/*
* ADIS16300 Four Degrees of Freedom Inertial Sensor Driver
*
* Copyright 2010 Analog Devices Inc.
*
* Licensed under the GPL-2 or later.
*/
#include <linux/interrupt.h>
#include <linux/irq.h>
#include <linux/gpio.h>
#include <linux/delay.h>
#include <linux/mutex.h>
#include <linux/device.h>
#include <linux/kernel.h>
#include <linux/spi/spi.h>
#include <linux/sysfs.h>
#include <linux/list.h>
#include "../iio.h"
#include "../sysfs.h"
#include "../accel/accel.h"
#include "../accel/inclinometer.h"
#include "../gyro/gyro.h"
#include "../adc/adc.h"
#include "adis16300.h"
#define DRIVER_NAME "adis16300"
/* At the moment the spi framework doesn't allow global setting of cs_change.
* It's in the likely to be added comment at the top of spi.h.
* This means that use cannot be made of spi_write etc.
*/
/**
* adis16300_spi_write_reg_8() - write single byte to a register
* @dev: device associated with child of actual device (iio_dev or iio_trig)
* @reg_address: the address of the register to be written
* @val: the value to write
**/
static int adis16300_spi_write_reg_8(struct device *dev,
u8 reg_address,
u8 val)
{
int ret;
struct iio_dev *indio_dev = dev_get_drvdata(dev);
struct adis16300_state *st = iio_dev_get_devdata(indio_dev);
mutex_lock(&st->buf_lock);
st->tx[0] = ADIS16300_WRITE_REG(reg_address);
st->tx[1] = val;
ret = spi_write(st->us, st->tx, 2);
mutex_unlock(&st->buf_lock);
return ret;
}
/**
* adis16300_spi_write_reg_16() - write 2 bytes to a pair of registers
* @dev: device associated with child of actual device (iio_dev or iio_trig)
* @reg_address: the address of the lower of the two registers. Second register
* is assumed to have address one greater.
* @val: value to be written
**/
static int adis16300_spi_write_reg_16(struct device *dev,
u8 lower_reg_address,
u16 value)
{
int ret;
struct spi_message msg;
struct iio_dev *indio_dev = dev_get_drvdata(dev);
struct adis16300_state *st = iio_dev_get_devdata(indio_dev);
struct spi_transfer xfers[] = {
{
.tx_buf = st->tx,
.bits_per_word = 8,
.len = 2,
.cs_change = 1,
}, {
.tx_buf = st->tx + 2,
.bits_per_word = 8,
.len = 2,
.cs_change = 1,
},
};
mutex_lock(&st->buf_lock);
st->tx[0] = ADIS16300_WRITE_REG(lower_reg_address);
st->tx[1] = value & 0xFF;
st->tx[2] = ADIS16300_WRITE_REG(lower_reg_address + 1);
st->tx[3] = (value >> 8) & 0xFF;
spi_message_init(&msg);
spi_message_add_tail(&xfers[0], &msg);
spi_message_add_tail(&xfers[1], &msg);
ret = spi_sync(st->us, &msg);
mutex_unlock(&st->buf_lock);
return ret;
}
/**
* adis16300_spi_read_reg_16() - read 2 bytes from a 16-bit register
* @dev: device associated with child of actual device (iio_dev or iio_trig)
* @reg_address: the address of the lower of the two registers. Second register
* is assumed to have address one greater.
