This patch also adds platform data to mark direction of sensor needed
to provide equivalent functionality to the original adis16255 driver.
Signed-off-by: Jonathan Cameron <jic23@xxxxxxxxx>
---
drivers/staging/iio/gyro/Kconfig | 7 +-
drivers/staging/iio/gyro/adis16260.h | 4 +
drivers/staging/iio/gyro/adis16260_core.c | 152 +++++++++++++++-----
drivers/staging/iio/gyro/adis16260_platform_data.h | 19 +++
drivers/staging/iio/gyro/gyro.h | 18 +++
5 files changed, 163 insertions(+), 37 deletions(-)
diff --git a/drivers/staging/iio/gyro/Kconfig b/drivers/staging/iio/gyro/Kconfig
index c404361..1aeba38 100644
--- a/drivers/staging/iio/gyro/Kconfig
+++ b/drivers/staging/iio/gyro/Kconfig
@@ -4,10 +4,11 @@
comment "Digital gyroscope sensors"
config ADIS16260
- tristate "Analog Devices ADIS16260/5 Digital Gyroscope Sensor SPI driver"
+ tristate "Analog Devices ADIS16260 and similar 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.
+ Say yes here to build support for Analog Devices adis16250,
+ adis16255, adis16260 and adis16265 programmable digital
+ gyroscope sensors.
diff --git a/drivers/staging/iio/gyro/adis16260.h b/drivers/staging/iio/gyro/adis16260.h
index 812440a..1671bd8 100644
--- a/drivers/staging/iio/gyro/adis16260.h
+++ b/drivers/staging/iio/gyro/adis16260.h
@@ -1,6 +1,8 @@
#ifndef SPI_ADIS16260_H_
#define SPI_ADIS16260_H_
+#include "adis16260_platform_data.h"
+
#define ADIS16260_STARTUP_DELAY 220 /* ms */
#define ADIS16260_READ_REG(a) a
@@ -92,6 +94,7 @@
* @tx: transmit buffer
* @rx: recieve buffer
* @buf_lock: mutex to protect tx and rx
+ * @negate: negate the scale parameter
**/
struct adis16260_state {
struct spi_device *us;
@@ -102,6 +105,7 @@ struct adis16260_state {
u8 *tx;
u8 *rx;
struct mutex buf_lock;
+ unsigned negate;
};
int adis16260_set_irq(struct device *dev, bool enable);
diff --git a/drivers/staging/iio/gyro/adis16260_core.c b/drivers/staging/iio/gyro/adis16260_core.c
index cf9d9c6..4d736c3 100644
--- a/drivers/staging/iio/gyro/adis16260_core.c
+++ b/drivers/staging/iio/gyro/adis16260_core.c
@@ -134,8 +134,6 @@ static int adis16260_spi_read_reg_16(struct device *dev,
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);
@@ -222,6 +220,23 @@ static ssize_t adis16260_read_14bit_signed(struct device *dev,
return ret;
}
+static ssize_t adis16260_read_gyro_scale(struct device *dev,
+ struct device_attribute *attr,
+ char *buf)
+{
+ struct iio_dev *indio_dev = dev_get_drvdata(dev);
+ struct adis16260_state *st = iio_dev_get_devdata(indio_dev);
+ ssize_t ret = 0;
+ if (st->negate)
+ ret = sprintf(buf, "-");
+ /* Take the iio_dev status lock */
+ mutex_lock(&indio_dev->mlock);
+ ret += adis16260_spi_read_signed(dev, attr, buf + ret, 14);
+ mutex_unlock(&indio_dev->mlock);
+
+ return ret;
+}
+
static ssize_t adis16260_write_16bit(struct device *dev,
struct device_attribute *attr,
const char *buf,
@@ -240,6 +255,24 @@ error_ret:
return ret ? ret : len;
}
+static ssize_t adis16260_write_gyro_scale(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, abs(val));
+
+error_ret:
+ return ret ? ret : len;
+}
+
static ssize_t adis16260_read_frequency(struct device *dev,
struct device_attribute *attr,
char *buf)
@@ -447,17 +480,6 @@ static IIO_DEV_ATTR_IN_NAMED_RAW(supply,
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");
@@ -469,8 +491,6 @@ 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);
@@ -486,37 +506,77 @@ 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
-};
+
+#define ADIS16260_GYRO_ATTR_SET(axis) \
+ IIO_DEV_ATTR_GYRO##axis(adis16260_read_14bit_signed, \
+ ADIS16260_GYRO_OUT); \
+ static IIO_DEV_ATTR_GYRO##axis##_SCALE(S_IWUSR | S_IRUGO, \
+ adis16260_read_gyro_scale, \
+ adis16260_write_gyro_scale, \
+ ADIS16260_GYRO_SCALE); \
+ static IIO_DEV_ATTR_GYRO##axis##_OFFSET(S_IWUSR | S_IRUGO, \
+ adis16260_read_12bit_signed, \
+ adis16260_write_16bit, \
+ ADIS16260_GYRO_OFF); \
+ static IIO_DEV_ATTR_ANGL##axis(adis16260_read_14bit_signed, \
+ ADIS16260_ANGL_OUT);
+static ADIS16260_GYRO_ATTR_SET();
+static ADIS16260_GYRO_ATTR_SET(_X);
+static ADIS16260_GYRO_ATTR_SET(_Y);
+static ADIS16260_GYRO_ATTR_SET(_Z);
+
+#define ADIS16260_ATTRS(axis) \
