diff options
| -rw-r--r-- | drivers/staging/iio/imu/adis16400.h | 7 | ||||
| -rw-r--r-- | drivers/staging/iio/imu/adis16400_core.c | 424 | ||||
| -rw-r--r-- | drivers/staging/iio/imu/adis16400_ring.c | 160 | ||||
| -rw-r--r-- | drivers/staging/iio/imu/adis16400_trigger.c | 56 |
4 files changed, 282 insertions, 365 deletions
diff --git a/drivers/staging/iio/imu/adis16400.h b/drivers/staging/iio/imu/adis16400.h index e328bcc5922..1a7e23e5b0c 100644 --- a/drivers/staging/iio/imu/adis16400.h +++ b/drivers/staging/iio/imu/adis16400.h @@ -126,9 +126,6 @@ /** * struct adis16400_state - device instance specific data * @us: actual spi_device - * @work_trigger_to_ring: bh for triggered event handling - * @inter: used to check if new interrupt has been triggered - * @last_timestamp: passing timestamp from th to bh of interrupt handler * @indio_dev: industrial I/O device structure * @trig: data ready trigger registered with iio * @tx: transmit buffer @@ -137,8 +134,6 @@ **/ struct adis16400_state { struct spi_device *us; - struct work_struct work_trigger_to_ring; - s64 last_timestamp; struct iio_dev *indio_dev; struct iio_trigger *trig; u8 *tx; @@ -146,7 +141,7 @@ struct adis16400_state { struct mutex buf_lock; }; -int adis16400_set_irq(struct device *dev, bool enable); +int adis16400_set_irq(struct iio_dev *indio_dev, bool enable); #ifdef CONFIG_IIO_RING_BUFFER /* At the moment triggers are only used for ring buffer diff --git a/drivers/staging/iio/imu/adis16400_core.c b/drivers/staging/iio/imu/adis16400_core.c index 33c5f3c018f..6f43cc9bb72 100644 --- a/drivers/staging/iio/imu/adis16400_core.c +++ b/drivers/staging/iio/imu/adis16400_core.c @@ -38,7 +38,7 @@ #define DRIVER_NAME "adis16400" -static int adis16400_check_status(struct device *dev); +static int adis16400_check_status(struct iio_dev *indio_dev); /* At the moment the spi framework doesn't allow global setting of cs_change. * It's in the likely to be added comment at the top of spi.h. @@ -51,12 +51,11 @@ static int adis16400_check_status(struct device *dev); * @reg_address: the address of the register to be written * @val: the value to write **/ -static int adis16400_spi_write_reg_8(struct device *dev, - u8 reg_address, - u8 val) +static int adis16400_spi_write_reg_8(struct iio_dev *indio_dev, + u8 reg_address, + u8 val) { int ret; - struct iio_dev *indio_dev = dev_get_drvdata(dev); struct adis16400_state *st = iio_dev_get_devdata(indio_dev); mutex_lock(&st->buf_lock); @@ -76,13 +75,12 @@ static int adis16400_spi_write_reg_8(struct device *dev, * is assumed to have address one greater. * @val: value to be written **/ -static int adis16400_spi_write_reg_16(struct device *dev, +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 iio_dev *indio_dev = dev_get_drvdata(dev); struct adis16400_state *st = iio_dev_get_devdata(indio_dev); struct spi_transfer xfers[] = { { @@ -114,17 +112,16 @@ static int adis16400_spi_write_reg_16(struct device *dev, /** * adis16400_spi_read_reg_16() - read 2 bytes from a 16-bit register - * @dev: device associated with child of actual device (iio_dev or iio_trig) + * @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 **/ -static int adis16400_spi_read_reg_16(struct device *dev, +static int adis16400_spi_read_reg_16(struct iio_dev *indio_dev, u8 lower_reg_address, u16 *val) { struct spi_message msg; - struct iio_dev *indio_dev = dev_get_drvdata(dev); struct adis16400_state *st = iio_dev_get_devdata(indio_dev); int ret; struct spi_transfer xfers[] = { @@ -163,100 +160,15 @@ error_ret: return ret; } -static ssize_t adis16400_spi_read_signed(struct device *dev, - struct device_attribute *attr, - char *buf, - unsigned bits) -{ - int ret; - s16 val = 0; - unsigned shift = 16 - bits; - struct iio_dev_attr *this_attr = to_iio_dev_attr(attr); - - ret = adis16400_spi_read_reg_16(dev, this_attr->address, (u16 *)&val); - if (ret) - return ret; - - if (val & ADIS16400_ERROR_ACTIVE) - adis16400_check_status(dev); - val = ((s16)(val << shift) >> shift); - return sprintf(buf, "%d\n", val); -} - -static ssize_t adis16400_read_12bit_unsigned(struct device *dev, - struct device_attribute *attr, - char *buf) -{ - int ret; - u16 val = 0; - struct iio_dev_attr *this_attr = to_iio_dev_attr(attr); - - ret = adis16400_spi_read_reg_16(dev, this_attr->address, &val); - if (ret) - return ret; - - if (val & ADIS16400_ERROR_ACTIVE) - adis16400_check_status(dev); - - return sprintf(buf, "%u\n", val & 0x0FFF); -} - -static ssize_t adis16400_read_14bit_signed(struct device *dev, - struct device_attribute *attr, - char *buf) -{ - struct iio_dev *indio_dev = dev_get_drvdata(dev); - ssize_t ret; - - /* Take the iio_dev status lock */ - mutex_lock(&indio_dev->mlock); - ret = adis16400_spi_read_signed(dev, attr, buf, 14); - mutex_unlock(&indio_dev->mlock); - - return ret; -} - -static ssize_t adis16400_read_12bit_signed(struct device *dev, - struct device_attribute *attr, - char *buf) -{ - struct iio_dev *indio_dev = dev_get_drvdata(dev); - ssize_t ret; - - /* Take the iio_dev status lock */ - mutex_lock(&indio_dev->mlock); - ret = adis16400_spi_read_signed(dev, attr, buf, 12); - mutex_unlock(&indio_dev->mlock); - - return ret; -} - -static ssize_t adis16400_write_16bit(struct device *dev, - struct device_attribute *attr, - const char *buf, - size_t len) -{ - struct iio_dev_attr *this_attr = to_iio_dev_attr(attr); - int ret; - long val; - - ret = strict_strtol(buf, 10, &val); - if (ret) - goto error_ret; - ret = adis16400_spi_write_reg_16(dev, this_attr->address, val); - -error_ret: - return ret ? ret : len; -} - static ssize_t adis16400_read_frequency(struct device *dev, struct device_attribute *attr, char *buf) { + struct iio_dev *indio_dev = dev_get_drvdata(dev); int ret, len = 0; u16 t; int sps; - ret = adis16400_spi_read_reg_16(dev, + ret = adis16400_spi_read_reg_16(indio_dev, ADIS16400_SMPL_PRD, &t); if (ret) @@ -293,7 +205,7 @@ static ssize_t adis16400_write_frequency(struct device *dev, else st->us->max_speed_hz = ADIS16400_SPI_FAST; - ret = adis16400_spi_write_reg_8(dev, + ret = adis16400_spi_write_reg_8(indio_dev, ADIS16400_SMPL_PRD, t); @@ -302,14 +214,14 @@ static ssize_t adis16400_write_frequency(struct device *dev, return ret ? ret : len; } -static int adis16400_reset(struct device *dev) +static int adis16400_reset(struct iio_dev *indio_dev) { int ret; - ret = adis16400_spi_write_reg_8(dev, + ret = adis16400_spi_write_reg_8(indio_dev, ADIS16400_GLOB_CMD, ADIS16400_GLOB_CMD_SW_RESET); if (ret) - dev_err(dev, "problem resetting device"); + dev_err(&indio_dev->dev, "problem resetting device"); return ret; } @@ -318,22 +230,24 @@ static ssize_t adis16400_write_reset(struct device *dev, struct device_attribute *attr, const char *buf, size_t len) { + struct iio_dev *indio_dev = dev_get_drvdata(dev); + if (len < 1) return -1; switch (buf[0]) { case '1': case 'y': case 'Y': - return adis16400_reset(dev); + return adis16400_reset(indio_dev); } return -1; } -int adis16400_set_irq(struct device *dev, bool enable) +int adis16400_set_irq(struct iio_dev *indio_dev, bool enable) { int ret; u16 msc; - ret = adis16400_spi_read_reg_16(dev, ADIS16400_MSC_CTRL, &msc); + ret = adis16400_spi_read_reg_16(indio_dev, ADIS16400_MSC_CTRL, &msc); if (ret) goto error_ret; @@ -343,7 +257,7 @@ int adis16400_set_irq(struct device *dev, bool enable) else msc &= ~ADIS16400_MSC_CTRL_DATA_RDY_EN; - ret = adis16400_spi_write_reg_16(dev, ADIS16400_MSC_CTRL, msc); + ret = adis16400_spi_write_reg_16(indio_dev, ADIS16400_MSC_CTRL, msc); if (ret) goto error_ret; @@ -352,41 +266,45 @@ error_ret: } /* Power down the device */ -static int adis16400_stop_device(struct device *dev) +static int adis16400_stop_device(struct iio_dev *indio_dev) { int ret; u16 val = ADIS16400_SLP_CNT_POWER_OFF; - ret = adis16400_spi_write_reg_16(dev, ADIS16400_SLP_CNT, val); + ret = adis16400_spi_write_reg_16(indio_dev, ADIS16400_SLP_CNT, val); if (ret) - dev_err(dev, "problem with turning device off: SLP_CNT"); + dev_err(&indio_dev->dev, + "problem with turning device off: SLP_CNT"); return ret; } -static int adis16400_self_test(struct device *dev) +static int adis16400_self_test(struct iio_dev *indio_dev) { int ret; - ret = adis16400_spi_write_reg_16(dev, + ret = adis16400_spi_write_reg_16(indio_dev, ADIS16400_MSC_CTRL, ADIS16400_MSC_CTRL_MEM_TEST); if (ret) { - dev_err(dev, "problem starting self test"); + dev_err(&indio_dev->dev, "problem starting self test"); goto err_ret; } + msleep(ADIS16400_MTEST_DELAY); - adis16400_check_status(dev); + adis16400_check_status(indio_dev); err_ret: return ret; } -static int adis16400_check_status(struct device *dev) +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(dev, ADIS16400_DIAG_STAT, &status); + ret = adis16400_spi_read_reg_16(indio_dev, + ADIS16400_DIAG_STAT, &status); if (ret < 0) { dev_err(dev, "Reading status failed\n"); @@ -440,33 +358,34 @@ static int adis16400_initial_setup(struct adis16400_state *st) spi_setup(st->us); /* Disable IRQ */ - ret = adis16400_set_irq(dev, false); + ret = adis16400_set_irq(st->indio_dev, false); if (ret) { dev_err(dev, "disable irq failed"); goto err_ret; } /* Do self test */ - ret = adis16400_self_test(dev); + ret = adis16400_self_test(st->indio_dev); if (ret) { dev_err(dev, "self test failure"); goto err_ret; } /* Read status register to check the result */ - ret = adis16400_check_status(dev); + ret = adis16400_check_status(st->indio_dev); if (ret) { - adis16400_reset(dev); + adis16400_reset(st->indio_dev); dev_err(dev, "device not playing ball -> reset"); msleep(ADIS16400_STARTUP_DELAY); - ret = adis16400_check_status(dev); + ret = adis16400_check_status(st->indio_dev); if (ret) { dev_err(dev, "giving up"); goto err_ret; } } - ret = adis16400_spi_read_reg_16(dev, ADIS16400_PRODUCT_ID, &prod_id); + ret = adis16400_spi_read_reg_16(st->indio_dev, + ADIS16400_PRODUCT_ID, &prod_id); if (ret) goto err_ret; @@ -478,7 +397,8 @@ static int adis16400_initial_setup(struct adis16400_state *st) prod_id, st->us->chip_select, st->us->irq); /* use high spi speed if possible */ - ret = adis16400_spi_read_reg_16(dev, ADIS16400_SMPL_PRD, &smp_prd); + ret = adis16400_spi_read_reg_16(st->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); @@ -490,58 +410,6 @@ err_ret: return ret; } -#define ADIS16400_DEV_ATTR_CALIBBIAS(_channel, _reg) \ - IIO_DEV_ATTR_##_channel##_CALIBBIAS(S_IWUSR | S_IRUGO, \ - adis16400_read_12bit_signed, \ - adis16400_write_16bit, \ - _reg) - -static ADIS16400_DEV_ATTR_CALIBBIAS(GYRO_X, ADIS16400_XGYRO_OFF); -static ADIS16400_DEV_ATTR_CALIBBIAS(GYRO_Y, ADIS16400_YGYRO_OFF); -static ADIS16400_DEV_ATTR_CALIBBIAS(GYRO_Z, ADIS16400_ZGYRO_OFF); - -static ADIS16400_DEV_ATTR_CALIBBIAS(ACCEL_X, ADIS16400_XACCL_OFF); -static ADIS16400_DEV_ATTR_CALIBBIAS(ACCEL_Y, ADIS16400_YACCL_OFF); -static ADIS16400_DEV_ATTR_CALIBBIAS(ACCEL_Z, ADIS16400_ZACCL_OFF); - - -static IIO_DEV_ATTR_IN_NAMED_RAW(0, supply, adis16400_read_14bit_signed, - ADIS16400_SUPPLY_OUT); -static IIO_CONST_ATTR_IN_NAMED_SCALE(0, supply, "0.002418 V"); - -static IIO_DEV_ATTR_GYRO_X(adis16400_read_14bit_signed, - ADIS16400_XGYRO_OUT); -static IIO_DEV_ATTR_GYRO_Y(adis16400_read_14bit_signed, - ADIS16400_YGYRO_OUT); -static IIO_DEV_ATTR_GYRO_Z(adis16400_read_14bit_signed, - ADIS16400_ZGYRO_OUT); -static IIO_CONST_ATTR(gyro_scale, "0.0008726646"); - -static IIO_DEV_ATTR_ACCEL_X(adis16400_read_14bit_signed, - ADIS16400_XACCL_OUT); -static IIO_DEV_ATTR_ACCEL_Y(adis16400_read_14bit_signed, - ADIS16400_YACCL_OUT); -static