#include "adis16260.h"
-#define DRIVER_NAME "adis16260"
-
-static int adis16260_check_status(struct iio_dev *indio_dev);
-
-/**
- * adis16260_spi_write_reg_8() - write single byte to a register
- * @indio_dev: iio_dev for the device
- * @reg_address: the address of the register to be written
- * @val: the value to write
- **/
-static int adis16260_spi_write_reg_8(struct iio_dev *indio_dev,
- u8 reg_address,
- u8 val)
-{
- int ret;
- struct adis16260_state *st = iio_priv(indio_dev);
-
- mutex_lock(&st->buf_lock);
- st->tx[0] = ADIS16260_WRITE_REG(reg_address);
- st->tx[1] = val;
-
- ret = spi_write(st->us, st->tx, 2);
- mutex_unlock(&st->buf_lock);
-
- return ret;
-}
-
-/**
- * adis16260_spi_write_reg_16() - write 2 bytes to a pair of registers
- * @indio_dev: iio_dev for the device
- * @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 adis16260_spi_write_reg_16(struct iio_dev *indio_dev,
- u8 lower_reg_address,
- u16 value)
-{
- int ret;
- struct spi_message msg;
- struct adis16260_state *st = iio_priv(indio_dev);
- struct spi_transfer xfers[] = {
- {
- .tx_buf = st->tx,
- .bits_per_word = 8,
- .len = 2,
- .cs_change = 1,
- .delay_usecs = 20,
- }, {
- .tx_buf = st->tx + 2,
- .bits_per_word = 8,
- .len = 2,
- .delay_usecs = 20,
- },
- };
-
- mutex_lock(&st->buf_lock);
- st->tx[0] = ADIS16260_WRITE_REG(lower_reg_address);
- st->tx[1] = value & 0xFF;
- st->tx[2] = ADIS16260_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;
-}
-
-/**
- * adis16260_spi_read_reg_16() - read 2 bytes from a 16-bit register
- * @indio_dev: iio_dev for the device
- * @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 adis16260_spi_read_reg_16(struct iio_dev *indio_dev,
- u8 lower_reg_address,
- u16 *val)
-{
- struct spi_message msg;
- struct adis16260_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,
- .delay_usecs = 30,
- }, {
- .rx_buf = st->rx,
- .bits_per_word = 8,
- .len = 2,
- .delay_usecs = 30,
- },
- };
-
- mutex_lock(&st->buf_lock);
- st->tx[0] = ADIS16260_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];
-
-error_ret:
- mutex_unlock(&st->buf_lock);
- return ret;
-}
-
static ssize_t adis16260_read_frequency_available(struct device *dev,
struct device_attribute *attr,
char *buf)
{
struct iio_dev *indio_dev = dev_to_iio_dev(dev);
struct adis16260_state *st = iio_priv(indio_dev);
- if (spi_get_device_id(st->us)->driver_data)
+ if (spi_get_device_id(st->adis.spi)->driver_data)
return sprintf(buf, "%s\n", "0.129 ~ 256");
else
return sprintf(buf, "%s\n", "256 2048");
int ret, len = 0;
u16 t;
int sps;
- ret = adis16260_spi_read_reg_16(indio_dev,
- ADIS16260_SMPL_PRD,
- &t);
+ ret = adis_read_reg_16(&st->adis, ADIS16260_SMPL_PRD, &t);
if (ret)
return ret;
- if (spi_get_device_id(st->us)->driver_data) /* If an adis16251 */
