| /* |
| * ADIS16260/ADIS16265 Programmable Digital Gyroscope Sensor Driver |
| * |
| * Copyright 2010 Analog Devices Inc. |
| * |
| * Licensed under the GPL-2 or later. |
| */ |
| |
| #include <linux/interrupt.h> |
| #include <linux/mutex.h> |
| #include <linux/device.h> |
| #include <linux/kernel.h> |
| #include <linux/spi/spi.h> |
| #include <linux/sysfs.h> |
| #include <linux/module.h> |
| |
| #include <linux/iio/iio.h> |
| #include <linux/iio/sysfs.h> |
| #include <linux/iio/buffer.h> |
| #include <linux/iio/imu/adis.h> |
| |
| #define ADIS16260_STARTUP_DELAY 220 /* ms */ |
| |
| #define ADIS16260_FLASH_CNT 0x00 /* Flash memory write count */ |
| #define ADIS16260_SUPPLY_OUT 0x02 /* Power supply measurement */ |
| #define ADIS16260_GYRO_OUT 0x04 /* X-axis gyroscope output */ |
| #define ADIS16260_AUX_ADC 0x0A /* analog input channel measurement */ |
| #define ADIS16260_TEMP_OUT 0x0C /* internal temperature measurement */ |
| #define ADIS16260_ANGL_OUT 0x0E /* angle displacement */ |
| #define ADIS16260_GYRO_OFF 0x14 /* Calibration, offset/bias adjustment */ |
| #define ADIS16260_GYRO_SCALE 0x16 /* Calibration, scale adjustment */ |
| #define ADIS16260_ALM_MAG1 0x20 /* Alarm 1 magnitude/polarity setting */ |
| #define ADIS16260_ALM_MAG2 0x22 /* Alarm 2 magnitude/polarity setting */ |
| #define ADIS16260_ALM_SMPL1 0x24 /* Alarm 1 dynamic rate of change setting */ |
| #define ADIS16260_ALM_SMPL2 0x26 /* Alarm 2 dynamic rate of change setting */ |
| #define ADIS16260_ALM_CTRL 0x28 /* Alarm control */ |
| #define ADIS16260_AUX_DAC 0x30 /* Auxiliary DAC data */ |
| #define ADIS16260_GPIO_CTRL 0x32 /* Control, digital I/O line */ |
| #define ADIS16260_MSC_CTRL 0x34 /* Control, data ready, self-test settings */ |
| #define ADIS16260_SMPL_PRD 0x36 /* Control, internal sample rate */ |
| #define ADIS16260_SENS_AVG 0x38 /* Control, dynamic range, filtering */ |
| #define ADIS16260_SLP_CNT 0x3A /* Control, sleep mode initiation */ |
| #define ADIS16260_DIAG_STAT 0x3C /* Diagnostic, error flags */ |
| #define ADIS16260_GLOB_CMD 0x3E /* Control, global commands */ |
| #define ADIS16260_LOT_ID1 0x52 /* Lot Identification Code 1 */ |
| #define ADIS16260_LOT_ID2 0x54 /* Lot Identification Code 2 */ |
| #define ADIS16260_PROD_ID 0x56 /* Product identifier; |
| * convert to decimal = 16,265/16,260 */ |
| #define ADIS16260_SERIAL_NUM 0x58 /* Serial number */ |
| |
| #define ADIS16260_ERROR_ACTIVE (1<<14) |
| #define ADIS16260_NEW_DATA (1<<15) |
| |
| /* MSC_CTRL */ |
| #define ADIS16260_MSC_CTRL_MEM_TEST (1<<11) |
| /* Internal self-test enable */ |
| #define ADIS16260_MSC_CTRL_INT_SELF_TEST (1<<10) |
| #define ADIS16260_MSC_CTRL_NEG_SELF_TEST (1<<9) |
| #define ADIS16260_MSC_CTRL_POS_SELF_TEST (1<<8) |
| #define ADIS16260_MSC_CTRL_DATA_RDY_EN (1<<2) |
| #define ADIS16260_MSC_CTRL_DATA_RDY_POL_HIGH (1<<1) |
| #define ADIS16260_MSC_CTRL_DATA_RDY_DIO2 (1<<0) |
| |
| /* SMPL_PRD */ |
