This requires the regmap-spi-adi regmap bus to deal with
complex read / write combinations.
Signed-off-by: Jonathan Cameron <jic23@xxxxxxxxx>
---
drivers/staging/iio/imu/Kconfig | 1 +
drivers/staging/iio/imu/adis16400.h | 2 +
drivers/staging/iio/imu/adis16400_core.c | 300 ++++++++++++++++++-----------
drivers/staging/iio/imu/adis16400_ring.c | 2 +-
4 files changed, 190 insertions(+), 115 deletions(-)
diff --git a/drivers/staging/iio/imu/Kconfig b/drivers/staging/iio/imu/Kconfig
index e0e0144..7dfaa43 100644
--- a/drivers/staging/iio/imu/Kconfig
+++ b/drivers/staging/iio/imu/Kconfig
@@ -6,6 +6,7 @@ comment "Inertial measurement units"
config ADIS16400
tristate "Analog Devices ADIS16400 and similar IMU SPI driver"
depends on SPI
+ select REGMAP_SPI_ADI
select IIO_SW_RING if IIO_RING_BUFFER
select IIO_TRIGGER if IIO_RING_BUFFER
help
diff --git a/drivers/staging/iio/imu/adis16400.h b/drivers/staging/iio/imu/adis16400.h
index 1f8f0c6..0bf1fd9 100644
--- a/drivers/staging/iio/imu/adis16400.h
+++ b/drivers/staging/iio/imu/adis16400.h
@@ -141,6 +141,7 @@ struct adis16400_chip_info {
unsigned long default_scan_mask;
};
+struct regmap;
/**
* struct adis16400_state - device instance specific data
* @us: actual spi_device
@@ -150,6 +151,7 @@ struct adis16400_chip_info {
* @buf_lock: mutex to protect tx and rx
**/
struct adis16400_state {
+ struct regmap *regmap;
struct spi_device *us;
struct iio_trigger *trig;
struct mutex buf_lock;
diff --git a/drivers/staging/iio/imu/adis16400_core.c b/drivers/staging/iio/imu/adis16400_core.c
index b6d824f..b4be380 100644
--- a/drivers/staging/iio/imu/adis16400_core.c
+++ b/drivers/staging/iio/imu/adis16400_core.c
@@ -25,6 +25,8 @@
#include <linux/sysfs.h>
#include <linux/list.h>
#include <linux/module.h>
+#include <linux/regmap.h>
+#include <linux/err.h>
#include "../iio.h"
#include "../sysfs.h"
@@ -42,28 +44,6 @@ enum adis16400_chip_variant {
ADIS16400,
};
-/**
- * adis16400_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 adis16400_spi_write_reg_8(struct iio_dev *indio_dev,
- u8 reg_address,
- u8 val)
-{
- int ret;
- struct adis16400_state *st = iio_priv(indio_dev);
-
- mutex_lock(&st->buf_lock);
- st->tx[0] = ADIS16400_WRITE_REG(reg_address);
- st->tx[1] = val;
-
- ret = spi_write(st->us, st->tx, 2);
- mutex_unlock(&st->buf_lock);
-
- return ret;
-}
/**
* adis16400_spi_write_reg_16() - write 2 bytes to a pair of registers
@@ -71,43 +51,14 @@ static int adis16400_spi_write_reg_8(struct iio_dev *indio_dev,
* @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
- *
- * At the moment the spi framework doesn't allow global setting of cs_change.
- * This means that use cannot be made of spi_write.