* @val: somewhere to pass back the value read
**/
static int adis16300_spi_read_reg_16(struct device *dev,
u8 lower_reg_address,
u16 *val)
{
struct spi_message msg;
struct iio_dev *indio_dev = dev_get_drvdata(dev);
struct adis16300_state *st = iio_dev_get_devdata(indio_dev);
int ret;
struct spi_transfer xfers[] = {
{
.tx_buf = st->tx,
.bits_per_word = 8,
.len = 2,
.cs_change = 0,
}, {
.rx_buf = st->rx,
.bits_per_word = 8,
.len = 2,
.cs_change = 0,
},
};
mutex_lock(&st->buf_lock);
st->tx[0] = ADIS16300_READ_REG(lower_reg_address);
st->tx[1] = 0;
st->tx[2] = 0;
st->tx[3] = 0;
spi_message_init(&msg);
spi_message_add_tail(&xfers[0], &msg);
spi_message_add_tail(&xfers[1], &msg);
ret = spi_sync(st->us, &msg);
if (ret) {
dev_err(&st->us->dev,
"problem when reading 16 bit register 0x%02X",
lower_reg_address);
goto error_ret;
}
*val = (st->rx[0] << 8) | st->rx[1];
error_ret:
mutex_unlock(&st->buf_lock);
return ret;
}
/**
* adis16300_spi_read_burst() - read all data registers
* @dev: device associated with child of actual device (iio_dev or iio_trig)
* @rx: somewhere to pass back the value read (min size is 24 bytes)
**/
int adis16300_spi_read_burst(struct device *dev, u8 *rx)
{
struct spi_message msg;
struct iio_dev *indio_dev = dev_get_drvdata(dev);
struct adis16300_state *st = iio_dev_get_devdata(indio_dev);
u32 old_speed_hz = st->us->max_speed_hz;
int ret;
struct spi_transfer xfers[] = {
{
.tx_buf = st->tx,
.bits_per_word = 8,
.len = 2,
.cs_change = 0,
}, {
.rx_buf = rx,
.bits_per_word = 8,
.len = 18,
.cs_change = 0,
},
};
mutex_lock(&st->buf_lock);
st->tx[0] = ADIS16300_READ_REG(ADIS16300_GLOB_CMD);
st->tx[1] = 0;
spi_message_init(&msg);
spi_message_add_tail(&xfers[0], &msg);
spi_message_add_tail(&xfers[1], &msg);
st->us->max_speed_hz = min(ADIS16300_SPI_BURST, old_speed_hz);
spi_setup(st->us);
ret = spi_sync(st->us, &msg);
if (ret)
dev_err(&st->us->dev, "problem when burst reading");
st->us->max_speed_hz = old_speed_hz;
spi_setup(st->us);
mutex_unlock(&st->buf_lock);
return ret;
}
static ssize_t adis16300_spi_read_signed(struct device *dev,
struct device_attribute *attr,
char *buf,
unsigned bits)
{
int ret;
s16 val = 0;
unsigned shift = 16 - bits;
struct iio_dev_attr *this_attr = to_iio_dev_attr(attr);
ret = adis16300_spi_read_reg_16(dev, this_attr->address, (u16 *)&val);
if (ret)
return ret;
if (val & ADIS16300_ERROR_ACTIVE)
adis16300_check_status(dev);
val = ((s16)(val << shift) >> shift);
return sprintf(buf, "%d\n", val);
}
static ssize_t adis16300_read_12bit_unsigned(struct device *dev,
struct device_attribute *attr,
char *buf)
{
int ret;
u16 val = 0;
struct iio_dev_attr *this_attr = to_iio_dev_attr(attr);
ret = adis16300_spi_read_reg_16(dev, this_attr->address, &val);
if (ret)
return ret;
if (val & ADIS16300_ERROR_ACTIVE)
adis16300_check_status(dev);
return sprintf(buf, "%u\n", val & 0x0FFF);
}
static ssize_t adis16300_read_14bit_signed(struct device *dev,
struct device_attribute *attr,
char *buf)
{
struct iio_dev *indio_dev = dev_get_drvdata(dev);
ssize_t ret;
/* Take the iio_dev status lock */
mutex_lock(&indio_dev->mlock);
