2 * ADIS16300 Four Degrees of Freedom Inertial 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>
18 #include <linux/sysfs.h>
19 #include <linux/list.h>
23 #include "../accel/accel.h"
24 #include "../accel/inclinometer.h"
25 #include "../gyro/gyro.h"
26 #include "../adc/adc.h"
28 #include "adis16300.h"
30 #define DRIVER_NAME "adis16300"
32 /* At the moment the spi framework doesn't allow global setting of cs_change.
33 * It's in the likely to be added comment at the top of spi.h.
34 * This means that use cannot be made of spi_write etc.
38 * adis16300_spi_write_reg_8() - write single byte to a register
39 * @dev: device associated with child of actual device (iio_dev or iio_trig)
40 * @reg_address: the address of the register to be written
41 * @val: the value to write
43 static int adis16300_spi_write_reg_8(struct device *dev,
48 struct iio_dev *indio_dev = dev_get_drvdata(dev);
49 struct adis16300_state *st = iio_dev_get_devdata(indio_dev);
51 mutex_lock(&st->buf_lock);
52 st->tx[0] = ADIS16300_WRITE_REG(reg_address);
55 ret = spi_write(st->us, st->tx, 2);
56 mutex_unlock(&st->buf_lock);
62 * adis16300_spi_write_reg_16() - write 2 bytes to a pair of registers
63 * @dev: device associated with child of actual device (iio_dev or iio_trig)
64 * @reg_address: the address of the lower of the two registers. Second register
65 * is assumed to have address one greater.
66 * @val: value to be written
68 static int adis16300_spi_write_reg_16(struct device *dev,
73 struct spi_message msg;
74 struct iio_dev *indio_dev = dev_get_drvdata(dev);
75 struct adis16300_state *st = iio_dev_get_devdata(indio_dev);
76 struct spi_transfer xfers[] = {
90 mutex_lock(&st->buf_lock);
91 st->tx[0] = ADIS16300_WRITE_REG(lower_reg_address);
92 st->tx[1] = value & 0xFF;
93 st->tx[2] = ADIS16300_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 * adis16300_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 adis16300_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 adis16300_state *st = iio_dev_get_devdata(indio_dev);
120 struct spi_transfer xfers[] = {
134 mutex_lock(&st->buf_lock);
135 st->tx[0] = ADIS16300_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);
158 * adis16300_spi_read_burst() - read all data registers
159 * @dev: device associated with child of actual device (iio_dev or iio_trig)
160 * @rx: somewhere to pass back the value read (min size is 24 bytes)
162 int adis16300_spi_read_burst(struct device *dev, u8 *rx)
164 struct spi_message msg;
165 struct iio_dev *indio_dev = dev_get_drvdata(dev);
166 struct adis16300_state *st = iio_dev_get_devdata(indio_dev);
167 u32 old_speed_hz = st->us->max_speed_hz;
170 struct spi_transfer xfers[] = {
184 mutex_lock(&st->buf_lock);
185 st->tx[0] = ADIS16300_READ_REG(ADIS16300_GLOB_CMD);
188 spi_message_init(&msg);
189 spi_message_add_tail(&xfers[0], &msg);
190 spi_message_add_tail(&xfers[1], &msg);
192 st->us->max_speed_hz = min(ADIS16300_SPI_BURST, old_speed_hz);
195 ret = spi_sync(st->us, &msg);
197 dev_err(&st->us->dev, "problem when burst reading");
199 st->us->max_speed_hz = old_speed_hz;
201 mutex_unlock(&st->buf_lock);
205 static ssize_t adis16300_spi_read_signed(struct device *dev,
