staging: adis16255 - TODO issues resolved and typos removed

This patch adds the adis16255 driver to the build system under the staging directory.
It solves also most issues mentioned in TODO list:
- sample rate exported to sysfs
- spi_adis16255_bringup and spi_adis16255_shutdown encapsulated
- chip selftest in spi_adis16255_bringup
- kernel messages reduced to a reasonable number
I removed the TODO file, because ther was only the reset of the gyroscope left.
This is IMOH not necessary for the actual driver.

There are also some typos in adis.c file. This patch should get rid of them as well.

Signed-off-by: Matthias Brugger <mensch0815@gmail.com>
Signed-off-by: Greg Kroah-Hartman <gregkh@suse.de>

drivers/staging/Kconfig

@@ -137,5 +137,7 @@ source "drivers/staging/cxt1e1/Kconfig"
 
 source "drivers/staging/ti-st/Kconfig"
 
+source "drivers/staging/adis16255/Kconfig"
+
 endif # !STAGING_EXCLUDE_BUILD
 endif # STAGING

drivers/staging/Makefile

@@ -49,3 +49,4 @@ obj-$(CONFIG_VIDEO_DT3155)	+= dt3155v4l/
 obj-$(CONFIG_CRYSTALHD)		+= crystalhd/
 obj-$(CONFIG_CXT1E1)		+= cxt1e1/
 obj-$(CONFIG_TI_ST)		+= ti-st/
+obj-$(CONFIG_ADIS16255))		+= adis16255/

drivers/staging/adis16255/Kconfig

@@ -2,8 +2,10 @@ config ADIS16255
 	tristate "Ananlog Devices ADIS16250/16255"
 	depends on SPI && SYSFS
 	---help---
-      If you say yes here you get support for the Analog Devices
-      ADIS16250/16255 Low Power Gyroscope.
+	If you say yes here you get support for the Analog Devices
+	ADIS16250/16255 Low Power Gyroscope. The driver exposes
+	orientation and gyroscope value, as well as sample rate
+	to the sysfs.
 
-      This driver can also be built as a module. If so, the module
-      will be called adis16255.
+	This driver can also be built as a module. If so, the module
+	will be called adis16255.

drivers/staging/adis16255/Makefile

@@ -1 +1 @@
-obj-$(CONFIG_ADIS16255) += adis1625.o
+obj-$(CONFIG_ADIS16255)		+= adis16255.o

drivers/staging/adis16255/TODO

@@ -1,8 +0,0 @@
-* sample rate changeable or at least readable from sysfs
-* reset gyroscope
-* encapsulate adis_init and adis_turn_off
-* AD_CHK deletion
-* chip selftest in adis_init
-* reduce kernel messages to reasonable amount
-
-Contact: Matthias Brugger <mensch0815@gmail.com>

drivers/staging/adis16255/adis16255.c

@@ -21,6 +21,14 @@
  * 59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.
  */
 
+/*
+ * The driver just has a bare interface to the sysfs (sample rate in Hz,
+ * orientation (x, y, z) and gyroscope data in °/sec.
+ *
+ * It should be added to iio subsystem when this has left staging.
+ *
+ */
+
 #include <linux/init.h>
 #include <linux/module.h>
 #include <linux/device.h>
@@ -62,14 +70,13 @@
  * @data:      Last read data from device.
  * @irq_adis:  GPIO Number of IRQ signal
  * @irq:       irq line manage by kernel
- * @negative:  indicates if sensor is upside down (negative ÿ1)
+ * @negative:  indicates if sensor is upside down (negative == 1)
  * @direction: indicates axis (x, y, z) the sensor is meassuring
  */
 struct spi_adis16255_data {
 	struct device dev;
 	struct spi_device *spi;
 	s16 data;
-	int irq_adis;
 	int irq;
 	u8 negative;
 	char direction;
@@ -81,47 +88,44 @@ static int spi_adis16255_read_data(struct spi_adis16255_data *spiadis,
 					u8 adr,
 					u8 *rbuf)
 {
-	struct spi_device *spi ÿpiadis->spi;
+	struct spi_device *spi = spiadis->spi;
 	struct spi_message msg;
 	struct spi_transfer xfer1, xfer2;
 	u8 *buf, *rx;
 	int ret;
 
