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");