724 lines
17 KiB
C
724 lines
17 KiB
C
/*
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* ADIS16260/ADIS16265 Programmable Digital Gyroscope Sensor Driver
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*
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* Copyright 2010 Analog Devices Inc.
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*
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* Licensed under the GPL-2 or later.
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*/
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#include <linux/interrupt.h>
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#include <linux/irq.h>
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#include <linux/delay.h>
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#include <linux/mutex.h>
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#include <linux/device.h>
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#include <linux/kernel.h>
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#include <linux/spi/spi.h>
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#include <linux/slab.h>
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#include <linux/sysfs.h>
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#include <linux/list.h>
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#include <linux/module.h>
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#include "../iio.h"
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#include "../sysfs.h"
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#include "../buffer.h"
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#include "adis16260.h"
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#define DRIVER_NAME "adis16260"
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static int adis16260_check_status(struct iio_dev *indio_dev);
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/**
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* adis16260_spi_write_reg_8() - write single byte to a register
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* @indio_dev: iio_dev for the device
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* @reg_address: the address of the register to be written
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* @val: the value to write
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**/
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static int adis16260_spi_write_reg_8(struct iio_dev *indio_dev,
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u8 reg_address,
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u8 val)
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{
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int ret;
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struct adis16260_state *st = iio_priv(indio_dev);
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mutex_lock(&st->buf_lock);
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st->tx[0] = ADIS16260_WRITE_REG(reg_address);
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st->tx[1] = val;
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ret = spi_write(st->us, st->tx, 2);
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mutex_unlock(&st->buf_lock);
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return ret;
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}
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/**
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* adis16260_spi_write_reg_16() - write 2 bytes to a pair of registers
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* @indio_dev: iio_dev for the device
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* @reg_address: the address of the lower of the two registers. Second register
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* is assumed to have address one greater.
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* @val: value to be written
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**/
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static int adis16260_spi_write_reg_16(struct iio_dev *indio_dev,
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u8 lower_reg_address,
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u16 value)
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{
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int ret;
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struct spi_message msg;
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struct adis16260_state *st = iio_priv(indio_dev);
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struct spi_transfer xfers[] = {
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{
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.tx_buf = st->tx,
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.bits_per_word = 8,
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.len = 2,
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.cs_change = 1,
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.delay_usecs = 20,
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}, {
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.tx_buf = st->tx + 2,
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.bits_per_word = 8,
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.len = 2,
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.delay_usecs = 20,
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},
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};
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mutex_lock(&st->buf_lock);
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st->tx[0] = ADIS16260_WRITE_REG(lower_reg_address);
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st->tx[1] = value & 0xFF;
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st->tx[2] = ADIS16260_WRITE_REG(lower_reg_address + 1);
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st->tx[3] = (value >> 8) & 0xFF;
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spi_message_init(&msg);
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spi_message_add_tail(&xfers[0], &msg);
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spi_message_add_tail(&xfers[1], &msg);
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ret = spi_sync(st->us, &msg);
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mutex_unlock(&st->buf_lock);
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return ret;
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}
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/**
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* adis16260_spi_read_reg_16() - read 2 bytes from a 16-bit register
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* @indio_dev: iio_dev for the device
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* @reg_address: the address of the lower of the two registers. Second register
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* is assumed to have address one greater.