*/
static int adis16400_spi_write_reg_16(struct iio_dev *indio_dev,
- u8 lower_reg_address,
- u16 value)
+ u8 lower_reg_address,
+ u16 value)
{
- int ret;
- struct spi_message msg;
struct adis16400_state *st = iio_priv(indio_dev);
- struct spi_transfer xfers[] = {
- {
- .tx_buf = st->tx,
- .bits_per_word = 8,
- .len = 2,
- .cs_change = 1,
- }, {
- .tx_buf = st->tx + 2,
- .bits_per_word = 8,
- .len = 2,
- },
- };
-
- mutex_lock(&st->buf_lock);
- st->tx[0] = ADIS16400_WRITE_REG(lower_reg_address);
- st->tx[1] = value & 0xFF;
- st->tx[2] = ADIS16400_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;
+ return regmap_write(st->regmap, lower_reg_address, value);
}
/**
@@ -116,49 +67,22 @@ static int adis16400_spi_write_reg_16(struct iio_dev *indio_dev,
* @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
- *
- * At the moment the spi framework doesn't allow global setting of cs_change.
- * This means that use cannot be made of spi_read.
**/
static int adis16400_spi_read_reg_16(struct iio_dev *indio_dev,
- u8 lower_reg_address,
- u16 *val)
+ u8 lower_reg_address,
+ u16 *val)
{
- struct spi_message msg;
struct adis16400_state *st = iio_priv(indio_dev);
int ret;
- struct spi_transfer xfers[] = {
- {
- .tx_buf = st->tx,
- .bits_per_word = 8,
- .len = 2,
- .cs_change = 1,
- }, {
- .rx_buf = st->rx,
- .bits_per_word = 8,
- .len = 2,
- },
- };
+ unsigned int value;
- mutex_lock(&st->buf_lock);
- st->tx[0] = ADIS16400_READ_REG(lower_reg_address);
- st->tx[1] = 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];
+ ret = regmap_read(st->regmap, lower_reg_address, &value);
+ if (ret < 0)
+ return ret;
-error_ret:
- mutex_unlock(&st->buf_lock);
- return ret;
+ *val = value;
+
+ return 0;
}
static ssize_t adis16400_read_frequency(struct device *dev,
@@ -172,7 +96,7 @@ static ssize_t adis16400_read_frequency(struct device *dev,
ret = adis16400_spi_read_reg_16(indio_dev,
ADIS16400_SMPL_PRD,
&t);
- if (ret)
+ if (ret < 0)
return ret;
sps = (t & ADIS16400_SMPL_PRD_TIME_BASE) ? 53 : 1638;
sps /= (t & ADIS16400_SMPL_PRD_DIV_MASK) + 1;
@@ -192,7 +116,7 @@ static ssize_t adis16400_write_frequency(struct device *dev,
u8 t;
ret = strict_strtol(buf, 10, &val);
- if (ret)
+ if (ret < 0)
return ret;
mutex_lock(&indio_dev->mlock);
@@ -206,22 +130,22 @@ static ssize_t adis16400_write_frequency(struct device *dev,
else
st->us->max_speed_hz = ADIS16400_SPI_FAST;
- ret = adis16400_spi_write_reg_8(indio_dev,
+ ret = adis16400_spi_write_reg_16(indio_dev,
ADIS16400_SMPL_PRD,
t);
mutex_unlock(&indio_dev->mlock);
- return ret ? ret : len;
+ return ret < 0 ? ret : len;
}
static int adis16400_reset(struct iio_dev *indio_dev)
{
int ret;
- ret = adis16400_spi_write_reg_8(indio_dev,
+ ret = adis16400_spi_write_reg_16(indio_dev,
ADIS16400_GLOB_CMD,
ADIS16400_GLOB_CMD_SW_RESET);
- if (ret)
