
17 | #ifndef SPI_ADIS16400_H_ | ||
18 | #define SPI_ADIS16400_H_ | ||
19 | |||
20 | #define ADIS16400_STARTUP_DELAY 220 /* ms */ | ||
21 | |||
22 | #define ADIS16400_READ_REG(a) a | ||
23 | #define ADIS16400_WRITE_REG(a) ((a) | 0x80) | ||
24 | |||
25 | #define ADIS16400_FLASH_CNT 0x00 /* Flash memory write count */ | ||
26 | #define ADIS16400_SUPPLY_OUT 0x02 /* Power supply measurement */ | ||
27 | #define ADIS16400_XGYRO_OUT 0x04 /* X-axis gyroscope output */ | ||
28 | #define ADIS16400_YGYRO_OUT 0x06 /* Y-axis gyroscope output */ | ||
29 | #define ADIS16400_ZGYRO_OUT 0x08 /* Z-axis gyroscope output */ | ||
30 | #define ADIS16400_XACCL_OUT 0x0A /* X-axis accelerometer output */ | ||
31 | #define ADIS16400_YACCL_OUT 0x0C /* Y-axis accelerometer output */ | ||
32 | #define ADIS16400_ZACCL_OUT 0x0E /* Z-axis accelerometer output */ | ||
33 | #define ADIS16400_XMAGN_OUT 0x10 /* X-axis magnetometer measurement */ | ||
34 | #define ADIS16400_YMAGN_OUT 0x12 /* Y-axis magnetometer measurement */ | ||
35 | #define ADIS16400_ZMAGN_OUT 0x14 /* Z-axis magnetometer measurement */ | ||
36 | #define ADIS16400_TEMP_OUT 0x16 /* Temperature output */ | ||
37 | #define ADIS16400_AUX_ADC 0x18 /* Auxiliary ADC measurement */ | ||
38 | |||
39 | /* Calibration parameters */ | ||
40 | #define ADIS16400_XGYRO_OFF 0x1A /* X-axis gyroscope bias offset factor */ | ||
41 | #define ADIS16400_YGYRO_OFF 0x1C /* Y-axis gyroscope bias offset factor */ | ||
42 | #define ADIS16400_ZGYRO_OFF 0x1E /* Z-axis gyroscope bias offset factor */ | ||
43 | #define ADIS16400_XACCL_OFF 0x20 /* X-axis acceleration bias offset factor */ | ||
44 | #define ADIS16400_YACCL_OFF 0x22 /* Y-axis acceleration bias offset factor */ | ||
45 | #define ADIS16400_ZACCL_OFF 0x24 /* Z-axis acceleration bias offset factor */ | ||
46 | #define ADIS16400_XMAGN_HIF 0x26 /* X-axis magnetometer, hard-iron factor */ | ||
47 | #define ADIS16400_YMAGN_HIF 0x28 /* Y-axis magnetometer, hard-iron factor */ | ||
48 | #define ADIS16400_ZMAGN_HIF 0x2A /* Z-axis magnetometer, hard-iron factor */ | ||
49 | #define ADIS16400_XMAGN_SIF 0x2C /* X-axis magnetometer, soft-iron factor */ | ||
50 | #define ADIS16400_YMAGN_SIF 0x2E /* Y-axis magnetometer, soft-iron factor */ | ||
51 | #define ADIS16400_ZMAGN_SIF 0x30 /* Z-axis magnetometer, soft-iron factor */ | ||
52 | |||
53 | #define ADIS16400_GPIO_CTRL 0x32 /* Auxiliary digital input/output control */ | ||
54 | #define ADIS16400_MSC_CTRL 0x34 /* Miscellaneous control */ | ||
55 | #define ADIS16400_SMPL_PRD 0x36 /* Internal sample period (rate) control */ | ||
56 | #define ADIS16400_SENS_AVG 0x38 /* Dynamic range and digital filter control */ | ||
57 | #define ADIS16400_SLP_CNT 0x3A /* Sleep mode control */ | ||
58 | #define ADIS16400_DIAG_STAT 0x3C /* System status */ | ||
59 | |||
60 | /* Alarm functions */ | ||
61 | #define ADIS16400_GLOB_CMD 0x3E /* System command */ | ||
62 | #define ADIS16400_ALM_MAG1 0x40 /* Alarm 1 amplitude threshold */ | ||
63 | #define ADIS16400_ALM_MAG2 0x42 /* Alarm 2 amplitude threshold */ | ||
64 | #define ADIS16400_ALM_SMPL1 0x44 /* Alarm 1 sample size */ | ||
65 | #define ADIS16400_ALM_SMPL2 0x46 /* Alarm 2 sample size */ | ||
66 | #define ADIS16400_ALM_CTRL 0x48 /* Alarm control */ | ||
67 | #define ADIS16400_AUX_DAC 0x4A /* Auxiliary DAC data */ | ||
68 | |||
69 | #define ADIS16400_PRODUCT_ID 0x56 /* Product identifier */ | ||
70 | #define ADIS16400_PRODUCT_ID_DEFAULT 0x4015 /* Datasheet says 0x4105, I get 0x4015 */ | ||
71 | |||
72 | #define ADIS16400_ERROR_ACTIVE (1<<14) | ||
73 | #define ADIS16400_NEW_DATA (1<<14) | ||
74 | |||
75 | /* MSC_CTRL */ | ||
76 | #define ADIS16400_MSC_CTRL_MEM_TEST (1<<11) | ||
77 | #define ADIS16400_MSC_CTRL_INT_SELF_TEST (1<<10) | ||
78 | #define ADIS16400_MSC_CTRL_NEG_SELF_TEST (1<<9) | ||
79 | #define ADIS16400_MSC_CTRL_POS_SELF_TEST (1<<8) | ||
80 | #define ADIS16400_MSC_CTRL_GYRO_BIAS (1<<7) | ||
81 | #define ADIS16400_MSC_CTRL_ACCL_ALIGN (1<<6) | ||
82 | #define ADIS16400_MSC_CTRL_DATA_RDY_EN (1<<2) | ||
83 | #define ADIS16400_MSC_CTRL_DATA_RDY_POL_HIGH (1<<1) | ||
84 | #define ADIS16400_MSC_CTRL_DATA_RDY_DIO2 (1<<0) | ||
85 | |||
86 | /* SMPL_PRD */ | ||
87 | #define ADIS16400_SMPL_PRD_TIME_BASE (1<<7) | ||
88 | #define ADIS16400_SMPL_PRD_DIV_MASK 0x7F | ||
89 | |||
90 | /* DIAG_STAT */ | ||
91 | #define ADIS16400_DIAG_STAT_ZACCL_FAIL (1<<15) | ||
92 | #define ADIS16400_DIAG_STAT_YACCL_FAIL (1<<14) | ||
93 | #define ADIS16400_DIAG_STAT_XACCL_FAIL (1<<13) | ||
94 | #define ADIS16400_DIAG_STAT_XGYRO_FAIL (1<<12) | ||
95 | #define ADIS16400_DIAG_STAT_YGYRO_FAIL (1<<11) | ||
96 | #define ADIS16400_DIAG_STAT_ZGYRO_FAIL (1<<10) | ||
97 | #define ADIS16400_DIAG_STAT_ALARM2 (1<<9) | ||
98 | #define ADIS16400_DIAG_STAT_ALARM1 (1<<8) | ||
99 | #define ADIS16400_DIAG_STAT_FLASH_CHK (1<<6) | ||
100 | #define ADIS16400_DIAG_STAT_SELF_TEST (1<<5) | ||
101 | #define ADIS16400_DIAG_STAT_OVERFLOW (1<<4) | ||
102 | #define ADIS16400_DIAG_STAT_SPI_FAIL (1<<3) | ||
103 | #define ADIS16400_DIAG_STAT_FLASH_UPT (1<<2) | ||
104 | #define ADIS16400_DIAG_STAT_POWER_HIGH (1<<1) | ||
105 | #define ADIS16400_DIAG_STAT_POWER_LOW (1<<0) | ||
106 | |||
107 | /* GLOB_CMD */ | ||
108 | #define ADIS16400_GLOB_CMD_SW_RESET (1<<7) | ||
109 | #define ADIS16400_GLOB_CMD_P_AUTO_NULL (1<<4) | ||
110 | #define ADIS16400_GLOB_CMD_FLASH_UPD (1<<3) | ||
111 | #define ADIS16400_GLOB_CMD_DAC_LATCH (1<<2) | ||
112 | #define ADIS16400_GLOB_CMD_FAC_CALIB (1<<1) | ||
113 | #define ADIS16400_GLOB_CMD_AUTO_NULL (1<<0) | ||
114 | |||
115 | /* SLP_CNT */ | ||
116 | #define ADIS16400_SLP_CNT_POWER_OFF (1<<8) | ||
117 | |||
118 | #define ADIS16400_MAX_TX 24 | ||
119 | #define ADIS16400_MAX_RX 24 | ||
120 | |||
121 | #define ADIS16400_SPI_SLOW (u32)(300 * 1000) | ||
122 | #define ADIS16400_SPI_BURST (u32)(1000 * 1000) | ||
123 | #define ADIS16400_SPI_FAST (u32)(2000 * 1000) | ||
124 | |||
125 | /** | ||
126 | * struct adis16400_state - device instance specific data | ||
127 | * @us: actual spi_device | ||
128 | * @work_trigger_to_ring: bh for triggered event handling | ||
129 | * @work_cont_thresh: CLEAN | ||
130 | * @inter: used to check if new interrupt has been triggered | ||
131 | * @last_timestamp: passing timestamp from th to bh of interrupt handler | ||
132 | * @indio_dev: industrial I/O device structure | ||
133 | * @trig: data ready trigger registered with iio | ||
134 | * @tx: transmit buffer | ||
135 | * @rx: recieve buffer | ||
136 | * @buf_lock: mutex to protect tx and rx | ||
137 | **/ | ||
138 | struct adis16400_state { | ||
139 | struct spi_device *us; | ||
140 | struct work_struct work_trigger_to_ring; | ||
141 | struct iio_work_cont work_cont_thresh; | ||
142 | s64 last_timestamp; | ||
143 | struct iio_dev *indio_dev; | ||
144 | struct iio_trigger *trig; | ||
145 | u8 *tx; | ||
146 | u8 *rx; | ||
147 | struct mutex buf_lock; | ||
148 | }; | ||
149 | |||
150 | int adis16400_spi_write_reg_8(struct device *dev, | ||
151 | u8 reg_address, | ||
