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staging:iio:meter:ade7758: Use private data space from iio_allocate_device
[deliverable/linux.git] / drivers / staging / iio / imu / adis16400_core.c
CommitLineData
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
2a29a90b 41enum adis16400_chip_variant {
8e886e65 42 ADIS16300,
2a29a90b
JC		 43 ADIS16350,
44 ADIS16360,
45 ADIS16362,
46 ADIS16364,
47 ADIS16365,
48 ADIS16400,
49};
50
e7854845 51static int adis16400_check_status(struct iio_dev *indio_dev);
3fd66da1 52
a9d26f00
BS		 53/* At the moment the spi framework doesn't allow global setting of cs_change.
54 * It's in the likely to be added comment at the top of spi.h.
55 * This means that use cannot be made of spi_write etc.
56 */
57
58/**
59 * adis16400_spi_write_reg_8() - write single byte to a register
60 * @dev: device associated with child of actual device (iio_dev or iio_trig)
61 * @reg_address: the address of the register to be written
62 * @val: the value to write
63 **/
e7854845
JC		 64static int adis16400_spi_write_reg_8(struct iio_dev *indio_dev,
65 u8 reg_address,
66 u8 val)
a9d26f00
BS		 67{
68 int ret;
38d15f06 69 struct adis16400_state *st = iio_priv(indio_dev);
a9d26f00
BS		 70
71 mutex_lock(&st->buf_lock);
72 st->tx[0] = ADIS16400_WRITE_REG(reg_address);
73 st->tx[1] = val;
74
75 ret = spi_write(st->us, st->tx, 2);
76 mutex_unlock(&st->buf_lock);
77
78 return ret;
79}
80
81/**
82 * adis16400_spi_write_reg_16() - write 2 bytes to a pair of registers
83 * @dev: device associated with child of actual device (iio_dev or iio_trig)
84 * @reg_address: the address of the lower of the two registers. Second register
85 * is assumed to have address one greater.
86 * @val: value to be written
87 **/
e7854845 88static int adis16400_spi_write_reg_16(struct iio_dev *indio_dev,
a9d26f00
BS		 89 u8 lower_reg_address,
90 u16 value)
91{
92 int ret;
93 struct spi_message msg;
38d15f06 94 struct adis16400_state *st = iio_priv(indio_dev);
a9d26f00
BS		 95 struct spi_transfer xfers[] = {
96 {
97 .tx_buf = st->tx,
98 .bits_per_word = 8,
99 .len = 2,
100 .cs_change = 1,
101 }, {
102 .tx_buf = st->tx + 2,
103 .bits_per_word = 8,
104 .len = 2,
a9d26f00
BS		 105 },
106 };
107
108 mutex_lock(&st->buf_lock);
109 st->tx[0] = ADIS16400_WRITE_REG(lower_reg_address);
110 st->tx[1] = value & 0xFF;
111 st->tx[2] = ADIS16400_WRITE_REG(lower_reg_address + 1);
112 st->tx[3] = (value >> 8) & 0xFF;
113
114 spi_message_init(&msg);
115 spi_message_add_tail(&xfers[0], &msg);
116 spi_message_add_tail(&xfers[1], &msg);
117 ret = spi_sync(st->us, &msg);
118 mutex_unlock(&st->buf_lock);
119
120 return ret;
121}
122
123/**
124 * adis16400_spi_read_reg_16() - read 2 bytes from a 16-bit register
e7854845 125 * @indio_dev: iio device
a9d26f00
BS		 126 * @reg_address: the address of the lower of the two registers. Second register
127 * is assumed to have address one greater.
128 * @val: somewhere to pass back the value read
129 **/
e7854845 130static int adis16400_spi_read_reg_16(struct iio_dev *indio_dev,
a9d26f00
BS		 131 u8 lower_reg_address,
132 u16 *val)
133{
134 struct spi_message msg;
38d15f06 135 struct adis16400_state *st = iio_priv(indio_dev);
a9d26f00
BS		 136 int ret;
137 struct spi_transfer xfers[] = {
138 {
139 .tx_buf = st->tx,
140 .bits_per_word = 8,
141 .len = 2,
142 .cs_change = 1,
143 }, {
144 .rx_buf = st->rx,
145 .bits_per_word = 8,
146 .len = 2,
a9d26f00
BS		 147 },
148 };
149
150 mutex_lock(&st->buf_lock);
151 st->tx[0] = ADIS16400_READ_REG(lower_reg_address);
152 st->tx[1] = 0;
153 st->tx[2] = 0;
154 st->tx[3] = 0;
