Commit | Line | Data |
---|---|---|
a9d26f00 BS |
1 | /* |
2 | * adis16400.c support Analog Devices ADIS16400/5 | |
3 | * 3d 2g Linear Accelerometers, | |
4 | * 3d Gyroscopes, | |
5 | * 3d Magnetometers via SPI | |
6 | * | |
7 | * Copyright (c) 2009 Manuel Stahl <manuel.stahl@iis.fraunhofer.de> | |
8 | * Copyright (c) 2007 Jonathan Cameron <jic23@cam.ac.uk> | |
6a6ec623 | 9 | * Copyright (c) 2011 Analog Devices Inc. |
a9d26f00 BS |
10 | * |
11 | * This program is free software; you can redistribute it and/or modify | |
12 | * it under the terms of the GNU General Public License version 2 as | |
13 | * published by the Free Software Foundation. | |
14 | * | |
15 | */ | |
16 | ||
17 | #include <linux/interrupt.h> | |
18 | #include <linux/irq.h> | |
19 | #include <linux/gpio.h> | |
20 | #include <linux/delay.h> | |
21 | #include <linux/mutex.h> | |
22 | #include <linux/device.h> | |
23 | #include <linux/kernel.h> | |
24 | #include <linux/spi/spi.h> | |
1cb6c1f5 | 25 | #include <linux/slab.h> |
a9d26f00 BS |
26 | #include <linux/sysfs.h> |
27 | #include <linux/list.h> | |
28 | ||
29 | #include "../iio.h" | |
30 | #include "../sysfs.h" | |
2662051e | 31 | #include "../ring_generic.h" |
a9d26f00 BS |
32 | #include "../accel/accel.h" |
33 | #include "../adc/adc.h" | |
34 | #include "../gyro/gyro.h" | |
35 | #include "../magnetometer/magnet.h" | |
36 | ||
37 | #include "adis16400.h" | |
38 | ||
39 | #define DRIVER_NAME "adis16400" | |
40 | ||
3fd66da1 BS |
41 | static int adis16400_check_status(struct device *dev); |
42 | ||
a9d26f00 BS |
43 | /* At the moment the spi framework doesn't allow global setting of cs_change. |
44 | * It's in the likely to be added comment at the top of spi.h. | |
45 | * This means that use cannot be made of spi_write etc. | |
46 | */ | |
47 | ||
48 | /** | |
49 | * adis16400_spi_write_reg_8() - write single byte to a register | |
50 | * @dev: device associated with child of actual device (iio_dev or iio_trig) | |
51 | * @reg_address: the address of the register to be written | |
52 | * @val: the value to write | |
53 | **/ | |
b155498b | 54 | static int adis16400_spi_write_reg_8(struct device *dev, |
a9d26f00 BS |
55 | u8 reg_address, |
56 | u8 val) | |
57 | { | |
58 | int ret; | |
59 | struct iio_dev *indio_dev = dev_get_drvdata(dev); | |
60 | struct adis16400_state *st = iio_dev_get_devdata(indio_dev); | |
61 | ||
62 | mutex_lock(&st->buf_lock); | |
63 | st->tx[0] = ADIS16400_WRITE_REG(reg_address); | |
64 | st->tx[1] = val; | |
65 | ||
66 | ret = spi_write(st->us, st->tx, 2); | |
67 | mutex_unlock(&st->buf_lock); | |
68 | ||
69 | return ret; | |
70 | } | |
71 | ||
72 | /** | |
73 | * adis16400_spi_write_reg_16() - write 2 bytes to a pair of registers | |
74 | * @dev: device associated with child of actual device (iio_dev or iio_trig) | |
75 | * @reg_address: the address of the lower of the two registers. Second register | |
76 | * is assumed to have address one greater. | |
77 | * @val: value to be written | |
78 | **/ | |
79 | static int adis16400_spi_write_reg_16(struct device *dev, | |
80 | u8 lower_reg_address, | |
81 | u16 value) | |
82 | { | |
83 | int ret; | |
84 | struct spi_message msg; | |
85 | struct iio_dev *indio_dev = dev_get_drvdata(dev); | |
86 | struct adis16400_state *st = iio_dev_get_devdata(indio_dev); | |
87 | struct spi_transfer xfers[] = { | |
88 | { | |
