2
* ADIS16350/54/55/60/62/64/65 high precision tri-axis inertial sensor
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 "../adc/adc.h"
26
#include "../gyro/gyro.h"
28
#include "adis16350.h"
30
#define DRIVER_NAME "adis16350"
32
static int adis16350_check_status(struct device *dev);
35
* adis16350_spi_write_reg_8() - write single byte to a register
36
* @dev: device associated with child of actual device (iio_dev or iio_trig)
37
* @reg_address: the address of the register to be written
38
* @val: the value to write
40
static int adis16350_spi_write_reg_8(struct device *dev,
45
struct iio_dev *indio_dev = dev_get_drvdata(dev);
46
struct adis16350_state *st = iio_dev_get_devdata(indio_dev);
48
mutex_lock(&st->buf_lock);
49
st->tx[0] = ADIS16350_WRITE_REG(reg_address);
52
ret = spi_write(st->us, st->tx, 2);
53
mutex_unlock(&st->buf_lock);
59
* adis16350_spi_write_reg_16() - write 2 bytes to a pair of registers
60
* @dev: device associated with child of actual device (iio_dev or iio_trig)
61
* @reg_address: the address of the lower of the two registers. Second register
62
* is assumed to have address one greater.
63
* @val: value to be written
65
static int adis16350_spi_write_reg_16(struct device *dev,
70
struct spi_message msg;
71
struct iio_dev *indio_dev = dev_get_drvdata(dev);
72
struct adis16350_state *st = iio_dev_get_devdata(indio_dev);
73
struct spi_transfer xfers[] = {
89
mutex_lock(&st->buf_lock);
90
st->tx[0] = ADIS16350_WRITE_REG(lower_reg_address);
91
st->tx[1] = value & 0xFF;
92
st->tx[2] = ADIS16350_WRITE_REG(lower_reg_address + 1);
93
st->tx[3] = (value >> 8) & 0xFF;
95
spi_message_init(&msg);
96
spi_message_add_tail(&xfers[0], &msg);
97
spi_message_add_tail(&xfers[1], &msg);
98
ret = spi_sync(st->us, &msg);
99
mutex_unlock(&st->buf_lock);
105
* adis16350_spi_read_reg_16() - read 2 bytes from a 16-bit register
106
* @dev: device associated with child of actual device (iio_dev or iio_trig)
107
* @reg_address: the address of the lower of the two registers. Second register
108
* is assumed to have address one greater.
109
* @val: somewhere to pass back the value read
111
static int adis16350_spi_read_reg_16(struct device *dev,
112
u8 lower_reg_address,
115
struct spi_message msg;
116
struct iio_dev *indio_dev = dev_get_drvdata(dev);
117
struct adis16350_state *st = iio_dev_get_devdata(indio_dev);
119
struct spi_transfer xfers[] = {
135
mutex_lock(&st->buf_lock);
136
st->tx[0] = ADIS16350_READ_REG(lower_reg_address);
141
spi_message_init(&msg);
142
spi_message_add_tail(&xfers[0], &msg);
143
spi_message_add_tail(&xfers[1], &msg);
144
ret = spi_sync(st->us, &msg);
146
dev_err(&st->us->dev,
147
"problem when reading 16 bit register 0x%02X",
151
*val = (st->rx[0] << 8) | st->rx[1];
154
mutex_unlock(&st->buf_lock);
159
static ssize_t adis16350_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 = adis16350_spi_read_reg_16(dev, this_attr->address, (u16 *)&val);
173
if (val & ADIS16350_ERROR_ACTIVE)
174
adis16350_check_status(dev);
175
val = ((s16)(val << shift) >> shift);
176
return sprintf(buf, "%d\n", val);
179
static ssize_t adis16350_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 = adis16350_spi_read_reg_16(dev, this_attr->address, &val);
191
