--- /dev/null
+/*
+ * ADIS16260/ADIS16265 Programmable Digital Gyroscope Sensor Driver
+ *
+ * Copyright 2010 Analog Devices Inc.
+ *
+ * Licensed under the GPL-2 or later.
+ */
+
+#include <linux/interrupt.h>
+#include <linux/mutex.h>
+#include <linux/device.h>
+#include <linux/kernel.h>
+#include <linux/spi/spi.h>
+#include <linux/sysfs.h>
+#include <linux/module.h>
+
+#include <linux/iio/iio.h>
+#include <linux/iio/sysfs.h>
+#include <linux/iio/buffer.h>
+#include <linux/iio/imu/adis.h>
+
+#define ADIS16260_STARTUP_DELAY 220 /* ms */
+
+#define ADIS16260_FLASH_CNT 0x00 /* Flash memory write count */
+#define ADIS16260_SUPPLY_OUT 0x02 /* Power supply measurement */
+#define ADIS16260_GYRO_OUT 0x04 /* X-axis gyroscope output */
+#define ADIS16260_AUX_ADC 0x0A /* analog input channel measurement */
+#define ADIS16260_TEMP_OUT 0x0C /* internal temperature measurement */
+#define ADIS16260_ANGL_OUT 0x0E /* angle displacement */
+#define ADIS16260_GYRO_OFF 0x14 /* Calibration, offset/bias adjustment */
+#define ADIS16260_GYRO_SCALE 0x16 /* Calibration, scale adjustment */
+#define ADIS16260_ALM_MAG1 0x20 /* Alarm 1 magnitude/polarity setting */
+#define ADIS16260_ALM_MAG2 0x22 /* Alarm 2 magnitude/polarity setting */
+#define ADIS16260_ALM_SMPL1 0x24 /* Alarm 1 dynamic rate of change setting */
+#define ADIS16260_ALM_SMPL2 0x26 /* Alarm 2 dynamic rate of change setting */
+#define ADIS16260_ALM_CTRL 0x28 /* Alarm control */
+#define ADIS16260_AUX_DAC 0x30 /* Auxiliary DAC data */
+#define ADIS16260_GPIO_CTRL 0x32 /* Control, digital I/O line */
+#define ADIS16260_MSC_CTRL 0x34 /* Control, data ready, self-test settings */
+#define ADIS16260_SMPL_PRD 0x36 /* Control, internal sample rate */
+#define ADIS16260_SENS_AVG 0x38 /* Control, dynamic range, filtering */
+#define ADIS16260_SLP_CNT 0x3A /* Control, sleep mode initiation */
+#define ADIS16260_DIAG_STAT 0x3C /* Diagnostic, error flags */
+#define ADIS16260_GLOB_CMD 0x3E /* Control, global commands */
+#define ADIS16260_LOT_ID1 0x52 /* Lot Identification Code 1 */
+#define ADIS16260_LOT_ID2 0x54 /* Lot Identification Code 2 */
+#define ADIS16260_PROD_ID 0x56 /* Product identifier;
+ * convert to decimal = 16,265/16,260 */
+#define ADIS16260_SERIAL_NUM 0x58 /* Serial number */
+
+#define ADIS16260_ERROR_ACTIVE (1<<14)
+#define ADIS16260_NEW_DATA (1<<15)
+
+/* MSC_CTRL */
+#define ADIS16260_MSC_CTRL_MEM_TEST (1<<11)
+/* Internal self-test enable */
+#define ADIS16260_MSC_CTRL_INT_SELF_TEST (1<<10)
+#define ADIS16260_MSC_CTRL_NEG_SELF_TEST (1<<9)
+#define ADIS16260_MSC_CTRL_POS_SELF_TEST (1<<8)
+#define ADIS16260_MSC_CTRL_DATA_RDY_EN (1<<2)
+#define ADIS16260_MSC_CTRL_DATA_RDY_POL_HIGH (1<<1)
+#define ADIS16260_MSC_CTRL_DATA_RDY_DIO2 (1<<0)
+
+/* SMPL_PRD */
+/* Time base (tB): 0 = 1.953 ms, 1 = 60.54 ms */
+#define ADIS16260_SMPL_PRD_TIME_BASE (1<<7)
+#define ADIS16260_SMPL_PRD_DIV_MASK 0x7F
+
+/* SLP_CNT */
+#define ADIS16260_SLP_CNT_POWER_OFF 0x80
+
+/* DIAG_STAT */
+#define ADIS16260_DIAG_STAT_ALARM2 (1<<9)
+#define ADIS16260_DIAG_STAT_ALARM1 (1<<8)
+#define ADIS16260_DIAG_STAT_FLASH_CHK_BIT 6
+#define ADIS16260_DIAG_STAT_SELF_TEST_BIT 5
+#define ADIS16260_DIAG_STAT_OVERFLOW_BIT 4
+#define ADIS16260_DIAG_STAT_SPI_FAIL_BIT 3
+#define ADIS16260_DIAG_STAT_FLASH_UPT_BIT 2
+#define ADIS16260_DIAG_STAT_POWER_HIGH_BIT 1
+#define ADIS16260_DIAG_STAT_POWER_LOW_BIT 0
+
+/* GLOB_CMD */
+#define ADIS16260_GLOB_CMD_SW_RESET (1<<7)
+#define ADIS16260_GLOB_CMD_FLASH_UPD (1<<3)
+#define ADIS16260_GLOB_CMD_DAC_LATCH (1<<2)
+#define ADIS16260_GLOB_CMD_FAC_CALIB (1<<1)
+#define ADIS16260_GLOB_CMD_AUTO_NULL (1<<0)
+
+#define ADIS16260_SPI_SLOW (u32)(300 * 1000)
+#define ADIS16260_SPI_BURST (u32)(1000 * 1000)
+#define ADIS16260_SPI_FAST (u32)(2000 * 1000)
+
+/* At the moment triggers are only used for ring buffer
+ * filling. This may change!
