The adxrs450 is in a reasonable shape now. It follows the IIO ABI and non of the
standard code checker tools report any issue, so move it out of staging.
Signed-off-by: Lars-Peter Clausen <lars@metafoo.de>
Signed-off-by: Jonathan Cameron <jic23@kernel.org>
Say yes here to build support for the Analog Devices ADIS16133, ADIS16135,
ADIS16136 gyroscope devices.
+config ADXRS450
+ tristate "Analog Devices ADXRS450/3 Digital Output Gyroscope SPI driver"
+ depends on SPI
+ help
+ Say yes here to build support for Analog Devices ADXRS450 and ADXRS453
+ programmable digital output gyroscope.
+
+ This driver can also be built as a module. If so, the module
+ will be called adxrs450.
+
config HID_SENSOR_GYRO_3D
depends on HID_SENSOR_HUB
select IIO_BUFFER
obj-$(CONFIG_ADIS16080) += adis16080.o
obj-$(CONFIG_ADIS16136) += adis16136.o
+obj-$(CONFIG_ADXRS450) += adxrs450.o
+
obj-$(CONFIG_HID_SENSOR_GYRO_3D) += hid-sensor-gyro-3d.o
obj-$(CONFIG_IIO_ST_GYRO_3AXIS) += st_gyro.o
--- /dev/null
+/*
+ * ADXRS450/ADXRS453 Digital Output Gyroscope Driver
+ *
+ * Copyright 2011 Analog Devices Inc.
+ *
+ * Licensed under the GPL-2.
+ */
+
+#include <linux/interrupt.h>
+#include <linux/irq.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/list.h>
+#include <linux/module.h>
+
+#include <linux/iio/iio.h>
+#include <linux/iio/sysfs.h>
+
+#define ADXRS450_STARTUP_DELAY 50 /* ms */
+
+/* The MSB for the spi commands */
+#define ADXRS450_SENSOR_DATA (0x20 << 24)
+#define ADXRS450_WRITE_DATA (0x40 << 24)
+#define ADXRS450_READ_DATA (0x80 << 24)
+
+#define ADXRS450_RATE1 0x00 /* Rate Registers */
+#define ADXRS450_TEMP1 0x02 /* Temperature Registers */
+#define ADXRS450_LOCST1 0x04 /* Low CST Memory Registers */
+#define ADXRS450_HICST1 0x06 /* High CST Memory Registers */
+#define ADXRS450_QUAD1 0x08 /* Quad Memory Registers */
+#define ADXRS450_FAULT1 0x0A /* Fault Registers */
+#define ADXRS450_PID1 0x0C /* Part ID Register 1 */
+#define ADXRS450_SNH 0x0E /* Serial Number Registers, 4 bytes */
+#define ADXRS450_SNL 0x10
+#define ADXRS450_DNC1 0x12 /* Dynamic Null Correction Registers */
+/* Check bits */
+#define ADXRS450_P 0x01
+#define ADXRS450_CHK 0x02
+#define ADXRS450_CST 0x04
+#define ADXRS450_PWR 0x08
+#define ADXRS450_POR 0x10
+#define ADXRS450_NVM 0x20
+#define ADXRS450_Q 0x40
+#define ADXRS450_PLL 0x80
+#define ADXRS450_UV 0x100
+#define ADXRS450_OV 0x200
+#define ADXRS450_AMP 0x400
+#define ADXRS450_FAIL 0x800
+
+#define ADXRS450_WRERR_MASK (0x7 << 29)
+
+#define ADXRS450_MAX_RX 4
+#define ADXRS450_MAX_TX 4
+
+#define ADXRS450_GET_ST(a) ((a >> 26) & 0x3)
+
+enum {
+ ID_ADXRS450,
+ ID_ADXRS453,
+};
+
+/**
+ * struct adxrs450_state - device instance specific data
+ * @us: actual spi_device
+ * @buf_lock: mutex to protect tx and rx
+ * @tx: transmit buffer
+ * @rx: receive buffer
+ **/
+struct adxrs450_state {
+ struct spi_device *us;
+ struct mutex buf_lock;
+ __be32 tx ____cacheline_aligned;
+ __be32 rx;
+
+};
+
+/**
+ * adxrs450_spi_read_reg_16() - read 2 bytes from a register pair
+ * @indio_dev: device associated with child of actual iio_dev
+ * @reg_address: the address of the lower of the two registers, which should be
+ * an even address, the second register's address is reg_address + 1.
