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/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"
24 #include "../adc/adc.h"
27 #include "adis16260.h"
29 #define DRIVER_NAME "adis16260"
31 static int adis16260_check_status(struct device *dev);
34 * adis16260_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 adis16260_spi_write_reg_8(struct device *dev,
44 struct iio_dev *indio_dev = dev_get_drvdata(dev);
45 struct adis16260_state *st = iio_dev_get_devdata(indio_dev);
47 mutex_lock(&st->buf_lock);
48 st->tx[0] = ADIS16260_WRITE_REG(reg_address);
51 ret = spi_write(st->us, st->tx, 2);
52 mutex_unlock(&st->buf_lock);
58 * adis16260_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 adis16260_spi_write_reg_16(struct device *dev,
69 struct spi_message msg;
70 struct iio_dev *indio_dev = dev_get_drvdata(dev);
71 struct adis16260_state *st = iio_dev_get_devdata(indio_dev);
72 struct spi_transfer xfers[] = {
88 mutex_lock(&st->buf_lock);
89 st->tx[0] = ADIS16260_WRITE_REG(lower_reg_address);
90 st->tx[1] = value & 0xFF;
91 st->tx[2] = ADIS16260_WRITE_REG(lower_reg_address + 1);
92 st->tx[3] = (value >> 8) & 0xFF;
94 spi_message_init(&msg);
95 spi_message_add_tail(&xfers[0], &msg);
96 spi_message_add_tail(&xfers[1], &msg);
97 ret = spi_sync(st->us, &msg);
98 mutex_unlock(&st->buf_lock);
104 * adis16260_spi_read_reg_16() - read 2 bytes from a 16-bit register
105 * @dev: device associated with child of actual device (iio_dev or iio_trig)
106 * @reg_address: the address of the lower of the two registers. Second register
107 * is assumed to have address one greater.
108 * @val: somewhere to pass back the value read
110 static int adis16260_spi_read_reg_16(struct device *dev,
111 u8 lower_reg_address,
114 struct spi_message msg;
115 struct iio_dev *indio_dev = dev_get_drvdata(dev);
116 struct adis16260_state *st = iio_dev_get_devdata(indio_dev);
118 struct spi_transfer xfers[] = {
134 mutex_lock(&st->buf_lock);
135 st->tx[0] = ADIS16260_READ_REG(lower_reg_address);
138 spi_message_init(&msg);
139 spi_message_add_tail(&xfers[0], &msg);
140 spi_message_add_tail(&xfers[1], &msg);
141 ret = spi_sync(st->us, &msg);
143 dev_err(&st->us->dev,
144 "problem when reading 16 bit register 0x%02X",
148 *val = (st->rx[0] << 8) | st->rx[1];
151 mutex_unlock(&st->buf_lock);
155 static ssize_t adis16260_spi_read_signed(struct device *dev,
156 struct device_attribute *attr,
162 unsigned shift = 16 - bits;
163 struct iio_dev_attr *this_attr = to_iio_dev_attr(attr);
165 ret = adis16260_spi_read_reg_16(dev, this_attr->address, (u16 *)&val);
169 if (val & ADIS16260_ERROR_ACTIVE)
170 adis16260_check_status(dev);
171 val = ((s16)(val << shift) >> shift);
172 return sprintf(buf, "%d\n", val);
175 static ssize_t adis16260_read_12bit_unsigned(struct device *dev,
176 struct device_attribute *attr,
181 struct iio_dev_attr *this_attr = to_iio_dev_attr(attr);
183 ret = adis16260_spi_read_reg_16(dev, this_attr->address, &val);
187 if (val & ADIS16260_ERROR_ACTIVE)
188 adis16260_check_status(dev);
