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linux/drivers/iio/gyro/adis16260.c
Lars-Peter Clausen 555d5a9f17 staging:iio:adis16260: Move out of staging 
The drivers is in more or less good shape, conforms to the IIO ABI and none of
the default static code checker report any problems, so move it out of staging.

Signed-off-by: Lars-Peter Clausen <lars@metafoo.de>
Signed-off-by: Jonathan Cameron <jic23@kernel.org>
2013-08-03 18:41:22 +01:00

429 lines
12 KiB
C
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/*
* 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
static ssize_t adis16260_read_frequency(struct device *dev,
struct device_attribute *attr,
char *buf)
{
struct iio_dev *indio_dev = dev_to_iio_dev(dev);
struct adis *adis = iio_priv(indio_dev);
int ret, len = 0;
u16 t;
int sps;
ret = adis_read_reg_16(adis, ADIS16260_SMPL_PRD, &t);
if (ret)
return ret;
if (spi_get_device_id(adis->spi)->driver_data) /* If an adis16251 */
sps = (t & ADIS16260_SMPL_PRD_TIME_BASE) ? 8 : 256;
else
sps = (t & ADIS16260_SMPL_PRD_TIME_BASE) ? 66 : 2048;
sps /= (t & ADIS16260_SMPL_PRD_DIV_MASK) + 1;
len = sprintf(buf, "%d\n", sps);
return len;
}
static ssize_t adis16260_write_frequency(struct device *dev,
struct device_attribute *attr,
const char *buf,
size_t len)
{
struct iio_dev *indio_dev = dev_to_iio_dev(dev);
struct adis *adis = iio_priv(indio_dev);
unsigned int val;
int ret;
u8 t;
ret = kstrtouint(buf, 10, &val);
if (ret)
return ret;
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 ? ret : len;
}
/* 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 IIO_DEV_ATTR_SAMP_FREQ(S_IWUSR | S_IRUGO,
adis16260_read_frequency,
adis16260_write_frequency);
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), 14),
ADIS_INCLI_CHAN(X, ADIS16260_ANGL_OUT, ADIS16260_SCAN_ANGL, 0, 14),
ADIS_TEMP_CHAN(ADIS16260_TEMP_OUT, ADIS16260_SCAN_TEMP, 12),
ADIS_SUPPLY_CHAN(ADIS16260_SUPPLY_OUT, ADIS16260_SCAN_SUPPLY, 12),
ADIS_AUX_ADC_CHAN(ADIS16260_AUX_ADC, ADIS16260_SCAN_AUX_ADC, 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;
}
break;
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;
}
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);
u8 addr;
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);
}
return -EINVAL;
}
static struct attribute *adis16260_attributes[] = {
&iio_dev_attr_sampling_frequency.dev_attr.attr,
NULL
};
static const struct attribute_group adis16260_attribute_group = {
.attrs = adis16260_attributes,
};
static const struct iio_info adis16260_info = {
.attrs = &adis16260_attribute_group,
.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 = iio_device_alloc(sizeof(*adis));
if (indio_dev == NULL) {
ret = -ENOMEM;
goto error_ret;
}
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)
goto error_free_dev;
ret = adis_setup_buffer_and_trigger(adis, indio_dev, NULL);
if (ret)
goto error_free_dev;
/* 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);
error_free_dev:
iio_device_free(indio_dev);
error_ret:
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);
iio_device_free(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");
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