Date:   Sat, 17 Mar 2018 20:38:50 +0000
From:   Jonathan Cameron <jic23@...nel.org>
To:     Shreeya Patel <shreeya.patel23498@...il.com>
Cc:     lars@...afoo.de, Michael.Hennerich@...log.com, knaack.h@....de,
        pmeerw@...erw.net, gregkh@...uxfoundation.org,
        linux-iio@...r.kernel.org, devel@...verdev.osuosl.org,
        linux-kernel@...r.kernel.org, daniel.baluta@...il.com
Subject: Re: [PATCH v2] Staging: iio: adis16209: Move adis16209 driver out
 of staging

On Fri, 16 Mar 2018 02:33:49 +0530
Shreeya Patel <shreeya.patel23498@...il.com> wrote:

> On 16 March 2018 00:31:53 GMT+05:30, Shreeya Patel <shreeya.patel23498@...il.com> wrote:
> >On Sat, 2018-03-10 at 15:57 +0000, Jonathan Cameron wrote:
> >
> >Hi Jonathan,
> >  
> >> On Sat, 10 Mar 2018 15:50:23 +0530
> >> Shreeya Patel <shreeya.patel23498@...il.com> wrote:
> >>   
> >> > 
> >> > Move the adis16209 driver out of staging directory and merge to the
> >> > mainline IIO subsystem.
> >> > 
> >> > Signed-off-by: Shreeya Patel <shreeya.patel23498@...il.com>  
> >> As this has a clear dependency on the previous patch, please put them
> >> in the same series for the next version.  That way I won't miss one!
> >> 
> >> This also doesn't actually seem to have all the patches in place.
> >> The sign extend one is definitely missing for some reason.
> >> 
> >> One question on the ABI choice of X for the rotation axis.
> >> I think the logical choice is actually Z but would like to know what
> >> you and others think.
> >> 
> >> All existing users of IIO_ROT (outside staging) have been
> >> magnetometer
> >> where we don't have an axis, but rather a magnetic reference frame or
> >> a quaternion output which includes all the axes.
> >> 
> >> Jonathan
> >>   
> >> > 
> >> > ---
> >> > 
> >> > Changes in v2
> >> >   -Re-send the patch after having some cleanups in the
> >> > file included in this patch.
> >> > 
> >> >  drivers/iio/accel/Kconfig             |  12 ++
> >> >  drivers/iio/accel/Makefile            |   1 +
> >> >  drivers/iio/accel/adis16209.c         | 329
> >> > ++++++++++++++++++++++++++++++++++
> >> >  drivers/staging/iio/accel/Kconfig     |  12 --
> >> >  drivers/staging/iio/accel/Makefile    |   1 -
> >> >  drivers/staging/iio/accel/adis16209.c | 329 ----------------------
> >> > ------------
> >> >  6 files changed, 342 insertions(+), 342 deletions(-)
> >> >  create mode 100644 drivers/iio/accel/adis16209.c
> >> >  delete mode 100644 drivers/staging/iio/accel/adis16209.c
> >> > 
> >> > diff --git a/drivers/iio/accel/Kconfig b/drivers/iio/accel/Kconfig
> >> > index c6d9517..f95f43c 100644
> >> > --- a/drivers/iio/accel/Kconfig
> >> > +++ b/drivers/iio/accel/Kconfig
> >> > @@ -5,6 +5,18 @@
> >> >  
> >> >  menu "Accelerometers"
> >> >  
> >> > +config ADIS16209
> >> > +        tristate "Analog Devices ADIS16209 Dual-Axis Digital
> >> > Inclinometer and Accelerometer"
> >> > +        depends on SPI
> >> > +        select IIO_ADIS_LIB
> >> > +        select IIO_ADIS_LIB_BUFFER if IIO_BUFFER
> >> > +        help
> >> > +          Say Y here to build support for Analog Devices adis16209
> >> > dual-axis digital inclinometer
> >> > +          and accelerometer.
> >> > +
> >> > +          To compile this driver as a module, say M here: the
> >> > module will be
> >> > +          called adis16209.
