Commit | Line | Data |
---|---|---|
089a4198 | 1 | /* |
f733d02a | 2 | * ADIS16260/ADIS16265 Programmable Digital Gyroscope Sensor Driver |
089a4198 BS |
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/irq.h> | |
11 | #include <linux/gpio.h> | |
12 | #include <linux/delay.h> | |
13 | #include <linux/mutex.h> | |
14 | #include <linux/device.h> | |
15 | #include <linux/kernel.h> | |
16 | #include <linux/spi/spi.h> | |
1cb6c1f5 | 17 | #include <linux/slab.h> |
089a4198 BS |
18 | #include <linux/sysfs.h> |
19 | #include <linux/list.h> | |
99c97852 | 20 | #include <linux/module.h> |
089a4198 BS |
21 | |
22 | #include "../iio.h" | |
23 | #include "../sysfs.h" | |
3811cd62 | 24 | #include "../buffer_generic.h" |
089a4198 BS |
25 | |
26 | #include "adis16260.h" | |
27 | ||
28 | #define DRIVER_NAME "adis16260" | |
29 | ||
29b7f43e | 30 | static int adis16260_check_status(struct iio_dev *indio_dev); |
089a4198 BS |
31 | |
32 | /** | |
33 | * adis16260_spi_write_reg_8() - write single byte to a register | |
29b7f43e | 34 | * @indio_dev: iio_dev for the device |
089a4198 BS |
35 | * @reg_address: the address of the register to be written |
36 | * @val: the value to write | |
37 | **/ | |
29b7f43e | 38 | static int adis16260_spi_write_reg_8(struct iio_dev *indio_dev, |
089a4198 BS |
39 | u8 reg_address, |
40 | u8 val) | |
41 | { | |
42 | int ret; | |
d088ab83 | 43 | struct adis16260_state *st = iio_priv(indio_dev); |
089a4198 BS |
44 | |
45 | mutex_lock(&st->buf_lock); | |
46 | st->tx[0] = ADIS16260_WRITE_REG(reg_address); | |
47 | st->tx[1] = val; | |
48 | ||
49 | ret = spi_write(st->us, st->tx, 2); | |
50 | mutex_unlock(&st->buf_lock); | |
51 | ||
52 | return ret; | |
53 | } | |
54 | ||
55 | /** | |
56 | * adis16260_spi_write_reg_16() - write 2 bytes to a pair of registers | |
29b7f43e | 57 | * @indio_dev: iio_dev for the device |
089a4198 BS |
58 | * @reg_address: the address of the lower of the two registers. Second register |
59 | * is assumed to have address one greater. | |
60 | * @val: value to be written | |
61 | **/ | |
29b7f43e | 62 | static int adis16260_spi_write_reg_16(struct iio_dev *indio_dev, |
089a4198 BS |
63 | u8 lower_reg_address, |
64 | u16 value) | |
65 | { | |
66 | int ret; | |
67 | struct spi_message msg; | |
d088ab83 | 68 | struct adis16260_state *st = iio_priv(indio_dev); |
089a4198 BS |
69 | struct spi_transfer xfers[] = { |
70 | { | |
71 | .tx_buf = st->tx, | |
72 | .bits_per_word = 8, | |
73 | .len = 2, | |
74 | .cs_change = 1, | |
75 | .delay_usecs = 20, | |
76 | }, { | |
77 | .tx_buf = st->tx + 2, | |
78 | .bits_per_word = 8, | |
79 | .len = 2, | |
089a4198 BS |
80 | .delay_usecs = 20, |
81 | }, | |
82 | }; | |
83 | ||
84 | mutex_lock(&st->buf_lock); | |
85 | st->tx[0] = ADIS16260_WRITE_REG(lower_reg_address); | |
86 | st->tx[1] = value & 0xFF; | |
87 | st->tx[2] = ADIS16260_WRITE_REG(lower_reg_address + 1); | |
88 | st->tx[3] = (value >> 8) & 0xFF; | |
89 | ||
90 | spi_message_init(&msg); | |
91 | spi_message_add_tail(&xfers[0], &msg); | |
92 | spi_message_add_tail(&xfers[1], &msg); | |
93 | ret = spi_sync(st->us, &msg); | |
94 | mutex_unlock(&st->buf_lock); | |
95 | ||
96 | return ret; | |
97 | } | |
98 | ||
99 | /** | |
