Also fix incorrect axis for adis16300 gyro. It is about the
z axis not x.
Signed-off-by: Jonathan Cameron <jic23@xxxxxxxxx>
---
drivers/staging/iio/imu/Kconfig | 14 +-
drivers/staging/iio/imu/Makefile | 4 -
drivers/staging/iio/imu/adis16300.h | 184 -------
drivers/staging/iio/imu/adis16300_core.c | 756 ---------------------------
drivers/staging/iio/imu/adis16300_ring.c | 238 ---------
drivers/staging/iio/imu/adis16300_trigger.c | 125 -----
drivers/staging/iio/imu/adis16350.h | 40 ++
drivers/staging/iio/imu/adis16350_core.c | 197 +++++++-
drivers/staging/iio/imu/adis16350_ring.c | 88 +++-
9 files changed, 288 insertions(+), 1358 deletions(-)
diff --git a/drivers/staging/iio/imu/Kconfig b/drivers/staging/iio/imu/Kconfig
index 11a4984..ca433d8 100644
--- a/drivers/staging/iio/imu/Kconfig
+++ b/drivers/staging/iio/imu/Kconfig
@@ -3,22 +3,14 @@
#
comment "Inertial measurement units"
-config ADIS16300
- tristate "Analog Devices ADIS16300 IMU SPI driver"
- depends on SPI
- select IIO_SW_RING if IIO_RING_BUFFER
- select IIO_TRIGGER if IIO_RING_BUFFER
- help
- Say yes here to build support for Analog Devices adis16300 four degrees
- of freedom inertial sensor.
-
config ADIS16350
- tristate "Analog Devices ADIS16350/54/55/60/62/64/65 IMU SPI driver"
+ tristate "Analog Devices ADIS16350/00/54/55/60/62/64/65 IMU 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 adis16350/54/55/60/62/64/65
+ Say yes here to build support for Analog Devices adis16300, adis16350,
+ adis16354, adis16355, adis16360, adis16362 and adis16364,
high precision tri-axis inertial sensor.
if ADIS16350
diff --git a/drivers/staging/iio/imu/Makefile b/drivers/staging/iio/imu/Makefile
index 551a20f..f27f896 100644
--- a/drivers/staging/iio/imu/Makefile
+++ b/drivers/staging/iio/imu/Makefile
@@ -2,10 +2,6 @@
# Makefile for Inertial Measurement Units
#
-adis16300-y := adis16300_core.o
-adis16300-$(CONFIG_IIO_RING_BUFFER) += adis16300_ring.o adis16300_trigger.o
-obj-$(CONFIG_ADIS16300) += adis16300.o
-
adis16350-y := adis16350_core.o
adis16350-$(CONFIG_ADIS16350_EVENT) += adis16350_event.o
adis16350-$(CONFIG_IIO_RING_BUFFER) += adis16350_ring.o adis16350_trigger.o
diff --git a/drivers/staging/iio/imu/adis16300.h b/drivers/staging/iio/imu/adis16300.h
deleted file mode 100644
index 1f25d68..0000000
--- a/drivers/staging/iio/imu/adis16300.h
+++ /dev/null
@@ -1,184 +0,0 @@
-#ifndef SPI_ADIS16300_H_
-#define SPI_ADIS16300_H_
-
-#define ADIS16300_STARTUP_DELAY 220 /* ms */
-
-#define ADIS16300_READ_REG(a) a
-#define ADIS16300_WRITE_REG(a) ((a) | 0x80)
-
-#define ADIS16300_FLASH_CNT 0x00 /* Flash memory write count */
-#define ADIS16300_SUPPLY_OUT 0x02 /* Power supply measurement */
-#define ADIS16300_XGYRO_OUT 0x04 /* X-axis gyroscope output */
-#define ADIS16300_XACCL_OUT 0x0A /* X-axis accelerometer output */
-#define ADIS16300_YACCL_OUT 0x0C /* Y-axis accelerometer output */
-#define ADIS16300_ZACCL_OUT 0x0E /* Z-axis accelerometer output */
-#define ADIS16300_TEMP_OUT 0x10 /* Temperature output */
-#define ADIS16300_XINCLI_OUT 0x12 /* X-axis inclinometer output measurement */
-#define ADIS16300_YINCLI_OUT 0x14 /* Y-axis inclinometer output measurement */
-#define ADIS16300_AUX_ADC 0x16 /* Auxiliary ADC measurement */
-
-/* Calibration parameters */
-#define ADIS16300_XGYRO_OFF 0x1A /* X-axis gyroscope bias offset factor */
-#define ADIS16300_XACCL_OFF 0x20 /* X-axis acceleration bias offset factor */
-#define ADIS16300_YACCL_OFF 0x22 /* Y-axis acceleration bias offset factor */
-#define ADIS16300_ZACCL_OFF 0x24 /* Z-axis acceleration bias offset factor */
-
-#define ADIS16300_GPIO_CTRL 0x32 /* Auxiliary digital input/output control */
-#define ADIS16300_MSC_CTRL 0x34 /* Miscellaneous control */
-#define ADIS16300_SMPL_PRD 0x36 /* Internal sample period (rate) control */
-#define ADIS16300_SENS_AVG 0x38 /* Dynamic range and digital filter control */
-#define ADIS16300_SLP_CNT 0x3A /* Sleep mode control */
-#define ADIS16300_DIAG_STAT 0x3C /* System status */
-
-/* Alarm functions */
-#define ADIS16300_GLOB_CMD 0x3E /* System command */
-#define ADIS16300_ALM_MAG1 0x26 /* Alarm 1 amplitude threshold */
-#define ADIS16300_ALM_MAG2 0x28 /* Alarm 2 amplitude threshold */
-#define ADIS16300_ALM_SMPL1 0x2A /* Alarm 1 sample size */
-#define ADIS16300_ALM_SMPL2 0x2C /* Alarm 2 sample size */
-#define ADIS16300_ALM_CTRL 0x2E /* Alarm control */
-#define ADIS16300_AUX_DAC 0x30 /* Auxiliary DAC data */
-
-#define ADIS16300_ERROR_ACTIVE (1<<14)
-#define ADIS16300_NEW_DATA (1<<15)
-
-/* MSC_CTRL */
-#define ADIS16300_MSC_CTRL_MEM_TEST (1<<11)
-#define ADIS16300_MSC_CTRL_INT_SELF_TEST (1<<10)
-#define ADIS16300_MSC_CTRL_NEG_SELF_TEST (1<<9)
-#define ADIS16300_MSC_CTRL_POS_SELF_TEST (1<<8)
-#define ADIS16300_MSC_CTRL_GYRO_BIAS (1<<7)
-#define ADIS16300_MSC_CTRL_ACCL_ALIGN (1<<6)
-#define ADIS16300_MSC_CTRL_DATA_RDY_EN (1<<2)
-#define ADIS16300_MSC_CTRL_DATA_RDY_POL_HIGH (1<<1)
-#define ADIS16300_MSC_CTRL_DATA_RDY_DIO2 (1<<0)
-
-/* SMPL_PRD */
-#define ADIS16300_SMPL_PRD_TIME_BASE (1<<7)
-#define ADIS16300_SMPL_PRD_DIV_MASK 0x7F
-
-/* DIAG_STAT */
-#define ADIS16300_DIAG_STAT_ZACCL_FAIL (1<<15)
-#define ADIS16300_DIAG_STAT_YACCL_FAIL (1<<14)
-#define ADIS16300_DIAG_STAT_XACCL_FAIL (1<<13)
-#define ADIS16300_DIAG_STAT_XGYRO_FAIL (1<<10)
-#define ADIS16300_DIAG_STAT_ALARM2 (1<<9)
-#define ADIS16300_DIAG_STAT_ALARM1 (1<<8)
-#define ADIS16300_DIAG_STAT_FLASH_CHK (1<<6)
-#define ADIS16300_DIAG_STAT_SELF_TEST (1<<5)
-#define ADIS16300_DIAG_STAT_OVERFLOW (1<<4)
-#define ADIS16300_DIAG_STAT_SPI_FAIL (1<<3)
-#define ADIS16300_DIAG_STAT_FLASH_UPT (1<<2)
-#define ADIS16300_DIAG_STAT_POWER_HIGH (1<<1)
-#define ADIS16300_DIAG_STAT_POWER_LOW (1<<0)
-
-/* GLOB_CMD */
-#define ADIS16300_GLOB_CMD_SW_RESET (1<<7)
-#define ADIS16300_GLOB_CMD_P_AUTO_NULL (1<<4)
-#define ADIS16300_GLOB_CMD_FLASH_UPD (1<<3)
-#define ADIS16300_GLOB_CMD_DAC_LATCH (1<<2)
-#define ADIS16300_GLOB_CMD_FAC_CALIB (1<<1)
-#define ADIS16300_GLOB_CMD_AUTO_NULL (1<<0)
-
-/* SLP_CNT */
-#define ADIS16300_SLP_CNT_POWER_OFF (1<<8)
-
-#define ADIS16300_MAX_TX 18
-#define ADIS16300_MAX_RX 18
-
-#define ADIS16300_SPI_SLOW (u32)(300 * 1000)
-#define ADIS16300_SPI_BURST (u32)(1000 * 1000)
-#define ADIS16300_SPI_FAST (u32)(2000 * 1000)
-
-/**
- * struct adis16300_state - device instance specific data
- * @us: actual spi_device
- * @work_trigger_to_ring: bh for triggered event handling
- * @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 adis16300_state {
- struct spi_device *us;
- struct work_struct work_trigger_to_ring;
- s64 last_timestamp;
- struct iio_dev *indio_dev;
- struct iio_trigger *trig;
- u8 *tx;
- u8 *rx;
- struct mutex buf_lock;
-};
-
-int adis16300_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!