-	buf ÿmalloc(4, GFP_KERNEL);
-	if (buf ÿNULL)
+	buf = kzalloc(4, GFP_KERNEL);
+	if (buf == NULL)
 		return -ENOMEM;
 
-	rx ÿzalloc(4, GFP_KERNEL);
-	if (rx ÿNULL) {
-		ret ÿENOMEM;
+	rx = kzalloc(4, GFP_KERNEL);
+	if (rx == NULL) {
+		ret = -ENOMEM;
 		goto err_buf;
 	}
 
-	buf[0] údr;
-	buf[1] ðx00;
-	buf[2] ðx00;
-	buf[3] ðx00;
+	buf[0] = adr;
 
 	spi_message_init(&msg);
 	memset(&xfer1, 0, sizeof(xfer1));
 	memset(&xfer2, 0, sizeof(xfer2));
 
-	xfer1.tx_buf ûuf;
-	xfer1.rx_buf ûuf + 2;
-	xfer1.len ò;
-	xfer1.delay_usecs ù;
+	xfer1.tx_buf = buf;
+	xfer1.rx_buf = buf + 2;
+	xfer1.len = 2;
+	xfer1.delay_usecs = 9;
 
-	xfer2.tx_buf ÿx + 2;
-	xfer2.rx_buf ÿx;
-	xfer2.len ò;
+	xfer2.tx_buf = rx + 2;
+	xfer2.rx_buf = rx;
+	xfer2.len = 2;
 
 	spi_message_add_tail(&xfer1, &msg);
 	spi_message_add_tail(&xfer2, &msg);
 
-	ret ÿpi_sync(spi, &msg);
-	if (ret ÿ0) {
-		rbuf[0] ÿx[0];
-		rbuf[1] ÿx[1];
+	ret = spi_sync(spi, &msg);
+	if (ret == 0) {
+		rbuf[0] = rx[0];
+		rbuf[1] = rx[1];
 	}
 
 	kfree(rx);
@@ -136,19 +140,19 @@ static int spi_adis16255_write_data(struct spi_adis16255_data *spiadis,
 					u8 adr2,
 					u8 *wbuf)
 {
-	struct spi_device *spi ÿpiadis->spi;
+	struct spi_device *spi = spiadis->spi;
 	struct spi_message   msg;
 	struct spi_transfer  xfer1, xfer2;
 	u8       *buf, *rx;
 	int         ret;
 
-	buf ÿmalloc(4, GFP_KERNEL);
-	if (buf ÿNULL)
+	buf = kmalloc(4, GFP_KERNEL);
+	if (buf == NULL)
 		return -ENOMEM;
 
-	rx ÿzalloc(4, GFP_KERNEL);
-	if (rx ÿNULL) {
-		ret ÿENOMEM;
+	rx = kzalloc(4, GFP_KERNEL);
+	if (rx == NULL) {
+		ret = -ENOMEM;
 		goto err_buf;
 	}
 
@@ -156,27 +160,27 @@ static int spi_adis16255_write_data(struct spi_adis16255_data *spiadis,
 	memset(&xfer1, 0, sizeof(xfer1));
 	memset(&xfer2, 0, sizeof(xfer2));
 
-	buf[0] údr1 | 0x80;
-	buf[1] ÿwbuf;
+	buf[0] = adr1 | 0x80;
+	buf[1] = *wbuf;
 
-	buf[2] údr2 | 0x80;
-	buf[3] ÿ(wbuf + 1);
+	buf[2] = adr2 | 0x80;
+	buf[3] = *(wbuf + 1);
 