100 | * adis16260_spi_read_reg_16() - read 2 bytes from a 16-bit register | |
29b7f43e | 101 | * @indio_dev: iio_dev for the device |
089a4198 BS |
102 | * @reg_address: the address of the lower of the two registers. Second register |
103 | * is assumed to have address one greater. | |
104 | * @val: somewhere to pass back the value read | |
105 | **/ | |
29b7f43e | 106 | static int adis16260_spi_read_reg_16(struct iio_dev *indio_dev, |
089a4198 BS |
107 | u8 lower_reg_address, |
108 | u16 *val) | |
109 | { | |
110 | struct spi_message msg; | |
d088ab83 | 111 | struct adis16260_state *st = iio_priv(indio_dev); |
089a4198 BS |
112 | int ret; |
113 | struct spi_transfer xfers[] = { | |
114 | { | |
115 | .tx_buf = st->tx, | |
116 | .bits_per_word = 8, | |
117 | .len = 2, | |
118 | .cs_change = 1, | |
119 | .delay_usecs = 30, | |
120 | }, { | |
121 | .rx_buf = st->rx, | |
122 | .bits_per_word = 8, | |
123 | .len = 2, | |
089a4198 BS |
124 | .delay_usecs = 30, |
125 | }, | |
126 | }; | |
127 | ||
128 | mutex_lock(&st->buf_lock); | |
129 | st->tx[0] = ADIS16260_READ_REG(lower_reg_address); | |
130 | st->tx[1] = 0; | |
089a4198 BS |
131 | |
132 | spi_message_init(&msg); | |
133 | spi_message_add_tail(&xfers[0], &msg); | |
134 | spi_message_add_tail(&xfers[1], &msg); | |
135 | ret = spi_sync(st->us, &msg); | |
136 | if (ret) { | |
137 | dev_err(&st->us->dev, | |
138 | "problem when reading 16 bit register 0x%02X", | |
139 | lower_reg_address); | |
140 | goto error_ret; | |
141 | } | |
142 | *val = (st->rx[0] << 8) | st->rx[1]; | |
143 | ||
144 | error_ret: | |
145 | mutex_unlock(&st->buf_lock); | |
146 | return ret; | |
147 | } | |
148 | ||
03d1b7d3 JC |
149 | static ssize_t adis16260_read_frequency_available(struct device *dev, |
150 | struct device_attribute *attr, | |
151 | char *buf) | |
152 | { | |
153 | struct iio_dev *indio_dev = dev_get_drvdata(dev); | |
d088ab83 | 154 | struct adis16260_state *st = iio_priv(indio_dev); |
03d1b7d3 JC |
155 | if (spi_get_device_id(st->us)->driver_data) |
156 | return sprintf(buf, "%s\n", "0.129 ~ 256"); | |
157 | else | |
158 | return sprintf(buf, "%s\n", "256 2048"); | |
159 | } | |
160 | ||
089a4198 BS |
161 | static ssize_t adis16260_read_frequency(struct device *dev, |
162 | struct device_attribute *attr, | |
163 | char *buf) | |
164 | { | |
03d1b7d3 | 165 | struct iio_dev *indio_dev = dev_get_drvdata(dev); |
d088ab83 | 166 | struct adis16260_state *st = iio_priv(indio_dev); |
089a4198 BS |
167 | int ret, len = 0; |
168 | u16 t; | |
169 | int sps; | |
29b7f43e | 170 | ret = adis16260_spi_read_reg_16(indio_dev, |
089a4198 BS |
171 | ADIS16260_SMPL_PRD, |
172 | &t); | |
173 | if (ret) | |
174 | return ret; | |
03d1b7d3 JC |
175 | |
176 | if (spi_get_device_id(st->us)->driver_data) /* If an adis16251 */ | |
177 | sps = (t & ADIS16260_SMPL_PRD_TIME_BASE) ? 8 : 256; | |
178 | else | |
179 | sps = (t & ADIS16260_SMPL_PRD_TIME_BASE) ? 66 : 2048; | |
089a4198 BS |
180 | sps /= (t & ADIS16260_SMPL_PRD_DIV_MASK) + 1; |
181 | len = sprintf(buf, "%d SPS\n", sps); | |
182 | return len; | |
183 | } | |
184 | ||
185 | static ssize_t adis16260_write_frequency(struct device *dev, | |
186 | struct device_attribute *attr, | |
187 | const char *buf, | |