- */
-
-#define ADIS16300_SCAN_SUPPLY 0
-#define ADIS16300_SCAN_GYRO_X 1
-#define ADIS16300_SCAN_ACC_X 2
-#define ADIS16300_SCAN_ACC_Y 3
-#define ADIS16300_SCAN_ACC_Z 4
-#define ADIS16300_SCAN_TEMP 5
-#define ADIS16300_SCAN_ADC_0 6
-#define ADIS16300_SCAN_INCLI_X 7
-#define ADIS16300_SCAN_INCLI_Y 8
-
-void adis16300_remove_trigger(struct iio_dev *indio_dev);
-int adis16300_probe_trigger(struct iio_dev *indio_dev);
-
-ssize_t adis16300_read_data_from_ring(struct device *dev,
- struct device_attribute *attr,
- char *buf);
-
-
-int adis16300_configure_ring(struct iio_dev *indio_dev);
-void adis16300_unconfigure_ring(struct iio_dev *indio_dev);
-
-int adis16300_initialize_ring(struct iio_ring_buffer *ring);
-void adis16300_uninitialize_ring(struct iio_ring_buffer *ring);
-#else /* CONFIG_IIO_RING_BUFFER */
-
-static inline void adis16300_remove_trigger(struct iio_dev *indio_dev)
-{
-}
-
-static inline int adis16300_probe_trigger(struct iio_dev *indio_dev)
-{
- return 0;
-}
-
-static inline ssize_t
-adis16300_read_data_from_ring(struct device *dev,
- struct device_attribute *attr,
- char *buf)
-{
- return 0;
-}
-
-static int adis16300_configure_ring(struct iio_dev *indio_dev)
-{
- return 0;
-}
-
-static inline void adis16300_unconfigure_ring(struct iio_dev *indio_dev)
-{
-}
-
-static inline int adis16300_initialize_ring(struct iio_ring_buffer *ring)
-{
- return 0;
-}
-
-static inline void adis16300_uninitialize_ring(struct iio_ring_buffer *ring)
-{
-}
-
-#endif /* CONFIG_IIO_RING_BUFFER */
-#endif /* SPI_ADIS16300_H_ */
diff --git a/drivers/staging/iio/imu/adis16300_core.c b/drivers/staging/iio/imu/adis16300_core.c
deleted file mode 100644
index 3ed86cc..0000000
--- a/drivers/staging/iio/imu/adis16300_core.c
+++ /dev/null
@@ -1,756 +0,0 @@
-/*
- * ADIS16300 Four Degrees of Freedom Inertial 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/slab.h>
-#include <linux/sysfs.h>
-#include <linux/list.h>
-
-#include "../iio.h"
-#include "../sysfs.h"
-#include "../ring_generic.h"
-#include "../accel/accel.h"
-#include "../accel/inclinometer.h"
-#include "../gyro/gyro.h"
-#include "../adc/adc.h"
-
-#include "adis16300.h"
-
-#define DRIVER_NAME "adis16300"
-
-static int adis16300_check_status(struct device *dev);
-
-/**
- * adis16300_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 adis16300_spi_write_reg_8(struct device *dev,
- u8 reg_address,
- u8 val)
-{
- int ret;
- struct iio_dev *indio_dev = dev_get_drvdata(dev);
- struct adis16300_state *st = iio_dev_get_devdata(indio_dev);
-
- mutex_lock(&st->buf_lock);
- st->tx[0] = ADIS16300_WRITE_REG(reg_address);
- st->tx[1] = val;
-
- ret = spi_write(st->us, st->tx, 2);
- mutex_unlock(&st->buf_lock);
-
- return ret;
-}
-
-/**
- * adis16300_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 adis16300_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 adis16300_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 = 75,
- }, {
- .tx_buf = st->tx + 2,
- .bits_per_word = 8,
- .len = 2,
- .cs_change = 1,
- .delay_usecs = 75,
- },
- };
-
- mutex_lock(&st->buf_lock);
- st->tx[0] = ADIS16300_WRITE_REG(lower_reg_address);
- st->tx[1] = value & 0xFF;
- st->tx[2] = ADIS16300_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;
-}
-
-/**
- * adis16300_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 adis16300_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 adis16300_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 = 75,
- }, {
- .rx_buf = st->rx,
- .bits_per_word = 8,
- .len = 2,
- .cs_change = 1,
- .delay_usecs = 75,
- },
- };
-
- mutex_lock(&st->buf_lock);
- st->tx[0] = ADIS16300_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 adis16300_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 = adis16300_spi_read_reg_16(dev, this_attr->address, (u16 *)&val);
- if (ret)
- return ret;
-
- if (val & ADIS16300_ERROR_ACTIVE)
- adis16300_check_status(dev);
- val = ((s16)(val << shift) >> shift);
- return sprintf(buf, "%d\n", val);
-}
-
-static ssize_t adis16300_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 = adis16300_spi_read_reg_16(dev, this_attr->address, &val);
- if (ret)
- return ret;
-
- if (val & ADIS16300_ERROR_ACTIVE)
- adis16300_check_status(dev);
-
- return sprintf(buf, "%u\n", val & 0x0FFF);
-}
-
-static ssize_t adis16300_read_14bit_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 = adis16300_spi_read_reg_16(dev, this_attr->address, &val);
- if (ret)
- return ret;
-
- if (val & ADIS16300_ERROR_ACTIVE)
- adis16300_check_status(dev);
-
- return sprintf(buf, "%u\n", val & 0x3FFF);
-}
-
-static ssize_t adis16300_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 = adis16300_spi_read_signed(dev, attr, buf, 14);
- mutex_unlock(&indio_dev->mlock);
-
- return ret;
-}
-
-static ssize_t adis16300_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 = adis16300_spi_read_signed(dev, attr, buf, 12);
- mutex_unlock(&indio_dev->mlock);
-
- return ret;
-}
-
-static ssize_t adis16300_read_13bit_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 = adis16300_spi_read_signed(dev, attr, buf, 13);
- mutex_unlock(&indio_dev->mlock);
-
- return ret;
-}
-
-static ssize_t adis16300_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 = adis16300_spi_write_reg_16(dev, this_attr->address, val);
-
-error_ret:
- return ret ? ret : len;
-}
-
-static ssize_t adis16300_read_frequency(struct device *dev,
- struct device_attribute *attr,
- char *buf)
-{
- int ret, len = 0;
- u16 t;
- int sps;
- ret = adis16300_spi_read_reg_16(dev,
- ADIS16300_SMPL_PRD,
- &t);
- if (ret)
- return ret;
- sps = (t & ADIS16300_SMPL_PRD_TIME_BASE) ? 53 : 1638;
- sps /= (t & ADIS16300_SMPL_PRD_DIV_MASK) + 1;
- len = sprintf(buf, "%d SPS\n", sps);
- return len;
-}
-
-static ssize_t adis16300_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 adis16300_state *st = iio_dev_get_devdata(indio_dev);
- long val;
- int ret;
- u8 t;
-
- ret = strict_strtol(buf, 10, &val);
- if (ret)
- return ret;
-
- mutex_lock(&indio_dev->mlock);
-
- t = (1638 / val);
- if (t > 0)
- t--;
- t &= ADIS16300_SMPL_PRD_DIV_MASK;
- if ((t & ADIS16300_SMPL_PRD_DIV_MASK) >= 0x0A)
- st->us->max_speed_hz = ADIS16300_SPI_SLOW;
- else
- st->us->max_speed_hz = ADIS16300_SPI_FAST;
-
- ret = adis16300_spi_write_reg_8(dev,
- ADIS16300_SMPL_PRD,
- t);
-
- mutex_unlock(&indio_dev->mlock);
-
- return ret ? ret : len;
-}
-
-static int adis16300_reset(struct device *dev)
-{
- int ret;
- ret = adis16300_spi_write_reg_8(dev,
- ADIS16300_GLOB_CMD,
- ADIS16300_GLOB_CMD_SW_RESET);
- if (ret)
- dev_err(dev, "problem resetting device");