-	xfer1.tx_buf ûuf;
-	xfer1.rx_buf ÿx;
-	xfer1.len ò;
-	xfer1.delay_usecs ù;
+	xfer1.tx_buf = buf;
+	xfer1.rx_buf = rx;
+	xfer1.len = 2;
+	xfer1.delay_usecs = 9;
 
-	xfer2.tx_buf ûuf+2;
-	xfer2.rx_buf ÿx+2;
-	xfer2.len ò;
+	xfer2.tx_buf = buf+2;
+	xfer2.rx_buf = rx+2;
+	xfer2.len = 2;
 
 	spi_message_add_tail(&xfer1, &msg);
 	spi_message_add_tail(&xfer2, &msg);
 
-	ret ÿpi_sync(spi, &msg);
-	if (ret !ð)
-		dev_warn(&spi->dev, "wirte data to %#x %#x failed\n",
+	ret = spi_sync(spi, &msg);
+	if (ret != 0)
+		dev_warn(&spi->dev, "write data to %#x %#x failed\n",
 				buf[0], buf[2]);
 
 	kfree(rx);
@@ -189,29 +193,31 @@ err_buf:
 
 static irqreturn_t adis_irq_thread(int irq, void *dev_id)
 {
-	struct spi_adis16255_data *spiadis ýev_id;
+	struct spi_adis16255_data *spiadis = dev_id;
 	int status;
-	u16 value;
+	u16 value = 0;
 
-	status ÿspi_adis16255_read_data(spiadis, ADIS_GYRO_OUT, (u8 *)&value);
-	if (status ÿ0) {
-		/* perform on new data only... */
-		if (value & 0x8000) {
-			/* delete error and new data bit */
-			value ÿalue & 0x3fff;
-			/* set negative value */
-			if (value & 0x2000)
-				value ÿalue | 0xe000;
-
-			if (likely(spiadis->negative))
-				value ÿvalue;
-
-			spiadis->data ÿs16) value;
-		}
-	} else {
+	status =  spi_adis16255_read_data(spiadis, ADIS_GYRO_OUT, (u8 *)&value);
+	if (status != 0) {
 		dev_warn(&spiadis->spi->dev, "SPI FAILED\n");
+		goto exit;
 	}
 
+	/* perform on new data only... */
+	if (value & 0x8000) {
+		/* delete error and new data bit */
+		value = value & 0x3fff;
+		/* set negative value */
+		if (value & 0x2000)
+			value = value | 0xe000;
+
+		if (likely(spiadis->negative))
+			value = -value;
+
+		spiadis->data = (s16) value;
+	}
+
+exit:
 	return IRQ_HANDLED;
 }
 
@@ -221,7 +227,7 @@ ssize_t adis16255_show_data(struct device *device,
 		struct device_attribute *da,
 		char *buf)
 {
-	struct spi_adis16255_data *spiadis ýev_get_drvdata(device);
+	struct spi_adis16255_data *spiadis = dev_get_drvdata(device);
 	return snprintf(buf, PAGE_SIZE, "%d\n", spiadis->data);
 }
 DEVICE_ATTR(data, S_IRUGO , adis16255_show_data, NULL);
@@ -230,122 +236,53 @@ ssize_t adis16255_show_direction(struct device *device,
 		struct device_attribute *da,
 		char *buf)
 {
-	struct spi_adis16255_data *spiadis ýev_get_drvdata(device);
+	struct spi_adis16255_data *spiadis = dev_get_drvdata(device);
 	return snprintf(buf, PAGE_SIZE, "%c\n", spiadis->direction);
 }
 DEVICE_ATTR(direction, S_IRUGO , adis16255_show_direction, NULL);
 