> >> > +
> >> >  config ADXL345
> >> >  	tristate
> >> >  
> >> > diff --git a/drivers/iio/accel/Makefile
> >> > b/drivers/iio/accel/Makefile
> >> > index 368aedb..40861b9 100644
> >> > --- a/drivers/iio/accel/Makefile
> >> > +++ b/drivers/iio/accel/Makefile
> >> > @@ -4,6 +4,7 @@
> >> >  #
> >> >  
> >> >  # When adding new entries keep the list in alphabetical order
> >> > +obj-$(CONFIG_ADIS16209) += adis16209.o
> >> >  obj-$(CONFIG_ADXL345) += adxl345_core.o
> >> >  obj-$(CONFIG_ADXL345_I2C) += adxl345_i2c.o
> >> >  obj-$(CONFIG_ADXL345_SPI) += adxl345_spi.o
> >> > diff --git a/drivers/iio/accel/adis16209.c
> >> > b/drivers/iio/accel/adis16209.c
> >> > new file mode 100644
> >> > index 0000000..ed2e89f
> >> > --- /dev/null
> >> > +++ b/drivers/iio/accel/adis16209.c
> >> > @@ -0,0 +1,329 @@
> >> > +/*
> >> > + * ADIS16209 Dual-Axis Digital Inclinometer and Accelerometer
> >> > + *
> >> > + * Copyright 2010 Analog Devices Inc.
> >> > + *
> >> > + * Licensed under the GPL-2 or later.
> >> > + */
> >> > +
> >> > +#include <linux/delay.h>
> >> > +#include <linux/device.h>
> >> > +#include <linux/kernel.h>
> >> > +#include <linux/list.h>
> >> > +#include <linux/module.h>
> >> > +#include <linux/spi/spi.h>
> >> > +#include <linux/slab.h>
> >> > +#include <linux/sysfs.h>
> >> > +
> >> > +#include <linux/iio/iio.h>
> >> > +#include <linux/iio/sysfs.h>
> >> > +#include <linux/iio/buffer.h>
> >> > +#include <linux/iio/imu/adis.h>
> >> > +
> >> > +#define ADIS16209_STARTUP_DELAY_MS	220
> >> > +#define ADIS16209_FLASH_CNT_REG		0x00
> >> > +
> >> > +/* Data Output Register Definitions */
> >> > +#define ADIS16209_SUPPLY_OUT_REG	0x02
> >> > +#define ADIS16209_XACCL_OUT_REG		0x04
> >> > +#define ADIS16209_YACCL_OUT_REG		0x06
> >> > +/* Output, auxiliary ADC input */
> >> > +#define ADIS16209_AUX_ADC_REG		0x08
> >> > +/* Output, temperature */
> >> > +#define ADIS16209_TEMP_OUT_REG		0x0A
> >> > +/* Output, +/- 90 degrees X-axis inclination */
> >> > +#define ADIS16209_XINCL_OUT_REG		0x0C
> >> > +#define ADIS16209_YINCL_OUT_REG		0x0E
> >> > +/* Output, +/-180 vertical rotational position */
> >> > +#define ADIS16209_ROT_OUT_REG		0x10
> >> > +
> >> > +/*
> >> > + * Calibration Register Definitions.
> >> > + * Acceleration, inclination or rotation offset null.