155
156 spi_message_init(&msg);
157 spi_message_add_tail(&xfers[0], &msg);
158 spi_message_add_tail(&xfers[1], &msg);
159 ret = spi_sync(st->us, &msg);
160 if (ret) {
161 dev_err(&st->us->dev,
162 "problem when reading 16 bit register 0x%02X",
163 lower_reg_address);
164 goto error_ret;
165 }
166 *val = (st->rx[0] << 8) | st->rx[1];
167
168error_ret:
169 mutex_unlock(&st->buf_lock);
170 return ret;
171}
172
a9d26f00
BS		 173static ssize_t adis16400_read_frequency(struct device *dev,
174 struct device_attribute *attr,
175 char *buf)
176{
e7854845 177 struct iio_dev *indio_dev = dev_get_drvdata(dev);
a9d26f00
BS		 178 int ret, len = 0;
179 u16 t;
180 int sps;
e7854845 181 ret = adis16400_spi_read_reg_16(indio_dev,
a9d26f00
BS		 182 ADIS16400_SMPL_PRD,
183 &t);
184 if (ret)
185 return ret;
186 sps = (t & ADIS16400_SMPL_PRD_TIME_BASE) ? 53 : 1638;
187 sps /= (t & ADIS16400_SMPL_PRD_DIV_MASK) + 1;
188 len = sprintf(buf, "%d SPS\n", sps);
189 return len;
190}
191
192static ssize_t adis16400_write_frequency(struct device *dev,
193 struct device_attribute *attr,
194 const char *buf,
195 size_t len)
196{
197 struct iio_dev *indio_dev = dev_get_drvdata(dev);
38d15f06 198 struct adis16400_state *st = iio_priv(indio_dev);
a9d26f00
BS		 199 long val;
200 int ret;
201 u8 t;
202
203 ret = strict_strtol(buf, 10, &val);
204 if (ret)
205 return ret;
206
207 mutex_lock(&indio_dev->mlock);
208
209 t = (1638 / val);
210 if (t > 0)
211 t--;
212 t &= ADIS16400_SMPL_PRD_DIV_MASK;
213 if ((t & ADIS16400_SMPL_PRD_DIV_MASK) >= 0x0A)
214 st->us->max_speed_hz = ADIS16400_SPI_SLOW;
215 else
216 st->us->max_speed_hz = ADIS16400_SPI_FAST;
217
e7854845 218 ret = adis16400_spi_write_reg_8(indio_dev,
a9d26f00
BS		 219 ADIS16400_SMPL_PRD,
220 t);
221
222 mutex_unlock(&indio_dev->mlock);
223
224 return ret ? ret : len;
225}
226
e7854845 227static int adis16400_reset(struct iio_dev *indio_dev)
3fd66da1
BS		 228{
229 int ret;
e7854845 230 ret = adis16400_spi_write_reg_8(indio_dev,
3fd66da1
BS		 231 ADIS16400_GLOB_CMD,
232 ADIS16400_GLOB_CMD_SW_RESET);
233 if (ret)
e7854845 234 dev_err(&indio_dev->dev, "problem resetting device");
3fd66da1
BS		 235
236 return ret;
237}
238
a9d26f00
BS		 239static ssize_t adis16400_write_reset(struct device *dev,
240 struct device_attribute *attr,
241 const char *buf, size_t len)
242{
e7854845
JC		 243 struct iio_dev *indio_dev = dev_get_drvdata(dev);
244
a9d26f00
BS		 245 if (len < 1)
246 return -1;
247 switch (buf[0]) {
248 case '1':
249 case 'y':
250 case 'Y':
e7854845 251 return adis16400_reset(indio_dev);
a9d26f00
BS		 252 }
253 return -1;
254}
255
e7854845 256int adis16400_set_irq(struct iio_dev *indio_dev, bool enable)
a9d26f00
BS		 257{
258 int ret;
259 u16 msc;
e7854845 260 ret = adis16400_spi_read_reg_16(indio_dev, ADIS16400_MSC_CTRL, &msc);
a9d26f00
BS		 261 if (ret)
262 goto error_ret;
263
264 msc |= ADIS16400_MSC_CTRL_DATA_RDY_POL_HIGH;
265 if (enable)
266 msc |= ADIS16400_MSC_CTRL_DATA_RDY_EN;
267 else
268 msc &= ~ADIS16400_MSC_CTRL_DATA_RDY_EN;
269
e7854845 270 ret = adis16400_spi_write_reg_16(indio_dev, ADIS16400_MSC_CTRL, msc);
a9d26f00
BS		 271 if (ret)
272 goto error_ret;
273
274error_ret:
275 return ret;
276}
277
a9d26f00 278/* Power down the device */
e7854845 279static int adis16400_stop_device(struct iio_dev *indio_dev)
a9d26f00
BS		 280{
281 int ret;
282 u16 val = ADIS16400_SLP_CNT_POWER_OFF;
283
e7854845 284 ret = adis16400_spi_write_reg_16(indio_dev, ADIS16400_SLP_CNT, val);
a9d26f00 285 if (ret)
e7854845
JC		 286 dev_err(&indio_dev->dev,
287 "problem with turning device off: SLP_CNT");
