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path: root/drivers/staging/iio/imu/adis16400_core.c
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Diffstat (limited to 'drivers/staging/iio/imu/adis16400_core.c')
-rw-r--r--drivers/staging/iio/imu/adis16400_core.c161
1 files changed, 105 insertions, 56 deletions
diff --git a/drivers/staging/iio/imu/adis16400_core.c b/drivers/staging/iio/imu/adis16400_core.c
index 3144a7b1e1c4..9c8f5ab7e13b 100644
--- a/drivers/staging/iio/imu/adis16400_core.c
+++ b/drivers/staging/iio/imu/adis16400_core.c
@@ -38,7 +38,6 @@ enum adis16400_chip_variant {
ADIS16360,
ADIS16362,
ADIS16364,
- ADIS16365,
ADIS16400,
};
@@ -161,10 +160,39 @@ error_ret:
return ret;
}
-static int adis16400_get_freq(struct iio_dev *indio_dev)
+static int adis16334_get_freq(struct iio_dev *indio_dev)
{
+ int ret;
u16 t;
+
+ ret = adis16400_spi_read_reg_16(indio_dev, ADIS16400_SMPL_PRD, &t);
+ if (ret < 0)
+ return ret;
+
+ t >>= ADIS16334_RATE_DIV_SHIFT;
+
+ return (8192 >> t) / 10;
+}
+
+static int adis16334_set_freq(struct iio_dev *indio_dev, unsigned int freq)
+{
+ unsigned int t;
+
+ t = ilog2(8192 / (freq * 10));
+
+ if (t > 0x31)
+ t = 0x31;
+
+ t <<= ADIS16334_RATE_DIV_SHIFT;
+ t |= ADIS16334_RATE_INT_CLK;
+
+ return adis16400_spi_write_reg_16(indio_dev, ADIS16400_SMPL_PRD, t);
+}
+
+static int adis16400_get_freq(struct iio_dev *indio_dev)
+{
int sps, ret;
+ u16 t;
ret = adis16400_spi_read_reg_16(indio_dev, ADIS16400_SMPL_PRD, &t);
if (ret < 0)
@@ -175,13 +203,33 @@ static int adis16400_get_freq(struct iio_dev *indio_dev)
return sps;
}
+static int adis16400_set_freq(struct iio_dev *indio_dev, unsigned int freq)
+{
+ struct adis16400_state *st = iio_priv(indio_dev);
+ unsigned int t;
+
+ t = 1638 / freq;
+ if (t > 0)
+ t--;
+ t &= ADIS16400_SMPL_PRD_DIV_MASK;
+ if ((t & ADIS16400_SMPL_PRD_DIV_MASK) >= 0x0A)
+ st->us->max_speed_hz = ADIS16400_SPI_SLOW;
+ else
+ st->us->max_speed_hz = ADIS16400_SPI_FAST;
+
+ return adis16400_spi_write_reg_8(indio_dev,
+ ADIS16400_SMPL_PRD, t);
+}
+
static ssize_t adis16400_read_frequency(struct device *dev,
struct device_attribute *attr,
char *buf)
{
struct iio_dev *indio_dev = dev_to_iio_dev(dev);
+ struct adis16400_state *st = iio_priv(indio_dev);
int ret, len = 0;
- ret = adis16400_get_freq(indio_dev);
+
+ ret = st->variant->get_freq(indio_dev);
if (ret < 0)
return ret;
len = sprintf(buf, "%d SPS\n", ret);
@@ -229,7 +277,6 @@ static ssize_t adis16400_write_frequency(struct device *dev,
struct adis16400_state *st = iio_priv(indio_dev);
long val;
int ret;
- u8 t;
ret = strict_strtol(buf, 10, &val);
if (ret)
@@ -239,18 +286,7 @@ static ssize_t adis16400_write_frequency(struct device *dev,
mutex_lock(&indio_dev->mlock);
- t = (1638 / val);
- if (t > 0)
- t--;
- t &= ADIS16400_SMPL_PRD_DIV_MASK;
- if ((t & ADIS16400_SMPL_PRD_DIV_MASK) >= 0x0A)
- st->us->max_speed_hz = ADIS16400_SPI_SLOW;
- else
- st->us->max_speed_hz = ADIS16400_SPI_FAST;
-
- ret = adis16400_spi_write_reg_8(indio_dev,
- ADIS16400_SMPL_PRD,