+ if (spi_get_device_id(st->adis.spi)->driver_data) /* If an adis16251 */
sps = (t & ADIS16260_SMPL_PRD_TIME_BASE) ? 8 : 256;
else
sps = (t & ADIS16260_SMPL_PRD_TIME_BASE) ? 66 : 2048;
return -EINVAL;
mutex_lock(&indio_dev->mlock);
- if (spi_get_device_id(st->us)) {
+ if (spi_get_device_id(st->adis.spi)->driver_data) {
t = (256 / val);
if (t > 0)
t--;
t &= ADIS16260_SMPL_PRD_DIV_MASK;
}
if ((t & ADIS16260_SMPL_PRD_DIV_MASK) >= 0x0A)
- st->us->max_speed_hz = ADIS16260_SPI_SLOW;
+ st->adis.spi->max_speed_hz = ADIS16260_SPI_SLOW;
else
- st->us->max_speed_hz = ADIS16260_SPI_FAST;
- ret = adis16260_spi_write_reg_8(indio_dev,
+ st->adis.spi->max_speed_hz = ADIS16260_SPI_FAST;
+ ret = adis_write_reg_8(&st->adis,
ADIS16260_SMPL_PRD,
t);
return ret ? ret : len;
}
-static int adis16260_reset(struct iio_dev *indio_dev)
-{
- int ret;
- ret = adis16260_spi_write_reg_8(indio_dev,
- ADIS16260_GLOB_CMD,
- ADIS16260_GLOB_CMD_SW_RESET);
- if (ret)
- dev_err(&indio_dev->dev, "problem resetting device");
-
- return ret;
-}
-
-int adis16260_set_irq(struct iio_dev *indio_dev, bool enable)
-{
- int ret;
- u16 msc;
- ret = adis16260_spi_read_reg_16(indio_dev, ADIS16260_MSC_CTRL, &msc);
- if (ret)
- goto error_ret;
-
- msc |= ADIS16260_MSC_CTRL_DATA_RDY_POL_HIGH;
- if (enable)
- msc |= ADIS16260_MSC_CTRL_DATA_RDY_EN;
- else
- msc &= ~ADIS16260_MSC_CTRL_DATA_RDY_EN;
-
- ret = adis16260_spi_write_reg_16(indio_dev, ADIS16260_MSC_CTRL, msc);
- if (ret)
- goto error_ret;
-
-error_ret:
- return ret;
-}
-
/* Power down the device */
static int adis16260_stop_device(struct iio_dev *indio_dev)
{
+ struct adis16260_state *st = iio_priv(indio_dev);
int ret;
u16 val = ADIS16260_SLP_CNT_POWER_OFF;
- ret = adis16260_spi_write_reg_16(indio_dev, ADIS16260_SLP_CNT, val);
+ ret = adis_write_reg_16(&st->adis, ADIS16260_SLP_CNT, val);
if (ret)
dev_err(&indio_dev->dev, "problem with turning device off: SLP_CNT");
return ret;
}
-static int adis16260_self_test(struct iio_dev *indio_dev)
-{
- int ret;
- ret = adis16260_spi_write_reg_16(indio_dev,
- ADIS16260_MSC_CTRL,
- ADIS16260_MSC_CTRL_MEM_TEST);
- if (ret) {
- dev_err(&indio_dev->dev, "problem starting self test");
- goto err_ret;
- }
-
- adis16260_check_status(indio_dev);
-
-err_ret:
- return ret;
-}
-
-static int adis16260_check_status(struct iio_dev *indio_dev)
-{
- u16 status;
- int ret;
- struct device *dev = &indio_dev->dev;
-
- ret = adis16260_spi_read_reg_16(indio_dev,
- ADIS16260_DIAG_STAT,
- &status);
-
- if (ret < 0) {
- dev_err(dev, "Reading status failed\n");
- goto error_ret;
- }
- ret = status & 0x7F;
- if (status & ADIS16260_DIAG_STAT_FLASH_CHK)
- dev_err(dev, "Flash checksum error\n");
- if (status & ADIS16260_DIAG_STAT_SELF_TEST)
- dev_err(dev, "Self test error\n");
- if (status & ADIS16260_DIAG_STAT_OVERFLOW)
