| /* |
| * adis16400.c support Analog Devices ADIS16400/5 |
| * 3d 2g Linear Accelerometers, |
| * 3d Gyroscopes, |
| * 3d Magnetometers via SPI |
| * |
| * Copyright (c) 2009 Manuel Stahl <manuel.stahl@iis.fraunhofer.de> |
| * Copyright (c) 2007 Jonathan Cameron <jic23@cam.ac.uk> |
| * Copyright (c) 2011 Analog Devices Inc. |
| * |
| * This program is free software; you can redistribute it and/or modify |
| * it under the terms of the GNU General Public License version 2 as |
| * published by the Free Software Foundation. |
| * |
| */ |
| |
| #include <linux/interrupt.h> |
| #include <linux/irq.h> |
| #include <linux/delay.h> |
| #include <linux/mutex.h> |
| #include <linux/device.h> |
| #include <linux/kernel.h> |
| #include <linux/spi/spi.h> |
| #include <linux/slab.h> |
| #include <linux/sysfs.h> |
| #include <linux/list.h> |
| #include <linux/module.h> |
| |
| #include "../iio.h" |
| #include "../sysfs.h" |
| #include "../buffer_generic.h" |
| #include "adis16400.h" |
| |
| enum adis16400_chip_variant { |
| ADIS16300, |
| ADIS16334, |
| ADIS16350, |
| ADIS16360, |
| ADIS16362, |
| ADIS16364, |
| ADIS16365, |
| ADIS16400, |
| }; |
| |
| /** |
| * adis16400_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 adis16400_spi_write_reg_8(struct iio_dev *indio_dev, |
| u8 reg_address, |
| u8 val) |
| { |
| int ret; |
| struct adis16400_state *st = iio_priv(indio_dev); |
| |
| mutex_lock(&st->buf_lock); |
| st->tx[0] = ADIS16400_WRITE_REG(reg_address); |
| st->tx[1] = val; |
| |
| ret = spi_write(st->us, st->tx, 2); |
| mutex_unlock(&st->buf_lock); |
| |
| return ret; |
| } |
| |
| /** |
| * adis16400_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 |
| * |
| * At the moment the spi framework doesn't allow global setting of cs_change. |
| * This means that use cannot be made of spi_write. |
| */ |
| static int adis16400_spi_write_reg_16(struct iio_dev *indio_dev, |
| u8 lower_reg_address, |
| u16 value) |
| { |
| int ret; |
| struct spi_message msg; |
| struct adis16400_state *st = iio_priv(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, |
| }, |
| }; |
| |
| mutex_lock(&st->buf_lock); |
| st->tx[0] = ADIS16400_WRITE_REG(lower_reg_address); |
| st->tx[1] = value & 0xFF; |
| st->tx[2] = ADIS16400_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; |
| } |
| |
| /** |
| * adis16400_spi_read_reg_16() - read 2 bytes from a 16-bit register |
| * @indio_dev: iio device |
| * @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 |
| * |
| * At the moment the spi framework doesn't allow global setting of cs_change. |
| * This means that use cannot be made of spi_read. |
| **/ |
| static int adis16400_spi_read_reg_16(struct iio_dev *indio_dev, |
| u8 lower_reg_address, |
| u16 *val) |
| { |
| struct spi_message msg; |
| struct adis16400_state *st = iio_priv(indio_dev); |
| int ret; |
| struct spi_transfer xfers[] = { |
| { |
| .tx_buf = st->tx, |
| .bits_per_word = 8, |
| .len = 2, |
| .cs_change = 1, |
| }, { |
| .rx_buf = st->rx, |
| .bits_per_word = 8, |
| .len = 2, |
| }, |
| }; |
| |
| mutex_lock(&st->buf_lock); |
| st->tx[0] = ADIS16400_READ_REG(lower_reg_address); |
| st->tx[1] = 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; |
| } |
| |
| static ssize_t adis16400_read_frequency(struct device *dev, |
| struct device_attribute *attr, |
| char *buf) |
| { |
| struct iio_dev *indio_dev = dev_get_drvdata(dev); |
| int ret, len = 0; |
| u16 t; |
| int sps; |
| ret = adis16400_spi_read_reg_16(indio_dev, |
| ADIS16400_SMPL_PRD, |
| &t); |
| if (ret) |
| return ret; |
| sps = (t & ADIS16400_SMPL_PRD_TIME_BASE) ? 53 : 1638; |
| sps /= (t & ADIS16400_SMPL_PRD_DIV_MASK) + 1; |
| len = sprintf(buf, "%d SPS\n", sps); |
| return len; |
| } |
| |
| static ssize_t adis16400_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 adis16400_state *st = iio_priv(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 &= ADIS16400_SMPL_PRD_DIV_MASK; |