-static struct attribute *adis16255_attributes[] ÿ
+ssize_t adis16255_show_sample_rate(struct device *device,
+		struct device_attribute *da,
+		char *buf)
+{
+	struct spi_adis16255_data *spiadis = dev_get_drvdata(device);
+	int status = 0;
+	u16 value = 0;
+	int ts = 0;
+
+	status = spi_adis16255_read_data(spiadis, ADIS_SMPL_PRD_MSB,
+				(u8 *)&value);
+	if (status != 0)
+		return -EINVAL;
+
+	if (value & 0x80) {
+		/* timebase = 60.54 ms */
+		ts = 60540 * ((0x7f & value) + 1);
+	} else {
+		/* timebase = 1.953 ms */
+		ts = 1953 * ((0x7f & value) + 1);
+	}
+
+	return snprintf(buf, PAGE_SIZE, "%d\n", (1000*1000)/ts);
+}
+DEVICE_ATTR(sample_rate, S_IRUGO , adis16255_show_sample_rate, NULL);
+
+static struct attribute *adis16255_attributes[] = {
 	&dev_attr_data.attr,
 	&dev_attr_direction.attr,
+	&dev_attr_sample_rate.attr,
 	NULL
 };
 
-static const struct attribute_group adis16255_attr_group ÿ
-	.attrs údis16255_attributes,
+static const struct attribute_group adis16255_attr_group = {
+	.attrs = adis16255_attributes,
 };
 
 /*-------------------------------------------------------------------------*/
 
-static int spi_adis16255_probe(struct spi_device *spi)
+static int spi_adis16255_shutdown(struct spi_adis16255_data *spiadis)
 {
-
-#define AD_CHK(_ss)\
-	do {\
-		status ÿss;\
-		if (status !ð)\
-			goto irq_err;\
-	} while (0);
-
-	struct adis16255_init_data *init_data ÿpi->dev.platform_data;
-	struct spi_adis16255_data  *spiadis;
-	int status ð;
-	u16 value;
-
-	spiadis ÿzalloc(sizeof(*spiadis), GFP_KERNEL);
-	if (!spiadis)
-		return -ENOMEM;
-
-	spiadis->spi ÿpi;
-	spiadis->irq_adis ÿnit_data->irq;
-	spiadis->direction ÿnit_data->direction;
-
-	if (init_data->negative)
-		spiadis->negative ñ;
-
-	status ÿpio_request(spiadis->irq_adis, "adis16255");
-	if (status !ð)
-		goto err;
-
-	status ÿpio_direction_input(spiadis->irq_adis);
-	if (status !ð)
-		goto gpio_err;
-
-	spiadis->irq ÿpio_to_irq(spiadis->irq_adis);
-
-	status ÿequest_threaded_irq(spiadis->irq,
-			NULL, adis_irq_thread,
-			IRQF_DISABLED, "adis-driver", spiadis);