- dev_err(dev, "Sensor overrange\n");
- if (status & ADIS16260_DIAG_STAT_SPI_FAIL)
- dev_err(dev, "SPI failure\n");
- if (status & ADIS16260_DIAG_STAT_FLASH_UPT)
- dev_err(dev, "Flash update failed\n");
- if (status & ADIS16260_DIAG_STAT_POWER_HIGH)
- dev_err(dev, "Power supply above 5.25V\n");
- if (status & ADIS16260_DIAG_STAT_POWER_LOW)
- dev_err(dev, "Power supply below 4.75V\n");
-
-error_ret:
- return ret;
-}
-
-static int adis16260_initial_setup(struct iio_dev *indio_dev)
-{
- int ret;
- struct device *dev = &indio_dev->dev;
-
- /* Disable IRQ */
- ret = adis16260_set_irq(indio_dev, false);
- if (ret) {
- dev_err(dev, "disable irq failed");
- goto err_ret;
- }
-
- /* Do self test */
- ret = adis16260_self_test(indio_dev);
- if (ret) {
- dev_err(dev, "self test failure");
- goto err_ret;
- }
-
- /* Read status register to check the result */
- ret = adis16260_check_status(indio_dev);
- if (ret) {
- adis16260_reset(indio_dev);
- dev_err(dev, "device not playing ball -> reset");
- msleep(ADIS16260_STARTUP_DELAY);
- ret = adis16260_check_status(indio_dev);
- if (ret) {
- dev_err(dev, "giving up");
- goto err_ret;
- }
- }
-
-err_ret:
- return ret;
-}
-
static IIO_DEV_ATTR_SAMP_FREQ(S_IWUSR | S_IRUGO,
adis16260_read_frequency,
adis16260_write_frequency);
static IIO_DEVICE_ATTR(sampling_frequency_available,
S_IRUGO, adis16260_read_frequency_available, NULL, 0);
-enum adis16260_channel {
- gyro,
- temp,
- in_supply,
- in_aux,
- angle,
-};
#define ADIS16260_GYRO_CHANNEL_SET(axis, mod) \
- struct iio_chan_spec adis16260_channels_##axis[] = { \
- { \
- .type = IIO_ANGL_VEL, \
- .modified = 1, \
- .channel2 = mod, \
- .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT | \
- IIO_CHAN_INFO_CALIBBIAS_SEPARATE_BIT | \
- IIO_CHAN_INFO_CALIBSCALE_SEPARATE_BIT | \
- IIO_CHAN_INFO_SCALE_SEPARATE_BIT, \
- .address = gyro, \
- .scan_index = ADIS16260_SCAN_GYRO, \
- .scan_type = { \
- .sign = 's', \
- .realbits = 14, \
- .storagebits = 16, \
- }, \
- }, { \
- .type = IIO_ANGL, \
- .modified = 1, \
- .channel2 = mod, \
- .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT, \
- .address = angle, \
- .scan_index = ADIS16260_SCAN_ANGL, \
- .scan_type = { \
- .sign = 'u', \
- .realbits = 14, \
- .storagebits = 16, \
- }, \
- }, { \
- .type = IIO_TEMP, \
- .indexed = 1, \
- .channel = 0, \
- .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT | \
- IIO_CHAN_INFO_OFFSET_SEPARATE_BIT | \
- IIO_CHAN_INFO_SCALE_SEPARATE_BIT, \
- .address = temp, \
- .scan_index = ADIS16260_SCAN_TEMP, \
- .scan_type = { \
- .sign = 'u', \
- .realbits = 12, \
- .storagebits = 16, \
- }, \
- }, { \
- .type = IIO_VOLTAGE, \
- .indexed = 1, \
- .channel = 0, \
- .extend_name = "supply", \
- .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT | \
- IIO_CHAN_INFO_SCALE_SEPARATE_BIT, \
