*
* Copyright (c) 2009 Manuel Stahl <manuel.stahl@iis.fraunhofer.de>
* Copyright (c) 2007 Jonathan Cameron <jic23@cam.ac.uk>
+ * 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
#define DRIVER_NAME "adis16400"
-static int adis16400_check_status(struct device *dev);
+enum adis16400_chip_variant {
+ ADIS16350,
+ ADIS16360,
+ ADIS16362,
+ ADIS16364,
+ ADIS16365,
+ ADIS16400,
+};
+
+static int adis16400_check_status(struct iio_dev *indio_dev);
/* At the moment the spi framework doesn't allow global setting of cs_change.
* It's in the likely to be added comment at the top of spi.h.
* @reg_address: the address of the register to be written
* @val: the value to write
**/
-static int adis16400_spi_write_reg_8(struct device *dev,
- u8 reg_address,
- u8 val)
+static int adis16400_spi_write_reg_8(struct iio_dev *indio_dev,
+ u8 reg_address,
+ u8 val)
{
int ret;
- struct iio_dev *indio_dev = dev_get_drvdata(dev);
struct adis16400_state *st = iio_dev_get_devdata(indio_dev);
mutex_lock(&st->buf_lock);
* is assumed to have address one greater.
* @val: value to be written
**/
-static int adis16400_spi_write_reg_16(struct device *dev,
+static int adis16400_spi_write_reg_16(struct iio_dev *indio_dev,
u8 lower_reg_address,
u16 value)
{
int ret;
struct spi_message msg;
- struct iio_dev *indio_dev = dev_get_drvdata(dev);
struct adis16400_state *st = iio_dev_get_devdata(indio_dev);
struct spi_transfer xfers[] = {
{
.tx_buf = st->tx + 2,
.bits_per_word = 8,
.len = 2,
- .cs_change = 1,
},
};
/**
* adis16400_spi_read_reg_16() - read 2 bytes from a 16-bit register
- * @dev: device associated with child of actual device (iio_dev or iio_trig)
+ * @indio_dev: iio 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 adis16400_spi_read_reg_16(struct device *dev,
+static int adis16400_spi_read_reg_16(struct iio_dev *indio_dev,
u8 lower_reg_address,
u16 *val)
{
struct spi_message msg;
- struct iio_dev *indio_dev = dev_get_drvdata(dev);
struct adis16400_state *st = iio_dev_get_devdata(indio_dev);
int ret;
struct spi_transfer xfers[] = {
.rx_buf = st->rx,
.bits_per_word = 8,
.len = 2,
- .cs_change = 1,
},
};
return ret;
}
-static ssize_t adis16400_spi_read_signed(struct device *dev,
- struct device_attribute *attr,
- char *buf,
- unsigned bits)
-{
- int ret;
- s16 val = 0;
- unsigned shift = 16 - bits;
- struct iio_dev_attr *this_attr = to_iio_dev_attr(attr);
-
- ret = adis16400_spi_read_reg_16(dev, this_attr->address, (u16 *)&val);
- if (ret)
- return ret;
-
- if (val & ADIS16400_ERROR_ACTIVE)
- adis16400_check_status(dev);
- val = ((s16)(val << shift) >> shift);
- return sprintf(buf, "%d\n", val);
-}
-
-static ssize_t adis16400_read_12bit_unsigned(struct device *dev,
- struct device_attribute *attr,
- char *buf)
-{
- int ret;
- u16 val = 0;
- struct iio_dev_attr *this_attr = to_iio_dev_attr(attr);
-
- ret = adis16400_spi_read_reg_16(dev, this_attr->address, &val);
- if (ret)
- return ret;
-
- if (val & ADIS16400_ERROR_ACTIVE)
- adis16400_check_status(dev);
-
- return sprintf(buf, "%u\n", val & 0x0FFF);
-}
-
