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 static ssize_t adis16260_read_frequency(struct device *dev, 105 struct device_attribute *attr, 106 char *buf) 107 { 108 struct iio_dev *indio_dev = dev_to_iio_dev(dev); 109 struct adis *adis = iio_priv(indio_dev); 110 int ret, len = 0; 111 u16 t; 112 int sps; 113 ret = adis_read_reg_16(adis, ADIS16260_SMPL_PRD, &t); 114 if (ret) 115 return ret; 116 117 if (spi_get_device_id(adis->spi)->driver_data) /* If an adis16251 */ 118 sps = (t & ADIS16260_SMPL_PRD_TIME_BASE) ? 8 : 256; 119 else 120 sps = (t & ADIS16260_SMPL_PRD_TIME_BASE) ? 66 : 2048; 121 sps /= (t & ADIS16260_SMPL_PRD_DIV_MASK) + 1; 122 len = sprintf(buf, "%d\n", sps); 123 return len; 124 } 125 126 static ssize_t adis16260_write_frequency(struct device *dev, 127 struct device_attribute *attr, 128 const char *buf, 129 size_t len) 130 { 131 struct iio_dev *indio_dev = dev_to_iio_dev(dev); 132 struct adis *adis = iio_priv(indio_dev); 133 unsigned int val; 134 int ret; 135 u8 t; 136 137 ret = kstrtouint(buf, 10, &val); 138 if (ret) 139 return ret; 140 141 mutex_lock(&indio_dev->mlock); 142 if (spi_get_device_id(adis->spi)->driver_data) 143 t = 256 / val; 144 else 145 t = 2048 / val; 146 147 if (t > ADIS16260_SMPL_PRD_DIV_MASK) 148 t = ADIS16260_SMPL_PRD_DIV_MASK; 149 else if (t > 0) 150 t--; 151 152 if (t >= 0x0A) 153 adis->spi->max_speed_hz = ADIS16260_SPI_SLOW; 154 else 155 adis->spi->max_speed_hz = ADIS16260_SPI_FAST; 156 ret = adis_write_reg_8(adis, ADIS16260_SMPL_PRD, t); 157 158 mutex_unlock(&indio_dev->mlock); 159 160 return ret ? ret : len; 161 } 162 163 /* Power down the device */ 164 static int adis16260_stop_device(struct iio_dev *indio_dev) 165 { 166 struct adis *adis = iio_priv(indio_dev); 167 int ret; 168 u16 val = ADIS16260_SLP_CNT_POWER_OFF; 169 170 ret = adis_write_reg_16(adis, ADIS16260_SLP_CNT, val); 171 if (ret) 172 dev_err(&indio_dev->dev, "problem with turning device off: SLP_CNT"); 173 174 return ret; 175 } 176 177 static IIO_DEV_ATTR_SAMP_FREQ(S_IWUSR | S_IRUGO, 178 adis16260_read_frequency, 179 adis16260_write_frequency); 180 181 static const struct iio_chan_spec adis16260_channels[] = { 182 ADIS_GYRO_CHAN(X, ADIS16260_GYRO_OUT, ADIS16260_SCAN_GYRO, 183 BIT(IIO_CHAN_INFO_CALIBBIAS) | 184 BIT(IIO_CHAN_INFO_CALIBSCALE), 14), 185 ADIS_INCLI_CHAN(X, ADIS16260_ANGL_OUT, ADIS16260_SCAN_ANGL, 0, 14), 186 ADIS_TEMP_CHAN(ADIS16260_TEMP_OUT, ADIS16260_SCAN_TEMP, 12), 187 ADIS_SUPPLY_CHAN(ADIS16260_SUPPLY_OUT, ADIS16260_SCAN_SUPPLY, 12), 188 ADIS_AUX_ADC_CHAN(ADIS16260_AUX_ADC, ADIS16260_SCAN_AUX_ADC, 12), 189 IIO_CHAN_SOFT_TIMESTAMP(5), 190 }; 191 192 static const u8 adis16260_addresses[][2] = { 193 [ADIS16260_SCAN_GYRO] = { ADIS16260_GYRO_OFF, ADIS16260_GYRO_SCALE }, 194 }; 195 196 static int adis16260_read_raw(struct iio_dev *indio_dev, 197 struct iio_chan_spec const *chan, 198 int *val, int *val2, 199 long mask) 200 { 201 struct adis *adis = iio_priv(indio_dev); 202 int ret; 203 u8 addr; 204 s16 val16; 205 206 switch (mask) { 207 case IIO_CHAN_INFO_RAW: 208 return adis_single_conversion(indio_dev, chan, 209 