2 * ADIS16204 Programmable High-g Digital Impact Sensor and Recorder
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>
24 #include "../gyro/gyro.h"
25 #include "../adc/adc.h"
27 #include "adis16204.h"
29 #define DRIVER_NAME "adis16204"
31 static int adis16204_check_status(struct device *dev);
34 * adis16204_spi_write_reg_8() - write single byte to a register
35 * @dev: device associated with child of actual device (iio_dev or iio_trig)
36 * @reg_address: the address of the register to be written
37 * @val: the value to write
39 static int adis16204_spi_write_reg_8(struct device *dev,
44 struct iio_dev *indio_dev = dev_get_drvdata(dev);
45 struct adis16204_state *st = iio_dev_get_devdata(indio_dev);
47 mutex_lock(&st->buf_lock);
48 st->tx[0] = ADIS16204_WRITE_REG(reg_address);
51 ret = spi_write(st->us, st->tx, 2);
52 mutex_unlock(&st->buf_lock);
58 * adis16204_spi_write_reg_16() - write 2 bytes to a pair of registers
59 * @dev: device associated with child of actual device (iio_dev or iio_trig)
60 * @reg_address: the address of the lower of the two registers. Second register
61 * is assumed to have address one greater.
62 * @val: value to be written
64 static int adis16204_spi_write_reg_16(struct device *dev,
69 struct spi_message msg;
70 struct iio_dev *indio_dev = dev_get_drvdata(dev);
71 struct adis16204_state *st = iio_dev_get_devdata(indio_dev);
72 struct spi_transfer xfers[] = {
86 mutex_lock(&st->buf_lock);
87 st->tx[0] = ADIS16204_WRITE_REG(lower_reg_address);
88 st->tx[1] = value & 0xFF;
89 st->tx[2] = ADIS16204_WRITE_REG(lower_reg_address + 1);
90 st->tx[3] = (value >> 8) & 0xFF;
92 spi_message_init(&msg);
93 spi_message_add_tail(&xfers[0], &msg);
94 spi_message_add_tail(&xfers[1], &msg);
95 ret = spi_sync(st->us, &msg);
96 mutex_unlock(&st->buf_lock);
102 * adis16204_spi_read_reg_16() - read 2 bytes from a 16-bit register
103 * @dev: device associated with child of actual device (iio_dev or iio_trig)
104 * @reg_address: the address of the lower of the two registers. Second register
105 * is assumed to have address one greater.
106 * @val: somewhere to pass back the value read
108 static int adis16204_spi_read_reg_16(struct device *dev,
109 u8 lower_reg_address,
112 struct spi_message msg;
113 struct iio_dev *indio_dev = dev_get_drvdata(dev);
114 struct adis16204_state *st = iio_dev_get_devdata(indio_dev);
116 struct spi_transfer xfers[] = {
132 mutex_lock(&st->buf_lock);
133 st->tx[0] = ADIS16204_READ_REG(lower_reg_address);
136 spi_message_init(&msg);
137 spi_message_add_tail(&xfers[0], &msg);
138 spi_message_add_tail(&xfers[1], &msg);
139 ret = spi_sync(st->us, &msg);
141 dev_err(&st->us->dev, "problem when reading 16 bit register 0x%02X",
145 *val = (st->rx[0] << 8) | st->rx[1];
148 mutex_unlock(&st->buf_lock);
152 static ssize_t adis16204_read_12bit_unsigned(struct device *dev,
153 struct device_attribute *attr,
158 struct iio_dev_attr *this_attr = to_iio_dev_attr(attr);
160 ret = adis16204_spi_read_reg_16(dev, this_attr->address, &val);
164 if (val & ADIS16204_ERROR_ACTIVE)
165 adis16204_check_status(dev);
167 return sprintf(buf, "%u\n", val & 0x0FFF);
170 static ssize_t adis16204_read_temp(struct device *dev,