152 | u8 val); | ||
153 | |||
154 | int adis16400_spi_read_burst(struct device *dev, u8 *rx); | ||
155 | |||
156 | int adis16400_spi_read_sequence(struct device *dev, | ||
157 | u8 *tx, u8 *rx, int num); | ||
158 | |||
159 | int adis16400_set_irq(struct device *dev, bool enable); | ||
160 | |||
161 | int adis16400_reset(struct device *dev); | ||
162 | |||
163 | int adis16400_stop_device(struct device *dev); | ||
164 | |||
165 | int adis16400_check_status(struct device *dev); | ||
166 | |||
167 | #ifdef CONFIG_IIO_RING_BUFFER | ||
168 | /* At the moment triggers are only used for ring buffer | ||
169 | * filling. This may change! | ||
170 | */ | ||
171 | |||
172 | enum adis16400_scan { | ||
173 | ADIS16400_SCAN_SUPPLY, | ||
174 | ADIS16400_SCAN_GYRO_X, | ||
175 | ADIS16400_SCAN_GYRO_Y, | ||
176 | ADIS16400_SCAN_GYRO_Z, | ||
177 | ADIS16400_SCAN_ACC_X, | ||
178 | ADIS16400_SCAN_ACC_Y, | ||
179 | ADIS16400_SCAN_ACC_Z, | ||
180 | ADIS16400_SCAN_MAGN_X, | ||
181 | ADIS16400_SCAN_MAGN_Y, | ||
182 | ADIS16400_SCAN_MAGN_Z, | ||
183 | ADIS16400_SCAN_TEMP, | ||
184 | ADIS16400_SCAN_ADC_0 | ||
185 | }; | ||
186 | |||
187 | void adis16400_remove_trigger(struct iio_dev *indio_dev); | ||
188 | int adis16400_probe_trigger(struct iio_dev *indio_dev); | ||
189 | |||
190 | ssize_t adis16400_read_data_from_ring(struct device *dev, | ||
191 | struct device_attribute *attr, | ||
192 | char *buf); | ||
193 | |||
194 | |||
195 | int adis16400_configure_ring(struct iio_dev *indio_dev); | ||
196 | void adis16400_unconfigure_ring(struct iio_dev *indio_dev); | ||
197 | |||
198 | int adis16400_initialize_ring(struct iio_ring_buffer *ring); | ||
199 | void adis16400_uninitialize_ring(struct iio_ring_buffer *ring); | ||
200 | #else /* CONFIG_IIO_RING_BUFFER */ | ||
201 | |||
202 | static inline void adis16400_remove_trigger(struct iio_dev *indio_dev) | ||
203 | { | ||
204 | } | ||
205 | |||
206 | static inline int adis16400_probe_trigger(struct iio_dev *indio_dev) | ||
207 | { | ||
208 | return 0; | ||
209 | } | ||
210 | |||
211 | static inline ssize_t | ||
212 | adis16400_read_data_from_ring(struct device *dev, | ||
213 | struct device_attribute *attr, | ||
214 | char *buf) | ||
215 | { | ||
216 | return 0; | ||
217 | } | ||
218 | |||
219 | static int adis16400_configure_ring(struct iio_dev *indio_dev) | ||
220 | { | ||
221 | return 0; | ||
222 | } | ||
223 | |||
224 | static inline void adis16400_unconfigure_ring(struct iio_dev *indio_dev) | ||
225 | { | ||
226 | } | ||
227 | |||
228 | static inline int adis16400_initialize_ring(struct iio_ring_buffer *ring) | ||
229 | { | ||
230 | return 0; | ||
231 | } | ||
232 | |||
233 | static inline void adis16400_uninitialize_ring(struct iio_ring_buffer *ring) | ||
234 | { | ||
235 | } | ||
236 | |||
237 | #endif /* CONFIG_IIO_RING_BUFFER */ | ||
238 | #endif /* SPI_ADIS16400_H_ */ | ||
diff --git a/drivers/staging/iio/imu/adis16400_core.c b/drivers/staging/iio/imu/adis16400_core.c new file mode 100644 index 00000000000..27e4a734807 --- /dev/null +++ b/drivers/staging/iio/imu/adis16400_core.c | |||
@@ -0,0 +1,849 @@ | |||
1 | /* | ||
2 | * adis16400.c support Analog Devices ADIS16400/5 | ||
3 | * 3d 2g Linear Accelerometers, | ||
4 | * 3d Gyroscopes, | ||
5 | * 3d Magnetometers via SPI | ||
6 | * | ||
7 | * Copyright (c) 2009 Manuel Stahl <manuel.stahl@iis.fraunhofer.de> | ||
8 | * Copyright (c) 2007 Jonathan Cameron <jic23@cam.ac.uk> | ||
9 | * | ||
10 | * This program is free software; you can redistribute it and/or modify | ||
11 | * it under the terms of the GNU General Public License version 2 as | ||
12 | * published by the Free Software Foundation. | ||
13 | * | ||
14 | */ | ||
15 | |||
16 | #include <linux/interrupt.h> | ||
17 | #include <linux/irq.h> | ||
18 | #include <linux/gpio.h> | ||
19 | #include <linux/delay.h> | ||
20 | #include <linux/mutex.h> | ||
21 | #include <linux/device.h> | ||
22 | #include <linux/kernel.h> | ||
23 | #include <linux/spi/spi.h> | ||
24 | |||
25 | #include <linux/sysfs.h> | ||
26 | #include <linux/list.h> | ||
27 | |||
28 | #include "../iio.h" | ||
29 | #include "../sysfs.h" | ||
30 | #include "../accel/accel.h" | ||
31 | #include "../adc/adc.h" | ||
32 | #include "../gyro/gyro.h" | ||
33 | #include "../magnetometer/magnet.h" | ||
34 | |||
35 | #include "adis16400.h" | ||
36 | |||
37 | #define DRIVER_NAME "adis16400" | ||
38 | |||
39 | /* At the moment the spi framework doesn't allow global setting of cs_change. | ||
40 | * It's in the likely to be added comment at the top of spi.h. | ||
41 | * This means that use cannot be made of spi_write etc. | ||
42 | */ | ||
43 | |||
44 | /** | ||
45 | * adis16400_spi_write_reg_8() - write single byte to a register | ||
46 | * @dev: device associated with child of actual device (iio_dev or iio_trig) | ||
47 | * @reg_address: the address of the register to be written | ||
48 | * @val: the value to write | ||
49 | **/ | ||
50 | int adis16400_spi_write_reg_8(struct device *dev, | ||
51 | u8 reg_address, | ||
52 | u8 val) | ||
53 | { | ||
54 | int ret; | ||
55 | struct iio_dev *indio_dev = dev_get_drvdata(dev); | ||
56 | struct adis16400_state *st = iio_dev_get_devdata(indio_dev); | ||
57 | |||
58 | mutex_lock(&st->buf_lock); | ||
59 | st->tx[0] = ADIS16400_WRITE_REG(reg_address); | ||
60 | st->tx[1] = val; | ||
61 | |||
62 | ret = spi_write(st->us, st->tx, 2); | ||
63 | mutex_unlock(&st->buf_lock); | ||
64 | |||
65 | return ret; | ||
66 | } | ||
67 | |||
68 | /** | ||
69 | * adis16400_spi_write_reg_16() - write 2 bytes to a pair of registers | ||
70 | * @dev: device associated with child of actual device (iio_dev or iio_trig) | ||
71 | * @reg_address: the address of the lower of the two registers. Second register | ||
72 | * is assumed to have address one greater. | ||
73 | * @val: value to be written | ||
74 | **/ | ||
75 | static int adis16400_spi_write_reg_16(struct device *dev, | ||
76 | u8 lower_reg_address, | ||
77 | u16 value) | ||
78 | { | ||
79 | int ret; | ||
80 | struct spi_message msg; | ||
81 | struct iio_dev *indio_dev = dev_get_drvdata(dev); | ||
82 | struct adis16400_state *st = iio_dev_get_devdata(indio_dev); | ||
83 | struct spi_transfer xfers[] = { | ||
84 | { | ||
85 | .tx_buf = st->tx, | ||
86 | .bits_per_word = 8, | ||
87 | .len = 2, | ||
88 | .cs_change = 1, | ||
89 | }, { | ||
90 | .tx_buf = st->tx + 2, | ||
91 | .bits_per_word = 8, | ||
92 | .len = 2, | ||
93 | .cs_change = 1, | ||
94 | }, | ||
95 | }; | ||
96 | |||
97 | mutex_lock(&st->buf_lock); | ||
98 | st->tx[0] = ADIS16400_WRITE_REG(lower_reg_address); | ||
99 | st->tx[1] = value & 0xFF; | ||
100 | st->tx[2] = ADIS16400_WRITE_REG(lower_reg_address + 1); | ||
101 | st->tx[3] = (value >> 8) & 0xFF; | ||
102 | |||
103 | spi_message_init(&msg); | ||
104 | spi_message_add_tail(&xfers[0], &msg); | ||
105 | spi_message_add_tail(&xfers[1], &msg); | ||
106 | ret = spi_sync(st->us, &msg); | ||
107 | mutex_unlock(&st->buf_lock); | ||
108 | |||
109 | return ret; | ||