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* @val: somewhere to pass back the value read
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**/
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static int adis16260_spi_read_reg_16(struct iio_dev *indio_dev,
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u8 lower_reg_address,
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u16 *val)
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{
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struct spi_message msg;
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struct adis16260_state *st = iio_priv(indio_dev);
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int ret;
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struct spi_transfer xfers[] = {
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{
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.tx_buf = st->tx,
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.bits_per_word = 8,
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.len = 2,
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.cs_change = 1,
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.delay_usecs = 30,
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}, {
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.rx_buf = st->rx,
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.bits_per_word = 8,
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.len = 2,
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.delay_usecs = 30,
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},
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};
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mutex_lock(&st->buf_lock);
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st->tx[0] = ADIS16260_READ_REG(lower_reg_address);
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st->tx[1] = 0;
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spi_message_init(&msg);
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spi_message_add_tail(&xfers[0], &msg);
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spi_message_add_tail(&xfers[1], &msg);
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ret = spi_sync(st->us, &msg);
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if (ret) {
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dev_err(&st->us->dev,
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"problem when reading 16 bit register 0x%02X",
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lower_reg_address);
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goto error_ret;
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}
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*val = (st->rx[0] << 8) | st->rx[1];
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error_ret:
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mutex_unlock(&st->buf_lock);
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return ret;
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}
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static ssize_t adis16260_read_frequency_available(struct device *dev,
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struct device_attribute *attr,
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char *buf)
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{
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struct iio_dev *indio_dev = dev_get_drvdata(dev);
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struct adis16260_state *st = iio_priv(indio_dev);
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if (spi_get_device_id(st->us)->driver_data)
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return sprintf(buf, "%s\n", "0.129 ~ 256");
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else
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return sprintf(buf, "%s\n", "256 2048");
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}
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static ssize_t adis16260_read_frequency(struct device *dev,
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struct device_attribute *attr,
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char *buf)
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{
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struct iio_dev *indio_dev = dev_get_drvdata(dev);
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struct adis16260_state *st = iio_priv(indio_dev);
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int ret, len = 0;
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u16 t;
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int sps;
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ret = adis16260_spi_read_reg_16(indio_dev,
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ADIS16260_SMPL_PRD,
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&t);
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if (ret)
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return ret;
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if (spi_get_device_id(st->us)->driver_data) /* If an adis16251 */
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sps = (t & ADIS16260_SMPL_PRD_TIME_BASE) ? 8 : 256;
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else
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sps = (t & ADIS16260_SMPL_PRD_TIME_BASE) ? 66 : 2048;
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sps /= (t & ADIS16260_SMPL_PRD_DIV_MASK) + 1;
