2 * ADIS16350/54/55/60/62/64/65 high precision tri-axis inertial sensor
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 "../adc/adc.h"
25 #include "../gyro/gyro.h"
27 #include "adis16350.h"
29 #define DRIVER_NAME "adis16350"
31 static int adis16350_check_status(struct device *dev);
34 * adis16350_spi_write_reg_8() - write single byte to a register
35 * @dev: device associated with child of actual device (iio_dev or iio_trig)
36 * @reg_address: the address of the register to be written
37 * @val: the value to write
39 static int adis16350_spi_write_reg_8(struct device *dev,
44 struct iio_dev *indio_dev = dev_get_drvdata(dev);
45 struct adis16350_state *st = iio_dev_get_devdata(indio_dev);
47 mutex_lock(&st->buf_lock);
48 st->tx[0] = ADIS16350_WRITE_REG(reg_address);
51 ret = spi_write(st->us, st->tx, 2);
52 mutex_unlock(&st->buf_lock);
58 * adis16350_spi_write_reg_16() - write 2 bytes to a pair of registers
59 * @dev: device associated with child of actual device (iio_dev or iio_trig)
60 * @reg_address: the address of the lower of the two registers. Second register
61 * is assumed to have address one greater.
62 * @val: value to be written
64 static int adis16350_spi_write_reg_16(struct device *dev,
69 struct spi_message msg;
70 struct iio_dev *indio_dev = dev_get_drvdata(dev);
71 struct adis16350_state *st = iio_dev_get_devdata(indio_dev);
72 struct spi_transfer xfers[] = {
88 mutex_lock(&st->buf_lock);
89 st->tx[0] = ADIS16350_WRITE_REG(lower_reg_address);
90 st->tx[1] = value & 0xFF;
91 st->tx[2] = ADIS16350_WRITE_REG(lower_reg_address + 1);
92 st->tx[3] = (value >> 8) & 0xFF;
94 spi_message_init(&msg);
95 spi_message_add_tail(&xfers[0], &msg);
96 spi_message_add_tail(&xfers[1], &msg);
97 ret = spi_sync(st->us, &msg);
98 mutex_unlock(&st->buf_lock);
104 * adis16350_spi_read_reg_16() - read 2 bytes from a 16-bit register
105 * @dev: device associated with child of actual device (iio_dev or iio_trig)
106 * @reg_address: the address of the lower of the two registers. Second register
107 * is assumed to have address one greater.
108 * @val: somewhere to pass back the value read
110 static int adis16350_spi_read_reg_16(struct device *dev,
111 u8 lower_reg_address,
114 struct spi_message msg;
115 struct iio_dev *indio_dev = dev_get_drvdata(dev);
116 struct adis16350_state *st = iio_dev_get_devdata(indio_dev);
118 struct spi_transfer xfers[] = {
134 mutex_lock(&st->buf_lock);
135 st->tx[0] = ADIS16350_READ_REG(lower_reg_address);
140 spi_message_init(&msg);
141 spi_message_add_tail(&xfers[0], &msg);
142 spi_message_add_tail(&xfers[1], &msg);
143 ret = spi_sync(st->us, &msg);
145 dev_err(&st->us->dev,
146 "problem when reading 16 bit register 0x%02X",
150 *val = (st->rx[0] << 8) | st->rx[1];
153 mutex_unlock(&st->buf_lock);
158 static ssize_t adis16350_spi_read_signed(struct device *dev,
159 struct device_attribute *attr,
165 unsigned shift = 16 - bits;
166 struct iio_dev_attr *this_attr = to_iio_dev_attr(attr);
168 ret = adis16350_spi_read_reg_16(dev, this_attr->address, (u16 *)&val);
172 if (val & ADIS16350_ERROR_ACTIVE)
173 adis16350_check_status(dev);