89 | .tx_buf = st->tx, | |
90 | .bits_per_word = 8, | |
91 | .len = 2, | |
92 | .cs_change = 1, | |
93 | }, { | |
94 | .tx_buf = st->tx + 2, | |
95 | .bits_per_word = 8, | |
96 | .len = 2, | |
a9d26f00 BS |
97 | }, |
98 | }; | |
99 | ||
100 | mutex_lock(&st->buf_lock); | |
101 | st->tx[0] = ADIS16400_WRITE_REG(lower_reg_address); | |
102 | st->tx[1] = value & 0xFF; | |
103 | st->tx[2] = ADIS16400_WRITE_REG(lower_reg_address + 1); | |
104 | st->tx[3] = (value >> 8) & 0xFF; | |
105 | ||
106 | spi_message_init(&msg); | |
107 | spi_message_add_tail(&xfers[0], &msg); | |
108 | spi_message_add_tail(&xfers[1], &msg); | |
109 | ret = spi_sync(st->us, &msg); | |
110 | mutex_unlock(&st->buf_lock); | |
111 | ||
112 | return ret; | |
113 | } | |
114 | ||
115 | /** | |
116 | * adis16400_spi_read_reg_16() - read 2 bytes from a 16-bit register | |
117 | * @dev: device associated with child of actual device (iio_dev or iio_trig) | |
118 | * @reg_address: the address of the lower of the two registers. Second register | |
119 | * is assumed to have address one greater. | |
120 | * @val: somewhere to pass back the value read | |
121 | **/ | |
122 | static int adis16400_spi_read_reg_16(struct device *dev, | |
123 | u8 lower_reg_address, | |
124 | u16 *val) | |
125 | { | |
126 | struct spi_message msg; | |
127 | struct iio_dev *indio_dev = dev_get_drvdata(dev); | |
128 | struct adis16400_state *st = iio_dev_get_devdata(indio_dev); | |
129 | int ret; | |
130 | struct spi_transfer xfers[] = { | |
131 | { | |
132 | .tx_buf = st->tx, | |
133 | .bits_per_word = 8, | |
134 | .len = 2, | |
135 | .cs_change = 1, | |
136 | }, { | |
137 | .rx_buf = st->rx, | |
138 | .bits_per_word = 8, | |
139 | .len = 2, | |
a9d26f00 BS |
140 | }, |
141 | }; | |
142 | ||
143 | mutex_lock(&st->buf_lock); | |
144 | st->tx[0] = ADIS16400_READ_REG(lower_reg_address); | |
145 | st->tx[1] = 0; | |
146 | st->tx[2] = 0; | |
147 | st->tx[3] = 0; | |
148 | ||
149 | spi_message_init(&msg); | |
150 | spi_message_add_tail(&xfers[0], &msg); | |
151 | spi_message_add_tail(&xfers[1], &msg); | |
152 | ret = spi_sync(st->us, &msg); | |
153 | if (ret) { | |
154 | dev_err(&st->us->dev, | |
155 | "problem when reading 16 bit register 0x%02X", | |
156 | lower_reg_address); | |
157 | goto error_ret; | |
158 | } | |
159 | *val = (st->rx[0] << 8) | st->rx[1]; | |
160 | ||
161 | error_ret: | |
162 | mutex_unlock(&st->buf_lock); | |
163 | return ret; | |
164 | } | |
165 | ||
a9d26f00 BS |
166 | static ssize_t adis16400_spi_read_signed(struct device *dev, |
167 | struct device_attribute *attr, | |
168 | char *buf, | |
169 | unsigned bits) | |
170 | { | |
171 | int ret; | |
172 | s16 val = 0; | |
173 | unsigned shift = 16 - bits; | |
174 | struct iio_dev_attr *this_attr = to_iio_dev_attr(attr); | |
175 | ||
176 | ret = adis16400_spi_read_reg_16(dev, this_attr->address, (u16 *)&val); | |
177 | if (ret) | |
178 | return ret; | |
179 | ||
180 | if (val & ADIS16400_ERROR_ACTIVE) | |
181 | adis16400_check_status(dev); | |
182 | val = ((s16)(val << shift) >> shift); | |
183 | return sprintf(buf, "%d\n", val); | |
184 | } | |
185 | ||
186 | static ssize_t adis16400_read_12bit_unsigned(struct device *dev, | |
187 | struct device_attribute *attr, | |
188 | char *buf) | |
189 | { | |
190 | int ret; | |
191 | u16 val = 0; | |
192 | struct iio_dev_attr *this_attr = to_iio_dev_attr(attr); | |
