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>
17 #include <linux/slab.h>
18 #include <linux/sysfs.h>
19 #include <linux/list.h>
23 #include "../ring_generic.h"
24 #include "../accel/accel.h"
25 #include "../accel/inclinometer.h"
26 #include "../gyro/gyro.h"
27 #include "../adc/adc.h"
29 #include "adis16300.h"
31 #define DRIVER_NAME "adis16300"
33 static int adis16300_check_status(struct device *dev);
36 * adis16300_spi_write_reg_8() - write single byte to a register
37 * @dev: device associated with child of actual device (iio_dev or iio_trig)
38 * @reg_address: the address of the register to be written
39 * @val: the value to write
41 static int adis16300_spi_write_reg_8(struct device *dev,
46 struct iio_dev *indio_dev = dev_get_drvdata(dev);
47 struct adis16300_state *st = iio_dev_get_devdata(indio_dev);
49 mutex_lock(&st->buf_lock);
50 st->tx[0] = ADIS16300_WRITE_REG(reg_address);
53 ret = spi_write(st->us, st->tx, 2);
54 mutex_unlock(&st->buf_lock);
60 * adis16300_spi_write_reg_16() - write 2 bytes to a pair of registers
61 * @dev: device associated with child of actual device (iio_dev or iio_trig)
62 * @reg_address: the address of the lower of the two registers. Second register
63 * is assumed to have address one greater.
64 * @val: value to be written
66 static int adis16300_spi_write_reg_16(struct device *dev,
71 struct spi_message msg;
72 struct iio_dev *indio_dev = dev_get_drvdata(dev);
73 struct adis16300_state *st = iio_dev_get_devdata(indio_dev);
74 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[] = {
136 mutex_lock(&st->buf_lock);
137 st->tx[0] = ADIS16300_READ_REG(lower_reg_address);
142 spi_message_init(&msg);
143 spi_message_add_tail(&xfers[0], &msg);
144 spi_message_add_tail(&xfers[1], &msg);
145 ret = spi_sync(st->us, &msg);
147 dev_err(&st->us->dev,
148 "problem when reading 16 bit register 0x%02X",
152 *val = (st->rx[0] << 8) | st->rx[1];
155 mutex_unlock(&st->buf_lock);
159 static ssize_t adis16300_spi_read_signed(struct device *dev,
160 struct device_attribute *attr,
166 unsigned shift = 16 - bits;
167 struct iio_dev_attr *this_attr = to_iio_dev_attr(attr);
169 ret = adis16300_spi_read_reg_16(dev, this_attr->address, (u16 *)&val);
173 if (val & ADIS16300_ERROR_ACTIVE)
174 adis16300_check_status(dev);
175 val = ((s16)(val << shift) >> shift);
176 return sprintf(buf, "%d\n", val);
179 static ssize_t adis16300_read_12bit_unsigned(struct device *dev,
180 struct device_attribute *attr,
185 struct iio_dev_attr *this_attr = to_iio_dev_attr(attr);
187 ret = adis16300_spi_read_reg_16(dev, this_attr->address, &val);
191 if (val & ADIS16300_ERROR_ACTIVE)
192 adis16300_check_status(dev);
194 return sprintf(buf, "%u\n", val & 0x0FFF);
197 static ssize_t adis16300_read_14bit_unsigned(struct device *dev,
198 struct device_attribute *attr,
203 struct iio_dev_attr *this_attr = to_iio_dev_attr(attr);
205 ret = adis16300_spi_read_reg_16(dev, this_attr->address, &val);
209 if (val & ADIS16300_ERROR_ACTIVE)
210 adis16300_check_status(dev);
212 return sprintf(buf, "%u\n", val & 0x3FFF);
