1
2
3
4
5
6
7
8
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
21#include "../iio.h"
22#include "../sysfs.h"
23#include "../ring_generic.h"
24#include "../adc/adc.h"
25#include "gyro.h"
26
27#include "adis16260.h"
28
29#define DRIVER_NAME "adis16260"
30
31static int adis16260_check_status(struct device *dev);
32
33
34
35
36
37
38
39static int adis16260_spi_write_reg_8(struct device *dev,
40 u8 reg_address,
41 u8 val)
42{
43 int ret;
44 struct iio_dev *indio_dev = dev_get_drvdata(dev);
45 struct adis16260_state *st = iio_dev_get_devdata(indio_dev);
46
47 mutex_lock(&st->buf_lock);
48 st->tx[0] = ADIS16260_WRITE_REG(reg_address);
49 st->tx[1] = val;
50
51 ret = spi_write(st->us, st->tx, 2);
52 mutex_unlock(&st->buf_lock);
53
54 return ret;
55}
56
57
58
59
60
61
62
63
64static int adis16260_spi_write_reg_16(struct device *dev,
65 u8 lower_reg_address,
66 u16 value)
67{
68 int ret;
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[] = {
73 {
74 .tx_buf = st->tx,
75 .bits_per_word = 8,
76 .len = 2,
77 .cs_change = 1,
78 .delay_usecs = 20,
79 }, {
80 .tx_buf = st->tx + 2,
81 .bits_per_word = 8,
82 .len = 2,
83 .cs_change = 1,
84 .delay_usecs = 20,
85 },
86 };
87
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;
93
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);
99
100 return ret;
101}
102
103
104
105
106
107
108
109
110static int adis16260_spi_read_reg_16(struct device *dev,
111 u8 lower_reg_address,
112 u16 *val)
113{
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);
117 int ret;
118 struct spi_transfer xfers[] = {
119 {
120 .tx_buf = st->tx,
121 .bits_per_word = 8,
122 .len = 2,
123 .cs_change = 1,
124 .delay_usecs = 30,
125 }, {
126 .rx_buf = st->rx,
127 .bits_per_word = 8,
128 .len = 2,
129 .cs_change = 1,
130 .delay_usecs = 30,
131 },
132 };
133
134 mutex_lock(&st->buf_lock);
135 st->tx[0] = ADIS16260_READ_REG(lower_reg_address);
136 st->tx[1] = 0;
137
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);
142 if (ret) {
143 dev_err(&st->us->dev,
144 "problem when reading 16 bit register 0x%02X",
145 lower_reg_address);
146 goto error_ret;
147 }
148 *val = (st->rx[0] << 8) | st->rx[1];
149
150error_ret:
151 mutex_unlock(&st->buf_lock);
152 return ret;
153}
154
155static ssize_t adis16260_spi_read_signed(struct device *dev,
156 struct device_attribute *attr,
157 char *buf,
158 unsigned bits)
159{
160 int ret;
161 s16 val = 0;
162 unsigned shift = 16 - bits;
163 struct iio_dev_attr *this_attr = to_iio_dev_attr(attr);
164
165 ret = adis16260_spi_read_reg_16(dev, this_attr->address, (u16 *)&val);
166 if (ret)
167 return ret;
168
169 if (val & ADIS16260_ERROR_ACTIVE)
170 adis16260_check_status(dev);
171 val = ((s16)(val << shift) >> shift);
172 return sprintf(buf, "%d\n", val);
173}
174
175static ssize_t adis16260_read_12bit_unsigned(struct device *dev,
176 struct device_attribute *attr,
177 char *buf)
178{
179 int ret;
180 u16 val = 0;
181 struct iio_dev_attr *this_attr = to_iio_dev_attr(attr);
182
183 ret = adis16260_spi_read_reg_16(dev, this_attr->address, &val);
184 if (ret)
185 return ret;
186
187 if (val & ADIS16260_ERROR_ACTIVE)
188 adis16260_check_status(dev);
189
190 return sprintf(buf, "%u\n", val & 0x0FFF);
191}
192
193static ssize_t adis16260_read_12bit_signed(struct device *dev,
194 struct device_attribute *attr,
195 char *buf)
196{
197 struct iio_dev *indio_dev = dev_get_drvdata(dev);
