On 11/20/2012 01:36 PM, Lars-Peter Clausen wrote:
> This patch adds support for the ADIS16133, ADIS16135, ADIS16136 single channel
> gyroscopes. The main difference between them is the sensor precision.
>
> Signed-off-by: Lars-Peter Clausen <lars@xxxxxxxxxx>
A nice driver.
The only thing I could pick up on was the 'interesting' comments alongside
the 3db divisors.
Still I just wanted to comment on something really ;)
added to togreg branch of iio.git
> ---
> drivers/iio/gyro/Kconfig | 9 +
> drivers/iio/gyro/Makefile | 1 +
> drivers/iio/gyro/adis16136.c | 581 +++++++++++++++++++++++++++++++++++++++++++
> 3 files changed, 591 insertions(+)
> create mode 100644 drivers/iio/gyro/adis16136.c
>
> diff --git a/drivers/iio/gyro/Kconfig b/drivers/iio/gyro/Kconfig
> index 21e27e2..48ed148 100644
> --- a/drivers/iio/gyro/Kconfig
> +++ b/drivers/iio/gyro/Kconfig
> @@ -3,6 +3,15 @@
> #
> menu "Digital gyroscope sensors"
>
> +config ADIS16136
> + tristate "Analog devices ADIS16136 and similar gyroscopes driver"
> + depends on SPI_MASTER
> + select IIO_ADIS_LIB
> + select IIO_ADIS_LIB_BUFFER if IIO_BUFFER
> + help
> + Say yes here to build support for the Analog Devices ADIS16133, ADIS16135,
> + ADIS16136 gyroscope devices.
> +
> config HID_SENSOR_GYRO_3D
> depends on HID_SENSOR_HUB
> select IIO_BUFFER
> diff --git a/drivers/iio/gyro/Makefile b/drivers/iio/gyro/Makefile
> index 8a895d9..702a058 100644
> --- a/drivers/iio/gyro/Makefile
> +++ b/drivers/iio/gyro/Makefile
> @@ -2,4 +2,5 @@
> # Makefile for industrial I/O gyroscope sensor drivers
> #
>
> +obj-$(CONFIG_ADIS16136) += adis16136.o
> obj-$(CONFIG_HID_SENSOR_GYRO_3D) += hid-sensor-gyro-3d.o
> diff --git a/drivers/iio/gyro/adis16136.c b/drivers/iio/gyro/adis16136.c
> new file mode 100644
> index 0000000..277aa74
> --- /dev/null
> +++ b/drivers/iio/gyro/adis16136.c
> @@ -0,0 +1,581 @@
> +/*
> + * ADIS16133/ADIS16135/ADIS16136 gyroscope driver
> + *
> + * Copyright 2012 Analog Devices Inc.
> + * Author: Lars-Peter Clausen <lars@xxxxxxxxxx>
> + *
> + * Licensed under the GPL-2.
