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-rw-r--r--drivers/staging/iio/imu/Kconfig4
-rw-r--r--drivers/staging/iio/imu/Makefile2
-rw-r--r--drivers/staging/iio/imu/adis16400.h109
-rw-r--r--drivers/staging/iio/imu/adis16400_core.c535
-rw-r--r--drivers/staging/iio/imu/adis16400_ring.c59
-rw-r--r--drivers/staging/iio/imu/adis16400_trigger.c74
6 files changed, 225 insertions, 558 deletions
diff --git a/drivers/staging/iio/imu/Kconfig b/drivers/staging/iio/imu/Kconfig
index 2c2f47de263..096afc8cd87 100644
--- a/drivers/staging/iio/imu/Kconfig
+++ b/drivers/staging/iio/imu/Kconfig
@@ -6,8 +6,8 @@ menu "Inertial measurement units"
config ADIS16400
tristate "Analog Devices ADIS16400 and similar IMU SPI driver"
depends on SPI
- select IIO_SW_RING if IIO_BUFFER
- select IIO_TRIGGER if IIO_BUFFER
+ select IIO_ADIS_LIB
+ select IIO_ADIS_LIB_BUFFER if IIO_BUFFER
help
Say yes here to build support for Analog Devices adis16300, adis16344,
adis16350, adis16354, adis16355, adis16360, adis16362, adis16364,
diff --git a/drivers/staging/iio/imu/Makefile b/drivers/staging/iio/imu/Makefile
index 3400a13d152..c9988f6077f 100644
--- a/drivers/staging/iio/imu/Makefile
+++ b/drivers/staging/iio/imu/Makefile
@@ -3,5 +3,5 @@
#
adis16400-y := adis16400_core.o
-adis16400-$(CONFIG_IIO_BUFFER) += adis16400_ring.o adis16400_trigger.o
+adis16400-$(CONFIG_IIO_BUFFER) += adis16400_ring.o
obj-$(CONFIG_ADIS16400) += adis16400.o
diff --git a/drivers/staging/iio/imu/adis16400.h b/drivers/staging/iio/imu/adis16400.h
index 3efafcbb886..ce63ced77c7 100644
--- a/drivers/staging/iio/imu/adis16400.h
+++ b/drivers/staging/iio/imu/adis16400.h
@@ -17,12 +17,11 @@
#ifndef SPI_ADIS16400_H_
#define SPI_ADIS16400_H_
+#include <linux/iio/imu/adis.h>
+
#define ADIS16400_STARTUP_DELAY 290 /* ms */
#define ADIS16400_MTEST_DELAY 90 /* ms */
-#define ADIS16400_READ_REG(a) a
-#define ADIS16400_WRITE_REG(a) ((a) | 0x80)
-
#define ADIS16400_FLASH_CNT 0x00 /* Flash memory write count */
#define ADIS16400_SUPPLY_OUT 0x02 /* Power supply measurement */
#define ADIS16400_XGYRO_OUT 0x04 /* X-axis gyroscope output */
@@ -96,21 +95,21 @@
#define ADIS16400_SMPL_PRD_DIV_MASK 0x7F
/* DIAG_STAT */
-#define ADIS16400_DIAG_STAT_ZACCL_FAIL (1<<15)
-#define ADIS16400_DIAG_STAT_YACCL_FAIL (1<<14)
-#define ADIS16400_DIAG_STAT_XACCL_FAIL (1<<13)
-#define ADIS16400_DIAG_STAT_XGYRO_FAIL (1<<12)
-#define ADIS16400_DIAG_STAT_YGYRO_FAIL (1<<11)
-#define ADIS16400_DIAG_STAT_ZGYRO_FAIL (1<<10)
-#define ADIS16400_DIAG_STAT_ALARM2 (1<<9)
-#define ADIS16400_DIAG_STAT_ALARM1 (1<<8)
-#define ADIS16400_DIAG_STAT_FLASH_CHK (1<<6)
-#define ADIS16400_DIAG_STAT_SELF_TEST (1<<5)
-#define ADIS16400_DIAG_STAT_OVERFLOW (1<<4)
-#define ADIS16400_DIAG_STAT_SPI_FAIL (1<<3)
-#define ADIS16400_DIAG_STAT_FLASH_UPT (1<<2)
-#define ADIS16400_DIAG_STAT_POWER_HIGH (1<<1)
-#define ADIS16400_DIAG_STAT_POWER_LOW (1<<0)
+#define ADIS16400_DIAG_STAT_ZACCL_FAIL 15
+#define ADIS16400_DIAG_STAT_YACCL_FAIL 14
+#define ADIS16400_DIAG_STAT_XACCL_FAIL 13
+#define ADIS16400_DIAG_STAT_XGYRO_FAIL 12
+#define ADIS16400_DIAG_STAT_YGYRO_FAIL 11
+#define ADIS16400_DIAG_STAT_ZGYRO_FAIL 10
+#define ADIS16400_DIAG_STAT_ALARM2 9
+#define ADIS16400_DIAG_STAT_ALARM1 8
+#define ADIS16400_DIAG_STAT_FLASH_CHK 6
+#define ADIS16400_DIAG_STAT_SELF_TEST 5
+#define ADIS16400_DIAG_STAT_OVERFLOW 4
+#define ADIS16400_DIAG_STAT_SPI_FAIL 3
+#define ADIS16400_DIAG_STAT_FLASH_UPT 2
+#define ADIS16400_DIAG_STAT_POWER_HIGH 1
+#define ADIS16400_DIAG_STAT_POWER_LOW 0
/* GLOB_CMD */
#define ADIS16400_GLOB_CMD_SW_RESET (1<<7)
@@ -126,9 +125,6 @@
#define ADIS16334_RATE_DIV_SHIFT 8
#define ADIS16334_RATE_INT_CLK BIT(0)
-#define ADIS16400_MAX_TX 24
-#define ADIS16400_MAX_RX 24
-
#define ADIS16400_SPI_SLOW (u32)(300 * 1000)
#define ADIS16400_SPI_BURST (u32)(1000 * 1000)
#define ADIS16400_SPI_FAST (u32)(2000 * 1000)
@@ -137,6 +133,8 @@
#define ADIS16400_NO_BURST BIT(1)
#define ADIS16400_HAS_SLOW_MODE BIT(2)
+struct adis16400_state;
+
struct adis16400_chip_info {
const struct iio_chan_spec *channels;
const int num_channels;
@@ -145,58 +143,47 @@ struct adis16400_chip_info {
unsigned int accel_scale_micro;
int temp_scale_nano;
int temp_offset;
- int (*set_freq)(struct iio_dev *indio_dev, unsigned int freq);
- int (*get_freq)(struct iio_dev *indio_dev);
+ int (*set_freq)(struct adis16400_state *st, unsigned int freq);
+ int (*get_freq)(struct adis16400_state *st);
};
/**
* struct adis16400_state - device instance specific data
- * @us: actual spi_device
- * @trig: data ready trigger registered with iio
- * @tx: transmit buffer
- * @rx: receive buffer
- * @buf_lock: mutex to protect tx and rx
- * @filt_int: integer part of requested filter frequency
+ * @variant: chip variant info
+ * @filt_int: integer part of requested filter frequency
+ * @adis: adis device
**/
struct adis16400_state {
- struct spi_device *us;
- struct iio_trigger *trig;
- struct mutex buf_lock;
struct adis16400_chip_info *variant;
int filt_int;
- u8 tx[ADIS16400_MAX_TX] ____cacheline_aligned;
- u8 rx[ADIS16400_MAX_RX] ____cacheline_aligned;
+ struct adis adis;
};
-int adis16400_set_irq(struct iio_dev *indio_dev, bool enable);
-
/* At the moment triggers are only used for ring buffer
* filling. This may change!