193 | ||
194 | ret = adis16400_spi_read_reg_16(dev, this_attr->address, &val); | |
195 | if (ret) | |
196 | return ret; | |
197 | ||
198 | if (val & ADIS16400_ERROR_ACTIVE) | |
199 | adis16400_check_status(dev); | |
200 | ||
201 | return sprintf(buf, "%u\n", val & 0x0FFF); | |
202 | } | |
203 | ||
204 | static ssize_t adis16400_read_14bit_signed(struct device *dev, | |
205 | struct device_attribute *attr, | |
206 | char *buf) | |
207 | { | |
208 | struct iio_dev *indio_dev = dev_get_drvdata(dev); | |
209 | ssize_t ret; | |
210 | ||
211 | /* Take the iio_dev status lock */ | |
212 | mutex_lock(&indio_dev->mlock); | |
213 | ret = adis16400_spi_read_signed(dev, attr, buf, 14); | |
214 | mutex_unlock(&indio_dev->mlock); | |
215 | ||
216 | return ret; | |
217 | } | |
218 | ||
219 | static ssize_t adis16400_read_12bit_signed(struct device *dev, | |
220 | struct device_attribute *attr, | |
221 | char *buf) | |
222 | { | |
223 | struct iio_dev *indio_dev = dev_get_drvdata(dev); | |
224 | ssize_t ret; | |
225 | ||
226 | /* Take the iio_dev status lock */ | |
227 | mutex_lock(&indio_dev->mlock); | |
228 | ret = adis16400_spi_read_signed(dev, attr, buf, 12); | |
229 | mutex_unlock(&indio_dev->mlock); | |
230 | ||
231 | return ret; | |
232 | } | |
233 | ||
a9d26f00 BS |
234 | static ssize_t adis16400_write_16bit(struct device *dev, |
235 | struct device_attribute *attr, | |
236 | const char *buf, | |
237 | size_t len) | |
238 | { | |
239 | struct iio_dev_attr *this_attr = to_iio_dev_attr(attr); | |
240 | int ret; | |
241 | long val; | |
242 | ||
243 | ret = strict_strtol(buf, 10, &val); | |
244 | if (ret) | |
245 | goto error_ret; | |
246 | ret = adis16400_spi_write_reg_16(dev, this_attr->address, val); | |
247 | ||
248 | error_ret: | |
249 | return ret ? ret : len; | |
250 | } | |
251 | ||
252 | static ssize_t adis16400_read_frequency(struct device *dev, | |
253 | struct device_attribute *attr, | |
254 | char *buf) | |
255 | { | |
256 | int ret, len = 0; | |
257 | u16 t; | |
258 | int sps; | |
259 | ret = adis16400_spi_read_reg_16(dev, | |
260 | ADIS16400_SMPL_PRD, | |
261 | &t); | |
262 | if (ret) | |
263 | return ret; | |
264 | sps = (t & ADIS16400_SMPL_PRD_TIME_BASE) ? 53 : 1638; | |
265 | sps /= (t & ADIS16400_SMPL_PRD_DIV_MASK) + 1; | |
266 | len = sprintf(buf, "%d SPS\n", sps); | |
267 | return len; | |
268 | } | |
269 | ||
270 | static ssize_t adis16400_write_frequency(struct device *dev, | |
271 | struct device_attribute *attr, | |
272 | const char *buf, | |
273 | size_t len) | |
274 | { | |
275 | struct iio_dev *indio_dev = dev_get_drvdata(dev); | |
276 | struct adis16400_state *st = iio_dev_get_devdata(indio_dev); | |
277 | long val; | |
278 | int ret; | |
279 | u8 t; | |
280 | ||
281 | ret = strict_strtol(buf, 10, &val); | |
282 | if (ret) | |
283 | return ret; | |
284 | ||
285 | mutex_lock(&indio_dev->mlock); | |
286 | ||
287 | t = (1638 / val); | |
288 | if (t > 0) | |
289 | t--; | |
290 | t &= ADIS16400_SMPL_PRD_DIV_MASK; | |
291 | if ((t & ADIS16400_SMPL_PRD_DIV_MASK) >= 0x0A) | |
292 | st->us->max_speed_hz = ADIS16400_SPI_SLOW; | |
293 | else | |
294 | st->us->max_speed_hz = ADIS16400_SPI_FAST; | |
295 | ||
296 | ret = adis16400_spi_write_reg_8(dev, | |
297 | ADIS16400_SMPL_PRD, | |
298 | t); | |
299 | ||
300 | mutex_unlock(&indio_dev->mlock); | |
301 | ||
302 | return ret ? ret : len; | |
