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Date: Wed, 23 Mar 2011 11:18:49 +0000
From: Jonathan Cameron <jic23@....ac.uk>
To: cliff.cai@...log.com
CC: linux-iio@...r.kernel.org, linux-kernel@...r.kernel.org,
drivers@...log.com, device-drivers-devel@...ckfin.uclinux.org
Subject: Re: [PATCH 2/3 RESEND v3] IIO driver for Analog Devices Digital Output
Gyroscope ADXRS450
On 03/23/11 09:15, cliff.cai@...log.com wrote:
> From: Cliff Cai <cliff.cai@...log.com>
>
> Change v3:v2;
> clean up code according to Jonathan' comments.
Couple of really trivial nitpicks inline. Might as well fix them up before
sending to Greg.
Nice driver, thanks,
>
> Signed-off-by: Cliff Cai <cliff.cai@...log.com>
Acked-by: Jonathan Cameron <jic23@....ac.uk>
> ---
> drivers/staging/iio/gyro/Kconfig | 10 +
> drivers/staging/iio/gyro/Makefile | 3 +
> drivers/staging/iio/gyro/adxrs450.h | 58 ++++
> drivers/staging/iio/gyro/adxrs450_core.c | 450 ++++++++++++++++++++++++++++++
> 4 files changed, 521 insertions(+), 0 deletions(-)
> create mode 100644 drivers/staging/iio/gyro/adxrs450.h
> create mode 100644 drivers/staging/iio/gyro/adxrs450_core.c
>
> diff --git a/drivers/staging/iio/gyro/Kconfig b/drivers/staging/iio/gyro/Kconfig
> index 8b78fa0..ae2e7d3 100644
> --- a/drivers/staging/iio/gyro/Kconfig
> +++ b/drivers/staging/iio/gyro/Kconfig
> @@ -35,3 +35,13 @@ config ADIS16260
>
> This driver can also be built as a module. If so, the module
> will be called adis16260.
> +
> +config ADXRS450
> + tristate "Analog Devices ADXRS450 Digital Output Gyroscope SPI driver"
> + depends on SPI
> + help
> + Say yes here to build support for Analog Devices ADXRS450 programmable
> + digital output gyroscope.
> +
> + This driver can also be built as a module. If so, the module
> + will be called adxrs450.
> diff --git a/drivers/staging/iio/gyro/Makefile b/drivers/staging/iio/gyro/Makefile
> index 2764c15..2212240 100644
> --- a/drivers/staging/iio/gyro/Makefile
> +++ b/drivers/staging/iio/gyro/Makefile
> @@ -17,3 +17,6 @@ obj-$(CONFIG_ADIS16260) += adis16260.o
>
> adis16251-y := adis16251_core.o
> obj-$(CONFIG_ADIS16251) += adis16251.o
> +
> +adxrs450-y := adxrs450_core.o
> +obj-$(CONFIG_ADXRS450) += adxrs450.o
> diff --git a/drivers/staging/iio/gyro/adxrs450.h b/drivers/staging/iio/gyro/adxrs450.h
> new file mode 100644
> index 0000000..c92f694
> --- /dev/null
> +++ b/drivers/staging/iio/gyro/adxrs450.h
> @@ -0,0 +1,58 @@
> +#ifndef SPI_ADXRS450_H_
> +#define SPI_ADXRS450_H_
> +
> +#define ADXRS450_STARTUP_DELAY 50 /* ms */
> +
> +/* The MSB for the spi commands */
> +#define ADXRS450_SENSOR_DATA 0x20
> +#define ADXRS450_WRITE_DATA 0x40
> +#define ADXRS450_READ_DATA 0x80
> +
> +#define ADXRS450_RATE1 0x00 /* Rate Registers */
> +#define ADXRS450_TEMP1 0x02 /* Temperature Registers */
> +#define ADXRS450_LOCST1 0x04 /* Low CST Memory Registers */
> +#define ADXRS450_HICST1 0x06 /* High CST Memory Registers */
> +#define ADXRS450_QUAD1 0x08 /* Quad Memory Registers */
> +#define ADXRS450_FAULT1 0x0A /* Fault Registers */
> +#define ADXRS450_PID1 0x0C /* Part ID Register 1 */
> +#define ADXRS450_SNH 0x0E /* Serial Number Registers, 4 bytes */
> +#define ADXRS450_SNL 0x10
> +#define ADXRS450_DNC1 0x12 /* Dynamic Null Correction Registers */
> +/* Check bits */
> +#define ADXRS450_P 0x01
> +#define ADXRS450_CHK 0x02
> +#define ADXRS450_CST 0x04
> +#define ADXRS450_PWR 0x08
> +#define ADXRS450_POR 0x10
> +#define ADXRS450_NVM 0x20
> +#define ADXRS450_Q 0x40