- t);
+ st->variant->set_freq(indio_dev, val);
/* Also update the filter */
mutex_unlock(&indio_dev->mlock);
@@ -378,10 +414,14 @@ static int adis16400_initial_setup(struct iio_dev *indio_dev)
{
int ret;
u16 prod_id, smp_prd;
+ unsigned int device_id;
struct adis16400_state *st = iio_priv(indio_dev);
- /* use low spi speed for init */
- st->us->max_speed_hz = ADIS16400_SPI_SLOW;
+ /* use low spi speed for init if the device has a slow mode */
+ if (st->variant->flags & ADIS16400_HAS_SLOW_MODE)
+ st->us->max_speed_hz = ADIS16400_SPI_SLOW;
+ else
+ st->us->max_speed_hz = ADIS16400_SPI_FAST;
st->us->mode = SPI_MODE_3;
spi_setup(st->us);
@@ -414,19 +454,27 @@ static int adis16400_initial_setup(struct iio_dev *indio_dev)
if (ret)
goto err_ret;
- if ((prod_id & 0xF000) != st->variant->product_id)
- dev_warn(&indio_dev->dev, "incorrect id");
+ sscanf(indio_dev->name, "adis%u\n", &device_id);
+
+ if (prod_id != device_id)
+ dev_warn(&indio_dev->dev, "Device ID(%u) and product ID(%u) do not match.",
+ device_id, prod_id);
dev_info(&indio_dev->dev, "%s: prod_id 0x%04x at CS%d (irq %d)\n",
indio_dev->name, prod_id,
st->us->chip_select, st->us->irq);
}
/* use high spi speed if possible */
- ret = adis16400_spi_read_reg_16(indio_dev,
- ADIS16400_SMPL_PRD, &smp_prd);
- if (!ret && (smp_prd & ADIS16400_SMPL_PRD_DIV_MASK) < 0x0A) {
- st->us->max_speed_hz = ADIS16400_SPI_SLOW;
- spi_setup(st->us);
+ if (st->variant->flags & ADIS16400_HAS_SLOW_MODE) {
+ ret = adis16400_spi_read_reg_16(indio_dev,
+ ADIS16400_SMPL_PRD, &smp_prd);
+ if (ret)
+ goto err_ret;
+
+ if ((smp_prd & ADIS16400_SMPL_PRD_DIV_MASK) < 0x0A) {
+ st->us->max_speed_hz = ADIS16400_SPI_FAST;
+ spi_setup(st->us);
+ }
}
err_ret:
@@ -503,7 +551,7 @@ static int adis16400_write_raw(struct iio_dev *indio_dev,
mutex_lock(&indio_dev->mlock);
st->filt_int = val;
/* Work out update to current value */
- sps = adis16400_get_freq(indio_dev);
+ sps = st->variant->get_freq(indio_dev);
if (sps < 0) {
mutex_unlock(&indio_dev->mlock);
return sps;
@@ -601,7 +649,7 @@ static int adis16400_read_raw(struct iio_dev *indio_dev,
mutex_unlock(&indio_dev->mlock);
return ret;
}
- ret = adis16400_get_freq(indio_dev);
+ val16 = st->variant->get_freq(indio_dev);
if (ret > 0)
*val = ret/adis16400_3db_divisors[val16 & 0x03];
*val2 = 0;
@@ -624,7 +672,7 @@ static const struct iio_chan_spec adis16400_channels[] = {
IIO_CHAN_INFO_SCALE_SEPARATE_BIT,
.address = in_supply,
.scan_index = ADIS16400_SCAN_SUPPLY,
- .scan_type = IIO_ST('u', 14, 16, 0)
+ .scan_type = IIO_ST('u', 14, 16, 0),
}, {
.type = IIO_ANGL_VEL,
.modified = 1,
@@ -635,7 +683,7 @@ static const struct iio_chan_spec adis16400_channels[] = {
IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY_SHARED_BIT,
.address = gyro_x,
.scan_index = ADIS16400_SCAN_GYRO_X,
- .scan_type = IIO_ST('s', 14, 16, 0)
+ .scan_type = IIO_ST('s', 14, 16, 0),
}, {
.type = IIO_ANGL_VEL,
.modified = 1,
@@ -754,7 +802,7 @@ static const struct iio_chan_spec adis16350_channels[] = {
