2 * ADIS16300 Four Degrees of Freedom Inertial 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>
23 #include "../accel/accel.h"
24 #include "../gyro/gyro.h"
25 #include "../adc/adc.h"
27 #include "adis16300.h"
29 #define DRIVER_NAME "adis16300"
31 /* At the moment the spi framework doesn't allow global setting of cs_change.
32 * It's in the likely to be added comment at the top of spi.h.
33 * This means that use cannot be made of spi_write etc.
37 * adis16300_spi_write_reg_8() - write single byte to a register
38 * @dev: device associated with child of actual device (iio_dev or iio_trig)
39 * @reg_address: the address of the register to be written
40 * @val: the value to write
42 int adis16300_spi_write_reg_8(struct device *dev,
47 struct iio_dev *indio_dev = dev_get_drvdata(dev);
48 struct adis16300_state *st = iio_dev_get_devdata(indio_dev);
50 mutex_lock(&st->buf_lock);
51 st->tx[0] = ADIS16300_WRITE_REG(reg_address);
54 ret = spi_write(st->us, st->tx, 2);
55 mutex_unlock(&st->buf_lock);
61 * adis16300_spi_write_reg_16() - write 2 bytes to a pair of registers
62 * @dev: device associated with child of actual device (iio_dev or iio_trig)
63 * @reg_address: the address of the lower of the two registers. Second register
64 * is assumed to have address one greater.
65 * @val: value to be written
67 static int adis16300_spi_write_reg_16(struct device *dev,
72 struct spi_message msg;
73 struct iio_dev *indio_dev = dev_get_drvdata(dev);
74 struct adis16300_state *st = iio_dev_get_devdata(indio_dev);
75 struct spi_transfer xfers[] = {
89 mutex_lock(&st->buf_lock);
90 st->tx[0] = ADIS16300_WRITE_REG(lower_reg_address);
91 st->tx[1] = value & 0xFF;
92 st->tx[2] = ADIS16300_WRITE_REG(lower_reg_address + 1);
93 st->tx[3] = (value >> 8) & 0xFF;
95 spi_message_init(&msg);
96 spi_message_add_tail(&xfers[0], &msg);
97 spi_message_add_tail(&xfers[1], &msg);
98 ret = spi_sync(st->us, &msg);
99 mutex_unlock(&st->buf_lock);
105 * adis16300_spi_read_reg_16() - read 2 bytes from a 16-bit register
106 * @dev: device associated with child of actual device (iio_dev or iio_trig)
107 * @reg_address: the address of the lower of the two registers. Second register
108 * is assumed to have address one greater.
109 * @val: somewhere to pass back the value read
111 static int adis16300_spi_read_reg_16(struct device *dev,
112 u8 lower_reg_address,
115 struct spi_message msg;
116 struct iio_dev *indio_dev = dev_get_drvdata(dev);
117 struct adis16300_state *st = iio_dev_get_devdata(indio_dev);
119 struct spi_transfer xfers[] = {
133 mutex_lock(&st->buf_lock);
134 st->tx[0] = ADIS16300_READ_REG(lower_reg_address);
139 spi_message_init(&msg);
140 spi_message_add_tail(&xfers[0], &msg);
141 spi_message_add_tail(&xfers[1], &msg);
142 ret = spi_sync(st->us, &msg);
144 dev_err(&st->us->dev,
145 "problem when reading 16 bit register 0x%02X",
149 *val = (st->rx[0] << 8) | st->rx[1];
152 mutex_unlock(&st->buf_lock);
157 * adis16300_spi_read_burst() - read all data registers