ADIS16260_ERROR_ACTIVE, val); 210 case IIO_CHAN_INFO_SCALE: 211 switch (chan->type) { 212 case IIO_ANGL_VEL: 213 *val = 0; 214 if (spi_get_device_id(adis->spi)->driver_data) { 215 /* 0.01832 degree / sec */ 216 *val2 = IIO_DEGREE_TO_RAD(18320); 217 } else { 218 /* 0.07326 degree / sec */ 219 *val2 = IIO_DEGREE_TO_RAD(73260); 220 } 221 return IIO_VAL_INT_PLUS_MICRO; 222 case IIO_INCLI: 223 *val = 0; 224 *val2 = IIO_DEGREE_TO_RAD(36630); 225 return IIO_VAL_INT_PLUS_MICRO; 226 case IIO_VOLTAGE: 227 if (chan->channel == 0) { 228 *val = 1; 229 *val2 = 831500; /* 1.8315 mV */ 230 } else { 231 *val = 0; 232 *val2 = 610500; /* 610.5 uV */ 233 } 234 return IIO_VAL_INT_PLUS_MICRO; 235 case IIO_TEMP: 236 *val = 145; 237 *val2 = 300000; /* 0.1453 C */ 238 return IIO_VAL_INT_PLUS_MICRO; 239 default: 240 return -EINVAL; 241 } 242 break; 243 case IIO_CHAN_INFO_OFFSET: 244 *val = 250000 / 1453; /* 25 C = 0x00 */ 245 return IIO_VAL_INT; 246 case IIO_CHAN_INFO_CALIBBIAS: 247 addr = adis16260_addresses[chan->scan_index][0]; 248 ret = adis_read_reg_16(adis, addr, &val16); 249 if (ret) 250 return ret; 251 252 *val = sign_extend32(val16, 11); 253 return IIO_VAL_INT; 254 case IIO_CHAN_INFO_CALIBSCALE: 255 addr = adis16260_addresses[chan->scan_index][1]; 256 ret = adis_read_reg_16(adis, addr, &val16); 257 if (ret) 258 return ret; 259 260 *val = val16; 261 return IIO_VAL_INT; 262 } 263 return -EINVAL; 264 } 265 266 static int adis16260_write_raw(struct iio_dev *indio_dev, 267 struct iio_chan_spec const *chan, 268 int val, 269 int val2, 270 long mask) 271 { 272 struct adis *adis = iio_priv(indio_dev); 273 u8 addr; 274 275 switch (mask) { 276 case IIO_CHAN_INFO_CALIBBIAS: 277 if (val < -2048 || val >= 2048) 278 return -EINVAL; 279 280 addr = adis16260_addresses[chan->scan_index][0]; 281 return adis_write_reg_16(adis, addr, val); 282 case IIO_CHAN_INFO_CALIBSCALE: 283 if (val < 0 || val >= 4096) 284 return -EINVAL; 285 286 addr = adis16260_addresses[chan->scan_index][1]; 287 return adis_write_reg_16(adis, addr, val); 288 } 289 return -EINVAL; 290 } 291 292 static struct attribute *adis16260_attributes[] = { 293 &iio_dev_attr_sampling_frequency.dev_attr.attr, 294 NULL 295 }; 296 297 static const struct attribute_group adis16260_attribute_group = { 298 .attrs = adis16260_attributes, 299 }; 300 301 static const struct iio_info adis16260_info = { 302 .attrs = &adis16260_attribute_group, 303 .read_raw = &adis16260_read_raw, 304 .write_raw = &adis16260_write_raw, 305 .update_scan_mode = adis_update_scan_mode, 306 .driver_module = THIS_MODULE, 307 }; 308 309 static const char * const adis1620_status_error_msgs[] = { 310 [ADIS16260_DIAG_STAT_FLASH_CHK_BIT] = "Flash checksum error", 311 [ADIS16260_DIAG_STAT_SELF_TEST_BIT] = "Self test error", 312 [ADIS16260_DIAG_STAT_OVERFLOW_BIT] = "Sensor overrange", 313 [ADIS16260_DIAG_STAT_SPI_FAIL_BIT] = "SPI failure", 314 [ADIS16260_DIAG_STAT_FLASH_UPT_BIT] = "Flash update failed", 315 [ADIS16260_DIAG_STAT_POWER_HIGH_BIT] = "Power supply above 5.25", 316 [ADIS16260_DIAG_STAT_POWER_LOW_BIT] = "Power supply below 4.75", 317 }; 318 319 