110 | } | ||
111 | |||
112 | /** | ||
113 | * adis16400_spi_read_reg_16() - read 2 bytes from a 16-bit register | ||
114 | * @dev: device associated with child of actual device (iio_dev or iio_trig) | ||
115 | * @reg_address: the address of the lower of the two registers. Second register | ||
116 | * is assumed to have address one greater. | ||
117 | * @val: somewhere to pass back the value read | ||
118 | **/ | ||
119 | static int adis16400_spi_read_reg_16(struct device *dev, | ||
120 | u8 lower_reg_address, | ||
121 | u16 *val) | ||
122 | { | ||
123 | struct spi_message msg; | ||
124 | struct iio_dev *indio_dev = dev_get_drvdata(dev); | ||
125 | struct adis16400_state *st = iio_dev_get_devdata(indio_dev); | ||
126 | int ret; | ||
127 | struct spi_transfer xfers[] = { | ||
128 | { | ||
129 | .tx_buf = st->tx, | ||
130 | .bits_per_word = 8, | ||
131 | .len = 2, | ||
132 | .cs_change = 1, | ||
133 | }, { | ||
134 | .rx_buf = st->rx, | ||
135 | .bits_per_word = 8, | ||
136 | .len = 2, | ||
137 | .cs_change = 1, | ||
138 | }, | ||
139 | }; | ||
140 | |||
141 | mutex_lock(&st->buf_lock); | ||
142 | st->tx[0] = ADIS16400_READ_REG(lower_reg_address); | ||
143 | st->tx[1] = 0; | ||
144 | st->tx[2] = 0; | ||
145 | st->tx[3] = 0; | ||
146 | |||
147 | spi_message_init(&msg); | ||
148 | spi_message_add_tail(&xfers[0], &msg); | ||
149 | spi_message_add_tail(&xfers[1], &msg); | ||
150 | ret = spi_sync(st->us, &msg); | ||
151 | if (ret) { | ||
152 | dev_err(&st->us->dev, | ||
153 | "problem when reading 16 bit register 0x%02X", | ||
154 | lower_reg_address); | ||
155 | goto error_ret; | ||
156 | } | ||
157 | *val = (st->rx[0] << 8) | st->rx[1]; | ||
158 | |||
159 | error_ret: | ||
160 | mutex_unlock(&st->buf_lock); | ||
161 | return ret; | ||
162 | } | ||
163 | |||
164 | /** | ||
165 | * adis16400_spi_read_burst() - read all data registers | ||
166 | * @dev: device associated with child of actual device (iio_dev or iio_trig) | ||
167 | * @rx: somewhere to pass back the value read (min size is 24 bytes) | ||
168 | **/ | ||
169 | int adis16400_spi_read_burst(struct device *dev, u8 *rx) | ||
170 | { | ||
171 | struct spi_message msg; | ||
172 | struct iio_dev *indio_dev = dev_get_drvdata(dev); | ||
173 | struct adis16400_state *st = iio_dev_get_devdata(indio_dev); | ||
174 | u32 old_speed_hz = st->us->max_speed_hz; | ||
175 | int ret; | ||
176 | |||
177 | struct spi_transfer xfers[] = { | ||
178 | { | ||
179 | .tx_buf = st->tx, | ||
180 | .bits_per_word = 8, | ||
181 | .len = 2, | ||
182 | .cs_change = 0, | ||
183 | }, { | ||
184 | .rx_buf = rx, | ||
185 | .bits_per_word = 8, | ||
186 | .len = 24, | ||
187 | .cs_change = 1, | ||
188 | }, | ||
189 | }; | ||
190 | |||
191 | mutex_lock(&st->buf_lock); | ||
192 | st->tx[0] = ADIS16400_READ_REG(ADIS16400_GLOB_CMD); | ||
193 | st->tx[1] = 0; | ||
194 | |||
195 | spi_message_init(&msg); | ||
196 | spi_message_add_tail(&xfers[0], &msg); | ||
197 | spi_message_add_tail(&xfers[1], &msg); | ||
198 | |||
199 | st->us->max_speed_hz = min(ADIS16400_SPI_BURST, old_speed_hz); | ||
200 | spi_setup(st->us); | ||
201 | |||
202 | ret = spi_sync(st->us, &msg); | ||
203 | if (ret) | ||
204 | dev_err(&st->us->dev, "problem when burst reading"); | ||
205 | |||
206 | st->us->max_speed_hz = old_speed_hz; | ||
207 | spi_setup(st->us); | ||
208 | mutex_unlock(&st->buf_lock); | ||
209 | return ret; | ||
210 | } | ||
211 | |||
212 | /** | ||
213 | * adis16400_spi_read_sequence() - read a sequence of 16-bit registers | ||
214 | * @dev: device associated with child of actual device (iio_dev or iio_trig) | ||
215 | * @tx: register addresses in bytes 0,2,4,6... (min size is 2*num bytes) | ||
216 | * @rx: somewhere to pass back the value read (min size is 2*num bytes) | ||
217 | **/ | ||
218 | int adis16400_spi_read_sequence(struct device *dev, | ||
219 | u8 *tx, u8 *rx, int num) | ||
220 | { | ||
221 | struct spi_message msg; | ||
222 | struct spi_transfer *xfers; | ||
223 | struct iio_dev *indio_dev = dev_get_drvdata(dev); | ||
224 | struct adis16400_state *st = iio_dev_get_devdata(indio_dev); | ||
225 | int ret, i; | ||
226 | |||
227 | xfers = kzalloc(num + 1, GFP_KERNEL); | ||
228 | if (xfers == NULL) { | ||
229 | dev_err(&st->us->dev, "memory alloc failed"); | ||
230 | ret = -ENOMEM; | ||
231 | goto error_ret; | ||
232 | } | ||
233 | |||
234 | /* tx: |add1|addr2|addr3|...|addrN |zero| | ||
235 | * rx: |zero|res1 |res2 |...|resN-1|resN| */ | ||
236 | spi_message_init(&msg); | ||
237 | for (i = 0; i < num + 1; i++) { | ||
238 | if (i > 0) | ||
239 | xfers[i].rx_buf = st->rx + 2*(i - 1); | ||
240 | if (i < num) | ||
241 | xfers[i].tx_buf = st->tx + 2*i; | ||
242 | xfers[i].bits_per_word = 8; | ||
243 | xfers[i].len = 2; | ||
244 | xfers[i].cs_change = 1; | ||
245 | spi_message_add_tail(&xfers[i], &msg); | ||
246 | } | ||
247 | |||
248 | mutex_lock(&st->buf_lock); | ||
249 | |||
250 | ret = spi_sync(st->us, &msg); | ||
251 | if (ret) | ||
252 | dev_err(&st->us->dev, "problem when reading sequence"); | ||
253 | |||
254 | mutex_unlock(&st->buf_lock); | ||
255 | kfree(xfers); | ||
256 | |||
257 | error_ret: | ||
258 | return ret; | ||
259 | } | ||
260 | |||
261 | static ssize_t adis16400_spi_read_signed(struct device *dev, | ||
262 | struct device_attribute *attr, | ||
263 | char *buf, | ||
264 | unsigned bits) | ||
265 | { | ||
266 | int ret; | ||
267 | s16 val = 0; | ||
268 | unsigned shift = 16 - bits; | ||
269 | struct iio_dev_attr *this_attr = to_iio_dev_attr(attr); | ||
270 | |||
271 | ret = adis16400_spi_read_reg_16(dev, this_attr->address, (u16 *)&val); | ||
272 | if (ret) | ||
273 | return ret; | ||
274 | |||
275 | if (val & ADIS16400_ERROR_ACTIVE) | ||
276 | adis16400_check_status(dev); | ||
277 | val = ((s16)(val << shift) >> shift); | ||
278 | return sprintf(buf, "%d\n", val); | ||
279 | } | ||
280 | |||
281 | static ssize_t adis16400_read_12bit_unsigned(struct device *dev, | ||
282 | struct device_attribute *attr, | ||
283 | char *buf) | ||
284 | { | ||
285 | int ret; | ||
286 | u16 val = 0; | ||
287 | struct iio_dev_attr *this_attr = to_iio_dev_attr(attr); | ||
288 | |||
289 | ret = adis16400_spi_read_reg_16(dev, this_attr->address, &val); | ||
290 | if (ret) | ||
291 | return ret; | ||
292 | |||
293 | if (val & ADIS16400_ERROR_ACTIVE) | ||
294 | adis16400_check_status(dev); | ||
295 | |||
296 | return sprintf(buf, "%u\n", val & 0x0FFF); | ||
297 | } | ||
298 | |||
299 | static ssize_t adis16400_read_14bit_signed(struct device *dev, | ||
300 | struct device_attribute *attr, | ||
301 | char *buf) | ||
302 | { | ||
303 | struct iio_dev *indio_dev = dev_get_drvdata(dev); | ||
304 | ssize_t ret; | ||
305 | |||
306 | /* Take the iio_dev status lock */ | ||
307 | mutex_lock(&indio_dev->mlock); | ||
308 | ret = adis16400_spi_read_signed(dev, attr, buf, 14); | ||
309 | mutex_unlock(&indio_dev->mlock); | ||
310 | |||
311 | return ret; | ||
312 | } | ||
313 | |||
314 | static ssize_t adis16400_read_12bit_signed(struct device *dev, | ||