190 return sprintf(buf, "%u\n", val & 0x0FFF);
193 static ssize_t adis16260_read_12bit_signed(struct device *dev,
194 struct device_attribute *attr,
197 struct iio_dev *indio_dev = dev_get_drvdata(dev);
200 /* Take the iio_dev status lock */
201 mutex_lock(&indio_dev->mlock);
202 ret = adis16260_spi_read_signed(dev, attr, buf, 12);
203 mutex_unlock(&indio_dev->mlock);
208 static ssize_t adis16260_read_14bit_signed(struct device *dev,
209 struct device_attribute *attr,
212 struct iio_dev *indio_dev = dev_get_drvdata(dev);
215 /* Take the iio_dev status lock */
216 mutex_lock(&indio_dev->mlock);
217 ret = adis16260_spi_read_signed(dev, attr, buf, 14);
218 mutex_unlock(&indio_dev->mlock);
223 static ssize_t adis16260_write_16bit(struct device *dev,
224 struct device_attribute *attr,
228 struct iio_dev_attr *this_attr = to_iio_dev_attr(attr);
232 ret = strict_strtol(buf, 10, &val);
235 ret = adis16260_spi_write_reg_16(dev, this_attr->address, val);
238 return ret ? ret : len;
241 static ssize_t adis16260_read_frequency_available(struct device *dev,
242 struct device_attribute *attr,
245 struct iio_dev *indio_dev = dev_get_drvdata(dev);
246 struct adis16260_state *st = iio_dev_get_devdata(indio_dev);
247 if (spi_get_device_id(st->us)->driver_data)
248 return sprintf(buf, "%s\n", "0.129 ~ 256");
250 return sprintf(buf, "%s\n", "256 2048");
253 static ssize_t adis16260_read_frequency(struct device *dev,
254 struct device_attribute *attr,
257 struct iio_dev *indio_dev = dev_get_drvdata(dev);
258 struct adis16260_state *st = iio_dev_get_devdata(indio_dev);
262 ret = adis16260_spi_read_reg_16(dev,
268 if (spi_get_device_id(st->us)->driver_data) /* If an adis16251 */
269 sps = (t & ADIS16260_SMPL_PRD_TIME_BASE) ? 8 : 256;
271 sps = (t & ADIS16260_SMPL_PRD_TIME_BASE) ? 66 : 2048;
272 sps /= (t & ADIS16260_SMPL_PRD_DIV_MASK) + 1;
273 len = sprintf(buf, "%d SPS\n", sps);
277 static ssize_t adis16260_write_frequency(struct device *dev,
278 struct device_attribute *attr,
282 struct iio_dev *indio_dev = dev_get_drvdata(dev);
283 struct adis16260_state *st = iio_dev_get_devdata(indio_dev);
288 ret = strict_strtol(buf, 10, &val);
292 mutex_lock(&indio_dev->mlock);
293 if (spi_get_device_id(st->us)) {
297 t &= ADIS16260_SMPL_PRD_DIV_MASK;
302 t &= ADIS16260_SMPL_PRD_DIV_MASK;
304 if ((t & ADIS16260_SMPL_PRD_DIV_MASK) >= 0x0A)
305 st->us->max_speed_hz = ADIS16260_SPI_SLOW;
307 st->us->max_speed_hz = ADIS16260_SPI_FAST;
308 ret = adis16260_spi_write_reg_8(dev,
312 mutex_unlock(&indio_dev->mlock);
314 return ret ? ret : len;
317 static ssize_t adis16260_read_gyro_scale(struct device *dev,
318 struct device_attribute *attr,
321 struct iio_dev *indio_dev = dev_get_drvdata(dev);
322 struct adis16260_state *st = iio_dev_get_devdata(indio_dev);
326 ret = sprintf(buf, "-");
327 /* Take the iio_dev status lock */
328 if (spi_get_device_id(st->us)->driver_data)
329 ret += sprintf(buf + ret, "%s\n", "0.00031974432");
331 ret += sprintf(buf + ret, "%s\n", "0.00127862821");