-static ssize_t adis16400_read_14bit_signed(struct device *dev,
- struct device_attribute *attr,
- char *buf)
-{
- struct iio_dev *indio_dev = dev_get_drvdata(dev);
- ssize_t ret;
-
- /* Take the iio_dev status lock */
- mutex_lock(&indio_dev->mlock);
- ret = adis16400_spi_read_signed(dev, attr, buf, 14);
- mutex_unlock(&indio_dev->mlock);
-
- return ret;
-}
-
-static ssize_t adis16400_read_12bit_signed(struct device *dev,
- struct device_attribute *attr,
- char *buf)
-{
- struct iio_dev *indio_dev = dev_get_drvdata(dev);
- ssize_t ret;
-
- /* Take the iio_dev status lock */
- mutex_lock(&indio_dev->mlock);
- ret = adis16400_spi_read_signed(dev, attr, buf, 12);
- mutex_unlock(&indio_dev->mlock);
-
- return ret;
-}
-
-static ssize_t adis16400_write_16bit(struct device *dev,
- struct device_attribute *attr,
- const char *buf,
- size_t len)
-{
- struct iio_dev_attr *this_attr = to_iio_dev_attr(attr);
- int ret;
- long val;
-
- ret = strict_strtol(buf, 10, &val);
- if (ret)
- goto error_ret;
- ret = adis16400_spi_write_reg_16(dev, this_attr->address, val);
-
-error_ret:
- return ret ? ret : len;
-}
-
static ssize_t adis16400_read_frequency(struct device *dev,
struct device_attribute *attr,
char *buf)
{
+ struct iio_dev *indio_dev = dev_get_drvdata(dev);
int ret, len = 0;
u16 t;
int sps;
- ret = adis16400_spi_read_reg_16(dev,
+ ret = adis16400_spi_read_reg_16(indio_dev,
ADIS16400_SMPL_PRD,
&t);
if (ret)
else
st->us->max_speed_hz = ADIS16400_SPI_FAST;
- ret = adis16400_spi_write_reg_8(dev,
+ ret = adis16400_spi_write_reg_8(indio_dev,
ADIS16400_SMPL_PRD,
t);
return ret ? ret : len;
}
-static int adis16400_reset(struct device *dev)
+static int adis16400_reset(struct iio_dev *indio_dev)
{
int ret;
- ret = adis16400_spi_write_reg_8(dev,
+ ret = adis16400_spi_write_reg_8(indio_dev,
ADIS16400_GLOB_CMD,
ADIS16400_GLOB_CMD_SW_RESET);
if (ret)
- dev_err(dev, "problem resetting device");
+ dev_err(&indio_dev->dev, "problem resetting device");
return ret;
}
struct device_attribute *attr,
const char *buf, size_t len)
{
+ struct iio_dev *indio_dev = dev_get_drvdata(dev);
+
if (len < 1)
return -1;
switch (buf[0]) {
case '1':
case 'y':
case 'Y':
- return adis16400_reset(dev);
+ return adis16400_reset(indio_dev);
}
return -1;
}
-int adis16400_set_irq(struct device *dev, bool enable)
+int adis16400_set_irq(struct iio_dev *indio_dev, bool enable)
{
int ret;
u16 msc;
- ret = adis16400_spi_read_reg_16(dev, ADIS16400_MSC_CTRL, &msc);
+ ret = adis16400_spi_read_reg_16(indio_dev, ADIS16400_MSC_CTRL, &msc);
if (ret)
goto error_ret;
else
msc &= ~ADIS16400_MSC_CTRL_DATA_RDY_EN;
- ret = adis16400_spi_write_reg_16(dev, ADIS16400_MSC_CTRL, msc);
+ ret = adis16400_spi_write_reg_16(indio_dev, ADIS16400_MSC_CTRL, msc);
if (ret)
goto error_ret;
}
/* Power down the device */
-static int adis16400_stop_device(struct device *dev)
+static int adis16400_stop_device(struct iio_dev *indio_dev)
{
int ret;
u16 val = ADIS16400_SLP_CNT_POWER_OFF;
- ret = adis16400_spi_write_reg_16(dev, ADIS16400_SLP_CNT, val);
+ ret = adis16400_spi_write_reg_16(indio_dev, ADIS16400_SLP_CNT, val);
if (ret)