if (val & ADIS16350_ERROR_ACTIVE)
192
adis16350_check_status(dev);
194
return sprintf(buf, "%u\n", val & 0x0FFF);
197
static ssize_t adis16350_read_14bit_signed(struct device *dev,
198
struct device_attribute *attr,
201
struct iio_dev *indio_dev = dev_get_drvdata(dev);
204
/* Take the iio_dev status lock */
205
mutex_lock(&indio_dev->mlock);
206
ret = adis16350_spi_read_signed(dev, attr, buf, 14);
207
mutex_unlock(&indio_dev->mlock);
212
static ssize_t adis16350_read_12bit_signed(struct device *dev,
213
struct device_attribute *attr,
216
struct iio_dev *indio_dev = dev_get_drvdata(dev);
219
/* Take the iio_dev status lock */
220
mutex_lock(&indio_dev->mlock);
221
ret = adis16350_spi_read_signed(dev, attr, buf, 12);
222
mutex_unlock(&indio_dev->mlock);
227
static ssize_t adis16350_write_16bit(struct device *dev,
228
struct device_attribute *attr,
232
struct iio_dev_attr *this_attr = to_iio_dev_attr(attr);
236
ret = strict_strtol(buf, 10, &val);
239
ret = adis16350_spi_write_reg_16(dev, this_attr->address, val);
242
return ret ? ret : len;
245
static ssize_t adis16350_read_frequency(struct device *dev,
246
struct device_attribute *attr,
252
ret = adis16350_spi_read_reg_16(dev,
257
sps = (t & ADIS16350_SMPL_PRD_TIME_BASE) ? 53 : 1638;
258
sps /= (t & ADIS16350_SMPL_PRD_DIV_MASK) + 1;
259
len = sprintf(buf, "%d SPS\n", sps);
263
static ssize_t adis16350_write_frequency(struct device *dev,
264
struct device_attribute *attr,
268
struct iio_dev *indio_dev = dev_get_drvdata(dev);
269
struct adis16350_state *st = iio_dev_get_devdata(indio_dev);
274
ret = strict_strtol(buf, 10, &val);
278
mutex_lock(&indio_dev->mlock);
283
t &= ADIS16350_SMPL_PRD_DIV_MASK;
284
if ((t & ADIS16350_SMPL_PRD_DIV_MASK) >= 0x0A)
285
st->us->max_speed_hz = ADIS16350_SPI_SLOW;
287
st->us->max_speed_hz = ADIS16350_SPI_FAST;
289
ret = adis16350_spi_write_reg_8(dev,
293
mutex_unlock(&indio_dev->mlock);
295
return ret ? ret : len;
298
static int adis16350_reset(struct device *dev)
301
ret = adis16350_spi_write_reg_8(dev,
303
ADIS16350_GLOB_CMD_SW_RESET);
305
dev_err(dev, "problem resetting device");
310
static ssize_t adis16350_write_reset(struct device *dev,
311
struct device_attribute *attr,
312
const char *buf, size_t len)
320
return adis16350_reset(dev);
325
int adis16350_set_irq(struct device *dev, bool enable)
329
ret = adis16350_spi_read_reg_16(dev, ADIS16350_MSC_CTRL, &msc);
333
msc |= ADIS16350_MSC_CTRL_DATA_RDY_POL_HIGH;
334
msc &= ~ADIS16350_MSC_CTRL_DATA_RDY_DIO2;
337
msc |= ADIS16350_MSC_CTRL_DATA_RDY_EN;
339
msc &= ~ADIS16350_MSC_CTRL_DATA_RDY_EN;
341
ret = adis16350_spi_write_reg_16(dev, ADIS16350_MSC_CTRL, msc);
349
/* Power down the device */
350
static int adis16350_stop_device(struct device *dev)
353
u16 val = ADIS16350_SLP_CNT_POWER_OFF;
355
ret = adis16350_spi_write_reg_16(dev, ADIS16350_SLP_CNT, val);
357
dev_err(dev, "problem with turning device off: SLP_CNT");
362
static int adis16350_self_test(struct device *dev)
365
ret = adis16350_spi_write_reg_16(dev,
367
ADIS16350_MSC_CTRL_MEM_TEST);
369
dev_err(dev, "problem starting self test");
373
adis16350_check_status(dev);
379
static int adis16350_check_status(struct device *dev)
384
ret = adis16350_spi_read_reg_16(dev, ADIS16350_DIAG_STAT, &status);
