| /* |
| * 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/irq.h> |
| #include <linux/delay.h> |
| #include <linux/mutex.h> |
| #include <linux/device.h> |
| #include <linux/kernel.h> |
| #include <linux/spi/spi.h> |
| #include <linux/slab.h> |
| #include <linux/sysfs.h> |
| #include <linux/list.h> |
| #include <linux/module.h> |
| |
| #include <linux/iio/iio.h> |
| #include <linux/iio/sysfs.h> |
| #include <linux/iio/buffer.h> |
| |
| #include "adis16260.h" |
| |
| static ssize_t adis16260_read_frequency_available(struct device *dev, |
| struct device_attribute *attr, |
| char *buf) |
| { |
| struct iio_dev *indio_dev = dev_to_iio_dev(dev); |
| struct adis16260_state *st = iio_priv(indio_dev); |
| if (spi_get_device_id(st->adis.spi)->driver_data) |
| return sprintf(buf, "%s\n", "0.129 ~ 256"); |
| else |
| return sprintf(buf, "%s\n", "256 2048"); |
| } |
| |
| static ssize_t adis16260_read_frequency(struct device *dev, |
| struct device_attribute *attr, |
| char *buf) |
| { |
| struct iio_dev *indio_dev = dev_to_iio_dev(dev); |
| struct adis16260_state *st = iio_priv(indio_dev); |
| int ret, len = 0; |
| u16 t; |
| int sps; |
| ret = adis_read_reg_16(&st->adis, ADIS16260_SMPL_PRD, &t); |
| if (ret) |
| return ret; |
| |
| if (spi_get_device_id(st->adis.spi)->driver_data) /* If an adis16251 */ |
| sps = (t & ADIS16260_SMPL_PRD_TIME_BASE) ? 8 : 256; |
| else |
| sps = (t & ADIS16260_SMPL_PRD_TIME_BASE) ? 66 : 2048; |
| sps /= (t & ADIS16260_SMPL_PRD_DIV_MASK) + 1; |
| len = sprintf(buf, "%d SPS\n", sps); |
| return len; |
| } |
| |
| static ssize_t adis16260_write_frequency(struct device *dev, |
| struct device_attribute *attr, |
| const char *buf, |
| size_t len) |
| { |
| struct iio_dev *indio_dev = dev_to_iio_dev(dev); |
| struct adis16260_state *st = iio_priv(indio_dev); |
| long val; |
| int ret; |
| u8 t; |
| |
| ret = strict_strtol(buf, 10, &val); |
| if (ret) |
| return ret; |
| if (val == 0) |
| return -EINVAL; |
| |
| mutex_lock(&indio_dev->mlock); |
| if (spi_get_device_id(st->adis.spi)->driver_data) { |
| t = (256 / val); |
| if (t > 0) |
| t--; |
| t &= ADIS16260_SMPL_PRD_DIV_MASK; |
| } else { |
| t = (2048 / val); |
| if (t > 0) |
| t--; |
| t &= ADIS16260_SMPL_PRD_DIV_MASK; |
| } |
| if ((t & ADIS16260_SMPL_PRD_DIV_MASK) >= 0x0A) |
| st->adis.spi->max_speed_hz = ADIS16260_SPI_SLOW; |
| else |
| st->adis.spi->max_speed_hz = ADIS16260_SPI_FAST; |
| ret = adis_write_reg_8(&st->adis, |
| ADIS16260_SMPL_PRD, |
| t); |
| |
| mutex_unlock(&indio_dev->mlock); |
| |
| return ret ? ret : len; |
| } |
| |
| /* Power down the device */ |
| static int adis16260_stop_device(struct iio_dev *indio_dev) |
| { |
| struct adis16260_state *st = iio_priv(indio_dev); |
| int ret; |
| u16 val = ADIS16260_SLP_CNT_POWER_OFF; |
| |
| ret = adis_write_reg_16(&st->adis, ADIS16260_SLP_CNT, val); |
| if (ret) |
| dev_err(&indio_dev->dev, "problem with turning device off: SLP_CNT"); |
| |
| return ret; |
| } |
| |
| static IIO_DEV_ATTR_SAMP_FREQ(S_IWUSR | S_IRUGO, |
| adis16260_read_frequency, |
