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/delay.h>
12 #include <linux/mutex.h>
13 #include <linux/device.h>
14 #include <linux/kernel.h>
15 #include <linux/spi/spi.h>
16 #include <linux/slab.h>
17 #include <linux/sysfs.h>
18 #include <linux/list.h>
19 #include <linux/module.h>
21 #include <linux/iio/iio.h>
22 #include <linux/iio/sysfs.h>
23 #include <linux/iio/buffer.h>
25 #include "adis16260.h"
27 static ssize_t adis16260_read_frequency_available(struct device *dev,
28 struct device_attribute *attr,
31 struct iio_dev *indio_dev = dev_to_iio_dev(dev);
32 struct adis16260_state *st = iio_priv(indio_dev);
33 if (spi_get_device_id(st->adis.spi)->driver_data)
34 return sprintf(buf, "%s\n", "0.129 ~ 256");
36 return sprintf(buf, "%s\n", "256 2048");
39 static ssize_t adis16260_read_frequency(struct device *dev,
40 struct device_attribute *attr,
43 struct iio_dev *indio_dev = dev_to_iio_dev(dev);
44 struct adis16260_state *st = iio_priv(indio_dev);
48 ret = adis_read_reg_16(&st->adis, ADIS16260_SMPL_PRD, &t);
52 if (spi_get_device_id(st->adis.spi)->driver_data) /* If an adis16251 */
53 sps = (t & ADIS16260_SMPL_PRD_TIME_BASE) ? 8 : 256;
55 sps = (t & ADIS16260_SMPL_PRD_TIME_BASE) ? 66 : 2048;
56 sps /= (t & ADIS16260_SMPL_PRD_DIV_MASK) + 1;
57 len = sprintf(buf, "%d SPS\n", sps);
61 static ssize_t adis16260_write_frequency(struct device *dev,
62 struct device_attribute *attr,
66 struct iio_dev *indio_dev = dev_to_iio_dev(dev);
67 struct adis16260_state *st = iio_priv(indio_dev);
72 ret = strict_strtol(buf, 10, &val);
78 mutex_lock(&indio_dev->mlock);
79 if (spi_get_device_id(st->adis.spi)->driver_data) {
83 t &= ADIS16260_SMPL_PRD_DIV_MASK;
88 t &= ADIS16260_SMPL_PRD_DIV_MASK;
90 if ((t & ADIS16260_SMPL_PRD_DIV_MASK) >= 0x0A)
91 st->adis.spi->max_speed_hz = ADIS16260_SPI_SLOW;
93 st->adis.spi->max_speed_hz = ADIS16260_SPI_FAST;
94 ret = adis_write_reg_8(&st->adis,
98 mutex_unlock(&indio_dev->mlock);
100 return ret ? ret : len;
103 /* Power down the device */
104 static int adis16260_stop_device(struct iio_dev *indio_dev)
106 struct adis16260_state *st = iio_priv(indio_dev);
108 u16 val = ADIS16260_SLP_CNT_POWER_OFF;
110 ret = adis_write_reg_16(&st->adis, ADIS16260_SLP_CNT, val);
112 dev_err(&indio_dev->dev, "problem with turning device off: SLP_CNT");
117 static IIO_DEV_ATTR_SAMP_FREQ(S_IWUSR | S_IRUGO,
118 adis16260_read_frequency,
119 adis16260_write_frequency);
121 static IIO_DEVICE_ATTR(sampling_frequency_available,
122 S_IRUGO, adis16260_read_frequency_available, NULL, 0);
124 #define ADIS16260_GYRO_CHANNEL_SET(axis, mod) \
125 struct iio_chan_spec adis16260_channels_##axis[] = { \
126 ADIS_GYRO_CHAN(mod, ADIS16260_GYRO_OUT, ADIS16260_SCAN_GYRO, \
127 IIO_CHAN_INFO_CALIBBIAS_SEPARATE_BIT | \
128 IIO_CHAN_INFO_CALIBSCALE_SEPARATE_BIT, 14), \
129 ADIS_INCLI_CHAN(mod, ADIS16260_ANGL_OUT, ADIS16260_SCAN_ANGL, 0, 14), \
130 ADIS_TEMP_CHAN(ADIS16260_TEMP_OUT, ADIS16260_SCAN_TEMP, 12), \
131 ADIS_SUPPLY_CHAN(ADIS16260_SUPPLY_OUT, ADIS16260_SCAN_SUPPLY, 12), \
132 ADIS_AUX_ADC_CHAN(ADIS16260_AUX_ADC, ADIS16260_SCAN_AUX_ADC, 12), \
133 IIO_CHAN_SOFT_TIMESTAMP(5), \
136 static const ADIS16260_GYRO_CHANNEL_SET(x, X);
137 static const ADIS16260_GYRO_CHANNEL_SET(y, Y);
138 static const ADIS16260_GYRO_CHANNEL_SET(z, Z);
140 static const u8 adis16260_addresses[][2] = {
