drivers/iio/gyro/adis16260.c

   1 /*
   2  * ADIS16260/ADIS16265 Programmable Digital Gyroscope Sensor Driver
   3  *
   4  * Copyright 2010 Analog Devices Inc.
   5  *
   6  * Licensed under the GPL-2 or later.
   7  */
   8
   9 #include <linux/interrupt.h>
  10 #include <linux/mutex.h>
  11 #include <linux/device.h>
  12 #include <linux/kernel.h>
  13 #include <linux/spi/spi.h>
  14 #include <linux/sysfs.h>
  15 #include <linux/module.h>
  16
  17 #include <linux/iio/iio.h>
  18 #include <linux/iio/sysfs.h>
  19 #include <linux/iio/buffer.h>
  20 #include <linux/iio/imu/adis.h>
  21
  22 #define ADIS16260_STARTUP_DELAY 220 /* ms */
  23
  24 #define ADIS16260_FLASH_CNT  0x00 /* Flash memory write count */
  25 #define ADIS16260_SUPPLY_OUT 0x02 /* Power supply measurement */
  26 #define ADIS16260_GYRO_OUT   0x04 /* X-axis gyroscope output */
  27 #define ADIS16260_AUX_ADC    0x0A /* analog input channel measurement */
  28 #define ADIS16260_TEMP_OUT   0x0C /* internal temperature measurement */
  29 #define ADIS16260_ANGL_OUT   0x0E /* angle displacement */
  30 #define ADIS16260_GYRO_OFF   0x14 /* Calibration, offset/bias adjustment */
  31 #define ADIS16260_GYRO_SCALE 0x16 /* Calibration, scale adjustment */
  32 #define ADIS16260_ALM_MAG1   0x20 /* Alarm 1 magnitude/polarity setting */
  33 #define ADIS16260_ALM_MAG2   0x22 /* Alarm 2 magnitude/polarity setting */
  34 #define ADIS16260_ALM_SMPL1  0x24 /* Alarm 1 dynamic rate of change setting */
  35 #define ADIS16260_ALM_SMPL2  0x26 /* Alarm 2 dynamic rate of change setting */
  36 #define ADIS16260_ALM_CTRL   0x28 /* Alarm control */
  37 #define ADIS16260_AUX_DAC    0x30 /* Auxiliary DAC data */
  38 #define ADIS16260_GPIO_CTRL  0x32 /* Control, digital I/O line */
  39 #define ADIS16260_MSC_CTRL   0x34 /* Control, data ready, self-test settings */
  40 #define ADIS16260_SMPL_PRD   0x36 /* Control, internal sample rate */
  41 #define ADIS16260_SENS_AVG   0x38 /* Control, dynamic range, filtering */
  42 #define ADIS16260_SLP_CNT    0x3A /* Control, sleep mode initiation */
  43 #define ADIS16260_DIAG_STAT  0x3C /* Diagnostic, error flags */
  44 #define ADIS16260_GLOB_CMD   0x3E /* Control, global commands */
  45 #define ADIS16260_LOT_ID1    0x52 /* Lot Identification Code 1 */
  46 #define ADIS16260_LOT_ID2    0x54 /* Lot Identification Code 2 */
  47 #define ADIS16260_PROD_ID    0x56 /* Product identifier;
  48                                    * convert to decimal = 16,265/16,260 */
  49 #define ADIS16260_SERIAL_NUM 0x58 /* Serial number */
  50
  51 #define ADIS16260_ERROR_ACTIVE                  (1<<14)
  52 #define ADIS16260_NEW_DATA                      (1<<15)
  53
  54 /* MSC_CTRL */
  55 #define ADIS16260_MSC_CTRL_MEM_TEST             (1<<11)
  56 /* Internal self-test enable */
  57 #define ADIS16260_MSC_CTRL_INT_SELF_TEST        (1<<10)
  58 #define ADIS16260_MSC_CTRL_NEG_SELF_TEST        (1<<9)
  59 #define ADIS16260_MSC_CTRL_POS_SELF_TEST        (1<<8)
  60 #define ADIS16260_MSC_CTRL_DATA_RDY_EN          (1<<2)
  61 #define ADIS16260_MSC_CTRL_DATA_RDY_POL_HIGH    (1<<1)
  62 #define ADIS16260_MSC_CTRL_DATA_RDY_DIO2        (1<<0)
  63
  64 /* SMPL_PRD */
