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 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;
 109 };
 110
 111 struct adis16260 {
 112         const struct adis16260_chip_info *info;
 113
 114         struct adis adis;
 115 };
 116
 117 enum adis16260_type {
 118         ADIS16251,
 119         ADIS16260,
 120         ADIS16266,
 121 };
 122
 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),
 137 };
 138
 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),
 151 };
 152
 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),
 159         },
 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),
 165         },
 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),
 171         },
 172 };
 173
 174 /* Power down the device */
 175 static int adis16260_stop_device(struct iio_dev *indio_dev)
 176 {
 177         struct adis16260 *adis16260 = iio_priv(indio_dev);
 178         int ret;
 179         u16 val = ADIS16260_SLP_CNT_POWER_OFF;
 180
 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");
 184
 185         return ret;
 186 }
 187
 188 static const u8 adis16260_addresses[][2] = {
 189         [ADIS16260_SCAN_GYRO] = { ADIS16260_GYRO_OFF, ADIS16260_GYRO_SCALE },
 190 };
 191
 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)
 196 {
 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;
 203
 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 */
 225                         }
 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;
 233                 }
 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;
 242
 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;
 250
 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;
 257
 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;
 267         }
 268         return -EINVAL;
 269 }
 270
 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)
 276 {
 277         struct adis16260 *adis16260 = iio_priv(indio_dev);
 278         struct adis *adis = &adis16260->adis;
 279         int ret;
 280         u8 addr;
 281         u8 t;
 282
 283         switch (mask) {
 284         case IIO_CHAN_INFO_CALIBBIAS:
 285                 if (val < -2048 || val >= 2048)
 286                         return -EINVAL;
 287
 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;
 293
 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;
 302
 303                 if (t > ADIS16260_SMPL_PRD_DIV_MASK)
 304                         t = ADIS16260_SMPL_PRD_DIV_MASK;
 305                 else if (t > 0)
 306                         t--;
 307
 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);
 313
 314                 mutex_unlock(&indio_dev->mlock);
 315                 return ret;
 316         }
 317         return -EINVAL;
 318 }
 319
 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,
 325 };
 326
 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",
 335 };
 336
 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,
 343
 344         .self_test_mask = ADIS16260_MSC_CTRL_MEM_TEST,
 345         .startup_delay = ADIS16260_STARTUP_DELAY,
 346
 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),
 355 };
 356
 357 static int adis16260_probe(struct spi_device *spi)
 358 {
 359         const struct spi_device_id *id;
 360         struct adis16260 *adis16260;
 361         struct iio_dev *indio_dev;
 362         int ret;
 363
 364         id = spi_get_device_id(spi);
 365         if (!id)
 366                 return -ENODEV;
 367
 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);
 375
 376         adis16260->info = &adis16260_chip_info_table[id->driver_data];
 377
 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;
 384
 385         ret = adis_init(&adis16260->adis, indio_dev, spi, &adis16260_data);
 386         if (ret)
 387                 return ret;
 388
 389         ret = adis_setup_buffer_and_trigger(&adis16260->adis, indio_dev, NULL);
 390         if (ret)
 391                 return ret;
 392
 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;
 400
 401         return 0;
 402
 403 error_cleanup_buffer_trigger:
 404         adis_cleanup_buffer_and_trigger(&adis16260->adis, indio_dev);
 405         return ret;
 406 }
 407
 408 static int adis16260_remove(struct spi_device *spi)
 409 {
 410         struct iio_dev *indio_dev = spi_get_drvdata(spi);
 411         struct adis16260 *adis16260 = iio_priv(indio_dev);
 412
 413         iio_device_unregister(indio_dev);
 414         adis16260_stop_device(indio_dev);
 415         adis_cleanup_buffer_and_trigger(&adis16260->adis, indio_dev);
 416
 417         return 0;
 418 }
 419
 420 /*
 421  * These parts do not need to be differentiated until someone adds
 422  * support for the on chip filtering.
 423  */
 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},
 431         {}
 432 };
 433 MODULE_DEVICE_TABLE(spi, adis16260_id);
 434
 435 static struct spi_driver adis16260_driver = {
 436         .driver = {
 437                 .name = "adis16260",
 438         },
 439         .probe = adis16260_probe,
 440         .remove = adis16260_remove,
 441         .id_table = adis16260_id,
 442 };
 443 module_spi_driver(adis16260_driver);
 444
 445 MODULE_AUTHOR("Barry Song <21cnbao@gmail.com>");
 446 MODULE_DESCRIPTION("Analog Devices ADIS16260/5 Digital Gyroscope Sensor");
 447 MODULE_LICENSE("GPL v2");