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@@ -7,54 +7,119 @@
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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 <linux/iio/iio.h>
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#include <linux/iio/sysfs.h>
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#include <linux/iio/buffer.h>
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+#include <linux/iio/imu/adis.h>
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+
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+#define ADIS16260_STARTUP_DELAY 220 /* ms */
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+
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+#define ADIS16260_FLASH_CNT 0x00 /* Flash memory write count */
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+#define ADIS16260_SUPPLY_OUT 0x02 /* Power supply measurement */
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+#define ADIS16260_GYRO_OUT 0x04 /* X-axis gyroscope output */
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+#define ADIS16260_AUX_ADC 0x0A /* analog input channel measurement */
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+#define ADIS16260_TEMP_OUT 0x0C /* internal temperature measurement */
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+#define ADIS16260_ANGL_OUT 0x0E /* angle displacement */
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+#define ADIS16260_GYRO_OFF 0x14 /* Calibration, offset/bias adjustment */
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+#define ADIS16260_GYRO_SCALE 0x16 /* Calibration, scale adjustment */
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+#define ADIS16260_ALM_MAG1 0x20 /* Alarm 1 magnitude/polarity setting */
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+#define ADIS16260_ALM_MAG2 0x22 /* Alarm 2 magnitude/polarity setting */
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+#define ADIS16260_ALM_SMPL1 0x24 /* Alarm 1 dynamic rate of change setting */
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+#define ADIS16260_ALM_SMPL2 0x26 /* Alarm 2 dynamic rate of change setting */
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+#define ADIS16260_ALM_CTRL 0x28 /* Alarm control */
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+#define ADIS16260_AUX_DAC 0x30 /* Auxiliary DAC data */
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+#define ADIS16260_GPIO_CTRL 0x32 /* Control, digital I/O line */
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+#define ADIS16260_MSC_CTRL 0x34 /* Control, data ready, self-test settings */
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+#define ADIS16260_SMPL_PRD 0x36 /* Control, internal sample rate */
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+#define ADIS16260_SENS_AVG 0x38 /* Control, dynamic range, filtering */
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+#define ADIS16260_SLP_CNT 0x3A /* Control, sleep mode initiation */
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+#define ADIS16260_DIAG_STAT 0x3C /* Diagnostic, error flags */
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+#define ADIS16260_GLOB_CMD 0x3E /* Control, global commands */
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+#define ADIS16260_LOT_ID1 0x52 /* Lot Identification Code 1 */
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+#define ADIS16260_LOT_ID2 0x54 /* Lot Identification Code 2 */
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+#define ADIS16260_PROD_ID 0x56 /* Product identifier;
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+ * convert to decimal = 16,265/16,260 */
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+#define ADIS16260_SERIAL_NUM 0x58 /* Serial number */
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+
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+#define ADIS16260_ERROR_ACTIVE (1<<14)
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+#define ADIS16260_NEW_DATA (1<<15)
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+
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+/* MSC_CTRL */
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+#define ADIS16260_MSC_CTRL_MEM_TEST (1<<11)
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+/* Internal self-test enable */
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+#define ADIS16260_MSC_CTRL_INT_SELF_TEST (1<<10)
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+#define ADIS16260_MSC_CTRL_NEG_SELF_TEST (1<<9)
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+#define ADIS16260_MSC_CTRL_POS_SELF_TEST (1<<8)
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+#define ADIS16260_MSC_CTRL_DATA_RDY_EN (1<<2)
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+#define ADIS16260_MSC_CTRL_DATA_RDY_POL_HIGH (1<<1)
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+#define ADIS16260_MSC_CTRL_DATA_RDY_DIO2 (1<<0)
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+
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+/* SMPL_PRD */
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+/* Time base (tB): 0 = 1.953 ms, 1 = 60.54 ms */
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+#define ADIS16260_SMPL_PRD_TIME_BASE (1<<7)