198 ssize_t ret;
199
200
201 mutex_lock(&indio_dev->mlock);
202 ret = adis16260_spi_read_signed(dev, attr, buf, 12);
203 mutex_unlock(&indio_dev->mlock);
204
205 return ret;
206}
207
208static ssize_t adis16260_read_14bit_signed(struct device *dev,
209 struct device_attribute *attr,
210 char *buf)
211{
212 struct iio_dev *indio_dev = dev_get_drvdata(dev);
213 ssize_t ret;
214
215
216 mutex_lock(&indio_dev->mlock);
217 ret = adis16260_spi_read_signed(dev, attr, buf, 14);
218 mutex_unlock(&indio_dev->mlock);
219
220 return ret;
221}
222
223static ssize_t adis16260_write_16bit(struct device *dev,
224 struct device_attribute *attr,
225 const char *buf,
226 size_t len)
227{
228 struct iio_dev_attr *this_attr = to_iio_dev_attr(attr);
229 int ret;
230 long val;
231
232 ret = strict_strtol(buf, 10, &val);
233 if (ret)
234 goto error_ret;
235 ret = adis16260_spi_write_reg_16(dev, this_attr->address, val);
236
237error_ret:
238 return ret ? ret : len;
239}
240
241static ssize_t adis16260_read_frequency(struct device *dev,
242 struct device_attribute *attr,
243 char *buf)
244{
245 int ret, len = 0;
246 u16 t;
247 int sps;
248 ret = adis16260_spi_read_reg_16(dev,
249 ADIS16260_SMPL_PRD,
250 &t);
251 if (ret)
252 return ret;
253 sps = (t & ADIS16260_SMPL_PRD_TIME_BASE) ? 66 : 2048;
254 sps /= (t & ADIS16260_SMPL_PRD_DIV_MASK) + 1;
255 len = sprintf(buf, "%d SPS\n", sps);
256 return len;
257}
258
259static ssize_t adis16260_write_frequency(struct device *dev,
260 struct device_attribute *attr,
261 const char *buf,
262 size_t len)
263{
264 struct iio_dev *indio_dev = dev_get_drvdata(dev);
265 struct adis16260_state *st = iio_dev_get_devdata(indio_dev);
266 long val;
267 int ret;
268 u8 t;
269
270 ret = strict_strtol(buf, 10, &val);
271 if (ret)
272 return ret;
273
274 mutex_lock(&indio_dev->mlock);
275
276 t = (2048 / val);
277 if (t > 0)
278 t--;
279 t &= ADIS16260_SMPL_PRD_DIV_MASK;
280 if ((t & ADIS16260_SMPL_PRD_DIV_MASK) >= 0x0A)
281 st->us->max_speed_hz = ADIS16260_SPI_SLOW;
282 else
283 st->us->max_speed_hz = ADIS16260_SPI_FAST;
284
285 ret = adis16260_spi_write_reg_8(dev,
286 ADIS16260_SMPL_PRD,
287 t);
288
289 mutex_unlock(&indio_dev->mlock);
290
291 return ret ? ret : len;
292}
293
294static ssize_t adis16260_read_gyro_scale(struct device *dev,
295 struct device_attribute *attr,
296 char *buf)
297{
298 struct iio_dev *indio_dev = dev_get_drvdata(dev);
299 struct adis16260_state *st = iio_dev_get_devdata(indio_dev);
300 ssize_t ret = 0;
301
302 if (st->negate)
303 ret = sprintf(buf, "-");
304
305 ret += sprintf(buf + ret, "%s\n", "0.00127862821");
306
307 return ret;
308}
309
310static int adis16260_reset(struct device *dev)
311{
312 int ret;
313 ret = adis16260_spi_write_reg_8(dev,
314 ADIS16260_GLOB_CMD,
315 ADIS16260_GLOB_CMD_SW_RESET);
316 if (ret)
317 dev_err(dev, "problem resetting device");
318
319 return ret;
320}
321
322static ssize_t adis16260_write_reset(struct device *dev,
323 struct device_attribute *attr,
324 const char *buf, size_t len)
325{
326 if (len < 1)
327 return -EINVAL;
328 switch (buf[0]) {
329 case '1':
330 case 'y':
331 case 'Y':
332 return adis16260_reset(dev);
333 }
334 return -EINVAL;
335}
336
337int adis16260_set_irq(struct device *dev, bool enable)
338{
339 int ret;
340 u16 msc;
341 ret = adis16260_spi_read_reg_16(dev, ADIS16260_MSC_CTRL, &msc);
342 if (ret)
343 goto error_ret;
344
