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-rw-r--r--drivers/staging/Kconfig2
-rw-r--r--drivers/staging/Makefile1
-rw-r--r--drivers/staging/adis16255/Kconfig10
-rw-r--r--drivers/staging/adis16255/Makefile2
-rw-r--r--drivers/staging/adis16255/TODO8
-rw-r--r--drivers/staging/adis16255/adis16255.c354
6 files changed, 222 insertions, 155 deletions
diff --git a/drivers/staging/Kconfig b/drivers/staging/Kconfig
index e062b092073e..06d3b10d2a14 100644
--- a/drivers/staging/Kconfig
+++ b/drivers/staging/Kconfig
@@ -137,5 +137,7 @@ source "drivers/staging/cxt1e1/Kconfig"
source "drivers/staging/ti-st/Kconfig"
+source "drivers/staging/adis16255/Kconfig"
+
endif # !STAGING_EXCLUDE_BUILD
endif # STAGING
diff --git a/drivers/staging/Makefile b/drivers/staging/Makefile
index 097c158d91f7..5526870777c6 100644
--- a/drivers/staging/Makefile
+++ b/drivers/staging/Makefile
@@ -49,3 +49,4 @@ obj-$(CONFIG_VIDEO_DT3155) += dt3155v4l/
obj-$(CONFIG_CRYSTALHD) += crystalhd/
obj-$(CONFIG_CXT1E1) += cxt1e1/
obj-$(CONFIG_TI_ST) += ti-st/
+obj-$(CONFIG_ADIS16255)) += adis16255/
diff --git a/drivers/staging/adis16255/Kconfig b/drivers/staging/adis16255/Kconfig
index 3952cf95b783..a642be66adea 100644
--- a/drivers/staging/adis16255/Kconfig
+++ b/drivers/staging/adis16255/Kconfig
@@ -2,8 +2,10 @@ config ADIS16255
tristate "Ananlog Devices ADIS16250/16255"
depends on SPI && SYSFS
---help---
- If you say yes here you get support for the Analog Devices
- ADIS16250/16255 Low Power Gyroscope.
+ If you say yes here you get support for the Analog Devices
+ ADIS16250/16255 Low Power Gyroscope. The driver exposes
+ orientation and gyroscope value, as well as sample rate
+ to the sysfs.
- This driver can also be built as a module. If so, the module
- will be called adis16255.
+ This driver can also be built as a module. If so, the module
+ will be called adis16255.
diff --git a/drivers/staging/adis16255/Makefile b/drivers/staging/adis16255/Makefile
index 8057372d3781..8c3908106bfa 100644
--- a/drivers/staging/adis16255/Makefile
+++ b/drivers/staging/adis16255/Makefile
@@ -1 +1 @@
-obj-$(CONFIG_ADIS16255) += adis1625.o
+obj-$(CONFIG_ADIS16255) += adis16255.o
diff --git a/drivers/staging/adis16255/TODO b/drivers/staging/adis16255/TODO
deleted file mode 100644
index 31e4ac3bdb61..000000000000
--- a/drivers/staging/adis16255/TODO
+++ /dev/null
@@ -1,8 +0,0 @@
-* sample rate changeable or at least readable from sysfs
-* reset gyroscope
-* encapsulate adis_init and adis_turn_off
-* AD_CHK deletion
-* chip selftest in adis_init
-* reduce kernel messages to reasonable amount
-
-Contact: Matthias Brugger <mensch0815@gmail.com>
diff --git a/drivers/staging/adis16255/adis16255.c b/drivers/staging/adis16255/adis16255.c
index 8d110692a030..1ba11f00b2e7 100644
--- a/drivers/staging/adis16255/adis16255.c
+++ b/drivers/staging/adis16255/adis16255.c
@@ -21,6 +21,14 @@
* 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
*/
+/*
+ * The driver just has a bare interface to the sysfs (sample rate in Hz,
+ * orientation (x, y, z) and gyroscope data in °/sec.
+ *
+ * It should be added to iio subsystem when this has left staging.
+ *
+ */
+
#include <linux/init.h>
#include <linux/module.h>
#include <linux/device.h>
@@ -62,14 +70,13 @@
* @data: Last read data from device.