> >> > + */
> >> > +#define ADIS16209_XACCL_NULL_REG	0x12
> >> > +#define ADIS16209_YACCL_NULL_REG	0x14
> >> > +#define ADIS16209_XINCL_NULL_REG	0x16
> >> > +#define ADIS16209_YINCL_NULL_REG	0x18
> >> > +#define ADIS16209_ROT_NULL_REG		0x1A
> >> > +
> >> > +/* Alarm Register Definitions */
> >> > +#define ADIS16209_ALM_MAG1_REG		0x20
> >> > +#define ADIS16209_ALM_MAG2_REG		0x22
> >> > +#define ADIS16209_ALM_SMPL1_REG		0x24
> >> > +#define ADIS16209_ALM_SMPL2_REG		0x26
> >> > +#define ADIS16209_ALM_CTRL_REG		0x28
> >> > +
> >> > +#define ADIS16209_AUX_DAC_REG		0x30
> >> > +#define ADIS16209_GPIO_CTRL_REG		0x32
> >> > +#define ADIS16209_SMPL_PRD_REG		0x36
> >> > +#define ADIS16209_AVG_CNT_REG		0x38
> >> > +#define ADIS16209_SLP_CNT_REG		0x3A
> >> > +
> >> > +#define ADIS16209_MSC_CTRL_REG			0x34
> >> > +#define  ADIS16209_MSC_CTRL_PWRUP_SELF_TEST	BIT(10)
> >> > +#define  ADIS16209_MSC_CTRL_SELF_TEST_EN	BIT(8)
> >> > +#define  ADIS16209_MSC_CTRL_DATA_RDY_EN		BIT(2)
> >> > +/* Data-ready polarity: 1 = active high, 0 = active low */
> >> > +#define  ADIS16209_MSC_CTRL_ACTIVE_HIGH		BIT(1)
> >> > +#define  ADIS16209_MSC_CTRL_DATA_RDY_DIO2	BIT(0)
> >> > +
> >> > +#define ADIS16209_STAT_REG			0x3C
> >> > +#define  ADIS16209_STAT_ALARM2			BIT(9)
> >> > +#define  ADIS16209_STAT_ALARM1			BIT(8)
> >> > +#define  ADIS16209_STAT_SELFTEST_FAIL_BIT	5
> >> > +#define  ADIS16209_STAT_SPI_FAIL_BIT		3
> >> > +#define  ADIS16209_STAT_FLASH_UPT_FAIL_BIT	2
> >> > +/* Power supply above 3.625 V */
> >> > +#define  ADIS16209_STAT_POWER_HIGH_BIT		1
> >> > +/* Power supply below 3.15 V */
> >> > +#define  ADIS16209_STAT_POWER_LOW_BIT		0
> >> > +
> >> > +#define ADIS16209_CMD_REG			0x3E
> >> > +#define  ADIS16209_CMD_SW_RESET			BIT(7)
> >> > +#define  ADIS16209_CMD_CLEAR_STAT		BIT(4)
> >> > +#define  ADIS16209_CMD_FACTORY_CAL		BIT(1)
> >> > +
> >> > +#define ADIS16209_ERROR_ACTIVE			BIT(14)
> >> > +
> >> > +enum adis16209_scan {
> >> > +	ADIS16209_SCAN_SUPPLY,
> >> > +	ADIS16209_SCAN_ACC_X,
> >> > +	ADIS16209_SCAN_ACC_Y,
> >> > +	ADIS16209_SCAN_AUX_ADC,
> >> > +	ADIS16209_SCAN_TEMP,
> >> > +	ADIS16209_SCAN_INCLI_X,
> >> > +	ADIS16209_SCAN_INCLI_Y,
> >> > +	ADIS16209_SCAN_ROT,
> >> > +};
> >> > +
> >> > +static const u8 adis16209_addresses[8][1] = {
> >> > +	[ADIS16209_SCAN_SUPPLY] = { },
> >> > +	[ADIS16209_SCAN_AUX_ADC] = { },
> >> > +	[ADIS16209_SCAN_ACC_X] = { ADIS16209_XACCL_NULL_REG },
> >> > +	[ADIS16209_SCAN_ACC_Y] = { ADIS16209_YACCL_NULL_REG },
> >> > +	[ADIS16209_SCAN_INCLI_X] = { ADIS16209_XINCL_NULL_REG },
> >> > +	[ADIS16209_SCAN_INCLI_Y] = { ADIS16209_YINCL_NULL_REG },
> >> > +	[ADIS16209_SCAN_ROT] = { },
> >> > +	[ADIS16209_SCAN_TEMP] = { },
> >> > +};
> >> > +
> >> > +static int adis16209_write_raw(struct iio_dev *indio_dev,
> >> > +			       struct iio_chan_spec const *chan,
> >> > +			       int val,
> >> > +			       int val2,
> >> > +			       long mask)
> >> > +{
> >> > +	struct adis *st = iio_priv(indio_dev);