static const struct adis_data adis16260_data = { 320 .write_delay = 30, 321 .read_delay = 30, 322 .msc_ctrl_reg = ADIS16260_MSC_CTRL, 323 .glob_cmd_reg = ADIS16260_GLOB_CMD, 324 .diag_stat_reg = ADIS16260_DIAG_STAT, 325 326 .self_test_mask = ADIS16260_MSC_CTRL_MEM_TEST, 327 .startup_delay = ADIS16260_STARTUP_DELAY, 328 329 .status_error_msgs = adis1620_status_error_msgs, 330 .status_error_mask = BIT(ADIS16260_DIAG_STAT_FLASH_CHK_BIT) | 331 BIT(ADIS16260_DIAG_STAT_SELF_TEST_BIT) | 332 BIT(ADIS16260_DIAG_STAT_OVERFLOW_BIT) | 333 BIT(ADIS16260_DIAG_STAT_SPI_FAIL_BIT) | 334 BIT(ADIS16260_DIAG_STAT_FLASH_UPT_BIT) | 335 BIT(ADIS16260_DIAG_STAT_POWER_HIGH_BIT) | 336 BIT(ADIS16260_DIAG_STAT_POWER_LOW_BIT), 337 }; 338 339 static int adis16260_probe(struct spi_device *spi) 340 { 341 struct iio_dev *indio_dev; 342 struct adis *adis; 343 int ret; 344 345 /* setup the industrialio driver allocated elements */ 346 indio_dev = devm_iio_device_alloc(&spi->dev, sizeof(*adis)); 347 if (!indio_dev) 348 return -ENOMEM; 349 adis = iio_priv(indio_dev); 350 /* this is only used for removal purposes */ 351 spi_set_drvdata(spi, indio_dev); 352 353 indio_dev->name = spi_get_device_id(spi)->name; 354 indio_dev->dev.parent = &spi->dev; 355 indio_dev->info = &adis16260_info; 356 indio_dev->channels = adis16260_channels; 357 indio_dev->num_channels = ARRAY_SIZE(adis16260_channels); 358 indio_dev->modes = INDIO_DIRECT_MODE; 359 360 ret = adis_init(adis, indio_dev, spi, &adis16260_data); 361 if (ret) 362 return ret; 363 364 ret = adis_setup_buffer_and_trigger(adis, indio_dev, NULL); 365 if (ret) 366 return ret; 367 368 /* Get the device into a sane initial state */ 369 ret = adis_initial_startup(adis); 370 if (ret) 371 goto error_cleanup_buffer_trigger; 372 ret = iio_device_register(indio_dev); 373 if (ret) 374 goto error_cleanup_buffer_trigger; 375 376 return 0; 377 378 error_cleanup_buffer_trigger: 379 adis_cleanup_buffer_and_trigger(adis, indio_dev); 380 return ret; 381 } 382 383 static int adis16260_remove(struct spi_device *spi) 384 { 385 struct iio_dev *indio_dev = spi_get_drvdata(spi); 386 struct adis *adis = iio_priv(indio_dev); 387 388 iio_device_unregister(indio_dev); 389 adis16260_stop_device(indio_dev); 390 adis_cleanup_buffer_and_trigger(adis, indio_dev); 391 392 return 0; 393 } 394 395 /* 396 * These parts do not need to be differentiated until someone adds 397 * support for the on chip filtering. 398 */ 399 static const struct spi_device_id adis16260_id[] = { 400 {"adis16260", 0}, 401 {"adis16265", 0}, 402 {"adis16250", 0}, 403 {"adis16255", 0}, 404 {"adis16251", 1}, 405 {} 406 }; 407 MODULE_DEVICE_TABLE(spi, adis16260_id); 408 409 static struct spi_driver adis16260_driver = { 410 .driver = { 411 .name = "adis16260", 412 .owner = THIS_MODULE, 413 }, 414 .probe = adis16260_probe, 415 .remove = adis16260_remove, 416 .id_table = adis16260_id, 417 }; 418 module_spi_driver(adis16260_driver); 419 420 MODULE_AUTHOR("Barry Song <21cnbao@gmail.com>"); 421 MODULE_DESCRIPTION("Analog Devices ADIS16260/5 Digital Gyroscope Sensor"); 422 MODULE_LICENSE("GPL v2"); 423