1 /* 2 * ADIS16260/ADIS16265 Programmable Digital Gyroscope Sensor Driver 3 * 4 * Copyright 2010 Analog Devices Inc. 5 * 6 * Licensed under the GPL-2 or later. 7 */ 8 9 #include <linux/interrupt.h> 10 #include <linux/mutex.h> 11 #include <linux/device.h> 12 #include <linux/kernel.h> 13 #include <linux/spi/spi.h> 14 #include <linux/sysfs.h> 15 #include <linux/module.h> 16 17 #include <linux/iio/iio.h> 18 #include <linux/iio/sysfs.h> 19 #include <linux/iio/buffer.h> 20 #include <linux/iio/imu/adis.h> 21 22 #define ADIS16260_STARTUP_DELAY 220 /* ms */ 23 24 #define ADIS16260_FLASH_CNT 0x00 /* Flash memory write count */ 25 #define ADIS16260_SUPPLY_OUT 0x02 /* Power supply measurement */ 26 #define ADIS16260_GYRO_OUT 0x04 /* X-axis gyroscope output */ 27 #define ADIS16260_AUX_ADC 0x0A /* analog input channel measurement */ 28 #define ADIS16260_TEMP_OUT 0x0C /* internal temperature measurement */ 29 #define ADIS16260_ANGL_OUT 0x0E /* angle displacement */ 30 #define ADIS16260_GYRO_OFF 0x14 /* Calibration, offset/bias adjustment */ 31 #define ADIS16260_GYRO_SCALE 0x16 /* Calibration, scale adjustment */ 32 #define ADIS16260_ALM_MAG1 0x20 /* Alarm 1 magnitude/polarity setting */ 33 #define ADIS16260_ALM_MAG2 0x22 /* Alarm 2 magnitude/polarity setting */ 34 #define ADIS16260_ALM_SMPL1 0x24 /* Alarm 1 dynamic rate of change setting */ 35 #define ADIS16260_ALM_SMPL2 0x26 /* Alarm 2 dynamic rate of change setting */ 36 #define ADIS16260_ALM_CTRL 0x28 /* Alarm control */ 37 #define ADIS16260_AUX_DAC 0x30 /* Auxiliary DAC data */ 38 #define ADIS16260_GPIO_CTRL 0x32 /* Control, digital I/O line */ 39 #define ADIS16260_MSC_CTRL 0x34 /* Control, data ready, self-test settings */ 40 #define ADIS16260_SMPL_PRD 0x36 /* Control, internal sample rate */ 41 #define ADIS16260_SENS_AVG 0x38 /* Control, dynamic range, filtering */ 42 #define ADIS16260_SLP_CNT 0x3A /* Control, sleep mode initiation */ 43 #define ADIS16260_DIAG_STAT 0x3C /* Diagnostic, error flags */ 44 #define ADIS16260_GLOB_CMD 0x3E /* Control, global commands */ 45 #define ADIS16260_LOT_ID1 0x52 /* Lot Identification Code 1 */ 46 #define ADIS16260_LOT_ID2 0x54 /* Lot Identification Code 2 */ 47 #define ADIS16260_PROD_ID 0x56 /* Product identifier; 48 * convert to decimal = 16,265/16,260 */ 49 #define ADIS16260_SERIAL_NUM 0x58 /* Serial number */ 50 51 #define ADIS16260_ERROR_ACTIVE (1<<14) 52 #define ADIS16260_NEW_DATA (1<<15) 53 54 /* MSC_CTRL */ 55 #define ADIS16260_MSC_CTRL_MEM_TEST (1<<11) 56 /* Internal self-test enable */ 57 #define ADIS16260_MSC_CTRL_INT_SELF_TEST (1<<10) 58 #define ADIS16260_MSC_CTRL_NEG_SELF_TEST (1<<9) 59 #define ADIS16260_MSC_CTRL_POS_SELF_TEST (1<<8) 60 #define ADIS16260_MSC_CTRL_DATA_RDY_EN (1<<2) 61 #define ADIS16260_MSC_CTRL_DATA_RDY_POL_HIGH (1<<1) 62 #define ADIS16260_MSC_CTRL_DATA_RDY_DIO2 (1<<0) 63 64 /* SMPL_PRD */ 65 /* Time base (tB): 0 = 1.953 ms, 1 = 60.54 ms */ 66 #define ADIS16260_SMPL_PRD_TIME_BASE (1<<7) 67 #define ADIS16260_SMPL_PRD_DIV_MASK 0x7F 68 69 /* SLP_CNT */ 70 #define ADIS16260_SLP_CNT_POWER_OFF 0x80 71 72 /* DIAG_STAT */ 73 #define ADIS16260_DIAG_STAT_ALARM2 (1<<9) 74 #define ADIS16260_DIAG_STAT_ALARM1 (1<<8) 75 #define ADIS16260_DIAG_STAT_FLASH_CHK_BIT 6 76 #define ADIS16260_DIAG_STAT_SELF_TEST_BIT 5 77 #define ADIS16260_DIAG_STAT_OVERFLOW_BIT 4 78 #define ADIS16260_DIAG_STAT_SPI_FAIL_BIT 3 79 #define ADIS16260_DIAG_STAT_FLASH_UPT_BIT 2 80 #define ADIS16260_DIAG_STAT_POWER_HIGH_BIT 1 81 #define ADIS16260_DIAG_STAT_POWER_LOW_BIT 0 82 83 /* GLOB_CMD */ 84 #define ADIS16260_GLOB_CMD_SW_RESET (1<<7) 85 #define ADIS16260_GLOB_CMD_FLASH_UPD (1<<3) 86 #define ADIS16260_GLOB_CMD_DAC_LATCH (1<<2) 87 #define ADIS16260_GLOB_CMD_FAC_CALIB (1<<1) 88 #define ADIS16260_GLOB_CMD_AUTO_NULL (1<<0) 89 90 #define ADIS16260_SPI_SLOW (u32)(300 * 1000) 91 #define ADIS16260_SPI_BURST (u32)(1000 * 1000) 92 #define ADIS16260_SPI_FAST (u32)(2000 * 1000) 93 94 /* At the moment triggers are only used for ring buffer 95 * filling. This may change! 96 */ 97 98 #define ADIS16260_SCAN_GYRO 0 99 #define ADIS16260_SCAN_SUPPLY 1 100 #define ADIS16260_SCAN_AUX_ADC 2 101 #define ADIS16260_SCAN_TEMP 3 102 #define ADIS16260_SCAN_ANGL 4 103 104 /* Power down the device */ 105 static int adis16260_stop_device(struct iio_dev *indio_dev) 106 { 107 struct adis *adis = iio_priv(indio_dev); 108 int ret; 109 u16 val = ADIS16260_SLP_CNT_POWER_OFF; 110 111 ret = adis_write_reg_16(adis, ADIS16260_SLP_CNT, val); 112 if (ret) 113 dev_err(&indio_dev->dev, "problem with turning device off: SLP_CNT"); 114 115 return ret; 116 } 117 118 static const struct iio_chan_spec adis16260_channels[] = { 119 ADIS_GYRO_CHAN(X, ADIS16260_GYRO_OUT, ADIS16260_SCAN_GYRO, 120 BIT(IIO_CHAN_INFO_CALIBBIAS) | 121 BIT(IIO_CHAN_INFO_CALIBSCALE), 122 BIT(IIO_CHAN_INFO_SAMP_FREQ), 14), 123 ADIS_INCLI_CHAN(X, ADIS16260_ANGL_OUT, ADIS16260_SCAN_ANGL, 0, 124 BIT(IIO_CHAN_INFO_SAMP_FREQ), 14), 125 ADIS_TEMP_CHAN(ADIS16260_TEMP_OUT, ADIS16260_SCAN_TEMP, 126 BIT(IIO_CHAN_INFO_SAMP_FREQ), 12), 127 ADIS_SUPPLY_CHAN(ADIS16260_SUPPLY_OUT, ADIS16260_SCAN_SUPPLY, 128 BIT(IIO_CHAN_INFO_SAMP_FREQ), 12), 129 ADIS_AUX_ADC_CHAN(ADIS16260_AUX_ADC, ADIS16260_SCAN_AUX_ADC, 130 BIT(IIO_CHAN_INFO_SAMP_FREQ), 12), 131 IIO_CHAN_SOFT_TIMESTAMP(5), 132 }; 133 134 static const u8 adis16260_addresses[][2] = { 135 [ADIS16260_SCAN_GYRO] = { ADIS16260_GYRO_OFF, ADIS16260_GYRO_SCALE }, 136 }; 137 138 static int adis16260_read_raw(struct iio_dev *indio_dev, 139 struct iio_chan_spec const *chan, 140 int *val, int *val2, 141 long mask) 142 { 143 struct adis *adis = iio_priv(indio_dev); 144 int ret; 145 u8 addr; 146 s16 val16; 147 148 switch (mask) { 149 case IIO_CHAN_INFO_RAW: 150 return adis_single_conversion(indio_dev, chan, 151 ADIS16260_ERROR_ACTIVE, val); 152 case IIO_CHAN_INFO_SCALE: 153 switch (chan->type) { 154 case IIO_ANGL_VEL: 155 *val = 0; 156 if (spi_get_device_id(adis->spi)->driver_data) { 157 /* 0.01832 degree / sec */ 158 *val2 = IIO_DEGREE_TO_RAD(18320); 159 } else { 160 /* 0.07326 degree / sec */ 161 *val2 = IIO_DEGREE_TO_RAD(73260); 162 } 163 return IIO_VAL_INT_PLUS_MICRO; 164 case IIO_INCLI: 165 *val = 0; 166 *val2 = IIO_DEGREE_TO_RAD(36630); 167 return IIO_VAL_INT_PLUS_MICRO; 168 case IIO_VOLTAGE: 169 if (chan->channel == 0) { 170 *val = 1; 171 *val2 = 831500; /* 1.8315 