projects / deliverable / linux.git / blob
? search:


58a29b1e243c0bfa14fee48b6f31c05b16f3b93a
[deliverable/linux.git] / drivers / staging / iio / imu / adis16400_core.c
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>
9 * Copyright (c) 2011 Analog Devices Inc.
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>
25 #include <linux/slab.h>
26 #include <linux/sysfs.h>
27 #include <linux/list.h>
28 #include <linux/module.h>
29
30 #include "../iio.h"
31 #include "../sysfs.h"
32 #include "../ring_generic.h"
33 #include "adis16400.h"
34
35 #define DRIVER_NAME "adis16400"
36
37 enum adis16400_chip_variant {
38 ADIS16300,
39 ADIS16344,
40 ADIS16350,
41 ADIS16360,
42 ADIS16362,
43 ADIS16364,
44 ADIS16365,
45 ADIS16400,
46 };
47
48 static int adis16400_check_status(struct iio_dev *indio_dev);
49
50 /* At the moment the spi framework doesn't allow global setting of cs_change.
51 * It's in the likely to be added comment at the top of spi.h.
52 * This means that use cannot be made of spi_write etc.
53 */
54
55 /**
56 * adis16400_spi_write_reg_8() - write single byte to a register
57 * @dev: device associated with child of actual device (iio_dev or iio_trig)
58 * @reg_address: the address of the register to be written
59 * @val: the value to write
60 **/
61 static int adis16400_spi_write_reg_8(struct iio_dev *indio_dev,
62 u8 reg_address,
63 u8 val)
64 {
65 int ret;
66 struct adis16400_state *st = iio_priv(indio_dev);
67
68 mutex_lock(&st->buf_lock);
69 st->tx[0] = ADIS16400_WRITE_REG(reg_address);
70 st->tx[1] = val;
71
72 ret = spi_write(st->us, st->tx, 2);
73 mutex_unlock(&st->buf_lock);
74
75 return ret;
76 }
77
78 /**
79 * adis16400_spi_write_reg_16() - write 2 bytes to a pair of registers
80 * @dev: device associated with child of actual device (iio_dev or iio_trig)
81 * @reg_address: the address of the lower of the two registers. Second register
82 * is assumed to have address one greater.
83 * @val: value to be written
84 **/
85 static int adis16400_spi_write_reg_16(struct iio_dev *indio_dev,
86 u8 lower_reg_address,
87 u16 value)
88 {
89 int ret;
90 struct spi_message msg;
91 struct adis16400_state *st = iio_priv(indio_dev);
92 struct spi_transfer xfers[] = {
93 {
94 .tx_buf = st->tx,
95 .bits_per_word = 8,
96 .len = 2,
97 .cs_change = 1,
98 }, {
99 .tx_buf = st->tx + 2,
100 .bits_per_word = 8,
101 .len = 2,
102 },
103 };
104
105 mutex_lock(&st->buf_lock);
106 st->tx[0] = ADIS16400_WRITE_REG(lower_reg_address);
107 st->tx[1] = value & 0xFF;
108 st->tx[2] = ADIS16400_WRITE_REG(lower_reg_address + 1);
109 st->tx[3] = (value >> 8) & 0xFF;
110
111 spi_message_init(&msg);
112 spi_message_add_tail(&xfers[0], &msg);
113 spi_message_add_tail(&xfers[1], &msg);
114 ret = spi_sync(st->us, &msg);
115 mutex_unlock(&st->buf_lock);
116
117 return ret;
118 }
119
120 /**
121 * adis16400_spi_read_reg_16() - read 2 bytes from a 16-bit register
122 * @indio_dev: iio device
123 * @reg_address: the address of the lower of the two registers. Second register
124 * is assumed to have address one greater.