IIO_DEV_ATTR_ACCEL_Z(adis16400_read_14bit_signed, - ADIS16400_ZACCL_OUT); -static IIO_CONST_ATTR(accel_scale, "0.0326561445"); - -static IIO_DEV_ATTR_MAGN_X(adis16400_read_14bit_signed, - ADIS16400_XMAGN_OUT); -static IIO_DEV_ATTR_MAGN_Y(adis16400_read_14bit_signed, - ADIS16400_YMAGN_OUT); -static IIO_DEV_ATTR_MAGN_Z(adis16400_read_14bit_signed, - ADIS16400_ZMAGN_OUT); -static IIO_CONST_ATTR(magn_scale, "0.0005 Gs"); - - -static IIO_DEV_ATTR_TEMP_RAW(adis16400_read_12bit_signed); -static IIO_CONST_ATTR_TEMP_OFFSET("198.16 K"); -static IIO_CONST_ATTR_TEMP_SCALE("0.14 K"); - -static IIO_DEV_ATTR_IN_RAW(1, adis16400_read_12bit_unsigned, - ADIS16400_AUX_ADC); -static IIO_CONST_ATTR(in1_scale, "0.000806 V"); - static IIO_DEV_ATTR_SAMP_FREQ(S_IWUSR | S_IRUGO, adis16400_read_frequency, adis16400_write_frequency); @@ -552,32 +420,184 @@ static IIO_CONST_ATTR_SAMP_FREQ_AVAIL("409 546 819 1638"); static IIO_CONST_ATTR_NAME("adis16400"); +enum adis16400_chan { + in_supply, + gyro_x, + gyro_y, + gyro_z, + accel_x, + accel_y, + accel_z, + magn_x, + magn_y, + magn_z, + temp, + in1 +}; + +static u8 adis16400_addresses[12][2] = { + [in_supply] = { ADIS16400_SUPPLY_OUT, 0 }, + [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, 0 }, + [magn_y] = { ADIS16400_YMAGN_OUT, 0 }, + [magn_z] = { ADIS16400_ZMAGN_OUT, 0 }, + [temp] = { ADIS16400_TEMP_OUT, 0 }, + [in1] = { ADIS16400_AUX_ADC , 0 }, +}; + +static int adis16400_write_raw(struct iio_dev *indio_dev, + struct iio_chan_spec const *chan, + int val, + int val2, + long mask) +{ + int ret; + switch (mask) { + case (1 << IIO_CHAN_INFO_CALIBBIAS_SEPARATE): + mutex_lock(&indio_dev->mlock); + ret = adis16400_spi_write_reg_16(indio_dev, + adis16400_addresses[chan->address][1], + val); + mutex_unlock(&indio_dev->mlock); + return ret; + default: + return -EINVAL; + } +} + +static int adis16400_read_raw(struct iio_dev *indio_dev, + struct iio_chan_spec const *chan, + int *val, + int *val2, + long mask) +{ + int ret; + s16 val16; + int shift; + + switch (mask) { + case 0: + 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; + case (1 << IIO_CHAN_INFO_SCALE_SHARED): + case (1 << IIO_CHAN_INFO_SCALE_SEPARATE): + switch (chan->type) { + case IIO_GYRO: + *val = 0; + *val2 = 873; + return IIO_VAL_INT_PLUS_MICRO; + case IIO_IN: + *val = 0; + if (chan->channel == 0) + *val2 = 2418; + else + *val2 = 806; + return IIO_VAL_INT_PLUS_MICRO; + case IIO_ACCEL: + *val = 0; + *val2 = 32656; + return IIO_VAL_INT_PLUS_MICRO; + case IIO_MAGN: + *val = 0; + *val2 = 500; + return IIO_VAL_INT_PLUS_MICRO; + case IIO_TEMP: + *val = 0; + *val2 = 140000; + return IIO_VAL_INT_PLUS_MICRO; + default: + return -EINVAL; + } + case (1 << IIO_CHAN_INFO_CALIBBIAS_SEPARATE): + mutex_lock(&indio_dev->mlock); + ret = adis16400_spi_read_reg_16(indio_dev, + adis16400_addresses[chan->address][1], + &val16); + if (ret) { + mutex_unlock(&indio_dev->mlock); + return ret; + } + val16 = ((val16 & 0xFFF) << 4) >> 4; + *val = val16; + return IIO_VAL_INT; + case (1 << IIO_CHAN_INFO_OFFSET_SEPARATE): + /* currently only temperature */ + *val = 198; + *val2 = 160000; + return IIO_VAL_INT_PLUS_MICRO; + default: + return -EINVAL; + } +} + +static struct iio_chan_spec adis16400_channels[] = { + IIO_CHAN(IIO_IN, 0, 1, 0, "supply", 0, 0, + (1 << IIO_CHAN_INFO_SCALE_SEPARATE), + in_supply, ADIS16400_SCAN_SUPPLY, + IIO_ST('u', 14, 16, 0), 0), + IIO_CHAN(IIO_GYRO, 1, 0, 0, NULL, 0, IIO_MOD_X, + (1 << IIO_CHAN_INFO_CALIBBIAS_SEPARATE) | + (1 << IIO_CHAN_INFO_SCALE_SHARED), + gyro_x, ADIS16400_SCAN_GYRO_X, IIO_ST('s', 14, 16, 0), 0), + IIO_CHAN(IIO_GYRO, 1, 0, 0, NULL, 0, IIO_MOD_Y, + (1 << IIO_CHAN_INFO_CALIBBIAS_SEPARATE) | + (1 << IIO_CHAN_INFO_SCALE_SHARED), + gyro_y, ADIS16400_SCAN_GYRO_Y, IIO_ST('s', 14, 16, 0), 0), + IIO_CHAN(IIO_GYRO, 1, 0, 