+ */
+
+#define ADIS16260_SCAN_GYRO 0
+#define ADIS16260_SCAN_SUPPLY 1
+#define ADIS16260_SCAN_AUX_ADC 2
+#define ADIS16260_SCAN_TEMP 3
+#define ADIS16260_SCAN_ANGL 4
+
+/* Power down the device */
+static int adis16260_stop_device(struct iio_dev *indio_dev)
+{
+ struct adis *adis = iio_priv(indio_dev);
+ int ret;
+ u16 val = ADIS16260_SLP_CNT_POWER_OFF;
+
+ ret = adis_write_reg_16(adis, ADIS16260_SLP_CNT, val);
+ if (ret)
+ dev_err(&indio_dev->dev, "problem with turning device off: SLP_CNT");
+
+ return ret;
+}
+
+static const struct iio_chan_spec adis16260_channels[] = {
+ ADIS_GYRO_CHAN(X, ADIS16260_GYRO_OUT, ADIS16260_SCAN_GYRO,
+ BIT(IIO_CHAN_INFO_CALIBBIAS) |
+ BIT(IIO_CHAN_INFO_CALIBSCALE),
+ BIT(IIO_CHAN_INFO_SAMP_FREQ), 14),
+ ADIS_INCLI_CHAN(X, ADIS16260_ANGL_OUT, ADIS16260_SCAN_ANGL, 0,
+ BIT(IIO_CHAN_INFO_SAMP_FREQ), 14),
+ ADIS_TEMP_CHAN(ADIS16260_TEMP_OUT, ADIS16260_SCAN_TEMP,
+ BIT(IIO_CHAN_INFO_SAMP_FREQ), 12),
+ ADIS_SUPPLY_CHAN(ADIS16260_SUPPLY_OUT, ADIS16260_SCAN_SUPPLY,
+ BIT(IIO_CHAN_INFO_SAMP_FREQ), 12),
+ ADIS_AUX_ADC_CHAN(ADIS16260_AUX_ADC, ADIS16260_SCAN_AUX_ADC,
+ BIT(IIO_CHAN_INFO_SAMP_FREQ), 12),
+ IIO_CHAN_SOFT_TIMESTAMP(5),
+};
+
+static const u8 adis16260_addresses[][2] = {
+ [ADIS16260_SCAN_GYRO] = { ADIS16260_GYRO_OFF, ADIS16260_GYRO_SCALE },
+};
+
+static int adis16260_read_raw(struct iio_dev *indio_dev,
+ struct iio_chan_spec const *chan,
+ int *val, int *val2,
+ long mask)
+{
+ struct adis *adis = iio_priv(indio_dev);
+ int ret;
+ u8 addr;
+ s16 val16;
+
+ switch (mask) {
+ case IIO_CHAN_INFO_RAW:
+ return adis_single_conversion(indio_dev, chan,
+ ADIS16260_ERROR_ACTIVE, val);
+ case IIO_CHAN_INFO_SCALE:
+ switch (chan->type) {
+ case IIO_ANGL_VEL:
+ *val = 0;
+ if (spi_get_device_id(adis->spi)->driver_data) {
+ /* 0.01832 degree / sec */
+ *val2 = IIO_DEGREE_TO_RAD(18320);
+ } else {
+ /* 0.07326 degree / sec */
+ *val2 = IIO_DEGREE_TO_RAD(73260);
+ }
+ return IIO_VAL_INT_PLUS_MICRO;
+ case IIO_INCLI:
+ *val = 0;
+ *val2 = IIO_DEGREE_TO_RAD(36630);
+ return IIO_VAL_INT_PLUS_MICRO;
+ case IIO_VOLTAGE:
+ if (chan->channel == 0) {
+ *val = 1;
+ *val2 = 831500; /* 1.8315 mV */
+ } else {
+ *val = 0;
+ *val2 = 610500; /* 610.5 uV */
+ }
+ return IIO_VAL_INT_PLUS_MICRO;
+ case IIO_TEMP:
+ *val = 145;
+ *val2 = 300000; /* 0.1453 C */
+ return IIO_VAL_INT_PLUS_MICRO;
+ default:
+ return -EINVAL;
+ }
+ case IIO_CHAN_INFO_OFFSET:
+ *val = 250000 / 1453; /* 25 C = 0x00 */
+ return IIO_VAL_INT;
+ case IIO_CHAN_INFO_CALIBBIAS:
+ addr = adis16260_addresses[chan->scan_index][0];
+ ret = adis_read_reg_16(adis, addr, &val16);
+ if (ret)
+ return ret;
+
+ *val = sign_extend32(val16, 11);
+ return IIO_VAL_INT;
