2 * ADIS16209 Programmable Digital Vibration Sensor driver
4 * Copyright 2010 Analog Devices Inc.
6 * Licensed under the GPL-2 or later.
9 #include <linux/interrupt.h>
10 #include <linux/irq.h>
11 #include <linux/gpio.h>
12 #include <linux/delay.h>
13 #include <linux/mutex.h>
14 #include <linux/device.h>
15 #include <linux/kernel.h>
16 #include <linux/spi/spi.h>
18 #include <linux/sysfs.h>
19 #include <linux/list.h>
24 #include "inclinometer.h"
25 #include "../gyro/gyro.h"
26 #include "../adc/adc.h"
28 #include "adis16209.h"
30 #define DRIVER_NAME "adis16209"
32 static int adis16209_check_status(struct device *dev);
35 * adis16209_spi_write_reg_8() - write single byte to a register
36 * @dev: device associated with child of actual device (iio_dev or iio_trig)
37 * @reg_address: the address of the register to be written
38 * @val: the value to write
40 static int adis16209_spi_write_reg_8(struct device *dev,
45 struct iio_dev *indio_dev = dev_get_drvdata(dev);
46 struct adis16209_state *st = iio_dev_get_devdata(indio_dev);
48 mutex_lock(&st->buf_lock);
49 st->tx[0] = ADIS16209_WRITE_REG(reg_address);
52 ret = spi_write(st->us, st->tx, 2);
53 mutex_unlock(&st->buf_lock);
59 * adis16209_spi_write_reg_16() - write 2 bytes to a pair of registers
60 * @dev: device associated with child of actual device (iio_dev or iio_trig)
61 * @reg_address: the address of the lower of the two registers. Second register
62 * is assumed to have address one greater.
63 * @val: value to be written
65 static int adis16209_spi_write_reg_16(struct device *dev,
70 struct spi_message msg;
71 struct iio_dev *indio_dev = dev_get_drvdata(dev);
72 struct adis16209_state *st = iio_dev_get_devdata(indio_dev);
73 struct spi_transfer xfers[] = {
87 mutex_lock(&st->buf_lock);
88 st->tx[0] = ADIS16209_WRITE_REG(lower_reg_address);
89 st->tx[1] = value & 0xFF;
90 st->tx[2] = ADIS16209_WRITE_REG(lower_reg_address + 1);
91 st->tx[3] = (value >> 8) & 0xFF;
93 spi_message_init(&msg);
94 spi_message_add_tail(&xfers[0], &msg);
95 spi_message_add_tail(&xfers[1], &msg);
96 ret = spi_sync(st->us, &msg);
97 mutex_unlock(&st->buf_lock);
103 * adis16209_spi_read_reg_16() - read 2 bytes from a 16-bit register
104 * @dev: device associated with child of actual device (iio_dev or iio_trig)
105 * @reg_address: the address of the lower of the two registers. Second register
106 * is assumed to have address one greater.
107 * @val: somewhere to pass back the value read
109 static int adis16209_spi_read_reg_16(struct device *dev,
110 u8 lower_reg_address,
113 struct spi_message msg;
114 struct iio_dev *indio_dev = dev_get_drvdata(dev);
115 struct adis16209_state *st = iio_dev_get_devdata(indio_dev);
117 struct spi_transfer xfers[] = {
133 mutex_lock(&st->buf_lock);
134 st->tx[0] = ADIS16209_READ_REG(lower_reg_address);
137 spi_message_init(&msg);
138 spi_message_add_tail(&xfers[0], &msg);
139 spi_message_add_tail(&xfers[1], &msg);
140 ret = spi_sync(st->us, &msg);
142 dev_err(&st->us->dev,
143 "problem when reading 16 bit register 0x%02X",
147 *val = (st->rx[0] << 8) | st->rx[1];
150 mutex_unlock(&st->buf_lock);
154 static ssize_t adis16209_read_12bit_unsigned(struct device *dev,
155 struct device_attribute *attr,
160 struct iio_dev_attr *this_attr = to_iio_dev_attr(attr);