141 [ADIS16260_SCAN_GYRO] = { ADIS16260_GYRO_OFF, ADIS16260_GYRO_SCALE },
144 static int adis16260_read_raw(struct iio_dev *indio_dev,
145 struct iio_chan_spec const *chan,
149 struct adis16260_state *st = iio_priv(indio_dev);
156 case IIO_CHAN_INFO_RAW:
157 return adis_single_conversion(indio_dev, chan,
158 ADIS16260_ERROR_ACTIVE, val);
159 case IIO_CHAN_INFO_SCALE:
160 switch (chan->type) {
163 if (spi_get_device_id(st->adis.spi)->driver_data) {
164 /* 0.01832 degree / sec */
165 *val2 = IIO_DEGREE_TO_RAD(18320);
167 /* 0.07326 degree / sec */
168 *val2 = IIO_DEGREE_TO_RAD(73260);
170 return IIO_VAL_INT_PLUS_MICRO;
172 if (chan->channel == 0) {
174 *val2 = 831500; /* 1.8315 mV */
177 *val2 = 610500; /* 610.5 uV */
179 return IIO_VAL_INT_PLUS_MICRO;
182 *val2 = 300000; /* 0.1453 C */
183 return IIO_VAL_INT_PLUS_MICRO;
188 case IIO_CHAN_INFO_OFFSET:
189 *val = 250000 / 1453; /* 25 C = 0x00 */
191 case IIO_CHAN_INFO_CALIBBIAS:
192 switch (chan->type) {
199 mutex_lock(&indio_dev->mlock);
200 addr = adis16260_addresses[chan->scan_index][0];
201 ret = adis_read_reg_16(&st->adis, addr, &val16);
203 mutex_unlock(&indio_dev->mlock);
206 val16 &= (1 << bits) - 1;
207 val16 = (s16)(val16 << (16 - bits)) >> (16 - bits);
209 mutex_unlock(&indio_dev->mlock);
211 case IIO_CHAN_INFO_CALIBSCALE:
212 switch (chan->type) {
219 mutex_lock(&indio_dev->mlock);
220 addr = adis16260_addresses[chan->scan_index][1];
221 ret = adis_read_reg_16(&st->adis, addr, &val16);
223 mutex_unlock(&indio_dev->mlock);
226 *val = (1 << bits) - 1;
227 mutex_unlock(&indio_dev->mlock);
233 static int adis16260_write_raw(struct iio_dev *indio_dev,
234 struct iio_chan_spec const *chan,
239 struct adis16260_state *st = iio_priv(indio_dev);
244 case IIO_CHAN_INFO_CALIBBIAS:
245 val16 = val & ((1 << bits) - 1);
246 addr = adis16260_addresses[chan->scan_index][0];
247 return adis_write_reg_16(&st->adis, addr, val16);
248 case IIO_CHAN_INFO_CALIBSCALE:
249 val16 = val & ((1 << bits) - 1);
250 addr = adis16260_addresses[chan->scan_index][1];
251 return adis_write_reg_16(&st->adis, addr, val16);
256 static struct attribute *adis16260_attributes[] = {
257 &iio_dev_attr_sampling_frequency.dev_attr.attr,
258 &iio_dev_attr_sampling_frequency_available.dev_attr.attr,
262 static const struct attribute_group adis16260_attribute_group = {
263 .attrs = adis16260_attributes,
266 static const struct iio_info adis16260_info = {
267 .attrs = &adis16260_attribute_group,
268 .read_raw = &adis16260_read_raw,
269 .write_raw = &adis16260_write_raw,
270 .update_scan_mode = adis_update_scan_mode,
271 .driver_module = THIS_MODULE,
274 static const char * const adis1620_status_error_msgs[] = {
275 [ADIS16260_DIAG_STAT_FLASH_CHK_BIT] = "Flash checksum error",
276 [ADIS16260_DIAG_STAT_SELF_TEST_BIT] = "Self test error",
277 [ADIS16260_DIAG_STAT_OVERFLOW_BIT] = "Sensor overrange",
278 [ADIS16260_DIAG_STAT_SPI_FAIL_BIT] = "SPI failure",
279 [ADIS16260_DIAG_STAT_FLASH_UPT_BIT] = "Flash update failed",
280 [ADIS16260_DIAG_STAT_POWER_HIGH_BIT] = "Power supply above 5.25",
281 [ADIS16260_DIAG_STAT_POWER_LOW_BIT] = "Power supply below 4.75",
284 static const struct adis_data adis16260_data = {
287 .msc_ctrl_reg = ADIS16260_MSC_CTRL,
288 .glob_cmd_reg = ADIS16260_GLOB_CMD,
289 .diag_stat_reg = ADIS16260_DIAG_STAT,
