This patch solves some issues mentioned in TODO list:
- sample rate exported to sysfs
- spi_adis16255_bringup and spi_adis16255_shutdown encapsulated
- chip selftest in spi_adis16255_bringup
- kernel messages reduced to a reasonable number
Signed-off-by: Matthias Brugger <mensch0815@xxxxxxxxx>
---
drivers/staging/Kconfig | 2 +
drivers/staging/Makefile | 1 +
drivers/staging/adis16255/Kconfig | 10 +-
drivers/staging/adis16255/Makefile | 2 +-
drivers/staging/adis16255/TODO | 5 -
drivers/staging/adis16255/adis16255.c | 206 +++++++++++++++++++++------------
6 files changed, 144 insertions(+), 82 deletions(-)
diff --git a/drivers/staging/Kconfig b/drivers/staging/Kconfig
index 7696a66..2670b6c 100644
--- a/drivers/staging/Kconfig
+++ b/drivers/staging/Kconfig
@@ -139,5 +139,7 @@ source "drivers/staging/dt3155/Kconfig"
source "drivers/staging/crystalhd/Kconfig"
+source "drivers/staging/adis16255/Kconfig"
+
endif # !STAGING_EXCLUDE_BUILD
endif # STAGING
diff --git a/drivers/staging/Makefile b/drivers/staging/Makefile
index ea2e70e..fd49d83 100644
--- a/drivers/staging/Makefile
+++ b/drivers/staging/Makefile
@@ -51,3 +51,4 @@ obj-$(CONFIG_PCMCIA_NETWAVE) += netwave/
obj-$(CONFIG_FB_SM7XX) += sm7xx/
obj-$(CONFIG_DT3155) += dt3155/
obj-$(CONFIG_CRYSTALHD) += crystalhd/
+obj-$(CONFIG_ADIS16255) += adis16255/
diff --git a/drivers/staging/adis16255/Kconfig
b/drivers/staging/adis16255/Kconfig
index 3952cf9..a642be6 100644
--- a/drivers/staging/adis16255/Kconfig
+++ b/drivers/staging/adis16255/Kconfig
@@ -2,8 +2,10 @@ config ADIS16255
tristate "Ananlog Devices ADIS16250/16255"
depends on SPI && SYSFS
---help---
- If you say yes here you get support for the Analog Devices
- ADIS16250/16255 Low Power Gyroscope.
+ If you say yes here you get support for the Analog Devices
+ ADIS16250/16255 Low Power Gyroscope. The driver exposes
+ orientation and gyroscope value, as well as sample rate
+ to the sysfs.
- This driver can also be built as a module. If so, the module
- will be called adis16255.
+ This driver can also be built as a module. If so, the module
+ will be called adis16255.
diff --git a/drivers/staging/adis16255/Makefile
b/drivers/staging/adis16255/Makefile
index 796dac4..8c39081 100644
--- a/drivers/staging/adis16255/Makefile
+++ b/drivers/staging/adis16255/Makefile
@@ -1 +1 @@
-obj-$(CONFIG_ADIS16255) += adis16255.o
+obj-$(CONFIG_ADIS16255) += adis16255.o
diff --git a/drivers/staging/adis16255/TODO b/drivers/staging/adis16255/TODO
index 31e4ac3..ec60f31 100644
--- a/drivers/staging/adis16255/TODO
+++ b/drivers/staging/adis16255/TODO
@@ -1,8 +1,3 @@
-* sample rate changeable or at least readable from sysfs
* reset gyroscope
-* encapsulate adis_init and adis_turn_off
-* AD_CHK deletion
-* chip selftest in adis_init
-* reduce kernel messages to reasonable amount
Contact: Matthias Brugger <mensch0815@xxxxxxxxx>
diff --git a/drivers/staging/adis16255/adis16255.c
b/drivers/staging/adis16255/adis16255.c
index 9a8ced1..1ba11f0 100644
--- a/drivers/staging/adis16255/adis16255.c
+++ b/drivers/staging/adis16255/adis16255.c
@@ -21,6 +21,14 @@
* 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
*/
+/*
+ * The driver just has a bare interface to the sysfs (sample rate in Hz,
+ * orientation (x, y, z) and gyroscope data in °/sec.
+ *
+ * It should be added to iio subsystem when this has left staging.
