2 * adis16400.c support Analog Devices ADIS16400/5
3 * 3d 2g Linear Accelerometers,
5 * 3d Magnetometers via SPI
7 * Copyright (c) 2009 Manuel Stahl <manuel.stahl@iis.fraunhofer.de>
8 * Copyright (c) 2007 Jonathan Cameron <jic23@cam.ac.uk>
9 * Copyright (c) 2011 Analog Devices Inc.
11 * This program is free software; you can redistribute it and/or modify
12 * it under the terms of the GNU General Public License version 2 as
13 * published by the Free Software Foundation.
17 #include <linux/interrupt.h>
18 #include <linux/irq.h>
19 #include <linux/gpio.h>
20 #include <linux/delay.h>
21 #include <linux/mutex.h>
22 #include <linux/device.h>
23 #include <linux/kernel.h>
24 #include <linux/spi/spi.h>
25 #include <linux/slab.h>
26 #include <linux/sysfs.h>
27 #include <linux/list.h>
31 #include "../ring_generic.h"
32 #include "../accel/accel.h"
33 #include "../adc/adc.h"
34 #include "../gyro/gyro.h"
35 #include "../magnetometer/magnet.h"
37 #include "adis16400.h"
39 #define DRIVER_NAME "adis16400"
41 static int adis16400_check_status(struct device *dev);
43 /* At the moment the spi framework doesn't allow global setting of cs_change.
44 * It's in the likely to be added comment at the top of spi.h.
45 * This means that use cannot be made of spi_write etc.
49 * adis16400_spi_write_reg_8() - write single byte to a register
50 * @dev: device associated with child of actual device (iio_dev or iio_trig)
51 * @reg_address: the address of the register to be written
52 * @val: the value to write
54 static int adis16400_spi_write_reg_8(struct device *dev,
59 struct iio_dev *indio_dev = dev_get_drvdata(dev);
60 struct adis16400_state *st = iio_dev_get_devdata(indio_dev);
62 mutex_lock(&st->buf_lock);
63 st->tx[0] = ADIS16400_WRITE_REG(reg_address);
66 ret = spi_write(st->us, st->tx, 2);
67 mutex_unlock(&st->buf_lock);
73 * adis16400_spi_write_reg_16() - write 2 bytes to a pair of registers
74 * @dev: device associated with child of actual device (iio_dev or iio_trig)
75 * @reg_address: the address of the lower of the two registers. Second register
76 * is assumed to have address one greater.
77 * @val: value to be written
79 static int adis16400_spi_write_reg_16(struct device *dev,
84 struct spi_message msg;
85 struct iio_dev *indio_dev = dev_get_drvdata(dev);
86 struct adis16400_state *st = iio_dev_get_devdata(indio_dev);
87 struct spi_transfer xfers[] = {
100 mutex_lock(&st->buf_lock);
101 st->tx[0] = ADIS16400_WRITE_REG(lower_reg_address);
102 st->tx[1] = value & 0xFF;
103 st->tx[2] = ADIS16400_WRITE_REG(lower_reg_address + 1);
104 st->tx[3] = (value >> 8) & 0xFF;
106 spi_message_init(&msg);
107 spi_message_add_tail(&xfers[0], &msg);
108 spi_message_add_tail(&xfers[1], &msg);
109 ret = spi_sync(st->us, &msg);
110 mutex_unlock(&st->buf_lock);
116 * adis16400_spi_read_reg_16() - read 2 bytes from a 16-bit register
117 * @dev: device associated with child of actual device (iio_dev or iio_trig)
118 * @reg_address: the address of the lower of the two registers. Second register
119 * is assumed to have address one greater.
