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staging: iio: adis16260 digital gyro driver

Browse source 
Signed-off-by: Barry Song <Barry.Song@analog.com>
Signed-off-by: Jonathan Cameron <jic23@cam.ac.uk>
Signed-off-by: Greg Kroah-Hartman <gregkh@suse.de>
This commit is contained in:
Barry Song 2010-05-12 19:34:06 +01:00 committed by Greg Kroah-Hartman
parent 935e99fb07
commit 089a41985c
9 changed files with 1240 additions and 0 deletions
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1
drivers/staging/iio/Kconfig
View file

@ -41,6 +41,7 @@ config IIO_TRIGGER
source "drivers/staging/iio/accel/Kconfig"
source "drivers/staging/iio/adc/Kconfig"
source "drivers/staging/iio/gyro/Kconfig"
source "drivers/staging/iio/imu/Kconfig"
source "drivers/staging/iio/light/Kconfig"

1
drivers/staging/iio/Makefile
View file

@ -11,6 +11,7 @@ obj-$(CONFIG_IIO_SW_RING) += ring_sw.o
obj-y += accel/
obj-y += adc/
obj-y += gyro/
obj-y += imu/
obj-y += light/

13
drivers/staging/iio/gyro/Kconfig Normal file
View file

@ -0,0 +1,13 @@
#
# IIO Digital Gyroscope Sensor drivers configuration
#
comment "Digital gyroscope sensors"
config ADIS16260
tristate "Analog Devices ADIS16260/5 Digital Gyroscope Sensor SPI driver"
depends on SPI
select IIO_TRIGGER if IIO_RING_BUFFER
select IIO_SW_RING if IIO_RING_BUFFER
help
Say yes here to build support for Analog Devices adis16260/5
programmable digital gyroscope sensor.

7
drivers/staging/iio/gyro/Makefile Normal file
View file

@ -0,0 +1,7 @@
# Makefile for digital gyroscope sensor drivers
#
adis16260-y := adis16260_core.o
adis16260-$(CONFIG_IIO_RING_BUFFER) += adis16260_ring.o adis16260_trigger.o
obj-$(CONFIG_ADIS16260) += adis16260.o