ret = adis16300_spi_read_signed(dev, attr, buf, 14);
mutex_unlock(&indio_dev->mlock);
return ret;
}
static ssize_t adis16300_read_12bit_signed(struct device *dev,
struct device_attribute *attr,
char *buf)
{
struct iio_dev *indio_dev = dev_get_drvdata(dev);
ssize_t ret;
/* Take the iio_dev status lock */
mutex_lock(&indio_dev->mlock);
ret = adis16300_spi_read_signed(dev, attr, buf, 12);
mutex_unlock(&indio_dev->mlock);
return ret;
}
static ssize_t adis16300_read_13bit_signed(struct device *dev,
struct device_attribute *attr,
char *buf)
{
struct iio_dev *indio_dev = dev_get_drvdata(dev);
ssize_t ret;
/* Take the iio_dev status lock */
mutex_lock(&indio_dev->mlock);
ret = adis16300_spi_read_signed(dev, attr, buf, 13);
mutex_unlock(&indio_dev->mlock);
return ret;
}
static ssize_t adis16300_write_16bit(struct device *dev,
struct device_attribute *attr,
const char *buf,
size_t len)
{
struct iio_dev_attr *this_attr = to_iio_dev_attr(attr);
int ret;
long val;
ret = strict_strtol(buf, 10, &val);
if (ret)
goto error_ret;
ret = adis16300_spi_write_reg_16(dev, this_attr->address, val);
error_ret:
return ret ? ret : len;
}
static ssize_t adis16300_read_frequency(struct device *dev,
struct device_attribute *attr,
char *buf)
{
int ret, len = 0;
u16 t;
int sps;
ret = adis16300_spi_read_reg_16(dev,
ADIS16300_SMPL_PRD,
&t);
if (ret)
return ret;
sps = (t & ADIS16300_SMPL_PRD_TIME_BASE) ? 53 : 1638;
sps /= (t & ADIS16300_SMPL_PRD_DIV_MASK) + 1;
len = sprintf(buf, "%d SPS\n", sps);
return len;
}
static ssize_t adis16300_write_frequency(struct device *dev,
struct device_attribute *attr,
const char *buf,
size_t len)
{
struct iio_dev *indio_dev = dev_get_drvdata(dev);
struct adis16300_state *st = iio_dev_get_devdata(indio_dev);
long val;
int ret;
u8 t;
ret = strict_strtol(buf, 10, &val);
if (ret)
return ret;
mutex_lock(&indio_dev->mlock);
t = (1638 / val);
if (t > 0)
t--;
t &= ADIS16300_SMPL_PRD_DIV_MASK;
if ((t & ADIS16300_SMPL_PRD_DIV_MASK) >= 0x0A)
st->us->max_speed_hz = ADIS16300_SPI_SLOW;
else
st->us->max_speed_hz = ADIS16300_SPI_FAST;
ret = adis16300_spi_write_reg_8(dev,
ADIS16300_SMPL_PRD,
t);
mutex_unlock(&indio_dev->mlock);
return ret ? ret : len;
}
static ssize_t adis16300_write_reset(struct device *dev,
struct device_attribute *attr,
const char *buf, size_t len)
{
if (len < 1)
return -1;
switch (buf[0]) {
case '1':
case 'y':
case 'Y':
return adis16300_reset(dev);
}
return -1;
}
int adis16300_set_irq(struct device *dev, bool enable)
{
int ret;
u16 msc;
ret = adis16300_spi_read_reg_16(dev, ADIS16300_MSC_CTRL, &msc);
if (ret)
goto error_ret;
msc |= ADIS16300_MSC_CTRL_DATA_RDY_POL_HIGH;
msc &= ~ADIS16300_MSC_CTRL_DATA_RDY_DIO2;
if (enable)
msc |= ADIS16300_MSC_CTRL_DATA_RDY_EN;
else
msc &= ~ADIS16300_MSC_CTRL_DATA_RDY_EN;
ret = adis16300_spi_write_reg_16(dev, ADIS16300_MSC_CTRL, msc);
if (ret)
goto error_ret;
error_ret:
return ret;
}
int adis16300_reset(struct device *dev)
{
int ret;
ret = adis16300_spi_write_reg_8(dev,
ADIS16300_GLOB_CMD,
ADIS16300_GLOB_CMD_SW_RESET);
if (ret)
dev_err(dev, "problem resetting device");
return ret;
}
/* Power down the device */
static int adis16300_stop_device(struct device *dev)