387
dev_err(dev, "Reading status failed\n");
391
if (status & ADIS16350_DIAG_STAT_ZACCL_FAIL)
392
dev_err(dev, "Z-axis accelerometer self-test failure\n");
393
if (status & ADIS16350_DIAG_STAT_YACCL_FAIL)
394
dev_err(dev, "Y-axis accelerometer self-test failure\n");
395
if (status & ADIS16350_DIAG_STAT_XACCL_FAIL)
396
dev_err(dev, "X-axis accelerometer self-test failure\n");
397
if (status & ADIS16350_DIAG_STAT_XGYRO_FAIL)
398
dev_err(dev, "X-axis gyroscope self-test failure\n");
399
if (status & ADIS16350_DIAG_STAT_YGYRO_FAIL)
400
dev_err(dev, "Y-axis gyroscope self-test failure\n");
401
if (status & ADIS16350_DIAG_STAT_ZGYRO_FAIL)
402
dev_err(dev, "Z-axis gyroscope self-test failure\n");
403
if (status & ADIS16350_DIAG_STAT_ALARM2)
404
dev_err(dev, "Alarm 2 active\n");
405
if (status & ADIS16350_DIAG_STAT_ALARM1)
406
dev_err(dev, "Alarm 1 active\n");
407
if (status & ADIS16350_DIAG_STAT_FLASH_CHK)
408
dev_err(dev, "Flash checksum error\n");
409
if (status & ADIS16350_DIAG_STAT_SELF_TEST)
410
dev_err(dev, "Self test error\n");
411
if (status & ADIS16350_DIAG_STAT_OVERFLOW)
412
dev_err(dev, "Sensor overrange\n");
413
if (status & ADIS16350_DIAG_STAT_SPI_FAIL)
414
dev_err(dev, "SPI failure\n");
415
if (status & ADIS16350_DIAG_STAT_FLASH_UPT)
416
dev_err(dev, "Flash update failed\n");
417
if (status & ADIS16350_DIAG_STAT_POWER_HIGH)
418
dev_err(dev, "Power supply above 5.25V\n");
419
if (status & ADIS16350_DIAG_STAT_POWER_LOW)
420
dev_err(dev, "Power supply below 4.75V\n");
426
static int adis16350_initial_setup(struct adis16350_state *st)
430
struct device *dev = &st->indio_dev->dev;
432
/* use low spi speed for init */
433
st->us->max_speed_hz = ADIS16350_SPI_SLOW;
434
st->us->mode = SPI_MODE_3;
438
ret = adis16350_set_irq(dev, false);
440
dev_err(dev, "disable irq failed");
445
ret = adis16350_self_test(dev);
447
dev_err(dev, "self test failure");
451
/* Read status register to check the result */
452
ret = adis16350_check_status(dev);
454
adis16350_reset(dev);
455
dev_err(dev, "device not playing ball -> reset");
456
msleep(ADIS16350_STARTUP_DELAY);
457
ret = adis16350_check_status(dev);
459
dev_err(dev, "giving up");
464
printk(KERN_INFO DRIVER_NAME ": at CS%d (irq %d)\n",
465
st->us->chip_select, st->us->irq);
467
/* use high spi speed if possible */
468
ret = adis16350_spi_read_reg_16(dev, ADIS16350_SMPL_PRD, &smp_prd);
469
if (!ret && (smp_prd & ADIS16350_SMPL_PRD_DIV_MASK) < 0x0A) {
470
st->us->max_speed_hz = ADIS16350_SPI_SLOW;
478
static IIO_DEV_ATTR_GYRO_X_CALIBBIAS(S_IWUSR | S_IRUGO,
479
adis16350_read_12bit_signed,
480
adis16350_write_16bit,
481
ADIS16350_XGYRO_OFF);
483
static IIO_DEV_ATTR_GYRO_Y_CALIBBIAS(S_IWUSR | S_IRUGO,
484
adis16350_read_12bit_signed,
485
adis16350_write_16bit,
486
ADIS16350_YGYRO_OFF);
488
static IIO_DEV_ATTR_GYRO_Z_CALIBBIAS(S_IWUSR | S_IRUGO,
489
adis16350_read_12bit_signed,
490
adis16350_write_16bit,
491
ADIS16350_ZGYRO_OFF);
493
static IIO_DEV_ATTR_ACCEL_X_CALIBBIAS(S_IWUSR | S_IRUGO,
494
adis16350_read_12bit_signed,
495
adis16350_write_16bit,
496
ADIS16350_XACCL_OFF);
498
static IIO_DEV_ATTR_ACCEL_Y_CALIBBIAS(S_IWUSR | S_IRUGO,
499
adis16350_read_12bit_signed,
500
adis16350_write_16bit,
501