| adis16260_write_frequency); |
| |
| static IIO_DEVICE_ATTR(sampling_frequency_available, |
| S_IRUGO, adis16260_read_frequency_available, NULL, 0); |
| |
| #define ADIS16260_GYRO_CHANNEL_SET(axis, mod) \ |
| struct iio_chan_spec adis16260_channels_##axis[] = { \ |
| ADIS_GYRO_CHAN(mod, ADIS16260_GYRO_OUT, ADIS16260_SCAN_GYRO, \ |
| BIT(IIO_CHAN_INFO_CALIBBIAS) | \ |
| BIT(IIO_CHAN_INFO_CALIBSCALE), 14), \ |
| ADIS_INCLI_CHAN(mod, ADIS16260_ANGL_OUT, ADIS16260_SCAN_ANGL, 0, 14), \ |
| ADIS_TEMP_CHAN(ADIS16260_TEMP_OUT, ADIS16260_SCAN_TEMP, 12), \ |
| ADIS_SUPPLY_CHAN(ADIS16260_SUPPLY_OUT, ADIS16260_SCAN_SUPPLY, 12), \ |
| ADIS_AUX_ADC_CHAN(ADIS16260_AUX_ADC, ADIS16260_SCAN_AUX_ADC, 12), \ |
| IIO_CHAN_SOFT_TIMESTAMP(5), \ |
| } |
| |
| static const ADIS16260_GYRO_CHANNEL_SET(x, X); |
| static const ADIS16260_GYRO_CHANNEL_SET(y, Y); |
| static const ADIS16260_GYRO_CHANNEL_SET(z, Z); |
| |
| 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_state *st = iio_priv(indio_dev); |
| int ret; |
| int bits; |
| 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 = 0; |
| if (spi_get_device_id(st->adis.spi)->driver_data) { |
| /* 0.01832 degree / sec */ |
| *val2 = IIO_DEGREE_TO_RAD(18320); |
| } else { |
| /* 0.07326 degree / sec */ |
| *val2 = IIO_DEGREE_TO_RAD(73260); |
| } |
| 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; |
| } |
| break; |
| case IIO_CHAN_INFO_OFFSET: |
| *val = 250000 / 1453; /* 25 C = 0x00 */ |
| return IIO_VAL_INT; |
| case IIO_CHAN_INFO_CALIBBIAS: |
| switch (chan->type) { |
| case IIO_ANGL_VEL: |
| bits = 12; |
| break; |
| default: |
| return -EINVAL; |
| } |
| mutex_lock(&indio_dev->mlock); |
| addr = adis16260_addresses[chan->scan_index][0]; |
| ret = adis_read_reg_16(&st->adis, addr, &val16); |
| if (ret) { |
| mutex_unlock(&indio_dev->mlock); |
| return ret; |
| } |
| val16 &= (1 << bits) - 1; |
| val16 = (s16)(val16 << (16 - bits)) >> (16 - bits); |
| *val = val16; |
| mutex_unlock(&indio_dev->mlock); |
| return IIO_VAL_INT; |
| case IIO_CHAN_INFO_CALIBSCALE: |
| switch (chan->type) { |
| case IIO_ANGL_VEL: |
| bits = 12; |
| break; |
| default: |
| return -EINVAL; |
| } |
| mutex_lock(&indio_dev->mlock); |
| addr = adis16260_addresses[chan->scan_index][1]; |
| ret = adis_read_reg_16(&st->adis, addr, &val16); |
| if (ret) { |
| mutex_unlock(&indio_dev->mlock); |
| return ret; |
| } |
| *val = (1 << bits) - 1; |
| mutex_unlock(&indio_dev->mlock); |
| 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_state *st = iio_priv(indio_dev); |
| int bits = 12; |
| s16 val16; |
| u8 addr; |
| switch (mask) { |
| case IIO_CHAN_INFO_CALIBBIAS: |
| val16 = val & ((1 << bits) - 1); |
| addr = adis16260_addresses[chan->scan_index][0]; |
| return adis_write_reg_16(&st->adis, addr, val16); |
| case IIO_CHAN_INFO_CALIBSCALE: |
| val16 = val & ((1 << bits) - 1); |
| addr = adis16260_addresses[chan->scan_index][1]; |
| return adis_write_reg_16(&st->adis, addr, val16); |
| } |
| return -EINVAL; |
| } |
| |
| static struct attribute *adis16260_attributes[] = { |