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len = sprintf(buf, "%d SPS\n", sps);
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return len;
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}
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static ssize_t adis16260_write_frequency(struct device *dev,
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struct device_attribute *attr,
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const char *buf,
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size_t len)
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{
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struct iio_dev *indio_dev = dev_get_drvdata(dev);
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struct adis16260_state *st = iio_priv(indio_dev);
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long val;
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int ret;
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u8 t;
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ret = strict_strtol(buf, 10, &val);
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if (ret)
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return ret;
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mutex_lock(&indio_dev->mlock);
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if (spi_get_device_id(st->us)) {
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t = (256 / val);
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if (t > 0)
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t--;
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t &= ADIS16260_SMPL_PRD_DIV_MASK;
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} else {
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t = (2048 / val);
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if (t > 0)
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t--;
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t &= ADIS16260_SMPL_PRD_DIV_MASK;
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}
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if ((t & ADIS16260_SMPL_PRD_DIV_MASK) >= 0x0A)
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st->us->max_speed_hz = ADIS16260_SPI_SLOW;
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else
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st->us->max_speed_hz = ADIS16260_SPI_FAST;
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ret = adis16260_spi_write_reg_8(indio_dev,
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ADIS16260_SMPL_PRD,
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t);
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mutex_unlock(&indio_dev->mlock);
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return ret ? ret : len;
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}
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static int adis16260_reset(struct iio_dev *indio_dev)
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{
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int ret;
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ret = adis16260_spi_write_reg_8(indio_dev,
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ADIS16260_GLOB_CMD,
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ADIS16260_GLOB_CMD_SW_RESET);
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if (ret)
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dev_err(&indio_dev->dev, "problem resetting device");
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return ret;
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}
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static ssize_t adis16260_write_reset(struct device *dev,
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struct device_attribute *attr,
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const char *buf, size_t len)
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{
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struct iio_dev *indio_dev = dev_get_drvdata(dev);
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if (len < 1)
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return -EINVAL;
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switch (buf[0]) {
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case '1':
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case 'y':
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case 'Y':
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return adis16260_reset(indio_dev);
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}
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return -EINVAL;
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}
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int adis16260_set_irq(struct iio_dev *indio_dev, bool enable)
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{
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int ret;
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u16 msc;
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ret = adis16260_spi_read_reg_16(indio_dev, ADIS16260_MSC_CTRL, &msc);
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if (ret)
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goto error_ret;
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msc |= ADIS16260_MSC_CTRL_DATA_RDY_POL_HIGH;
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if (enable)
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msc |= ADIS16260_MSC_CTRL_DATA_RDY_EN;
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else