a9d26f00
BS		 288
289 return ret;
290}
291
e7854845 292static int adis16400_self_test(struct iio_dev *indio_dev)
a9d26f00
BS		 293{
294 int ret;
e7854845 295 ret = adis16400_spi_write_reg_16(indio_dev,
a9d26f00
BS		 296 ADIS16400_MSC_CTRL,
297 ADIS16400_MSC_CTRL_MEM_TEST);
298 if (ret) {
e7854845 299 dev_err(&indio_dev->dev, "problem starting self test");
a9d26f00
BS		 300 goto err_ret;
301 }
e7854845 302
c59c95ce 303 msleep(ADIS16400_MTEST_DELAY);
e7854845 304 adis16400_check_status(indio_dev);
a9d26f00
BS		 305
306err_ret:
307 return ret;
308}
309
e7854845 310static int adis16400_check_status(struct iio_dev *indio_dev)
a9d26f00
BS		 311{
312 u16 status;
313 int ret;
e7854845 314 struct device *dev = &indio_dev->dev;
a9d26f00 315
e7854845
JC		 316 ret = adis16400_spi_read_reg_16(indio_dev,
317 ADIS16400_DIAG_STAT, &status);
a9d26f00
BS		 318
319 if (ret < 0) {
320 dev_err(dev, "Reading status failed\n");
321 goto error_ret;
322 }
323 ret = status;
324 if (status & ADIS16400_DIAG_STAT_ZACCL_FAIL)
325 dev_err(dev, "Z-axis accelerometer self-test failure\n");
326 if (status & ADIS16400_DIAG_STAT_YACCL_FAIL)
327 dev_err(dev, "Y-axis accelerometer self-test failure\n");
328 if (status & ADIS16400_DIAG_STAT_XACCL_FAIL)
329 dev_err(dev, "X-axis accelerometer self-test failure\n");
330 if (status & ADIS16400_DIAG_STAT_XGYRO_FAIL)
331 dev_err(dev, "X-axis gyroscope self-test failure\n");
332 if (status & ADIS16400_DIAG_STAT_YGYRO_FAIL)
333 dev_err(dev, "Y-axis gyroscope self-test failure\n");
334 if (status & ADIS16400_DIAG_STAT_ZGYRO_FAIL)
335 dev_err(dev, "Z-axis gyroscope self-test failure\n");
336 if (status & ADIS16400_DIAG_STAT_ALARM2)
337 dev_err(dev, "Alarm 2 active\n");
338 if (status & ADIS16400_DIAG_STAT_ALARM1)
339 dev_err(dev, "Alarm 1 active\n");
340 if (status & ADIS16400_DIAG_STAT_FLASH_CHK)
341 dev_err(dev, "Flash checksum error\n");
342 if (status & ADIS16400_DIAG_STAT_SELF_TEST)
343 dev_err(dev, "Self test error\n");
344 if (status & ADIS16400_DIAG_STAT_OVERFLOW)
345 dev_err(dev, "Sensor overrange\n");
346 if (status & ADIS16400_DIAG_STAT_SPI_FAIL)
347 dev_err(dev, "SPI failure\n");
348 if (status & ADIS16400_DIAG_STAT_FLASH_UPT)
349 dev_err(dev, "Flash update failed\n");
350 if (status & ADIS16400_DIAG_STAT_POWER_HIGH)
351 dev_err(dev, "Power supply above 5.25V\n");
352 if (status & ADIS16400_DIAG_STAT_POWER_LOW)
353 dev_err(dev, "Power supply below 4.75V\n");
354
355error_ret:
356 return ret;
357}
358
38d15f06 359static int adis16400_initial_setup(struct iio_dev *indio_dev)
a9d26f00
BS		 360{
361 int ret;
362 u16 prod_id, smp_prd;
38d15f06
JC		 363 struct device *dev = &indio_dev->dev;
364 struct adis16400_state *st = iio_priv(indio_dev);
a9d26f00
BS		 365
366 /* use low spi speed for init */
367 st->us->max_speed_hz = ADIS16400_SPI_SLOW;
368 st->us->mode = SPI_MODE_3;
369 spi_setup(st->us);
370
371 /* Disable IRQ */
38d15f06 372 ret = adis16400_set_irq(indio_dev, false);
a9d26f00
BS		 373 if (ret) {
374 dev_err(dev, "disable irq failed");
375 goto err_ret;
376 }
377
378 /* Do self test */
38d15f06 379 ret = adis16400_self_test(indio_dev);
3fd66da1
BS		 380 if (ret) {
381 dev_err(dev, "self test failure");
382 goto err_ret;
383 }
a9d26f00
BS		 384
385 /* Read status register to check the result */
38d15f06 386 ret = adis16400_check_status(indio_dev);
a9d26f00 387 if (ret) {
38d15f06 388 adis16400_reset(indio_dev);
a9d26f00
BS		 389 dev_err(dev, "device not playing ball -> reset");
390 msleep(ADIS16400_STARTUP_DELAY);
38d15f06 391 ret = adis16400_check_status(indio_dev);
a9d26f00