+ if (ret < 0)
dev_err(&indio_dev->dev, "problem resetting device");
return ret;
@@ -252,7 +176,7 @@ int adis16400_set_irq(struct iio_dev *indio_dev, bool enable)
u16 msc;
ret = adis16400_spi_read_reg_16(indio_dev, ADIS16400_MSC_CTRL, &msc);
- if (ret)
+ if (ret < 0)
goto error_ret;
msc |= ADIS16400_MSC_CTRL_DATA_RDY_POL_HIGH;
@@ -262,8 +186,6 @@ int adis16400_set_irq(struct iio_dev *indio_dev, bool enable)
msc &= ~ADIS16400_MSC_CTRL_DATA_RDY_EN;
ret = adis16400_spi_write_reg_16(indio_dev, ADIS16400_MSC_CTRL, msc);
- if (ret)
- goto error_ret;
error_ret:
return ret;
@@ -338,7 +260,7 @@ static int adis16400_self_test(struct iio_dev *indio_dev)
ret = adis16400_spi_write_reg_16(indio_dev,
ADIS16400_MSC_CTRL,
ADIS16400_MSC_CTRL_MEM_TEST);
- if (ret) {
+ if (ret < 0) {
dev_err(&indio_dev->dev, "problem starting self test");
goto err_ret;
}
@@ -362,24 +284,24 @@ static int adis16400_initial_setup(struct iio_dev *indio_dev)
spi_setup(st->us);
ret = adis16400_set_irq(indio_dev, false);
- if (ret) {
+ if (ret < 0) {
dev_err(&indio_dev->dev, "disable irq failed");
goto err_ret;
}
ret = adis16400_self_test(indio_dev);
- if (ret) {
+ if (ret < 0) {
dev_err(&indio_dev->dev, "self test failure");
goto err_ret;
}
ret = adis16400_check_status(indio_dev);
- if (ret) {
+ if (ret < 0) {
adis16400_reset(indio_dev);
dev_err(&indio_dev->dev, "device not playing ball -> reset");
msleep(ADIS16400_STARTUP_DELAY);
ret = adis16400_check_status(indio_dev);
- if (ret) {
+ if (ret < 0) {
dev_err(&indio_dev->dev, "giving up");
goto err_ret;
}
@@ -387,7 +309,7 @@ static int adis16400_initial_setup(struct iio_dev *indio_dev)
if (st->variant->flags & ADIS16400_HAS_PROD_ID) {
ret = adis16400_spi_read_reg_16(indio_dev,
ADIS16400_PRODUCT_ID, &prod_id);
- if (ret)
+ if (ret < 0)
goto err_ret;
if ((prod_id & 0xF000) != st->variant->product_id)
@@ -492,7 +414,7 @@ static int adis16400_read_raw(struct iio_dev *indio_dev,
ret = adis16400_spi_read_reg_16(indio_dev,
adis16400_addresses[chan->address][0],
&val16);
- if (ret) {
+ if (ret < 0) {
mutex_unlock(&indio_dev->mlock);
return ret;
}
@@ -539,7 +461,7 @@ static int adis16400_read_raw(struct iio_dev *indio_dev,
adis16400_addresses[chan->address][1],
&val16);
mutex_unlock(&indio_dev->mlock);
- if (ret)
+ if (ret < 0)
return ret;
val16 = ((val16 & 0xFFF) << 4) >> 4;
*val = val16;
@@ -1016,6 +938,146 @@ static const struct iio_info adis16400_info = {
.attrs = &adis16400_attribute_group,
};
+/* This may technically result in read attempts to undefined registers */
+static bool adis16400_reg_readable(struct device *dev,
+ unsigned int reg)
+{
+ switch (reg) {
+ case ADIS16400_FLASH_CNT:
+ case ADIS16400_SUPPLY_OUT:
+ case ADIS16400_XGYRO_OUT:
+ case ADIS16400_YGYRO_OUT:
+ case ADIS16400_ZGYRO_OUT:
+ case ADIS16400_XACCL_OUT:
+ case ADIS16400_YACCL_OUT:
+ case ADIS16400_ZACCL_OUT:
+ case ADIS16400_XMAGN_OUT:
+ case ADIS16400_YMAGN_OUT:
+ case ADIS16400_ZMAGN_OUT:
+ case ADIS16400_TEMP_OUT:
+ case ADIS16400_AUX_ADC:
+ case ADIS16400_XGYRO_OFF:
+ case ADIS16400_YGYRO_OFF:
+ case ADIS16400_ZGYRO_OFF:
+ case ADIS16400_XACCL_OFF:
+ case ADIS16400_YACCL_OFF:
+ case ADIS16400_ZACCL_OFF:
+ case ADIS16400_XMAGN_HIF:
+ case ADIS16400_YMAGN_HIF:
+ case ADIS16400_ZMAGN_HIF:
+ case ADIS16400_XMAGN_SIF:
+ case ADIS16400_YMAGN_SIF:
+ case ADIS16400_ZMAGN_SIF:
+ case ADIS16400_GPIO_CTRL:
+ case ADIS16400_MSC_CTRL:
+ case ADIS16400_SMPL_PRD:
+ case ADIS16400_SENS_AVG:
+ case ADIS16400_DIAG_STAT:
+ case ADIS16400_ALM_MAG1:
+ case ADIS16400_ALM_MAG2:
+ case ADIS16400_ALM_SMPL1:
+ case ADIS16400_ALM_SMPL2:
+ case ADIS16400_ALM_CTRL:
+ case ADIS16400_AUX_DAC:
+ case ADIS16400_PRODUCT_ID:
+ return true;
+ default:
+ return false;
+ };
+}
+
+static bool adis16400_reg_precious(struct device *dev,
+ unsigned int reg)
+{
+ switch (reg) {
+ case ADIS16400_SUPPLY_OUT:
+ case ADIS16400_XGYRO_OUT:
+ case ADIS16400_YGYRO_OUT:
+ case ADIS16400_ZGYRO_OUT:
+ case ADIS16400_XACCL_OUT:
+ case ADIS16400_YACCL_OUT:
+ case ADIS16400_ZACCL_OUT:
+ case ADIS16400_XMAGN_OUT:
+ case ADIS16400_YMAGN_OUT:
+ case ADIS16400_ZMAGN_OUT:
+ case ADIS16400_TEMP_OUT:
+ case ADIS16400_AUX_ADC:
+ case ADIS16400_DIAG_STAT:
+ return true;
+ default:
+ return 0;
+ }
+}
+
+static bool adis16400_reg_volatile(struct device *dev,
+ unsigned int reg)
+{
+ switch (reg) {
+ case ADIS16400_FLASH_CNT:
+ case ADIS16400_SUPPLY_OUT:
+ case ADIS16400_XGYRO_OUT:
+ case ADIS16400_YGYRO_OUT:
+ case ADIS16400_ZGYRO_OUT:
+ case ADIS16400_XACCL_OUT:
+ case ADIS16400_YACCL_OUT:
+ case ADIS16400_ZACCL_OUT:
+ case ADIS16400_XMAGN_OUT:
+ case ADIS16400_YMAGN_OUT:
+ case ADIS16400_ZMAGN_OUT:
+ case ADIS16400_TEMP_OUT:
+ case ADIS16400_AUX_ADC:
+ case ADIS16400_DIAG_STAT:
+
+ return true;
+ default:
+ return 0;
+ }
+}
+static bool adis16400_reg_writeable(struct device *dev,
+ unsigned int reg)
+{
+ switch (reg) {
+ case ADIS16400_XGYRO_OFF:
+ case ADIS16400_YGYRO_OFF:
+ case ADIS16400_ZGYRO_OFF:
+ case ADIS16400_XACCL_OFF:
+ case ADIS16400_YACCL_OFF:
+ case ADIS16400_ZACCL_OFF:
+ case ADIS16400_XMAGN_HIF:
+ case ADIS16400_YMAGN_HIF:
+ case ADIS16400_ZMAGN_HIF:
+ case ADIS16400_XMAGN_SIF:
+ case ADIS16400_YMAGN_SIF:
+ case ADIS16400_ZMAGN_SIF:
+ case ADIS16400_GPIO_CTRL:
+ case ADIS16400_MSC_CTRL:
+ case ADIS16400_SMPL_PRD:
+ case ADIS16400_SENS_AVG:
+ case ADIS16400_SLP_CNT:
+ case ADIS16400_GLOB_CMD:
+ case ADIS16400_ALM_MAG1:
+ case ADIS16400_ALM_MAG2:
+ case ADIS16400_ALM_SMPL1:
+ case ADIS16400_ALM_SMPL2:
+ case ADIS16400_ALM_CTRL:
+ case ADIS16400_AUX_DAC:
+ return true;
+ default:
+ return false;
+ };
+}
+static struct regmap_config adis16400_regmap_config = {
+ .reg_bits = 8,
+ .val_bits = 16,