+ * @val: somewhere to pass back the value read
+ **/
+static int adxrs450_spi_read_reg_16(struct iio_dev *indio_dev,
+ u8 reg_address,
+ u16 *val)
+{
+ struct spi_message msg;
+ struct adxrs450_state *st = iio_priv(indio_dev);
+ u32 tx;
+ int ret;
+ struct spi_transfer xfers[] = {
+ {
+ .tx_buf = &st->tx,
+ .bits_per_word = 8,
+ .len = sizeof(st->tx),
+ .cs_change = 1,
+ }, {
+ .rx_buf = &st->rx,
+ .bits_per_word = 8,
+ .len = sizeof(st->rx),
+ },
+ };
+
+ mutex_lock(&st->buf_lock);
+ tx = ADXRS450_READ_DATA | (reg_address << 17);
+
+ if (!(hweight32(tx) & 1))
+ tx |= ADXRS450_P;
+
+ st->tx = cpu_to_be32(tx);
+ 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 while reading 16 bit register 0x%02x\n",
+ reg_address);
+ goto error_ret;
+ }
+
+ *val = (be32_to_cpu(st->rx) >> 5) & 0xFFFF;
+
+error_ret:
+ mutex_unlock(&st->buf_lock);
+ return ret;
+}
+
+/**
+ * adxrs450_spi_write_reg_16() - write 2 bytes data to a register pair
+ * @indio_dev: device associated with child of actual actual iio_dev
+ * @reg_address: the address of the lower of the two registers,which should be
+ * an even address, the second register's address is reg_address + 1.
+ * @val: value to be written.
+ **/
+static int adxrs450_spi_write_reg_16(struct iio_dev *indio_dev,
+ u8 reg_address,
+ u16 val)
+{
+ struct adxrs450_state *st = iio_priv(indio_dev);
+ u32 tx;
+ int ret;
+
+ mutex_lock(&st->buf_lock);
+ tx = ADXRS450_WRITE_DATA | (reg_address << 17) | (val << 1);
+
+ if (!(hweight32(tx) & 1))
+ tx |= ADXRS450_P;
+
+ st->tx = cpu_to_be32(tx);
+ ret = spi_write(st->us, &st->tx, sizeof(st->tx));
+ if (ret)
+ dev_err(&st->us->dev, "problem while writing 16 bit register 0x%02x\n",
+ reg_address);
+ usleep_range(100, 1000); /* enforce sequential transfer delay 0.1ms */
+ mutex_unlock(&st->buf_lock);
+ return ret;
+}
+
+/**
+ * adxrs450_spi_sensor_data() - read 2 bytes sensor data
+ * @indio_dev: device associated with child of actual iio_dev
+ * @val: somewhere to pass back the value read
+ **/
+static int adxrs450_spi_sensor_data(struct iio_dev *indio_dev, s16 *val)
+{
+ struct spi_message msg;
+ struct adxrs450_state *st = iio_priv(indio_dev);
+ int ret;
+ struct spi_transfer xfers[] = {
+ {
+ .tx_buf = &st->tx,
+ .bits_per_word = 8,
+ .len = sizeof(st->tx),
+ .cs_change = 1,
+ }, {
+ .rx_buf = &st->rx,
+ .bits_per_word = 8,
+ .len = sizeof(st->rx),
+ },
+ };
+
+ mutex_lock(&st->buf_lock);
+ st->tx = cpu_to_be32(ADXRS450_SENSOR_DATA);
+
+ 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 while reading sensor data\n");
+ goto error_ret;
+ }
+
+ *val = (be32_to_cpu(st->rx) >> 10) & 0xFFFF;
+
+error_ret:
+ mutex_unlock(&st->buf_lock);
+ return ret;
+}
+
+/**
+ * adxrs450_spi_initial() - use for initializing procedure.