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+#define ADIS16260_SMPL_PRD_DIV_MASK 0x7F
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+
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+/* SLP_CNT */
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+#define ADIS16260_SLP_CNT_POWER_OFF 0x80
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+
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+/* DIAG_STAT */
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+#define ADIS16260_DIAG_STAT_ALARM2 (1<<9)
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+#define ADIS16260_DIAG_STAT_ALARM1 (1<<8)
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+#define ADIS16260_DIAG_STAT_FLASH_CHK_BIT 6
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+#define ADIS16260_DIAG_STAT_SELF_TEST_BIT 5
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+#define ADIS16260_DIAG_STAT_OVERFLOW_BIT 4
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+#define ADIS16260_DIAG_STAT_SPI_FAIL_BIT 3
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+#define ADIS16260_DIAG_STAT_FLASH_UPT_BIT 2
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+#define ADIS16260_DIAG_STAT_POWER_HIGH_BIT 1
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+#define ADIS16260_DIAG_STAT_POWER_LOW_BIT 0
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+
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+/* GLOB_CMD */
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+#define ADIS16260_GLOB_CMD_SW_RESET (1<<7)
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+#define ADIS16260_GLOB_CMD_FLASH_UPD (1<<3)
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+#define ADIS16260_GLOB_CMD_DAC_LATCH (1<<2)
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+#define ADIS16260_GLOB_CMD_FAC_CALIB (1<<1)
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+#define ADIS16260_GLOB_CMD_AUTO_NULL (1<<0)
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+
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+#define ADIS16260_SPI_SLOW (u32)(300 * 1000)
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+#define ADIS16260_SPI_BURST (u32)(1000 * 1000)
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+#define ADIS16260_SPI_FAST (u32)(2000 * 1000)
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+
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+/* At the moment triggers are only used for ring buffer
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+ * filling. This may change!
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+ */
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-#include "adis16260.h"
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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_to_iio_dev(dev);
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- struct adis16260_state *st = iio_priv(indio_dev);
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- if (spi_get_device_id(st->adis.spi)->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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+#define ADIS16260_SCAN_GYRO 0
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+#define ADIS16260_SCAN_SUPPLY 1
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+#define ADIS16260_SCAN_AUX_ADC 2
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+#define ADIS16260_SCAN_TEMP 3
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+#define ADIS16260_SCAN_ANGL 4
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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_to_iio_dev(dev);
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- struct adis16260_state *st = iio_priv(indio_dev);
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+ struct adis *adis = 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 = adis_read_reg_16(&st->adis, ADIS16260_SMPL_PRD, &t);
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+ ret = adis_read_reg_16(adis, ADIS16260_SMPL_PRD, &t);
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if (ret)
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return ret;
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- if (spi_get_device_id(st->adis.spi)->driver_data) /* If an adis16251 */
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- sps = (t & ADIS16260_SMPL_PRD_TIME_BASE) ? 8 : 256;
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+ if (spi_get_device_id(adis->spi)->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_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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+ len = sprintf(buf, "%d\n", sps);
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return len;
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}
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@@ -64,36 +129,31 @@ static ssize_t adis16260_write_frequency(struct device *dev,
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size_t len)
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{
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struct iio_dev *indio_dev = dev_to_iio_dev(dev);
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- struct adis16260_state *st = iio_priv(indio_dev);