> + */
> +
> +#include <linux/interrupt.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/module.h>
> +
> +#include <linux/iio/iio.h>
> +#include <linux/iio/sysfs.h>
> +#include <linux/iio/buffer.h>
> +#include <linux/iio/imu/adis.h>
> +
> +#include <linux/iio/iio.h>
> +#include <linux/debugfs.h>
> +
> +#define ADIS16136_REG_FLASH_CNT 0x00
> +#define ADIS16136_REG_TEMP_OUT 0x02
> +#define ADIS16136_REG_GYRO_OUT2 0x04
> +#define ADIS16136_REG_GYRO_OUT 0x06
> +#define ADIS16136_REG_GYRO_OFF2 0x08
> +#define ADIS16136_REG_GYRO_OFF 0x0A
> +#define ADIS16136_REG_ALM_MAG1 0x10
> +#define ADIS16136_REG_ALM_MAG2 0x12
> +#define ADIS16136_REG_ALM_SAMPL1 0x14
> +#define ADIS16136_REG_ALM_SAMPL2 0x16
> +#define ADIS16136_REG_ALM_CTRL 0x18
> +#define ADIS16136_REG_GPIO_CTRL 0x1A
> +#define ADIS16136_REG_MSC_CTRL 0x1C
> +#define ADIS16136_REG_SMPL_PRD 0x1E
> +#define ADIS16136_REG_AVG_CNT 0x20
> +#define ADIS16136_REG_DEC_RATE 0x22
> +#define ADIS16136_REG_SLP_CTRL 0x24
> +#define ADIS16136_REG_DIAG_STAT 0x26
> +#define ADIS16136_REG_GLOB_CMD 0x28
> +#define ADIS16136_REG_LOT1 0x32
> +#define ADIS16136_REG_LOT2 0x34
> +#define ADIS16136_REG_LOT3 0x36
> +#define ADIS16136_REG_PROD_ID 0x38
> +#define ADIS16136_REG_SERIAL_NUM 0x3A
> +
> +#define ADIS16136_DIAG_STAT_FLASH_UPDATE_FAIL 2
> +#define ADIS16136_DIAG_STAT_SPI_FAIL 3
> +#define ADIS16136_DIAG_STAT_SELF_TEST_FAIL 5
> +#define ADIS16136_DIAG_STAT_FLASH_CHKSUM_FAIL 6
> +
> +#define ADIS16136_MSC_CTRL_MEMORY_TEST BIT(11)
> +#define ADIS16136_MSC_CTRL_SELF_TEST BIT(10)
> +
> +struct adis16136_chip_info {
> + unsigned int precision;
> + unsigned int fullscale;
> +};
> +
> +struct adis16136 {
> + const struct adis16136_chip_info *chip_info;
> +
> + struct adis adis;
> +};
> +
> +#ifdef CONFIG_DEBUG_FS
> +
> +static ssize_t adis16136_show_serial(struct file *file,
> + char __user *userbuf, size_t count, loff_t *ppos)
> +{
> + struct adis16136 *adis16136 = file->private_data;
> + uint16_t lot1, lot2, lot3, serial;
> + char buf[20];
> + size_t len;
> + int ret;
> +
> + ret = adis_read_reg_16(&adis16136->adis, ADIS16136_REG_SERIAL_NUM,
> + &serial);
> + if (ret < 0)
> + return ret;
> +
> + ret = adis_read_reg_16(&adis16136->adis, ADIS16136_REG_LOT1, &lot1);
> + if (ret < 0)
> + return ret;
> +
> + ret = adis_read_reg_16(&adis16136->adis, ADIS16136_REG_LOT2, &lot2);
> + if (ret < 0)
> + return ret;
> +
> + ret = adis_read_reg_16(&adis16136->adis, ADIS16136_REG_LOT3, &lot3);
> + if (ret < 0)
> + return ret;
> +
> + len = snprintf(buf, sizeof(buf), "%.4x%.4x%.4x-%.4x\n", lot1, lot2,
> + lot3, serial);
> +
> + return simple_read_from_buffer(userbuf, count, ppos, buf, len);
> +}
> +
> +static const struct file_operations adis16136_serial_fops = {
> + .open = simple_open,
> + .read = adis16136_show_serial,
> + .llseek = default_llseek,
> + .owner = THIS_MODULE,
> +};
> +
> +static int adis16136_show_product_id(void *arg, u64 *val)
> +{
> + struct adis16136 *adis16136 = arg;
> + u16 prod_id;
> + int ret;