315 | struct device_attribute *attr, | ||
316 | char *buf) | ||
317 | { | ||
318 | struct iio_dev *indio_dev = dev_get_drvdata(dev); | ||
319 | ssize_t ret; | ||
320 | |||
321 | /* Take the iio_dev status lock */ | ||
322 | mutex_lock(&indio_dev->mlock); | ||
323 | ret = adis16400_spi_read_signed(dev, attr, buf, 12); | ||
324 | mutex_unlock(&indio_dev->mlock); | ||
325 | |||
326 | return ret; | ||
327 | } | ||
328 | |||
329 | |||
330 | static ssize_t adis16400_write_16bit(struct device *dev, | ||
331 | struct device_attribute *attr, | ||
332 | const char *buf, | ||
333 | size_t len) | ||
334 | { | ||
335 | struct iio_dev_attr *this_attr = to_iio_dev_attr(attr); | ||
336 | int ret; | ||
337 | long val; | ||
338 | |||
339 | ret = strict_strtol(buf, 10, &val); | ||
340 | if (ret) | ||
341 | goto error_ret; | ||
342 | ret = adis16400_spi_write_reg_16(dev, this_attr->address, val); | ||
343 | |||
344 | error_ret: | ||
345 | return ret ? ret : len; | ||
346 | } | ||
347 | |||
348 | static ssize_t adis16400_read_frequency(struct device *dev, | ||
349 | struct device_attribute *attr, | ||
350 | char *buf) | ||
351 | { | ||
352 | int ret, len = 0; | ||
353 | u16 t; | ||
354 | int sps; | ||
355 | ret = adis16400_spi_read_reg_16(dev, | ||
356 | ADIS16400_SMPL_PRD, | ||
357 | &t); | ||
358 | if (ret) | ||
359 | return ret; | ||
360 | sps = (t & ADIS16400_SMPL_PRD_TIME_BASE) ? 53 : 1638; | ||
361 | sps /= (t & ADIS16400_SMPL_PRD_DIV_MASK) + 1; | ||
362 | len = sprintf(buf, "%d SPS\n", sps); | ||
363 | return len; | ||
364 | } | ||
365 | |||
366 | static ssize_t adis16400_write_frequency(struct device *dev, | ||
367 | struct device_attribute *attr, | ||
368 | const char *buf, | ||
369 | size_t len) | ||
370 | { | ||
371 | struct iio_dev *indio_dev = dev_get_drvdata(dev); | ||
372 | struct adis16400_state *st = iio_dev_get_devdata(indio_dev); | ||
373 | long val; | ||
374 | int ret; | ||
375 | u8 t; | ||
376 | |||
377 | ret = strict_strtol(buf, 10, &val); | ||
378 | if (ret) | ||
379 | return ret; | ||
380 | |||
381 | mutex_lock(&indio_dev->mlock); | ||
382 | |||
383 | t = (1638 / val); | ||
384 | if (t > 0) | ||
385 | t--; | ||
386 | t &= ADIS16400_SMPL_PRD_DIV_MASK; | ||
387 | if ((t & ADIS16400_SMPL_PRD_DIV_MASK) >= 0x0A) | ||
388 | st->us->max_speed_hz = ADIS16400_SPI_SLOW; | ||
389 | else | ||
390 | st->us->max_speed_hz = ADIS16400_SPI_FAST; | ||
391 | |||
392 | ret = adis16400_spi_write_reg_8(dev, | ||
393 | ADIS16400_SMPL_PRD, | ||
394 | t); | ||
395 | |||
396 | mutex_unlock(&indio_dev->mlock); | ||
397 | |||
398 | return ret ? ret : len; | ||
399 | } | ||
400 | |||
401 | static ssize_t adis16400_write_reset(struct device *dev, | ||
402 | struct device_attribute *attr, | ||
403 | const char *buf, size_t len) | ||
404 | { | ||
405 | if (len < 1) | ||
406 | return -1; | ||
407 | switch (buf[0]) { | ||
408 | case '1': | ||
409 | case 'y': | ||
410 | case 'Y': | ||
411 | return adis16400_reset(dev); | ||
412 | } | ||
413 | return -1; | ||
414 | } | ||
415 | |||
416 | |||
417 | |||
418 | int adis16400_set_irq(struct device *dev, bool enable) | ||
419 | { | ||
420 | int ret; | ||
421 | u16 msc; | ||
422 | ret = adis16400_spi_read_reg_16(dev, ADIS16400_MSC_CTRL, &msc); | ||
423 | if (ret) | ||
424 | goto error_ret; | ||
425 | |||
426 | msc |= ADIS16400_MSC_CTRL_DATA_RDY_POL_HIGH; | ||
427 | if (enable) | ||
428 | msc |= ADIS16400_MSC_CTRL_DATA_RDY_EN; | ||
429 | else | ||
430 | msc &= ~ADIS16400_MSC_CTRL_DATA_RDY_EN; | ||
431 | |||
432 | ret = adis16400_spi_write_reg_16(dev, ADIS16400_MSC_CTRL, msc); | ||
433 | if (ret) | ||
434 | goto error_ret; | ||
435 | |||
436 | error_ret: | ||
437 | return ret; | ||
438 | } | ||
439 | |||
440 | int adis16400_reset(struct device *dev) | ||
441 | { | ||
442 | int ret; | ||
443 | ret = adis16400_spi_write_reg_8(dev, | ||
444 | ADIS16400_GLOB_CMD, | ||
445 | ADIS16400_GLOB_CMD_SW_RESET); | ||
446 | if (ret) | ||
447 | dev_err(dev, "problem resetting device"); | ||
448 | |||
449 | return ret; | ||
450 | } | ||
451 | |||
452 | /* Power down the device */ | ||
453 | int adis16400_stop_device(struct device *dev) | ||
454 | { | ||
455 | int ret; | ||
456 | u16 val = ADIS16400_SLP_CNT_POWER_OFF; | ||
457 | |||
458 | ret = adis16400_spi_write_reg_16(dev, ADIS16400_SLP_CNT, val); | ||
459 | if (ret) | ||
460 | dev_err(dev, "problem with turning device off: SLP_CNT"); | ||
461 | |||
462 | return ret; | ||
463 | } | ||
464 | |||
465 | int adis16400_self_test(struct device *dev) | ||
466 | { | ||
467 | int ret; | ||
468 | ret = adis16400_spi_write_reg_16(dev, | ||
469 | ADIS16400_MSC_CTRL, | ||
470 | ADIS16400_MSC_CTRL_MEM_TEST); | ||
471 | if (ret) { | ||
472 | dev_err(dev, "problem starting self test"); | ||
473 | goto err_ret; | ||
474 | } | ||
475 | |||
476 | adis16400_check_status(dev); | ||
477 | |||
478 | err_ret: | ||
479 | return ret; | ||
480 | } | ||
481 | |||
482 | int adis16400_check_status(struct device *dev) | ||
483 | { | ||
484 | u16 status; | ||
485 | int ret; | ||
486 | |||
487 | ret = adis16400_spi_read_reg_16(dev, ADIS16400_DIAG_STAT, &status); | ||
488 | |||
489 | if (ret < 0) { | ||
490 | dev_err(dev, "Reading status failed\n"); | ||
491 | goto error_ret; | ||
492 | } | ||
493 | ret = status; | ||
494 | if (status & ADIS16400_DIAG_STAT_ZACCL_FAIL) | ||
495 | dev_err(dev, "Z-axis accelerometer self-test failure\n"); | ||
496 | if (status & ADIS16400_DIAG_STAT_YACCL_FAIL) | ||
497 | dev_err(dev, "Y-axis accelerometer self-test failure\n"); | ||
498 | if (status & ADIS16400_DIAG_STAT_XACCL_FAIL) | ||
499 | dev_err(dev, "X-axis accelerometer self-test failure\n"); | ||
500 | if (status & ADIS16400_DIAG_STAT_XGYRO_FAIL) | ||
501 | dev_err(dev, "X-axis gyroscope self-test failure\n"); | ||
502 | if (status & ADIS16400_DIAG_STAT_YGYRO_FAIL) | ||
503 | dev_err(dev, "Y-axis gyroscope self-test failure\n"); | ||
504 | if (status & ADIS16400_DIAG_STAT_ZGYRO_FAIL) | ||
505 | dev_err(dev, "Z-axis gyroscope self-test failure\n"); | ||
506 | if (status & ADIS16400_DIAG_STAT_ALARM2) | ||
507 | dev_err(dev, "Alarm 2 active\n"); | ||
508 | if (status & ADIS16400_DIAG_STAT_ALARM1) | ||
509 | dev_err(dev, "Alarm 1 active\n"); | ||
510 | if (status & ADIS16400_DIAG_STAT_FLASH_CHK) | ||
511 | dev_err(dev, "Flash checksum error\n"); | ||
512 | if (status & ADIS16400_DIAG_STAT_SELF_TEST) | ||
513 | dev_err(dev, "Self test error\n"); | ||
514 | if (status & ADIS16400_DIAG_STAT_OVERFLOW) | ||
515 | dev_err(dev, "Sensor overrange\n"); | ||
516 | if (status & ADIS16400_DIAG_STAT_SPI_FAIL) | ||
517 | dev_err(dev, "SPI failure\n"); | ||
518 | if (status & ADIS16400_DIAG_STAT_FLASH_UPT) | ||
519 | dev_err(dev, "Flash update failed\n"); | ||
520 | if (status & ADIS16400_DIAG_STAT_POWER_HIGH) | ||
521 | dev_err(dev, "Power supply above 5.25V\n"); | ||
522 | if (status & ADIS16400_DIAG_STAT_POWER_LOW) | ||
523 | dev_err(dev, "Power supply below 4.75V\n"); | ||
524 | |||
525 | error_ret: | ||
526 | return ret; | ||
527 | } | ||
528 | |||