mV */ 172 } else { 173 *val = 0; 174 *val2 = 610500; /* 610.5 uV */ 175 } 176 return IIO_VAL_INT_PLUS_MICRO; 177 case IIO_TEMP: 178 *val = 145; 179 *val2 = 300000; /* 0.1453 C */ 180 return IIO_VAL_INT_PLUS_MICRO; 181 default: 182 return -EINVAL; 183 } 184 case IIO_CHAN_INFO_OFFSET: 185 *val = 250000 / 1453; /* 25 C = 0x00 */ 186 return IIO_VAL_INT; 187 case IIO_CHAN_INFO_CALIBBIAS: 188 addr = adis16260_addresses[chan->scan_index][0]; 189 ret = adis_read_reg_16(adis, addr, &val16); 190 if (ret) 191 return ret; 192 193 *val = sign_extend32(val16, 11); 194 return IIO_VAL_INT; 195 case IIO_CHAN_INFO_CALIBSCALE: 196 addr = adis16260_addresses[chan->scan_index][1]; 197 ret = adis_read_reg_16(adis, addr, &val16); 198 if (ret) 199 return ret; 200 201 *val = val16; 202 return IIO_VAL_INT; 203 case IIO_CHAN_INFO_SAMP_FREQ: 204 ret = adis_read_reg_16(adis, ADIS16260_SMPL_PRD, &val16); 205 if (ret) 206 return ret; 207 208 if (spi_get_device_id(adis->spi)->driver_data) 209 /* If an adis16251 */ 210 *val = (val16 & ADIS16260_SMPL_PRD_TIME_BASE) ? 211 8 : 256; 212 else 213 *val = (val16 & ADIS16260_SMPL_PRD_TIME_BASE) ? 214 66 : 2048; 215 *val /= (val16 & ADIS16260_SMPL_PRD_DIV_MASK) + 1; 216 return IIO_VAL_INT; 217 } 218 return -EINVAL; 219 } 220 221 static int adis16260_write_raw(struct iio_dev *indio_dev, 222 struct iio_chan_spec const *chan, 223 int val, 224 int val2, 225 long mask) 226 { 227 struct adis *adis = iio_priv(indio_dev); 228 int ret; 229 u8 addr; 230 u8 t; 231 232 switch (mask) { 233 case IIO_CHAN_INFO_CALIBBIAS: 234 if (val < -2048 || val >= 2048) 235 return -EINVAL; 236 237 addr = adis16260_addresses[chan->scan_index][0]; 238 return adis_write_reg_16(adis, addr, val); 239 case IIO_CHAN_INFO_CALIBSCALE: 240 if (val < 0 || val >= 4096) 241 return -EINVAL; 242 243 addr = adis16260_addresses[chan->scan_index][1]; 244 return adis_write_reg_16(adis, addr, val); 245 case IIO_CHAN_INFO_SAMP_FREQ: 246 mutex_lock(&indio_dev->mlock); 247 if (spi_get_device_id(adis->spi)->driver_data) 248 t = 256 / val; 249 else 250 t = 2048 / val; 251 252 if (t > ADIS16260_SMPL_PRD_DIV_MASK) 253 t = ADIS16260_SMPL_PRD_DIV_MASK; 254 else if (t > 0) 255 t--; 256 257 if (t >= 0x0A) 258 adis->spi->max_speed_hz = ADIS16260_SPI_SLOW; 259 else 260 adis->spi->max_speed_hz = ADIS16260_SPI_FAST; 261 ret = adis_write_reg_8(adis, ADIS16260_SMPL_PRD, t); 262 263 mutex_unlock(&indio_dev->mlock); 264 return ret; 265 } 266 return -EINVAL; 267 } 268 269 static const struct iio_info adis16260_info = { 270 .read_raw = &adis16260_read_raw, 271 .write_raw = &adis16260_write_raw, 272 .update_scan_mode = adis_update_scan_mode, 273 .driver_module = THIS_MODULE, 274 }; 275 276 static const char * const adis1620_status_error_msgs[] = { 277 [ADIS16260_DIAG_STAT_FLASH_CHK_BIT] = "Flash checksum error", 278 [ADIS16260_DIAG_STAT_SELF_TEST_BIT] = "Self test error", 279 [ADIS16260_DIAG_STAT_OVERFLOW_BIT] = "Sensor overrange", 280 [ADIS16260_DIAG_STAT_SPI_FAIL_BIT] = "SPI failure", 281 [ADIS16260_DIAG_STAT_FLASH_UPT_BIT] = "Flash update failed", 282 [ADIS16260_DIAG_STAT_POWER_HIGH_BIT] = "Power supply above 5.25", 283 [ADIS16260_DIAG_STAT_POWER_LOW_BIT] = "Power