tjh.dev
Linux kernel mirror (for testing)
git.kernel.org/pub/scm/linux/kernel/git/torvalds/linux.git
kernel
os
linux
1/*
2 * ADIS16260/ADIS16265 Programmable Digital Gyroscope Sensor Driver
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/mutex.h>
11#include <linux/device.h>
12#include <linux/kernel.h>
13#include <linux/spi/spi.h>
14#include <linux/sysfs.h>
15#include <linux/module.h>
16
17#include <linux/iio/iio.h>
18#include <linux/iio/sysfs.h>
19#include <linux/iio/buffer.h>
20#include <linux/iio/imu/adis.h>
21
22#define ADIS16260_STARTUP_DELAY 220 /* ms */
23
24#define ADIS16260_FLASH_CNT 0x00 /* Flash memory write count */
25#define ADIS16260_SUPPLY_OUT 0x02 /* Power supply measurement */
26#define ADIS16260_GYRO_OUT 0x04 /* X-axis gyroscope output */
27#define ADIS16260_AUX_ADC 0x0A /* analog input channel measurement */
28#define ADIS16260_TEMP_OUT 0x0C /* internal temperature measurement */
29#define ADIS16260_ANGL_OUT 0x0E /* angle displacement */
30#define ADIS16260_GYRO_OFF 0x14 /* Calibration, offset/bias adjustment */
31#define ADIS16260_GYRO_SCALE 0x16 /* Calibration, scale adjustment */
32#define ADIS16260_ALM_MAG1 0x20 /* Alarm 1 magnitude/polarity setting */
33#define ADIS16260_ALM_MAG2 0x22 /* Alarm 2 magnitude/polarity setting */
34#define ADIS16260_ALM_SMPL1 0x24 /* Alarm 1 dynamic rate of change setting */
35#define ADIS16260_ALM_SMPL2 0x26 /* Alarm 2 dynamic rate of change setting */
36#define ADIS16260_ALM_CTRL 0x28 /* Alarm control */
37#define ADIS16260_AUX_DAC 0x30 /* Auxiliary DAC data */
38#define ADIS16260_GPIO_CTRL 0x32 /* Control, digital I/O line */
39#define ADIS16260_MSC_CTRL 0x34 /* Control, data ready, self-test settings */
40#define ADIS16260_SMPL_PRD 0x36 /* Control, internal sample rate */
41#define ADIS16260_SENS_AVG 0x38 /* Control, dynamic range, filtering */
42#define ADIS16260_SLP_CNT 0x3A /* Control, sleep mode initiation */
43#define ADIS16260_DIAG_STAT 0x3C /* Diagnostic, error flags */
44#define ADIS16260_GLOB_CMD 0x3E /* Control, global commands */
45#define ADIS16260_LOT_ID1 0x52 /* Lot Identification Code 1 */
46#define ADIS16260_LOT_ID2 0x54 /* Lot Identification Code 2 */
47#define ADIS16260_PROD_ID 0x56 /* Product identifier;
48 * convert to decimal = 16,265/16,260 */
49#define ADIS16260_SERIAL_NUM 0x58 /* Serial number */
50
51#define ADIS16260_ERROR_ACTIVE (1<<14)
52#define ADIS16260_NEW_DATA (1<<15)
53
54/* MSC_CTRL */
55#define ADIS16260_MSC_CTRL_MEM_TEST (1<<11)
56/* Internal self-test enable */
57#define ADIS16260_MSC_CTRL_INT_SELF_TEST (1<<10)
58#define ADIS16260_MSC_CTRL_NEG_SELF_TEST (1<<9)
59#define ADIS16260_MSC_CTRL_POS_SELF_TEST (1<<8)
60#define ADIS16260_MSC_CTRL_DATA_RDY_EN (1<<2)
61#define ADIS16260_MSC_CTRL_DATA_RDY_POL_HIGH (1<<1)
62#define ADIS16260_MSC_CTRL_DATA_RDY_DIO2 (1<<0)
63
64/* SMPL_PRD */
65/* Time base (tB): 0 = 1.953 ms, 1 = 60.54 ms */
66#define ADIS16260_SMPL_PRD_TIME_BASE (1<<7)
67#define ADIS16260_SMPL_PRD_DIV_MASK 0x7F
68
69/* SLP_CNT */
70#define ADIS16260_SLP_CNT_POWER_OFF 0x80
71
72/* DIAG_STAT */
73#define ADIS16260_DIAG_STAT_ALARM2 (1<<9)
74#define ADIS16260_DIAG_STAT_ALARM1 (1<<8)
75#define ADIS16260_DIAG_STAT_FLASH_CHK_BIT 6
76#define ADIS16260_DIAG_STAT_SELF_TEST_BIT 5
77#define ADIS16260_DIAG_STAT_OVERFLOW_BIT 4
78#define ADIS16260_DIAG_STAT_SPI_FAIL_BIT 3
79#define ADIS16260_DIAG_STAT_FLASH_UPT_BIT 2
80#define ADIS16260_DIAG_STAT_POWER_HIGH_BIT 1
81#define ADIS16260_DIAG_STAT_POWER_LOW_BIT 0
82
83/* GLOB_CMD */
84#define ADIS16260_GLOB_CMD_SW_RESET (1<<7)
85#define ADIS16260_GLOB_CMD_FLASH_UPD (1<<3)
86#define ADIS16260_GLOB_CMD_DAC_LATCH (1<<2)
87#define ADIS16260_GLOB_CMD_FAC_CALIB (1<<1)
88#define ADIS16260_GLOB_CMD_AUTO_NULL (1<<0)
89
90#define ADIS16260_SPI_SLOW (u32)(300 * 1000)
91#define ADIS16260_SPI_BURST (u32)(1000 * 1000)
92#define ADIS16260_SPI_FAST (u32)(2000 * 1000)
93
94/* At the moment triggers are only used for ring buffer
95 * filling. This may change!