| if ((t & ADIS16400_SMPL_PRD_DIV_MASK) >= 0x0A) |
| st->us->max_speed_hz = ADIS16400_SPI_SLOW; |
| else |
| st->us->max_speed_hz = ADIS16400_SPI_FAST; |
| |
| ret = adis16400_spi_write_reg_8(indio_dev, |
| ADIS16400_SMPL_PRD, |
| t); |
| |
| mutex_unlock(&indio_dev->mlock); |
| |
| return ret ? ret : len; |
| } |
| |
| static int adis16400_reset(struct iio_dev *indio_dev) |
| { |
| int ret; |
| ret = adis16400_spi_write_reg_8(indio_dev, |
| ADIS16400_GLOB_CMD, |
| ADIS16400_GLOB_CMD_SW_RESET); |
| if (ret) |
| dev_err(&indio_dev->dev, "problem resetting device"); |
| |
| return ret; |
| } |
| |
| static ssize_t adis16400_write_reset(struct device *dev, |
| struct device_attribute *attr, |
| const char *buf, size_t len) |
| { |
| bool val; |
| int ret; |
| |
| ret = strtobool(buf, &val); |
| if (ret < 0) |
| return ret; |
| if (val) { |
| ret = adis16400_reset(dev_get_drvdata(dev)); |
| if (ret < 0) |
| return ret; |
| } |
| |
| return len; |
| } |
| |
| int adis16400_set_irq(struct iio_dev *indio_dev, bool enable) |
| { |
| int ret; |
| u16 msc; |
| |
| ret = adis16400_spi_read_reg_16(indio_dev, ADIS16400_MSC_CTRL, &msc); |
| if (ret) |
| goto error_ret; |
| |
| msc |= ADIS16400_MSC_CTRL_DATA_RDY_POL_HIGH; |
| if (enable) |
| msc |= ADIS16400_MSC_CTRL_DATA_RDY_EN; |
| else |
| msc &= ~ADIS16400_MSC_CTRL_DATA_RDY_EN; |
| |
| ret = adis16400_spi_write_reg_16(indio_dev, ADIS16400_MSC_CTRL, msc); |
| if (ret) |
| goto error_ret; |
| |
| error_ret: |
| return ret; |
| } |
| |
| /* Power down the device */ |
| static int adis16400_stop_device(struct iio_dev *indio_dev) |
| { |
| int ret; |
| u16 val = ADIS16400_SLP_CNT_POWER_OFF; |
| |
| ret = adis16400_spi_write_reg_16(indio_dev, ADIS16400_SLP_CNT, val); |
| if (ret) |
| dev_err(&indio_dev->dev, |
| "problem with turning device off: SLP_CNT"); |
| |
| return ret; |
| } |
| |
| static int adis16400_check_status(struct iio_dev *indio_dev) |
| { |
| u16 status; |
| int ret; |
| struct device *dev = &indio_dev->dev; |
| |
| ret = adis16400_spi_read_reg_16(indio_dev, |
| ADIS16400_DIAG_STAT, &status); |
| |
| if (ret < 0) { |
| dev_err(dev, "Reading status failed\n"); |
| goto error_ret; |
| } |
| ret = status; |
| if (status & ADIS16400_DIAG_STAT_ZACCL_FAIL) |
| dev_err(dev, "Z-axis accelerometer self-test failure\n"); |
| if (status & ADIS16400_DIAG_STAT_YACCL_FAIL) |
| dev_err(dev, "Y-axis accelerometer self-test failure\n"); |
| if (status & ADIS16400_DIAG_STAT_XACCL_FAIL) |
| dev_err(dev, "X-axis accelerometer self-test failure\n"); |
| if (status & ADIS16400_DIAG_STAT_XGYRO_FAIL) |
| dev_err(dev, "X-axis gyroscope self-test failure\n"); |
| if (status & ADIS16400_DIAG_STAT_YGYRO_FAIL) |
| dev_err(dev, "Y-axis gyroscope self-test failure\n"); |
| if (status & ADIS16400_DIAG_STAT_ZGYRO_FAIL) |
| dev_err(dev, "Z-axis gyroscope self-test failure\n"); |
| if (status & ADIS16400_DIAG_STAT_ALARM2) |
| dev_err(dev, "Alarm 2 active\n"); |
| if (status & ADIS16400_DIAG_STAT_ALARM1) |
| dev_err(dev, "Alarm 1 active\n"); |
| if (status & ADIS16400_DIAG_STAT_FLASH_CHK) |
| dev_err(dev, "Flash checksum error\n"); |
| if (status & ADIS16400_DIAG_STAT_SELF_TEST) |
| dev_err(dev, "Self test error\n"); |
| if (status & ADIS16400_DIAG_STAT_OVERFLOW) |
| dev_err(dev, "Sensor overrange\n"); |
| if (status & ADIS16400_DIAG_STAT_SPI_FAIL) |
| dev_err(dev, "SPI failure\n"); |
| if (status & ADIS16400_DIAG_STAT_FLASH_UPT) |
| dev_err(dev, "Flash update failed\n"); |
| if (status & ADIS16400_DIAG_STAT_POWER_HIGH) |
| dev_err(dev, "Power supply above 5.25V\n"); |
| if (status & ADIS16400_DIAG_STAT_POWER_LOW) |
| dev_err(dev, "Power supply below 4.75V\n"); |
| |
| error_ret: |
| return ret; |
| } |
| |
| static int adis16400_self_test(struct iio_dev *indio_dev) |
| { |
| int ret; |
| ret = adis16400_spi_write_reg_16(indio_dev, |
| ADIS16400_MSC_CTRL, |
