2 * ADIS16260/ADIS16265 Programmable Digital Gyroscope Sensor Driver
4 * Copyright 2010 Analog Devices Inc.
6 * Licensed under the GPL-2 or later.
9 #include <linux/interrupt.h>
10 #include <linux/irq.h>
11 #include <linux/delay.h>
12 #include <linux/mutex.h>
13 #include <linux/device.h>
14 #include <linux/kernel.h>
15 #include <linux/spi/spi.h>
16 #include <linux/slab.h>
17 #include <linux/sysfs.h>
18 #include <linux/list.h>
19 #include <linux/module.h>
23 #include "../buffer.h"
25 #include "adis16260.h"
27 #define DRIVER_NAME "adis16260"
29 static int adis16260_check_status(struct iio_dev *indio_dev);
32 * adis16260_spi_write_reg_8() - write single byte to a register
33 * @indio_dev: iio_dev for the device
34 * @reg_address: the address of the register to be written
35 * @val: the value to write
37 static int adis16260_spi_write_reg_8(struct iio_dev *indio_dev,
42 struct adis16260_state *st = iio_priv(indio_dev);
44 mutex_lock(&st->buf_lock);
45 st->tx[0] = ADIS16260_WRITE_REG(reg_address);
48 ret = spi_write(st->us, st->tx, 2);
49 mutex_unlock(&st->buf_lock);
55 * adis16260_spi_write_reg_16() - write 2 bytes to a pair of registers
56 * @indio_dev: iio_dev for the device
57 * @reg_address: the address of the lower of the two registers. Second register
58 * is assumed to have address one greater.
59 * @val: value to be written
61 static int adis16260_spi_write_reg_16(struct iio_dev *indio_dev,
66 struct spi_message msg;
67 struct adis16260_state *st = iio_priv(indio_dev);
68 struct spi_transfer xfers[] = {
83 mutex_lock(&st->buf_lock);
84 st->tx[0] = ADIS16260_WRITE_REG(lower_reg_address);
85 st->tx[1] = value & 0xFF;
86 st->tx[2] = ADIS16260_WRITE_REG(lower_reg_address + 1);
87 st->tx[3] = (value >> 8) & 0xFF;
89 spi_message_init(&msg);
90 spi_message_add_tail(&xfers[0], &msg);
91 spi_message_add_tail(&xfers[1], &msg);
92 ret = spi_sync(st->us, &msg);
93 mutex_unlock(&st->buf_lock);
99 * adis16260_spi_read_reg_16() - read 2 bytes from a 16-bit register
100 * @indio_dev: iio_dev for the device
101 * @reg_address: the address of the lower of the two registers. Second register
102 * is assumed to have address one greater.
103 * @val: somewhere to pass back the value read
105 static int adis16260_spi_read_reg_16(struct iio_dev *indio_dev,
106 u8 lower_reg_address,
109 struct spi_message msg;
110 struct adis16260_state *st = iio_priv(indio_dev);
112 struct spi_transfer xfers[] = {
127 mutex_lock(&st->buf_lock);
128 st->tx[0] = ADIS16260_READ_REG(lower_reg_address);
131 spi_message_init(&msg);
132 spi_message_add_tail(&xfers[0], &msg);
133 spi_message_add_tail(&xfers[1], &msg);
134 ret = spi_sync(st->us, &msg);
136 dev_err(&st->us->dev,
137 "problem when reading 16 bit register 0x%02X",
141 *val = (st->rx[0] << 8) | st->rx[1];
144 mutex_unlock(&st->buf_lock);
148 static ssize_t adis16260_read_frequency_available(struct device *dev,
149 struct device_attribute *attr,
152 struct iio_dev *indio_dev = dev_get_drvdata(dev);