96 */
97
98#define ADIS16260_SCAN_GYRO 0
99#define ADIS16260_SCAN_SUPPLY 1
100#define ADIS16260_SCAN_AUX_ADC 2
101#define ADIS16260_SCAN_TEMP 3
102#define ADIS16260_SCAN_ANGL 4
103
104/* Power down the device */
105static int adis16260_stop_device(struct iio_dev *indio_dev)
106{
107 struct adis *adis = iio_priv(indio_dev);
108 int ret;
109 u16 val = ADIS16260_SLP_CNT_POWER_OFF;
110
111 ret = adis_write_reg_16(adis, ADIS16260_SLP_CNT, val);
112 if (ret)
113 dev_err(&indio_dev->dev, "problem with turning device off: SLP_CNT");
114
115 return ret;
116}
117
118static const struct iio_chan_spec adis16260_channels[] = {
119 ADIS_GYRO_CHAN(X, ADIS16260_GYRO_OUT, ADIS16260_SCAN_GYRO,
120 BIT(IIO_CHAN_INFO_CALIBBIAS) |
121 BIT(IIO_CHAN_INFO_CALIBSCALE),
122 BIT(IIO_CHAN_INFO_SAMP_FREQ), 14),
123 ADIS_INCLI_CHAN(X, ADIS16260_ANGL_OUT, ADIS16260_SCAN_ANGL, 0,
124 BIT(IIO_CHAN_INFO_SAMP_FREQ), 14),
125 ADIS_TEMP_CHAN(ADIS16260_TEMP_OUT, ADIS16260_SCAN_TEMP,
126 BIT(IIO_CHAN_INFO_SAMP_FREQ), 12),
127 ADIS_SUPPLY_CHAN(ADIS16260_SUPPLY_OUT, ADIS16260_SCAN_SUPPLY,
128 BIT(IIO_CHAN_INFO_SAMP_FREQ), 12),
129 ADIS_AUX_ADC_CHAN(ADIS16260_AUX_ADC, ADIS16260_SCAN_AUX_ADC,
130 BIT(IIO_CHAN_INFO_SAMP_FREQ), 12),
131 IIO_CHAN_SOFT_TIMESTAMP(5),
132};
133
134static const u8 adis16260_addresses[][2] = {
135 [ADIS16260_SCAN_GYRO] = { ADIS16260_GYRO_OFF, ADIS16260_GYRO_SCALE },
136};
137
138static int adis16260_read_raw(struct iio_dev *indio_dev,
139 struct iio_chan_spec const *chan,
140 int *val, int *val2,
141 long mask)
142{
143 struct adis *adis = iio_priv(indio_dev);
144 int ret;
145 u8 addr;
146 s16 val16;
147
148 switch (mask) {
149 case IIO_CHAN_INFO_RAW:
150 return adis_single_conversion(indio_dev, chan,
151 ADIS16260_ERROR_ACTIVE, val);
152 case IIO_CHAN_INFO_SCALE:
153 switch (chan->type) {
154 case IIO_ANGL_VEL:
155 *val = 0;
156 if (spi_get_device_id(adis->spi)->driver_data) {
157 /* 0.01832 degree / sec */
158 *val2 = IIO_DEGREE_TO_RAD(18320);
159 } else {
160 /* 0.07326 degree / sec */
161 *val2 = IIO_DEGREE_TO_RAD(73260);
162 }
163 return IIO_VAL_INT_PLUS_MICRO;
164 case IIO_INCLI:
165 *val = 0;
166 *val2 = IIO_DEGREE_TO_RAD(36630);
167 return IIO_VAL_INT_PLUS_MICRO;
168 case IIO_VOLTAGE:
169 if (chan->channel == 0) {
170 *val = 1;
171 *val2 = 831500; /* 1.8315 mV */
172 } else {
173 *val = 0;
174 *val2 = 610500; /* 610.5 uV */
175 }
176 return IIO_VAL_INT_PLUS_MICRO;
177 case IIO_TEMP:
178 *val = 145;
179 *val2 = 300000; /* 0.1453 C */
180 return IIO_VAL_INT_PLUS_MICRO;
181 default:
182 return -EINVAL;
183 }
184 case IIO_CHAN_INFO_OFFSET:
185 *val = 250000 / 1453; /* 25 C = 0x00 */
186 return IIO_VAL_INT;
187 case IIO_CHAN_INFO_CALIBBIAS:
188 addr = adis16260_addresses[chan->scan_index][0];
189 ret = adis_read_reg_16(adis, addr, &val16);
190 if (ret)
191 return ret;
192
193 *val = sign_extend32(val16, 11);