+ *
+ */
+
#include <linux/init.h>
#include <linux/module.h>
#include <linux/device.h>
@@ -69,7 +77,6 @@ struct spi_adis16255_data {
struct device dev;
struct spi_device *spi;
s16 data;
- int irq_adis;
int irq;
u8 negative;
char direction;
@@ -87,7 +94,7 @@ static int spi_adis16255_read_data(struct
spi_adis16255_data *spiadis,
u8 *buf, *rx;
int ret;
- buf = kmalloc(4, GFP_KERNEL);
+ buf = kzalloc(4, GFP_KERNEL);
if (buf == NULL)
return -ENOMEM;
@@ -98,9 +105,6 @@ static int spi_adis16255_read_data(struct
spi_adis16255_data *spiadis,
}
buf[0] = adr;
- buf[1] = 0x00;
- buf[2] = 0x00;
- buf[3] = 0x00;
spi_message_init(&msg);
memset(&xfer1, 0, sizeof(xfer1));
@@ -176,7 +180,7 @@ static int spi_adis16255_write_data(struct
spi_adis16255_data *spiadis,
ret = spi_sync(spi, &msg);
if (ret != 0)
- dev_warn(&spi->dev, "wirte data to %#x %#x failed\n",
+ dev_warn(&spi->dev, "write data to %#x %#x failed\n",
buf[0], buf[2]);
kfree(rx);
@@ -191,27 +195,29 @@ static irqreturn_t adis_irq_thread(int irq, void *dev_id)
{
struct spi_adis16255_data *spiadis = dev_id;
int status;
- u16 value;
+ u16 value = 0;
status = spi_adis16255_read_data(spiadis, ADIS_GYRO_OUT, (u8 *)&value);
- if (status == 0) {
- /* perform on new data only... */
- if (value & 0x8000) {
- /* delete error and new data bit */
- value = value & 0x3fff;
- /* set negative value */
- if (value & 0x2000)
- value = value | 0xe000;
-
- if (likely(spiadis->negative))
- value = -value;
-
- spiadis->data = (s16) value;
- }
- } else {
+ if (status != 0) {
dev_warn(&spiadis->spi->dev, "SPI FAILED\n");
+ goto exit;
}
+ /* perform on new data only... */
+ if (value & 0x8000) {
+ /* delete error and new data bit */
+ value = value & 0x3fff;
+ /* set negative value */
+ if (value & 0x2000)
+ value = value | 0xe000;
+
+ if (likely(spiadis->negative))
+ value = -value;
+
+ spiadis->data = (s16) value;
+ }
+
+exit:
return IRQ_HANDLED;
}
@@ -235,9 +241,36 @@ ssize_t adis16255_show_direction(struct device *device,
}
DEVICE_ATTR(direction, S_IRUGO , adis16255_show_direction, NULL);
+ssize_t adis16255_show_sample_rate(struct device *device,
+ struct device_attribute *da,
+ char *buf)
+{
+ struct spi_adis16255_data *spiadis = dev_get_drvdata(device);
+ int status = 0;
+ u16 value = 0;
+ int ts = 0;
+
+ status = spi_adis16255_read_data(spiadis, ADIS_SMPL_PRD_MSB,
+ (u8 *)&value);
+ if (status != 0)
+ return -EINVAL;
+
+ if (value & 0x80) {
+ /* timebase = 60.54 ms */
+ ts = 60540 * ((0x7f & value) + 1);
+ } else {
+ /* timebase = 1.953 ms */
+ ts = 1953 * ((0x7f & value) + 1);
+ }
+
+ return snprintf(buf, PAGE_SIZE, "%d\n", (1000*1000)/ts);
+}
+DEVICE_ATTR(sample_rate, S_IRUGO , adis16255_show_sample_rate, NULL);
+
static struct attribute *adis16255_attributes[] = {
&dev_attr_data.attr,
&dev_attr_direction.attr,
+ &dev_attr_sample_rate.attr,
NULL
};
@@ -260,43 +293,100 @@ static int spi_adis16255_shutdown(struct
spi_adis16255_data *spiadis)
return 0;
}
+static int spi_adis16255_bringup(struct spi_adis16255_data *spiadis)
+{
+ int status = 0;
+ u16 value = 0;
+
+ status = spi_adis16255_read_data(spiadis, ADIS_GYRO_SCALE,
+ (u8 *)&value);
+ if (status != 0)
+ goto err;
+ if (value != 0x0800) {
+ dev_warn(&spiadis->spi->dev, "Scale factor is none default"
+ "value (%.4x)\n", value);
+ }
+
+ /* timebase = 1.953 ms, Ns = 0 -> 512 Hz sample rate */
+ value = 0x0001;
+ status = spi_adis16255_write_data(spiadis,
+ ADIS_SMPL_PRD_MSB, ADIS_SMPL_PRD_LSB,
+ (u8 *)&value);
+ if (status != 0)
+ goto err;
+
+ /* start internal self-test */
+ value = 0x0400;
+ status = spi_adis16255_write_data(spiadis,
+ ADIS_MSC_CTRL_MSB, ADIS_MSC_CTRL_LSB,
+ (u8 *)&value);
+ if (status != 0)
+ goto err;
+
+ /* wait 35 ms to finish self-test */
+ msleep(35);
+
+ value = 0x0000;
+ status = spi_adis16255_read_data(spiadis, ADIS_STATUS,
+ (u8 *)&value);
+ if (status != 0)
+ goto err;
+
+ if (value & 0x23) {
+ if (value & 0x20) {
