2 * ADIS16260 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);
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 adis16260_spi_read_signed(struct device *dev,
158 struct device_attribute *attr,
164 unsigned shift = 16 - bits;
165 struct iio_dev_attr *this_attr = to_iio_dev_attr(attr);
167 ret = adis16260_spi_read_reg_16(dev, this_attr->address, (u16 *)&val);
171 if (val & ADIS16260_ERROR_ACTIVE)
172 adis16260_check_status(dev);
173 val = ((s16)(val << shift) >> shift);
174 return sprintf(buf, "%d\n", val);
177 static ssize_t adis16260_read_12bit_unsigned(struct device *dev,
178 struct device_attribute *attr,
183 struct iio_dev_attr *this_attr = to_iio_dev_attr(attr);
185 ret = adis16260_spi_read_reg_16(dev, this_attr->address, &val);
189 if (val & ADIS16260_ERROR_ACTIVE)
190 adis16260_check_status(dev);
192 return sprintf(buf, "%u\n", val & 0x0FFF);
195 static ssize_t adis16260_read_12bit_signed(struct device *dev,
196 struct device_attribute *attr,
199 struct iio_dev *indio_dev = dev_get_drvdata(dev);
202 /* Take the iio_dev status lock */
203 mutex_lock(&indio_dev->mlock);
204 ret = adis16260_spi_read_signed(dev, attr, buf, 12);
205 mutex_unlock(&indio_dev->mlock);
210 static ssize_t adis16260_read_14bit_signed(struct device *dev,
211 struct device_attribute *attr,
214 struct iio_dev *indio_dev = dev_get_drvdata(dev);
217 /* Take the iio_dev status lock */
218 mutex_lock(&indio_dev->mlock);
219 ret = adis16260_spi_read_signed(dev, attr, buf, 14);
220 mutex_unlock(&indio_dev->mlock);
225 static ssize_t adis16260_write_16bit(struct device *dev,
226 struct device_attribute *attr,
230 struct iio_dev_attr *this_attr = to_iio_dev_attr(attr);
234 ret = strict_strtol(buf, 10, &val);
237 ret = adis16260_spi_write_reg_16(dev, this_attr->address, val);
240 return ret ? ret : len;
243 static ssize_t adis16260_read_frequency(struct device *dev,
244 struct device_attribute *attr,
250 ret = adis16260_spi_read_reg_16(dev,
255 sps = (t & ADIS16260_SMPL_PRD_TIME_BASE) ? 66 : 2048;
256 sps /= (t & ADIS16260_SMPL_PRD_DIV_MASK) + 1;
257 len = sprintf(buf, "%d SPS\n", sps);
261 static ssize_t adis16260_write_frequency(struct device *dev,
262 struct device_attribute *attr,
266 struct iio_dev *indio_dev = dev_get_drvdata(dev);
267 struct adis16260_state *st = iio_dev_get_devdata(indio_dev);
272 ret = strict_strtol(buf, 10, &val);
276 mutex_lock(&indio_dev->mlock);
281 t &= ADIS16260_SMPL_PRD_DIV_MASK;
282 if ((t & ADIS16260_SMPL_PRD_DIV_MASK) >= 0x0A)
283 st->us->max_speed_hz = ADIS16260_SPI_SLOW;
285 st->us->max_speed_hz = ADIS16260_SPI_FAST;
287 ret = adis16260_spi_write_reg_8(dev,
291 mutex_unlock(&indio_dev->mlock);
293 return ret ? ret : len;
296 static int adis16260_reset(struct device *dev)
299 ret = adis16260_spi_write_reg_8(dev,
301 ADIS16260_GLOB_CMD_SW_RESET);
303 dev_err(dev, "problem resetting device");
308 static ssize_t adis16260_write_reset(struct device *dev,
309 struct device_attribute *attr,
310 const char *buf, size_t len)
318 return adis16260_reset(dev);
323 int adis16260_set_irq(struct device *dev, bool enable)
327 ret = adis16260_spi_read_reg_16(dev, ADIS16260_MSC_CTRL, &msc);
331 msc |= ADIS16260_MSC_CTRL_DATA_RDY_POL_HIGH;
333 msc |= ADIS16260_MSC_CTRL_DATA_RDY_EN;
335 msc &= ~ADIS16260_MSC_CTRL_DATA_RDY_EN;
337 ret = adis16260_spi_write_reg_16(dev, ADIS16260_MSC_CTRL, msc);
345 /* Power down the device */
346 static int adis16260_stop_device(struct device *dev)
349 u16 val = ADIS16260_SLP_CNT_POWER_OFF;