175
drivers/staging/iio/gyro/adis16260.h Normal file
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@ -0,0 +1,175 @@
#ifndef SPI_ADIS16260_H_
#define SPI_ADIS16260_H_
#define ADIS16260_STARTUP_DELAY 220 /* ms */
#define ADIS16260_READ_REG(a) a
#define ADIS16260_WRITE_REG(a) ((a) | 0x80)
#define ADIS16260_FLASH_CNT 0x00 /* Flash memory write count */
#define ADIS16260_SUPPLY_OUT 0x02 /* Power supply measurement */
#define ADIS16260_GYRO_OUT 0x04 /* X-axis gyroscope output */
#define ADIS16260_AUX_ADC 0x0A /* analog input channel measurement */
#define ADIS16260_TEMP_OUT 0x0C /* internal temperature measurement */
#define ADIS16260_ANGL_OUT 0x0E /* angle displacement */
#define ADIS16260_GYRO_OFF 0x14 /* Calibration, offset/bias adjustment */
#define ADIS16260_GYRO_SCALE 0x16 /* Calibration, scale adjustment */
#define ADIS16260_ALM_MAG1 0x20 /* Alarm 1 magnitude/polarity setting */
#define ADIS16260_ALM_MAG2 0x22 /* Alarm 2 magnitude/polarity setting */
#define ADIS16260_ALM_SMPL1 0x24 /* Alarm 1 dynamic rate of change setting */
#define ADIS16260_ALM_SMPL2 0x26 /* Alarm 2 dynamic rate of change setting */
#define ADIS16260_ALM_CTRL 0x28 /* Alarm control */
#define ADIS16260_AUX_DAC 0x30 /* Auxiliary DAC data */
#define ADIS16260_GPIO_CTRL 0x32 /* Control, digital I/O line */
#define ADIS16260_MSC_CTRL 0x34 /* Control, data ready, self-test settings */
#define ADIS16260_SMPL_PRD 0x36 /* Control, internal sample rate */
#define ADIS16260_SENS_AVG 0x38 /* Control, dynamic range, filtering */
#define ADIS16260_SLP_CNT 0x3A /* Control, sleep mode initiation */
#define ADIS16260_DIAG_STAT 0x3C /* Diagnostic, error flags */
#define ADIS16260_GLOB_CMD 0x3E /* Control, global commands */
#define ADIS16260_LOT_ID1 0x52 /* Lot Identification Code 1 */
#define ADIS16260_LOT_ID2 0x54 /* Lot Identification Code 2 */
#define ADIS16260_PROD_ID 0x56 /* Product identifier;
* convert to decimal = 16,265/16,260 */
#define ADIS16260_SERIAL_NUM 0x58 /* Serial number */
#define ADIS16260_OUTPUTS 5
#define ADIS16260_ERROR_ACTIVE (1<<14)
#define ADIS16260_NEW_DATA (1<<15)
/* MSC_CTRL */
#define ADIS16260_MSC_CTRL_MEM_TEST (1<<11)
/* Internal self-test enable */
#define ADIS16260_MSC_CTRL_INT_SELF_TEST (1<<10)
#define ADIS16260_MSC_CTRL_NEG_SELF_TEST (1<<9)
#define ADIS16260_MSC_CTRL_POS_SELF_TEST (1<<8)
#define ADIS16260_MSC_CTRL_DATA_RDY_EN (1<<2)
#define ADIS16260_MSC_CTRL_DATA_RDY_POL_HIGH (1<<1)
#define ADIS16260_MSC_CTRL_DATA_RDY_DIO2 (1<<0)
/* SMPL_PRD */
/* Time base (tB): 0 = 1.953 ms, 1 = 60.54 ms */
#define ADIS16260_SMPL_PRD_TIME_BASE (1<<7)