303 | } | |
304 | ||
3fd66da1 BS |
305 | static int adis16400_reset(struct device *dev) |
306 | { | |
307 | int ret; | |
308 | ret = adis16400_spi_write_reg_8(dev, | |
309 | ADIS16400_GLOB_CMD, | |
310 | ADIS16400_GLOB_CMD_SW_RESET); | |
311 | if (ret) | |
312 | dev_err(dev, "problem resetting device"); | |
313 | ||
314 | return ret; | |
315 | } | |
316 | ||
a9d26f00 BS |
317 | static ssize_t adis16400_write_reset(struct device *dev, |
318 | struct device_attribute *attr, | |
319 | const char *buf, size_t len) | |
320 | { | |
321 | if (len < 1) | |
322 | return -1; | |
323 | switch (buf[0]) { | |
324 | case '1': | |
325 | case 'y': | |
326 | case 'Y': | |
327 | return adis16400_reset(dev); | |
328 | } | |
329 | return -1; | |
330 | } | |
331 | ||
a9d26f00 BS |
332 | int adis16400_set_irq(struct device *dev, bool enable) |
333 | { | |
334 | int ret; | |
335 | u16 msc; | |
336 | ret = adis16400_spi_read_reg_16(dev, ADIS16400_MSC_CTRL, &msc); | |
337 | if (ret) | |
338 | goto error_ret; | |
339 | ||
340 | msc |= ADIS16400_MSC_CTRL_DATA_RDY_POL_HIGH; | |
341 | if (enable) | |
342 | msc |= ADIS16400_MSC_CTRL_DATA_RDY_EN; | |
343 | else | |
344 | msc &= ~ADIS16400_MSC_CTRL_DATA_RDY_EN; | |
345 | ||
346 | ret = adis16400_spi_write_reg_16(dev, ADIS16400_MSC_CTRL, msc); | |
347 | if (ret) | |
348 | goto error_ret; | |
349 | ||
350 | error_ret: | |
351 | return ret; | |
352 | } | |
353 | ||
a9d26f00 | 354 | /* Power down the device */ |
b155498b | 355 | static int adis16400_stop_device(struct device *dev) |
a9d26f00 BS |
356 | { |
357 | int ret; | |
358 | u16 val = ADIS16400_SLP_CNT_POWER_OFF; | |
359 | ||
360 | ret = adis16400_spi_write_reg_16(dev, ADIS16400_SLP_CNT, val); | |
361 | if (ret) | |
362 | dev_err(dev, "problem with turning device off: SLP_CNT"); | |
363 | ||
364 | return ret; | |
365 | } | |
366 | ||
b155498b | 367 | static int adis16400_self_test(struct device *dev) |
a9d26f00 BS |
368 | { |
369 | int ret; | |
370 | ret = adis16400_spi_write_reg_16(dev, | |
371 | ADIS16400_MSC_CTRL, | |
372 | ADIS16400_MSC_CTRL_MEM_TEST); | |
373 | if (ret) { | |
374 | dev_err(dev, "problem starting self test"); | |
375 | goto err_ret; | |
376 | } | |
c59c95ce | 377 | msleep(ADIS16400_MTEST_DELAY); |
a9d26f00 BS |
378 | adis16400_check_status(dev); |
379 | ||
380 | err_ret: | |
381 | return ret; | |
382 | } | |
383 | ||
3fd66da1 | 384 | static int adis16400_check_status(struct device *dev) |
a9d26f00 BS |
385 | { |
386 | u16 status; | |
387 | int ret; | |
388 | ||
389 | ret = adis16400_spi_read_reg_16(dev, ADIS16400_DIAG_STAT, &status); | |
390 | ||
391 | if (ret < 0) { | |
392 | dev_err(dev, "Reading status failed\n"); | |
393 | goto error_ret; | |
394 | } | |
395 | ret = status; | |
396 | if (status & ADIS16400_DIAG_STAT_ZACCL_FAIL) | |
397 | dev_err(dev, "Z-axis accelerometer self-test failure\n"); | |
398 | if (status & ADIS16400_DIAG_STAT_YACCL_FAIL) | |
399 | dev_err(dev, "Y-axis accelerometer self-test failure\n"); | |
400 | if (status & ADIS16400_DIAG_STAT_XACCL_FAIL) | |
401 | dev_err(dev, "X-axis accelerometer self-test failure\n"); | |
402 | if (status & ADIS16400_DIAG_STAT_XGYRO_FAIL) | |
403 | dev_err(dev, "X-axis gyroscope self-test failure\n"); | |
404 | if (status & ADIS16400_DIAG_STAT_YGYRO_FAIL) | |
405 | dev_err(dev, "Y-axis gyroscope self-test failure\n"); | |
406 | if (status & ADIS16400_DIAG_STAT_ZGYRO_FAIL) | |