529 | static int adis16400_initial_setup(struct adis16400_state *st) | ||
530 | { | ||
531 | int ret; | ||
532 | u16 prod_id, smp_prd; | ||
533 | struct device *dev = &st->indio_dev->dev; | ||
534 | |||
535 | /* use low spi speed for init */ | ||
536 | st->us->max_speed_hz = ADIS16400_SPI_SLOW; | ||
537 | st->us->mode = SPI_MODE_3; | ||
538 | spi_setup(st->us); | ||
539 | |||
540 | /* Disable IRQ */ | ||
541 | ret = adis16400_set_irq(dev, false); | ||
542 | if (ret) { | ||
543 | dev_err(dev, "disable irq failed"); | ||
544 | goto err_ret; | ||
545 | } | ||
546 | |||
547 | /* Do self test */ | ||
548 | |||
549 | /* Read status register to check the result */ | ||
550 | ret = adis16400_check_status(dev); | ||
551 | if (ret) { | ||
552 | adis16400_reset(dev); | ||
553 | dev_err(dev, "device not playing ball -> reset"); | ||
554 | msleep(ADIS16400_STARTUP_DELAY); | ||
555 | ret = adis16400_check_status(dev); | ||
556 | if (ret) { | ||
557 | dev_err(dev, "giving up"); | ||
558 | goto err_ret; | ||
559 | } | ||
560 | } | ||
561 | |||
562 | ret = adis16400_spi_read_reg_16(dev, ADIS16400_PRODUCT_ID, &prod_id); | ||
563 | if (ret) | ||
564 | goto err_ret; | ||
565 | |||
566 | if (prod_id != ADIS16400_PRODUCT_ID_DEFAULT) | ||
567 | dev_warn(dev, "unknown product id"); | ||
568 | |||
569 | printk(KERN_INFO DRIVER_NAME ": prod_id 0x%04x at CS%d (irq %d)\n", | ||
570 | prod_id, st->us->chip_select, st->us->irq); | ||
571 | |||
572 | /* use high spi speed if possible */ | ||
573 | ret = adis16400_spi_read_reg_16(dev, ADIS16400_SMPL_PRD, &smp_prd); | ||
574 | if (!ret && (smp_prd & ADIS16400_SMPL_PRD_DIV_MASK) < 0x0A) { | ||
575 | st->us->max_speed_hz = ADIS16400_SPI_SLOW; | ||
576 | spi_setup(st->us); | ||
577 | } | ||
578 | |||
579 | |||
580 | err_ret: | ||
581 | |||
582 | return ret; | ||
583 | } | ||
584 | |||
585 | static IIO_DEV_ATTR_ACCEL_X_OFFSET(S_IWUSR | S_IRUGO, | ||
586 | adis16400_read_12bit_signed, | ||
587 | adis16400_write_16bit, | ||
588 | ADIS16400_XACCL_OFF); | ||
589 | |||
590 | static IIO_DEV_ATTR_ACCEL_Y_OFFSET(S_IWUSR | S_IRUGO, | ||
591 | adis16400_read_12bit_signed, | ||
592 | adis16400_write_16bit, | ||
593 | ADIS16400_YACCL_OFF); | ||
594 | |||
595 | static IIO_DEV_ATTR_ACCEL_Z_OFFSET(S_IWUSR | S_IRUGO, | ||
596 | adis16400_read_12bit_signed, | ||
597 | adis16400_write_16bit, | ||
598 | ADIS16400_ZACCL_OFF); | ||
599 | |||
600 | static IIO_DEV_ATTR_IN_NAMED_RAW(supply, adis16400_read_14bit_signed, | ||
601 | ADIS16400_SUPPLY_OUT); | ||
602 | static IIO_CONST_ATTR(in_supply_scale, "0.002418"); | ||
603 | |||
604 | static IIO_DEV_ATTR_GYRO_X(adis16400_read_14bit_signed, | ||
605 | ADIS16400_XGYRO_OUT); | ||
606 | static IIO_DEV_ATTR_GYRO_Y(adis16400_read_14bit_signed, | ||
607 | ADIS16400_YGYRO_OUT); | ||
608 | static IIO_DEV_ATTR_GYRO_Z(adis16400_read_14bit_signed, | ||
609 | ADIS16400_ZGYRO_OUT); | ||
610 | static IIO_CONST_ATTR(gyro_scale, "0.05 deg/s"); | ||
611 | |||
612 | static IIO_DEV_ATTR_ACCEL_X(adis16400_read_14bit_signed, | ||
613 | ADIS16400_XACCL_OUT); | ||
614 | static IIO_DEV_ATTR_ACCEL_Y(adis16400_read_14bit_signed, | ||
615 | ADIS16400_YACCL_OUT); | ||
616 | static IIO_DEV_ATTR_ACCEL_Z(adis16400_read_14bit_signed, | ||
617 | ADIS16400_ZACCL_OUT); | ||
618 | static IIO_CONST_ATTR(accel_scale, "0.00333 g"); | ||
619 | |||
620 | static IIO_DEV_ATTR_MAGN_X(adis16400_read_14bit_signed, | ||
621 | ADIS16400_XMAGN_OUT); | ||
622 | static IIO_DEV_ATTR_MAGN_Y(adis16400_read_14bit_signed, | ||
623 | ADIS16400_YMAGN_OUT); | ||
624 | static IIO_DEV_ATTR_MAGN_Z(adis16400_read_14bit_signed, | ||
625 | ADIS16400_ZMAGN_OUT); | ||
626 | static IIO_CONST_ATTR(magn_scale, "0.0005 Gs"); | ||
627 | |||
628 | |||
629 | static IIO_DEV_ATTR_TEMP(adis16400_read_12bit_signed); | ||
630 | static IIO_CONST_ATTR(temp_offset, "198.16 K"); | ||
631 | static IIO_CONST_ATTR(temp_scale, "0.14 K"); | ||
632 | |||
633 | static IIO_DEV_ATTR_IN_RAW(0, adis16400_read_12bit_unsigned, | ||
634 | ADIS16400_AUX_ADC); | ||
635 | static IIO_CONST_ATTR(in0_scale, "0.000806"); | ||
636 | |||
637 | static IIO_DEV_ATTR_SAMP_FREQ(S_IWUSR | S_IRUGO, | ||
638 | adis16400_read_frequency, | ||
639 | adis16400_write_frequency); | ||
640 | |||
641 | static IIO_DEVICE_ATTR(reset, S_IWUSR, NULL, adis16400_write_reset, 0); | ||
642 | |||
643 | static IIO_CONST_ATTR_AVAIL_SAMP_FREQ("409 546 819 1638"); | ||
644 | |||
645 | static IIO_CONST_ATTR(name, "adis16400"); | ||
646 | |||
647 | static struct attribute *adis16400_event_attributes[] = { | ||
648 | NULL | ||
649 | }; | ||
650 | |||
651 | static struct attribute_group adis16400_event_attribute_group = { | ||
652 | .attrs = adis16400_event_attributes, | ||
653 | }; | ||
654 | |||
655 | static struct attribute *adis16400_attributes[] = { | ||
656 | &iio_dev_attr_accel_x_offset.dev_attr.attr, | ||
657 | &iio_dev_attr_accel_y_offset.dev_attr.attr, | ||
658 | &iio_dev_attr_accel_z_offset.dev_attr.attr, | ||
659 | &iio_dev_attr_in_supply_raw.dev_attr.attr, | ||
660 | &iio_const_attr_in_supply_scale.dev_attr.attr, | ||
661 | &iio_dev_attr_gyro_x.dev_attr.attr, | ||
662 | &iio_dev_attr_gyro_y.dev_attr.attr, | ||
663 | &iio_dev_attr_gyro_z.dev_attr.attr, | ||
664 | &iio_const_attr_gyro_scale.dev_attr.attr, | ||
665 | &iio_dev_attr_accel_x_raw.dev_attr.attr, | ||
666 | &iio_dev_attr_accel_y_raw.dev_attr.attr, | ||
667 | &iio_dev_attr_accel_z_raw.dev_attr.attr, | ||
668 | &iio_const_attr_accel_scale.dev_attr.attr, | ||
669 | &iio_dev_attr_magn_x.dev_attr.attr, | ||
670 | &iio_dev_attr_magn_y.dev_attr.attr, | ||
671 | &iio_dev_attr_magn_z.dev_attr.attr, | ||
672 | &iio_const_attr_magn_scale.dev_attr.attr, | ||
673 | &iio_dev_attr_temp.dev_attr.attr, | ||
674 | &iio_const_attr_temp_offset.dev_attr.attr, | ||
675 | &iio_const_attr_temp_scale.dev_attr.attr, | ||
676 | &iio_dev_attr_in0_raw.dev_attr.attr, | ||
677 | &iio_const_attr_in0_scale.dev_attr.attr, | ||
678 | &iio_dev_attr_sampling_frequency.dev_attr.attr, | ||
679 | &iio_const_attr_available_sampling_frequency.dev_attr.attr, | ||
680 | &iio_dev_attr_reset.dev_attr.attr, | ||
681 | &iio_const_attr_name.dev_attr.attr, | ||
682 | NULL | ||
683 | }; | ||
684 | |||
685 | static const struct attribute_group adis16400_attribute_group = { | ||
686 | .attrs = adis16400_attributes, | ||
687 | }; | ||
688 | |||
689 | static int __devinit adis16400_probe(struct spi_device *spi) | ||
690 | { | ||
691 | int ret, regdone = 0; | ||
692 | struct adis16400_state *st = kzalloc(sizeof *st, GFP_KERNEL); | ||
693 | if (!st) { | ||
694 | ret = -ENOMEM; | ||
695 | goto error_ret; | ||
696 | } | ||
697 | /* this is only used for removal purposes */ | ||
698 | spi_set_drvdata(spi, st); | ||
699 | |||
700 | /* Allocate the comms buffers */ | ||
701 | st->rx = kzalloc(sizeof(*st->rx)*ADIS16400_MAX_RX, GFP_KERNEL); | ||
702 | if (st->rx == NULL) { | ||
703 | ret = -ENOMEM; | ||
704 | goto error_free_st; | ||
705 | } | ||
706 | st->tx = kzalloc(sizeof(*st->tx)*ADIS16400_MAX_TX, GFP_KERNEL); | ||