120 * @val: somewhere to pass back the value read
122 static int adis16400_spi_read_reg_16(struct device *dev,
123 u8 lower_reg_address,
126 struct spi_message msg;
127 struct iio_dev *indio_dev = dev_get_drvdata(dev);
128 struct adis16400_state *st = iio_dev_get_devdata(indio_dev);
130 struct spi_transfer xfers[] = {
143 mutex_lock(&st->buf_lock);
144 st->tx[0] = ADIS16400_READ_REG(lower_reg_address);
149 spi_message_init(&msg);
150 spi_message_add_tail(&xfers[0], &msg);
151 spi_message_add_tail(&xfers[1], &msg);
152 ret = spi_sync(st->us, &msg);
154 dev_err(&st->us->dev,
155 "problem when reading 16 bit register 0x%02X",
159 *val = (st->rx[0] << 8) | st->rx[1];
162 mutex_unlock(&st->buf_lock);
166 static ssize_t adis16400_spi_read_signed(struct device *dev,
167 struct device_attribute *attr,
173 unsigned shift = 16 - bits;
174 struct iio_dev_attr *this_attr = to_iio_dev_attr(attr);
176 ret = adis16400_spi_read_reg_16(dev, this_attr->address, (u16 *)&val);
180 if (val & ADIS16400_ERROR_ACTIVE)
181 adis16400_check_status(dev);
182 val = ((s16)(val << shift) >> shift);
183 return sprintf(buf, "%d\n", val);
186 static ssize_t adis16400_read_12bit_unsigned(struct device *dev,
187 struct device_attribute *attr,
192 struct iio_dev_attr *this_attr = to_iio_dev_attr(attr);
194 ret = adis16400_spi_read_reg_16(dev, this_attr->address, &val);
198 if (val & ADIS16400_ERROR_ACTIVE)
199 adis16400_check_status(dev);
201 return sprintf(buf, "%u\n", val & 0x0FFF);
204 static ssize_t adis16400_read_14bit_signed(struct device *dev,
205 struct device_attribute *attr,
208 struct iio_dev *indio_dev = dev_get_drvdata(dev);
211 /* Take the iio_dev status lock */
212 mutex_lock(&indio_dev->mlock);
213 ret = adis16400_spi_read_signed(dev, attr, buf, 14);
214 mutex_unlock(&indio_dev->mlock);
219 static ssize_t adis16400_read_12bit_signed(struct device *dev,
220 struct device_attribute *attr,
223 struct iio_dev *indio_dev = dev_get_drvdata(dev);
226 /* Take the iio_dev status lock */
227 mutex_lock(&indio_dev->mlock);
228 ret = adis16400_spi_read_signed(dev, attr, buf, 12);
229 mutex_unlock(&indio_dev->mlock);
234 static ssize_t adis16400_write_16bit(struct device *dev,
235 struct device_attribute *attr,
239 struct iio_dev_attr *this_attr = to_iio_dev_attr(attr);
243 ret = strict_strtol(buf, 10, &val);
246 ret = adis16400_spi_write_reg_16(dev, this_attr->address, val);
249 return ret ? ret : len;
252 static ssize_t adis16400_read_frequency(struct device *dev,
253 struct device_attribute *attr,
259 ret = adis16400_spi_read_reg_16(dev,
264 sps = (t & ADIS16400_SMPL_PRD_TIME_BASE) ? 53 : 1638;
265 sps /= (t & ADIS16400_SMPL_PRD_DIV_MASK) + 1;
266 len = sprintf(buf, "%d SPS\n", sps);
270 static ssize_t adis16400_write_frequency(struct device *dev,
271 struct device_attribute *attr,
275 struct iio_dev *indio_dev = dev_get_drvdata(dev);
276 struct adis16400_state *st = iio_dev_get_devdata(indio_dev);
