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>
20 #include <linux/module.h>
24 #include "../ring_generic.h"
26 #include "adis16260.h"
28 #define DRIVER_NAME "adis16260"
30 static int adis16260_check_status(struct iio_dev *indio_dev);
33 * adis16260_spi_write_reg_8() - write single byte to a register
34 * @indio_dev: iio_dev for the device
35 * @reg_address: the address of the register to be written
36 * @val: the value to write
38 static int adis16260_spi_write_reg_8(struct iio_dev *indio_dev,
43 struct adis16260_state *st = iio_priv(indio_dev);
45 mutex_lock(&st->buf_lock);
46 st->tx[0] = ADIS16260_WRITE_REG(reg_address);
49 ret = spi_write(st->us, st->tx, 2);
50 mutex_unlock(&st->buf_lock);
56 * adis16260_spi_write_reg_16() - write 2 bytes to a pair of registers
57 * @indio_dev: iio_dev for the device
58 * @reg_address: the address of the lower of the two registers. Second register
59 * is assumed to have address one greater.
60 * @val: value to be written
62 static int adis16260_spi_write_reg_16(struct iio_dev *indio_dev,
67 struct spi_message msg;
68 struct adis16260_state *st = iio_priv(indio_dev);
69 struct spi_transfer xfers[] = {
84 mutex_lock(&st->buf_lock);
85 st->tx[0] = ADIS16260_WRITE_REG(lower_reg_address);
86 st->tx[1] = value & 0xFF;
87 st->tx[2] = ADIS16260_WRITE_REG(lower_reg_address + 1);
88 st->tx[3] = (value >> 8) & 0xFF;
90 spi_message_init(&msg);
91 spi_message_add_tail(&xfers[0], &msg);
92 spi_message_add_tail(&xfers[1], &msg);
93 ret = spi_sync(st->us, &msg);
94 mutex_unlock(&st->buf_lock);
100 * adis16260_spi_read_reg_16() - read 2 bytes from a 16-bit register
101 * @indio_dev: iio_dev for the device
102 * @reg_address: the address of the lower of the two registers. Second register
103 * is assumed to have address one greater.
104 * @val: somewhere to pass back the value read
106 static int adis16260_spi_read_reg_16(struct iio_dev *indio_dev,
107 u8 lower_reg_address,
110 struct spi_message msg;
111 struct adis16260_state *st = iio_priv(indio_dev);
113 struct spi_transfer xfers[] = {
128 mutex_lock(&st->buf_lock);
129 st->tx[0] = ADIS16260_READ_REG(lower_reg_address);
132 spi_message_init(&msg);
133 spi_message_add_tail(&xfers[0], &msg);
134 spi_message_add_tail(&xfers[1], &msg);
135 ret = spi_sync(st->us, &msg);
137 dev_err(&st->us->dev,
138 "problem when reading 16 bit register 0x%02X",
142 *val = (st->rx[0] << 8) | st->rx[1];
145 mutex_unlock(&st->buf_lock);
149 static ssize_t adis16260_read_frequency_available(struct device *dev,
150 struct device_attribute *attr,
153 struct iio_dev *indio_dev = dev_get_drvdata(dev);
154 struct adis16260_state *st = iio_priv(indio_dev);
155 if (spi_get_device_id(st->us)->driver_data)
156 return sprintf(buf, "%s\n", "0.129 ~ 256");
158 return sprintf(buf, "%s\n", "256 2048");
161 static ssize_t adis16260_read_frequency(struct device *dev,
162 struct device_attribute *attr,
165 struct iio_dev *indio_dev = dev_get_drvdata(dev);