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- long val;
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+ struct adis *adis = iio_priv(indio_dev);
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+ unsigned int 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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+ ret = kstrtouint(buf, 10, &val);
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if (ret)
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return ret;
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- if (val == 0)
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- return -EINVAL;
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mutex_lock(&indio_dev->mlock);
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- if (spi_get_device_id(st->adis.spi)->driver_data) {
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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->adis.spi->max_speed_hz = ADIS16260_SPI_SLOW;
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+ if (spi_get_device_id(adis->spi)->driver_data)
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+ t = 256 / val;
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+ else
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+ t = 2048 / val;
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+
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+ if (t > ADIS16260_SMPL_PRD_DIV_MASK)
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+ t = ADIS16260_SMPL_PRD_DIV_MASK;
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+ else if (t > 0)
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+ t--;
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+
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+ if (t >= 0x0A)
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+ adis->spi->max_speed_hz = ADIS16260_SPI_SLOW;
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else
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- st->adis.spi->max_speed_hz = ADIS16260_SPI_FAST;
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- ret = adis_write_reg_8(&st->adis,
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- ADIS16260_SMPL_PRD,
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- t);
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+ adis->spi->max_speed_hz = ADIS16260_SPI_FAST;
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+ ret = adis_write_reg_8(adis, ADIS16260_SMPL_PRD, t);
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mutex_unlock(&indio_dev->mlock);
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@@ -103,11 +163,11 @@ static ssize_t adis16260_write_frequency(struct device *dev,
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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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- struct adis16260_state *st = iio_priv(indio_dev);
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+ struct adis *adis = iio_priv(indio_dev);
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int ret;
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u16 val = ADIS16260_SLP_CNT_POWER_OFF;
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- ret = adis_write_reg_16(&st->adis, ADIS16260_SLP_CNT, val);
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+ ret = adis_write_reg_16(adis, 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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@@ -118,24 +178,16 @@ 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(sampling_frequency_available,
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- S_IRUGO, adis16260_read_frequency_available, NULL, 0);
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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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- ADIS_GYRO_CHAN(mod, ADIS16260_GYRO_OUT, ADIS16260_SCAN_GYRO, \
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- BIT(IIO_CHAN_INFO_CALIBBIAS) | \
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- BIT(IIO_CHAN_INFO_CALIBSCALE), 14), \
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- ADIS_INCLI_CHAN(mod, ADIS16260_ANGL_OUT, ADIS16260_SCAN_ANGL, 0, 14), \
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- ADIS_TEMP_CHAN(ADIS16260_TEMP_OUT, ADIS16260_SCAN_TEMP, 12), \
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- ADIS_SUPPLY_CHAN(ADIS16260_SUPPLY_OUT, ADIS16260_SCAN_SUPPLY, 12), \
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- ADIS_AUX_ADC_CHAN(ADIS16260_AUX_ADC, ADIS16260_SCAN_AUX_ADC, 12), \
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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, X);
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-static const ADIS16260_GYRO_CHANNEL_SET(y, Y);
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-static const ADIS16260_GYRO_CHANNEL_SET(z, Z);
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+static const struct iio_chan_spec adis16260_channels[] = {
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+ ADIS_GYRO_CHAN(X, ADIS16260_GYRO_OUT, ADIS16260_SCAN_GYRO,
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+ BIT(IIO_CHAN_INFO_CALIBBIAS) |