281 ret = strict_strtol(buf, 10, &val);
285 mutex_lock(&indio_dev->mlock);
290 t &= ADIS16400_SMPL_PRD_DIV_MASK;
291 if ((t & ADIS16400_SMPL_PRD_DIV_MASK) >= 0x0A)
292 st->us->max_speed_hz = ADIS16400_SPI_SLOW;
294 st->us->max_speed_hz = ADIS16400_SPI_FAST;
296 ret = adis16400_spi_write_reg_8(dev,
300 mutex_unlock(&indio_dev->mlock);
302 return ret ? ret : len;
305 static int adis16400_reset(struct device *dev)
308 ret = adis16400_spi_write_reg_8(dev,
310 ADIS16400_GLOB_CMD_SW_RESET);
312 dev_err(dev, "problem resetting device");
317 static ssize_t adis16400_write_reset(struct device *dev,
318 struct device_attribute *attr,
319 const char *buf, size_t len)
327 return adis16400_reset(dev);
332 int adis16400_set_irq(struct device *dev, bool enable)
336 ret = adis16400_spi_read_reg_16(dev, ADIS16400_MSC_CTRL, &msc);
340 msc |= ADIS16400_MSC_CTRL_DATA_RDY_POL_HIGH;
342 msc |= ADIS16400_MSC_CTRL_DATA_RDY_EN;
344 msc &= ~ADIS16400_MSC_CTRL_DATA_RDY_EN;
346 ret = adis16400_spi_write_reg_16(dev, ADIS16400_MSC_CTRL, msc);
354 /* Power down the device */
355 static int adis16400_stop_device(struct device *dev)
358 u16 val = ADIS16400_SLP_CNT_POWER_OFF;
360 ret = adis16400_spi_write_reg_16(dev, ADIS16400_SLP_CNT, val);
362 dev_err(dev, "problem with turning device off: SLP_CNT");
367 static int adis16400_self_test(struct device *dev)
370 ret = adis16400_spi_write_reg_16(dev,
372 ADIS16400_MSC_CTRL_MEM_TEST);
374 dev_err(dev, "problem starting self test");
377 msleep(ADIS16400_MTEST_DELAY);
378 adis16400_check_status(dev);
384 static int adis16400_check_status(struct device *dev)
389 ret = adis16400_spi_read_reg_16(dev, ADIS16400_DIAG_STAT, &status);
392 dev_err(dev, "Reading status failed\n");
396 if (status & ADIS16400_DIAG_STAT_ZACCL_FAIL)
397 dev_err(dev, "Z-axis accelerometer self-test failure\n");
398 if (status & ADIS16400_DIAG_STAT_YACCL_FAIL)
399 dev_err(dev, "Y-axis accelerometer self-test failure\n");
400 if (status & ADIS16400_DIAG_STAT_XACCL_FAIL)
401 dev_err(dev, "X-axis accelerometer self-test failure\n");
402 if (status & ADIS16400_DIAG_STAT_XGYRO_FAIL)
403 dev_err(dev, "X-axis gyroscope self-test failure\n");
404 if (status & ADIS16400_DIAG_STAT_YGYRO_FAIL)
405 dev_err(dev, "Y-axis gyroscope self-test failure\n");
406 if (status & ADIS16400_DIAG_STAT_ZGYRO_FAIL)
407 dev_err(dev, "Z-axis gyroscope self-test failure\n");
408 if (status & ADIS16400_DIAG_STAT_ALARM2)
409 dev_err(dev, "Alarm 2 active\n");
410 if (status & ADIS16400_DIAG_STAT_ALARM1)
411 dev_err(dev, "Alarm 1 active\n");
412 if (status & ADIS16400_DIAG_STAT_FLASH_CHK)
413 dev_err(dev, "Flash checksum error\n");
414 if (status & ADIS16400_DIAG_STAT_SELF_TEST)
415 dev_err(dev, "Self test error\n");
416 if (status & ADIS16400_DIAG_STAT_OVERFLOW)
417 dev_err(dev, "Sensor overrange\n");
418 if (status & ADIS16400_DIAG_STAT_SPI_FAIL)
419 dev_err(dev, "SPI failure\n");
