mmc: rtsx_pci: Enable MMC_CAP_ERASE to allow erase/discard/trim requests
[linux/fpc-iii.git] / drivers / iio / gyro / adis16260.c
blob7da8825f4791901d0c3757823e15cf30080993c0
1 /*
2 * ADIS16260/ADIS16265 Programmable Digital Gyroscope Sensor Driver
4 * Copyright 2010 Analog Devices Inc.
6 * Licensed under the GPL-2 or later.
7 */
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>
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>
22 #define ADIS16260_STARTUP_DELAY 220 /* ms */
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 */
51 #define ADIS16260_ERROR_ACTIVE (1<<14)
52 #define ADIS16260_NEW_DATA (1<<15)
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)
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
69 /* SLP_CNT */
70 #define ADIS16260_SLP_CNT_POWER_OFF 0x80
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
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)
90 #define ADIS16260_SPI_SLOW (u32)(300 * 1000)
91 #define ADIS16260_SPI_BURST (u32)(1000 * 1000)
92 #define ADIS16260_SPI_FAST (u32)(2000 * 1000)
94 /* At the moment triggers are only used for ring buffer
95 * filling. This may change!
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
104 struct adis16260_chip_info {
105 unsigned int gyro_max_val;
106 unsigned int gyro_max_scale;
107 const struct iio_chan_spec *channels;
108 unsigned int num_channels;
111 struct adis16260 {
112 const struct adis16260_chip_info *info;
114 struct adis adis;
117 enum adis16260_type {
118 ADIS16251,
119 ADIS16260,
120 ADIS16266,
123 static const struct iio_chan_spec adis16260_channels[] = {
124 ADIS_GYRO_CHAN(X, ADIS16260_GYRO_OUT, ADIS16260_SCAN_GYRO,
125 BIT(IIO_CHAN_INFO_CALIBBIAS) |
126 BIT(IIO_CHAN_INFO_CALIBSCALE),
127 BIT(IIO_CHAN_INFO_SAMP_FREQ), 14),
128 ADIS_INCLI_CHAN(X, ADIS16260_ANGL_OUT, ADIS16260_SCAN_ANGL, 0,
129 BIT(IIO_CHAN_INFO_SAMP_FREQ), 14),
130 ADIS_TEMP_CHAN(ADIS16260_TEMP_OUT, ADIS16260_SCAN_TEMP,
131 BIT(IIO_CHAN_INFO_SAMP_FREQ), 12),
132 ADIS_SUPPLY_CHAN(ADIS16260_SUPPLY_OUT, ADIS16260_SCAN_SUPPLY,
133 BIT(IIO_CHAN_INFO_SAMP_FREQ), 12),
134 ADIS_AUX_ADC_CHAN(ADIS16260_AUX_ADC, ADIS16260_SCAN_AUX_ADC,
135 BIT(IIO_CHAN_INFO_SAMP_FREQ), 12),
136 IIO_CHAN_SOFT_TIMESTAMP(5),
139 static const struct iio_chan_spec adis16266_channels[] = {
140 ADIS_GYRO_CHAN(X, ADIS16260_GYRO_OUT, ADIS16260_SCAN_GYRO,
141 BIT(IIO_CHAN_INFO_CALIBBIAS) |
142 BIT(IIO_CHAN_INFO_CALIBSCALE),
143 BIT(IIO_CHAN_INFO_SAMP_FREQ), 14),
144 ADIS_TEMP_CHAN(ADIS16260_TEMP_OUT, ADIS16260_SCAN_TEMP,
145 BIT(IIO_CHAN_INFO_SAMP_FREQ), 12),
146 ADIS_SUPPLY_CHAN(ADIS16260_SUPPLY_OUT, ADIS16260_SCAN_SUPPLY,
147 BIT(IIO_CHAN_INFO_SAMP_FREQ), 12),
148 ADIS_AUX_ADC_CHAN(ADIS16260_AUX_ADC, ADIS16260_SCAN_AUX_ADC,
149 BIT(IIO_CHAN_INFO_SAMP_FREQ), 12),
150 IIO_CHAN_SOFT_TIMESTAMP(4),
153 static const struct adis16260_chip_info adis16260_chip_info_table[] = {
154 [ADIS16251] = {