+ case IIO_CHAN_INFO_CALIBSCALE:
+ addr = adis16260_addresses[chan->scan_index][1];
+ ret = adis_read_reg_16(adis, addr, &val16);
+ if (ret)
+ return ret;
+
+ *val = val16;
+ return IIO_VAL_INT;
+ case IIO_CHAN_INFO_SAMP_FREQ:
+ ret = adis_read_reg_16(adis, ADIS16260_SMPL_PRD, &val16);
+ if (ret)
+ return ret;
+
+ if (spi_get_device_id(adis->spi)->driver_data)
+ /* If an adis16251 */
+ *val = (val16 & ADIS16260_SMPL_PRD_TIME_BASE) ?
+ 8 : 256;
+ else
+ *val = (val16 & ADIS16260_SMPL_PRD_TIME_BASE) ?
+ 66 : 2048;
+ *val /= (val16 & ADIS16260_SMPL_PRD_DIV_MASK) + 1;
+ return IIO_VAL_INT;
+ }
+ return -EINVAL;
+}
+
+static int adis16260_write_raw(struct iio_dev *indio_dev,
+ struct iio_chan_spec const *chan,
+ int val,
+ int val2,
+ long mask)
+{
+ struct adis *adis = iio_priv(indio_dev);
+ int ret;
+ u8 addr;
+ u8 t;
+
+ switch (mask) {
+ case IIO_CHAN_INFO_CALIBBIAS:
+ if (val < -2048 || val >= 2048)
+ return -EINVAL;
+
+ addr = adis16260_addresses[chan->scan_index][0];
+ return adis_write_reg_16(adis, addr, val);
+ case IIO_CHAN_INFO_CALIBSCALE:
+ if (val < 0 || val >= 4096)
+ return -EINVAL;
+
+ addr = adis16260_addresses[chan->scan_index][1];
+ return adis_write_reg_16(adis, addr, val);
+ case IIO_CHAN_INFO_SAMP_FREQ:
+ mutex_lock(&indio_dev->mlock);
+ if (spi_get_device_id(adis->spi)->driver_data)
+ t = 256 / val;
+ else
+ t = 2048 / val;
+
+ if (t > ADIS16260_SMPL_PRD_DIV_MASK)
+ t = ADIS16260_SMPL_PRD_DIV_MASK;
+ else if (t > 0)
+ t--;
+
+ if (t >= 0x0A)
+ adis->spi->max_speed_hz = ADIS16260_SPI_SLOW;
+ else
+ adis->spi->max_speed_hz = ADIS16260_SPI_FAST;
+ ret = adis_write_reg_8(adis, ADIS16260_SMPL_PRD, t);
+
+ mutex_unlock(&indio_dev->mlock);
+ return ret;
+ }
+ return -EINVAL;
+}
+
+static const struct iio_info adis16260_info = {
+ .read_raw = &adis16260_read_raw,
+ .write_raw = &adis16260_write_raw,
+ .update_scan_mode = adis_update_scan_mode,
+ .driver_module = THIS_MODULE,
+};
+
+static const char * const adis1620_status_error_msgs[] = {
+ [ADIS16260_DIAG_STAT_FLASH_CHK_BIT] = "Flash checksum error",
+ [ADIS16260_DIAG_STAT_SELF_TEST_BIT] = "Self test error",
+ [ADIS16260_DIAG_STAT_OVERFLOW_BIT] = "Sensor overrange",
+ [ADIS16260_DIAG_STAT_SPI_FAIL_BIT] = "SPI failure",
+ [ADIS16260_DIAG_STAT_FLASH_UPT_BIT] = "Flash update failed",
+ [ADIS16260_DIAG_STAT_POWER_HIGH_BIT] = "Power supply above 5.25",
+ [ADIS16260_DIAG_STAT_POWER_LOW_BIT] = "Power supply below 4.75",
+};
+
+static const struct adis_data adis16260_data = {
+ .write_delay = 30,
+ .read_delay = 30,
+ .msc_ctrl_reg = ADIS16260_MSC_CTRL,
+ .glob_cmd_reg = ADIS16260_GLOB_CMD,
+ .diag_stat_reg = ADIS16260_DIAG_STAT,
+
+ .self_test_mask = ADIS16260_MSC_CTRL_MEM_TEST,