707 | if (st->tx == NULL) { | ||
708 | ret = -ENOMEM; | ||
709 | goto error_free_rx; | ||
710 | } | ||
711 | st->us = spi; | ||
712 | mutex_init(&st->buf_lock); | ||
713 | /* setup the industrialio driver allocated elements */ | ||
714 | st->indio_dev = iio_allocate_device(); | ||
715 | if (st->indio_dev == NULL) { | ||
716 | ret = -ENOMEM; | ||
717 | goto error_free_tx; | ||
718 | } | ||
719 | |||
720 | st->indio_dev->dev.parent = &spi->dev; | ||
721 | st->indio_dev->num_interrupt_lines = 1; | ||
722 | st->indio_dev->event_attrs = &adis16400_event_attribute_group; | ||
723 | st->indio_dev->attrs = &adis16400_attribute_group; | ||
724 | st->indio_dev->dev_data = (void *)(st); | ||
725 | st->indio_dev->driver_module = THIS_MODULE; | ||
726 | st->indio_dev->modes = INDIO_DIRECT_MODE; | ||
727 | |||
728 | ret = adis16400_configure_ring(st->indio_dev); | ||
729 | if (ret) | ||
730 | goto error_free_dev; | ||
731 | |||
732 | ret = iio_device_register(st->indio_dev); | ||
733 | if (ret) | ||
734 | goto error_unreg_ring_funcs; | ||
735 | regdone = 1; | ||
736 | |||
737 | ret = adis16400_initialize_ring(st->indio_dev->ring); | ||
738 | if (ret) { | ||
739 | printk(KERN_ERR "failed to initialize the ring\n"); | ||
740 | goto error_unreg_ring_funcs; | ||
741 | } | ||
742 | |||
743 | if (spi->irq && gpio_is_valid(irq_to_gpio(spi->irq)) > 0) { | ||
744 | #if 0 /* fixme: here we should support */ | ||
745 | iio_init_work_cont(&st->work_cont_thresh, | ||
746 | NULL, | ||
747 | adis16400_thresh_handler_bh_no_check, | ||
748 | 0, | ||
749 | 0, | ||
750 | st); | ||
751 | #endif | ||
752 | ret = iio_register_interrupt_line(spi->irq, | ||
753 | st->indio_dev, | ||
754 | 0, | ||
755 | IRQF_TRIGGER_RISING, | ||
756 | "adis16400"); | ||
757 | if (ret) | ||
758 | goto error_uninitialize_ring; | ||
759 | |||
760 | ret = adis16400_probe_trigger(st->indio_dev); | ||
761 | if (ret) | ||
762 | goto error_unregister_line; | ||
763 | } | ||
764 | |||
765 | /* Get the device into a sane initial state */ | ||
766 | ret = adis16400_initial_setup(st); | ||
767 | if (ret) | ||
768 | goto error_remove_trigger; | ||
769 | return 0; | ||
770 | |||
771 | error_remove_trigger: | ||
772 | if (st->indio_dev->modes & INDIO_RING_TRIGGERED) | ||
773 | adis16400_remove_trigger(st->indio_dev); | ||
774 | error_unregister_line: | ||
775 | if (st->indio_dev->modes & INDIO_RING_TRIGGERED) | ||
776 | iio_unregister_interrupt_line(st->indio_dev, 0); | ||
777 | error_uninitialize_ring: | ||
778 | adis16400_uninitialize_ring(st->indio_dev->ring); | ||
779 | error_unreg_ring_funcs: | ||
780 | adis16400_unconfigure_ring(st->indio_dev); | ||
781 | error_free_dev: | ||
782 | if (regdone) | ||
783 | iio_device_unregister(st->indio_dev); | ||
784 | else | ||
785 | iio_free_device(st->indio_dev); | ||
786 | error_free_tx: | ||
787 | kfree(st->tx); | ||
788 | error_free_rx: | ||
789 | kfree(st->rx); | ||
790 | error_free_st: | ||
791 | kfree(st); | ||
792 | error_ret: | ||
793 | return ret; | ||
794 | } | ||
795 | |||
796 | /* fixme, confirm ordering in this function */ | ||
797 | static int adis16400_remove(struct spi_device *spi) | ||
798 | { | ||
799 | int ret; | ||
800 | struct adis16400_state *st = spi_get_drvdata(spi); | ||
801 | struct iio_dev *indio_dev = st->indio_dev; | ||
802 | |||
803 | ret = adis16400_stop_device(&(indio_dev->dev)); | ||
804 | if (ret) | ||
805 | goto err_ret; | ||
806 | |||
807 | flush_scheduled_work(); | ||
808 | |||
809 | adis16400_remove_trigger(indio_dev); | ||
810 | if (spi->irq && gpio_is_valid(irq_to_gpio(spi->irq)) > 0) | ||
811 | iio_unregister_interrupt_line(indio_dev, 0); | ||
812 | |||
813 | adis16400_uninitialize_ring(indio_dev->ring); | ||
814 | adis16400_unconfigure_ring(indio_dev); | ||
815 | iio_device_unregister(indio_dev); | ||
816 | kfree(st->tx); | ||
817 | kfree(st->rx); | ||
818 | kfree(st); | ||
819 | |||
820 | return 0; | ||
821 | |||
822 | err_ret: | ||
823 | return ret; | ||
824 | } | ||
825 | |||
826 | static struct spi_driver adis16400_driver = { | ||
827 | .driver = { | ||
828 | .name = "adis16400", | ||
829 | .owner = THIS_MODULE, | ||
830 | }, | ||
831 | .probe = adis16400_probe, | ||
832 | .remove = __devexit_p(adis16400_remove), | ||
833 | }; | ||
834 | |||
835 | static __init int adis16400_init(void) | ||
836 | { | ||
837 | return spi_register_driver(&adis16400_driver); | ||
838 | } | ||
839 | module_init(adis16400_init); | ||
840 | |||
841 | static __exit void adis16400_exit(void) | ||
842 | { | ||
843 | spi_unregister_driver(&adis16400_driver); | ||
844 | } | ||
845 | module_exit(adis16400_exit); | ||
846 | |||
847 | MODULE_AUTHOR("Manuel Stahl <manuel.stahl@iis.fraunhofer.de>"); | ||
848 | MODULE_DESCRIPTION("Analog Devices ADIS16400/5 IMU SPI driver"); | ||
849 | MODULE_LICENSE("GPL v2"); | ||
diff --git a/drivers/staging/iio/imu/adis16400_ring.c b/drivers/staging/iio/imu/adis16400_ring.c new file mode 100644 index 00000000000..5529b32bd2e --- /dev/null +++ b/drivers/staging/iio/imu/adis16400_ring.c | |||
@@ -0,0 +1,245 @@ | |||
1 | #include <linux/interrupt.h> | ||
2 | #include <linux/irq.h> | ||
3 | #include <linux/gpio.h> | ||
4 | #include <linux/workqueue.h> | ||
5 | #include <linux/mutex.h> | ||
6 | #include <linux/device.h> | ||
7 | #include <linux/kernel.h> | ||
8 | #include <linux/spi/spi.h> | ||
9 | #include <linux/sysfs.h> | ||
10 | #include <linux/list.h> | ||
11 | |||
12 | #include "../iio.h" | ||
13 | #include "../sysfs.h" | ||
14 | #include "../ring_sw.h" | ||
15 | #include "../accel/accel.h" | ||
16 | #include "../trigger.h" | ||
17 | #include "adis16400.h" | ||
18 | |||
19 | /** | ||
20 | * combine_8_to_16() utility function to munge to u8s into u16 | ||
21 | **/ | ||
22 | static inline u16 combine_8_to_16(u8 lower, u8 upper) | ||
23 | { | ||
24 | u16 _lower = lower; | ||
25 | u16 _upper = upper; | ||
26 | return _lower | (_upper << 8); | ||
27 | } | ||
28 | |||
29 | static IIO_SCAN_EL_C(supply, ADIS16400_SCAN_SUPPLY, IIO_SIGNED(14), | ||
30 | ADIS16400_SUPPLY_OUT, NULL); | ||
31 | |||
32 | static IIO_SCAN_EL_C(gyro_x, ADIS16400_SCAN_GYRO_X, IIO_SIGNED(14), | ||
33 | ADIS16400_XGYRO_OUT, NULL); | ||
34 | static IIO_SCAN_EL_C(gyro_y, ADIS16400_SCAN_GYRO_Y, IIO_SIGNED(14), | ||
35 | ADIS16400_YGYRO_OUT, NULL); | ||
36 | static IIO_SCAN_EL_C(gyro_z, ADIS16400_SCAN_GYRO_Z, IIO_SIGNED(14), | ||
37 | ADIS16400_ZGYRO_OUT, NULL); | ||
38 | |||
39 | static IIO_SCAN_EL_C(accel_x, ADIS16400_SCAN_ACC_X, IIO_SIGNED(14), | ||
40 | ADIS16400_XACCL_OUT, NULL); | ||
41 | static IIO_SCAN_EL_C(accel_y, ADIS16400_SCAN_ACC_Y, IIO_SIGNED(14), | ||
42 | ADIS16400_YACCL_OUT, NULL); | ||
43 | static IIO_SCAN_EL_C(accel_z, ADIS16400_SCAN_ACC_Z, IIO_SIGNED(14), | ||
44 | ADIS16400_ZACCL_OUT, NULL); | ||
45 | |||
46 | static IIO_SCAN_EL_C(magn_x, ADIS16400_SCAN_MAGN_X, IIO_SIGNED(14), | ||
47 | ADIS16400_XMAGN_OUT, NULL); | ||
48 | static IIO_SCAN_EL_C(magn_y, ADIS16400_SCAN_MAGN_Y, IIO_SIGNED(14), | ||
49 | ADIS16400_YMAGN_OUT, NULL); | ||
