diff options
Diffstat (limited to 'drivers/staging/iio/gyro/adis16260_core.c')
| -rw-r--r-- | drivers/staging/iio/gyro/adis16260_core.c | 661 |
1 files changed, 661 insertions, 0 deletions
diff --git a/drivers/staging/iio/gyro/adis16260_core.c b/drivers/staging/iio/gyro/adis16260_core.c new file mode 100644 index 000000000000..c93f4d580fce --- /dev/null +++ b/drivers/staging/iio/gyro/adis16260_core.c @@ -0,0 +1,661 @@ +/* + * ADIS16260 Programmable Digital Gyroscope 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 "../adc/adc.h" +#include "gyro.h" + +#include "adis16260.h" + +#define DRIVER_NAME "adis16260" + +static int adis16260_check_status(struct device *dev); + +/** + * adis16260_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 adis16260_spi_write_reg_8(struct device *dev, + u8 reg_address, + u8 val) +{ + int ret; + struct iio_dev *indio_dev = dev_get_drvdata(dev); + struct adis16260_state *st = iio_dev_get_devdata(indio_dev); + + mutex_lock(&st->buf_lock); + st->tx[0] = ADIS16260_WRITE_REG(reg_address); + st->tx[1] = val; + + ret = spi_write(st->us, st->tx, 2); + mutex_unlock(&st->buf_lock); + + return ret; +} + +/** + * adis16260_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 adis16260_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 adis16260_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, + .delay_usecs = 20, + }, { + .tx_buf = st->tx + 2, + .bits_per_word = 8, + .len = 2, + .cs_change = 1, + .delay_usecs = 20, + }, + }; + + mutex_lock(&st->buf_lock); + st->tx[0] = ADIS16260_WRITE_REG(lower_reg_address); + st->tx[1] = value & 0xFF; + st->tx[2] = ADIS16260_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; +} + +/** + * adis16260_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 adis16260_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 adis16260_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 = 1, + .delay_usecs = 30, + }, { + .rx_buf = st->rx, + .bits_per_word = 8, + .len = 2, + .cs_change = 1, + .delay_usecs = 30, + }, + }; + + mutex_lock(&st->buf_lock); + st->tx[0] = ADIS16260_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; +} + +static ssize_t adis16260_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 = adis16260_spi_read_reg_16(dev, this_attr->address, (u16 *)&val); + if (ret) + return ret; + + if (val & ADIS16260_ERROR_ACTIVE) + adis16260_check_status(dev); + val = ((s16)(val << shift) >> shift); + return sprintf(buf, "%d\n", val); +} + +static ssize_t adis16260_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 = adis16260_spi_read_reg_16(dev, this_attr->address, &val); + if (ret) + return ret; + + if (val & ADIS16260_ERROR_ACTIVE) + adis16260_check_status(dev); + + return sprintf(buf, "%u\n", val & 0x0FFF); +} + +static ssize_t adis16260_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 = adis16260_spi_read_signed(dev, attr, buf, 12); + mutex_unlock(&indio_dev->mlock); + + return ret; +} + +static ssize_t adis16260_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 = adis16260_spi_read_signed(dev, attr, buf, 14); + mutex_unlock(&indio_dev->mlock); + + return ret; +} + +static ssize_t adis16260_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 = adis16260_spi_write_reg_16(dev, this_attr->address, val); + +error_ret: + return ret ? ret : len; +} + +static ssize_t adis16260_read_frequency(struct device *dev, + struct device_attribute *attr, + char *buf) +{ + int ret, len = 0; + u16 t; + int sps; + ret = adis16260_spi_read_reg_16(dev, + ADIS16260_SMPL_PRD, + &t); + if (ret) + return ret; + sps = (t & ADIS16260_SMPL_PRD_TIME_BASE) ? 