+ .writeable_reg = &adis16400_reg_writeable,
+ .readable_reg = &adis16400_reg_readable,
+ .precious_reg = &adis16400_reg_precious,
+ .volatile_reg = &adis16400_reg_volatile,
+ .max_register = 0x56,
+ .write_flag_mask = 0x80,
+ .read_flag_mask = 0,
+};
+
static int __devinit adis16400_probe(struct spi_device *spi)
{
int ret;
@@ -1026,8 +1088,14 @@ static int __devinit adis16400_probe(struct spi_device *spi)
goto error_ret;
}
st = iio_priv(indio_dev);
+ st->regmap = regmap_init_spi_adi(spi, &adis16400_regmap_config);
+ if (IS_ERR(st->regmap)) {
+ ret = PTR_ERR(st->regmap);
+ goto error_free_dev;
+ }
/* this is only used for removal purposes */
spi_set_drvdata(spi, indio_dev);
+ spi->cs_between_transfers = 1;
st->us = spi;
mutex_init(&st->buf_lock);
@@ -1042,29 +1110,29 @@ static int __devinit adis16400_probe(struct spi_device *spi)
indio_dev->modes = INDIO_DIRECT_MODE;
ret = adis16400_configure_ring(indio_dev);
- if (ret)
- goto error_free_dev;
+ if (ret < 0)
+ goto error_free_regmap;
ret = iio_ring_buffer_register(indio_dev,
st->variant->channels,
st->variant->num_channels);
- if (ret) {
+ if (ret < 0) {
dev_err(&spi->dev, "failed to initialize the ring\n");
goto error_unreg_ring_funcs;
}
if (spi->irq) {
ret = adis16400_probe_trigger(indio_dev);
- if (ret)
+ if (ret < 0)
goto error_uninitialize_ring;
}
/* Get the device into a sane initial state */
ret = adis16400_initial_setup(indio_dev);
- if (ret)
+ if (ret < 0)
goto error_remove_trigger;
ret = iio_device_register(indio_dev);
- if (ret)
+ if (ret < 0)
goto error_remove_trigger;
return 0;
@@ -1076,6 +1144,8 @@ error_uninitialize_ring:
iio_ring_buffer_unregister(indio_dev);
error_unreg_ring_funcs:
adis16400_unconfigure_ring(indio_dev);
+error_free_regmap:
+ regmap_exit(st->regmap);
error_free_dev:
iio_free_device(indio_dev);
error_ret:
@@ -1087,14 +1157,16 @@ static int adis16400_remove(struct spi_device *spi)
{
int ret;
struct iio_dev *indio_dev = spi_get_drvdata(spi);
+ struct adis16400_state *st = iio_priv(indio_dev);
ret = adis16400_stop_device(indio_dev);
- if (ret)
+ if (ret < 0)
goto err_ret;
adis16400_remove_trigger(indio_dev);
iio_ring_buffer_unregister(indio_dev);
adis16400_unconfigure_ring(indio_dev);
+ regmap_exit(st->regmap);
iio_device_unregister(indio_dev);
return 0;
diff --git a/drivers/staging/iio/imu/adis16400_ring.c b/drivers/staging/iio/imu/adis16400_ring.c
index af25697..8345d4e 100644
--- a/drivers/staging/iio/imu/adis16400_ring.c
+++ b/drivers/staging/iio/imu/adis16400_ring.c
@@ -47,7 +47,7 @@ static int adis16400_spi_read_burst(struct device *dev, u8 *rx)
spi_setup(st->us);
ret = spi_sync(st->us, &msg);
- if (ret)
+ if (ret < 0)
dev_err(&st->us->dev, "problem when burst reading");
st->us->max_speed_hz = old_speed_hz;
--
1.7.3.4
--
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