158 * @dev: device associated with child of actual device (iio_dev or iio_trig)
159 * @rx: somewhere to pass back the value read (min size is 24 bytes)
161 int adis16300_spi_read_burst(struct device *dev, u8 *rx)
163 struct spi_message msg;
164 struct iio_dev *indio_dev = dev_get_drvdata(dev);
165 struct adis16300_state *st = iio_dev_get_devdata(indio_dev);
166 u32 old_speed_hz = st->us->max_speed_hz;
169 struct spi_transfer xfers[] = {
183 mutex_lock(&st->buf_lock);
184 st->tx[0] = ADIS16300_READ_REG(ADIS16300_GLOB_CMD);
187 spi_message_init(&msg);
188 spi_message_add_tail(&xfers[0], &msg);
189 spi_message_add_tail(&xfers[1], &msg);
191 st->us->max_speed_hz = min(ADIS16300_SPI_BURST, old_speed_hz);
194 ret = spi_sync(st->us, &msg);
196 dev_err(&st->us->dev, "problem when burst reading");
198 st->us->max_speed_hz = old_speed_hz;
200 mutex_unlock(&st->buf_lock);
205 * adis16300_spi_read_sequence() - read a sequence of 16-bit registers
206 * @dev: device associated with child of actual device (iio_dev or iio_trig)
207 * @tx: register addresses in bytes 0,2,4,6... (min size is 2*num bytes)
208 * @rx: somewhere to pass back the value read (min size is 2*num bytes)
210 int adis16300_spi_read_sequence(struct device *dev,
211 u8 *tx, u8 *rx, int num)
213 struct spi_message msg;
214 struct spi_transfer *xfers;
215 struct iio_dev *indio_dev = dev_get_drvdata(dev);
216 struct adis16300_state *st = iio_dev_get_devdata(indio_dev);
219 xfers = kzalloc(num + 1, GFP_KERNEL);
221 dev_err(&st->us->dev, "memory alloc failed");
226 /* tx: |add1|addr2|addr3|...|addrN |zero|
227 * rx: |zero|res1 |res2 |...|resN-1|resN| */
228 spi_message_init(&msg);
229 for (i = 0; i < num + 1; i++) {
231 xfers[i].rx_buf = st->rx + 2*(i - 1);
233 xfers[i].tx_buf = st->tx + 2*i;
234 xfers[i].bits_per_word = 8;
236 xfers[i].cs_change = 1;
237 spi_message_add_tail(&xfers[i], &msg);
240 mutex_lock(&st->buf_lock);
242 ret = spi_sync(st->us, &msg);
244 dev_err(&st->us->dev, "problem when reading sequence");
246 mutex_unlock(&st->buf_lock);
253 static ssize_t adis16300_spi_read_signed(struct device *dev,
254 struct device_attribute *attr,
260 unsigned shift = 16 - bits;
261 struct iio_dev_attr *this_attr = to_iio_dev_attr(attr);
263 ret = adis16300_spi_read_reg_16(dev, this_attr->address, (u16 *)&val);
267 if (val & ADIS16300_ERROR_ACTIVE)
268 adis16300_check_status(dev);
269 val = ((s16)(val << shift) >> shift);
270 return sprintf(buf, "%d\n", val);
273 static ssize_t adis16300_read_12bit_unsigned(struct device *dev,
274 struct device_attribute *attr,
279 struct iio_dev_attr *this_attr = to_iio_dev_attr(attr);
281 ret = adis16300_spi_read_reg_16(dev, this_attr->address, &val);
285 if (val & ADIS16300_ERROR_ACTIVE)
286 adis16300_check_status(dev);
288 return sprintf(buf, "%u\n", val & 0x0FFF);
291 static ssize_t adis16300_read_14bit_signed(struct device *dev,
292 struct device_attribute *attr,
295 struct iio_dev *indio_dev = dev_get_drvdata(dev);
298 /* Take the iio_dev status lock */