-
- return ret;
-}
-
-static ssize_t adis16300_write_reset(struct device *dev,
- struct device_attribute *attr,
- const char *buf, size_t len)
-{
- if (len < 1)
- return -1;
- switch (buf[0]) {
- case '1':
- case 'y':
- case 'Y':
- return adis16300_reset(dev);
- }
- return -1;
-}
-
-int adis16300_set_irq(struct device *dev, bool enable)
-{
- int ret;
- u16 msc;
- ret = adis16300_spi_read_reg_16(dev, ADIS16300_MSC_CTRL, &msc);
- if (ret)
- goto error_ret;
-
- msc |= ADIS16300_MSC_CTRL_DATA_RDY_POL_HIGH;
- msc &= ~ADIS16300_MSC_CTRL_DATA_RDY_DIO2;
- if (enable)
- msc |= ADIS16300_MSC_CTRL_DATA_RDY_EN;
- else
- msc &= ~ADIS16300_MSC_CTRL_DATA_RDY_EN;
-
- ret = adis16300_spi_write_reg_16(dev, ADIS16300_MSC_CTRL, msc);
- if (ret)
- goto error_ret;
-
-error_ret:
- return ret;
-}
-
-/* Power down the device */
-static int adis16300_stop_device(struct device *dev)
-{
- int ret;
- u16 val = ADIS16300_SLP_CNT_POWER_OFF;
-
- ret = adis16300_spi_write_reg_16(dev, ADIS16300_SLP_CNT, val);
- if (ret)
- dev_err(dev, "problem with turning device off: SLP_CNT");
-
- return ret;
-}
-
-static int adis16300_self_test(struct device *dev)
-{
- int ret;
- ret = adis16300_spi_write_reg_16(dev,
- ADIS16300_MSC_CTRL,
- ADIS16300_MSC_CTRL_MEM_TEST);
- if (ret) {
- dev_err(dev, "problem starting self test");
- goto err_ret;
- }
-
- adis16300_check_status(dev);
-
-err_ret:
- return ret;
-}
-
-static int adis16300_check_status(struct device *dev)
-{
- u16 status;
- int ret;
-
- ret = adis16300_spi_read_reg_16(dev, ADIS16300_DIAG_STAT, &status);
-
- if (ret < 0) {
- dev_err(dev, "Reading status failed\n");
- goto error_ret;
- }
- ret = status;
- if (status & ADIS16300_DIAG_STAT_ZACCL_FAIL)
- dev_err(dev, "Z-axis accelerometer self-test failure\n");
- if (status & ADIS16300_DIAG_STAT_YACCL_FAIL)
- dev_err(dev, "Y-axis accelerometer self-test failure\n");
- if (status & ADIS16300_DIAG_STAT_XACCL_FAIL)
- dev_err(dev, "X-axis accelerometer self-test failure\n");
- if (status & ADIS16300_DIAG_STAT_XGYRO_FAIL)
- dev_err(dev, "X-axis gyroscope self-test failure\n");
- if (status & ADIS16300_DIAG_STAT_ALARM2)
- dev_err(dev, "Alarm 2 active\n");
- if (status & ADIS16300_DIAG_STAT_ALARM1)
- dev_err(dev, "Alarm 1 active\n");
- if (status & ADIS16300_DIAG_STAT_FLASH_CHK)
- dev_err(dev, "Flash checksum error\n");
- if (status & ADIS16300_DIAG_STAT_SELF_TEST)
- dev_err(dev, "Self test error\n");
- if (status & ADIS16300_DIAG_STAT_OVERFLOW)
- dev_err(dev, "Sensor overrange\n");
- if (status & ADIS16300_DIAG_STAT_SPI_FAIL)
- dev_err(dev, "SPI failure\n");
- if (status & ADIS16300_DIAG_STAT_FLASH_UPT)
- dev_err(dev, "Flash update failed\n");
- if (status & ADIS16300_DIAG_STAT_POWER_HIGH)
- dev_err(dev, "Power supply above 5.25V\n");
- if (status & ADIS16300_DIAG_STAT_POWER_LOW)
- dev_err(dev, "Power supply below 4.75V\n");
-
-error_ret:
- return ret;
-}
-
-static int adis16300_initial_setup(struct adis16300_state *st)
-{
- int ret;
- u16 smp_prd;
- struct device *dev = &st->indio_dev->dev;
-
- /* use low spi speed for init */
- st->us->max_speed_hz = ADIS16300_SPI_SLOW;
- st->us->mode = SPI_MODE_3;
- spi_setup(st->us);
-
- /* Disable IRQ */
- ret = adis16300_set_irq(dev, false);
- if (ret) {
- dev_err(dev, "disable irq failed");
- goto err_ret;
- }
-
- /* Do self test */
- ret = adis16300_self_test(dev);
- if (ret) {
- dev_err(dev, "self test failure");
- goto err_ret;
- }
-
- /* Read status register to check the result */
- ret = adis16300_check_status(dev);
- if (ret) {
- adis16300_reset(dev);
- dev_err(dev, "device not playing ball -> reset");
- msleep(ADIS16300_STARTUP_DELAY);
- ret = adis16300_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);
-
- /* use high spi speed if possible */
- ret = adis16300_spi_read_reg_16(dev, ADIS16300_SMPL_PRD, &smp_prd);
- if (!ret && (smp_prd & ADIS16300_SMPL_PRD_DIV_MASK) < 0x0A) {
- st->us->max_speed_hz = ADIS16300_SPI_SLOW;
- spi_setup(st->us);
- }
-
-err_ret:
- return ret;
-}
-
-static IIO_DEV_ATTR_GYRO_X_CALIBBIAS(S_IWUSR | S_IRUGO,
- adis16300_read_12bit_signed,
- adis16300_write_16bit,
- ADIS16300_XGYRO_OFF);
-
-static IIO_DEV_ATTR_ACCEL_X_CALIBBIAS(S_IWUSR | S_IRUGO,
- adis16300_read_12bit_signed,
- adis16300_write_16bit,
- ADIS16300_XACCL_OFF);
-
-static IIO_DEV_ATTR_ACCEL_Y_CALIBBIAS(S_IWUSR | S_IRUGO,
- adis16300_read_12bit_signed,
- adis16300_write_16bit,
- ADIS16300_YACCL_OFF);
-
-static IIO_DEV_ATTR_ACCEL_Z_CALIBBIAS(S_IWUSR | S_IRUGO,
- adis16300_read_12bit_signed,
- adis16300_write_16bit,
- ADIS16300_ZACCL_OFF);
-
-static IIO_DEV_ATTR_IN_NAMED_RAW(supply, adis16300_read_14bit_unsigned,
- ADIS16300_SUPPLY_OUT);
-static IIO_CONST_ATTR_IN_NAMED_SCALE(supply, "0.00242");
-
-static IIO_DEV_ATTR_GYRO_X(adis16300_read_14bit_signed,
- ADIS16300_XGYRO_OUT);
-static IIO_CONST_ATTR_GYRO_SCALE("0.000872664");
-
-static IIO_DEV_ATTR_ACCEL_X(adis16300_read_14bit_signed,
- ADIS16300_XACCL_OUT);
-static IIO_DEV_ATTR_ACCEL_Y(adis16300_read_14bit_signed,
- ADIS16300_YACCL_OUT);
-static IIO_DEV_ATTR_ACCEL_Z(adis16300_read_14bit_signed,
- ADIS16300_ZACCL_OUT);
-static IIO_CONST_ATTR_ACCEL_SCALE("0.00588399");
-
-static IIO_DEV_ATTR_INCLI_X(adis16300_read_13bit_signed,
- ADIS16300_XINCLI_OUT);
-static IIO_DEV_ATTR_INCLI_Y(adis16300_read_13bit_signed,
- ADIS16300_YINCLI_OUT);
-static IIO_CONST_ATTR_INCLI_SCALE("0.00076794487");
-
-static IIO_DEV_ATTR_TEMP_RAW(adis16300_read_12bit_unsigned);
-static IIO_CONST_ATTR_TEMP_OFFSET("198.16");
-static IIO_CONST_ATTR_TEMP_SCALE("0.14");
-
-static IIO_DEV_ATTR_IN_RAW(0, adis16300_read_12bit_unsigned,
- ADIS16300_AUX_ADC);
-static IIO_CONST_ATTR(in0_scale, "0.000806");
-
-static IIO_DEV_ATTR_SAMP_FREQ(S_IWUSR | S_IRUGO,
- adis16300_read_frequency,
- adis16300_write_frequency);
-
-static IIO_DEVICE_ATTR(reset, S_IWUSR, NULL, adis16300_write_reset, 0);
-
-static IIO_CONST_ATTR_SAMP_FREQ_AVAIL("409 546 819 1638");
-
-static IIO_CONST_ATTR_NAME("adis16300");
-
-static struct attribute *adis16300_event_attributes[] = {
- NULL
-};
-
-static struct attribute_group adis16300_event_attribute_group = {
- .attrs = adis16300_event_attributes,
-};
-
-static struct attribute *adis16300_attributes[] = {
- &iio_dev_attr_gyro_x_calibbias.dev_attr.attr,
- &iio_dev_attr_accel_x_calibbias.dev_attr.attr,
- &iio_dev_attr_accel_y_calibbias.dev_attr.attr,
- &iio_dev_attr_accel_z_calibbias.dev_attr.attr,
- &iio_dev_attr_in_supply_raw.dev_attr.attr,
- &iio_const_attr_in_supply_scale.dev_attr.attr,
- &iio_dev_attr_gyro_x_raw.dev_attr.attr,
- &iio_const_attr_gyro_scale.dev_attr.attr,