+ * @st: device instance specific data
+ * @val: somewhere to pass back the value read
+ * @chk: Whether to perform fault check
+ **/
+static int adxrs450_spi_initial(struct adxrs450_state *st,
+ u32 *val, char chk)
+{
+ struct spi_message msg;
+ int ret;
+ u32 tx;
+ struct spi_transfer xfers = {
+ .tx_buf = &st->tx,
+ .rx_buf = &st->rx,
+ .bits_per_word = 8,
+ .len = sizeof(st->tx),
+ };
+
+ mutex_lock(&st->buf_lock);
+ tx = ADXRS450_SENSOR_DATA;
+ if (chk)
+ tx |= (ADXRS450_CHK | ADXRS450_P);
+ st->tx = cpu_to_be32(tx);
+ spi_message_init(&msg);
+ spi_message_add_tail(&xfers, &msg);
+ ret = spi_sync(st->us, &msg);
+ if (ret) {
+ dev_err(&st->us->dev, "Problem while reading initializing data\n");
+ goto error_ret;
+ }
+
+ *val = be32_to_cpu(st->rx);
+
+error_ret:
+ mutex_unlock(&st->buf_lock);
+ return ret;
+}
+
+/* Recommended Startup Sequence by spec */
+static int adxrs450_initial_setup(struct iio_dev *indio_dev)
+{
+ u32 t;
+ u16 data;
+ int ret;
+ struct adxrs450_state *st = iio_priv(indio_dev);
+
+ msleep(ADXRS450_STARTUP_DELAY*2);
+ ret = adxrs450_spi_initial(st, &t, 1);
+ if (ret)
+ return ret;
+ if (t != 0x01)
+ dev_warn(&st->us->dev, "The initial power on response is not correct! Restart without reset?\n");
+
+ msleep(ADXRS450_STARTUP_DELAY);
+ ret = adxrs450_spi_initial(st, &t, 0);
+ if (ret)
+ return ret;
+
+ msleep(ADXRS450_STARTUP_DELAY);
+ ret = adxrs450_spi_initial(st, &t, 0);
+ if (ret)
+ return ret;
+ if (((t & 0xff) | 0x01) != 0xff || ADXRS450_GET_ST(t) != 2) {
+ dev_err(&st->us->dev, "The second response is not correct!\n");
+ return -EIO;
+
+ }
+ ret = adxrs450_spi_initial(st, &t, 0);
+ if (ret)
+ return ret;
+ if (((t & 0xff) | 0x01) != 0xff || ADXRS450_GET_ST(t) != 2) {
+ dev_err(&st->us->dev, "The third response is not correct!\n");
+ return -EIO;
+
+ }
+ ret = adxrs450_spi_read_reg_16(indio_dev, ADXRS450_FAULT1, &data);
+ if (ret)
+ return ret;
+ if (data & 0x0fff) {
+ dev_err(&st->us->dev, "The device is not in normal status!\n");
+ return -EINVAL;
+ }
+
+ return 0;
+}
+
+static int adxrs450_write_raw(struct iio_dev *indio_dev,
+ struct iio_chan_spec const *chan,
+ int val,
+ int val2,
+ long mask)
+{
+ int ret;
+ switch (mask) {
+ case IIO_CHAN_INFO_CALIBBIAS:
+ if (val < -0x400 || val >= 0x400)
+ return -EINVAL;
+ ret = adxrs450_spi_write_reg_16(indio_dev,
+ ADXRS450_DNC1, val);
+ break;
+ default:
+ ret = -EINVAL;
+ break;
+ }
+ return ret;
+}
+
+static int adxrs450_read_raw(struct iio_dev *indio_dev,
+ struct iio_chan_spec const *chan,
+ int *val,
+ int *val2,
+ long mask)
+{
+ int ret;
+ s16 t;
+
+ switch (mask) {
+ case IIO_CHAN_INFO_RAW:
+ switch (chan->type) {
+ case IIO_ANGL_VEL:
+ ret = adxrs450_spi_sensor_data(indio_dev, &t);
+ if (ret)
+ break;
+ *val = t;
+ ret = IIO_VAL_INT;
+ break;
+ case IIO_TEMP:
+ ret = adxrs450_spi_read_reg_16(indio_dev,
+ ADXRS450_TEMP1, &t);
+ if (ret)
+ break;
+ *val = (t >> 6) + 225;
+ ret = IIO_VAL_INT;
+ break;
+ default:
+ ret = -EINVAL;
+ break;
+ }
+ break;
+ case IIO_CHAN_INFO_SCALE:
+ switch (chan->type) {
+ case IIO_ANGL_VEL:
+ *val = 0;
+ *val2 = 218166;
+ return IIO_VAL_INT_PLUS_NANO;
+ case IIO_TEMP:
+ *val = 200;
+ *val2 = 0;
+ return IIO_VAL_INT;
+ default:
+ return -EINVAL;
+ }
+ break;
+ case IIO_CHAN_INFO_QUADRATURE_CORRECTION_RAW:
+ ret = adxrs450_spi_read_reg_16(indio_dev, ADXRS450_QUAD1, &t);