153 struct adis16260_state *st = iio_priv(indio_dev);
154 if (spi_get_device_id(st->us)->driver_data)
155 return sprintf(buf, "%s\n", "0.129 ~ 256");
157 return sprintf(buf, "%s\n", "256 2048");
160 static ssize_t adis16260_read_frequency(struct device *dev,
161 struct device_attribute *attr,
164 struct iio_dev *indio_dev = dev_get_drvdata(dev);
165 struct adis16260_state *st = iio_priv(indio_dev);
169 ret = adis16260_spi_read_reg_16(indio_dev,
175 if (spi_get_device_id(st->us)->driver_data) /* If an adis16251 */
176 sps = (t & ADIS16260_SMPL_PRD_TIME_BASE) ? 8 : 256;
178 sps = (t & ADIS16260_SMPL_PRD_TIME_BASE) ? 66 : 2048;
179 sps /= (t & ADIS16260_SMPL_PRD_DIV_MASK) + 1;
180 len = sprintf(buf, "%d SPS\n", sps);
184 static ssize_t adis16260_write_frequency(struct device *dev,
185 struct device_attribute *attr,
189 struct iio_dev *indio_dev = dev_get_drvdata(dev);
190 struct adis16260_state *st = iio_priv(indio_dev);
195 ret = strict_strtol(buf, 10, &val);
199 mutex_lock(&indio_dev->mlock);
200 if (spi_get_device_id(st->us)) {
204 t &= ADIS16260_SMPL_PRD_DIV_MASK;
209 t &= ADIS16260_SMPL_PRD_DIV_MASK;
211 if ((t & ADIS16260_SMPL_PRD_DIV_MASK) >= 0x0A)
212 st->us->max_speed_hz = ADIS16260_SPI_SLOW;
214 st->us->max_speed_hz = ADIS16260_SPI_FAST;
215 ret = adis16260_spi_write_reg_8(indio_dev,
219 mutex_unlock(&indio_dev->mlock);
221 return ret ? ret : len;
224 static int adis16260_reset(struct iio_dev *indio_dev)
227 ret = adis16260_spi_write_reg_8(indio_dev,
229 ADIS16260_GLOB_CMD_SW_RESET);
231 dev_err(&indio_dev->dev, "problem resetting device");
236 static ssize_t adis16260_write_reset(struct device *dev,
237 struct device_attribute *attr,
238 const char *buf, size_t len)
240 struct iio_dev *indio_dev = dev_get_drvdata(dev);
247 return adis16260_reset(indio_dev);
252 int adis16260_set_irq(struct iio_dev *indio_dev, bool enable)
256 ret = adis16260_spi_read_reg_16(indio_dev, ADIS16260_MSC_CTRL, &msc);
260 msc |= ADIS16260_MSC_CTRL_DATA_RDY_POL_HIGH;
262 msc |= ADIS16260_MSC_CTRL_DATA_RDY_EN;
264 msc &= ~ADIS16260_MSC_CTRL_DATA_RDY_EN;
266 ret = adis16260_spi_write_reg_16(indio_dev, ADIS16260_MSC_CTRL, msc);
274 /* Power down the device */
275 static int adis16260_stop_device(struct iio_dev *indio_dev)
278 u16 val = ADIS16260_SLP_CNT_POWER_OFF;
280 ret = adis16260_spi_write_reg_16(indio_dev, ADIS16260_SLP_CNT, val);
282 dev_err(&indio_dev->dev, "problem with turning device off: SLP_CNT");
287 static int adis16260_self_test(struct iio_dev *indio_dev)
290 ret = adis16260_spi_write_reg_16(indio_dev,
292 ADIS16260_MSC_CTRL_MEM_TEST);
294 dev_err(&indio_dev->dev, "problem starting self test");
298 adis16260_check_status(indio_dev);
304 static int adis16260_check_status(struct iio_dev *indio_dev)
308 struct device *dev = &indio_dev->dev;
310 ret = adis16260_spi_read_reg_16(indio_dev,
315 dev_err(dev, "Reading status failed\n");
319 if (status & ADIS16260_DIAG_STAT_FLASH_CHK)
320 dev_err(dev, "Flash checksum error\n");
