From: Michael Hennerich <michael.hennerich@xxxxxxxxxx>
Fix up SPI messages cs_change behavior
Add delay after self test
Fix product ID check, skip embedded revision number.
Fix addresses of GYRO and ACCEL calibration offset.
Make sure only enabled scan_elements are pushed into the ring
Signed-off-by: Michael Hennerich <michael.hennerich@xxxxxxxxxx>
---
drivers/staging/iio/imu/adis16400.h | 5 +++--
drivers/staging/iio/imu/adis16400_core.c | 23 +++++++++++------------
drivers/staging/iio/imu/adis16400_ring.c | 14 +++++++++-----
3 files changed, 23 insertions(+), 19 deletions(-)
diff --git a/drivers/staging/iio/imu/adis16400.h b/drivers/staging/iio/imu/adis16400.h
index 6ff33e1..172b09c 100644
--- a/drivers/staging/iio/imu/adis16400.h
+++ b/drivers/staging/iio/imu/adis16400.h
@@ -17,7 +17,8 @@
#ifndef SPI_ADIS16400_H_
#define SPI_ADIS16400_H_
-#define ADIS16400_STARTUP_DELAY 220 /* ms */
+#define ADIS16400_STARTUP_DELAY 290 /* ms */
+#define ADIS16400_MTEST_DELAY 90 /* ms */
#define ADIS16400_READ_REG(a) a
#define ADIS16400_WRITE_REG(a) ((a) | 0x80)
@@ -67,7 +68,7 @@
#define ADIS16400_AUX_DAC 0x4A /* Auxiliary DAC data */
#define ADIS16400_PRODUCT_ID 0x56 /* Product identifier */
-#define ADIS16400_PRODUCT_ID_DEFAULT 0x4015 /* Datasheet says 0x4105, I get 0x4015 */
+#define ADIS16400_PRODUCT_ID_DEFAULT 0x4000
#define ADIS16400_ERROR_ACTIVE (1<<14)
#define ADIS16400_NEW_DATA (1<<14)
diff --git a/drivers/staging/iio/imu/adis16400_core.c b/drivers/staging/iio/imu/adis16400_core.c
index cfb108a..1f9fff6 100644
--- a/drivers/staging/iio/imu/adis16400_core.c
+++ b/drivers/staging/iio/imu/adis16400_core.c
@@ -6,6 +6,7 @@
*
* Copyright (c) 2009 Manuel Stahl <manuel.stahl@xxxxxxxxxxxxxxxxx>
* Copyright (c) 2007 Jonathan Cameron <jic23@xxxxxxxxx>
+ * Copyright (c) 2011 Analog Devices Inc.
*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License version 2 as
@@ -88,12 +89,10 @@ static int adis16400_spi_write_reg_16(struct device *dev,
.tx_buf = st->tx,
.bits_per_word = 8,
.len = 2,
- .cs_change = 1,
}, {
.tx_buf = st->tx + 2,
.bits_per_word = 8,
.len = 2,
- .cs_change = 1,
},
};
@@ -132,12 +131,10 @@ static int adis16400_spi_read_reg_16(struct device *dev,
.tx_buf = st->tx,
.bits_per_word = 8,
.len = 2,
- .cs_change = 1,
}, {
.rx_buf = st->rx,
.bits_per_word = 8,
.len = 2,
- .cs_change = 1,
},
};
@@ -375,7 +372,7 @@ static int adis16400_self_test(struct device *dev)
dev_err(dev, "problem starting self test");
goto err_ret;
}
-
+ msleep(ADIS16400_MTEST_DELAY);
adis16400_check_status(dev);
err_ret:
@@ -454,6 +451,7 @@ static int adis16400_initial_setup(struct adis16400_state *st)
goto err_ret;
}
+
/* Read status register to check the result */
ret = adis16400_check_status(dev);
if (ret) {
@@ -471,10 +469,11 @@ static int adis16400_initial_setup(struct adis16400_state *st)