155 .gyro_max_scale = 80,
156 .gyro_max_val = IIO_RAD_TO_DEGREE(4368),
157 .channels = adis16260_channels,
158 .num_channels = ARRAY_SIZE(adis16260_channels),
160 [ADIS16260] = {
161 .gyro_max_scale = 320,
162 .gyro_max_val = IIO_RAD_TO_DEGREE(4368),
163 .channels = adis16260_channels,
164 .num_channels = ARRAY_SIZE(adis16260_channels),
166 [ADIS16266] = {
167 .gyro_max_scale = 14000,
168 .gyro_max_val = IIO_RAD_TO_DEGREE(3357),
169 .channels = adis16266_channels,
170 .num_channels = ARRAY_SIZE(adis16266_channels),
174 /* Power down the device */
175 static int adis16260_stop_device(struct iio_dev *indio_dev)
177 struct adis16260 *adis16260 = iio_priv(indio_dev);
178 int ret;
179 u16 val = ADIS16260_SLP_CNT_POWER_OFF;
181 ret = adis_write_reg_16(&adis16260->adis, ADIS16260_SLP_CNT, val);
182 if (ret)
183 dev_err(&indio_dev->dev, "problem with turning device off: SLP_CNT");
185 return ret;
188 static const u8 adis16260_addresses[][2] = {
189 [ADIS16260_SCAN_GYRO] = { ADIS16260_GYRO_OFF, ADIS16260_GYRO_SCALE },
192 static int adis16260_read_raw(struct iio_dev *indio_dev,
193 struct iio_chan_spec const *chan,
194 int *val, int *val2,
195 long mask)
197 struct adis16260 *adis16260 = iio_priv(indio_dev);
198 const struct adis16260_chip_info *info = adis16260->info;
199 struct adis *adis = &adis16260->adis;
200 int ret;
201 u8 addr;
202 s16 val16;
204 switch (mask) {
205 case IIO_CHAN_INFO_RAW:
206 return adis_single_conversion(indio_dev, chan,
207 ADIS16260_ERROR_ACTIVE, val);
208 case IIO_CHAN_INFO_SCALE:
209 switch (chan->type) {
210 case IIO_ANGL_VEL:
211 *val = info->gyro_max_scale;
212 *val2 = info->gyro_max_val;
213 return IIO_VAL_FRACTIONAL;
214 case IIO_INCLI:
215 *val = 0;
216 *val2 = IIO_DEGREE_TO_RAD(36630);
217 return IIO_VAL_INT_PLUS_MICRO;
218 case IIO_VOLTAGE:
219 if (chan->channel == 0) {
220 *val = 1;
221 *val2 = 831500; /* 1.8315 mV */
222 } else {
223 *val = 0;
224 *val2 = 610500; /* 610.5 uV */
226 return IIO_VAL_INT_PLUS_MICRO;
227 case IIO_TEMP:
228 *val = 145;
229 *val2 = 300000; /* 0.1453 C */
230 return IIO_VAL_INT_PLUS_MICRO;
231 default:
232 return -EINVAL;
234 case IIO_CHAN_INFO_OFFSET:
235 *val = 250000 / 1453; /* 25 C = 0x00 */
236 return IIO_VAL_INT;
237 case IIO_CHAN_INFO_CALIBBIAS:
238 addr = adis16260_addresses[chan->scan_index][0];
239 ret = adis_read_reg_16(adis, addr, &val16);
240 if (ret)
241 return ret;
243 *val = sign_extend32(val16, 11);
244 return IIO_VAL_INT;
245 case IIO_CHAN_INFO_CALIBSCALE:
246 addr = adis16260_addresses[chan->scan_index][1];
247 ret = adis_read_reg_16(adis, addr, &val16);
248 if (ret)
249 return ret;
251 *val = val16;
252 return IIO_VAL_INT;
253 case IIO_CHAN_INFO_SAMP_FREQ:
254 ret = adis_read_reg_16(adis, ADIS16260_SMPL_PRD, &val16);
255 if (ret)
256 return ret;
258 if (spi_get_device_id(adis->spi)->driver_data)
259 /* If an adis16251 */
260 *val = (val16 & ADIS16260_SMPL_PRD_TIME_BASE) ?