> +#define ADXRS450_PLL 0x80
> +#define ADXRS450_UV 0x100
> +#define ADXRS450_OV 0x200
> +#define ADXRS450_AMP 0x400
> +#define ADXRS450_FAIL 0x800
> +
> +#define ADXRS450_WRERR_MASK (0x7 << 29)
> +
> +#define ADXRS450_MAX_RX 4
> +#define ADXRS450_MAX_TX 4
> +
> +#define ADXRS450_GET_ST(a) ((a >> 26) & 0x3)
> +
> +/**
> + * struct adxrs450_state - device instance specific data
> + * @us: actual spi_device
> + * @indio_dev: industrial I/O device structure
> + * @tx: transmit buffer
> + * @rx: recieve buffer
> + * @buf_lock: mutex to protect tx and rx
> + **/
> +struct adxrs450_state {
> + struct spi_device *us;
> + struct iio_dev *indio_dev;
> + u8 *tx;
> + u8 *rx;
> + struct mutex buf_lock;
> +};
> +
> +#endif /* SPI_ADXRS450_H_ */
> diff --git a/drivers/staging/iio/gyro/adxrs450_core.c b/drivers/staging/iio/gyro/adxrs450_core.c
> new file mode 100644
> index 0000000..263230d
> --- /dev/null
> +++ b/drivers/staging/iio/gyro/adxrs450_core.c
> @@ -0,0 +1,450 @@
> +/*
> + * ADXRS450 Digital Output Gyroscope Driver
> + *
> + * Copyright 2011 Analog Devices Inc.
> + *
> + * Licensed under the GPL-2 or later.
> + */
> +
> +#include <linux/interrupt.h>
> +#include <linux/irq.h>
> +#include <linux/gpio.h>
> +#include <linux/delay.h>
> +#include <linux/mutex.h>
> +#include <linux/device.h>
> +#include <linux/kernel.h>
> +#include <linux/spi/spi.h>
> +#include <linux/slab.h>
> +#include <linux/sysfs.h>
> +#include <linux/list.h>
> +
> +#include "../iio.h"
> +#include "../sysfs.h"
> +#include "gyro.h"
> +#include "../adc/adc.h"
> +
> +#include "adxrs450.h"
> +
> +/**
> + * adxrs450_spi_read_reg_16() - read 2 bytes from a register pair
> + * @dev: device associated with child of actual iio_dev
> + * @reg_address: the address of the lower of the two registers,which should be an even address,
> + * Second register's address is reg_address + 1.
> + * @val: somewhere to pass back the value read
> + **/
> +static int adxrs450_spi_read_reg_16(struct device *dev,
> + u8 reg_address,
> + u16 *val)
> +{
> + struct spi_message msg;
> + struct iio_dev *indio_dev = dev_get_drvdata(dev);
> + struct adxrs450_state *st = iio_dev_get_devdata(indio_dev);
> + int ret;
> + struct spi_transfer xfers = {
> + .tx_buf = st->tx,
> + .rx_buf = st->rx,
> + .bits_per_word = 8,
> + .len = 4,
> + };
> + /* Needs to send the command twice to get the wanted value */
> + mutex_lock(&st->buf_lock);
> + st->tx[0] = ADXRS450_READ_DATA | reg_address >> 7;
> + st->tx[1] = reg_address << 1;
> + st->tx[2] = 0;
> + st->tx[3] = 0;
> + spi_message_init(&msg);
> + spi_message_add_tail(&xfers, &msg);
> + ret = spi_sync(st->us, &msg);
> + if (ret) {
> + dev_err(&st->us->dev, "problem while reading 16 bit register 0x%02x\n",
> + reg_address);
> + goto error_ret;
> + }
> +
> + spi_message_init(&msg);
> + spi_message_add_tail(&xfers, &msg);
> + ret = spi_sync(st->us, &msg);
> + if (ret) {
> + dev_err(&st->us->dev, "problem while reading 16 bit register 0x%02x\n",
> + reg_address);
> + goto error_ret;
> + }
> +
> + *val = (st->rx[1] & 0x1f) << 11 | st->rx[2] << 3 | (st->rx[3] & 0xe0) >> 5;
> +
> +error_ret:
> + mutex_unlock(&st->buf_lock);
> + return ret;
> +}
> +
> +/**
> + * adxrs450_spi_write_reg_16() - write 2 bytes data to a register pair
> + * @dev: device associated with child of actual actual iio_dev
> + * @reg_address: the address of the lower of the two registers,which should be an even address,
> + * Second register's address is reg_address + 1.