188 | size_t len) | |
189 | { | |
190 | struct iio_dev *indio_dev = dev_get_drvdata(dev); | |
d088ab83 | 191 | struct adis16260_state *st = iio_priv(indio_dev); |
089a4198 BS |
192 | long val; |
193 | int ret; | |
194 | u8 t; | |
195 | ||
196 | ret = strict_strtol(buf, 10, &val); | |
197 | if (ret) | |
198 | return ret; | |
199 | ||
200 | mutex_lock(&indio_dev->mlock); | |
03d1b7d3 JC |
201 | if (spi_get_device_id(st->us)) { |
202 | t = (256 / val); | |
203 | if (t > 0) | |
204 | t--; | |
205 | t &= ADIS16260_SMPL_PRD_DIV_MASK; | |
206 | } else { | |
207 | t = (2048 / val); | |
208 | if (t > 0) | |
209 | t--; | |
210 | t &= ADIS16260_SMPL_PRD_DIV_MASK; | |
211 | } | |
089a4198 BS |
212 | if ((t & ADIS16260_SMPL_PRD_DIV_MASK) >= 0x0A) |
213 | st->us->max_speed_hz = ADIS16260_SPI_SLOW; | |
214 | else | |
215 | st->us->max_speed_hz = ADIS16260_SPI_FAST; | |
29b7f43e | 216 | ret = adis16260_spi_write_reg_8(indio_dev, |
089a4198 BS |
217 | ADIS16260_SMPL_PRD, |
218 | t); | |
219 | ||
220 | mutex_unlock(&indio_dev->mlock); | |
221 | ||
222 | return ret ? ret : len; | |
223 | } | |
224 | ||
29b7f43e | 225 | static int adis16260_reset(struct iio_dev *indio_dev) |
089a4198 BS |
226 | { |
227 | int ret; | |
29b7f43e | 228 | ret = adis16260_spi_write_reg_8(indio_dev, |
089a4198 BS |
229 | ADIS16260_GLOB_CMD, |
230 | ADIS16260_GLOB_CMD_SW_RESET); | |
231 | if (ret) | |
29b7f43e | 232 | dev_err(&indio_dev->dev, "problem resetting device"); |
089a4198 BS |
233 | |
234 | return ret; | |
235 | } | |
236 | ||
237 | static ssize_t adis16260_write_reset(struct device *dev, | |
238 | struct device_attribute *attr, | |
239 | const char *buf, size_t len) | |
240 | { | |
29b7f43e | 241 | struct iio_dev *indio_dev = dev_get_drvdata(dev); |
089a4198 BS |
242 | if (len < 1) |
243 | return -EINVAL; | |
244 | switch (buf[0]) { | |
245 | case '1': | |
246 | case 'y': | |
247 | case 'Y': | |
29b7f43e | 248 | return adis16260_reset(indio_dev); |
089a4198 BS |
249 | } |
250 | return -EINVAL; | |
251 | } | |
252 | ||
29b7f43e | 253 | int adis16260_set_irq(struct iio_dev *indio_dev, bool enable) |
089a4198 BS |
254 | { |
255 | int ret; | |
256 | u16 msc; | |
29b7f43e | 257 | ret = adis16260_spi_read_reg_16(indio_dev, ADIS16260_MSC_CTRL, &msc); |
089a4198 BS |
258 | if (ret) |
259 | goto error_ret; | |
260 | ||
261 | msc |= ADIS16260_MSC_CTRL_DATA_RDY_POL_HIGH; | |
262 | if (enable) | |
263 | msc |= ADIS16260_MSC_CTRL_DATA_RDY_EN; | |
264 | else | |
265 | msc &= ~ADIS16260_MSC_CTRL_DATA_RDY_EN; | |
266 | ||
29b7f43e | 267 | ret = adis16260_spi_write_reg_16(indio_dev, ADIS16260_MSC_CTRL, msc); |
089a4198 BS |
268 | if (ret) |
269 | goto error_ret; | |
270 | ||
271 | error_ret: | |
272 | return ret; | |
273 | } | |
274 | ||
275 | /* Power down the device */ | |
29b7f43e | 276 | static int adis16260_stop_device(struct iio_dev *indio_dev) |
089a4198 BS |
277 | { |
278 | int ret; | |
279 | u16 val = ADIS16260_SLP_CNT_POWER_OFF; | |
280 | ||
29b7f43e | 281 | ret = adis16260_spi_write_reg_16(indio_dev, ADIS16260_SLP_CNT, val); |
089a4198 | 282 | if (ret) |
29b7f43e | 283 | dev_err(&indio_dev->dev, "problem with turning device off: SLP_CNT"); |
089a4198 BS |
284 | |
285 | return ret; | |