- &iio_dev_attr_accel_x_raw.dev_attr.attr,
- &iio_dev_attr_accel_y_raw.dev_attr.attr,
- &iio_dev_attr_accel_z_raw.dev_attr.attr,
- &iio_const_attr_accel_scale.dev_attr.attr,
- &iio_dev_attr_incli_x_raw.dev_attr.attr,
- &iio_dev_attr_incli_y_raw.dev_attr.attr,
- &iio_const_attr_incli_scale.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_sampling_frequency_available.dev_attr.attr,
- &iio_dev_attr_reset.dev_attr.attr,
- &iio_const_attr_name.dev_attr.attr,
- NULL
-};
-
-static const struct attribute_group adis16300_attribute_group = {
- .attrs = adis16300_attributes,
-};
-
-static int __devinit adis16300_probe(struct spi_device *spi)
-{
- int ret, regdone = 0;
- struct adis16300_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)*ADIS16300_MAX_RX, GFP_KERNEL);
- if (st->rx == NULL) {
- ret = -ENOMEM;
- goto error_free_st;
- }
- st->tx = kzalloc(sizeof(*st->tx)*ADIS16300_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 = &adis16300_event_attribute_group;
- st->indio_dev->attrs = &adis16300_attribute_group;
- st->indio_dev->dev_data = (void *)(st);
- st->indio_dev->driver_module = THIS_MODULE;
- st->indio_dev->modes = INDIO_DIRECT_MODE;
-
- ret = adis16300_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 = iio_ring_buffer_register(st->indio_dev->ring, 0);
- 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,
- "adis16300");
- if (ret)
- goto error_uninitialize_ring;
-
- ret = adis16300_probe_trigger(st->indio_dev);
- if (ret)
- goto error_unregister_line;
- }
-
- /* Get the device into a sane initial state */
- ret = adis16300_initial_setup(st);
- if (ret)
- goto error_remove_trigger;
- return 0;
-
-error_remove_trigger:
- adis16300_remove_trigger(st->indio_dev);
-error_unregister_line:
- if (spi->irq)
- iio_unregister_interrupt_line(st->indio_dev, 0);
-error_uninitialize_ring:
- iio_ring_buffer_unregister(st->indio_dev->ring);
-error_unreg_ring_funcs:
- adis16300_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 adis16300_remove(struct spi_device *spi)
-{
- int ret;
- struct adis16300_state *st = spi_get_drvdata(spi);
- struct iio_dev *indio_dev = st->indio_dev;
-
- ret = adis16300_stop_device(&(indio_dev->dev));
- if (ret)
- goto err_ret;
-
- flush_scheduled_work();
-
- adis16300_remove_trigger(indio_dev);
- if (spi->irq)
- iio_unregister_interrupt_line(indio_dev, 0);
-
- iio_ring_buffer_unregister(indio_dev->ring);
- iio_device_unregister(indio_dev);
- adis16300_unconfigure_ring(indio_dev);
- kfree(st->tx);
- kfree(st->rx);
- kfree(st);
-
- return 0;
-
-err_ret:
- return ret;
-}
-
-static struct spi_driver adis16300_driver = {
- .driver = {
- .name = "adis16300",
- .owner = THIS_MODULE,
- },
- .probe = adis16300_probe,
- .remove = __devexit_p(adis16300_remove),
-};
-
-static __init int adis16300_init(void)
-{
- return spi_register_driver(&adis16300_driver);
-}
-module_init(adis16300_init);
-
-static __exit void adis16300_exit(void)
-{
- spi_unregister_driver(&adis16300_driver);
-}
-module_exit(adis16300_exit);
-
-MODULE_AUTHOR("Barry Song <21cnbao@xxxxxxxxx>");
-MODULE_DESCRIPTION("Analog Devices ADIS16300 IMU SPI driver");
-MODULE_LICENSE("GPL v2");
diff --git a/drivers/staging/iio/imu/adis16300_ring.c b/drivers/staging/iio/imu/adis16300_ring.c
deleted file mode 100644
index 6af6ba5..0000000
--- a/drivers/staging/iio/imu/adis16300_ring.c
+++ /dev/null
@@ -1,238 +0,0 @@
-#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/slab.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 "adis16300.h"
-
-static IIO_SCAN_EL_C(in_supply, ADIS16300_SCAN_SUPPLY,
- ADIS16300_SUPPLY_OUT, NULL);
-static IIO_CONST_ATTR_SCAN_EL_TYPE(in_supply, u, 12, 16);
-static IIO_SCAN_EL_C(gyro_x, ADIS16300_SCAN_GYRO_X, ADIS16300_XGYRO_OUT, NULL);
-static IIO_CONST_ATTR_SCAN_EL_TYPE(gyro, s, 14, 16);
-
-static IIO_SCAN_EL_C(accel_x, ADIS16300_SCAN_ACC_X, ADIS16300_XACCL_OUT, NULL);
-static IIO_SCAN_EL_C(accel_y, ADIS16300_SCAN_ACC_Y, ADIS16300_YACCL_OUT, NULL);
-static IIO_SCAN_EL_C(accel_z, ADIS16300_SCAN_ACC_Z, ADIS16300_ZACCL_OUT, NULL);
-static IIO_CONST_ATTR_SCAN_EL_TYPE(accel, s, 14, 16);
-
-static IIO_SCAN_EL_C(temp, ADIS16300_SCAN_TEMP, ADIS16300_TEMP_OUT, NULL);
-static IIO_CONST_ATTR_SCAN_EL_TYPE(temp, s, 12, 16);
-
-static IIO_SCAN_EL_C(in0, ADIS16300_SCAN_ADC_0, ADIS16300_AUX_ADC, NULL);
-static IIO_CONST_ATTR_SCAN_EL_TYPE(in0, u, 12, 16);
-
-static IIO_SCAN_EL_C(incli_x, ADIS16300_SCAN_INCLI_X,
- ADIS16300_XINCLI_OUT, NULL);
-static IIO_SCAN_EL_C(incli_y, ADIS16300_SCAN_INCLI_Y,
- ADIS16300_YINCLI_OUT, NULL);
-static IIO_CONST_ATTR_SCAN_EL_TYPE(incli, s, 13, 16);
-
-static IIO_SCAN_EL_TIMESTAMP(9);
-static IIO_CONST_ATTR_SCAN_EL_TYPE(timestamp, s, 64, 64);
-
-static struct attribute *adis16300_scan_el_attrs[] = {
- &iio_scan_el_in_supply.dev_attr.attr,
- &iio_const_attr_in_supply_index.dev_attr.attr,
- &iio_const_attr_in_supply_type.dev_attr.attr,
- &iio_scan_el_gyro_x.dev_attr.attr,
- &iio_const_attr_gyro_x_index.dev_attr.attr,
- &iio_const_attr_gyro_type.dev_attr.attr,
- &iio_scan_el_temp.dev_attr.attr,
- &iio_const_attr_temp_index.dev_attr.attr,
- &iio_const_attr_temp_type.dev_attr.attr,
- &iio_scan_el_accel_x.dev_attr.attr,
- &iio_const_attr_accel_x_index.dev_attr.attr,
- &iio_scan_el_accel_y.dev_attr.attr,
- &iio_const_attr_accel_y_index.dev_attr.attr,
- &iio_scan_el_accel_z.dev_attr.attr,
- &iio_const_attr_accel_z_index.dev_attr.attr,
- &iio_const_attr_accel_type.dev_attr.attr,
- &iio_scan_el_incli_x.dev_attr.attr,
- &iio_const_attr_incli_x_index.dev_attr.attr,
- &iio_scan_el_incli_y.dev_attr.attr,
- &iio_const_attr_incli_y_index.dev_attr.attr,
- &iio_const_attr_incli_type.dev_attr.attr,
- &iio_scan_el_in0.dev_attr.attr,
- &iio_const_attr_in0_index.dev_attr.attr,
- &iio_const_attr_in0_type.dev_attr.attr,
- &iio_scan_el_timestamp.dev_attr.attr,
- &iio_const_attr_timestamp_index.dev_attr.attr,
- &iio_const_attr_timestamp_type.dev_attr.attr,
- NULL,
-};
-
-static struct attribute_group adis16300_scan_el_group = {
- .attrs = adis16300_scan_el_attrs,
- .name = "scan_elements",
-};
-
-/**
- * adis16300_poll_func_th() top half interrupt handler called by trigger
- * @private_data: iio_dev
- **/
-static void adis16300_poll_func_th(struct iio_dev *indio_dev, s64 time)
-{
- struct adis16300_state *st = iio_dev_get_devdata(indio_dev);
- st->last_timestamp = time;
- schedule_work(&st->work_trigger_to_ring);
- /* Indicate that this interrupt is being handled */
-
- /* Technically this is trigger related, but without this
- * handler running there is currently no way for the interrupt
- * to clear.