351 ret = adis16260_spi_write_reg_16(dev, ADIS16260_SLP_CNT, val);
353 dev_err(dev, "problem with turning device off: SLP_CNT");
358 static int adis16260_self_test(struct device *dev)
361 ret = adis16260_spi_write_reg_16(dev,
363 ADIS16260_MSC_CTRL_MEM_TEST);
365 dev_err(dev, "problem starting self test");
369 adis16260_check_status(dev);
375 static int adis16260_check_status(struct device *dev)
380 ret = adis16260_spi_read_reg_16(dev, ADIS16260_DIAG_STAT, &status);
383 dev_err(dev, "Reading status failed\n");
387 if (status & ADIS16260_DIAG_STAT_FLASH_CHK)
388 dev_err(dev, "Flash checksum error\n");
389 if (status & ADIS16260_DIAG_STAT_SELF_TEST)
390 dev_err(dev, "Self test error\n");
391 if (status & ADIS16260_DIAG_STAT_OVERFLOW)
392 dev_err(dev, "Sensor overrange\n");
393 if (status & ADIS16260_DIAG_STAT_SPI_FAIL)
394 dev_err(dev, "SPI failure\n");
395 if (status & ADIS16260_DIAG_STAT_FLASH_UPT)
396 dev_err(dev, "Flash update failed\n");
397 if (status & ADIS16260_DIAG_STAT_POWER_HIGH)
398 dev_err(dev, "Power supply above 5.25V\n");
399 if (status & ADIS16260_DIAG_STAT_POWER_LOW)
400 dev_err(dev, "Power supply below 4.75V\n");
406 static int adis16260_initial_setup(struct adis16260_state *st)
409 struct device *dev = &st->indio_dev->dev;
412 ret = adis16260_set_irq(dev, false);
414 dev_err(dev, "disable irq failed");
419 ret = adis16260_self_test(dev);
421 dev_err(dev, "self test failure");
425 /* Read status register to check the result */
426 ret = adis16260_check_status(dev);
428 adis16260_reset(dev);
429 dev_err(dev, "device not playing ball -> reset");
430 msleep(ADIS16260_STARTUP_DELAY);
431 ret = adis16260_check_status(dev);
433 dev_err(dev, "giving up");
438 printk(KERN_INFO DRIVER_NAME ": at CS%d (irq %d)\n",
439 st->us->chip_select, st->us->irq);
445 static IIO_DEV_ATTR_IN_NAMED_RAW(0, supply,
446 adis16260_read_12bit_unsigned,
447 ADIS16260_SUPPLY_OUT);
448 static IIO_CONST_ATTR_IN_NAMED_SCALE(0, supply, "0.0018315");
450 static IIO_DEV_ATTR_GYRO(adis16260_read_14bit_signed,
452 static IIO_CONST_ATTR_GYRO_SCALE("0.00127862821");
453 static IIO_DEV_ATTR_GYRO_CALIBSCALE(S_IWUSR | S_IRUGO,
454 adis16260_read_14bit_signed,
455 adis16260_write_16bit,
456 ADIS16260_GYRO_SCALE);
457 static IIO_DEV_ATTR_GYRO_CALIBBIAS(S_IWUSR | S_IRUGO,
458 adis16260_read_12bit_signed,
459 adis16260_write_16bit,
462 static IIO_DEV_ATTR_TEMP_RAW(adis16260_read_12bit_unsigned);
463 static IIO_CONST_ATTR_TEMP_OFFSET("25");
464 static IIO_CONST_ATTR_TEMP_SCALE("0.1453");
466 static IIO_DEV_ATTR_IN_RAW(1, adis16260_read_12bit_unsigned,
468 static IIO_CONST_ATTR(in1_scale, "0.0006105");
470 static IIO_DEV_ATTR_SAMP_FREQ(S_IWUSR | S_IRUGO,
471 adis16260_read_frequency,
472 adis16260_write_frequency);
473 static IIO_DEV_ATTR_ANGL(adis16260_read_14bit_signed,
476 static IIO_DEVICE_ATTR(reset, S_IWUSR, NULL, adis16260_write_reset, 0);
478 static IIO_CONST_ATTR_SAMP_FREQ_AVAIL("256 2048");
480 static IIO_CONST_ATTR_NAME("adis16260");
482 static struct attribute *adis16260_event_attributes[] = {
486 static struct attribute_group adis16260_event_attribute_group = {
487 .attrs = adis16260_event_attributes,
490 static struct attribute *adis16260_attributes[] = {
491 &iio_dev_attr_in0_supply_raw.dev_attr.attr,
492 &iio_const_attr_in0_supply_scale.dev_attr.attr,
493 &iio_dev_attr_gyro_raw.dev_attr.attr,
494 &iio_const_attr_gyro_scale.dev_attr.attr,
495 &iio_dev_attr_gyro_calibscale.dev_attr.attr,
496 &iio_dev_attr_gyro_calibbias.dev_attr.attr,