- dev_err(dev, "problem with turning device off: SLP_CNT");
+ dev_err(&indio_dev->dev,
+ "problem with turning device off: SLP_CNT");
return ret;
}
-static int adis16400_self_test(struct device *dev)
+static int adis16400_self_test(struct iio_dev *indio_dev)
{
int ret;
- ret = adis16400_spi_write_reg_16(dev,
+ ret = adis16400_spi_write_reg_16(indio_dev,
ADIS16400_MSC_CTRL,
ADIS16400_MSC_CTRL_MEM_TEST);
if (ret) {
- dev_err(dev, "problem starting self test");
+ dev_err(&indio_dev->dev, "problem starting self test");
goto err_ret;
}
- adis16400_check_status(dev);
+ msleep(ADIS16400_MTEST_DELAY);
+ adis16400_check_status(indio_dev);
err_ret:
return ret;
}
-static int adis16400_check_status(struct device *dev)
+static int adis16400_check_status(struct iio_dev *indio_dev)
{
u16 status;
int ret;
+ struct device *dev = &indio_dev->dev;
- ret = adis16400_spi_read_reg_16(dev, ADIS16400_DIAG_STAT, &status);
+ ret = adis16400_spi_read_reg_16(indio_dev,
+ ADIS16400_DIAG_STAT, &status);
if (ret < 0) {
dev_err(dev, "Reading status failed\n");
spi_setup(st->us);
/* Disable IRQ */
- ret = adis16400_set_irq(dev, false);
+ ret = adis16400_set_irq(st->indio_dev, false);
if (ret) {
dev_err(dev, "disable irq failed");
goto err_ret;
}
/* Do self test */
- ret = adis16400_self_test(dev);
+ ret = adis16400_self_test(st->indio_dev);
if (ret) {
dev_err(dev, "self test failure");
goto err_ret;
}
/* Read status register to check the result */
- ret = adis16400_check_status(dev);
+ ret = adis16400_check_status(st->indio_dev);
if (ret) {
- adis16400_reset(dev);
+ adis16400_reset(st->indio_dev);
dev_err(dev, "device not playing ball -> reset");
msleep(ADIS16400_STARTUP_DELAY);
- ret = adis16400_check_status(dev);
+ ret = adis16400_check_status(st->indio_dev);
if (ret) {
dev_err(dev, "giving up");
goto err_ret;
}
}
+ if (st->variant->flags & ADIS16400_HAS_PROD_ID) {
+ ret = adis16400_spi_read_reg_16(st->indio_dev,
+ ADIS16400_PRODUCT_ID, &prod_id);
+ if (ret)
+ goto err_ret;
- ret = adis16400_spi_read_reg_16(dev, ADIS16400_PRODUCT_ID, &prod_id);
- if (ret)
- goto err_ret;
-
- if (prod_id != 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",
- prod_id, st->us->chip_select, st->us->irq);
+ if ((prod_id & 0xF000) != st->variant->product_id)
+ dev_warn(dev, "incorrect id");
+ printk(KERN_INFO DRIVER_NAME ": 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 */
- ret = adis16400_spi_read_reg_16(dev, ADIS16400_SMPL_PRD, &smp_prd);
+ ret = adis16400_spi_read_reg_16(st->indio_dev,
+ ADIS16400_SMPL_PRD, &smp_prd);
if (!ret && (smp_prd & ADIS16400_SMPL_PRD_DIV_MASK) < 0x0A) {
st->us->max_speed_hz = ADIS16400_SPI_SLOW;
spi_setup(st->us);
return ret;
}
-#define ADIS16400_DEV_ATTR_CALIBBIAS(_channel, _reg) \
- IIO_DEV_ATTR_##_channel##_CALIBBIAS(S_IWUSR | S_IRUGO, \
- adis16400_read_12bit_signed, \
- adis16400_write_16bit, \
- _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(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 IIO_DEV_ATTR_IN_NAMED_RAW(0, supply, adis16400_read_14bit_signed,
- ADIS16400_SUPPLY_OUT);
