Modified: trunk/drivers/staging/iio/imu/adis16300_core.c (8790 => 8791)
--- trunk/drivers/staging/iio/imu/adis16300_core.c 2010-05-23 03:52:35 UTC (rev 8790)
+++ trunk/drivers/staging/iio/imu/adis16300_core.c 2010-05-23 04:01:30 UTC (rev 8791)
@@ -22,13 +22,16 @@
#include "../sysfs.h"
#include "../accel/accel.h"
#include "../gyro/gyro.h"
-#include "volt.h"
+#include "../adc/adc.h"
#include "adis16300.h"
#define DRIVER_NAME "adis16300"
-static int adis16300_check_status(struct device *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.
+ * This means that use cannot be made of spi_write etc.
+ */
/**
* adis16300_spi_write_reg_8() - write single byte to a register
@@ -36,7 +39,7 @@
* @reg_address: the address of the register to be written
* @val: the value to write
**/
-static int adis16300_spi_write_reg_8(struct device *dev,
+int adis16300_spi_write_reg_8(struct device *dev,
u8 reg_address,
u8 val)
{
@@ -75,13 +78,11 @@
.bits_per_word = 8,
.len = 2,
.cs_change = 1,
- .delay_usecs = 75,
}, {
.tx_buf = st->tx + 2,
.bits_per_word = 8,
.len = 2,
.cs_change = 1,
- .delay_usecs = 75,
},
};
@@ -120,14 +121,12 @@
.tx_buf = st->tx,
.bits_per_word = 8,
.len = 2,
- .cs_change = 1,
- .delay_usecs = 75,
+ .cs_change = 0,
}, {
.rx_buf = st->rx,
.bits_per_word = 8,
.len = 2,
- .cs_change = 1,
- .delay_usecs = 75,
+ .cs_change = 0,
},
};
@@ -142,8 +141,9 @@
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);
+ 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];
@@ -201,6 +201,55 @@
return ret;
}
+/**
+ * adis16300_spi_read_sequence() - read a sequence of 16-bit registers
+ * @dev: device associated with child of actual device (iio_dev or iio_trig)
+ * @tx: register addresses in bytes 0,2,4,6... (min size is 2*num bytes)
+ * @rx: somewhere to pass back the value read (min size is 2*num bytes)
+ **/
+int adis16300_spi_read_sequence(struct device *dev,
+ u8 *tx, u8 *rx, int num)
+{
+ struct spi_message msg;
+ struct spi_transfer *xfers;
+ struct iio_dev *indio_dev = dev_get_drvdata(dev);
+ struct adis16300_state *st = iio_dev_get_devdata(indio_dev);
+ int ret, i;
+
+ xfers = kzalloc(num + 1, GFP_KERNEL);
+ if (xfers == NULL) {
+ dev_err(&st->us->dev, "memory alloc failed");
+ ret = -ENOMEM;
+ goto error_ret;
+ }
+
+ /* tx: |add1|addr2|addr3|...|addrN |zero|
+ * rx: |zero|res1 |res2 |...|resN-1|resN| */
+ spi_message_init(&msg);
+ for (i = 0; i < num + 1; i++) {
+ if (i > 0)
+ xfers[i].rx_buf = st->rx + 2*(i - 1);
+ if (i < num)
+ xfers[i].tx_buf = st->tx + 2*i;
+ xfers[i].bits_per_word = 8;
+ xfers[i].len = 2;
+ xfers[i].cs_change = 1;
+ spi_message_add_tail(&xfers[i], &msg);
+ }
+
+ mutex_lock(&st->buf_lock);
+
+ ret = spi_sync(st->us, &msg);