420 if (status & ADIS16400_DIAG_STAT_FLASH_UPT)
421 dev_err(dev, "Flash update failed\n");
422 if (status & ADIS16400_DIAG_STAT_POWER_HIGH)
423 dev_err(dev, "Power supply above 5.25V\n");
424 if (status & ADIS16400_DIAG_STAT_POWER_LOW)
425 dev_err(dev, "Power supply below 4.75V\n");
431 static int adis16400_initial_setup(struct adis16400_state *st)
434 u16 prod_id, smp_prd;
435 struct device *dev = &st->indio_dev->dev;
437 /* use low spi speed for init */
438 st->us->max_speed_hz = ADIS16400_SPI_SLOW;
439 st->us->mode = SPI_MODE_3;
443 ret = adis16400_set_irq(dev, false);
445 dev_err(dev, "disable irq failed");
450 ret = adis16400_self_test(dev);
452 dev_err(dev, "self test failure");
456 /* Read status register to check the result */
457 ret = adis16400_check_status(dev);
459 adis16400_reset(dev);
460 dev_err(dev, "device not playing ball -> reset");
461 msleep(ADIS16400_STARTUP_DELAY);
462 ret = adis16400_check_status(dev);
464 dev_err(dev, "giving up");
469 ret = adis16400_spi_read_reg_16(dev, ADIS16400_PRODUCT_ID, &prod_id);
473 if ((prod_id & 0xF000) != ADIS16400_PRODUCT_ID_DEFAULT)
474 dev_warn(dev, "unknown product id");
477 dev_info(dev, ": prod_id 0x%04x at CS%d (irq %d)\n",
478 prod_id, st->us->chip_select, st->us->irq);
480 /* use high spi speed if possible */
481 ret = adis16400_spi_read_reg_16(dev, ADIS16400_SMPL_PRD, &smp_prd);
482 if (!ret && (smp_prd & ADIS16400_SMPL_PRD_DIV_MASK) < 0x0A) {
483 st->us->max_speed_hz = ADIS16400_SPI_SLOW;
493 #define ADIS16400_DEV_ATTR_CALIBBIAS(_channel, _reg) \
494 IIO_DEV_ATTR_##_channel##_CALIBBIAS(S_IWUSR | S_IRUGO, \
495 adis16400_read_12bit_signed, \
496 adis16400_write_16bit, \
499 static ADIS16400_DEV_ATTR_CALIBBIAS(GYRO_X, ADIS16400_XGYRO_OFF);
500 static ADIS16400_DEV_ATTR_CALIBBIAS(GYRO_Y, ADIS16400_YGYRO_OFF);
501 static ADIS16400_DEV_ATTR_CALIBBIAS(GYRO_Z, ADIS16400_ZGYRO_OFF);
503 static ADIS16400_DEV_ATTR_CALIBBIAS(ACCEL_X, ADIS16400_XACCL_OFF);
504 static ADIS16400_DEV_ATTR_CALIBBIAS(ACCEL_Y, ADIS16400_YACCL_OFF);
505 static ADIS16400_DEV_ATTR_CALIBBIAS(ACCEL_Z, ADIS16400_ZACCL_OFF);
508 static IIO_DEV_ATTR_IN_NAMED_RAW(0, supply, adis16400_read_14bit_signed,
509 ADIS16400_SUPPLY_OUT);
510 static IIO_CONST_ATTR_IN_NAMED_SCALE(0, supply, "0.002418 V");
512 static IIO_DEV_ATTR_GYRO_X(adis16400_read_14bit_signed,
513 ADIS16400_XGYRO_OUT);
514 static IIO_DEV_ATTR_GYRO_Y(adis16400_read_14bit_signed,
515 ADIS16400_YGYRO_OUT);
516 static IIO_DEV_ATTR_GYRO_Z(adis16400_read_14bit_signed,
517 ADIS16400_ZGYRO_OUT);
518 static IIO_CONST_ATTR(gyro_scale, "0.0008726646");
520 static IIO_DEV_ATTR_ACCEL_X(adis16400_read_14bit_signed,
521 ADIS16400_XACCL_OUT);
522 static IIO_DEV_ATTR_ACCEL_Y(adis16400_read_14bit_signed,
523 ADIS16400_YACCL_OUT);
524 static IIO_DEV_ATTR_ACCEL_Z(adis16400_read_14bit_signed,
525 ADIS16400_ZACCL_OUT);
526 static IIO_CONST_ATTR(accel_scale, "0.0326561445");