174 val = ((s16)(val << shift) >> shift);
175 return sprintf(buf, "%d\n", val);
178 static ssize_t adis16350_read_12bit_unsigned(struct device *dev,
179 struct device_attribute *attr,
184 struct iio_dev_attr *this_attr = to_iio_dev_attr(attr);
186 ret = adis16350_spi_read_reg_16(dev, this_attr->address, &val);
190 if (val & ADIS16350_ERROR_ACTIVE)
191 adis16350_check_status(dev);
193 return sprintf(buf, "%u\n", val & 0x0FFF);
196 static ssize_t adis16350_read_14bit_signed(struct device *dev,
197 struct device_attribute *attr,
200 struct iio_dev *indio_dev = dev_get_drvdata(dev);
203 /* Take the iio_dev status lock */
204 mutex_lock(&indio_dev->mlock);
205 ret = adis16350_spi_read_signed(dev, attr, buf, 14);
206 mutex_unlock(&indio_dev->mlock);
211 static ssize_t adis16350_read_12bit_signed(struct device *dev,
212 struct device_attribute *attr,
215 struct iio_dev *indio_dev = dev_get_drvdata(dev);
218 /* Take the iio_dev status lock */
219 mutex_lock(&indio_dev->mlock);
220 ret = adis16350_spi_read_signed(dev, attr, buf, 12);
221 mutex_unlock(&indio_dev->mlock);
226 static ssize_t adis16350_write_16bit(struct device *dev,
227 struct device_attribute *attr,
231 struct iio_dev_attr *this_attr = to_iio_dev_attr(attr);
235 ret = strict_strtol(buf, 10, &val);
238 ret = adis16350_spi_write_reg_16(dev, this_attr->address, val);
241 return ret ? ret : len;
244 static ssize_t adis16350_read_frequency(struct device *dev,
245 struct device_attribute *attr,
251 ret = adis16350_spi_read_reg_16(dev,
256 sps = (t & ADIS16350_SMPL_PRD_TIME_BASE) ? 53 : 1638;
257 sps /= (t & ADIS16350_SMPL_PRD_DIV_MASK) + 1;
258 len = sprintf(buf, "%d SPS\n", sps);
262 static ssize_t adis16350_write_frequency(struct device *dev,
263 struct device_attribute *attr,
267 struct iio_dev *indio_dev = dev_get_drvdata(dev);
268 struct adis16350_state *st = iio_dev_get_devdata(indio_dev);
273 ret = strict_strtol(buf, 10, &val);
277 mutex_lock(&indio_dev->mlock);
282 t &= ADIS16350_SMPL_PRD_DIV_MASK;
283 if ((t & ADIS16350_SMPL_PRD_DIV_MASK) >= 0x0A)
284 st->us->max_speed_hz = ADIS16350_SPI_SLOW;
286 st->us->max_speed_hz = ADIS16350_SPI_FAST;
288 ret = adis16350_spi_write_reg_8(dev,
292 mutex_unlock(&indio_dev->mlock);
294 return ret ? ret : len;
297 static int adis16350_reset(struct device *dev)
300 ret = adis16350_spi_write_reg_8(dev,
302 ADIS16350_GLOB_CMD_SW_RESET);
304 dev_err(dev, "problem resetting device");
309 static ssize_t adis16350_write_reset(struct device *dev,
310 struct device_attribute *attr,
311 const char *buf, size_t len)
319 return adis16350_reset(dev);
324 int adis16350_set_irq(struct device *dev, bool enable)
328 ret = adis16350_spi_read_reg_16(dev, ADIS16350_MSC_CTRL, &msc);
332 msc |= ADIS16350_MSC_CTRL_DATA_RDY_POL_HIGH;
333 msc &= ~ADIS16350_MSC_CTRL_DATA_RDY_DIO2;
336 msc |= ADIS16350_MSC_CTRL_DATA_RDY_EN;
338 msc &= ~ADIS16350_MSC_CTRL_DATA_RDY_EN;
340 ret = adis16350_spi_write_reg_16(dev, ADIS16350_MSC_CTRL, msc);
348 /* Power down the device */
349 static int adis16350_stop_device(struct device *dev)
352 u16 val = ADIS16350_SLP_CNT_POWER_OFF;
354 ret = adis16350_spi_write_reg_16(dev, ADIS16350_SLP_CNT, val);
