[linux-2.6-block.git] / drivers / iio / gyro / adis16260.c

/*
 * ADIS16260/ADIS16265 Programmable Digital Gyroscope Sensor Driver
 *
 * Copyright 2010 Analog Devices Inc.
 *
 * Licensed under the GPL-2 or later.
 */

#include <linux/interrupt.h>
#include <linux/mutex.h>
#include <linux/device.h>
#include <linux/kernel.h>
#include <linux/spi/spi.h>
#include <linux/sysfs.h>
#include <linux/module.h>

#include <linux/iio/iio.h>
#include <linux/iio/sysfs.h>
#include <linux/iio/buffer.h>
#include <linux/iio/imu/adis.h>

#define ADIS16260_STARTUP_DELAY	220 /* ms */

#define ADIS16260_FLASH_CNT  0x00 /* Flash memory write count */
#define ADIS16260_SUPPLY_OUT 0x02 /* Power supply measurement */
#define ADIS16260_GYRO_OUT   0x04 /* X-axis gyroscope output */
#define ADIS16260_AUX_ADC    0x0A /* analog input channel measurement */
#define ADIS16260_TEMP_OUT   0x0C /* internal temperature measurement */
#define ADIS16260_ANGL_OUT   0x0E /* angle displacement */
#define ADIS16260_GYRO_OFF   0x14 /* Calibration, offset/bias adjustment */
#define ADIS16260_GYRO_SCALE 0x16 /* Calibration, scale adjustment */
#define ADIS16260_ALM_MAG1   0x20 /* Alarm 1 magnitude/polarity setting */
#define ADIS16260_ALM_MAG2   0x22 /* Alarm 2 magnitude/polarity setting */
#define ADIS16260_ALM_SMPL1  0x24 /* Alarm 1 dynamic rate of change setting */
#define ADIS16260_ALM_SMPL2  0x26 /* Alarm 2 dynamic rate of change setting */
#define ADIS16260_ALM_CTRL   0x28 /* Alarm control */
#define ADIS16260_AUX_DAC    0x30 /* Auxiliary DAC data */
#define ADIS16260_GPIO_CTRL  0x32 /* Control, digital I/O line */
#define ADIS16260_MSC_CTRL   0x34 /* Control, data ready, self-test settings */
#define ADIS16260_SMPL_PRD   0x36 /* Control, internal sample rate */
#define ADIS16260_SENS_AVG   0x38 /* Control, dynamic range, filtering */
#define ADIS16260_SLP_CNT    0x3A /* Control, sleep mode initiation */
#define ADIS16260_DIAG_STAT  0x3C /* Diagnostic, error flags */
#define ADIS16260_GLOB_CMD   0x3E /* Control, global commands */
#define ADIS16260_LOT_ID1    0x52 /* Lot Identification Code 1 */
#define ADIS16260_LOT_ID2    0x54 /* Lot Identification Code 2 */
#define ADIS16260_PROD_ID    0x56 /* Product identifier;
				   * convert to decimal = 16,265/16,260 */
#define ADIS16260_SERIAL_NUM 0x58 /* Serial number */

#define ADIS16260_ERROR_ACTIVE			(1<<14)
#define ADIS16260_NEW_DATA			(1<<15)

/* MSC_CTRL */
#define ADIS16260_MSC_CTRL_MEM_TEST		(1<<11)
/* Internal self-test enable */
#define ADIS16260_MSC_CTRL_INT_SELF_TEST	(1<<10)
#define ADIS16260_MSC_CTRL_NEG_SELF_TEST	(1<<9)
#define ADIS16260_MSC_CTRL_POS_SELF_TEST	(1<<8)
#define ADIS16260_MSC_CTRL_DATA_RDY_EN		(1<<2)
#define ADIS16260_MSC_CTRL_DATA_RDY_POL_HIGH	(1<<1)
#define ADIS16260_MSC_CTRL_DATA_RDY_DIO2	(1<<0)

/* SMPL_PRD */
/* Time base (tB): 0 = 1.953 ms, 1 = 60.54 ms */
#define ADIS16260_SMPL_PRD_TIME_BASE	(1<<7)
#define ADIS16260_SMPL_PRD_DIV_MASK	0x7F

/* SLP_CNT */
#define ADIS16260_SLP_CNT_POWER_OFF     0x80

/* DIAG_STAT */
#define ADIS16260_DIAG_STAT_ALARM2	(1<<9)
#define ADIS16260_DIAG_STAT_ALARM1	(1<<8)
#define ADIS16260_DIAG_STAT_FLASH_CHK_BIT	6
#define ADIS16260_DIAG_STAT_SELF_TEST_BIT	5
#define ADIS16260_DIAG_STAT_OVERFLOW_BIT	4
#define ADIS16260_DIAG_STAT_SPI_FAIL_BIT	3
#define ADIS16260_DIAG_STAT_FLASH_UPT_BIT	2
#define ADIS16260_DIAG_STAT_POWER_HIGH_BIT	1
#define ADIS16260_DIAG_STAT_POWER_LOW_BIT	0

/* GLOB_CMD */
#define ADIS16260_GLOB_CMD_SW_RESET	(1<<7)
#define ADIS16260_GLOB_CMD_FLASH_UPD	(1<<3)
#define ADIS16260_GLOB_CMD_DAC_LATCH	(1<<2)
#define ADIS16260_GLOB_CMD_FAC_CALIB	(1<<1)
#define ADIS16260_GLOB_CMD_AUTO_NULL	(1<<0)

#define ADIS16260_SPI_SLOW	(u32)(300 * 1000)
#define ADIS16260_SPI_BURST	(u32)(1000 * 1000)
#define ADIS16260_SPI_FAST	(u32)(2000 * 1000)