-
-	if (status !ð) {
-		dev_err(&spi->dev, "IRQ request failed\n");
-		goto gpio_err;
-	}
-
-	dev_dbg(&spi->dev, "GPIO %d IRQ %d\n", spiadis->irq_adis, spiadis->irq);
-
-	dev_set_drvdata(&spi->dev, spiadis);
-	AD_CHK(sysfs_create_group(&spi->dev.kobj, &adis16255_attr_group));
-
-	dev_info(&spi->dev, "spi_adis16255 driver added!\n");
-
-	AD_CHK(spi_adis16255_read_data(spiadis, ADIS_SUPPLY_OUT, (u8 *)&value));
-	dev_info(&spi->dev, "sensor works with %d mV (%.4x)!\n",
-			((value & 0x0fff)*18315)/10000,
-			(value & 0x0fff));
-
-	AD_CHK(spi_adis16255_read_data(spiadis, ADIS_GYRO_SCALE, (u8 *)&value));
-	dev_info(&spi->dev, "adis GYRO_SCALE is %.4x\n", value);
-
-	AD_CHK(spi_adis16255_read_data(spiadis, ADIS_STATUS, (u8 *)&value));
-	dev_info(&spi->dev, "adis STATUS is %.4x\n", value);
-
-	/* timebase ñ.953 ms, Ns ð -> 512 Hz sample rate */
-	value ÿ0x0001;
-	AD_CHK(spi_adis16255_write_data(spiadis,
-				ADIS_SMPL_PRD_MSB, ADIS_SMPL_PRD_LSB,
-				(u8 *)&value));
-	value ðx0000;
-	AD_CHK(spi_adis16255_read_data(spiadis, ADIS_SMPL_PRD_MSB,
-				(u8 *)&value));
-	dev_info(&spi->dev, "adis SMP_PRD is %.4x\n", value);
-
-	/* set interrupt on new data... */
-	value ðx0006;
-	AD_CHK(spi_adis16255_write_data(spiadis,
-				ADIS_MSC_CTRL_MSB, ADIS_MSC_CTRL_LSB,
-				(u8 *)&value));
-	value ðx0000;
-	AD_CHK(spi_adis16255_read_data(spiadis, ADIS_MSC_CTRL_MSB,
-				(u8 *)&value));
-	dev_info(&spi->dev, "adis MSC_CONTROL is %.4x\n", value);
-
-	return status;
-
-irq_err:
-	free_irq(spiadis->irq, spiadis);
-gpio_err:
-	gpio_free(spiadis->irq_adis);
-err:
-	kfree(spiadis);
-	return status;
-}
-
-static int spi_adis16255_remove(struct spi_device *spi)
-{
-	u16 value ð;
-	struct spi_adis16255_data  *spiadis    ýev_get_drvdata(&spi->dev);
-
+	u16 value = 0;
 	/* turn sensor off */
 	spi_adis16255_write_data(spiadis,
 			ADIS_SMPL_PRD_MSB, ADIS_SMPL_PRD_LSB,
@@ -353,12 +290,145 @@ static int spi_adis16255_remove(struct spi_device *spi)
 	spi_adis16255_write_data(spiadis,
 			ADIS_MSC_CTRL_MSB, ADIS_MSC_CTRL_LSB,
 			(u8 *)&value);
+	return 0;
+}
 