-static IIO_CONST_ATTR_IN_NAMED_SCALE(0, supply, "0.002418 V");
-
-static IIO_DEV_ATTR_GYRO_X(adis16400_read_14bit_signed,
- ADIS16400_XGYRO_OUT);
-static IIO_DEV_ATTR_GYRO_Y(adis16400_read_14bit_signed,
- ADIS16400_YGYRO_OUT);
-static IIO_DEV_ATTR_GYRO_Z(adis16400_read_14bit_signed,
- ADIS16400_ZGYRO_OUT);
-static IIO_CONST_ATTR(gyro_scale, "0.0008726646");
-
-static IIO_DEV_ATTR_ACCEL_X(adis16400_read_14bit_signed,
- ADIS16400_XACCL_OUT);
-static IIO_DEV_ATTR_ACCEL_Y(adis16400_read_14bit_signed,
- ADIS16400_YACCL_OUT);
-static IIO_DEV_ATTR_ACCEL_Z(adis16400_read_14bit_signed,
- ADIS16400_ZACCL_OUT);
-static IIO_CONST_ATTR(accel_scale, "0.0326561445");
-
-static IIO_DEV_ATTR_MAGN_X(adis16400_read_14bit_signed,
- ADIS16400_XMAGN_OUT);
-static IIO_DEV_ATTR_MAGN_Y(adis16400_read_14bit_signed,
- ADIS16400_YMAGN_OUT);
-static IIO_DEV_ATTR_MAGN_Z(adis16400_read_14bit_signed,
- ADIS16400_ZMAGN_OUT);
-static IIO_CONST_ATTR(magn_scale, "0.0005 Gs");
-
-
-static IIO_DEV_ATTR_TEMP_RAW(adis16400_read_12bit_signed);
-static IIO_CONST_ATTR_TEMP_OFFSET("198.16 K");
-static IIO_CONST_ATTR_TEMP_SCALE("0.14 K");
-
-static IIO_DEV_ATTR_IN_RAW(1, adis16400_read_12bit_unsigned,
- ADIS16400_AUX_ADC);
-static IIO_CONST_ATTR(in1_scale, "0.000806 V");
-
static IIO_DEV_ATTR_SAMP_FREQ(S_IWUSR | S_IRUGO,
adis16400_read_frequency,
adis16400_write_frequency);
static IIO_CONST_ATTR_SAMP_FREQ_AVAIL("409 546 819 1638");
-static IIO_CONST_ATTR_NAME("adis16400");
+static ssize_t adis16400_show_name(struct device *dev,
+ struct device_attribute *attr,
+ char *buf)
+{
+ struct adis16400_state *st
+ = iio_dev_get_devdata(dev_get_drvdata(dev));
+ return sprintf(buf, "%s\n", spi_get_device_id(st->us)->name);
+}
+static IIO_DEVICE_ATTR(name, S_IRUGO, adis16400_show_name, NULL, 0);
+
+enum adis16400_chan {
+ in_supply,
+ gyro_x,
+ gyro_y,
+ gyro_z,
+ accel_x,
+ accel_y,
+ accel_z,
+ magn_x,
+ magn_y,
+ magn_z,
+ temp,
+ temp0, temp1, temp2,
+ in1
+};
+
+static u8 adis16400_addresses[16][2] = {
+ [in_supply] = { ADIS16400_SUPPLY_OUT, 0 },
+ [gyro_x] = { ADIS16400_XGYRO_OUT, ADIS16400_XGYRO_OFF },
+ [gyro_y] = { ADIS16400_YGYRO_OUT, ADIS16400_YGYRO_OFF },
+ [gyro_z] = { ADIS16400_ZGYRO_OUT, ADIS16400_ZGYRO_OFF },
+ [accel_x] = { ADIS16400_XACCL_OUT, ADIS16400_XACCL_OFF },
+ [accel_y] = { ADIS16400_YACCL_OUT, ADIS16400_YACCL_OFF },
+ [accel_z] = { ADIS16400_ZACCL_OUT, ADIS16400_ZACCL_OFF },
+ [magn_x] = { ADIS16400_XMAGN_OUT, 0 },
+ [magn_y] = { ADIS16400_YMAGN_OUT, 0 },
+ [magn_z] = { ADIS16400_ZMAGN_OUT, 0 },
+ [temp] = { ADIS16400_TEMP_OUT, 0 },
+ [temp0] = { ADIS16350_XTEMP_OUT },
+ [temp1] = { ADIS16350_YTEMP_OUT },
+ [temp2] = { ADIS16350_ZTEMP_OUT },
+ [in1] = { ADIS16400_AUX_ADC , 0 },
+};
-static struct attribute *adis16400_event_attributes[] = {
- NULL
+static int adis16400_write_raw(struct iio_dev *indio_dev,
+ struct iio_chan_spec const *chan,
+ int val,
+ int val2,
+ long mask)
+{
+ int ret;
+ switch (mask) {
+ case (1 << IIO_CHAN_INFO_CALIBBIAS_SEPARATE):
+ mutex_lock(&indio_dev->mlock);
+ ret = adis16400_spi_write_reg_16(indio_dev,
+ adis16400_addresses[chan->address][1],
