448 lines
13 KiB
C
448 lines
13 KiB
C
/*
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* ADIS16260/ADIS16265 Programmable Digital Gyroscope Sensor Driver
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*
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* Copyright 2010 Analog Devices Inc.
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*
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* Licensed under the GPL-2 or later.
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*/
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#include <linux/interrupt.h>
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#include <linux/mutex.h>
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#include <linux/device.h>
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#include <linux/kernel.h>
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#include <linux/spi/spi.h>
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#include <linux/sysfs.h>
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#include <linux/module.h>
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#include <linux/iio/iio.h>
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#include <linux/iio/sysfs.h>
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#include <linux/iio/buffer.h>
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#include <linux/iio/imu/adis.h>
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#define ADIS16260_STARTUP_DELAY 220 /* ms */
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#define ADIS16260_FLASH_CNT 0x00 /* Flash memory write count */
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#define ADIS16260_SUPPLY_OUT 0x02 /* Power supply measurement */
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#define ADIS16260_GYRO_OUT 0x04 /* X-axis gyroscope output */
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#define ADIS16260_AUX_ADC 0x0A /* analog input channel measurement */
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#define ADIS16260_TEMP_OUT 0x0C /* internal temperature measurement */
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#define ADIS16260_ANGL_OUT 0x0E /* angle displacement */
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#define ADIS16260_GYRO_OFF 0x14 /* Calibration, offset/bias adjustment */
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#define ADIS16260_GYRO_SCALE 0x16 /* Calibration, scale adjustment */
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#define ADIS16260_ALM_MAG1 0x20 /* Alarm 1 magnitude/polarity setting */
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#define ADIS16260_ALM_MAG2 0x22 /* Alarm 2 magnitude/polarity setting */
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#define ADIS16260_ALM_SMPL1 0x24 /* Alarm 1 dynamic rate of change setting */
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#define ADIS16260_ALM_SMPL2 0x26 /* Alarm 2 dynamic rate of change setting */
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#define ADIS16260_ALM_CTRL 0x28 /* Alarm control */
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#define ADIS16260_AUX_DAC 0x30 /* Auxiliary DAC data */
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#define ADIS16260_GPIO_CTRL 0x32 /* Control, digital I/O line */
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#define ADIS16260_MSC_CTRL 0x34 /* Control, data ready, self-test settings */
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#define ADIS16260_SMPL_PRD 0x36 /* Control, internal sample rate */
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#define ADIS16260_SENS_AVG 0x38 /* Control, dynamic range, filtering */
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#define ADIS16260_SLP_CNT 0x3A /* Control, sleep mode initiation */
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#define ADIS16260_DIAG_STAT 0x3C /* Diagnostic, error flags */
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#define ADIS16260_GLOB_CMD 0x3E /* Control, global commands */
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#define ADIS16260_LOT_ID1 0x52 /* Lot Identification Code 1 */
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#define ADIS16260_LOT_ID2 0x54 /* Lot Identification Code 2 */
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#define ADIS16260_PROD_ID 0x56 /* Product identifier;
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* convert to decimal = 16,265/16,260 */
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#define ADIS16260_SERIAL_NUM 0x58 /* Serial number */
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#define ADIS16260_ERROR_ACTIVE (1<<14)
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#define ADIS16260_NEW_DATA (1<<15)
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/* MSC_CTRL */
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#define ADIS16260_MSC_CTRL_MEM_TEST (1<<11)
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/* Internal self-test enable */
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#define ADIS16260_MSC_CTRL_INT_SELF_TEST (1<<10)
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#define ADIS16260_MSC_CTRL_NEG_SELF_TEST (1<<9)
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#define ADIS16260_MSC_CTRL_POS_SELF_TEST (1<<8)
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#define ADIS16260_MSC_CTRL_DATA_RDY_EN (1<<2)
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#define ADIS16260_MSC_CTRL_DATA_RDY_POL_HIGH (1<<1)
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#define ADIS16260_MSC_CTRL_DATA_RDY_DIO2 (1<<0)
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/* SMPL_PRD */
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/* Time base (tB): 0 = 1.953 ms, 1 = 60.54 ms */
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#define ADIS16260_SMPL_PRD_TIME_BASE (1<<7)
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#define ADIS16260_SMPL_PRD_DIV_MASK 0x7F
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/* SLP_CNT */
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#define ADIS16260_SLP_CNT_POWER_OFF 0x80
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/* DIAG_STAT */