0, NULL, 0, IIO_MOD_Z, + (1 << IIO_CHAN_INFO_CALIBBIAS_SEPARATE) | + (1 << IIO_CHAN_INFO_SCALE_SHARED), + gyro_z, ADIS16400_SCAN_GYRO_Z, IIO_ST('s', 14, 16, 0), 0), + IIO_CHAN(IIO_ACCEL, 1, 0, 0, NULL, 0, IIO_MOD_X, + (1 << IIO_CHAN_INFO_CALIBBIAS_SEPARATE) | + (1 << IIO_CHAN_INFO_SCALE_SHARED), + accel_x, ADIS16400_SCAN_ACC_X, IIO_ST('s', 14, 16, 0), 0), + IIO_CHAN(IIO_ACCEL, 1, 0, 0, NULL, 0, IIO_MOD_Y, + (1 << IIO_CHAN_INFO_CALIBBIAS_SEPARATE) | + (1 << IIO_CHAN_INFO_SCALE_SHARED), + accel_y, ADIS16400_SCAN_ACC_Y, IIO_ST('s', 14, 16, 0), 0), + IIO_CHAN(IIO_ACCEL, 1, 0, 0, NULL, 0, IIO_MOD_Z, + (1 << IIO_CHAN_INFO_CALIBBIAS_SEPARATE) | + (1 << IIO_CHAN_INFO_SCALE_SHARED), + accel_z, ADIS16400_SCAN_ACC_Z, IIO_ST('s', 14, 16, 0), 0), + IIO_CHAN(IIO_MAGN, 1, 0, 0, NULL, 0, IIO_MOD_X, + (1 << IIO_CHAN_INFO_SCALE_SHARED), + magn_x, ADIS16400_SCAN_MAGN_X, IIO_ST('s', 14, 16, 0), 0), + IIO_CHAN(IIO_MAGN, 1, 0, 0, NULL, 0, IIO_MOD_Y, + (1 << IIO_CHAN_INFO_SCALE_SHARED), + magn_y, ADIS16400_SCAN_MAGN_Y, IIO_ST('s', 14, 16, 0), 0), + IIO_CHAN(IIO_MAGN, 1, 0, 0, NULL, 0, IIO_MOD_Z, + (1 << IIO_CHAN_INFO_SCALE_SHARED), + magn_z, ADIS16400_SCAN_MAGN_Z, IIO_ST('s', 14, 16, 0), 0), + IIO_CHAN(IIO_TEMP, 0, 1, 0, NULL, 0, 0, + (1 << IIO_CHAN_INFO_OFFSET_SEPARATE) | + (1 << IIO_CHAN_INFO_SCALE_SEPARATE), + temp, ADIS16400_SCAN_TEMP, IIO_ST('s', 12, 16, 0), 0), + IIO_CHAN(IIO_IN, 0, 1, 0, NULL, 1, 0, + (1 << IIO_CHAN_INFO_SCALE_SEPARATE), + in1, ADIS16400_SCAN_ADC_0, IIO_ST('s', 12, 16, 0), 0), + IIO_CHAN_SOFT_TIMESTAMP(12) +}; + static struct attribute *adis16400_attributes[] = { - &iio_dev_attr_gyro_x_calibbias.dev_attr.attr, - &iio_dev_attr_gyro_y_calibbias.dev_attr.attr, - &iio_dev_attr_gyro_z_calibbias.dev_attr.attr, - &iio_dev_attr_accel_x_calibbias.dev_attr.attr, - &iio_dev_attr_accel_y_calibbias.dev_attr.attr, - &iio_dev_attr_accel_z_calibbias.dev_attr.attr, - &iio_dev_attr_in0_supply_raw.dev_attr.attr, - &iio_const_attr_in0_supply_scale.dev_attr.attr, - &iio_dev_attr_gyro_x_raw.dev_attr.attr, - &iio_dev_attr_gyro_y_raw.dev_attr.attr, - &iio_dev_attr_gyro_z_raw.dev_attr.attr, - &iio_const_attr_gyro_scale.dev_attr.attr, - &iio_dev_attr_accel_x_raw.dev_attr.attr, - &iio_dev_attr_accel_y_raw.dev_attr.attr, - &iio_dev_attr_accel_z_raw.dev_attr.attr, - &iio_const_attr_accel_scale.dev_attr.attr, - &iio_dev_attr_magn_x_raw.dev_attr.attr, - &iio_dev_attr_magn_y_raw.dev_attr.attr, - &iio_dev_attr_magn_z_raw.dev_attr.attr, - &iio_const_attr_magn_scale.dev_attr.attr, - &iio_dev_attr_temp_raw.dev_attr.attr, - &iio_const_attr_temp_offset.dev_attr.attr, - &iio_const_attr_temp_scale.dev_attr.attr, - &iio_dev_attr_in1_raw.dev_attr.attr, - &iio_const_attr_in1_scale.dev_attr.attr, &iio_dev_attr_sampling_frequency.dev_attr.attr, &iio_const_attr_sampling_frequency_available.dev_attr.attr, &iio_dev_attr_reset.dev_attr.attr, @@ -622,6 +642,10 @@ static int __devinit adis16400_probe(struct spi_device *spi) st->indio_dev->dev.parent = &spi->dev; st->indio_dev->attrs = &adis16400_attribute_group; + st->indio_dev->channels = adis16400_channels; + st->indio_dev->num_channels = ARRAY_SIZE(adis16400_channels); + st->indio_dev->read_raw = &adis16400_read_raw; + st->indio_dev->write_raw = &adis16400_write_raw; st->indio_dev->dev_data = (void *)(st); st->indio_dev->driver_module = THIS_MODULE; st->indio_dev->modes = INDIO_DIRECT_MODE; @@ -682,12 +706,10 @@ static int adis16400_remove(struct spi_device *spi) struct adis16400_state *st = spi_get_drvdata(spi); struct iio_dev *indio_dev = st->indio_dev; - ret = adis16400_stop_device(&(indio_dev->dev)); + ret = adis16400_stop_device(indio_dev); if (ret) goto err_ret; - flush_scheduled_work(); - adis16400_remove_trigger(indio_dev); iio_ring_buffer_unregister(st->indio_dev->ring); adis16400_unconfigure_ring(indio_dev); diff --git