- */
-}
-
-/**
- * adis16300_spi_read_burst() - read all data registers
- * @dev: device associated with child of actual device (iio_dev or iio_trig)
- * @rx: somewhere to pass back the value read (min size is 24 bytes)
- **/
-static int adis16300_spi_read_burst(struct device *dev, u8 *rx)
-{
- struct spi_message msg;
- struct iio_dev *indio_dev = dev_get_drvdata(dev);
- struct adis16300_state *st = iio_dev_get_devdata(indio_dev);
- u32 old_speed_hz = st->us->max_speed_hz;
- int ret;
-
- struct spi_transfer xfers[] = {
- {
- .tx_buf = st->tx,
- .bits_per_word = 8,
- .len = 2,
- .cs_change = 0,
- }, {
- .rx_buf = rx,
- .bits_per_word = 8,
- .len = 18,
- .cs_change = 0,
- },
- };
-
- mutex_lock(&st->buf_lock);
- st->tx[0] = ADIS16300_READ_REG(ADIS16300_GLOB_CMD);
- st->tx[1] = 0;
-
- spi_message_init(&msg);
- spi_message_add_tail(&xfers[0], &msg);
- spi_message_add_tail(&xfers[1], &msg);
-
- st->us->max_speed_hz = ADIS16300_SPI_BURST;
- spi_setup(st->us);
-
- ret = spi_sync(st->us, &msg);
- if (ret)
- dev_err(&st->us->dev, "problem when burst reading");
-
- st->us->max_speed_hz = old_speed_hz;
- spi_setup(st->us);
- mutex_unlock(&st->buf_lock);
- return ret;
-}
-
-/* Whilst this makes a lot of calls to iio_sw_ring functions - it is to device
- * specific to be rolled into the core.
- */
-static void adis16300_trigger_bh_to_ring(struct work_struct *work_s)
-{
- struct adis16300_state *st
- = container_of(work_s, struct adis16300_state,
- work_trigger_to_ring);
- struct iio_ring_buffer *ring = st->indio_dev->ring;
-
- int i = 0;
- s16 *data;
- size_t datasize = ring->access.get_bytes_per_datum(ring);
-
- data = kmalloc(datasize , GFP_KERNEL);
- if (data == NULL) {
- dev_err(&st->us->dev, "memory alloc failed in ring bh");
- return;
- }
-
- if (ring->scan_count)
- if (adis16300_spi_read_burst(&st->indio_dev->dev, st->rx) >= 0)
- for (; i < ring->scan_count; i++)
- data[i] = be16_to_cpup(
- (__be16 *)&(st->rx[i*2]));
-
- /* Guaranteed to be aligned with 8 byte boundary */
- if (ring->scan_timestamp)
- *((s64 *)(data + ((i + 3)/4)*4)) = st->last_timestamp;
-
- ring->access.store_to(ring,
- (u8 *)data,
- st->last_timestamp);
-
- iio_trigger_notify_done(st->indio_dev->trig);
- kfree(data);
-
- return;
-}
-
-void adis16300_unconfigure_ring(struct iio_dev *indio_dev)
-{
- kfree(indio_dev->pollfunc);
- iio_sw_rb_free(indio_dev->ring);
-}
-
-int adis16300_configure_ring(struct iio_dev *indio_dev)
-{
- int ret = 0;
- struct adis16300_state *st = indio_dev->dev_data;
- struct iio_ring_buffer *ring;
- INIT_WORK(&st->work_trigger_to_ring, adis16300_trigger_bh_to_ring);
-
- 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->bpe = 2;
- ring->scan_el_attrs = &adis16300_scan_el_group;
- ring->scan_timestamp = true;
- ring->preenable = &iio_sw_ring_preenable;
- ring->postenable = &iio_triggered_ring_postenable;
- ring->predisable = &iio_triggered_ring_predisable;
- ring->owner = THIS_MODULE;
-
- /* Set default scan mode */
- iio_scan_mask_set(ring, iio_scan_el_in_supply.number);
- iio_scan_mask_set(ring, iio_scan_el_gyro_x.number);
- iio_scan_mask_set(ring, iio_scan_el_accel_x.number);
- iio_scan_mask_set(ring, iio_scan_el_accel_y.number);
- iio_scan_mask_set(ring, iio_scan_el_accel_z.number);
- iio_scan_mask_set(ring, iio_scan_el_temp.number);
- iio_scan_mask_set(ring, iio_scan_el_in0.number);
- iio_scan_mask_set(ring, iio_scan_el_incli_x.number);
- iio_scan_mask_set(ring, iio_scan_el_incli_y.number);
-
- ret = iio_alloc_pollfunc(indio_dev, NULL, &adis16300_poll_func_th);
- if (ret)
- goto error_iio_sw_rb_free;
-
- indio_dev->modes |= INDIO_RING_TRIGGERED;
- return 0;
-
-error_iio_sw_rb_free:
- iio_sw_rb_free(indio_dev->ring);
- return ret;
-}
-
diff --git a/drivers/staging/iio/imu/adis16300_trigger.c b/drivers/staging/iio/imu/adis16300_trigger.c
deleted file mode 100644
index d6677b6..0000000
--- a/drivers/staging/iio/imu/adis16300_trigger.c
+++ /dev/null
@@ -1,125 +0,0 @@
-#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 "adis16300.h"
-
-/**
- * adis16300_data_rdy_trig_poll() the event handler for the data rdy trig
- **/
-static int adis16300_data_rdy_trig_poll(struct iio_dev *dev_info,
- int index,
- s64 timestamp,
- int no_test)
-{
- struct adis16300_state *st = iio_dev_get_devdata(dev_info);
- struct iio_trigger *trig = st->trig;
-
- iio_trigger_poll(trig, timestamp);
-
- return IRQ_HANDLED;
-}
-
-IIO_EVENT_SH(data_rdy_trig, &adis16300_data_rdy_trig_poll);
-
-static IIO_TRIGGER_NAME_ATTR;
-
-static struct attribute *adis16300_trigger_attrs[] = {
- &dev_attr_name.attr,
- NULL,
-};
-
-static const struct attribute_group adis16300_trigger_attr_group = {
- .attrs = adis16300_trigger_attrs,
-};
-
-/**
- * adis16300_data_rdy_trigger_set_state() set datardy interrupt state
- **/
-static int adis16300_data_rdy_trigger_set_state(struct iio_trigger *trig,
- bool state)
-{
- struct adis16300_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 = adis16300_set_irq(&st->indio_dev->dev, state);
- if (state == false) {
- iio_remove_event_from_list(&iio_event_data_rdy_trig,
- &indio_dev->interrupts[0]
- ->ev_list);
- /* possible quirk with handler currently worked around
- by ensuring the work queue is empty */
- flush_scheduled_work();
- } else {
- iio_add_event_to_list(&iio_event_data_rdy_trig,
- &indio_dev->interrupts[0]->ev_list);
- }
- return ret;
-}
-
-/**
- * adis16300_trig_try_reen() try renabling irq for data rdy trigger
- * @trig: the datardy trigger
- **/
-static int adis16300_trig_try_reen(struct iio_trigger *trig)
-{
- struct adis16300_state *st = trig->private_data;
- enable_irq(st->us->irq);
- /* irq reenabled so success! */
- return 0;
-}
-
-int adis16300_probe_trigger(struct iio_dev *indio_dev)
-{
- int ret;
- struct adis16300_state *st = indio_dev->dev_data;
-
- st->trig = iio_allocate_trigger();
- st->trig->name = kasprintf(GFP_KERNEL,
- "adis16300-dev%d",