  65 /* Time base (tB): 0 = 1.953 ms, 1 = 60.54 ms */
  66 #define ADIS16260_SMPL_PRD_TIME_BASE    (1<<7)
  67 #define ADIS16260_SMPL_PRD_DIV_MASK     0x7F
  68
  69 /* SLP_CNT */
  70 #define ADIS16260_SLP_CNT_POWER_OFF     0x80
  71
  72 /* DIAG_STAT */
  73 #define ADIS16260_DIAG_STAT_ALARM2      (1<<9)
  74 #define ADIS16260_DIAG_STAT_ALARM1      (1<<8)
  75 #define ADIS16260_DIAG_STAT_FLASH_CHK_BIT       6
  76 #define ADIS16260_DIAG_STAT_SELF_TEST_BIT       5
  77 #define ADIS16260_DIAG_STAT_OVERFLOW_BIT        4
  78 #define ADIS16260_DIAG_STAT_SPI_FAIL_BIT        3
  79 #define ADIS16260_DIAG_STAT_FLASH_UPT_BIT       2
  80 #define ADIS16260_DIAG_STAT_POWER_HIGH_BIT      1
  81 #define ADIS16260_DIAG_STAT_POWER_LOW_BIT       0
  82
  83 /* GLOB_CMD */
  84 #define ADIS16260_GLOB_CMD_SW_RESET     (1<<7)
  85 #define ADIS16260_GLOB_CMD_FLASH_UPD    (1<<3)
  86 #define ADIS16260_GLOB_CMD_DAC_LATCH    (1<<2)
  87 #define ADIS16260_GLOB_CMD_FAC_CALIB    (1<<1)
  88 #define ADIS16260_GLOB_CMD_AUTO_NULL    (1<<0)
  89
  90 #define ADIS16260_SPI_SLOW      (u32)(300 * 1000)
  91 #define ADIS16260_SPI_BURST     (u32)(1000 * 1000)
  92 #define ADIS16260_SPI_FAST      (u32)(2000 * 1000)
  93
  94 /* At the moment triggers are only used for ring buffer
  95  * filling. This may change!
  96  */
  97
  98 #define ADIS16260_SCAN_GYRO     0
  99 #define ADIS16260_SCAN_SUPPLY   1
 100 #define ADIS16260_SCAN_AUX_ADC  2
 101 #define ADIS16260_SCAN_TEMP     3
 102 #define ADIS16260_SCAN_ANGL     4
 103
 104 /* Power down the device */
 105 static int adis16260_stop_device(struct iio_dev *indio_dev)
 106 {
 107         struct adis *adis = iio_priv(indio_dev);
 108         int ret;
 109         u16 val = ADIS16260_SLP_CNT_POWER_OFF;
 110
 111         ret = adis_write_reg_16(adis, ADIS16260_SLP_CNT, val);
 112         if (ret)
 113                 dev_err(&indio_dev->dev, "problem with turning device off: SLP_CNT");
 114
 115         return ret;
 116 }
 117
 118 static const struct iio_chan_spec adis16260_channels[] = {
 119         ADIS_GYRO_CHAN(X, ADIS16260_GYRO_OUT, ADIS16260_SCAN_GYRO,
 120                 BIT(IIO_CHAN_INFO_CALIBBIAS) |
 121                 BIT(IIO_CHAN_INFO_CALIBSCALE),
 122                 BIT(IIO_CHAN_INFO_SAMP_FREQ), 14),
 123         ADIS_INCLI_CHAN(X, ADIS16260_ANGL_OUT, ADIS16260_SCAN_ANGL, 0,
 124                 BIT(IIO_CHAN_INFO_SAMP_FREQ), 14),
 125         ADIS_TEMP_CHAN(ADIS16260_TEMP_OUT, ADIS16260_SCAN_TEMP,
 126                 BIT(IIO_CHAN_INFO_SAMP_FREQ), 12),
 127         ADIS_SUPPLY_CHAN(ADIS16260_SUPPLY_OUT, ADIS16260_SCAN_SUPPLY,
 128                 BIT(IIO_CHAN_INFO_SAMP_FREQ), 12),
 129         ADIS_AUX_ADC_CHAN(ADIS16260_AUX_ADC, ADIS16260_SCAN_AUX_ADC,
 130                 BIT(IIO_CHAN_INFO_SAMP_FREQ), 12),
 131         IIO_CHAN_SOFT_TIMESTAMP(5),
 132 };
 133
 134 static const u8 adis16260_addresses[][2] = {
 135         [ADIS16260_SCAN_GYRO] = { ADIS16260_GYRO_OFF, ADIS16260_GYRO_SCALE },
 136 };
 137
 138 static int adis16260_read_raw(struct iio_dev *indio_dev,
 139                               struct iio_chan_spec const *chan,
 140                               int *val, int *val2,