/* At the moment triggers are only used for ring buffer
 * filling. This may change!
 */

#define ADIS16260_SCAN_GYRO	0
#define ADIS16260_SCAN_SUPPLY	1
#define ADIS16260_SCAN_AUX_ADC	2
#define ADIS16260_SCAN_TEMP	3
#define ADIS16260_SCAN_ANGL	4

struct adis16260_chip_info {
	unsigned int gyro_max_val;
	unsigned int gyro_max_scale;
	const struct iio_chan_spec *channels;
	unsigned int num_channels;
};

struct adis16260 {
	const struct adis16260_chip_info *info;

	struct adis adis;
};

enum adis16260_type {
	ADIS16251,
	ADIS16260,
	ADIS16266,
};

static const struct iio_chan_spec adis16260_channels[] = {
	ADIS_GYRO_CHAN(X, ADIS16260_GYRO_OUT, ADIS16260_SCAN_GYRO,
		BIT(IIO_CHAN_INFO_CALIBBIAS) |
		BIT(IIO_CHAN_INFO_CALIBSCALE),
		BIT(IIO_CHAN_INFO_SAMP_FREQ), 14),
	ADIS_INCLI_CHAN(X, ADIS16260_ANGL_OUT, ADIS16260_SCAN_ANGL, 0,
		BIT(IIO_CHAN_INFO_SAMP_FREQ), 14),
	ADIS_TEMP_CHAN(ADIS16260_TEMP_OUT, ADIS16260_SCAN_TEMP,
		BIT(IIO_CHAN_INFO_SAMP_FREQ), 12),
	ADIS_SUPPLY_CHAN(ADIS16260_SUPPLY_OUT, ADIS16260_SCAN_SUPPLY,
		BIT(IIO_CHAN_INFO_SAMP_FREQ), 12),
	ADIS_AUX_ADC_CHAN(ADIS16260_AUX_ADC, ADIS16260_SCAN_AUX_ADC,
		BIT(IIO_CHAN_INFO_SAMP_FREQ), 12),
	IIO_CHAN_SOFT_TIMESTAMP(5),
};

static const struct iio_chan_spec adis16266_channels[] = {
	ADIS_GYRO_CHAN(X, ADIS16260_GYRO_OUT, ADIS16260_SCAN_GYRO,
		BIT(IIO_CHAN_INFO_CALIBBIAS) |
		BIT(IIO_CHAN_INFO_CALIBSCALE),
		BIT(IIO_CHAN_INFO_SAMP_FREQ), 14),
	ADIS_TEMP_CHAN(ADIS16260_TEMP_OUT, ADIS16260_SCAN_TEMP,
		BIT(IIO_CHAN_INFO_SAMP_FREQ), 12),
	ADIS_SUPPLY_CHAN(ADIS16260_SUPPLY_OUT, ADIS16260_SCAN_SUPPLY,
		BIT(IIO_CHAN_INFO_SAMP_FREQ), 12),
	ADIS_AUX_ADC_CHAN(ADIS16260_AUX_ADC, ADIS16260_SCAN_AUX_ADC,
		BIT(IIO_CHAN_INFO_SAMP_FREQ), 12),
	IIO_CHAN_SOFT_TIMESTAMP(4),
};

static const struct adis16260_chip_info adis16260_chip_info_table[] = {
	[ADIS16251] = {
		.gyro_max_scale = 80,
		.gyro_max_val = IIO_RAD_TO_DEGREE(4368),
		.channels = adis16260_channels,
		.num_channels = ARRAY_SIZE(adis16260_channels),
	},
	[ADIS16260] = {
		.gyro_max_scale = 320,
		.gyro_max_val = IIO_RAD_TO_DEGREE(4368),
		.channels = adis16260_channels,
		.num_channels = ARRAY_SIZE(adis16260_channels),
	},
	[ADIS16266] = {
		.gyro_max_scale = 14000,
		.gyro_max_val = IIO_RAD_TO_DEGREE(3357),
		.channels = adis16266_channels,
		.num_channels = ARRAY_SIZE(adis16266_channels),
	},
};

/* Power down the device */
static int adis16260_stop_device(struct iio_dev *indio_dev)
{
	struct adis16260 *adis16260 = iio_priv(indio_dev);
	int ret;
	u16 val = ADIS16260_SLP_CNT_POWER_OFF;

	ret = adis_write_reg_16(&adis16260->adis, ADIS16260_SLP_CNT, val);
	if (ret)
		dev_err(&indio_dev->dev, "problem with turning device off: SLP_CNT");

	return ret;
}

static const u8 adis16260_addresses[][2] = {
	[ADIS16260_SCAN_GYRO] = { ADIS16260_GYRO_OFF, ADIS16260_GYRO_SCALE },
};

static int adis16260_read_raw(struct iio_dev *indio_dev,
			      struct iio_chan_spec const *chan,
			      int *val, int *val2,
			      long mask)
{
	struct adis16260 *adis16260 = iio_priv(indio_dev);
	const struct adis16260_chip_info *info = adis16260->info;
	struct adis *adis = &adis16260->adis;
	int ret;
	u8 addr;
	s16 val16;