+ if (ret)
+ break;
+ *val = t;
+ ret = IIO_VAL_INT;
+ break;
+ case IIO_CHAN_INFO_CALIBBIAS:
+ ret = adxrs450_spi_read_reg_16(indio_dev, ADXRS450_DNC1, &t);
+ if (ret)
+ break;
+ *val = sign_extend32(t, 9);
+ ret = IIO_VAL_INT;
+ break;
+ default:
+ ret = -EINVAL;
+ break;
+ }
+
+ return ret;
+}
+
+static const struct iio_chan_spec adxrs450_channels[2][2] = {
+ [ID_ADXRS450] = {
+ {
+ .type = IIO_ANGL_VEL,
+ .modified = 1,
+ .channel2 = IIO_MOD_Z,
+ .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT |
+ IIO_CHAN_INFO_CALIBBIAS_SEPARATE_BIT |
+ IIO_CHAN_INFO_QUADRATURE_CORRECTION_RAW_SEPARATE_BIT |
+ IIO_CHAN_INFO_SCALE_SEPARATE_BIT,
+ }, {
+ .type = IIO_TEMP,
+ .indexed = 1,
+ .channel = 0,
+ .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT |
+ IIO_CHAN_INFO_SCALE_SEPARATE_BIT,
+ }
+ },
+ [ID_ADXRS453] = {
+ {
+ .type = IIO_ANGL_VEL,
+ .modified = 1,
+ .channel2 = IIO_MOD_Z,
+ .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT |
+ IIO_CHAN_INFO_SCALE_SEPARATE_BIT |
+ IIO_CHAN_INFO_QUADRATURE_CORRECTION_RAW_SEPARATE_BIT,
+ }, {
+ .type = IIO_TEMP,
+ .indexed = 1,
+ .channel = 0,
+ .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT |
+ IIO_CHAN_INFO_SCALE_SEPARATE_BIT,
+ }
+ },
+};
+
+static const struct iio_info adxrs450_info = {
+ .driver_module = THIS_MODULE,
+ .read_raw = &adxrs450_read_raw,
+ .write_raw = &adxrs450_write_raw,
+};
+
+static int adxrs450_probe(struct spi_device *spi)
+{
+ int ret;
+ struct adxrs450_state *st;
+ struct iio_dev *indio_dev;
+
+ /* setup the industrialio driver allocated elements */
+ indio_dev = iio_device_alloc(sizeof(*st));
+ if (indio_dev == NULL) {
+ ret = -ENOMEM;
+ goto error_ret;
+ }
+ st = iio_priv(indio_dev);
+ st->us = spi;
+ mutex_init(&st->buf_lock);
+ /* This is only used for removal purposes */
+ spi_set_drvdata(spi, indio_dev);
+
+ indio_dev->dev.parent = &spi->dev;
+ indio_dev->info = &adxrs450_info;
+ indio_dev->modes = INDIO_DIRECT_MODE;
+ indio_dev->channels =
+ adxrs450_channels[spi_get_device_id(spi)->driver_data];
+ indio_dev->num_channels = ARRAY_SIZE(adxrs450_channels);
+ indio_dev->name = spi->dev.driver->name;
+
+ ret = iio_device_register(indio_dev);
+ if (ret)
+ goto error_free_dev;
+
+ /* Get the device into a sane initial state */
+ ret = adxrs450_initial_setup(indio_dev);
+ if (ret)
+ goto error_initial;
+ return 0;
+error_initial:
+ iio_device_unregister(indio_dev);
+error_free_dev:
+ iio_device_free(indio_dev);
+
+error_ret:
+ return ret;
+}
+
+static int adxrs450_remove(struct spi_device *spi)
+{
+ iio_device_unregister(spi_get_drvdata(spi));
+ iio_device_free(spi_get_drvdata(spi));
+
+ return 0;
+}
+
+static const struct spi_device_id adxrs450_id[] = {
+ {"adxrs450", ID_ADXRS450},
+ {"adxrs453", ID_ADXRS453},
+ {}
+};
+MODULE_DEVICE_TABLE(spi, adxrs450_id);
+
+static struct spi_driver adxrs450_driver = {
+ .driver = {
+ .name = "adxrs450",
+ .owner = THIS_MODULE,
+ },
+ .probe = adxrs450_probe,
+ .remove = adxrs450_remove,
+ .id_table = adxrs450_id,
+};
+module_spi_driver(adxrs450_driver);
+
+MODULE_AUTHOR("Cliff Cai <cliff.cai@xxxxxxxxxx>");
+MODULE_DESCRIPTION("Analog Devices ADXRS450/ADXRS453 Gyroscope SPI driver");
+MODULE_LICENSE("GPL v2");
This driver can also be built as a module. If so, the module
will be called adis16260.