321 if (status & ADIS16260_DIAG_STAT_SELF_TEST)
322 dev_err(dev, "Self test error\n");
323 if (status & ADIS16260_DIAG_STAT_OVERFLOW)
324 dev_err(dev, "Sensor overrange\n");
325 if (status & ADIS16260_DIAG_STAT_SPI_FAIL)
326 dev_err(dev, "SPI failure\n");
327 if (status & ADIS16260_DIAG_STAT_FLASH_UPT)
328 dev_err(dev, "Flash update failed\n");
329 if (status & ADIS16260_DIAG_STAT_POWER_HIGH)
330 dev_err(dev, "Power supply above 5.25V\n");
331 if (status & ADIS16260_DIAG_STAT_POWER_LOW)
332 dev_err(dev, "Power supply below 4.75V\n");
338 static int adis16260_initial_setup(struct iio_dev *indio_dev)
341 struct device *dev = &indio_dev->dev;
344 ret = adis16260_set_irq(indio_dev, false);
346 dev_err(dev, "disable irq failed");
351 ret = adis16260_self_test(indio_dev);
353 dev_err(dev, "self test failure");
357 /* Read status register to check the result */
358 ret = adis16260_check_status(indio_dev);
360 adis16260_reset(indio_dev);
361 dev_err(dev, "device not playing ball -> reset");
362 msleep(ADIS16260_STARTUP_DELAY);
363 ret = adis16260_check_status(indio_dev);
365 dev_err(dev, "giving up");
374 static IIO_DEV_ATTR_SAMP_FREQ(S_IWUSR | S_IRUGO,
375 adis16260_read_frequency,
376 adis16260_write_frequency);
378 static IIO_DEVICE_ATTR(reset, S_IWUSR, NULL, adis16260_write_reset, 0);
380 static IIO_DEVICE_ATTR(sampling_frequency_available,
381 S_IRUGO, adis16260_read_frequency_available, NULL, 0);
383 enum adis16260_channel {
390 #define ADIS16260_GYRO_CHANNEL_SET(axis, mod) \
391 struct iio_chan_spec adis16260_channels_##axis[] = { \
393 .type = IIO_ANGL_VEL, \
396 .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT | \
397 IIO_CHAN_INFO_CALIBBIAS_SEPARATE_BIT | \
398 IIO_CHAN_INFO_CALIBSCALE_SEPARATE_BIT | \
399 IIO_CHAN_INFO_SCALE_SEPARATE_BIT, \
401 .scan_index = ADIS16260_SCAN_GYRO, \
411 .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT, \
413 .scan_index = ADIS16260_SCAN_ANGL, \
423 .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT | \
424 IIO_CHAN_INFO_OFFSET_SEPARATE_BIT | \
425 IIO_CHAN_INFO_SCALE_SEPARATE_BIT, \
427 .scan_index = ADIS16260_SCAN_TEMP, \
434 .type = IIO_VOLTAGE, \
437 .extend_name = "supply", \
438 .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT | \
439 IIO_CHAN_INFO_SCALE_SEPARATE_BIT, \
440 .address = in_supply, \
441 .scan_index = ADIS16260_SCAN_SUPPLY, \
448 .type = IIO_VOLTAGE, \
451 .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT | \
452 IIO_CHAN_INFO_SCALE_SEPARATE_BIT, \
454 .scan_index = ADIS16260_SCAN_AUX_ADC, \
461 IIO_CHAN_SOFT_TIMESTAMP(5), \
464 static const ADIS16260_GYRO_CHANNEL_SET(x, IIO_MOD_X);
465 static const ADIS16260_GYRO_CHANNEL_SET(y, IIO_MOD_Y);
466 static const ADIS16260_GYRO_CHANNEL_SET(z, IIO_MOD_Z);
468 static const u8 adis16260_addresses[5][3] = {
469 [gyro] = { ADIS16260_GYRO_OUT,
471 ADIS16260_GYRO_SCALE },
472 [angle] = { ADIS16260_ANGL_OUT },
473 [in_supply] = { ADIS16260_SUPPLY_OUT },
474 [in_aux] = { ADIS16260_AUX_ADC },