+ val);
+ mutex_unlock(&indio_dev->mlock);
+ return ret;
+ default:
+ return -EINVAL;
+ }
+}
+
+static int adis16400_read_raw(struct iio_dev *indio_dev,
+ struct iio_chan_spec const *chan,
+ int *val,
+ int *val2,
+ long mask)
+{
+ struct adis16400_state *st = iio_dev_get_devdata(indio_dev);
+ int ret;
+ s16 val16;
+ int shift;
+
+ switch (mask) {
+ case 0:
+ mutex_lock(&indio_dev->mlock);
+ ret = adis16400_spi_read_reg_16(indio_dev,
+ adis16400_addresses[chan->address][0],
+ &val16);
+ if (ret) {
+ mutex_unlock(&indio_dev->mlock);
+ return ret;
+ }
+ val16 &= (1 << chan->scan_type.realbits) - 1;
+ if (chan->scan_type.sign == 's') {
+ shift = 16 - chan->scan_type.realbits;
+ val16 = (s16)(val16 << shift) >> shift;
+ }
+ *val = val16;
+ mutex_unlock(&indio_dev->mlock);
+ return IIO_VAL_INT;
+ case (1 << IIO_CHAN_INFO_SCALE_SHARED):
+ case (1 << IIO_CHAN_INFO_SCALE_SEPARATE):
+ switch (chan->type) {
+ case IIO_GYRO:
+ *val = 0;
+ *val2 = st->variant->gyro_scale_micro;
+ return IIO_VAL_INT_PLUS_MICRO;
+ case IIO_IN:
+ *val = 0;
+ if (chan->channel == 0)
+ *val2 = 2418;
+ else
+ *val2 = 806;
+ return IIO_VAL_INT_PLUS_MICRO;
+ case IIO_ACCEL:
+ *val = 0;
+ *val2 = st->variant->accel_scale_micro;
+ return IIO_VAL_INT_PLUS_MICRO;
+ case IIO_MAGN:
+ *val = 0;
+ *val2 = 500;
+ return IIO_VAL_INT_PLUS_MICRO;
+ case IIO_TEMP:
+ *val = 0;
+ *val2 = 140000;
+ return IIO_VAL_INT_PLUS_MICRO;
+ default:
+ return -EINVAL;
+ }
+ case (1 << IIO_CHAN_INFO_CALIBBIAS_SEPARATE):
+ mutex_lock(&indio_dev->mlock);
+ ret = adis16400_spi_read_reg_16(indio_dev,
+ adis16400_addresses[chan->address][1],
+ &val16);
+ mutex_unlock(&indio_dev->mlock);
+ if (ret)
+ return ret;
+ val16 = ((val16 & 0xFFF) << 4) >> 4;
+ *val = val16;
+ return IIO_VAL_INT;
+ case (1 << IIO_CHAN_INFO_OFFSET_SEPARATE):
+ /* currently only temperature */
+ *val = 198;
+ *val2 = 160000;
+ return IIO_VAL_INT_PLUS_MICRO;
+ default:
+ return -EINVAL;
+ }
+}
+
+static struct iio_chan_spec adis16400_channels[] = {
+ IIO_CHAN(IIO_IN, 0, 1, 0, "supply", 0, 0,
+ (1 << IIO_CHAN_INFO_SCALE_SEPARATE),
+ in_supply, ADIS16400_SCAN_SUPPLY,
+ IIO_ST('u', 14, 16, 0), 0),
+ IIO_CHAN(IIO_GYRO, 1, 0, 0, NULL, 0, IIO_MOD_X,
+ (1 << IIO_CHAN_INFO_CALIBBIAS_SEPARATE) |
+ (1 << IIO_CHAN_INFO_SCALE_SHARED),
+ gyro_x, ADIS16400_SCAN_GYRO_X, IIO_ST('s', 14, 16, 0), 0),
+ IIO_CHAN(IIO_GYRO, 1, 0, 0, NULL, 0, IIO_MOD_Y,
+ (1 << IIO_CHAN_INFO_CALIBBIAS_SEPARATE) |
+ (1 << IIO_CHAN_INFO_SCALE_SHARED),
+ gyro_y, ADIS16400_SCAN_GYRO_Y, IIO_ST('s', 14, 16, 0), 0),
+ IIO_CHAN(IIO_GYRO, 1, 0, 0, NULL, 0, IIO_MOD_Z,
+ (1 << IIO_CHAN_INFO_CALIBBIAS_SEPARATE) |
+ (1 << IIO_CHAN_INFO_SCALE_SHARED),
+ gyro_z, ADIS16400_SCAN_GYRO_Z, IIO_ST('s', 14, 16, 0), 0),
+ IIO_CHAN(IIO_ACCEL, 1, 0, 0, NULL, 0, IIO_MOD_X,
+ (1 << IIO_CHAN_INFO_CALIBBIAS_SEPARATE) |
+ (1 << IIO_CHAN_INFO_SCALE_SHARED),
+ accel_x, ADIS16400_SCAN_ACC_X, IIO_ST('s', 14, 16, 0), 0),
+ IIO_CHAN(IIO_ACCEL, 1, 0, 0, NULL, 0, IIO_MOD_Y,
+ (1 << IIO_CHAN_INFO_CALIBBIAS_SEPARATE) |
+ (1 << IIO_CHAN_INFO_SCALE_SHARED),