336 static int adis16260_reset(struct device *dev)
339 ret = adis16260_spi_write_reg_8(dev,
341 ADIS16260_GLOB_CMD_SW_RESET);
343 dev_err(dev, "problem resetting device");
348 static ssize_t adis16260_write_reset(struct device *dev,
349 struct device_attribute *attr,
350 const char *buf, size_t len)
358 return adis16260_reset(dev);
363 int adis16260_set_irq(struct device *dev, bool enable)
367 ret = adis16260_spi_read_reg_16(dev, ADIS16260_MSC_CTRL, &msc);
371 msc |= ADIS16260_MSC_CTRL_DATA_RDY_POL_HIGH;
373 msc |= ADIS16260_MSC_CTRL_DATA_RDY_EN;
375 msc &= ~ADIS16260_MSC_CTRL_DATA_RDY_EN;
377 ret = adis16260_spi_write_reg_16(dev, ADIS16260_MSC_CTRL, msc);
385 /* Power down the device */
386 static int adis16260_stop_device(struct device *dev)
389 u16 val = ADIS16260_SLP_CNT_POWER_OFF;
391 ret = adis16260_spi_write_reg_16(dev, ADIS16260_SLP_CNT, val);
393 dev_err(dev, "problem with turning device off: SLP_CNT");
398 static int adis16260_self_test(struct device *dev)
401 ret = adis16260_spi_write_reg_16(dev,
403 ADIS16260_MSC_CTRL_MEM_TEST);
405 dev_err(dev, "problem starting self test");
409 adis16260_check_status(dev);
415 static int adis16260_check_status(struct device *dev)
420 ret = adis16260_spi_read_reg_16(dev, ADIS16260_DIAG_STAT, &status);
423 dev_err(dev, "Reading status failed\n");
427 if (status & ADIS16260_DIAG_STAT_FLASH_CHK)
428 dev_err(dev, "Flash checksum error\n");
429 if (status & ADIS16260_DIAG_STAT_SELF_TEST)
430 dev_err(dev, "Self test error\n");
431 if (status & ADIS16260_DIAG_STAT_OVERFLOW)
432 dev_err(dev, "Sensor overrange\n");
433 if (status & ADIS16260_DIAG_STAT_SPI_FAIL)
434 dev_err(dev, "SPI failure\n");
435 if (status & ADIS16260_DIAG_STAT_FLASH_UPT)
436 dev_err(dev, "Flash update failed\n");
437 if (status & ADIS16260_DIAG_STAT_POWER_HIGH)
438 dev_err(dev, "Power supply above 5.25V\n");
439 if (status & ADIS16260_DIAG_STAT_POWER_LOW)
440 dev_err(dev, "Power supply below 4.75V\n");
446 static int adis16260_initial_setup(struct adis16260_state *st)
449 struct device *dev = &st->indio_dev->dev;
452 ret = adis16260_set_irq(dev, false);
454 dev_err(dev, "disable irq failed");
459 ret = adis16260_self_test(dev);
461 dev_err(dev, "self test failure");
465 /* Read status register to check the result */
466 ret = adis16260_check_status(dev);
468 adis16260_reset(dev);
469 dev_err(dev, "device not playing ball -> reset");
470 msleep(ADIS16260_STARTUP_DELAY);
471 ret = adis16260_check_status(dev);
473 dev_err(dev, "giving up");
478 printk(KERN_INFO DRIVER_NAME ": at CS%d (irq %d)\n",
479 st->us->chip_select, st->us->irq);
485 static IIO_DEV_ATTR_IN_NAMED_RAW(0, supply,
486 adis16260_read_12bit_unsigned,
487 ADIS16260_SUPPLY_OUT);
488 static IIO_CONST_ATTR_IN_NAMED_SCALE(0, supply, "0.0018315");
490 static IIO_DEV_ATTR_TEMP_RAW(adis16260_read_12bit_unsigned);
491 static IIO_CONST_ATTR_TEMP_OFFSET("25");
492 static IIO_CONST_ATTR_TEMP_SCALE("0.1453");
494 static IIO_DEV_ATTR_IN_RAW(1, adis16260_read_12bit_unsigned,
