diff options
Diffstat (limited to 'drivers')
| -rw-r--r-- | drivers/staging/iio/Kconfig | 1 | ||||
| -rw-r--r-- | drivers/staging/iio/Makefile | 1 | ||||
| -rw-r--r-- | drivers/staging/iio/gyro/Kconfig | 13 | ||||
| -rw-r--r-- | drivers/staging/iio/gyro/Makefile | 7 | ||||
| -rw-r--r-- | drivers/staging/iio/gyro/adis16260.h | 175 | ||||
| -rw-r--r-- | drivers/staging/iio/gyro/adis16260_core.c | 661 | ||||
| -rw-r--r-- | drivers/staging/iio/gyro/adis16260_ring.c | 256 | ||||
| -rw-r--r-- | drivers/staging/iio/gyro/adis16260_trigger.c | 124 | ||||
| -rw-r--r-- | drivers/staging/iio/gyro/gyro.h | 2 |
9 files changed, 1240 insertions, 0 deletions
diff --git a/drivers/staging/iio/Kconfig b/drivers/staging/iio/Kconfig index ed38ef4db444..b0e62449c621 100644 --- a/drivers/staging/iio/Kconfig +++ b/drivers/staging/iio/Kconfig @@ -41,6 +41,7 @@ config IIO_TRIGGER source "drivers/staging/iio/accel/Kconfig" source "drivers/staging/iio/adc/Kconfig" +source "drivers/staging/iio/gyro/Kconfig" source "drivers/staging/iio/imu/Kconfig" source "drivers/staging/iio/light/Kconfig" diff --git a/drivers/staging/iio/Makefile b/drivers/staging/iio/Makefile index 92b81c2b895d..3502b39f0847 100644 --- a/drivers/staging/iio/Makefile +++ b/drivers/staging/iio/Makefile @@ -11,6 +11,7 @@ obj-$(CONFIG_IIO_SW_RING) += ring_sw.o obj-y += accel/ obj-y += adc/ +obj-y += gyro/ obj-y += imu/ obj-y += light/ diff --git a/drivers/staging/iio/gyro/Kconfig b/drivers/staging/iio/gyro/Kconfig new file mode 100644 index 000000000000..c4043610c0df --- /dev/null +++ b/drivers/staging/iio/gyro/Kconfig @@ -0,0 +1,13 @@ +# +# IIO Digital Gyroscope Sensor drivers configuration +# +comment "Digital gyroscope sensors" + +config ADIS16260 + tristate "Analog Devices ADIS16260/5 Digital Gyroscope Sensor SPI driver" + depends on SPI + select IIO_TRIGGER if IIO_RING_BUFFER + select IIO_SW_RING if IIO_RING_BUFFER + help + Say yes here to build support for Analog Devices adis16260/5 + programmable digital gyroscope sensor. diff --git a/drivers/staging/iio/gyro/Makefile b/drivers/staging/iio/gyro/Makefile new file mode 100644 index 000000000000..6d2c547686cb --- /dev/null +++ b/drivers/staging/iio/gyro/Makefile @@ -0,0 +1,7 @@ + +# Makefile for digital gyroscope sensor drivers +# + +adis16260-y := adis16260_core.o +adis16260-$(CONFIG_IIO_RING_BUFFER) += adis16260_ring.o adis16260_trigger.o +obj-$(CONFIG_ADIS16260) += adis16260.o diff --git a/drivers/staging/iio/gyro/adis16260.h b/drivers/staging/iio/gyro/adis16260.h new file mode 100644 index 000000000000..f19efb4c91ce --- /dev/null +++ b/drivers/staging/iio/gyro/adis16260.h @@ -0,0 +1,175 @@ +#ifndef SPI_ADIS16260_H_ +#define SPI_ADIS16260_H_ + +#define ADIS16260_STARTUP_DELAY 220 /* ms */ + +#define ADIS16260_READ_REG(a) a +#define ADIS16260_WRITE_REG(a) ((a) | 0x80) + +#define ADIS16260_FLASH_CNT 0x00 /* Flash memory write count */ +#define ADIS16260_SUPPLY_OUT 0x02 /* Power supply measurement */ +#define ADIS16260_GYRO_OUT 0x04 /* X-axis gyroscope output */ +#define ADIS16260_AUX_ADC 0x0A /* analog input channel measurement */ +#define ADIS16260_TEMP_OUT 0x0C /* internal temperature measurement */ +#define ADIS16260_ANGL_OUT 0x0E /* angle displacement */ +#define ADIS16260_GYRO_OFF 0x14 /* Calibration, offset/bias adjustment */ +#define ADIS16260_GYRO_SCALE 0x16 /* Calibration, scale adjustment */ +#define ADIS16260_ALM_MAG1 0x20 /* Alarm 1 magnitude/polarity setting */ +#define ADIS16260_ALM_MAG2 0x22 /* Alarm 2 magnitude/polarity setting */ +#define ADIS16260_ALM_SMPL1 0x24 /* Alarm 1 dynamic rate of change setting */ +#define ADIS16260_ALM_SMPL2 0x26 /* Alarm 2 dynamic rate of change setting */ +#define ADIS16260_ALM_CTRL 0x28 /* Alarm control */ +#define ADIS16260_AUX_DAC 0x30 /* Auxiliary DAC data */ +#define ADIS16260_GPIO_CTRL 0x32 /* Control, digital I/O line */ +#define ADIS16260_MSC_CTRL 0x34 /* Control, data ready, self-test settings */ +#define ADIS16260_SMPL_PRD 0x36 /* Control, internal sample rate */ +#define ADIS16260_SENS_AVG 