407 | dev_err(dev, "Z-axis gyroscope self-test failure\n"); | |
408 | if (status & ADIS16400_DIAG_STAT_ALARM2) | |
409 | dev_err(dev, "Alarm 2 active\n"); | |
410 | if (status & ADIS16400_DIAG_STAT_ALARM1) | |
411 | dev_err(dev, "Alarm 1 active\n"); | |
412 | if (status & ADIS16400_DIAG_STAT_FLASH_CHK) | |
413 | dev_err(dev, "Flash checksum error\n"); | |
414 | if (status & ADIS16400_DIAG_STAT_SELF_TEST) | |
415 | dev_err(dev, "Self test error\n"); | |
416 | if (status & ADIS16400_DIAG_STAT_OVERFLOW) | |
417 | dev_err(dev, "Sensor overrange\n"); | |
418 | if (status & ADIS16400_DIAG_STAT_SPI_FAIL) | |
419 | dev_err(dev, "SPI failure\n"); | |
420 | if (status & ADIS16400_DIAG_STAT_FLASH_UPT) | |
421 | dev_err(dev, "Flash update failed\n"); | |
422 | if (status & ADIS16400_DIAG_STAT_POWER_HIGH) | |
423 | dev_err(dev, "Power supply above 5.25V\n"); | |
424 | if (status & ADIS16400_DIAG_STAT_POWER_LOW) | |
425 | dev_err(dev, "Power supply below 4.75V\n"); | |
426 | ||
427 | error_ret: | |
428 | return ret; | |
429 | } | |
430 | ||
431 | static int adis16400_initial_setup(struct adis16400_state *st) | |
432 | { | |
433 | int ret; | |
434 | u16 prod_id, smp_prd; | |
435 | struct device *dev = &st->indio_dev->dev; | |
436 | ||
437 | /* use low spi speed for init */ | |
438 | st->us->max_speed_hz = ADIS16400_SPI_SLOW; | |
439 | st->us->mode = SPI_MODE_3; | |
440 | spi_setup(st->us); | |
441 | ||
442 | /* Disable IRQ */ | |
443 | ret = adis16400_set_irq(dev, false); | |
444 | if (ret) { | |
445 | dev_err(dev, "disable irq failed"); | |
446 | goto err_ret; | |
447 | } | |
448 | ||
449 | /* Do self test */ | |
3fd66da1 BS |
450 | ret = adis16400_self_test(dev); |
451 | if (ret) { | |
452 | dev_err(dev, "self test failure"); | |
453 | goto err_ret; | |
454 | } | |
a9d26f00 BS |
455 | |
456 | /* Read status register to check the result */ | |
457 | ret = adis16400_check_status(dev); | |
458 | if (ret) { | |
459 | adis16400_reset(dev); | |
460 | dev_err(dev, "device not playing ball -> reset"); | |
461 | msleep(ADIS16400_STARTUP_DELAY); | |
462 | ret = adis16400_check_status(dev); | |
463 | if (ret) { | |
464 | dev_err(dev, "giving up"); | |
465 | goto err_ret; | |
466 | } | |
467 | } | |
468 | ||
469 | ret = adis16400_spi_read_reg_16(dev, ADIS16400_PRODUCT_ID, &prod_id); | |
470 | if (ret) | |
471 | goto err_ret; | |
472 | ||
4d1ea4a6 | 473 | if ((prod_id & 0xF000) != ADIS16400_PRODUCT_ID_DEFAULT) |
a9d26f00 BS |
474 | dev_warn(dev, "unknown product id"); |
475 | ||
6a6ec623 MH |
476 | |
477 | dev_info(dev, ": prod_id 0x%04x at CS%d (irq %d)\n", | |
a9d26f00 BS |
478 | prod_id, st->us->chip_select, st->us->irq); |
479 | ||
480 | /* use high spi speed if possible */ | |
481 | ret = adis16400_spi_read_reg_16(dev, ADIS16400_SMPL_PRD, &smp_prd); | |
482 | if (!ret && (smp_prd & ADIS16400_SMPL_PRD_DIV_MASK) < 0x0A) { | |
483 | st->us->max_speed_hz = ADIS16400_SPI_SLOW; | |
484 | spi_setup(st->us); | |
485 | } | |
486 | ||
487 | ||
488 | err_ret: | |
489 | ||
490 | return ret; | |
491 | } | |
492 | ||
51a0a5b0 MS |
493 | #define ADIS16400_DEV_ATTR_CALIBBIAS(_channel, _reg) \ |
494 | IIO_DEV_ATTR_##_channel##_CALIBBIAS(S_IWUSR | S_IRUGO, \ | |
495 | adis16400_read_12bit_signed, \ | |
496 | adis16400_write_16bit, \ | |
497 | _reg) | |
a9d26f00 | 498 | |
51a0a5b0 | 499 | static ADIS16400_DEV_ATTR_CALIBBIAS(GYRO_X, ADIS16400_XGYRO_OFF); |
