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>
21 #include <linux/iio/iio.h>
22 #include <linux/iio/sysfs.h>
23 #include <linux/iio/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_to_iio_dev(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_to_iio_dev(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_to_iio_dev(dev);
190 struct adis16260_state *st = iio_priv(indio_dev);
195 ret = strict_strtol(buf, 10, &val);
201 mutex_lock(&indio_dev->mlock);
202 if (spi_get_device_id(st->us)) {
206 t &= ADIS16260_SMPL_PRD_DIV_MASK;
211 t &= ADIS16260_SMPL_PRD_DIV_MASK;
213 if ((t & ADIS16260_SMPL_PRD_DIV_MASK) >= 0x0A)
214 st->us->max_speed_hz = ADIS16260_SPI_SLOW;
216 st->us->max_speed_hz = ADIS16260_SPI_FAST;
217 ret = adis16260_spi_write_reg_8(indio_dev,
221 mutex_unlock(&indio_dev->mlock);
223 return ret ? ret : len;
226 static int adis16260_reset(struct iio_dev *indio_dev)
229 ret = adis16260_spi_write_reg_8(indio_dev,
231 ADIS16260_GLOB_CMD_SW_RESET);
233 dev_err(&indio_dev->dev, "problem resetting device");
238 int adis16260_set_irq(struct iio_dev *indio_dev, bool enable)
242 ret = adis16260_spi_read_reg_16(indio_dev, ADIS16260_MSC_CTRL, &msc);
246 msc |= ADIS16260_MSC_CTRL_DATA_RDY_POL_HIGH;
248 msc |= ADIS16260_MSC_CTRL_DATA_RDY_EN;
250 msc &= ~ADIS16260_MSC_CTRL_DATA_RDY_EN;
252 ret = adis16260_spi_write_reg_16(indio_dev, ADIS16260_MSC_CTRL, msc);
260 /* Power down the device */
261 static int adis16260_stop_device(struct iio_dev *indio_dev)
264 u16 val = ADIS16260_SLP_CNT_POWER_OFF;
266 ret = adis16260_spi_write_reg_16(indio_dev, ADIS16260_SLP_CNT, val);
268 dev_err(&indio_dev->dev, "problem with turning device off: SLP_CNT");
273 static int adis16260_self_test(struct iio_dev *indio_dev)
276 ret = adis16260_spi_write_reg_16(indio_dev,
278 ADIS16260_MSC_CTRL_MEM_TEST);
280 dev_err(&indio_dev->dev, "problem starting self test");
284 adis16260_check_status(indio_dev);
290 static int adis16260_check_status(struct iio_dev *indio_dev)
294 struct device *dev = &indio_dev->dev;
296 ret = adis16260_spi_read_reg_16(indio_dev,
301 dev_err(dev, "Reading status failed\n");
305 if (status & ADIS16260_DIAG_STAT_FLASH_CHK)
306 dev_err(dev, "Flash checksum error\n");
307 if (status & ADIS16260_DIAG_STAT_SELF_TEST)
308 dev_err(dev, "Self test error\n");
309 if (status & ADIS16260_DIAG_STAT_OVERFLOW)
310 dev_err(dev, "Sensor overrange\n");
311 if (status & ADIS16260_DIAG_STAT_SPI_FAIL)
312 dev_err(dev, "SPI failure\n");
313 if (status & ADIS16260_DIAG_STAT_FLASH_UPT)
314 dev_err(dev, "Flash update failed\n");
315 if (status & ADIS16260_DIAG_STAT_POWER_HIGH)
316 dev_err(dev, "Power supply above 5.25V\n");
317 if (status & ADIS16260_DIAG_STAT_POWER_LOW)
318 dev_err(dev, "Power supply below 4.75V\n");
324 static int adis16260_initial_setup(struct iio_dev *indio_dev)
327 struct device *dev = &indio_dev->dev;
330 ret = adis16260_set_irq(indio_dev, false);
332 dev_err(dev, "disable irq failed");
337 ret = adis16260_self_test(indio_dev);
339 dev_err(dev, "self test failure");
343 /* Read status register to check the result */
344 ret = adis16260_check_status(indio_dev);
346 adis16260_reset(indio_dev);
347 dev_err(dev, "device not playing ball -> reset");
348 msleep(ADIS16260_STARTUP_DELAY);
349 ret = adis16260_check_status(indio_dev);
351 dev_err(dev, "giving up");
360 static IIO_DEV_ATTR_SAMP_FREQ(S_IWUSR | S_IRUGO,
361 adis16260_read_frequency,
362 adis16260_write_frequency);
364 static IIO_DEVICE_ATTR(sampling_frequency_available,
365 S_IRUGO, adis16260_read_frequency_available, NULL, 0);
367 enum adis16260_channel {
374 #define ADIS16260_GYRO_CHANNEL_SET(axis, mod) \
375 struct iio_chan_spec adis16260_channels_##axis[] = { \
377 .type = IIO_ANGL_VEL, \