215 static ssize_t adis16300_read_14bit_signed(struct device *dev,
216 struct device_attribute *attr,
219 struct iio_dev *indio_dev = dev_get_drvdata(dev);
222 /* Take the iio_dev status lock */
223 mutex_lock(&indio_dev->mlock);
224 ret = adis16300_spi_read_signed(dev, attr, buf, 14);
225 mutex_unlock(&indio_dev->mlock);
230 static ssize_t adis16300_read_12bit_signed(struct device *dev,
231 struct device_attribute *attr,
234 struct iio_dev *indio_dev = dev_get_drvdata(dev);
237 /* Take the iio_dev status lock */
238 mutex_lock(&indio_dev->mlock);
239 ret = adis16300_spi_read_signed(dev, attr, buf, 12);
240 mutex_unlock(&indio_dev->mlock);
245 static ssize_t adis16300_read_13bit_signed(struct device *dev,
246 struct device_attribute *attr,
249 struct iio_dev *indio_dev = dev_get_drvdata(dev);
252 /* Take the iio_dev status lock */
253 mutex_lock(&indio_dev->mlock);
254 ret = adis16300_spi_read_signed(dev, attr, buf, 13);
255 mutex_unlock(&indio_dev->mlock);
260 static ssize_t adis16300_write_16bit(struct device *dev,
261 struct device_attribute *attr,
265 struct iio_dev_attr *this_attr = to_iio_dev_attr(attr);
269 ret = strict_strtol(buf, 10, &val);
272 ret = adis16300_spi_write_reg_16(dev, this_attr->address, val);
275 return ret ? ret : len;
278 static ssize_t adis16300_read_frequency(struct device *dev,
279 struct device_attribute *attr,
285 ret = adis16300_spi_read_reg_16(dev,
290 sps = (t & ADIS16300_SMPL_PRD_TIME_BASE) ? 53 : 1638;
291 sps /= (t & ADIS16300_SMPL_PRD_DIV_MASK) + 1;
292 len = sprintf(buf, "%d SPS\n", sps);
296 static ssize_t adis16300_write_frequency(struct device *dev,
297 struct device_attribute *attr,
301 struct iio_dev *indio_dev = dev_get_drvdata(dev);
302 struct adis16300_state *st = iio_dev_get_devdata(indio_dev);
307 ret = strict_strtol(buf, 10, &val);
311 mutex_lock(&indio_dev->mlock);
316 t &= ADIS16300_SMPL_PRD_DIV_MASK;
317 if ((t & ADIS16300_SMPL_PRD_DIV_MASK) >= 0x0A)
318 st->us->max_speed_hz = ADIS16300_SPI_SLOW;
320 st->us->max_speed_hz = ADIS16300_SPI_FAST;
322 ret = adis16300_spi_write_reg_8(dev,
326 mutex_unlock(&indio_dev->mlock);
328 return ret ? ret : len;
331 static int adis16300_reset(struct device *dev)
334 ret = adis16300_spi_write_reg_8(dev,
336 ADIS16300_GLOB_CMD_SW_RESET);
338 dev_err(dev, "problem resetting device");
343 static ssize_t adis16300_write_reset(struct device *dev,
344 struct device_attribute *attr,
345 const char *buf, size_t len)
353 return adis16300_reset(dev);
358 int adis16300_set_irq(struct device *dev, bool enable)
362 ret = adis16300_spi_read_reg_16(dev, ADIS16300_MSC_CTRL, &msc);
366 msc |= ADIS16300_MSC_CTRL_DATA_RDY_POL_HIGH;
367 msc &= ~ADIS16300_MSC_CTRL_DATA_RDY_DIO2;
369 msc |= ADIS16300_MSC_CTRL_DATA_RDY_EN;
371 msc &= ~ADIS16300_MSC_CTRL_DATA_RDY_EN;
373 ret = adis16300_spi_write_reg_16(dev, ADIS16300_MSC_CTRL, msc);
381 /* Power down the device */
382 static int adis16300_stop_device(struct device *dev)
385 u16 val = ADIS16300_SLP_CNT_POWER_OFF;
387 ret = adis16300_spi_write_reg_16(dev, ADIS16300_SLP_CNT, val);