*/
-#define ADIS16400_SCAN_SUPPLY 0
-#define ADIS16400_SCAN_GYRO_X 1
-#define ADIS16400_SCAN_GYRO_Y 2
-#define ADIS16400_SCAN_GYRO_Z 3
-#define ADIS16400_SCAN_ACC_X 4
-#define ADIS16400_SCAN_ACC_Y 5
-#define ADIS16400_SCAN_ACC_Z 6
-#define ADIS16400_SCAN_MAGN_X 7
-#define ADIS16350_SCAN_TEMP_X 7
-#define ADIS16400_SCAN_MAGN_Y 8
-#define ADIS16350_SCAN_TEMP_Y 8
-#define ADIS16400_SCAN_MAGN_Z 9
-#define ADIS16350_SCAN_TEMP_Z 9
-#define ADIS16400_SCAN_TEMP 10
-#define ADIS16350_SCAN_ADC_0 10
-#define ADIS16400_SCAN_ADC_0 11
-#define ADIS16300_SCAN_INCLI_X 12
-#define ADIS16300_SCAN_INCLI_Y 13
+enum {
+ ADIS16400_SCAN_SUPPLY,
+ ADIS16400_SCAN_GYRO_X,
+ ADIS16400_SCAN_GYRO_Y,
+ ADIS16400_SCAN_GYRO_Z,
+ ADIS16400_SCAN_ACC_X,
+ ADIS16400_SCAN_ACC_Y,
+ ADIS16400_SCAN_ACC_Z,
+ ADIS16400_SCAN_MAGN_X,
+ ADIS16400_SCAN_MAGN_Y,
+ ADIS16400_SCAN_MAGN_Z,
+ ADIS16350_SCAN_TEMP_X,
+ ADIS16350_SCAN_TEMP_Y,
+ ADIS16350_SCAN_TEMP_Z,
+ ADIS16300_SCAN_INCLI_X,
+ ADIS16300_SCAN_INCLI_Y,
+ ADIS16400_SCAN_ADC,
+};
#ifdef CONFIG_IIO_BUFFER
-void adis16400_remove_trigger(struct iio_dev *indio_dev);
-int adis16400_probe_trigger(struct iio_dev *indio_dev);
ssize_t adis16400_read_data_from_ring(struct device *dev,
struct device_attribute *attr,
@@ -208,15 +195,6 @@ void adis16400_unconfigure_ring(struct iio_dev *indio_dev);
#else /* CONFIG_IIO_BUFFER */
-static inline void adis16400_remove_trigger(struct iio_dev *indio_dev)
-{
-}
-
-static inline int adis16400_probe_trigger(struct iio_dev *indio_dev)
-{
- return 0;
-}
-
static inline ssize_t
adis16400_read_data_from_ring(struct device *dev,
struct device_attribute *attr,
@@ -235,4 +213,5 @@ static inline void adis16400_unconfigure_ring(struct iio_dev *indio_dev)
}
#endif /* CONFIG_IIO_BUFFER */
+
#endif /* SPI_ADIS16400_H_ */
diff --git a/drivers/staging/iio/imu/adis16400_core.c b/drivers/staging/iio/imu/adis16400_core.c
index 24fca1033fb..a948472856e 100644
--- a/drivers/staging/iio/imu/adis16400_core.c
+++ b/drivers/staging/iio/imu/adis16400_core.c
@@ -29,6 +29,7 @@
#include <linux/iio/iio.h>
#include <linux/iio/sysfs.h>
#include <linux/iio/buffer.h>
+
#include "adis16400.h"
enum adis16400_chip_variant {
@@ -41,131 +42,12 @@ enum adis16400_chip_variant {
ADIS16400,
};
-/**
- * adis16400_spi_write_reg_8() - write single byte to a register
- * @dev: device associated with child of actual device (iio_dev or iio_trig)
- * @reg_address: the address of the register to be written
- * @val: the value to write
- */
-static int adis16400_spi_write_reg_8(struct iio_dev *indio_dev,
- u8 reg_address,
- u8 val)
-{
- int ret;
- struct adis16400_state *st = iio_priv(indio_dev);
-
- mutex_lock(&st->buf_lock);
- st->tx[0] = ADIS16400_WRITE_REG(reg_address);
- st->tx[1] = val;
-
- ret = spi_write(st->us, st->tx, 2);
- mutex_unlock(&st->buf_lock);
-
- return ret;
-}
-
-/**
- * adis16400_spi_write_reg_16() - write 2 bytes to a pair of registers
- * @dev: device associated with child of actual device (iio_dev or iio_trig)
- * @reg_address: the address of the lower of the two registers. Second register
- * is assumed to have address one greater.
- * @val: value to be written
- *
- * At the moment the spi framework doesn't allow global setting of cs_change.
- * This means that use cannot be made of spi_write.
- */
-static int adis16400_spi_write_reg_16(struct iio_dev *indio_dev,
- u8 lower_reg_address,
- u16 value)
-{
- int ret;
- struct spi_message msg;
- struct adis16400_state *st = iio_priv(indio_dev);
- struct spi_transfer xfers[] = {
- {
- .tx_buf = st->tx,
- .bits_per_word = 8,
- .len = 2,
- .cs_change = 1,
- }, {
- .tx_buf = st->tx + 2,
- .bits_per_word = 8,
- .len = 2,
- },
- };
-
- mutex_lock(&st->buf_lock);
- st->tx[0] = ADIS16400_WRITE_REG(lower_reg_address);
- st->tx[1] = value & 0xFF;
- st->tx[2] = ADIS16400_WRITE_REG(lower_reg_address + 1);
- st->tx[3] = (value >> 8) & 0xFF;
-
- spi_message_init(&msg);
- spi_message_add_tail(&xfers[0], &msg);
- spi_message_add_tail(&xfers[1], &msg);
- ret = spi_sync(st->us, &msg);
- mutex_unlock(&st->buf_lock);
-
- return ret;
-}
-
-/**
- * adis16400_spi_read_reg_16() - read 2 bytes from a 16-bit register
- * @indio_dev: iio device
- * @reg_address: the address of the lower of the two registers. Second register
- * is assumed to have address one greater.
- * @val: somewhere to pass back the value read
- *
- * At the moment the spi framework doesn't allow global setting of cs_change.
- * This means that use cannot be made of spi_read.
- **/
-static int adis16400_spi_read_reg_16(struct iio_dev *indio_dev,
- u8 lower_reg_address,
- u16 *val)
-{
- struct spi_message msg;
- struct adis16400_state *st = iio_priv(indio_dev);
- int ret;
- struct spi_transfer xfers[] = {
- {
- .tx_buf = st->tx,
- .bits_per_word = 8,
- .len = 2,
- .cs_change = 1,
- }, {
- .rx_buf = st->rx,
- .bits_per_word = 8,
- .len = 2,
- },
- };
-
- mutex_lock(&st->buf_lock);
- st->tx[0] = ADIS16400_READ_REG(lower_reg_address);
- st->tx[1] = 0;
-
- 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 when reading 16 bit register 0x%02X",
- lower_reg_address);
- goto error_ret;
- }
- *val = (st->rx[0] << 8) | st->rx[1];
-
-error_ret:
- mutex_unlock(&st->buf_lock);
- return ret;
-}
-
-static int adis16334_get_freq(struct iio_dev *indio_dev)
+static int adis16334_get_freq(struct adis16400_state *st)
{
int ret;
u16 t;
- ret = adis16400_spi_read_reg_16(indio_dev, ADIS16400_SMPL_PRD, &t);
+ ret = adis_read_reg_16(&st->adis, ADIS16400_SMPL_PRD, &t);
if (ret < 0)
return ret;
@@ -174,7 +56,7 @@ static int adis16334_get_freq(struct iio_dev *indio_dev)
return (8192 >> t) / 10;
}
-static int adis16334_set_freq(struct iio_dev *indio_dev, unsigned int freq)
+static int adis16334_set_freq(struct adis16400_state *st, unsigned int freq)
{
unsigned int t;
@@ -190,15 +72,15 @@ static int adis16334_set_freq(struct iio_dev *indio_dev, unsigned int freq)
t <<= ADIS16334_RATE_DIV_SHIFT;
t |= ADIS16334_RATE_INT_CLK;