299 mutex_lock(&indio_dev->mlock);
300 ret = adis16300_spi_read_signed(dev, attr, buf, 14);
301 mutex_unlock(&indio_dev->mlock);
306 static ssize_t adis16300_read_12bit_signed(struct device *dev,
307 struct device_attribute *attr,
310 struct iio_dev *indio_dev = dev_get_drvdata(dev);
313 /* Take the iio_dev status lock */
314 mutex_lock(&indio_dev->mlock);
315 ret = adis16300_spi_read_signed(dev, attr, buf, 12);
316 mutex_unlock(&indio_dev->mlock);
321 static ssize_t adis16300_read_13bit_signed(struct device *dev,
322 struct device_attribute *attr,
325 struct iio_dev *indio_dev = dev_get_drvdata(dev);
328 /* Take the iio_dev status lock */
329 mutex_lock(&indio_dev->mlock);
330 ret = adis16300_spi_read_signed(dev, attr, buf, 13);
331 mutex_unlock(&indio_dev->mlock);
336 static ssize_t adis16300_write_16bit(struct device *dev,
337 struct device_attribute *attr,
341 struct iio_dev_attr *this_attr = to_iio_dev_attr(attr);
345 ret = strict_strtol(buf, 10, &val);
348 ret = adis16300_spi_write_reg_16(dev, this_attr->address, val);
351 return ret ? ret : len;
354 static ssize_t adis16300_read_frequency(struct device *dev,
355 struct device_attribute *attr,
361 ret = adis16300_spi_read_reg_16(dev,
366 sps = (t & ADIS16300_SMPL_PRD_TIME_BASE) ? 53 : 1638;
367 sps /= (t & ADIS16300_SMPL_PRD_DIV_MASK) + 1;
368 len = sprintf(buf, "%d SPS\n", sps);
372 static ssize_t adis16300_write_frequency(struct device *dev,
373 struct device_attribute *attr,
377 struct iio_dev *indio_dev = dev_get_drvdata(dev);
378 struct adis16300_state *st = iio_dev_get_devdata(indio_dev);
383 ret = strict_strtol(buf, 10, &val);
387 mutex_lock(&indio_dev->mlock);
392 t &= ADIS16300_SMPL_PRD_DIV_MASK;
393 if ((t & ADIS16300_SMPL_PRD_DIV_MASK) >= 0x0A)
394 st->us->max_speed_hz = ADIS16300_SPI_SLOW;
396 st->us->max_speed_hz = ADIS16300_SPI_FAST;
398 ret = adis16300_spi_write_reg_8(dev,
402 mutex_unlock(&indio_dev->mlock);
404 return ret ? ret : len;
407 static ssize_t adis16300_write_reset(struct device *dev,
408 struct device_attribute *attr,
409 const char *buf, size_t len)
417 return adis16300_reset(dev);
424 int adis16300_set_irq(struct device *dev, bool enable)
428 ret = adis16300_spi_read_reg_16(dev, ADIS16300_MSC_CTRL, &msc);
432 msc |= ADIS16300_MSC_CTRL_DATA_RDY_POL_HIGH;
433 msc &= ~ADIS16300_MSC_CTRL_DATA_RDY_DIO2;
435 msc |= ADIS16300_MSC_CTRL_DATA_RDY_EN;
437 msc &= ~ADIS16300_MSC_CTRL_DATA_RDY_EN;
439 ret = adis16300_spi_write_reg_16(dev, ADIS16300_MSC_CTRL, msc);
447 int adis16300_reset(struct device *dev)
450 ret = adis16300_spi_write_reg_8(dev,
452 ADIS16300_GLOB_CMD_SW_RESET);
454 dev_err(dev, "problem resetting device");
459 /* Power down the device */
460 int adis16300_stop_device(struct device *dev)
463 u16 val = ADIS16300_SLP_CNT_POWER_OFF;
465 ret = adis16300_spi_write_reg_16(dev, ADIS16300_SLP_CNT, val);
467 dev_err(dev, "problem with turning device off: SLP_CNT");
472 int adis16300_self_test(struct device *dev)
475 ret = adis16300_spi_write_reg_16(dev,