0x38 /* Control, dynamic range, filtering */ +#define ADIS16260_SLP_CNT 0x3A /* Control, sleep mode initiation */ +#define ADIS16260_DIAG_STAT 0x3C /* Diagnostic, error flags */ +#define ADIS16260_GLOB_CMD 0x3E /* Control, global commands */ +#define ADIS16260_LOT_ID1 0x52 /* Lot Identification Code 1 */ +#define ADIS16260_LOT_ID2 0x54 /* Lot Identification Code 2 */ +#define ADIS16260_PROD_ID 0x56 /* Product identifier; + * convert to decimal = 16,265/16,260 */ +#define ADIS16260_SERIAL_NUM 0x58 /* Serial number */ + +#define ADIS16260_OUTPUTS 5 + +#define ADIS16260_ERROR_ACTIVE (1<<14) +#define ADIS16260_NEW_DATA (1<<15) + +/* MSC_CTRL */ +#define ADIS16260_MSC_CTRL_MEM_TEST (1<<11) +/* Internal self-test enable */ +#define ADIS16260_MSC_CTRL_INT_SELF_TEST (1<<10) +#define ADIS16260_MSC_CTRL_NEG_SELF_TEST (1<<9) +#define ADIS16260_MSC_CTRL_POS_SELF_TEST (1<<8) +#define ADIS16260_MSC_CTRL_DATA_RDY_EN (1<<2) +#define ADIS16260_MSC_CTRL_DATA_RDY_POL_HIGH (1<<1) +#define ADIS16260_MSC_CTRL_DATA_RDY_DIO2 (1<<0) + +/* SMPL_PRD */ +/* Time base (tB): 0 = 1.953 ms, 1 = 60.54 ms */ +#define ADIS16260_SMPL_PRD_TIME_BASE (1<<7) +#define ADIS16260_SMPL_PRD_DIV_MASK 0x7F + +/* SLP_CNT */ +#define ADIS16260_SLP_CNT_POWER_OFF 0x80 + +/* DIAG_STAT */ +#define ADIS16260_DIAG_STAT_ALARM2 (1<<9) +#define ADIS16260_DIAG_STAT_ALARM1 (1<<8) +#define ADIS16260_DIAG_STAT_FLASH_CHK (1<<6) +#define ADIS16260_DIAG_STAT_SELF_TEST (1<<5) +#define ADIS16260_DIAG_STAT_OVERFLOW (1<<4) +#define ADIS16260_DIAG_STAT_SPI_FAIL (1<<3) +#define ADIS16260_DIAG_STAT_FLASH_UPT (1<<2) +#define ADIS16260_DIAG_STAT_POWER_HIGH (1<<1) +#define ADIS16260_DIAG_STAT_POWER_LOW (1<<0) + +/* GLOB_CMD */ +#define ADIS16260_GLOB_CMD_SW_RESET (1<<7) +#define ADIS16260_GLOB_CMD_FLASH_UPD (1<<3) +#define ADIS16260_GLOB_CMD_DAC_LATCH (1<<2) +#define ADIS16260_GLOB_CMD_FAC_CALIB (1<<1) +#define ADIS16260_GLOB_CMD_AUTO_NULL (1<<0) + +#define ADIS16260_MAX_TX 24 +#define ADIS16260_MAX_RX 24 + +#define ADIS16260_SPI_SLOW (u32)(300 * 1000) +#define ADIS16260_SPI_BURST (u32)(1000 * 1000) +#define ADIS16260_SPI_FAST (u32)(2000 * 1000) + +/** + * struct adis16260_state - device instance specific data + * @us: actual spi_device + * @work_trigger_to_ring: bh for triggered event handling + * @work_cont_thresh: CLEAN + * @inter: used to check if new interrupt has been triggered + * @last_timestamp: passing timestamp from th to bh of interrupt handler + * @indio_dev: industrial I/O device structure + * @trig: data ready trigger registered with iio + * @tx: transmit buffer + * @rx: recieve buffer + * @buf_lock: mutex to protect tx and rx + **/ +struct adis16260_state { + struct spi_device *us; + struct work_struct work_trigger_to_ring; + struct iio_work_cont work_cont_thresh; + s64 last_timestamp; + struct iio_dev *indio_dev; + struct iio_trigger *trig; + u8 *tx; + u8 *rx; + struct mutex buf_lock; +}; + +int adis16260_set_irq(struct device *dev, bool enable); + +#ifdef CONFIG_IIO_RING_BUFFER +/* At the moment triggers are only used for ring buffer + * filling. This may change! + */ + +enum adis16260_scan { + ADIS16260_SCAN_SUPPLY, + ADIS16260_SCAN_GYRO, + ADIS16260_SCAN_AUX_ADC, + ADIS16260_SCAN_TEMP, + ADIS16260_SCAN_ANGL, +}; + +void adis16260_remove_trigger(struct iio_dev *indio_dev); +int adis16260_probe_trigger(struct iio_dev *indio_dev); + +ssize_t adis16260_read_data_from_ring(struct device *dev, + struct device_attribute *attr, + char *buf); + + +int adis16260_configure_ring(struct iio_dev *indio_dev); +void adis16260_unconfigure_ring(struct iio_dev *indio_dev); + +int adis16260_initialize_ring(struct iio_ring_buffer *ring); +void adis16260_uninitialize_ring(struct iio_ring_buffer *ring); +#else /* CONFIG_IIO_RING_BUFFER */ + +static inline void adis16260_remove_trigger(struct iio_dev *indio_dev) +{ +} + +static inline int adis16260_probe_trigger(struct iio_dev *indio_dev) +{ + return 0; +} + +static inline ssize_t +adis16260_read_data_from_ring(struct device *dev, + struct device_attribute *attr, + char *buf) +{ + return 0; +} + +static int adis16260_configure_ring(struct iio_dev *indio_dev) +{ + return 0; +} + +static inline void adis16260_unconfigure_ring(struct iio_dev *indio_dev) +{ +} + +static inline int adis16260_initialize_ring(struct iio_ring_buffer *ring) +{ + return 0; +} + +static inline void adis16260_uninitialize_ring(struct iio_ring_buffer *ring) +{ +} + +#endif /* CONFIG_IIO_RING_BUFFER */ +#endif /* SPI_ADIS16260_H_ */ diff --git a/drivers/staging/iio/gyro/adis16260_core.c b/drivers/staging/iio/gyro/adis16260_core.c new file mode 100644 index 000000000000..c93f4d580fce --- /dev/null +++ b/drivers/staging/iio/gyro/adis16260_core.c @@ -0,0 +1,661 @@ +/* + * ADIS16260 Programmable Digital Gyroscope Sensor Driver + * + * Copyright 2010 Analog Devices Inc. + * + * Licensed under the GPL-2 or later. + */ + +#include <linux/interrupt.h> +#include <linux/irq.h> +#include <linux/gpio.h> +#include <linux/delay.h> +#include <linux/mutex.h> +#include <linux/device.h> +#include <linux/kernel.h> +#include <linux/spi/spi.h> + +#include <linux/sysfs.h> +#include <linux/list.h> + +#include "../iio.h" +#include "../sysfs.h" +#include "../adc/adc.h" +#include "gyro.h" + +#include "adis16260.h" + +#define DRIVER_NAME "adis16260" + +static int adis16260_check_status(struct device *dev); + +/** + * adis16260_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 adis16260_spi_write_reg_8(struct device *dev, + u8 reg_address, + u8 val) +{ + int ret; + struct iio_dev *indio_dev = dev_get_drvdata(dev); + struct adis16260_state *st = iio_dev_get_devdata(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 + * @dev: device associated with child of actual device (iio_dev or iio_trig) + * @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 device *dev, + u8 lower_reg_address, + u16 value) +{ + int ret; + struct spi_message msg; + struct iio_dev *indio_dev = dev_get_drvdata(dev); + struct adis16260_state *st = iio_dev_get_devdata(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, + .cs_change = 1, + .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 + * @dev: device associated with child of actual device (iio_dev or iio_trig) + * @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 device *dev, + u8 lower_reg_address, + u16 *val) +{ + struct spi_message msg; + struct iio_dev *indio_dev = dev_get_drvdata(dev); + struct adis16260_state *st = iio_dev_get_devdata(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, + .cs_change = 1, + .delay_usecs = 30, + }, + }; + + mutex_lock(&st->buf_lock); + st->tx[0] = ADIS16260_READ_REG(lower_reg_address); + st->tx[1] = 0; + st->tx[2] = 0; + st->tx[3] = 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_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 = adis16260_spi_read_reg_16(dev, this_attr->address, (u16 *)&val); + if (ret) + return ret; + + if (val & ADIS16260_ERROR_ACTIVE) + adis16260_check_status(dev); + val = ((s16)(val << shift) >> shift); + return sprintf(buf, "%d\n", val); +} + +static ssize_t adis16260_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 = adis16260_spi_read_reg_16(dev, this_attr->address, &val); + if (ret) + return ret; + + if (val & ADIS16260_ERROR_ACTIVE) + adis16260_check_status(dev); + + return sprintf(buf, "%u\n", val & 0x0FFF); +} + +static ssize_t adis16260_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 = adis16260_spi_read_signed(dev, attr, buf, 12); + mutex_unlock(&indio_dev->mlock); + + return ret; +} + +static ssize_t adis16260_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 = adis16260_spi_read_signed(dev, attr, buf, 14); + mutex_unlock(&indio_dev->mlock); + + return ret; +} + +static ssize_t adis16260_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 = adis16260_spi_write_reg_16(dev, this_attr->address, val); + +error_ret: + return ret ? ret : len; +} + +static ssize_t adis16260_read_frequency(struct device *dev, + struct device_attribute *attr, + char *buf) +{ + int ret, len = 0; + u16 t; + int sps; + ret = adis16260_spi_read_reg_16(dev, + ADIS16260_SMPL_PRD, + &t); + if (ret) + return ret; + sps = (t & ADIS16260_SMPL_PRD_TIME_BASE) ? 