389 dev_err(dev, "problem with turning device off: SLP_CNT");
394 static int adis16300_self_test(struct device *dev)
397 ret = adis16300_spi_write_reg_16(dev,
399 ADIS16300_MSC_CTRL_MEM_TEST);
401 dev_err(dev, "problem starting self test");
405 adis16300_check_status(dev);
411 static int adis16300_check_status(struct device *dev)
416 ret = adis16300_spi_read_reg_16(dev, ADIS16300_DIAG_STAT, &status);
419 dev_err(dev, "Reading status failed\n");
423 if (status & ADIS16300_DIAG_STAT_ZACCL_FAIL)
424 dev_err(dev, "Z-axis accelerometer self-test failure\n");
425 if (status & ADIS16300_DIAG_STAT_YACCL_FAIL)
426 dev_err(dev, "Y-axis accelerometer self-test failure\n");
427 if (status & ADIS16300_DIAG_STAT_XACCL_FAIL)
428 dev_err(dev, "X-axis accelerometer self-test failure\n");
429 if (status & ADIS16300_DIAG_STAT_XGYRO_FAIL)
430 dev_err(dev, "X-axis gyroscope self-test failure\n");
431 if (status & ADIS16300_DIAG_STAT_ALARM2)
432 dev_err(dev, "Alarm 2 active\n");
433 if (status & ADIS16300_DIAG_STAT_ALARM1)
434 dev_err(dev, "Alarm 1 active\n");
435 if (status & ADIS16300_DIAG_STAT_FLASH_CHK)
436 dev_err(dev, "Flash checksum error\n");
437 if (status & ADIS16300_DIAG_STAT_SELF_TEST)
438 dev_err(dev, "Self test error\n");
439 if (status & ADIS16300_DIAG_STAT_OVERFLOW)
440 dev_err(dev, "Sensor overrange\n");
441 if (status & ADIS16300_DIAG_STAT_SPI_FAIL)
442 dev_err(dev, "SPI failure\n");
443 if (status & ADIS16300_DIAG_STAT_FLASH_UPT)
444 dev_err(dev, "Flash update failed\n");
445 if (status & ADIS16300_DIAG_STAT_POWER_HIGH)
446 dev_err(dev, "Power supply above 5.25V\n");
447 if (status & ADIS16300_DIAG_STAT_POWER_LOW)
448 dev_err(dev, "Power supply below 4.75V\n");
454 static int adis16300_initial_setup(struct adis16300_state *st)
458 struct device *dev = &st->indio_dev->dev;
460 /* use low spi speed for init */
461 st->us->max_speed_hz = ADIS16300_SPI_SLOW;
462 st->us->mode = SPI_MODE_3;
466 ret = adis16300_set_irq(dev, false);
468 dev_err(dev, "disable irq failed");
473 ret = adis16300_self_test(dev);
475 dev_err(dev, "self test failure");
479 /* Read status register to check the result */
480 ret = adis16300_check_status(dev);
482 adis16300_reset(dev);
483 dev_err(dev, "device not playing ball -> reset");
484 msleep(ADIS16300_STARTUP_DELAY);
485 ret = adis16300_check_status(dev);
487 dev_err(dev, "giving up");
492 printk(KERN_INFO DRIVER_NAME ": at CS%d (irq %d)\n",
493 st->us->chip_select, st->us->irq);
495 /* use high spi speed if possible */
496 ret = adis16300_spi_read_reg_16(dev, ADIS16300_SMPL_PRD, &smp_prd);
497 if (!ret && (smp_prd & ADIS16300_SMPL_PRD_DIV_MASK) < 0x0A) {
498 st->us->max_speed_hz = ADIS16300_SPI_SLOW;
506 static IIO_DEV_ATTR_GYRO_X_CALIBBIAS(S_IWUSR | S_IRUGO,
507 adis16300_read_12bit_signed,
508 adis16300_write_16bit,
509 ADIS16300_XGYRO_OFF);
511 static IIO_DEV_ATTR_ACCEL_X_CALIBBIAS(S_IWUSR | S_IRUGO,
512 adis16300_read_12bit_signed,
513 adis16300_write_16bit,
514 ADIS16300_XACCL_OFF);
516 static IIO_DEV_ATTR_ACCEL_Y_CALIBBIAS(S_IWUSR | S_IRUGO,