206 struct device_attribute *attr,
212 unsigned shift = 16 - bits;
213 struct iio_dev_attr *this_attr = to_iio_dev_attr(attr);
215 ret = adis16300_spi_read_reg_16(dev, this_attr->address, (u16 *)&val);
219 if (val & ADIS16300_ERROR_ACTIVE)
220 adis16300_check_status(dev);
221 val = ((s16)(val << shift) >> shift);
222 return sprintf(buf, "%d\n", val);
225 static ssize_t adis16300_read_12bit_unsigned(struct device *dev,
226 struct device_attribute *attr,
231 struct iio_dev_attr *this_attr = to_iio_dev_attr(attr);
233 ret = adis16300_spi_read_reg_16(dev, this_attr->address, &val);
237 if (val & ADIS16300_ERROR_ACTIVE)
238 adis16300_check_status(dev);
240 return sprintf(buf, "%u\n", val & 0x0FFF);
243 static ssize_t adis16300_read_14bit_signed(struct device *dev,
244 struct device_attribute *attr,
247 struct iio_dev *indio_dev = dev_get_drvdata(dev);
250 /* Take the iio_dev status lock */
251 mutex_lock(&indio_dev->mlock);
252 ret = adis16300_spi_read_signed(dev, attr, buf, 14);
253 mutex_unlock(&indio_dev->mlock);
258 static ssize_t adis16300_read_12bit_signed(struct device *dev,
259 struct device_attribute *attr,
262 struct iio_dev *indio_dev = dev_get_drvdata(dev);
265 /* Take the iio_dev status lock */
266 mutex_lock(&indio_dev->mlock);
267 ret = adis16300_spi_read_signed(dev, attr, buf, 12);
268 mutex_unlock(&indio_dev->mlock);
273 static ssize_t adis16300_read_13bit_signed(struct device *dev,
274 struct device_attribute *attr,
277 struct iio_dev *indio_dev = dev_get_drvdata(dev);
280 /* Take the iio_dev status lock */
281 mutex_lock(&indio_dev->mlock);
282 ret = adis16300_spi_read_signed(dev, attr, buf, 13);
283 mutex_unlock(&indio_dev->mlock);
288 static ssize_t adis16300_write_16bit(struct device *dev,
289 struct device_attribute *attr,
293 struct iio_dev_attr *this_attr = to_iio_dev_attr(attr);
297 ret = strict_strtol(buf, 10, &val);
300 ret = adis16300_spi_write_reg_16(dev, this_attr->address, val);
303 return ret ? ret : len;
306 static ssize_t adis16300_read_frequency(struct device *dev,
307 struct device_attribute *attr,
313 ret = adis16300_spi_read_reg_16(dev,
318 sps = (t & ADIS16300_SMPL_PRD_TIME_BASE) ? 53 : 1638;
319 sps /= (t & ADIS16300_SMPL_PRD_DIV_MASK) + 1;
320 len = sprintf(buf, "%d SPS\n", sps);
324 static ssize_t adis16300_write_frequency(struct device *dev,
325 struct device_attribute *attr,
329 struct iio_dev *indio_dev = dev_get_drvdata(dev);
330 struct adis16300_state *st = iio_dev_get_devdata(indio_dev);
335 ret = strict_strtol(buf, 10, &val);
339 mutex_lock(&indio_dev->mlock);
344 t &= ADIS16300_SMPL_PRD_DIV_MASK;
345 if ((t & ADIS16300_SMPL_PRD_DIV_MASK) >= 0x0A)
346 st->us->max_speed_hz = ADIS16300_SPI_SLOW;
348 st->us->max_speed_hz = ADIS16300_SPI_FAST;
350 ret = adis16300_spi_write_reg_8(dev,
354 mutex_unlock(&indio_dev->mlock);
356 return ret ? ret : len;
359 static ssize_t adis16300_write_reset(struct device *dev,
360 struct device_attribute *attr,
361 const char *buf, size_t len)
369 return adis16300_reset(dev);
376 int adis16300_set_irq(struct device *dev, bool enable)
380 ret = adis16300_spi_read_reg_16(dev, ADIS16300_MSC_CTRL, &msc);
384 msc |= ADIS16300_MSC_CTRL_DATA_RDY_POL_HIGH;