> >> > +	int bits;
> >> > +	s16 val16;
> >> > +	u8 addr;
> >> > +
> >> > +	switch (mask) {
> >> > +	case IIO_CHAN_INFO_CALIBBIAS:
> >> > +		switch (chan->type) {
> >> > +		case IIO_ACCEL:
> >> > +		case IIO_INCLI:
> >> > +			bits = 14;
> >> > +			break;
> >> > +		default:
> >> > +			return -EINVAL;
> >> > +		}
> >> > +		val16 = val & ((1 << bits) - 1);
> >> > +		addr = adis16209_addresses[chan->scan_index][0];
> >> > +		return adis_write_reg_16(st, addr, val16);
> >> > +	}
> >> > +	return -EINVAL;
> >> > +}
> >> > +
> >> > +static int adis16209_read_raw(struct iio_dev *indio_dev,
> >> > +			      struct iio_chan_spec const *chan,
> >> > +			      int *val, int *val2,
> >> > +			      long mask)
> >> > +{
> >> > +	struct adis *st = iio_priv(indio_dev);
> >> > +	int ret;
> >> > +	int bits;
> >> > +	u8 addr;
> >> > +	s16 val16;
> >> > +
> >> > +	switch (mask) {
> >> > +	case IIO_CHAN_INFO_RAW:
> >> > +		return adis_single_conversion(indio_dev, chan,
> >> > +			ADIS16209_ERROR_ACTIVE, val);
> >> > +	case IIO_CHAN_INFO_SCALE:
> >> > +		switch (chan->type) {
> >> > +		case IIO_VOLTAGE:
> >> > +			*val = 0;
> >> > +			if (chan->channel == 0)
> >> > +				*val2 = 305180; /* 0.30518 mV */
> >> > +			else
> >> > +				*val2 = 610500; /* 0.6105 mV */
> >> > +			return IIO_VAL_INT_PLUS_MICRO;
> >> > +		case IIO_TEMP:
> >> > +			*val = -470;
> >> > +			*val2 = 0;
> >> > +			return IIO_VAL_INT_PLUS_MICRO;
> >> > +		case IIO_ACCEL:
> >> > +			/*
> >> > +			 * IIO base unit for sensitivity of
> >> > accelerometer
> >> > +			 * is milli g.
> >> > +			 * 1 LSB represents 0.244 mg.
> >> > +			 */
> >> > +			*val = 0;
> >> > +			*val2 = IIO_G_TO_M_S_2(244140);
> >> > +			return IIO_VAL_INT_PLUS_NANO;
> >> > +		case IIO_INCLI:
> >> > +		case IIO_ROT:
> >> > +			/*
> >> > +			 * IIO base units for rotation are
> >> > degrees.
> >> > +			 * 1 LSB represents 0.025 milli degrees.
> >> > +			 */
> >> > +			*val = 0;
> >> > +			*val2 = 25000;
> >> > +			return IIO_VAL_INT_PLUS_MICRO;
> >> > +		default:
> >> > +			return -EINVAL;
> >> > +		}
> >> > +		break;
> >> > +	case IIO_CHAN_INFO_OFFSET:
> >> > +		/*
> >> > +		 * The raw ADC value is 0x4FE when the temperature
> >> > +		 * is 45 degrees and the scale factor per milli
> >> > +		 * degree celcius is -470.
> >> > +		 */
> >> > +		*val = 25000 / -470 - 0x4FE;
> >> > +		return IIO_VAL_INT;
> >> > +	case IIO_CHAN_INFO_CALIBBIAS:
> >> > +		switch (chan->type) {
> >> > +		case IIO_ACCEL:
> >> > +			bits = 14;
> >> > +			break;
> >> > +		default:
> >> > +			return -EINVAL;
> >> > +		}
> >> > +		addr = adis16209_addresses[chan->scan_index][0];
> >> > +		ret = adis_read_reg_16(st, addr, &val16);
> >> > +		if (ret)
> >> > +			return ret;
> >> > +		val16 &= (1 << bits) - 1;
> >> > +		val16 = (s16)(val16 << (16 - bits)) >> (16 -
> >> > bits);
> >> > +		*val = val16;  
> >> Something odd here as this isn't the current code - doesn't have the
> >> sign extend patch in place.
