On 05/08/15 14:38, Lars-Peter Clausen wrote:
> The ADIS16266 is mostly register compatible to the ADIS16260. The
> difference is a different gyroscope scale factor as well not having the
> relative angular displacement channel.
>
> Signed-off-by: Lars-Peter Clausen <lars@xxxxxxxxxx>
Applied. I would have slightly preferred a rework patch then
a new driver patch, but I guess there isn't much in here really.
Jonathan
> ---
> drivers/iio/gyro/adis16260.c | 137 +++++++++++++++++++++++++++++++------------
> 1 file changed, 98 insertions(+), 39 deletions(-)
>
> diff --git a/drivers/iio/gyro/adis16260.c b/drivers/iio/gyro/adis16260.c
> index 75fe0ed..00c6ad9 100644
> --- a/drivers/iio/gyro/adis16260.c
> +++ b/drivers/iio/gyro/adis16260.c
> @@ -101,19 +101,24 @@
> #define ADIS16260_SCAN_TEMP 3
> #define ADIS16260_SCAN_ANGL 4
>
> -/* Power down the device */
> -static int adis16260_stop_device(struct iio_dev *indio_dev)
> -{
> - struct adis *adis = iio_priv(indio_dev);
> - int ret;
> - u16 val = ADIS16260_SLP_CNT_POWER_OFF;
> +struct adis16260_chip_info {
> + unsigned int gyro_max_val;
> + unsigned int gyro_max_scale;
> + const struct iio_chan_spec *channels;
> + unsigned int num_channels;
> +};
>
> - ret = adis_write_reg_16(adis, ADIS16260_SLP_CNT, val);
> - if (ret)
> - dev_err(&indio_dev->dev, "problem with turning device off: SLP_CNT");
> +struct adis16260 {
> + const struct adis16260_chip_info *info;
>
> - return ret;
> -}
> + struct adis adis;
> +};
> +
> +enum adis16260_type {
> + ADIS16251,
> + ADIS16260,
> + ADIS16266,
> +};
>
> static const struct iio_chan_spec adis16260_channels[] = {
> ADIS_GYRO_CHAN(X, ADIS16260_GYRO_OUT, ADIS16260_SCAN_GYRO,
> @@ -131,6 +136,55 @@ static const struct iio_chan_spec adis16260_channels[] = {
> IIO_CHAN_SOFT_TIMESTAMP(5),
> };
>
> +static const struct iio_chan_spec adis16266_channels[] = {
> + ADIS_GYRO_CHAN(X, ADIS16260_GYRO_OUT, ADIS16260_SCAN_GYRO,
> + BIT(IIO_CHAN_INFO_CALIBBIAS) |
> + BIT(IIO_CHAN_INFO_CALIBSCALE),
> + BIT(IIO_CHAN_INFO_SAMP_FREQ), 14),
> + ADIS_TEMP_CHAN(ADIS16260_TEMP_OUT, ADIS16260_SCAN_TEMP,
> + BIT(IIO_CHAN_INFO_SAMP_FREQ), 12),
> + ADIS_SUPPLY_CHAN(ADIS16260_SUPPLY_OUT, ADIS16260_SCAN_SUPPLY,
> + BIT(IIO_CHAN_INFO_SAMP_FREQ), 12),
> + ADIS_AUX_ADC_CHAN(ADIS16260_AUX_ADC, ADIS16260_SCAN_AUX_ADC,
> + BIT(IIO_CHAN_INFO_SAMP_FREQ), 12),
> + IIO_CHAN_SOFT_TIMESTAMP(4),
> +};
> +
> +static const struct adis16260_chip_info adis16260_chip_info_table[] = {
> + [ADIS16251] = {
> + .gyro_max_scale = 80,
> + .gyro_max_val = IIO_RAD_TO_DEGREE(4368),
> + .channels = adis16260_channels,
> + .num_channels = ARRAY_SIZE(adis16260_channels),
> + },
> + [ADIS16260] = {
> + .gyro_max_scale = 320,
> + .gyro_max_val = IIO_RAD_TO_DEGREE(4368),
> + .channels = adis16260_channels,
> + .num_channels = ARRAY_SIZE(adis16260_channels),
> + },
> + [ADIS16266] = {
> + .gyro_max_scale = 14000,
> + .gyro_max_val = IIO_RAD_TO_DEGREE(3357),
> + .channels = adis16266_channels,
> + .num_channels = ARRAY_SIZE(adis16266_channels),
> + },
> +};
> +
> +/* Power down the device */
> +static int adis16260_stop_device(struct iio_dev *indio_dev)
> +{
> + struct adis16260 *adis16260 = iio_priv(indio_dev);
> + int ret;
> + u16 val = ADIS16260_SLP_CNT_POWER_OFF;
> +
> + ret = adis_write_reg_16(&adis16260->adis, ADIS16260_SLP_CNT, val);
> + if (ret)
> + dev_err(&indio_dev->dev, "problem with turning device off: SLP_CNT");
> +
> + return ret;
> +}
> +
> static const u8 adis16260_addresses[][2] = {
> [ADIS16260_SCAN_GYRO] = { ADIS16260_GYRO_OFF, ADIS16260_GYRO_SCALE },
> };
> @@ -140,7 +194,9 @@ static int adis16260_read_raw(struct iio_dev *indio_dev,
> int *val, int *val2,
> long mask)
> {
> - struct adis *adis = iio_priv(indio_dev);
> + struct adis16260 *adis16260 = iio_priv(indio_dev);
> + const struct adis16260_chip_info *info = adis16260->info;
> + struct adis *adis = &adis16260->adis;
> int ret;