- return adis16400_spi_write_reg_16(indio_dev, ADIS16400_SMPL_PRD, t);
+ return adis_write_reg_16(&st->adis, ADIS16400_SMPL_PRD, t);
}
-static int adis16400_get_freq(struct iio_dev *indio_dev)
+static int adis16400_get_freq(struct adis16400_state *st)
{
int sps, ret;
u16 t;
- ret = adis16400_spi_read_reg_16(indio_dev, ADIS16400_SMPL_PRD, &t);
+ ret = adis_read_reg_16(&st->adis, ADIS16400_SMPL_PRD, &t);
if (ret < 0)
return ret;
sps = (t & ADIS16400_SMPL_PRD_TIME_BASE) ? 53 : 1638;
@@ -207,9 +89,8 @@ 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)
+static int adis16400_set_freq(struct adis16400_state *st, unsigned int freq)
{
- struct adis16400_state *st = iio_priv(indio_dev);
unsigned int t;
t = 1638 / freq;
@@ -217,12 +98,11 @@ static int adis16400_set_freq(struct iio_dev *indio_dev, unsigned int freq)
t--;
t &= ADIS16400_SMPL_PRD_DIV_MASK;
if ((t & ADIS16400_SMPL_PRD_DIV_MASK) >= 0x0A)
- st->us->max_speed_hz = ADIS16400_SPI_SLOW;
+ st->adis.spi->max_speed_hz = ADIS16400_SPI_SLOW;
else
- st->us->max_speed_hz = ADIS16400_SPI_FAST;
+ st->adis.spi->max_speed_hz = ADIS16400_SPI_FAST;
- return adis16400_spi_write_reg_8(indio_dev,
- ADIS16400_SMPL_PRD, t);
+ return adis_write_reg_8(&st->adis, ADIS16400_SMPL_PRD, t);
}
static ssize_t adis16400_read_frequency(struct device *dev,
@@ -233,7 +113,7 @@ static ssize_t adis16400_read_frequency(struct device *dev,
struct adis16400_state *st = iio_priv(indio_dev);
int ret, len = 0;
- ret = st->variant->get_freq(indio_dev);
+ ret = st->variant->get_freq(st);
if (ret < 0)
return ret;
len = sprintf(buf, "%d SPS\n", ret);
@@ -253,6 +133,7 @@ static const unsigned adis16400_3db_divisors[] = {
static int adis16400_set_filter(struct iio_dev *indio_dev, int sps, int val)
{
+ struct adis16400_state *st = iio_priv(indio_dev);
int i, ret;
u16 val16;
@@ -261,12 +142,11 @@ static int adis16400_set_filter(struct iio_dev *indio_dev, int sps, int val)
break;
}
- ret = adis16400_spi_read_reg_16(indio_dev, ADIS16400_SENS_AVG,
- &val16);
+ ret = adis_read_reg_16(&st->adis, ADIS16400_SENS_AVG, &val16);
if (ret < 0)
return ret;
- ret = adis16400_spi_write_reg_16(indio_dev, ADIS16400_SENS_AVG,
+ ret = adis_write_reg_16(&st->adis, ADIS16400_SENS_AVG,
(val16 & ~0x07) | i);
return ret;
}
@@ -289,7 +169,7 @@ static ssize_t adis16400_write_frequency(struct device *dev,
mutex_lock(&indio_dev->mlock);
- st->variant->set_freq(indio_dev, val);
+ st->variant->set_freq(st, val);
/* Also update the filter */
mutex_unlock(&indio_dev->mlock);
@@ -297,48 +177,14 @@ static ssize_t adis16400_write_frequency(struct device *dev,
return ret ? ret : len;
}
-static int adis16400_reset(struct iio_dev *indio_dev)
-{
- int ret;
- ret = adis16400_spi_write_reg_8(indio_dev,
- ADIS16400_GLOB_CMD,
- ADIS16400_GLOB_CMD_SW_RESET);
- if (ret)
- dev_err(&indio_dev->dev, "problem resetting device");
-
- return ret;
-}
-
-int adis16400_set_irq(struct iio_dev *indio_dev, bool enable)
-{
- int ret;
- u16 msc;
-
- ret = adis16400_spi_read_reg_16(indio_dev, ADIS16400_MSC_CTRL, &msc);
- if (ret)
- goto error_ret;
-
- msc |= ADIS16400_MSC_CTRL_DATA_RDY_POL_HIGH;
- if (enable)
- msc |= ADIS16400_MSC_CTRL_DATA_RDY_EN;
- else
- msc &= ~ADIS16400_MSC_CTRL_DATA_RDY_EN;
-
- ret = adis16400_spi_write_reg_16(indio_dev, ADIS16400_MSC_CTRL, msc);
- if (ret)
- goto error_ret;
-
-error_ret:
- return ret;
-}
-
/* Power down the device */
static int adis16400_stop_device(struct iio_dev *indio_dev)
{
+ struct adis16400_state *st = iio_priv(indio_dev);
int ret;
u16 val = ADIS16400_SLP_CNT_POWER_OFF;
- ret = adis16400_spi_write_reg_16(indio_dev, ADIS16400_SLP_CNT, val);
+ ret = adis_write_reg_16(&st->adis, ADIS16400_SLP_CNT, val);
if (ret)
dev_err(&indio_dev->dev,
"problem with turning device off: SLP_CNT");
@@ -346,73 +192,6 @@ static int adis16400_stop_device(struct iio_dev *indio_dev)
return ret;
}
-static int adis16400_check_status(struct iio_dev *indio_dev)
-{
- u16 status;
- int ret;
- struct device *dev = &indio_dev->dev;
-
- ret = adis16400_spi_read_reg_16(indio_dev,
- ADIS16400_DIAG_STAT, &status);
-
- if (ret < 0) {
- dev_err(dev, "Reading status failed\n");
- goto error_ret;
- }
- ret = status;
- if (status & ADIS16400_DIAG_STAT_ZACCL_FAIL)
- dev_err(dev, "Z-axis accelerometer self-test failure\n");
- if (status & ADIS16400_DIAG_STAT_YACCL_FAIL)
- dev_err(dev, "Y-axis accelerometer self-test failure\n");
- if (status & ADIS16400_DIAG_STAT_XACCL_FAIL)
- dev_err(dev, "X-axis accelerometer self-test failure\n");
- if (status & ADIS16400_DIAG_STAT_XGYRO_FAIL)
- dev_err(dev, "X-axis gyroscope self-test failure\n");
- if (status & ADIS16400_DIAG_STAT_YGYRO_FAIL)
- dev_err(dev, "Y-axis gyroscope self-test failure\n");
- if (status & ADIS16400_DIAG_STAT_ZGYRO_FAIL)
- dev_err(dev, "Z-axis gyroscope self-test failure\n");
- if (status & ADIS16400_DIAG_STAT_ALARM2)
- dev_err(dev, "Alarm 2 active\n");
- if (status & ADIS16400_DIAG_STAT_ALARM1)
- dev_err(dev, "Alarm 1 active\n");
- if (status & ADIS16400_DIAG_STAT_FLASH_CHK)
- dev_err(dev, "Flash checksum error\n");
- if (status & ADIS16400_DIAG_STAT_SELF_TEST)
- dev_err(dev, "Self test error\n");
- if (status & ADIS16400_DIAG_STAT_OVERFLOW)
- dev_err(dev, "Sensor overrange\n");
- if (status & ADIS16400_DIAG_STAT_SPI_FAIL)
- dev_err(dev, "SPI failure\n");
- if (status & ADIS16400_DIAG_STAT_FLASH_UPT)
- dev_err(dev, "Flash update failed\n");
- if (status & ADIS16400_DIAG_STAT_POWER_HIGH)
- dev_err(dev, "Power supply above 5.25V\n");
- if (status & ADIS16400_DIAG_STAT_POWER_LOW)
- dev_err(dev, "Power supply below 4.75V\n");
-
-error_ret:
- return ret;
-}
-
-static int adis16400_self_test(struct iio_dev *indio_dev)
-{
- int ret;
- ret = adis16400_spi_write_reg_16(indio_dev,
- ADIS16400_MSC_CTRL,
- ADIS16400_MSC_CTRL_MEM_TEST);
- if (ret) {
- dev_err(&indio_dev->dev, "problem starting self test");
- goto err_ret;
- }
-
- msleep(ADIS16400_MTEST_DELAY);
- adis16400_check_status(indio_dev);
-
-err_ret:
- return ret;
-}
-