* @irq_adis: GPIO Number of IRQ signal
* @irq: irq line manage by kernel
- * @negative: indicates if sensor is upside down (negative ÿ1)
+ * @negative: indicates if sensor is upside down (negative == 1)
* @direction: indicates axis (x, y, z) the sensor is meassuring
*/
struct spi_adis16255_data {
struct device dev;
struct spi_device *spi;
s16 data;
- int irq_adis;
int irq;
u8 negative;
char direction;
@@ -81,47 +88,44 @@ static int spi_adis16255_read_data(struct spi_adis16255_data *spiadis,
u8 adr,
u8 *rbuf)
{
- struct spi_device *spi ÿpiadis->spi;
+ struct spi_device *spi = spiadis->spi;
struct spi_message msg;
struct spi_transfer xfer1, xfer2;
u8 *buf, *rx;
int ret;
- buf ÿmalloc(4, GFP_KERNEL);
- if (buf ÿNULL)
+ buf = kzalloc(4, GFP_KERNEL);
+ if (buf == NULL)
return -ENOMEM;
- rx ÿzalloc(4, GFP_KERNEL);
- if (rx ÿNULL) {
- ret ÿENOMEM;
+ rx = kzalloc(4, GFP_KERNEL);
+ if (rx == NULL) {
+ ret = -ENOMEM;
goto err_buf;
}
- buf[0] údr;
- buf[1] ðx00;
- buf[2] ðx00;
- buf[3] ðx00;
+ buf[0] = adr;
spi_message_init(&msg);
memset(&xfer1, 0, sizeof(xfer1));
memset(&xfer2, 0, sizeof(xfer2));
- xfer1.tx_buf ûuf;
- xfer1.rx_buf ûuf + 2;
- xfer1.len ò;
- xfer1.delay_usecs ù;
+ xfer1.tx_buf = buf;
+ xfer1.rx_buf = buf + 2;
+ xfer1.len = 2;
+ xfer1.delay_usecs = 9;
- xfer2.tx_buf ÿx + 2;
- xfer2.rx_buf ÿx;
- xfer2.len ò;
+ xfer2.tx_buf = rx + 2;
+ xfer2.rx_buf = rx;
+ xfer2.len = 2;
spi_message_add_tail(&xfer1, &msg);
spi_message_add_tail(&xfer2, &msg);
- ret ÿpi_sync(spi, &msg);
- if (ret ÿ0) {
- rbuf[0] ÿx[0];
- rbuf[1] ÿx[1];
+ ret = spi_sync(spi, &msg);
+ if (ret == 0) {
+ rbuf[0] = rx[0];
+ rbuf[1] = rx[1];
}
kfree(rx);
@@ -136,19 +140,19 @@ static int spi_adis16255_write_data(struct spi_adis16255_data *spiadis,
u8 adr2,
u8 *wbuf)
{
- struct spi_device *spi ÿpiadis->spi;
+ struct spi_device *spi = spiadis->spi;
struct spi_message msg;
struct spi_transfer xfer1, xfer2;
u8 *buf, *rx;
int ret;
- buf ÿmalloc(4, GFP_KERNEL);
- if (buf ÿNULL)
+ buf = kmalloc(4, GFP_KERNEL);
+ if (buf == NULL)
return -ENOMEM;
- rx ÿzalloc(4, GFP_KERNEL);
- if (rx ÿNULL) {
- ret ÿENOMEM;
+ rx = kzalloc(4, GFP_KERNEL);
+ if (rx == NULL) {
+ ret = -ENOMEM;
goto err_buf;
}
@@ -156,27 +160,27 @@ static int spi_adis16255_write_data(struct spi_adis16255_data *spiadis,
memset(&xfer1, 0, sizeof(xfer1));
memset(&xfer2, 0, sizeof(xfer2));
- buf[0] údr1 | 0x80;
- buf[1] ÿwbuf;
+ buf[0] = adr1 | 0x80;
+ buf[1] = *wbuf;
- buf[2] údr2 | 0x80;
- buf[3] ÿ(wbuf + 1);
+ buf[2] = adr2 | 0x80;
+ buf[3] = *(wbuf + 1);
- xfer1.tx_buf ûuf;
- xfer1.rx_buf ÿx;
- xfer1.len ò;
- xfer1.delay_usecs ù;
+ xfer1.tx_buf = buf;
+ xfer1.rx_buf = rx;
+ xfer1.len = 2;
+ xfer1.delay_usecs = 9;
- xfer2.tx_buf ûuf+2;
- xfer2.rx_buf ÿx+2;
- xfer2.len ò;
+ xfer2.tx_buf = buf+2;
+ xfer2.rx_buf = rx+2;
+ xfer2.len = 2;
spi_message_add_tail(&xfer1, &msg);
spi_message_add_tail(&xfer2, &msg);
- ret ÿpi_sync(spi, &msg);
- if (ret !ð)
- dev_warn(&spi->dev, "wirte data to %#x %#x failed\n",
+ ret = spi_sync(spi, &msg);
+ if (ret != 0)
+ dev_warn(&spi->dev, "write data to %#x %#x failed\n",
buf[0], buf[2]);
kfree(rx);
@@ -189,29 +193,31 @@ err_buf:
static irqreturn_t adis_irq_thread(int irq, void *dev_id)
{
- struct spi_adis16255_data *spiadis ýev_id;
+ struct spi_adis16255_data *spiadis = dev_id;
int status;
- u16 value;
-
- status ÿspi_adis16255_read_data(spiadis, ADIS_GYRO_OUT, (u8 *)&value);
- if (status ÿ0) {
- /* perform on new data only... */
- if (value & 0x8000) {
- /* delete error and new data bit */
- value ÿalue & 0x3fff;
- /* set negative value */
- if (value & 0x2000)
- value ÿalue | 0xe000;
-
- if (likely(spiadis->negative))
- value ÿvalue;
-
- spiadis->data ÿs16) value;
- }
- } else {
+ u16 value = 0;
+
+ status = spi_adis16255_read_data(spiadis, ADIS_GYRO_OUT, (u8 *)&value);
+ if (status != 0) {
dev_warn(&spiadis->spi->dev, "SPI FAILED\n");
+ goto exit;
}
+ /* perform on new data only... */
+ if (value & 0x8000) {
+ /* delete error and new data bit */
+ value = value & 0x3fff;
+ /* set negative value */
+ if (value & 0x2000)
+ value = value | 0xe000;
+
+ if (likely(spiadis->negative))
+ value = -value;
+
+ spiadis->data = (s16) value;
+ }
+
+exit:
return IRQ_HANDLED;
}
@@ -221,7 +227,7 @@ ssize_t adis16255_show_data(struct device *device,
struct device_attribute *da,
char *buf)
{
- struct spi_adis16255_data *spiadis ýev_get_drvdata(device);
+ struct spi_adis16255_data *spiadis = dev_get_drvdata(device);
return snprintf(buf, PAGE_SIZE, "%d\n", spiadis->data);
}
DEVICE_ATTR(data, S_IRUGO , adis16255_show_data, NULL);
@@ -230,112 +236,186 @@ ssize_t adis16255_show_direction(struct device *device,
struct device_attribute *da,
char *buf)
{
- struct spi_adis16255_data *spiadis ýev_get_drvdata(device);
+ struct spi_adis16255_data *spiadis = dev_get_drvdata(device);
return snprintf(buf, PAGE_SIZE, "%c\n", spiadis->direction);
}
DEVICE_ATTR(direction, S_IRUGO , adis16255_show_direction, NULL);
-static struct attribute *adis16255_attributes[] ÿ
+ssize_t adis16255_show_sample_rate(struct device *device,
+ struct device_attribute *da,
+ char *buf)
+{
+ struct spi_adis16255_data *spiadis = dev_get_drvdata(device);
+ int status = 0;
+ u16 value = 0;
+ int ts = 0;
+
+ status = spi_adis16255_read_data(spiadis, ADIS_SMPL_PRD_MSB,
+ (u8 *)&value);
+ if (status != 0)
+ return -EINVAL;
+
+ if (value & 0x80) {
+ /* timebase = 60.54 ms */
+ ts = 60540 * ((0x7f & value) + 1);
+ } else {
+ /* timebase = 1.953 ms */
+ ts = 1953 * ((0x7f & value) + 1);
+ }
+
+ return snprintf(buf, PAGE_SIZE, "%d\n", (1000*1000)/ts);
+}
+DEVICE_ATTR(sample_rate, S_IRUGO , adis16255_show_sample_rate, NULL);
+
+static struct attribute *adis16255_attributes[] = {
&dev_attr_data.attr,
&dev_attr_direction.attr,
+ &dev_attr_sample_rate.attr,
NULL
};
-static const struct attribute_group adis16255_attr_group ÿ
- .attrs údis16255_attributes,
+static const struct attribute_group adis16255_attr_group = {
+ .attrs = adis16255_attributes,
};
/*-------------------------------------------------------------------------*/
-static int spi_adis16255_probe(struct spi_device *spi)
+static int spi_adis16255_shutdown(struct spi_adis16255_data *spiadis)
+{
+ u16 value = 0;
+ /* turn sensor off */
+ spi_adis16255_write_data(spiadis,
+ ADIS_SMPL_PRD_MSB, ADIS_SMPL_PRD_LSB,