	switch (mask) {
	case IIO_CHAN_INFO_RAW:
		return adis_single_conversion(indio_dev, chan,
				ADIS16260_ERROR_ACTIVE, val);
	case IIO_CHAN_INFO_SCALE:
		switch (chan->type) {
		case IIO_ANGL_VEL:
			*val = info->gyro_max_scale;
			*val2 = info->gyro_max_val;
			return IIO_VAL_FRACTIONAL;
		case IIO_INCLI:
			*val = 0;
			*val2 = IIO_DEGREE_TO_RAD(36630);
			return IIO_VAL_INT_PLUS_MICRO;
		case IIO_VOLTAGE:
			if (chan->channel == 0) {
				*val = 1;
				*val2 = 831500; /* 1.8315 mV */
			} else {
				*val = 0;
				*val2 = 610500; /* 610.5 uV */
			}
			return IIO_VAL_INT_PLUS_MICRO;
		case IIO_TEMP:
			*val = 145;
			*val2 = 300000; /* 0.1453 C */
			return IIO_VAL_INT_PLUS_MICRO;
		default:
			return -EINVAL;
		}
	case IIO_CHAN_INFO_OFFSET:
		*val = 250000 / 1453; /* 25 C = 0x00 */
		return IIO_VAL_INT;
	case IIO_CHAN_INFO_CALIBBIAS:
		addr = adis16260_addresses[chan->scan_index][0];
		ret = adis_read_reg_16(adis, addr, &val16);
		if (ret)
			return ret;

		*val = sign_extend32(val16, 11);
		return IIO_VAL_INT;
	case IIO_CHAN_INFO_CALIBSCALE:
		addr = adis16260_addresses[chan->scan_index][1];
		ret = adis_read_reg_16(adis, addr, &val16);
		if (ret)
			return ret;

		*val = val16;
		return IIO_VAL_INT;
	case IIO_CHAN_INFO_SAMP_FREQ:
		ret = adis_read_reg_16(adis, ADIS16260_SMPL_PRD, &val16);
		if (ret)
			return ret;

		if (spi_get_device_id(adis->spi)->driver_data)
		/* If an adis16251 */
			*val = (val16 & ADIS16260_SMPL_PRD_TIME_BASE) ?
				8 : 256;
		else
			*val = (val16 & ADIS16260_SMPL_PRD_TIME_BASE) ?
				66 : 2048;
		*val /= (val16 & ADIS16260_SMPL_PRD_DIV_MASK) + 1;
		return IIO_VAL_INT;
	}
	return -EINVAL;
}

static int adis16260_write_raw(struct iio_dev *indio_dev,
			       struct iio_chan_spec const *chan,
			       int val,
			       int val2,
			       long mask)
{
	struct adis16260 *adis16260 = iio_priv(indio_dev);
	struct adis *adis = &adis16260->adis;
	int ret;
	u8 addr;
	u8 t;

	switch (mask) {
	case IIO_CHAN_INFO_CALIBBIAS:
		if (val < -2048 || val >= 2048)
			return -EINVAL;

		addr = adis16260_addresses[chan->scan_index][0];
		return adis_write_reg_16(adis, addr, val);
	case IIO_CHAN_INFO_CALIBSCALE:
		if (val < 0 || val >= 4096)
			return -EINVAL;

		addr = adis16260_addresses[chan->scan_index][1];
		return adis_write_reg_16(adis, addr, val);
	case IIO_CHAN_INFO_SAMP_FREQ:
		mutex_lock(&indio_dev->mlock);
		if (spi_get_device_id(adis->spi)->driver_data)
			t = 256 / val;
		else
			t = 2048 / val;

		if (t > ADIS16260_SMPL_PRD_DIV_MASK)
			t = ADIS16260_SMPL_PRD_DIV_MASK;
		else if (t > 0)
			t--;

		if (t >= 0x0A)
			adis->spi->max_speed_hz = ADIS16260_SPI_SLOW;
		else
			adis->spi->max_speed_hz = ADIS16260_SPI_FAST;
		ret = adis_write_reg_8(adis, ADIS16260_SMPL_PRD, t);

		mutex_unlock(&indio_dev->mlock);
		return ret;
	}
	return -EINVAL;
}

static const struct iio_info adis16260_info = {
	.read_raw = &adis16260_read_raw,
	.write_raw = &adis16260_write_raw,
	.update_scan_mode = adis_update_scan_mode,
	.driver_module = THIS_MODULE,
};

static const char * const adis1620_status_error_msgs[] = {
	[ADIS16260_DIAG_STAT_FLASH_CHK_BIT] = "Flash checksum error",
	[ADIS16260_DIAG_STAT_SELF_TEST_BIT] = "Self test error",
	[ADIS16260_DIAG_STAT_OVERFLOW_BIT] = "Sensor overrange",
	[ADIS16260_DIAG_STAT_SPI_FAIL_BIT] = "SPI failure",
	[ADIS16260_DIAG_STAT_FLASH_UPT_BIT] = "Flash update failed",
	[ADIS16260_DIAG_STAT_POWER_HIGH_BIT] = "Power supply above 5.25",
	[ADIS16260_DIAG_STAT_POWER_LOW_BIT] = "Power supply below 4.75",
};

static const struct adis_data adis16260_data = {
	.write_delay = 30,
	.read_delay = 30,
	.msc_ctrl_reg = ADIS16260_MSC_CTRL,
	.glob_cmd_reg = ADIS16260_GLOB_CMD,
	.diag_stat_reg = ADIS16260_DIAG_STAT,

	.self_test_mask = ADIS16260_MSC_CTRL_MEM_TEST,
	.startup_delay = ADIS16260_STARTUP_DELAY,

	.status_error_msgs = adis1620_status_error_msgs,
	.status_error_mask = BIT(ADIS16260_DIAG_STAT_FLASH_CHK_BIT) |
		BIT(ADIS16260_DIAG_STAT_SELF_TEST_BIT) |
		BIT(ADIS16260_DIAG_STAT_OVERFLOW_BIT) |
		BIT(ADIS16260_DIAG_STAT_SPI_FAIL_BIT) |
		BIT(ADIS16260_DIAG_STAT_FLASH_UPT_BIT) |
		BIT(ADIS16260_DIAG_STAT_POWER_HIGH_BIT) |
		BIT(ADIS16260_DIAG_STAT_POWER_LOW_BIT),
};

static int adis16260_probe(struct spi_device *spi)
{
	const struct spi_device_id *id;
	struct adis16260 *adis16260;
	struct iio_dev *indio_dev;
	int ret;

	id = spi_get_device_id(spi);
	if (!id)
		return -ENODEV;