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+ BIT(IIO_CHAN_INFO_CALIBSCALE), 14),
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+ ADIS_INCLI_CHAN(X, ADIS16260_ANGL_OUT, ADIS16260_SCAN_ANGL, 0, 14),
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+ ADIS_TEMP_CHAN(ADIS16260_TEMP_OUT, ADIS16260_SCAN_TEMP, 12),
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+ ADIS_SUPPLY_CHAN(ADIS16260_SUPPLY_OUT, ADIS16260_SCAN_SUPPLY, 12),
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+ ADIS_AUX_ADC_CHAN(ADIS16260_AUX_ADC, ADIS16260_SCAN_AUX_ADC, 12),
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+ IIO_CHAN_SOFT_TIMESTAMP(5),
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+};
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static const u8 adis16260_addresses[][2] = {
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[ADIS16260_SCAN_GYRO] = { ADIS16260_GYRO_OFF, ADIS16260_GYRO_SCALE },
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@@ -146,9 +198,8 @@ static int adis16260_read_raw(struct iio_dev *indio_dev,
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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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+ struct adis *adis = 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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@@ -160,7 +211,7 @@ static int adis16260_read_raw(struct iio_dev *indio_dev,
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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->adis.spi)->driver_data) {
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+ if (spi_get_device_id(adis->spi)->driver_data) {
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/* 0.01832 degree / sec */
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*val2 = IIO_DEGREE_TO_RAD(18320);
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} else {
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@@ -168,6 +219,10 @@ static int adis16260_read_raw(struct iio_dev *indio_dev,
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*val2 = IIO_DEGREE_TO_RAD(73260);
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}
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return IIO_VAL_INT_PLUS_MICRO;
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+ case IIO_INCLI:
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+ *val = 0;
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+ *val2 = IIO_DEGREE_TO_RAD(36630);
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+ return IIO_VAL_INT_PLUS_MICRO;
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case IIO_VOLTAGE:
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if (chan->channel == 0) {
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*val = 1;
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@@ -189,42 +244,20 @@ static int adis16260_read_raw(struct iio_dev *indio_dev,
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*val = 250000 / 1453; /* 25 C = 0x00 */
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return IIO_VAL_INT;
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case IIO_CHAN_INFO_CALIBBIAS:
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- switch (chan->type) {
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- case IIO_ANGL_VEL:
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- bits = 12;
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- break;
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- default:
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- return -EINVAL;
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- }
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- mutex_lock(&indio_dev->mlock);
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addr = adis16260_addresses[chan->scan_index][0];
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- ret = adis_read_reg_16(&st->adis, addr, &val16);
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- if (ret) {
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- mutex_unlock(&indio_dev->mlock);
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+ ret = adis_read_reg_16(adis, addr, &val16);
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+ if (ret)
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return ret;
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- }
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- val16 &= (1 << bits) - 1;
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- val16 = (s16)(val16 << (16 - bits)) >> (16 - bits);
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- *val = val16;
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- mutex_unlock(&indio_dev->mlock);
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+
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+ *val = sign_extend32(val16, 11);
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return IIO_VAL_INT;
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case IIO_CHAN_INFO_CALIBSCALE:
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- switch (chan->type) {
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- case IIO_ANGL_VEL:
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- bits = 12;
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- break;