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#define ADIS16260_DIAG_STAT_ALARM2 (1<<9)
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#define ADIS16260_DIAG_STAT_ALARM1 (1<<8)
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#define ADIS16260_DIAG_STAT_FLASH_CHK_BIT 6
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#define ADIS16260_DIAG_STAT_SELF_TEST_BIT 5
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#define ADIS16260_DIAG_STAT_OVERFLOW_BIT 4
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#define ADIS16260_DIAG_STAT_SPI_FAIL_BIT 3
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#define ADIS16260_DIAG_STAT_FLASH_UPT_BIT 2
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#define ADIS16260_DIAG_STAT_POWER_HIGH_BIT 1
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#define ADIS16260_DIAG_STAT_POWER_LOW_BIT 0
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/* GLOB_CMD */
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#define ADIS16260_GLOB_CMD_SW_RESET (1<<7)
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#define ADIS16260_GLOB_CMD_FLASH_UPD (1<<3)
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#define ADIS16260_GLOB_CMD_DAC_LATCH (1<<2)
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#define ADIS16260_GLOB_CMD_FAC_CALIB (1<<1)
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#define ADIS16260_GLOB_CMD_AUTO_NULL (1<<0)
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#define ADIS16260_SPI_SLOW (u32)(300 * 1000)
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#define ADIS16260_SPI_BURST (u32)(1000 * 1000)
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#define ADIS16260_SPI_FAST (u32)(2000 * 1000)
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/* At the moment triggers are only used for ring buffer
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* filling. This may change!
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*/
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#define ADIS16260_SCAN_GYRO 0
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#define ADIS16260_SCAN_SUPPLY 1
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#define ADIS16260_SCAN_AUX_ADC 2
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#define ADIS16260_SCAN_TEMP 3
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#define ADIS16260_SCAN_ANGL 4
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struct adis16260_chip_info {
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unsigned int gyro_max_val;
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unsigned int gyro_max_scale;
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const struct iio_chan_spec *channels;
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unsigned int num_channels;
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};
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struct adis16260 {
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const struct adis16260_chip_info *info;
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struct adis adis;
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};
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enum adis16260_type {
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ADIS16251,
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ADIS16260,
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ADIS16266,
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};
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static const struct iio_chan_spec adis16260_channels[] = {
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ADIS_GYRO_CHAN(X, ADIS16260_GYRO_OUT, ADIS16260_SCAN_GYRO,
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BIT(IIO_CHAN_INFO_CALIBBIAS) |
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BIT(IIO_CHAN_INFO_CALIBSCALE),
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BIT(IIO_CHAN_INFO_SAMP_FREQ), 14),
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ADIS_INCLI_CHAN(X, ADIS16260_ANGL_OUT, ADIS16260_SCAN_ANGL, 0,
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BIT(IIO_CHAN_INFO_SAMP_FREQ), 14),
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ADIS_TEMP_CHAN(ADIS16260_TEMP_OUT, ADIS16260_SCAN_TEMP,
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BIT(IIO_CHAN_INFO_SAMP_FREQ), 12),
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ADIS_SUPPLY_CHAN(ADIS16260_SUPPLY_OUT, ADIS16260_SCAN_SUPPLY,
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BIT(IIO_CHAN_INFO_SAMP_FREQ), 12),
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ADIS_AUX_ADC_CHAN(ADIS16260_AUX_ADC, ADIS16260_SCAN_AUX_ADC,
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BIT(IIO_CHAN_INFO_SAMP_FREQ), 12),
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IIO_CHAN_SOFT_TIMESTAMP(5),
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};
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static const struct iio_chan_spec adis16266_channels[] = {
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ADIS_GYRO_CHAN(X, ADIS16260_GYRO_OUT, ADIS16260_SCAN_GYRO,
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BIT(IIO_CHAN_INFO_CALIBBIAS) |
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BIT(IIO_CHAN_INFO_CALIBSCALE),
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BIT(IIO_CHAN_INFO_SAMP_FREQ), 14),
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ADIS_TEMP_CHAN(ADIS16260_TEMP_OUT, ADIS16260_SCAN_TEMP,
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BIT(IIO_CHAN_INFO_SAMP_FREQ), 12),
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ADIS_SUPPLY_CHAN(ADIS16260_SUPPLY_OUT, ADIS16260_SCAN_SUPPLY,
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BIT(IIO_CHAN_INFO_SAMP_FREQ), 12),
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ADIS_AUX_ADC_CHAN(ADIS16260_AUX_ADC, ADIS16260_SCAN_AUX_ADC,
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BIT(IIO_CHAN_INFO_SAMP_FREQ), 12),
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IIO_CHAN_SOFT_TIMESTAMP(4),
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};
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static const struct adis16260_chip_info adis16260_chip_info_table[] = {