194 return IIO_VAL_INT;
195 case IIO_CHAN_INFO_CALIBSCALE:
196 addr = adis16260_addresses[chan->scan_index][1];
197 ret = adis_read_reg_16(adis, addr, &val16);
198 if (ret)
199 return ret;
200
201 *val = val16;
202 return IIO_VAL_INT;
203 case IIO_CHAN_INFO_SAMP_FREQ:
204 ret = adis_read_reg_16(adis, ADIS16260_SMPL_PRD, &val16);
205 if (ret)
206 return ret;
207
208 if (spi_get_device_id(adis->spi)->driver_data)
209 /* If an adis16251 */
210 *val = (val16 & ADIS16260_SMPL_PRD_TIME_BASE) ?
211 8 : 256;
212 else
213 *val = (val16 & ADIS16260_SMPL_PRD_TIME_BASE) ?
214 66 : 2048;
215 *val /= (val16 & ADIS16260_SMPL_PRD_DIV_MASK) + 1;
216 return IIO_VAL_INT;
217 }
218 return -EINVAL;
219}
220
221static int adis16260_write_raw(struct iio_dev *indio_dev,
222 struct iio_chan_spec const *chan,
223 int val,
224 int val2,
225 long mask)
226{
227 struct adis *adis = iio_priv(indio_dev);
228 int ret;
229 u8 addr;
230 u8 t;
231
232 switch (mask) {
233 case IIO_CHAN_INFO_CALIBBIAS:
234 if (val < -2048 || val >= 2048)
235 return -EINVAL;
236
237 addr = adis16260_addresses[chan->scan_index][0];
238 return adis_write_reg_16(adis, addr, val);
239 case IIO_CHAN_INFO_CALIBSCALE:
240 if (val < 0 || val >= 4096)
241 return -EINVAL;
242
243 addr = adis16260_addresses[chan->scan_index][1];
244 return adis_write_reg_16(adis, addr, val);
245 case IIO_CHAN_INFO_SAMP_FREQ:
246 mutex_lock(&indio_dev->mlock);
247 if (spi_get_device_id(adis->spi)->driver_data)
248 t = 256 / val;
249 else
250 t = 2048 / val;
251
252 if (t > ADIS16260_SMPL_PRD_DIV_MASK)
253 t = ADIS16260_SMPL_PRD_DIV_MASK;
254 else if (t > 0)
255 t--;
256
257 if (t >= 0x0A)
258 adis->spi->max_speed_hz = ADIS16260_SPI_SLOW;
259 else
260 adis->spi->max_speed_hz = ADIS16260_SPI_FAST;
261 ret = adis_write_reg_8(adis, ADIS16260_SMPL_PRD, t);
262
263 mutex_unlock(&indio_dev->mlock);
264 return ret;
265 }
266 return -EINVAL;
267}
268
269static const struct iio_info adis16260_info = {
270 .read_raw = &adis16260_read_raw,
271 .write_raw = &adis16260_write_raw,
272 .update_scan_mode = adis_update_scan_mode,
273 .driver_module = THIS_MODULE,
274};
275
276static const char * const adis1620_status_error_msgs[] = {
277 [ADIS16260_DIAG_STAT_FLASH_CHK_BIT] = "Flash checksum error",
278 [ADIS16260_DIAG_STAT_SELF_TEST_BIT] = "Self test error",
279 [ADIS16260_DIAG_STAT_OVERFLOW_BIT] = "Sensor overrange",
280 [ADIS16260_DIAG_STAT_SPI_FAIL_BIT] = "SPI failure",
281 [ADIS16260_DIAG_STAT_FLASH_UPT_BIT] = "Flash update failed",
282 [ADIS16260_DIAG_STAT_POWER_HIGH_BIT] = "Power supply above 5.25",
283 [ADIS16260_DIAG_STAT_POWER_LOW_BIT] = "Power supply below 4.75",
284};
285
286static const struct adis_data adis16260_data = {
287 .write_delay = 30,
288 .read_delay = 30,
289 .msc_ctrl_reg = ADIS16260_MSC_CTRL,
290 .glob_cmd_reg = ADIS16260_GLOB_CMD,
291 .diag_stat_reg = ADIS16260_DIAG_STAT,
292