50 | static IIO_SCAN_EL_C(magn_z, ADIS16400_SCAN_MAGN_Z, IIO_SIGNED(14), | ||
51 | ADIS16400_ZMAGN_OUT, NULL); | ||
52 | |||
53 | static IIO_SCAN_EL_C(temp, ADIS16400_SCAN_TEMP, IIO_SIGNED(12), | ||
54 | ADIS16400_TEMP_OUT, NULL); | ||
55 | static IIO_SCAN_EL_C(adc_0, ADIS16400_SCAN_ADC_0, IIO_SIGNED(12), | ||
56 | ADIS16400_AUX_ADC, NULL); | ||
57 | |||
58 | static IIO_SCAN_EL_TIMESTAMP(12); | ||
59 | |||
60 | static struct attribute *adis16400_scan_el_attrs[] = { | ||
61 | &iio_scan_el_supply.dev_attr.attr, | ||
62 | &iio_scan_el_gyro_x.dev_attr.attr, | ||
63 | &iio_scan_el_gyro_y.dev_attr.attr, | ||
64 | &iio_scan_el_gyro_z.dev_attr.attr, | ||
65 | &iio_scan_el_accel_x.dev_attr.attr, | ||
66 | &iio_scan_el_accel_y.dev_attr.attr, | ||
67 | &iio_scan_el_accel_z.dev_attr.attr, | ||
68 | &iio_scan_el_magn_x.dev_attr.attr, | ||
69 | &iio_scan_el_magn_y.dev_attr.attr, | ||
70 | &iio_scan_el_magn_z.dev_attr.attr, | ||
71 | &iio_scan_el_temp.dev_attr.attr, | ||
72 | &iio_scan_el_adc_0.dev_attr.attr, | ||
73 | &iio_scan_el_timestamp.dev_attr.attr, | ||
74 | NULL, | ||
75 | }; | ||
76 | |||
77 | static struct attribute_group adis16400_scan_el_group = { | ||
78 | .attrs = adis16400_scan_el_attrs, | ||
79 | .name = "scan_elements", | ||
80 | }; | ||
81 | |||
82 | /** | ||
83 | * adis16400_poll_func_th() top half interrupt handler called by trigger | ||
84 | * @private_data: iio_dev | ||
85 | **/ | ||
86 | static void adis16400_poll_func_th(struct iio_dev *indio_dev) | ||
87 | { | ||
88 | struct adis16400_state *st = iio_dev_get_devdata(indio_dev); | ||
89 | st->last_timestamp = indio_dev->trig->timestamp; | ||
90 | schedule_work(&st->work_trigger_to_ring); | ||
91 | /* Indicate that this interrupt is being handled */ | ||
92 | |||
93 | /* Technically this is trigger related, but without this | ||
94 | * handler running there is currently no way for the interrupt | ||
95 | * to clear. | ||
96 | */ | ||
97 | } | ||
98 | |||
99 | /* Whilst this makes a lot of calls to iio_sw_ring functions - it is to device | ||
100 | * specific to be rolled into the core. | ||
101 | */ | ||
102 | static void adis16400_trigger_bh_to_ring(struct work_struct *work_s) | ||
103 | { | ||
104 | struct adis16400_state *st | ||
105 | = container_of(work_s, struct adis16400_state, | ||
106 | work_trigger_to_ring); | ||
107 | |||
108 | int i = 0; | ||
109 | s16 *data; | ||
110 | size_t datasize = st->indio_dev | ||
111 | ->ring->access.get_bpd(st->indio_dev->ring); | ||
112 | |||
113 | data = kmalloc(datasize , GFP_KERNEL); | ||
114 | if (data == NULL) { | ||
115 | dev_err(&st->us->dev, "memory alloc failed in ring bh"); | ||
116 | return; | ||
117 | } | ||
118 | |||
119 | if (st->indio_dev->scan_count) | ||
120 | if (adis16400_spi_read_burst(&st->indio_dev->dev, st->rx) >= 0) | ||
121 | for (; i < st->indio_dev->scan_count; i++) { | ||
122 | data[i] = combine_8_to_16(st->rx[i*2+1], | ||
123 | st->rx[i*2]); | ||
124 | } | ||
125 | |||
126 | /* Guaranteed to be aligned with 8 byte boundary */ | ||
127 | if (st->indio_dev->scan_timestamp) | ||
128 | *((s64 *)(data + ((i + 3)/4)*4)) = st->last_timestamp; | ||
129 | |||
130 | st->indio_dev->ring->access.store_to(st->indio_dev->ring, | ||
131 | (u8 *)data, | ||
132 | st->last_timestamp); | ||
133 | |||
134 | iio_trigger_notify_done(st->indio_dev->trig); | ||
135 | kfree(data); | ||
136 | |||
137 | return; | ||
138 | } | ||
139 | /* in these circumstances is it better to go with unaligned packing and | ||
140 | * deal with the cost?*/ | ||
141 | static int adis16400_data_rdy_ring_preenable(struct iio_dev *indio_dev) | ||
142 | { | ||
143 | size_t size; | ||
144 | dev_dbg(&indio_dev->dev, "%s\n", __func__); | ||
145 | /* Check if there are any scan elements enabled, if not fail*/ | ||
146 | if (!(indio_dev->scan_count || indio_dev->scan_timestamp)) | ||
147 | return -EINVAL; | ||
148 | |||
149 | if (indio_dev->ring->access.set_bpd) { | ||
150 | if (indio_dev->scan_timestamp) | ||
151 | if (indio_dev->scan_count) /* Timestamp and data */ | ||
152 | size = 6*sizeof(s64); | ||
153 | else /* Timestamp only */ | ||
154 | size = sizeof(s64); | ||
155 | else /* Data only */ | ||
156 | size = indio_dev->scan_count*sizeof(s16); | ||
157 | indio_dev->ring->access.set_bpd(indio_dev->ring, size); | ||
158 | } | ||
159 | |||
160 | return 0; | ||
161 | } | ||
162 | |||
163 | static int adis16400_data_rdy_ring_postenable(struct iio_dev *indio_dev) | ||
164 | { | ||
165 | return indio_dev->trig | ||
166 | ? iio_trigger_attach_poll_func(indio_dev->trig, | ||
167 | indio_dev->pollfunc) | ||
168 | : 0; | ||
169 | } | ||
170 | |||
171 | static int adis16400_data_rdy_ring_predisable(struct iio_dev *indio_dev) | ||
172 | { | ||
173 | return indio_dev->trig | ||
174 | ? iio_trigger_dettach_poll_func(indio_dev->trig, | ||
175 | indio_dev->pollfunc) | ||
176 | : 0; | ||
177 | } | ||
178 | |||
179 | void adis16400_unconfigure_ring(struct iio_dev *indio_dev) | ||
180 | { | ||
181 | kfree(indio_dev->pollfunc); | ||
182 | iio_sw_rb_free(indio_dev->ring); | ||
183 | } | ||
184 | |||
185 | int adis16400_configure_ring(struct iio_dev *indio_dev) | ||
186 | { | ||
187 | int ret = 0; | ||
188 | struct adis16400_state *st = indio_dev->dev_data; | ||
189 | struct iio_ring_buffer *ring; | ||
190 | INIT_WORK(&st->work_trigger_to_ring, adis16400_trigger_bh_to_ring); | ||
191 | /* Set default scan mode */ | ||
192 | |||
193 | iio_scan_mask_set(indio_dev, iio_scan_el_supply.number); | ||
194 | iio_scan_mask_set(indio_dev, iio_scan_el_gyro_x.number); | ||
195 | iio_scan_mask_set(indio_dev, iio_scan_el_gyro_y.number); | ||
196 | iio_scan_mask_set(indio_dev, iio_scan_el_gyro_z.number); | ||
197 | iio_scan_mask_set(indio_dev, iio_scan_el_accel_x.number); | ||
198 | iio_scan_mask_set(indio_dev, iio_scan_el_accel_y.number); | ||
199 | iio_scan_mask_set(indio_dev, iio_scan_el_accel_z.number); | ||
200 | iio_scan_mask_set(indio_dev, iio_scan_el_magn_x.number); | ||
201 | iio_scan_mask_set(indio_dev, iio_scan_el_magn_y.number); | ||
202 | iio_scan_mask_set(indio_dev, iio_scan_el_magn_z.number); | ||
203 | iio_scan_mask_set(indio_dev, iio_scan_el_temp.number); | ||
204 | iio_scan_mask_set(indio_dev, iio_scan_el_adc_0.number); | ||
205 | indio_dev->scan_timestamp = true; | ||
206 | |||
207 | indio_dev->scan_el_attrs = &adis16400_scan_el_group; | ||
208 | |||
209 | ring = iio_sw_rb_allocate(indio_dev); | ||
210 | if (!ring) { | ||
211 | ret = -ENOMEM; | ||
212 | return ret; | ||
213 | } | ||
214 | indio_dev->ring = ring; | ||
215 | /* Effectively select the ring buffer implementation */ | ||
216 | iio_ring_sw_register_funcs(&ring->access); | ||
217 | ring->preenable = &adis16400_data_rdy_ring_preenable; | ||
218 | ring->postenable = &adis16400_data_rdy_ring_postenable; | ||
219 | ring->predisable = &adis16400_data_rdy_ring_predisable; | ||
220 | ring->owner = THIS_MODULE; | ||
221 | |||
222 | indio_dev->pollfunc = kzalloc(sizeof(*indio_dev->pollfunc), GFP_KERNEL); | ||
