2 * ADIS16209 Programmable Digital Vibration 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/gpio.h>
12 #include <linux/delay.h>
13 #include <linux/mutex.h>
14 #include <linux/device.h>
15 #include <linux/kernel.h>
16 #include <linux/spi/spi.h>
17 #include <linux/slab.h>
18 #include <linux/sysfs.h>
19 #include <linux/list.h>
23 #include "../ring_generic.h"
25 #include "inclinometer.h"
26 #include "../gyro/gyro.h"
27 #include "../adc/adc.h"
29 #include "adis16209.h"
31 #define DRIVER_NAME "adis16209"
33 static int adis16209_check_status(struct device *dev);
36 * adis16209_spi_write_reg_8() - write single byte to a register
37 * @dev: device associated with child of actual device (iio_dev or iio_trig)
38 * @reg_address: the address of the register to be written
39 * @val: the value to write
41 static int adis16209_spi_write_reg_8(struct device *dev,
46 struct iio_dev *indio_dev = dev_get_drvdata(dev);
47 struct adis16209_state *st = iio_dev_get_devdata(indio_dev);
49 mutex_lock(&st->buf_lock);
50 st->tx[0] = ADIS16209_WRITE_REG(reg_address);
53 ret = spi_write(st->us, st->tx, 2);
54 mutex_unlock(&st->buf_lock);
60 * adis16209_spi_write_reg_16() - write 2 bytes to a pair of registers
61 * @dev: device associated with child of actual device (iio_dev or iio_trig)
62 * @reg_address: the address of the lower of the two registers. Second register
63 * is assumed to have address one greater.
64 * @val: value to be written
66 static int adis16209_spi_write_reg_16(struct device *dev,
71 struct spi_message msg;
72 struct iio_dev *indio_dev = dev_get_drvdata(dev);
73 struct adis16209_state *st = iio_dev_get_devdata(indio_dev);
74 struct spi_transfer xfers[] = {
90 mutex_lock(&st->buf_lock);
91 st->tx[0] = ADIS16209_WRITE_REG(lower_reg_address);
92 st->tx[1] = value & 0xFF;
93 st->tx[2] = ADIS16209_WRITE_REG(lower_reg_address + 1);
94 st->tx[3] = (value >> 8) & 0xFF;
96 spi_message_init(&msg);
97 spi_message_add_tail(&xfers[0], &msg);
98 spi_message_add_tail(&xfers[1], &msg);
99 ret = spi_sync(st->us, &msg);
100 mutex_unlock(&st->buf_lock);
106 * adis16209_spi_read_reg_16() - read 2 bytes from a 16-bit register
107 * @dev: device associated with child of actual device (iio_dev or iio_trig)
108 * @reg_address: the address of the lower of the two registers. Second register
109 * is assumed to have address one greater.
110 * @val: somewhere to pass back the value read
112 static int adis16209_spi_read_reg_16(struct device *dev,
113 u8 lower_reg_address,
116 struct spi_message msg;
117 struct iio_dev *indio_dev = dev_get_drvdata(dev);
118 struct adis16209_state *st = iio_dev_get_devdata(indio_dev);
120 struct spi_transfer xfers[] = {
136 mutex_lock(&st->buf_lock);
137 st->tx[0] = ADIS16209_READ_REG(lower_reg_address);
140 spi_message_init(&msg);
141 spi_message_add_tail(&xfers[0], &msg);
142 spi_message_add_tail(&xfers[1], &msg);
143 ret = spi_sync(st->us, &msg);
145 dev_err(&st->us->dev,
146 "problem when reading 16 bit register 0x%02X",
150 *val = (st->rx[0] << 8) | st->rx[1];
153 mutex_unlock(&st->buf_lock);
157 static ssize_t adis16209_read_12bit_unsigned(struct device *dev,
158 struct device_attribute *attr,