+ struct attribute *adis16260_attributes##axis[] = { \
+ &iio_dev_attr_in_supply_raw.dev_attr.attr, \
+ &iio_const_attr_in_supply_scale.dev_attr.attr, \
+ &iio_dev_attr_gyro##axis##_raw.dev_attr.attr, \
+ &iio_dev_attr_gyro##axis##_scale.dev_attr.attr, \
+ &iio_dev_attr_gyro##axis##_offset.dev_attr.attr, \
+ &iio_dev_attr_angl##axis##_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 ADIS16260_ATTRS();
+static ADIS16260_ATTRS(_x);
+static ADIS16260_ATTRS(_y);
+static ADIS16260_ATTRS(_z);
static const struct attribute_group adis16260_attribute_group = {
.attrs = adis16260_attributes,
};
+static const struct attribute_group adis16260_attribute_group_x = {
+ .attrs = adis16260_attributes_x,
+};
+
+static const struct attribute_group adis16260_attribute_group_y = {
+ .attrs = adis16260_attributes_y,
+};
+
+static const struct attribute_group adis16260_attribute_group_z = {
+ .attrs = adis16260_attributes_z,
+};
+
static int __devinit adis16260_probe(struct spi_device *spi)
{
int ret, regdone = 0;
+ struct adis16260_platform_data *pd = spi->dev.platform_data;
struct adis16260_state *st = kzalloc(sizeof *st, GFP_KERNEL);
if (!st) {
ret = -ENOMEM;
goto error_ret;
}
+ if (pd)
+ st->negate = pd->negate;
+
/* this is only used for removal purposes */
spi_set_drvdata(spi, st);
@@ -543,7 +603,25 @@ static int __devinit adis16260_probe(struct spi_device *spi)
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;
+ if (pd && pd->direction)
+ switch (pd->direction) {
+ case 'x':
+ st->indio_dev->attrs = &adis16260_attribute_group_x;
+ break;
+ case 'y':
+ st->indio_dev->attrs = &adis16260_attribute_group_y;
+ break;
+ case 'z':
+ st->indio_dev->attrs = &adis16260_attribute_group_z;
+ break;
+ default:
+ st->indio_dev->attrs = &adis16260_attribute_group;
+ break;
+ }
+ else
+ 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;
@@ -633,9 +711,15 @@ err_ret:
return ret;
}
+/*
+ * These parts do not need to differentiated until someone adds
+ * support for the on chip filtering.
+ */
static const struct spi_device_id adis16260_id[] = {
{"adis16260", 0},
{"adis16265", 0},
+ {"adis16250", 0},
+ {"adis16255", 0},
{}
};
diff --git a/drivers/staging/iio/gyro/adis16260_platform_data.h b/drivers/staging/iio/gyro/adis16260_platform_data.h
new file mode 100644
index 0000000..12802e9
--- /dev/null
+++ b/drivers/staging/iio/gyro/adis16260_platform_data.h
@@ -0,0 +1,19 @@
+/*
+ * ADIS16260 Programmable Digital Gyroscope Sensor Driver Platform Data
+ *
+ * Based on adis16255.h Matthia Brugger <m_brugger&web.de>
+ *
+ * Copyright (C) 2010 Fraunhofer Institute for Integrated Circuits
+ *
+ * Licensed under the GPL-2 or later.
+ */
+
+/**
+ * struct adis16260_platform_data - instance specific data
+ * @direction: x y or z
+ * @negate: flag to indicate value should be inverted.
+ **/
+struct adis16260_platform_data {
+ char direction;
+ unsigned negate:1;
+};
diff --git a/drivers/staging/iio/gyro/gyro.h b/drivers/staging/iio/gyro/gyro.h
index f68edab..98a355a 100644
--- a/drivers/staging/iio/gyro/gyro.h
+++ b/drivers/staging/iio/gyro/gyro.h
@@ -27,6 +27,15 @@
#define IIO_DEV_ATTR_GYRO_SCALE(_mode, _show, _store, _addr) \
IIO_DEVICE_ATTR(gyro_scale, S_IRUGO, _show, _store, _addr)
+#define IIO_DEV_ATTR_GYRO_X_SCALE(_mode, _show, _store, _addr) \
+ IIO_DEVICE_ATTR(gyro_x_scale, S_IRUGO, _show, _store, _addr)
+
+#define IIO_DEV_ATTR_GYRO_Y_SCALE(_mode, _show, _store, _addr) \
+ IIO_DEVICE_ATTR(gyro_y_scale, S_IRUGO, _show, _store, _addr)
+
+#define IIO_DEV_ATTR_GYRO_Z_SCALE(_mode, _show, _store, _addr) \
+ IIO_DEVICE_ATTR(gyro_z_scale, S_IRUGO, _show, _store, _addr)
+
#define IIO_DEV_ATTR_GYRO(_show, _addr) \
IIO_DEVICE_ATTR(gyro_raw, S_IRUGO, _show, NULL, _addr)
@@ -41,3 +50,12 @@
#define IIO_DEV_ATTR_ANGL(_show, _addr) \
IIO_DEVICE_ATTR(angl_raw, S_IRUGO, _show, NULL, _addr)
+
+#define IIO_DEV_ATTR_ANGL_X(_show, _addr) \
+ IIO_DEVICE_ATTR(angl_x_raw, S_IRUGO, _show, NULL, _addr)
+
+#define IIO_DEV_ATTR_ANGL_Y(_show, _addr) \
+ IIO_DEVICE_ATTR(angl_y_raw, S_IRUGO, _show, NULL, _addr)
+
+#define IIO_DEV_ATTR_ANGL_Z(_show, _addr) \
+ IIO_DEVICE_ATTR(angl_z_raw, S_IRUGO, _show, NULL, _addr)
--
1.7.1
--
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