+ if (ret)
+ dev_err(&st->us->dev, "problem when reading sequence");
+
+ mutex_unlock(&st->buf_lock);
+ kfree(xfers);
+
+error_ret:
+ return ret;
+}
+
static ssize_t adis16300_spi_read_signed(struct device *dev,
struct device_attribute *attr,
char *buf,
@@ -239,24 +288,6 @@
return sprintf(buf, "%u\n", val & 0x0FFF);
}
-static ssize_t adis16300_read_14bit_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 = adis16300_spi_read_reg_16(dev, this_attr->address, &val);
- if (ret)
- return ret;
-
- if (val & ADIS16300_ERROR_ACTIVE)
- adis16300_check_status(dev);
-
- return sprintf(buf, "%u\n", val & 0x3FFF);
-}
-
static ssize_t adis16300_read_14bit_signed(struct device *dev,
struct device_attribute *attr,
char *buf)
@@ -373,18 +404,6 @@
return ret ? ret : len;
}
-static int adis16300_reset(struct device *dev)
-{
- int ret;
- ret = adis16300_spi_write_reg_8(dev,
- ADIS16300_GLOB_CMD,
- ADIS16300_GLOB_CMD_SW_RESET);
- if (ret)
- dev_err(dev, "problem resetting device");
-
- return ret;
-}
-
static ssize_t adis16300_write_reset(struct device *dev,
struct device_attribute *attr,
const char *buf, size_t len)
@@ -400,6 +419,8 @@
return -1;
}
+
+
int adis16300_set_irq(struct device *dev, bool enable)
{
int ret;
@@ -423,8 +444,20 @@
return ret;
}
+int adis16300_reset(struct device *dev)
+{
+ int ret;
+ ret = adis16300_spi_write_reg_8(dev,
+ ADIS16300_GLOB_CMD,
+ ADIS16300_GLOB_CMD_SW_RESET);
+ if (ret)
+ dev_err(dev, "problem resetting device");
+
+ return ret;
+}
+
/* Power down the device */
-static int adis16300_stop_device(struct device *dev)
+int adis16300_stop_device(struct device *dev)
{
int ret;
u16 val = ADIS16300_SLP_CNT_POWER_OFF;
@@ -436,7 +469,7 @@
return ret;
}
-static int adis16300_self_test(struct device *dev)
+int adis16300_self_test(struct device *dev)
{
int ret;
ret = adis16300_spi_write_reg_16(dev,
@@ -453,7 +486,7 @@
return ret;
}
-static int adis16300_check_status(struct device *dev)
+int adis16300_check_status(struct device *dev)
{
u16 status;
int ret;
@@ -480,7 +513,7 @@
if (status & ADIS16300_DIAG_STAT_FLASH_CHK)
dev_err(dev, "Flash checksum error\n");
if (status & ADIS16300_DIAG_STAT_SELF_TEST)
- dev_err(dev, "Self test error \n");
+ dev_err(dev, "Self test error\n");
if (status & ADIS16300_DIAG_STAT_OVERFLOW)
dev_err(dev, "Sensor overrange\n");
if (status & ADIS16300_DIAG_STAT_SPI_FAIL)
@@ -515,11 +548,6 @@
}
/* Do self test */
- ret = adis16300_self_test(dev);
- if (ret) {
- dev_err(dev, "self test failure");
- goto err_ret;
- }
/* Read status register to check the result */
ret = adis16300_check_status(dev);
@@ -563,13 +591,13 @@
adis16300_write_16bit,
ADIS16300_ZACCL_OFF);