| ADIS16400_MSC_CTRL_MEM_TEST); |
| if (ret) { |
| dev_err(&indio_dev->dev, "problem starting self test"); |
| goto err_ret; |
| } |
| |
| msleep(ADIS16400_MTEST_DELAY); |
| adis16400_check_status(indio_dev); |
| |
| err_ret: |
| return ret; |
| } |
| |
| static int adis16400_initial_setup(struct iio_dev *indio_dev) |
| { |
| int ret; |
| u16 prod_id, smp_prd; |
| struct adis16400_state *st = iio_priv(indio_dev); |
| |
| /* use low spi speed for init */ |
| st->us->max_speed_hz = ADIS16400_SPI_SLOW; |
| st->us->mode = SPI_MODE_3; |
| spi_setup(st->us); |
| |
| ret = adis16400_set_irq(indio_dev, false); |
| if (ret) { |
| dev_err(&indio_dev->dev, "disable irq failed"); |
| goto err_ret; |
| } |
| |
| ret = adis16400_self_test(indio_dev); |
| if (ret) { |
| dev_err(&indio_dev->dev, "self test failure"); |
| goto err_ret; |
| } |
| |
| ret = adis16400_check_status(indio_dev); |
| if (ret) { |
| adis16400_reset(indio_dev); |
| dev_err(&indio_dev->dev, "device not playing ball -> reset"); |
| msleep(ADIS16400_STARTUP_DELAY); |
| ret = adis16400_check_status(indio_dev); |
| if (ret) { |
| dev_err(&indio_dev->dev, "giving up"); |
| goto err_ret; |
| } |
| } |
| if (st->variant->flags & ADIS16400_HAS_PROD_ID) { |
| ret = adis16400_spi_read_reg_16(indio_dev, |
| ADIS16400_PRODUCT_ID, &prod_id); |
| if (ret) |
| goto err_ret; |
| |
| if ((prod_id & 0xF000) != st->variant->product_id) |
| dev_warn(&indio_dev->dev, "incorrect id"); |
| |
| dev_info(&indio_dev->dev, "%s: prod_id 0x%04x at CS%d (irq %d)\n", |
| indio_dev->name, prod_id, |
| st->us->chip_select, st->us->irq); |
| } |
| /* use high spi speed if possible */ |
| ret = adis16400_spi_read_reg_16(indio_dev, |
| ADIS16400_SMPL_PRD, &smp_prd); |
| if (!ret && (smp_prd & ADIS16400_SMPL_PRD_DIV_MASK) < 0x0A) { |
| st->us->max_speed_hz = ADIS16400_SPI_SLOW; |
| spi_setup(st->us); |
| } |
| |
| err_ret: |
| return ret; |
| } |
| |
| static IIO_DEV_ATTR_SAMP_FREQ(S_IWUSR | S_IRUGO, |
| adis16400_read_frequency, |
| adis16400_write_frequency); |
| |
| static IIO_DEVICE_ATTR(reset, S_IWUSR, NULL, adis16400_write_reset, 0); |
| |
| static IIO_CONST_ATTR_SAMP_FREQ_AVAIL("409 546 819 1638"); |
| |
| enum adis16400_chan { |
| in_supply, |
| gyro_x, |
| gyro_y, |
| gyro_z, |
| accel_x, |
| accel_y, |
| accel_z, |
| magn_x, |
| magn_y, |
| magn_z, |
| temp, |
| temp0, temp1, temp2, |
| in1, |
| incli_x, |
| incli_y, |
| }; |
| |
| static u8 adis16400_addresses[17][2] = { |
| [in_supply] = { ADIS16400_SUPPLY_OUT }, |
| [gyro_x] = { ADIS16400_XGYRO_OUT, ADIS16400_XGYRO_OFF }, |
| [gyro_y] = { ADIS16400_YGYRO_OUT, ADIS16400_YGYRO_OFF }, |
| [gyro_z] = { ADIS16400_ZGYRO_OUT, ADIS16400_ZGYRO_OFF }, |
| [accel_x] = { ADIS16400_XACCL_OUT, ADIS16400_XACCL_OFF }, |
| [accel_y] = { ADIS16400_YACCL_OUT, ADIS16400_YACCL_OFF }, |
| [accel_z] = { ADIS16400_ZACCL_OUT, ADIS16400_ZACCL_OFF }, |
| [magn_x] = { ADIS16400_XMAGN_OUT }, |
| [magn_y] = { ADIS16400_YMAGN_OUT }, |
| [magn_z] = { ADIS16400_ZMAGN_OUT }, |
| [temp] = { ADIS16400_TEMP_OUT }, |
| [temp0] = { ADIS16350_XTEMP_OUT }, |
| [temp1] = { ADIS16350_YTEMP_OUT }, |
| [temp2] = { ADIS16350_ZTEMP_OUT }, |
| [in1] = { ADIS16400_AUX_ADC }, |
| [incli_x] = { ADIS16300_PITCH_OUT }, |
| [incli_y] = { ADIS16300_ROLL_OUT } |
| }; |
| |
| static int adis16400_write_raw(struct iio_dev *indio_dev, |
| struct iio_chan_spec const *chan, |
| int val, |
| int val2, |
| long mask) |
| { |
| int ret; |
| |
| switch (mask) { |
| case (1 << IIO_CHAN_INFO_CALIBBIAS_SEPARATE): |
| mutex_lock(&indio_dev->mlock); |
| ret = adis16400_spi_write_reg_16(indio_dev, |
| adis16400_addresses[chan->address][1], |
| val); |
| mutex_unlock(&indio_dev->mlock); |
| return ret; |
| default: |
| return -EINVAL; |
| } |
| } |
| |
| static int adis16400_read_raw(struct iio_dev *indio_dev, |
| struct iio_chan_spec const *chan, |
| int *val, |
| int *val2, |
| long mask) |