+ accel_y, ADIS16400_SCAN_ACC_Y, IIO_ST('s', 14, 16, 0), 0),
+ IIO_CHAN(IIO_ACCEL, 1, 0, 0, NULL, 0, IIO_MOD_Z,
+ (1 << IIO_CHAN_INFO_CALIBBIAS_SEPARATE) |
+ (1 << IIO_CHAN_INFO_SCALE_SHARED),
+ accel_z, ADIS16400_SCAN_ACC_Z, IIO_ST('s', 14, 16, 0), 0),
+ IIO_CHAN(IIO_MAGN, 1, 0, 0, NULL, 0, IIO_MOD_X,
+ (1 << IIO_CHAN_INFO_SCALE_SHARED),
+ magn_x, ADIS16400_SCAN_MAGN_X, IIO_ST('s', 14, 16, 0), 0),
+ IIO_CHAN(IIO_MAGN, 1, 0, 0, NULL, 0, IIO_MOD_Y,
+ (1 << IIO_CHAN_INFO_SCALE_SHARED),
+ magn_y, ADIS16400_SCAN_MAGN_Y, IIO_ST('s', 14, 16, 0), 0),
+ IIO_CHAN(IIO_MAGN, 1, 0, 0, NULL, 0, IIO_MOD_Z,
+ (1 << IIO_CHAN_INFO_SCALE_SHARED),
+ magn_z, ADIS16400_SCAN_MAGN_Z, IIO_ST('s', 14, 16, 0), 0),
+ IIO_CHAN(IIO_TEMP, 0, 1, 0, NULL, 0, 0,
+ (1 << IIO_CHAN_INFO_OFFSET_SEPARATE) |
+ (1 << IIO_CHAN_INFO_SCALE_SEPARATE),
+ temp, ADIS16400_SCAN_TEMP, IIO_ST('s', 12, 16, 0), 0),
+ IIO_CHAN(IIO_IN, 0, 1, 0, NULL, 1, 0,
+ (1 << IIO_CHAN_INFO_SCALE_SEPARATE),
+ in1, ADIS16400_SCAN_ADC_0, IIO_ST('s', 12, 16, 0), 0),
+ IIO_CHAN_SOFT_TIMESTAMP(12)
};
-static struct attribute_group adis16400_event_attribute_group = {
- .attrs = adis16400_event_attributes,
+static struct iio_chan_spec adis16350_channels[] = {
+ IIO_CHAN(IIO_IN, 0, 1, 0, "supply", 0, 0,
+ (1 << IIO_CHAN_INFO_SCALE_SEPARATE),
+ 0, ADIS16400_SCAN_SUPPLY, IIO_ST('u', 12, 16, 0), 0),
+ IIO_CHAN(IIO_GYRO, 1, 0, 0, NULL, 0, IIO_MOD_X,
+ (1 << IIO_CHAN_INFO_CALIBBIAS_SEPARATE) |
+ (1 << IIO_CHAN_INFO_SCALE_SHARED),
+ 1, ADIS16400_SCAN_GYRO_X, IIO_ST('s', 14, 16, 0), 0),
+ IIO_CHAN(IIO_GYRO, 1, 0, 0, NULL, 0, IIO_MOD_Y,
+ (1 << IIO_CHAN_INFO_CALIBBIAS_SEPARATE) |
+ (1 << IIO_CHAN_INFO_SCALE_SHARED),
+ 2, ADIS16400_SCAN_GYRO_Y, IIO_ST('s', 14, 16, 0), 0),
+ IIO_CHAN(IIO_GYRO, 1, 0, 0, NULL, 0, IIO_MOD_Z,
+ (1 << IIO_CHAN_INFO_CALIBBIAS_SEPARATE) |
+ (1 << IIO_CHAN_INFO_SCALE_SHARED),
+ 3, ADIS16400_SCAN_GYRO_Z, IIO_ST('s', 14, 16, 0), 0),
+ IIO_CHAN(IIO_ACCEL, 1, 0, 0, NULL, 0, IIO_MOD_X,
+ (1 << IIO_CHAN_INFO_CALIBBIAS_SEPARATE) |
+ (1 << IIO_CHAN_INFO_SCALE_SHARED),
+ 4, ADIS16400_SCAN_ACC_X, IIO_ST('s', 14, 16, 0), 0),
+ IIO_CHAN(IIO_ACCEL, 1, 0, 0, NULL, 0, IIO_MOD_Y,
+ (1 << IIO_CHAN_INFO_CALIBBIAS_SEPARATE) |
+ (1 << IIO_CHAN_INFO_SCALE_SHARED),
+ 0, ADIS16400_SCAN_ACC_Y, IIO_ST('s', 14, 16, 0), 0),
+ IIO_CHAN(IIO_ACCEL, 1, 0, 0, NULL, 0, IIO_MOD_Z,
+ (1 << IIO_CHAN_INFO_CALIBBIAS_SEPARATE) |
+ (1 << IIO_CHAN_INFO_SCALE_SHARED),
+ 0, ADIS16400_SCAN_ACC_Z, IIO_ST('s', 14, 16, 0), 0),
+ IIO_CHAN(IIO_TEMP, 0, 1, 0, "x", 0, 0,
+ (1 << IIO_CHAN_INFO_OFFSET_SEPARATE) |
+ (1 << IIO_CHAN_INFO_SCALE_SEPARATE),
+ 0, ADIS16350_SCAN_TEMP_X, IIO_ST('s', 12, 16, 0), 0),
+ IIO_CHAN(IIO_TEMP, 0, 1, 0, "y", 1, 0,
+ (1 << IIO_CHAN_INFO_OFFSET_SEPARATE) |
+ (1 << IIO_CHAN_INFO_SCALE_SEPARATE),
+ 0, ADIS16350_SCAN_TEMP_Y, IIO_ST('s', 12, 16, 0), 0),
+ IIO_CHAN(IIO_TEMP, 0, 1, 0, "z", 2, 0,
+ (1 << IIO_CHAN_INFO_OFFSET_SEPARATE) |
+ (1 << IIO_CHAN_INFO_SCALE_SEPARATE),
+ 0, ADIS16350_SCAN_TEMP_Z, IIO_ST('s', 12, 16, 0), 0),
+ IIO_CHAN(IIO_IN, 0, 1, 0, NULL, 1, 0,
+ (1 << IIO_CHAN_INFO_SCALE_SEPARATE),