356 dev_err(dev, "problem with turning device off: SLP_CNT");
361 static int adis16350_self_test(struct device *dev)
364 ret = adis16350_spi_write_reg_16(dev,
366 ADIS16350_MSC_CTRL_MEM_TEST);
368 dev_err(dev, "problem starting self test");
372 adis16350_check_status(dev);
378 static int adis16350_check_status(struct device *dev)
383 ret = adis16350_spi_read_reg_16(dev, ADIS16350_DIAG_STAT, &status);
386 dev_err(dev, "Reading status failed\n");
390 if (status & ADIS16350_DIAG_STAT_ZACCL_FAIL)
391 dev_err(dev, "Z-axis accelerometer self-test failure\n");
392 if (status & ADIS16350_DIAG_STAT_YACCL_FAIL)
393 dev_err(dev, "Y-axis accelerometer self-test failure\n");
394 if (status & ADIS16350_DIAG_STAT_XACCL_FAIL)
395 dev_err(dev, "X-axis accelerometer self-test failure\n");
396 if (status & ADIS16350_DIAG_STAT_XGYRO_FAIL)
397 dev_err(dev, "X-axis gyroscope self-test failure\n");
398 if (status & ADIS16350_DIAG_STAT_YGYRO_FAIL)
399 dev_err(dev, "Y-axis gyroscope self-test failure\n");
400 if (status & ADIS16350_DIAG_STAT_ZGYRO_FAIL)
401 dev_err(dev, "Z-axis gyroscope self-test failure\n");
402 if (status & ADIS16350_DIAG_STAT_ALARM2)
403 dev_err(dev, "Alarm 2 active\n");
404 if (status & ADIS16350_DIAG_STAT_ALARM1)
405 dev_err(dev, "Alarm 1 active\n");
406 if (status & ADIS16350_DIAG_STAT_FLASH_CHK)
407 dev_err(dev, "Flash checksum error\n");
408 if (status & ADIS16350_DIAG_STAT_SELF_TEST)
409 dev_err(dev, "Self test error\n");
410 if (status & ADIS16350_DIAG_STAT_OVERFLOW)
411 dev_err(dev, "Sensor overrange\n");
412 if (status & ADIS16350_DIAG_STAT_SPI_FAIL)
413 dev_err(dev, "SPI failure\n");
414 if (status & ADIS16350_DIAG_STAT_FLASH_UPT)
415 dev_err(dev, "Flash update failed\n");
416 if (status & ADIS16350_DIAG_STAT_POWER_HIGH)
417 dev_err(dev, "Power supply above 5.25V\n");
418 if (status & ADIS16350_DIAG_STAT_POWER_LOW)
419 dev_err(dev, "Power supply below 4.75V\n");
425 static int adis16350_initial_setup(struct adis16350_state *st)
429 struct device *dev = &st->indio_dev->dev;
431 /* use low spi speed for init */
432 st->us->max_speed_hz = ADIS16350_SPI_SLOW;
433 st->us->mode = SPI_MODE_3;
437 ret = adis16350_set_irq(dev, false);
439 dev_err(dev, "disable irq failed");
444 ret = adis16350_self_test(dev);
446 dev_err(dev, "self test failure");
450 /* Read status register to check the result */
451 ret = adis16350_check_status(dev);
453 adis16350_reset(dev);
454 dev_err(dev, "device not playing ball -> reset");
455 msleep(ADIS16350_STARTUP_DELAY);
456 ret = adis16350_check_status(dev);
458 dev_err(dev, "giving up");
463 printk(KERN_INFO DRIVER_NAME ": at CS%d (irq %d)\n",
464 st->us->chip_select, st->us->irq);
466 /* use high spi speed if possible */
467 ret = adis16350_spi_read_reg_16(dev, ADIS16350_SMPL_PRD, &smp_prd);
468 if (!ret && (smp_prd & ADIS16350_SMPL_PRD_DIV_MASK) < 0x0A) {
469 st->us->max_speed_hz = ADIS16350_SPI_SLOW;
477 static IIO_DEV_ATTR_ACCEL_X_OFFSET(S_IWUSR | S_IRUGO,
478 adis16350_read_12bit_signed,
479 adis16350_write_16bit,
480 ADIS16350_XACCL_OFF);
482 static IIO_DEV_ATTR_ACCEL_Y_OFFSET(S_IWUSR | S_IRUGO,