| { |
| struct adis16400_state *st = iio_priv(indio_dev); |
| int ret, shift; |
| s16 val16; |
| |
| switch (mask) { |
| case 0: |
| mutex_lock(&indio_dev->mlock); |
| ret = adis16400_spi_read_reg_16(indio_dev, |
| adis16400_addresses[chan->address][0], |
| &val16); |
| if (ret) { |
| mutex_unlock(&indio_dev->mlock); |
| return ret; |
| } |
| val16 &= (1 << chan->scan_type.realbits) - 1; |
| if (chan->scan_type.sign == 's') { |
| shift = 16 - chan->scan_type.realbits; |
| val16 = (s16)(val16 << shift) >> shift; |
| } |
| *val = val16; |
| mutex_unlock(&indio_dev->mlock); |
| return IIO_VAL_INT; |
| case (1 << IIO_CHAN_INFO_SCALE_SHARED): |
| case (1 << IIO_CHAN_INFO_SCALE_SEPARATE): |
| switch (chan->type) { |
| case IIO_ANGL_VEL: |
| *val = 0; |
| *val2 = st->variant->gyro_scale_micro; |
| return IIO_VAL_INT_PLUS_MICRO; |
| case IIO_VOLTAGE: |
| *val = 0; |
| if (chan->channel == 0) |
| *val2 = 2418; |
| else |
| *val2 = 806; |
| return IIO_VAL_INT_PLUS_MICRO; |
| case IIO_ACCEL: |
| *val = 0; |
| *val2 = st->variant->accel_scale_micro; |
| return IIO_VAL_INT_PLUS_MICRO; |
| case IIO_MAGN: |
| *val = 0; |
| *val2 = 500; |
| return IIO_VAL_INT_PLUS_MICRO; |
| case IIO_TEMP: |
| *val = 0; |
| *val2 = 140000; |
| return IIO_VAL_INT_PLUS_MICRO; |
| default: |
| return -EINVAL; |
| } |
| case (1 << IIO_CHAN_INFO_CALIBBIAS_SEPARATE): |
| mutex_lock(&indio_dev->mlock); |
| ret = adis16400_spi_read_reg_16(indio_dev, |
| adis16400_addresses[chan->address][1], |
| &val16); |
| mutex_unlock(&indio_dev->mlock); |
| if (ret) |
| return ret; |
| val16 = ((val16 & 0xFFF) << 4) >> 4; |
| *val = val16; |
| return IIO_VAL_INT; |
| case (1 << IIO_CHAN_INFO_OFFSET_SEPARATE): |
| /* currently only temperature */ |
| *val = 198; |
| *val2 = 160000; |
| return IIO_VAL_INT_PLUS_MICRO; |
| default: |
| return -EINVAL; |
| } |
| } |
| |
| static struct iio_chan_spec adis16400_channels[] = { |
| { |
| .type = IIO_VOLTAGE, |
| .indexed = 1, |
| .channel = 0, |
| .extend_name = "supply", |
| .info_mask = (1 << IIO_CHAN_INFO_SCALE_SEPARATE), |
| .address = in_supply, |
| .scan_index = ADIS16400_SCAN_SUPPLY, |
| .scan_type = IIO_ST('u', 14, 16, 0) |
| }, { |
| .type = IIO_ANGL_VEL, |
| .modified = 1, |
| .channel2 = IIO_MOD_X, |
| .info_mask = (1 << IIO_CHAN_INFO_CALIBBIAS_SEPARATE) | |
| (1 << IIO_CHAN_INFO_SCALE_SHARED), |
| .address = gyro_x, |
| .scan_index = ADIS16400_SCAN_GYRO_X, |
| .scan_type = IIO_ST('s', 14, 16, 0) |
| }, { |
| .type = IIO_ANGL_VEL, |
| .modified = 1, |
| .channel2 = IIO_MOD_Y, |
| .info_mask = (1 << IIO_CHAN_INFO_CALIBBIAS_SEPARATE) | |
| (1 << IIO_CHAN_INFO_SCALE_SHARED), |
| .address = gyro_y, |
| .scan_index = ADIS16400_SCAN_GYRO_Y, |
| .scan_type = IIO_ST('s', 14, 16, 0), |
| }, { |
| .type = IIO_ANGL_VEL, |
| .modified = 1, |
| .channel2 = IIO_MOD_Z, |
| .info_mask = (1 << IIO_CHAN_INFO_CALIBBIAS_SEPARATE) | |
| (1 << IIO_CHAN_INFO_SCALE_SHARED), |
| .address = gyro_z, |
| .scan_index = ADIS16400_SCAN_GYRO_Z, |
| .scan_type = IIO_ST('s', 14, 16, 0), |
| }, { |
| .type = IIO_ACCEL, |
| .modified = 1, |
| .channel2 = IIO_MOD_X, |
| .info_mask = (1 << IIO_CHAN_INFO_CALIBBIAS_SEPARATE) | |
| (1 << IIO_CHAN_INFO_SCALE_SHARED), |
| .address = accel_x, |
| .scan_index = ADIS16400_SCAN_ACC_X, |
| .scan_type = IIO_ST('s', 14, 16, 0), |
| }, { |
| .type = IIO_ACCEL, |
| .modified = 1, |
| .channel2 = IIO_MOD_Y, |
| .info_mask = (1 << IIO_CHAN_INFO_CALIBBIAS_SEPARATE) | |
| (1 << IIO_CHAN_INFO_SCALE_SHARED), |
| .address = accel_y, |
| .scan_index = ADIS16400_SCAN_ACC_Y, |
| .scan_type = IIO_ST('s', 14, 16, 0), |
| }, { |
| .type = IIO_ACCEL, |
| .modified = 1, |
| .channel2 = IIO_MOD_Z, |
| .info_mask = (1 << IIO_CHAN_INFO_CALIBBIAS_SEPARATE) | |
| (1 << IIO_CHAN_INFO_SCALE_SHARED), |
| .address = accel_z, |
| .scan_index = ADIS16400_SCAN_ACC_Z, |
| .scan_type = IIO_ST('s', 14, 16, 0), |
| }, { |
| .type = IIO_MAGN, |