| &iio_dev_attr_sampling_frequency.dev_attr.attr, |
| &iio_dev_attr_sampling_frequency_available.dev_attr.attr, |
| NULL |
| }; |
| |
| static const struct attribute_group adis16260_attribute_group = { |
| .attrs = adis16260_attributes, |
| }; |
| |
| static const struct iio_info adis16260_info = { |
| .attrs = &adis16260_attribute_group, |
| .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) |
| { |
| int ret; |
| struct adis16260_platform_data *pd = spi->dev.platform_data; |
| struct adis16260_state *st; |
| struct iio_dev *indio_dev; |
| |
| /* setup the industrialio driver allocated elements */ |
| indio_dev = iio_device_alloc(sizeof(*st)); |
| if (indio_dev == NULL) { |
| ret = -ENOMEM; |
| goto error_ret; |
| } |
| st = iio_priv(indio_dev); |
| if (pd) |
| st->negate = pd->negate; |
| /* this is only used for removal purposes */ |
| spi_set_drvdata(spi, indio_dev); |
| |
| indio_dev->name = spi_get_device_id(spi)->name; |
| indio_dev->dev.parent = &spi->dev; |
| indio_dev->info = &adis16260_info; |
| indio_dev->num_channels |
| = ARRAY_SIZE(adis16260_channels_x); |
| if (pd && pd->direction) |
| switch (pd->direction) { |
| case 'x': |
| indio_dev->channels = adis16260_channels_x; |
| break; |
| case 'y': |
| indio_dev->channels = adis16260_channels_y; |
| break; |
| case 'z': |
| indio_dev->channels = adis16260_channels_z; |
| break; |
| default: |
| return -EINVAL; |
| } |
| else |
| indio_dev->channels = adis16260_channels_x; |
| indio_dev->num_channels = ARRAY_SIZE(adis16260_channels_x); |
| indio_dev->modes = INDIO_DIRECT_MODE; |
| |
| ret = adis_init(&st->adis, indio_dev, spi, &adis16260_data); |
| if (ret) |
| goto error_free_dev; |
| |
| ret = adis_setup_buffer_and_trigger(&st->adis, indio_dev, NULL); |
| if (ret) |
| goto error_free_dev; |
| |
| if (indio_dev->buffer) { |
| /* Set default scan mode */ |
| iio_scan_mask_set(indio_dev, indio_dev->buffer, |
| ADIS16260_SCAN_SUPPLY); |
| iio_scan_mask_set(indio_dev, indio_dev->buffer, |
| ADIS16260_SCAN_GYRO); |
| iio_scan_mask_set(indio_dev, indio_dev->buffer, |
| ADIS16260_SCAN_AUX_ADC); |
| iio_scan_mask_set(indio_dev, indio_dev->buffer, |
| ADIS16260_SCAN_TEMP); |
| iio_scan_mask_set(indio_dev, indio_dev->buffer, |
| ADIS16260_SCAN_ANGL); |
| } |
| |
| /* Get the device into a sane initial state */ |
| ret = adis_initial_startup(&st->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(&st->adis, indio_dev); |
| error_free_dev: |
| iio_device_free(indio_dev); |
| error_ret: |
| return ret; |
| } |
| |
| static int adis16260_remove(struct spi_device *spi) |
| { |
| struct iio_dev *indio_dev = spi_get_drvdata(spi); |
| struct adis16260_state *st = iio_priv(indio_dev); |
| |
| iio_device_unregister(indio_dev); |
| adis16260_stop_device(indio_dev); |
| adis_cleanup_buffer_and_trigger(&st->adis, indio_dev); |
| iio_device_free(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", 0}, |
| {"adis16265", 0}, |
| {"adis16250", 0}, |
| {"adis16255", 0}, |
| {"adis16251", 1}, |
| {} |
| }; |
| 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"); |