From 420b0fcb523b61eefb347317d3956db3249e968d Mon Sep 17 00:00:00 2001 From: Lars-Peter Clausen Date: Thu, 31 Jan 2013 14:27:00 +0000 Subject: staging:iio: Move adxrs450 driver out of staging 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 Signed-off-by: Jonathan Cameron --- drivers/iio/gyro/Kconfig | 10 + drivers/iio/gyro/Makefile | 2 + drivers/iio/gyro/adxrs450.c | 497 ++++++++++++++++++++++++++++++++++++ drivers/staging/iio/gyro/Kconfig | 10 - drivers/staging/iio/gyro/Makefile | 2 - drivers/staging/iio/gyro/adxrs450.c | 497 ------------------------------------ 6 files changed, 509 insertions(+), 509 deletions(-) create mode 100644 drivers/iio/gyro/adxrs450.c delete mode 100644 drivers/staging/iio/gyro/adxrs450.c diff --git a/drivers/iio/gyro/Kconfig b/drivers/iio/gyro/Kconfig index c9f177dd4cc..51ac6bc791c 100644 --- a/drivers/iio/gyro/Kconfig +++ b/drivers/iio/gyro/Kconfig @@ -19,6 +19,16 @@ config ADIS16136 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 diff --git a/drivers/iio/gyro/Makefile b/drivers/iio/gyro/Makefile index 66b517d9468..eff9bb0119a 100644 --- a/drivers/iio/gyro/Makefile +++ b/drivers/iio/gyro/Makefile @@ -4,6 +4,8 @@ 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 diff --git a/drivers/iio/gyro/adxrs450.c b/drivers/iio/gyro/adxrs450.c new file mode 100644 index 00000000000..d9d43831c38 --- /dev/null +++ b/drivers/iio/gyro/adxrs450.c @@ -0,0 +1,497 @@ +/* + * ADXRS450/ADXRS453 Digital Output Gyroscope Driver + * + * Copyright 2011 Analog Devices Inc. + * + * Licensed under the GPL-2. + */ + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include +#include + +#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 "); +MODULE_DESCRIPTION("Analog Devices ADXRS450/ADXRS453 Gyroscope SPI driver"); +MODULE_LICENSE("GPL v2"); diff --git a/drivers/staging/iio/gyro/Kconfig b/drivers/staging/iio/gyro/Kconfig index 658b3673d05..83606628719 100644 --- a/drivers/staging/iio/gyro/Kconfig +++ b/drivers/staging/iio/gyro/Kconfig @@ -29,14 +29,4 @@ config ADIS16260 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 diff --git a/drivers/staging/iio/gyro/Makefile b/drivers/staging/iio/gyro/Makefile index 6b4e60ab743..98e650061a3 100644 --- a/drivers/staging/iio/gyro/Makefile +++ b/drivers/staging/iio/gyro/Makefile @@ -10,5 +10,3 @@ obj-$(CONFIG_ADIS16130) += adis16130.o adis16260-y := adis16260_core.o obj-$(CONFIG_ADIS16260) += adis16260.o - -obj-$(CONFIG_ADXRS450) += adxrs450.o diff --git a/drivers/staging/iio/gyro/adxrs450.c b/drivers/staging/iio/gyro/adxrs450.c deleted file mode 100644 index d9d43831c38..00000000000 --- a/drivers/staging/iio/gyro/adxrs450.c +++ /dev/null @@ -1,497 +0,0 @@ -/* - * ADXRS450/ADXRS453 Digital Output Gyroscope Driver - * - * Copyright 2011 Analog Devices Inc. - * - * Licensed under the GPL-2. - */ - -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include - -#include -#include - -#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 "); -MODULE_DESCRIPTION("Analog Devices ADXRS450/ADXRS453 Gyroscope SPI driver"); -MODULE_LICENSE("GPL v2"); -- cgit v1.2.3-70-g09d2