162 ret = adis16209_spi_read_reg_16(dev, this_attr->address, &val);
166 if (val & ADIS16209_ERROR_ACTIVE)
167 adis16209_check_status(dev);
169 return sprintf(buf, "%u\n", val & 0x0FFF);
172 static ssize_t adis16209_read_14bit_unsigned(struct device *dev,
173 struct device_attribute *attr,
178 struct iio_dev_attr *this_attr = to_iio_dev_attr(attr);
180 ret = adis16209_spi_read_reg_16(dev, this_attr->address, &val);
184 if (val & ADIS16209_ERROR_ACTIVE)
185 adis16209_check_status(dev);
187 return sprintf(buf, "%u\n", val & 0x3FFF);
190 static ssize_t adis16209_read_temp(struct device *dev,
191 struct device_attribute *attr,
194 struct iio_dev *indio_dev = dev_get_drvdata(dev);
198 /* Take the iio_dev status lock */
199 mutex_lock(&indio_dev->mlock);
201 ret = adis16209_spi_read_reg_16(dev, ADIS16209_TEMP_OUT, (u16 *)&val);
205 if (val & ADIS16209_ERROR_ACTIVE)
206 adis16209_check_status(dev);
209 ret = sprintf(buf, "%d\n", val);
212 mutex_unlock(&indio_dev->mlock);
216 static ssize_t adis16209_read_14bit_signed(struct device *dev,
217 struct device_attribute *attr,
220 struct iio_dev *indio_dev = dev_get_drvdata(dev);
221 struct iio_dev_attr *this_attr = to_iio_dev_attr(attr);
225 mutex_lock(&indio_dev->mlock);
227 ret = adis16209_spi_read_reg_16(dev, this_attr->address, (u16 *)&val);
229 if (val & ADIS16209_ERROR_ACTIVE)
230 adis16209_check_status(dev);
232 val = ((s16)(val << 2) >> 2);
233 ret = sprintf(buf, "%d\n", val);
236 mutex_unlock(&indio_dev->mlock);
241 static ssize_t adis16209_write_16bit(struct device *dev,
242 struct device_attribute *attr,
246 struct iio_dev_attr *this_attr = to_iio_dev_attr(attr);
250 ret = strict_strtol(buf, 10, &val);
253 ret = adis16209_spi_write_reg_16(dev, this_attr->address, val);
256 return ret ? ret : len;
259 static int adis16209_reset(struct device *dev)
262 ret = adis16209_spi_write_reg_8(dev,
264 ADIS16209_GLOB_CMD_SW_RESET);
266 dev_err(dev, "problem resetting device");
271 static ssize_t adis16209_write_reset(struct device *dev,
272 struct device_attribute *attr,
273 const char *buf, size_t len)
281 return adis16209_reset(dev);
286 int adis16209_set_irq(struct device *dev, bool enable)
291 ret = adis16209_spi_read_reg_16(dev, ADIS16209_MSC_CTRL, &msc);
295 msc |= ADIS16209_MSC_CTRL_ACTIVE_HIGH;
296 msc &= ~ADIS16209_MSC_CTRL_DATA_RDY_DIO2;
298 msc |= ADIS16209_MSC_CTRL_DATA_RDY_EN;
300 msc &= ~ADIS16209_MSC_CTRL_DATA_RDY_EN;
302 ret = adis16209_spi_write_reg_16(dev, ADIS16209_MSC_CTRL, msc);
308 static int adis16209_check_status(struct device *dev)
313 ret = adis16209_spi_read_reg_16(dev, ADIS16209_DIAG_STAT, &status);
315 dev_err(dev, "Reading status failed\n");
320 if (status & ADIS16209_DIAG_STAT_SELFTEST_FAIL)
321 dev_err(dev, "Self test failure\n");
322 if (status & ADIS16209_DIAG_STAT_SPI_FAIL)
323 dev_err(dev, "SPI failure\n");
324 if (status & ADIS16209_DIAG_STAT_FLASH_UPT)
325 dev_err(dev, "Flash update failed\n");
326 if (status & ADIS16209_DIAG_STAT_POWER_HIGH)
327 dev_err(dev, "Power supply above 3.625V\n");
328 if (status & ADIS16209_DIAG_STAT_POWER_LOW)
329 dev_err(dev, "Power supply below 3.15V\n");
335 static int adis16209_self_test(struct device *dev)
338 ret = adis16209_spi_write_reg_16(dev,
340 ADIS16209_MSC_CTRL_SELF_TEST_EN);