517 adis16300_read_12bit_signed,
518 adis16300_write_16bit,
519 ADIS16300_YACCL_OFF);
521 static IIO_DEV_ATTR_ACCEL_Z_CALIBBIAS(S_IWUSR | S_IRUGO,
522 adis16300_read_12bit_signed,
523 adis16300_write_16bit,
524 ADIS16300_ZACCL_OFF);
526 static IIO_DEV_ATTR_IN_NAMED_RAW(0, supply, adis16300_read_14bit_unsigned,
527 ADIS16300_SUPPLY_OUT);
528 static IIO_CONST_ATTR_IN_NAMED_SCALE(0, supply, "0.00242");
530 static IIO_DEV_ATTR_GYRO_X(adis16300_read_14bit_signed,
531 ADIS16300_XGYRO_OUT);
532 static IIO_CONST_ATTR_GYRO_SCALE("0.000872664");
534 static IIO_DEV_ATTR_ACCEL_X(adis16300_read_14bit_signed,
535 ADIS16300_XACCL_OUT);
536 static IIO_DEV_ATTR_ACCEL_Y(adis16300_read_14bit_signed,
537 ADIS16300_YACCL_OUT);
538 static IIO_DEV_ATTR_ACCEL_Z(adis16300_read_14bit_signed,
539 ADIS16300_ZACCL_OUT);
540 static IIO_CONST_ATTR_ACCEL_SCALE("0.00588399");
542 static IIO_DEV_ATTR_INCLI_X(adis16300_read_13bit_signed,
543 ADIS16300_XINCLI_OUT);
544 static IIO_DEV_ATTR_INCLI_Y(adis16300_read_13bit_signed,
545 ADIS16300_YINCLI_OUT);
546 static IIO_CONST_ATTR_INCLI_SCALE("0.00076794487");
548 static IIO_DEV_ATTR_TEMP_RAW(adis16300_read_12bit_unsigned);
549 static IIO_CONST_ATTR_TEMP_OFFSET("198.16");
550 static IIO_CONST_ATTR_TEMP_SCALE("0.14");
552 static IIO_DEV_ATTR_IN_RAW(1, adis16300_read_12bit_unsigned,
554 static IIO_CONST_ATTR(in1_scale, "0.000806");
556 static IIO_DEV_ATTR_SAMP_FREQ(S_IWUSR | S_IRUGO,
557 adis16300_read_frequency,
558 adis16300_write_frequency);
560 static IIO_DEVICE_ATTR(reset, S_IWUSR, NULL, adis16300_write_reset, 0);
562 static IIO_CONST_ATTR_SAMP_FREQ_AVAIL("409 546 819 1638");
564 static IIO_CONST_ATTR_NAME("adis16300");
566 static struct attribute *adis16300_event_attributes[] = {
570 static struct attribute_group adis16300_event_attribute_group = {
571 .attrs = adis16300_event_attributes,
574 static struct attribute *adis16300_attributes[] = {
575 &iio_dev_attr_gyro_x_calibbias.dev_attr.attr,
576 &iio_dev_attr_accel_x_calibbias.dev_attr.attr,
577 &iio_dev_attr_accel_y_calibbias.dev_attr.attr,
578 &iio_dev_attr_accel_z_calibbias.dev_attr.attr,
579 &iio_dev_attr_in0_supply_raw.dev_attr.attr,
580 &iio_const_attr_in0_supply_scale.dev_attr.attr,
581 &iio_dev_attr_gyro_x_raw.dev_attr.attr,
582 &iio_const_attr_gyro_scale.dev_attr.attr,
583 &iio_dev_attr_accel_x_raw.dev_attr.attr,
584 &iio_dev_attr_accel_y_raw.dev_attr.attr,
585 &iio_dev_attr_accel_z_raw.dev_attr.attr,
586 &iio_const_attr_accel_scale.dev_attr.attr,
587 &iio_dev_attr_incli_x_raw.dev_attr.attr,
588 &iio_dev_attr_incli_y_raw.dev_attr.attr,
589 &iio_const_attr_incli_scale.dev_attr.attr,
590 &iio_dev_attr_temp_raw.dev_attr.attr,
591 &iio_const_attr_temp_offset.dev_attr.attr,
592 &iio_const_attr_temp_scale.dev_attr.attr,
593 &iio_dev_attr_in1_raw.dev_attr.attr,
594 &iio_const_attr_in1_scale.dev_attr.attr,
595 &iio_dev_attr_sampling_frequency.dev_attr.attr,
596 &iio_const_attr_sampling_frequency_available.dev_attr.attr,
597 &iio_dev_attr_reset.dev_attr.attr,
598 &iio_const_attr_name.dev_attr.attr,