380 .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT | \
381 IIO_CHAN_INFO_CALIBBIAS_SEPARATE_BIT | \
382 IIO_CHAN_INFO_CALIBSCALE_SEPARATE_BIT | \
383 IIO_CHAN_INFO_SCALE_SEPARATE_BIT, \
385 .scan_index = ADIS16260_SCAN_GYRO, \
395 .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT, \
397 .scan_index = ADIS16260_SCAN_ANGL, \
407 .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT | \
408 IIO_CHAN_INFO_OFFSET_SEPARATE_BIT | \
409 IIO_CHAN_INFO_SCALE_SEPARATE_BIT, \
411 .scan_index = ADIS16260_SCAN_TEMP, \
418 .type = IIO_VOLTAGE, \
421 .extend_name = "supply", \
422 .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT | \
423 IIO_CHAN_INFO_SCALE_SEPARATE_BIT, \
424 .address = in_supply, \
425 .scan_index = ADIS16260_SCAN_SUPPLY, \
432 .type = IIO_VOLTAGE, \
435 .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT | \
436 IIO_CHAN_INFO_SCALE_SEPARATE_BIT, \
438 .scan_index = ADIS16260_SCAN_AUX_ADC, \
445 IIO_CHAN_SOFT_TIMESTAMP(5), \
448 static const ADIS16260_GYRO_CHANNEL_SET(x, IIO_MOD_X);
449 static const ADIS16260_GYRO_CHANNEL_SET(y, IIO_MOD_Y);
450 static const ADIS16260_GYRO_CHANNEL_SET(z, IIO_MOD_Z);
452 static const u8 adis16260_addresses[5][3] = {
453 [gyro] = { ADIS16260_GYRO_OUT,
455 ADIS16260_GYRO_SCALE },
456 [angle] = { ADIS16260_ANGL_OUT },
457 [in_supply] = { ADIS16260_SUPPLY_OUT },
458 [in_aux] = { ADIS16260_AUX_ADC },
459 [temp] = { ADIS16260_TEMP_OUT },
461 static int adis16260_read_raw(struct iio_dev *indio_dev,
462 struct iio_chan_spec const *chan,
466 struct adis16260_state *st = iio_priv(indio_dev);
473 case IIO_CHAN_INFO_RAW:
474 mutex_lock(&indio_dev->mlock);
475 addr = adis16260_addresses[chan->address][0];
476 ret = adis16260_spi_read_reg_16(indio_dev, addr, &val16);
478 mutex_unlock(&indio_dev->mlock);
482 if (val16 & ADIS16260_ERROR_ACTIVE) {
483 ret = adis16260_check_status(indio_dev);
485 mutex_unlock(&indio_dev->mlock);
489 val16 = val16 & ((1 << chan->scan_type.realbits) - 1);
490 if (chan->scan_type.sign == 's')
491 val16 = (s16)(val16 <<
492 (16 - chan->scan_type.realbits)) >>
493 (16 - chan->scan_type.realbits);
495 mutex_unlock(&indio_dev->mlock);
497 case IIO_CHAN_INFO_SCALE:
498 switch (chan->type) {
501 if (spi_get_device_id(st->us)->driver_data) {
502 /* 0.01832 degree / sec */
503 *val2 = IIO_DEGREE_TO_RAD(18320);
505 /* 0.07326 degree / sec */
506 *val2 = IIO_DEGREE_TO_RAD(73260);
508 return IIO_VAL_INT_PLUS_MICRO;
510 if (chan->channel == 0) {
512 *val2 = 831500; /* 1.8315 mV */
515 *val2 = 610500; /* 610.5 uV */
517 return IIO_VAL_INT_PLUS_MICRO;
520 *val2 = 300000; /* 0.1453 C */
521 return IIO_VAL_INT_PLUS_MICRO;
526 case IIO_CHAN_INFO_OFFSET:
527 *val = 250000 / 1453; /* 25 C = 0x00 */
529 case IIO_CHAN_INFO_CALIBBIAS:
530 switch (chan->type) {
537 mutex_lock(&indio_dev->mlock);
538 addr = adis16260_addresses[chan->address][1];
539 ret = adis16260_spi_read_reg_16(indio_dev, addr, &val16);
541 mutex_unlock(&indio_dev->mlock);
544 val16 &= (1 << bits) - 1;
545 val16 = (s16)(val16 << (16 - bits)) >> (16 - bits);
547 mutex_unlock(&indio_dev->mlock);
549 case IIO_CHAN_INFO_CALIBSCALE:
550 switch (chan->type) {
557 mutex_lock(&indio_dev->mlock);
558 addr = adis16260_addresses[chan->address][2];
559 ret = adis16260_spi_read_reg_16(indio_dev, addr, &val16);
561 mutex_unlock(&indio_dev->mlock);
564 *val = (1 << bits) - 1;
565 mutex_unlock(&indio_dev->mlock);
571 static int adis16260_write_raw(struct iio_dev *indio_dev,
572 struct iio_chan_spec const *chan,
581 case IIO_CHAN_INFO_CALIBBIAS:
582 val16 = val & ((1 << bits) - 1);
583 addr = adis16260_addresses[chan->address][1];
584 return adis16260_spi_write_reg_16(indio_dev, addr, val16);
585 case IIO_CHAN_INFO_CALIBSCALE:
586 val16 = val & ((1 << bits) - 1);
587 addr = adis16260_addresses[chan->address][2];