342 dev_err(dev, "problem starting self test");
346 adis16209_check_status(dev);
352 static int adis16209_initial_setup(struct adis16209_state *st)
355 struct device *dev = &st->indio_dev->dev;
358 ret = adis16209_set_irq(dev, false);
360 dev_err(dev, "disable irq failed");
365 ret = adis16209_self_test(dev);
367 dev_err(dev, "self test failure");
371 /* Read status register to check the result */
372 ret = adis16209_check_status(dev);
374 adis16209_reset(dev);
375 dev_err(dev, "device not playing ball -> reset");
376 msleep(ADIS16209_STARTUP_DELAY);
377 ret = adis16209_check_status(dev);
379 dev_err(dev, "giving up");
384 printk(KERN_INFO DRIVER_NAME ": at CS%d (irq %d)\n",
385 st->us->chip_select, st->us->irq);
391 static IIO_DEV_ATTR_IN_NAMED_RAW(supply, adis16209_read_14bit_unsigned,
392 ADIS16209_SUPPLY_OUT);
393 static IIO_CONST_ATTR(in_supply_scale, "0.30518");
394 static IIO_DEV_ATTR_IN_RAW(0, adis16209_read_12bit_unsigned,
396 static IIO_CONST_ATTR(in0_scale, "0.6105");
398 static IIO_DEV_ATTR_ACCEL_X(adis16209_read_14bit_signed,
399 ADIS16209_XACCL_OUT);
400 static IIO_DEV_ATTR_ACCEL_Y(adis16209_read_14bit_signed,
401 ADIS16209_YACCL_OUT);
402 static IIO_DEV_ATTR_ACCEL_X_OFFSET(S_IWUSR | S_IRUGO,
403 adis16209_read_14bit_signed,
404 adis16209_write_16bit,
405 ADIS16209_XACCL_NULL);
406 static IIO_DEV_ATTR_ACCEL_Y_OFFSET(S_IWUSR | S_IRUGO,
407 adis16209_read_14bit_signed,
408 adis16209_write_16bit,
409 ADIS16209_YACCL_NULL);
410 static IIO_CONST_ATTR(accel_scale, "0.24414");
412 static IIO_DEV_ATTR_INCLI_X(adis16209_read_14bit_signed,
413 ADIS16209_XINCL_OUT);
414 static IIO_DEV_ATTR_INCLI_Y(adis16209_read_14bit_signed,
415 ADIS16209_YINCL_OUT);
416 static IIO_DEV_ATTR_INCLI_X_OFFSET(S_IWUSR | S_IRUGO,
417 adis16209_read_14bit_signed,
418 adis16209_write_16bit,
419 ADIS16209_XACCL_NULL);
420 static IIO_DEV_ATTR_INCLI_Y_OFFSET(S_IWUSR | S_IRUGO,
421 adis16209_read_14bit_signed,
422 adis16209_write_16bit,
423 ADIS16209_YACCL_NULL);
424 static IIO_CONST_ATTR(incli_scale, "0.025");
426 static IIO_DEVICE_ATTR(rot_raw, S_IRUGO, adis16209_read_14bit_signed,
427 NULL, ADIS16209_ROT_OUT);
429 static IIO_DEV_ATTR_TEMP(adis16209_read_temp);
430 static IIO_CONST_ATTR(temp_offset, "25");
431 static IIO_CONST_ATTR(temp_scale, "-0.47");
433 static IIO_DEVICE_ATTR(reset, S_IWUSR, NULL, adis16209_write_reset, 0);
435 static IIO_CONST_ATTR(name, "adis16209");
437 static struct attribute *adis16209_event_attributes[] = {
441 static struct attribute_group adis16209_event_attribute_group = {
442 .attrs = adis16209_event_attributes,
445 static struct attribute *adis16209_attributes[] = {
446 &iio_dev_attr_in_supply_raw.dev_attr.attr,
447 &iio_const_attr_in_supply_scale.dev_attr.attr,
448 &iio_dev_attr_temp.dev_attr.attr,
449 &iio_const_attr_temp_offset.dev_attr.attr,
450 &iio_const_attr_temp_scale.dev_attr.attr,
451 &iio_dev_attr_reset.dev_attr.attr,
452 &iio_const_attr_name.dev_attr.attr,
453 &iio_dev_attr_in0_raw.dev_attr.attr,
454 &iio_const_attr_in0_scale.dev_attr.attr,
455 &iio_dev_attr_accel_x_raw.dev_attr.attr,
456 &iio_dev_attr_accel_y_raw.dev_attr.attr,
457 &iio_dev_attr_accel_x_offset.dev_attr.attr,
458 &iio_dev_attr_accel_y_offset.dev_attr.attr,
459 &iio_const_attr_accel_scale.dev_attr.attr,