477 ADIS16300_MSC_CTRL_MEM_TEST);
479 dev_err(dev, "problem starting self test");
483 adis16300_check_status(dev);
489 int adis16300_check_status(struct device *dev)
494 ret = adis16300_spi_read_reg_16(dev, ADIS16300_DIAG_STAT, &status);
497 dev_err(dev, "Reading status failed\n");
501 if (status & ADIS16300_DIAG_STAT_ZACCL_FAIL)
502 dev_err(dev, "Z-axis accelerometer self-test failure\n");
503 if (status & ADIS16300_DIAG_STAT_YACCL_FAIL)
504 dev_err(dev, "Y-axis accelerometer self-test failure\n");
505 if (status & ADIS16300_DIAG_STAT_XACCL_FAIL)
506 dev_err(dev, "X-axis accelerometer self-test failure\n");
507 if (status & ADIS16300_DIAG_STAT_XGYRO_FAIL)
508 dev_err(dev, "X-axis gyroscope self-test failure\n");
509 if (status & ADIS16300_DIAG_STAT_ALARM2)
510 dev_err(dev, "Alarm 2 active\n");
511 if (status & ADIS16300_DIAG_STAT_ALARM1)
512 dev_err(dev, "Alarm 1 active\n");
513 if (status & ADIS16300_DIAG_STAT_FLASH_CHK)
514 dev_err(dev, "Flash checksum error\n");
515 if (status & ADIS16300_DIAG_STAT_SELF_TEST)
516 dev_err(dev, "Self test error\n");
517 if (status & ADIS16300_DIAG_STAT_OVERFLOW)
518 dev_err(dev, "Sensor overrange\n");
519 if (status & ADIS16300_DIAG_STAT_SPI_FAIL)
520 dev_err(dev, "SPI failure\n");
521 if (status & ADIS16300_DIAG_STAT_FLASH_UPT)
522 dev_err(dev, "Flash update failed\n");
523 if (status & ADIS16300_DIAG_STAT_POWER_HIGH)
524 dev_err(dev, "Power supply above 5.25V\n");
525 if (status & ADIS16300_DIAG_STAT_POWER_LOW)
526 dev_err(dev, "Power supply below 4.75V\n");
532 static int adis16300_initial_setup(struct adis16300_state *st)
536 struct device *dev = &st->indio_dev->dev;
538 /* use low spi speed for init */
539 st->us->max_speed_hz = ADIS16300_SPI_SLOW;
540 st->us->mode = SPI_MODE_3;
544 ret = adis16300_set_irq(dev, false);
546 dev_err(dev, "disable irq failed");
552 /* Read status register to check the result */
553 ret = adis16300_check_status(dev);
555 adis16300_reset(dev);
556 dev_err(dev, "device not playing ball -> reset");
557 msleep(ADIS16300_STARTUP_DELAY);
558 ret = adis16300_check_status(dev);
560 dev_err(dev, "giving up");
565 printk(KERN_INFO DRIVER_NAME ": at CS%d (irq %d)\n",
566 st->us->chip_select, st->us->irq);
568 /* use high spi speed if possible */
569 ret = adis16300_spi_read_reg_16(dev, ADIS16300_SMPL_PRD, &smp_prd);
570 if (!ret && (smp_prd & ADIS16300_SMPL_PRD_DIV_MASK) < 0x0A) {
571 st->us->max_speed_hz = ADIS16300_SPI_SLOW;
579 static IIO_DEV_ATTR_ACCEL_X_OFFSET(S_IWUSR | S_IRUGO,
580 adis16300_read_12bit_signed,
581 adis16300_write_16bit,
582 ADIS16300_XACCL_OFF);
584 static IIO_DEV_ATTR_ACCEL_Y_OFFSET(S_IWUSR | S_IRUGO,
585 adis16300_read_12bit_signed,
586 adis16300_write_16bit,
587 ADIS16300_YACCL_OFF);
589 static IIO_DEV_ATTR_ACCEL_Z_OFFSET(S_IWUSR | S_IRUGO,
590 adis16300_read_12bit_signed,
591 adis16300_write_16bit,
592 ADIS16300_ZACCL_OFF);
594 static IIO_DEV_ATTR_IN_NAMED_RAW(supply, adis16300_read_14bit_signed,
595 ADIS16300_SUPPLY_OUT);
596 static IIO_CONST_ATTR(in_supply_scale, "0.00242");