> u8 addr;
> s16 val16;
> @@ -152,15 +208,9 @@ static int adis16260_read_raw(struct iio_dev *indio_dev,
> case IIO_CHAN_INFO_SCALE:
> switch (chan->type) {
> case IIO_ANGL_VEL:
> - *val = 0;
> - if (spi_get_device_id(adis->spi)->driver_data) {
> - /* 0.01832 degree / sec */
> - *val2 = IIO_DEGREE_TO_RAD(18320);
> - } else {
> - /* 0.07326 degree / sec */
> - *val2 = IIO_DEGREE_TO_RAD(73260);
> - }
> - return IIO_VAL_INT_PLUS_MICRO;
> + *val = info->gyro_max_scale;
> + *val2 = info->gyro_max_val;
> + return IIO_VAL_FRACTIONAL;
> case IIO_INCLI:
> *val = 0;
> *val2 = IIO_DEGREE_TO_RAD(36630);
> @@ -224,7 +274,8 @@ static int adis16260_write_raw(struct iio_dev *indio_dev,
> int val2,
> long mask)
> {
> - struct adis *adis = iio_priv(indio_dev);
> + struct adis16260 *adis16260 = iio_priv(indio_dev);
> + struct adis *adis = &adis16260->adis;
> int ret;
> u8 addr;
> u8 t;
> @@ -305,35 +356,42 @@ static const struct adis_data adis16260_data = {
>
> static int adis16260_probe(struct spi_device *spi)
> {
> + const struct spi_device_id *id;
> + struct adis16260 *adis16260;
> struct iio_dev *indio_dev;
> - struct adis *adis;
> int ret;
>
> + id = spi_get_device_id(spi);
> + if (!id)
> + return -ENODEV;
> +
> /* setup the industrialio driver allocated elements */
> - indio_dev = devm_iio_device_alloc(&spi->dev, sizeof(*adis));
> + indio_dev = devm_iio_device_alloc(&spi->dev, sizeof(*adis16260));
> if (!indio_dev)
> return -ENOMEM;
> - adis = iio_priv(indio_dev);
> + adis16260 = iio_priv(indio_dev);
> /* this is only used for removal purposes */
> spi_set_drvdata(spi, indio_dev);
>
> - indio_dev->name = spi_get_device_id(spi)->name;
> + adis16260->info = &adis16260_chip_info_table[id->driver_data];
> +
> + indio_dev->name = id->name;
> indio_dev->dev.parent = &spi->dev;
> indio_dev->info = &adis16260_info;
> - indio_dev->channels = adis16260_channels;
> - indio_dev->num_channels = ARRAY_SIZE(adis16260_channels);
> + indio_dev->channels = adis16260->info->channels;
> + indio_dev->num_channels = adis16260->info->num_channels;
> indio_dev->modes = INDIO_DIRECT_MODE;
>
> - ret = adis_init(adis, indio_dev, spi, &adis16260_data);
> + ret = adis_init(&adis16260->adis, indio_dev, spi, &adis16260_data);
> if (ret)
> return ret;
>
> - ret = adis_setup_buffer_and_trigger(adis, indio_dev, NULL);
> + ret = adis_setup_buffer_and_trigger(&adis16260->adis, indio_dev, NULL);
> if (ret)
> return ret;
>
> /* Get the device into a sane initial state */
> - ret = adis_initial_startup(adis);
> + ret = adis_initial_startup(&adis16260->adis);
> if (ret)
> goto error_cleanup_buffer_trigger;
> ret = iio_device_register(indio_dev);
> @@ -343,18 +401,18 @@ static int adis16260_probe(struct spi_device *spi)
> return 0;
>
> error_cleanup_buffer_trigger:
> - adis_cleanup_buffer_and_trigger(adis, indio_dev);
> + adis_cleanup_buffer_and_trigger(&adis16260->adis, indio_dev);
> return ret;
> }
>
> static int adis16260_remove(struct spi_device *spi)
> {
> struct iio_dev *indio_dev = spi_get_drvdata(spi);
> - struct adis *adis = iio_priv(indio_dev);
> + struct adis16260 *adis16260 = iio_priv(indio_dev);
>
> iio_device_unregister(indio_dev);
> adis16260_stop_device(indio_dev);
> - adis_cleanup_buffer_and_trigger(adis, indio_dev);
> + adis_cleanup_buffer_and_trigger(&adis16260->adis, indio_dev);
>
> return 0;
> }
> @@ -364,11 +422,12 @@ static int adis16260_remove(struct spi_device *spi)
> * support for the on chip filtering.
> */
> static const struct spi_device_id adis16260_id[] = {
> - {"adis16260", 0},
> - {"adis16265", 0},
> - {"adis16250", 0},
> - {"adis16255", 0},
> - {"adis16251", 1},
> + {"adis16260", ADIS16260},
> + {"adis16265", ADIS16260},
> + {"adis16266", ADIS16266},
> + {"adis16250", ADIS16260},
> + {"adis16255", ADIS16260},
> + {"adis16251", ADIS16251},
> {}
> };
> MODULE_DEVICE_TABLE(spi, adis16260_id);
>
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