528 static IIO_DEV_ATTR_MAGN_X(adis16400_read_14bit_signed,
529 ADIS16400_XMAGN_OUT);
530 static IIO_DEV_ATTR_MAGN_Y(adis16400_read_14bit_signed,
531 ADIS16400_YMAGN_OUT);
532 static IIO_DEV_ATTR_MAGN_Z(adis16400_read_14bit_signed,
533 ADIS16400_ZMAGN_OUT);
534 static IIO_CONST_ATTR(magn_scale, "0.0005 Gs");
537 static IIO_DEV_ATTR_TEMP_RAW(adis16400_read_12bit_signed);
538 static IIO_CONST_ATTR_TEMP_OFFSET("198.16 K");
539 static IIO_CONST_ATTR_TEMP_SCALE("0.14 K");
541 static IIO_DEV_ATTR_IN_RAW(1, adis16400_read_12bit_unsigned,
543 static IIO_CONST_ATTR(in1_scale, "0.000806 V");
545 static IIO_DEV_ATTR_SAMP_FREQ(S_IWUSR | S_IRUGO,
546 adis16400_read_frequency,
547 adis16400_write_frequency);
549 static IIO_DEVICE_ATTR(reset, S_IWUSR, NULL, adis16400_write_reset, 0);
551 static IIO_CONST_ATTR_SAMP_FREQ_AVAIL("409 546 819 1638");
553 static IIO_CONST_ATTR_NAME("adis16400");
555 static struct attribute *adis16400_event_attributes[] = {
559 static struct attribute_group adis16400_event_attribute_group = {
560 .attrs = adis16400_event_attributes,
563 static struct attribute *adis16400_attributes[] = {
564 &iio_dev_attr_gyro_x_calibbias.dev_attr.attr,
565 &iio_dev_attr_gyro_y_calibbias.dev_attr.attr,
566 &iio_dev_attr_gyro_z_calibbias.dev_attr.attr,
567 &iio_dev_attr_accel_x_calibbias.dev_attr.attr,
568 &iio_dev_attr_accel_y_calibbias.dev_attr.attr,
569 &iio_dev_attr_accel_z_calibbias.dev_attr.attr,
570 &iio_dev_attr_in0_supply_raw.dev_attr.attr,
571 &iio_const_attr_in0_supply_scale.dev_attr.attr,
572 &iio_dev_attr_gyro_x_raw.dev_attr.attr,
573 &iio_dev_attr_gyro_y_raw.dev_attr.attr,
574 &iio_dev_attr_gyro_z_raw.dev_attr.attr,
575 &iio_const_attr_gyro_scale.dev_attr.attr,
576 &iio_dev_attr_accel_x_raw.dev_attr.attr,
577 &iio_dev_attr_accel_y_raw.dev_attr.attr,
578 &iio_dev_attr_accel_z_raw.dev_attr.attr,
579 &iio_const_attr_accel_scale.dev_attr.attr,
580 &iio_dev_attr_magn_x_raw.dev_attr.attr,
581 &iio_dev_attr_magn_y_raw.dev_attr.attr,
582 &iio_dev_attr_magn_z_raw.dev_attr.attr,
583 &iio_const_attr_magn_scale.dev_attr.attr,
584 &iio_dev_attr_temp_raw.dev_attr.attr,
585 &iio_const_attr_temp_offset.dev_attr.attr,
586 &iio_const_attr_temp_scale.dev_attr.attr,
587 &iio_dev_attr_in1_raw.dev_attr.attr,
588 &iio_const_attr_in1_scale.dev_attr.attr,
589 &iio_dev_attr_sampling_frequency.dev_attr.attr,
590 &iio_const_attr_sampling_frequency_available.dev_attr.attr,
591 &iio_dev_attr_reset.dev_attr.attr,
592 &iio_const_attr_name.dev_attr.attr,
596 static const struct attribute_group adis16400_attribute_group = {
597 .attrs = adis16400_attributes,
600 static int __devinit adis16400_probe(struct spi_device *spi)
602 int ret, regdone = 0;
603 struct adis16400_state *st = kzalloc(sizeof *st, GFP_KERNEL);
608 /* this is only used for removal purposes */
609 spi_set_drvdata(spi, st);
611 /* Allocate the comms buffers */
612 st->rx = kzalloc(sizeof(*st->rx)*ADIS16400_MAX_RX, GFP_KERNEL);