261 8 : 256;
262 else
263 *val = (val16 & ADIS16260_SMPL_PRD_TIME_BASE) ?
264 66 : 2048;
265 *val /= (val16 & ADIS16260_SMPL_PRD_DIV_MASK) + 1;
266 return IIO_VAL_INT;
268 return -EINVAL;
271 static int adis16260_write_raw(struct iio_dev *indio_dev,
272 struct iio_chan_spec const *chan,
273 int val,
274 int val2,
275 long mask)
277 struct adis16260 *adis16260 = iio_priv(indio_dev);
278 struct adis *adis = &adis16260->adis;
279 int ret;
280 u8 addr;
281 u8 t;
283 switch (mask) {
284 case IIO_CHAN_INFO_CALIBBIAS:
285 if (val < -2048 || val >= 2048)
286 return -EINVAL;
288 addr = adis16260_addresses[chan->scan_index][0];
289 return adis_write_reg_16(adis, addr, val);
290 case IIO_CHAN_INFO_CALIBSCALE:
291 if (val < 0 || val >= 4096)
292 return -EINVAL;
294 addr = adis16260_addresses[chan->scan_index][1];
295 return adis_write_reg_16(adis, addr, val);
296 case IIO_CHAN_INFO_SAMP_FREQ:
297 mutex_lock(&indio_dev->mlock);
298 if (spi_get_device_id(adis->spi)->driver_data)
299 t = 256 / val;
300 else
301 t = 2048 / val;
303 if (t > ADIS16260_SMPL_PRD_DIV_MASK)
304 t = ADIS16260_SMPL_PRD_DIV_MASK;
305 else if (t > 0)
306 t--;
308 if (t >= 0x0A)
309 adis->spi->max_speed_hz = ADIS16260_SPI_SLOW;
310 else
311 adis->spi->max_speed_hz = ADIS16260_SPI_FAST;
312 ret = adis_write_reg_8(adis, ADIS16260_SMPL_PRD, t);
314 mutex_unlock(&indio_dev->mlock);
315 return ret;
317 return -EINVAL;
320 static const struct iio_info adis16260_info = {
321 .read_raw = &adis16260_read_raw,
322 .write_raw = &adis16260_write_raw,
323 .update_scan_mode = adis_update_scan_mode,
324 .driver_module = THIS_MODULE,
327 static const char * const adis1620_status_error_msgs[] = {
328 [ADIS16260_DIAG_STAT_FLASH_CHK_BIT] = "Flash checksum error",
329 [ADIS16260_DIAG_STAT_SELF_TEST_BIT] = "Self test error",
330 [ADIS16260_DIAG_STAT_OVERFLOW_BIT] = "Sensor overrange",
331 [ADIS16260_DIAG_STAT_SPI_FAIL_BIT] = "SPI failure",
332 [ADIS16260_DIAG_STAT_FLASH_UPT_BIT] = "Flash update failed",
333 [ADIS16260_DIAG_STAT_POWER_HIGH_BIT] = "Power supply above 5.25",
334 [ADIS16260_DIAG_STAT_POWER_LOW_BIT] = "Power supply below 4.75",
337 static const struct adis_data adis16260_data = {
338 .write_delay = 30,
339 .read_delay = 30,
340 .msc_ctrl_reg = ADIS16260_MSC_CTRL,
341 .glob_cmd_reg = ADIS16260_GLOB_CMD,
342 .diag_stat_reg = ADIS16260_DIAG_STAT,
344 .self_test_mask = ADIS16260_MSC_CTRL_MEM_TEST,
345 .startup_delay = ADIS16260_STARTUP_DELAY,
347 .status_error_msgs = adis1620_status_error_msgs,
348 .status_error_mask = BIT(ADIS16260_DIAG_STAT_FLASH_CHK_BIT) |
349 BIT(ADIS16260_DIAG_STAT_SELF_TEST_BIT) |
350 BIT(ADIS16260_DIAG_STAT_OVERFLOW_BIT) |
351 BIT(ADIS16260_DIAG_STAT_SPI_FAIL_BIT) |