125 * @val: somewhere to pass back the value read
126 **/
127 static int adis16400_spi_read_reg_16(struct iio_dev *indio_dev,
128 u8 lower_reg_address,
129 u16 *val)
130 {
131 struct spi_message msg;
132 struct adis16400_state *st = iio_priv(indio_dev);
133 int ret;
134 struct spi_transfer xfers[] = {
135 {
136 .tx_buf = st->tx,
137 .bits_per_word = 8,
138 .len = 2,
139 .cs_change = 1,
140 }, {
141 .rx_buf = st->rx,
142 .bits_per_word = 8,
143 .len = 2,
144 },
145 };
146
147 mutex_lock(&st->buf_lock);
148 st->tx[0] = ADIS16400_READ_REG(lower_reg_address);
149 st->tx[1] = 0;
150
151 spi_message_init(&msg);
152 spi_message_add_tail(&xfers[0], &msg);
153 spi_message_add_tail(&xfers[1], &msg);
154 ret = spi_sync(st->us, &msg);
155 if (ret) {
156 dev_err(&st->us->dev,
157 "problem when reading 16 bit register 0x%02X",
158 lower_reg_address);
159 goto error_ret;
160 }
161 *val = (st->rx[0] << 8) | st->rx[1];
162
163 error_ret:
164 mutex_unlock(&st->buf_lock);
165 return ret;
166 }
167
168 static ssize_t adis16400_read_frequency(struct device *dev,
169 struct device_attribute *attr,
170 char *buf)
171 {
172 struct iio_dev *indio_dev = dev_get_drvdata(dev);
173 int ret, len = 0;
174 u16 t;
175 int sps;
176 ret = adis16400_spi_read_reg_16(indio_dev,
177 ADIS16400_SMPL_PRD,
178 &t);
179 if (ret)
180 return ret;
181 sps = (t & ADIS16400_SMPL_PRD_TIME_BASE) ? 53 : 1638;
182 sps /= (t & ADIS16400_SMPL_PRD_DIV_MASK) + 1;
183 len = sprintf(buf, "%d SPS\n", sps);
184 return len;
185 }
186
187 static ssize_t adis16400_write_frequency(struct device *dev,
188 struct device_attribute *attr,
189 const char *buf,
190 size_t len)
191 {
192 struct iio_dev *indio_dev = dev_get_drvdata(dev);
193 struct adis16400_state *st = iio_priv(indio_dev);
194 long val;
195 int ret;
196 u8 t;
197
198 ret = strict_strtol(buf, 10, &val);
199 if (ret)
200 return ret;
201
202 mutex_lock(&indio_dev->mlock);
203
204 t = (1638 / val);
205 if (t > 0)
206 t--;
207 t &= ADIS16400_SMPL_PRD_DIV_MASK;
208 if ((t & ADIS16400_SMPL_PRD_DIV_MASK) >= 0x0A)
209 st->us->max_speed_hz = ADIS16400_SPI_SLOW;
210 else
211 st->us->max_speed_hz = ADIS16400_SPI_FAST;
212
213 ret = adis16400_spi_write_reg_8(indio_dev,
214 ADIS16400_SMPL_PRD,
215 t);
216
217 mutex_unlock(&indio_dev->mlock);
218
219 return ret ? ret : len;
220 }
221
222 static int adis16400_reset(struct iio_dev *indio_dev)
223 {
224 int ret;
225 ret = adis16400_spi_write_reg_8(indio_dev,
226 ADIS16400_GLOB_CMD,
227 ADIS16400_GLOB_CMD_SW_RESET);
228 if (ret)
229 dev_err(&indio_dev->dev, "problem resetting device");
230
231 return ret;
232 }
233
234 static ssize_t adis16400_write_reset(struct device *dev,
235 struct device_attribute *attr,
236 const char *buf, size_t len)
237 {
238 bool val;
239 int ret;
240
241 ret = strtobool(buf, &val);
242 if (ret < 0)
243 return ret;
244 if (val)
245 ret = adis16400_reset(dev_get_drvdata(dev));
246 if (ret < 0)
247 return ret;
248
249 return len;
250 }
251
252 int adis16400_set_irq(struct iio_dev *indio_dev, bool enable)
253 {
254 int ret;
255 u16 msc;
256 ret = adis16400_spi_read_reg_16(indio_dev, ADIS16400_MSC_CTRL, &msc);
257 if (ret)
258 goto error_ret;
259
260 msc |= ADIS16400_MSC_CTRL_DATA_RDY_POL_HIGH;
261 if (enable)
262 msc |= ADIS16400_MSC_CTRL_DATA_RDY_EN;