- .address = in_supply, \
- .scan_index = ADIS16260_SCAN_SUPPLY, \
- .scan_type = { \
- .sign = 'u', \
- .realbits = 12, \
- .storagebits = 16, \
- }, \
- }, { \
- .type = IIO_VOLTAGE, \
- .indexed = 1, \
- .channel = 1, \
- .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT | \
- IIO_CHAN_INFO_SCALE_SEPARATE_BIT, \
- .address = in_aux, \
- .scan_index = ADIS16260_SCAN_AUX_ADC, \
- .scan_type = { \
- .sign = 'u', \
- .realbits = 12, \
- .storagebits = 16, \
- }, \
- }, \
- IIO_CHAN_SOFT_TIMESTAMP(5), \
- }
+struct iio_chan_spec adis16260_channels_##axis[] = { \
+ ADIS_GYRO_CHAN(mod, ADIS16260_GYRO_OUT, ADIS16260_SCAN_GYRO, \
+ IIO_CHAN_INFO_CALIBBIAS_SEPARATE_BIT | \
+ IIO_CHAN_INFO_CALIBSCALE_SEPARATE_BIT, 14), \
+ ADIS_INCLI_CHAN(mod, ADIS16260_ANGL_OUT, ADIS16260_SCAN_ANGL, 0, 14), \
+ ADIS_TEMP_CHAN(ADIS16260_TEMP_OUT, ADIS16260_SCAN_TEMP, 12), \
+ ADIS_SUPPLY_CHAN(ADIS16260_SUPPLY_OUT, ADIS16260_SCAN_SUPPLY, 12), \
+ ADIS_AUX_ADC_CHAN(ADIS16260_AUX_ADC, ADIS16260_SCAN_AUX_ADC, 12), \
+ IIO_CHAN_SOFT_TIMESTAMP(5), \
+}
+
+static const ADIS16260_GYRO_CHANNEL_SET(x, X);
+static const ADIS16260_GYRO_CHANNEL_SET(y, Y);
+static const ADIS16260_GYRO_CHANNEL_SET(z, Z);
-static const ADIS16260_GYRO_CHANNEL_SET(x, IIO_MOD_X);
-static const ADIS16260_GYRO_CHANNEL_SET(y, IIO_MOD_Y);
-static const ADIS16260_GYRO_CHANNEL_SET(z, IIO_MOD_Z);
-
-static const u8 adis16260_addresses[5][3] = {
- [gyro] = { ADIS16260_GYRO_OUT,
- ADIS16260_GYRO_OFF,
- ADIS16260_GYRO_SCALE },
- [angle] = { ADIS16260_ANGL_OUT },
- [in_supply] = { ADIS16260_SUPPLY_OUT },
- [in_aux] = { ADIS16260_AUX_ADC },
- [temp] = { ADIS16260_TEMP_OUT },
+static const u8 adis16260_addresses[][2] = {
+ [ADIS16260_SCAN_GYRO] = { ADIS16260_GYRO_OFF, ADIS16260_GYRO_SCALE },
};
+
static int adis16260_read_raw(struct iio_dev *indio_dev,
struct iio_chan_spec const *chan,
int *val, int *val2,
switch (mask) {
case IIO_CHAN_INFO_RAW:
- mutex_lock(&indio_dev->mlock);
- addr = adis16260_addresses[chan->address][0];
- ret = adis16260_spi_read_reg_16(indio_dev, addr, &val16);
- if (ret) {
- mutex_unlock(&indio_dev->mlock);
- return ret;
- }
-
- if (val16 & ADIS16260_ERROR_ACTIVE) {
- ret = adis16260_check_status(indio_dev);
- if (ret) {
- mutex_unlock(&indio_dev->mlock);
- return ret;
- }
- }
- val16 = val16 & ((1 << chan->scan_type.realbits) - 1);
- if (chan->scan_type.sign == 's')
- val16 = (s16)(val16 <<
- (16 - chan->scan_type.realbits)) >>
- (16 - chan->scan_type.realbits);
- *val = val16;
- mutex_unlock(&indio_dev->mlock);
- return IIO_VAL_INT;
+ return adis_single_conversion(indio_dev, chan,
+ ADIS16260_ERROR_ACTIVE, val);
case IIO_CHAN_INFO_SCALE:
switch (chan->type) {
case IIO_ANGL_VEL:
*val = 0;
- if (spi_get_device_id(st->us)->driver_data) {
+ if (spi_get_device_id(st->adis.spi)->driver_data) {