+ (u8 *)&value);
+ spi_adis16255_write_data(spiadis,
+ ADIS_MSC_CTRL_MSB, ADIS_MSC_CTRL_LSB,
+ (u8 *)&value);
+ return 0;
+}
+
+static int spi_adis16255_bringup(struct spi_adis16255_data *spiadis)
{
+ int status = 0;
+ u16 value = 0;
+
+ status = spi_adis16255_read_data(spiadis, ADIS_GYRO_SCALE,
+ (u8 *)&value);
+ if (status != 0)
+ goto err;
+ if (value != 0x0800) {
+ dev_warn(&spiadis->spi->dev, "Scale factor is none default"
+ "value (%.4x)\n", value);
+ }
+
+ /* timebase = 1.953 ms, Ns = 0 -> 512 Hz sample rate */
+ value = 0x0001;
+ status = spi_adis16255_write_data(spiadis,
+ ADIS_SMPL_PRD_MSB, ADIS_SMPL_PRD_LSB,
+ (u8 *)&value);
+ if (status != 0)
+ goto err;
+
+ /* start internal self-test */
+ value = 0x0400;
+ status = spi_adis16255_write_data(spiadis,
+ ADIS_MSC_CTRL_MSB, ADIS_MSC_CTRL_LSB,
+ (u8 *)&value);
+ if (status != 0)
+ goto err;
+
+ /* wait 35 ms to finish self-test */
+ msleep(35);
+
+ value = 0x0000;
+ status = spi_adis16255_read_data(spiadis, ADIS_STATUS,
+ (u8 *)&value);
+ if (status != 0)
+ goto err;
+
+ if (value & 0x23) {
+ if (value & 0x20) {
+ dev_warn(&spiadis->spi->dev, "self-test error\n");
+ status = -ENODEV;
+ goto err;
+ } else if (value & 0x3) {
+ dev_warn(&spiadis->spi->dev, "Sensor voltage"
+ "out of range.\n");
+ status = -ENODEV;
+ goto err;
+ }
+ }
-#define AD_CHK(_ss)\
- do {\
- status ÿss;\
- if (status !ð)\
- goto irq_err;\
- } while (0);
+ /* set interrupt to active high on DIO0 when data ready */
+ value = 0x0006;
+ status = spi_adis16255_write_data(spiadis,
+ ADIS_MSC_CTRL_MSB, ADIS_MSC_CTRL_LSB,
+ (u8 *)&value);
+ if (status != 0)
+ goto err;
+ return status;
+
+err:
+ spi_adis16255_shutdown(spiadis);
+ return status;
+}
+
+/*-------------------------------------------------------------------------*/
- struct adis16255_init_data *init_data ÿpi->dev.platform_data;
+static int spi_adis16255_probe(struct spi_device *spi)
+{
+
+ struct adis16255_init_data *init_data = spi->dev.platform_data;
struct spi_adis16255_data *spiadis;
- int status ð;
- u16 value;
+ int status = 0;
- spiadis ÿzalloc(sizeof(*spiadis), GFP_KERNEL);
+ spiadis = kzalloc(sizeof(*spiadis), GFP_KERNEL);
if (!spiadis)
return -ENOMEM;
- spiadis->spi ÿpi;
- spiadis->irq_adis ÿnit_data->irq;
- spiadis->direction ÿnit_data->direction;
+ spiadis->spi = spi;
+ spiadis->direction = init_data->direction;
if (init_data->negative)
- spiadis->negative ñ;
+ spiadis->negative = 1;
- status ÿpio_request(spiadis->irq_adis, "adis16255");
- if (status !ð)
+ status = gpio_request(init_data->irq, "adis16255");
+ if (status != 0)
goto err;
- status ÿpio_direction_input(spiadis->irq_adis);
- if (status !ð)
+ status = gpio_direction_input(init_data->irq);
+ if (status != 0)
goto gpio_err;
- spiadis->irq ÿpio_to_irq(spiadis->irq_adis);
+ spiadis->irq = gpio_to_irq(init_data->irq);
- status ÿequest_threaded_irq(spiadis->irq,
+ status = request_threaded_irq(spiadis->irq,
NULL, adis_irq_thread,
IRQF_DISABLED, "adis-driver", spiadis);
- if (status !ð) {
+ if (status != 0) {
dev_err(&spi->dev, "IRQ request failed\n");
goto gpio_err;
}
- dev_dbg(&spi->dev, "GPIO %d IRQ %d\n", spiadis->irq_adis, spiadis->irq);