163 struct iio_dev_attr *this_attr = to_iio_dev_attr(attr);
165 ret = adis16209_spi_read_reg_16(dev, this_attr->address, &val);
169 if (val & ADIS16209_ERROR_ACTIVE)
170 adis16209_check_status(dev);
172 return sprintf(buf, "%u\n", val & 0x0FFF);
175 static ssize_t adis16209_read_14bit_unsigned(struct device *dev,
176 struct device_attribute *attr,
181 struct iio_dev_attr *this_attr = to_iio_dev_attr(attr);
183 ret = adis16209_spi_read_reg_16(dev, this_attr->address, &val);
187 if (val & ADIS16209_ERROR_ACTIVE)
188 adis16209_check_status(dev);
190 return sprintf(buf, "%u\n", val & 0x3FFF);
193 static ssize_t adis16209_read_temp(struct device *dev,
194 struct device_attribute *attr,
197 struct iio_dev *indio_dev = dev_get_drvdata(dev);
201 /* Take the iio_dev status lock */
202 mutex_lock(&indio_dev->mlock);
204 ret = adis16209_spi_read_reg_16(dev, ADIS16209_TEMP_OUT, (u16 *)&val);
208 if (val & ADIS16209_ERROR_ACTIVE)
209 adis16209_check_status(dev);
212 ret = sprintf(buf, "%d\n", val);
215 mutex_unlock(&indio_dev->mlock);
219 static ssize_t adis16209_read_14bit_signed(struct device *dev,
220 struct device_attribute *attr,
223 struct iio_dev *indio_dev = dev_get_drvdata(dev);
224 struct iio_dev_attr *this_attr = to_iio_dev_attr(attr);
228 mutex_lock(&indio_dev->mlock);
230 ret = adis16209_spi_read_reg_16(dev, this_attr->address, (u16 *)&val);
232 if (val & ADIS16209_ERROR_ACTIVE)
233 adis16209_check_status(dev);
235 val = ((s16)(val << 2) >> 2);
236 ret = sprintf(buf, "%d\n", val);
239 mutex_unlock(&indio_dev->mlock);
244 static ssize_t adis16209_write_16bit(struct device *dev,
245 struct device_attribute *attr,
249 struct iio_dev_attr *this_attr = to_iio_dev_attr(attr);
253 ret = strict_strtol(buf, 10, &val);
256 ret = adis16209_spi_write_reg_16(dev, this_attr->address, val);
259 return ret ? ret : len;
262 static int adis16209_reset(struct device *dev)
265 ret = adis16209_spi_write_reg_8(dev,
267 ADIS16209_GLOB_CMD_SW_RESET);
269 dev_err(dev, "problem resetting device");
274 static ssize_t adis16209_write_reset(struct device *dev,
275 struct device_attribute *attr,
276 const char *buf, size_t len)
284 return adis16209_reset(dev);
289 int adis16209_set_irq(struct device *dev, bool enable)
294 ret = adis16209_spi_read_reg_16(dev, ADIS16209_MSC_CTRL, &msc);
298 msc |= ADIS16209_MSC_CTRL_ACTIVE_HIGH;
299 msc &= ~ADIS16209_MSC_CTRL_DATA_RDY_DIO2;
301 msc |= ADIS16209_MSC_CTRL_DATA_RDY_EN;
303 msc &= ~ADIS16209_MSC_CTRL_DATA_RDY_EN;
305 ret = adis16209_spi_write_reg_16(dev, ADIS16209_MSC_CTRL, msc);
311 static int adis16209_check_status(struct device *dev)
316 ret = adis16209_spi_read_reg_16(dev, ADIS16209_DIAG_STAT, &status);
318 dev_err(dev, "Reading status failed\n");
323 if (status & ADIS16209_DIAG_STAT_SELFTEST_FAIL)
324 dev_err(dev, "Self test failure\n");
325 if (status & ADIS16209_DIAG_STAT_SPI_FAIL)
326 dev_err(dev, "SPI failure\n");
327 if (status & ADIS16209_DIAG_STAT_FLASH_UPT)
328 dev_err(dev, "Flash update failed\n");
329 if (status & ADIS16209_DIAG_STAT_POWER_HIGH)
330 dev_err(dev, "Power supply above 3.625V\n");
331 if (status & ADIS16209_DIAG_STAT_POWER_LOW)
332 dev_err(dev, "Power supply below 3.15V\n");