602 static const struct attribute_group adis16300_attribute_group = {
603 .attrs = adis16300_attributes,
606 static int __devinit adis16300_probe(struct spi_device *spi)
608 int ret, regdone = 0;
609 struct adis16300_state *st = kzalloc(sizeof *st, GFP_KERNEL);
614 /* this is only used for removal purposes */
615 spi_set_drvdata(spi, st);
617 /* Allocate the comms buffers */
618 st->rx = kzalloc(sizeof(*st->rx)*ADIS16300_MAX_RX, GFP_KERNEL);
619 if (st->rx == NULL) {
623 st->tx = kzalloc(sizeof(*st->tx)*ADIS16300_MAX_TX, GFP_KERNEL);
624 if (st->tx == NULL) {
629 mutex_init(&st->buf_lock);
630 /* setup the industrialio driver allocated elements */
631 st->indio_dev = iio_allocate_device();
632 if (st->indio_dev == NULL) {
637 st->indio_dev->dev.parent = &spi->dev;
638 st->indio_dev->num_interrupt_lines = 1;
639 st->indio_dev->event_attrs = &adis16300_event_attribute_group;
640 st->indio_dev->attrs = &adis16300_attribute_group;
641 st->indio_dev->dev_data = (void *)(st);
642 st->indio_dev->driver_module = THIS_MODULE;
643 st->indio_dev->modes = INDIO_DIRECT_MODE;
645 ret = adis16300_configure_ring(st->indio_dev);
649 ret = iio_device_register(st->indio_dev);
651 goto error_unreg_ring_funcs;
654 ret = iio_ring_buffer_register(st->indio_dev->ring, 0);
656 printk(KERN_ERR "failed to initialize the ring\n");
657 goto error_unreg_ring_funcs;
661 ret = iio_register_interrupt_line(spi->irq,
667 goto error_uninitialize_ring;
669 ret = adis16300_probe_trigger(st->indio_dev);
671 goto error_unregister_line;
674 /* Get the device into a sane initial state */
675 ret = adis16300_initial_setup(st);
677 goto error_remove_trigger;
680 error_remove_trigger:
681 adis16300_remove_trigger(st->indio_dev);
682 error_unregister_line:
684 iio_unregister_interrupt_line(st->indio_dev, 0);
685 error_uninitialize_ring:
686 iio_ring_buffer_unregister(st->indio_dev->ring);
687 error_unreg_ring_funcs:
688 adis16300_unconfigure_ring(st->indio_dev);
691 iio_device_unregister(st->indio_dev);
693 iio_free_device(st->indio_dev);
704 static int adis16300_remove(struct spi_device *spi)
707 struct adis16300_state *st = spi_get_drvdata(spi);
708 struct iio_dev *indio_dev = st->indio_dev;
710 ret = adis16300_stop_device(&(indio_dev->dev));
714 flush_scheduled_work();
716 adis16300_remove_trigger(indio_dev);
718 iio_unregister_interrupt_line(indio_dev, 0);
720 iio_ring_buffer_unregister(indio_dev->ring);
721 iio_device_unregister(indio_dev);
722 adis16300_unconfigure_ring(indio_dev);
733 static struct spi_driver adis16300_driver = {
736 .owner = THIS_MODULE,
738 .probe = adis16300_probe,
739 .remove = __devexit_p(adis16300_remove),
742 static __init int adis16300_init(void)
744 return spi_register_driver(&adis16300_driver);
746 module_init(adis16300_init);
748 static __exit void adis16300_exit(void)
750 spi_unregister_driver(&adis16300_driver);
752 module_exit(adis16300_exit);
754 MODULE_AUTHOR("Barry Song <21cnbao@gmail.com>");
755 MODULE_DESCRIPTION("Analog Devices ADIS16300 IMU SPI driver");
756 MODULE_LICENSE("GPL v2");