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[ADIS16251] = {
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.gyro_max_scale = 80,
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.gyro_max_val = IIO_RAD_TO_DEGREE(4368),
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.channels = adis16260_channels,
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.num_channels = ARRAY_SIZE(adis16260_channels),
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},
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[ADIS16260] = {
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.gyro_max_scale = 320,
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.gyro_max_val = IIO_RAD_TO_DEGREE(4368),
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.channels = adis16260_channels,
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.num_channels = ARRAY_SIZE(adis16260_channels),
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},
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[ADIS16266] = {
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.gyro_max_scale = 14000,
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.gyro_max_val = IIO_RAD_TO_DEGREE(3357),
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.channels = adis16266_channels,
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.num_channels = ARRAY_SIZE(adis16266_channels),
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},
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};
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/* Power down the device */
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static int adis16260_stop_device(struct iio_dev *indio_dev)
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{
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struct adis16260 *adis16260 = iio_priv(indio_dev);
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int ret;
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u16 val = ADIS16260_SLP_CNT_POWER_OFF;
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ret = adis_write_reg_16(&adis16260->adis, ADIS16260_SLP_CNT, val);
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if (ret)
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dev_err(&indio_dev->dev, "problem with turning device off: SLP_CNT");
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return ret;
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}
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static const u8 adis16260_addresses[][2] = {
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[ADIS16260_SCAN_GYRO] = { ADIS16260_GYRO_OFF, ADIS16260_GYRO_SCALE },
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};
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static int adis16260_read_raw(struct iio_dev *indio_dev,
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struct iio_chan_spec const *chan,
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int *val, int *val2,
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long mask)
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{
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struct adis16260 *adis16260 = iio_priv(indio_dev);
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const struct adis16260_chip_info *info = adis16260->info;
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struct adis *adis = &adis16260->adis;
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int ret;
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u8 addr;
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s16 val16;
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switch (mask) {
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case IIO_CHAN_INFO_RAW:
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return adis_single_conversion(indio_dev, chan,
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ADIS16260_ERROR_ACTIVE, val);
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case IIO_CHAN_INFO_SCALE:
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switch (chan->type) {
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case IIO_ANGL_VEL:
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*val = info->gyro_max_scale;
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*val2 = info->gyro_max_val;
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return IIO_VAL_FRACTIONAL;
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case IIO_INCLI:
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*val = 0;
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*val2 = IIO_DEGREE_TO_RAD(36630);
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return IIO_VAL_INT_PLUS_MICRO;
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case IIO_VOLTAGE:
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if (chan->channel == 0) {
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*val = 1;
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*val2 = 831500; /* 1.8315 mV */
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} else {
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*val = 0;
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*val2 = 610500; /* 610.5 uV */
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}
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return IIO_VAL_INT_PLUS_MICRO;
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case IIO_TEMP:
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*val = 145;
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*val2 = 300000; /* 0.1453 C */
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return IIO_VAL_INT_PLUS_MICRO;
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default:
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return -EINVAL;
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}
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case IIO_CHAN_INFO_OFFSET:
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*val = 250000 / 1453; /* 25 C = 0x00 */
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return IIO_VAL_INT;
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case IIO_CHAN_INFO_CALIBBIAS:
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addr = adis16260_addresses[chan->scan_index][0];