supply below 4.75", 284 }; 285 286 static const struct adis_data adis16260_data = { 287 .write_delay = 30, 288 .read_delay = 30, 289 .msc_ctrl_reg = ADIS16260_MSC_CTRL, 290 .glob_cmd_reg = ADIS16260_GLOB_CMD, 291 .diag_stat_reg = ADIS16260_DIAG_STAT, 292 293 .self_test_mask = ADIS16260_MSC_CTRL_MEM_TEST, 294 .startup_delay = ADIS16260_STARTUP_DELAY, 295 296 .status_error_msgs = adis1620_status_error_msgs, 297 .status_error_mask = BIT(ADIS16260_DIAG_STAT_FLASH_CHK_BIT) | 298 BIT(ADIS16260_DIAG_STAT_SELF_TEST_BIT) | 299 BIT(ADIS16260_DIAG_STAT_OVERFLOW_BIT) | 300 BIT(ADIS16260_DIAG_STAT_SPI_FAIL_BIT) | 301 BIT(ADIS16260_DIAG_STAT_FLASH_UPT_BIT) | 302 BIT(ADIS16260_DIAG_STAT_POWER_HIGH_BIT) | 303 BIT(ADIS16260_DIAG_STAT_POWER_LOW_BIT), 304 }; 305 306 static int adis16260_probe(struct spi_device *spi) 307 { 308 struct iio_dev *indio_dev; 309 struct adis *adis; 310 int ret; 311 312 /* setup the industrialio driver allocated elements */ 313 indio_dev = devm_iio_device_alloc(&spi->dev, sizeof(*adis)); 314 if (!indio_dev) 315 return -ENOMEM; 316 adis = iio_priv(indio_dev); 317 /* this is only used for removal purposes */ 318 spi_set_drvdata(spi, indio_dev); 319 320 indio_dev->name = spi_get_device_id(spi)->name; 321 indio_dev->dev.parent = &spi->dev; 322 indio_dev->info = &adis16260_info; 323 indio_dev->channels = adis16260_channels; 324 indio_dev->num_channels = ARRAY_SIZE(adis16260_channels); 325 indio_dev->modes = INDIO_DIRECT_MODE; 326 327 ret = adis_init(adis, indio_dev, spi, &adis16260_data); 328 if (ret) 329 return ret; 330 331 ret = adis_setup_buffer_and_trigger(adis, indio_dev, NULL); 332 if (ret) 333 return ret; 334 335 /* Get the device into a sane initial state */ 336 ret = adis_initial_startup(adis); 337 if (ret) 338 goto error_cleanup_buffer_trigger; 339 ret = iio_device_register(indio_dev); 340 if (ret) 341 goto error_cleanup_buffer_trigger; 342 343 return 0; 344 345 error_cleanup_buffer_trigger: 346 adis_cleanup_buffer_and_trigger(adis, indio_dev); 347 return ret; 348 } 349 350 static int adis16260_remove(struct spi_device *spi) 351 { 352 struct iio_dev *indio_dev = spi_get_drvdata(spi); 353 struct adis *adis = iio_priv(indio_dev); 354 355 iio_device_unregister(indio_dev); 356 adis16260_stop_device(indio_dev); 357 adis_cleanup_buffer_and_trigger(adis, indio_dev); 358 359 return 0; 360 } 361 362 /* 363 * These parts do not need to be differentiated until someone adds 364 * support for the on chip filtering. 365 */ 366 static const struct spi_device_id adis16260_id[] = { 367 {"adis16260", 0}, 368 {"adis16265", 0}, 369 {"adis16250", 0}, 370 {"adis16255", 0}, 371 {"adis16251", 1}, 372 {} 373 }; 374 MODULE_DEVICE_TABLE(spi, adis16260_id); 375 376 static struct spi_driver adis16260_driver = { 377 .driver = { 378 .name = "adis16260", 379 .owner = THIS_MODULE, 380 }, 381 .probe = adis16260_probe, 382 .remove = adis16260_remove, 383 .id_table = adis16260_id, 384 }; 385 module_spi_driver(adis16260_driver); 386 387 MODULE_AUTHOR("Barry Song <21cnbao@gmail.com>"); 388 MODULE_DESCRIPTION("Analog Devices ADIS16260/5 Digital Gyroscope Sensor"); 389 MODULE_LICENSE("GPL v2"); 390