+ dev_warn(&spiadis->spi->dev, "self-test error\n");
+ status = -ENODEV;
+ goto err;
+ } else if (value & 0x3) {
+ dev_warn(&spiadis->spi->dev, "Sensor voltage"
+ "out of range.\n");
+ status = -ENODEV;
+ goto err;
+ }
+ }
+
+ /* set interrupt to active high on DIO0 when data ready */
+ value = 0x0006;
+ status = spi_adis16255_write_data(spiadis,
+ ADIS_MSC_CTRL_MSB, ADIS_MSC_CTRL_LSB,
+ (u8 *)&value);
+ if (status != 0)
+ goto err;
+ return status;
+
+err:
+ spi_adis16255_shutdown(spiadis);
+ return status;
+}
+
/*-------------------------------------------------------------------------*/
static int spi_adis16255_probe(struct spi_device *spi)
{
-#define AD_CHK(_ss)\
- do {\
- status = _ss;\
- if (status != 0)\
- goto irq_err;\
- } while (0);
-
struct adis16255_init_data *init_data = spi->dev.platform_data;
struct spi_adis16255_data *spiadis;
int status = 0;
- u16 value;
spiadis = kzalloc(sizeof(*spiadis), GFP_KERNEL);
if (!spiadis)
return -ENOMEM;
spiadis->spi = spi;
- spiadis->irq_adis = init_data->irq;
spiadis->direction = init_data->direction;
if (init_data->negative)
spiadis->negative = 1;
- status = gpio_request(spiadis->irq_adis, "adis16255");
+ status = gpio_request(init_data->irq, "adis16255");
if (status != 0)
goto err;
- status = gpio_direction_input(spiadis->irq_adis);
+ status = gpio_direction_input(init_data->irq);
if (status != 0)
goto gpio_err;
- spiadis->irq = gpio_to_irq(spiadis->irq_adis);
+ spiadis->irq = gpio_to_irq(init_data->irq);
status = request_threaded_irq(spiadis->irq,
NULL, adis_irq_thread,
@@ -307,50 +397,25 @@ static int spi_adis16255_probe(struct spi_device *spi)
goto gpio_err;
}
- dev_dbg(&spi->dev, "GPIO %d IRQ %d\n", spiadis->irq_adis, spiadis->irq);
+ dev_dbg(&spi->dev, "GPIO %d IRQ %d\n", init_data->irq, spiadis->irq);
dev_set_drvdata(&spi->dev, spiadis);
- AD_CHK(sysfs_create_group(&spi->dev.kobj, &adis16255_attr_group));
-
- dev_info(&spi->dev, "spi_adis16255 driver added!\n");
-
- AD_CHK(spi_adis16255_read_data(spiadis, ADIS_SUPPLY_OUT, (u8 *)&value));
- dev_info(&spi->dev, "sensor works with %d mV (%.4x)!\n",
- ((value & 0x0fff)*18315)/10000,
- (value & 0x0fff));
-
- AD_CHK(spi_adis16255_read_data(spiadis, ADIS_GYRO_SCALE, (u8 *)&value));
- dev_info(&spi->dev, "adis GYRO_SCALE is %.4x\n", value);
-
- AD_CHK(spi_adis16255_read_data(spiadis, ADIS_STATUS, (u8 *)&value));
- dev_info(&spi->dev, "adis STATUS is %.4x\n", value);
+ status = sysfs_create_group(&spi->dev.kobj, &adis16255_attr_group);
+ if (status != 0)
+ goto irq_err;
- /* timebase = 1.953 ms, Ns = 0 -> 512 Hz sample rate */
- value = 0x0001;
- AD_CHK(spi_adis16255_write_data(spiadis,
- ADIS_SMPL_PRD_MSB, ADIS_SMPL_PRD_LSB,
- (u8 *)&value));
- value = 0x0000;
- AD_CHK(spi_adis16255_read_data(spiadis, ADIS_SMPL_PRD_MSB,
- (u8 *)&value));
- dev_info(&spi->dev, "adis SMP_PRD is %.4x\n", value);
+ status = spi_adis16255_bringup(spiadis);
+ if (status != 0)
+ goto irq_err;
- /* set interrupt on new data... */
- value = 0x0006;
- AD_CHK(spi_adis16255_write_data(spiadis,
- ADIS_MSC_CTRL_MSB, ADIS_MSC_CTRL_LSB,
- (u8 *)&value));
- value = 0x0000;
- AD_CHK(spi_adis16255_read_data(spiadis, ADIS_MSC_CTRL_MSB,
- (u8 *)&value));
- dev_info(&spi->dev, "adis MSC_CONTROL is %.4x\n", value);
+ dev_info(&spi->dev, "spi_adis16255 driver added!\n");
return status;
irq_err:
free_irq(spiadis->irq, spiadis);
gpio_err:
- gpio_free(spiadis->irq_adis);
+ gpio_free(init_data->irq);
err:
kfree(spiadis);
return status;
@@ -362,11 +427,8 @@ static int spi_adis16255_remove(struct spi_device *spi)
spi_adis16255_shutdown(spiadis);
- dev_info(&spi->dev, "unregister: GPIO %d IRQ %d\n",
- spiadis->irq_adis, spiadis->irq);
-
free_irq(spiadis->irq, spiadis);
- gpio_free(spiadis->irq_adis);
+ gpio_free(irq_to_gpio(spiadis->irq));
sysfs_remove_group(&spiadis->spi->dev.kobj, &adis16255_attr_group);
--
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