345 msc |= ADIS16260_MSC_CTRL_DATA_RDY_POL_HIGH;
346 if (enable)
347 msc |= ADIS16260_MSC_CTRL_DATA_RDY_EN;
348 else
349 msc &= ~ADIS16260_MSC_CTRL_DATA_RDY_EN;
350
351 ret = adis16260_spi_write_reg_16(dev, ADIS16260_MSC_CTRL, msc);
352 if (ret)
353 goto error_ret;
354
355error_ret:
356 return ret;
357}
358
359
360static int adis16260_stop_device(struct device *dev)
361{
362 int ret;
363 u16 val = ADIS16260_SLP_CNT_POWER_OFF;
364
365 ret = adis16260_spi_write_reg_16(dev, ADIS16260_SLP_CNT, val);
366 if (ret)
367 dev_err(dev, "problem with turning device off: SLP_CNT");
368
369 return ret;
370}
371
372static int adis16260_self_test(struct device *dev)
373{
374 int ret;
375 ret = adis16260_spi_write_reg_16(dev,
376 ADIS16260_MSC_CTRL,
377 ADIS16260_MSC_CTRL_MEM_TEST);
378 if (ret) {
379 dev_err(dev, "problem starting self test");
380 goto err_ret;
381 }
382
383 adis16260_check_status(dev);
384
385err_ret:
386 return ret;
387}
388
389static int adis16260_check_status(struct device *dev)
390{
391 u16 status;
392 int ret;
393
394 ret = adis16260_spi_read_reg_16(dev, ADIS16260_DIAG_STAT, &status);
395
396 if (ret < 0) {
397 dev_err(dev, "Reading status failed\n");
398 goto error_ret;
399 }
400 ret = status & 0x7F;
401 if (status & ADIS16260_DIAG_STAT_FLASH_CHK)
402 dev_err(dev, "Flash checksum error\n");
403 if (status & ADIS16260_DIAG_STAT_SELF_TEST)
404 dev_err(dev, "Self test error\n");
405 if (status & ADIS16260_DIAG_STAT_OVERFLOW)
406 dev_err(dev, "Sensor overrange\n");
407 if (status & ADIS16260_DIAG_STAT_SPI_FAIL)
408 dev_err(dev, "SPI failure\n");
409 if (status & ADIS16260_DIAG_STAT_FLASH_UPT)
410 dev_err(dev, "Flash update failed\n");
411 if (status & ADIS16260_DIAG_STAT_POWER_HIGH)
412 dev_err(dev, "Power supply above 5.25V\n");
413 if (status & ADIS16260_DIAG_STAT_POWER_LOW)
414 dev_err(dev, "Power supply below 4.75V\n");
415
416error_ret:
417 return ret;
418}
419
420static int adis16260_initial_setup(struct adis16260_state *st)
421{
422 int ret;
423 struct device *dev = &st->indio_dev->dev;
424
425
426 ret = adis16260_set_irq(dev, false);
427 if (ret) {
428 dev_err(dev, "disable irq failed");
429 goto err_ret;
430 }
431
432
433 ret = adis16260_self_test(dev);
434 if (ret) {
435 dev_err(dev, "self test failure");
436 goto err_ret;
437 }
438
439
440 ret = adis16260_check_status(dev);
441 if (ret) {
442 adis16260_reset(dev);
443 dev_err(dev, "device not playing ball -> reset");
444 msleep(ADIS16260_STARTUP_DELAY);
445 ret = adis16260_check_status(dev);
446 if (ret) {
447 dev_err(dev, "giving up");
448 goto err_ret;
449 }
450 }
451
452 printk(KERN_INFO DRIVER_NAME ": at CS%d (irq %d)\n",
453 st->us->chip_select, st->us->irq);
454
455err_ret:
456 return ret;
457}
458
459static IIO_DEV_ATTR_IN_NAMED_RAW(0, supply,
460 adis16260_read_12bit_unsigned,
461 ADIS16260_SUPPLY_OUT);
462static IIO_CONST_ATTR_IN_NAMED_SCALE(0, supply, "0.0018315");
463
464static IIO_DEV_ATTR_TEMP_RAW(adis16260_read_12bit_unsigned);
465static IIO_CONST_ATTR_TEMP_OFFSET("25");
466static IIO_CONST_ATTR_TEMP_SCALE("0.1453");
467
468static IIO_DEV_ATTR_IN_RAW(1, adis16260_read_12bit_unsigned,
469 ADIS16260_AUX_ADC);
470static IIO_CONST_ATTR(in1_scale, "0.0006105");
471
472static IIO_DEV_ATTR_SAMP_FREQ(S_IWUSR | S_IRUGO,
473 adis16260_read_frequency,
474 adis16260_write_frequency);
475
476static IIO_DEVICE_ATTR(reset, S_IWUSR, NULL, adis16260_write_reset, 0);
477