475 [temp] = { ADIS16260_TEMP_OUT },
477 static int adis16260_read_raw(struct iio_dev *indio_dev,
478 struct iio_chan_spec const *chan,
482 struct adis16260_state *st = iio_priv(indio_dev);
489 case IIO_CHAN_INFO_RAW:
490 mutex_lock(&indio_dev->mlock);
491 addr = adis16260_addresses[chan->address][0];
492 ret = adis16260_spi_read_reg_16(indio_dev, addr, &val16);
494 mutex_unlock(&indio_dev->mlock);
498 if (val16 & ADIS16260_ERROR_ACTIVE) {
499 ret = adis16260_check_status(indio_dev);
501 mutex_unlock(&indio_dev->mlock);
505 val16 = val16 & ((1 << chan->scan_type.realbits) - 1);
506 if (chan->scan_type.sign == 's')
507 val16 = (s16)(val16 <<
508 (16 - chan->scan_type.realbits)) >>
509 (16 - chan->scan_type.realbits);
511 mutex_unlock(&indio_dev->mlock);
513 case IIO_CHAN_INFO_SCALE:
514 switch (chan->type) {
517 if (spi_get_device_id(st->us)->driver_data)
521 return IIO_VAL_INT_PLUS_MICRO;
524 if (chan->channel == 0)
528 return IIO_VAL_INT_PLUS_MICRO;
532 return IIO_VAL_INT_PLUS_MICRO;
537 case IIO_CHAN_INFO_OFFSET:
540 case IIO_CHAN_INFO_CALIBBIAS:
541 switch (chan->type) {
548 mutex_lock(&indio_dev->mlock);
549 addr = adis16260_addresses[chan->address][1];
550 ret = adis16260_spi_read_reg_16(indio_dev, addr, &val16);
552 mutex_unlock(&indio_dev->mlock);
555 val16 &= (1 << bits) - 1;
556 val16 = (s16)(val16 << (16 - bits)) >> (16 - bits);
558 mutex_unlock(&indio_dev->mlock);
560 case IIO_CHAN_INFO_CALIBSCALE:
561 switch (chan->type) {
568 mutex_lock(&indio_dev->mlock);
569 addr = adis16260_addresses[chan->address][2];
570 ret = adis16260_spi_read_reg_16(indio_dev, addr, &val16);
572 mutex_unlock(&indio_dev->mlock);
575 *val = (1 << bits) - 1;
576 mutex_unlock(&indio_dev->mlock);
582 static int adis16260_write_raw(struct iio_dev *indio_dev,
583 struct iio_chan_spec const *chan,
592 case IIO_CHAN_INFO_CALIBBIAS:
593 val16 = val & ((1 << bits) - 1);
594 addr = adis16260_addresses[chan->address][1];
595 return adis16260_spi_write_reg_16(indio_dev, addr, val16);
596 case IIO_CHAN_INFO_CALIBSCALE:
597 val16 = val & ((1 << bits) - 1);
598 addr = adis16260_addresses[chan->address][2];
599 return adis16260_spi_write_reg_16(indio_dev, addr, val16);
604 static struct attribute *adis16260_attributes[] = {
605 &iio_dev_attr_sampling_frequency.dev_attr.attr,
606 &iio_dev_attr_sampling_frequency_available.dev_attr.attr,
607 &iio_dev_attr_reset.dev_attr.attr,
611 static const struct attribute_group adis16260_attribute_group = {
612 .attrs = adis16260_attributes,
615 static const struct iio_info adis16260_info = {
616 .attrs = &adis16260_attribute_group,
617 .read_raw = &adis16260_read_raw,
618 .write_raw = &adis16260_write_raw,
619 .driver_module = THIS_MODULE,
622 static int __devinit adis16260_probe(struct spi_device *spi)
625 struct adis16260_platform_data *pd = spi->dev.platform_data;
626 struct adis16260_state *st;
627 struct iio_dev *indio_dev;
629 /* setup the industrialio driver allocated elements */