66 : 2048; + sps /= (t & ADIS16260_SMPL_PRD_DIV_MASK) + 1; + len = sprintf(buf, "%d SPS\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_get_drvdata(dev); + struct adis16260_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 = (2048 / val); + if (t > 0) + t--; + t &= ADIS16260_SMPL_PRD_DIV_MASK; + if ((t & ADIS16260_SMPL_PRD_DIV_MASK) >= 0x0A) + st->us->max_speed_hz = ADIS16260_SPI_SLOW; + else + st->us->max_speed_hz = ADIS16260_SPI_FAST; + + ret = adis16260_spi_write_reg_8(dev, + ADIS16260_SMPL_PRD, + t); + + mutex_unlock(&indio_dev->mlock); + + return ret ? ret : len; +} + +static int adis16260_reset(struct device *dev) +{ + int ret; + ret = adis16260_spi_write_reg_8(dev, + ADIS16260_GLOB_CMD, + ADIS16260_GLOB_CMD_SW_RESET); + if (ret) + dev_err(dev, "problem resetting device"); + + return ret; +} + +static ssize_t adis16260_write_reset(struct device *dev, + struct device_attribute *attr, + const char *buf, size_t len) +{ + if (len < 1) + return -EINVAL; + switch (buf[0]) { + case '1': + case 'y': + case 'Y': + return adis16260_reset(dev); + } + return -EINVAL; +} + +int adis16260_set_irq(struct device *dev, bool enable) +{ + int ret; + u16 msc; + ret = adis16260_spi_read_reg_16(dev, ADIS16260_MSC_CTRL, &msc); + if (ret) + goto error_ret; + + msc |= ADIS16260_MSC_CTRL_DATA_RDY_POL_HIGH; + if (enable) + msc |= ADIS16260_MSC_CTRL_DATA_RDY_EN; + else + msc &= ~ADIS16260_MSC_CTRL_DATA_RDY_EN; + + ret = adis16260_spi_write_reg_16(dev, ADIS16260_MSC_CTRL, msc); + if (ret) + goto error_ret; + +error_ret: + return ret; +} + +/* Power down the device */ +static int adis16260_stop_device(struct device *dev) +{ + int ret; + u16 val = ADIS16260_SLP_CNT_POWER_OFF; + + ret = adis16260_spi_write_reg_16(dev, ADIS16260_SLP_CNT, val); + if (ret) + dev_err(dev, "problem with turning device off: SLP_CNT"); + + return ret; +} + +static int adis16260_self_test(struct device *dev) +{ + int ret; + ret = adis16260_spi_write_reg_16(dev, + ADIS16260_MSC_CTRL, + ADIS16260_MSC_CTRL_MEM_TEST); + if (ret) { + dev_err(dev, "problem starting self test"); + goto err_ret; + } + + adis16260_check_status(dev); + +err_ret: + return ret; +} + +static int adis16260_check_status(struct device *dev) +{ + u16 status; + int ret; + + ret = adis16260_spi_read_reg_16(dev, ADIS16260_DIAG_STAT, &status); + + if (ret < 0) { + dev_err(dev, "Reading status failed\n"); + goto error_ret; + } + ret = status & 0x7F; + if (status & ADIS16260_DIAG_STAT_FLASH_CHK) + dev_err(dev, "Flash checksum error\n"); + if (status & ADIS16260_DIAG_STAT_SELF_TEST) + dev_err(dev, "Self test error\n"); + if (status & ADIS16260_DIAG_STAT_OVERFLOW) + dev_err(dev, "Sensor overrange\n"); + if (status & ADIS16260_DIAG_STAT_SPI_FAIL) + dev_err(dev, "SPI failure\n"); + if (status & ADIS16260_DIAG_STAT_FLASH_UPT) + dev_err(dev, "Flash update failed\n"); + if (status & ADIS16260_DIAG_STAT_POWER_HIGH) + dev_err(dev, "Power supply above 5.25V\n"); + if (status & ADIS16260_DIAG_STAT_POWER_LOW) + dev_err(dev, "Power supply below 4.75V\n"); + +error_ret: + return ret; +} + +static int adis16260_initial_setup(struct adis16260_state *st) +{ + int ret; + struct device *dev = &st->indio_dev->dev; + + /* Disable IRQ */ + ret = adis16260_set_irq(dev, false); + if (ret) { + dev_err(dev, "disable irq failed"); + goto err_ret; + } + + /* Do self test */ + ret = adis16260_self_test(dev); + if (ret) { + dev_err(dev, "self test failure"); + goto err_ret; + } + + /* Read status register to check the result */ + ret = adis16260_check_status(dev); + if (ret) { + adis16260_reset(dev); + dev_err(dev, "device not playing ball -> reset"); + msleep(ADIS16260_STARTUP_DELAY); + ret = adis16260_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); + +err_ret: + return ret; +} + +static IIO_DEV_ATTR_IN_NAMED_RAW(supply, + adis16260_read_12bit_unsigned, + ADIS16260_SUPPLY_OUT); +static IIO_CONST_ATTR(in_supply_scale, "0.0018315"); + +static IIO_DEV_ATTR_GYRO(adis16260_read_14bit_signed, + ADIS16260_GYRO_OUT); +static IIO_DEV_ATTR_GYRO_SCALE(S_IWUSR | S_IRUGO, + adis16260_read_14bit_signed, + adis16260_write_16bit, + ADIS16260_GYRO_SCALE); +static IIO_DEV_ATTR_GYRO_OFFSET(S_IWUSR | S_IRUGO, + adis16260_read_12bit_signed, + adis16260_write_16bit, + ADIS16260_GYRO_OFF); + +static