223 | if (indio_dev->pollfunc == NULL) { | ||
224 | ret = -ENOMEM; | ||
225 | goto error_iio_sw_rb_free;; | ||
226 | } | ||
227 | indio_dev->pollfunc->poll_func_main = &adis16400_poll_func_th; | ||
228 | indio_dev->pollfunc->private_data = indio_dev; | ||
229 | indio_dev->modes |= INDIO_RING_TRIGGERED; | ||
230 | return 0; | ||
231 | |||
232 | error_iio_sw_rb_free: | ||
233 | iio_sw_rb_free(indio_dev->ring); | ||
234 | return ret; | ||
235 | } | ||
236 | |||
237 | int adis16400_initialize_ring(struct iio_ring_buffer *ring) | ||
238 | { | ||
239 | return iio_ring_buffer_register(ring, 0); | ||
240 | } | ||
241 | |||
242 | void adis16400_uninitialize_ring(struct iio_ring_buffer *ring) | ||
243 | { | ||
244 | iio_ring_buffer_unregister(ring); | ||
245 | } | ||
diff --git a/drivers/staging/iio/imu/adis16400_trigger.c b/drivers/staging/iio/imu/adis16400_trigger.c new file mode 100644 index 00000000000..3b3250ac768 --- /dev/null +++ b/drivers/staging/iio/imu/adis16400_trigger.c | |||
@@ -0,0 +1,127 @@ | |||
1 | #include <linux/interrupt.h> | ||
2 | #include <linux/irq.h> | ||
3 | #include <linux/mutex.h> | ||
4 | #include <linux/device.h> | ||
5 | #include <linux/kernel.h> | ||
6 | #include <linux/sysfs.h> | ||
7 | #include <linux/list.h> | ||
8 | #include <linux/spi/spi.h> | ||
9 | |||
10 | #include "../iio.h" | ||
11 | #include "../sysfs.h" | ||
12 | #include "../trigger.h" | ||
13 | #include "adis16400.h" | ||
14 | |||
15 | /** | ||
16 | * adis16400_data_rdy_trig_poll() the event handler for the data rdy trig | ||
17 | **/ | ||
18 | static int adis16400_data_rdy_trig_poll(struct iio_dev *dev_info, | ||
19 | int index, | ||
20 | s64 timestamp, | ||
21 | int no_test) | ||
22 | { | ||
23 | struct adis16400_state *st = iio_dev_get_devdata(dev_info); | ||
24 | struct iio_trigger *trig = st->trig; | ||
25 | |||
26 | trig->timestamp = timestamp; | ||
27 | iio_trigger_poll(trig); | ||
28 | |||
29 | return IRQ_HANDLED; | ||
30 | } | ||
31 | |||
32 | IIO_EVENT_SH(data_rdy_trig, &adis16400_data_rdy_trig_poll); | ||
33 | |||
34 | static DEVICE_ATTR(name, S_IRUGO, iio_trigger_read_name, NULL); | ||
35 | |||
36 | static struct attribute *adis16400_trigger_attrs[] = { | ||
37 | &dev_attr_name.attr, | ||
38 | NULL, | ||
39 | }; | ||
40 | |||
41 | static const struct attribute_group adis16400_trigger_attr_group = { | ||
42 | .attrs = adis16400_trigger_attrs, | ||
43 | }; | ||
44 | |||
45 | /** | ||
46 | * adis16400_data_rdy_trigger_set_state() set datardy interrupt state | ||
47 | **/ | ||
48 | static int adis16400_data_rdy_trigger_set_state(struct iio_trigger *trig, | ||
49 | bool state) | ||
50 | { | ||
51 | struct adis16400_state *st = trig->private_data; | ||
52 | struct iio_dev *indio_dev = st->indio_dev; | ||
53 | int ret = 0; | ||
54 | |||
55 | dev_dbg(&indio_dev->dev, "%s (%d)\n", __func__, state); | ||
56 | ret = adis16400_set_irq(&st->indio_dev->dev, state); | ||
57 | if (state == false) { | ||
58 | iio_remove_event_from_list(&iio_event_data_rdy_trig, | ||
59 | &indio_dev->interrupts[0] | ||
60 | ->ev_list); | ||
61 | /* possible quirk with handler currently worked around | ||
62 | by ensuring the work queue is empty */ | ||
63 | flush_scheduled_work(); | ||
64 | } else { | ||
65 | iio_add_event_to_list(&iio_event_data_rdy_trig, | ||
66 | &indio_dev->interrupts[0]->ev_list); | ||
67 | } | ||
68 | return ret; | ||
69 | } | ||
70 | |||
71 | /** | ||
72 | * adis16400_trig_try_reen() try renabling irq for data rdy trigger | ||
73 | * @trig: the datardy trigger | ||
74 | **/ | ||
75 | static int adis16400_trig_try_reen(struct iio_trigger *trig) | ||
76 | { | ||
77 | struct adis16400_state *st = trig->private_data; | ||
78 | enable_irq(st->us->irq); | ||
79 | /* irq reenabled so success! */ | ||
80 | return 0; | ||
81 | } | ||
82 | |||
83 | int adis16400_probe_trigger(struct iio_dev *indio_dev) | ||
84 | { | ||
85 | int ret; | ||
86 | struct adis16400_state *st = indio_dev->dev_data; | ||
87 | |||
88 | st->trig = iio_allocate_trigger(); | ||
89 | st->trig->name = kmalloc(IIO_TRIGGER_NAME_LENGTH, GFP_KERNEL); | ||
90 | if (!st->trig->name) { | ||
91 | ret = -ENOMEM; | ||
92 | goto error_free_trig; | ||
93 | } | ||
94 | snprintf((char *)st->trig->name, | ||
95 | IIO_TRIGGER_NAME_LENGTH, | ||
96 | "adis16400-dev%d", indio_dev->id); | ||
97 | st->trig->dev.parent = &st->us->dev; | ||
98 | st->trig->owner = THIS_MODULE; | ||
99 | st->trig->private_data = st; | ||
100 | st->trig->set_trigger_state = &adis16400_data_rdy_trigger_set_state; | ||
101 | st->trig->try_reenable = &adis16400_trig_try_reen; | ||
102 | st->trig->control_attrs = &adis16400_trigger_attr_group; | ||
103 | ret = iio_trigger_register(st->trig); | ||
104 | |||
105 | /* select default trigger */ | ||
106 | indio_dev->trig = st->trig; | ||
107 | if (ret) | ||
108 | goto error_free_trig_name; | ||
109 | |||
110 | return 0; | ||
111 | |||
112 | error_free_trig_name: | ||
113 | kfree(st->trig->name); | ||
114 | error_free_trig: | ||
115 | iio_free_trigger(st->trig); | ||
116 | |||
117 | return ret; | ||
118 | } | ||
119 | |||
120 | void adis16400_remove_trigger(struct iio_dev *indio_dev) | ||
121 | { | ||
122 | struct adis16400_state *state = indio_dev->dev_data; | ||
123 | |||
124 | iio_trigger_unregister(state->trig); | ||
125 | kfree(state->trig->name); | ||
126 | iio_free_trigger(state->trig); | ||
127 | } | ||
diff --git a/drivers/staging/iio/magnetometer/magnet.h b/drivers/staging/iio/magnetometer/magnet.h new file mode 100644 index 00000000000..6f6c6ed91fa --- /dev/null +++ b/drivers/staging/iio/magnetometer/magnet.h | |||
@@ -0,0 +1,31 @@ | |||
1 | |||
2 | #include "../sysfs.h" | ||
3 | |||
4 | /* Magnetometer types of attribute */ | ||
5 | |||
6 | #define IIO_DEV_ATTR_MAGN_X_OFFSET(_mode, _show, _store, _addr) \ | ||
7 | IIO_DEVICE_ATTR(magn_x_offset, _mode, _show, _store, _addr) | ||
8 | |||
9 | #define IIO_DEV_ATTR_MAGN_Y_OFFSET(_mode, _show, _store, _addr) \ | ||
10 | IIO_DEVICE_ATTR(magn_y_offset, _mode, _show, _store, _addr) | ||
11 | |||
12 | #define IIO_DEV_ATTR_MAGN_Z_OFFSET(_mode, _show, _store, _addr) \ | ||
13 | IIO_DEVICE_ATTR(magn_z_offset, _mode, _show, _store, _addr) | ||
14 | |||
15 | #define IIO_DEV_ATTR_MAGN_X_GAIN(_mode, _show, _store, _addr) \ | ||
16 | IIO_DEVICE_ATTR(magn_x_gain, _mode, _show, _store, _addr) | ||
17 | |||
18 | #define IIO_DEV_ATTR_MAGN_Y_GAIN(_mode, _show, _store, _addr) \ | ||
19 | IIO_DEVICE_ATTR(magn_y_gain, _mode, _show, _store, _addr) | ||
20 | |||
21 | #define IIO_DEV_ATTR_MAGN_Z_GAIN(_mode, _show, _store, _addr) \ | ||
22 | IIO_DEVICE_ATTR(magn_z_gain, _mode, _show, _store, _addr) | ||
23 | |||
24 | #define IIO_DEV_ATTR_MAGN_X(_show, _addr) \ | ||
25 | IIO_DEVICE_ATTR(magn_x, S_IRUGO, _show, NULL, _addr) | ||
26 | |||
27 | #define IIO_DEV_ATTR_MAGN_Y(_show, _addr) \ | ||
28 | IIO_DEVICE_ATTR(magn_y, S_IRUGO, _show, NULL, _addr) | ||
29 | |||
30 | #define IIO_DEV_ATTR_MAGN_Z(_show, _addr) \ | ||
31 | IIO_DEVICE_ATTR(magn_z, S_IRUGO, _show, NULL, _addr) | ||