-static IIO_DEV_ATTR_VOLT(supply, adis16300_read_14bit_unsigned,
- ADIS16300_SUPPLY_OUT);
-static IIO_CONST_ATTR(volt_supply_scale, "0.00242");
+static IIO_DEV_ATTR_IN_NAMED_RAW(supply, adis16300_read_14bit_signed,
+ ADIS16300_SUPPLY_OUT);
+static IIO_CONST_ATTR(in_supply_scale, "0.00242");
static IIO_DEV_ATTR_GYRO_X(adis16300_read_14bit_signed,
ADIS16300_XGYRO_OUT);
-static IIO_CONST_ATTR(gyro_scale, "0.05");
+static IIO_CONST_ATTR(gyro_scale, "0.05 deg/s");
static IIO_DEV_ATTR_ACCEL_X(adis16300_read_14bit_signed,
ADIS16300_XACCL_OUT);
@@ -577,27 +605,27 @@
ADIS16300_YACCL_OUT);
static IIO_DEV_ATTR_ACCEL_Z(adis16300_read_14bit_signed,
ADIS16300_ZACCL_OUT);
-static IIO_CONST_ATTR(accel_scale, "0.0006");
+static IIO_CONST_ATTR(accel_scale, "0.0006 g");
static IIO_DEV_ATTR_INCLI_X(adis16300_read_13bit_signed,
ADIS16300_XINCLI_OUT);
static IIO_DEV_ATTR_INCLI_Y(adis16300_read_13bit_signed,
ADIS16300_YINCLI_OUT);
-static IIO_CONST_ATTR(incli_scale, "0.044");
+static IIO_CONST_ATTR(incli_scale, "0.044 d");
-static IIO_DEV_ATTR_TEMP(adis16300_read_12bit_unsigned);
-static IIO_CONST_ATTR(temp_offset, "198.16");
-static IIO_CONST_ATTR(temp_scale, "0.14");
+static IIO_DEV_ATTR_TEMP(adis16300_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_VOLT(aux, adis16300_read_12bit_unsigned,
+static IIO_DEV_ATTR_IN_RAW(0, adis16300_read_12bit_unsigned,
ADIS16300_AUX_ADC);
-static IIO_CONST_ATTR(volt_aux_scale, "0.000806");
+static IIO_CONST_ATTR(in0_scale, "0.000806");
static IIO_DEV_ATTR_SAMP_FREQ(S_IWUSR | S_IRUGO,
adis16300_read_frequency,
adis16300_write_frequency);
-static IIO_DEV_ATTR_RESET(adis16300_write_reset);
+static IIO_DEVICE_ATTR(reset, S_IWUSR, NULL, adis16300_write_reset, 0);
static IIO_CONST_ATTR_AVAIL_SAMP_FREQ("409 546 819 1638");
@@ -615,13 +643,13 @@
&iio_dev_attr_accel_x_offset.dev_attr.attr,
&iio_dev_attr_accel_y_offset.dev_attr.attr,
&iio_dev_attr_accel_z_offset.dev_attr.attr,
- &iio_dev_attr_volt_supply.dev_attr.attr,
- &iio_const_attr_volt_supply_scale.dev_attr.attr,
+ &iio_dev_attr_in_supply_raw.dev_attr.attr,
+ &iio_const_attr_in_supply_scale.dev_attr.attr,
&iio_dev_attr_gyro_x.dev_attr.attr,
&iio_const_attr_gyro_scale.dev_attr.attr,
- &iio_dev_attr_accel_x.dev_attr.attr,
- &iio_dev_attr_accel_y.dev_attr.attr,
- &iio_dev_attr_accel_z.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_incli_x.dev_attr.attr,
&iio_dev_attr_incli_y.dev_attr.attr,
@@ -629,8 +657,8 @@
&iio_dev_attr_temp.dev_attr.attr,
&iio_const_attr_temp_offset.dev_attr.attr,
&iio_const_attr_temp_scale.dev_attr.attr,
- &iio_dev_attr_volt_aux.dev_attr.attr,
- &iio_const_attr_volt_aux_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,
@@ -696,7 +724,15 @@