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msc &= ~ADIS16260_MSC_CTRL_DATA_RDY_EN;
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ret = adis16260_spi_write_reg_16(indio_dev, ADIS16260_MSC_CTRL, msc);
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if (ret)
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goto error_ret;
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error_ret:
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return ret;
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}
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/* Power down the device */
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static int adis16260_stop_device(struct iio_dev *indio_dev)
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{
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int ret;
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u16 val = ADIS16260_SLP_CNT_POWER_OFF;
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ret = adis16260_spi_write_reg_16(indio_dev, ADIS16260_SLP_CNT, val);
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if (ret)
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dev_err(&indio_dev->dev, "problem with turning device off: SLP_CNT");
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return ret;
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}
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static int adis16260_self_test(struct iio_dev *indio_dev)
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{
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int ret;
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ret = adis16260_spi_write_reg_16(indio_dev,
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ADIS16260_MSC_CTRL,
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ADIS16260_MSC_CTRL_MEM_TEST);
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if (ret) {
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dev_err(&indio_dev->dev, "problem starting self test");
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goto err_ret;
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}
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adis16260_check_status(indio_dev);
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err_ret:
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return ret;
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}
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static int adis16260_check_status(struct iio_dev *indio_dev)
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{
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u16 status;
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int ret;
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struct device *dev = &indio_dev->dev;
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ret = adis16260_spi_read_reg_16(indio_dev,
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ADIS16260_DIAG_STAT,
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&status);
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if (ret < 0) {
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dev_err(dev, "Reading status failed\n");
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goto error_ret;
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}
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ret = status & 0x7F;
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if (status & ADIS16260_DIAG_STAT_FLASH_CHK)
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dev_err(dev, "Flash checksum error\n");
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if (status & ADIS16260_DIAG_STAT_SELF_TEST)
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dev_err(dev, "Self test error\n");
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if (status & ADIS16260_DIAG_STAT_OVERFLOW)
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dev_err(dev, "Sensor overrange\n");
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if (status & ADIS16260_DIAG_STAT_SPI_FAIL)
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dev_err(dev, "SPI failure\n");
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if (status & ADIS16260_DIAG_STAT_FLASH_UPT)
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dev_err(dev, "Flash update failed\n");
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if (status & ADIS16260_DIAG_STAT_POWER_HIGH)
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dev_err(dev, "Power supply above 5.25V\n");
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if (status & ADIS16260_DIAG_STAT_POWER_LOW)
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dev_err(dev, "Power supply below 4.75V\n");
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error_ret:
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return ret;
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}
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static int adis16260_initial_setup(struct iio_dev *indio_dev)
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{
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int ret;
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struct device *dev = &indio_dev->dev;
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/* Disable IRQ */
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ret = adis16260_set_irq(indio_dev, false);
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if (ret) {
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dev_err(dev, "disable irq failed");