166 struct adis16260_state *st = iio_priv(indio_dev);
170 ret = adis16260_spi_read_reg_16(indio_dev,
176 if (spi_get_device_id(st->us)->driver_data) /* If an adis16251 */
177 sps = (t & ADIS16260_SMPL_PRD_TIME_BASE) ? 8 : 256;
179 sps = (t & ADIS16260_SMPL_PRD_TIME_BASE) ? 66 : 2048;
180 sps /= (t & ADIS16260_SMPL_PRD_DIV_MASK) + 1;
181 len = sprintf(buf, "%d SPS\n", sps);
185 static ssize_t adis16260_write_frequency(struct device *dev,
186 struct device_attribute *attr,
190 struct iio_dev *indio_dev = dev_get_drvdata(dev);
191 struct adis16260_state *st = iio_priv(indio_dev);
196 ret = strict_strtol(buf, 10, &val);
200 mutex_lock(&indio_dev->mlock);
201 if (spi_get_device_id(st->us)) {
205 t &= ADIS16260_SMPL_PRD_DIV_MASK;
210 t &= ADIS16260_SMPL_PRD_DIV_MASK;
212 if ((t & ADIS16260_SMPL_PRD_DIV_MASK) >= 0x0A)
213 st->us->max_speed_hz = ADIS16260_SPI_SLOW;
215 st->us->max_speed_hz = ADIS16260_SPI_FAST;
216 ret = adis16260_spi_write_reg_8(indio_dev,
220 mutex_unlock(&indio_dev->mlock);
222 return ret ? ret : len;
225 static int adis16260_reset(struct iio_dev *indio_dev)
228 ret = adis16260_spi_write_reg_8(indio_dev,
230 ADIS16260_GLOB_CMD_SW_RESET);
232 dev_err(&indio_dev->dev, "problem resetting device");
237 static ssize_t adis16260_write_reset(struct device *dev,
238 struct device_attribute *attr,
239 const char *buf, size_t len)
241 struct iio_dev *indio_dev = dev_get_drvdata(dev);
248 return adis16260_reset(indio_dev);
253 int adis16260_set_irq(struct iio_dev *indio_dev, bool enable)
257 ret = adis16260_spi_read_reg_16(indio_dev, ADIS16260_MSC_CTRL, &msc);
261 msc |= ADIS16260_MSC_CTRL_DATA_RDY_POL_HIGH;
263 msc |= ADIS16260_MSC_CTRL_DATA_RDY_EN;
265 msc &= ~ADIS16260_MSC_CTRL_DATA_RDY_EN;
267 ret = adis16260_spi_write_reg_16(indio_dev, ADIS16260_MSC_CTRL, msc);
275 /* Power down the device */
276 static int adis16260_stop_device(struct iio_dev *indio_dev)
279 u16 val = ADIS16260_SLP_CNT_POWER_OFF;
281 ret = adis16260_spi_write_reg_16(indio_dev, ADIS16260_SLP_CNT, val);
283 dev_err(&indio_dev->dev, "problem with turning device off: SLP_CNT");
288 static int adis16260_self_test(struct iio_dev *indio_dev)
291 ret = adis16260_spi_write_reg_16(indio_dev,
293 ADIS16260_MSC_CTRL_MEM_TEST);
295 dev_err(&indio_dev->dev, "problem starting self test");
299 adis16260_check_status(indio_dev);
305 static int adis16260_check_status(struct iio_dev *indio_dev)
309 struct device *dev = &indio_dev->dev;
311 ret = adis16260_spi_read_reg_16(indio_dev,
316 dev_err(dev, "Reading status failed\n");
320 if (status & ADIS16260_DIAG_STAT_FLASH_CHK)
321 dev_err(dev, "Flash checksum error\n");
322 if (status & ADIS16260_DIAG_STAT_SELF_TEST)
323 dev_err(dev, "Self test error\n");
324 if (status & ADIS16260_DIAG_STAT_OVERFLOW)
325 dev_err(dev, "Sensor overrange\n");
326 if (status & ADIS16260_DIAG_STAT_SPI_FAIL)
327 dev_err(dev, "SPI failure\n");