171 struct device_attribute *attr,
174 struct iio_dev *indio_dev = dev_get_drvdata(dev);
178 /* Take the iio_dev status lock */
179 mutex_lock(&indio_dev->mlock);
181 ret = adis16204_spi_read_reg_16(dev, ADIS16204_TEMP_OUT, (u16 *)&val);
185 if (val & ADIS16204_ERROR_ACTIVE)
186 adis16204_check_status(dev);
189 ret = sprintf(buf, "%d\n", val);
192 mutex_unlock(&indio_dev->mlock);
196 static ssize_t adis16204_read_12bit_signed(struct device *dev,
197 struct device_attribute *attr,
200 struct iio_dev *indio_dev = dev_get_drvdata(dev);
201 struct iio_dev_attr *this_attr = to_iio_dev_attr(attr);
205 mutex_lock(&indio_dev->mlock);
207 ret = adis16204_spi_read_reg_16(dev, this_attr->address, (u16 *)&val);
209 if (val & ADIS16204_ERROR_ACTIVE)
210 adis16204_check_status(dev);
212 val = ((s16)(val << 4) >> 4);
213 ret = sprintf(buf, "%d\n", val);
216 mutex_unlock(&indio_dev->mlock);
221 static ssize_t adis16204_read_14bit_signed(struct device *dev,
222 struct device_attribute *attr,
225 struct iio_dev *indio_dev = dev_get_drvdata(dev);
226 struct iio_dev_attr *this_attr = to_iio_dev_attr(attr);
230 mutex_lock(&indio_dev->mlock);
232 ret = adis16204_spi_read_reg_16(dev, this_attr->address, (u16 *)&val);
234 if (val & ADIS16204_ERROR_ACTIVE)
235 adis16204_check_status(dev);
237 val = ((s16)(val << 2) >> 2);
238 ret = sprintf(buf, "%d\n", val);
241 mutex_unlock(&indio_dev->mlock);
246 static ssize_t adis16204_write_16bit(struct device *dev,
247 struct device_attribute *attr,
251 struct iio_dev_attr *this_attr = to_iio_dev_attr(attr);
255 ret = strict_strtol(buf, 10, &val);
258 ret = adis16204_spi_write_reg_16(dev, this_attr->address, val);
261 return ret ? ret : len;
264 static int adis16204_reset(struct device *dev)
267 ret = adis16204_spi_write_reg_8(dev,
269 ADIS16204_GLOB_CMD_SW_RESET);
271 dev_err(dev, "problem resetting device");
276 static ssize_t adis16204_write_reset(struct device *dev,
277 struct device_attribute *attr,
278 const char *buf, size_t len)
286 return adis16204_reset(dev);
291 int adis16204_set_irq(struct device *dev, bool enable)
296 ret = adis16204_spi_read_reg_16(dev, ADIS16204_MSC_CTRL, &msc);
300 msc |= ADIS16204_MSC_CTRL_ACTIVE_HIGH;
301 msc &= ~ADIS16204_MSC_CTRL_DATA_RDY_DIO2;
303 msc |= ADIS16204_MSC_CTRL_DATA_RDY_EN;
305 msc &= ~ADIS16204_MSC_CTRL_DATA_RDY_EN;
307 ret = adis16204_spi_write_reg_16(dev, ADIS16204_MSC_CTRL, msc);
313 static int adis16204_check_status(struct device *dev)
318 ret = adis16204_spi_read_reg_16(dev, ADIS16204_DIAG_STAT, &status);
320 dev_err(dev, "Reading status failed\n");
325 if (status & ADIS16204_DIAG_STAT_SELFTEST_FAIL)
326 dev_err(dev, "Self test failure\n");
327 if (status & ADIS16204_DIAG_STAT_SPI_FAIL)
328 dev_err(dev, "SPI failure\n");
329 if (status & ADIS16204_DIAG_STAT_FLASH_UPT)
330 dev_err(dev, "Flash update failed\n");
331 if (status & ADIS16204_DIAG_STAT_POWER_HIGH)
332 dev_err(dev, "Power supply above 3.625V\n");
333 if (status & ADIS16204_DIAG_STAT_POWER_LOW)
334 dev_err(dev, "Power supply below 2.975V\n");
340 static int adis16204_self_test(struct device *dev)
343 ret = adis16204_spi_write_reg_16(dev,
345 ADIS16204_MSC_CTRL_SELF_TEST_EN);
347 dev_err(dev, "problem starting self test");