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goto err_ret;
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}
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/* Do self test */
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ret = adis16260_self_test(indio_dev);
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if (ret) {
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dev_err(dev, "self test failure");
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goto err_ret;
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}
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/* Read status register to check the result */
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ret = adis16260_check_status(indio_dev);
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if (ret) {
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adis16260_reset(indio_dev);
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dev_err(dev, "device not playing ball -> reset");
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msleep(ADIS16260_STARTUP_DELAY);
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ret = adis16260_check_status(indio_dev);
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if (ret) {
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dev_err(dev, "giving up");
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goto err_ret;
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}
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}
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err_ret:
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return ret;
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}
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static IIO_DEV_ATTR_SAMP_FREQ(S_IWUSR | S_IRUGO,
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adis16260_read_frequency,
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adis16260_write_frequency);
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static IIO_DEVICE_ATTR(reset, S_IWUSR, NULL, adis16260_write_reset, 0);
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static IIO_DEVICE_ATTR(sampling_frequency_available,
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S_IRUGO, adis16260_read_frequency_available, NULL, 0);
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enum adis16260_channel {
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gyro,
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temp,
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in_supply,
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in_aux,
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angle,
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};
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#define ADIS16260_GYRO_CHANNEL_SET(axis, mod) \
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struct iio_chan_spec adis16260_channels_##axis[] = { \
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IIO_CHAN(IIO_ANGL_VEL, 1, 0, 0, NULL, 0, mod, \
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IIO_CHAN_INFO_CALIBBIAS_SEPARATE_BIT | \
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IIO_CHAN_INFO_CALIBSCALE_SEPARATE_BIT | \
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IIO_CHAN_INFO_SCALE_SEPARATE_BIT, \
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gyro, ADIS16260_SCAN_GYRO, \
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IIO_ST('s', 14, 16, 0), 0), \
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IIO_CHAN(IIO_ANGL, 1, 0, 0, NULL, 0, mod, \
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0, \
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angle, ADIS16260_SCAN_ANGL, \
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IIO_ST('u', 14, 16, 0), 0), \
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IIO_CHAN(IIO_TEMP, 0, 1, 0, NULL, 0, 0, \
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IIO_CHAN_INFO_OFFSET_SEPARATE_BIT | \
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IIO_CHAN_INFO_SCALE_SEPARATE_BIT, \
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temp, ADIS16260_SCAN_TEMP, \
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IIO_ST('u', 12, 16, 0), 0), \
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IIO_CHAN(IIO_VOLTAGE, 0, 1, 0, "supply", 0, 0, \
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IIO_CHAN_INFO_SCALE_SEPARATE_BIT, \
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in_supply, ADIS16260_SCAN_SUPPLY, \
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IIO_ST('u', 12, 16, 0), 0), \
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IIO_CHAN(IIO_VOLTAGE, 0, 1, 0, NULL, 1, 0, \
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IIO_CHAN_INFO_SCALE_SEPARATE_BIT, \
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in_aux, ADIS16260_SCAN_AUX_ADC, \
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IIO_ST('u', 12, 16, 0), 0), \
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IIO_CHAN_SOFT_TIMESTAMP(5) \
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}
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|
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static const ADIS16260_GYRO_CHANNEL_SET(x, IIO_MOD_X);
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static const ADIS16260_GYRO_CHANNEL_SET(y, IIO_MOD_Y);
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static const ADIS16260_GYRO_CHANNEL_SET(z, IIO_MOD_Z);
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|