{
int ret;
u16 val = ADIS16300_SLP_CNT_POWER_OFF;
ret = adis16300_spi_write_reg_16(dev, ADIS16300_SLP_CNT, val);
if (ret)
dev_err(dev, "problem with turning device off: SLP_CNT");
return ret;
}
int adis16300_check_status(struct device *dev)
{
u16 status;
int ret;
ret = adis16300_spi_read_reg_16(dev, ADIS16300_DIAG_STAT, &status);
if (ret < 0) {
dev_err(dev, "Reading status failed\n");
goto error_ret;
}
ret = status;
if (status & ADIS16300_DIAG_STAT_ZACCL_FAIL)
dev_err(dev, "Z-axis accelerometer self-test failure\n");
if (status & ADIS16300_DIAG_STAT_YACCL_FAIL)
dev_err(dev, "Y-axis accelerometer self-test failure\n");
if (status & ADIS16300_DIAG_STAT_XACCL_FAIL)
dev_err(dev, "X-axis accelerometer self-test failure\n");
if (status & ADIS16300_DIAG_STAT_XGYRO_FAIL)
dev_err(dev, "X-axis gyroscope self-test failure\n");
if (status & ADIS16300_DIAG_STAT_ALARM2)
dev_err(dev, "Alarm 2 active\n");
if (status & ADIS16300_DIAG_STAT_ALARM1)
dev_err(dev, "Alarm 1 active\n");
if (status & ADIS16300_DIAG_STAT_FLASH_CHK)
dev_err(dev, "Flash checksum error\n");
if (status & ADIS16300_DIAG_STAT_SELF_TEST)
dev_err(dev, "Self test error\n");
if (status & ADIS16300_DIAG_STAT_OVERFLOW)
dev_err(dev, "Sensor overrange\n");
if (status & ADIS16300_DIAG_STAT_SPI_FAIL)
dev_err(dev, "SPI failure\n");
if (status & ADIS16300_DIAG_STAT_FLASH_UPT)
dev_err(dev, "Flash update failed\n");
if (status & ADIS16300_DIAG_STAT_POWER_HIGH)
dev_err(dev, "Power supply above 5.25V\n");
if (status & ADIS16300_DIAG_STAT_POWER_LOW)
dev_err(dev, "Power supply below 4.75V\n");
error_ret:
return ret;
}
static int adis16300_initial_setup(struct adis16300_state *st)
{
int ret;
u16 smp_prd;
struct device *dev = &st->indio_dev->dev;
/* use low spi speed for init */
st->us->max_speed_hz = ADIS16300_SPI_SLOW;
st->us->mode = SPI_MODE_3;
spi_setup(st->us);
/* Disable IRQ */
ret = adis16300_set_irq(dev, false);
if (ret) {
dev_err(dev, "disable irq failed");
goto err_ret;
}
/* Do self test */
/* Read status register to check the result */
ret = adis16300_check_status(dev);
if (ret) {
adis16300_reset(dev);
dev_err(dev, "device not playing ball -> reset");
msleep(ADIS16300_STARTUP_DELAY);
ret = adis16300_check_status(dev);
if (ret) {
dev_err(dev, "giving up");
goto err_ret;
}
}
printk(KERN_INFO DRIVER_NAME ": at CS%d (irq %d)\n",
st->us->chip_select, st->us->irq);
/* use high spi speed if possible */
ret = adis16300_spi_read_reg_16(dev, ADIS16300_SMPL_PRD, &smp_prd);
if (!ret && (smp_prd & ADIS16300_SMPL_PRD_DIV_MASK) < 0x0A) {
st->us->max_speed_hz = ADIS16300_SPI_SLOW;
spi_setup(st->us);
}
err_ret:
return ret;
}
static IIO_DEV_ATTR_ACCEL_X_OFFSET(S_IWUSR | S_IRUGO,
adis16300_read_12bit_signed,
adis16300_write_16bit,
ADIS16300_XACCL_OFF);
static IIO_DEV_ATTR_ACCEL_Y_OFFSET(S_IWUSR | S_IRUGO,
adis16300_read_12bit_signed,
adis16300_write_16bit,
ADIS16300_YACCL_OFF);
static IIO_DEV_ATTR_ACCEL_Z_OFFSET(S_IWUSR | S_IRUGO,
adis16300_read_12bit_signed,
adis16300_write_16bit,
ADIS16300_ZACCL_OFF);
static IIO_DEV_ATTR_IN_NAMED_RAW(supply, adis16300_read_14bit_signed,
ADIS16300_SUPPLY_OUT);