286 | } | |
287 | ||
29b7f43e | 288 | static int adis16260_self_test(struct iio_dev *indio_dev) |
089a4198 BS |
289 | { |
290 | int ret; | |
29b7f43e | 291 | ret = adis16260_spi_write_reg_16(indio_dev, |
089a4198 BS |
292 | ADIS16260_MSC_CTRL, |
293 | ADIS16260_MSC_CTRL_MEM_TEST); | |
294 | if (ret) { | |
29b7f43e | 295 | dev_err(&indio_dev->dev, "problem starting self test"); |
089a4198 BS |
296 | goto err_ret; |
297 | } | |
298 | ||
29b7f43e | 299 | adis16260_check_status(indio_dev); |
089a4198 BS |
300 | |
301 | err_ret: | |
302 | return ret; | |
303 | } | |
304 | ||
29b7f43e | 305 | static int adis16260_check_status(struct iio_dev *indio_dev) |
089a4198 BS |
306 | { |
307 | u16 status; | |
308 | int ret; | |
29b7f43e | 309 | struct device *dev = &indio_dev->dev; |
089a4198 | 310 | |
29b7f43e JC |
311 | ret = adis16260_spi_read_reg_16(indio_dev, |
312 | ADIS16260_DIAG_STAT, | |
313 | &status); | |
089a4198 BS |
314 | |
315 | if (ret < 0) { | |
316 | dev_err(dev, "Reading status failed\n"); | |
317 | goto error_ret; | |
318 | } | |
319 | ret = status & 0x7F; | |
320 | if (status & ADIS16260_DIAG_STAT_FLASH_CHK) | |
321 | dev_err(dev, "Flash checksum error\n"); | |
322 | if (status & ADIS16260_DIAG_STAT_SELF_TEST) | |
323 | dev_err(dev, "Self test error\n"); | |
324 | if (status & ADIS16260_DIAG_STAT_OVERFLOW) | |
325 | dev_err(dev, "Sensor overrange\n"); | |
326 | if (status & ADIS16260_DIAG_STAT_SPI_FAIL) | |
327 | dev_err(dev, "SPI failure\n"); | |
328 | if (status & ADIS16260_DIAG_STAT_FLASH_UPT) | |
329 | dev_err(dev, "Flash update failed\n"); | |
330 | if (status & ADIS16260_DIAG_STAT_POWER_HIGH) | |
331 | dev_err(dev, "Power supply above 5.25V\n"); | |
332 | if (status & ADIS16260_DIAG_STAT_POWER_LOW) | |
333 | dev_err(dev, "Power supply below 4.75V\n"); | |
334 | ||
335 | error_ret: | |
336 | return ret; | |
337 | } | |
338 | ||
29b7f43e | 339 | static int adis16260_initial_setup(struct iio_dev *indio_dev) |
089a4198 BS |
340 | { |
341 | int ret; | |
29b7f43e | 342 | struct device *dev = &indio_dev->dev; |
089a4198 BS |
343 | |
344 | /* Disable IRQ */ | |
29b7f43e | 345 | ret = adis16260_set_irq(indio_dev, false); |
089a4198 BS |
346 | if (ret) { |
347 | dev_err(dev, "disable irq failed"); | |
348 | goto err_ret; | |
349 | } | |
350 | ||
351 | /* Do self test */ | |
29b7f43e | 352 | ret = adis16260_self_test(indio_dev); |
089a4198 BS |
353 | if (ret) { |
354 | dev_err(dev, "self test failure"); | |
355 | goto err_ret; | |
356 | } | |
357 | ||
358 | /* Read status register to check the result */ | |
29b7f43e | 359 | ret = adis16260_check_status(indio_dev); |
089a4198 | 360 | if (ret) { |
29b7f43e | 361 | adis16260_reset(indio_dev); |
089a4198 BS |
362 | dev_err(dev, "device not playing ball -> reset"); |
363 | msleep(ADIS16260_STARTUP_DELAY); | |
29b7f43e | 364 | ret = adis16260_check_status(indio_dev); |
089a4198 BS |
365 | if (ret) { |
366 | dev_err(dev, "giving up"); | |
367 | goto err_ret; | |
368 | } | |
369 | } | |
370 | ||
089a4198 BS |
371 | err_ret: |
372 | return ret; | |
373 | } | |
374 | ||
089a4198 BS |
375 | static IIO_DEV_ATTR_SAMP_FREQ(S_IWUSR | S_IRUGO, |
376 | adis16260_read_frequency, | |
377 | adis16260_write_frequency); | |