263 else
264 msc &= ~ADIS16400_MSC_CTRL_DATA_RDY_EN;
265
266 ret = adis16400_spi_write_reg_16(indio_dev, ADIS16400_MSC_CTRL, msc);
267 if (ret)
268 goto error_ret;
269
270 error_ret:
271 return ret;
272 }
273
274 /* Power down the device */
275 static int adis16400_stop_device(struct iio_dev *indio_dev)
276 {
277 int ret;
278 u16 val = ADIS16400_SLP_CNT_POWER_OFF;
279
280 ret = adis16400_spi_write_reg_16(indio_dev, ADIS16400_SLP_CNT, val);
281 if (ret)
282 dev_err(&indio_dev->dev,
283 "problem with turning device off: SLP_CNT");
284
285 return ret;
286 }
287
288 static int adis16400_self_test(struct iio_dev *indio_dev)
289 {
290 int ret;
291 ret = adis16400_spi_write_reg_16(indio_dev,
292 ADIS16400_MSC_CTRL,
293 ADIS16400_MSC_CTRL_MEM_TEST);
294 if (ret) {
295 dev_err(&indio_dev->dev, "problem starting self test");
296 goto err_ret;
297 }
298
299 msleep(ADIS16400_MTEST_DELAY);
300 adis16400_check_status(indio_dev);
301
302 err_ret:
303 return ret;
304 }
305
306 static int adis16400_check_status(struct iio_dev *indio_dev)
307 {
308 u16 status;
309 int ret;
310 struct device *dev = &indio_dev->dev;
311
312 ret = adis16400_spi_read_reg_16(indio_dev,
313 ADIS16400_DIAG_STAT, &status);
314
315 if (ret < 0) {
316 dev_err(dev, "Reading status failed\n");
317 goto error_ret;
318 }
319 ret = status;
320 if (status & ADIS16400_DIAG_STAT_ZACCL_FAIL)
321 dev_err(dev, "Z-axis accelerometer self-test failure\n");
322 if (status & ADIS16400_DIAG_STAT_YACCL_FAIL)
323 dev_err(dev, "Y-axis accelerometer self-test failure\n");
324 if (status & ADIS16400_DIAG_STAT_XACCL_FAIL)
325 dev_err(dev, "X-axis accelerometer self-test failure\n");
326 if (status & ADIS16400_DIAG_STAT_XGYRO_FAIL)
327 dev_err(dev, "X-axis gyroscope self-test failure\n");
328 if (status & ADIS16400_DIAG_STAT_YGYRO_FAIL)
329 dev_err(dev, "Y-axis gyroscope self-test failure\n");
330 if (status & ADIS16400_DIAG_STAT_ZGYRO_FAIL)
331 dev_err(dev, "Z-axis gyroscope self-test failure\n");
332 if (status & ADIS16400_DIAG_STAT_ALARM2)
333 dev_err(dev, "Alarm 2 active\n");
334 if (status & ADIS16400_DIAG_STAT_ALARM1)
335 dev_err(dev, "Alarm 1 active\n");
336 if (status & ADIS16400_DIAG_STAT_FLASH_CHK)
337 dev_err(dev, "Flash checksum error\n");
338 if (status & ADIS16400_DIAG_STAT_SELF_TEST)
339 dev_err(dev, "Self test error\n");
340 if (status & ADIS16400_DIAG_STAT_OVERFLOW)
341 dev_err(dev, "Sensor overrange\n");
342 if (status & ADIS16400_DIAG_STAT_SPI_FAIL)
343 dev_err(dev, "SPI failure\n");
344 if (status & ADIS16400_DIAG_STAT_FLASH_UPT)
345 dev_err(dev, "Flash update failed\n");
346 if (status & ADIS16400_DIAG_STAT_POWER_HIGH)
347 dev_err(dev, "Power supply above 5.25V\n");
348 if (status & ADIS16400_DIAG_STAT_POWER_LOW)
349 dev_err(dev, "Power supply below 4.75V\n");
350
351 error_ret:
352 return ret;
353 }
354
355 static int adis16400_initial_setup(struct iio_dev *indio_dev)
356 {
357 int ret;
358 u16 prod_id, smp_prd;
359 struct device *dev = &indio_dev->dev;
360 struct adis16400_state *st = iio_priv(indio_dev);
361
362 /* use low spi speed for init */
363 st->us->max_speed_hz = ADIS16400_SPI_SLOW;
364 st->us->mode = SPI_MODE_3;
365 spi_setup(st->us);
366
367 /* Disable IRQ */
368 ret = adis16400_set_irq(indio_dev, false);
369 if (ret) {
370 dev_err(dev, "disable irq failed");
