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_generic.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[] = { \
392 IIO_CHAN(IIO_ANGL_VEL, 1, 0, 0, NULL, 0, mod, \
393 (1 << IIO_CHAN_INFO_CALIBBIAS_SEPARATE) | \
394 (1 << IIO_CHAN_INFO_CALIBSCALE_SEPARATE) | \
395 (1 << IIO_CHAN_INFO_SCALE_SEPARATE), \
396 gyro, ADIS16260_SCAN_GYRO, \
397 IIO_ST('s', 14, 16, 0), 0), \
398 IIO_CHAN(IIO_ANGL, 1, 0, 0, NULL, 0, mod, \
400 angle, ADIS16260_SCAN_ANGL, \
401 IIO_ST('u', 14, 16, 0), 0), \
402 IIO_CHAN(IIO_TEMP, 0, 1, 0, NULL, 0, 0, \
403 (1 << IIO_CHAN_INFO_OFFSET_SEPARATE) | \
404 (1 << IIO_CHAN_INFO_SCALE_SEPARATE), \
405 temp, ADIS16260_SCAN_TEMP, \
406 IIO_ST('u', 12, 16, 0), 0), \
407 IIO_CHAN(IIO_VOLTAGE, 0, 1, 0, "supply", 0, 0, \
408 (1 << IIO_CHAN_INFO_SCALE_SEPARATE), \
409 in_supply, ADIS16260_SCAN_SUPPLY, \
410 IIO_ST('u', 12, 16, 0), 0), \
411 IIO_CHAN(IIO_VOLTAGE, 0, 1, 0, NULL, 1, 0, \
412 (1 << IIO_CHAN_INFO_SCALE_SEPARATE), \
413 in_aux, ADIS16260_SCAN_AUX_ADC, \
414 IIO_ST('u', 12, 16, 0), 0), \
415 IIO_CHAN_SOFT_TIMESTAMP(5) \
418 static const ADIS16260_GYRO_CHANNEL_SET(x, IIO_MOD_X);
419 static const ADIS16260_GYRO_CHANNEL_SET(y, IIO_MOD_Y);
420 static const ADIS16260_GYRO_CHANNEL_SET(z, IIO_MOD_Z);
422 static const u8 adis16260_addresses[5][3] = {
423 [gyro] = { ADIS16260_GYRO_OUT,
425 ADIS16260_GYRO_SCALE },
426 [angle] = { ADIS16260_ANGL_OUT },
427 [in_supply] = { ADIS16260_SUPPLY_OUT },
428 [in_aux] = { ADIS16260_AUX_ADC },
429 [temp] = { ADIS16260_TEMP_OUT },
431 static int adis16260_read_raw(struct iio_dev *indio_dev,
432 struct iio_chan_spec const *chan,
436 struct adis16260_state *st = iio_priv(indio_dev);
444 mutex_lock(&indio_dev->mlock);
445 addr = adis16260_addresses[chan->address][0];
446 ret = adis16260_spi_read_reg_16(indio_dev, addr, &val16);
448 mutex_unlock(&indio_dev->mlock);
452 if (val16 & ADIS16260_ERROR_ACTIVE) {
453 ret = adis16260_check_status(indio_dev);
455 mutex_unlock(&indio_dev->mlock);
459 val16 = val16 & ((1 << chan->scan_type.realbits) - 1);
460 if (chan->scan_type.sign == 's')
461 val16 = (s16)(val16 <<
462 (16 - chan->scan_type.realbits)) >>
463 (16 - chan->scan_type.realbits);
465 mutex_unlock(&indio_dev->mlock);
467 case (1 << IIO_CHAN_INFO_SCALE_SEPARATE):
468 case (1 << IIO_CHAN_INFO_SCALE_SHARED):
469 switch (chan->type) {
472 if (spi_get_device_id(st->us)->driver_data)
476 return IIO_VAL_INT_PLUS_MICRO;
479 if (chan->channel == 0)
483 return IIO_VAL_INT_PLUS_MICRO;
487 return IIO_VAL_INT_PLUS_MICRO;
492 case (1 << IIO_CHAN_INFO_OFFSET_SEPARATE):
495 case (1 << IIO_CHAN_INFO_CALIBBIAS_SEPARATE):
496 switch (chan->type) {
503 mutex_lock(&indio_dev->mlock);
504 addr = adis16260_addresses[chan->address][1];
505 ret = adis16260_spi_read_reg_16(indio_dev, addr, &val16);
507 mutex_unlock(&indio_dev->mlock);
510 val16 &= (1 << bits) - 1;
511 val16 = (s16)(val16 << (16 - bits)) >> (16 - bits);
513 mutex_unlock(&indio_dev->mlock);
515 case (1 << IIO_CHAN_INFO_CALIBSCALE_SEPARATE):
516 switch (chan->type) {
523 mutex_lock(&indio_dev->mlock);
524 addr = adis16260_addresses[chan->address][2];
525 ret = adis16260_spi_read_reg_16(indio_dev, addr, &val16);
527 mutex_unlock(&indio_dev->mlock);
530 *val = (1 << bits) - 1;
531 mutex_unlock(&indio_dev->mlock);
537 static int adis16260_write_raw(struct iio_dev *indio_dev,
538 struct iio_chan_spec const *chan,
547 case (1 << IIO_CHAN_INFO_CALIBBIAS_SEPARATE):
548 val16 = val & ((1 << bits) - 1);
549 addr = adis16260_addresses[chan->address][1];
550 return adis16260_spi_write_reg_16(indio_dev, addr, val16);
551 case (1 << IIO_CHAN_INFO_CALIBSCALE_SEPARATE):
552 val16 = val & ((1 << bits) - 1);
553 addr = adis16260_addresses[chan->address][2];
554 return adis16260_spi_write_reg_16(indio_dev, addr, val16);
559 static struct attribute *adis16260_attributes[] = {