478static IIO_CONST_ATTR_SAMP_FREQ_AVAIL("256 2048");
479
480static IIO_CONST_ATTR_NAME("adis16260");
481
482static struct attribute *adis16260_event_attributes[] = {
483 NULL
484};
485
486static struct attribute_group adis16260_event_attribute_group = {
487 .attrs = adis16260_event_attributes,
488};
489
490#define ADIS16260_GYRO_ATTR_SET(axis) \
491 IIO_DEV_ATTR_GYRO##axis(adis16260_read_14bit_signed, \
492 ADIS16260_GYRO_OUT); \
493 static IIO_DEV_ATTR_GYRO##axis##_SCALE(S_IRUGO, \
494 adis16260_read_gyro_scale, \
495 NULL, \
496 0); \
497 static IIO_DEV_ATTR_GYRO##axis##_CALIBSCALE(S_IRUGO | S_IWUSR, \
498 adis16260_read_12bit_unsigned, \
499 adis16260_write_16bit, \
500 ADIS16260_GYRO_SCALE); \
501 static IIO_DEV_ATTR_GYRO##axis##_CALIBBIAS(S_IWUSR | S_IRUGO, \
502 adis16260_read_12bit_signed, \
503 adis16260_write_16bit, \
504 ADIS16260_GYRO_OFF); \
505 static IIO_DEV_ATTR_ANGL##axis(adis16260_read_14bit_signed, \
506 ADIS16260_ANGL_OUT);
507
508static ADIS16260_GYRO_ATTR_SET();
509static ADIS16260_GYRO_ATTR_SET(_X);
510static ADIS16260_GYRO_ATTR_SET(_Y);
511static ADIS16260_GYRO_ATTR_SET(_Z);
512
513#define ADIS16260_ATTR_GROUP(axis) \
514 struct attribute *adis16260_attributes##axis[] = { \
515 &iio_dev_attr_in0_supply_raw.dev_attr.attr, \
516 &iio_const_attr_in0_supply_scale.dev_attr.attr, \
517 &iio_dev_attr_gyro##axis##_raw.dev_attr.attr, \
518 &iio_dev_attr_gyro##axis##_scale.dev_attr.attr, \
519 &iio_dev_attr_gyro##axis##_calibscale.dev_attr.attr, \
520 &iio_dev_attr_gyro##axis##_calibbias.dev_attr.attr, \
521 &iio_dev_attr_angl##axis##_raw.dev_attr.attr, \
522 &iio_dev_attr_temp_raw.dev_attr.attr, \
523 &iio_const_attr_temp_offset.dev_attr.attr, \
524 &iio_const_attr_temp_scale.dev_attr.attr, \
525 &iio_dev_attr_in1_raw.dev_attr.attr, \
526 &iio_const_attr_in1_scale.dev_attr.attr, \
527 &iio_dev_attr_sampling_frequency.dev_attr.attr, \
528 &iio_const_attr_sampling_frequency_available.dev_attr.attr, \
529 &iio_dev_attr_reset.dev_attr.attr, \
530 &iio_const_attr_name.dev_attr.attr, \
531 NULL \
532 }; \
533 static const struct attribute_group adis16260_attribute_group##axis \
534 = { \
535 .attrs = adis16260_attributes##axis, \
536 };
537
538static ADIS16260_ATTR_GROUP();
539static ADIS16260_ATTR_GROUP(_x);
540static ADIS16260_ATTR_GROUP(_y);
541static ADIS16260_ATTR_GROUP(_z);
542
543static int __devinit adis16260_probe(struct spi_device *spi)
544{
545 int ret, regdone = 0;
546 struct adis16260_platform_data *pd = spi->dev.platform_data;
547 struct adis16260_state *st = kzalloc(sizeof *st, GFP_KERNEL);
548 if (!st) {
549 ret = -ENOMEM;
550 goto error_ret;
551 }
552 if (pd)
553 st->negate = pd->negate;
554
555 spi_set_drvdata(spi, st);
556
557
558 st->rx = kzalloc(sizeof(*st->rx)*ADIS16260_MAX_RX, GFP_KERNEL);
559 if (st->rx == NULL) {
560 ret = -ENOMEM;
561 goto error_free_st;
562 }
563 st->tx = kzalloc(sizeof(*st->tx)*ADIS16260_MAX_TX, GFP_KERNEL);
564 if (st->tx == NULL) {
565 ret = -ENOMEM;
566 goto error_free_rx;
567 }
568 st->us = spi;
569 mutex_init(&st->buf_lock);
570
571 st->indio_dev = iio_allocate_device();
572 if (st->indio_dev == NULL) {
573 ret = -ENOMEM;
574 goto error_free_tx;
575 }
576
577 st->indio_dev->dev.parent = &spi->dev;
578 st->indio_dev->num_interrupt_lines = 1;
579 st->indio_dev->event_attrs = &adis16260_event_attribute_group;
580 if (pd && pd->direction)
581 switch (pd->direction) {
582 case 'x':