328 if (status & ADIS16260_DIAG_STAT_FLASH_UPT)
329 dev_err(dev, "Flash update failed\n");
330 if (status & ADIS16260_DIAG_STAT_POWER_HIGH)
331 dev_err(dev, "Power supply above 5.25V\n");
332 if (status & ADIS16260_DIAG_STAT_POWER_LOW)
333 dev_err(dev, "Power supply below 4.75V\n");
339 static int adis16260_initial_setup(struct iio_dev *indio_dev)
342 struct device *dev = &indio_dev->dev;
345 ret = adis16260_set_irq(indio_dev, false);
347 dev_err(dev, "disable irq failed");
352 ret = adis16260_self_test(indio_dev);
354 dev_err(dev, "self test failure");
358 /* Read status register to check the result */
359 ret = adis16260_check_status(indio_dev);
361 adis16260_reset(indio_dev);
362 dev_err(dev, "device not playing ball -> reset");
363 msleep(ADIS16260_STARTUP_DELAY);
364 ret = adis16260_check_status(indio_dev);
366 dev_err(dev, "giving up");
375 static IIO_DEV_ATTR_SAMP_FREQ(S_IWUSR | S_IRUGO,
376 adis16260_read_frequency,
377 adis16260_write_frequency);
379 static IIO_DEVICE_ATTR(reset, S_IWUSR, NULL, adis16260_write_reset, 0);
381 static IIO_DEVICE_ATTR(sampling_frequency_available,
382 S_IRUGO, adis16260_read_frequency_available, NULL, 0);
384 enum adis16260_channel {
391 #define ADIS16260_GYRO_CHANNEL_SET(axis, mod) \
392 struct iio_chan_spec adis16260_channels_##axis[] = { \
393 IIO_CHAN(IIO_GYRO, 1, 0, 0, NULL, 0, mod, \
394 (1 << IIO_CHAN_INFO_CALIBBIAS_SEPARATE) | \
395 (1 << IIO_CHAN_INFO_CALIBSCALE_SEPARATE) | \
396 (1 << IIO_CHAN_INFO_SCALE_SEPARATE), \
397 gyro, ADIS16260_SCAN_GYRO, \
398 IIO_ST('s', 14, 16, 0), 0), \
399 IIO_CHAN(IIO_ANGL, 1, 0, 0, NULL, 0, mod, \
401 angle, ADIS16260_SCAN_ANGL, \
402 IIO_ST('u', 14, 16, 0), 0), \
403 IIO_CHAN(IIO_TEMP, 0, 1, 0, NULL, 0, 0, \
404 (1 << IIO_CHAN_INFO_OFFSET_SEPARATE) | \
405 (1 << IIO_CHAN_INFO_SCALE_SEPARATE), \
406 temp, ADIS16260_SCAN_TEMP, \
407 IIO_ST('u', 12, 16, 0), 0), \
408 IIO_CHAN(IIO_IN, 0, 1, 0, "supply", 0, 0, \
409 (1 << IIO_CHAN_INFO_SCALE_SEPARATE), \
410 in_supply, ADIS16260_SCAN_SUPPLY, \
411 IIO_ST('u', 12, 16, 0), 0), \
412 IIO_CHAN(IIO_IN, 0, 1, 0, NULL, 1, 0, \
413 (1 << IIO_CHAN_INFO_SCALE_SEPARATE), \
414 in_aux, ADIS16260_SCAN_AUX_ADC, \
415 IIO_ST('u', 12, 16, 0), 0), \
416 IIO_CHAN_SOFT_TIMESTAMP(5) \
419 static const ADIS16260_GYRO_CHANNEL_SET(x, IIO_MOD_X);
420 static const ADIS16260_GYRO_CHANNEL_SET(y, IIO_MOD_Y);
421 static const ADIS16260_GYRO_CHANNEL_SET(z, IIO_MOD_Z);
423 static const u8 adis16260_addresses[5][3] = {
424 [gyro] = { ADIS16260_GYRO_OUT,
426 ADIS16260_GYRO_SCALE },
427 [angle] = { ADIS16260_ANGL_OUT },
428 [in_supply] = { ADIS16260_SUPPLY_OUT },
429 [in_aux] = { ADIS16260_AUX_ADC },
430 [temp] = { ADIS16260_TEMP_OUT },
432 static int adis16260_read_raw(struct iio_dev *indio_dev,
433 struct iio_chan_spec const *chan,
437 struct adis16260_state *st = iio_priv(indio_dev);
445 mutex_lock(&indio_dev->mlock);
446 addr = adis16260_addresses[chan->address][0];