-config ADXRS450
- tristate "Analog Devices ADXRS450/3 Digital Output Gyroscope SPI driver"
- depends on SPI
- help
- Say yes here to build support for Analog Devices ADXRS450 and ADXRS453
- programmable digital output gyroscope.
-
- This driver can also be built as a module. If so, the module
- will be called adxrs450.
-
endmenu
adis16260-y := adis16260_core.o
obj-$(CONFIG_ADIS16260) += adis16260.o
-
-obj-$(CONFIG_ADXRS450) += adxrs450.o
+++ /dev/null
-/*
- * ADXRS450/ADXRS453 Digital Output Gyroscope Driver
- *
- * Copyright 2011 Analog Devices Inc.
- *
- * Licensed under the GPL-2.
- */
-
-#include <linux/interrupt.h>
-#include <linux/irq.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/list.h>
-#include <linux/module.h>
-
-#include <linux/iio/iio.h>
-#include <linux/iio/sysfs.h>
-
-#define ADXRS450_STARTUP_DELAY 50 /* ms */
-
-/* The MSB for the spi commands */
-#define ADXRS450_SENSOR_DATA (0x20 << 24)
-#define ADXRS450_WRITE_DATA (0x40 << 24)
-#define ADXRS450_READ_DATA (0x80 << 24)
-
-#define ADXRS450_RATE1 0x00 /* Rate Registers */
-#define ADXRS450_TEMP1 0x02 /* Temperature Registers */
-#define ADXRS450_LOCST1 0x04 /* Low CST Memory Registers */
-#define ADXRS450_HICST1 0x06 /* High CST Memory Registers */
-#define ADXRS450_QUAD1 0x08 /* Quad Memory Registers */
-#define ADXRS450_FAULT1 0x0A /* Fault Registers */
-#define ADXRS450_PID1 0x0C /* Part ID Register 1 */
-#define ADXRS450_SNH 0x0E /* Serial Number Registers, 4 bytes */
-#define ADXRS450_SNL 0x10
-#define ADXRS450_DNC1 0x12 /* Dynamic Null Correction Registers */
-/* Check bits */
-#define ADXRS450_P 0x01
-#define ADXRS450_CHK 0x02
-#define ADXRS450_CST 0x04
-#define ADXRS450_PWR 0x08
-#define ADXRS450_POR 0x10
-#define ADXRS450_NVM 0x20
-#define ADXRS450_Q 0x40
-#define ADXRS450_PLL 0x80
-#define ADXRS450_UV 0x100
-#define ADXRS450_OV 0x200
-#define ADXRS450_AMP 0x400
-#define ADXRS450_FAIL 0x800
-
-#define ADXRS450_WRERR_MASK (0x7 << 29)
-
-#define ADXRS450_MAX_RX 4
-#define ADXRS450_MAX_TX 4
-
-#define ADXRS450_GET_ST(a) ((a >> 26) & 0x3)
-
-enum {
- ID_ADXRS450,
- ID_ADXRS453,
-};
-
-/**
- * struct adxrs450_state - device instance specific data
- * @us: actual spi_device
- * @buf_lock: mutex to protect tx and rx
- * @tx: transmit buffer
- * @rx: receive buffer
- **/
-struct adxrs450_state {
- struct spi_device *us;
- struct mutex buf_lock;
- __be32 tx ____cacheline_aligned;
- __be32 rx;
-
-};
-
-/**
- * adxrs450_spi_read_reg_16() - read 2 bytes from a register pair
- * @indio_dev: device associated with child of actual iio_dev
- * @reg_address: the address of the lower of the two registers, which should be
- * an even address, the second register's address is reg_address + 1.