 141                               long mask)
 142 {
 143         struct adis *adis = iio_priv(indio_dev);
 144         int ret;
 145         u8 addr;
 146         s16 val16;
 147
 148         switch (mask) {
 149         case IIO_CHAN_INFO_RAW:
 150                 return adis_single_conversion(indio_dev, chan,
 151                                 ADIS16260_ERROR_ACTIVE, val);
 152         case IIO_CHAN_INFO_SCALE:
 153                 switch (chan->type) {
 154                 case IIO_ANGL_VEL:
 155                         *val = 0;
 156                         if (spi_get_device_id(adis->spi)->driver_data) {
 157                                 /* 0.01832 degree / sec */
 158                                 *val2 = IIO_DEGREE_TO_RAD(18320);
 159                         } else {
 160                                 /* 0.07326 degree / sec */
 161                                 *val2 = IIO_DEGREE_TO_RAD(73260);
 162                         }
 163                         return IIO_VAL_INT_PLUS_MICRO;
 164                 case IIO_INCLI:
 165                         *val = 0;
 166                         *val2 = IIO_DEGREE_TO_RAD(36630);
 167                         return IIO_VAL_INT_PLUS_MICRO;
 168                 case IIO_VOLTAGE:
 169                         if (chan->channel == 0) {
 170                                 *val = 1;
 171                                 *val2 = 831500; /* 1.8315 mV */
 172                         } else {
 173                                 *val = 0;
 174                                 *val2 = 610500; /* 610.5 uV */
 175                         }
 176                         return IIO_VAL_INT_PLUS_MICRO;
 177                 case IIO_TEMP:
 178                         *val = 145;
 179                         *val2 = 300000; /* 0.1453 C */
 180                         return IIO_VAL_INT_PLUS_MICRO;
 181                 default:
 182                         return -EINVAL;
 183                 }
 184         case IIO_CHAN_INFO_OFFSET:
 185                 *val = 250000 / 1453; /* 25 C = 0x00 */
 186                 return IIO_VAL_INT;
 187         case IIO_CHAN_INFO_CALIBBIAS:
 188                 addr = adis16260_addresses[chan->scan_index][0];
 189                 ret = adis_read_reg_16(adis, addr, &val16);
 190                 if (ret)
 191                         return ret;
 192
 193                 *val = sign_extend32(val16, 11);
 194                 return IIO_VAL_INT;
 195         case IIO_CHAN_INFO_CALIBSCALE:
 196                 addr = adis16260_addresses[chan->scan_index][1];
 197                 ret = adis_read_reg_16(adis, addr, &val16);
 198                 if (ret)
 199                         return ret;
 200
 201                 *val = val16;
 202                 return IIO_VAL_INT;
 203         case IIO_CHAN_INFO_SAMP_FREQ:
 204                 ret = adis_read_reg_16(adis, ADIS16260_SMPL_PRD, &val16);
 205                 if (ret)
 206                         return ret;
 207
 208                 if (spi_get_device_id(adis->spi)->driver_data)
 209                 /* If an adis16251 */
 210                         *val = (val16 & ADIS16260_SMPL_PRD_TIME_BASE) ?