goto error_unreg_ring_funcs;
}
- if (spi->irq > 0) {
+ if (spi->irq && gpio_is_valid(irq_to_gpio(spi->irq)) > 0) {
+#if 0 /* fixme: here we should support */
+ iio_init_work_cont(&st->work_cont_thresh,
+ NULL,
+ adis16300_thresh_handler_bh_no_check,
+ 0,
+ 0,
+ st);
+#endif
ret = iio_register_interrupt_line(spi->irq,
st->indio_dev,
0,
@@ -717,9 +753,10 @@
return 0;
error_remove_trigger:
- adis16300_remove_trigger(st->indio_dev);
+ if (st->indio_dev->modes & INDIO_RING_TRIGGERED)
+ adis16300_remove_trigger(st->indio_dev);
error_unregister_line:
- if (spi->irq)
+ if (st->indio_dev->modes & INDIO_RING_TRIGGERED)
iio_unregister_interrupt_line(st->indio_dev, 0);
error_uninitialize_ring:
adis16300_uninitialize_ring(st->indio_dev->ring);
@@ -740,6 +777,7 @@
return ret;
}
+/* fixme, confirm ordering in this function */
static int adis16300_remove(struct spi_device *spi)
{
int ret;
@@ -753,12 +791,12 @@
flush_scheduled_work();
adis16300_remove_trigger(indio_dev);
- if (spi->irq)
+ if (spi->irq && gpio_is_valid(irq_to_gpio(spi->irq)) > 0)
iio_unregister_interrupt_line(indio_dev, 0);
adis16300_uninitialize_ring(indio_dev->ring);
+ adis16300_unconfigure_ring(indio_dev);
iio_device_unregister(indio_dev);
- adis16300_unconfigure_ring(indio_dev);
kfree(st->tx);
kfree(st->rx);
kfree(st);
Modified: trunk/drivers/staging/iio/imu/adis16300_ring.c (8790 => 8791)
--- trunk/drivers/staging/iio/imu/adis16300_ring.c 2010-05-23 03:52:35 UTC (rev 8790)
+++ trunk/drivers/staging/iio/imu/adis16300_ring.c 2010-05-23 04:01:30 UTC (rev 8791)
@@ -26,30 +26,31 @@
return _lower | (_upper << 8);
}
-static IIO_SCAN_EL_C(supply, ADIS16300_SCAN_SUPPLY, IIO_UNSIGNED(14),
- ADIS16300_SUPPLY_OUT, NULL);
+static IIO_SCAN_EL_C(supply, ADIS16300_SCAN_SUPPLY, IIO_SIGNED(14),
+ ADIS16300_SUPPLY_OUT, NULL);
static IIO_SCAN_EL_C(gyro_x, ADIS16300_SCAN_GYRO_X, IIO_SIGNED(14),
- ADIS16300_XGYRO_OUT, NULL);
+ ADIS16300_XGYRO_OUT, NULL);
static IIO_SCAN_EL_C(accel_x, ADIS16300_SCAN_ACC_X, IIO_SIGNED(14),
- ADIS16300_XACCL_OUT, NULL);
+ ADIS16300_XACCL_OUT, NULL);
static IIO_SCAN_EL_C(accel_y, ADIS16300_SCAN_ACC_Y, IIO_SIGNED(14),
- ADIS16300_YACCL_OUT, NULL);
+ ADIS16300_YACCL_OUT, NULL);
static IIO_SCAN_EL_C(accel_z, ADIS16300_SCAN_ACC_Z, IIO_SIGNED(14),
- ADIS16300_ZACCL_OUT, NULL);
+ ADIS16300_ZACCL_OUT, NULL);
-static IIO_SCAN_EL_C(incli_x, ADIS16300_SCAN_INCLI_X, IIO_SIGNED(13),
- ADIS16300_XINCLI_OUT, NULL);
-static IIO_SCAN_EL_C(incli_y, ADIS16300_SCAN_INCLI_Y, IIO_SIGNED(13),
- ADIS16300_YINCLI_OUT, NULL);
+static IIO_SCAN_EL_C(temp, ADIS16300_SCAN_TEMP, IIO_SIGNED(12),
+ ADIS16300_TEMP_OUT, NULL);
+static IIO_SCAN_EL_C(adc_0, ADIS16300_SCAN_ADC_0, IIO_SIGNED(12),