385 msc &= ~ADIS16300_MSC_CTRL_DATA_RDY_DIO2;
387 msc |= ADIS16300_MSC_CTRL_DATA_RDY_EN;
389 msc &= ~ADIS16300_MSC_CTRL_DATA_RDY_EN;
391 ret = adis16300_spi_write_reg_16(dev, ADIS16300_MSC_CTRL, msc);
399 int adis16300_reset(struct device *dev)
402 ret = adis16300_spi_write_reg_8(dev,
404 ADIS16300_GLOB_CMD_SW_RESET);
406 dev_err(dev, "problem resetting device");
411 /* Power down the device */
412 static int adis16300_stop_device(struct device *dev)
415 u16 val = ADIS16300_SLP_CNT_POWER_OFF;
417 ret = adis16300_spi_write_reg_16(dev, ADIS16300_SLP_CNT, val);
419 dev_err(dev, "problem with turning device off: SLP_CNT");
424 int adis16300_check_status(struct device *dev)
429 ret = adis16300_spi_read_reg_16(dev, ADIS16300_DIAG_STAT, &status);
432 dev_err(dev, "Reading status failed\n");
436 if (status & ADIS16300_DIAG_STAT_ZACCL_FAIL)
437 dev_err(dev, "Z-axis accelerometer self-test failure\n");
438 if (status & ADIS16300_DIAG_STAT_YACCL_FAIL)
439 dev_err(dev, "Y-axis accelerometer self-test failure\n");
440 if (status & ADIS16300_DIAG_STAT_XACCL_FAIL)
441 dev_err(dev, "X-axis accelerometer self-test failure\n");
442 if (status & ADIS16300_DIAG_STAT_XGYRO_FAIL)
443 dev_err(dev, "X-axis gyroscope self-test failure\n");
444 if (status & ADIS16300_DIAG_STAT_ALARM2)
445 dev_err(dev, "Alarm 2 active\n");
446 if (status & ADIS16300_DIAG_STAT_ALARM1)
447 dev_err(dev, "Alarm 1 active\n");
448 if (status & ADIS16300_DIAG_STAT_FLASH_CHK)
449 dev_err(dev, "Flash checksum error\n");
450 if (status & ADIS16300_DIAG_STAT_SELF_TEST)
451 dev_err(dev, "Self test error\n");
452 if (status & ADIS16300_DIAG_STAT_OVERFLOW)
453 dev_err(dev, "Sensor overrange\n");
454 if (status & ADIS16300_DIAG_STAT_SPI_FAIL)
455 dev_err(dev, "SPI failure\n");
456 if (status & ADIS16300_DIAG_STAT_FLASH_UPT)
457 dev_err(dev, "Flash update failed\n");
458 if (status & ADIS16300_DIAG_STAT_POWER_HIGH)
459 dev_err(dev, "Power supply above 5.25V\n");
460 if (status & ADIS16300_DIAG_STAT_POWER_LOW)
461 dev_err(dev, "Power supply below 4.75V\n");
467 static int adis16300_initial_setup(struct adis16300_state *st)
471 struct device *dev = &st->indio_dev->dev;
473 /* use low spi speed for init */
474 st->us->max_speed_hz = ADIS16300_SPI_SLOW;
475 st->us->mode = SPI_MODE_3;
479 ret = adis16300_set_irq(dev, false);
481 dev_err(dev, "disable irq failed");
487 /* Read status register to check the result */
488 ret = adis16300_check_status(dev);
490 adis16300_reset(dev);
491 dev_err(dev, "device not playing ball -> reset");
492 msleep(ADIS16300_STARTUP_DELAY);
493 ret = adis16300_check_status(dev);
495 dev_err(dev, "giving up");
500 printk(KERN_INFO DRIVER_NAME ": at CS%d (irq %d)\n",
501 st->us->chip_select, st->us->irq);
503 /* use high spi speed if possible */
504 ret = adis16300_spi_read_reg_16(dev, ADIS16300_SMPL_PRD, &smp_prd);
505 if (!ret && (smp_prd & ADIS16300_SMPL_PRD_DIV_MASK) < 0x0A) {
506 st->us->max_speed_hz = ADIS16300_SPI_SLOW;
514 static IIO_DEV_ATTR_ACCEL_X_OFFSET(S_IWUSR | S_IRUGO,
515 adis16300_read_12bit_signed,
516 adis16300_write_16bit,
517 ADIS16300_XACCL_OFF);
519 static IIO_DEV_ATTR_ACCEL_Y_OFFSET(S_IWUSR | S_IRUGO,
520 adis16300_read_12bit_signed,