598 static IIO_DEV_ATTR_GYRO_X(adis16300_read_14bit_signed,
599 ADIS16300_XGYRO_OUT);
600 static IIO_CONST_ATTR(gyro_scale, "0.05 deg/s");
602 static IIO_DEV_ATTR_ACCEL_X(adis16300_read_14bit_signed,
603 ADIS16300_XACCL_OUT);
604 static IIO_DEV_ATTR_ACCEL_Y(adis16300_read_14bit_signed,
605 ADIS16300_YACCL_OUT);
606 static IIO_DEV_ATTR_ACCEL_Z(adis16300_read_14bit_signed,
607 ADIS16300_ZACCL_OUT);
608 static IIO_CONST_ATTR(accel_scale, "0.0006 g");
610 static IIO_DEV_ATTR_INCLI_X(adis16300_read_13bit_signed,
611 ADIS16300_XINCLI_OUT);
612 static IIO_DEV_ATTR_INCLI_Y(adis16300_read_13bit_signed,
613 ADIS16300_YINCLI_OUT);
614 static IIO_CONST_ATTR(incli_scale, "0.044 d");
616 static IIO_DEV_ATTR_TEMP(adis16300_read_12bit_signed);
617 static IIO_CONST_ATTR(temp_offset, "198.16 K");
618 static IIO_CONST_ATTR(temp_scale, "0.14 K");
620 static IIO_DEV_ATTR_IN_RAW(0, adis16300_read_12bit_unsigned,
622 static IIO_CONST_ATTR(in0_scale, "0.000806");
624 static IIO_DEV_ATTR_SAMP_FREQ(S_IWUSR | S_IRUGO,
625 adis16300_read_frequency,
626 adis16300_write_frequency);
628 static IIO_DEVICE_ATTR(reset, S_IWUSR, NULL, adis16300_write_reset, 0);
630 static IIO_CONST_ATTR_AVAIL_SAMP_FREQ("409 546 819 1638");
632 static IIO_CONST_ATTR(name, "adis16300");
634 static struct attribute *adis16300_event_attributes[] = {
638 static struct attribute_group adis16300_event_attribute_group = {
639 .attrs = adis16300_event_attributes,
642 static struct attribute *adis16300_attributes[] = {
643 &iio_dev_attr_accel_x_offset.dev_attr.attr,
644 &iio_dev_attr_accel_y_offset.dev_attr.attr,
645 &iio_dev_attr_accel_z_offset.dev_attr.attr,
646 &iio_dev_attr_in_supply_raw.dev_attr.attr,
647 &iio_const_attr_in_supply_scale.dev_attr.attr,
648 &iio_dev_attr_gyro_x.dev_attr.attr,
649 &iio_const_attr_gyro_scale.dev_attr.attr,
650 &iio_dev_attr_accel_x_raw.dev_attr.attr,
651 &iio_dev_attr_accel_y_raw.dev_attr.attr,
652 &iio_dev_attr_accel_z_raw.dev_attr.attr,
653 &iio_const_attr_accel_scale.dev_attr.attr,
654 &iio_dev_attr_incli_x.dev_attr.attr,
655 &iio_dev_attr_incli_y.dev_attr.attr,
656 &iio_const_attr_incli_scale.dev_attr.attr,
657 &iio_dev_attr_temp.dev_attr.attr,
658 &iio_const_attr_temp_offset.dev_attr.attr,
659 &iio_const_attr_temp_scale.dev_attr.attr,
660 &iio_dev_attr_in0_raw.dev_attr.attr,
661 &iio_const_attr_in0_scale.dev_attr.attr,
662 &iio_dev_attr_sampling_frequency.dev_attr.attr,
663 &iio_const_attr_available_sampling_frequency.dev_attr.attr,
664 &iio_dev_attr_reset.dev_attr.attr,
665 &iio_const_attr_name.dev_attr.attr,
669 static const struct attribute_group adis16300_attribute_group = {
670 .attrs = adis16300_attributes,
673 static int __devinit adis16300_probe(struct spi_device *spi)
675 int ret, regdone = 0;
676 struct adis16300_state *st = kzalloc(sizeof *st, GFP_KERNEL);
681 /* this is only used for removal purposes */
682 spi_set_drvdata(spi, st);
684 /* Allocate the comms buffers */
685 st->rx = kzalloc(sizeof(*st->rx)*ADIS16300_MAX_RX, GFP_KERNEL);