static int adis16400_initial_setup(struct iio_dev *indio_dev)
{
int ret;
@@ -422,37 +201,18 @@ static int adis16400_initial_setup(struct iio_dev *indio_dev)
/* 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;
+ st->adis.spi->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);
-
- ret = adis16400_set_irq(indio_dev, false);
- if (ret) {
- dev_err(&indio_dev->dev, "disable irq failed");
- goto err_ret;
- }
+ st->adis.spi->max_speed_hz = ADIS16400_SPI_FAST;
+ st->adis.spi->mode = SPI_MODE_3;
+ spi_setup(st->adis.spi);
- ret = adis16400_self_test(indio_dev);
- if (ret) {
- dev_err(&indio_dev->dev, "self test failure");
- goto err_ret;
- }
+ ret = adis_initial_startup(&st->adis);
+ if (ret)
+ return ret;
- ret = adis16400_check_status(indio_dev);
- if (ret) {
- adis16400_reset(indio_dev);
- dev_err(&indio_dev->dev, "device not playing ball -> reset");
- msleep(ADIS16400_STARTUP_DELAY);
- ret = adis16400_check_status(indio_dev);
- if (ret) {
- dev_err(&indio_dev->dev, "giving up");
- goto err_ret;
- }
- }
if (st->variant->flags & ADIS16400_HAS_PROD_ID) {
- ret = adis16400_spi_read_reg_16(indio_dev,
+ ret = adis_read_reg_16(&st->adis,
ADIS16400_PRODUCT_ID, &prod_id);
if (ret)
goto err_ret;
@@ -465,18 +225,17 @@ static int adis16400_initial_setup(struct iio_dev *indio_dev)
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);
+ st->adis.spi->chip_select, st->adis.spi->irq);
}
/* use high spi speed if possible */
if (st->variant->flags & ADIS16400_HAS_SLOW_MODE) {
- ret = adis16400_spi_read_reg_16(indio_dev,
- ADIS16400_SMPL_PRD, &smp_prd);
+ ret = adis_read_reg_16(&st->adis, 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);
+ st->adis.spi->max_speed_hz = ADIS16400_SPI_FAST;
+ spi_setup(st->adis.spi);
}
}
@@ -490,47 +249,15 @@ static IIO_DEV_ATTR_SAMP_FREQ(S_IWUSR | S_IRUGO,
static IIO_CONST_ATTR_SAMP_FREQ_AVAIL("409 546 819 1638");
-enum adis16400_chan {
- in_supply,
- gyro_x,
- gyro_y,
- gyro_z,
- accel_x,
- accel_y,
- accel_z,
- magn_x,
- magn_y,
- magn_z,
- temp,
- temp0, temp1, temp2,
- in1,
- in2,
- incli_x,
- incli_y,
-};
-
-static u8 adis16400_addresses[18][2] = {
- [in_supply] = { ADIS16400_SUPPLY_OUT },
- [gyro_x] = { ADIS16400_XGYRO_OUT, ADIS16400_XGYRO_OFF },
- [gyro_y] = { ADIS16400_YGYRO_OUT, ADIS16400_YGYRO_OFF },
- [gyro_z] = { ADIS16400_ZGYRO_OUT, ADIS16400_ZGYRO_OFF },
- [accel_x] = { ADIS16400_XACCL_OUT, ADIS16400_XACCL_OFF },
- [accel_y] = { ADIS16400_YACCL_OUT, ADIS16400_YACCL_OFF },
- [accel_z] = { ADIS16400_ZACCL_OUT, ADIS16400_ZACCL_OFF },
- [magn_x] = { ADIS16400_XMAGN_OUT },
- [magn_y] = { ADIS16400_YMAGN_OUT },
- [magn_z] = { ADIS16400_ZMAGN_OUT },
- [temp] = { ADIS16400_TEMP_OUT },
- [temp0] = { ADIS16350_XTEMP_OUT },
- [temp1] = { ADIS16350_YTEMP_OUT },
- [temp2] = { ADIS16350_ZTEMP_OUT },
- [in1] = { ADIS16300_AUX_ADC },
- [in2] = { ADIS16400_AUX_ADC },
- [incli_x] = { ADIS16300_PITCH_OUT },
- [incli_y] = { ADIS16300_ROLL_OUT }
+static const u8 adis16400_addresses[] = {
+ [ADIS16400_SCAN_GYRO_X] = ADIS16400_XGYRO_OFF,
+ [ADIS16400_SCAN_GYRO_Y] = ADIS16400_YGYRO_OFF,
+ [ADIS16400_SCAN_GYRO_Z] = ADIS16400_ZGYRO_OFF,
+ [ADIS16400_SCAN_ACC_X] = ADIS16400_XACCL_OFF,
+ [ADIS16400_SCAN_ACC_Y] = ADIS16400_YACCL_OFF,
+ [ADIS16400_SCAN_ACC_Z] = ADIS16400_ZACCL_OFF,
};
-
static int adis16400_write_raw(struct iio_dev *indio_dev,
struct iio_chan_spec const *chan,
int val,
@@ -543,9 +270,8 @@ static int adis16400_write_raw(struct iio_dev *indio_dev,
switch (mask) {
case IIO_CHAN_INFO_CALIBBIAS:
mutex_lock(&indio_dev->mlock);
- ret = adis16400_spi_write_reg_16(indio_dev,
- adis16400_addresses[chan->address][1],
- val);
+ ret = adis_write_reg_16(&st->adis,
+ adis16400_addresses[chan->scan_index], val);
mutex_unlock(&indio_dev->mlock);
return ret;
case IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY:
@@ -554,7 +280,7 @@ 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 = st->variant->get_freq(indio_dev);
+ sps = st->variant->get_freq(st);
if (sps < 0) {
mutex_unlock(&indio_dev->mlock);
return sps;
@@ -575,27 +301,12 @@ static int adis16400_read_raw(struct iio_dev *indio_dev,
long mask)
{
struct adis16400_state *st = iio_priv(indio_dev);
- int ret, shift;
+ int ret;
s16 val16;
switch (mask) {
case IIO_CHAN_INFO_RAW:
- mutex_lock(&indio_dev->mlock);
- ret = adis16400_spi_read_reg_16(indio_dev,
- adis16400_addresses[chan->address][0],
- &val16);
- if (ret) {
- mutex_unlock(&indio_dev->mlock);
- return ret;
- }
- val16 &= (1 << chan->scan_type.realbits) - 1;
- if (chan->scan_type.sign == 's') {
- shift = 16 - chan->scan_type.realbits;
- val16 = (s16)(val16 << shift) >> shift;
- }
- *val = val16;
- mutex_unlock(&indio_dev->mlock);
- return IIO_VAL_INT;
+ return adis_single_conversion(indio_dev, chan, 0, val);
case IIO_CHAN_INFO_SCALE:
switch (chan->type) {
case IIO_ANGL_VEL:
@@ -629,9 +340,8 @@ static int adis16400_read_raw(struct iio_dev *indio_dev,
}
case IIO_CHAN_INFO_CALIBBIAS:
mutex_lock(&indio_dev->mlock);
- ret = adis16400_spi_read_reg_16(indio_dev,
- adis16400_addresses[chan->address][1],
- &val16);
+ ret = adis_read_reg_16(&st->adis,
+ adis16400_addresses[chan->scan_index], &val16);
mutex_unlock(&indio_dev->mlock);
if (ret)
return ret;
@@ -645,14 +355,14 @@ static int adis16400_read_raw(struct iio_dev *indio_dev,
case IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY:
mutex_lock(&indio_dev->mlock);
/* Need both the number of taps and the sampling frequency */
- ret = adis16400_spi_read_reg_16(indio_dev,
+ ret = adis_read_reg_16(&st->adis,
ADIS16400_SENS_AVG,
&val16);
if (ret < 0) {
mutex_unlock(&indio_dev->mlock);
return ret;
}
- ret = st->variant->get_freq(indio_dev);
+ ret = st->variant->get_freq(st);
if (ret >= 0)
*val = ret / adis16400_3db_divisors[val16 & 0x07];
*val2 = 0;
@@ -673,7 +383,7 @@ static const struct iio_chan_spec adis16400_channels[] = {
.extend_name = "supply",
.info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT |
IIO_CHAN_INFO_SCALE_SEPARATE_BIT,
- .address = in_supply,