521 adis16300_write_16bit,
522 ADIS16300_YACCL_OFF);
524 static IIO_DEV_ATTR_ACCEL_Z_OFFSET(S_IWUSR | S_IRUGO,
525 adis16300_read_12bit_signed,
526 adis16300_write_16bit,
527 ADIS16300_ZACCL_OFF);
529 static IIO_DEV_ATTR_IN_NAMED_RAW(supply, adis16300_read_14bit_signed,
530 ADIS16300_SUPPLY_OUT);
531 static IIO_CONST_ATTR(in_supply_scale, "0.00242");
533 static IIO_DEV_ATTR_GYRO_X(adis16300_read_14bit_signed,
534 ADIS16300_XGYRO_OUT);
535 static IIO_CONST_ATTR(gyro_scale, "0.05 deg/s");
537 static IIO_DEV_ATTR_ACCEL_X(adis16300_read_14bit_signed,
538 ADIS16300_XACCL_OUT);
539 static IIO_DEV_ATTR_ACCEL_Y(adis16300_read_14bit_signed,
540 ADIS16300_YACCL_OUT);
541 static IIO_DEV_ATTR_ACCEL_Z(adis16300_read_14bit_signed,
542 ADIS16300_ZACCL_OUT);
543 static IIO_CONST_ATTR(accel_scale, "0.0006 g");
545 static IIO_DEV_ATTR_INCLI_X(adis16300_read_13bit_signed,
546 ADIS16300_XINCLI_OUT);
547 static IIO_DEV_ATTR_INCLI_Y(adis16300_read_13bit_signed,
548 ADIS16300_YINCLI_OUT);
549 static IIO_CONST_ATTR(incli_scale, "0.044 d");
551 static IIO_DEV_ATTR_TEMP_RAW(adis16300_read_12bit_signed);
552 static IIO_CONST_ATTR(temp_offset, "198.16 K");
553 static IIO_CONST_ATTR(temp_scale, "0.14 K");
555 static IIO_DEV_ATTR_IN_RAW(0, adis16300_read_12bit_unsigned,
557 static IIO_CONST_ATTR(in0_scale, "0.000806");
559 static IIO_DEV_ATTR_SAMP_FREQ(S_IWUSR | S_IRUGO,
560 adis16300_read_frequency,
561 adis16300_write_frequency);
563 static IIO_DEVICE_ATTR(reset, S_IWUSR, NULL, adis16300_write_reset, 0);
565 static IIO_CONST_ATTR_AVAIL_SAMP_FREQ("409 546 819 1638");
567 static IIO_CONST_ATTR(name, "adis16300");
569 static struct attribute *adis16300_event_attributes[] = {
573 static struct attribute_group adis16300_event_attribute_group = {
574 .attrs = adis16300_event_attributes,
577 static struct attribute *adis16300_attributes[] = {
578 &iio_dev_attr_accel_x_offset.dev_attr.attr,
579 &iio_dev_attr_accel_y_offset.dev_attr.attr,
580 &iio_dev_attr_accel_z_offset.dev_attr.attr,
581 &iio_dev_attr_in_supply_raw.dev_attr.attr,
582 &iio_const_attr_in_supply_scale.dev_attr.attr,
583 &iio_dev_attr_gyro_x_raw.dev_attr.attr,
584 &iio_const_attr_gyro_scale.dev_attr.attr,
585 &iio_dev_attr_accel_x_raw.dev_attr.attr,
586 &iio_dev_attr_accel_y_raw.dev_attr.attr,
587 &iio_dev_attr_accel_z_raw.dev_attr.attr,
588 &iio_const_attr_accel_scale.dev_attr.attr,
589 &iio_dev_attr_incli_x_raw.dev_attr.attr,
590 &iio_dev_attr_incli_y_raw.dev_attr.attr,
591 &iio_const_attr_incli_scale.dev_attr.attr,
592 &iio_dev_attr_temp_raw.dev_attr.attr,
593 &iio_const_attr_temp_offset.dev_attr.attr,
594 &iio_const_attr_temp_scale.dev_attr.attr,
595 &iio_dev_attr_in0_raw.dev_attr.attr,
596 &iio_const_attr_in0_scale.dev_attr.attr,
597 &iio_dev_attr_sampling_frequency.dev_attr.attr,
598 &iio_const_attr_available_sampling_frequency.dev_attr.attr,
599 &iio_dev_attr_reset.dev_attr.attr,
600 &iio_const_attr_name.dev_attr.attr,
604 static const struct attribute_group adis16300_attribute_group = {
605 .attrs = adis16300_attributes,
608 static int __devinit adis16300_probe(struct spi_device *spi)
610 int ret, regdone = 0;
611 struct adis16300_state *st = kzalloc(sizeof *st, GFP_KERNEL);