if (ret)
goto err_ret;
- if (prod_id != ADIS16400_PRODUCT_ID_DEFAULT)
+ if ((prod_id & 0xF000) != ADIS16400_PRODUCT_ID_DEFAULT)
dev_warn(dev, "unknown product id");
- printk(KERN_INFO DRIVER_NAME ": prod_id 0x%04x at CS%d (irq %d)\n",
+
+ dev_info(dev, ": prod_id 0x%04x at CS%d (irq %d)\n",
prod_id, st->us->chip_select, st->us->irq);
/* use high spi speed if possible */
@@ -497,12 +496,12 @@ err_ret:
_reg)
static ADIS16400_DEV_ATTR_CALIBBIAS(GYRO_X, ADIS16400_XGYRO_OFF);
-static ADIS16400_DEV_ATTR_CALIBBIAS(GYRO_Y, ADIS16400_XGYRO_OFF);
-static ADIS16400_DEV_ATTR_CALIBBIAS(GYRO_Z, ADIS16400_XGYRO_OFF);
+static ADIS16400_DEV_ATTR_CALIBBIAS(GYRO_Y, ADIS16400_YGYRO_OFF);
+static ADIS16400_DEV_ATTR_CALIBBIAS(GYRO_Z, ADIS16400_ZGYRO_OFF);
static ADIS16400_DEV_ATTR_CALIBBIAS(ACCEL_X, ADIS16400_XACCL_OFF);
-static ADIS16400_DEV_ATTR_CALIBBIAS(ACCEL_Y, ADIS16400_XACCL_OFF);
-static ADIS16400_DEV_ATTR_CALIBBIAS(ACCEL_Z, ADIS16400_XACCL_OFF);
+static ADIS16400_DEV_ATTR_CALIBBIAS(ACCEL_Y, ADIS16400_YACCL_OFF);
+static ADIS16400_DEV_ATTR_CALIBBIAS(ACCEL_Z, ADIS16400_ZACCL_OFF);
static IIO_DEV_ATTR_IN_NAMED_RAW(0, supply, adis16400_read_14bit_signed,
@@ -647,7 +646,7 @@ static int __devinit adis16400_probe(struct spi_device *spi)
ret = iio_ring_buffer_register(st->indio_dev->ring, 0);
if (ret) {
- printk(KERN_ERR "failed to initialize the ring\n");
+ dev_err(&spi->dev, "failed to initialize the ring\n");
goto error_unreg_ring_funcs;
}
diff --git a/drivers/staging/iio/imu/adis16400_ring.c b/drivers/staging/iio/imu/adis16400_ring.c
index 33293fb..5a04e38 100644
--- a/drivers/staging/iio/imu/adis16400_ring.c
+++ b/drivers/staging/iio/imu/adis16400_ring.c
@@ -122,12 +122,10 @@ static int adis16400_spi_read_burst(struct device *dev, u8 *rx)
.tx_buf = st->tx,
.bits_per_word = 8,
.len = 2,
- .cs_change = 0,
}, {
.rx_buf = rx,
.bits_per_word = 8,
.len = 24,
- .cs_change = 1,
},
};
@@ -162,9 +160,10 @@ static void adis16400_trigger_bh_to_ring(struct work_struct *work_s)
work_trigger_to_ring);
struct iio_ring_buffer *ring = st->indio_dev->ring;
- int i = 0;
+ int i = 0, j;
s16 *data;
size_t datasize = ring->access.get_bytes_per_datum(ring);
+ unsigned long mask = ring->scan_mask;
data = kmalloc(datasize , GFP_KERNEL);
if (data == NULL) {
@@ -174,9 +173,14 @@ static void adis16400_trigger_bh_to_ring(struct work_struct *work_s)
if (ring->scan_count)
if (adis16400_spi_read_burst(&st->indio_dev->dev, st->rx) >= 0)
- for (; i < ring->scan_count; i++)
+ for (; i < ring->scan_count; i++) {
+ j = __ffs(mask);
+ mask &= ~(1 << j);
data[i] = be16_to_cpup(
- (__be16 *)&(st->rx[i*2]));
+ (__be16 *)&(st->rx[j*2]));
+
+ }
+
/* Guaranteed to be aligned with 8 byte boundary */
if (ring->scan_timestamp)
--
1.6.0.2
--
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