> +
> + ret = adis_read_reg_16(&adis16136->adis, ADIS16136_REG_PROD_ID,
> + &prod_id);
> + if (ret < 0)
> + return ret;
> +
> + *val = prod_id;
> +
> + return 0;
> +}
> +DEFINE_SIMPLE_ATTRIBUTE(adis16136_product_id_fops,
> + adis16136_show_product_id, NULL, "%llu\n");
> +
> +static int adis16136_show_flash_count(void *arg, u64 *val)
> +{
> + struct adis16136 *adis16136 = arg;
> + uint16_t flash_count;
> + int ret;
> +
> + ret = adis_read_reg_16(&adis16136->adis, ADIS16136_REG_FLASH_CNT,
> + &flash_count);
> + if (ret < 0)
> + return ret;
> +
> + *val = flash_count;
> +
> + return 0;
> +}
> +DEFINE_SIMPLE_ATTRIBUTE(adis16136_flash_count_fops,
> + adis16136_show_flash_count, NULL, "%lld\n");
> +
> +static int adis16136_debugfs_init(struct iio_dev *indio_dev)
> +{
> + struct adis16136 *adis16136 = iio_priv(indio_dev);
> +
> + debugfs_create_file("serial_number", 0400, indio_dev->debugfs_dentry,
> + adis16136, &adis16136_serial_fops);
> + debugfs_create_file("product_id", 0400, indio_dev->debugfs_dentry,
> + adis16136, &adis16136_product_id_fops);
> + debugfs_create_file("flash_count", 0400, indio_dev->debugfs_dentry,
> + adis16136, &adis16136_flash_count_fops);
> +
> + return 0;
> +}
> +
> +#else
> +
> +static int adis16136_debugfs_init(struct iio_dev *indio_dev)
> +{
> + return 0;
> +}
> +
> +#endif
> +
> +static int adis16136_set_freq(struct adis16136 *adis16136, unsigned int freq)
> +{
> + unsigned int t;
> +
> + t = 32768 / freq;
> + if (t < 0xf)
> + t = 0xf;
> + else if (t > 0xffff)
> + t = 0xffff;
> + else
> + t--;
> +
> + return adis_write_reg_16(&adis16136->adis, ADIS16136_REG_SMPL_PRD, t);
> +}
> +
> +static int adis16136_get_freq(struct adis16136 *adis16136, unsigned int *freq)
> +{
> + uint16_t t;
> + int ret;
> +
> + ret = adis_read_reg_16(&adis16136->adis, ADIS16136_REG_SMPL_PRD, &t);
> + if (ret < 0)
> + return ret;
> +
> + *freq = 32768 / (t + 1);
> +
> + return 0;
> +}
> +
> +static ssize_t adis16136_write_frequency(struct device *dev,
> + struct device_attribute *attr, const char *buf, size_t len)
> +{
> + struct iio_dev *indio_dev = dev_to_iio_dev(dev);
> + struct adis16136 *adis16136 = iio_priv(indio_dev);
> + long val;
> + int ret;
> +
> + ret = kstrtol(buf, 10, &val);
> + if (ret)
> + return ret;
> +
> + if (val == 0)
> + return -EINVAL;
> +
> + ret = adis16136_set_freq(adis16136, val);
> +
> + return ret ? ret : len;
> +}
> +
> +static ssize_t adis16136_read_frequency(struct device *dev,
> + struct device_attribute *attr, char *buf)
> +{
> + struct iio_dev *indio_dev = dev_to_iio_dev(dev);
> + struct adis16136 *adis16136 = iio_priv(indio_dev);
> + unsigned int freq;
> + int ret;
> +
> + ret = adis16136_get_freq(adis16136, &freq);
> + if (ret < 0)
> + return ret;
> +
> + return sprintf(buf, "%d\n", freq);
> +}
> +
> +static IIO_DEV_ATTR_SAMP_FREQ(S_IWUSR | S_IRUGO,
> + adis16136_read_frequency,
> + adis16136_write_frequency);
> +
I love the comments. Useful sounding but I have no idea what
they actually mean!