616 /* this is only used for removal purposes */
617 spi_set_drvdata(spi, st);
619 /* Allocate the comms buffers */
620 st->rx = kzalloc(sizeof(*st->rx)*ADIS16300_MAX_RX, GFP_KERNEL);
621 if (st->rx == NULL) {
625 st->tx = kzalloc(sizeof(*st->tx)*ADIS16300_MAX_TX, GFP_KERNEL);
626 if (st->tx == NULL) {
631 mutex_init(&st->buf_lock);
632 /* setup the industrialio driver allocated elements */
633 st->indio_dev = iio_allocate_device();
634 if (st->indio_dev == NULL) {
639 st->indio_dev->dev.parent = &spi->dev;
640 st->indio_dev->num_interrupt_lines = 1;
641 st->indio_dev->event_attrs = &adis16300_event_attribute_group;
642 st->indio_dev->attrs = &adis16300_attribute_group;
643 st->indio_dev->dev_data = (void *)(st);
644 st->indio_dev->driver_module = THIS_MODULE;
645 st->indio_dev->modes = INDIO_DIRECT_MODE;
647 ret = adis16300_configure_ring(st->indio_dev);
651 ret = iio_device_register(st->indio_dev);
653 goto error_unreg_ring_funcs;
656 ret = adis16300_initialize_ring(st->indio_dev->ring);
658 printk(KERN_ERR "failed to initialize the ring\n");
659 goto error_unreg_ring_funcs;
662 if (spi->irq && gpio_is_valid(irq_to_gpio(spi->irq)) > 0) {
663 #if 0 /* fixme: here we should support */
664 iio_init_work_cont(&st->work_cont_thresh,
666 adis16300_thresh_handler_bh_no_check,
671 ret = iio_register_interrupt_line(spi->irq,
677 goto error_uninitialize_ring;
679 ret = adis16300_probe_trigger(st->indio_dev);
681 goto error_unregister_line;
684 /* Get the device into a sane initial state */
685 ret = adis16300_initial_setup(st);
687 goto error_remove_trigger;
690 error_remove_trigger:
691 if (st->indio_dev->modes & INDIO_RING_TRIGGERED)
692 adis16300_remove_trigger(st->indio_dev);
693 error_unregister_line:
694 if (st->indio_dev->modes & INDIO_RING_TRIGGERED)
695 iio_unregister_interrupt_line(st->indio_dev, 0);
696 error_uninitialize_ring:
697 adis16300_uninitialize_ring(st->indio_dev->ring);
698 error_unreg_ring_funcs:
699 adis16300_unconfigure_ring(st->indio_dev);
702 iio_device_unregister(st->indio_dev);
704 iio_free_device(st->indio_dev);
715 /* fixme, confirm ordering in this function */
716 static int adis16300_remove(struct spi_device *spi)
719 struct adis16300_state *st = spi_get_drvdata(spi);
720 struct iio_dev *indio_dev = st->indio_dev;
722 ret = adis16300_stop_device(&(indio_dev->dev));
726 flush_scheduled_work();
728 adis16300_remove_trigger(indio_dev);
729 if (spi->irq && gpio_is_valid(irq_to_gpio(spi->irq)) > 0)
730 iio_unregister_interrupt_line(indio_dev, 0);
732 adis16300_uninitialize_ring(indio_dev->ring);
733 adis16300_unconfigure_ring(indio_dev);
734 iio_device_unregister(indio_dev);
745 static struct spi_driver adis16300_driver = {
748 .owner = THIS_MODULE,
750 .probe = adis16300_probe,
751 .remove = __devexit_p(adis16300_remove),
754 static __init int adis16300_init(void)
756 return spi_register_driver(&adis16300_driver);
758 module_init(adis16300_init);
760 static __exit void adis16300_exit(void)
762 spi_unregister_driver(&adis16300_driver);
764 module_exit(adis16300_exit);
766 MODULE_AUTHOR("Barry Song <21cnbao@gmail.com>");
767 MODULE_DESCRIPTION("Analog Devices ADIS16300 IMU SPI driver");
768 MODULE_LICENSE("GPL v2");