| /* Time base (tB): 0 = 1.953 ms, 1 = 60.54 ms */ |
| #define ADIS16260_SMPL_PRD_TIME_BASE (1<<7) |
| #define ADIS16260_SMPL_PRD_DIV_MASK 0x7F |
| |
| /* SLP_CNT */ |
| #define ADIS16260_SLP_CNT_POWER_OFF 0x80 |
| |
| /* DIAG_STAT */ |
| #define ADIS16260_DIAG_STAT_ALARM2 (1<<9) |
| #define ADIS16260_DIAG_STAT_ALARM1 (1<<8) |
| #define ADIS16260_DIAG_STAT_FLASH_CHK_BIT 6 |
| #define ADIS16260_DIAG_STAT_SELF_TEST_BIT 5 |
| #define ADIS16260_DIAG_STAT_OVERFLOW_BIT 4 |
| #define ADIS16260_DIAG_STAT_SPI_FAIL_BIT 3 |
| #define ADIS16260_DIAG_STAT_FLASH_UPT_BIT 2 |
| #define ADIS16260_DIAG_STAT_POWER_HIGH_BIT 1 |
| #define ADIS16260_DIAG_STAT_POWER_LOW_BIT 0 |
| |
| /* GLOB_CMD */ |
| #define ADIS16260_GLOB_CMD_SW_RESET (1<<7) |
| #define ADIS16260_GLOB_CMD_FLASH_UPD (1<<3) |
| #define ADIS16260_GLOB_CMD_DAC_LATCH (1<<2) |
| #define ADIS16260_GLOB_CMD_FAC_CALIB (1<<1) |
| #define ADIS16260_GLOB_CMD_AUTO_NULL (1<<0) |
| |
| #define ADIS16260_SPI_SLOW (u32)(300 * 1000) |
| #define ADIS16260_SPI_BURST (u32)(1000 * 1000) |
| #define ADIS16260_SPI_FAST (u32)(2000 * 1000) |
| |
| /* At the moment triggers are only used for ring buffer |
| * filling. This may change! |
| */ |
| |
| #define ADIS16260_SCAN_GYRO 0 |
| #define ADIS16260_SCAN_SUPPLY 1 |
| #define ADIS16260_SCAN_AUX_ADC 2 |
| #define ADIS16260_SCAN_TEMP 3 |
| #define ADIS16260_SCAN_ANGL 4 |
| |
| struct adis16260_chip_info { |
| unsigned int gyro_max_val; |
| unsigned int gyro_max_scale; |
| const struct iio_chan_spec *channels; |
| unsigned int num_channels; |
| }; |
| |
| struct adis16260 { |
| const struct adis16260_chip_info *info; |
| |
| struct adis adis; |
| }; |
| |
| enum adis16260_type { |
| ADIS16251, |
| ADIS16260, |
| ADIS16266, |
| }; |
| |
| static const struct iio_chan_spec adis16260_channels[] = { |
| ADIS_GYRO_CHAN(X, ADIS16260_GYRO_OUT, ADIS16260_SCAN_GYRO, |
| BIT(IIO_CHAN_INFO_CALIBBIAS) | |
| BIT(IIO_CHAN_INFO_CALIBSCALE), |
| BIT(IIO_CHAN_INFO_SAMP_FREQ), 14), |
| ADIS_INCLI_CHAN(X, ADIS16260_ANGL_OUT, ADIS16260_SCAN_ANGL, 0, |
| BIT(IIO_CHAN_INFO_SAMP_FREQ), 14), |
| ADIS_TEMP_CHAN(ADIS16260_TEMP_OUT, ADIS16260_SCAN_TEMP, |
| BIT(IIO_CHAN_INFO_SAMP_FREQ), 12), |
| ADIS_SUPPLY_CHAN(ADIS16260_SUPPLY_OUT, ADIS16260_SCAN_SUPPLY, |
| BIT(IIO_CHAN_INFO_SAMP_FREQ), 12), |
| ADIS_AUX_ADC_CHAN(ADIS16260_AUX_ADC, ADIS16260_SCAN_AUX_ADC, |
| BIT(IIO_CHAN_INFO_SAMP_FREQ), 12), |
| IIO_CHAN_SOFT_TIMESTAMP(5), |
| }; |
| |
| static const struct iio_chan_spec adis16266_channels[] = { |
| ADIS_GYRO_CHAN(X, ADIS16260_GYRO_OUT, ADIS16260_SCAN_GYRO, |
| BIT(IIO_CHAN_INFO_CALIBBIAS) | |
| BIT(IIO_CHAN_INFO_CALIBSCALE), |
| BIT(IIO_CHAN_INFO_SAMP_FREQ), 14), |
| ADIS_TEMP_CHAN(ADIS16260_TEMP_OUT, ADIS16260_SCAN_TEMP, |
| BIT(IIO_CHAN_INFO_SAMP_FREQ), 12), |
| ADIS_SUPPLY_CHAN(ADIS16260_SUPPLY_OUT, ADIS16260_SCAN_SUPPLY, |
| BIT(IIO_CHAN_INFO_SAMP_FREQ), 12), |
| ADIS_AUX_ADC_CHAN(ADIS16260_AUX_ADC, ADIS16260_SCAN_AUX_ADC, |