371 goto err_ret;
372 }
373
374 /* Do self test */
375 ret = adis16400_self_test(indio_dev);
376 if (ret) {
377 dev_err(dev, "self test failure");
378 goto err_ret;
379 }
380
381 /* Read status register to check the result */
382 ret = adis16400_check_status(indio_dev);
383 if (ret) {
384 adis16400_reset(indio_dev);
385 dev_err(dev, "device not playing ball -> reset");
386 msleep(ADIS16400_STARTUP_DELAY);
387 ret = adis16400_check_status(indio_dev);
388 if (ret) {
389 dev_err(dev, "giving up");
390 goto err_ret;
391 }
392 }
393 if (st->variant->flags & ADIS16400_HAS_PROD_ID) {
394 ret = adis16400_spi_read_reg_16(indio_dev,
395 ADIS16400_PRODUCT_ID, &prod_id);
396 if (ret)
397 goto err_ret;
398
399 if ((prod_id & 0xF000) != st->variant->product_id)
400 dev_warn(dev, "incorrect id");
401
402 printk(KERN_INFO DRIVER_NAME ": prod_id 0x%04x at CS%d (irq %d)\n",
403 prod_id, st->us->chip_select, st->us->irq);
404 }
405 /* use high spi speed if possible */
406 ret = adis16400_spi_read_reg_16(indio_dev,
407 ADIS16400_SMPL_PRD, &smp_prd);
408 if (!ret && (smp_prd & ADIS16400_SMPL_PRD_DIV_MASK) < 0x0A) {
409 st->us->max_speed_hz = ADIS16400_SPI_SLOW;
410 spi_setup(st->us);
411 }
412
413
414 err_ret:
415
416 return ret;
417 }
418
419 static IIO_DEV_ATTR_SAMP_FREQ(S_IWUSR | S_IRUGO,
420 adis16400_read_frequency,
421 adis16400_write_frequency);
422
423 static IIO_DEVICE_ATTR(reset, S_IWUSR, NULL, adis16400_write_reset, 0);
424
425 static IIO_CONST_ATTR_SAMP_FREQ_AVAIL("409 546 819 1638");
426
427 enum adis16400_chan {
428 in_supply,
429 gyro_x,
430 gyro_y,
431 gyro_z,
432 accel_x,
433 accel_y,
434 accel_z,
435 magn_x,
436 magn_y,
437 magn_z,
438 temp,
439 temp0, temp1, temp2,
440 in1,
441 incli_x,
442 incli_y,
443 };
444
445 static u8 adis16400_addresses[17][2] = {
446 [in_supply] = { ADIS16400_SUPPLY_OUT, 0 },
447 [gyro_x] = { ADIS16400_XGYRO_OUT, ADIS16400_XGYRO_OFF },
448 [gyro_y] = { ADIS16400_YGYRO_OUT, ADIS16400_YGYRO_OFF },
449 [gyro_z] = { ADIS16400_ZGYRO_OUT, ADIS16400_ZGYRO_OFF },
450 [accel_x] = { ADIS16400_XACCL_OUT, ADIS16400_XACCL_OFF },
451 [accel_y] = { ADIS16400_YACCL_OUT, ADIS16400_YACCL_OFF },
452 [accel_z] = { ADIS16400_ZACCL_OUT, ADIS16400_ZACCL_OFF },
453 [magn_x] = { ADIS16400_XMAGN_OUT, 0 },
454 [magn_y] = { ADIS16400_YMAGN_OUT, 0 },
455 [magn_z] = { ADIS16400_ZMAGN_OUT, 0 },
456 [temp] = { ADIS16400_TEMP_OUT, 0 },
457 [temp0] = { ADIS16350_XTEMP_OUT },
458 [temp1] = { ADIS16350_YTEMP_OUT },
459 [temp2] = { ADIS16350_ZTEMP_OUT },
460 [in1] = { ADIS16400_AUX_ADC, 0 },
461 [incli_x] = { ADIS16300_PITCH_OUT, 0 },
462 [incli_y] = { ADIS16300_ROLL_OUT, 0 }
463 };
464
465 static 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
485 static 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 {
491 struct adis16400_state *st = iio_priv(indio_dev);
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;
519 *val2 = st->variant->gyro_scale_micro;
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;
530 *val2 = st->variant->accel_scale_micro;
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);
548 mutex_unlock(&indio_dev->mlock);
549 if (ret)
550 return ret;
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
564 static 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