352 BIT(ADIS16260_DIAG_STAT_FLASH_UPT_BIT) |
353 BIT(ADIS16260_DIAG_STAT_POWER_HIGH_BIT) |
354 BIT(ADIS16260_DIAG_STAT_POWER_LOW_BIT),
357 static int adis16260_probe(struct spi_device *spi)
359 const struct spi_device_id *id;
360 struct adis16260 *adis16260;
361 struct iio_dev *indio_dev;
362 int ret;
364 id = spi_get_device_id(spi);
365 if (!id)
366 return -ENODEV;
368 /* setup the industrialio driver allocated elements */
369 indio_dev = devm_iio_device_alloc(&spi->dev, sizeof(*adis16260));
370 if (!indio_dev)
371 return -ENOMEM;
372 adis16260 = iio_priv(indio_dev);
373 /* this is only used for removal purposes */
374 spi_set_drvdata(spi, indio_dev);
376 adis16260->info = &adis16260_chip_info_table[id->driver_data];
378 indio_dev->name = id->name;
379 indio_dev->dev.parent = &spi->dev;
380 indio_dev->info = &adis16260_info;
381 indio_dev->channels = adis16260->info->channels;
382 indio_dev->num_channels = adis16260->info->num_channels;
383 indio_dev->modes = INDIO_DIRECT_MODE;
385 ret = adis_init(&adis16260->adis, indio_dev, spi, &adis16260_data);
386 if (ret)
387 return ret;
389 ret = adis_setup_buffer_and_trigger(&adis16260->adis, indio_dev, NULL);
390 if (ret)
391 return ret;
393 /* Get the device into a sane initial state */
394 ret = adis_initial_startup(&adis16260->adis);
395 if (ret)
396 goto error_cleanup_buffer_trigger;
397 ret = iio_device_register(indio_dev);
398 if (ret)
399 goto error_cleanup_buffer_trigger;
401 return 0;
403 error_cleanup_buffer_trigger:
404 adis_cleanup_buffer_and_trigger(&adis16260->adis, indio_dev);
405 return ret;
408 static int adis16260_remove(struct spi_device *spi)
410 struct iio_dev *indio_dev = spi_get_drvdata(spi);
411 struct adis16260 *adis16260 = iio_priv(indio_dev);
413 iio_device_unregister(indio_dev);
414 adis16260_stop_device(indio_dev);
415 adis_cleanup_buffer_and_trigger(&adis16260->adis, indio_dev);
417 return 0;
421 * These parts do not need to be differentiated until someone adds
422 * support for the on chip filtering.
424 static const struct spi_device_id adis16260_id[] = {
425 {"adis16260", ADIS16260},
426 {"adis16265", ADIS16260},
427 {"adis16266", ADIS16266},
428 {"adis16250", ADIS16260},
429 {"adis16255", ADIS16260},
430 {"adis16251", ADIS16251},
433 MODULE_DEVICE_TABLE(spi, adis16260_id);
435 static struct spi_driver adis16260_driver = {
436 .driver = {
437 .name = "adis16260",
439 .probe = adis16260_probe,
440 .remove = adis16260_remove,
441 .id_table = adis16260_id,
443 module_spi_driver(adis16260_driver);
445 MODULE_AUTHOR("Barry Song <21cnbao@gmail.com>");
446 MODULE_DESCRIPTION("Analog Devices ADIS16260/5 Digital Gyroscope Sensor");
447 MODULE_LICENSE("GPL v2");