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ret = adis_read_reg_16(adis, addr, &val16);
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if (ret)
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return ret;
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*val = sign_extend32(val16, 11);
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return IIO_VAL_INT;
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case IIO_CHAN_INFO_CALIBSCALE:
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addr = adis16260_addresses[chan->scan_index][1];
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ret = adis_read_reg_16(adis, addr, &val16);
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if (ret)
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return ret;
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*val = val16;
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return IIO_VAL_INT;
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case IIO_CHAN_INFO_SAMP_FREQ:
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ret = adis_read_reg_16(adis, ADIS16260_SMPL_PRD, &val16);
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if (ret)
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return ret;
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if (spi_get_device_id(adis->spi)->driver_data)
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/* If an adis16251 */
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*val = (val16 & ADIS16260_SMPL_PRD_TIME_BASE) ?
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8 : 256;
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else
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*val = (val16 & ADIS16260_SMPL_PRD_TIME_BASE) ?
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66 : 2048;
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*val /= (val16 & ADIS16260_SMPL_PRD_DIV_MASK) + 1;
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return IIO_VAL_INT;
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}
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return -EINVAL;
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}
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static int adis16260_write_raw(struct iio_dev *indio_dev,
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struct iio_chan_spec const *chan,
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int val,
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int val2,
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long mask)
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{
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struct adis16260 *adis16260 = iio_priv(indio_dev);
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struct adis *adis = &adis16260->adis;
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int ret;
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u8 addr;
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u8 t;
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switch (mask) {
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case IIO_CHAN_INFO_CALIBBIAS:
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if (val < -2048 || val >= 2048)
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return -EINVAL;
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addr = adis16260_addresses[chan->scan_index][0];
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return adis_write_reg_16(adis, addr, val);
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case IIO_CHAN_INFO_CALIBSCALE:
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if (val < 0 || val >= 4096)
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return -EINVAL;
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addr = adis16260_addresses[chan->scan_index][1];
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return adis_write_reg_16(adis, addr, val);
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case IIO_CHAN_INFO_SAMP_FREQ:
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mutex_lock(&indio_dev->mlock);
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if (spi_get_device_id(adis->spi)->driver_data)
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t = 256 / val;
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else
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t = 2048 / val;
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if (t > ADIS16260_SMPL_PRD_DIV_MASK)
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t = ADIS16260_SMPL_PRD_DIV_MASK;
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else if (t > 0)
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t--;
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if (t >= 0x0A)
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adis->spi->max_speed_hz = ADIS16260_SPI_SLOW;
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else
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adis->spi->max_speed_hz = ADIS16260_SPI_FAST;
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ret = adis_write_reg_8(adis, ADIS16260_SMPL_PRD, t);
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mutex_unlock(&indio_dev->mlock);
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return ret;
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}
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return -EINVAL;
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}
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static const struct iio_info adis16260_info = {
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.read_raw = &adis16260_read_raw,
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.write_raw = &adis16260_write_raw,
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.update_scan_mode = adis_update_scan_mode,
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.driver_module = THIS_MODULE,
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};
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static const char * const adis1620_status_error_msgs[] = {
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[ADIS16260_DIAG_STAT_FLASH_CHK_BIT] = "Flash checksum error",