/* 0.01832 degree / sec */
*val2 = IIO_DEGREE_TO_RAD(18320);
} else {
break;
default:
return -EINVAL;
- };
+ }
mutex_lock(&indio_dev->mlock);
- addr = adis16260_addresses[chan->address][1];
- ret = adis16260_spi_read_reg_16(indio_dev, addr, &val16);
+ addr = adis16260_addresses[chan->scan_index][0];
+ ret = adis_read_reg_16(&st->adis, addr, &val16);
if (ret) {
mutex_unlock(&indio_dev->mlock);
return ret;
break;
default:
return -EINVAL;
- };
+ }
mutex_lock(&indio_dev->mlock);
- addr = adis16260_addresses[chan->address][2];
- ret = adis16260_spi_read_reg_16(indio_dev, addr, &val16);
+ addr = adis16260_addresses[chan->scan_index][1];
+ ret = adis_read_reg_16(&st->adis, addr, &val16);
if (ret) {
mutex_unlock(&indio_dev->mlock);
return ret;
int val2,
long mask)
{
+ struct adis16260_state *st = iio_priv(indio_dev);
int bits = 12;
s16 val16;
u8 addr;
switch (mask) {
case IIO_CHAN_INFO_CALIBBIAS:
val16 = val & ((1 << bits) - 1);
- addr = adis16260_addresses[chan->address][1];
- return adis16260_spi_write_reg_16(indio_dev, addr, val16);
+ addr = adis16260_addresses[chan->scan_index][0];
+ return adis_write_reg_16(&st->adis, addr, val16);
case IIO_CHAN_INFO_CALIBSCALE:
val16 = val & ((1 << bits) - 1);
- addr = adis16260_addresses[chan->address][2];
- return adis16260_spi_write_reg_16(indio_dev, addr, val16);
+ addr = adis16260_addresses[chan->scan_index][1];
+ return adis_write_reg_16(&st->adis, addr, val16);
}
return -EINVAL;
}
.attrs = &adis16260_attribute_group,
.read_raw = &adis16260_read_raw,
.write_raw = &adis16260_write_raw,
+ .update_scan_mode = adis_update_scan_mode,
.driver_module = THIS_MODULE,
};
-static int __devinit adis16260_probe(struct spi_device *spi)
+static const char * const adis1620_status_error_msgs[] = {
+ [ADIS16260_DIAG_STAT_FLASH_CHK_BIT] = "Flash checksum error",
+ [ADIS16260_DIAG_STAT_SELF_TEST_BIT] = "Self test error",
+ [ADIS16260_DIAG_STAT_OVERFLOW_BIT] = "Sensor overrange",
+ [ADIS16260_DIAG_STAT_SPI_FAIL_BIT] = "SPI failure",
+ [ADIS16260_DIAG_STAT_FLASH_UPT_BIT] = "Flash update failed",
+ [ADIS16260_DIAG_STAT_POWER_HIGH_BIT] = "Power supply above 5.25",
+ [ADIS16260_DIAG_STAT_POWER_LOW_BIT] = "Power supply below 4.75",
+};
+
+static const struct adis_data adis16260_data = {
+ .write_delay = 30,
+ .read_delay = 30,
+ .msc_ctrl_reg = ADIS16260_MSC_CTRL,
+ .glob_cmd_reg = ADIS16260_GLOB_CMD,
+ .diag_stat_reg = ADIS16260_DIAG_STAT,
+
+ .self_test_mask = ADIS16260_MSC_CTRL_MEM_TEST,
+ .startup_delay = ADIS16260_STARTUP_DELAY,
+
+ .status_error_msgs = adis1620_status_error_msgs,
+ .status_error_mask = BIT(ADIS16260_DIAG_STAT_FLASH_CHK_BIT) |
+ BIT(ADIS16260_DIAG_STAT_SELF_TEST_BIT) |
+ BIT(ADIS16260_DIAG_STAT_OVERFLOW_BIT) |
+ BIT(ADIS16260_DIAG_STAT_SPI_FAIL_BIT) |
+ BIT(ADIS16260_DIAG_STAT_FLASH_UPT_BIT) |