612 static 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 in_supply, 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 gyro_x, 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 gyro_y, 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 gyro_z, 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 accel_x, 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 accel_y, 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 accel_z, 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 temp0, 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 temp1, 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 temp2, 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 in1, ADIS16350_SCAN_ADC_0, IIO_ST('s', 12, 16, 0), 0),
655 IIO_CHAN_SOFT_TIMESTAMP(11)
656 };
657
658 static 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 in_supply, 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 gyro_x, 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 accel_x, 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 accel_y, 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 accel_z, 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 temp, 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 in1, 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 incli_x, 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 incli_y, ADIS16300_SCAN_INCLI_Y, IIO_ST('s', 13, 16, 0), 0),
691 IIO_CHAN_SOFT_TIMESTAMP(14)
692 };
693
694 static const struct iio_chan_spec adis16344_channels[] = {
695 IIO_CHAN(IIO_GYRO, 1, 0, 0, NULL, 0, IIO_MOD_X,
696 (1 << IIO_CHAN_INFO_CALIBBIAS_SEPARATE) |
697 (1 << IIO_CHAN_INFO_SCALE_SHARED),
698 gyro_x, ADIS16400_SCAN_GYRO_X, IIO_ST('s', 14, 16, 0), 0),
699 IIO_CHAN(IIO_GYRO, 1, 0, 0, NULL, 0, IIO_MOD_Y,
700 (1 << IIO_CHAN_INFO_CALIBBIAS_SEPARATE) |
701 (1 << IIO_CHAN_INFO_SCALE_SHARED),
702 gyro_y, ADIS16400_SCAN_GYRO_Y, IIO_ST('s', 14, 16, 0), 0),
703 IIO_CHAN(IIO_GYRO, 1, 0, 0, NULL, 0, IIO_MOD_Z,
704 (1 << IIO_CHAN_INFO_CALIBBIAS_SEPARATE) |
705 (1 << IIO_CHAN_INFO_SCALE_SHARED),
706 gyro_z, ADIS16400_SCAN_GYRO_Z, IIO_ST('s', 14, 16, 0), 0),
707 IIO_CHAN(IIO_ACCEL, 1, 0, 0, NULL, 0, IIO_MOD_X,
708 (1 << IIO_CHAN_INFO_CALIBBIAS_SEPARATE) |
709 (1 << IIO_CHAN_INFO_SCALE_SHARED),
710 accel_x, ADIS16400_SCAN_ACC_X, IIO_ST('s', 14, 16, 0), 0),
711 IIO_CHAN(IIO_ACCEL, 1, 0, 0, NULL, 0, IIO_MOD_Y,
712 (1 << IIO_CHAN_INFO_CALIBBIAS_SEPARATE) |
713 (1 << IIO_CHAN_INFO_SCALE_SHARED),
714 accel_y, ADIS16400_SCAN_ACC_Y, IIO_ST('s', 14, 16, 0), 0),
715 IIO_CHAN(IIO_ACCEL, 1, 0, 0, NULL, 0, IIO_MOD_Z,
716 (1 << IIO_CHAN_INFO_CALIBBIAS_SEPARATE) |
717 (1 << IIO_CHAN_INFO_SCALE_SHARED),
718 accel_z, ADIS16400_SCAN_ACC_Z, IIO_ST('s', 14, 16, 0), 0),
719 IIO_CHAN(IIO_TEMP, 0, 1, 0, NULL, 0, 0,
720 (1 << IIO_CHAN_INFO_OFFSET_SEPARATE) |
721 (1 << IIO_CHAN_INFO_SCALE_SEPARATE),
722 temp0, ADIS16350_SCAN_TEMP_X, IIO_ST('s', 12, 16, 0), 0),
723 IIO_CHAN_SOFT_TIMESTAMP(12)
724 };
725
726 static struct attribute *adis16400_attributes[] = {
727 &iio_dev_attr_sampling_frequency.dev_attr.attr,
728 &iio_const_attr_sampling_frequency_available.dev_attr.attr,
729 &iio_dev_attr_reset.dev_attr.attr,
730 NULL
731 };
732
733 static const struct attribute_group adis16400_attribute_group = {