560 &iio_dev_attr_sampling_frequency.dev_attr.attr,
561 &iio_dev_attr_sampling_frequency_available.dev_attr.attr,
562 &iio_dev_attr_reset.dev_attr.attr,
566 static const struct attribute_group adis16260_attribute_group = {
567 .attrs = adis16260_attributes,
570 static const struct iio_info adis16260_info = {
571 .attrs = &adis16260_attribute_group,
572 .read_raw = &adis16260_read_raw,
573 .write_raw = &adis16260_write_raw,
574 .driver_module = THIS_MODULE,
577 static int __devinit adis16260_probe(struct spi_device *spi)
580 struct adis16260_platform_data *pd = spi->dev.platform_data;
581 struct adis16260_state *st;
582 struct iio_dev *indio_dev;
584 /* setup the industrialio driver allocated elements */
585 indio_dev = iio_allocate_device(sizeof(*st));
586 if (indio_dev == NULL) {
590 st = iio_priv(indio_dev);
592 st->negate = pd->negate;
593 /* this is only used for removal purposes */
594 spi_set_drvdata(spi, st);
597 mutex_init(&st->buf_lock);
599 indio_dev->name = spi_get_device_id(st->us)->name;
600 indio_dev->dev.parent = &spi->dev;
601 indio_dev->info = &adis16260_info;
602 indio_dev->num_channels
603 = ARRAY_SIZE(adis16260_channels_x);
604 if (pd && pd->direction)
605 switch (pd->direction) {
607 indio_dev->channels = adis16260_channels_x;
610 indio_dev->channels = adis16260_channels_y;
613 indio_dev->channels = adis16260_channels_z;
619 indio_dev->channels = adis16260_channels_x;
620 indio_dev->num_channels = ARRAY_SIZE(adis16260_channels_x);
621 indio_dev->modes = INDIO_DIRECT_MODE;
623 ret = adis16260_configure_ring(indio_dev);
627 ret = iio_buffer_register(indio_dev,
629 ARRAY_SIZE(adis16260_channels_x));
631 printk(KERN_ERR "failed to initialize the ring\n");
632 goto error_unreg_ring_funcs;
634 if (indio_dev->buffer) {
635 /* Set default scan mode */
636 iio_scan_mask_set(indio_dev->buffer, ADIS16260_SCAN_SUPPLY);
637 iio_scan_mask_set(indio_dev->buffer, ADIS16260_SCAN_GYRO);
638 iio_scan_mask_set(indio_dev->buffer, ADIS16260_SCAN_AUX_ADC);
639 iio_scan_mask_set(indio_dev->buffer, ADIS16260_SCAN_TEMP);
640 iio_scan_mask_set(indio_dev->buffer, ADIS16260_SCAN_ANGL);
643 ret = adis16260_probe_trigger(indio_dev);
645 goto error_uninitialize_ring;
648 /* Get the device into a sane initial state */
649 ret = adis16260_initial_setup(indio_dev);
651 goto error_remove_trigger;
652 ret = iio_device_register(indio_dev);
654 goto error_remove_trigger;
658 error_remove_trigger:
659 adis16260_remove_trigger(indio_dev);
660 error_uninitialize_ring:
661 iio_buffer_unregister(indio_dev);
662 error_unreg_ring_funcs:
663 adis16260_unconfigure_ring(indio_dev);
665 iio_free_device(indio_dev);
670 static int adis16260_remove(struct spi_device *spi)
673 struct iio_dev *indio_dev = spi_get_drvdata(spi);
675 iio_device_unregister(indio_dev);
677 ret = adis16260_stop_device(indio_dev);
681 flush_scheduled_work();
683 adis16260_remove_trigger(indio_dev);
684 iio_buffer_unregister(indio_dev);
685 adis16260_unconfigure_ring(indio_dev);
686 iio_free_device(indio_dev);
693 * These parts do not need to be differentiated until someone adds
694 * support for the on chip filtering.
696 static const struct spi_device_id adis16260_id[] = {
705 static struct spi_driver adis16260_driver = {
708 .owner = THIS_MODULE,
710 .probe = adis16260_probe,
711 .remove = __devexit_p(adis16260_remove),
712 .id_table = adis16260_id,
715 static __init int adis16260_init(void)
717 return spi_register_driver(&adis16260_driver);
719 module_init(adis16260_init);
721 static __exit void adis16260_exit(void)
723 spi_unregister_driver(&adis16260_driver);
725 module_exit(adis16260_exit);
727 MODULE_AUTHOR("Barry Song <21cnbao@gmail.com>");
728 MODULE_DESCRIPTION("Analog Devices ADIS16260/5 Digital Gyroscope Sensor");
729 MODULE_LICENSE("GPL v2");