+ .address = ADIS16400_SUPPLY_OUT,
.scan_index = ADIS16400_SCAN_SUPPLY,
.scan_type = IIO_ST('u', 14, 16, 0),
}, {
@@ -684,7 +394,7 @@ static const struct iio_chan_spec adis16400_channels[] = {
IIO_CHAN_INFO_CALIBBIAS_SEPARATE_BIT |
IIO_CHAN_INFO_SCALE_SHARED_BIT |
IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY_SHARED_BIT,
- .address = gyro_x,
+ .address = ADIS16400_XGYRO_OUT,
.scan_index = ADIS16400_SCAN_GYRO_X,
.scan_type = IIO_ST('s', 14, 16, 0),
}, {
@@ -695,7 +405,7 @@ static const struct iio_chan_spec adis16400_channels[] = {
IIO_CHAN_INFO_CALIBBIAS_SEPARATE_BIT |
IIO_CHAN_INFO_SCALE_SHARED_BIT |
IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY_SHARED_BIT,
- .address = gyro_y,
+ .address = ADIS16400_YGYRO_OUT,
.scan_index = ADIS16400_SCAN_GYRO_Y,
.scan_type = IIO_ST('s', 14, 16, 0),
}, {
@@ -706,7 +416,7 @@ static const struct iio_chan_spec adis16400_channels[] = {
IIO_CHAN_INFO_CALIBBIAS_SEPARATE_BIT |
IIO_CHAN_INFO_SCALE_SHARED_BIT |
IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY_SHARED_BIT,
- .address = gyro_z,
+ .address = ADIS16400_ZGYRO_OUT,
.scan_index = ADIS16400_SCAN_GYRO_Z,
.scan_type = IIO_ST('s', 14, 16, 0),
}, {
@@ -717,7 +427,7 @@ static const struct iio_chan_spec adis16400_channels[] = {
IIO_CHAN_INFO_CALIBBIAS_SEPARATE_BIT |
IIO_CHAN_INFO_SCALE_SHARED_BIT |
IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY_SHARED_BIT,
- .address = accel_x,
+ .address = ADIS16400_XACCL_OUT,
.scan_index = ADIS16400_SCAN_ACC_X,
.scan_type = IIO_ST('s', 14, 16, 0),
}, {
@@ -728,7 +438,7 @@ static const struct iio_chan_spec adis16400_channels[] = {
IIO_CHAN_INFO_CALIBBIAS_SEPARATE_BIT |
IIO_CHAN_INFO_SCALE_SHARED_BIT |
IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY_SHARED_BIT,
- .address = accel_y,
+ .address = ADIS16400_YACCL_OUT,
.scan_index = ADIS16400_SCAN_ACC_Y,
.scan_type = IIO_ST('s', 14, 16, 0),
}, {
@@ -739,7 +449,7 @@ static const struct iio_chan_spec adis16400_channels[] = {
IIO_CHAN_INFO_CALIBBIAS_SEPARATE_BIT |
IIO_CHAN_INFO_SCALE_SHARED_BIT |
IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY_SHARED_BIT,
- .address = accel_z,
+ .address = ADIS16400_ZACCL_OUT,
.scan_index = ADIS16400_SCAN_ACC_Z,
.scan_type = IIO_ST('s', 14, 16, 0),
}, {
@@ -749,7 +459,7 @@ static const struct iio_chan_spec adis16400_channels[] = {
.info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT |
IIO_CHAN_INFO_SCALE_SHARED_BIT |
IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY_SHARED_BIT,
- .address = magn_x,
+ .address = ADIS16400_XMAGN_OUT,
.scan_index = ADIS16400_SCAN_MAGN_X,
.scan_type = IIO_ST('s', 14, 16, 0),
}, {
@@ -759,7 +469,7 @@ static const struct iio_chan_spec adis16400_channels[] = {
.info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT |
IIO_CHAN_INFO_SCALE_SHARED_BIT |
IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY_SHARED_BIT,
- .address = magn_y,
+ .address = ADIS16400_YMAGN_OUT,
.scan_index = ADIS16400_SCAN_MAGN_Y,
.scan_type = IIO_ST('s', 14, 16, 0),
}, {
@@ -769,7 +479,7 @@ static const struct iio_chan_spec adis16400_channels[] = {
.info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT |
IIO_CHAN_INFO_SCALE_SHARED_BIT |
IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY_SHARED_BIT,
- .address = magn_z,
+ .address = ADIS16400_ZMAGN_OUT,
.scan_index = ADIS16400_SCAN_MAGN_Z,
.scan_type = IIO_ST('s', 14, 16, 0),
}, {
@@ -779,8 +489,8 @@ static const struct iio_chan_spec adis16400_channels[] = {
.info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT |
IIO_CHAN_INFO_OFFSET_SEPARATE_BIT |
IIO_CHAN_INFO_SCALE_SEPARATE_BIT,
- .address = temp,
- .scan_index = ADIS16400_SCAN_TEMP,
+ .address = ADIS16400_TEMP_OUT,
+ .scan_index = ADIS16350_SCAN_TEMP_X,
.scan_type = IIO_ST('s', 12, 16, 0),
}, {
.type = IIO_VOLTAGE,
@@ -788,8 +498,8 @@ static const struct iio_chan_spec adis16400_channels[] = {
.channel = 1,
.info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT |
IIO_CHAN_INFO_SCALE_SEPARATE_BIT,
- .address = in2,
- .scan_index = ADIS16400_SCAN_ADC_0,
+ .address = ADIS16400_AUX_ADC,
+ .scan_index = ADIS16400_SCAN_ADC,
.scan_type = IIO_ST('s', 12, 16, 0),
},
IIO_CHAN_SOFT_TIMESTAMP(12)
@@ -803,7 +513,7 @@ static const struct iio_chan_spec adis16350_channels[] = {
.extend_name = "supply",
.info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT |
IIO_CHAN_INFO_SCALE_SEPARATE_BIT,
- .address = in_supply,
+ .address = ADIS16400_SUPPLY_OUT,
.scan_index = ADIS16400_SCAN_SUPPLY,
.scan_type = IIO_ST('u', 12, 16, 0),
}, {
@@ -814,7 +524,7 @@ static const struct iio_chan_spec adis16350_channels[] = {
IIO_CHAN_INFO_CALIBBIAS_SEPARATE_BIT |
IIO_CHAN_INFO_SCALE_SHARED_BIT |
IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY_SHARED_BIT,
- .address = gyro_x,
+ .address = ADIS16400_XGYRO_OUT,
.scan_index = ADIS16400_SCAN_GYRO_X,
.scan_type = IIO_ST('s', 14, 16, 0),
}, {
@@ -825,7 +535,7 @@ static const struct iio_chan_spec adis16350_channels[] = {
IIO_CHAN_INFO_CALIBBIAS_SEPARATE_BIT |
IIO_CHAN_INFO_SCALE_SHARED_BIT |
IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY_SHARED_BIT,
- .address = gyro_y,
+ .address = ADIS16400_YGYRO_OUT,
.scan_index = ADIS16400_SCAN_GYRO_Y,
.scan_type = IIO_ST('s', 14, 16, 0),
}, {
@@ -836,7 +546,7 @@ static const struct iio_chan_spec adis16350_channels[] = {
IIO_CHAN_INFO_CALIBBIAS_SEPARATE_BIT |
IIO_CHAN_INFO_SCALE_SHARED_BIT |
IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY_SHARED_BIT,
- .address = gyro_z,
+ .address = ADIS16400_ZGYRO_OUT,
.scan_index = ADIS16400_SCAN_GYRO_Z,
.scan_type = IIO_ST('s', 14, 16, 0),
}, {
@@ -847,7 +557,7 @@ static const struct iio_chan_spec adis16350_channels[] = {
IIO_CHAN_INFO_CALIBBIAS_SEPARATE_BIT |
IIO_CHAN_INFO_SCALE_SHARED_BIT |
IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY_SHARED_BIT,
- .address = accel_x,
+ .address = ADIS16400_XACCL_OUT,
.scan_index = ADIS16400_SCAN_ACC_X,
.scan_type = IIO_ST('s', 14, 16, 0),
}, {
@@ -858,7 +568,7 @@ static const struct iio_chan_spec adis16350_channels[] = {