	/* setup the industrialio driver allocated elements */
	indio_dev = devm_iio_device_alloc(&spi->dev, sizeof(*adis16260));
	if (!indio_dev)
		return -ENOMEM;
	adis16260 = iio_priv(indio_dev);
	/* this is only used for removal purposes */
	spi_set_drvdata(spi, indio_dev);

	adis16260->info = &adis16260_chip_info_table[id->driver_data];

	indio_dev->name = id->name;
	indio_dev->dev.parent = &spi->dev;
	indio_dev->info = &adis16260_info;
	indio_dev->channels = adis16260->info->channels;
	indio_dev->num_channels = adis16260->info->num_channels;
	indio_dev->modes = INDIO_DIRECT_MODE;

	ret = adis_init(&adis16260->adis, indio_dev, spi, &adis16260_data);
	if (ret)
		return ret;

	ret = adis_setup_buffer_and_trigger(&adis16260->adis, indio_dev, NULL);
	if (ret)
		return ret;

	/* Get the device into a sane initial state */
	ret = adis_initial_startup(&adis16260->adis);
	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(&adis16260->adis, indio_dev);
	return ret;
}

static int adis16260_remove(struct spi_device *spi)
{
	struct iio_dev *indio_dev = spi_get_drvdata(spi);
	struct adis16260 *adis16260 = iio_priv(indio_dev);

	iio_device_unregister(indio_dev);
	adis16260_stop_device(indio_dev);
	adis_cleanup_buffer_and_trigger(&adis16260->adis, indio_dev);

	return 0;
}

/*
 * These parts do not need to be differentiated until someone adds
 * support for the on chip filtering.
 */
static const struct spi_device_id adis16260_id[] = {
	{"adis16260", ADIS16260},
	{"adis16265", ADIS16260},
	{"adis16266", ADIS16266},
	{"adis16250", ADIS16260},
	{"adis16255", ADIS16260},
	{"adis16251", ADIS16251},
	{}
};
MODULE_DEVICE_TABLE(spi, adis16260_id);

static struct spi_driver adis16260_driver = {
	.driver = {
		.name = "adis16260",
		.owner = THIS_MODULE,
	},
	.probe = adis16260_probe,
	.remove = adis16260_remove,
	.id_table = adis16260_id,
};
module_spi_driver(adis16260_driver);