> +static const unsigned adis16136_3db_divisors[] = {
> + [0] = 2, /* Special case */
> + [1] = 6,
> + [2] = 12,
> + [3] = 25,
> + [4] = 50,
> + [5] = 100,
> + [6] = 200,
> + [7] = 200, /* Not a valid setting */
> +};
> +
> +static int adis16136_set_filter(struct iio_dev *indio_dev, int val)
> +{
> + struct adis16136 *adis16136 = iio_priv(indio_dev);
> + unsigned int freq;
> + int i, ret;
> +
> + ret = adis16136_get_freq(adis16136, &freq);
> + if (ret < 0)
> + return ret;
> +
> + for (i = ARRAY_SIZE(adis16136_3db_divisors) - 1; i >= 1; i--) {
> + if (freq / adis16136_3db_divisors[i] >= val)
> + break;
> + }
> +
> + return adis_write_reg_16(&adis16136->adis, ADIS16136_REG_AVG_CNT, i);
> +}
> +
> +static int adis16136_get_filter(struct iio_dev *indio_dev, int *val)
> +{
> + struct adis16136 *adis16136 = iio_priv(indio_dev);
> + unsigned int freq;
> + uint16_t val16;
> + int ret;
> +
> + mutex_lock(&indio_dev->mlock);
> +
> + ret = adis_read_reg_16(&adis16136->adis, ADIS16136_REG_AVG_CNT, &val16);
> + if (ret < 0)
> + goto err_unlock;
> +
> + ret = adis16136_get_freq(adis16136, &freq);
> + if (ret < 0)
> + goto err_unlock;
> +
> + *val = freq / adis16136_3db_divisors[val16 & 0x07];
> +
> +err_unlock:
> + mutex_unlock(&indio_dev->mlock);
> +
> + return ret ? ret : IIO_VAL_INT;
> +}
> +
> +static int adis16136_read_raw(struct iio_dev *indio_dev,
> + const struct iio_chan_spec *chan, int *val, int *val2, long info)
> +{
> + struct adis16136 *adis16136 = iio_priv(indio_dev);
> + uint32_t val32;
> + int ret;
> +
> + switch (info) {
> + case IIO_CHAN_INFO_RAW:
> + return adis_single_conversion(indio_dev, chan, 0, val);
> + case IIO_CHAN_INFO_SCALE:
> + switch (chan->type) {
> + case IIO_ANGL_VEL:
> + *val = adis16136->chip_info->precision;
> + *val2 = (adis16136->chip_info->fullscale << 16);
> + return IIO_VAL_FRACTIONAL;
> + case IIO_TEMP:
> + *val = 10;
> + *val2 = 697000; /* 0.010697 degree Celsius */
> + return IIO_VAL_INT_PLUS_MICRO;
> + default:
> + return -EINVAL;
> + }
> + case IIO_CHAN_INFO_CALIBBIAS:
> + ret = adis_read_reg_32(&adis16136->adis,
> + ADIS16136_REG_GYRO_OFF2, &val32);
> + if (ret < 0)
> + return ret;
> +
> + *val = sign_extend32(val32, 31);
> +
> + return IIO_VAL_INT;
> + case IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY:
> + return adis16136_get_filter(indio_dev, val);
> + default:
> + return -EINVAL;
> + }
> +}
> +
> +static int adis16136_write_raw(struct iio_dev *indio_dev,
> + const struct iio_chan_spec *chan, int val, int val2, long info)
> +{
> + struct adis16136 *adis16136 = iio_priv(indio_dev);
> +
> + switch (info) {
> + case IIO_CHAN_INFO_CALIBBIAS:
> + return adis_write_reg_32(&adis16136->adis,
> + ADIS16136_REG_GYRO_OFF2, val);
> + case IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY:
> + return adis16136_set_filter(indio_dev, val);
> + default:
> + break;
> + }
> +
> + return -EINVAL;
> +}
> +
> +enum {
> + ADIS16136_SCAN_GYRO,
> + ADIS16136_SCAN_TEMP,
> +};
> +
> +static const struct iio_chan_spec adis16136_channels[] = {
> + {
> + .type = IIO_ANGL_VEL,
> + .modified = 1,
> + .channel2 = IIO_MOD_X,
> + .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT |
> + IIO_CHAN_INFO_CALIBBIAS_SEPARATE_BIT |
> + IIO_CHAN_INFO_SCALE_SHARED_BIT |
> + IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY_SEPARATE_BIT,
> + .address = ADIS16136_REG_GYRO_OUT2,
> + .scan_index = ADIS16136_SCAN_GYRO,
> + .scan_type = {
> + .sign = 's',
> + .realbits = 32,
> + .storagebits = 32,
> + .endianness = IIO_BE,
> + },
> + }, {
> + .type = IIO_TEMP,
> + .indexed = 1,
> + .channel = 0,
> + .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT |
> + IIO_CHAN_INFO_SCALE_SEPARATE_BIT,
> + .address = ADIS16136_REG_TEMP_OUT,
> + .scan_index = ADIS16136_SCAN_TEMP,
> + .scan_type = {
> + .sign = 's',
> + .realbits = 16,
> + .storagebits = 16,
> + .endianness = IIO_BE,
> + },
> + },
> + IIO_CHAN_SOFT_TIMESTAMP(2),
> +};
> +
> +static struct attribute *adis16136_attributes[] = {
> + &iio_dev_attr_sampling_frequency.dev_attr.attr,
> + NULL
> +};
> +
> +static const struct attribute_group adis16136_attribute_group = {
> + .attrs = adis16136_attributes,
> +};
> +
> +static const struct iio_info adis16136_info = {
> + .driver_module = THIS_MODULE,
> + .attrs = &adis16136_attribute_group,
> + .read_raw = &adis16136_read_raw,
> + .write_raw = &adis16136_write_raw,
> + .update_scan_mode = adis_update_scan_mode,
> + .debugfs_reg_access = adis_debugfs_reg_access,
> +};
> +
> +static int adis16136_stop_device(struct iio_dev *indio_dev)
> +{
> + struct adis16136 *adis16136 = iio_priv(indio_dev);
> + int ret;
> +
> + ret = adis_write_reg_16(&adis16136->adis, ADIS16136_REG_SLP_CTRL, 0xff);
> + if (ret)
> + dev_err(&indio_dev->dev,
> + "Could not power down device: %d\n", ret);
> +
> + return ret;
> +}
> +
> +static int adis16136_initial_setup(struct iio_dev *indio_dev)
> +{
> + struct adis16136 *adis16136 = iio_priv(indio_dev);
> + unsigned int device_id;
> + uint16_t prod_id;
> + int ret;
> +
> + ret = adis_initial_startup(&adis16136->adis);
> + if (ret)
> + return ret;
> +
> + ret = adis_read_reg_16(&adis16136->adis, ADIS16136_REG_PROD_ID,
> + &prod_id);
> + if (ret)
> + return ret;
> +
> + sscanf(indio_dev->name, "adis%u\n", &device_id);
> +
> + if (prod_id != device_id)
> + dev_warn(&indio_dev->dev, "Device ID(%u) and product ID(%u) do not match.",
> + device_id, prod_id);
> +
> + return 0;
> +}
> +
> +static const char * const adis16136_status_error_msgs[] = {
> + [ADIS16136_DIAG_STAT_FLASH_UPDATE_FAIL] = "Flash update failed",
> + [ADIS16136_DIAG_STAT_SPI_FAIL] = "SPI failure",
> + [ADIS16136_DIAG_STAT_SELF_TEST_FAIL] = "Self test error",
> + [ADIS16136_DIAG_STAT_FLASH_CHKSUM_FAIL] = "Flash checksum error",
> +};
> +
> +static const struct adis_data adis16136_data = {
> + .diag_stat_reg = ADIS16136_REG_DIAG_STAT,
> + .glob_cmd_reg = ADIS16136_REG_GLOB_CMD,
> + .msc_ctrl_reg = ADIS16136_REG_MSC_CTRL,
> +
> + .self_test_mask = ADIS16136_MSC_CTRL_SELF_TEST,
> + .startup_delay = 80,
> +
> + .read_delay = 10,
> + .write_delay = 10,
> +
> + .status_error_msgs = adis16136_status_error_msgs,
> + .status_error_mask = BIT(ADIS16136_DIAG_STAT_FLASH_UPDATE_FAIL) |
> + BIT(ADIS16136_DIAG_STAT_SPI_FAIL) |
> + BIT(ADIS16136_DIAG_STAT_SELF_TEST_FAIL) |
> + BIT(ADIS16136_DIAG_STAT_FLASH_CHKSUM_FAIL),
> +};
> +