IIO_DEV_ATTR_TEMP_RAW(adis16260_read_12bit_unsigned); +static IIO_CONST_ATTR(temp_offset, "25"); +static IIO_CONST_ATTR(temp_scale, "0.1453"); + +static IIO_DEV_ATTR_IN_RAW(0, adis16260_read_12bit_unsigned, + ADIS16260_AUX_ADC); +static IIO_CONST_ATTR(in0_scale, "0.0006105"); + +static IIO_DEV_ATTR_SAMP_FREQ(S_IWUSR | S_IRUGO, + adis16260_read_frequency, + adis16260_write_frequency); +static IIO_DEV_ATTR_ANGL(adis16260_read_14bit_signed, + ADIS16260_ANGL_OUT); + +static IIO_DEVICE_ATTR(reset, S_IWUSR, NULL, adis16260_write_reset, 0); + +static IIO_CONST_ATTR_AVAIL_SAMP_FREQ("256 2048"); + +static IIO_CONST_ATTR(name, "adis16260"); + +static struct attribute *adis16260_event_attributes[] = { + NULL +}; + +static struct attribute_group adis16260_event_attribute_group = { + .attrs = adis16260_event_attributes, +}; + +static struct attribute *adis16260_attributes[] = { + &iio_dev_attr_in_supply_raw.dev_attr.attr, + &iio_const_attr_in_supply_scale.dev_attr.attr, + &iio_dev_attr_gyro_raw.dev_attr.attr, + &iio_dev_attr_gyro_scale.dev_attr.attr, + &iio_dev_attr_gyro_offset.dev_attr.attr, + &iio_dev_attr_angl_raw.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 adis16260_attribute_group = { + .attrs = adis16260_attributes, +}; + +static int __devinit adis16260_probe(struct spi_device *spi) +{ + int ret, regdone = 0; + struct adis16260_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)*ADIS16260_MAX_RX, GFP_KERNEL); + if (st->rx == NULL) { + ret = -ENOMEM; + goto error_free_st; + } + st->tx = kzalloc(sizeof(*st->tx)*ADIS16260_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 = &adis16260_event_attribute_group; + st->indio_dev->attrs = &adis16260_attribute_group; + st->indio_dev->dev_data = (void *)(st); + st->indio_dev->driver_module = THIS_MODULE; + st->indio_dev->modes = INDIO_DIRECT_MODE; + + ret = adis16260_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 = adis16260_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) { + ret = iio_register_interrupt_line(spi->irq, + st->indio_dev, + 0, + IRQF_TRIGGER_RISING, + "adis16260"); + if (ret) + goto error_uninitialize_ring; + + ret = adis16260_probe_trigger(st->indio_dev); + if (ret) + goto error_unregister_line; + } + + /* Get the device into a sane initial state */ + ret = adis16260_initial_setup(st); + if (ret) + goto error_remove_trigger; + return 0; + +error_remove_trigger: + adis16260_remove_trigger(st->indio_dev); +error_unregister_line: + if (spi->irq) + iio_unregister_interrupt_line(st->indio_dev, 0); +error_uninitialize_ring: + adis16260_uninitialize_ring(st->indio_dev->ring); +error_unreg_ring_funcs: + adis16260_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; +} + +static int adis16260_remove(struct spi_device *spi) +{ + int ret; + struct adis16260_state *st = spi_get_drvdata(spi); + struct iio_dev *indio_dev = st->indio_dev; + + ret = adis16260_stop_device(&(indio_dev->dev)); + if (ret) + goto err_ret; + + flush_scheduled_work(); + + adis16260_remove_trigger(indio_dev); + if (spi->irq) + iio_unregister_interrupt_line(indio_dev, 0); + + adis16260_uninitialize_ring(indio_dev->ring); + iio_device_unregister(indio_dev); + adis16260_unconfigure_ring(indio_dev); + kfree(st->tx); + kfree(st->rx); + kfree(st); + + return 0; + +err_ret: + return ret; +} + +static struct spi_driver adis16260_driver = { + .driver = { + .name = "adis16260", + .owner = THIS_MODULE, + }, + .probe = adis16260_probe, + .remove = __devexit_p(adis16260_remove), +}; + +static __init int adis16260_init(void) +{ + return spi_register_driver(&adis16260_driver); +} +module_init(adis16260_init); + +static __exit void adis16260_exit(void) +{ + spi_unregister_driver(&adis16260_driver); +} +module_exit(adis16260_exit); + +MODULE_AUTHOR("Barry Song <21cnbao@gmail.com>"); +MODULE_DESCRIPTION("Analog Devices ADIS16260/5 Digital Gyroscope Sensor"); +MODULE_LICENSE("GPL v2"); |