#define ADIS16260_SMPL_PRD_DIV_MASK 0x7F
/* SLP_CNT */
#define ADIS16260_SLP_CNT_POWER_OFF 0x80
/* DIAG_STAT */
#define ADIS16260_DIAG_STAT_ALARM2 (1<<9)
#define ADIS16260_DIAG_STAT_ALARM1 (1<<8)
#define ADIS16260_DIAG_STAT_FLASH_CHK (1<<6)
#define ADIS16260_DIAG_STAT_SELF_TEST (1<<5)
#define ADIS16260_DIAG_STAT_OVERFLOW (1<<4)
#define ADIS16260_DIAG_STAT_SPI_FAIL (1<<3)
#define ADIS16260_DIAG_STAT_FLASH_UPT (1<<2)
#define ADIS16260_DIAG_STAT_POWER_HIGH (1<<1)
#define ADIS16260_DIAG_STAT_POWER_LOW (1<<0)
/* GLOB_CMD */
#define ADIS16260_GLOB_CMD_SW_RESET (1<<7)
#define ADIS16260_GLOB_CMD_FLASH_UPD (1<<3)
#define ADIS16260_GLOB_CMD_DAC_LATCH (1<<2)
#define ADIS16260_GLOB_CMD_FAC_CALIB (1<<1)
#define ADIS16260_GLOB_CMD_AUTO_NULL (1<<0)
#define ADIS16260_MAX_TX 24
#define ADIS16260_MAX_RX 24
#define ADIS16260_SPI_SLOW (u32)(300 * 1000)
#define ADIS16260_SPI_BURST (u32)(1000 * 1000)
#define ADIS16260_SPI_FAST (u32)(2000 * 1000)
/**
* struct adis16260_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 adis16260_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 adis16260_set_irq(struct device *dev, bool enable);
#ifdef CONFIG_IIO_RING_BUFFER
/* At the moment triggers are only used for ring buffer
* filling. This may change!
*/
enum adis16260_scan {
ADIS16260_SCAN_SUPPLY,
ADIS16260_SCAN_GYRO,
ADIS16260_SCAN_AUX_ADC,
ADIS16260_SCAN_TEMP,
ADIS16260_SCAN_ANGL,
};
void adis16260_remove_trigger(struct iio_dev *indio_dev);
int adis16260_probe_trigger(struct iio_dev *indio_dev);
ssize_t adis16260_read_data_from_ring(struct device *dev,
struct device_attribute *attr,
char *buf);
int adis16260_configure_ring(struct iio_dev *indio_dev);
void adis16260_unconfigure_ring(struct iio_dev *indio_dev);
int adis16260_initialize_ring(struct iio_ring_buffer *ring);
void adis16260_uninitialize_ring(struct iio_ring_buffer *ring);
#else /* CONFIG_IIO_RING_BUFFER */
static inline void adis16260_remove_trigger(struct iio_dev *indio_dev)
{
}
static inline int adis16260_probe_trigger(struct iio_dev *indio_dev)
{
return 0;
}
static inline ssize_t
adis16260_read_data_from_ring(struct device *dev,
struct device_attribute *attr,
char *buf)
{
return 0;
}
static int adis16260_configure_ring(struct iio_dev *indio_dev)
{
return 0;
}
static inline void adis16260_unconfigure_ring(struct iio_dev *indio_dev)
{
}
static inline int adis16260_initialize_ring(struct iio_ring_buffer *ring)
{
return 0;
}
static inline void adis16260_uninitialize_ring(struct iio_ring_buffer *ring)
{
}
#endif /* CONFIG_IIO_RING_BUFFER */
#endif /* SPI_ADIS16260_H_ */