 211                                 8 : 256;
 212                 else
 213                         *val = (val16 & ADIS16260_SMPL_PRD_TIME_BASE) ?
 214                                 66 : 2048;
 215                 *val /= (val16 & ADIS16260_SMPL_PRD_DIV_MASK) + 1;
 216                 return IIO_VAL_INT;
 217         }
 218         return -EINVAL;
 219 }
 220
 221 static int adis16260_write_raw(struct iio_dev *indio_dev,
 222                                struct iio_chan_spec const *chan,
 223                                int val,
 224                                int val2,
 225                                long mask)
 226 {
 227         struct adis *adis = iio_priv(indio_dev);
 228         int ret;
 229         u8 addr;
 230         u8 t;
 231
 232         switch (mask) {
 233         case IIO_CHAN_INFO_CALIBBIAS:
 234                 if (val < -2048 || val >= 2048)
 235                         return -EINVAL;
 236
 237                 addr = adis16260_addresses[chan->scan_index][0];
 238                 return adis_write_reg_16(adis, addr, val);
 239         case IIO_CHAN_INFO_CALIBSCALE:
 240                 if (val < 0 || val >= 4096)
 241                         return -EINVAL;
 242
 243                 addr = adis16260_addresses[chan->scan_index][1];
 244                 return adis_write_reg_16(adis, addr, val);
 245         case IIO_CHAN_INFO_SAMP_FREQ:
 246                 mutex_lock(&indio_dev->mlock);
 247                 if (spi_get_device_id(adis->spi)->driver_data)
 248                         t = 256 / val;
 249                 else
 250                         t = 2048 / val;
 251
 252                 if (t > ADIS16260_SMPL_PRD_DIV_MASK)
 253                         t = ADIS16260_SMPL_PRD_DIV_MASK;
 254                 else if (t > 0)
 255                         t--;
 256
 257                 if (t >= 0x0A)
 258                         adis->spi->max_speed_hz = ADIS16260_SPI_SLOW;
 259                 else
 260                         adis->spi->max_speed_hz = ADIS16260_SPI_FAST;
 261                 ret = adis_write_reg_8(adis, ADIS16260_SMPL_PRD, t);
 262
 263                 mutex_unlock(&indio_dev->mlock);
 264                 return ret;
 265         }
 266         return -EINVAL;
 267 }
 268
 269 static const struct iio_info adis16260_info = {
 270         .read_raw = &adis16260_read_raw,
 271         .write_raw = &adis16260_write_raw,
 272         .update_scan_mode = adis_update_scan_mode,
 273         .driver_module = THIS_MODULE,
 274 };
 275
 276 static const char * const adis1620_status_error_msgs[] = {
 277         [ADIS16260_DIAG_STAT_FLASH_CHK_BIT] = "Flash checksum error",
 278         [ADIS16260_DIAG_STAT_SELF_TEST_BIT] = "Self test error",
 279         [ADIS16260_DIAG_STAT_OVERFLOW_BIT] = "Sensor overrange",
 280         [ADIS16260_DIAG_STAT_SPI_FAIL_BIT] = "SPI failure",
 281         [ADIS16260_DIAG_STAT_FLASH_UPT_BIT] = "Flash update failed",
 282         [ADIS16260_DIAG_STAT_POWER_HIGH_BIT] = "Power supply above 5.25",
 283         [ADIS16260_DIAG_STAT_POWER_LOW_BIT] = "Power supply below 4.75",
 284 };
 285
 286 static const struct adis_data adis16260_data = {
 287         .write_delay = 30,
 288         .read_delay = 30,
 289         .msc_ctrl_reg = ADIS16260_MSC_CTRL,
 290         .glob_cmd_reg = ADIS16260_GLOB_CMD,
 291         .diag_stat_reg = ADIS16260_DIAG_STAT,
 292
 293         .self_test_mask = ADIS16260_MSC_CTRL_MEM_TEST,
 294         .startup_delay = ADIS16260_STARTUP_DELAY,
