Re: [PATCH 4/5] iio: imu: adis16550: add adis16550 support
From: Christophe JAILLET
Date: Mon Oct 28 2024 - 11:13:05 EST
Le 28/10/2024 à 13:35, Robert Budai a écrit :
From: Nuno Sá <nuno.sa-OyLXuOCK7orQT0dZR+AlfA@xxxxxxxxxxxxxxxx>
The ADIS16550 is a complete inertial system that includes a triaxis
gyroscope and a triaxis accelerometer. Each inertial sensor in
the ADIS16550 combines industry leading MEMS only technology
with signal conditioning that optimizes dynamic performance. The
factory calibration characterizes each sensor for sensitivity, bias,
and alignment. As a result, each sensor has its own dynamic com-
pensation formulas that provide accurate sensor measurements
Hi,
...
+static ssize_t adis16550_show_firmware_date(struct file *file,
+ char __user *userbuf,
+ size_t count, loff_t *ppos)
+{
+ struct adis16550 *st = file->private_data;
+ u32 date;
+ char buf[12];
+ size_t len;
+ int ret;
+
+ ret = adis_read_reg_32(&st->adis, ADIS16550_REG_FW_DATE, &date);
+ if (ret)
+ return ret;
+
+ len = snprintf(buf, sizeof(buf), "%.2x-%.2x-%.4x\n", date & 0xff,
+ (date >> 8) & 0xff, date >> 16);
scnprintf() ?
+
+ return simple_read_from_buffer(userbuf, count, ppos, buf, len);
+}
...
+static void adis16550_debugfs_init(struct iio_dev *indio_dev)
+{
+ struct adis16550 *st = iio_priv(indio_dev);
+ struct dentry *d = iio_get_debugfs_dentry(indio_dev);
+
+ if (!IS_ENABLED(CONFIG_DEBUG_FS))
+ return;
I don't think that this is needed.
Functions below should ahndle it already.
+
+ debugfs_create_file_unsafe("serial_number", 0400,
+ d, st, &adis16550_serial_number_fops);
+ debugfs_create_file_unsafe("product_id", 0400,
+ d, st, &adis16550_product_id_fops);
+ debugfs_create_file("firmware_revision", 0400,
+ d, st, &adis16550_firmware_revision_fops);
+ debugfs_create_file("firmware_date", 0400, d,
+ st, &adis16550_firmware_date_fops);
+ debugfs_create_file_unsafe("flash_count", 0400,
+ d, st, &adis16550_flash_count_fops);
+}
...
+static int adis16550_set_freq(struct adis16550 *st, u32 freq)
+{
+ u16 dec;
+ int ret;
+ u32 sample_rate = st->clk_freq;
+ /*
+ * The optimal sample rate for the supported IMUs is between
+ * int_clk - 1000 and int_clk + 500.
+ */
+ u32 max_sample_rate = st->info->int_clk * 1000 + 500000;
+ u32 min_sample_rate = st->info->int_clk * 1000 - 1000000;
Nitpick: 2 spaces after =
+
+ if (!freq)
+ return -EINVAL;
+
+ adis_dev_lock(&st->adis);
+
+ if (st->sync_mode == ADIS16550_SYNC_MODE_SCALED) {
+ unsigned long scaled_rate = lcm(st->clk_freq, freq);
+ int sync_scale;
+
+ if (scaled_rate > max_sample_rate)
+ scaled_rate = max_sample_rate / st->clk_freq * st->clk_freq;
+ else
+ scaled_rate = max_sample_rate / scaled_rate * scaled_rate;
+
+ if (scaled_rate < min_sample_rate)
+ scaled_rate = roundup(min_sample_rate, st->clk_freq);
+
+ sync_scale = scaled_rate / st->clk_freq;
+ ret = __adis_write_reg_16(&st->adis, ADIS16550_REG_SYNC_SCALE,
+ sync_scale);
+ if (ret)
+ goto error;
+
+ sample_rate = scaled_rate;
+ }
+
+ dec = DIV_ROUND_CLOSEST(sample_rate, freq);
+
+ if (dec)
+ dec--;
+
+ if (dec > st->info->max_dec)
+ dec = st->info->max_dec;
+
+ ret = __adis_write_reg_16(&st->adis, ADIS16550_REG_DEC_RATE, dec);
+ if (ret)
+ goto error;
+
+ adis_dev_unlock(&st->adis);
+
+ return 0;
+
+error:
+ adis_dev_unlock(&st->adis);
+ return ret;
+}
...