IIO_CHAN_INFO_CALIBBIAS_SEPARATE_BIT |
IIO_CHAN_INFO_SCALE_SHARED_BIT |
IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY_SHARED_BIT,
- .address = accel_y,
+ .address = ADIS16400_YACCL_OUT,
.scan_index = ADIS16400_SCAN_ACC_Y,
.scan_type = IIO_ST('s', 14, 16, 0),
}, {
@@ -869,7 +579,7 @@ static const struct iio_chan_spec adis16350_channels[] = {
IIO_CHAN_INFO_CALIBBIAS_SEPARATE_BIT |
IIO_CHAN_INFO_SCALE_SHARED_BIT |
IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY_SHARED_BIT,
- .address = accel_z,
+ .address = ADIS16400_ZACCL_OUT,
.scan_index = ADIS16400_SCAN_ACC_Z,
.scan_type = IIO_ST('s', 14, 16, 0),
}, {
@@ -881,7 +591,7 @@ static const struct iio_chan_spec adis16350_channels[] = {
IIO_CHAN_INFO_OFFSET_SEPARATE_BIT |
IIO_CHAN_INFO_SCALE_SEPARATE_BIT |
IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY_SHARED_BIT,
- .address = temp0,
+ .address = ADIS16350_XTEMP_OUT,
.scan_index = ADIS16350_SCAN_TEMP_X,
.scan_type = IIO_ST('s', 12, 16, 0),
}, {
@@ -893,7 +603,7 @@ static const struct iio_chan_spec adis16350_channels[] = {
IIO_CHAN_INFO_OFFSET_SEPARATE_BIT |
IIO_CHAN_INFO_SCALE_SEPARATE_BIT |
IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY_SHARED_BIT,
- .address = temp1,
+ .address = ADIS16350_YTEMP_OUT,
.scan_index = ADIS16350_SCAN_TEMP_Y,
.scan_type = IIO_ST('s', 12, 16, 0),
}, {
@@ -904,7 +614,7 @@ static const struct iio_chan_spec adis16350_channels[] = {
.info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT |
IIO_CHAN_INFO_OFFSET_SEPARATE_BIT |
IIO_CHAN_INFO_SCALE_SEPARATE_BIT,
- .address = temp2,
+ .address = ADIS16350_ZTEMP_OUT,
.scan_index = ADIS16350_SCAN_TEMP_Z,
.scan_type = IIO_ST('s', 12, 16, 0),
}, {
@@ -913,8 +623,8 @@ static const struct iio_chan_spec adis16350_channels[] = {
.channel = 1,
.info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT |
IIO_CHAN_INFO_SCALE_SEPARATE_BIT,
- .address = in1,
- .scan_index = ADIS16350_SCAN_ADC_0,
+ .address = ADIS16300_AUX_ADC,
+ .scan_index = ADIS16400_SCAN_ADC,
.scan_type = IIO_ST('s', 12, 16, 0),
},
IIO_CHAN_SOFT_TIMESTAMP(11)
@@ -928,7 +638,7 @@ static const struct iio_chan_spec adis16300_channels[] = {
.extend_name = "supply",
.info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT |
IIO_CHAN_INFO_SCALE_SEPARATE_BIT,
- .address = in_supply,
+ .address = ADIS16400_SUPPLY_OUT,
.scan_index = ADIS16400_SCAN_SUPPLY,
.scan_type = IIO_ST('u', 12, 16, 0),
}, {
@@ -939,7 +649,7 @@ static const struct iio_chan_spec adis16300_channels[] = {
IIO_CHAN_INFO_CALIBBIAS_SEPARATE_BIT |
IIO_CHAN_INFO_SCALE_SHARED_BIT |
IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY_SHARED_BIT,
- .address = gyro_x,
+ .address = ADIS16400_XGYRO_OUT,
.scan_index = ADIS16400_SCAN_GYRO_X,
.scan_type = IIO_ST('s', 14, 16, 0),
}, {
@@ -950,7 +660,7 @@ static const struct iio_chan_spec adis16300_channels[] = {
IIO_CHAN_INFO_CALIBBIAS_SEPARATE_BIT |
IIO_CHAN_INFO_SCALE_SHARED_BIT |
IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY_SHARED_BIT,
- .address = accel_x,
+ .address = ADIS16400_XACCL_OUT,
.scan_index = ADIS16400_SCAN_ACC_X,
.scan_type = IIO_ST('s', 14, 16, 0),
}, {
@@ -961,7 +671,7 @@ static const struct iio_chan_spec adis16300_channels[] = {
IIO_CHAN_INFO_CALIBBIAS_SEPARATE_BIT |
IIO_CHAN_INFO_SCALE_SHARED_BIT |
IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY_SHARED_BIT,
- .address = accel_y,
+ .address = ADIS16400_YACCL_OUT,
.scan_index = ADIS16400_SCAN_ACC_Y,
.scan_type = IIO_ST('s', 14, 16, 0),
}, {
@@ -972,7 +682,7 @@ static const struct iio_chan_spec adis16300_channels[] = {
IIO_CHAN_INFO_CALIBBIAS_SEPARATE_BIT |
IIO_CHAN_INFO_SCALE_SHARED_BIT |
IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY_SHARED_BIT,
- .address = accel_z,
+ .address = ADIS16400_ZACCL_OUT,
.scan_index = ADIS16400_SCAN_ACC_Z,
.scan_type = IIO_ST('s', 14, 16, 0),
}, {
@@ -982,8 +692,8 @@ static const struct iio_chan_spec adis16300_channels[] = {
.info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT |
IIO_CHAN_INFO_OFFSET_SEPARATE_BIT |
IIO_CHAN_INFO_SCALE_SEPARATE_BIT,
- .address = temp0,
- .scan_index = ADIS16400_SCAN_TEMP,
+ .address = ADIS16350_XTEMP_OUT,
+ .scan_index = ADIS16350_SCAN_TEMP_X,
.scan_type = IIO_ST('s', 12, 16, 0),
}, {
.type = IIO_VOLTAGE,
@@ -991,8 +701,8 @@ static const struct iio_chan_spec adis16300_channels[] = {
.channel = 1,
.info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT |
IIO_CHAN_INFO_SCALE_SEPARATE_BIT,
- .address = in1,
- .scan_index = ADIS16350_SCAN_ADC_0,
+ .address = ADIS16300_AUX_ADC,
+ .scan_index = ADIS16400_SCAN_ADC,
.scan_type = IIO_ST('s', 12, 16, 0),
}, {
.type = IIO_INCLI,
@@ -1000,7 +710,7 @@ static const struct iio_chan_spec adis16300_channels[] = {
.channel2 = IIO_MOD_X,
.info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT |
IIO_CHAN_INFO_SCALE_SHARED_BIT,
- .address = incli_x,
+ .address = ADIS16300_PITCH_OUT,
.scan_index = ADIS16300_SCAN_INCLI_X,
.scan_type = IIO_ST('s', 13, 16, 0),
}, {
@@ -1009,7 +719,7 @@ static const struct iio_chan_spec adis16300_channels[] = {
.channel2 = IIO_MOD_Y,
.info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT |
IIO_CHAN_INFO_SCALE_SHARED_BIT,
- .address = incli_y,
+ .address = ADIS16300_ROLL_OUT,
.scan_index = ADIS16300_SCAN_INCLI_Y,
.scan_type = IIO_ST('s', 13, 16, 0),
},
@@ -1025,7 +735,7 @@ static const struct iio_chan_spec adis16334_channels[] = {
IIO_CHAN_INFO_CALIBBIAS_SEPARATE_BIT |
IIO_CHAN_INFO_SCALE_SHARED_BIT |
IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY_SHARED_BIT,
- .address = gyro_x,
+ .address = ADIS16400_XGYRO_OUT,
.scan_index = ADIS16400_SCAN_GYRO_X,
.scan_type = IIO_ST('s', 14, 16, 0),
}, {
@@ -1036,7 +746,7 @@ static const struct iio_chan_spec adis16334_channels[] = {
IIO_CHAN_INFO_CALIBBIAS_SEPARATE_BIT |
IIO_CHAN_INFO_SCALE_SHARED_BIT |
IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY_SHARED_BIT,
- .address = gyro_y,
+ .address = ADIS16400_YGYRO_OUT,
.scan_index = ADIS16400_SCAN_GYRO_Y,