| BIT(IIO_CHAN_INFO_SAMP_FREQ), 12), |
| IIO_CHAN_SOFT_TIMESTAMP(4), |
| }; |
| |
| static const struct adis16260_chip_info adis16260_chip_info_table[] = { |
| [ADIS16251] = { |
| .gyro_max_scale = 80, |
| .gyro_max_val = IIO_RAD_TO_DEGREE(4368), |
| .channels = adis16260_channels, |
| .num_channels = ARRAY_SIZE(adis16260_channels), |
| }, |
| [ADIS16260] = { |
| .gyro_max_scale = 320, |
| .gyro_max_val = IIO_RAD_TO_DEGREE(4368), |
| .channels = adis16260_channels, |
| .num_channels = ARRAY_SIZE(adis16260_channels), |
| }, |
| [ADIS16266] = { |
| .gyro_max_scale = 14000, |
| .gyro_max_val = IIO_RAD_TO_DEGREE(3357), |
| .channels = adis16266_channels, |
| .num_channels = ARRAY_SIZE(adis16266_channels), |
| }, |
| }; |
| |
| /* Power down the device */ |
| static int adis16260_stop_device(struct iio_dev *indio_dev) |
| { |
| struct adis16260 *adis16260 = iio_priv(indio_dev); |
| int ret; |
| u16 val = ADIS16260_SLP_CNT_POWER_OFF; |
| |
| ret = adis_write_reg_16(&adis16260->adis, ADIS16260_SLP_CNT, val); |
| if (ret) |
| dev_err(&indio_dev->dev, "problem with turning device off: SLP_CNT"); |
| |
| return ret; |
| } |
| |
| static const u8 adis16260_addresses[][2] = { |
| [ADIS16260_SCAN_GYRO] = { ADIS16260_GYRO_OFF, ADIS16260_GYRO_SCALE }, |
| }; |
| |
| static int adis16260_read_raw(struct iio_dev *indio_dev, |
| struct iio_chan_spec const *chan, |
| int *val, int *val2, |
| long mask) |
| { |
| struct adis16260 *adis16260 = iio_priv(indio_dev); |
| const struct adis16260_chip_info *info = adis16260->info; |
| struct adis *adis = &adis16260->adis; |
| int ret; |
| u8 addr; |
| s16 val16; |
| |
| switch (mask) { |
| case IIO_CHAN_INFO_RAW: |
| return adis_single_conversion(indio_dev, chan, |
| ADIS16260_ERROR_ACTIVE, val); |
| case IIO_CHAN_INFO_SCALE: |
| switch (chan->type) { |
| case IIO_ANGL_VEL: |
| *val = info->gyro_max_scale; |
| *val2 = info->gyro_max_val; |
| return IIO_VAL_FRACTIONAL; |
| case IIO_INCLI: |
| *val = 0; |
| *val2 = IIO_DEGREE_TO_RAD(36630); |
| return IIO_VAL_INT_PLUS_MICRO; |
| case IIO_VOLTAGE: |
| if (chan->channel == 0) { |
| *val = 1; |
| *val2 = 831500; /* 1.8315 mV */ |
| } else { |
| *val = 0; |
| *val2 = 610500; /* 610.5 uV */ |
| } |
| return IIO_VAL_INT_PLUS_MICRO; |
| case IIO_TEMP: |
| *val = 145; |
| *val2 = 300000; /* 0.1453 C */ |
| return IIO_VAL_INT_PLUS_MICRO; |
| default: |
| return -EINVAL; |
| } |
| case IIO_CHAN_INFO_OFFSET: |
| *val = 250000 / 1453; /* 25 C = 0x00 */ |
| return IIO_VAL_INT; |
| case IIO_CHAN_INFO_CALIBBIAS: |
| addr = adis16260_addresses[chan->scan_index][0]; |
| ret = adis_read_reg_16(adis, addr, &val16); |
| if (ret) |
| return ret; |
| |
| *val = sign_extend32(val16, 11); |
| return IIO_VAL_INT; |
| case IIO_CHAN_INFO_CALIBSCALE: |
| addr = adis16260_addresses[chan->scan_index][1]; |
| ret = adis_read_reg_16(adis, addr, &val16); |
| if (ret) |
| return ret; |
| |
| *val = val16; |
| return IIO_VAL_INT; |