351 adis16204_check_status(dev);
357 static int adis16204_initial_setup(struct adis16204_state *st)
360 struct device *dev = &st->indio_dev->dev;
363 ret = adis16204_set_irq(dev, false);
365 dev_err(dev, "disable irq failed");
370 ret = adis16204_self_test(dev);
372 dev_err(dev, "self test failure");
376 /* Read status register to check the result */
377 ret = adis16204_check_status(dev);
379 adis16204_reset(dev);
380 dev_err(dev, "device not playing ball -> reset");
381 msleep(ADIS16204_STARTUP_DELAY);
382 ret = adis16204_check_status(dev);
384 dev_err(dev, "giving up");
389 printk(KERN_INFO DRIVER_NAME ": at CS%d (irq %d)\n",
390 st->us->chip_select, st->us->irq);
396 static IIO_DEV_ATTR_IN_NAMED_RAW(0, supply, adis16204_read_12bit_unsigned,
397 ADIS16204_SUPPLY_OUT);
398 static IIO_CONST_ATTR(in0_supply_scale, "0.00122");
399 static IIO_DEV_ATTR_IN_RAW(1, adis16204_read_12bit_unsigned,
401 static IIO_CONST_ATTR(in1_scale, "0.00061");
403 static IIO_DEV_ATTR_ACCEL_X(adis16204_read_14bit_signed,
404 ADIS16204_XACCL_OUT);
405 static IIO_DEV_ATTR_ACCEL_Y(adis16204_read_14bit_signed,
406 ADIS16204_YACCL_OUT);
407 static IIO_DEV_ATTR_ACCEL_XY(adis16204_read_14bit_signed,
408 ADIS16204_XY_RSS_OUT);
409 static IIO_DEV_ATTR_ACCEL_XPEAK(adis16204_read_14bit_signed,
410 ADIS16204_X_PEAK_OUT);
411 static IIO_DEV_ATTR_ACCEL_YPEAK(adis16204_read_14bit_signed,
412 ADIS16204_Y_PEAK_OUT);
413 static IIO_DEV_ATTR_ACCEL_XYPEAK(adis16204_read_14bit_signed,
414 ADIS16204_XY_PEAK_OUT);
415 static IIO_DEV_ATTR_ACCEL_X_OFFSET(S_IWUSR | S_IRUGO,
416 adis16204_read_12bit_signed,
417 adis16204_write_16bit,
418 ADIS16204_XACCL_NULL);
419 static IIO_DEV_ATTR_ACCEL_Y_OFFSET(S_IWUSR | S_IRUGO,
420 adis16204_read_12bit_signed,
421 adis16204_write_16bit,
422 ADIS16204_YACCL_NULL);
423 static IIO_CONST_ATTR(accel_x_scale, "0.017125");
424 static IIO_CONST_ATTR(accel_y_scale, "0.008407");
425 static IIO_CONST_ATTR(accel_xy_scale, "0.017125");
427 static IIO_DEV_ATTR_TEMP_RAW(adis16204_read_temp);
428 static IIO_CONST_ATTR(temp_offset, "25");
429 static IIO_CONST_ATTR(temp_scale, "-0.47");
431 static IIO_DEVICE_ATTR(reset, S_IWUSR, NULL, adis16204_write_reset, 0);
433 static IIO_CONST_ATTR(name, "adis16204");
435 static struct attribute *adis16204_event_attributes[] = {
439 static struct attribute_group adis16204_event_attribute_group = {
440 .attrs = adis16204_event_attributes,
443 static struct attribute *adis16204_attributes[] = {
444 &iio_dev_attr_in0_supply_raw.dev_attr.attr,
445 &iio_const_attr_in0_supply_scale.dev_attr.attr,
446 &iio_dev_attr_temp_raw.dev_attr.attr,
447 &iio_const_attr_temp_offset.dev_attr.attr,
448 &iio_const_attr_temp_scale.dev_attr.attr,
449 &iio_dev_attr_reset.dev_attr.attr,
450 &iio_const_attr_name.dev_attr.attr,
451 &iio_dev_attr_in1_raw.dev_attr.attr,
452 &iio_const_attr_in1_scale.dev_attr.attr,
453 &iio_dev_attr_accel_x_raw.dev_attr.attr,
454 &iio_dev_attr_accel_y_raw.dev_attr.attr,
455 &iio_dev_attr_accel_xy.dev_attr.attr,
456 &iio_dev_attr_accel_xpeak.dev_attr.attr,
457 &iio_dev_attr_accel_ypeak.dev_attr.attr,
458 &iio_dev_attr_accel_xypeak.dev_attr.attr,
459 &iio_dev_attr_accel_x_offset.dev_attr.attr,
460 &iio_dev_attr_accel_y_offset.dev_attr.attr,