static IIO_CONST_ATTR(in_supply_scale, "0.00242");
static IIO_DEV_ATTR_GYRO_X(adis16300_read_14bit_signed,
ADIS16300_XGYRO_OUT);
static IIO_CONST_ATTR(gyro_scale, "0.05 deg/s");
static IIO_DEV_ATTR_ACCEL_X(adis16300_read_14bit_signed,
ADIS16300_XACCL_OUT);
static IIO_DEV_ATTR_ACCEL_Y(adis16300_read_14bit_signed,
ADIS16300_YACCL_OUT);
static IIO_DEV_ATTR_ACCEL_Z(adis16300_read_14bit_signed,
ADIS16300_ZACCL_OUT);
static IIO_CONST_ATTR(accel_scale, "0.0006 g");
static IIO_DEV_ATTR_INCLI_X(adis16300_read_13bit_signed,
ADIS16300_XINCLI_OUT);
static IIO_DEV_ATTR_INCLI_Y(adis16300_read_13bit_signed,
ADIS16300_YINCLI_OUT);
static IIO_CONST_ATTR(incli_scale, "0.044 d");
static IIO_DEV_ATTR_TEMP_RAW(adis16300_read_12bit_signed);
static IIO_CONST_ATTR(temp_offset, "198.16 K");
static IIO_CONST_ATTR(temp_scale, "0.14 K");
static IIO_DEV_ATTR_IN_RAW(0, adis16300_read_12bit_unsigned,
ADIS16300_AUX_ADC);
static IIO_CONST_ATTR(in0_scale, "0.000806");
static IIO_DEV_ATTR_SAMP_FREQ(S_IWUSR | S_IRUGO,
adis16300_read_frequency,
adis16300_write_frequency);
static IIO_DEVICE_ATTR(reset, S_IWUSR, NULL, adis16300_write_reset, 0);
static IIO_CONST_ATTR_AVAIL_SAMP_FREQ("409 546 819 1638");
static IIO_CONST_ATTR(name, "adis16300");
static struct attribute *adis16300_event_attributes[] = {
NULL
};
static struct attribute_group adis16300_event_attribute_group = {
.attrs = adis16300_event_attributes,
};
static struct attribute *adis16300_attributes[] = {
&iio_dev_attr_accel_x_offset.dev_attr.attr,
&iio_dev_attr_accel_y_offset.dev_attr.attr,
&iio_dev_attr_accel_z_offset.dev_attr.attr,
&iio_dev_attr_in_supply_raw.dev_attr.attr,
&iio_const_attr_in_supply_scale.dev_attr.attr,
&iio_dev_attr_gyro_x_raw.dev_attr.attr,
&iio_const_attr_gyro_scale.dev_attr.attr,
&iio_dev_attr_accel_x_raw.dev_attr.attr,
&iio_dev_attr_accel_y_raw.dev_attr.attr,
&iio_dev_attr_accel_z_raw.dev_attr.attr,
&iio_const_attr_accel_scale.dev_attr.attr,
&iio_dev_attr_incli_x_raw.dev_attr.attr,
&iio_dev_attr_incli_y_raw.dev_attr.attr,
&iio_const_attr_incli_scale.dev_attr.attr,
&iio_dev_attr_temp_raw.dev_attr.attr,
&iio_const_attr_temp_offset.dev_attr.attr,
&iio_const_attr_temp_scale.dev_attr.attr,
&iio_dev_attr_in0_raw.dev_attr.attr,
&iio_const_attr_in0_scale.dev_attr.attr,
&iio_dev_attr_sampling_frequency.dev_attr.attr,
&iio_const_attr_available_sampling_frequency.dev_attr.attr,
&iio_dev_attr_reset.dev_attr.attr,
&iio_const_attr_name.dev_attr.attr,
NULL
};
static const struct attribute_group adis16300_attribute_group = {
.attrs = adis16300_attributes,
};
static int __devinit adis16300_probe(struct spi_device *spi)
{
int ret, regdone = 0;
struct adis16300_state *st = kzalloc(sizeof *st, GFP_KERNEL);
if (!st) {
ret = -ENOMEM;
goto error_ret;
}
/* this is only used for removal purposes */
spi_set_drvdata(spi, st);
/* Allocate the comms buffers */
st->rx = kzalloc(sizeof(*st->rx)*ADIS16300_MAX_RX, GFP_KERNEL);
if (st->rx == NULL) {
ret = -ENOMEM;
goto error_free_st;
}
st->tx = kzalloc(sizeof(*st->tx)*ADIS16300_MAX_TX, GFP_KERNEL);
if (st->tx == NULL) {
ret = -ENOMEM;
goto error_free_rx;
}
st->us = spi;
mutex_init(&st->buf_lock);