| .modified = 1, |
| .channel2 = IIO_MOD_X, |
| .info_mask = (1 << IIO_CHAN_INFO_SCALE_SHARED), |
| .address = magn_x, |
| .scan_index = ADIS16400_SCAN_MAGN_X, |
| .scan_type = IIO_ST('s', 14, 16, 0), |
| }, { |
| .type = IIO_MAGN, |
| .modified = 1, |
| .channel2 = IIO_MOD_Y, |
| .info_mask = (1 << IIO_CHAN_INFO_SCALE_SHARED), |
| .address = magn_y, |
| .scan_index = ADIS16400_SCAN_MAGN_Y, |
| .scan_type = IIO_ST('s', 14, 16, 0), |
| }, { |
| .type = IIO_MAGN, |
| .modified = 1, |
| .channel2 = IIO_MOD_Z, |
| .info_mask = (1 << IIO_CHAN_INFO_SCALE_SHARED), |
| .address = magn_z, |
| .scan_index = ADIS16400_SCAN_MAGN_Z, |
| .scan_type = IIO_ST('s', 14, 16, 0), |
| }, { |
| .type = IIO_TEMP, |
| .indexed = 1, |
| .channel = 0, |
| .info_mask = (1 << IIO_CHAN_INFO_OFFSET_SEPARATE) | |
| (1 << IIO_CHAN_INFO_SCALE_SEPARATE), |
| .address = temp, |
| .scan_index = ADIS16400_SCAN_TEMP, |
| .scan_type = IIO_ST('s', 12, 16, 0), |
| }, { |
| .type = IIO_VOLTAGE, |
| .indexed = 1, |
| .channel = 1, |
| .info_mask = (1 << IIO_CHAN_INFO_SCALE_SEPARATE), |
| .address = in1, |
| .scan_index = ADIS16400_SCAN_ADC_0, |
| .scan_type = IIO_ST('s', 12, 16, 0), |
| }, |
| IIO_CHAN_SOFT_TIMESTAMP(12) |
| }; |
| |
| static struct iio_chan_spec adis16350_channels[] = { |
| { |
| .type = IIO_VOLTAGE, |
| .indexed = 1, |
| .channel = 0, |
| .extend_name = "supply", |
| .info_mask = (1 << IIO_CHAN_INFO_SCALE_SEPARATE), |
| .address = in_supply, |
| .scan_index = ADIS16400_SCAN_SUPPLY, |
| .scan_type = IIO_ST('u', 12, 16, 0) |
| }, { |
| .type = IIO_ANGL_VEL, |
| .modified = 1, |
| .channel2 = IIO_MOD_X, |
| .info_mask = (1 << IIO_CHAN_INFO_CALIBBIAS_SEPARATE) | |
| (1 << IIO_CHAN_INFO_SCALE_SHARED), |
| .address = gyro_x, |
| .scan_index = ADIS16400_SCAN_GYRO_X, |
| .scan_type = IIO_ST('s', 14, 16, 0) |
| }, { |
| .type = IIO_ANGL_VEL, |
| .modified = 1, |
| .channel2 = IIO_MOD_Y, |
| .info_mask = (1 << IIO_CHAN_INFO_CALIBBIAS_SEPARATE) | |
| (1 << IIO_CHAN_INFO_SCALE_SHARED), |
| .address = gyro_y, |
| .scan_index = ADIS16400_SCAN_GYRO_Y, |
| .scan_type = IIO_ST('s', 14, 16, 0), |
| }, { |
| .type = IIO_ANGL_VEL, |
| .modified = 1, |
| .channel2 = IIO_MOD_Z, |
| .info_mask = (1 << IIO_CHAN_INFO_CALIBBIAS_SEPARATE) | |
| (1 << IIO_CHAN_INFO_SCALE_SHARED), |
| .address = gyro_z, |
| .scan_index = ADIS16400_SCAN_GYRO_Z, |
| .scan_type = IIO_ST('s', 14, 16, 0), |
| }, { |
| .type = IIO_ACCEL, |
| .modified = 1, |
| .channel2 = IIO_MOD_X, |
| .info_mask = (1 << IIO_CHAN_INFO_CALIBBIAS_SEPARATE) | |
| (1 << IIO_CHAN_INFO_SCALE_SHARED), |
| .address = accel_x, |
| .scan_index = ADIS16400_SCAN_ACC_X, |
| .scan_type = IIO_ST('s', 14, 16, 0), |
| }, { |
| .type = IIO_ACCEL, |
| .modified = 1, |
| .channel2 = IIO_MOD_Y, |
| .info_mask = (1 << IIO_CHAN_INFO_CALIBBIAS_SEPARATE) | |
| (1 << IIO_CHAN_INFO_SCALE_SHARED), |
| .address = accel_y, |
| .scan_index = ADIS16400_SCAN_ACC_Y, |
| .scan_type = IIO_ST('s', 14, 16, 0), |
| }, { |
| .type = IIO_ACCEL, |
| .modified = 1, |
| .channel2 = IIO_MOD_Z, |
| .info_mask = (1 << IIO_CHAN_INFO_CALIBBIAS_SEPARATE) | |
| (1 << IIO_CHAN_INFO_SCALE_SHARED), |
| .address = accel_z, |
| .scan_index = ADIS16400_SCAN_ACC_Z, |
| .scan_type = IIO_ST('s', 14, 16, 0), |
| }, { |
| .type = IIO_TEMP, |
| .indexed = 1, |
| .channel = 0, |
| .extend_name = "x", |
| .info_mask = (1 << IIO_CHAN_INFO_OFFSET_SEPARATE) | |
| (1 << IIO_CHAN_INFO_SCALE_SEPARATE), |
| .address = temp0, |
| .scan_index = ADIS16350_SCAN_TEMP_X, |
| .scan_type = IIO_ST('s', 12, 16, 0), |
| }, { |
| .type = IIO_TEMP, |
| .indexed = 1, |
| .channel = 1, |
| .extend_name = "y", |
| .info_mask = (1 << IIO_CHAN_INFO_OFFSET_SEPARATE) | |
| (1 << IIO_CHAN_INFO_SCALE_SEPARATE), |
| .address = temp1, |
| .scan_index = ADIS16350_SCAN_TEMP_Y, |
| .scan_type = IIO_ST('s', 12, 16, 0), |
| }, { |
| .type = IIO_TEMP, |
| .indexed = 1, |
| .channel = 2, |