661
drivers/staging/iio/gyro/adis16260_core.c Normal file
View file

@ -0,0 +1,661 @@
/*
* ADIS16260 Programmable Digital Gyroscope Sensor Driver
*
* Copyright 2010 Analog Devices Inc.
*
* Licensed under the GPL-2 or later.
*/
#include <linux/interrupt.h>
#include <linux/irq.h>
#include <linux/gpio.h>
#include <linux/delay.h>
#include <linux/mutex.h>
#include <linux/device.h>
#include <linux/kernel.h>
#include <linux/spi/spi.h>
#include <linux/sysfs.h>
#include <linux/list.h>
#include "../iio.h"
#include "../sysfs.h"
#include "../adc/adc.h"
#include "gyro.h"
#include "adis16260.h"
#define DRIVER_NAME "adis16260"
static int adis16260_check_status(struct device *dev);
/**
* adis16260_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
**/
static int adis16260_spi_write_reg_8(struct device *dev,
u8 reg_address,
u8 val)
{
int ret;
struct iio_dev *indio_dev = dev_get_drvdata(dev);
struct adis16260_state *st = iio_dev_get_devdata(indio_dev);
mutex_lock(&st->buf_lock);
st->tx[0] = ADIS16260_WRITE_REG(reg_address);
st->tx[1] = val;
ret = spi_write(st->us, st->tx, 2);
mutex_unlock(&st->buf_lock);
return ret;
}
/**
* adis16260_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 adis16260_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 adis16260_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,
.delay_usecs = 20,
}, {
.tx_buf = st->tx + 2,
.bits_per_word = 8,
.len = 2,
.cs_change = 1,
.delay_usecs = 20,
},
};
mutex_lock(&st->buf_lock);
st->tx[0] = ADIS16260_WRITE_REG(lower_reg_address);
st->tx[1] = value & 0xFF;
st->tx[2] = ADIS16260_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;
}
/**
* adis16260_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 adis16260_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 adis16260_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,
.delay_usecs = 30,
}, {
.rx_buf = st->rx,
.bits_per_word = 8,
.len = 2,
.cs_change = 1,
.delay_usecs = 30,
},
};
mutex_lock(&st->buf_lock);
st->tx[0] = ADIS16260_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;
}
static ssize_t adis16260_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 = adis16260_spi_read_reg_16(dev, this_attr->address, (u16 *)&val);
if (ret)
return ret;
if (val & ADIS16260_ERROR_ACTIVE)
adis16260_check_status(dev);
val = ((s16)(val << shift) >> shift);
return sprintf(buf, "%d\n", val);
}
static ssize_t adis16260_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 = adis16260_spi_read_reg_16(dev, this_attr->address, &val);
if (ret)
return ret;
if (val & ADIS16260_ERROR_ACTIVE)
adis16260_check_status(dev);
return sprintf(buf, "%u\n", val & 0x0FFF);
}
static ssize_t adis16260_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 = adis16260_spi_read_signed(dev, attr, buf, 12);
mutex_unlock(&indio_dev->mlock);
return ret;
}
static ssize_t adis16260_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 = adis16260_spi_read_signed(dev, attr, buf, 14);
mutex_unlock(&indio_dev->mlock);
return ret;
}
static ssize_t adis16260_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 = adis16260_spi_write_reg_16(dev, this_attr->address, val);
error_ret:
return ret ? ret : len;
}
static ssize_t adis16260_read_frequency(struct device *dev,
struct device_attribute *attr,
char *buf)
{
int ret, len = 0;
u16 t;
int sps;
ret = adis16260_spi_read_reg_16(dev,
ADIS16260_SMPL_PRD,
&t);
if (ret)
return ret;
sps = (t & ADIS16260_SMPL_PRD_TIME_BASE) ? 66 : 2048;
sps /= (t & ADIS16260_SMPL_PRD_DIV_MASK) + 1;
len = sprintf(buf, "%d SPS\n", sps);
return len;
}
static ssize_t adis16260_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 adis16260_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 = (2048 / val);
if (t > 0)
t--;
t &= ADIS16260_SMPL_PRD_DIV_MASK;
if ((t & ADIS16260_SMPL_PRD_DIV_MASK) >= 0x0A)