089a4198 BS |
378 | |
379 | static IIO_DEVICE_ATTR(reset, S_IWUSR, NULL, adis16260_write_reset, 0); | |
380 | ||
03d1b7d3 JC |
381 | static IIO_DEVICE_ATTR(sampling_frequency_available, |
382 | S_IRUGO, adis16260_read_frequency_available, NULL, 0); | |
089a4198 | 383 | |
29b7f43e JC |
384 | enum adis16260_channel { |
385 | gyro, | |
386 | temp, | |
387 | in_supply, | |
388 | in_aux, | |
389 | angle, | |
390 | }; | |
391 | #define ADIS16260_GYRO_CHANNEL_SET(axis, mod) \ | |
392 | struct iio_chan_spec adis16260_channels_##axis[] = { \ | |
393 | IIO_CHAN(IIO_GYRO, 1, 0, 0, NULL, 0, mod, \ | |
394 | (1 << IIO_CHAN_INFO_CALIBBIAS_SEPARATE) | \ | |
395 | (1 << IIO_CHAN_INFO_CALIBSCALE_SEPARATE) | \ | |
396 | (1 << IIO_CHAN_INFO_SCALE_SEPARATE), \ | |
397 | gyro, ADIS16260_SCAN_GYRO, \ | |
398 | IIO_ST('s', 14, 16, 0), 0), \ | |
399 | IIO_CHAN(IIO_ANGL, 1, 0, 0, NULL, 0, mod, \ | |
400 | 0, \ | |
401 | angle, ADIS16260_SCAN_ANGL, \ | |
402 | IIO_ST('u', 14, 16, 0), 0), \ | |
403 | IIO_CHAN(IIO_TEMP, 0, 1, 0, NULL, 0, 0, \ | |
404 | (1 << IIO_CHAN_INFO_OFFSET_SEPARATE) | \ | |
405 | (1 << IIO_CHAN_INFO_SCALE_SEPARATE), \ | |
406 | temp, ADIS16260_SCAN_TEMP, \ | |
407 | IIO_ST('u', 12, 16, 0), 0), \ | |
6835cb6b | 408 | IIO_CHAN(IIO_VOLTAGE, 0, 1, 0, "supply", 0, 0, \ |
29b7f43e JC |
409 | (1 << IIO_CHAN_INFO_SCALE_SEPARATE), \ |
410 | in_supply, ADIS16260_SCAN_SUPPLY, \ | |
411 | IIO_ST('u', 12, 16, 0), 0), \ | |
6835cb6b | 412 | IIO_CHAN(IIO_VOLTAGE, 0, 1, 0, NULL, 1, 0, \ |
29b7f43e JC |
413 | (1 << IIO_CHAN_INFO_SCALE_SEPARATE), \ |
414 | in_aux, ADIS16260_SCAN_AUX_ADC, \ | |
415 | IIO_ST('u', 12, 16, 0), 0), \ | |
416 | IIO_CHAN_SOFT_TIMESTAMP(5) \ | |
417 | } | |
089a4198 | 418 | |
29b7f43e JC |
419 | static const ADIS16260_GYRO_CHANNEL_SET(x, IIO_MOD_X); |
420 | static const ADIS16260_GYRO_CHANNEL_SET(y, IIO_MOD_Y); | |
421 | static const ADIS16260_GYRO_CHANNEL_SET(z, IIO_MOD_Z); | |
422 | ||
423 | static const u8 adis16260_addresses[5][3] = { | |
424 | [gyro] = { ADIS16260_GYRO_OUT, | |
425 | ADIS16260_GYRO_OFF, | |
426 | ADIS16260_GYRO_SCALE }, | |
427 | [angle] = { ADIS16260_ANGL_OUT }, | |
428 | [in_supply] = { ADIS16260_SUPPLY_OUT }, | |
429 | [in_aux] = { ADIS16260_AUX_ADC }, | |
430 | [temp] = { ADIS16260_TEMP_OUT }, | |
431 | }; | |
432 | static int adis16260_read_raw(struct iio_dev *indio_dev, | |
433 | struct iio_chan_spec const *chan, | |
434 | int *val, int *val2, | |
435 | long mask) | |
436 | { | |
d088ab83 | 437 | struct adis16260_state *st = iio_priv(indio_dev); |
29b7f43e JC |
438 | int ret; |
439 | int bits; | |
440 | u8 addr; | |
441 | s16 val16; | |
442 | ||
443 | switch (mask) { | |
444 | case 0: | |
445 | mutex_lock(&indio_dev->mlock); | |
446 | addr = adis16260_addresses[chan->address][0]; | |
447 | ret = adis16260_spi_read_reg_16(indio_dev, addr, &val16); | |
8f896155 DC |
448 | if (ret) { |
449 | mutex_unlock(&indio_dev->mlock); | |
29b7f43e | 450 | return ret; |
8f896155 | 451 | } |
29b7f43e JC |
452 | |
453 | if (val16 & ADIS16260_ERROR_ACTIVE) { | |
454 | ret = adis16260_check_status(indio_dev); | |
8f896155 DC |
455 | if (ret) { |
456 | mutex_unlock(&indio_dev->mlock); | |
29b7f43e | 457 | return ret; |
8f896155 | 458 | } |