| .extend_name = "z", |
| .info_mask = (1 << IIO_CHAN_INFO_OFFSET_SEPARATE) | |
| (1 << IIO_CHAN_INFO_SCALE_SEPARATE), |
| .address = temp2, |
| .scan_index = ADIS16350_SCAN_TEMP_Z, |
| .scan_type = IIO_ST('s', 12, 16, 0), |
| }, { |
| .type = IIO_VOLTAGE, |
| .indexed = 1, |
| .channel = 1, |
| .info_mask = (1 << IIO_CHAN_INFO_SCALE_SEPARATE), |
| .address = in1, |
| .scan_index = ADIS16350_SCAN_ADC_0, |
| .scan_type = IIO_ST('s', 12, 16, 0), |
| }, |
| IIO_CHAN_SOFT_TIMESTAMP(11) |
| }; |
| |
| static struct iio_chan_spec adis16300_channels[] = { |
| { |
| .type = IIO_VOLTAGE, |
| .indexed = 1, |
| .channel = 0, |
| .extend_name = "supply", |
| .info_mask = (1 << IIO_CHAN_INFO_SCALE_SEPARATE), |
| .address = in_supply, |
| .scan_index = ADIS16400_SCAN_SUPPLY, |
| .scan_type = IIO_ST('u', 12, 16, 0) |
| }, { |
| .type = IIO_ANGL_VEL, |
| .modified = 1, |
| .channel2 = IIO_MOD_X, |
| .info_mask = (1 << IIO_CHAN_INFO_CALIBBIAS_SEPARATE) | |
| (1 << IIO_CHAN_INFO_SCALE_SHARED), |
| .address = gyro_x, |
| .scan_index = ADIS16400_SCAN_GYRO_X, |
| .scan_type = IIO_ST('s', 14, 16, 0), |
| }, { |
| .type = IIO_ACCEL, |
| .modified = 1, |
| .channel2 = IIO_MOD_X, |
| .info_mask = (1 << IIO_CHAN_INFO_CALIBBIAS_SEPARATE) | |
| (1 << IIO_CHAN_INFO_SCALE_SHARED), |
| .address = accel_x, |
| .scan_index = ADIS16400_SCAN_ACC_X, |
| .scan_type = IIO_ST('s', 14, 16, 0), |
| }, { |
| .type = IIO_ACCEL, |
| .modified = 1, |
| .channel2 = IIO_MOD_Y, |
| .info_mask = (1 << IIO_CHAN_INFO_CALIBBIAS_SEPARATE) | |
| (1 << IIO_CHAN_INFO_SCALE_SHARED), |
| .address = accel_y, |
| .scan_index = ADIS16400_SCAN_ACC_Y, |
| .scan_type = IIO_ST('s', 14, 16, 0), |
| }, { |
| .type = IIO_ACCEL, |
| .modified = 1, |
| .channel2 = IIO_MOD_Z, |
| .info_mask = (1 << IIO_CHAN_INFO_CALIBBIAS_SEPARATE) | |
| (1 << IIO_CHAN_INFO_SCALE_SHARED), |
| .address = accel_z, |
| .scan_index = ADIS16400_SCAN_ACC_Z, |
| .scan_type = IIO_ST('s', 14, 16, 0), |
| }, { |
| .type = IIO_TEMP, |
| .indexed = 1, |
| .channel = 0, |
| .info_mask = (1 << IIO_CHAN_INFO_OFFSET_SEPARATE) | |
| (1 << IIO_CHAN_INFO_SCALE_SEPARATE), |
| .address = temp, |
| .scan_index = ADIS16400_SCAN_TEMP, |
| .scan_type = IIO_ST('s', 12, 16, 0), |
| }, { |
| .type = IIO_VOLTAGE, |
| .indexed = 1, |
| .channel = 1, |
| .info_mask = (1 << IIO_CHAN_INFO_SCALE_SEPARATE), |
| .address = in1, |
| .scan_index = ADIS16350_SCAN_ADC_0, |
| .scan_type = IIO_ST('s', 12, 16, 0), |
| }, { |
| .type = IIO_INCLI, |
| .modified = 1, |
| .channel2 = IIO_MOD_X, |
| .info_mask = (1 << IIO_CHAN_INFO_SCALE_SHARED), |
| .address = incli_x, |
| .scan_index = ADIS16300_SCAN_INCLI_X, |
| .scan_type = IIO_ST('s', 13, 16, 0), |
| }, { |
| .type = IIO_INCLI, |
| .modified = 1, |
| .channel2 = IIO_MOD_Y, |
| .info_mask = (1 << IIO_CHAN_INFO_SCALE_SHARED), |
| .address = incli_y, |
| .scan_index = ADIS16300_SCAN_INCLI_Y, |
| .scan_type = IIO_ST('s', 13, 16, 0), |
| }, |
| IIO_CHAN_SOFT_TIMESTAMP(14) |
| }; |
| |
| static const struct iio_chan_spec adis16334_channels[] = { |
| { |
| .type = IIO_ANGL_VEL, |
| .modified = 1, |
| .channel2 = IIO_MOD_X, |
| .info_mask = (1 << IIO_CHAN_INFO_CALIBBIAS_SEPARATE) | |
| (1 << IIO_CHAN_INFO_SCALE_SHARED), |
| .address = gyro_x, |
| .scan_index = ADIS16400_SCAN_GYRO_X, |
| .scan_type = IIO_ST('s', 14, 16, 0), |
| }, { |
| .type = IIO_ANGL_VEL, |
| .modified = 1, |
| .channel2 = IIO_MOD_Y, |
| .info_mask = (1 << IIO_CHAN_INFO_CALIBBIAS_SEPARATE) | |
| (1 << IIO_CHAN_INFO_SCALE_SHARED), |
| .address = gyro_y, |
| .scan_index = ADIS16400_SCAN_GYRO_Y, |
| .scan_type = IIO_ST('s', 14, 16, 0), |
| }, { |
| .type = IIO_ANGL_VEL, |
| .modified = 1, |
| .channel2 = IIO_MOD_Z, |
| .info_mask = (1 << IIO_CHAN_INFO_CALIBBIAS_SEPARATE) | |
| (1 << IIO_CHAN_INFO_SCALE_SHARED), |
| .address = gyro_z, |
| .scan_index = ADIS16400_SCAN_GYRO_Z, |
| .scan_type = IIO_ST('s', 14, 16, 0), |
| }, { |