st->us->max_speed_hz = ADIS16260_SPI_SLOW;
else
st->us->max_speed_hz = ADIS16260_SPI_FAST;
ret = adis16260_spi_write_reg_8(dev,
ADIS16260_SMPL_PRD,
t);
mutex_unlock(&indio_dev->mlock);
return ret ? ret : len;
}
static int adis16260_reset(struct device *dev)
{
int ret;
ret = adis16260_spi_write_reg_8(dev,
ADIS16260_GLOB_CMD,
ADIS16260_GLOB_CMD_SW_RESET);
if (ret)
dev_err(dev, "problem resetting device");
return ret;
}
static ssize_t adis16260_write_reset(struct device *dev,
struct device_attribute *attr,
const char *buf, size_t len)
{
if (len < 1)
return -EINVAL;
switch (buf[0]) {
case '1':
case 'y':
case 'Y':
return adis16260_reset(dev);
}
return -EINVAL;
}
int adis16260_set_irq(struct device *dev, bool enable)
{
int ret;
u16 msc;
ret = adis16260_spi_read_reg_16(dev, ADIS16260_MSC_CTRL, &msc);
if (ret)
goto error_ret;
msc |= ADIS16260_MSC_CTRL_DATA_RDY_POL_HIGH;
if (enable)
msc |= ADIS16260_MSC_CTRL_DATA_RDY_EN;
else
msc &= ~ADIS16260_MSC_CTRL_DATA_RDY_EN;
ret = adis16260_spi_write_reg_16(dev, ADIS16260_MSC_CTRL, msc);
if (ret)
goto error_ret;
error_ret:
return ret;
}
/* Power down the device */
static int adis16260_stop_device(struct device *dev)
{
int ret;
u16 val = ADIS16260_SLP_CNT_POWER_OFF;
ret = adis16260_spi_write_reg_16(dev, ADIS16260_SLP_CNT, val);
if (ret)
dev_err(dev, "problem with turning device off: SLP_CNT");
return ret;
}
static int adis16260_self_test(struct device *dev)
{
int ret;
ret = adis16260_spi_write_reg_16(dev,
ADIS16260_MSC_CTRL,
ADIS16260_MSC_CTRL_MEM_TEST);
if (ret) {
dev_err(dev, "problem starting self test");
goto err_ret;
}
adis16260_check_status(dev);
err_ret:
return ret;
}
static int adis16260_check_status(struct device *dev)
{
u16 status;
int ret;
ret = adis16260_spi_read_reg_16(dev, ADIS16260_DIAG_STAT, &status);
if (ret < 0) {
dev_err(dev, "Reading status failed\n");
goto error_ret;
}
ret = status & 0x7F;
if (status & ADIS16260_DIAG_STAT_FLASH_CHK)
dev_err(dev, "Flash checksum error\n");
if (status & ADIS16260_DIAG_STAT_SELF_TEST)
dev_err(dev, "Self test error\n");
if (status & ADIS16260_DIAG_STAT_OVERFLOW)
dev_err(dev, "Sensor overrange\n");
if (status & ADIS16260_DIAG_STAT_SPI_FAIL)
dev_err(dev, "SPI failure\n");
if (status & ADIS16260_DIAG_STAT_FLASH_UPT)
dev_err(dev, "Flash update failed\n");
if (status & ADIS16260_DIAG_STAT_POWER_HIGH)
dev_err(dev, "Power supply above 5.25V\n");
if (status & ADIS16260_DIAG_STAT_POWER_LOW)
dev_err(dev, "Power supply below 4.75V\n");
error_ret:
return ret;
}
static int adis16260_initial_setup(struct adis16260_state *st)
{
int ret;
struct device *dev = &st->indio_dev->dev;
/* Disable IRQ */
ret = adis16260_set_irq(dev, false);
if (ret) {
dev_err(dev, "disable irq failed");
goto err_ret;
}
/* Do self test */
ret = adis16260_self_test(dev);
if (ret) {
dev_err(dev, "self test failure");
goto err_ret;
}
/* Read status register to check the result */
ret = adis16260_check_status(dev);
if (ret) {
adis16260_reset(dev);
dev_err(dev, "device not playing ball -> reset");
msleep(ADIS16260_STARTUP_DELAY);
ret = adis16260_check_status(dev);
if (ret) {
dev_err(dev, "giving up");
goto err_ret;
}
}
printk(KERN_INFO DRIVER_NAME ": at CS%d (irq %d)\n",
st->us->chip_select, st->us->irq);
err_ret:
return ret;
}
static IIO_DEV_ATTR_IN_NAMED_RAW(supply,
adis16260_read_12bit_unsigned,
ADIS16260_SUPPLY_OUT);
static IIO_CONST_ATTR(in_supply_scale, "0.0018315");
static IIO_DEV_ATTR_GYRO(adis16260_read_14bit_signed,
ADIS16260_GYRO_OUT);
static IIO_DEV_ATTR_GYRO_SCALE(S_IWUSR | S_IRUGO,
adis16260_read_14bit_signed,
adis16260_write_16bit,
ADIS16260_GYRO_SCALE);
static IIO_DEV_ATTR_GYRO_OFFSET(S_IWUSR | S_IRUGO,
adis16260_read_12bit_signed,
adis16260_write_16bit,
ADIS16260_GYRO_OFF);
static IIO_DEV_ATTR_TEMP_RAW(adis16260_read_12bit_unsigned);