MODULE_AUTHOR("Barry Song <21cnbao@gmail.com>");
MODULE_DESCRIPTION("Analog Devices ADIS16260/5 Digital Gyroscope Sensor");
MODULE_LICENSE("GPL v2");
Commit	Line	Data
089a4198	1	/*
f733d02a	2	* ADIS16260/ADIS16265 Programmable Digital Gyroscope Sensor Driver
089a4198 BS	3	*
	4	* Copyright 2010 Analog Devices Inc.
	5	*
	6	* Licensed under the GPL-2 or later.
	7	*/
	8
	9	#include <linux/interrupt.h>
089a4198 BS	10	#include <linux/mutex.h>
	11	#include <linux/device.h>
	12	#include <linux/kernel.h>
	13	#include <linux/spi/spi.h>
089a4198	14	#include <linux/sysfs.h>
99c97852	15	#include <linux/module.h>
089a4198	16
06458e27 JC	17	#include <linux/iio/iio.h>
	18	#include <linux/iio/sysfs.h>
	19	#include <linux/iio/buffer.h>
988c79a9	20	#include <linux/iio/imu/adis.h>
089a4198	21
988c79a9 LPC	22	#define ADIS16260_STARTUP_DELAY 220 /* ms */
	23
	24	#define ADIS16260_FLASH_CNT 0x00 /* Flash memory write count */
	25	#define ADIS16260_SUPPLY_OUT 0x02 /* Power supply measurement */
	26	#define ADIS16260_GYRO_OUT 0x04 /* X-axis gyroscope output */
	27	#define ADIS16260_AUX_ADC 0x0A /* analog input channel measurement */
	28	#define ADIS16260_TEMP_OUT 0x0C /* internal temperature measurement */
	29	#define ADIS16260_ANGL_OUT 0x0E /* angle displacement */
	30	#define ADIS16260_GYRO_OFF 0x14 /* Calibration, offset/bias adjustment */
	31	#define ADIS16260_GYRO_SCALE 0x16 /* Calibration, scale adjustment */
	32	#define ADIS16260_ALM_MAG1 0x20 /* Alarm 1 magnitude/polarity setting */
	33	#define ADIS16260_ALM_MAG2 0x22 /* Alarm 2 magnitude/polarity setting */
	34	#define ADIS16260_ALM_SMPL1 0x24 /* Alarm 1 dynamic rate of change setting */
	35	#define ADIS16260_ALM_SMPL2 0x26 /* Alarm 2 dynamic rate of change setting */
	36	#define ADIS16260_ALM_CTRL 0x28 /* Alarm control */
	37	#define ADIS16260_AUX_DAC 0x30 /* Auxiliary DAC data */
	38	#define ADIS16260_GPIO_CTRL 0x32 /* Control, digital I/O line */
	39	#define ADIS16260_MSC_CTRL 0x34 /* Control, data ready, self-test settings */
	40	#define ADIS16260_SMPL_PRD 0x36 /* Control, internal sample rate */
	41	#define ADIS16260_SENS_AVG 0x38 /* Control, dynamic range, filtering */
	42	#define ADIS16260_SLP_CNT 0x3A /* Control, sleep mode initiation */
	43	#define ADIS16260_DIAG_STAT 0x3C /* Diagnostic, error flags */
	44	#define ADIS16260_GLOB_CMD 0x3E /* Control, global commands */
	45	#define ADIS16260_LOT_ID1 0x52 /* Lot Identification Code 1 */
	46	#define ADIS16260_LOT_ID2 0x54 /* Lot Identification Code 2 */
	47	#define ADIS16260_PROD_ID 0x56 /* Product identifier;
	48	* convert to decimal = 16,265/16,260 */
	49	#define ADIS16260_SERIAL_NUM 0x58 /* Serial number */
	50
	51	#define ADIS16260_ERROR_ACTIVE (1<<14)
	52	#define ADIS16260_NEW_DATA (1<<15)
	53
	54	/* MSC_CTRL */
	55	#define ADIS16260_MSC_CTRL_MEM_TEST (1<<11)
	56	/* Internal self-test enable */
	57	#define ADIS16260_MSC_CTRL_INT_SELF_TEST (1<<10)
	58	#define ADIS16260_MSC_CTRL_NEG_SELF_TEST (1<<9)
	59	#define ADIS16260_MSC_CTRL_POS_SELF_TEST (1<<8)
	60	#define ADIS16260_MSC_CTRL_DATA_RDY_EN (1<<2)
	61	#define ADIS16260_MSC_CTRL_DATA_RDY_POL_HIGH (1<<1)
	62	#define ADIS16260_MSC_CTRL_DATA_RDY_DIO2 (1<<0)
	63
	64	/* SMPL_PRD */
	65	/* Time base (tB): 0 = 1.953 ms, 1 = 60.54 ms */
	66	#define ADIS16260_SMPL_PRD_TIME_BASE (1<<7)
	67	#define ADIS16260_SMPL_PRD_DIV_MASK 0x7F
	68
	69	/* SLP_CNT */
	70	#define ADIS16260_SLP_CNT_POWER_OFF 0x80
	71
	72	/* DIAG_STAT */
	73	#define ADIS16260_DIAG_STAT_ALARM2 (1<<9)
	74	#define ADIS16260_DIAG_STAT_ALARM1 (1<<8)
	75	#define ADIS16260_DIAG_STAT_FLASH_CHK_BIT 6
	76	#define ADIS16260_DIAG_STAT_SELF_TEST_BIT 5
	77	#define ADIS16260_DIAG_STAT_OVERFLOW_BIT 4
	78	#define ADIS16260_DIAG_STAT_SPI_FAIL_BIT 3
	79	#define ADIS16260_DIAG_STAT_FLASH_UPT_BIT 2
	80	#define ADIS16260_DIAG_STAT_POWER_HIGH_BIT 1
	81	#define ADIS16260_DIAG_STAT_POWER_LOW_BIT 0
	82
	83	/* GLOB_CMD */
	84	#define ADIS16260_GLOB_CMD_SW_RESET (1<<7)
	85	#define ADIS16260_GLOB_CMD_FLASH_UPD (1<<3)
86	#define ADIS16260_GLOB_CMD_DAC_LATCH (1<<2)
87	#define ADIS16260_GLOB_CMD_FAC_CALIB (1<<1)
88	#define ADIS16260_GLOB_CMD_AUTO_NULL (1<<0)
89
90	#define ADIS16260_SPI_SLOW (u32)(300 * 1000)