461 &iio_const_attr_accel_x_scale.dev_attr.attr,
462 &iio_const_attr_accel_y_scale.dev_attr.attr,
463 &iio_const_attr_accel_xy_scale.dev_attr.attr,
467 static const struct attribute_group adis16204_attribute_group = {
468 .attrs = adis16204_attributes,
471 static int __devinit adis16204_probe(struct spi_device *spi)
473 int ret, regdone = 0;
474 struct adis16204_state *st = kzalloc(sizeof *st, GFP_KERNEL);
479 /* this is only used for removal purposes */
480 spi_set_drvdata(spi, st);
482 /* Allocate the comms buffers */
483 st->rx = kzalloc(sizeof(*st->rx)*ADIS16204_MAX_RX, GFP_KERNEL);
484 if (st->rx == NULL) {
488 st->tx = kzalloc(sizeof(*st->tx)*ADIS16204_MAX_TX, GFP_KERNEL);
489 if (st->tx == NULL) {
494 mutex_init(&st->buf_lock);
495 /* setup the industrialio driver allocated elements */
496 st->indio_dev = iio_allocate_device();
497 if (st->indio_dev == NULL) {
502 st->indio_dev->dev.parent = &spi->dev;
503 st->indio_dev->num_interrupt_lines = 1;
504 st->indio_dev->event_attrs = &adis16204_event_attribute_group;
505 st->indio_dev->attrs = &adis16204_attribute_group;
506 st->indio_dev->dev_data = (void *)(st);
507 st->indio_dev->driver_module = THIS_MODULE;
508 st->indio_dev->modes = INDIO_DIRECT_MODE;
510 ret = adis16204_configure_ring(st->indio_dev);
514 ret = iio_device_register(st->indio_dev);
516 goto error_unreg_ring_funcs;
519 ret = adis16204_initialize_ring(st->indio_dev->ring);
521 printk(KERN_ERR "failed to initialize the ring\n");
522 goto error_unreg_ring_funcs;
526 ret = iio_register_interrupt_line(spi->irq,
532 goto error_uninitialize_ring;
534 ret = adis16204_probe_trigger(st->indio_dev);
536 goto error_unregister_line;
539 /* Get the device into a sane initial state */
540 ret = adis16204_initial_setup(st);
542 goto error_remove_trigger;
545 error_remove_trigger:
546 adis16204_remove_trigger(st->indio_dev);
547 error_unregister_line:
549 iio_unregister_interrupt_line(st->indio_dev, 0);
550 error_uninitialize_ring:
551 adis16204_uninitialize_ring(st->indio_dev->ring);
552 error_unreg_ring_funcs:
553 adis16204_unconfigure_ring(st->indio_dev);
556 iio_device_unregister(st->indio_dev);
558 iio_free_device(st->indio_dev);
569 static int adis16204_remove(struct spi_device *spi)
571 struct adis16204_state *st = spi_get_drvdata(spi);
572 struct iio_dev *indio_dev = st->indio_dev;
574 flush_scheduled_work();
576 adis16204_remove_trigger(indio_dev);
578 iio_unregister_interrupt_line(indio_dev, 0);
580 adis16204_uninitialize_ring(indio_dev->ring);
581 iio_device_unregister(indio_dev);
582 adis16204_unconfigure_ring(indio_dev);
590 static struct spi_driver adis16204_driver = {
593 .owner = THIS_MODULE,
595 .probe = adis16204_probe,
596 .remove = __devexit_p(adis16204_remove),
599 static __init int adis16204_init(void)
601 return spi_register_driver(&adis16204_driver);
603 module_init(adis16204_init);
605 static __exit void adis16204_exit(void)
607 spi_unregister_driver(&adis16204_driver);
609 module_exit(adis16204_exit);
611 MODULE_AUTHOR("Barry Song <21cnbao@gmail.com>");
612 MODULE_DESCRIPTION("Analog Devices ADIS16204 Programmable High-g Digital Impact Sensor and Recorder");
613 MODULE_LICENSE("GPL v2");