ADIS16350_YACCL_OFF);
503
static IIO_DEV_ATTR_ACCEL_Z_CALIBBIAS(S_IWUSR | S_IRUGO,
504
adis16350_read_12bit_signed,
505
adis16350_write_16bit,
506
ADIS16350_ZACCL_OFF);
508
static IIO_DEV_ATTR_IN_NAMED_RAW(0, supply, adis16350_read_12bit_unsigned,
509
ADIS16350_SUPPLY_OUT);
510
static IIO_CONST_ATTR_IN_NAMED_SCALE(0, supply, "0.002418");
512
static IIO_DEV_ATTR_GYRO_X(adis16350_read_14bit_signed,
513
ADIS16350_XGYRO_OUT);
514
static IIO_DEV_ATTR_GYRO_Y(adis16350_read_14bit_signed,
515
ADIS16350_YGYRO_OUT);
516
static IIO_DEV_ATTR_GYRO_Z(adis16350_read_14bit_signed,
517
ADIS16350_ZGYRO_OUT);
518
static IIO_CONST_ATTR_GYRO_SCALE("0.00127862821");
520
static IIO_DEV_ATTR_ACCEL_X(adis16350_read_14bit_signed,
521
ADIS16350_XACCL_OUT);
522
static IIO_DEV_ATTR_ACCEL_Y(adis16350_read_14bit_signed,
523
ADIS16350_YACCL_OUT);
524
static IIO_DEV_ATTR_ACCEL_Z(adis16350_read_14bit_signed,
525
ADIS16350_ZACCL_OUT);
526
static IIO_CONST_ATTR_ACCEL_SCALE("0.0247323713");
528
static IIO_DEVICE_ATTR(temp_x_raw, S_IRUGO, adis16350_read_12bit_signed,
529
NULL, ADIS16350_XTEMP_OUT);
530
static IIO_DEVICE_ATTR(temp_y_raw, S_IRUGO, adis16350_read_12bit_signed,
531
NULL, ADIS16350_YTEMP_OUT);
532
static IIO_DEVICE_ATTR(temp_z_raw, S_IRUGO, adis16350_read_12bit_signed,
533
NULL, ADIS16350_ZTEMP_OUT);
534
static IIO_CONST_ATTR_TEMP_SCALE("0.14534");
535
static IIO_CONST_ATTR_TEMP_OFFSET("198.16");
537
static IIO_DEV_ATTR_IN_RAW(1, adis16350_read_12bit_unsigned,
539
static IIO_CONST_ATTR(in1_scale, "0.000806");
541
static IIO_DEV_ATTR_SAMP_FREQ(S_IWUSR | S_IRUGO,
542
adis16350_read_frequency,
543
adis16350_write_frequency);
545
static IIO_DEVICE_ATTR(reset, S_IWUSR, NULL,
546
adis16350_write_reset, 0);
548
static IIO_CONST_ATTR_SAMP_FREQ_AVAIL("409 546 819 1638");
550
static IIO_CONST_ATTR_NAME("adis16350");
552
static struct attribute *adis16350_attributes[] = {
553
&iio_dev_attr_gyro_x_calibbias.dev_attr.attr,
554
&iio_dev_attr_gyro_y_calibbias.dev_attr.attr,
555
&iio_dev_attr_gyro_z_calibbias.dev_attr.attr,
556
&iio_dev_attr_accel_x_calibbias.dev_attr.attr,
557
&iio_dev_attr_accel_y_calibbias.dev_attr.attr,
558
&iio_dev_attr_accel_z_calibbias.dev_attr.attr,
559
&iio_dev_attr_in0_supply_raw.dev_attr.attr,
560
&iio_const_attr_in0_supply_scale.dev_attr.attr,
561
&iio_dev_attr_gyro_x_raw.dev_attr.attr,
562
&iio_dev_attr_gyro_y_raw.dev_attr.attr,
563
&iio_dev_attr_gyro_z_raw.dev_attr.attr,
564
&iio_const_attr_gyro_scale.dev_attr.attr,
565
&iio_dev_attr_accel_x_raw.dev_attr.attr,
566
&iio_dev_attr_accel_y_raw.dev_attr.attr,
567
&iio_dev_attr_accel_z_raw.dev_attr.attr,
568
&iio_const_attr_accel_scale.dev_attr.attr,
569
&iio_dev_attr_temp_x_raw.dev_attr.attr,
570
&iio_dev_attr_temp_y_raw.dev_attr.attr,
571
&iio_dev_attr_temp_z_raw.dev_attr.attr,
572
&iio_const_attr_temp_scale.dev_attr.attr,
573
&iio_const_attr_temp_offset.dev_attr.attr,
574
&iio_dev_attr_in1_raw.dev_attr.attr,
575
&iio_const_attr_in1_scale.dev_attr.attr,
576
&iio_dev_attr_sampling_frequency.dev_attr.attr,
577
&iio_const_attr_sampling_frequency_available.dev_attr.attr,
578
&iio_dev_attr_reset.dev_attr.attr,
579
&iio_const_attr_name.dev_attr.attr,
583
static const struct attribute_group adis16350_attribute_group = {
584
.attrs = adis16350_attributes,