447 ret = adis16260_spi_read_reg_16(indio_dev, addr, &val16);
449 mutex_unlock(&indio_dev->mlock);
453 if (val16 & ADIS16260_ERROR_ACTIVE) {
454 ret = adis16260_check_status(indio_dev);
456 mutex_unlock(&indio_dev->mlock);
460 val16 = val16 & ((1 << chan->scan_type.realbits) - 1);
461 if (chan->scan_type.sign == 's')
462 val16 = (s16)(val16 <<
463 (16 - chan->scan_type.realbits)) >>
464 (16 - chan->scan_type.realbits);
466 mutex_unlock(&indio_dev->mlock);
468 case (1 << IIO_CHAN_INFO_SCALE_SEPARATE):
469 case (1 << IIO_CHAN_INFO_SCALE_SHARED):
470 switch (chan->type) {
473 if (spi_get_device_id(st->us)->driver_data)
477 return IIO_VAL_INT_PLUS_MICRO;
480 if (chan->channel == 0)
484 return IIO_VAL_INT_PLUS_MICRO;
488 return IIO_VAL_INT_PLUS_MICRO;
493 case (1 << IIO_CHAN_INFO_OFFSET_SEPARATE):
496 case (1 << IIO_CHAN_INFO_CALIBBIAS_SEPARATE):
497 switch (chan->type) {
504 mutex_lock(&indio_dev->mlock);
505 addr = adis16260_addresses[chan->address][1];
506 ret = adis16260_spi_read_reg_16(indio_dev, addr, &val16);
508 mutex_unlock(&indio_dev->mlock);
511 val16 &= (1 << bits) - 1;
512 val16 = (s16)(val16 << (16 - bits)) >> (16 - bits);
514 mutex_unlock(&indio_dev->mlock);
516 case (1 << IIO_CHAN_INFO_CALIBSCALE_SEPARATE):
517 switch (chan->type) {
524 mutex_lock(&indio_dev->mlock);
525 addr = adis16260_addresses[chan->address][2];
526 ret = adis16260_spi_read_reg_16(indio_dev, addr, &val16);
528 mutex_unlock(&indio_dev->mlock);
531 *val = (1 << bits) - 1;
532 mutex_unlock(&indio_dev->mlock);
538 static int adis16260_write_raw(struct iio_dev *indio_dev,
539 struct iio_chan_spec const *chan,
548 case (1 << IIO_CHAN_INFO_CALIBBIAS_SEPARATE):
549 val16 = val & ((1 << bits) - 1);
550 addr = adis16260_addresses[chan->address][1];
551 return adis16260_spi_write_reg_16(indio_dev, addr, val16);
552 case (1 << IIO_CHAN_INFO_CALIBSCALE_SEPARATE):
553 val16 = val & ((1 << bits) - 1);
554 addr = adis16260_addresses[chan->address][2];
555 return adis16260_spi_write_reg_16(indio_dev, addr, val16);
560 static struct attribute *adis16260_attributes[] = {
561 &iio_dev_attr_sampling_frequency.dev_attr.attr,
562 &iio_dev_attr_sampling_frequency_available.dev_attr.attr,
563 &iio_dev_attr_reset.dev_attr.attr,
567 static const struct attribute_group adis16260_attribute_group = {
568 .attrs = adis16260_attributes,
571 static const struct iio_info adis16260_info = {
572 .attrs = &adis16260_attribute_group,
573 .read_raw = &adis16260_read_raw,
574 .write_raw = &adis16260_write_raw,
575 .driver_module = THIS_MODULE,
578 static int __devinit adis16260_probe(struct spi_device *spi)
580 int ret, regdone = 0;
581 struct adis16260_platform_data *pd = spi->dev.platform_data;
582 struct adis16260_state *st;
583 struct iio_dev *indio_dev;
585 /* setup the industrialio driver allocated elements */
586 indio_dev = iio_allocate_device(sizeof(*st));
587 if (indio_dev == NULL) {
591 st = iio_priv(indio_dev);
593 st->negate = pd->negate;