BS		 392 if (ret) {
393 dev_err(dev, "giving up");
394 goto err_ret;
395 }
396 }
2a29a90b 397 if (st->variant->flags & ADIS16400_HAS_PROD_ID) {
38d15f06 398 ret = adis16400_spi_read_reg_16(indio_dev,
2a29a90b
JC		 399 ADIS16400_PRODUCT_ID, &prod_id);
400 if (ret)
401 goto err_ret;
a9d26f00 402
2a29a90b
JC		 403 if ((prod_id & 0xF000) != st->variant->product_id)
404 dev_warn(dev, "incorrect id");
a9d26f00 405
2a29a90b
JC		 406 printk(KERN_INFO DRIVER_NAME ": prod_id 0x%04x at CS%d (irq %d)\n",
407 prod_id, st->us->chip_select, st->us->irq);
408 }
a9d26f00 409 /* use high spi speed if possible */
38d15f06 410 ret = adis16400_spi_read_reg_16(indio_dev,
e7854845 411 ADIS16400_SMPL_PRD, &smp_prd);
a9d26f00
BS		 412 if (!ret && (smp_prd & ADIS16400_SMPL_PRD_DIV_MASK) < 0x0A) {
413 st->us->max_speed_hz = ADIS16400_SPI_SLOW;
414 spi_setup(st->us);
415 }
416
417
418err_ret:
419
420 return ret;
421}
422
a9d26f00
BS		 423static IIO_DEV_ATTR_SAMP_FREQ(S_IWUSR | S_IRUGO,
424 adis16400_read_frequency,
425 adis16400_write_frequency);
426
427static IIO_DEVICE_ATTR(reset, S_IWUSR, NULL, adis16400_write_reset, 0);
428
51a0a5b0 429static IIO_CONST_ATTR_SAMP_FREQ_AVAIL("409 546 819 1638");
a9d26f00 430
e7854845
JC		 431enum adis16400_chan {
432 in_supply,
433 gyro_x,
434 gyro_y,
435 gyro_z,
436 accel_x,
437 accel_y,
438 accel_z,
439 magn_x,
440 magn_y,
441 magn_z,
442 temp,
2a29a90b 443 temp0, temp1, temp2,
e7854845
JC		 444 in1
445};
446
2a29a90b 447static u8 adis16400_addresses[16][2] = {
e7854845
JC		 448 [in_supply] = { ADIS16400_SUPPLY_OUT, 0 },
449 [gyro_x] = { ADIS16400_XGYRO_OUT, ADIS16400_XGYRO_OFF },
450 [gyro_y] = { ADIS16400_YGYRO_OUT, ADIS16400_YGYRO_OFF },
451 [gyro_z] = { ADIS16400_ZGYRO_OUT, ADIS16400_ZGYRO_OFF },
452 [accel_x] = { ADIS16400_XACCL_OUT, ADIS16400_XACCL_OFF },
453 [accel_y] = { ADIS16400_YACCL_OUT, ADIS16400_YACCL_OFF },
454 [accel_z] = { ADIS16400_ZACCL_OUT, ADIS16400_ZACCL_OFF },
455 [magn_x] = { ADIS16400_XMAGN_OUT, 0 },
456 [magn_y] = { ADIS16400_YMAGN_OUT, 0 },
457 [magn_z] = { ADIS16400_ZMAGN_OUT, 0 },
458 [temp] = { ADIS16400_TEMP_OUT, 0 },
2a29a90b
JC		 459 [temp0] = { ADIS16350_XTEMP_OUT },
460 [temp1] = { ADIS16350_YTEMP_OUT },
461 [temp2] = { ADIS16350_ZTEMP_OUT },
e7854845
JC		 462 [in1] = { ADIS16400_AUX_ADC , 0 },
463};
464
465static int adis16400_write_raw(struct iio_dev *indio_dev,
466 struct iio_chan_spec const *chan,
467 int val,
468 int val2,
469 long mask)
470{
471 int ret;
472 switch (mask) {
473 case (1 << IIO_CHAN_INFO_CALIBBIAS_SEPARATE):
474 mutex_lock(&indio_dev->mlock);
475 ret = adis16400_spi_write_reg_16(indio_dev,
476 adis16400_addresses[chan->address][1],
477 val);
478 mutex_unlock(&indio_dev->mlock);
479 return ret;
480 default:
481 return -EINVAL;
482 }
483}
484
485static int adis16400_read_raw(struct iio_dev *indio_dev,
486 struct iio_chan_spec const *chan,
487 int *val,
488 int *val2,
489 long mask)
490{
38d15f06 491 struct adis16400_state *st = iio_priv(indio_dev);
e7854845
JC		 492 int ret;
493 s16 val16;
494 int shift;
495
496 switch (mask) {
497 case 0:
498 mutex_lock(&indio_dev->mlock);
499 ret = adis16400_spi_read_reg_16(indio_dev,
500 adis16400_addresses[chan->address][0],
501 &val16);
502 if (ret) {
503 mutex_unlock(&indio_dev->mlock);
504 return ret;
505 }
506 val16 &= (1 << chan->scan_type.realbits) - 1;
507 if (chan->scan_type.sign == 's') {
508 shift = 16 - chan->scan_type.realbits;
509 val16 = (s16)(val16 << shift) >> shift;
510 }
511 *val = val16;
512 mutex_unlock(&indio_dev->mlock);
513 return IIO_VAL_INT;
514 case (1 << IIO_CHAN_INFO_SCALE_SHARED):