| .type = IIO_ACCEL, |
| .modified = 1, |
| .channel2 = IIO_MOD_X, |
| .info_mask = (1 << IIO_CHAN_INFO_CALIBBIAS_SEPARATE) | |
| (1 << IIO_CHAN_INFO_SCALE_SHARED), |
| .address = accel_x, |
| .scan_index = ADIS16400_SCAN_ACC_X, |
| .scan_type = IIO_ST('s', 14, 16, 0), |
| }, { |
| .type = IIO_ACCEL, |
| .modified = 1, |
| .channel2 = IIO_MOD_Y, |
| .info_mask = (1 << IIO_CHAN_INFO_CALIBBIAS_SEPARATE) | |
| (1 << IIO_CHAN_INFO_SCALE_SHARED), |
| .address = accel_y, |
| .scan_index = ADIS16400_SCAN_ACC_Y, |
| .scan_type = IIO_ST('s', 14, 16, 0), |
| }, { |
| .type = IIO_ACCEL, |
| .modified = 1, |
| .channel2 = IIO_MOD_Z, |
| .info_mask = (1 << IIO_CHAN_INFO_CALIBBIAS_SEPARATE) | |
| (1 << IIO_CHAN_INFO_SCALE_SHARED), |
| .address = accel_z, |
| .scan_index = ADIS16400_SCAN_ACC_Z, |
| .scan_type = IIO_ST('s', 14, 16, 0), |
| }, { |
| .type = IIO_TEMP, |
| .indexed = 1, |
| .channel = 0, |
| .info_mask = (1 << IIO_CHAN_INFO_CALIBBIAS_SEPARATE) | |
| (1 << IIO_CHAN_INFO_SCALE_SHARED), |
| .address = accel_z, |
| .scan_index = ADIS16400_SCAN_ACC_Z, |
| .scan_type = IIO_ST('s', 14, 16, 0), |
| }, |
| IIO_CHAN_SOFT_TIMESTAMP(12) |
| }; |
| |
| static struct attribute *adis16400_attributes[] = { |
| &iio_dev_attr_sampling_frequency.dev_attr.attr, |
| &iio_const_attr_sampling_frequency_available.dev_attr.attr, |
| &iio_dev_attr_reset.dev_attr.attr, |
| NULL |
| }; |
| |
| static const struct attribute_group adis16400_attribute_group = { |
| .attrs = adis16400_attributes, |
| }; |
| |
| static struct adis16400_chip_info adis16400_chips[] = { |
| [ADIS16300] = { |
| .channels = adis16300_channels, |
| .num_channels = ARRAY_SIZE(adis16300_channels), |
| .gyro_scale_micro = 873, |
| .accel_scale_micro = 5884, |
| .default_scan_mask = (1 << ADIS16400_SCAN_SUPPLY) | |
| (1 << ADIS16400_SCAN_GYRO_X) | (1 << ADIS16400_SCAN_ACC_X) | |
| (1 << ADIS16400_SCAN_ACC_Y) | (1 << ADIS16400_SCAN_ACC_Z) | |
| (1 << ADIS16400_SCAN_TEMP) | (1 << ADIS16400_SCAN_ADC_0) | |
| (1 << ADIS16300_SCAN_INCLI_X) | (1 << ADIS16300_SCAN_INCLI_Y) | |
| (1 << 14), |
| }, |
| [ADIS16334] = { |
| .channels = adis16334_channels, |
| .num_channels = ARRAY_SIZE(adis16334_channels), |
| .gyro_scale_micro = 873, |
| .accel_scale_micro = 981, |
| .default_scan_mask = (1 << ADIS16400_SCAN_GYRO_X) | |
| (1 << ADIS16400_SCAN_GYRO_Y) | (1 << ADIS16400_SCAN_GYRO_Z) | |
| (1 << ADIS16400_SCAN_ACC_X) | (1 << ADIS16400_SCAN_ACC_Y) | |
| (1 << ADIS16400_SCAN_ACC_Z), |
| }, |
| [ADIS16350] = { |
| .channels = adis16350_channels, |
| .num_channels = ARRAY_SIZE(adis16350_channels), |
| .gyro_scale_micro = 872664, |
| .accel_scale_micro = 24732, |
| .default_scan_mask = 0x7FF, |
| .flags = ADIS16400_NO_BURST, |
| }, |
| [ADIS16360] = { |
| .channels = adis16350_channels, |
| .num_channels = ARRAY_SIZE(adis16350_channels), |
| .flags = ADIS16400_HAS_PROD_ID, |
| .product_id = 0x3FE8, |
| .gyro_scale_micro = 1279, |
| .accel_scale_micro = 24732, |
| .default_scan_mask = 0x7FF, |
| }, |
| [ADIS16362] = { |
| .channels = adis16350_channels, |
| .num_channels = ARRAY_SIZE(adis16350_channels), |
| .flags = ADIS16400_HAS_PROD_ID, |
| .product_id = 0x3FEA, |
| .gyro_scale_micro = 1279, |
| .accel_scale_micro = 24732, |
| .default_scan_mask = 0x7FF, |
| }, |
| [ADIS16364] = { |
| .channels = adis16350_channels, |
| .num_channels = ARRAY_SIZE(adis16350_channels), |
| .flags = ADIS16400_HAS_PROD_ID, |
| .product_id = 0x3FEC, |
| .gyro_scale_micro = 1279, |
| .accel_scale_micro = 24732, |
| .default_scan_mask = 0x7FF, |
| }, |
| [ADIS16365] = { |
| .channels = adis16350_channels, |
| .num_channels = ARRAY_SIZE(adis16350_channels), |
| .flags = ADIS16400_HAS_PROD_ID, |
| .product_id = 0x3FED, |
| .gyro_scale_micro = 1279, |
| .accel_scale_micro = 24732, |
| .default_scan_mask = 0x7FF, |
| }, |
| [ADIS16400] = { |
| .channels = adis16400_channels, |
| .num_channels = ARRAY_SIZE(adis16400_channels), |