496 static IIO_CONST_ATTR(in1_scale, "0.0006105");
498 static IIO_DEV_ATTR_SAMP_FREQ(S_IWUSR | S_IRUGO,
499 adis16260_read_frequency,
500 adis16260_write_frequency);
502 static IIO_DEVICE_ATTR(reset, S_IWUSR, NULL, adis16260_write_reset, 0);
505 static IIO_DEVICE_ATTR(sampling_frequency_available,
506 S_IRUGO, adis16260_read_frequency_available, NULL, 0);
508 static IIO_CONST_ATTR_NAME("adis16260");
510 static struct attribute *adis16260_event_attributes[] = {
514 static struct attribute_group adis16260_event_attribute_group = {
515 .attrs = adis16260_event_attributes,
518 #define ADIS16260_GYRO_ATTR_SET(axis) \
519 IIO_DEV_ATTR_GYRO##axis(adis16260_read_14bit_signed, \
520 ADIS16260_GYRO_OUT); \
521 static IIO_DEV_ATTR_GYRO##axis##_SCALE(S_IRUGO, \
522 adis16260_read_gyro_scale, \
525 static IIO_DEV_ATTR_GYRO##axis##_CALIBSCALE(S_IRUGO | S_IWUSR, \
526 adis16260_read_12bit_unsigned, \
527 adis16260_write_16bit, \
528 ADIS16260_GYRO_SCALE); \
529 static IIO_DEV_ATTR_GYRO##axis##_CALIBBIAS(S_IWUSR | S_IRUGO, \
530 adis16260_read_12bit_signed, \
531 adis16260_write_16bit, \
532 ADIS16260_GYRO_OFF); \
533 static IIO_DEV_ATTR_ANGL##axis(adis16260_read_14bit_signed, \
536 static ADIS16260_GYRO_ATTR_SET();
537 static ADIS16260_GYRO_ATTR_SET(_X);
538 static ADIS16260_GYRO_ATTR_SET(_Y);
539 static ADIS16260_GYRO_ATTR_SET(_Z);
541 #define ADIS16260_ATTR_GROUP(axis) \
542 struct attribute *adis16260_attributes##axis[] = { \
543 &iio_dev_attr_in0_supply_raw.dev_attr.attr, \
544 &iio_const_attr_in0_supply_scale.dev_attr.attr, \
545 &iio_dev_attr_gyro##axis##_raw.dev_attr.attr, \
546 &iio_dev_attr_gyro##axis##_scale.dev_attr.attr, \
547 &iio_dev_attr_gyro##axis##_calibscale.dev_attr.attr, \
548 &iio_dev_attr_gyro##axis##_calibbias.dev_attr.attr, \
549 &iio_dev_attr_angl##axis##_raw.dev_attr.attr, \
550 &iio_dev_attr_temp_raw.dev_attr.attr, \
551 &iio_const_attr_temp_offset.dev_attr.attr, \
552 &iio_const_attr_temp_scale.dev_attr.attr, \
553 &iio_dev_attr_in1_raw.dev_attr.attr, \
554 &iio_const_attr_in1_scale.dev_attr.attr, \
555 &iio_dev_attr_sampling_frequency.dev_attr.attr, \
556 &iio_dev_attr_sampling_frequency_available.dev_attr.attr, \
557 &iio_dev_attr_reset.dev_attr.attr, \
558 &iio_const_attr_name.dev_attr.attr, \
561 static const struct attribute_group adis16260_attribute_group##axis \
563 .attrs = adis16260_attributes##axis, \
566 static ADIS16260_ATTR_GROUP();
567 static ADIS16260_ATTR_GROUP(_x);
568 static ADIS16260_ATTR_GROUP(_y);
569 static ADIS16260_ATTR_GROUP(_z);
571 static int __devinit adis16260_probe(struct spi_device *spi)
573 int ret, regdone = 0;
574 struct adis16260_platform_data *pd = spi->dev.platform_data;
575 struct adis16260_state *st = kzalloc(sizeof *st, GFP_KERNEL);
581 st->negate = pd->negate;
582 /* this is only used for removal purposes */
583 spi_set_drvdata(spi, st);
585 /* Allocate the comms buffers */
586 st->rx = kzalloc(sizeof(*st->rx)*ADIS16260_MAX_RX, GFP_KERNEL);
587 if (st->rx == NULL) {
591 st->tx = kzalloc(sizeof(*st->tx)*ADIS16260_MAX_TX, GFP_KERNEL);