91	#define ADIS16260_SPI_BURST (u32)(1000 * 1000)
92	#define ADIS16260_SPI_FAST (u32)(2000 * 1000)
93
94	/* At the moment triggers are only used for ring buffer
95	* filling. This may change!
96	*/
97
98	#define ADIS16260_SCAN_GYRO 0
99	#define ADIS16260_SCAN_SUPPLY 1
100	#define ADIS16260_SCAN_AUX_ADC 2
101	#define ADIS16260_SCAN_TEMP 3
102	#define ADIS16260_SCAN_ANGL 4
089a4198	103
f1afda12 LPC	104	struct adis16260_chip_info {
	105	unsigned int gyro_max_val;
	106	unsigned int gyro_max_scale;
	107	const struct iio_chan_spec *channels;
	108	unsigned int num_channels;
	109	};
089a4198	110
f1afda12 LPC	111	struct adis16260 {
f1afda12 LPC	112	const struct adis16260_chip_info *info;
089a4198	113
f1afda12 LPC	114	struct adis adis;
	115	};
	116
	117	enum adis16260_type {
	118	ADIS16251,
	119	ADIS16260,
	120	ADIS16266,
	121	};
089a4198	122
e1b83f43 LPC	123	static const struct iio_chan_spec adis16260_channels[] = {
	124	ADIS_GYRO_CHAN(X, ADIS16260_GYRO_OUT, ADIS16260_SCAN_GYRO,
	125	BIT(IIO_CHAN_INFO_CALIBBIAS) \|
82695ef5 JC	126	BIT(IIO_CHAN_INFO_CALIBSCALE),
	127	BIT(IIO_CHAN_INFO_SAMP_FREQ), 14),
	128	ADIS_INCLI_CHAN(X, ADIS16260_ANGL_OUT, ADIS16260_SCAN_ANGL, 0,
	129	BIT(IIO_CHAN_INFO_SAMP_FREQ), 14),
	130	ADIS_TEMP_CHAN(ADIS16260_TEMP_OUT, ADIS16260_SCAN_TEMP,
	131	BIT(IIO_CHAN_INFO_SAMP_FREQ), 12),
	132	ADIS_SUPPLY_CHAN(ADIS16260_SUPPLY_OUT, ADIS16260_SCAN_SUPPLY,
	133	BIT(IIO_CHAN_INFO_SAMP_FREQ), 12),
	134	ADIS_AUX_ADC_CHAN(ADIS16260_AUX_ADC, ADIS16260_SCAN_AUX_ADC,
	135	BIT(IIO_CHAN_INFO_SAMP_FREQ), 12),
e1b83f43 LPC	136	IIO_CHAN_SOFT_TIMESTAMP(5),
e1b83f43 LPC	137	};
9d5e9fdf	138
f1afda12 LPC	139	static const struct iio_chan_spec adis16266_channels[] = {
	140	ADIS_GYRO_CHAN(X, ADIS16260_GYRO_OUT, ADIS16260_SCAN_GYRO,
	141	BIT(IIO_CHAN_INFO_CALIBBIAS) \|
	142	BIT(IIO_CHAN_INFO_CALIBSCALE),
	143	BIT(IIO_CHAN_INFO_SAMP_FREQ), 14),
	144	ADIS_TEMP_CHAN(ADIS16260_TEMP_OUT, ADIS16260_SCAN_TEMP,
	145	BIT(IIO_CHAN_INFO_SAMP_FREQ), 12),
	146	ADIS_SUPPLY_CHAN(ADIS16260_SUPPLY_OUT, ADIS16260_SCAN_SUPPLY,
	147	BIT(IIO_CHAN_INFO_SAMP_FREQ), 12),
	148	ADIS_AUX_ADC_CHAN(ADIS16260_AUX_ADC, ADIS16260_SCAN_AUX_ADC,
	149	BIT(IIO_CHAN_INFO_SAMP_FREQ), 12),
	150	IIO_CHAN_SOFT_TIMESTAMP(4),
	151	};
	152
	153	static const struct adis16260_chip_info adis16260_chip_info_table[] = {
	154	[ADIS16251] = {
	155	.gyro_max_scale = 80,
	156	.gyro_max_val = IIO_RAD_TO_DEGREE(4368),
	157	.channels = adis16260_channels,
	158	.num_channels = ARRAY_SIZE(adis16260_channels),
	159	},
	160	[ADIS16260] = {
	161	.gyro_max_scale = 320,
	162	.gyro_max_val = IIO_RAD_TO_DEGREE(4368),
	163	.channels = adis16260_channels,
	164	.num_channels = ARRAY_SIZE(adis16260_channels),
	165	},
	166	[ADIS16266] = {
	167	.gyro_max_scale = 14000,
	168	.gyro_max_val = IIO_RAD_TO_DEGREE(3357),
	169	.channels = adis16266_channels,
	170	.num_channels = ARRAY_SIZE(adis16266_channels),
	171	},
	172	};
	173
	174	/* Power down the device */
	175	static int adis16260_stop_device(struct iio_dev *indio_dev)
	176	{
	177	struct adis16260 *adis16260 = iio_priv(indio_dev);
	178	int ret;
	179	u16 val = ADIS16260_SLP_CNT_POWER_OFF;
	180
	181	ret = adis_write_reg_16(&adis16260->adis, ADIS16260_SLP_CNT, val);
	182	if (ret)
	183	dev_err(&indio_dev->dev, "problem with turning device off: SLP_CNT");
	184
	185	return ret;
	186	}
	187
9d5e9fdf LPC	188	static const u8 adis16260_addresses[][2] = {
9d5e9fdf LPC	189	[ADIS16260_SCAN_GYRO] = { ADIS16260_GYRO_OFF, ADIS16260_GYRO_SCALE },
29b7f43e	190	};
9d5e9fdf	191
29b7f43e JC	192	static int adis16260_read_raw(struct iio_dev *indio_dev,
	193	struct iio_chan_spec const *chan,
	194	int val, int val2,
	195	long mask)
	196	{
f1afda12 LPC	197	struct adis16260 *adis16260 = iio_priv(indio_dev);
	198	const struct adis16260_chip_info *info = adis16260->info;
	199	struct adis *adis = &adis16260->adis;
29b7f43e	200	int ret;
29b7f43e JC	201	u8 addr;
	202	s16 val16;
	203
	204	switch (mask) {
fbaff213	205	case IIO_CHAN_INFO_RAW:
9d5e9fdf LPC	206	return adis_single_conversion(indio_dev, chan,
9d5e9fdf LPC	207	ADIS16260_ERROR_ACTIVE, val);
c8a9f805	208	case IIO_CHAN_INFO_SCALE:
29b7f43e	209	switch (chan->type) {
41ea040c	210	case IIO_ANGL_VEL:
f1afda12 LPC	211	*val = info->gyro_max_scale;
	212	*val2 = info->gyro_max_val;
	213	return IIO_VAL_FRACTIONAL;
ebdee941 LPC	214	case IIO_INCLI:
	215	*val = 0;
	216	*val2 = IIO_DEGREE_TO_RAD(36630);
	217	return IIO_VAL_INT_PLUS_MICRO;
6835cb6b	218	case IIO_VOLTAGE:
7e72a54c LPC	219	if (chan->channel == 0) {
	220	*val = 1;
	221	val2 = 831500; / 1.8315 mV */
	222	} else {
	223	*val = 0;
	224	val2 = 610500; / 610.5 uV */
	225	}
29b7f43e JC	226	return IIO_VAL_INT_PLUS_MICRO;
29b7f43e JC	227	case IIO_TEMP:
7e72a54c LPC	228	*val = 145;
7e72a54c LPC	229	val2 = 300000; / 0.1453 C */
29b7f43e JC	230	return IIO_VAL_INT_PLUS_MICRO;
	231	default:
	232	return -EINVAL;
	233	}
c8a9f805	234	case IIO_CHAN_INFO_OFFSET:
7e72a54c	235	val = 250000 / 1453; / 25 C = 0x00 */
29b7f43e	236	return IIO_VAL_INT;
c8a9f805	237	case IIO_CHAN_INFO_CALIBBIAS:
9d5e9fdf	238	addr = adis16260_addresses[chan->scan_index][0];
63892165	239	ret = adis_read_reg_16(adis, addr, &val16);
73149bad	240	if (ret)
29b7f43e	241	return ret;
73149bad LPC	242
73149bad LPC	243	*val = sign_extend32(val16, 11);
29b7f43e	244	return IIO_VAL_INT;
c8a9f805	245	case IIO_CHAN_INFO_CALIBSCALE:
9d5e9fdf	246	addr = adis16260_addresses[chan->scan_index][1];
63892165	247	ret = adis_read_reg_16(adis, addr, &val16);
73149bad	248	if (ret)
29b7f43e	249	return ret;
73149bad	250
f1530414	251	*val = val16;
29b7f43e	252	return IIO_VAL_INT;
82695ef5 JC	253	case IIO_CHAN_INFO_SAMP_FREQ:
	254	ret = adis_read_reg_16(adis, ADIS16260_SMPL_PRD, &val16);
	255	if (ret)
	256	return ret;
	257
	258	if (spi_get_device_id(adis->spi)->driver_data)
	259	/* If an adis16251 */
	260	*val = (val16 & ADIS16260_SMPL_PRD_TIME_BASE) ?
	261	8 : 256;
	262	else
	263	*val = (val16 & ADIS16260_SMPL_PRD_TIME_BASE) ?
	264	66 : 2048;
	265	*val /= (val16 & ADIS16260_SMPL_PRD_DIV_MASK) + 1;
	266	return IIO_VAL_INT;
29b7f43e JC	267	}
	268	return -EINVAL;
	269	}
	270
	271	static int adis16260_write_raw(struct iio_dev *indio_dev,
	272	struct iio_chan_spec const *chan,
	273	int val,
	274	int val2,
	275	long mask)
	276	{
f1afda12 LPC	277	struct adis16260 *adis16260 = iio_priv(indio_dev);
f1afda12 LPC	278	struct adis *adis = &adis16260->adis;
82695ef5	279	int ret;
29b7f43e	280	u8 addr;
82695ef5	281	u8 t;
f4f87d04	282
29b7f43e	283	switch (mask) {
c8a9f805	284	case IIO_CHAN_INFO_CALIBBIAS:
f4f87d04 LPC	285	if (val < -2048 \|\| val >= 2048)
	286	return -EINVAL;
	287
9d5e9fdf	288	addr = adis16260_addresses[chan->scan_index][0];
f4f87d04	289	return adis_write_reg_16(adis, addr, val);
c8a9f805	290	case IIO_CHAN_INFO_CALIBSCALE:
f4f87d04 LPC	291	if (val < 0 \|\| val >= 4096)
	292	return -EINVAL;
	293
9d5e9fdf	294	addr = adis16260_addresses[chan->scan_index][1];
f4f87d04	295	return adis_write_reg_16(adis, addr, val);
82695ef5 JC	296	case IIO_CHAN_INFO_SAMP_FREQ:
	297	mutex_lock(&indio_dev->mlock);
	298	if (spi_get_device_id(adis->spi)->driver_data)
	299	t = 256 / val;
	300	else
	301	t = 2048 / val;
	302
	303	if (t > ADIS16260_SMPL_PRD_DIV_MASK)
	304	t = ADIS16260_SMPL_PRD_DIV_MASK;
	305	else if (t > 0)
	306	t--;
	307
	308	if (t >= 0x0A)
	309	adis->spi->max_speed_hz = ADIS16260_SPI_SLOW;
	310	else
	311	adis->spi->max_speed_hz = ADIS16260_SPI_FAST;
	312	ret = adis_write_reg_8(adis, ADIS16260_SMPL_PRD, t);
	313
	314	mutex_unlock(&indio_dev->mlock);
	315	return ret;
29b7f43e JC	316	}
	317	return -EINVAL;
	318	}
	319
6fe8135f	320	static const struct iio_info adis16260_info = {
6fe8135f JC	321	.read_raw = &adis16260_read_raw,
6fe8135f JC	322	.write_raw = &adis16260_write_raw,
aacff892	323	.update_scan_mode = adis_update_scan_mode,
6fe8135f JC	324	.driver_module = THIS_MODULE,
	325	};
	326
9d5e9fdf LPC	327	static const char * const adis1620_status_error_msgs[] = {
	328	[ADIS16260_DIAG_STAT_FLASH_CHK_BIT] = "Flash checksum error",
	329	[ADIS16260_DIAG_STAT_SELF_TEST_BIT] = "Self test error",
	330	[ADIS16260_DIAG_STAT_OVERFLOW_BIT] = "Sensor overrange",
	331	[ADIS16260_DIAG_STAT_SPI_FAIL_BIT] = "SPI failure",
	332	[ADIS16260_DIAG_STAT_FLASH_UPT_BIT] = "Flash update failed",
	333	[ADIS16260_DIAG_STAT_POWER_HIGH_BIT] = "Power supply above 5.25",
	334	[ADIS16260_DIAG_STAT_POWER_LOW_BIT] = "Power supply below 4.75",
	335	};
	336