| case IIO_CHAN_INFO_SAMP_FREQ: |
| ret = adis_read_reg_16(adis, ADIS16260_SMPL_PRD, &val16); |
| if (ret) |
| return ret; |
| |
| if (spi_get_device_id(adis->spi)->driver_data) |
| /* If an adis16251 */ |
| *val = (val16 & ADIS16260_SMPL_PRD_TIME_BASE) ? |
| 8 : 256; |
| else |
| *val = (val16 & ADIS16260_SMPL_PRD_TIME_BASE) ? |
| 66 : 2048; |
| *val /= (val16 & ADIS16260_SMPL_PRD_DIV_MASK) + 1; |
| return IIO_VAL_INT; |
| } |
| return -EINVAL; |
| } |
| |
| static int adis16260_write_raw(struct iio_dev *indio_dev, |
| struct iio_chan_spec const *chan, |
| int val, |
| int val2, |
| long mask) |
| { |
| struct adis16260 *adis16260 = iio_priv(indio_dev); |
| struct adis *adis = &adis16260->adis; |
| int ret; |
| u8 addr; |
| u8 t; |
| |
| switch (mask) { |
| case IIO_CHAN_INFO_CALIBBIAS: |
| if (val < -2048 || val >= 2048) |
| return -EINVAL; |
| |
| addr = adis16260_addresses[chan->scan_index][0]; |
| return adis_write_reg_16(adis, addr, val); |
| case IIO_CHAN_INFO_CALIBSCALE: |
| if (val < 0 || val >= 4096) |
| return -EINVAL; |
| |
| addr = adis16260_addresses[chan->scan_index][1]; |
| return adis_write_reg_16(adis, addr, val); |
| case IIO_CHAN_INFO_SAMP_FREQ: |
| mutex_lock(&indio_dev->mlock); |
| if (spi_get_device_id(adis->spi)->driver_data) |
| t = 256 / val; |
| else |
| t = 2048 / val; |
| |
| if (t > ADIS16260_SMPL_PRD_DIV_MASK) |
| t = ADIS16260_SMPL_PRD_DIV_MASK; |
| else if (t > 0) |
| t--; |
| |
| if (t >= 0x0A) |
| adis->spi->max_speed_hz = ADIS16260_SPI_SLOW; |
| else |
| adis->spi->max_speed_hz = ADIS16260_SPI_FAST; |
| ret = adis_write_reg_8(adis, ADIS16260_SMPL_PRD, t); |
| |
| mutex_unlock(&indio_dev->mlock); |
| return ret; |
| } |
| return -EINVAL; |
| } |
| |
| static const struct iio_info adis16260_info = { |
| .read_raw = &adis16260_read_raw, |
| .write_raw = &adis16260_write_raw, |
| .update_scan_mode = adis_update_scan_mode, |
| .driver_module = THIS_MODULE, |
| }; |
| |
| static const char * const adis1620_status_error_msgs[] = { |
| [ADIS16260_DIAG_STAT_FLASH_CHK_BIT] = "Flash checksum error", |
| [ADIS16260_DIAG_STAT_SELF_TEST_BIT] = "Self test error", |
| [ADIS16260_DIAG_STAT_OVERFLOW_BIT] = "Sensor overrange", |
| [ADIS16260_DIAG_STAT_SPI_FAIL_BIT] = "SPI failure", |
| [ADIS16260_DIAG_STAT_FLASH_UPT_BIT] = "Flash update failed", |
| [ADIS16260_DIAG_STAT_POWER_HIGH_BIT] = "Power supply above 5.25", |
| [ADIS16260_DIAG_STAT_POWER_LOW_BIT] = "Power supply below 4.75", |
| }; |
| |
| static const struct adis_data adis16260_data = { |
| .write_delay = 30, |
| .read_delay = 30, |
| .msc_ctrl_reg = ADIS16260_MSC_CTRL, |
| .glob_cmd_reg = ADIS16260_GLOB_CMD, |
| .diag_stat_reg = ADIS16260_DIAG_STAT, |
| |
| .self_test_mask = ADIS16260_MSC_CTRL_MEM_TEST, |
| .startup_delay = ADIS16260_STARTUP_DELAY, |
| |
| .status_error_msgs = adis1620_status_error_msgs, |
| .status_error_mask = BIT(ADIS16260_DIAG_STAT_FLASH_CHK_BIT) | |
| BIT(ADIS16260_DIAG_STAT_SELF_TEST_BIT) | |