460 &iio_dev_attr_incli_x_raw.dev_attr.attr,
461 &iio_dev_attr_incli_y_raw.dev_attr.attr,
462 &iio_dev_attr_incli_x_offset.dev_attr.attr,
463 &iio_dev_attr_incli_y_offset.dev_attr.attr,
464 &iio_const_attr_incli_scale.dev_attr.attr,
465 &iio_dev_attr_rot_raw.dev_attr.attr,
469 static const struct attribute_group adis16209_attribute_group = {
470 .attrs = adis16209_attributes,
473 static int __devinit adis16209_probe(struct spi_device *spi)
475 int ret, regdone = 0;
476 struct adis16209_state *st = kzalloc(sizeof *st, GFP_KERNEL);
481 /* this is only used for removal purposes */
482 spi_set_drvdata(spi, st);
484 /* Allocate the comms buffers */
485 st->rx = kzalloc(sizeof(*st->rx)*ADIS16209_MAX_RX, GFP_KERNEL);
486 if (st->rx == NULL) {
490 st->tx = kzalloc(sizeof(*st->tx)*ADIS16209_MAX_TX, GFP_KERNEL);
491 if (st->tx == NULL) {
496 mutex_init(&st->buf_lock);
497 /* setup the industrialio driver allocated elements */
498 st->indio_dev = iio_allocate_device();
499 if (st->indio_dev == NULL) {
504 st->indio_dev->dev.parent = &spi->dev;
505 st->indio_dev->num_interrupt_lines = 1;
506 st->indio_dev->event_attrs = &adis16209_event_attribute_group;
507 st->indio_dev->attrs = &adis16209_attribute_group;
508 st->indio_dev->dev_data = (void *)(st);
509 st->indio_dev->driver_module = THIS_MODULE;
510 st->indio_dev->modes = INDIO_DIRECT_MODE;
512 ret = adis16209_configure_ring(st->indio_dev);
516 ret = iio_device_register(st->indio_dev);
518 goto error_unreg_ring_funcs;
521 ret = adis16209_initialize_ring(st->indio_dev->ring);
523 printk(KERN_ERR "failed to initialize the ring\n");
524 goto error_unreg_ring_funcs;
528 ret = iio_register_interrupt_line(spi->irq,
534 goto error_uninitialize_ring;
536 ret = adis16209_probe_trigger(st->indio_dev);
538 goto error_unregister_line;
541 /* Get the device into a sane initial state */
542 ret = adis16209_initial_setup(st);
544 goto error_remove_trigger;
547 error_remove_trigger:
548 adis16209_remove_trigger(st->indio_dev);
549 error_unregister_line:
551 iio_unregister_interrupt_line(st->indio_dev, 0);
552 error_uninitialize_ring:
553 adis16209_uninitialize_ring(st->indio_dev->ring);
554 error_unreg_ring_funcs:
555 adis16209_unconfigure_ring(st->indio_dev);
558 iio_device_unregister(st->indio_dev);
560 iio_free_device(st->indio_dev);
571 static int adis16209_remove(struct spi_device *spi)
573 struct adis16209_state *st = spi_get_drvdata(spi);
574 struct iio_dev *indio_dev = st->indio_dev;
576 flush_scheduled_work();
578 adis16209_remove_trigger(indio_dev);
580 iio_unregister_interrupt_line(indio_dev, 0);
582 adis16209_uninitialize_ring(indio_dev->ring);
583 iio_device_unregister(indio_dev);
584 adis16209_unconfigure_ring(indio_dev);
592 static struct spi_driver adis16209_driver = {
595 .owner = THIS_MODULE,
597 .probe = adis16209_probe,
598 .remove = __devexit_p(adis16209_remove),
601 static __init int adis16209_init(void)
603 return spi_register_driver(&adis16209_driver);
605 module_init(adis16209_init);
607 static __exit void adis16209_exit(void)
609 spi_unregister_driver(&adis16209_driver);
611 module_exit(adis16209_exit);
613 MODULE_AUTHOR("Barry Song <21cnbao@gmail.com>");
614 MODULE_DESCRIPTION("Analog Devices ADIS16209 Digital Vibration Sensor driver");
615 MODULE_LICENSE("GPL v2");