515 case (1 << IIO_CHAN_INFO_SCALE_SEPARATE):
516 switch (chan->type) {
517 case IIO_GYRO:
518 *val = 0;
2a29a90b 519 *val2 = st->variant->gyro_scale_micro;
e7854845
JC		 520 return IIO_VAL_INT_PLUS_MICRO;
521 case IIO_IN:
522 *val = 0;
523 if (chan->channel == 0)
524 *val2 = 2418;
525 else
526 *val2 = 806;
527 return IIO_VAL_INT_PLUS_MICRO;
528 case IIO_ACCEL:
529 *val = 0;
2a29a90b 530 *val2 = st->variant->accel_scale_micro;
e7854845
JC		 531 return IIO_VAL_INT_PLUS_MICRO;
532 case IIO_MAGN:
533 *val = 0;
534 *val2 = 500;
535 return IIO_VAL_INT_PLUS_MICRO;
536 case IIO_TEMP:
537 *val = 0;
538 *val2 = 140000;
539 return IIO_VAL_INT_PLUS_MICRO;
540 default:
541 return -EINVAL;
542 }
543 case (1 << IIO_CHAN_INFO_CALIBBIAS_SEPARATE):
544 mutex_lock(&indio_dev->mlock);
545 ret = adis16400_spi_read_reg_16(indio_dev,
546 adis16400_addresses[chan->address][1],
547 &val16);
2a29a90b
JC		 548 mutex_unlock(&indio_dev->mlock);
549 if (ret)
e7854845 550 return ret;
e7854845
JC		 551 val16 = ((val16 & 0xFFF) << 4) >> 4;
552 *val = val16;
553 return IIO_VAL_INT;
554 case (1 << IIO_CHAN_INFO_OFFSET_SEPARATE):
555 /* currently only temperature */
556 *val = 198;
557 *val2 = 160000;
558 return IIO_VAL_INT_PLUS_MICRO;
559 default:
560 return -EINVAL;
561 }
562}
563
564static struct iio_chan_spec adis16400_channels[] = {
565 IIO_CHAN(IIO_IN, 0, 1, 0, "supply", 0, 0,
566 (1 << IIO_CHAN_INFO_SCALE_SEPARATE),
567 in_supply, ADIS16400_SCAN_SUPPLY,
568 IIO_ST('u', 14, 16, 0), 0),
569 IIO_CHAN(IIO_GYRO, 1, 0, 0, NULL, 0, IIO_MOD_X,
570 (1 << IIO_CHAN_INFO_CALIBBIAS_SEPARATE) |
571 (1 << IIO_CHAN_INFO_SCALE_SHARED),
572 gyro_x, ADIS16400_SCAN_GYRO_X, IIO_ST('s', 14, 16, 0), 0),
573 IIO_CHAN(IIO_GYRO, 1, 0, 0, NULL, 0, IIO_MOD_Y,
574 (1 << IIO_CHAN_INFO_CALIBBIAS_SEPARATE) |
575 (1 << IIO_CHAN_INFO_SCALE_SHARED),
576 gyro_y, ADIS16400_SCAN_GYRO_Y, IIO_ST('s', 14, 16, 0), 0),
577 IIO_CHAN(IIO_GYRO, 1, 0, 0, NULL, 0, IIO_MOD_Z,
578 (1 << IIO_CHAN_INFO_CALIBBIAS_SEPARATE) |
579 (1 << IIO_CHAN_INFO_SCALE_SHARED),
580 gyro_z, ADIS16400_SCAN_GYRO_Z, IIO_ST('s', 14, 16, 0), 0),
581 IIO_CHAN(IIO_ACCEL, 1, 0, 0, NULL, 0, IIO_MOD_X,
582 (1 << IIO_CHAN_INFO_CALIBBIAS_SEPARATE) |
583 (1 << IIO_CHAN_INFO_SCALE_SHARED),
584 accel_x, ADIS16400_SCAN_ACC_X, IIO_ST('s', 14, 16, 0), 0),
585 IIO_CHAN(IIO_ACCEL, 1, 0, 0, NULL, 0, IIO_MOD_Y,
586 (1 << IIO_CHAN_INFO_CALIBBIAS_SEPARATE) |
587 (1 << IIO_CHAN_INFO_SCALE_SHARED),
588 accel_y, ADIS16400_SCAN_ACC_Y, IIO_ST('s', 14, 16, 0), 0),
589 IIO_CHAN(IIO_ACCEL, 1, 0, 0, NULL, 0, IIO_MOD_Z,
590 (1 << IIO_CHAN_INFO_CALIBBIAS_SEPARATE) |
591 (1 << IIO_CHAN_INFO_SCALE_SHARED),
592 accel_z, ADIS16400_SCAN_ACC_Z, IIO_ST('s', 14, 16, 0), 0),
593 IIO_CHAN(IIO_MAGN, 1, 0, 0, NULL, 0, IIO_MOD_X,
594 (1 << IIO_CHAN_INFO_SCALE_SHARED),
595 magn_x, ADIS16400_SCAN_MAGN_X, IIO_ST('s', 14, 16, 0), 0),
596 IIO_CHAN(IIO_MAGN, 1, 0, 0, NULL, 0, IIO_MOD_Y,
597 (1 << IIO_CHAN_INFO_SCALE_SHARED),
598 magn_y, ADIS16400_SCAN_MAGN_Y, IIO_ST('s', 14, 16, 0), 0),
599 IIO_CHAN(IIO_MAGN, 1, 0, 0, NULL, 0, IIO_MOD_Z,
600 (1 << IIO_CHAN_INFO_SCALE_SHARED),
601 magn_z, ADIS16400_SCAN_MAGN_Z, IIO_ST('s', 14, 16, 0), 0),
602 IIO_CHAN(IIO_TEMP, 0, 1, 0, NULL, 0, 0,
603 (1 << IIO_CHAN_INFO_OFFSET_SEPARATE) |
604 (1 << IIO_CHAN_INFO_SCALE_SEPARATE),
605 temp, ADIS16400_SCAN_TEMP, IIO_ST('s', 12, 16, 0), 0),
606 IIO_CHAN(IIO_IN, 0, 1, 0, NULL, 1, 0,
607 (1 << IIO_CHAN_INFO_SCALE_SEPARATE),
608 in1, ADIS16400_SCAN_ADC_0, IIO_ST('s', 12, 16, 0), 0),
609 IIO_CHAN_SOFT_TIMESTAMP(12)
610};
611
2a29a90b
JC		 612static struct iio_chan_spec adis16350_channels[] = {