+ 0, ADIS16350_SCAN_ADC_0, IIO_ST('s', 12, 16, 0), 0),
+ IIO_CHAN_SOFT_TIMESTAMP(11)
};
static struct attribute *adis16400_attributes[] = {
- &iio_dev_attr_gyro_x_calibbias.dev_attr.attr,
- &iio_dev_attr_gyro_y_calibbias.dev_attr.attr,
- &iio_dev_attr_gyro_z_calibbias.dev_attr.attr,
- &iio_dev_attr_accel_x_calibbias.dev_attr.attr,
- &iio_dev_attr_accel_y_calibbias.dev_attr.attr,
- &iio_dev_attr_accel_z_calibbias.dev_attr.attr,
- &iio_dev_attr_in0_supply_raw.dev_attr.attr,
- &iio_const_attr_in0_supply_scale.dev_attr.attr,
- &iio_dev_attr_gyro_x_raw.dev_attr.attr,
- &iio_dev_attr_gyro_y_raw.dev_attr.attr,
- &iio_dev_attr_gyro_z_raw.dev_attr.attr,
- &iio_const_attr_gyro_scale.dev_attr.attr,
- &iio_dev_attr_accel_x_raw.dev_attr.attr,
- &iio_dev_attr_accel_y_raw.dev_attr.attr,
- &iio_dev_attr_accel_z_raw.dev_attr.attr,
- &iio_const_attr_accel_scale.dev_attr.attr,
- &iio_dev_attr_magn_x_raw.dev_attr.attr,
- &iio_dev_attr_magn_y_raw.dev_attr.attr,
- &iio_dev_attr_magn_z_raw.dev_attr.attr,
- &iio_const_attr_magn_scale.dev_attr.attr,
- &iio_dev_attr_temp_raw.dev_attr.attr,
- &iio_const_attr_temp_offset.dev_attr.attr,
- &iio_const_attr_temp_scale.dev_attr.attr,
- &iio_dev_attr_in1_raw.dev_attr.attr,
- &iio_const_attr_in1_scale.dev_attr.attr,
&iio_dev_attr_sampling_frequency.dev_attr.attr,
&iio_const_attr_sampling_frequency_available.dev_attr.attr,
&iio_dev_attr_reset.dev_attr.attr,
- &iio_const_attr_name.dev_attr.attr,
+ &iio_dev_attr_name.dev_attr.attr,
NULL
};
.attrs = adis16400_attributes,
};
+static struct adis16400_chip_info adis16400_chips[] = {
+ [ADIS16350] = {
+ .channels = adis16350_channels,
+ .num_channels = ARRAY_SIZE(adis16350_channels),
+ .gyro_scale_micro = 872664,
+ .accel_scale_micro = 24732,
+ .default_scan_mask = 0x7FF,
+ .flags = ADIS16400_NO_BURST,
+ },
+ [ADIS16360] = {
+ .channels = adis16350_channels,
+ .num_channels = ARRAY_SIZE(adis16350_channels),
+ .flags = ADIS16400_HAS_PROD_ID,
+ .product_id = 0x3FE8,
+ .gyro_scale_micro = 1279,
+ .accel_scale_micro = 24732,
+ .default_scan_mask = 0x7FF,
+ },
+ [ADIS16362] = {
+ .channels = adis16350_channels,
+ .num_channels = ARRAY_SIZE(adis16350_channels),
+ .flags = ADIS16400_HAS_PROD_ID,
+ .product_id = 0x3FEA,
+ .gyro_scale_micro = 1279,
+ .accel_scale_micro = 24732,
+ .default_scan_mask = 0x7FF,
+ },
+ [ADIS16364] = {
+ .channels = adis16350_channels,
+ .num_channels = ARRAY_SIZE(adis16350_channels),
+ .flags = ADIS16400_HAS_PROD_ID,
+ .product_id = 0x3FEC,
+ .gyro_scale_micro = 1279,
+ .accel_scale_micro = 24732,
+ .default_scan_mask = 0x7FF,
+ },
+ [ADIS16365] = {
+ .channels = adis16350_channels,
+ .num_channels = ARRAY_SIZE(adis16350_channels),
+ .flags = ADIS16400_HAS_PROD_ID,
+ .product_id = 0x3FED,
+ .gyro_scale_micro = 1279,
+ .accel_scale_micro = 24732,
+ .default_scan_mask = 0x7FF,
+ },
+ [ADIS16400] = {
+ .channels = adis16400_channels,
+ .num_channels = ARRAY_SIZE(adis16400_channels),
+ .flags = ADIS16400_HAS_PROD_ID,
+ .product_id = 0x4015,
+ .gyro_scale_micro = 873,
+ .accel_scale_micro = 32656,
+ .default_scan_mask = 0xFFF,
+ }
+};