b1811197 MH |
500 | static ADIS16400_DEV_ATTR_CALIBBIAS(GYRO_Y, ADIS16400_YGYRO_OFF); |
501 | static ADIS16400_DEV_ATTR_CALIBBIAS(GYRO_Z, ADIS16400_ZGYRO_OFF); | |
51a0a5b0 MS |
502 | |
503 | static ADIS16400_DEV_ATTR_CALIBBIAS(ACCEL_X, ADIS16400_XACCL_OFF); | |
b1811197 MH |
504 | static ADIS16400_DEV_ATTR_CALIBBIAS(ACCEL_Y, ADIS16400_YACCL_OFF); |
505 | static ADIS16400_DEV_ATTR_CALIBBIAS(ACCEL_Z, ADIS16400_ZACCL_OFF); | |
a9d26f00 | 506 | |
a9d26f00 | 507 | |
1755b0ae | 508 | static IIO_DEV_ATTR_IN_NAMED_RAW(0, supply, adis16400_read_14bit_signed, |
a9d26f00 | 509 | ADIS16400_SUPPLY_OUT); |
1755b0ae | 510 | static IIO_CONST_ATTR_IN_NAMED_SCALE(0, supply, "0.002418 V"); |
a9d26f00 BS |
511 | |
512 | static IIO_DEV_ATTR_GYRO_X(adis16400_read_14bit_signed, | |
513 | ADIS16400_XGYRO_OUT); | |
514 | static IIO_DEV_ATTR_GYRO_Y(adis16400_read_14bit_signed, | |
515 | ADIS16400_YGYRO_OUT); | |
516 | static IIO_DEV_ATTR_GYRO_Z(adis16400_read_14bit_signed, | |
517 | ADIS16400_ZGYRO_OUT); | |
4f64b801 | 518 | static IIO_CONST_ATTR(gyro_scale, "0.0008726646"); |
a9d26f00 BS |
519 | |
520 | static IIO_DEV_ATTR_ACCEL_X(adis16400_read_14bit_signed, | |
521 | ADIS16400_XACCL_OUT); | |
522 | static IIO_DEV_ATTR_ACCEL_Y(adis16400_read_14bit_signed, | |
523 | ADIS16400_YACCL_OUT); | |
524 | static IIO_DEV_ATTR_ACCEL_Z(adis16400_read_14bit_signed, | |
525 | ADIS16400_ZACCL_OUT); | |
4f64b801 | 526 | static IIO_CONST_ATTR(accel_scale, "0.0326561445"); |
a9d26f00 BS |
527 | |
528 | static IIO_DEV_ATTR_MAGN_X(adis16400_read_14bit_signed, | |
529 | ADIS16400_XMAGN_OUT); | |
530 | static IIO_DEV_ATTR_MAGN_Y(adis16400_read_14bit_signed, | |
531 | ADIS16400_YMAGN_OUT); | |
532 | static IIO_DEV_ATTR_MAGN_Z(adis16400_read_14bit_signed, | |
533 | ADIS16400_ZMAGN_OUT); | |
534 | static IIO_CONST_ATTR(magn_scale, "0.0005 Gs"); | |
535 | ||
536 | ||
a1169c5a | 537 | static IIO_DEV_ATTR_TEMP_RAW(adis16400_read_12bit_signed); |
51a0a5b0 MS |
538 | static IIO_CONST_ATTR_TEMP_OFFSET("198.16 K"); |
539 | static IIO_CONST_ATTR_TEMP_SCALE("0.14 K"); | |
a9d26f00 | 540 | |
1755b0ae | 541 | static IIO_DEV_ATTR_IN_RAW(1, adis16400_read_12bit_unsigned, |
a9d26f00 | 542 | ADIS16400_AUX_ADC); |
1755b0ae | 543 | static IIO_CONST_ATTR(in1_scale, "0.000806 V"); |
a9d26f00 BS |
544 | |
545 | static IIO_DEV_ATTR_SAMP_FREQ(S_IWUSR | S_IRUGO, | |
546 | adis16400_read_frequency, | |
547 | adis16400_write_frequency); | |
548 | ||
549 | static IIO_DEVICE_ATTR(reset, S_IWUSR, NULL, adis16400_write_reset, 0); | |
550 | ||
51a0a5b0 | 551 | static IIO_CONST_ATTR_SAMP_FREQ_AVAIL("409 546 819 1638"); |
a9d26f00 | 552 | |
51a0a5b0 | 553 | static IIO_CONST_ATTR_NAME("adis16400"); |
a9d26f00 BS |
554 | |
555 | static struct attribute *adis16400_event_attributes[] = { | |
556 | NULL | |
557 | }; | |
558 | ||
559 | static struct attribute_group adis16400_event_attribute_group = { | |
560 | .attrs = adis16400_event_attributes, | |
561 | }; | |
562 | ||
563 | static struct attribute *adis16400_attributes[] = { | |
51a0a5b0 MS |
564 | &iio_dev_attr_gyro_x_calibbias.dev_attr.attr, |
565 | &iio_dev_attr_gyro_y_calibbias.dev_attr.attr, | |
566 | &iio_dev_attr_gyro_z_calibbias.dev_attr.attr, | |
567 | &iio_dev_attr_accel_x_calibbias.dev_attr.attr, | |
568 | &iio_dev_attr_accel_y_calibbias.dev_attr.attr, | |