| BIT(ADIS16260_DIAG_STAT_OVERFLOW_BIT) | |
| BIT(ADIS16260_DIAG_STAT_SPI_FAIL_BIT) | |
| BIT(ADIS16260_DIAG_STAT_FLASH_UPT_BIT) | |
| BIT(ADIS16260_DIAG_STAT_POWER_HIGH_BIT) | |
| BIT(ADIS16260_DIAG_STAT_POWER_LOW_BIT), |
| }; |
| |
| static int adis16260_probe(struct spi_device *spi) |
| { |
| const struct spi_device_id *id; |
| struct adis16260 *adis16260; |
| struct iio_dev *indio_dev; |
| int ret; |
| |
| id = spi_get_device_id(spi); |
| if (!id) |
| return -ENODEV; |
| |
| /* setup the industrialio driver allocated elements */ |
| indio_dev = devm_iio_device_alloc(&spi->dev, sizeof(*adis16260)); |
| if (!indio_dev) |
| return -ENOMEM; |
| adis16260 = iio_priv(indio_dev); |
| /* this is only used for removal purposes */ |
| spi_set_drvdata(spi, indio_dev); |
| |
| adis16260->info = &adis16260_chip_info_table[id->driver_data]; |
| |
| indio_dev->name = id->name; |
| indio_dev->dev.parent = &spi->dev; |
| indio_dev->info = &adis16260_info; |
| indio_dev->channels = adis16260->info->channels; |
| indio_dev->num_channels = adis16260->info->num_channels; |
| indio_dev->modes = INDIO_DIRECT_MODE; |
| |
| ret = adis_init(&adis16260->adis, indio_dev, spi, &adis16260_data); |
| if (ret) |
| return ret; |
| |
| ret = adis_setup_buffer_and_trigger(&adis16260->adis, indio_dev, NULL); |
| if (ret) |
| return ret; |
| |
| /* Get the device into a sane initial state */ |
| ret = adis_initial_startup(&adis16260->adis); |
| if (ret) |
| goto error_cleanup_buffer_trigger; |
| ret = iio_device_register(indio_dev); |
| if (ret) |
| goto error_cleanup_buffer_trigger; |
| |
| return 0; |
| |
| error_cleanup_buffer_trigger: |
| adis_cleanup_buffer_and_trigger(&adis16260->adis, indio_dev); |
| return ret; |
| } |
| |
| static int adis16260_remove(struct spi_device *spi) |
| { |
| struct iio_dev *indio_dev = spi_get_drvdata(spi); |
| struct adis16260 *adis16260 = iio_priv(indio_dev); |
| |
| iio_device_unregister(indio_dev); |
| adis16260_stop_device(indio_dev); |
| adis_cleanup_buffer_and_trigger(&adis16260->adis, indio_dev); |
| |
| return 0; |
| } |
| |
| /* |
| * These parts do not need to be differentiated until someone adds |
| * support for the on chip filtering. |
| */ |
| static const struct spi_device_id adis16260_id[] = { |
| {"adis16260", ADIS16260}, |
| {"adis16265", ADIS16260}, |
| {"adis16266", ADIS16266}, |
| {"adis16250", ADIS16260}, |
| {"adis16255", ADIS16260}, |
| {"adis16251", ADIS16251}, |
| {} |
| }; |
| MODULE_DEVICE_TABLE(spi, adis16260_id); |
| |
| static struct spi_driver adis16260_driver = { |
| .driver = { |
| .name = "adis16260", |
| .owner = THIS_MODULE, |
| }, |
| .probe = adis16260_probe, |
| .remove = adis16260_remove, |
| .id_table = adis16260_id, |
| }; |
| module_spi_driver(adis16260_driver); |
| |
| MODULE_AUTHOR("Barry Song <21cnbao@gmail.com>"); |
| MODULE_DESCRIPTION("Analog Devices ADIS16260/5 Digital Gyroscope Sensor"); |
| MODULE_LICENSE("GPL v2"); |