> >>   
> >> > 
> >> > +		return IIO_VAL_INT;
> >> > +	}
> >> > +	return -EINVAL;
> >> > +}
> >> > +
> >> > +static const struct iio_chan_spec adis16209_channels[] = {
> >> > +	ADIS_SUPPLY_CHAN(ADIS16209_SUPPLY_OUT_REG,
> >> > ADIS16209_SCAN_SUPPLY,
> >> > +			 0, 14),
> >> > +	ADIS_TEMP_CHAN(ADIS16209_TEMP_OUT_REG,
> >> > ADIS16209_SCAN_TEMP, 0, 12),
> >> > +	ADIS_ACCEL_CHAN(X, ADIS16209_XACCL_OUT_REG,
> >> > ADIS16209_SCAN_ACC_X,
> >> > +			BIT(IIO_CHAN_INFO_CALIBBIAS), 0, 14),
> >> > +	ADIS_ACCEL_CHAN(Y, ADIS16209_YACCL_OUT_REG,
> >> > ADIS16209_SCAN_ACC_Y,
> >> > +			BIT(IIO_CHAN_INFO_CALIBBIAS), 0, 14),
> >> > +	ADIS_AUX_ADC_CHAN(ADIS16209_AUX_ADC_REG,
> >> > ADIS16209_SCAN_AUX_ADC, 0, 12),
> >> > +	ADIS_INCLI_CHAN(X, ADIS16209_XINCL_OUT_REG,
> >> > ADIS16209_SCAN_INCLI_X,
> >> > +			0, 0, 14),
> >> > +	ADIS_INCLI_CHAN(Y, ADIS16209_YINCL_OUT_REG,
> >> > ADIS16209_SCAN_INCLI_Y,
> >> > +			0, 0, 14),
> >> > +	ADIS_ROT_CHAN(X, ADIS16209_ROT_OUT_REG,
> >> > ADIS16209_SCAN_ROT, 0, 0, 14),  
> >> This raises an interesting question.  How do we define rotation axes?
> >> I would assume it was rotation about the axis, as such I think the
> >> correct
> >> axis for this is Z.
> >> 
> >> However, then we consider the two inclination axis. Again fiddly.  I
> >> suppose
> >> it is inclination 'from' an axis, but in what plane?  I guess x and y
> >> is about as good as we can do on those ones with the assumption they
> >> are aligned to perpendicular to the vertical.  
> >
> >I went through some datasheets to find out more about the single axis
> >tilt inclination and double axis tilt inclination.  
> 
> 
> I meant *dual* axis here and even below.
> 
> 
> >Rotational angle is provided by double axis tilt theory.
> >As the name tells us that it is dual axis i.e. we are considering X and
> >Y axis here so maybe this is why we are not taking Z axis here.
> >Angle of rotation is taken from the X axis.
> >
> >I am attaching some screenshots about more information on this.
> >Maybe they can be helpful.
> >
> >Also If I have understood something wrong then please do correct
> >me :)

Sure, I had seen the datasheet, just wasn't sure how to define it
in IIO terms :)

Jonathan
> >
> >Thanks
> >
> >  
> >>   
> >> > 
> >> > +	IIO_CHAN_SOFT_TIMESTAMP(8)
> >> > +};
> >> > +
> >> > +static const struct iio_info adis16209_info = {
> >> > +	.read_raw = adis16209_read_raw,
> >> > +	.write_raw = adis16209_write_raw,
> >> > +	.update_scan_mode = adis_update_scan_mode,
> >> > +};
> >> > +
> >> > +static const char * const adis16209_status_error_msgs[] = {
> >> > +	[ADIS16209_STAT_SELFTEST_FAIL_BIT] = "Self test failure",
> >> > +	[ADIS16209_STAT_SPI_FAIL_BIT] = "SPI failure",
> >> > +	[ADIS16209_STAT_FLASH_UPT_FAIL_BIT] = "Flash update
> >> > failed",
> >> > +	[ADIS16209_STAT_POWER_HIGH_BIT] = "Power supply above
> >> > 3.625V",
> >> > +	[ADIS16209_STAT_POWER_LOW_BIT] = "Power supply below
> >> > 3.15V",
> >> > +};
> >> > +
> >> > +static const struct adis_data adis16209_data = {
> >> > +	.read_delay = 30,
> >> > +	.msc_ctrl_reg = ADIS16209_MSC_CTRL_REG,
> >> > +	.glob_cmd_reg = ADIS16209_CMD_REG,
> >> > +	.diag_stat_reg = ADIS16209_STAT_REG,
> >> > +
> >> > +	.self_test_mask = ADIS16209_MSC_CTRL_SELF_TEST_EN,
> >> > +	.self_test_no_autoclear = true,
> >> > +	.startup_delay = ADIS16209_STARTUP_DELAY_MS,
> >> > +
> >> > +	.status_error_msgs = adis16209_status_error_msgs,
> >> > +	.status_error_mask = BIT(ADIS16209_STAT_SELFTEST_FAIL_BIT)
> >> > |
> >> > +		BIT(ADIS16209_STAT_SPI_FAIL_BIT) |
> >> > +		BIT(ADIS16209_STAT_FLASH_UPT_FAIL_BIT) |
> >> > +		BIT(ADIS16209_STAT_POWER_HIGH_BIT) |
> >> > +		BIT(ADIS16209_STAT_POWER_LOW_BIT),
> >> > +};
> >> > +
> >> > +static int adis16209_probe(struct spi_device *spi)
> >> > +{
> >> > +	int ret;
> >> > +	struct adis *st;
> >> > +	struct iio_dev *indio_dev;  
> >> It's not one I personally feel strongly about but when there is no
> >> reason not to do it, reverse Christmas tree ordering is preferred for
> >> variable declarations.