/* setup the industrialio driver allocated elements */
st->indio_dev = iio_allocate_device();
if (st->indio_dev == NULL) {
ret = -ENOMEM;
goto error_free_tx;
}
st->indio_dev->dev.parent = &spi->dev;
st->indio_dev->num_interrupt_lines = 1;
st->indio_dev->event_attrs = &adis16300_event_attribute_group;
st->indio_dev->attrs = &adis16300_attribute_group;
st->indio_dev->dev_data = (void *)(st);
st->indio_dev->driver_module = THIS_MODULE;
st->indio_dev->modes = INDIO_DIRECT_MODE;
ret = adis16300_configure_ring(st->indio_dev);
if (ret)
goto error_free_dev;
ret = iio_device_register(st->indio_dev);
if (ret)
goto error_unreg_ring_funcs;
regdone = 1;
ret = adis16300_initialize_ring(st->indio_dev->ring);
if (ret) {
printk(KERN_ERR "failed to initialize the ring\n");
goto error_unreg_ring_funcs;
}
if (spi->irq && gpio_is_valid(irq_to_gpio(spi->irq)) > 0) {
#if 0 /* fixme: here we should support */
iio_init_work_cont(&st->work_cont_thresh,
NULL,
adis16300_thresh_handler_bh_no_check,
0,
0,
st);
#endif
ret = iio_register_interrupt_line(spi->irq,
st->indio_dev,
0,
IRQF_TRIGGER_RISING,
"adis16300");
if (ret)
goto error_uninitialize_ring;
ret = adis16300_probe_trigger(st->indio_dev);
if (ret)
goto error_unregister_line;
}
/* Get the device into a sane initial state */
ret = adis16300_initial_setup(st);
if (ret)
goto error_remove_trigger;
return 0;
error_remove_trigger:
if (st->indio_dev->modes & INDIO_RING_TRIGGERED)
adis16300_remove_trigger(st->indio_dev);
error_unregister_line:
if (st->indio_dev->modes & INDIO_RING_TRIGGERED)
iio_unregister_interrupt_line(st->indio_dev, 0);
error_uninitialize_ring:
adis16300_uninitialize_ring(st->indio_dev->ring);
error_unreg_ring_funcs:
adis16300_unconfigure_ring(st->indio_dev);
error_free_dev:
if (regdone)
iio_device_unregister(st->indio_dev);
else
iio_free_device(st->indio_dev);
error_free_tx:
kfree(st->tx);
error_free_rx:
kfree(st->rx);
error_free_st:
kfree(st);
error_ret:
return ret;
}
/* fixme, confirm ordering in this function */
static int adis16300_remove(struct spi_device *spi)
{
int ret;
struct adis16300_state *st = spi_get_drvdata(spi);
struct iio_dev *indio_dev = st->indio_dev;
ret = adis16300_stop_device(&(indio_dev->dev));
if (ret)
goto err_ret;
flush_scheduled_work();
adis16300_remove_trigger(indio_dev);
if (spi->irq && gpio_is_valid(irq_to_gpio(spi->irq)) > 0)
iio_unregister_interrupt_line(indio_dev, 0);
adis16300_uninitialize_ring(indio_dev->ring);
adis16300_unconfigure_ring(indio_dev);
iio_device_unregister(indio_dev);
kfree(st->tx);
kfree(st->rx);
kfree(st);
return 0;
err_ret:
return ret;
}
static struct spi_driver adis16300_driver = {
.driver = {
.name = "adis16300",
.owner = THIS_MODULE,
},
.probe = adis16300_probe,
.remove = __devexit_p(adis16300_remove),
};
static __init int adis16300_init(void)
{
return spi_register_driver(&adis16300_driver);
}
module_init(adis16300_init);
static __exit void adis16300_exit(void)
{
spi_unregister_driver(&adis16300_driver);
}
module_exit(adis16300_exit);
MODULE_AUTHOR("Barry Song <21cnbao@gmail.com>");
MODULE_DESCRIPTION("Analog Devices ADIS16300 IMU SPI driver");
MODULE_LICENSE("GPL v2");