static IIO_CONST_ATTR(temp_offset, "25");
static IIO_CONST_ATTR(temp_scale, "0.1453");
static IIO_DEV_ATTR_IN_RAW(0, adis16260_read_12bit_unsigned,
ADIS16260_AUX_ADC);
static IIO_CONST_ATTR(in0_scale, "0.0006105");
static IIO_DEV_ATTR_SAMP_FREQ(S_IWUSR | S_IRUGO,
adis16260_read_frequency,
adis16260_write_frequency);
static IIO_DEV_ATTR_ANGL(adis16260_read_14bit_signed,
ADIS16260_ANGL_OUT);
static IIO_DEVICE_ATTR(reset, S_IWUSR, NULL, adis16260_write_reset, 0);
static IIO_CONST_ATTR_AVAIL_SAMP_FREQ("256 2048");
static IIO_CONST_ATTR(name, "adis16260");
static struct attribute *adis16260_event_attributes[] = {
NULL
};
static struct attribute_group adis16260_event_attribute_group = {
.attrs = adis16260_event_attributes,
};
static struct attribute *adis16260_attributes[] = {
&iio_dev_attr_in_supply_raw.dev_attr.attr,
&iio_const_attr_in_supply_scale.dev_attr.attr,
&iio_dev_attr_gyro_raw.dev_attr.attr,
&iio_dev_attr_gyro_scale.dev_attr.attr,
&iio_dev_attr_gyro_offset.dev_attr.attr,
&iio_dev_attr_angl_raw.dev_attr.attr,
&iio_dev_attr_temp_raw.dev_attr.attr,
&iio_const_attr_temp_offset.dev_attr.attr,
&iio_const_attr_temp_scale.dev_attr.attr,
&iio_dev_attr_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 adis16260_attribute_group = {
.attrs = adis16260_attributes,
};
static int __devinit adis16260_probe(struct spi_device *spi)
{
int ret, regdone = 0;
struct adis16260_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)*ADIS16260_MAX_RX, GFP_KERNEL);
if (st->rx == NULL) {
ret = -ENOMEM;
goto error_free_st;
}
st->tx = kzalloc(sizeof(*st->tx)*ADIS16260_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 = &adis16260_event_attribute_group;
st->indio_dev->attrs = &adis16260_attribute_group;
st->indio_dev->dev_data = (void *)(st);
st->indio_dev->driver_module = THIS_MODULE;
st->indio_dev->modes = INDIO_DIRECT_MODE;
ret = adis16260_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 = adis16260_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) {
ret = iio_register_interrupt_line(spi->irq,
st->indio_dev,
0,
IRQF_TRIGGER_RISING,
"adis16260");
if (ret)
goto error_uninitialize_ring;
ret = adis16260_probe_trigger(st->indio_dev);
if (ret)
goto error_unregister_line;
}
/* Get the device into a sane initial state */
ret = adis16260_initial_setup(st);
if (ret)
goto error_remove_trigger;
return 0;
error_remove_trigger:
adis16260_remove_trigger(st->indio_dev);
error_unregister_line:
if (spi->irq)
iio_unregister_interrupt_line(st->indio_dev, 0);
error_uninitialize_ring:
adis16260_uninitialize_ring(st->indio_dev->ring);
error_unreg_ring_funcs:
adis16260_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;
}
static int adis16260_remove(struct spi_device *spi)
{
int ret;
struct adis16260_state *st = spi_get_drvdata(spi);
struct iio_dev *indio_dev = st->indio_dev;
ret = adis16260_stop_device(&(indio_dev->dev));
if (ret)
goto err_ret;
flush_scheduled_work();
adis16260_remove_trigger(indio_dev);
if (spi->irq)
iio_unregister_interrupt_line(indio_dev, 0);
adis16260_uninitialize_ring(indio_dev->ring);
iio_device_unregister(indio_dev);
adis16260_unconfigure_ring(indio_dev);
kfree(st->tx);
kfree(st->rx);
kfree(st);
return 0;
err_ret:
return ret;
}
static struct spi_driver adis16260_driver = {
.driver = {
.name = "adis16260",
.owner = THIS_MODULE,
},
.probe = adis16260_probe,
.remove = __devexit_p(adis16260_remove),
};
static __init int adis16260_init(void)
{
return spi_register_driver(&adis16260_driver);
}
module_init(adis16260_init);
static __exit void adis16260_exit(void)
{
spi_unregister_driver(&adis16260_driver);
}
module_exit(adis16260_exit);
MODULE_AUTHOR("Barry Song <21cnbao@gmail.com>");
MODULE_DESCRIPTION("Analog Devices ADIS16260/5 Digital Gyroscope Sensor");
MODULE_LICENSE("GPL v2");