630 indio_dev = iio_allocate_device(sizeof(*st));
631 if (indio_dev == NULL) {
635 st = iio_priv(indio_dev);
637 st->negate = pd->negate;
638 /* this is only used for removal purposes */
639 spi_set_drvdata(spi, st);
642 mutex_init(&st->buf_lock);
644 indio_dev->name = spi_get_device_id(st->us)->name;
645 indio_dev->dev.parent = &spi->dev;
646 indio_dev->info = &adis16260_info;
647 indio_dev->num_channels
648 = ARRAY_SIZE(adis16260_channels_x);
649 if (pd && pd->direction)
650 switch (pd->direction) {
652 indio_dev->channels = adis16260_channels_x;
655 indio_dev->channels = adis16260_channels_y;
658 indio_dev->channels = adis16260_channels_z;
664 indio_dev->channels = adis16260_channels_x;
665 indio_dev->num_channels = ARRAY_SIZE(adis16260_channels_x);
666 indio_dev->modes = INDIO_DIRECT_MODE;
668 ret = adis16260_configure_ring(indio_dev);
672 ret = iio_buffer_register(indio_dev,
674 ARRAY_SIZE(adis16260_channels_x));
676 printk(KERN_ERR "failed to initialize the ring\n");
677 goto error_unreg_ring_funcs;
679 if (indio_dev->buffer) {
680 /* Set default scan mode */
681 iio_scan_mask_set(indio_dev, indio_dev->buffer,
682 ADIS16260_SCAN_SUPPLY);
683 iio_scan_mask_set(indio_dev, indio_dev->buffer,
684 ADIS16260_SCAN_GYRO);
685 iio_scan_mask_set(indio_dev, indio_dev->buffer,
686 ADIS16260_SCAN_AUX_ADC);
687 iio_scan_mask_set(indio_dev, indio_dev->buffer,
688 ADIS16260_SCAN_TEMP);
689 iio_scan_mask_set(indio_dev, indio_dev->buffer,
690 ADIS16260_SCAN_ANGL);
693 ret = adis16260_probe_trigger(indio_dev);
695 goto error_uninitialize_ring;
698 /* Get the device into a sane initial state */
699 ret = adis16260_initial_setup(indio_dev);
701 goto error_remove_trigger;
702 ret = iio_device_register(indio_dev);
704 goto error_remove_trigger;
708 error_remove_trigger:
709 adis16260_remove_trigger(indio_dev);
710 error_uninitialize_ring:
711 iio_buffer_unregister(indio_dev);
712 error_unreg_ring_funcs:
713 adis16260_unconfigure_ring(indio_dev);
715 iio_free_device(indio_dev);
720 static int adis16260_remove(struct spi_device *spi)
723 struct iio_dev *indio_dev = spi_get_drvdata(spi);
725 iio_device_unregister(indio_dev);
727 ret = adis16260_stop_device(indio_dev);
731 flush_scheduled_work();
733 adis16260_remove_trigger(indio_dev);
734 iio_buffer_unregister(indio_dev);
735 adis16260_unconfigure_ring(indio_dev);
736 iio_free_device(indio_dev);
743 * These parts do not need to be differentiated until someone adds
744 * support for the on chip filtering.
746 static const struct spi_device_id adis16260_id[] = {
754 MODULE_DEVICE_TABLE(spi, adis16260_id);
756 static struct spi_driver adis16260_driver = {
759 .owner = THIS_MODULE,
761 .probe = adis16260_probe,
762 .remove = __devexit_p(adis16260_remove),
763 .id_table = adis16260_id,
765 module_spi_driver(adis16260_driver);
767 MODULE_AUTHOR("Barry Song <21cnbao@gmail.com>");
768 MODULE_DESCRIPTION("Analog Devices ADIS16260/5 Digital Gyroscope Sensor");
769 MODULE_LICENSE("GPL v2");