| .flags = ADIS16400_HAS_PROD_ID, |
| .product_id = 0x4015, |
| .gyro_scale_micro = 873, |
| .accel_scale_micro = 32656, |
| .default_scan_mask = 0xFFF, |
| } |
| }; |
| |
| static const struct iio_info adis16400_info = { |
| .driver_module = THIS_MODULE, |
| .read_raw = &adis16400_read_raw, |
| .write_raw = &adis16400_write_raw, |
| .attrs = &adis16400_attribute_group, |
| }; |
| |
| static int __devinit adis16400_probe(struct spi_device *spi) |
| { |
| int ret; |
| struct adis16400_state *st; |
| struct iio_dev *indio_dev = iio_allocate_device(sizeof(*st)); |
| if (indio_dev == NULL) { |
| ret = -ENOMEM; |
| goto error_ret; |
| } |
| st = iio_priv(indio_dev); |
| /* this is only used for removal purposes */ |
| spi_set_drvdata(spi, indio_dev); |
| |
| st->us = spi; |
| mutex_init(&st->buf_lock); |
| |
| /* setup the industrialio driver allocated elements */ |
| st->variant = &adis16400_chips[spi_get_device_id(spi)->driver_data]; |
| indio_dev->dev.parent = &spi->dev; |
| indio_dev->name = spi_get_device_id(spi)->name; |
| indio_dev->channels = st->variant->channels; |
| indio_dev->num_channels = st->variant->num_channels; |
| indio_dev->info = &adis16400_info; |
| indio_dev->modes = INDIO_DIRECT_MODE; |
| |
| ret = adis16400_configure_ring(indio_dev); |
| if (ret) |
| goto error_free_dev; |
| |
| ret = iio_buffer_register(indio_dev, |
| st->variant->channels, |
| st->variant->num_channels); |
| if (ret) { |
| dev_err(&spi->dev, "failed to initialize the ring\n"); |
| goto error_unreg_ring_funcs; |
| } |
| |
| if (spi->irq) { |
| ret = adis16400_probe_trigger(indio_dev); |
| if (ret) |
| goto error_uninitialize_ring; |
| } |
| |
| /* Get the device into a sane initial state */ |
| ret = adis16400_initial_setup(indio_dev); |
| if (ret) |
| goto error_remove_trigger; |
| ret = iio_device_register(indio_dev); |
| if (ret) |
| goto error_remove_trigger; |
| |
| return 0; |
| |
| error_remove_trigger: |
| if (indio_dev->modes & INDIO_BUFFER_TRIGGERED) |
| adis16400_remove_trigger(indio_dev); |
| error_uninitialize_ring: |
| iio_buffer_unregister(indio_dev); |
| error_unreg_ring_funcs: |
| adis16400_unconfigure_ring(indio_dev); |
| error_free_dev: |
| iio_free_device(indio_dev); |
| error_ret: |
| return ret; |
| } |
| |
| /* fixme, confirm ordering in this function */ |
| static int adis16400_remove(struct spi_device *spi) |
| { |
| int ret; |
| struct iio_dev *indio_dev = spi_get_drvdata(spi); |
| |
| iio_device_unregister(indio_dev); |
| ret = adis16400_stop_device(indio_dev); |
| if (ret) |
| goto err_ret; |
| |
| adis16400_remove_trigger(indio_dev); |
| iio_buffer_unregister(indio_dev); |
| adis16400_unconfigure_ring(indio_dev); |
| iio_free_device(indio_dev); |
| |
| return 0; |
| |
| err_ret: |
| return ret; |
| } |
| |
| static const struct spi_device_id adis16400_id[] = { |
| {"adis16300", ADIS16300}, |
| {"adis16334", ADIS16334}, |
| {"adis16350", ADIS16350}, |
| {"adis16354", ADIS16350}, |
| {"adis16355", ADIS16350}, |
| {"adis16360", ADIS16360}, |
| {"adis16362", ADIS16362}, |
| {"adis16364", ADIS16364}, |
| {"adis16365", ADIS16365}, |
| {"adis16400", ADIS16400}, |
| {"adis16405", ADIS16400}, |
| {} |
| }; |
| |
| static struct spi_driver adis16400_driver = { |
| .driver = { |
| .name = "adis16400", |
| .owner = THIS_MODULE, |
| }, |
| .id_table = adis16400_id, |
| .probe = adis16400_probe, |
| .remove = __devexit_p(adis16400_remove), |
| }; |
| |
| static __init int adis16400_init(void) |
| { |
| return spi_register_driver(&adis16400_driver); |
| } |
| module_init(adis16400_init); |
| |
| static __exit void adis16400_exit(void) |
| { |
| spi_unregister_driver(&adis16400_driver); |
| } |
| module_exit(adis16400_exit); |
| |
| MODULE_AUTHOR("Manuel Stahl <manuel.stahl@iis.fraunhofer.de>"); |
| MODULE_DESCRIPTION("Analog Devices ADIS16400/5 IMU SPI driver"); |
| MODULE_LICENSE("GPL v2"); |