587
static struct attribute *adis16350_event_attributes[] = {
591
static struct attribute_group adis16350_event_attribute_group = {
592
.attrs = adis16350_event_attributes,
595
static int __devinit adis16350_probe(struct spi_device *spi)
597
int ret, regdone = 0;
598
struct adis16350_state *st = kzalloc(sizeof *st, GFP_KERNEL);
603
/* this is only used for removal purposes */
604
spi_set_drvdata(spi, st);
606
/* Allocate the comms buffers */
607
st->rx = kzalloc(sizeof(*st->rx)*ADIS16350_MAX_RX, GFP_KERNEL);
608
if (st->rx == NULL) {
612
st->tx = kzalloc(sizeof(*st->tx)*ADIS16350_MAX_TX, GFP_KERNEL);
613
if (st->tx == NULL) {
618
mutex_init(&st->buf_lock);
619
/* setup the industrialio driver allocated elements */
620
st->indio_dev = iio_allocate_device();
621
if (st->indio_dev == NULL) {
626
st->indio_dev->dev.parent = &spi->dev;
627
st->indio_dev->num_interrupt_lines = 1;
628
st->indio_dev->event_attrs = &adis16350_event_attribute_group;
629
st->indio_dev->attrs = &adis16350_attribute_group;
630
st->indio_dev->dev_data = (void *)(st);
631
st->indio_dev->driver_module = THIS_MODULE;
632
st->indio_dev->modes = INDIO_DIRECT_MODE;
634
ret = adis16350_configure_ring(st->indio_dev);
638
ret = iio_device_register(st->indio_dev);
640
goto error_unreg_ring_funcs;
643
ret = iio_ring_buffer_register(st->indio_dev->ring, 0);
645
printk(KERN_ERR "failed to initialize the ring\n");
646
goto error_unreg_ring_funcs;
650
ret = iio_register_interrupt_line(spi->irq,
656
goto error_uninitialize_ring;
658
ret = adis16350_probe_trigger(st->indio_dev);
660
goto error_unregister_line;
663
/* Get the device into a sane initial state */
664
ret = adis16350_initial_setup(st);
666
goto error_remove_trigger;
669
error_remove_trigger:
670
adis16350_remove_trigger(st->indio_dev);
671
error_unregister_line:
673
iio_unregister_interrupt_line(st->indio_dev, 0);
674
error_uninitialize_ring:
675
iio_ring_buffer_unregister(st->indio_dev->ring);
676
error_unreg_ring_funcs:
677
adis16350_unconfigure_ring(st->indio_dev);
680
iio_device_unregister(st->indio_dev);
682
iio_free_device(st->indio_dev);
693
static int adis16350_remove(struct spi_device *spi)
696
struct adis16350_state *st = spi_get_drvdata(spi);
697
struct iio_dev *indio_dev = st->indio_dev;
699
ret = adis16350_stop_device(&(indio_dev->dev));
703
flush_scheduled_work();
705
adis16350_remove_trigger(indio_dev);
707
iio_unregister_interrupt_line(indio_dev, 0);
709
iio_ring_buffer_unregister(indio_dev->ring);
710
iio_device_unregister(indio_dev);
711
adis16350_unconfigure_ring(indio_dev);
722
static const struct spi_device_id adis16350_id[] = {
733
static struct spi_driver adis16350_driver = {
736
.owner = THIS_MODULE,
738
.probe = adis16350_probe,
739
.remove = __devexit_p(adis16350_remove),
740
.id_table = adis16350_id,
743
static __init int adis16350_init(void)
745
return spi_register_driver(&adis16350_driver);
747
module_init(adis16350_init);
749
static __exit void adis16350_exit(void)
751
spi_unregister_driver(&adis16350_driver);
753
module_exit(adis16350_exit);
755
MODULE_AUTHOR("Barry Song <21cnbao@gmail.com>");
756
MODULE_DESCRIPTION("Analog Devices ADIS16350/54/55/60/62/64/65 IMU SPI driver");
757
MODULE_LICENSE("GPL v2");