569 | &iio_dev_attr_accel_z_calibbias.dev_attr.attr, | |
1755b0ae JC |
570 | &iio_dev_attr_in0_supply_raw.dev_attr.attr, |
571 | &iio_const_attr_in0_supply_scale.dev_attr.attr, | |
a1169c5a JC |
572 | &iio_dev_attr_gyro_x_raw.dev_attr.attr, |
573 | &iio_dev_attr_gyro_y_raw.dev_attr.attr, | |
574 | &iio_dev_attr_gyro_z_raw.dev_attr.attr, | |
a9d26f00 BS |
575 | &iio_const_attr_gyro_scale.dev_attr.attr, |
576 | &iio_dev_attr_accel_x_raw.dev_attr.attr, | |
577 | &iio_dev_attr_accel_y_raw.dev_attr.attr, | |
578 | &iio_dev_attr_accel_z_raw.dev_attr.attr, | |
579 | &iio_const_attr_accel_scale.dev_attr.attr, | |
a1169c5a JC |
580 | &iio_dev_attr_magn_x_raw.dev_attr.attr, |
581 | &iio_dev_attr_magn_y_raw.dev_attr.attr, | |
582 | &iio_dev_attr_magn_z_raw.dev_attr.attr, | |
a9d26f00 | 583 | &iio_const_attr_magn_scale.dev_attr.attr, |
a1169c5a | 584 | &iio_dev_attr_temp_raw.dev_attr.attr, |
a9d26f00 BS |
585 | &iio_const_attr_temp_offset.dev_attr.attr, |
586 | &iio_const_attr_temp_scale.dev_attr.attr, | |
1755b0ae JC |
587 | &iio_dev_attr_in1_raw.dev_attr.attr, |
588 | &iio_const_attr_in1_scale.dev_attr.attr, | |
a9d26f00 | 589 | &iio_dev_attr_sampling_frequency.dev_attr.attr, |
51a0a5b0 | 590 | &iio_const_attr_sampling_frequency_available.dev_attr.attr, |
a9d26f00 BS |
591 | &iio_dev_attr_reset.dev_attr.attr, |
592 | &iio_const_attr_name.dev_attr.attr, | |
593 | NULL | |
594 | }; | |
595 | ||
596 | static const struct attribute_group adis16400_attribute_group = { | |
597 | .attrs = adis16400_attributes, | |
598 | }; | |
599 | ||
600 | static int __devinit adis16400_probe(struct spi_device *spi) | |
601 | { | |
602 | int ret, regdone = 0; | |
603 | struct adis16400_state *st = kzalloc(sizeof *st, GFP_KERNEL); | |
604 | if (!st) { | |
605 | ret = -ENOMEM; | |
606 | goto error_ret; | |
607 | } | |
608 | /* this is only used for removal purposes */ | |
609 | spi_set_drvdata(spi, st); | |
610 | ||
611 | /* Allocate the comms buffers */ | |
612 | st->rx = kzalloc(sizeof(*st->rx)*ADIS16400_MAX_RX, GFP_KERNEL); | |
613 | if (st->rx == NULL) { | |
614 | ret = -ENOMEM; | |
615 | goto error_free_st; | |
616 | } | |
617 | st->tx = kzalloc(sizeof(*st->tx)*ADIS16400_MAX_TX, GFP_KERNEL); | |
618 | if (st->tx == NULL) { | |
619 | ret = -ENOMEM; | |
620 | goto error_free_rx; | |
621 | } | |
622 | st->us = spi; | |
623 | mutex_init(&st->buf_lock); | |
624 | /* setup the industrialio driver allocated elements */ | |
6f7c8ee5 | 625 | st->indio_dev = iio_allocate_device(0); |
a9d26f00 BS |
626 | if (st->indio_dev == NULL) { |
627 | ret = -ENOMEM; | |
628 | goto error_free_tx; | |
629 | } | |
630 | ||
631 | st->indio_dev->dev.parent = &spi->dev; | |
632 | st->indio_dev->num_interrupt_lines = 1; | |
633 | st->indio_dev->event_attrs = &adis16400_event_attribute_group; | |
634 | st->indio_dev->attrs = &adis16400_attribute_group; | |
635 | st->indio_dev->dev_data = (void *)(st); | |
636 | st->indio_dev->driver_module = THIS_MODULE; | |
637 | st->indio_dev->modes = INDIO_DIRECT_MODE; | |
638 | ||
639 | ret = adis16400_configure_ring(st->indio_dev); | |
640 | if (ret) | |
641 | goto error_free_dev; | |
642 | ||
643 | ret = iio_device_register(st->indio_dev); | |
644 | if (ret) | |
645 | goto error_unreg_ring_funcs; | |
646 | regdone = 1; | |
647 | ||
2662051e | 648 | ret = iio_ring_buffer_register(st->indio_dev->ring, 0); |
a9d26f00 | 649 | if (ret) { |