> + * @val: value to be written.
> + **/
> +static int adxrs450_spi_write_reg_16(struct device *dev,
> + u8 reg_address,
> + u16 val)
> +{
> + struct spi_message msg;
> + struct iio_dev *indio_dev = dev_get_drvdata(dev);
> + struct adxrs450_state *st = iio_dev_get_devdata(indio_dev);
> + int ret;
> + struct spi_transfer xfers = {
> + .tx_buf = st->tx,
> + .rx_buf = st->rx,
> + .bits_per_word = 8,
> + .len = 4,
> + };
> +
> + mutex_lock(&st->buf_lock);
> + st->tx[0] = ADXRS450_WRITE_DATA | reg_address >> 7;
> + st->tx[1] = reg_address << 1 | val >> 15;
> + st->tx[2] = val >> 7;
> + st->tx[3] = val << 1;
> + spi_message_init(&msg);
> + spi_message_add_tail(&xfers, &msg);
> + ret = spi_sync(st->us, &msg);
> + if (ret)
> + dev_err(&st->us->dev, "problem while writing 16 bit register 0x%02x\n",
> + reg_address);
> + mutex_unlock(&st->buf_lock);
> + return ret;
> +}
> +
> +/**
> + * adxrs450_spi_sensor_data() - read 2 bytes sensor data
> + * @dev: device associated with child of actual iio_dev
> + * @val: somewhere to pass back the value read
> + **/
> +static int adxrs450_spi_sensor_data(struct device *dev, u16 *val)
> +{
> + struct spi_message msg;
> + struct iio_dev *indio_dev = dev_get_drvdata(dev);
> + struct adxrs450_state *st = iio_dev_get_devdata(indio_dev);
> + int ret;
> + struct spi_transfer xfers = {
> + .tx_buf = st->tx,
> + .rx_buf = st->rx,
> + .bits_per_word = 8,
> + .len = 4,
> + };
> +
> + mutex_lock(&st->buf_lock);
> + st->tx[0] = ADXRS450_SENSOR_DATA;
> + st->tx[1] = 0;
> + st->tx[2] = 0;
> + st->tx[3] = 0;
> +
> + spi_message_init(&msg);
> + spi_message_add_tail(&xfers, &msg);
> + ret = spi_sync(st->us, &msg);
> + if (ret) {
> + dev_err(&st->us->dev, "Problem while reading sensor data\n");
> + goto error_ret;
> + }
> +
> + spi_message_init(&msg);
> + spi_message_add_tail(&xfers, &msg);
> + ret = spi_sync(st->us, &msg);
> + if (ret) {
> + dev_err(&st->us->dev, "Problem while reading sensor data\n");
> + goto error_ret;
> + }
> +
> + *val = (st->rx[0] & 0x03) << 14 | st->rx[1] << 6 | (st->rx[2] & 0xfc) >> 2;
> +error_ret:
> + mutex_unlock(&st->buf_lock);
> + return ret;
> +}
> +
> +/**
> + * adxrs450_spi_initial() - use for initializing procedure.