613 IIO_CHAN(IIO_IN, 0, 1, 0, "supply", 0, 0,
614 (1 << IIO_CHAN_INFO_SCALE_SEPARATE),
615 0, ADIS16400_SCAN_SUPPLY, IIO_ST('u', 12, 16, 0), 0),
616 IIO_CHAN(IIO_GYRO, 1, 0, 0, NULL, 0, IIO_MOD_X,
617 (1 << IIO_CHAN_INFO_CALIBBIAS_SEPARATE) |
618 (1 << IIO_CHAN_INFO_SCALE_SHARED),
619 1, ADIS16400_SCAN_GYRO_X, IIO_ST('s', 14, 16, 0), 0),
620 IIO_CHAN(IIO_GYRO, 1, 0, 0, NULL, 0, IIO_MOD_Y,
621 (1 << IIO_CHAN_INFO_CALIBBIAS_SEPARATE) |
622 (1 << IIO_CHAN_INFO_SCALE_SHARED),
623 2, ADIS16400_SCAN_GYRO_Y, IIO_ST('s', 14, 16, 0), 0),
624 IIO_CHAN(IIO_GYRO, 1, 0, 0, NULL, 0, IIO_MOD_Z,
625 (1 << IIO_CHAN_INFO_CALIBBIAS_SEPARATE) |
626 (1 << IIO_CHAN_INFO_SCALE_SHARED),
627 3, ADIS16400_SCAN_GYRO_Z, IIO_ST('s', 14, 16, 0), 0),
628 IIO_CHAN(IIO_ACCEL, 1, 0, 0, NULL, 0, IIO_MOD_X,
629 (1 << IIO_CHAN_INFO_CALIBBIAS_SEPARATE) |
630 (1 << IIO_CHAN_INFO_SCALE_SHARED),
631 4, ADIS16400_SCAN_ACC_X, IIO_ST('s', 14, 16, 0), 0),
632 IIO_CHAN(IIO_ACCEL, 1, 0, 0, NULL, 0, IIO_MOD_Y,
633 (1 << IIO_CHAN_INFO_CALIBBIAS_SEPARATE) |
634 (1 << IIO_CHAN_INFO_SCALE_SHARED),
635 0, ADIS16400_SCAN_ACC_Y, IIO_ST('s', 14, 16, 0), 0),
636 IIO_CHAN(IIO_ACCEL, 1, 0, 0, NULL, 0, IIO_MOD_Z,
637 (1 << IIO_CHAN_INFO_CALIBBIAS_SEPARATE) |
638 (1 << IIO_CHAN_INFO_SCALE_SHARED),
639 0, ADIS16400_SCAN_ACC_Z, IIO_ST('s', 14, 16, 0), 0),
640 IIO_CHAN(IIO_TEMP, 0, 1, 0, "x", 0, 0,
641 (1 << IIO_CHAN_INFO_OFFSET_SEPARATE) |
642 (1 << IIO_CHAN_INFO_SCALE_SEPARATE),
643 0, ADIS16350_SCAN_TEMP_X, IIO_ST('s', 12, 16, 0), 0),
644 IIO_CHAN(IIO_TEMP, 0, 1, 0, "y", 1, 0,
645 (1 << IIO_CHAN_INFO_OFFSET_SEPARATE) |
646 (1 << IIO_CHAN_INFO_SCALE_SEPARATE),
647 0, ADIS16350_SCAN_TEMP_Y, IIO_ST('s', 12, 16, 0), 0),
648 IIO_CHAN(IIO_TEMP, 0, 1, 0, "z", 2, 0,
649 (1 << IIO_CHAN_INFO_OFFSET_SEPARATE) |
650 (1 << IIO_CHAN_INFO_SCALE_SEPARATE),
651 0, ADIS16350_SCAN_TEMP_Z, IIO_ST('s', 12, 16, 0), 0),
652 IIO_CHAN(IIO_IN, 0, 1, 0, NULL, 1, 0,
653 (1 << IIO_CHAN_INFO_SCALE_SEPARATE),
654 0, ADIS16350_SCAN_ADC_0, IIO_ST('s', 12, 16, 0), 0),
655 IIO_CHAN_SOFT_TIMESTAMP(11)
656};
657
8e886e65
JC		 658static struct iio_chan_spec adis16300_channels[] = {
659 IIO_CHAN(IIO_IN, 0, 1, 0, "supply", 0, 0,
660 (1 << IIO_CHAN_INFO_SCALE_SEPARATE),
661 0, ADIS16400_SCAN_SUPPLY, IIO_ST('u', 12, 16, 0), 0),
662 IIO_CHAN(IIO_GYRO, 1, 0, 0, NULL, 0, IIO_MOD_X,
663 (1 << IIO_CHAN_INFO_CALIBBIAS_SEPARATE) |
664 (1 << IIO_CHAN_INFO_SCALE_SHARED),
665 1, ADIS16400_SCAN_GYRO_X, IIO_ST('s', 14, 16, 0), 0),
666 IIO_CHAN(IIO_ACCEL, 1, 0, 0, NULL, 0, IIO_MOD_X,
667 (1 << IIO_CHAN_INFO_CALIBBIAS_SEPARATE) |
668 (1 << IIO_CHAN_INFO_SCALE_SHARED),
669 4, ADIS16400_SCAN_ACC_X, IIO_ST('s', 14, 16, 0), 0),
670 IIO_CHAN(IIO_ACCEL, 1, 0, 0, NULL, 0, IIO_MOD_Y,
671 (1 << IIO_CHAN_INFO_CALIBBIAS_SEPARATE) |
672 (1 << IIO_CHAN_INFO_SCALE_SHARED),
673 0, ADIS16400_SCAN_ACC_Y, IIO_ST('s', 14, 16, 0), 0),
674 IIO_CHAN(IIO_ACCEL, 1, 0, 0, NULL, 0, IIO_MOD_Z,
675 (1 << IIO_CHAN_INFO_CALIBBIAS_SEPARATE) |
676 (1 << IIO_CHAN_INFO_SCALE_SHARED),
677 0, ADIS16400_SCAN_ACC_Z, IIO_ST('s', 14, 16, 0), 0),
678 IIO_CHAN(IIO_TEMP, 0, 1, 0, NULL, 0, 0,
679 (1 << IIO_CHAN_INFO_OFFSET_SEPARATE) |
680 (1 << IIO_CHAN_INFO_SCALE_SEPARATE),
681 0, ADIS16400_SCAN_TEMP, IIO_ST('s', 12, 16, 0), 0),
682 IIO_CHAN(IIO_IN, 0, 1, 0, NULL, 1, 0,
683 (1 << IIO_CHAN_INFO_SCALE_SEPARATE),
684 0, ADIS16350_SCAN_ADC_0, IIO_ST('s', 12, 16, 0), 0),
685 IIO_CHAN(IIO_INCLI, 1, 0, 0, NULL, 0, IIO_MOD_X,
686 (1 << IIO_CHAN_INFO_SCALE_SHARED),
687 0, ADIS16300_SCAN_INCLI_X, IIO_ST('s', 13, 16, 0), 0),