29b7f43e JC |
459 | } |
460 | val16 = val16 & ((1 << chan->scan_type.realbits) - 1); | |
461 | if (chan->scan_type.sign == 's') | |
462 | val16 = (s16)(val16 << | |
463 | (16 - chan->scan_type.realbits)) >> | |
464 | (16 - chan->scan_type.realbits); | |
465 | *val = val16; | |
466 | mutex_unlock(&indio_dev->mlock); | |
467 | return IIO_VAL_INT; | |
468 | case (1 << IIO_CHAN_INFO_SCALE_SEPARATE): | |
469 | case (1 << IIO_CHAN_INFO_SCALE_SHARED): | |
470 | switch (chan->type) { | |
471 | case IIO_GYRO: | |
472 | *val = 0; | |
473 | if (spi_get_device_id(st->us)->driver_data) | |
474 | *val2 = 320; | |
475 | else | |
476 | *val2 = 1278; | |
477 | return IIO_VAL_INT_PLUS_MICRO; | |
6835cb6b | 478 | case IIO_VOLTAGE: |
29b7f43e JC |
479 | *val = 0; |
480 | if (chan->channel == 0) | |
481 | *val2 = 18315; | |
482 | else | |
483 | *val2 = 610500; | |
484 | return IIO_VAL_INT_PLUS_MICRO; | |
485 | case IIO_TEMP: | |
486 | *val = 0; | |
487 | *val2 = 145300; | |
488 | return IIO_VAL_INT_PLUS_MICRO; | |
489 | default: | |
490 | return -EINVAL; | |
491 | } | |
492 | break; | |
493 | case (1 << IIO_CHAN_INFO_OFFSET_SEPARATE): | |
494 | *val = 25; | |
495 | return IIO_VAL_INT; | |
496 | case (1 << IIO_CHAN_INFO_CALIBBIAS_SEPARATE): | |
497 | switch (chan->type) { | |
498 | case IIO_GYRO: | |
499 | bits = 12; | |
500 | break; | |
501 | default: | |
502 | return -EINVAL; | |
503 | }; | |
504 | mutex_lock(&indio_dev->mlock); | |
505 | addr = adis16260_addresses[chan->address][1]; | |
506 | ret = adis16260_spi_read_reg_16(indio_dev, addr, &val16); | |
507 | if (ret) { | |
508 | mutex_unlock(&indio_dev->mlock); | |
509 | return ret; | |
510 | } | |
511 | val16 &= (1 << bits) - 1; | |
512 | val16 = (s16)(val16 << (16 - bits)) >> (16 - bits); | |
513 | *val = val16; | |
514 | mutex_unlock(&indio_dev->mlock); | |
515 | return IIO_VAL_INT; | |
516 | case (1 << IIO_CHAN_INFO_CALIBSCALE_SEPARATE): | |
517 | switch (chan->type) { | |
518 | case IIO_GYRO: | |
519 | bits = 12; | |
520 | break; | |
521 | default: | |
522 | return -EINVAL; | |
523 | }; | |
524 | mutex_lock(&indio_dev->mlock); | |
525 | addr = adis16260_addresses[chan->address][2]; | |
526 | ret = adis16260_spi_read_reg_16(indio_dev, addr, &val16); | |
527 | if (ret) { | |
528 | mutex_unlock(&indio_dev->mlock); | |
529 | return ret; | |
530 | } | |
531 | *val = (1 << bits) - 1; | |
532 | mutex_unlock(&indio_dev->mlock); | |
533 | return IIO_VAL_INT; | |
534 | } | |
535 | return -EINVAL; | |
536 | } | |
537 | ||
538 | static int adis16260_write_raw(struct iio_dev *indio_dev, | |
539 | struct iio_chan_spec const *chan, | |
540 | int val, | |
541 | int val2, | |
542 | long mask) | |
543 | { | |
544 | int bits = 12; | |
545 | s16 val16; | |
546 | u8 addr; | |
547 | switch (mask) { | |
548 | case (1 << IIO_CHAN_INFO_CALIBBIAS_SEPARATE): | |
549 | val16 = val & ((1 << bits) - 1); | |
550 | addr = adis16260_addresses[chan->address][1]; | |
551 | return adis16260_spi_write_reg_16(indio_dev, addr, val16); | |
552 | case (1 << IIO_CHAN_INFO_CALIBSCALE_SEPARATE): | |
553 | val16 = val & ((1 << bits) - 1); | |
554 | addr = adis16260_addresses[chan->address][2]; | |
555 | return adis16260_spi_write_reg_16(indio_dev, addr, val16); | |