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static const u8 adis16260_addresses[5][3] = {
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[gyro] = { ADIS16260_GYRO_OUT,
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ADIS16260_GYRO_OFF,
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ADIS16260_GYRO_SCALE },
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[angle] = { ADIS16260_ANGL_OUT },
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[in_supply] = { ADIS16260_SUPPLY_OUT },
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[in_aux] = { ADIS16260_AUX_ADC },
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[temp] = { ADIS16260_TEMP_OUT },
|
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};
|
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static int adis16260_read_raw(struct iio_dev *indio_dev,
|
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struct iio_chan_spec const *chan,
|
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int *val, int *val2,
|
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long mask)
|
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{
|
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struct adis16260_state *st = iio_priv(indio_dev);
|
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int ret;
|
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int bits;
|
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u8 addr;
|
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s16 val16;
|
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|
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switch (mask) {
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case 0:
|
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mutex_lock(&indio_dev->mlock);
|
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addr = adis16260_addresses[chan->address][0];
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ret = adis16260_spi_read_reg_16(indio_dev, addr, &val16);
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if (ret) {
|
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mutex_unlock(&indio_dev->mlock);
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return ret;
|
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}
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|
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if (val16 & ADIS16260_ERROR_ACTIVE) {
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ret = adis16260_check_status(indio_dev);
|
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if (ret) {
|
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mutex_unlock(&indio_dev->mlock);
|
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return ret;
|
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}
|
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}
|
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val16 = val16 & ((1 << chan->scan_type.realbits) - 1);
|
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if (chan->scan_type.sign == 's')
|
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val16 = (s16)(val16 <<
|
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(16 - chan->scan_type.realbits)) >>
|
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(16 - chan->scan_type.realbits);
|
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*val = val16;
|
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mutex_unlock(&indio_dev->mlock);
|
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return IIO_VAL_INT;
|
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case IIO_CHAN_INFO_SCALE:
|
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switch (chan->type) {
|
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case IIO_ANGL_VEL:
|
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*val = 0;
|
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if (spi_get_device_id(st->us)->driver_data)
|
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*val2 = 320;
|
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else
|
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*val2 = 1278;
|
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return IIO_VAL_INT_PLUS_MICRO;
|
|
case IIO_VOLTAGE:
|
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*val = 0;
|
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if (chan->channel == 0)
|
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*val2 = 18315;
|
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else
|
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*val2 = 610500;
|
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return IIO_VAL_INT_PLUS_MICRO;
|
|
case IIO_TEMP:
|
|
*val = 0;
|
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*val2 = 145300;
|
|
return IIO_VAL_INT_PLUS_MICRO;
|
|
default:
|
|
return -EINVAL;
|
|
}
|
|
break;
|
|
case IIO_CHAN_INFO_OFFSET:
|
|
*val = 25;
|
|
return IIO_VAL_INT;
|
|
case IIO_CHAN_INFO_CALIBBIAS:
|
|
switch (chan->type) {
|
|
case IIO_ANGL_VEL:
|
|
bits = 12;
|
|
break;
|
|
default:
|
|
return -EINVAL;
|
|
};
|
|
mutex_lock(&indio_dev->mlock);
|
|
addr = adis16260_addresses[chan->address][1];
|
|
ret = adis16260_spi_read_reg_16(indio_dev, addr, &val16);
|
|
if (ret) {
|
|
mutex_unlock(&indio_dev->mlock);
|
|
return ret;
|
|
}
|
|
val16 &= (1 << bits) - 1;
|
|
val16 = (s16)(val16 << (16 - bits)) >> (16 - bits);
|
|
*val = val16;
|
|
mutex_unlock(&indio_dev->mlock);
|
|
return IIO_VAL_INT;
|
|
case IIO_CHAN_INFO_CALIBSCALE:
|
|
switch (chan->type) {
|
|
case IIO_ANGL_VEL:
|
|
bits = 12;
|
|
break;
|
|
default:
|
|