IIO_CHAN_INFO_SCALE_SEPARATE_BIT,
.address = in_supply,
.scan_index = ADIS16400_SCAN_SUPPLY,
- .scan_type = IIO_ST('u', 12, 16, 0)
+ .scan_type = IIO_ST('u', 12, 16, 0),
}, {
.type = IIO_ANGL_VEL,
.modified = 1,
@@ -765,7 +813,7 @@ static const struct iio_chan_spec adis16350_channels[] = {
IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY_SHARED_BIT,
.address = gyro_x,
.scan_index = ADIS16400_SCAN_GYRO_X,
- .scan_type = IIO_ST('s', 14, 16, 0)
+ .scan_type = IIO_ST('s', 14, 16, 0),
}, {
.type = IIO_ANGL_VEL,
.modified = 1,
@@ -879,7 +927,7 @@ static const struct iio_chan_spec adis16300_channels[] = {
IIO_CHAN_INFO_SCALE_SEPARATE_BIT,
.address = in_supply,
.scan_index = ADIS16400_SCAN_SUPPLY,
- .scan_type = IIO_ST('u', 12, 16, 0)
+ .scan_type = IIO_ST('u', 12, 16, 0),
}, {
.type = IIO_ANGL_VEL,
.modified = 1,
@@ -1060,6 +1108,7 @@ static struct adis16400_chip_info adis16400_chips[] = {
[ADIS16300] = {
.channels = adis16300_channels,
.num_channels = ARRAY_SIZE(adis16300_channels),
+ .flags = ADIS16400_HAS_SLOW_MODE,
.gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */
.accel_scale_micro = 5884,
.temp_scale_nano = 140000000, /* 0.14 C */
@@ -1070,10 +1119,13 @@ static struct adis16400_chip_info adis16400_chips[] = {
(1 << ADIS16400_SCAN_TEMP) | (1 << ADIS16400_SCAN_ADC_0) |
(1 << ADIS16300_SCAN_INCLI_X) | (1 << ADIS16300_SCAN_INCLI_Y) |
(1 << 14),
+ .set_freq = adis16400_set_freq,
+ .get_freq = adis16400_get_freq,
},
[ADIS16334] = {
.channels = adis16334_channels,
.num_channels = ARRAY_SIZE(adis16334_channels),
+ .flags = ADIS16400_HAS_PROD_ID,
.gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */
.accel_scale_micro = IIO_G_TO_M_S_2(1000), /* 1 mg */
.temp_scale_nano = 67850000, /* 0.06785 C */
@@ -1082,6 +1134,8 @@ static struct adis16400_chip_info adis16400_chips[] = {
(1 << ADIS16400_SCAN_GYRO_Y) | (1 << ADIS16400_SCAN_GYRO_Z) |
(1 << ADIS16400_SCAN_ACC_X) | (1 << ADIS16400_SCAN_ACC_Y) |
(1 << ADIS16400_SCAN_ACC_Z),
+ .set_freq = adis16334_set_freq,
+ .get_freq = adis16334_get_freq,
},
[ADIS16350] = {
.channels = adis16350_channels,
@@ -1091,62 +1145,57 @@ static struct adis16400_chip_info adis16400_chips[] = {
.temp_scale_nano = 145300000, /* 0.1453 C */
.temp_offset = 25000000 / 145300, /* 25 C = 0x00 */
.default_scan_mask = 0x7FF,
- .flags = ADIS16400_NO_BURST,
+ .flags = ADIS16400_NO_BURST | ADIS16400_HAS_SLOW_MODE,
+ .set_freq = adis16400_set_freq,
+ .get_freq = adis16400_get_freq,
},
[ADIS16360] = {
.channels = adis16350_channels,
.num_channels = ARRAY_SIZE(adis16350_channels),
- .flags = ADIS16400_HAS_PROD_ID,
- .product_id = 0x3FE8,
+ .flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE,
.gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */
.accel_scale_micro = IIO_G_TO_M_S_2(3333), /* 3.333 mg */
.temp_scale_nano = 136000000, /* 0.136 C */
.temp_offset = 25000000 / 136000, /* 25 C = 0x00 */
.default_scan_mask = 0x7FF,
+ .set_freq = adis16400_set_freq,
+ .get_freq = adis16400_get_freq,
},
[ADIS16362] = {
.channels = adis16350_channels,