734 .attrs = adis16400_attributes,
735 };
736
737 static struct adis16400_chip_info adis16400_chips[] = {
738 [ADIS16300] = {
739 .channels = adis16300_channels,
740 .num_channels = ARRAY_SIZE(adis16300_channels),
741 .gyro_scale_micro = 873,
742 .accel_scale_micro = 5884,
743 .default_scan_mask = (1 << ADIS16400_SCAN_SUPPLY) |
744 (1 << ADIS16400_SCAN_GYRO_X) | (1 << ADIS16400_SCAN_ACC_X) |
745 (1 << ADIS16400_SCAN_ACC_Y) | (1 << ADIS16400_SCAN_ACC_Z) |
746 (1 << ADIS16400_SCAN_TEMP) | (1 << ADIS16400_SCAN_ADC_0) |
747 (1 << ADIS16300_SCAN_INCLI_X) | (1 << ADIS16300_SCAN_INCLI_Y) |
748 (1 << 14),
749 },
750 [ADIS16344] = {
751 .channels = adis16344_channels,
752 .num_channels = ARRAY_SIZE(adis16344_channels),
753 .gyro_scale_micro = 873,
754 .accel_scale_micro = 981,
755 .default_scan_mask = (1 << ADIS16400_SCAN_GYRO_X) |
756 (1 << ADIS16400_SCAN_GYRO_Y) | (1 << ADIS16400_SCAN_GYRO_Z) |
757 (1 << ADIS16400_SCAN_ACC_X) | (1 << ADIS16400_SCAN_ACC_Y) |
758 (1 << ADIS16400_SCAN_ACC_Z),
759 },
760 [ADIS16350] = {
761 .channels = adis16350_channels,
762 .num_channels = ARRAY_SIZE(adis16350_channels),
763 .gyro_scale_micro = 872664,
764 .accel_scale_micro = 24732,
765 .default_scan_mask = 0x7FF,
766 .flags = ADIS16400_NO_BURST,
767 },
768 [ADIS16360] = {
769 .channels = adis16350_channels,
770 .num_channels = ARRAY_SIZE(adis16350_channels),
771 .flags = ADIS16400_HAS_PROD_ID,
772 .product_id = 0x3FE8,
773 .gyro_scale_micro = 1279,
774 .accel_scale_micro = 24732,
775 .default_scan_mask = 0x7FF,
776 },
777 [ADIS16362] = {
778 .channels = adis16350_channels,
779 .num_channels = ARRAY_SIZE(adis16350_channels),
780 .flags = ADIS16400_HAS_PROD_ID,
781 .product_id = 0x3FEA,
782 .gyro_scale_micro = 1279,
783 .accel_scale_micro = 24732,
784 .default_scan_mask = 0x7FF,
785 },
786 [ADIS16364] = {
787 .channels = adis16350_channels,
788 .num_channels = ARRAY_SIZE(adis16350_channels),
789 .flags = ADIS16400_HAS_PROD_ID,
790 .product_id = 0x3FEC,
791 .gyro_scale_micro = 1279,
792 .accel_scale_micro = 24732,
793 .default_scan_mask = 0x7FF,
794 },
795 [ADIS16365] = {
796 .channels = adis16350_channels,
797 .num_channels = ARRAY_SIZE(adis16350_channels),
798 .flags = ADIS16400_HAS_PROD_ID,
799 .product_id = 0x3FED,
800 .gyro_scale_micro = 1279,
801 .accel_scale_micro = 24732,
802 .default_scan_mask = 0x7FF,
803 },
804 [ADIS16400] = {
805 .channels = adis16400_channels,
806 .num_channels = ARRAY_SIZE(adis16400_channels),
807 .flags = ADIS16400_HAS_PROD_ID,
808 .product_id = 0x4015,
809 .gyro_scale_micro = 873,
810 .accel_scale_micro = 32656,
811 .default_scan_mask = 0xFFF,
812 }
813 };
814
815 static const struct iio_info adis16400_info = {
816 .driver_module = THIS_MODULE,
817 .read_raw = &adis16400_read_raw,
818 .write_raw = &adis16400_write_raw,
819 .attrs = &adis16400_attribute_group,
820 };
821
822 static int __devinit adis16400_probe(struct spi_device *spi)
823 {
824 int ret, regdone = 0;
825 struct adis16400_state *st;
826 struct iio_dev *indio_dev = iio_allocate_device(sizeof(*st));
827 if (indio_dev == NULL) {
828 ret = -ENOMEM;
829 goto error_ret;
830 }
831 st = iio_priv(indio_dev);
832 /* this is only used for removal purposes */
833 spi_set_drvdata(spi, indio_dev);
834
835 st->us = spi;
836 mutex_init(&st->buf_lock);
837