.scan_type = IIO_ST('s', 14, 16, 0),
}, {
@@ -1047,7 +757,7 @@ static const struct iio_chan_spec adis16334_channels[] = {
IIO_CHAN_INFO_CALIBBIAS_SEPARATE_BIT |
IIO_CHAN_INFO_SCALE_SHARED_BIT |
IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY_SHARED_BIT,
- .address = gyro_z,
+ .address = ADIS16400_ZGYRO_OUT,
.scan_index = ADIS16400_SCAN_GYRO_Z,
.scan_type = IIO_ST('s', 14, 16, 0),
}, {
@@ -1058,7 +768,7 @@ static const struct iio_chan_spec adis16334_channels[] = {
IIO_CHAN_INFO_CALIBBIAS_SEPARATE_BIT |
IIO_CHAN_INFO_SCALE_SHARED_BIT |
IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY_SHARED_BIT,
- .address = accel_x,
+ .address = ADIS16400_XACCL_OUT,
.scan_index = ADIS16400_SCAN_ACC_X,
.scan_type = IIO_ST('s', 14, 16, 0),
}, {
@@ -1069,7 +779,7 @@ static const struct iio_chan_spec adis16334_channels[] = {
IIO_CHAN_INFO_CALIBBIAS_SEPARATE_BIT |
IIO_CHAN_INFO_SCALE_SHARED_BIT |
IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY_SHARED_BIT,
- .address = accel_y,
+ .address = ADIS16400_YACCL_OUT,
.scan_index = ADIS16400_SCAN_ACC_Y,
.scan_type = IIO_ST('s', 14, 16, 0),
}, {
@@ -1080,7 +790,7 @@ static const struct iio_chan_spec adis16334_channels[] = {
IIO_CHAN_INFO_CALIBBIAS_SEPARATE_BIT |
IIO_CHAN_INFO_SCALE_SHARED_BIT |
IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY_SHARED_BIT,
- .address = accel_z,
+ .address = ADIS16400_ZACCL_OUT,
.scan_index = ADIS16400_SCAN_ACC_Z,
.scan_type = IIO_ST('s', 14, 16, 0),
}, {
@@ -1090,8 +800,8 @@ static const struct iio_chan_spec adis16334_channels[] = {
.info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT |
IIO_CHAN_INFO_OFFSET_SEPARATE_BIT |
IIO_CHAN_INFO_SCALE_SHARED_BIT,
- .address = temp0,
- .scan_index = ADIS16400_SCAN_TEMP,
+ .address = ADIS16350_XTEMP_OUT,
+ .scan_index = ADIS16350_SCAN_TEMP_X,
.scan_type = IIO_ST('s', 14, 16, 0),
},
IIO_CHAN_SOFT_TIMESTAMP(12)
@@ -1194,6 +904,53 @@ static const struct iio_info adis16400_info = {
.attrs = &adis16400_attribute_group,
};
+static const char * const adis16400_status_error_msgs[] = {
+ [ADIS16400_DIAG_STAT_ZACCL_FAIL] = "Z-axis accelerometer self-test failure",
+ [ADIS16400_DIAG_STAT_YACCL_FAIL] = "Y-axis accelerometer self-test failure",
+ [ADIS16400_DIAG_STAT_XACCL_FAIL] = "X-axis accelerometer self-test failure",
+ [ADIS16400_DIAG_STAT_XGYRO_FAIL] = "X-axis gyroscope self-test failure",
+ [ADIS16400_DIAG_STAT_YGYRO_FAIL] = "Y-axis gyroscope self-test failure",
+ [ADIS16400_DIAG_STAT_ZGYRO_FAIL] = "Z-axis gyroscope self-test failure",
+ [ADIS16400_DIAG_STAT_ALARM2] = "Alarm 2 active",
+ [ADIS16400_DIAG_STAT_ALARM1] = "Alarm 1 active",
+ [ADIS16400_DIAG_STAT_FLASH_CHK] = "Flash checksum error",
+ [ADIS16400_DIAG_STAT_SELF_TEST] = "Self test error",
+ [ADIS16400_DIAG_STAT_OVERFLOW] = "Sensor overrange",
+ [ADIS16400_DIAG_STAT_SPI_FAIL] = "SPI failure",
+ [ADIS16400_DIAG_STAT_FLASH_UPT] = "Flash update failed",
+ [ADIS16400_DIAG_STAT_POWER_HIGH] = "Power supply above 5.25V",
+ [ADIS16400_DIAG_STAT_POWER_LOW] = "Power supply below 4.75V",
+};
+
+static const struct adis_data adis16400_data = {
+ .msc_ctrl_reg = ADIS16400_MSC_CTRL,
+ .glob_cmd_reg = ADIS16400_GLOB_CMD,
+ .diag_stat_reg = ADIS16400_DIAG_STAT,
+
+ .read_delay = 50,
+ .write_delay = 50,
+
+ .self_test_mask = ADIS16400_MSC_CTRL_MEM_TEST,
+ .startup_delay = ADIS16400_STARTUP_DELAY,
+
+ .status_error_msgs = adis16400_status_error_msgs,
+ .status_error_mask = BIT(ADIS16400_DIAG_STAT_ZACCL_FAIL) |
+ BIT(ADIS16400_DIAG_STAT_YACCL_FAIL) |
+ BIT(ADIS16400_DIAG_STAT_XACCL_FAIL) |
+ BIT(ADIS16400_DIAG_STAT_XGYRO_FAIL) |
+ BIT(ADIS16400_DIAG_STAT_YGYRO_FAIL) |
+ BIT(ADIS16400_DIAG_STAT_ZGYRO_FAIL) |
+ BIT(ADIS16400_DIAG_STAT_ALARM2) |
+ BIT(ADIS16400_DIAG_STAT_ALARM1) |
+ BIT(ADIS16400_DIAG_STAT_FLASH_CHK) |
+ BIT(ADIS16400_DIAG_STAT_SELF_TEST) |
+ BIT(ADIS16400_DIAG_STAT_OVERFLOW) |
+ BIT(ADIS16400_DIAG_STAT_SPI_FAIL) |
+ BIT(ADIS16400_DIAG_STAT_FLASH_UPT) |
+ BIT(ADIS16400_DIAG_STAT_POWER_HIGH) |
+ BIT(ADIS16400_DIAG_STAT_POWER_LOW),
+};
+
static int adis16400_probe(struct spi_device *spi)
{
int ret;
@@ -1207,9 +964,6 @@ static int adis16400_probe(struct spi_device *spi)
/* this is only used for removal purposes */
spi_set_drvdata(spi, indio_dev);
- st->us = spi;
- mutex_init(&st->buf_lock);
-
/* setup the industrialio driver allocated elements */
st->variant = &adis16400_chips[spi_get_device_id(spi)->driver_data];
indio_dev->dev.parent = &spi->dev;
@@ -1219,6 +973,10 @@ static int adis16400_probe(struct spi_device *spi)
indio_dev->info = &adis16400_info;
indio_dev->modes = INDIO_DIRECT_MODE;
+ ret = adis_init(&st->adis, indio_dev, spi, &adis16400_data);
+ if (ret)
+ goto error_free_dev;
+
ret = adis16400_configure_ring(indio_dev);
if (ret)
goto error_free_dev;
@@ -1232,7 +990,7 @@ static int adis16400_probe(struct spi_device *spi)
}
if (spi->irq) {
- ret = adis16400_probe_trigger(indio_dev);
+ ret = adis_probe_trigger(&st->adis, indio_dev);
if (ret)
goto error_uninitialize_ring;
}
@@ -1249,7 +1007,7 @@ static int adis16400_probe(struct spi_device *spi)
error_remove_trigger:
if (spi->irq)
- adis16400_remove_trigger(indio_dev);
+ adis_remove_trigger(&st->adis);
error_uninitialize_ring:
iio_buffer_unregister(indio_dev);
error_unreg_ring_funcs:
@@ -1264,13 +1022,16 @@ error_ret:
static int adis16400_remove(struct spi_device *spi)
{
struct iio_dev *indio_dev = spi_get_drvdata(spi);
+ struct adis16400_state *st = iio_priv(indio_dev);
iio_device_unregister(indio_dev);
adis16400_stop_device(indio_dev);
- adis16400_remove_trigger(indio_dev);
+ if (spi->irq)
+ adis_remove_trigger(&st->adis);
iio_buffer_unregister(indio_dev);
adis16400_unconfigure_ring(indio_dev);
+
iio_device_free(indio_dev);
return 0;
diff --git a/drivers/staging/iio/imu/adis16400_ring.c b/drivers/staging/iio/imu/adis16400_ring.c
index d46c1e38cf7..6c5b0be7190 100644
--- a/drivers/staging/iio/imu/adis16400_ring.c
+++ b/drivers/staging/iio/imu/adis16400_ring.c
@@ -9,6 +9,7 @@