> + * @st: device instance specific data
> + * @val: somewhere to pass back the value read
> + **/
> +static int adxrs450_spi_initial(struct adxrs450_state *st,
> + u32 *val, char chk)
> +{
> + struct spi_message msg;
> + int ret;
> + struct spi_transfer xfers = {
> + .tx_buf = st->tx,
> + .rx_buf = st->rx,
> + .bits_per_word = 8,
> + .len = 4,
> + };
> +
> + mutex_lock(&st->buf_lock);
> + st->tx[0] = ADXRS450_SENSOR_DATA;
> + st->tx[1] = 0;
> + st->tx[2] = 0;
> + st->tx[3] = 0;
> + if (chk)
> + st->tx[3] |= (ADXRS450_CHK | ADXRS450_P);
> + spi_message_init(&msg);
> + spi_message_add_tail(&xfers, &msg);
> + ret = spi_sync(st->us, &msg);
> + if (ret) {
> + dev_err(&st->us->dev, "Problem while reading initializing data\n");
> + goto error_ret;
> + }
> +
> + *val = be32_to_cpu(*(u32 *)st->rx);
> +
> +error_ret:
> + mutex_unlock(&st->buf_lock);
> + return ret;
> +}
> +
> +static ssize_t adxrs450_read_temp(struct device *dev,
> + struct device_attribute *attr,
> + char *buf)
> +{
> + int ret, len;
> + u16 t;
> + ret = adxrs450_spi_read_reg_16(dev,
> + ADXRS450_TEMP1,
> + &t);
> + if (ret)
> + return ret;
> + len = sprintf(buf, "%d\n", t);
Combine lines.
> + return len;
> +}
> +
> +static ssize_t adxrs450_read_quad(struct device *dev,
> + struct device_attribute *attr,
> + char *buf)
> +{
> + int ret, len;
> + u16 t;
> + ret = adxrs450_spi_read_reg_16(dev,
> + ADXRS450_QUAD1,
> + &t);
> + if (ret)
> + return ret;
> + len = sprintf(buf, "%d\n", t);
> + return len;
Combine previous two lines and get rid of len.
> +}
> +
> +static ssize_t adxrs450_write_dnc(struct device *dev,
> + struct device_attribute *attr,
> + const char *buf,
> + size_t len)
> +{
> + int ret;
> + long val;
> +
> + ret = strict_strtol(buf, 10, &val);
> + if (ret)
> + goto error_ret;
> + ret = adxrs450_spi_write_reg_16(dev,
> + ADXRS450_DNC1,
> + val);
> +error_ret:
> + return ret ? ret : len;
> +}
> +
> +static ssize_t adxrs450_read_sensor_data(struct device *dev,
> + struct device_attribute *attr,
> + char *buf)
> +{
> + int ret, len = 0;
> + u16 t;
> +
> + ret = adxrs450_spi_sensor_data(dev, &t);
> + if (ret)
> + return ret;
> +
> + len = sprintf(buf, "%d\n", t);
> + return len;
Could combine previous two lines and get rid of assignment of len = 0
(which wasn't needed anyway!)
> +}
> +
> +/* Recommended Startup Sequence by spec */
> +static int adxrs450_initial_setup(struct adxrs450_state *st)
> +{
> + u32 t;
> + u16 data;
> + int ret;
> + struct device *dev = &st->indio_dev->dev;
> +
> + msleep(ADXRS450_STARTUP_DELAY*2);
> + ret = adxrs450_spi_initial(st, &t, 1);
> + if (ret)
> + return ret;
> + if (t != 0x01) {
> + dev_err(&st->us->dev, "The initial response is not correct!\n");
> + return -ENODEV;
> +
> + }
> +
> + msleep(ADXRS450_STARTUP_DELAY);
> + ret = adxrs450_spi_initial(st, &t, 0);
> + if (ret)
> + return ret;
> +
> + msleep(ADXRS450_STARTUP_DELAY);
> + ret = adxrs450_spi_initial(st, &t, 0);
> + if (ret)
> + return ret;
> + if (((t & 0xff) | 0x01) != 0xff || ADXRS450_GET_ST(t) != 2) {
> + dev_err(&st->us->dev, "The second response is not correct!\n");
> + return -EIO;
> +
> + }
> + ret = adxrs450_spi_initial(st, &t, 0);
> + if (ret)
> + return ret;
> + if (((t & 0xff) | 0x01) != 0xff || ADXRS450_GET_ST(t) != 2) {
> + dev_err(&st->us->dev, "The third response is not correct!\n");
> + return -EIO;
> +
> + }
> + ret = adxrs450_spi_read_reg_16(dev, ADXRS450_FAULT1, &data);
> + if (ret)