66 : 2048; + sps /= (t & ADIS16260_SMPL_PRD_DIV_MASK) + 1; + len = sprintf(buf, "%d SPS\n", sps); + return len; +} + +static ssize_t adis16260_write_frequency(struct device *dev, + struct device_attribute *attr, + const char *buf, + size_t len) +{ + struct iio_dev *indio_dev = dev_get_drvdata(dev); + struct adis16260_state *st = iio_dev_get_devdata(indio_dev); + long val; + int ret; + u8 t; + + ret = strict_strtol(buf, 10, &val); + if (ret) + return ret; + + mutex_lock(&indio_dev->mlock); + + t = (2048 / 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; + else + st->us->max_speed_hz = ADIS16260_SPI_FAST; + + ret = adis16260_spi_write_reg_8(dev, + ADIS16260_SMPL_PRD, + t); + + mutex_unlock(&indio_dev->mlock); + + return ret ? ret : len; +} + +static int adis16260_reset(struct device *dev) +{ + int ret; + ret = adis16260_spi_write_reg_8(dev, + ADIS16260_GLOB_CMD, + ADIS16260_GLOB_CMD_SW_RESET); + if (ret) + dev_err(dev, "problem resetting device"); + + return ret; +} + +static ssize_t adis16260_write_reset(struct device *dev, + struct device_attribute *attr, + const char *buf, size_t len) +{ + if (len < 1) + return -EINVAL; + switch (buf[0]) { + case '1': + case 'y': + case 'Y': + return adis16260_reset(dev); + } + return -EINVAL; +} + +int adis16260_set_irq(struct device *dev, bool enable) +{ + int ret; + u16 msc; + ret = adis16260_spi_read_reg_16(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(dev, ADIS16260_MSC_CTRL, msc); + if (ret) + goto error_ret; + +error_ret: + return ret; +} + +/* Power down the device */ +static int adis16260_stop_device(struct device *dev) +{ + int ret; + u16 val = ADIS16260_SLP_CNT_POWER_OFF; + + ret = adis16260_spi_write_reg_16(dev, ADIS16260_SLP_CNT, val); + if (ret) + dev_err(dev, "problem with turning device off: SLP_CNT"); + + return ret; +} + +static int adis16260_self_test(struct device *dev) +{ + int ret; + ret = adis16260_spi_write_reg_16(dev, + ADIS16260_MSC_CTRL, + ADIS16260_MSC_CTRL_MEM_TEST); + if (ret) { + dev_err(dev, "problem starting self test"); + goto err_ret; + } + + adis16260_check_status(dev); + +err_ret: + return ret; +} + +static int adis16260_check_status(struct device *dev) +{ + u16 status; + int ret; + + ret = adis16260_spi_read_reg_16(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 adis16260_state *st) +{ + int ret; + struct device *dev = &st->indio_dev->dev; + + /* Disable IRQ */ + ret = adis16260_set_irq(dev, false); + if (ret) { + dev_err(dev, "disable irq failed"); + goto err_ret; + } + + /* Do self test */ + ret = adis16260_self_test(dev); + if (ret) { + dev_err(dev, "self test failure"); + goto err_ret; + } + + /* Read status register to check the result */ + ret = adis16260_check_status(dev); + if (ret) { + adis16260_reset(dev); + dev_err(dev, "device not playing ball -> reset"); + msleep(ADIS16260_STARTUP_DELAY); + ret = adis16260_check_status(dev); + if (ret) { + dev_err(dev, "giving up"); + goto err_ret; + } + } + + printk(KERN_INFO DRIVER_NAME ": at CS%d (irq %d)\n", + st->us->chip_select, st->us->irq); + +err_ret: + return ret; +} + +static IIO_DEV_ATTR_IN_NAMED_RAW(supply, + adis16260_read_12bit_unsigned, + ADIS16260_SUPPLY_OUT); +static IIO_CONST_ATTR(in_supply_scale, "0.0018315"); + +static IIO_DEV_ATTR_GYRO(adis16260_read_14bit_signed, + ADIS16260_GYRO_OUT); +static IIO_DEV_ATTR_GYRO_SCALE(S_IWUSR | S_IRUGO, + adis16260_read_14bit_signed, + adis16260_write_16bit, + ADIS16260_GYRO_SCALE); +static IIO_DEV_ATTR_GYRO_OFFSET(S_IWUSR | S_IRUGO, + adis16260_read_12bit_signed, + adis16260_write_16bit, + ADIS16260_GYRO_OFF); + +static IIO_DEV_ATTR_TEMP_RAW(adis16260_read_12bit_unsigned); +static IIO_CONST_ATTR(temp_offset, "25"); +static IIO_CONST_ATTR(temp_scale, "0.1453"); + +static IIO_DEV_ATTR_IN_RAW(0, adis16260_read_12bit_unsigned, + ADIS16260_AUX_ADC); +static IIO_CONST_ATTR(in0_scale, "0.0006105"); + +static IIO_DEV_ATTR_SAMP_FREQ(S_IWUSR | S_IRUGO, + adis16260_read_frequency, + adis16260_write_frequency); +static IIO_DEV_ATTR_ANGL(adis16260_read_14bit_signed, + ADIS16260_ANGL_OUT); + +static IIO_DEVICE_ATTR(reset, S_IWUSR, NULL, adis16260_write_reset, 0); + +static IIO_CONST_ATTR_AVAIL_SAMP_FREQ("256 2048"); + +static IIO_CONST_ATTR(name, "adis16260"); + +static struct attribute *adis16260_event_attributes[] = { + NULL +}; + +static struct attribute_group adis16260_event_attribute_group = { + .attrs = adis16260_event_attributes, +}; + +static struct attribute *adis16260_attributes[] = { + &iio_dev_attr_in_supply_raw.dev_attr.attr, + &iio_const_attr_in_supply_scale.dev_attr.attr, + &iio_dev_attr_gyro_raw.dev_attr.attr, + &iio_dev_attr_gyro_scale.dev_attr.attr, + &iio_dev_attr_gyro_offset.dev_attr.attr, + &iio_dev_attr_angl_raw.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_in0_raw.dev_attr.attr, + &iio_const_attr_in0_scale.dev_attr.attr, + &iio_dev_attr_sampling_frequency.dev_attr.attr, + &iio_const_attr_available_sampling_frequency.dev_attr.attr, + &iio_dev_attr_reset.dev_attr.attr, + &iio_const_attr_name.dev_attr.attr, + NULL +}; + +static const struct attribute_group adis16260_attribute_group = { + .attrs = adis16260_attributes, +}; + +static int __devinit adis16260_probe(struct spi_device *spi) +{ + int ret, regdone = 0; + struct adis16260_state *st = kzalloc(sizeof *st, GFP_KERNEL); + if (!st) { + ret = -ENOMEM; + goto error_ret; + } + /* this is only used for removal purposes */ + spi_set_drvdata(spi, st); + + /* Allocate the comms buffers */ + st->rx = kzalloc(sizeof(*st->rx)*ADIS16260_MAX_RX, GFP_KERNEL); + if (st->rx == NULL) { + ret = -ENOMEM; + goto error_free_st; + } + st->tx = kzalloc(sizeof(*st->tx)*ADIS16260_MAX_TX, GFP_KERNEL); + if (st->tx == NULL) { + ret = -ENOMEM; + goto error_free_rx; + } + st->us = spi; + mutex_init(&st->buf_lock); + /* setup the industrialio driver allocated elements */ + st->indio_dev = iio_allocate_device(); + if (st->indio_dev == NULL) { + ret = -ENOMEM; + goto error_free_tx; + } + + st->indio_dev->dev.parent = &spi->dev; + st->indio_dev->num_interrupt_lines = 1; + st->indio_dev->event_attrs = &adis16260_event_attribute_group; + st->indio_dev->attrs = &adis16260_attribute_group; + st->indio_dev->dev_data = (void *)(st); + st->indio_dev->driver_module = THIS_MODULE; + st->indio_dev->modes = INDIO_DIRECT_MODE; + + ret = adis16260_configure_ring(st->indio_dev); + if (ret) + goto error_free_dev; + + ret = iio_device_register(st->indio_dev); + if (ret) + goto error_unreg_ring_funcs; + regdone = 1; + + ret = adis16260_initialize_ring(st->indio_dev->ring); + if (ret) { + printk(KERN_ERR "failed to initialize the ring\n"); + goto error_unreg_ring_funcs; + } + + if (spi->irq) { + ret = iio_register_interrupt_line(spi->irq, + st->indio_dev, + 0, + IRQF_TRIGGER_RISING, + "adis16260"); + if (ret) + goto error_uninitialize_ring; + + ret = adis16260_probe_trigger(st->indio_dev); + if (ret) + goto error_unregister_line; + } + + /* Get the device into a sane initial state */ + ret = adis16260_initial_setup(st); + if (ret) + goto error_remove_trigger; + return 0; + +error_remove_trigger: + adis16260_remove_trigger(st->indio_dev); +error_unregister_line: + if (spi->irq) + iio_unregister_interrupt_line(st->indio_dev, 0); +error_uninitialize_ring: + adis16260_uninitialize_ring(st->indio_dev->ring); +error_unreg_ring_funcs: + adis16260_unconfigure_ring(st->indio_dev); +error_free_dev: + if (regdone) + iio_device_unregister(st->indio_dev); + else + iio_free_device(st->indio_dev); +error_free_tx: + kfree(st->tx); +error_free_rx: + kfree(st->rx); +error_free_st: + kfree(st); +error_ret: + return ret; +} + +static int adis16260_remove(struct spi_device *spi) +{ + int ret; + struct adis16260_state *st = spi_get_drvdata(spi); + struct iio_dev *indio_dev = st->indio_dev; + + ret = adis16260_stop_device(&(indio_dev->dev)); + if (ret) + goto err_ret; + + flush_scheduled_work(); + + adis16260_remove_trigger(indio_dev); + if (spi->irq) + iio_unregister_interrupt_line(indio_dev, 0); + + adis16260_uninitialize_ring(indio_dev->ring); + iio_device_unregister(indio_dev); + adis16260_unconfigure_ring(indio_dev); + kfree(st->tx); + kfree(st->rx); + kfree(st); + + return 0; + +err_ret: + return ret; +} + +static struct spi_driver adis16260_driver = { + .driver = { + .name = "adis16260", + .owner = THIS_MODULE, + }, + .probe = adis16260_probe, + .remove = __devexit_p(adis16260_remove), +}; + +static __init int adis16260_init(void) +{ + return spi_register_driver(&adis16260_driver); +} +module_init(adis16260_init); + +static __exit void adis16260_exit(void) +{ + spi_unregister_driver(&adis16260_driver); +} +module_exit(adis16260_exit); + +MODULE_AUTHOR("Barry Song <21cnbao@gmail.com>"); +MODULE_DESCRIPTION("Analog Devices ADIS16260/5 Digital Gyroscope Sensor"); +MODULE_LICENSE("GPL v2"); diff --git a/drivers/staging/iio/gyro/adis16260_ring.c b/drivers/staging/iio/gyro/adis16260_ring.c new file mode 100644 index 000000000000..4c4390ca6d73 --- /dev/null +++ b/drivers/staging/iio/gyro/adis16260_ring.c @@ -0,0 +1,256 @@ +#include <linux/interrupt.h> +#include <linux/irq.h> +#include <linux/gpio.h> +#include <linux/workqueue.h> +#include <linux/mutex.h> +#include <linux/device.h> +#include <linux/kernel.h> +#include <linux/spi/spi.h> +#include <linux/sysfs.h> +#include <linux/list.h> + +#include "../iio.h" +#include "../sysfs.h" +#include "../ring_sw.h" +#include "../accel/accel.h" +#include "../trigger.h" +#include "adis16260.h" + +/** + * combine_8_to_16() utility function to munge to u8s into u16 + **/ +static inline u16 combine_8_to_16(u8 lower, u8 upper) +{ + u16 _lower = lower; + u16 _upper = upper; + return _lower | (_upper << 8); +} + +static IIO_SCAN_EL_C(supply, ADIS16260_SCAN_SUPPLY, IIO_UNSIGNED(12), + ADIS16260_SUPPLY_OUT, NULL); +static IIO_SCAN_EL_C(gyro, ADIS16260_SCAN_GYRO, IIO_SIGNED(14), + ADIS16260_GYRO_OUT, NULL); +static IIO_SCAN_EL_C(aux_adc, ADIS16260_SCAN_AUX_ADC, IIO_SIGNED(14), + ADIS16260_AUX_ADC, NULL); +static IIO_SCAN_EL_C(temp, ADIS16260_SCAN_TEMP, IIO_UNSIGNED(12), + ADIS16260_TEMP_OUT, NULL); +static IIO_SCAN_EL_C(angl, ADIS16260_SCAN_ANGL, IIO_UNSIGNED(12), + ADIS16260_ANGL_OUT, NULL); + +static IIO_SCAN_EL_TIMESTAMP(5); + +static struct attribute *adis16260_scan_el_attrs[] = { + &iio_scan_el_supply.dev_attr.attr, + &iio_scan_el_gyro.dev_attr.attr, + &iio_scan_el_aux_adc.dev_attr.attr, + &iio_scan_el_temp.dev_attr.attr, + &iio_scan_el_angl.dev_attr.attr, + &iio_scan_el_timestamp.dev_attr.attr, + NULL, +}; + +static struct attribute_group adis16260_scan_el_group = { + .attrs = adis16260_scan_el_attrs, + .name = "scan_elements", +}; + +/** + * adis16260_poll_func_th() top half interrupt handler called by trigger + * @private_data: iio_dev + **/ +static void adis16260_poll_func_th(struct iio_dev *indio_dev) +{ + struct adis16260_state *st = iio_dev_get_devdata(indio_dev); + st->last_timestamp = indio_dev->trig->timestamp; + schedule_work(&st->work_trigger_to_ring); +} + +/** + * adis16260_read_ring_data() read data registers which will be placed into ring + * @dev: device associated with child of actual device (iio_dev or iio_trig) + * @rx: somewhere to pass back the value read + **/ +static int adis16260_read_ring_data(struct device *dev, u8 *rx) +{ + struct spi_message msg; + struct iio_dev *indio_dev = dev_get_drvdata(dev); + struct adis16260_state *st = iio_dev_get_devdata(indio_dev); + struct spi_transfer xfers[ADIS16260_OUTPUTS + 1]; + int ret; + int i; + + mutex_lock(&st->buf_lock); + + spi_message_init(&msg); + + memset(xfers, 0, sizeof(xfers)); + for (i = 0; i <= ADIS16260_OUTPUTS; i++) { + xfers[i].bits_per_word = 8; + xfers[i].cs_change = 1; + xfers[i].len = 2; + xfers[i].delay_usecs = 30; + xfers[i].tx_buf = st->tx + 2 * i; + if (i < 2) /* SUPPLY_OUT:0x02 GYRO_OUT:0x04 */ + st->tx[2 * i] + = ADIS16260_READ_REG(ADIS16260_SUPPLY_OUT + + 2 * i); + else /* 0x06 to 0x09 is reserved */ + st->tx[2 * i] + = ADIS16260_READ_REG(ADIS16260_SUPPLY_OUT + + 2 * i + 4); + st->tx[2 * i + 1] = 0; + if (i >= 1) + xfers[i].rx_buf = rx + 2 * (i - 1); + spi_message_add_tail(&xfers[i], &msg); + } + + ret = spi_sync(st->us, &msg); + if (ret) + dev_err(&st->us->dev, "problem when burst reading"); + + mutex_unlock(&st->buf_lock); + + return ret; +} + + +static void adis16260_trigger_bh_to_ring(struct work_struct *work_s) +{ + struct adis16260_state *st + = container_of(work_s, struct adis16260_state, + work_trigger_to_ring); + + int i = 0; + s16 *data; + size_t datasize = st->indio_dev + ->ring->access.get_bpd(st->indio_dev->ring); + + data = kmalloc(datasize , GFP_KERNEL); + if (data == NULL) { + dev_err(&st->us->dev, "memory alloc failed in ring bh"); + return; + } + + if (st->indio_dev->scan_count) + if (adis16260_read_ring_data(&st->indio_dev->dev, st->rx) >= 0) + for (; i < st->indio_dev->scan_count; i++) { + data[i] = combine_8_to_16(st->rx[i*2+1], + st->rx[i*2]); + } + + /* Guaranteed to be aligned with 8 byte boundary */ + if (st->indio_dev->scan_timestamp) + *((s64 *)(data + ((i + 3)/4)*4)) = st->last_timestamp; + + st->indio_dev->ring->access.store_to(st->indio_dev->ring, + (u8 *)data, + st->last_timestamp); + + iio_trigger_notify_done(st->indio_dev->trig); + kfree(data); + + return; +} + +static int adis16260_data_rdy_ring_preenable(struct iio_dev *indio_dev) +{ + size_t size; + dev_dbg(&indio_dev->dev, "%s\n", __func__); + /* Check if there are any scan elements enabled, if not fail*/ + if (!(indio_dev->scan_count || indio_dev->scan_timestamp)) + return -EINVAL; + + if (indio_dev->ring->access.set_bpd) { + if (indio_dev->scan_timestamp) + if (indio_dev->scan_count) + /* Timestamp (aligned s64) and data */ + size = (((indio_dev->scan_count * sizeof(s16)) + + sizeof(s64) - 1) + & ~(sizeof(s64) - 1)) + + sizeof(s64); + else /* Timestamp only */ + size = sizeof(s64); + else /* Data only */ + size = indio_dev->scan_count*sizeof(s16); + indio_dev->ring->access.set_bpd(indio_dev->ring, size); + } + + return 0; +} + +static int adis16260_data_rdy_ring_postenable(struct iio_dev *indio_dev) +{ + return indio_dev->trig + ? iio_trigger_attach_poll_func(indio_dev->trig, + indio_dev->pollfunc) + : 0; +} + +static int adis16260_data_rdy_ring_predisable(struct iio_dev *indio_dev) +{ + return indio_dev->trig + ? iio_trigger_dettach_poll_func(indio_dev->trig, + indio_dev->pollfunc) + : 0; +} + +void adis16260_unconfigure_ring(struct iio_dev *indio_dev) +{ + kfree(indio_dev->pollfunc); + iio_sw_rb_free(indio_dev->ring); +} + +int adis16260_configure_ring(struct iio_dev *indio_dev) +{ + int ret = 0; + struct adis16260_state *st = indio_dev->dev_data; + struct iio_ring_buffer *ring; + INIT_WORK(&st->work_trigger_to_ring, adis16260_trigger_bh_to_ring); + /* Set default scan mode */ + + iio_scan_mask_set(indio_dev, iio_scan_el_supply.number); + iio_scan_mask_set(indio_dev, iio_scan_el_gyro.number); + iio_scan_mask_set(indio_dev, iio_scan_el_aux_adc.number); + iio_scan_mask_set(indio_dev, iio_scan_el_temp.number); + iio_scan_mask_set(indio_dev, iio_scan_el_angl.number); + indio_dev->scan_timestamp = true; + + indio_dev->scan_el_attrs = &adis16260_scan_el_group; + + ring = iio_sw_rb_allocate(indio_dev); + if (!ring) { + ret = -ENOMEM; + return ret; + } + indio_dev->ring = ring; + /* Effectively select the ring buffer implementation */ + iio_ring_sw_register_funcs(&ring->access); + ring->preenable = &adis16260_data_rdy_ring_preenable; + ring->postenable = &adis16260_data_rdy_ring_postenable; + ring->predisable = &adis16260_data_rdy_ring_predisable; + ring->owner = THIS_MODULE; + + indio_dev->pollfunc = kzalloc(sizeof(*indio_dev->pollfunc), GFP_KERNEL); + if (indio_dev->pollfunc == NULL) { + ret = -ENOMEM; + goto error_iio_sw_rb_free;; + } + indio_dev->pollfunc->poll_func_main = &adis16260_poll_func_th; + indio_dev->pollfunc->private_data = indio_dev; + indio_dev->modes |= INDIO_RING_TRIGGERED; + return 0; + +error_iio_sw_rb_free: + iio_sw_rb_free(indio_dev->ring); + return ret; +} + +int adis16260_initialize_ring(struct