- indio_dev->id);
- if (!st->trig->name) {
- ret = -ENOMEM;
- goto error_free_trig;
- }
- st->trig->dev.parent = &st->us->dev;
- st->trig->owner = THIS_MODULE;
- st->trig->private_data = st;
- st->trig->set_trigger_state = &adis16300_data_rdy_trigger_set_state;
- st->trig->try_reenable = &adis16300_trig_try_reen;
- st->trig->control_attrs = &adis16300_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 adis16300_remove_trigger(struct iio_dev *indio_dev)
-{
- struct adis16300_state *state = indio_dev->dev_data;
-
- iio_trigger_unregister(state->trig);
- kfree(state->trig->name);
- iio_free_trigger(state->trig);
-}
diff --git a/drivers/staging/iio/imu/adis16350.h b/drivers/staging/iio/imu/adis16350.h
index 2d8080e..bb20792 100644
--- a/drivers/staging/iio/imu/adis16350.h
+++ b/drivers/staging/iio/imu/adis16350.h
@@ -19,6 +19,9 @@
#define ADIS16350_ZTEMP_OUT 0x14 /* Z-axis gyroscope temperature measurement */
#define ADIS16350_AUX_ADC 0x16 /* Auxiliary ADC measurement */
+#define ADIS16300_XINCLI_OUT 0x12 /* X-axis inclinometer output measurement */
+#define ADIS16300_YINCLI_OUT 0x14 /* Y-axis inclinometer output measurement */
+
/* Calibration parameters */
#define ADIS16350_XGYRO_OFF 0x1A /* X-axis gyroscope bias offset factor */
#define ADIS16350_YGYRO_OFF 0x1C /* Y-axis gyroscope bias offset factor */
@@ -96,6 +99,33 @@
#define ADIS16350_SPI_BURST (u32)(1000 * 1000)
#define ADIS16350_SPI_FAST (u32)(2000 * 1000)
+enum adis16350_chip_variants {
+ adis16300,
+ adis16350,
+ adis16360,
+};
+
+/**
+ * struct adis16350_chip_info - chip type specific parameters
+ * @attribute_group: sysfs attributes for this variant
+ * @burst_available: does the device support burst reading
+ * @gyro_scale: the scale factor to convert to radians / sec
+ * @accel_scale: the scale factor to convert to m/s^2
+ * @burst_length: the number of bytes needed for a burst read
+ * @all_mask: a bit mask specifying which scan elements exist
+ * @scan_el_group: attributes related to scan element selection
+ * for buffering
+ **/
+struct adis16350_chip_info {
+ const struct attribute_group *attribute_group;
+ unsigned burst_available:1;
+ const char *gyro_scale;
+ const char *accel_scale;
+ u8 burst_length;
+ ulong all_mask;
+ struct attribute_group *scan_el_group;
+};
+
/**
* struct adis16350_state - device instance specific data
* @us: actual spi_device
@@ -103,6 +133,7 @@
* @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
+ * @variant: structure providing chip variant specific data
* @trig: data ready trigger registered with iio
* @tx: transmit buffer
* @rx: recieve buffer
@@ -121,6 +152,7 @@ struct adis16350_state {
struct work_struct work_trigger_to_ring;
s64 last_timestamp;
struct iio_dev *indio_dev;
+ struct adis16350_chip_info *variant;
struct iio_trigger *trig;
u8 *tx;
u8 *rx;
@@ -164,6 +196,9 @@ static inline void adis16350_unconfigure_event_line(struct adis16350_state *st)
}
#endif
+/**
+ * All we guarantee with these is that they are monotonic
+ **/
#define ADIS16350_SCAN_IN_SUPPLY 0
#define ADIS16350_SCAN_GYRO_X 1
#define ADIS16350_SCAN_GYRO_Y 2
@@ -173,11 +208,16 @@ static inline void adis16350_unconfigure_event_line(struct adis16350_state *st)
#define ADIS16350_SCAN_ACCEL_Z 6
#define ADIS16350_SCAN_TEMP_X 7
#define ADIS16350_SCAN_TEMP_Y 8
+#define ADIS16300_SCAN_INCLI_X 8
#define ADIS16350_SCAN_TEMP_Z 9
+#define ADIS16300_SCAN_INCLI_Y 9
#define ADIS16350_SCAN_IN0 10
#ifdef CONFIG_IIO_RING_BUFFER
+extern struct attribute_group adis16300_scan_el_group;
+extern struct attribute_group adis16350_scan_el_group;
+
void adis16350_remove_trigger(struct iio_dev *indio_dev);
int adis16350_probe_trigger(struct iio_dev *indio_dev);
diff --git a/drivers/staging/iio/imu/adis16350_core.c b/drivers/staging/iio/imu/adis16350_core.c
index 91d31b7..c8cb582 100644
--- a/drivers/staging/iio/imu/adis16350_core.c
+++ b/drivers/staging/iio/imu/adis16350_core.c
@@ -22,6 +22,7 @@
#include "../sysfs.h"
#include "../ring_generic.h"
#include "../accel/accel.h"
+#include "../accel/inclinometer.h"
#include "../adc/adc.h"
#include "../gyro/gyro.h"
@@ -224,6 +225,21 @@ static ssize_t adis16350_read_12bit_signed(struct device *dev,
return ret;
}
+static ssize_t adis16350_read_13bit_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 = adis16350_spi_read_signed(dev, attr, buf, 13);
+ mutex_unlock(&indio_dev->mlock);
+
+ return ret;
+}
+
static ssize_t adis16350_write_16bit(struct device *dev,
struct device_attribute *attr,
const char *buf,
@@ -515,7 +531,16 @@ static IIO_DEV_ATTR_GYRO_Y(adis16350_read_14bit_signed,
ADIS16350_YGYRO_OUT);
static IIO_DEV_ATTR_GYRO_Z(adis16350_read_14bit_signed,
ADIS16350_ZGYRO_OUT);
-static IIO_CONST_ATTR_GYRO_SCALE("0.00127862821");
+
+static ssize_t adis16350_show_gyro_scale(struct device *dev,
+ struct device_attribute *attr,
+ char *buf)
+{
+ struct iio_dev *dev_info = dev_get_drvdata(dev);
+ struct adis16350_state *st = iio_dev_get_devdata(dev_info);
+ return sprintf(buf, "%s\n", st->variant->gyro_scale);
+}
+static IIO_DEV_ATTR_GYRO_SCALE(S_IRUGO, adis16350_show_gyro_scale, NULL, 0);
static IIO_DEV_ATTR_ACCEL_X(adis16350_read_14bit_signed,
ADIS16350_XACCL_OUT);
@@ -523,7 +548,16 @@ static IIO_DEV_ATTR_ACCEL_Y(adis16350_read_14bit_signed,
ADIS16350_YACCL_OUT);
static IIO_DEV_ATTR_ACCEL_Z(adis16350_read_14bit_signed,
ADIS16350_ZACCL_OUT);
-static IIO_CONST_ATTR_ACCEL_SCALE("0.0247323713");
+
+static ssize_t adis16350_show_accel_scale(struct device *dev,
+ struct device_attribute *attr,
+ char *buf)
+{
+ struct iio_dev *dev_info = dev_get_drvdata(dev);
+ struct adis16350_state *st = iio_dev_get_devdata(dev_info);
+ return sprintf(buf, "%s\n", st->variant->accel_scale);
+}
+static IIO_DEV_ATTR_ACCEL_SCALE(S_IRUGO, adis16350_show_accel_scale, NULL, 0);
static IIO_DEVICE_ATTR(temp_x_raw, S_IRUGO, adis16350_read_12bit_signed,
NULL, ADIS16350_XTEMP_OUT);
