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 struct adis16260_chip_info { 105 unsigned int gyro_max_val; 106 unsigned int gyro_max_scale; 107 const struct iio_chan_spec *channels; 108 unsigned int num_channels; 109 }; 110 111 struct adis16260 { 112 const struct adis16260_chip_info *info; 113 114 struct adis adis; 115 }; 116 117 enum adis16260_type { 118 ADIS16251, 119 ADIS16260, 120 ADIS16266, 121 }; 122 123 static const struct iio_chan_spec adis16260_channels[] = { 124 ADIS_GYRO_CHAN(X, ADIS16260_GYRO_OUT, ADIS16260_SCAN_GYRO, 125 BIT(IIO_CHAN_INFO_CALIBBIAS) | 126 BIT(IIO_CHAN_INFO_CALIBSCALE), 127 BIT(IIO_CHAN_INFO_SAMP_FREQ), 14), 128 ADIS_INCLI_CHAN(X, ADIS16260_ANGL_OUT, ADIS16260_SCAN_ANGL, 0, 129 BIT(IIO_CHAN_INFO_SAMP_FREQ), 14), 130 ADIS_TEMP_CHAN(ADIS16260_TEMP_OUT, ADIS16260_SCAN_TEMP, 131 BIT(IIO_CHAN_INFO_SAMP_FREQ), 12), 132 ADIS_SUPPLY_CHAN(ADIS16260_SUPPLY_OUT, ADIS16260_SCAN_SUPPLY, 133 BIT(IIO_CHAN_INFO_SAMP_FREQ), 12), 134 ADIS_AUX_ADC_CHAN(ADIS16260_AUX_ADC, ADIS16260_SCAN_AUX_ADC, 135 BIT(IIO_CHAN_INFO_SAMP_FREQ), 12), 136 IIO_CHAN_SOFT_TIMESTAMP(5), 137 }; 138 139 static const struct iio_chan_spec adis16266_channels[] = { 140 ADIS_GYRO_CHAN(X, ADIS16260_GYRO_OUT, ADIS16260_SCAN_GYRO, 141 BIT(IIO_CHAN_INFO_CALIBBIAS) | 142 BIT(IIO_CHAN_INFO_CALIBSCALE), 143 BIT(IIO_CHAN_INFO_SAMP_FREQ), 14), 144 ADIS_TEMP_CHAN(ADIS16260_TEMP_OUT, ADIS16260_SCAN_TEMP, 145 BIT(IIO_CHAN_INFO_SAMP_FREQ), 12), 146 ADIS_SUPPLY_CHAN(ADIS16260_SUPPLY_OUT, ADIS16260_SCAN_SUPPLY, 147 BIT(IIO_CHAN_INFO_SAMP_FREQ), 12), 148 ADIS_AUX_ADC_CHAN(ADIS16260_AUX_ADC, ADIS16260_SCAN_AUX_ADC, 149 BIT(IIO_CHAN_INFO_SAMP_FREQ), 12), 150 IIO_CHAN_SOFT_TIMESTAMP(4), 151 }; 152 153 static const struct adis16260_chip_info adis16260_chip_info_table[] = { 154 [ADIS16251] = { 155 .gyro_max_scale = 80, 156 .gyro_max_val = IIO_RAD_TO_DEGREE(4368), 157 .channels = adis16260_channels, 158 .num_channels = ARRAY_SIZE(adis16260_channels), 159 }, 160 [ADIS16260] = { 161 .gyro_max_scale = 320, 162 .gyro_max_val = IIO_RAD_TO_DEGREE(4368), 163 .channels = adis16260_channels, 164 .num_channels = ARRAY_SIZE(adis16260_channels), 165 }, 166 [ADIS16266] = { 167 .gyro_max_scale = 14000, 168 .gyro_max_val = IIO_RAD_TO_DEGREE(3357), 169 .channels = adis16266_channels, 170 .num_channels = ARRAY_SIZE(adis16266_channels), 171 }, 172 }; 173 174 /* Power down the device */ 175 static int adis16260_stop_device(struct iio_dev *indio_dev) 176 { 177 struct adis16260 *adis16260 = iio_priv(indio_dev); 178 int ret; 179 u16 val = ADIS16260_SLP_CNT_POWER_OFF; 180 181 ret = adis_write_reg_16(&adis16260->adis, ADIS16260_SLP_CNT, val); 182 if (ret) 183 dev_err(&indio_dev->dev, "problem with turning device off: SLP_CNT"); 184 185 return ret; 186 } 187 188 static const u8 adis16260_addresses[][2] = { 189 [ADIS16260_SCAN_GYRO] = { ADIS16260_GYRO_OFF, ADIS16260_GYRO_SCALE }, 190 }; 191 192 static int adis16260_read_raw(struct iio_dev *indio_dev, 193 struct iio_chan_spec const *chan, 194 int *val, int *val2, 195 long mask) 196 { 197 struct adis16260 *adis16260 = iio_priv(indio_dev); 198 const struct adis16260_chip_info *info = adis16260->info; 199 struct adis *adis = &adis16260->adis; 200 int ret; 201 u8 addr; 202 s16 val16; 203 204 switch (mask) { 205 case IIO_CHAN_INFO_RAW: 206 return adis_single_conversion(indio_dev, chan, 207 ADIS16260_ERROR_ACTIVE, val); 208 case IIO_CHAN_INFO_SCALE: 209 switch (chan->type) { 210 case IIO_ANGL_VEL: 211 *val = info->gyro_max_scale; 212 *val2 = info->gyro_max_val; 213 return IIO_VAL_FRACTIONAL; 214 case IIO_INCLI: 215 *val = 0; 216 *val2 = IIO_DEGREE_TO_RAD(36630); 217 return IIO_VAL_INT_PLUS_MICRO; 218 case IIO_VOLTAGE: 219 if (chan->channel == 0) { 220 *val = 1; 221 *val2 = 831500; /* 1.8315 mV */ 222 } else { 223 *val = 0; 224 *val2 = 610500; /* 610.5 uV */ 225 } 226 return IIO_VAL_INT_PLUS_MICRO; 227 case IIO_TEMP: 228 *val = 145; 229 *val2 = 300000; /* 0.1453 C */ 230 return IIO_VAL_INT_PLUS_MICRO; 231 default: 232 return -EINVAL; 233 } 234 case IIO_CHAN_INFO_OFFSET: 235 *val = 250000 / 1453; /* 25 C = 0x00 */ 236 return IIO_VAL_INT; 237 case IIO_CHAN_INFO_CALIBBIAS: 238 addr = adis16260_addresses[chan->scan_index][0]; 239 ret = adis_read_reg_16(adis, addr, &val16); 240 if (ret) 241 return ret; 242 243 *val = sign_extend32(val16, 11); 244 return IIO_VAL_INT; 245 case IIO_CHAN_INFO_CALIBSCALE: 246 addr = adis16260_addresses[chan->scan_index][1]; 247 ret = adis_read_reg_16(adis, addr, &val16); 248 if (ret) 249 return ret; 250 251 *val = val16; 252 return IIO_VAL_INT; 253 case IIO_CHAN_INFO_SAMP_FREQ: 254 ret = adis_read_reg_16(adis, ADIS16260_SMPL_PRD, &val16); 255 if (ret) 256 return ret; 257 258 if (spi_get_device_id(adis->spi)->driver_data) 259 /* If an adis16251 */ 260 *val = (val16 & ADIS16260_SMPL_PRD_TIME_BASE) ? 261 8 : 256; 262 else 263 *val = (val16 & ADIS16260_SMPL_PRD_TIME_BASE) ? 264 66 : 2048; 265 *val /= (val16 & ADIS16260_SMPL_PRD_DIV_MASK) + 1; 266 return IIO_VAL_INT; 267 } 268 return -EINVAL; 269 } 270 271 static int adis16260_write_raw(struct iio_dev *indio_dev, 272 struct iio_chan_spec const *chan, 273 int val, 274 int val2, 275 long mask) 276 { 277 struct adis16260 *adis16260 = iio_priv(indio_dev); 278 struct adis *adis = &adis16260->adis; 279 int ret; 280 u8 addr; 281 u8 t; 282 283 switch (mask) { 284 case IIO_CHAN_INFO_CALIBBIAS: 285 if (val < -2048 || val >= 2048) 286 return -EINVAL; 287 288 addr = adis16260_addresses[chan->scan_index][0]; 289 return adis_write_reg_16(adis, addr, val); 290 case IIO_CHAN_INFO_CALIBSCALE: 291 if (val < 0 || val >= 4096) 292 return -EINVAL; 293 294 addr = adis16260_addresses[chan->scan_index][1]; 295 return adis_write_reg_16(adis, addr, val); 296 case IIO_CHAN_INFO_SAMP_FREQ: 297 mutex_lock(&indio_dev->mlock); 298 if (spi_get_device_id(adis->spi)->driver_data) 299 t = 256 / val; 300 else 301 t = 2048 / val; 302 303 if (t > ADIS16260_SMPL_PRD_DIV_MASK) 304 t = ADIS16260_SMPL_PRD_DIV_MASK; 305 else if (t > 0) 306 t--; 307 308 if (t >= 0x0A) 309 adis->spi->max_speed_hz = ADIS16260_SPI_SLOW; 310 else 311 adis->spi->max_speed_hz = ADIS16260_SPI_FAST; 312 ret = adis_write_reg_8(adis, ADIS16260_SMPL_PRD, t); 313 314 mutex_unlock(&indio_dev->mlock); 315 return ret; 316 } 317 return -EINVAL; 318 } 319 320 static const struct iio_info adis16260_info = { 321 .read_raw = &adis16260_read_raw, 322 .write_raw = &adis16260_write_raw, 323 .update_scan_mode = adis_update_scan_mode, 324 }; 325 326 static const char * const adis1620_status_error_msgs[] = { 327 [ADIS16260_DIAG_STAT_FLASH_CHK_BIT] = "Flash checksum error", 328 [ADIS16260_DIAG_STAT_SELF_TEST_BIT] = "Self test error", 329 [ADIS16260_DIAG_STAT_OVERFLOW_BIT] = "Sensor overrange", 330 [ADIS16260_DIAG_STAT_SPI_FAIL_BIT] = "SPI failure", 331 [ADIS16260_DIAG_STAT_FLASH_UPT_BIT] = "Flash update failed", 332 [ADIS16260_DIAG_STAT_POWER_HIGH_BIT] = "Power supply above 5.25", 333 [ADIS16260_DIAG_STAT_POWER_LOW_BIT] = "Power supply below 4.75", 334 }; 335 336 static const struct adis_data adis16260_data = { 337 .write_delay = 30, 338 .read_delay = 30, 339 .msc_ctrl_reg = ADIS16260_MSC_CTRL, 340 .glob_cmd_reg = ADIS16260_GLOB_CMD, 341 .diag_stat_reg = ADIS16260_DIAG_STAT, 342 343 .self_test_mask = ADIS16260_MSC_CTRL_MEM_TEST, 344 .startup_delay = ADIS16260_STARTUP_DELAY, 345 346 .status_error_msgs = adis1620_status_error_msgs, 347 .status_error_mask = BIT(ADIS16260_DIAG_STAT_FLASH_CHK_BIT) | 348 BIT(ADIS16260_DIAG_STAT_SELF_TEST_BIT) | 349 BIT(ADIS16260_DIAG_STAT_OVERFLOW_BIT) | 350 BIT(ADIS16260_DIAG_STAT_SPI_FAIL_BIT) | 351 BIT(ADIS16260_DIAG_STAT_FLASH_UPT_BIT) | 352 BIT(ADIS16260_DIAG_STAT_POWER_HIGH_BIT) | 353 BIT(ADIS16260_DIAG_STAT_POWER_LOW_BIT), 354 }; 355 356 static int adis16260_probe(struct spi_device *spi) 357 { 358 const struct spi_device_id *id; 359 struct adis16260 *adis16260; 360 struct iio_dev *indio_dev; 361 int ret; 362 363 id = spi_get_device_id(spi); 364 if (!id) 365 return -ENODEV; 366 367 /* setup the industrialio driver allocated elements */ 368 indio_dev = devm_iio_device_alloc(&spi->dev, sizeof(*adis16260)); 369 if (!indio_dev) 370 return -ENOMEM; 371 adis16260 = iio_priv(indio_dev); 372 /* this is only used for removal purposes */ 373 spi_set_drvdata(spi, indio_dev); 374 375 adis16260->info = &adis16260_chip_info_table[id->driver_data]; 376 377 indio_dev->name = id->name; 378 indio_dev->dev.parent = &spi->dev; 379 indio_dev->info = &adis16260_info; 380 indio_dev->channels = adis16260->info->channels; 381 indio_dev->num_channels = adis16260->info->num_channels; 382 indio_dev->modes = INDIO_DIRECT_MODE; 383 384 ret = adis_init(&adis16260->adis, indio_dev, spi, &adis16260_data); 385 if (ret) 386 return ret; 387 388 ret = adis_setup_buffer_and_trigger(&adis16260->adis, indio_dev, NULL); 389 if (ret) 390 return ret; 391 392 /* Get the device into a sane initial state */ 393 ret = adis_initial_startup(&adis16260->adis); 394 if (ret) 395 goto error_cleanup_buffer_trigger; 396 ret = iio_device_register(indio_dev); 397 if (ret) 398 goto error_cleanup_buffer_trigger; 399 400 return 0; 401 402 error_cleanup_buffer_trigger: 403 adis_cleanup_buffer_and_trigger(&adis16260->adis, indio_dev); 404 return ret; 405 } 406 407 static int adis16260_remove(struct spi_device *spi) 408 { 409 struct iio_dev *indio_dev = spi_get_drvdata(spi); 410 struct adis16260 *adis16260 = iio_priv(indio_dev); 411 412 iio_device_unregister(indio_dev); 413 adis16260_stop_device(indio_dev); 414 adis_cleanup_buffer_and_trigger(&adis16260->adis, indio_dev); 415 416 return 0; 417 } 418 419 /* 420 * These parts do not need to be differentiated until someone adds 421 * support for the on chip filtering. 422 */ 423 static const struct spi_device_id adis16260_id[] = { 424 {"adis16260", ADIS16260}, 425 {"adis16265", ADIS16260}, 426 {"adis16266", ADIS16266}, 427 {"adis16250", ADIS16260}, 428 {"adis16255", ADIS16260}, 429 {"adis16251", ADIS16251}, 430 {} 431 }; 432 MODULE_DEVICE_TABLE(spi, adis16260_id); 433 434 static struct spi_driver adis16260_driver = { 435 .driver = { 436 .name = "adis16260", 437 }, 438 .probe = adis16260_probe, 439 .remove = adis16260_remove, 440 .id_table = adis16260_id, 441 }; 442 module_spi_driver(adis16260_driver); 443 444 MODULE_AUTHOR("Barry Song <21cnbao@gmail.com>"); 445 MODULE_DESCRIPTION("Analog Devices ADIS16260/5 Digital Gyroscope Sensor"); 446 MODULE_LICENSE("GPL v2"); 447