+ BIT(ADIS16260_DIAG_STAT_POWER_HIGH_BIT) |
+ BIT(ADIS16260_DIAG_STAT_POWER_LOW_BIT),
+};
+
+static int adis16260_probe(struct spi_device *spi)
{
int ret;
struct adis16260_platform_data *pd = spi->dev.platform_data;
/* this is only used for removal purposes */
spi_set_drvdata(spi, indio_dev);
- st->us = spi;
- mutex_init(&st->buf_lock);
-
- indio_dev->name = spi_get_device_id(st->us)->name;
+ indio_dev->name = spi_get_device_id(spi)->name;
indio_dev->dev.parent = &spi->dev;
indio_dev->info = &adis16260_info;
indio_dev->num_channels
indio_dev->num_channels = ARRAY_SIZE(adis16260_channels_x);
indio_dev->modes = INDIO_DIRECT_MODE;
- ret = adis16260_configure_ring(indio_dev);
+ ret = adis_init(&st->adis, indio_dev, spi, &adis16260_data);
+ if (ret)
+ goto error_free_dev;
+
+ ret = adis_setup_buffer_and_trigger(&st->adis, indio_dev, NULL);
if (ret)
goto error_free_dev;
- ret = iio_buffer_register(indio_dev,
- indio_dev->channels,
- ARRAY_SIZE(adis16260_channels_x));
- if (ret) {
- printk(KERN_ERR "failed to initialize the ring\n");
- goto error_unreg_ring_funcs;
- }
if (indio_dev->buffer) {
/* Set default scan mode */
iio_scan_mask_set(indio_dev, indio_dev->buffer,
iio_scan_mask_set(indio_dev, indio_dev->buffer,
ADIS16260_SCAN_ANGL);
}
- if (spi->irq) {
- ret = adis16260_probe_trigger(indio_dev);
- if (ret)
- goto error_uninitialize_ring;
- }
/* Get the device into a sane initial state */
- ret = adis16260_initial_setup(indio_dev);
+ ret = adis_initial_startup(&st->adis);
if (ret)
- goto error_remove_trigger;
+ goto error_cleanup_buffer_trigger;
ret = iio_device_register(indio_dev);
if (ret)
- goto error_remove_trigger;
+ goto error_cleanup_buffer_trigger;
return 0;
-error_remove_trigger:
- adis16260_remove_trigger(indio_dev);
-error_uninitialize_ring:
- iio_buffer_unregister(indio_dev);
-error_unreg_ring_funcs:
- adis16260_unconfigure_ring(indio_dev);
+error_cleanup_buffer_trigger:
+ adis_cleanup_buffer_and_trigger(&st->adis, indio_dev);
error_free_dev:
iio_device_free(indio_dev);
error_ret:
return ret;
}
-static int __devexit adis16260_remove(struct spi_device *spi)
+static int adis16260_remove(struct spi_device *spi)
{
struct iio_dev *indio_dev = spi_get_drvdata(spi);
+ struct adis16260_state *st = iio_priv(indio_dev);
iio_device_unregister(indio_dev);
adis16260_stop_device(indio_dev);
- adis16260_remove_trigger(indio_dev);
- iio_buffer_unregister(indio_dev);
- adis16260_unconfigure_ring(indio_dev);
+ adis_cleanup_buffer_and_trigger(&st->adis, indio_dev);
iio_device_free(indio_dev);
return 0;
.owner = THIS_MODULE,
},
.probe = adis16260_probe,
- .remove = __devexit_p(adis16260_remove),
+ .remove = adis16260_remove,
.id_table = adis16260_id,
};
module_spi_driver(adis16260_driver);
projects / karo-tx-linux.git / blobdiff