838 /* setup the industrialio driver allocated elements */
839 st->variant = &adis16400_chips[spi_get_device_id(spi)->driver_data];
840 indio_dev->dev.parent = &spi->dev;
841 indio_dev->name = spi_get_device_id(spi)->name;
842 indio_dev->channels = st->variant->channels;
843 indio_dev->num_channels = st->variant->num_channels;
844 indio_dev->info = &adis16400_info;
845 indio_dev->modes = INDIO_DIRECT_MODE;
846
847 ret = adis16400_configure_ring(indio_dev);
848 if (ret)
849 goto error_free_dev;
850
851 ret = iio_device_register(indio_dev);
852 if (ret)
853 goto error_unreg_ring_funcs;
854 regdone = 1;
855
856 ret = iio_ring_buffer_register_ex(indio_dev->ring, 0,
857 st->variant->channels,
858 st->variant->num_channels);
859 if (ret) {
860 dev_err(&spi->dev, "failed to initialize the ring\n");
861 goto error_unreg_ring_funcs;
862 }
863
864 if (spi->irq && gpio_is_valid(irq_to_gpio(spi->irq)) > 0) {
865 ret = adis16400_probe_trigger(indio_dev);
866 if (ret)
867 goto error_uninitialize_ring;
868 }
869
870 /* Get the device into a sane initial state */
871 ret = adis16400_initial_setup(indio_dev);
872 if (ret)
873 goto error_remove_trigger;
874 return 0;
875
876 error_remove_trigger:
877 if (indio_dev->modes & INDIO_RING_TRIGGERED)
878 adis16400_remove_trigger(indio_dev);
879 error_uninitialize_ring:
880 iio_ring_buffer_unregister(indio_dev->ring);
881 error_unreg_ring_funcs:
882 adis16400_unconfigure_ring(indio_dev);
883 error_free_dev:
884 if (regdone)
885 iio_device_unregister(indio_dev);
886 else
887 iio_free_device(indio_dev);
888 error_ret:
889 return ret;
890 }
891
892 /* fixme, confirm ordering in this function */
893 static int adis16400_remove(struct spi_device *spi)
894 {
895 int ret;
896 struct iio_dev *indio_dev = spi_get_drvdata(spi);
897
898 ret = adis16400_stop_device(indio_dev);
899 if (ret)
900 goto err_ret;
901
902 adis16400_remove_trigger(indio_dev);
903 iio_ring_buffer_unregister(indio_dev->ring);
904 adis16400_unconfigure_ring(indio_dev);
905 iio_device_unregister(indio_dev);
906
907 return 0;
908
909 err_ret:
910 return ret;
911 }
912
913 static const struct spi_device_id adis16400_id[] = {
914 {"adis16300", ADIS16300},
915 {"adis16344", ADIS16344},
916 {"adis16350", ADIS16350},
917 {"adis16354", ADIS16350},
918 {"adis16355", ADIS16350},
919 {"adis16360", ADIS16360},
920 {"adis16362", ADIS16362},
921 {"adis16364", ADIS16364},
922 {"adis16365", ADIS16365},
923 {"adis16400", ADIS16400},
924 {"adis16405", ADIS16400},
925 {}
926 };
927
928 static struct spi_driver adis16400_driver = {
929 .driver = {
930 .name = "adis16400",
931 .owner = THIS_MODULE,
932 },
933 .id_table = adis16400_id,
934 .probe = adis16400_probe,
935 .remove = __devexit_p(adis16400_remove),
936 };
937
938 static __init int adis16400_init(void)
939 {
940 return spi_register_driver(&adis16400_driver);
941 }
942 module_init(adis16400_init);
943
944 static __exit void adis16400_exit(void)
945 {
946 spi_unregister_driver(&adis16400_driver);
947 }
948 module_exit(adis16400_exit);
949
950 MODULE_AUTHOR("Manuel Stahl <manuel.stahl@iis.fraunhofer.de>");
951 MODULE_DESCRIPTION("Analog Devices ADIS16400/5 IMU SPI driver");
952 MODULE_LICENSE("GPL v2");
Linux kernel - Deliverables
This page took 0.169612 seconds and 5 git commands to generate.