338 static int adis16209_self_test(struct device *dev)
341 ret = adis16209_spi_write_reg_16(dev,
343 ADIS16209_MSC_CTRL_SELF_TEST_EN);
345 dev_err(dev, "problem starting self test");
349 adis16209_check_status(dev);
355 static int adis16209_initial_setup(struct adis16209_state *st)
358 struct device *dev = &st->indio_dev->dev;
361 ret = adis16209_set_irq(dev, false);
363 dev_err(dev, "disable irq failed");
368 ret = adis16209_self_test(dev);
370 dev_err(dev, "self test failure");
374 /* Read status register to check the result */
375 ret = adis16209_check_status(dev);
377 adis16209_reset(dev);
378 dev_err(dev, "device not playing ball -> reset");
379 msleep(ADIS16209_STARTUP_DELAY);
380 ret = adis16209_check_status(dev);
382 dev_err(dev, "giving up");
387 printk(KERN_INFO DRIVER_NAME ": at CS%d (irq %d)\n",
388 st->us->chip_select, st->us->irq);
394 static IIO_DEV_ATTR_IN_NAMED_RAW(0, supply, adis16209_read_14bit_unsigned,
395 ADIS16209_SUPPLY_OUT);
396 static IIO_CONST_ATTR_IN_NAMED_SCALE(0, supply, "0.30518");
397 static IIO_DEV_ATTR_IN_RAW(1, adis16209_read_12bit_unsigned,
399 static IIO_CONST_ATTR(in1_scale, "0.6105");
401 static IIO_DEV_ATTR_ACCEL_X(adis16209_read_14bit_signed,
402 ADIS16209_XACCL_OUT);
403 static IIO_DEV_ATTR_ACCEL_Y(adis16209_read_14bit_signed,
404 ADIS16209_YACCL_OUT);
405 static IIO_DEV_ATTR_ACCEL_X_CALIBBIAS(S_IWUSR | S_IRUGO,
406 adis16209_read_14bit_signed,
407 adis16209_write_16bit,
408 ADIS16209_XACCL_NULL);
409 static IIO_DEV_ATTR_ACCEL_Y_CALIBBIAS(S_IWUSR | S_IRUGO,
410 adis16209_read_14bit_signed,
411 adis16209_write_16bit,
412 ADIS16209_YACCL_NULL);
413 static IIO_CONST_ATTR_ACCEL_SCALE("0.002394195531");
415 static IIO_DEV_ATTR_INCLI_X(adis16209_read_14bit_signed,
416 ADIS16209_XINCL_OUT);
417 static IIO_DEV_ATTR_INCLI_Y(adis16209_read_14bit_signed,
418 ADIS16209_YINCL_OUT);
419 static IIO_CONST_ATTR(incli_scale, "0.00043633231");
421 static IIO_DEVICE_ATTR(rot_raw, S_IRUGO, adis16209_read_14bit_signed,
422 NULL, ADIS16209_ROT_OUT);
424 static IIO_DEV_ATTR_TEMP_RAW(adis16209_read_temp);
425 static IIO_CONST_ATTR_TEMP_OFFSET("25");
426 static IIO_CONST_ATTR_TEMP_SCALE("-0.47");
428 static IIO_DEVICE_ATTR(reset, S_IWUSR, NULL, adis16209_write_reset, 0);
430 static IIO_CONST_ATTR_NAME("adis16209");
432 static struct attribute *adis16209_event_attributes[] = {
436 static struct attribute_group adis16209_event_attribute_group = {
437 .attrs = adis16209_event_attributes,
440 static struct attribute *adis16209_attributes[] = {
441 &iio_dev_attr_in0_supply_raw.dev_attr.attr,
442 &iio_const_attr_in0_supply_scale.dev_attr.attr,
443 &iio_dev_attr_temp_raw.dev_attr.attr,
444 &iio_const_attr_temp_offset.dev_attr.attr,
445 &iio_const_attr_temp_scale.dev_attr.attr,
446 &iio_dev_attr_reset.dev_attr.attr,
447 &iio_const_attr_name.dev_attr.attr,
448 &iio_dev_attr_in1_raw.dev_attr.attr,
449 &iio_const_attr_in1_scale.dev_attr.attr,
450 &iio_dev_attr_accel_x_raw.dev_attr.attr,
451 &iio_dev_attr_accel_y_raw.dev_attr.attr,
452 &iio_dev_attr_accel_x_calibbias.dev_attr.attr,
453 &iio_dev_attr_accel_y_calibbias.dev_attr.attr,
454 &iio_const_attr_accel_scale.dev_attr.attr,