#include <linux/iio/iio.h>
#include "../ring_sw.h"
#include <linux/iio/trigger_consumer.h>
+
#include "adis16400.h"
/**
@@ -20,12 +21,12 @@ static int adis16400_spi_read_burst(struct iio_dev *indio_dev, u8 *rx)
{
struct spi_message msg;
struct adis16400_state *st = iio_priv(indio_dev);
- u32 old_speed_hz = st->us->max_speed_hz;
+ u32 old_speed_hz = st->adis.spi->max_speed_hz;
int ret;
struct spi_transfer xfers[] = {
{
- .tx_buf = st->tx,
+ .tx_buf = st->adis.tx,
.bits_per_word = 8,
.len = 2,
}, {
@@ -35,39 +36,39 @@ static int adis16400_spi_read_burst(struct iio_dev *indio_dev, u8 *rx)
},
};
- mutex_lock(&st->buf_lock);
- st->tx[0] = ADIS16400_READ_REG(ADIS16400_GLOB_CMD);
- st->tx[1] = 0;
+ mutex_lock(&st->adis.txrx_lock);
+ st->adis.tx[0] = ADIS_READ_REG(ADIS16400_GLOB_CMD);
+ st->adis.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 = min(ADIS16400_SPI_BURST, old_speed_hz);
- spi_setup(st->us);
+ st->adis.spi->max_speed_hz = min(ADIS16400_SPI_BURST, old_speed_hz);
+ spi_setup(st->adis.spi);
- ret = spi_sync(st->us, &msg);
+ ret = spi_sync(st->adis.spi, &msg);
if (ret)
- dev_err(&st->us->dev, "problem when burst reading");
+ dev_err(&st->adis.spi->dev, "problem when burst reading");
- st->us->max_speed_hz = old_speed_hz;
- spi_setup(st->us);
- mutex_unlock(&st->buf_lock);
+ st->adis.spi->max_speed_hz = old_speed_hz;
+ spi_setup(st->adis.spi);
+ mutex_unlock(&st->adis.txrx_lock);
return ret;
}
static const u16 read_all_tx_array[] = {
- cpu_to_be16(ADIS16400_READ_REG(ADIS16400_SUPPLY_OUT)),
- cpu_to_be16(ADIS16400_READ_REG(ADIS16400_XGYRO_OUT)),
- cpu_to_be16(ADIS16400_READ_REG(ADIS16400_YGYRO_OUT)),
- cpu_to_be16(ADIS16400_READ_REG(ADIS16400_ZGYRO_OUT)),
- cpu_to_be16(ADIS16400_READ_REG(ADIS16400_XACCL_OUT)),
- cpu_to_be16(ADIS16400_READ_REG(ADIS16400_YACCL_OUT)),
- cpu_to_be16(ADIS16400_READ_REG(ADIS16400_ZACCL_OUT)),
- cpu_to_be16(ADIS16400_READ_REG(ADIS16350_XTEMP_OUT)),
- cpu_to_be16(ADIS16400_READ_REG(ADIS16350_YTEMP_OUT)),
- cpu_to_be16(ADIS16400_READ_REG(ADIS16350_ZTEMP_OUT)),
- cpu_to_be16(ADIS16400_READ_REG(ADIS16400_AUX_ADC)),
+ cpu_to_be16(ADIS_READ_REG(ADIS16400_SUPPLY_OUT)),
+ cpu_to_be16(ADIS_READ_REG(ADIS16400_XGYRO_OUT)),
+ cpu_to_be16(ADIS_READ_REG(ADIS16400_YGYRO_OUT)),
+ cpu_to_be16(ADIS_READ_REG(ADIS16400_ZGYRO_OUT)),
+ cpu_to_be16(ADIS_READ_REG(ADIS16400_XACCL_OUT)),
+ cpu_to_be16(ADIS_READ_REG(ADIS16400_YACCL_OUT)),
+ cpu_to_be16(ADIS_READ_REG(ADIS16400_ZACCL_OUT)),
+ cpu_to_be16(ADIS_READ_REG(ADIS16350_XTEMP_OUT)),
+ cpu_to_be16(ADIS_READ_REG(ADIS16350_YTEMP_OUT)),
+ cpu_to_be16(ADIS_READ_REG(ADIS16350_ZTEMP_OUT)),
+ cpu_to_be16(ADIS_READ_REG(ADIS16400_AUX_ADC)),
};
static int adis16350_spi_read_all(struct iio_dev *indio_dev, u8 *rx)
@@ -100,7 +101,7 @@ static int adis16350_spi_read_all(struct iio_dev *indio_dev, u8 *rx)
for (j = 0; j < scan_count + 1; j++)
spi_message_add_tail(&xfers[j], &msg);
- ret = spi_sync(st->us, &msg);
+ ret = spi_sync(st->adis.spi, &msg);
kfree(xfers);
return ret;
@@ -123,26 +124,26 @@ static irqreturn_t adis16400_trigger_handler(int irq, void *p)
indio_dev->masklength);
data = kmalloc(indio_dev->scan_bytes, GFP_KERNEL);
if (data == NULL) {
- dev_err(&st->us->dev, "memory alloc failed in ring bh");
+ dev_err(&st->adis.spi->dev, "memory alloc failed in ring bh");
goto done;
}
if (scan_count) {
if (st->variant->flags & ADIS16400_NO_BURST) {
- ret = adis16350_spi_read_all(indio_dev, st->rx);
+ ret = adis16350_spi_read_all(indio_dev, st->adis.rx);
if (ret < 0)
goto done;
for (; i < scan_count; i++)
- data[i] = *(s16 *)(st->rx + i*2);
+ data[i] = *(s16 *)(st->adis.rx + i*2);
} else {
- ret = adis16400_spi_read_burst(indio_dev, st->rx);
+ ret = adis16400_spi_read_burst(indio_dev, st->adis.rx);
if (ret < 0)
goto done;
for (; i < scan_count; i++) {
j = __ffs(mask);
mask &= ~(1 << j);
data[i] = be16_to_cpup(
- (__be16 *)&(st->rx[j*2]));
+ (__be16 *)&(st->adis.rx[j*2]));
}
}
}
diff --git a/drivers/staging/iio/imu/adis16400_trigger.c b/drivers/staging/iio/imu/adis16400_trigger.c
deleted file mode 100644
index 42a678e92fc..00000000000
--- a/drivers/staging/iio/imu/adis16400_trigger.c
+++ /dev/null
@@ -1,74 +0,0 @@
-#include <linux/interrupt.h>
-#include <linux/kernel.h>
-#include <linux/spi/spi.h>
-#include <linux/export.h>
-
-#include <linux/iio/iio.h>
-#include <linux/iio/trigger.h>
-#include "adis16400.h"
-
-/**
- * adis16400_data_rdy_trigger_set_state() set datardy interrupt state
- **/
-static int adis16400_data_rdy_trigger_set_state(struct iio_trigger *trig,
- bool state)
-{
- struct iio_dev *indio_dev = trig->private_data;
-
- dev_dbg(&indio_dev->dev, "%s (%d)\n", __func__, state);
- return adis16400_set_irq(indio_dev, state);
-}
-
-static const struct iio_trigger_ops adis16400_trigger_ops = {
- .owner = THIS_MODULE,
- .set_trigger_state = &adis16400_data_rdy_trigger_set_state,
-};
-
-int adis16400_probe_trigger(struct iio_dev *indio_dev)
-{
- int ret;
- struct adis16400_state *st = iio_priv(indio_dev);
-
- st->trig = iio_trigger_alloc("%s-dev%d",
- indio_dev->name,
- indio_dev->id);
- if (st->trig == NULL) {
- ret = -ENOMEM;
- goto error_ret;
- }
-
- ret = request_irq(st->us->irq,
- &iio_trigger_generic_data_rdy_poll,
- IRQF_TRIGGER_RISING,
- "adis16400",
- st->trig);
- if (ret)
- goto error_free_trig;
- st->trig->dev.parent = &st->us->dev;
- st->trig->private_data = indio_dev;
- st->trig->ops = &adis16400_trigger_ops;
- ret = iio_trigger_register(st->trig);
-
- /* select default trigger */
- indio_dev->trig = st->trig;
- if (ret)
- goto error_free_irq;
-
- return 0;
-
-error_free_irq:
- free_irq(st->us->irq, st->trig);
-error_free_trig:
- iio_trigger_free(st->trig);
-error_ret:
- return ret;
-}
-
-void adis16400_remove_trigger(struct iio_dev *indio_dev)
-{
- struct adis16400_state *st = iio_priv(indio_dev);
-
- iio_trigger_unregister(st->trig);
- free_irq(st->us->irq, st->trig);
- iio_trigger_free(st->trig);
-}
generated by cgit v1.2.3-70-g09d2 (git 2.46.0) at 2025-09-22 17:14:58 +0000