iio_ring_buffer *ring) +{ + return iio_ring_buffer_register(ring, 0); +} + +void adis16260_uninitialize_ring(struct iio_ring_buffer *ring) +{ + iio_ring_buffer_unregister(ring); +} diff --git a/drivers/staging/iio/gyro/adis16260_trigger.c b/drivers/staging/iio/gyro/adis16260_trigger.c new file mode 100644 index 000000000000..b3c565942b8d --- /dev/null +++ b/drivers/staging/iio/gyro/adis16260_trigger.c @@ -0,0 +1,124 @@ +#include <linux/interrupt.h> +#include <linux/irq.h> +#include <linux/mutex.h> +#include <linux/device.h> +#include <linux/kernel.h> +#include <linux/sysfs.h> +#include <linux/list.h> +#include <linux/spi/spi.h> + +#include "../iio.h" +#include "../sysfs.h" +#include "../trigger.h" +#include "adis16260.h" + +/** + * adis16260_data_rdy_trig_poll() the event handler for the data rdy trig + **/ +static int adis16260_data_rdy_trig_poll(struct iio_dev *dev_info, + int index, + s64 timestamp, + int no_test) +{ + struct adis16260_state *st = iio_dev_get_devdata(dev_info); + struct iio_trigger *trig = st->trig; + + trig->timestamp = timestamp; + iio_trigger_poll(trig); + + return IRQ_HANDLED; +} + +IIO_EVENT_SH(data_rdy_trig, &adis16260_data_rdy_trig_poll); + +static DEVICE_ATTR(name, S_IRUGO, iio_trigger_read_name, NULL); + +static struct attribute *adis16260_trigger_attrs[] = { + &dev_attr_name.attr, + NULL, +}; + +static const struct attribute_group adis16260_trigger_attr_group = { + .attrs = adis16260_trigger_attrs, +}; + +/** + * adis16260_data_rdy_trigger_set_state() set datardy interrupt state + **/ +static int adis16260_data_rdy_trigger_set_state(struct iio_trigger *trig, + bool state) +{ + struct adis16260_state *st = trig->private_data; + struct iio_dev *indio_dev = st->indio_dev; + int ret = 0; + + dev_dbg(&indio_dev->dev, "%s (%d)\n", __func__, state); + ret = adis16260_set_irq(&st->indio_dev->dev, state); + if (state == false) { + iio_remove_event_from_list(&iio_event_data_rdy_trig, + &indio_dev->interrupts[0] + ->ev_list); + flush_scheduled_work(); + } else { + iio_add_event_to_list(&iio_event_data_rdy_trig, + &indio_dev->interrupts[0]->ev_list); + } + return ret; +} + +/** + * adis16260_trig_try_reen() try renabling irq for data rdy trigger + * @trig: the datardy trigger + **/ +static int adis16260_trig_try_reen(struct iio_trigger *trig) +{ + struct adis16260_state *st = trig->private_data; + enable_irq(st->us->irq); + return 0; +} + +int adis16260_probe_trigger(struct iio_dev *indio_dev) +{ + int ret; + struct adis16260_state *st = indio_dev->dev_data; + + st->trig = iio_allocate_trigger(); + st->trig->name = kmalloc(IIO_TRIGGER_NAME_LENGTH, GFP_KERNEL); + if (!st->trig->name) { + ret = -ENOMEM; + goto error_free_trig; + } + snprintf((char *)st->trig->name, + IIO_TRIGGER_NAME_LENGTH, + "adis16260-dev%d", indio_dev->id); + st->trig->dev.parent = &st->us->dev; + st->trig->owner = THIS_MODULE; + st->trig->private_data = st; + st->trig->set_trigger_state = &adis16260_data_rdy_trigger_set_state; + st->trig->try_reenable = &adis16260_trig_try_reen; + st->trig->control_attrs = &adis16260_trigger_attr_group; + ret = iio_trigger_register(st->trig); + + /* select default trigger */ + indio_dev->trig = st->trig; + if (ret) + goto error_free_trig_name; + + return 0; + +error_free_trig_name: + kfree(st->trig->name); +error_free_trig: + iio_free_trigger(st->trig); + + return ret; +} + +void adis16260_remove_trigger(struct iio_dev *indio_dev) +{ + struct adis16260_state *state = indio_dev->dev_data; + + iio_trigger_unregister(state->trig); + kfree(state->trig->name); + iio_free_trigger(state->trig); +} diff --git a/drivers/staging/iio/gyro/gyro.h b/drivers/staging/iio/gyro/gyro.h index 16f6ffa039bb..f68edab8f30d 100644 --- a/drivers/staging/iio/gyro/gyro.h +++ b/drivers/staging/iio/gyro/gyro.h @@ -39,3 +39,5 @@ #define IIO_DEV_ATTR_GYRO_Z(_show, _addr) \ IIO_DEVICE_ATTR(gyro_z_raw, S_IRUGO, _show, NULL, _addr) +#define IIO_DEV_ATTR_ANGL(_show, _addr) \ + IIO_DEVICE_ATTR(angl_raw, S_IRUGO, _show, NULL, _addr) |