583 st->indio_dev->attrs = &adis16260_attribute_group_x;
584 break;
585 case 'y':
586 st->indio_dev->attrs = &adis16260_attribute_group_y;
587 break;
588 case 'z':
589 st->indio_dev->attrs = &adis16260_attribute_group_z;
590 break;
591 default:
592 st->indio_dev->attrs = &adis16260_attribute_group;
593 break;
594 }
595 else
596 st->indio_dev->attrs = &adis16260_attribute_group;
597
598 st->indio_dev->dev_data = (void *)(st);
599 st->indio_dev->driver_module = THIS_MODULE;
600 st->indio_dev->modes = INDIO_DIRECT_MODE;
601
602 ret = adis16260_configure_ring(st->indio_dev);
603 if (ret)
604 goto error_free_dev;
605
606 ret = iio_device_register(st->indio_dev);
607 if (ret)
608 goto error_unreg_ring_funcs;
609 regdone = 1;
610 ret = iio_ring_buffer_register(st->indio_dev->ring, 0);
611 if (ret) {
612 printk(KERN_ERR "failed to initialize the ring\n");
613 goto error_unreg_ring_funcs;
614 }
615
616 if (spi->irq) {
617 ret = iio_register_interrupt_line(spi->irq,
618 st->indio_dev,
619 0,
620 IRQF_TRIGGER_RISING,
621 "adis16260");
622 if (ret)
623 goto error_uninitialize_ring;
624
625 ret = adis16260_probe_trigger(st->indio_dev);
626 if (ret)
627 goto error_unregister_line;
628 }
629
630
631 ret = adis16260_initial_setup(st);
632 if (ret)
633 goto error_remove_trigger;
634 return 0;
635
636error_remove_trigger:
637 adis16260_remove_trigger(st->indio_dev);
638error_unregister_line:
639 if (spi->irq)
640 iio_unregister_interrupt_line(st->indio_dev, 0);
641error_uninitialize_ring:
642 iio_ring_buffer_unregister(st->indio_dev->ring);
643error_unreg_ring_funcs:
644 adis16260_unconfigure_ring(st->indio_dev);
645error_free_dev:
646 if (regdone)
647 iio_device_unregister(st->indio_dev);
648 else
649 iio_free_device(st->indio_dev);
650error_free_tx:
651 kfree(st->tx);
652error_free_rx:
653 kfree(st->rx);
654error_free_st:
655 kfree(st);
656error_ret:
657 return ret;
658}
659
660static int adis16260_remove(struct spi_device *spi)
661{
662 int ret;
663 struct adis16260_state *st = spi_get_drvdata(spi);
664 struct iio_dev *indio_dev = st->indio_dev;
665
666 ret = adis16260_stop_device(&(indio_dev->dev));
667 if (ret)
668 goto err_ret;
669
670 flush_scheduled_work();
671
672 adis16260_remove_trigger(indio_dev);
673 if (spi->irq)
674 iio_unregister_interrupt_line(indio_dev, 0);
675
676 iio_ring_buffer_unregister(st->indio_dev->ring);
677 iio_device_unregister(indio_dev);
678 adis16260_unconfigure_ring(indio_dev);
679 kfree(st->tx);
680 kfree(st->rx);
681 kfree(st);
682
683err_ret:
684 return ret;
685}
686
687
688
689
690
691static const struct spi_device_id adis16260_id[] = {
692 {"adis16260", 0},
693 {"adis16265", 0},
694 {"adis16250", 0},
695 {"adis16255", 0},
696 {}
697};
698
699static struct spi_driver adis16260_driver = {
700 .driver = {
701 .name = "adis16260",
702 .owner = THIS_MODULE,
703 },
704 .probe = adis16260_probe,
705 .remove = __devexit_p(adis16260_remove),
706 .id_table = adis16260_id,
707};
708
709static __init int adis16260_init(void)
710{
711 return spi_register_driver(&adis16260_driver);
712}
713module_init(adis16260_init);
714
715static __exit void adis16260_exit(void)
716{
717 spi_unregister_driver(&adis16260_driver);
718}
719module_exit(adis16260_exit);
720
721MODULE_AUTHOR("Barry Song <21cnbao@gmail.com>");
722MODULE_DESCRIPTION("Analog Devices ADIS16260/5 Digital Gyroscope Sensor");
723MODULE_LICENSE("GPL v2");
724