613 if (st->rx == NULL) {
617 st->tx = kzalloc(sizeof(*st->tx)*ADIS16400_MAX_TX, GFP_KERNEL);
618 if (st->tx == NULL) {
623 mutex_init(&st->buf_lock);
624 /* setup the industrialio driver allocated elements */
625 st->indio_dev = iio_allocate_device();
626 if (st->indio_dev == NULL) {
631 st->indio_dev->dev.parent = &spi->dev;
632 st->indio_dev->num_interrupt_lines = 1;
633 st->indio_dev->event_attrs = &adis16400_event_attribute_group;
634 st->indio_dev->attrs = &adis16400_attribute_group;
635 st->indio_dev->dev_data = (void *)(st);
636 st->indio_dev->driver_module = THIS_MODULE;
637 st->indio_dev->modes = INDIO_DIRECT_MODE;
639 ret = adis16400_configure_ring(st->indio_dev);
643 ret = iio_device_register(st->indio_dev);
645 goto error_unreg_ring_funcs;
648 ret = iio_ring_buffer_register(st->indio_dev->ring, 0);
650 dev_err(&spi->dev, "failed to initialize the ring\n");
651 goto error_unreg_ring_funcs;
654 if (spi->irq && gpio_is_valid(irq_to_gpio(spi->irq)) > 0) {
655 ret = iio_register_interrupt_line(spi->irq,
661 goto error_uninitialize_ring;
663 ret = adis16400_probe_trigger(st->indio_dev);
665 goto error_unregister_line;
668 /* Get the device into a sane initial state */
669 ret = adis16400_initial_setup(st);
671 goto error_remove_trigger;
674 error_remove_trigger:
675 if (st->indio_dev->modes & INDIO_RING_TRIGGERED)
676 adis16400_remove_trigger(st->indio_dev);
677 error_unregister_line:
678 if (st->indio_dev->modes & INDIO_RING_TRIGGERED)
679 iio_unregister_interrupt_line(st->indio_dev, 0);
680 error_uninitialize_ring:
681 iio_ring_buffer_unregister(st->indio_dev->ring);
682 error_unreg_ring_funcs:
683 adis16400_unconfigure_ring(st->indio_dev);
686 iio_device_unregister(st->indio_dev);
688 iio_free_device(st->indio_dev);
699 /* fixme, confirm ordering in this function */
700 static int adis16400_remove(struct spi_device *spi)
703 struct adis16400_state *st = spi_get_drvdata(spi);
704 struct iio_dev *indio_dev = st->indio_dev;
706 ret = adis16400_stop_device(&(indio_dev->dev));
710 flush_scheduled_work();
712 adis16400_remove_trigger(indio_dev);
713 if (spi->irq && gpio_is_valid(irq_to_gpio(spi->irq)) > 0)
714 iio_unregister_interrupt_line(indio_dev, 0);
716 iio_ring_buffer_unregister(st->indio_dev->ring);
717 adis16400_unconfigure_ring(indio_dev);
718 iio_device_unregister(indio_dev);
729 static struct spi_driver adis16400_driver = {
732 .owner = THIS_MODULE,
734 .probe = adis16400_probe,
735 .remove = __devexit_p(adis16400_remove),
738 static __init int adis16400_init(void)
740 return spi_register_driver(&adis16400_driver);
742 module_init(adis16400_init);
744 static __exit void adis16400_exit(void)
746 spi_unregister_driver(&adis16400_driver);
748 module_exit(adis16400_exit);
750 MODULE_AUTHOR("Manuel Stahl <manuel.stahl@iis.fraunhofer.de>");
751 MODULE_DESCRIPTION("Analog Devices ADIS16400/5 IMU SPI driver");
752 MODULE_LICENSE("GPL v2");