688 IIO_CHAN(IIO_INCLI, 1, 0, 0, NULL, 0, IIO_MOD_Y,
689 (1 << IIO_CHAN_INFO_SCALE_SHARED),
690 0, ADIS16300_SCAN_INCLI_Y, IIO_ST('s', 13, 16, 0), 0),
691 IIO_CHAN_SOFT_TIMESTAMP(14)
692};
693
a9d26f00 694static struct attribute *adis16400_attributes[] = {
a9d26f00 695 &iio_dev_attr_sampling_frequency.dev_attr.attr,
51a0a5b0 696 &iio_const_attr_sampling_frequency_available.dev_attr.attr,
a9d26f00 697 &iio_dev_attr_reset.dev_attr.attr,
a9d26f00
BS		 698 NULL
699};
700
701static const struct attribute_group adis16400_attribute_group = {
702 .attrs = adis16400_attributes,
703};
704
2a29a90b 705static struct adis16400_chip_info adis16400_chips[] = {
8e886e65
JC		 706 [ADIS16300] = {
707 .channels = adis16300_channels,
708 .num_channels = ARRAY_SIZE(adis16300_channels),
709 .gyro_scale_micro = 873,
710 .accel_scale_micro = 5884,
711 .default_scan_mask = (1 << ADIS16400_SCAN_SUPPLY) |
712 (1 << ADIS16400_SCAN_GYRO_X) | (1 << ADIS16400_SCAN_ACC_X) |
713 (1 << ADIS16400_SCAN_ACC_Y) | (1 << ADIS16400_SCAN_ACC_Z) |
714 (1 << ADIS16400_SCAN_TEMP) | (1 << ADIS16400_SCAN_ADC_0) |
715 (1 << ADIS16300_SCAN_INCLI_X) | (1 << ADIS16300_SCAN_INCLI_Y) |
716 (1 << 14),
717 },
2a29a90b
JC		 718 [ADIS16350] = {
719 .channels = adis16350_channels,
720 .num_channels = ARRAY_SIZE(adis16350_channels),
721 .gyro_scale_micro = 872664,
722 .accel_scale_micro = 24732,
723 .default_scan_mask = 0x7FF,
724 .flags = ADIS16400_NO_BURST,
725 },
726 [ADIS16360] = {
727 .channels = adis16350_channels,
728 .num_channels = ARRAY_SIZE(adis16350_channels),
729 .flags = ADIS16400_HAS_PROD_ID,
730 .product_id = 0x3FE8,
731 .gyro_scale_micro = 1279,
732 .accel_scale_micro = 24732,
733 .default_scan_mask = 0x7FF,
734 },
735 [ADIS16362] = {
736 .channels = adis16350_channels,
737 .num_channels = ARRAY_SIZE(adis16350_channels),
738 .flags = ADIS16400_HAS_PROD_ID,
739 .product_id = 0x3FEA,
740 .gyro_scale_micro = 1279,
741 .accel_scale_micro = 24732,
742 .default_scan_mask = 0x7FF,
743 },
744 [ADIS16364] = {
745 .channels = adis16350_channels,
746 .num_channels = ARRAY_SIZE(adis16350_channels),
747 .flags = ADIS16400_HAS_PROD_ID,
748 .product_id = 0x3FEC,
749 .gyro_scale_micro = 1279,
750 .accel_scale_micro = 24732,
751 .default_scan_mask = 0x7FF,
752 },
753 [ADIS16365] = {
754 .channels = adis16350_channels,
755 .num_channels = ARRAY_SIZE(adis16350_channels),
756 .flags = ADIS16400_HAS_PROD_ID,
757 .product_id = 0x3FED,
758 .gyro_scale_micro = 1279,
759 .accel_scale_micro = 24732,
760 .default_scan_mask = 0x7FF,
761 },
762 [ADIS16400] = {
763 .channels = adis16400_channels,
764 .num_channels = ARRAY_SIZE(adis16400_channels),
765 .flags = ADIS16400_HAS_PROD_ID,
766 .product_id = 0x4015,
767 .gyro_scale_micro = 873,
768 .accel_scale_micro = 32656,
769 .default_scan_mask = 0xFFF,
770 }
771};
772
773
774
a9d26f00
BS		 775static int __devinit adis16400_probe(struct spi_device *spi)
776{
777 int ret, regdone = 0;
38d15f06
JC		 778 struct adis16400_state *st;
779 struct iio_dev *indio_dev = iio_allocate_device(sizeof(*st));
780 if (indio_dev == NULL) {
a9d26f00
BS		 781 ret = -ENOMEM;
782 goto error_ret;
783 }
38d15f06 784 st = iio_priv(indio_dev);
a9d26f00 785 /* this is only used for removal purposes */
38d15f06 786 spi_set_drvdata(spi, indio_dev);
a9d26f00 787
a9d26f00
BS		 788 st->us = spi;
789 mutex_init(&st->buf_lock);
38d15f06 790
a9d26f00 791 /* setup the industrialio driver allocated elements */
2a29a90b 792 st->variant = &adis16400_chips[spi_get_device_id(spi)->driver_data];
38d15f06
JC		 793 indio_dev->dev.parent = &spi->dev;
794 indio_dev->name = spi_get_device_id(spi)->name;