> + return ret;
> + if (data & 0x0fff) {
> + dev_err(&st->us->dev, "The device is not in normal status!\n");
> + return -EINVAL;
> + }
> + ret = adxrs450_spi_read_reg_16(dev, ADXRS450_PID1, &data);
> + if (ret)
> + return ret;
> + dev_info(&st->us->dev, "The Part ID is 0x%x\n", data);
> +
> + ret = adxrs450_spi_read_reg_16(dev, ADXRS450_SNL, &data);
> + if (ret)
> + return ret;
> + t = data;
> + ret = adxrs450_spi_read_reg_16(dev, ADXRS450_SNH, &data);
> + if (ret)
> + return ret;
> + t |= data << 16;
> + dev_info(&st->us->dev, "The Serial Number is 0x%x\n", t);
> +
> + return 0;
> +}
> +
> +static IIO_DEV_ATTR_GYRO_Z(adxrs450_read_sensor_data, 0);
> +static IIO_DEV_ATTR_TEMP_RAW(adxrs450_read_temp);
> +static IIO_DEV_ATTR_GYRO_Z_QUADRATURE_CORRECTION(adxrs450_read_quad, 0);
> +static IIO_DEV_ATTR_GYRO_Z_CALIBBIAS(S_IWUSR,
> + NULL, adxrs450_write_dnc, 0);
> +static IIO_CONST_ATTR(name, "adxrs450");
> +
> +static struct attribute *adxrs450_attributes[] = {
> + &iio_dev_attr_gyro_z_raw.dev_attr.attr,
> + &iio_dev_attr_temp_raw.dev_attr.attr,
> + &iio_dev_attr_gyro_z_quadrature_correction_raw.dev_attr.attr,
> + &iio_dev_attr_gyro_z_calibbias.dev_attr.attr,
> + &iio_const_attr_name.dev_attr.attr,
> + NULL
> +};
> +
> +static const struct attribute_group adxrs450_attribute_group = {
> + .attrs = adxrs450_attributes,
> +};
> +
> +static int __devinit adxrs450_probe(struct spi_device *spi)
> +{
> + int ret, regdone = 0;
> + struct adxrs450_state *st = kzalloc(sizeof *st, GFP_KERNEL);
> + if (!st) {
> + ret = -ENOMEM;
> + goto error_ret;
> + }
> + /* This is only used for removal purposes */
> + spi_set_drvdata(spi, st);
> +
> + /* Allocate the comms buffers */
> + st->rx = kzalloc(sizeof(*st->rx)*ADXRS450_MAX_RX, GFP_KERNEL);
> + if (st->rx == NULL) {
> + ret = -ENOMEM;
> + goto error_free_st;
> + }
> + st->tx = kzalloc(sizeof(*st->tx)*ADXRS450_MAX_TX, GFP_KERNEL);
> + if (st->tx == NULL) {
> + ret = -ENOMEM;
> + goto error_free_rx;
> + }
> + st->us = spi;
> + mutex_init(&st->buf_lock);
> + /* setup the industrialio driver allocated elements */
> + st->indio_dev = iio_allocate_device();
> + if (st->indio_dev == NULL) {
> + ret = -ENOMEM;
> + goto error_free_tx;
> + }
> +
> + st->indio_dev->dev.parent = &spi->dev;
> + st->indio_dev->attrs = &adxrs450_attribute_group;
> + st->indio_dev->dev_data = (void *)(st);
> + st->indio_dev->driver_module = THIS_MODULE;
> + st->indio_dev->modes = INDIO_DIRECT_MODE;
> +
> + ret = iio_device_register(st->indio_dev);
> + if (ret)
> + goto error_free_dev;
> + regdone = 1;
> +
> + /* Get the device into a sane initial state */
> + ret = adxrs450_initial_setup(st);
> + if (ret)
> + goto error_initial;
> + return 0;
> +
> +error_initial:
> +error_free_dev:
> + if (regdone)
> + iio_device_unregister(st->indio_dev);
> + else
> + iio_free_device(st->indio_dev);
> +error_free_tx:
> + kfree(st->tx);
> +error_free_rx:
> + kfree(st->rx);
> +error_free_st:
> + kfree(st);
> +error_ret:
> + return ret;
> +}
> +
> +/* fixme, confirm ordering in this function */
Err? So is it. (have a feeling this is a cut and
pasted comment from somewhere else ;)
> +static int adxrs450_remove(struct spi_device *spi)
> +{
> + struct adxrs450_state *st = spi_get_drvdata(spi);
> +
> + iio_device_unregister(st->indio_dev);
> + kfree(st->tx);
> + kfree(st->rx);
> + kfree(st);
> +
> + return 0;
> +}
...
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