> >>   
> >> > 
> >> > +
> >> > +	indio_dev = devm_iio_device_alloc(&spi->dev, sizeof(*st));
> >> > +	if (!indio_dev)
> >> > +		return -ENOMEM;  
> >> Blank line here.
> >>   
> >> > 
> >> > +	st = iio_priv(indio_dev);
> >> > +	spi_set_drvdata(spi, indio_dev);
> >> > +
> >> > +	indio_dev->name = spi->dev.driver->name;
> >> > +	indio_dev->dev.parent = &spi->dev;
> >> > +	indio_dev->info = &adis16209_info;
> >> > +	indio_dev->channels = adis16209_channels;
> >> > +	indio_dev->num_channels = ARRAY_SIZE(adis16209_channels);
> >> > +	indio_dev->modes = INDIO_DIRECT_MODE;
> >> > +
> >> > +	ret = adis_init(st, indio_dev, spi, &adis16209_data);
> >> > +	if (ret)
> >> > +		return ret;  
> >> Blank line here.
> >>   
> >> > 
> >> > +	ret = adis_setup_buffer_and_trigger(st, indio_dev, NULL);
> >> > +	if (ret)
> >> > +		return ret;
> >> > +
> >> > +	ret = adis_initial_startup(st);
> >> > +	if (ret)
> >> > +		goto error_cleanup_buffer_trigger;
> >> > +	ret = iio_device_register(indio_dev);
> >> > +	if (ret)
> >> > +		goto error_cleanup_buffer_trigger;
> >> > +
> >> > +	return 0;
> >> > +
> >> > +error_cleanup_buffer_trigger:
> >> > +	adis_cleanup_buffer_and_trigger(st, indio_dev);
> >> > +	return ret;
> >> > +}
> >> > +
> >> > +static int adis16209_remove(struct spi_device *spi)
> >> > +{
> >> > +	struct iio_dev *indio_dev = spi_get_drvdata(spi);
> >> > +	struct adis *st = iio_priv(indio_dev);
> >> > +
> >> > +	iio_device_unregister(indio_dev);
> >> > +	adis_cleanup_buffer_and_trigger(st, indio_dev);
> >> > +
> >> > +	return 0;
> >> > +}
> >> > +
> >> > +static struct spi_driver adis16209_driver = {
> >> > +	.driver = {
> >> > +		.name = "adis16209",
> >> > +	},
> >> > +	.probe = adis16209_probe,
> >> > +	.remove = adis16209_remove,
> >> > +};
> >> > +module_spi_driver(adis16209_driver);
> >> > +
> >> > +MODULE_AUTHOR("Barry Song <21cnbao@...il.com>");
> >> > +MODULE_DESCRIPTION("Analog Devices ADIS16209 Dual-Axis Digital
> >> > Inclinometer and Accelerometer");
> >> > +MODULE_LICENSE("GPL v2");
> >> > +MODULE_ALIAS("spi:adis16209");]  
> >> <snip>  
> 

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