256
drivers/staging/iio/gyro/adis16260_ring.c Normal file
View file

@ -0,0 +1,256 @@
#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 "adis16260.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, ADIS16260_SCAN_SUPPLY, IIO_UNSIGNED(12),
ADIS16260_SUPPLY_OUT, NULL);
static IIO_SCAN_EL_C(gyro, ADIS16260_SCAN_GYRO, IIO_SIGNED(14),
ADIS16260_GYRO_OUT, NULL);
static IIO_SCAN_EL_C(aux_adc, ADIS16260_SCAN_AUX_ADC, IIO_SIGNED(14),
ADIS16260_AUX_ADC, NULL);
static IIO_SCAN_EL_C(temp, ADIS16260_SCAN_TEMP, IIO_UNSIGNED(12),
ADIS16260_TEMP_OUT, NULL);
static IIO_SCAN_EL_C(angl, ADIS16260_SCAN_ANGL, IIO_UNSIGNED(12),
ADIS16260_ANGL_OUT, NULL);
static IIO_SCAN_EL_TIMESTAMP(5);
static struct attribute *adis16260_scan_el_attrs[] = {
&iio_scan_el_supply.dev_attr.attr,
&iio_scan_el_gyro.dev_attr.attr,
&iio_scan_el_aux_adc.dev_attr.attr,
&iio_scan_el_temp.dev_attr.attr,
&iio_scan_el_angl.dev_attr.attr,
&iio_scan_el_timestamp.dev_attr.attr,
NULL,
};
static struct attribute_group adis16260_scan_el_group = {
.attrs = adis16260_scan_el_attrs,
.name = "scan_elements",
};
/**
* adis16260_poll_func_th() top half interrupt handler called by trigger
* @private_data: iio_dev
**/
static void adis16260_poll_func_th(struct iio_dev *indio_dev)
{
struct adis16260_state *st = iio_dev_get_devdata(indio_dev);
st->last_timestamp = indio_dev->trig->timestamp;
schedule_work(&st->work_trigger_to_ring);
}
/**
* adis16260_read_ring_data() read data registers which will be placed into ring
* @dev: device associated with child of actual device (iio_dev or iio_trig)
* @rx: somewhere to pass back the value read
**/
static int adis16260_read_ring_data(struct device *dev, u8 *rx)
{
struct spi_message msg;
struct iio_dev *indio_dev = dev_get_drvdata(dev);
struct adis16260_state *st = iio_dev_get_devdata(indio_dev);
struct spi_transfer xfers[ADIS16260_OUTPUTS + 1];
int ret;
int i;
mutex_lock(&st->buf_lock);
spi_message_init(&msg);
memset(xfers, 0, sizeof(xfers));
for (i = 0; i <= ADIS16260_OUTPUTS; i++) {
xfers[i].bits_per_word = 8;
xfers[i].cs_change = 1;
xfers[i].len = 2;
xfers[i].delay_usecs = 30;
xfers[i].tx_buf = st->tx + 2 * i;
if (i < 2) /* SUPPLY_OUT:0x02 GYRO_OUT:0x04 */
st->tx[2 * i]
= ADIS16260_READ_REG(ADIS16260_SUPPLY_OUT
+ 2 * i);
else /* 0x06 to 0x09 is reserved */
st->tx[2 * i]
= ADIS16260_READ_REG(ADIS16260_SUPPLY_OUT
+ 2 * i + 4);
st->tx[2 * i + 1] = 0;
if (i >= 1)
xfers[i].rx_buf = rx + 2 * (i - 1);
spi_message_add_tail(&xfers[i], &msg);
}
ret = spi_sync(st->us, &msg);
if (ret)
dev_err(&st->us->dev, "problem when burst reading");
mutex_unlock(&st->buf_lock);
return ret;
}
static void adis16260_trigger_bh_to_ring(struct work_struct *work_s)
{
struct adis16260_state *st
= container_of(work_s, struct adis16260_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 (adis16260_read_ring_data(&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;
}
static int adis16260_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 (aligned s64) and data */
size = (((indio_dev->scan_count * sizeof(s16))
+ sizeof(s64) - 1)
& ~(sizeof(s64) - 1))
+ 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 adis16260_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 adis16260_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 adis16260_unconfigure_ring(struct iio_dev *indio_dev)
{
kfree(indio_dev->pollfunc);
iio_sw_rb_free(indio_dev->ring);
}
int adis16260_configure_ring(struct iio_dev *indio_dev)
{
int ret = 0;
struct adis16260_state *st = indio_dev->dev_data;
struct iio_ring_buffer *ring;
INIT_WORK(&st->work_trigger_to_ring, adis16260_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.number);
iio_scan_mask_set(indio_dev, iio_scan_el_aux_adc.number);
iio_scan_mask_set(indio_dev, iio_scan_el_temp.number);
iio_scan_mask_set(indio_dev, iio_scan_el_angl.number);
indio_dev->scan_timestamp = true;
indio_dev->scan_el_attrs = &adis16260_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 = &adis16260_data_rdy_ring_preenable;
ring->postenable = &adis16260_data_rdy_ring_postenable;
ring->predisable = &adis16260_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 = &adis16260_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 adis16260_initialize_ring(struct iio_ring_buffer *ring)
{
return iio_ring_buffer_register(ring, 0);
}
void adis16260_uninitialize_ring(struct iio_ring_buffer *ring)
{
iio_ring_buffer_unregister(ring);
}