+
+
+
static int __devinit adis16400_probe(struct spi_device *spi)
{
int ret, regdone = 0;
st->us = spi;
mutex_init(&st->buf_lock);
/* setup the industrialio driver allocated elements */
- st->indio_dev = iio_allocate_device();
+ st->indio_dev = iio_allocate_device(0);
if (st->indio_dev == NULL) {
ret = -ENOMEM;
goto error_free_tx;
}
-
+ st->variant = &adis16400_chips[spi_get_device_id(spi)->driver_data];
st->indio_dev->dev.parent = &spi->dev;
- st->indio_dev->num_interrupt_lines = 1;
- st->indio_dev->event_attrs = &adis16400_event_attribute_group;
st->indio_dev->attrs = &adis16400_attribute_group;
+ st->indio_dev->channels = st->variant->channels;
+ st->indio_dev->num_channels = st->variant->num_channels;
+ st->indio_dev->read_raw = &adis16400_read_raw;
+ st->indio_dev->write_raw = &adis16400_write_raw;
st->indio_dev->dev_data = (void *)(st);
st->indio_dev->driver_module = THIS_MODULE;
st->indio_dev->modes = INDIO_DIRECT_MODE;
goto error_unreg_ring_funcs;
regdone = 1;
- ret = iio_ring_buffer_register(st->indio_dev->ring, 0);
+ ret = iio_ring_buffer_register_ex(st->indio_dev->ring, 0,
+ st->variant->channels,
+ st->variant->num_channels);
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;
}
if (spi->irq && gpio_is_valid(irq_to_gpio(spi->irq)) > 0) {
- ret = iio_register_interrupt_line(spi->irq,
- st->indio_dev,
- 0,
- IRQF_TRIGGER_RISING,
- "adis16400");
- if (ret)
- goto error_uninitialize_ring;
-
ret = adis16400_probe_trigger(st->indio_dev);
if (ret)
- goto error_unregister_line;
+ goto error_uninitialize_ring;
}
/* Get the device into a sane initial state */
error_remove_trigger:
if (st->indio_dev->modes & INDIO_RING_TRIGGERED)
adis16400_remove_trigger(st->indio_dev);
-error_unregister_line:
- if (st->indio_dev->modes & INDIO_RING_TRIGGERED)
- iio_unregister_interrupt_line(st->indio_dev, 0);
error_uninitialize_ring:
iio_ring_buffer_unregister(st->indio_dev->ring);
error_unreg_ring_funcs:
struct adis16400_state *st = spi_get_drvdata(spi);
struct iio_dev *indio_dev = st->indio_dev;
- ret = adis16400_stop_device(&(indio_dev->dev));
+ ret = adis16400_stop_device(indio_dev);
if (ret)
goto err_ret;
- flush_scheduled_work();
-
adis16400_remove_trigger(indio_dev);
- if (spi->irq && gpio_is_valid(irq_to_gpio(spi->irq)) > 0)
- iio_unregister_interrupt_line(indio_dev, 0);
-
iio_ring_buffer_unregister(st->indio_dev->ring);
adis16400_unconfigure_ring(indio_dev);
iio_device_unregister(indio_dev);
+
kfree(st->tx);
kfree(st->rx);
kfree(st);
return ret;
}
+static const struct spi_device_id adis16400_id[] = {
+ {"adis16350", ADIS16350},
+ {"adis16354", ADIS16350},
+ {"adis16355", ADIS16350},
+ {"adis16360", ADIS16360},
+ {"adis16362", ADIS16362},
+ {"adis16364", ADIS16364},
+ {"adis16365", ADIS16365},
+ {"adis16400", ADIS16400},
+ {"adis16405", ADIS16400},
+ {}
+};
+
static struct spi_driver adis16400_driver = {
.driver = {
.name = "adis16400",
.owner = THIS_MODULE,
},
+ .id_table = adis16400_id,
.probe = adis16400_probe,
.remove = __devexit_p(adis16400_remove),
};
projects / firefly-linux-kernel-4.4.55.git / blobdiff