291 .self_test_mask = ADIS16260_MSC_CTRL_MEM_TEST,
292 .startup_delay = ADIS16260_STARTUP_DELAY,
294 .status_error_msgs = adis1620_status_error_msgs,
295 .status_error_mask = BIT(ADIS16260_DIAG_STAT_FLASH_CHK_BIT) |
296 BIT(ADIS16260_DIAG_STAT_SELF_TEST_BIT) |
297 BIT(ADIS16260_DIAG_STAT_OVERFLOW_BIT) |
298 BIT(ADIS16260_DIAG_STAT_SPI_FAIL_BIT) |
299 BIT(ADIS16260_DIAG_STAT_FLASH_UPT_BIT) |
300 BIT(ADIS16260_DIAG_STAT_POWER_HIGH_BIT) |
301 BIT(ADIS16260_DIAG_STAT_POWER_LOW_BIT),
304 static int adis16260_probe(struct spi_device *spi)
307 struct adis16260_platform_data *pd = spi->dev.platform_data;
308 struct adis16260_state *st;
309 struct iio_dev *indio_dev;
311 /* setup the industrialio driver allocated elements */
312 indio_dev = iio_device_alloc(sizeof(*st));
313 if (indio_dev == NULL) {
317 st = iio_priv(indio_dev);
319 st->negate = pd->negate;
320 /* this is only used for removal purposes */
321 spi_set_drvdata(spi, indio_dev);
323 indio_dev->name = spi_get_device_id(spi)->name;
324 indio_dev->dev.parent = &spi->dev;
325 indio_dev->info = &adis16260_info;
326 indio_dev->num_channels
327 = ARRAY_SIZE(adis16260_channels_x);
328 if (pd && pd->direction)
329 switch (pd->direction) {
331 indio_dev->channels = adis16260_channels_x;
334 indio_dev->channels = adis16260_channels_y;
337 indio_dev->channels = adis16260_channels_z;
343 indio_dev->channels = adis16260_channels_x;
344 indio_dev->num_channels = ARRAY_SIZE(adis16260_channels_x);
345 indio_dev->modes = INDIO_DIRECT_MODE;
347 ret = adis_init(&st->adis, indio_dev, spi, &adis16260_data);
351 ret = adis_setup_buffer_and_trigger(&st->adis, indio_dev, NULL);
355 if (indio_dev->buffer) {
356 /* Set default scan mode */
357 iio_scan_mask_set(indio_dev, indio_dev->buffer,
358 ADIS16260_SCAN_SUPPLY);
359 iio_scan_mask_set(indio_dev, indio_dev->buffer,
360 ADIS16260_SCAN_GYRO);
361 iio_scan_mask_set(indio_dev, indio_dev->buffer,
362 ADIS16260_SCAN_AUX_ADC);
363 iio_scan_mask_set(indio_dev, indio_dev->buffer,
364 ADIS16260_SCAN_TEMP);
365 iio_scan_mask_set(indio_dev, indio_dev->buffer,
366 ADIS16260_SCAN_ANGL);
369 /* Get the device into a sane initial state */
370 ret = adis_initial_startup(&st->adis);
372 goto error_cleanup_buffer_trigger;
373 ret = iio_device_register(indio_dev);
375 goto error_cleanup_buffer_trigger;
379 error_cleanup_buffer_trigger:
380 adis_cleanup_buffer_and_trigger(&st->adis, indio_dev);
382 iio_device_free(indio_dev);
387 static int adis16260_remove(struct spi_device *spi)
389 struct iio_dev *indio_dev = spi_get_drvdata(spi);
390 struct adis16260_state *st = iio_priv(indio_dev);
392 iio_device_unregister(indio_dev);
393 adis16260_stop_device(indio_dev);
394 adis_cleanup_buffer_and_trigger(&st->adis, indio_dev);
395 iio_device_free(indio_dev);
401 * These parts do not need to be differentiated until someone adds
402 * support for the on chip filtering.
404 static const struct spi_device_id adis16260_id[] = {
412 MODULE_DEVICE_TABLE(spi, adis16260_id);
414 static struct spi_driver adis16260_driver = {
417 .owner = THIS_MODULE,
419 .probe = adis16260_probe,
420 .remove = adis16260_remove,
421 .id_table = adis16260_id,
423 module_spi_driver(adis16260_driver);
425 MODULE_AUTHOR("Barry Song <21cnbao@gmail.com>");
426 MODULE_DESCRIPTION("Analog Devices ADIS16260/5 Digital Gyroscope Sensor");
427 MODULE_LICENSE("GPL v2");