 295
 296         .status_error_msgs = adis1620_status_error_msgs,
 297         .status_error_mask = BIT(ADIS16260_DIAG_STAT_FLASH_CHK_BIT) |
 298                 BIT(ADIS16260_DIAG_STAT_SELF_TEST_BIT) |
 299                 BIT(ADIS16260_DIAG_STAT_OVERFLOW_BIT) |
 300                 BIT(ADIS16260_DIAG_STAT_SPI_FAIL_BIT) |
 301                 BIT(ADIS16260_DIAG_STAT_FLASH_UPT_BIT) |
 302                 BIT(ADIS16260_DIAG_STAT_POWER_HIGH_BIT) |
 303                 BIT(ADIS16260_DIAG_STAT_POWER_LOW_BIT),
 304 };
 305
 306 static int adis16260_probe(struct spi_device *spi)
 307 {
 308         struct iio_dev *indio_dev;
 309         struct adis *adis;
 310         int ret;
 311
 312         /* setup the industrialio driver allocated elements */
 313         indio_dev = devm_iio_device_alloc(&spi->dev, sizeof(*adis));
 314         if (!indio_dev)
 315                 return -ENOMEM;
 316         adis = iio_priv(indio_dev);
 317         /* this is only used for removal purposes */
 318         spi_set_drvdata(spi, indio_dev);
 319
 320         indio_dev->name = spi_get_device_id(spi)->name;
 321         indio_dev->dev.parent = &spi->dev;
 322         indio_dev->info = &adis16260_info;
 323         indio_dev->channels = adis16260_channels;
 324         indio_dev->num_channels = ARRAY_SIZE(adis16260_channels);
 325         indio_dev->modes = INDIO_DIRECT_MODE;
 326
 327         ret = adis_init(adis, indio_dev, spi, &adis16260_data);
 328         if (ret)
 329                 return ret;
 330
 331         ret = adis_setup_buffer_and_trigger(adis, indio_dev, NULL);
 332         if (ret)
 333                 return ret;
 334
 335         /* Get the device into a sane initial state */
 336         ret = adis_initial_startup(adis);
 337         if (ret)
 338                 goto error_cleanup_buffer_trigger;
 339         ret = iio_device_register(indio_dev);
 340         if (ret)
 341                 goto error_cleanup_buffer_trigger;
 342
 343         return 0;
 344
 345 error_cleanup_buffer_trigger:
 346         adis_cleanup_buffer_and_trigger(adis, indio_dev);
 347         return ret;
 348 }
 349
 350 static int adis16260_remove(struct spi_device *spi)
 351 {
 352         struct iio_dev *indio_dev = spi_get_drvdata(spi);
 353         struct adis *adis = iio_priv(indio_dev);
 354
 355         iio_device_unregister(indio_dev);
 356         adis16260_stop_device(indio_dev);
 357         adis_cleanup_buffer_and_trigger(adis, indio_dev);
 358
 359         return 0;
 360 }
 361
 362 /*
 363  * These parts do not need to be differentiated until someone adds
 364  * support for the on chip filtering.
 365  */
 366 static const struct spi_device_id adis16260_id[] = {
 367         {"adis16260", 0},
 368         {"adis16265", 0},
 369         {"adis16250", 0},
 370         {"adis16255", 0},
 371         {"adis16251", 1},
 372         {}
 373 };
 374 MODULE_DEVICE_TABLE(spi, adis16260_id);
 375
 376 static struct spi_driver adis16260_driver = {
 377         .driver = {
 378                 .name = "adis16260",
 379                 .owner = THIS_MODULE,
 380         },
 381         .probe = adis16260_probe,
 382         .remove = adis16260_remove,
 383         .id_table = adis16260_id,
 384 };
 385 module_spi_driver(adis16260_driver);
 386
 387 MODULE_AUTHOR("Barry Song <21cnbao@gmail.com>");
 388 MODULE_DESCRIPTION("Analog Devices ADIS16260/5 Digital Gyroscope Sensor");
 389 MODULE_LICENSE("GPL v2");