@@ -547,7 +581,16 @@ static IIO_DEVICE_ATTR(reset, S_IWUSR, NULL,
static IIO_CONST_ATTR_SAMP_FREQ_AVAIL("409 546 819 1638");
-static IIO_CONST_ATTR_NAME("adis16350");
+
+static ssize_t adis16350_show_name(struct device *dev,
+ struct device_attribute *attr,
+ char *buf)
+{
+ struct iio_dev *dev_info = dev_get_drvdata(dev);
+ struct adis16350_state *st = iio_dev_get_devdata(dev_info);
+ return sprintf(buf, "%s\n", spi_get_device_id(st->us)->name);
+}
+static IIO_DEVICE_ATTR(name, S_IRUGO, adis16350_show_name, NULL, 0);
static struct attribute *adis16350_attributes[] = {
&iio_dev_attr_gyro_x_calibbias.dev_attr.attr,
@@ -561,11 +604,11 @@ static struct attribute *adis16350_attributes[] = {
&iio_dev_attr_gyro_x_raw.dev_attr.attr,
&iio_dev_attr_gyro_y_raw.dev_attr.attr,
&iio_dev_attr_gyro_z_raw.dev_attr.attr,
- &iio_const_attr_gyro_scale.dev_attr.attr,
+ &iio_dev_attr_gyro_scale.dev_attr.attr,
&iio_dev_attr_accel_x_raw.dev_attr.attr,
&iio_dev_attr_accel_y_raw.dev_attr.attr,
&iio_dev_attr_accel_z_raw.dev_attr.attr,
- &iio_const_attr_accel_scale.dev_attr.attr,
+ &iio_dev_attr_accel_scale.dev_attr.attr,
&iio_dev_attr_temp_x_raw.dev_attr.attr,
&iio_dev_attr_temp_y_raw.dev_attr.attr,
&iio_dev_attr_temp_z_raw.dev_attr.attr,
@@ -576,7 +619,7 @@ static struct attribute *adis16350_attributes[] = {
&iio_dev_attr_sampling_frequency.dev_attr.attr,
&iio_const_attr_sampling_frequency_available.dev_attr.attr,
&iio_dev_attr_reset.dev_attr.attr,
- &iio_const_attr_name.dev_attr.attr,
+ &iio_dev_attr_name.dev_attr.attr,
NULL
};
@@ -584,6 +627,116 @@ static const struct attribute_group adis16350_attribute_group = {
.attrs = adis16350_attributes,
};
+static IIO_DEV_ATTR_INCLI_X(adis16350_read_13bit_signed,
+ ADIS16300_XINCLI_OUT);
+static IIO_DEV_ATTR_INCLI_Y(adis16350_read_13bit_signed,
+ ADIS16300_YINCLI_OUT);
+static IIO_CONST_ATTR_INCLI_SCALE("0.00076794487");
+
+static struct attribute *adis16300_attributes[] = {
+ &iio_dev_attr_in_supply_raw.dev_attr.attr,
+ &iio_const_attr_in_supply_scale.dev_attr.attr,
+
+ &iio_dev_attr_gyro_x_raw.dev_attr.attr,
+ &iio_dev_attr_gyro_x_calibbias.dev_attr.attr,
+ &iio_dev_attr_gyro_scale.dev_attr.attr,
+
+ &iio_dev_attr_accel_x_raw.dev_attr.attr,
+ &iio_dev_attr_accel_x_calibbias.dev_attr.attr,
+ &iio_dev_attr_accel_y_raw.dev_attr.attr,
+ &iio_dev_attr_accel_y_calibbias.dev_attr.attr,
+ &iio_dev_attr_accel_z_raw.dev_attr.attr,
+ &iio_dev_attr_accel_z_calibbias.dev_attr.attr,
+ &iio_dev_attr_accel_scale.dev_attr.attr,
+
+ &iio_dev_attr_incli_x_raw.dev_attr.attr,
+ &iio_dev_attr_incli_y_raw.dev_attr.attr,
+ &iio_const_attr_incli_scale.dev_attr.attr,
+
+ &iio_dev_attr_temp_x_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_sampling_frequency_available.dev_attr.attr,
+ &iio_dev_attr_reset.dev_attr.attr,
+ &iio_dev_attr_name.dev_attr.attr,
+ NULL
+};
+
+static const struct attribute_group adis16300_attribute_group = {
+ .attrs = adis16300_attributes,
+};
+
+static struct adis16350_chip_info adis16350_variants[] = {
+ [adis16300] = {
+ .attribute_group = &adis16300_attribute_group,
+ .burst_available = 1,
+ .gyro_scale = "0.000872664",
+ .accel_scale = "0.00588399",
+ .burst_length = 18,
+ .all_mask =
+ BIT(ADIS16350_SCAN_IN_SUPPLY) |
+ BIT(ADIS16350_SCAN_GYRO_Z) |
+ BIT(ADIS16350_SCAN_ACCEL_X) |
+ BIT(ADIS16350_SCAN_ACCEL_Y) |
+ BIT(ADIS16350_SCAN_ACCEL_Z) |
+ BIT(ADIS16350_SCAN_TEMP_X) |
+ BIT(ADIS16300_SCAN_INCLI_X) |
+ BIT(ADIS16300_SCAN_INCLI_Y) |
+ BIT(ADIS16350_SCAN_IN0),
+#ifdef CONFIG_IIO_RING_BUFFER
+ .scan_el_group = &adis16300_scan_el_group,
+#endif
+ },
+ [adis16350] = {
+ .attribute_group = &adis16350_attribute_group,
+ .burst_available = 0,
+ .gyro_scale = "0.00127862821",
+ .accel_scale = "0.0247323713",
+ .all_mask =
+ BIT(ADIS16350_SCAN_IN_SUPPLY) |
+ BIT(ADIS16350_SCAN_GYRO_X) |
+ BIT(ADIS16350_SCAN_GYRO_Y) |
+ BIT(ADIS16350_SCAN_GYRO_Z) |
+ BIT(ADIS16350_SCAN_ACCEL_X) |
+ BIT(ADIS16350_SCAN_ACCEL_Y) |
+ BIT(ADIS16350_SCAN_ACCEL_Z) |
+ BIT(ADIS16350_SCAN_TEMP_X) |
+ BIT(ADIS16350_SCAN_TEMP_Y) |
+ BIT(ADIS16350_SCAN_TEMP_Z) |
+ BIT(ADIS16350_SCAN_IN0),
+#ifdef CONFIG_IIO_RING_BUFFER
+ .scan_el_group = &adis16350_scan_el_group,
+#endif
+ },
+ [adis16360] = {
+ .attribute_group = &adis16350_attribute_group,
+ .burst_available = 1,
+ .gyro_scale = "0.00127862821",
+ .accel_scale = "0.0247323713",
+ .burst_length = 22,
+ .all_mask =
+ BIT(ADIS16350_SCAN_IN_SUPPLY) |
+ BIT(ADIS16350_SCAN_GYRO_X) |
+ BIT(ADIS16350_SCAN_GYRO_Y) |
+ BIT(ADIS16350_SCAN_GYRO_Z) |
+ BIT(ADIS16350_SCAN_ACCEL_X) |
+ BIT(ADIS16350_SCAN_ACCEL_Y) |
+ BIT(ADIS16350_SCAN_ACCEL_Z) |
+ BIT(ADIS16350_SCAN_TEMP_X) |
+ BIT(ADIS16350_SCAN_TEMP_Y) |
+ BIT(ADIS16350_SCAN_TEMP_Z) |
+ BIT(ADIS16350_SCAN_IN0),
+#ifdef CONFIG_IIO_RING_BUFFER
+ .scan_el_group = &adis16350_scan_el_group,
+#endif
+ },
+};
+
static int __devinit adis16350_probe(struct spi_device *spi)
{
int ret, regdone = 0;
@@ -608,7 +761,8 @@ static int __devinit adis16350_probe(struct spi_device *spi)
}
st->us = spi;
mutex_init(&st->buf_lock);
- st->burst_available = spi_get_device_id(spi)->driver_data;
+ st->variant = &adis16350_variants[spi_get_device_id(spi)->driver_data];
+
/* setup the industrialio driver allocated elements */
st->indio_dev = iio_allocate_device();
if (st->indio_dev == NULL) {
@@ -617,7 +771,7 @@ static int __devinit adis16350_probe(struct spi_device *spi)
}
st->indio_dev->dev.parent = &spi->dev;
- st->indio_dev->attrs = &adis16350_attribute_group;
+ st->indio_dev->attrs = st->variant->attribute_group;
st->indio_dev->dev_data = (void *)(st);
st->indio_dev->driver_module = THIS_MODULE;
st->indio_dev->modes = INDIO_DIRECT_MODE;
@@ -642,10 +796,16 @@ static int __devinit adis16350_probe(struct spi_device *spi)
if (ret)
goto error_uninitialize_ring;
}
- /* The event irq */
- if (spi->dev.platform_data) {
+ /*
+ * The event irq - currently only supported in the adis16350
+ * and adis16360 famillies.