a/drivers/staging/iio/imu/adis16400_ring.c b/drivers/staging/iio/imu/adis16400_ring.c index da28cb4288a..f5b9bb8f65e 100644 --- a/drivers/staging/iio/imu/adis16400_ring.c +++ b/drivers/staging/iio/imu/adis16400_ring.c @@ -17,93 +17,6 @@ #include "../trigger.h" #include "adis16400.h" -static IIO_SCAN_EL_C(in0_supply, ADIS16400_SCAN_SUPPLY, - ADIS16400_SUPPLY_OUT, NULL); -static IIO_CONST_ATTR_SCAN_EL_TYPE(in0_supply, u, 14, 16); - -static IIO_SCAN_EL_C(gyro_x, ADIS16400_SCAN_GYRO_X, ADIS16400_XGYRO_OUT, NULL); -static IIO_SCAN_EL_C(gyro_y, ADIS16400_SCAN_GYRO_Y, ADIS16400_YGYRO_OUT, NULL); -static IIO_SCAN_EL_C(gyro_z, ADIS16400_SCAN_GYRO_Z, ADIS16400_ZGYRO_OUT, NULL); -static IIO_CONST_ATTR_SCAN_EL_TYPE(gyro, s, 14, 16); - -static IIO_SCAN_EL_C(accel_x, ADIS16400_SCAN_ACC_X, ADIS16400_XACCL_OUT, NULL); -static IIO_SCAN_EL_C(accel_y, ADIS16400_SCAN_ACC_Y, ADIS16400_YACCL_OUT, NULL); -static IIO_SCAN_EL_C(accel_z, ADIS16400_SCAN_ACC_Z, ADIS16400_ZACCL_OUT, NULL); -static IIO_CONST_ATTR_SCAN_EL_TYPE(accel, s, 14, 16); - -static IIO_SCAN_EL_C(magn_x, ADIS16400_SCAN_MAGN_X, ADIS16400_XMAGN_OUT, NULL); -static IIO_SCAN_EL_C(magn_y, ADIS16400_SCAN_MAGN_Y, ADIS16400_YMAGN_OUT, NULL); -static IIO_SCAN_EL_C(magn_z, ADIS16400_SCAN_MAGN_Z, ADIS16400_ZMAGN_OUT, NULL); -static IIO_CONST_ATTR_SCAN_EL_TYPE(magn, s, 14, 16); - -static IIO_SCAN_EL_C(temp, ADIS16400_SCAN_TEMP, ADIS16400_TEMP_OUT, NULL); -static IIO_CONST_ATTR_SCAN_EL_TYPE(temp, s, 12, 16); - -static IIO_SCAN_EL_C(in1, ADIS16400_SCAN_ADC_0, ADIS16400_AUX_ADC, NULL); -static IIO_CONST_ATTR_SCAN_EL_TYPE(in1, u, 12, 16); - -static IIO_SCAN_EL_TIMESTAMP(12); -static IIO_CONST_ATTR_SCAN_EL_TYPE(timestamp, s, 64, 64); - -static struct attribute *adis16400_scan_el_attrs[] = { - &iio_scan_el_in0_supply.dev_attr.attr, - &iio_const_attr_in0_supply_index.dev_attr.attr, - &iio_const_attr_in0_supply_type.dev_attr.attr, - &iio_scan_el_gyro_x.dev_attr.attr, - &iio_const_attr_gyro_x_index.dev_attr.attr, - &iio_scan_el_gyro_y.dev_attr.attr, - &iio_const_attr_gyro_y_index.dev_attr.attr, - &iio_scan_el_gyro_z.dev_attr.attr, - &iio_const_attr_gyro_z_index.dev_attr.attr, - &iio_const_attr_gyro_type.dev_attr.attr, - &iio_scan_el_accel_x.dev_attr.attr, - &iio_const_attr_accel_x_index.dev_attr.attr, - &iio_scan_el_accel_y.dev_attr.attr, - &iio_const_attr_accel_y_index.dev_attr.attr, - &iio_scan_el_accel_z.dev_attr.attr, - &iio_const_attr_accel_z_index.dev_attr.attr, - &iio_const_attr_accel_type.dev_attr.attr, - &iio_scan_el_magn_x.dev_attr.attr, - &iio_const_attr_magn_x_index.dev_attr.attr, - &iio_scan_el_magn_y.dev_attr.attr, - &iio_const_attr_magn_y_index.dev_attr.attr, - &iio_scan_el_magn_z.dev_attr.attr, - &iio_const_attr_magn_z_index.dev_attr.attr, - &iio_const_attr_magn_type.dev_attr.attr, - &iio_scan_el_temp.dev_attr.attr, - &iio_const_attr_temp_index.dev_attr.attr, - &iio_const_attr_temp_type.dev_attr.attr, - &iio_scan_el_in1.dev_attr.attr, - &iio_const_attr_in1_index.dev_attr.attr, - &iio_const_attr_in1_type.dev_attr.attr, - &iio_scan_el_timestamp.dev_attr.attr, - &iio_const_attr_timestamp_index.dev_attr.attr, - &iio_const_attr_timestamp_type.dev_attr.attr, - NULL, -}; - -static struct attribute_group adis16400_scan_el_group = { - .attrs = adis16400_scan_el_attrs, - .name = "scan_elements", -}; - -/** - * adis16400_poll_func_th() top half interrupt handler called by trigger - * @private_data: iio_dev - **/ -static void adis16400_poll_func_th(struct iio_dev *indio_dev, s64 time) -{ - struct adis16400_state *st = iio_dev_get_devdata(indio_dev); - st->last_timestamp = time; - schedule_work(&st->work_trigger_to_ring); - /* Indicate that this interrupt is being handled */ - - /* Technically this is trigger related, but without this - * handler running there is currently no way for the interrupt - * to clear. - */ -} - /** * adis16400_spi_read_burst() - read all data registers * @dev: device associated with child of actual device (iio_dev or iio_trig) @@ -153,13 +66,12 @@ static int adis16400_spi_read_burst(struct device *dev, u8 *rx) /* Whilst this makes a lot of calls to iio_sw_ring functions - it is to device * specific to be rolled into the core. */ -static void adis16400_trigger_bh_to_ring(struct work_struct *work_s) +static irqreturn_t adis16400_trigger_handler(int irq, void *p) { - struct adis16400_state *st - = container_of(work_s, struct adis16400_state, - work_trigger_to_ring); - struct iio_ring_buffer *ring = st->indio_dev->ring; - + struct iio_poll_func *pf = p; + struct iio_dev *indio_dev = pf->private_data; + struct adis16400_state *st = iio_dev_get_devdata(indio_dev); + struct iio_ring_buffer *ring = indio_dev->ring; int i = 0, j; s16 *data; size_t datasize = ring->access.get_bytes_per_datum(ring); @@ -168,11 +80,11 @@ static void adis16400_trigger_bh_to_ring(struct work_struct *work_s) data = kmalloc(datasize , GFP_KERNEL); if (data == NULL) { dev_err(&st->us->dev, "memory alloc failed in ring bh"); - return; + return -ENOMEM; } if (ring->scan_count) - if (adis16400_spi_read_burst(&st->indio_dev->dev, st->rx) >= 0) + if (adis16400_spi_read_burst(&indio_dev->dev, st->rx) >= 0) for (; i < ring->scan_count; i++) { j = __ffs(mask); mask &= ~(1 << j); @@ -182,20 +94,18 @@ static void adis16400_trigger_bh_to_ring(struct work_struct *work_s) /* Guaranteed to be aligned with 8 byte boundary */ if (ring->scan_timestamp) - *((s64 *)(data + ((i + 3)/4)*4)) = st->last_timestamp; - - ring->access.store_to(ring, - (u8 *) data, - st->last_timestamp); + *((s64 *)(data + ((i + 3)/4)*4)) = pf->timestamp; + ring->access.store_to(indio_dev->ring, (u8 *) data, pf->timestamp); - iio_trigger_notify_done(st->indio_dev->trig); + iio_trigger_notify_done(indio_dev->trig); kfree(data); - return; + return IRQ_HANDLED; } void adis16400_unconfigure_ring(struct iio_dev *indio_dev) { + kfree(indio_dev->pollfunc->name); kfree(indio_dev->pollfunc); iio_sw_rb_free(indio_dev->ring); } @@ -203,9 +113,7 @@ void adis16400_unconfigure_ring(struct iio_dev *indio_dev) int adis16400_configure_ring(struct iio_dev *indio_dev) { int ret = 0; - struct adis16400_state *st = indio_dev->dev_data; struct iio_ring_buffer *ring; - INIT_WORK(&st->work_trigger_to_ring, adis16400_trigger_bh_to_ring); ring = iio_sw_rb_allocate(indio_dev); if (!ring) { @@ -216,7 +124,6 @@ int adis16400_configure_ring(struct iio_dev *indio_dev) /* Effectively select the ring buffer implementation */ iio_ring_sw_register_funcs(&ring->access); ring->bpe = 2; - ring->scan_el_attrs = &adis16400_scan_el_group; ring->scan_timestamp = true; ring->preenable = &iio_sw_ring_preenable; ring->postenable = &iio_triggered_ring_postenable; @@ -224,26 +131,37 @@ int adis16400_configure_ring(struct iio_dev *indio_dev) ring->owner = THIS_MODULE; /* Set default scan mode */ - iio_scan_mask_set(ring, iio_scan_el_in0_supply.number); - iio_scan_mask_set(ring, iio_scan_el_gyro_x.number); - iio_scan_mask_set(ring, iio_scan_el_gyro_y.number); - iio_scan_mask_set(ring, iio_scan_el_gyro_z.number); - iio_scan_mask_set(ring, iio_scan_el_accel_x.number); - iio_scan_mask_set(ring, iio_scan_el_accel_y.number); - iio_scan_mask_set(ring, iio_scan_el_accel_z.number); - iio_scan_mask_set(ring, iio_scan_el_magn_x.number); - iio_scan_mask_set(ring, iio_scan_el_magn_y.number); - iio_scan_mask_set(ring, iio_scan_el_magn_z.number); - iio_scan_mask_set(ring, iio_scan_el_temp.number); - iio_scan_mask_set(ring, iio_scan_el_in1.number); - - ret = iio_alloc_pollfunc(indio_dev, NULL, &adis16400_poll_func_th); - if (ret) + iio_scan_mask_set(ring, ADIS16400_SCAN_SUPPLY); + iio_scan_mask_set(ring, ADIS16400_SCAN_GYRO_X); + iio_scan_mask_set(ring, ADIS16400_SCAN_GYRO_Y); + iio_scan_mask_set(ring, ADIS16400_SCAN_GYRO_Z); + iio_scan_mask_set(ring, ADIS16400_SCAN_ACC_X); + iio_scan_mask_set(ring, ADIS16400_SCAN_ACC_Y); + iio_scan_mask_set(ring, ADIS16400_SCAN_ACC_Z); + iio_scan_mask_set(ring, ADIS16400_SCAN_MAGN_X); + iio_scan_mask_set(ring, ADIS16400_SCAN_MAGN_Y); + iio_scan_mask_set(ring, ADIS16400_SCAN_MAGN_Z); + iio_scan_mask_set(ring, ADIS16400_SCAN_TEMP); + iio_scan_mask_set(ring, ADIS16400_SCAN_ADC_0); + + indio_dev->pollfunc = kzalloc(sizeof(*indio_dev->pollfunc), GFP_KERNEL); + if (indio_dev->pollfunc == NULL) { + ret = -ENOMEM; goto error_iio_sw_rb_free; + } + indio_dev->pollfunc->private_data = indio_dev; + indio_dev->pollfunc->h = &iio_pollfunc_store_time; + indio_dev->pollfunc->thread = &adis16400_trigger_handler; + indio_dev->pollfunc->type = IRQF_ONESHOT; + indio_dev->pollfunc->name = + kasprintf(GFP_KERNEL, "adis16400_consumer%d", indio_dev->id); + if (ret) + goto error_iio_free_pollfunc; indio_dev->modes |= INDIO_RING_TRIGGERED; return 0; - +error_iio_free_pollfunc: + kfree(indio_dev->pollfunc); error_iio_sw_rb_free: iio_sw_rb_free(indio_dev->ring); return ret; diff --git a/drivers/staging/iio/imu/adis16400_trigger.c b/drivers/staging/iio/imu/adis16400_trigger.c index afa5e7486c1..b80ae9470d7 100644 --- a/drivers/staging/iio/imu/adis16400_trigger.c +++ b/drivers/staging/iio/imu/adis16400_trigger.c @@ -12,16 +12,6 @@ #include "../trigger.h" #include "adis16400.h" -/** - * adis16400_data_rdy_trig_poll() the event handler for the data rdy trig - **/ -static irqreturn_t adis16400_data_rdy_trig_poll(int irq, void *private) -{ - disable_irq_nosync(irq); - iio_trigger_poll(private, iio_get_time_ns()); - return IRQ_HANDLED; -} - static IIO_TRIGGER_NAME_ATTR; static struct attribute *adis16400_trigger_attrs[] = { @@ -43,66 +33,58 @@ static int adis16400_data_rdy_trigger_set_state(struct iio_trigger *trig, struct iio_dev *indio_dev = st->indio_dev; dev_dbg(&indio_dev->dev, "%s (%d)\n", __func__, state); - return adis16400_set_irq(&st->indio_dev->dev, state); -} - -/** - * adis16400_trig_try_reen() try renabling irq for data rdy trigger - * @trig: the datardy trigger - **/ -static int adis16400_trig_try_reen(struct iio_trigger *trig) -{ - struct adis16400_state *st = trig->private_data; - enable_irq(st->us->irq); - /* irq reenabled so success! */ - return 0; + return adis16400_set_irq(st->indio_dev, state); } int adis16400_probe_trigger(struct iio_dev *indio_dev) { int ret; struct adis16400_state *st = indio_dev->dev_data; + char *name; - st->trig = iio_allocate_trigger(); - if (st->trig == NULL) { + name = kasprintf(GFP_KERNEL, + "%s-dev%d", + spi_get_device_id(st->us)->name, + indio_dev->id); + if (name == NULL) { ret = -ENOMEM; goto error_ret; } + + st->trig = iio_allocate_trigger_named(name); + if (st->trig == NULL) { + ret = -ENOMEM; + goto error_free_name; + } + ret = request_irq(st->us->irq, - adis16400_data_rdy_trig_poll, + &iio_trigger_generic_data_rdy_poll, IRQF_TRIGGER_RISING, "adis16400", st->trig); if (ret) goto error_free_trig; - st->trig->name = kasprintf(GFP_KERNEL, - "adis16400-dev%d", - indio_dev->id); - if (!st->trig->name) { - ret = -ENOMEM; - goto error_free_irq; - } + st->trig->dev.parent = &st->us->dev; st->trig->owner = THIS_MODULE; st->trig->private_data = st; st->trig->set_trigger_state = &adis16400_data_rdy_trigger_set_state; - st->trig->try_reenable = &adis16400_trig_try_reen; st->trig->control_attrs = &adis16400_trigger_attr_group; ret = iio_trigger_register(st->trig); /* select default trigger */ indio_dev->trig = st->trig; if (ret) - goto error_free_trig_name; + goto error_free_irq; return 0; -error_free_trig_name: - kfree(st->trig->name); error_free_irq: free_irq(st->us->irq, st->trig); error_free_trig: iio_free_trigger(st->trig); +error_free_name: + kfree(name); error_ret: return ret; } |