556 | } | |
557 | return -EINVAL; | |
558 | } | |
559 | ||
560 | static struct attribute *adis16260_attributes[] = { | |
561 | &iio_dev_attr_sampling_frequency.dev_attr.attr, | |
562 | &iio_dev_attr_sampling_frequency_available.dev_attr.attr, | |
563 | &iio_dev_attr_reset.dev_attr.attr, | |
564 | NULL | |
565 | }; | |
566 | ||
567 | static const struct attribute_group adis16260_attribute_group = { | |
568 | .attrs = adis16260_attributes, | |
569 | }; | |
089a4198 | 570 | |
6fe8135f JC |
571 | static const struct iio_info adis16260_info = { |
572 | .attrs = &adis16260_attribute_group, | |
573 | .read_raw = &adis16260_read_raw, | |
574 | .write_raw = &adis16260_write_raw, | |
575 | .driver_module = THIS_MODULE, | |
576 | }; | |
577 | ||
089a4198 BS |
578 | static int __devinit adis16260_probe(struct spi_device *spi) |
579 | { | |
26d25ae3 | 580 | int ret; |
fe346048 | 581 | struct adis16260_platform_data *pd = spi->dev.platform_data; |
d088ab83 JC |
582 | struct adis16260_state *st; |
583 | struct iio_dev *indio_dev; | |
584 | ||
585 | /* setup the industrialio driver allocated elements */ | |
586 | indio_dev = iio_allocate_device(sizeof(*st)); | |
587 | if (indio_dev == NULL) { | |
588 | ret = -ENOMEM; | |
089a4198 BS |
589 | goto error_ret; |
590 | } | |
d088ab83 | 591 | st = iio_priv(indio_dev); |
fe346048 JC |
592 | if (pd) |
593 | st->negate = pd->negate; | |
089a4198 BS |
594 | /* this is only used for removal purposes */ |
595 | spi_set_drvdata(spi, st); | |
596 | ||
089a4198 BS |
597 | st->us = spi; |
598 | mutex_init(&st->buf_lock); | |
089a4198 | 599 | |
d088ab83 JC |
600 | indio_dev->name = spi_get_device_id(st->us)->name; |
601 | indio_dev->dev.parent = &spi->dev; | |
602 | indio_dev->info = &adis16260_info; | |
603 | indio_dev->num_channels | |
29b7f43e | 604 | = ARRAY_SIZE(adis16260_channels_x); |
fe346048 JC |
605 | if (pd && pd->direction) |
606 | switch (pd->direction) { | |
607 | case 'x': | |
d088ab83 | 608 | indio_dev->channels = adis16260_channels_x; |
fe346048 JC |
609 | break; |
610 | case 'y': | |
d088ab83 | 611 | indio_dev->channels = adis16260_channels_y; |
fe346048 JC |
612 | break; |
613 | case 'z': | |
d088ab83 | 614 | indio_dev->channels = adis16260_channels_z; |
fe346048 JC |
615 | break; |
616 | default: | |
29b7f43e | 617 | return -EINVAL; |
fe346048 JC |
618 | } |
619 | else | |
d088ab83 | 620 | indio_dev->channels = adis16260_channels_x; |
7bcf302f | 621 | indio_dev->num_channels = ARRAY_SIZE(adis16260_channels_x); |
d088ab83 | 622 | indio_dev->modes = INDIO_DIRECT_MODE; |
089a4198 | 623 | |
d088ab83 | 624 | ret = adis16260_configure_ring(indio_dev); |
089a4198 BS |
625 | if (ret) |
626 | goto error_free_dev; | |
627 | ||
14555b14 JC |
628 | ret = iio_buffer_register(indio_dev, |
629 | indio_dev->channels, | |
630 | ARRAY_SIZE(adis16260_channels_x)); | |
089a4198 BS |
631 | if (ret) { |
632 | printk(KERN_ERR "failed to initialize the ring\n"); | |
633 | goto error_unreg_ring_funcs; | |
634 | } | |
14555b14 | 635 | if (indio_dev->buffer) { |
bd94c6a8 | 636 | /* Set default scan mode */ |
14555b14 JC |
637 | iio_scan_mask_set(indio_dev->buffer, ADIS16260_SCAN_SUPPLY); |
638 | iio_scan_mask_set(indio_dev->buffer, ADIS16260_SCAN_GYRO); | |