+ .startup_delay = ADIS16260_STARTUP_DELAY,
+
+ .status_error_msgs = adis1620_status_error_msgs,
+ .status_error_mask = BIT(ADIS16260_DIAG_STAT_FLASH_CHK_BIT) |
+ BIT(ADIS16260_DIAG_STAT_SELF_TEST_BIT) |
+ BIT(ADIS16260_DIAG_STAT_OVERFLOW_BIT) |
+ BIT(ADIS16260_DIAG_STAT_SPI_FAIL_BIT) |
+ BIT(ADIS16260_DIAG_STAT_FLASH_UPT_BIT) |
+ BIT(ADIS16260_DIAG_STAT_POWER_HIGH_BIT) |
+ BIT(ADIS16260_DIAG_STAT_POWER_LOW_BIT),
+};
+
+static int adis16260_probe(struct spi_device *spi)
+{
+ struct iio_dev *indio_dev;
+ struct adis *adis;
+ int ret;
+
+ /* setup the industrialio driver allocated elements */
+ indio_dev = devm_iio_device_alloc(&spi->dev, sizeof(*adis));
+ if (!indio_dev)
+ return -ENOMEM;
+ adis = iio_priv(indio_dev);
+ /* this is only used for removal purposes */
+ spi_set_drvdata(spi, indio_dev);
+
+ indio_dev->name = spi_get_device_id(spi)->name;
+ indio_dev->dev.parent = &spi->dev;
+ indio_dev->info = &adis16260_info;
+ indio_dev->channels = adis16260_channels;
+ indio_dev->num_channels = ARRAY_SIZE(adis16260_channels);
+ indio_dev->modes = INDIO_DIRECT_MODE;
+
+ ret = adis_init(adis, indio_dev, spi, &adis16260_data);
+ if (ret)
+ return ret;
+
+ ret = adis_setup_buffer_and_trigger(adis, indio_dev, NULL);
+ if (ret)
+ return ret;
+
+ /* Get the device into a sane initial state */
+ ret = adis_initial_startup(adis);
+ if (ret)
+ goto error_cleanup_buffer_trigger;
+ ret = iio_device_register(indio_dev);
+ if (ret)
+ goto error_cleanup_buffer_trigger;
+
+ return 0;
+
+error_cleanup_buffer_trigger:
+ adis_cleanup_buffer_and_trigger(adis, indio_dev);
+ return ret;
+}
+
+static int adis16260_remove(struct spi_device *spi)
+{
+ struct iio_dev *indio_dev = spi_get_drvdata(spi);
+ struct adis *adis = iio_priv(indio_dev);
+
+ iio_device_unregister(indio_dev);
+ adis16260_stop_device(indio_dev);
+ adis_cleanup_buffer_and_trigger(adis, indio_dev);
+
+ return 0;
+}
+
+/*
+ * These parts do not need to be differentiated until someone adds
+ * support for the on chip filtering.
+ */
+static const struct spi_device_id adis16260_id[] = {
+ {"adis16260", 0},
+ {"adis16265", 0},
+ {"adis16250", 0},
+ {"adis16255", 0},
+ {"adis16251", 1},
+ {}
+};
+MODULE_DEVICE_TABLE(spi, adis16260_id);
+
+static struct spi_driver adis16260_driver = {
+ .driver = {
+ .name = "adis16260",
+ .owner = THIS_MODULE,
+ },
+ .probe = adis16260_probe,
+ .remove = adis16260_remove,
+ .id_table = adis16260_id,
+};
+module_spi_driver(adis16260_driver);
+
+MODULE_AUTHOR("Barry Song <21cnbao@gmail.com>");
+MODULE_DESCRIPTION("Analog Devices ADIS16260/5 Digital Gyroscope Sensor");
+MODULE_LICENSE("GPL v2");
Code Review / kvmfornfv.git / blobdiff