483 adis16350_read_12bit_signed,
484 adis16350_write_16bit,
485 ADIS16350_YACCL_OFF);
487 static IIO_DEV_ATTR_ACCEL_Z_OFFSET(S_IWUSR | S_IRUGO,
488 adis16350_read_12bit_signed,
489 adis16350_write_16bit,
490 ADIS16350_ZACCL_OFF);
492 static IIO_DEV_ATTR_IN_NAMED_RAW(supply, adis16350_read_12bit_unsigned,
493 ADIS16350_SUPPLY_OUT);
494 static IIO_CONST_ATTR(in_supply_scale, "0.002418");
496 static IIO_DEV_ATTR_GYRO_X(adis16350_read_14bit_signed,
497 ADIS16350_XGYRO_OUT);
498 static IIO_DEV_ATTR_GYRO_Y(adis16350_read_14bit_signed,
499 ADIS16350_YGYRO_OUT);
500 static IIO_DEV_ATTR_GYRO_Z(adis16350_read_14bit_signed,
501 ADIS16350_ZGYRO_OUT);
502 static IIO_CONST_ATTR(gyro_scale, "0.05");
504 static IIO_DEV_ATTR_ACCEL_X(adis16350_read_14bit_signed,
505 ADIS16350_XACCL_OUT);
506 static IIO_DEV_ATTR_ACCEL_Y(adis16350_read_14bit_signed,
507 ADIS16350_YACCL_OUT);
508 static IIO_DEV_ATTR_ACCEL_Z(adis16350_read_14bit_signed,
509 ADIS16350_ZACCL_OUT);
510 static IIO_CONST_ATTR(accel_scale, "0.00333");
512 static IIO_DEVICE_ATTR(temp_x_raw, S_IRUGO, adis16350_read_12bit_signed,
513 NULL, ADIS16350_XTEMP_OUT);
514 static IIO_DEVICE_ATTR(temp_y_raw, S_IRUGO, adis16350_read_12bit_signed,
515 NULL, ADIS16350_YTEMP_OUT);
516 static IIO_DEVICE_ATTR(temp_z_raw, S_IRUGO, adis16350_read_12bit_signed,
517 NULL, ADIS16350_ZTEMP_OUT);
518 static IIO_CONST_ATTR(temp_scale, "0.0005");
520 static IIO_DEV_ATTR_IN_RAW(0, adis16350_read_12bit_unsigned,
522 static IIO_CONST_ATTR(in0_scale, "0.000806");
524 static IIO_DEV_ATTR_SAMP_FREQ(S_IWUSR | S_IRUGO,
525 adis16350_read_frequency,
526 adis16350_write_frequency);
528 static IIO_DEVICE_ATTR(reset, S_IWUSR, NULL,
529 adis16350_write_reset, 0);
531 static IIO_CONST_ATTR_AVAIL_SAMP_FREQ("409 546 819 1638");
533 static IIO_CONST_ATTR(name, "adis16350");
535 static struct attribute *adis16350_attributes[] = {
536 &iio_dev_attr_accel_x_offset.dev_attr.attr,
537 &iio_dev_attr_accel_y_offset.dev_attr.attr,
538 &iio_dev_attr_accel_z_offset.dev_attr.attr,
539 &iio_dev_attr_in_supply_raw.dev_attr.attr,
540 &iio_const_attr_in_supply_scale.dev_attr.attr,
541 &iio_dev_attr_gyro_x_raw.dev_attr.attr,
542 &iio_dev_attr_gyro_y_raw.dev_attr.attr,
543 &iio_dev_attr_gyro_z_raw.dev_attr.attr,
544 &iio_const_attr_gyro_scale.dev_attr.attr,
545 &iio_dev_attr_accel_x_raw.dev_attr.attr,
546 &iio_dev_attr_accel_y_raw.dev_attr.attr,
547 &iio_dev_attr_accel_z_raw.dev_attr.attr,
548 &iio_const_attr_accel_scale.dev_attr.attr,
549 &iio_dev_attr_temp_x_raw.dev_attr.attr,
550 &iio_dev_attr_temp_y_raw.dev_attr.attr,
551 &iio_dev_attr_temp_z_raw.dev_attr.attr,
552 &iio_const_attr_temp_scale.dev_attr.attr,
553 &iio_dev_attr_in0_raw.dev_attr.attr,
554 &iio_const_attr_in0_scale.dev_attr.attr,
555 &iio_dev_attr_sampling_frequency.dev_attr.attr,
556 &iio_const_attr_available_sampling_frequency.dev_attr.attr,
557 &iio_dev_attr_reset.dev_attr.attr,
558 &iio_const_attr_name.dev_attr.attr,
562 static const struct attribute_group adis16350_attribute_group = {
563 .attrs = adis16350_attributes,
566 static struct attribute *adis16350_event_attributes[] = {