+static const struct adis16550_chip_info adis16550_chip_info[] = {
+ [ADIS16550] =
+ ADIS16550_CHIP_INFO(adis16550),
This fits on the previous line.
+ [ADIS16550W] =
+ ADIS16550_CHIP_INFO(adis16550w),
+};
+
+static u32 adis16550_validate_crc(const u32 *buf, const u8 n_elem,
+ const u32 crc)
+{
+ u32 crc_calc;
+ u32 crc_buf[ADIS16550_BURST_N_ELEM - 2];
+ int j;
Nitpick: i is more usual than j.
There also should be a newline here.
+ /*
+ * The crc calculation of the data is done in little endian. Hence, we
+ * always swap the 32bit elements making sure that the data LSB is
+ * always on address 0...
+ */
+ for (j = 0; j < n_elem; j++)
+ crc_buf[j] = swab32(buf[j]);
+
+ crc_calc = crc32(~0, crc_buf, n_elem * 4);
+ crc_calc ^= ~0;
+
+ return (crc_calc == crc);
+}
...
+static int adis16550_probe(struct spi_device *spi)
+{
+ struct iio_dev *indio_dev;
+ struct adis16550 *st;
+ int ret;
+
+ indio_dev = devm_iio_device_alloc(&spi->dev, sizeof(*st));
+ if (!indio_dev)
+ return -ENOMEM;
+
+ st = iio_priv(indio_dev);
+
+ st->info = device_get_match_data(&spi->dev);
Nitpick: 2 spaces after =
+ if (!st->info)
+ return -EINVAL;
+
+ indio_dev->name = st->info->name;
+ indio_dev->channels = st->info->channels;
+ indio_dev->num_channels = st->info->num_channels;
+ indio_dev->available_scan_masks = adis16550_channel_masks;
+ indio_dev->info = &adis16550_info;
+ indio_dev->modes = INDIO_DIRECT_MODE;
+
+ st->adis.ops = &adis16550_ops;
+
+ ret = devm_regulator_get_enable(&spi->dev, "vdd");
+ if (ret)
+ return dev_err_probe(&spi->dev, ret,
+ "Failed to get vdd regulator\n");
+
+ ret = adis_init(&st->adis, indio_dev, spi, &adis16550_data);
+ if (ret)
+ return ret;
+
+ ret = __adis_initial_startup(&st->adis);
+ if (ret)
+ return ret;
+
+ ret = adis16550_config_sync(st);
+ if (ret)
+ return ret;
+
+ ret = devm_adis_setup_buffer_and_trigger(&st->adis, indio_dev,
+ adis16550_trigger_handler);
+ if (ret)
+ return ret;
+
+ ret = devm_iio_device_register(&spi->dev, indio_dev);
+ if (ret)
+ return ret;
+
+ adis16550_debugfs_init(indio_dev);
+
+ return 0;
+}
+
+static const struct spi_device_id adis16550_id[] = {
+ { "adis16550", (kernel_ulong_t)&adis16550_chip_info[ADIS16550] },
Nitpick: extra space before ending }
+ { "adis16550w", (kernel_ulong_t)&adis16550_chip_info[ADIS16550W] },
Nitpick: 2 spaces after first ,
+ { }
+};
+MODULE_DEVICE_TABLE(spi, adis16550_id);
+
+static const struct of_device_id adis16550_of_match[] = {
+ { .compatible = "adi,adis16550", .data = &adis16550_chip_info[ADIS16550]},
Nitpick: missing space before ending }
+ { .compatible = "adi,adis16550w", .data = &adis16550_chip_info[ADIS16550W] },
+ { }
+};
+MODULE_DEVICE_TABLE(of, adis16550_of_match);
...
CJ