795 indio_dev->attrs = &adis16400_attribute_group;
796 indio_dev->channels = st->variant->channels;
797 indio_dev->num_channels = st->variant->num_channels;
798 indio_dev->read_raw = &adis16400_read_raw;
799 indio_dev->write_raw = &adis16400_write_raw;
800 indio_dev->driver_module = THIS_MODULE;
801 indio_dev->modes = INDIO_DIRECT_MODE;
802
803 ret = adis16400_configure_ring(indio_dev);
a9d26f00
BS		 804 if (ret)
805 goto error_free_dev;
806
38d15f06 807 ret = iio_device_register(indio_dev);
a9d26f00
BS		 808 if (ret)
809 goto error_unreg_ring_funcs;
810 regdone = 1;
811
38d15f06 812 ret = iio_ring_buffer_register_ex(indio_dev->ring, 0,
2a29a90b
JC		 813 st->variant->channels,
814 st->variant->num_channels);
a9d26f00 815 if (ret) {
6a6ec623 816 dev_err(&spi->dev, "failed to initialize the ring\n");
a9d26f00
BS		 817 goto error_unreg_ring_funcs;
818 }
819
820 if (spi->irq && gpio_is_valid(irq_to_gpio(spi->irq)) > 0) {
38d15f06 821 ret = adis16400_probe_trigger(indio_dev);
a9d26f00 822 if (ret)
b333a240 823 goto error_uninitialize_ring;
a9d26f00
BS		 824 }
825
826 /* Get the device into a sane initial state */
38d15f06 827 ret = adis16400_initial_setup(indio_dev);
a9d26f00
BS		 828 if (ret)
829 goto error_remove_trigger;
830 return 0;
831
832error_remove_trigger:
38d15f06
JC		 833 if (indio_dev->modes & INDIO_RING_TRIGGERED)
834 adis16400_remove_trigger(indio_dev);
a9d26f00 835error_uninitialize_ring:
38d15f06 836 iio_ring_buffer_unregister(indio_dev->ring);
a9d26f00 837error_unreg_ring_funcs:
38d15f06 838 adis16400_unconfigure_ring(indio_dev);
a9d26f00
BS		 839error_free_dev:
840 if (regdone)
38d15f06 841 iio_device_unregister(indio_dev);
a9d26f00 842 else
38d15f06 843 iio_free_device(indio_dev);
a9d26f00
BS		 844error_ret:
845 return ret;
846}
847
848/* fixme, confirm ordering in this function */
849static int adis16400_remove(struct spi_device *spi)
850{
851 int ret;
38d15f06 852 struct iio_dev *indio_dev = spi_get_drvdata(spi);
a9d26f00 853
e7854845 854 ret = adis16400_stop_device(indio_dev);
a9d26f00
BS		 855 if (ret)
856 goto err_ret;
857
a9d26f00 858 adis16400_remove_trigger(indio_dev);
38d15f06 859 iio_ring_buffer_unregister(indio_dev->ring);
a9d26f00
BS		 860 adis16400_unconfigure_ring(indio_dev);
861 iio_device_unregister(indio_dev);
2a29a90b 862
a9d26f00
BS		 863 return 0;
864
865err_ret:
866 return ret;
867}
868
2a29a90b 869static const struct spi_device_id adis16400_id[] = {
8e886e65 870 {"adis16300", ADIS16300},
2a29a90b
JC		 871 {"adis16350", ADIS16350},
872 {"adis16354", ADIS16350},
873 {"adis16355", ADIS16350},
874 {"adis16360", ADIS16360},
875 {"adis16362", ADIS16362},
876 {"adis16364", ADIS16364},
877 {"adis16365", ADIS16365},
878 {"adis16400", ADIS16400},
879 {"adis16405", ADIS16400},
880 {}
881};
882
a9d26f00
BS		 883static struct spi_driver adis16400_driver = {
884 .driver = {
885 .name = "adis16400",
886 .owner = THIS_MODULE,
887 },
2a29a90b 888 .id_table = adis16400_id,
a9d26f00
BS		 889 .probe = adis16400_probe,
890 .remove = __devexit_p(adis16400_remove),
891};
892
893static __init int adis16400_init(void)
894{
895 return spi_register_driver(&adis16400_driver);
896}
897module_init(adis16400_init);
898
899static __exit void adis16400_exit(void)
900{
901 spi_unregister_driver(&adis16400_driver);
902}
903module_exit(adis16400_exit);
904
905MODULE_AUTHOR("Manuel Stahl <manuel.stahl@iis.fraunhofer.de>");
906MODULE_DESCRIPTION("Analog Devices ADIS16400/5 IMU SPI driver");
907MODULE_LICENSE("GPL v2");
Linux kernel - Deliverables
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