594 /* this is only used for removal purposes */
595 spi_set_drvdata(spi, st);
598 mutex_init(&st->buf_lock);
600 indio_dev->name = spi_get_device_id(st->us)->name;
601 indio_dev->dev.parent = &spi->dev;
602 indio_dev->info = &adis16260_info;
603 indio_dev->num_channels
604 = ARRAY_SIZE(adis16260_channels_x);
605 if (pd && pd->direction)
606 switch (pd->direction) {
608 indio_dev->channels = adis16260_channels_x;
611 indio_dev->channels = adis16260_channels_y;
614 indio_dev->channels = adis16260_channels_z;
620 indio_dev->channels = adis16260_channels_x;
621 indio_dev->num_channels = ARRAY_SIZE(adis16260_channels_x);
622 indio_dev->modes = INDIO_DIRECT_MODE;
624 ret = adis16260_configure_ring(indio_dev);
628 ret = iio_device_register(indio_dev);
630 goto error_unreg_ring_funcs;
632 ret = iio_ring_buffer_register(indio_dev,
634 ARRAY_SIZE(adis16260_channels_x));
636 printk(KERN_ERR "failed to initialize the ring\n");
637 goto error_unreg_ring_funcs;
639 if (indio_dev->ring) {
640 /* Set default scan mode */
641 iio_scan_mask_set(indio_dev->ring, ADIS16260_SCAN_SUPPLY);
642 iio_scan_mask_set(indio_dev->ring, ADIS16260_SCAN_GYRO);
643 iio_scan_mask_set(indio_dev->ring, ADIS16260_SCAN_AUX_ADC);
644 iio_scan_mask_set(indio_dev->ring, ADIS16260_SCAN_TEMP);
645 iio_scan_mask_set(indio_dev->ring, ADIS16260_SCAN_ANGL);
648 ret = adis16260_probe_trigger(indio_dev);
650 goto error_uninitialize_ring;
653 /* Get the device into a sane initial state */
654 ret = adis16260_initial_setup(indio_dev);
656 goto error_remove_trigger;
659 error_remove_trigger:
660 adis16260_remove_trigger(indio_dev);
661 error_uninitialize_ring:
662 iio_ring_buffer_unregister(indio_dev);
663 error_unreg_ring_funcs:
664 adis16260_unconfigure_ring(indio_dev);
667 iio_device_unregister(indio_dev);
669 iio_free_device(indio_dev);
674 static int adis16260_remove(struct spi_device *spi)
677 struct iio_dev *indio_dev = spi_get_drvdata(spi);
679 ret = adis16260_stop_device(indio_dev);
683 flush_scheduled_work();
685 adis16260_remove_trigger(indio_dev);
686 iio_ring_buffer_unregister(indio_dev);
687 adis16260_unconfigure_ring(indio_dev);
688 iio_device_unregister(indio_dev);
695 * These parts do not need to be differentiated until someone adds
696 * support for the on chip filtering.
698 static const struct spi_device_id adis16260_id[] = {
707 static struct spi_driver adis16260_driver = {
710 .owner = THIS_MODULE,
712 .probe = adis16260_probe,
713 .remove = __devexit_p(adis16260_remove),
714 .id_table = adis16260_id,
717 static __init int adis16260_init(void)
719 return spi_register_driver(&adis16260_driver);
721 module_init(adis16260_init);
723 static __exit void adis16260_exit(void)
725 spi_unregister_driver(&adis16260_driver);
727 module_exit(adis16260_exit);
729 MODULE_AUTHOR("Barry Song <21cnbao@gmail.com>");
730 MODULE_DESCRIPTION("Analog Devices ADIS16260/5 Digital Gyroscope Sensor");
731 MODULE_LICENSE("GPL v2");