> +enum adis16136_id {
> + ID_ADIS16133,
> + ID_ADIS16135,
> + ID_ADIS16136,
> +};
> +
> +static const struct adis16136_chip_info adis16136_chip_info[] = {
> + [ID_ADIS16133] = {
> + .precision = IIO_DEGREE_TO_RAD(1200),
> + .fullscale = 24000,
> + },
> + [ID_ADIS16135] = {
> + .precision = IIO_DEGREE_TO_RAD(300),
> + .fullscale = 24000,
> + },
> + [ID_ADIS16136] = {
> + .precision = IIO_DEGREE_TO_RAD(450),
> + .fullscale = 24623,
> + },
> +};
> +
> +static int __devinit adis16136_probe(struct spi_device *spi)
> +{
> + const struct spi_device_id *id = spi_get_device_id(spi);
> + struct adis16136 *adis16136;
> + struct iio_dev *indio_dev;
> + int ret;
> +
> + indio_dev = iio_device_alloc(sizeof(*adis16136));
> + if (indio_dev == NULL)
> + return -ENOMEM;
> +
> + spi_set_drvdata(spi, indio_dev);
> +
> + adis16136 = iio_priv(indio_dev);
> +
> + adis16136->chip_info = &adis16136_chip_info[id->driver_data];
> + indio_dev->dev.parent = &spi->dev;
> + indio_dev->name = spi_get_device_id(spi)->name;
> + indio_dev->channels = adis16136_channels;
> + indio_dev->num_channels = ARRAY_SIZE(adis16136_channels);
> + indio_dev->info = &adis16136_info;
> + indio_dev->modes = INDIO_DIRECT_MODE;
> +
> + ret = adis_init(&adis16136->adis, indio_dev, spi, &adis16136_data);
> + if (ret)
> + goto error_free_dev;
> +
> + ret = adis_setup_buffer_and_trigger(&adis16136->adis, indio_dev, NULL);
> + if (ret)
> + goto error_free_dev;
> +
> + ret = adis16136_initial_setup(indio_dev);
> + if (ret)
> + goto error_cleanup_buffer;
> +
> + ret = iio_device_register(indio_dev);
> + if (ret)
> + goto error_stop_device;
> +
> + adis16136_debugfs_init(indio_dev);
> +
> + return 0;
> +
> +error_stop_device:
> + adis16136_stop_device(indio_dev);
> +error_cleanup_buffer:
> + adis_cleanup_buffer_and_trigger(&adis16136->adis, indio_dev);
> +error_free_dev:
> + iio_device_free(indio_dev);
> + return ret;
> +}
> +
> +static int __devexit adis16136_remove(struct spi_device *spi)
> +{
> + struct iio_dev *indio_dev = spi_get_drvdata(spi);
> + struct adis16136 *adis16136 = iio_priv(indio_dev);
> +
> + iio_device_unregister(indio_dev);
> + adis16136_stop_device(indio_dev);
> +
> + adis_cleanup_buffer_and_trigger(&adis16136->adis, indio_dev);
> +
> + iio_device_free(indio_dev);
> +
> + return 0;
> +}
> +
> +static const struct spi_device_id adis16136_ids[] = {
> + { "adis16133", ID_ADIS16133 },
> + { "adis16135", ID_ADIS16135 },
> + { "adis16136", ID_ADIS16136 },
> + { }
> +};
> +MODULE_DEVICE_TABLE(spi, adis16136_ids);
> +
> +static struct spi_driver adis16136_driver = {
> + .driver = {
> + .name = "adis16136",
> + .owner = THIS_MODULE,
> + },
> + .id_table = adis16136_ids,
> + .probe = adis16136_probe,
> + .remove = __devexit_p(adis16136_remove),
> +};
> +module_spi_driver(adis16136_driver);
> +
> +MODULE_AUTHOR("Lars-Peter Clausen <lars@xxxxxxxxxx>");
> +MODULE_DESCRIPTION("Analog Devices ADIS16133/ADIS16135/ADIS16136 gyroscope driver");
> +MODULE_LICENSE("GPL v2");
>
--
To unsubscribe from this list: send the line "unsubscribe linux-iio" in
the body of a message to majordomo@xxxxxxxxxxxxxxx
More majordomo info at http://vger.kernel.org/majordomo-info.html