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- default:
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- return -EINVAL;
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- }
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- mutex_lock(&indio_dev->mlock);
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addr = adis16260_addresses[chan->scan_index][1];
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- ret = adis_read_reg_16(&st->adis, addr, &val16);
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- if (ret) {
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- mutex_unlock(&indio_dev->mlock);
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+ ret = adis_read_reg_16(adis, addr, &val16);
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+ if (ret)
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return ret;
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- }
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- *val = (1 << bits) - 1;
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- mutex_unlock(&indio_dev->mlock);
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+
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+ *val = val16;
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return IIO_VAL_INT;
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}
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return -EINVAL;
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@@ -236,26 +269,28 @@ static int adis16260_write_raw(struct iio_dev *indio_dev,
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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 bits = 12;
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- s16 val16;
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+ struct adis *adis = iio_priv(indio_dev);
|
|
|
u8 addr;
|
|
|
+
|
|
|
switch (mask) {
|
|
|
case IIO_CHAN_INFO_CALIBBIAS:
|
|
|
- val16 = val & ((1 << bits) - 1);
|
|
|
+ if (val < -2048 || val >= 2048)
|
|
|
+ return -EINVAL;
|
|
|
+
|
|
|
addr = adis16260_addresses[chan->scan_index][0];
|
|
|
- return adis_write_reg_16(&st->adis, addr, val16);
|
|
|
+ return adis_write_reg_16(adis, addr, val);
|
|
|
case IIO_CHAN_INFO_CALIBSCALE:
|
|
|
- val16 = val & ((1 << bits) - 1);
|
|
|
+ if (val < 0 || val >= 4096)
|
|
|
+ return -EINVAL;
|
|
|
+
|
|
|
addr = adis16260_addresses[chan->scan_index][1];
|
|
|
- return adis_write_reg_16(&st->adis, addr, val16);
|
|
|
+ return adis_write_reg_16(adis, addr, val);
|
|
|
}
|
|
|
return -EINVAL;
|
|
|
}
|
|
|
|
|
|
static struct attribute *adis16260_attributes[] = {
|
|
|
&iio_dev_attr_sampling_frequency.dev_attr.attr,
|
|
|
- &iio_dev_attr_sampling_frequency_available.dev_attr.attr,
|
|
|
NULL
|
|
|
};
|
|
|
|
|
@@ -303,71 +338,37 @@ static const struct adis_data adis16260_data = {
|
|
|
|
|
|
static int 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;
|
|
|
+ struct adis *adis;
|
|
|
+ int ret;
|
|
|
|
|
|
/* setup the industrialio driver allocated elements */
|
|
|
- indio_dev = iio_device_alloc(sizeof(*st));
|
|
|
+ indio_dev = iio_device_alloc(sizeof(*adis));
|
|
|
if (indio_dev == NULL) {
|
|
|
ret = -ENOMEM;
|
|
|
goto error_ret;
|
|
|
}
|
|
|
- st = iio_priv(indio_dev);
|
|
|
- if (pd)
|
|
|
- st->negate = pd->negate;
|
|
|
+ adis = iio_priv(indio_dev);
|
|
|
/* this is only used for removal purposes */
|
|
|
spi_set_drvdata(spi, indio_dev);
|
|
|
|
|
|
indio_dev->name = spi_get_device_id(spi)->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->channels = adis16260_channels;
|
|
|
+ indio_dev->num_channels = ARRAY_SIZE(adis16260_channels);
|
|
|
indio_dev->modes = INDIO_DIRECT_MODE;
|
|
|
|
|
|
- ret = adis_init(&st->adis, indio_dev, spi, &adis16260_data);
|
|
|
+ ret = adis_init(adis, indio_dev, spi, &adis16260_data);
|
|
|
if (ret)
|
|
|
goto error_free_dev;
|
|
|
|
|
|
- ret = adis_setup_buffer_and_trigger(&st->adis, indio_dev, NULL);
|
|
|
+ ret = adis_setup_buffer_and_trigger(adis, indio_dev, NULL);
|
|
|
if (ret)
|
|
|
goto error_free_dev;
|
|
|
|
|
|
- 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);
|
|
|
- }
|
|
|
-
|
|
|
/* Get the device into a sane initial state */
|
|
|
- ret = adis_initial_startup(&st->adis);
|
|
|
+ ret = adis_initial_startup(adis);
|
|
|
if (ret)
|
|
|
goto error_cleanup_buffer_trigger;
|
|
|
ret = iio_device_register(indio_dev);
|
|
@@ -377,7 +378,7 @@ static int adis16260_probe(struct spi_device *spi)
|
|
|
return 0;
|
|
|
|
|
|
error_cleanup_buffer_trigger:
|
|
|
- adis_cleanup_buffer_and_trigger(&st->adis, indio_dev);
|
|
|
+ adis_cleanup_buffer_and_trigger(adis, indio_dev);
|
|
|
error_free_dev:
|
|
|
iio_device_free(indio_dev);
|
|
|
error_ret:
|
|
@@ -387,11 +388,11 @@ error_ret:
|
|
|
static int adis16260_remove(struct spi_device *spi)
|
|
|
{
|
|
|
struct iio_dev *indio_dev = spi_get_drvdata(spi);
|
|
|
- struct adis16260_state *st = iio_priv(indio_dev);
|
|
|
+ struct adis *adis = iio_priv(indio_dev);
|
|
|
|
|
|
iio_device_unregister(indio_dev);
|
|
|
adis16260_stop_device(indio_dev);
|
|
|
- adis_cleanup_buffer_and_trigger(&st->adis, indio_dev);
|
|
|
+ adis_cleanup_buffer_and_trigger(adis, indio_dev);
|
|
|
iio_device_free(indio_dev);
|
|
|
|
|
|
return 0;
|