.num_channels = ARRAY_SIZE(adis16350_channels),
- .flags = ADIS16400_HAS_PROD_ID,
- .product_id = 0x3FEA,
+ .flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE,
.gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */
.accel_scale_micro = IIO_G_TO_M_S_2(333), /* 0.333 mg */
.temp_scale_nano = 136000000, /* 0.136 C */
.temp_offset = 25000000 / 136000, /* 25 C = 0x00 */
.default_scan_mask = 0x7FF,
+ .set_freq = adis16400_set_freq,
+ .get_freq = adis16400_get_freq,
},
[ADIS16364] = {
.channels = adis16350_channels,
.num_channels = ARRAY_SIZE(adis16350_channels),
- .flags = ADIS16400_HAS_PROD_ID,
- .product_id = 0x3FEC,
- .gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */
- .accel_scale_micro = IIO_G_TO_M_S_2(1000), /* 1 mg */
- .temp_scale_nano = 136000000, /* 0.136 C */
- .temp_offset = 25000000 / 136000, /* 25 C = 0x00 */
- .default_scan_mask = 0x7FF,
- },
- [ADIS16365] = {
- .channels = adis16350_channels,
- .num_channels = ARRAY_SIZE(adis16350_channels),
- .flags = ADIS16400_HAS_PROD_ID,
- .product_id = 0x3FED,
+ .flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE,
.gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */
.accel_scale_micro = IIO_G_TO_M_S_2(1000), /* 1 mg */
.temp_scale_nano = 136000000, /* 0.136 C */
.temp_offset = 25000000 / 136000, /* 25 C = 0x00 */
.default_scan_mask = 0x7FF,
+ .set_freq = adis16400_set_freq,
+ .get_freq = adis16400_get_freq,
},
[ADIS16400] = {
.channels = adis16400_channels,
.num_channels = ARRAY_SIZE(adis16400_channels),
- .flags = ADIS16400_HAS_PROD_ID,
- .product_id = 0x4015,
+ .flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE,
.gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */
.accel_scale_micro = IIO_G_TO_M_S_2(3333), /* 3.333 mg */
.default_scan_mask = 0xFFF,
.temp_scale_nano = 140000000, /* 0.14 C */
.temp_offset = 25000000 / 140000, /* 25 C = 0x00 */
+ .set_freq = adis16400_set_freq,
+ .get_freq = adis16400_get_freq,
}
};
@@ -1157,7 +1206,7 @@ static const struct iio_info adis16400_info = {
.attrs = &adis16400_attribute_group,
};
-static int __devinit adis16400_probe(struct spi_device *spi)
+static int adis16400_probe(struct spi_device *spi)
{
int ret;
struct adis16400_state *st;
@@ -1224,7 +1273,7 @@ error_ret:
}
/* fixme, confirm ordering in this function */
-static int __devexit adis16400_remove(struct spi_device *spi)
+static int adis16400_remove(struct spi_device *spi)
{
struct iio_dev *indio_dev = spi_get_drvdata(spi);
@@ -1248,7 +1297,7 @@ static const struct spi_device_id adis16400_id[] = {
{"adis16360", ADIS16360},
{"adis16362", ADIS16362},
{"adis16364", ADIS16364},
- {"adis16365", ADIS16365},
+ {"adis16365", ADIS16360},
{"adis16400", ADIS16400},
{"adis16405", ADIS16400},
{}
@@ -1262,7 +1311,7 @@ static struct spi_driver adis16400_driver = {
},
.id_table = adis16400_id,
.probe = adis16400_probe,
- .remove = __devexit_p(adis16400_remove),
+ .remove = adis16400_remove,
};
module_spi_driver(adis16400_driver);
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