-	dev_info(&spi->dev, "unregister: GPIO %d IRQ %d\n",
-		spiadis->irq_adis, spiadis->irq);
+static int spi_adis16255_bringup(struct spi_adis16255_data *spiadis)
+{
+	int status = 0;
+	u16 value = 0;
+
+	status = spi_adis16255_read_data(spiadis, ADIS_GYRO_SCALE,
+				(u8 *)&value);
+	if (status != 0)
+		goto err;
+	if (value != 0x0800) {
+		dev_warn(&spiadis->spi->dev, "Scale factor is none default"
+				"value (%.4x)\n", value);
+	}
+
+	/* timebase = 1.953 ms, Ns = 0 -> 512 Hz sample rate */
+	value =  0x0001;
+	status = spi_adis16255_write_data(spiadis,
+				ADIS_SMPL_PRD_MSB, ADIS_SMPL_PRD_LSB,
+				(u8 *)&value);
+	if (status != 0)
+		goto err;
+
+	/* start internal self-test */
+	value = 0x0400;
+	status = spi_adis16255_write_data(spiadis,
+				ADIS_MSC_CTRL_MSB, ADIS_MSC_CTRL_LSB,
+				(u8 *)&value);
+	if (status != 0)
+		goto err;
+
+	/* wait 35 ms to finish self-test */
+	msleep(35);
+
+	value = 0x0000;
+	status = spi_adis16255_read_data(spiadis, ADIS_STATUS,
+				(u8 *)&value);
+	if (status != 0)
+		goto err;
+
+	if (value & 0x23) {
+		if (value & 0x20) {
+			dev_warn(&spiadis->spi->dev, "self-test error\n");
+			status = -ENODEV;
+			goto err;
+		} else if (value & 0x3)	{
+			dev_warn(&spiadis->spi->dev, "Sensor voltage"
+						"out of range.\n");
+			status = -ENODEV;
+			goto err;
+		}
+	}
+
+	/* set interrupt to active high on DIO0 when data ready */
+	value = 0x0006;
+	status = spi_adis16255_write_data(spiadis,
+				ADIS_MSC_CTRL_MSB, ADIS_MSC_CTRL_LSB,
+				(u8 *)&value);
+	if (status != 0)
+		goto err;
+	return status;
+
+err:
+	spi_adis16255_shutdown(spiadis);
+	return status;
+}
+
+/*-------------------------------------------------------------------------*/
+
+static int spi_adis16255_probe(struct spi_device *spi)
+{
+
+	struct adis16255_init_data *init_data = spi->dev.platform_data;
+	struct spi_adis16255_data  *spiadis;
+	int status = 0;
+
+	spiadis = kzalloc(sizeof(*spiadis), GFP_KERNEL);
+	if (!spiadis)
+		return -ENOMEM;
+
+	spiadis->spi = spi;
+	spiadis->direction = init_data->direction;
+
+	if (init_data->negative)
+		spiadis->negative = 1;
+
+	status = gpio_request(init_data->irq, "adis16255");
+	if (status != 0)
+		goto err;
+
+	status = gpio_direction_input(init_data->irq);
+	if (status != 0)
+		goto gpio_err;
+
+	spiadis->irq = gpio_to_irq(init_data->irq);
+
+	status = request_threaded_irq(spiadis->irq,
+			NULL, adis_irq_thread,
+			IRQF_DISABLED, "adis-driver", spiadis);
+
+	if (status != 0) {
+		dev_err(&spi->dev, "IRQ request failed\n");
+		goto gpio_err;
+	}
+
+	dev_dbg(&spi->dev, "GPIO %d IRQ %d\n", init_data->irq, spiadis->irq);
+
+	dev_set_drvdata(&spi->dev, spiadis);
+	status = sysfs_create_group(&spi->dev.kobj, &adis16255_attr_group);
+	if (status != 0)
+		goto irq_err;
+
+	status = spi_adis16255_bringup(spiadis);
+	if (status != 0)
+		goto irq_err;
+
+	dev_info(&spi->dev, "spi_adis16255 driver added!\n");
+
+	return status;
+
+irq_err:
+	free_irq(spiadis->irq, spiadis);
+gpio_err:
+	gpio_free(init_data->irq);
+err:
+	kfree(spiadis);
+	return status;
+}
+
+static int spi_adis16255_remove(struct spi_device *spi)
+{
+	struct spi_adis16255_data  *spiadis    = dev_get_drvdata(&spi->dev);
+
+	spi_adis16255_shutdown(spiadis);
 
 	free_irq(spiadis->irq, spiadis);
-	gpio_free(spiadis->irq_adis);
+	gpio_free(irq_to_gpio(spiadis->irq));
 
 	sysfs_remove_group(&spiadis->spi->dev.kobj, &adis16255_attr_group);
 
@@ -368,13 +438,13 @@ static int spi_adis16255_remove(struct spi_device *spi)
 	return 0;
 }
 
-static struct spi_driver spi_adis16255_drv ÿ
-	.driver ÿ
-		.name ÿ"spi_adis16255",
-		.owner ÿHIS_MODULE,
+static struct spi_driver spi_adis16255_drv = {
+	.driver = {
+		.name =  "spi_adis16255",
+		.owner = THIS_MODULE,
 	},
-	.probe ÿpi_adis16255_probe,
-	.remove ÿ __devexit_p(spi_adis16255_remove),
+	.probe = spi_adis16255_probe,
+	.remove =   __devexit_p(spi_adis16255_remove),
 };
 
 /*-------------------------------------------------------------------------*/