124
drivers/staging/iio/gyro/adis16260_trigger.c Normal file
View file

@ -0,0 +1,124 @@
#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 "adis16260.h"
/**
* adis16260_data_rdy_trig_poll() the event handler for the data rdy trig
**/
static int adis16260_data_rdy_trig_poll(struct iio_dev *dev_info,
int index,
s64 timestamp,
int no_test)
{
struct adis16260_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, &adis16260_data_rdy_trig_poll);
static DEVICE_ATTR(name, S_IRUGO, iio_trigger_read_name, NULL);
static struct attribute *adis16260_trigger_attrs[] = {
&dev_attr_name.attr,
NULL,
};
static const struct attribute_group adis16260_trigger_attr_group = {
.attrs = adis16260_trigger_attrs,
};
/**
* adis16260_data_rdy_trigger_set_state() set datardy interrupt state
**/
static int adis16260_data_rdy_trigger_set_state(struct iio_trigger *trig,
bool state)
{
struct adis16260_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 = adis16260_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);
flush_scheduled_work();
} else {
iio_add_event_to_list(&iio_event_data_rdy_trig,
&indio_dev->interrupts[0]->ev_list);
}
return ret;
}
/**
* adis16260_trig_try_reen() try renabling irq for data rdy trigger
* @trig: the datardy trigger
**/
static int adis16260_trig_try_reen(struct iio_trigger *trig)
{
struct adis16260_state *st = trig->private_data;
enable_irq(st->us->irq);
return 0;
}
int adis16260_probe_trigger(struct iio_dev *indio_dev)
{
int ret;
struct adis16260_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,
"adis16260-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 = &adis16260_data_rdy_trigger_set_state;
st->trig->try_reenable = &adis16260_trig_try_reen;
st->trig->control_attrs = &adis16260_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 adis16260_remove_trigger(struct iio_dev *indio_dev)
{
struct adis16260_state *state = indio_dev->dev_data;
iio_trigger_unregister(state->trig);
kfree(state->trig->name);
iio_free_trigger(state->trig);
}

2
drivers/staging/iio/gyro/gyro.h
View file

@ -39,3 +39,5 @@
#define IIO_DEV_ATTR_GYRO_Z(_show, _addr) \
IIO_DEVICE_ATTR(gyro_z_raw, S_IRUGO, _show, NULL, _addr)
#define IIO_DEV_ATTR_ANGL(_show, _addr) \
IIO_DEVICE_ATTR(angl_raw, S_IRUGO, _show, NULL, _addr)