639 | iio_scan_mask_set(indio_dev->buffer, ADIS16260_SCAN_AUX_ADC); | |
640 | iio_scan_mask_set(indio_dev->buffer, ADIS16260_SCAN_TEMP); | |
641 | iio_scan_mask_set(indio_dev->buffer, ADIS16260_SCAN_ANGL); | |
bd94c6a8 | 642 | } |
089a4198 | 643 | if (spi->irq) { |
d088ab83 | 644 | ret = adis16260_probe_trigger(indio_dev); |
089a4198 | 645 | if (ret) |
ab8d48d4 | 646 | goto error_uninitialize_ring; |
089a4198 BS |
647 | } |
648 | ||
649 | /* Get the device into a sane initial state */ | |
d088ab83 | 650 | ret = adis16260_initial_setup(indio_dev); |
089a4198 BS |
651 | if (ret) |
652 | goto error_remove_trigger; | |
26d25ae3 JC |
653 | ret = iio_device_register(indio_dev); |
654 | if (ret) | |
655 | goto error_remove_trigger; | |
656 | ||
089a4198 BS |
657 | return 0; |
658 | ||
659 | error_remove_trigger: | |
d088ab83 | 660 | adis16260_remove_trigger(indio_dev); |
089a4198 | 661 | error_uninitialize_ring: |
14555b14 | 662 | iio_buffer_unregister(indio_dev); |
089a4198 | 663 | error_unreg_ring_funcs: |
d088ab83 | 664 | adis16260_unconfigure_ring(indio_dev); |
089a4198 | 665 | error_free_dev: |
26d25ae3 | 666 | iio_free_device(indio_dev); |
089a4198 BS |
667 | error_ret: |
668 | return ret; | |
669 | } | |
670 | ||
671 | static int adis16260_remove(struct spi_device *spi) | |
672 | { | |
673 | int ret; | |
d088ab83 | 674 | struct iio_dev *indio_dev = spi_get_drvdata(spi); |
089a4198 | 675 | |
29b7f43e | 676 | ret = adis16260_stop_device(indio_dev); |
089a4198 BS |
677 | if (ret) |
678 | goto err_ret; | |
679 | ||
680 | flush_scheduled_work(); | |
681 | ||
682 | adis16260_remove_trigger(indio_dev); | |
14555b14 | 683 | iio_buffer_unregister(indio_dev); |
089a4198 | 684 | adis16260_unconfigure_ring(indio_dev); |
3e394407 | 685 | iio_device_unregister(indio_dev); |
089a4198 | 686 | |
089a4198 BS |
687 | err_ret: |
688 | return ret; | |
689 | } | |
690 | ||
fe346048 JC |
691 | /* |
692 | * These parts do not need to be differentiated until someone adds | |
693 | * support for the on chip filtering. | |
694 | */ | |
a9672951 JC |
695 | static const struct spi_device_id adis16260_id[] = { |
696 | {"adis16260", 0}, | |
697 | {"adis16265", 0}, | |
fe346048 JC |
698 | {"adis16250", 0}, |
699 | {"adis16255", 0}, | |
03d1b7d3 | 700 | {"adis16251", 1}, |
a9672951 JC |
701 | {} |
702 | }; | |
703 | ||
089a4198 BS |
704 | static struct spi_driver adis16260_driver = { |
705 | .driver = { | |
706 | .name = "adis16260", | |
707 | .owner = THIS_MODULE, | |
708 | }, | |
709 | .probe = adis16260_probe, | |
710 | .remove = __devexit_p(adis16260_remove), | |
a9672951 | 711 | .id_table = adis16260_id, |
089a4198 BS |
712 | }; |
713 | ||
714 | static __init int adis16260_init(void) | |
715 | { | |
716 | return spi_register_driver(&adis16260_driver); | |
717 | } | |
718 | module_init(adis16260_init); | |
719 | ||
720 | static __exit void adis16260_exit(void) | |
721 | { | |
722 | spi_unregister_driver(&adis16260_driver); | |
723 | } | |
724 | module_exit(adis16260_exit); | |
725 | ||
726 | MODULE_AUTHOR("Barry Song <21cnbao@gmail.com>"); | |
727 | MODULE_DESCRIPTION("Analog Devices ADIS16260/5 Digital Gyroscope Sensor"); | |
728 | MODULE_LICENSE("GPL v2"); |