686 if (st->rx == NULL) {
690 st->tx = kzalloc(sizeof(*st->tx)*ADIS16300_MAX_TX, GFP_KERNEL);
691 if (st->tx == NULL) {
696 mutex_init(&st->buf_lock);
697 /* setup the industrialio driver allocated elements */
698 st->indio_dev = iio_allocate_device();
699 if (st->indio_dev == NULL) {
704 st->indio_dev->dev.parent = &spi->dev;
705 st->indio_dev->num_interrupt_lines = 1;
706 st->indio_dev->event_attrs = &adis16300_event_attribute_group;
707 st->indio_dev->attrs = &adis16300_attribute_group;
708 st->indio_dev->dev_data = (void *)(st);
709 st->indio_dev->driver_module = THIS_MODULE;
710 st->indio_dev->modes = INDIO_DIRECT_MODE;
712 ret = adis16300_configure_ring(st->indio_dev);
716 ret = iio_device_register(st->indio_dev);
718 goto error_unreg_ring_funcs;
721 ret = adis16300_initialize_ring(st->indio_dev->ring);
723 printk(KERN_ERR "failed to initialize the ring\n");
724 goto error_unreg_ring_funcs;
727 if (spi->irq && gpio_is_valid(irq_to_gpio(spi->irq)) > 0) {
728 #if 0 /* fixme: here we should support */
729 iio_init_work_cont(&st->work_cont_thresh,
731 adis16300_thresh_handler_bh_no_check,
736 ret = iio_register_interrupt_line(spi->irq,
742 goto error_uninitialize_ring;
744 ret = adis16300_probe_trigger(st->indio_dev);
746 goto error_unregister_line;
749 /* Get the device into a sane initial state */
750 ret = adis16300_initial_setup(st);
752 goto error_remove_trigger;
755 error_remove_trigger:
756 if (st->indio_dev->modes & INDIO_RING_TRIGGERED)
757 adis16300_remove_trigger(st->indio_dev);
758 error_unregister_line:
759 if (st->indio_dev->modes & INDIO_RING_TRIGGERED)
760 iio_unregister_interrupt_line(st->indio_dev, 0);
761 error_uninitialize_ring:
762 adis16300_uninitialize_ring(st->indio_dev->ring);
763 error_unreg_ring_funcs:
764 adis16300_unconfigure_ring(st->indio_dev);
767 iio_device_unregister(st->indio_dev);
769 iio_free_device(st->indio_dev);
780 /* fixme, confirm ordering in this function */
781 static int adis16300_remove(struct spi_device *spi)
784 struct adis16300_state *st = spi_get_drvdata(spi);
785 struct iio_dev *indio_dev = st->indio_dev;
787 ret = adis16300_stop_device(&(indio_dev->dev));
791 flush_scheduled_work();
793 adis16300_remove_trigger(indio_dev);
794 if (spi->irq && gpio_is_valid(irq_to_gpio(spi->irq)) > 0)
795 iio_unregister_interrupt_line(indio_dev, 0);
797 adis16300_uninitialize_ring(indio_dev->ring);
798 adis16300_unconfigure_ring(indio_dev);
799 iio_device_unregister(indio_dev);
810 static struct spi_driver adis16300_driver = {
813 .owner = THIS_MODULE,
815 .probe = adis16300_probe,
816 .remove = __devexit_p(adis16300_remove),
819 static __init int adis16300_init(void)
821 return spi_register_driver(&adis16300_driver);
823 module_init(adis16300_init);
825 static __exit void adis16300_exit(void)
827 spi_unregister_driver(&adis16300_driver);
829 module_exit(adis16300_exit);
831 MODULE_AUTHOR("Barry Song <21cnbao@gmail.com>");
832 MODULE_DESCRIPTION("Analog Devices ADIS16300 IMU SPI driver");
833 MODULE_LICENSE("GPL v2");