Message-ID: <A510A7E9-CCA9-4060-A884-601BC219952B@gmail.com>
Date:   Fri, 16 Mar 2018 02:33:49 +0530
From:   Shreeya Patel <shreeya.patel23498@...il.com>
To:     Jonathan Cameron <jic23@...nel.org>
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 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 :)
>
>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>

-- 
Sent from my Android device with K-9 Mail. Please excuse my brevity.

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