6a6ec623 | 650 | dev_err(&spi->dev, "failed to initialize the ring\n"); |
a9d26f00 BS |
651 | goto error_unreg_ring_funcs; |
652 | } | |
653 | ||
654 | if (spi->irq && gpio_is_valid(irq_to_gpio(spi->irq)) > 0) { | |
a9d26f00 BS |
655 | ret = iio_register_interrupt_line(spi->irq, |
656 | st->indio_dev, | |
657 | 0, | |
658 | IRQF_TRIGGER_RISING, | |
659 | "adis16400"); | |
660 | if (ret) | |
661 | goto error_uninitialize_ring; | |
662 | ||
663 | ret = adis16400_probe_trigger(st->indio_dev); | |
664 | if (ret) | |
665 | goto error_unregister_line; | |
666 | } | |
667 | ||
668 | /* Get the device into a sane initial state */ | |
669 | ret = adis16400_initial_setup(st); | |
670 | if (ret) | |
671 | goto error_remove_trigger; | |
672 | return 0; | |
673 | ||
674 | error_remove_trigger: | |
675 | if (st->indio_dev->modes & INDIO_RING_TRIGGERED) | |
676 | adis16400_remove_trigger(st->indio_dev); | |
677 | error_unregister_line: | |
678 | if (st->indio_dev->modes & INDIO_RING_TRIGGERED) | |
679 | iio_unregister_interrupt_line(st->indio_dev, 0); | |
680 | error_uninitialize_ring: | |
2662051e | 681 | iio_ring_buffer_unregister(st->indio_dev->ring); |
a9d26f00 BS |
682 | error_unreg_ring_funcs: |
683 | adis16400_unconfigure_ring(st->indio_dev); | |
684 | error_free_dev: | |
685 | if (regdone) | |
686 | iio_device_unregister(st->indio_dev); | |
687 | else | |
688 | iio_free_device(st->indio_dev); | |
689 | error_free_tx: | |
690 | kfree(st->tx); | |
691 | error_free_rx: | |
692 | kfree(st->rx); | |
693 | error_free_st: | |
694 | kfree(st); | |
695 | error_ret: | |
696 | return ret; | |
697 | } | |
698 | ||
699 | /* fixme, confirm ordering in this function */ | |
700 | static int adis16400_remove(struct spi_device *spi) | |
701 | { | |
702 | int ret; | |
703 | struct adis16400_state *st = spi_get_drvdata(spi); | |
704 | struct iio_dev *indio_dev = st->indio_dev; | |
705 | ||
706 | ret = adis16400_stop_device(&(indio_dev->dev)); | |
707 | if (ret) | |
708 | goto err_ret; | |
709 | ||
710 | flush_scheduled_work(); | |
711 | ||
712 | adis16400_remove_trigger(indio_dev); | |
713 | if (spi->irq && gpio_is_valid(irq_to_gpio(spi->irq)) > 0) | |
714 | iio_unregister_interrupt_line(indio_dev, 0); | |
715 | ||
2662051e | 716 | iio_ring_buffer_unregister(st->indio_dev->ring); |
a9d26f00 BS |
717 | adis16400_unconfigure_ring(indio_dev); |
718 | iio_device_unregister(indio_dev); | |
719 | kfree(st->tx); | |
720 | kfree(st->rx); | |
721 | kfree(st); | |
722 | ||
723 | return 0; | |
724 | ||
725 | err_ret: | |
726 | return ret; | |
727 | } | |
728 | ||
729 | static struct spi_driver adis16400_driver = { | |
730 | .driver = { | |
731 | .name = "adis16400", | |
732 | .owner = THIS_MODULE, | |
733 | }, | |
734 | .probe = adis16400_probe, | |
735 | .remove = __devexit_p(adis16400_remove), | |
736 | }; | |
737 | ||
738 | static __init int adis16400_init(void) | |
739 | { | |
740 | return spi_register_driver(&adis16400_driver); | |
741 | } | |
742 | module_init(adis16400_init); | |
743 | ||
744 | static __exit void adis16400_exit(void) | |
745 | { | |
746 | spi_unregister_driver(&adis16400_driver); | |
747 | } | |
748 | module_exit(adis16400_exit); | |
749 | ||
750 | MODULE_AUTHOR("Manuel Stahl <manuel.stahl@iis.fraunhofer.de>"); | |
751 | MODULE_DESCRIPTION("Analog Devices ADIS16400/5 IMU SPI driver"); | |
752 | MODULE_LICENSE("GPL v2"); |