+ dev_dbg(&spi->dev, "GPIO %d IRQ %d\n", init_data->irq, spiadis->irq);
dev_set_drvdata(&spi->dev, spiadis);
- AD_CHK(sysfs_create_group(&spi->dev.kobj, &adis16255_attr_group));
-
- dev_info(&spi->dev, "spi_adis16255 driver added!\n");
+ status = sysfs_create_group(&spi->dev.kobj, &adis16255_attr_group);
+ if (status != 0)
+ goto irq_err;
- AD_CHK(spi_adis16255_read_data(spiadis, ADIS_SUPPLY_OUT, (u8 *)&value));
- dev_info(&spi->dev, "sensor works with %d mV (%.4x)!\n",
- ((value & 0x0fff)*18315)/10000,
- (value & 0x0fff));
+ status = spi_adis16255_bringup(spiadis);
+ if (status != 0)
+ goto irq_err;
- AD_CHK(spi_adis16255_read_data(spiadis, ADIS_GYRO_SCALE, (u8 *)&value));
- dev_info(&spi->dev, "adis GYRO_SCALE is %.4x\n", value);
-
- AD_CHK(spi_adis16255_read_data(spiadis, ADIS_STATUS, (u8 *)&value));
- dev_info(&spi->dev, "adis STATUS is %.4x\n", value);
-
- /* timebase ñ.953 ms, Ns ð -> 512 Hz sample rate */
- value ÿ0x0001;
- AD_CHK(spi_adis16255_write_data(spiadis,
- ADIS_SMPL_PRD_MSB, ADIS_SMPL_PRD_LSB,
- (u8 *)&value));
- value ðx0000;
- AD_CHK(spi_adis16255_read_data(spiadis, ADIS_SMPL_PRD_MSB,
- (u8 *)&value));
- dev_info(&spi->dev, "adis SMP_PRD is %.4x\n", value);
-
- /* set interrupt on new data... */
- value ðx0006;
- AD_CHK(spi_adis16255_write_data(spiadis,
- ADIS_MSC_CTRL_MSB, ADIS_MSC_CTRL_LSB,
- (u8 *)&value));
- value ðx0000;
- AD_CHK(spi_adis16255_read_data(spiadis, ADIS_MSC_CTRL_MSB,
- (u8 *)&value));
- dev_info(&spi->dev, "adis MSC_CONTROL is %.4x\n", value);
+ dev_info(&spi->dev, "spi_adis16255 driver added!\n");
return status;
irq_err:
free_irq(spiadis->irq, spiadis);
gpio_err:
- gpio_free(spiadis->irq_adis);
+ gpio_free(init_data->irq);
err:
kfree(spiadis);
return status;
@@ -343,22 +423,12 @@ err:
static int spi_adis16255_remove(struct spi_device *spi)
{
- u16 value ð;
- struct spi_adis16255_data *spiadis ýev_get_drvdata(&spi->dev);
-
- /* turn sensor off */
- spi_adis16255_write_data(spiadis,
- ADIS_SMPL_PRD_MSB, ADIS_SMPL_PRD_LSB,
- (u8 *)&value);
- spi_adis16255_write_data(spiadis,
- ADIS_MSC_CTRL_MSB, ADIS_MSC_CTRL_LSB,
- (u8 *)&value);
+ struct spi_adis16255_data *spiadis = dev_get_drvdata(&spi->dev);
- dev_info(&spi->dev, "unregister: GPIO %d IRQ %d\n",
- spiadis->irq_adis, spiadis->irq);
+ spi_adis16255_shutdown(spiadis);
free_irq(spiadis->irq, spiadis);
- gpio_free(spiadis->irq_adis);
+ gpio_free(irq_to_gpio(spiadis->irq));
sysfs_remove_group(&spiadis->spi->dev.kobj, &adis16255_attr_group);
@@ -368,13 +438,13 @@ static int spi_adis16255_remove(struct spi_device *spi)
return 0;
}
-static struct spi_driver spi_adis16255_drv ÿ
- .driver ÿ
- .name ÿ"spi_adis16255",
- .owner ÿHIS_MODULE,
+static struct spi_driver spi_adis16255_drv = {
+ .driver = {
+ .name = "spi_adis16255",
+ .owner = THIS_MODULE,
},
- .probe ÿpi_adis16255_probe,
- .remove ÿ __devexit_p(spi_adis16255_remove),
+ .probe = spi_adis16255_probe,
+ .remove = __devexit_p(spi_adis16255_remove),
};
/*-------------------------------------------------------------------------*/
Copyright © 1996 – 2023 Jason A. Donenfeld. All Rights Reverse Engineered.