592 if (st->tx == NULL) {
597 mutex_init(&st->buf_lock);
598 /* setup the industrialio driver allocated elements */
599 st->indio_dev = iio_allocate_device();
600 if (st->indio_dev == NULL) {
605 st->indio_dev->dev.parent = &spi->dev;
606 st->indio_dev->num_interrupt_lines = 1;
607 st->indio_dev->event_attrs = &adis16260_event_attribute_group;
608 if (pd && pd->direction)
609 switch (pd->direction) {
611 st->indio_dev->attrs = &adis16260_attribute_group_x;
614 st->indio_dev->attrs = &adis16260_attribute_group_y;
617 st->indio_dev->attrs = &adis16260_attribute_group_z;
620 st->indio_dev->attrs = &adis16260_attribute_group;
624 st->indio_dev->attrs = &adis16260_attribute_group;
626 st->indio_dev->dev_data = (void *)(st);
627 st->indio_dev->driver_module = THIS_MODULE;
628 st->indio_dev->modes = INDIO_DIRECT_MODE;
630 ret = adis16260_configure_ring(st->indio_dev);
634 ret = iio_device_register(st->indio_dev);
636 goto error_unreg_ring_funcs;
638 ret = iio_ring_buffer_register(st->indio_dev->ring, 0);
640 printk(KERN_ERR "failed to initialize the ring\n");
641 goto error_unreg_ring_funcs;
645 ret = iio_register_interrupt_line(spi->irq,
651 goto error_uninitialize_ring;
653 ret = adis16260_probe_trigger(st->indio_dev);
655 goto error_unregister_line;
658 /* Get the device into a sane initial state */
659 ret = adis16260_initial_setup(st);
661 goto error_remove_trigger;
664 error_remove_trigger:
665 adis16260_remove_trigger(st->indio_dev);
666 error_unregister_line:
668 iio_unregister_interrupt_line(st->indio_dev, 0);
669 error_uninitialize_ring:
670 iio_ring_buffer_unregister(st->indio_dev->ring);
671 error_unreg_ring_funcs:
672 adis16260_unconfigure_ring(st->indio_dev);
675 iio_device_unregister(st->indio_dev);
677 iio_free_device(st->indio_dev);
688 static int adis16260_remove(struct spi_device *spi)
691 struct adis16260_state *st = spi_get_drvdata(spi);
692 struct iio_dev *indio_dev = st->indio_dev;
694 ret = adis16260_stop_device(&(indio_dev->dev));
698 flush_scheduled_work();
700 adis16260_remove_trigger(indio_dev);
702 iio_unregister_interrupt_line(indio_dev, 0);
704 iio_ring_buffer_unregister(st->indio_dev->ring);
705 iio_device_unregister(indio_dev);
706 adis16260_unconfigure_ring(indio_dev);
716 * These parts do not need to be differentiated until someone adds
717 * support for the on chip filtering.
719 static const struct spi_device_id adis16260_id[] = {
728 static struct spi_driver adis16260_driver = {
731 .owner = THIS_MODULE,
733 .probe = adis16260_probe,
734 .remove = __devexit_p(adis16260_remove),
735 .id_table = adis16260_id,
738 static __init int adis16260_init(void)
740 return spi_register_driver(&adis16260_driver);
742 module_init(adis16260_init);
744 static __exit void adis16260_exit(void)
746 spi_unregister_driver(&adis16260_driver);
748 module_exit(adis16260_exit);
750 MODULE_AUTHOR("Barry Song <21cnbao@gmail.com>");
751 MODULE_DESCRIPTION("Analog Devices ADIS16260/5 Digital Gyroscope Sensor");
752 MODULE_LICENSE("GPL v2");