497 &iio_dev_attr_angl_raw.dev_attr.attr,
498 &iio_dev_attr_temp_raw.dev_attr.attr,
499 &iio_const_attr_temp_offset.dev_attr.attr,
500 &iio_const_attr_temp_scale.dev_attr.attr,
501 &iio_dev_attr_in1_raw.dev_attr.attr,
502 &iio_const_attr_in1_scale.dev_attr.attr,
503 &iio_dev_attr_sampling_frequency.dev_attr.attr,
504 &iio_const_attr_sampling_frequency_available.dev_attr.attr,
505 &iio_dev_attr_reset.dev_attr.attr,
506 &iio_const_attr_name.dev_attr.attr,
510 static const struct attribute_group adis16260_attribute_group = {
511 .attrs = adis16260_attributes,
514 static int __devinit adis16260_probe(struct spi_device *spi)
516 int ret, regdone = 0;
517 struct adis16260_state *st = kzalloc(sizeof *st, GFP_KERNEL);
522 /* this is only used for removal purposes */
523 spi_set_drvdata(spi, st);
525 /* Allocate the comms buffers */
526 st->rx = kzalloc(sizeof(*st->rx)*ADIS16260_MAX_RX, GFP_KERNEL);
527 if (st->rx == NULL) {
531 st->tx = kzalloc(sizeof(*st->tx)*ADIS16260_MAX_TX, GFP_KERNEL);
532 if (st->tx == NULL) {
537 mutex_init(&st->buf_lock);
538 /* setup the industrialio driver allocated elements */
539 st->indio_dev = iio_allocate_device();
540 if (st->indio_dev == NULL) {
545 st->indio_dev->dev.parent = &spi->dev;
546 st->indio_dev->num_interrupt_lines = 1;
547 st->indio_dev->event_attrs = &adis16260_event_attribute_group;
548 st->indio_dev->attrs = &adis16260_attribute_group;
549 st->indio_dev->dev_data = (void *)(st);
550 st->indio_dev->driver_module = THIS_MODULE;
551 st->indio_dev->modes = INDIO_DIRECT_MODE;
553 ret = adis16260_configure_ring(st->indio_dev);
557 ret = iio_device_register(st->indio_dev);
559 goto error_unreg_ring_funcs;
561 ret = iio_ring_buffer_register(st->indio_dev->ring, 0);
563 printk(KERN_ERR "failed to initialize the ring\n");
564 goto error_unreg_ring_funcs;
568 ret = iio_register_interrupt_line(spi->irq,
574 goto error_uninitialize_ring;
576 ret = adis16260_probe_trigger(st->indio_dev);
578 goto error_unregister_line;
581 /* Get the device into a sane initial state */
582 ret = adis16260_initial_setup(st);
584 goto error_remove_trigger;
587 error_remove_trigger:
588 adis16260_remove_trigger(st->indio_dev);
589 error_unregister_line:
591 iio_unregister_interrupt_line(st->indio_dev, 0);
592 error_uninitialize_ring:
593 iio_ring_buffer_unregister(st->indio_dev->ring);
594 error_unreg_ring_funcs:
595 adis16260_unconfigure_ring(st->indio_dev);
598 iio_device_unregister(st->indio_dev);
600 iio_free_device(st->indio_dev);
611 static int adis16260_remove(struct spi_device *spi)
614 struct adis16260_state *st = spi_get_drvdata(spi);
615 struct iio_dev *indio_dev = st->indio_dev;
617 ret = adis16260_stop_device(&(indio_dev->dev));
621 flush_scheduled_work();
623 adis16260_remove_trigger(indio_dev);
625 iio_unregister_interrupt_line(indio_dev, 0);
627 iio_ring_buffer_unregister(st->indio_dev->ring);
628 iio_device_unregister(indio_dev);
629 adis16260_unconfigure_ring(indio_dev);
638 static struct spi_driver adis16260_driver = {
641 .owner = THIS_MODULE,
643 .probe = adis16260_probe,
644 .remove = __devexit_p(adis16260_remove),
647 static __init int adis16260_init(void)
649 return spi_register_driver(&adis16260_driver);
651 module_init(adis16260_init);
653 static __exit void adis16260_exit(void)
655 spi_unregister_driver(&adis16260_driver);
657 module_exit(adis16260_exit);
659 MODULE_AUTHOR("Barry Song <21cnbao@gmail.com>");
660 MODULE_DESCRIPTION("Analog Devices ADIS16260/5 Digital Gyroscope Sensor");
661 MODULE_LICENSE("GPL v2");