+ */
+ if (spi->dev.platform_data &&
+ (spi_get_device_id(spi)->driver_data == adis16350 ||
+ spi_get_device_id(spi)->driver_data == adis16360)) {
ret = adis16350_configure_event_line(st,
- *(int *)spi->dev.platform_data);
+ *(int *)spi
+ ->dev.platform_data);
if (ret)
goto error_remove_trigger;
}
@@ -709,13 +869,14 @@ err_ret:
}
static const struct spi_device_id adis16350_id[] = {
- {"adis16350", 0},
- {"adis16354", 0},
- {"adis16355", 0},
- {"adis16360", 1},
- {"adis16362", 1},
- {"adis16364", 1},
- {"adis16365", 1},
+ {"adis16300", adis16300},
+ {"adis16350", adis16350},
+ {"adis16354", adis16350},
+ {"adis16355", adis16350},
+ {"adis16360", adis16360},
+ {"adis16362", adis16360},
+ {"adis16364", adis16360},
+ {"adis16365", adis16360},
{}
};
diff --git a/drivers/staging/iio/imu/adis16350_ring.c b/drivers/staging/iio/imu/adis16350_ring.c
index a341e82..ad0c90b 100644
--- a/drivers/staging/iio/imu/adis16350_ring.c
+++ b/drivers/staging/iio/imu/adis16350_ring.c
@@ -76,10 +76,56 @@ static struct attribute *adis16350_scan_el_attrs[] = {
NULL,
};
-static struct attribute_group adis16350_scan_el_group = {
+struct attribute_group adis16350_scan_el_group = {
.attrs = adis16350_scan_el_attrs,
.name = "scan_elements",
};
+static IIO_SCAN_EL_C(incli_x, ADIS16300_SCAN_INCLI_X,
+ ADIS16300_XINCLI_OUT, NULL);
+static IIO_SCAN_EL_C(incli_y, ADIS16300_SCAN_INCLI_Y,
+ ADIS16300_YINCLI_OUT, NULL);
+static IIO_CONST_ATTR_SCAN_EL_TYPE(incli, s, 13, 16);
+
+static struct attribute *adis16300_scan_el_attrs[] = {
+ &iio_scan_el_in_supply.dev_attr.attr,
+ &iio_const_attr_in_supply_index.dev_attr.attr,
+ &iio_const_attr_in_supply_type.dev_attr.attr,
+
+ &iio_scan_el_gyro_x.dev_attr.attr,
+ &iio_const_attr_gyro_x_index.dev_attr.attr,
+ &iio_const_attr_gyro_type.dev_attr.attr,
+
+ &iio_scan_el_accel_x.dev_attr.attr,
+ &iio_const_attr_accel_x_index.dev_attr.attr,
+ &iio_scan_el_accel_y.dev_attr.attr,
+ &iio_const_attr_accel_y_index.dev_attr.attr,
+ &iio_scan_el_accel_z.dev_attr.attr,
+ &iio_const_attr_accel_z_index.dev_attr.attr,
+ &iio_const_attr_accel_type.dev_attr.attr,
+
+ &iio_scan_el_temp_x.dev_attr.attr,
+ &iio_const_attr_temp_x_index.dev_attr.attr,
+ &iio_const_attr_temp_type.dev_attr.attr,
+
+ &iio_scan_el_incli_x.dev_attr.attr,
+ &iio_const_attr_incli_x_index.dev_attr.attr,
+ &iio_scan_el_incli_y.dev_attr.attr,
+ &iio_const_attr_incli_y_index.dev_attr.attr,
+ &iio_const_attr_incli_type.dev_attr.attr,
+
+ &iio_scan_el_in0.dev_attr.attr,
+ &iio_const_attr_in0_index.dev_attr.attr,
+ &iio_const_attr_in0_type.dev_attr.attr,
+ &iio_scan_el_timestamp.dev_attr.attr,
+ &iio_const_attr_timestamp_index.dev_attr.attr,
+ &iio_const_attr_timestamp_type.dev_attr.attr,
+ NULL,
+};
+
+struct attribute_group adis16300_scan_el_group = {
+ .attrs = adis16300_scan_el_attrs,
+ .name = "scan_elements",
+};
/**
* adis16350_poll_func_th() top half interrupt handler called by trigger
@@ -114,7 +160,7 @@ static int adis16350_spi_read_burst(struct device *dev, u8 *rx)
}, {
.rx_buf = rx,
.bits_per_word = 8,
- .len = 22,
+ .len = st->variant->burst_length,
.cs_change = 0,
},
};
@@ -140,7 +186,8 @@ static int adis16350_spi_read_burst(struct device *dev, u8 *rx)
return ret;
}
-static const u16 read_all_tx_array[] = {
+/* So far only the adis16350 familly requires this */
+static const u16 adis16350_read_all_tx_array[] = {
be16_to_cpu(ADIS16350_READ_REG(ADIS16350_SUPPLY_OUT)),
be16_to_cpu(ADIS16350_READ_REG(ADIS16350_XGYRO_OUT)),
be16_to_cpu(ADIS16350_READ_REG(ADIS16350_YGYRO_OUT)),
@@ -169,9 +216,9 @@ static int adis16350_spi_read_all(struct device *dev, u16 *rx_array)
if (xfers == NULL)
return -ENOMEM;
- for (i = 0; i < ARRAY_SIZE(read_all_tx_array); i++)
+ for (i = 0; i < ARRAY_SIZE(adis16350_read_all_tx_array); i++)
if (st->indio_dev->ring->scan_mask & (1 << i)) {
- xfers[j].tx_buf = &read_all_tx_array[i];
+ xfers[j].tx_buf = &adis16350_read_all_tx_array[i];
xfers[j].bits_per_word = 16;
xfers[j].len = 2;
xfers[j + 1].rx_buf = rx_array + j;
@@ -211,15 +258,22 @@ static void adis16350_trigger_bh_to_ring(struct work_struct *work_s)
}
if (ring->scan_count) {
- if (st->burst_available) {
+ if (st->variant->burst_available) {
if (adis16350_spi_read_burst(&st->indio_dev->dev,
- st->rx) < 0)
+ st->rx) < 0)
return;
- for (; i < ring->scan_count; i++)
- if (st->indio_dev->ring->scan_mask & (1 << i))
- data[j++] = le16_to_cpup(
+ /* This compexity is to allow for devices supported by
+ * the same driver to include non contiguous sets of
+ * channels
+ */
+ for_each_set_bit(i, &st->variant->all_mask,
+ sizeof(st->variant->all_mask)*
+ BITS_PER_BYTE)
+ if (st->indio_dev->ring->scan_mask & BIT(i))
+ data[j++] = le16_to_cpup(
(__le16 *)&(st->rx[i*2]));
} else {
+ /* adis16350 only so far */
if (adis16350_spi_read_all(&st->indio_dev->dev,
(u16 *)st->rx) < 0)
return;
@@ -263,7 +317,7 @@ int adis16350_configure_ring(struct iio_dev *indio_dev)
/* Effectively select the ring buffer implementation */
iio_ring_sw_register_funcs(&ring->access);
ring->bpe = 2;
- ring->scan_el_attrs = &adis16350_scan_el_group;
+ ring->scan_el_attrs = st->variant->scan_el_group;
ring->scan_timestamp = true;
ring->preenable = &iio_sw_ring_preenable;
ring->postenable = &iio_triggered_ring_postenable;
@@ -271,17 +325,7 @@ int adis16350_configure_ring(struct iio_dev *indio_dev)
ring->owner = THIS_MODULE;
/* Set default scan mode */
- iio_scan_mask_set(ring, iio_scan_el_in_supply.number);
- iio_scan_mask_set(ring, iio_scan_el_gyro_x.number);
- iio_scan_mask_set(ring, iio_scan_el_gyro_y.number);
- iio_scan_mask_set(ring, iio_scan_el_gyro_z.number);
- iio_scan_mask_set(ring, iio_scan_el_accel_x.number);
- iio_scan_mask_set(ring, iio_scan_el_accel_y.number);
- iio_scan_mask_set(ring, iio_scan_el_accel_z.number);
- iio_scan_mask_set(ring, iio_scan_el_temp_x.number);
- iio_scan_mask_set(ring, iio_scan_el_temp_y.number);
- iio_scan_mask_set(ring, iio_scan_el_temp_z.number);
- iio_scan_mask_set(ring, iio_scan_el_in0.number);
+ ring->scan_mask = st->variant->all_mask;
ret = iio_alloc_pollfunc(indio_dev, NULL, &adis16350_poll_func_th);
if (ret)
--
1.7.2.2
--
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