- * @val: somewhere to pass back the value read
- **/
-static int adxrs450_spi_read_reg_16(struct iio_dev *indio_dev,
- u8 reg_address,
- u16 *val)
-{
- struct spi_message msg;
- struct adxrs450_state *st = iio_priv(indio_dev);
- u32 tx;
- int ret;
- struct spi_transfer xfers[] = {
- {
- .tx_buf = &st->tx,
- .bits_per_word = 8,
- .len = sizeof(st->tx),
- .cs_change = 1,
- }, {
- .rx_buf = &st->rx,
- .bits_per_word = 8,
- .len = sizeof(st->rx),
- },
- };
-
- mutex_lock(&st->buf_lock);
- tx = ADXRS450_READ_DATA | (reg_address << 17);
-
- if (!(hweight32(tx) & 1))
- tx |= ADXRS450_P;
-
- st->tx = cpu_to_be32(tx);
- 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 while reading 16 bit register 0x%02x\n",
- reg_address);
- goto error_ret;
- }
-
- *val = (be32_to_cpu(st->rx) >> 5) & 0xFFFF;
-
-error_ret:
- mutex_unlock(&st->buf_lock);
- return ret;
-}
-
-/**
- * adxrs450_spi_write_reg_16() - write 2 bytes data to a register pair
- * @indio_dev: device associated with child of actual actual iio_dev
- * @reg_address: the address of the lower of the two registers,which should be
- * an even address, the second register's address is reg_address + 1.
- * @val: value to be written.
- **/
-static int adxrs450_spi_write_reg_16(struct iio_dev *indio_dev,
- u8 reg_address,
- u16 val)
-{
- struct adxrs450_state *st = iio_priv(indio_dev);
- u32 tx;
- int ret;
-
- mutex_lock(&st->buf_lock);
- tx = ADXRS450_WRITE_DATA | (reg_address << 17) | (val << 1);
-
- if (!(hweight32(tx) & 1))
- tx |= ADXRS450_P;
-
- st->tx = cpu_to_be32(tx);
- ret = spi_write(st->us, &st->tx, sizeof(st->tx));
- if (ret)
- dev_err(&st->us->dev, "problem while writing 16 bit register 0x%02x\n",
- reg_address);
- usleep_range(100, 1000); /* enforce sequential transfer delay 0.1ms */
- mutex_unlock(&st->buf_lock);
- return ret;
-}
-
-/**
- * adxrs450_spi_sensor_data() - read 2 bytes sensor data
- * @indio_dev: device associated with child of actual iio_dev
- * @val: somewhere to pass back the value read
- **/
-static int adxrs450_spi_sensor_data(struct iio_dev *indio_dev, s16 *val)
-{
- struct spi_message msg;
- struct adxrs450_state *st = iio_priv(indio_dev);
- int ret;
- struct spi_transfer xfers[] = {
- {
- .tx_buf = &st->tx,
- .bits_per_word = 8,
- .len = sizeof(st->tx),
- .cs_change = 1,
- }, {
- .rx_buf = &st->rx,
- .bits_per_word = 8,
- .len = sizeof(st->rx),
- },
- };
-
- mutex_lock(&st->buf_lock);
- st->tx = cpu_to_be32(ADXRS450_SENSOR_DATA);
-
- 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 while reading sensor data\n");
- goto error_ret;
- }
-
- *val = (be32_to_cpu(st->rx) >> 10) & 0xFFFF;
-
-error_ret:
- mutex_unlock(&st->buf_lock);
- return ret;
-}
-
-/**
- * adxrs450_spi_initial() - use for initializing procedure.