455 &iio_dev_attr_incli_x_raw.dev_attr.attr,
456 &iio_dev_attr_incli_y_raw.dev_attr.attr,
457 &iio_const_attr_incli_scale.dev_attr.attr,
458 &iio_dev_attr_rot_raw.dev_attr.attr,
462 static const struct attribute_group adis16209_attribute_group = {
463 .attrs = adis16209_attributes,
466 static int __devinit adis16209_probe(struct spi_device *spi)
468 int ret, regdone = 0;
469 struct adis16209_state *st = kzalloc(sizeof *st, GFP_KERNEL);
474 /* this is only used for removal purposes */
475 spi_set_drvdata(spi, st);
477 /* Allocate the comms buffers */
478 st->rx = kzalloc(sizeof(*st->rx)*ADIS16209_MAX_RX, GFP_KERNEL);
479 if (st->rx == NULL) {
483 st->tx = kzalloc(sizeof(*st->tx)*ADIS16209_MAX_TX, GFP_KERNEL);
484 if (st->tx == NULL) {
489 mutex_init(&st->buf_lock);
490 /* setup the industrialio driver allocated elements */
491 st->indio_dev = iio_allocate_device();
492 if (st->indio_dev == NULL) {
497 st->indio_dev->dev.parent = &spi->dev;
498 st->indio_dev->num_interrupt_lines = 1;
499 st->indio_dev->event_attrs = &adis16209_event_attribute_group;
500 st->indio_dev->attrs = &adis16209_attribute_group;
501 st->indio_dev->dev_data = (void *)(st);
502 st->indio_dev->driver_module = THIS_MODULE;
503 st->indio_dev->modes = INDIO_DIRECT_MODE;
505 ret = adis16209_configure_ring(st->indio_dev);
509 ret = iio_device_register(st->indio_dev);
511 goto error_unreg_ring_funcs;
514 ret = iio_ring_buffer_register(st->indio_dev->ring, 0);
516 printk(KERN_ERR "failed to initialize the ring\n");
517 goto error_unreg_ring_funcs;
521 ret = iio_register_interrupt_line(spi->irq,
527 goto error_uninitialize_ring;
529 ret = adis16209_probe_trigger(st->indio_dev);
531 goto error_unregister_line;
534 /* Get the device into a sane initial state */
535 ret = adis16209_initial_setup(st);
537 goto error_remove_trigger;
540 error_remove_trigger:
541 adis16209_remove_trigger(st->indio_dev);
542 error_unregister_line:
544 iio_unregister_interrupt_line(st->indio_dev, 0);
545 error_uninitialize_ring:
546 iio_ring_buffer_unregister(st->indio_dev->ring);
547 error_unreg_ring_funcs:
548 adis16209_unconfigure_ring(st->indio_dev);
551 iio_device_unregister(st->indio_dev);
553 iio_free_device(st->indio_dev);
564 static int adis16209_remove(struct spi_device *spi)
566 struct adis16209_state *st = spi_get_drvdata(spi);
567 struct iio_dev *indio_dev = st->indio_dev;
569 flush_scheduled_work();
571 adis16209_remove_trigger(indio_dev);
573 iio_unregister_interrupt_line(indio_dev, 0);
575 iio_ring_buffer_unregister(indio_dev->ring);
576 iio_device_unregister(indio_dev);
577 adis16209_unconfigure_ring(indio_dev);
585 static struct spi_driver adis16209_driver = {
588 .owner = THIS_MODULE,
590 .probe = adis16209_probe,
591 .remove = __devexit_p(adis16209_remove),
594 static __init int adis16209_init(void)
596 return spi_register_driver(&adis16209_driver);
598 module_init(adis16209_init);
600 static __exit void adis16209_exit(void)
602 spi_unregister_driver(&adis16209_driver);
604 module_exit(adis16209_exit);
606 MODULE_AUTHOR("Barry Song <21cnbao@gmail.com>");
607 MODULE_DESCRIPTION("Analog Devices ADIS16209 Digital Vibration Sensor driver");
608 MODULE_LICENSE("GPL v2");