	337	static const struct adis_data adis16260_data = {
	338	.write_delay = 30,
	339	.read_delay = 30,
	340	.msc_ctrl_reg = ADIS16260_MSC_CTRL,
	341	.glob_cmd_reg = ADIS16260_GLOB_CMD,
	342	.diag_stat_reg = ADIS16260_DIAG_STAT,
	343
	344	.self_test_mask = ADIS16260_MSC_CTRL_MEM_TEST,
	345	.startup_delay = ADIS16260_STARTUP_DELAY,
	346
	347	.status_error_msgs = adis1620_status_error_msgs,
	348	.status_error_mask = BIT(ADIS16260_DIAG_STAT_FLASH_CHK_BIT) \|
	349	BIT(ADIS16260_DIAG_STAT_SELF_TEST_BIT) \|
	350	BIT(ADIS16260_DIAG_STAT_OVERFLOW_BIT) \|
	351	BIT(ADIS16260_DIAG_STAT_SPI_FAIL_BIT) \|
	352	BIT(ADIS16260_DIAG_STAT_FLASH_UPT_BIT) \|
	353	BIT(ADIS16260_DIAG_STAT_POWER_HIGH_BIT) \|
	354	BIT(ADIS16260_DIAG_STAT_POWER_LOW_BIT),
	355	};
	356
4ae1c61f	357	static int adis16260_probe(struct spi_device *spi)
089a4198	358	{
f1afda12 LPC	359	const struct spi_device_id *id;
f1afda12 LPC	360	struct adis16260 *adis16260;
d088ab83	361	struct iio_dev *indio_dev;
e1b83f43	362	int ret;
d088ab83	363
f1afda12 LPC	364	id = spi_get_device_id(spi);
	365	if (!id)
	366	return -ENODEV;
	367
d088ab83	368	/* setup the industrialio driver allocated elements */
f1afda12	369	indio_dev = devm_iio_device_alloc(&spi->dev, sizeof(*adis16260));
827b14a8 SK	370	if (!indio_dev)
827b14a8 SK	371	return -ENOMEM;
f1afda12	372	adis16260 = iio_priv(indio_dev);
089a4198	373	/* this is only used for removal purposes */
97271c3b	374	spi_set_drvdata(spi, indio_dev);
089a4198	375
f1afda12 LPC	376	adis16260->info = &adis16260_chip_info_table[id->driver_data];
	377
	378	indio_dev->name = id->name;
d088ab83 JC	379	indio_dev->dev.parent = &spi->dev;
d088ab83 JC	380	indio_dev->info = &adis16260_info;
f1afda12 LPC	381	indio_dev->channels = adis16260->info->channels;
f1afda12 LPC	382	indio_dev->num_channels = adis16260->info->num_channels;
d088ab83	383	indio_dev->modes = INDIO_DIRECT_MODE;
089a4198	384
f1afda12	385	ret = adis_init(&adis16260->adis, indio_dev, spi, &adis16260_data);
9d5e9fdf	386	if (ret)
827b14a8	387	return ret;
9d5e9fdf	388
f1afda12	389	ret = adis_setup_buffer_and_trigger(&adis16260->adis, indio_dev, NULL);
089a4198	390	if (ret)
827b14a8	391	return ret;
089a4198	392
089a4198	393	/* Get the device into a sane initial state */
f1afda12	394	ret = adis_initial_startup(&adis16260->adis);
089a4198	395	if (ret)
9d5e9fdf	396	goto error_cleanup_buffer_trigger;
26d25ae3 JC	397	ret = iio_device_register(indio_dev);
26d25ae3 JC	398	if (ret)
9d5e9fdf	399	goto error_cleanup_buffer_trigger;
26d25ae3	400
089a4198 BS	401	return 0;
089a4198 BS	402
9d5e9fdf	403	error_cleanup_buffer_trigger:
f1afda12	404	adis_cleanup_buffer_and_trigger(&adis16260->adis, indio_dev);
089a4198 BS	405	return ret;
	406	}
	407
447d4f29	408	static int adis16260_remove(struct spi_device *spi)
089a4198	409	{
d088ab83	410	struct iio_dev *indio_dev = spi_get_drvdata(spi);
f1afda12	411	struct adis16260 *adis16260 = iio_priv(indio_dev);
089a4198	412
d2fffd6c	413	iio_device_unregister(indio_dev);
bea3e8a3	414	adis16260_stop_device(indio_dev);
f1afda12	415	adis_cleanup_buffer_and_trigger(&adis16260->adis, indio_dev);
089a4198	416
bea3e8a3	417	return 0;
089a4198 BS	418	}
089a4198 BS	419
fe346048 JC	420	/*
	421	* These parts do not need to be differentiated until someone adds
	422	* support for the on chip filtering.
	423	*/
a9672951	424	static const struct spi_device_id adis16260_id[] = {
f1afda12 LPC	425	{"adis16260", ADIS16260},
	426	{"adis16265", ADIS16260},
	427	{"adis16266", ADIS16266},
	428	{"adis16250", ADIS16260},
	429	{"adis16255", ADIS16260},
	430	{"adis16251", ADIS16251},
a9672951 JC	431	{}
a9672951 JC	432	};
55e4390c	433	MODULE_DEVICE_TABLE(spi, adis16260_id);
a9672951	434
089a4198 BS	435	static struct spi_driver adis16260_driver = {
	436	.driver = {
	437	.name = "adis16260",
	438	.owner = THIS_MODULE,
	439	},
	440	.probe = adis16260_probe,
e543acf0	441	.remove = adis16260_remove,
a9672951	442	.id_table = adis16260_id,
089a4198	443	};
ae6ae6fe	444	module_spi_driver(adis16260_driver);
089a4198 BS	445
	446	MODULE_AUTHOR("Barry Song <21cnbao@gmail.com>");
	447	MODULE_DESCRIPTION("Analog Devices ADIS16260/5 Digital Gyroscope Sensor");
	448	MODULE_LICENSE("GPL v2");