- * @st: device instance specific data
- * @val: somewhere to pass back the value read
- * @chk: Whether to perform fault check
- **/
-static int adxrs450_spi_initial(struct adxrs450_state *st,
- u32 *val, char chk)
-{
- struct spi_message msg;
- int ret;
- u32 tx;
- struct spi_transfer xfers = {
- .tx_buf = &st->tx,
- .rx_buf = &st->rx,
- .bits_per_word = 8,
- .len = sizeof(st->tx),
- };
-
- mutex_lock(&st->buf_lock);
- tx = ADXRS450_SENSOR_DATA;
- if (chk)
- tx |= (ADXRS450_CHK | ADXRS450_P);
- st->tx = cpu_to_be32(tx);
- spi_message_init(&msg);
- spi_message_add_tail(&xfers, &msg);
- ret = spi_sync(st->us, &msg);
- if (ret) {
- dev_err(&st->us->dev, "Problem while reading initializing data\n");
- goto error_ret;
- }
-
- *val = be32_to_cpu(st->rx);
-
-error_ret:
- mutex_unlock(&st->buf_lock);
- return ret;
-}
-
-/* Recommended Startup Sequence by spec */
-static int adxrs450_initial_setup(struct iio_dev *indio_dev)
-{
- u32 t;
- u16 data;
- int ret;
- struct adxrs450_state *st = iio_priv(indio_dev);
-
- msleep(ADXRS450_STARTUP_DELAY*2);
- ret = adxrs450_spi_initial(st, &t, 1);
- if (ret)
- return ret;
- if (t != 0x01)
- dev_warn(&st->us->dev, "The initial power on response is not correct! Restart without reset?\n");
-
- msleep(ADXRS450_STARTUP_DELAY);
- ret = adxrs450_spi_initial(st, &t, 0);
- if (ret)
- return ret;
-
- msleep(ADXRS450_STARTUP_DELAY);
- ret = adxrs450_spi_initial(st, &t, 0);
- if (ret)
- return ret;
- if (((t & 0xff) | 0x01) != 0xff || ADXRS450_GET_ST(t) != 2) {
- dev_err(&st->us->dev, "The second response is not correct!\n");
- return -EIO;
-
- }
- ret = adxrs450_spi_initial(st, &t, 0);
- if (ret)
- return ret;
- if (((t & 0xff) | 0x01) != 0xff || ADXRS450_GET_ST(t) != 2) {
- dev_err(&st->us->dev, "The third response is not correct!\n");
- return -EIO;
-
- }
- ret = adxrs450_spi_read_reg_16(indio_dev, ADXRS450_FAULT1, &data);
- if (ret)
- return ret;
- if (data & 0x0fff) {
- dev_err(&st->us->dev, "The device is not in normal status!\n");
- return -EINVAL;
- }
-
- return 0;
-}
-
-static int adxrs450_write_raw(struct iio_dev *indio_dev,
- struct iio_chan_spec const *chan,
- int val,
- int val2,
- long mask)
-{
- int ret;
- switch (mask) {
- case IIO_CHAN_INFO_CALIBBIAS:
- if (val < -0x400 || val >= 0x400)
- return -EINVAL;
- ret = adxrs450_spi_write_reg_16(indio_dev,
- ADXRS450_DNC1, val);
- break;
- default:
- ret = -EINVAL;
- break;
- }
- return ret;
-}
-
-static int adxrs450_read_raw(struct iio_dev *indio_dev,
- struct iio_chan_spec const *chan,
- int *val,
- int *val2,
- long mask)
-{
- int ret;
- s16 t;
-
- switch (mask) {
- case IIO_CHAN_INFO_RAW:
- switch (chan->type) {
- case IIO_ANGL_VEL:
- ret = adxrs450_spi_sensor_data(indio_dev, &t);
- if (ret)
- break;
- *val = t;
- ret = IIO_VAL_INT;
- break;
- case IIO_TEMP:
- ret = adxrs450_spi_read_reg_16(indio_dev,
- ADXRS450_TEMP1, &t);
- if (ret)
- break;
- *val = (t >> 6) + 225;
- ret = IIO_VAL_INT;
- break;
- default:
- ret = -EINVAL;
- break;
- }
- break;
- case IIO_CHAN_INFO_SCALE:
- switch (chan->type) {
- case IIO_ANGL_VEL:
- *val = 0;
- *val2 = 218166;
- return IIO_VAL_INT_PLUS_NANO;
- case IIO_TEMP:
- *val = 200;
- *val2 = 0;
- return IIO_VAL_INT;
- default:
- return -EINVAL;
- }
- break;
- case IIO_CHAN_INFO_QUADRATURE_CORRECTION_RAW:
- ret = adxrs450_spi_read_reg_16(indio_dev, ADXRS450_QUAD1, &t);
- if (ret)
- break;
- *val = t;
- ret = IIO_VAL_INT;
- break;
- case IIO_CHAN_INFO_CALIBBIAS:
- ret = adxrs450_spi_read_reg_16(indio_dev, ADXRS450_DNC1, &t);
- if (ret)
- break;
- *val = sign_extend32(t, 9);
- ret = IIO_VAL_INT;
- break;
- default:
- ret = -EINVAL;
- break;
- }
-
- return ret;
-}
-
-static const struct iio_chan_spec adxrs450_channels[2][2] = {
- [ID_ADXRS450] = {
- {
- .type = IIO_ANGL_VEL,
- .modified = 1,
- .channel2 = IIO_MOD_Z,
- .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT |
- IIO_CHAN_INFO_CALIBBIAS_SEPARATE_BIT |
- IIO_CHAN_INFO_QUADRATURE_CORRECTION_RAW_SEPARATE_BIT |
- IIO_CHAN_INFO_SCALE_SEPARATE_BIT,
- }, {
- .type = IIO_TEMP,
- .indexed = 1,
- .channel = 0,
- .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT |
- IIO_CHAN_INFO_SCALE_SEPARATE_BIT,
- }
- },
- [ID_ADXRS453] = {
- {
- .type = IIO_ANGL_VEL,
- .modified = 1,
- .channel2 = IIO_MOD_Z,
- .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT |
- IIO_CHAN_INFO_SCALE_SEPARATE_BIT |
- IIO_CHAN_INFO_QUADRATURE_CORRECTION_RAW_SEPARATE_BIT,
- }, {
- .type = IIO_TEMP,
- .indexed = 1,
- .channel = 0,
- .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT |
- IIO_CHAN_INFO_SCALE_SEPARATE_BIT,
- }
- },
-};
-
-static const struct iio_info adxrs450_info = {
- .driver_module = THIS_MODULE,
- .read_raw = &adxrs450_read_raw,
- .write_raw = &adxrs450_write_raw,
-};
-
-static int adxrs450_probe(struct spi_device *spi)
-{
- int ret;
- struct adxrs450_state *st;
- struct iio_dev *indio_dev;
-
- /* setup the industrialio driver allocated elements */
- indio_dev = iio_device_alloc(sizeof(*st));
- if (indio_dev == NULL) {
- ret = -ENOMEM;
- goto error_ret;
- }
- st = iio_priv(indio_dev);
- st->us = spi;
- mutex_init(&st->buf_lock);
- /* This is only used for removal purposes */
- spi_set_drvdata(spi, indio_dev);
-
- indio_dev->dev.parent = &spi->dev;
- indio_dev->info = &adxrs450_info;
- indio_dev->modes = INDIO_DIRECT_MODE;
- indio_dev->channels =
- adxrs450_channels[spi_get_device_id(spi)->driver_data];
- indio_dev->num_channels = ARRAY_SIZE(adxrs450_channels);
- indio_dev->name = spi->dev.driver->name;
-
- ret = iio_device_register(indio_dev);
- if (ret)
- goto error_free_dev;
-
- /* Get the device into a sane initial state */
- ret = adxrs450_initial_setup(indio_dev);
- if (ret)
- goto error_initial;
- return 0;
-error_initial:
- iio_device_unregister(indio_dev);
-error_free_dev:
- iio_device_free(indio_dev);
-
-error_ret:
- return ret;
-}
-
-static int adxrs450_remove(struct spi_device *spi)
-{
- iio_device_unregister(spi_get_drvdata(spi));
- iio_device_free(spi_get_drvdata(spi));
-
- return 0;
-}
-
-static const struct spi_device_id adxrs450_id[] = {
- {"adxrs450", ID_ADXRS450},
- {"adxrs453", ID_ADXRS453},
- {}
-};
-MODULE_DEVICE_TABLE(spi, adxrs450_id);
-
-static struct spi_driver adxrs450_driver = {
- .driver = {
- .name = "adxrs450",
- .owner = THIS_MODULE,
- },
- .probe = adxrs450_probe,
- .remove = adxrs450_remove,
- .id_table = adxrs450_id,
-};
-module_spi_driver(adxrs450_driver);
-
-MODULE_AUTHOR("Cliff Cai <cliff.cai@xxxxxxxxxx>");
-MODULE_DESCRIPTION("Analog Devices ADXRS450/ADXRS453 Gyroscope SPI driver");
-MODULE_LICENSE("GPL v2");
projects / linux-2.6-block.git / commitdiff