+ ADIS16300_AUX_ADC, NULL);
-static IIO_SCAN_EL_C(temp, ADIS16300_SCAN_TEMP, IIO_UNSIGNED(12),
- ADIS16300_TEMP_OUT, NULL);
-static IIO_SCAN_EL_C(adc_0, ADIS16300_SCAN_ADC_0, IIO_UNSIGNED(12),
- ADIS16300_AUX_ADC, NULL);
-static IIO_SCAN_EL_TIMESTAMP;
+static IIO_SCAN_EL_C(incli_x, ADIS16300_SCAN_INCLI_X, IIO_SIGNED(12),
+ ADIS16300_XINCLI_OUT, NULL);
+static IIO_SCAN_EL_C(incli_y, ADIS16300_SCAN_INCLI_Y, IIO_SIGNED(12),
+ ADIS16300_YINCLI_OUT, NULL);
+static IIO_SCAN_EL_TIMESTAMP(9);
+
static struct attribute *adis16300_scan_el_attrs[] = {
&iio_scan_el_supply.dev_attr.attr,
&iio_scan_el_gyro_x.dev_attr.attr,
@@ -78,54 +79,12 @@
struct adis16300_state *st = iio_dev_get_devdata(indio_dev);
st->last_timestamp = indio_dev->trig->timestamp;
schedule_work(&st->work_trigger_to_ring);
-}
+ /* Indicate that this interrupt is being handled */
-/**
- * adis16300_spi_read_burst() - read all data registers
- * @dev: device associated with child of actual device (iio_dev or iio_trig)
- * @rx: somewhere to pass back the value read (min size is 24 bytes)
- **/
-static int adis16300_spi_read_burst(struct device *dev, u8 *rx)
-{
- struct spi_message msg;
- struct iio_dev *indio_dev = dev_get_drvdata(dev);
- struct adis16300_state *st = iio_dev_get_devdata(indio_dev);
- u32 old_speed_hz = st->us->max_speed_hz;
- int ret;
-
- struct spi_transfer xfers[] = {
- {
- .tx_buf = st->tx,
- .bits_per_word = 8,
- .len = 2,
- .cs_change = 0,
- }, {
- .rx_buf = rx,
- .bits_per_word = 8,
- .len = 18,
- .cs_change = 0,
- },
- };
-
- mutex_lock(&st->buf_lock);
- st->tx[0] = ADIS16300_READ_REG(ADIS16300_GLOB_CMD);
- st->tx[1] = 0;
-
- spi_message_init(&msg);
- spi_message_add_tail(&xfers[0], &msg);
- spi_message_add_tail(&xfers[1], &msg);
-
- st->us->max_speed_hz = ADIS16300_SPI_BURST;
- spi_setup(st->us);
-
- ret = spi_sync(st->us, &msg);
- if (ret)
- dev_err(&st->us->dev, "problem when burst reading");
-
- st->us->max_speed_hz = old_speed_hz;
- spi_setup(st->us);
- mutex_unlock(&st->buf_lock);
- return ret;
+ /* Technically this is trigger related, but without this
+ * handler running there is currently no way for the interrupt
+ * to clear.
+ */
}
/* Whilst this makes a lot of calls to iio_sw_ring functions - it is to device
@@ -168,7 +127,8 @@
return;
}
-
+/* in these circumstances is it better to go with unaligned packing and
+ * deal with the cost?*/
static int adis16300_data_rdy_ring_preenable(struct iio_dev *indio_dev)
{
size_t size;
@@ -264,7 +224,7 @@
int adis16300_initialize_ring(struct iio_ring_buffer *ring)
{
- return iio_ring_buffer_register(ring);
+ return iio_ring_buffer_register(ring, 0);
}
void adis16300_uninitialize_ring(struct iio_ring_buffer *ring)