return -EINVAL;
|
|
};
|
|
mutex_lock(&indio_dev->mlock);
|
|
addr = adis16260_addresses[chan->address][2];
|
|
ret = adis16260_spi_read_reg_16(indio_dev, addr, &val16);
|
|
if (ret) {
|
|
mutex_unlock(&indio_dev->mlock);
|
|
return ret;
|
|
}
|
|
*val = (1 << bits) - 1;
|
|
mutex_unlock(&indio_dev->mlock);
|
|
return IIO_VAL_INT;
|
|
}
|
|
return -EINVAL;
|
|
}
|
|
|
|
static int adis16260_write_raw(struct iio_dev *indio_dev,
|
|
struct iio_chan_spec const *chan,
|
|
int val,
|
|
int val2,
|
|
long mask)
|
|
{
|
|
int bits = 12;
|
|
s16 val16;
|
|
u8 addr;
|
|
switch (mask) {
|
|
case IIO_CHAN_INFO_CALIBBIAS:
|
|
val16 = val & ((1 << bits) - 1);
|
|
addr = adis16260_addresses[chan->address][1];
|
|
return adis16260_spi_write_reg_16(indio_dev, addr, val16);
|
|
case IIO_CHAN_INFO_CALIBSCALE:
|
|
val16 = val & ((1 << bits) - 1);
|
|
addr = adis16260_addresses[chan->address][2];
|
|
return adis16260_spi_write_reg_16(indio_dev, addr, val16);
|
|
}
|
|
return -EINVAL;
|
|
}
|
|
|
|
static struct attribute *adis16260_attributes[] = {
|
|
&iio_dev_attr_sampling_frequency.dev_attr.attr,
|
|
&iio_dev_attr_sampling_frequency_available.dev_attr.attr,
|
|
&iio_dev_attr_reset.dev_attr.attr,
|
|
NULL
|
|
};
|
|
|
|
static const struct attribute_group adis16260_attribute_group = {
|
|
.attrs = adis16260_attributes,
|
|
};
|
|
|
|
static const struct iio_info adis16260_info = {
|
|
.attrs = &adis16260_attribute_group,
|
|
.read_raw = &adis16260_read_raw,
|
|
.write_raw = &adis16260_write_raw,
|
|
.driver_module = THIS_MODULE,
|
|
};
|
|
|
|
static int __devinit adis16260_probe(struct spi_device *spi)
|
|
{
|
|
int ret;
|
|
struct adis16260_platform_data *pd = spi->dev.platform_data;
|
|
struct adis16260_state *st;
|
|
struct iio_dev *indio_dev;
|
|
|
|
/* setup the industrialio driver allocated elements */
|
|
indio_dev = iio_allocate_device(sizeof(*st));
|
|
if (indio_dev == NULL) {
|
|
ret = -ENOMEM;
|
|
goto error_ret;
|
|
}
|
|
st = iio_priv(indio_dev);
|
|
if (pd)
|
|
st->negate = pd->negate;
|
|
/* this is only used for removal purposes */
|
|
spi_set_drvdata(spi, st);
|
|
|
|
st->us = spi;
|
|
mutex_init(&st->buf_lock);
|
|
|
|
indio_dev->name = spi_get_device_id(st->us)->name;
|
|
indio_dev->dev.parent = &spi->dev;
|
|
indio_dev->info = &adis16260_info;
|
|
indio_dev->num_channels
|
|
= ARRAY_SIZE(adis16260_channels_x);
|
|
if (pd && pd->direction)
|
|
switch (pd->direction) {
|
|
case 'x':
|
|
indio_dev->channels = adis16260_channels_x;
|
|
break;
|
|
case 'y':
|
|
indio_dev->channels = adis16260_channels_y;
|
|
break;
|
|
case 'z':
|
|
indio_dev->channels = adis16260_channels_z;
|
|
break;
|
|
default:
|
|
return -EINVAL;
|
|
}
|
|
else
|
|
indio_dev->channels = adis16260_channels_x;
|
|
indio_dev->num_channels = ARRAY_SIZE(adis16260_channels_x);
|
|
indio_dev->modes = INDIO_DIRECT_MODE;
|
|
|
|
ret = adis16260_configure_ring(indio_dev);
|
|
if (ret)
|
|
goto error_free_dev;
|
|
|
|
ret = iio_buffer_register(indio_dev,
|
|
indio_dev->channels,
|
|
ARRAY_SIZE(adis16260_channels_x));
|
|
if (ret) {
|
|
printk(KERN_ERR "failed to initialize the ring\n");
|
|
goto error_unreg_ring_funcs;
|
|
}
|
|
if (indio_dev->buffer) {
|
|
/* Set default scan mode */
|
|
iio_scan_mask_set(indio_dev, indio_dev->buffer,
|
|
ADIS16260_SCAN_SUPPLY);
|
|
iio_scan_mask_set(indio_dev, indio_dev->buffer,
|
|
ADIS16260_SCAN_GYRO);
|
|
iio_scan_mask_set(indio_dev, indio_dev->buffer,
|
|
ADIS16260_SCAN_AUX_ADC);
|
|
iio_scan_mask_set(indio_dev, indio_dev->buffer,
|
|
ADIS16260_SCAN_TEMP);
|
|
iio_scan_mask_set(indio_dev, indio_dev->buffer,
|
|
ADIS16260_SCAN_ANGL);
|
|
}
|
|
if (spi->irq) {
|
|
ret = adis16260_probe_trigger(indio_dev);
|
|
if (ret)
|
|
goto error_uninitialize_ring;
|
|
}
|
|
|
|
/* Get the device into a sane initial state */
|
|
ret = adis16260_initial_setup(indio_dev);
|
|
if (ret)
|
|
goto error_remove_trigger;
|
|
ret = iio_device_register(indio_dev);
|
|
if (ret)
|
|
goto error_remove_trigger;
|
|
|
|
return 0;
|
|
|
|
error_remove_trigger:
|
|
adis16260_remove_trigger(indio_dev);
|
|
error_uninitialize_ring:
|
|
iio_buffer_unregister(indio_dev);
|
|
error_unreg_ring_funcs:
|
|
adis16260_unconfigure_ring(indio_dev);
|
|
error_free_dev:
|
|
iio_free_device(indio_dev);
|
|
error_ret:
|
|
return ret;
|
|
}
|
|
|
|
static int adis16260_remove(struct spi_device *spi)
|
|
{
|
|
int ret;
|
|
struct iio_dev *indio_dev = spi_get_drvdata(spi);
|
|
|
|
iio_device_unregister(indio_dev);
|
|
|
|
ret = adis16260_stop_device(indio_dev);
|
|
if (ret)
|
|
goto err_ret;
|
|
|
|
flush_scheduled_work();
|
|
|
|
adis16260_remove_trigger(indio_dev);
|
|
iio_buffer_unregister(indio_dev);
|
|
adis16260_unconfigure_ring(indio_dev);
|
|
iio_free_device(indio_dev);
|
|
|
|
err_ret:
|
|
return ret;
|
|
}
|
|
|
|
/*
|
|
* These parts do not need to be differentiated until someone adds
|
|
* support for the on chip filtering.
|
|
*/
|
|
static const struct spi_device_id adis16260_id[] = {
|
|
{"adis16260", 0},
|
|
{"adis16265", 0},
|
|
{"adis16250", 0},
|
|
{"adis16255", 0},
|
|
{"adis16251", 1},
|
|
{}
|
|
};
|
|
MODULE_DEVICE_TABLE(spi, adis16260_id);
|
|
|
|
static struct spi_driver adis16260_driver = {
|
|
.driver = {
|
|
.name = "adis16260",
|
|
.owner = THIS_MODULE,
|
|
},
|
|
.probe = adis16260_probe,
|
|
.remove = __devexit_p(adis16260_remove),
|
|
.id_table = adis16260_id,
|
|
};
|
|
module_spi_driver(adis16260_driver);
|
|
|
|
MODULE_AUTHOR("Barry Song <21cnbao@gmail.com>");
|
|
MODULE_DESCRIPTION("Analog Devices ADIS16260/5 Digital Gyroscope Sensor");
|
|
MODULE_LICENSE("GPL v2");
|