570 static struct attribute_group adis16350_event_attribute_group = {
571 .attrs = adis16350_event_attributes,
574 static int __devinit adis16350_probe(struct spi_device *spi)
576 int ret, regdone = 0;
577 struct adis16350_state *st = kzalloc(sizeof *st, GFP_KERNEL);
582 /* this is only used for removal purposes */
583 spi_set_drvdata(spi, st);
585 /* Allocate the comms buffers */
586 st->rx = kzalloc(sizeof(*st->rx)*ADIS16350_MAX_RX, GFP_KERNEL);
587 if (st->rx == NULL) {
591 st->tx = kzalloc(sizeof(*st->tx)*ADIS16350_MAX_TX, GFP_KERNEL);
592 if (st->tx == NULL) {
597 mutex_init(&st->buf_lock);
598 /* setup the industrialio driver allocated elements */
599 st->indio_dev = iio_allocate_device();
600 if (st->indio_dev == NULL) {
605 st->indio_dev->dev.parent = &spi->dev;
606 st->indio_dev->num_interrupt_lines = 1;
607 st->indio_dev->event_attrs = &adis16350_event_attribute_group;
608 st->indio_dev->attrs = &adis16350_attribute_group;
609 st->indio_dev->dev_data = (void *)(st);
610 st->indio_dev->driver_module = THIS_MODULE;
611 st->indio_dev->modes = INDIO_DIRECT_MODE;
613 ret = adis16350_configure_ring(st->indio_dev);
617 ret = iio_device_register(st->indio_dev);
619 goto error_unreg_ring_funcs;
622 ret = adis16350_initialize_ring(st->indio_dev->ring);
624 printk(KERN_ERR "failed to initialize the ring\n");
625 goto error_unreg_ring_funcs;
629 ret = iio_register_interrupt_line(spi->irq,
635 goto error_uninitialize_ring;
637 ret = adis16350_probe_trigger(st->indio_dev);
639 goto error_unregister_line;
642 /* Get the device into a sane initial state */
643 ret = adis16350_initial_setup(st);
645 goto error_remove_trigger;
648 error_remove_trigger:
649 adis16350_remove_trigger(st->indio_dev);
650 error_unregister_line:
652 iio_unregister_interrupt_line(st->indio_dev, 0);
653 error_uninitialize_ring:
654 adis16350_uninitialize_ring(st->indio_dev->ring);
655 error_unreg_ring_funcs:
656 adis16350_unconfigure_ring(st->indio_dev);
659 iio_device_unregister(st->indio_dev);
661 iio_free_device(st->indio_dev);
672 static int adis16350_remove(struct spi_device *spi)
675 struct adis16350_state *st = spi_get_drvdata(spi);
676 struct iio_dev *indio_dev = st->indio_dev;
678 ret = adis16350_stop_device(&(indio_dev->dev));
682 flush_scheduled_work();
684 adis16350_remove_trigger(indio_dev);
686 iio_unregister_interrupt_line(indio_dev, 0);
688 adis16350_uninitialize_ring(indio_dev->ring);
689 iio_device_unregister(indio_dev);
690 adis16350_unconfigure_ring(indio_dev);
701 static const struct spi_device_id adis16350_id[] = {
712 static struct spi_driver adis16350_driver = {
715 .owner = THIS_MODULE,
717 .probe = adis16350_probe,
718 .remove = __devexit_p(adis16350_remove),
719 .id_table = adis16350_id,
722 static __init int adis16350_init(void)
724 return spi_register_driver(&adis16350_driver);
726 module_init(adis16350_init);
728 static __exit void adis16350_exit(void)
730 spi_unregister_driver(&adis16350_driver);
732 module_exit(adis16350_exit);
734 MODULE_AUTHOR("Barry Song <21cnbao@gmail.com>");
735 MODULE_DESCRIPTION("Analog Devices ADIS16350/54/55/60/62/64/65 IMU SPI driver");
736 MODULE_LICENSE("GPL v2");