588 return adis16260_spi_write_reg_16(indio_dev, addr, val16);
593 static struct attribute *adis16260_attributes[] = {
594 &iio_dev_attr_sampling_frequency.dev_attr.attr,
595 &iio_dev_attr_sampling_frequency_available.dev_attr.attr,
599 static const struct attribute_group adis16260_attribute_group = {
600 .attrs = adis16260_attributes,
603 static const struct iio_info adis16260_info = {
604 .attrs = &adis16260_attribute_group,
605 .read_raw = &adis16260_read_raw,
606 .write_raw = &adis16260_write_raw,
607 .driver_module = THIS_MODULE,
610 static int __devinit adis16260_probe(struct spi_device *spi)
613 struct adis16260_platform_data *pd = spi->dev.platform_data;
614 struct adis16260_state *st;
615 struct iio_dev *indio_dev;
617 /* setup the industrialio driver allocated elements */
618 indio_dev = iio_device_alloc(sizeof(*st));
619 if (indio_dev == NULL) {
623 st = iio_priv(indio_dev);
625 st->negate = pd->negate;
626 /* this is only used for removal purposes */
627 spi_set_drvdata(spi, indio_dev);
630 mutex_init(&st->buf_lock);
632 indio_dev->name = spi_get_device_id(st->us)->name;
633 indio_dev->dev.parent = &spi->dev;
634 indio_dev->info = &adis16260_info;
635 indio_dev->num_channels
636 = ARRAY_SIZE(adis16260_channels_x);
637 if (pd && pd->direction)
638 switch (pd->direction) {
640 indio_dev->channels = adis16260_channels_x;
643 indio_dev->channels = adis16260_channels_y;
646 indio_dev->channels = adis16260_channels_z;
652 indio_dev->channels = adis16260_channels_x;
653 indio_dev->num_channels = ARRAY_SIZE(adis16260_channels_x);
654 indio_dev->modes = INDIO_DIRECT_MODE;
656 ret = adis16260_configure_ring(indio_dev);
660 ret = iio_buffer_register(indio_dev,
662 ARRAY_SIZE(adis16260_channels_x));
664 printk(KERN_ERR "failed to initialize the ring\n");
665 goto error_unreg_ring_funcs;
667 if (indio_dev->buffer) {
668 /* Set default scan mode */
669 iio_scan_mask_set(indio_dev, indio_dev->buffer,
670 ADIS16260_SCAN_SUPPLY);
671 iio_scan_mask_set(indio_dev, indio_dev->buffer,
672 ADIS16260_SCAN_GYRO);
673 iio_scan_mask_set(indio_dev, indio_dev->buffer,
674 ADIS16260_SCAN_AUX_ADC);
675 iio_scan_mask_set(indio_dev, indio_dev->buffer,
676 ADIS16260_SCAN_TEMP);
677 iio_scan_mask_set(indio_dev, indio_dev->buffer,
678 ADIS16260_SCAN_ANGL);
681 ret = adis16260_probe_trigger(indio_dev);
683 goto error_uninitialize_ring;
686 /* Get the device into a sane initial state */
687 ret = adis16260_initial_setup(indio_dev);
689 goto error_remove_trigger;
690 ret = iio_device_register(indio_dev);
692 goto error_remove_trigger;
696 error_remove_trigger:
697 adis16260_remove_trigger(indio_dev);
698 error_uninitialize_ring:
699 iio_buffer_unregister(indio_dev);
700 error_unreg_ring_funcs:
701 adis16260_unconfigure_ring(indio_dev);
703 iio_device_free(indio_dev);
708 static int __devexit adis16260_remove(struct spi_device *spi)
710 struct iio_dev *indio_dev = spi_get_drvdata(spi);
712 iio_device_unregister(indio_dev);
713 adis16260_stop_device(indio_dev);
714 adis16260_remove_trigger(indio_dev);
715 iio_buffer_unregister(indio_dev);
716 adis16260_unconfigure_ring(indio_dev);
717 iio_device_free(indio_dev);
723 * These parts do not need to be differentiated until someone adds
724 * support for the on chip filtering.
726 static const struct spi_device_id adis16260_id[] = {
734 MODULE_DEVICE_TABLE(spi, adis16260_id);
736 static struct spi_driver adis16260_driver = {
739 .owner = THIS_MODULE,
741 .probe = adis16260_probe,
742 .remove = __devexit_p(adis16260_remove),
743 .id_table = adis16260_id,
745 module_spi_driver(adis16260_driver);
747 MODULE_AUTHOR("Barry Song <21cnbao@gmail.com>");
748 MODULE_DESCRIPTION("Analog Devices ADIS16260/5 Digital Gyroscope Sensor");
749 MODULE_LICENSE("GPL v2");