293 .self_test_mask = ADIS16260_MSC_CTRL_MEM_TEST,
294 .startup_delay = ADIS16260_STARTUP_DELAY,
295
296 .status_error_msgs = adis1620_status_error_msgs,
297 .status_error_mask = BIT(ADIS16260_DIAG_STAT_FLASH_CHK_BIT) |
298 BIT(ADIS16260_DIAG_STAT_SELF_TEST_BIT) |
299 BIT(ADIS16260_DIAG_STAT_OVERFLOW_BIT) |
300 BIT(ADIS16260_DIAG_STAT_SPI_FAIL_BIT) |
301 BIT(ADIS16260_DIAG_STAT_FLASH_UPT_BIT) |
302 BIT(ADIS16260_DIAG_STAT_POWER_HIGH_BIT) |
303 BIT(ADIS16260_DIAG_STAT_POWER_LOW_BIT),
304};
305
306static int adis16260_probe(struct spi_device *spi)
307{
308 struct iio_dev *indio_dev;
309 struct adis *adis;
310 int ret;
311
312 /* setup the industrialio driver allocated elements */
313 indio_dev = devm_iio_device_alloc(&spi->dev, sizeof(*adis));
314 if (!indio_dev)
315 return -ENOMEM;
316 adis = iio_priv(indio_dev);
317 /* this is only used for removal purposes */
318 spi_set_drvdata(spi, indio_dev);
319
320 indio_dev->name = spi_get_device_id(spi)->name;
321 indio_dev->dev.parent = &spi->dev;
322 indio_dev->info = &adis16260_info;
323 indio_dev->channels = adis16260_channels;
324 indio_dev->num_channels = ARRAY_SIZE(adis16260_channels);
325 indio_dev->modes = INDIO_DIRECT_MODE;
326
327 ret = adis_init(adis, indio_dev, spi, &adis16260_data);
328 if (ret)
329 return ret;
330
331 ret = adis_setup_buffer_and_trigger(adis, indio_dev, NULL);
332 if (ret)
333 return ret;
334
335 /* Get the device into a sane initial state */
336 ret = adis_initial_startup(adis);
337 if (ret)
338 goto error_cleanup_buffer_trigger;
339 ret = iio_device_register(indio_dev);
340 if (ret)
341 goto error_cleanup_buffer_trigger;
342
343 return 0;
344
345error_cleanup_buffer_trigger:
346 adis_cleanup_buffer_and_trigger(adis, indio_dev);
347 return ret;
348}
349
350static int adis16260_remove(struct spi_device *spi)
351{
352 struct iio_dev *indio_dev = spi_get_drvdata(spi);
353 struct adis *adis = iio_priv(indio_dev);
354
355 iio_device_unregister(indio_dev);
356 adis16260_stop_device(indio_dev);
357 adis_cleanup_buffer_and_trigger(adis, indio_dev);
358
359 return 0;
360}
361
362/*
363 * These parts do not need to be differentiated until someone adds
364 * support for the on chip filtering.
365 */
366static const struct spi_device_id adis16260_id[] = {
367 {"adis16260", 0},
368 {"adis16265", 0},
369 {"adis16250", 0},
370 {"adis16255", 0},
371 {"adis16251", 1},
372 {}
373};
374MODULE_DEVICE_TABLE(spi, adis16260_id);
375
376static struct spi_driver adis16260_driver = {
377 .driver = {
378 .name = "adis16260",
379 .owner = THIS_MODULE,
380 },
381 .probe = adis16260_probe,
382 .remove = adis16260_remove,
383 .id_table = adis16260_id,
384};
385module_spi_driver(adis16260_driver);
386
387MODULE_AUTHOR("Barry Song <21cnbao@gmail.com>");
388MODULE_DESCRIPTION("Analog Devices ADIS16260/5 Digital Gyroscope Sensor");
389MODULE_LICENSE("GPL v2");