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[ADIS16260_DIAG_STAT_SELF_TEST_BIT] = "Self test error",
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[ADIS16260_DIAG_STAT_OVERFLOW_BIT] = "Sensor overrange",
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[ADIS16260_DIAG_STAT_SPI_FAIL_BIT] = "SPI failure",
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[ADIS16260_DIAG_STAT_FLASH_UPT_BIT] = "Flash update failed",
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[ADIS16260_DIAG_STAT_POWER_HIGH_BIT] = "Power supply above 5.25",
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[ADIS16260_DIAG_STAT_POWER_LOW_BIT] = "Power supply below 4.75",
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};
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static const struct adis_data adis16260_data = {
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.write_delay = 30,
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.read_delay = 30,
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.msc_ctrl_reg = ADIS16260_MSC_CTRL,
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.glob_cmd_reg = ADIS16260_GLOB_CMD,
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.diag_stat_reg = ADIS16260_DIAG_STAT,
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.self_test_mask = ADIS16260_MSC_CTRL_MEM_TEST,
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.startup_delay = ADIS16260_STARTUP_DELAY,
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.status_error_msgs = adis1620_status_error_msgs,
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.status_error_mask = BIT(ADIS16260_DIAG_STAT_FLASH_CHK_BIT) |
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BIT(ADIS16260_DIAG_STAT_SELF_TEST_BIT) |
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BIT(ADIS16260_DIAG_STAT_OVERFLOW_BIT) |
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BIT(ADIS16260_DIAG_STAT_SPI_FAIL_BIT) |
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BIT(ADIS16260_DIAG_STAT_FLASH_UPT_BIT) |
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BIT(ADIS16260_DIAG_STAT_POWER_HIGH_BIT) |
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BIT(ADIS16260_DIAG_STAT_POWER_LOW_BIT),
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};
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static int adis16260_probe(struct spi_device *spi)
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{
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const struct spi_device_id *id;
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struct adis16260 *adis16260;
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struct iio_dev *indio_dev;
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int ret;
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id = spi_get_device_id(spi);
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if (!id)
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return -ENODEV;
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/* setup the industrialio driver allocated elements */
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indio_dev = devm_iio_device_alloc(&spi->dev, sizeof(*adis16260));
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if (!indio_dev)
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return -ENOMEM;
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adis16260 = iio_priv(indio_dev);
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/* this is only used for removal purposes */
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spi_set_drvdata(spi, indio_dev);
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adis16260->info = &adis16260_chip_info_table[id->driver_data];
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indio_dev->name = id->name;
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indio_dev->dev.parent = &spi->dev;
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indio_dev->info = &adis16260_info;
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indio_dev->channels = adis16260->info->channels;
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indio_dev->num_channels = adis16260->info->num_channels;
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indio_dev->modes = INDIO_DIRECT_MODE;
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ret = adis_init(&adis16260->adis, indio_dev, spi, &adis16260_data);
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if (ret)
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return ret;
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ret = adis_setup_buffer_and_trigger(&adis16260->adis, indio_dev, NULL);
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if (ret)
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return ret;
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/* Get the device into a sane initial state */
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ret = adis_initial_startup(&adis16260->adis);
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if (ret)
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goto error_cleanup_buffer_trigger;
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ret = iio_device_register(indio_dev);
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if (ret)
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goto error_cleanup_buffer_trigger;
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return 0;
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error_cleanup_buffer_trigger:
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adis_cleanup_buffer_and_trigger(&adis16260->adis, indio_dev);
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return ret;
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}
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static int adis16260_remove(struct spi_device *spi)
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{
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struct iio_dev *indio_dev = spi_get_drvdata(spi);
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struct adis16260 *adis16260 = iio_priv(indio_dev);
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iio_device_unregister(indio_dev);
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adis16260_stop_device(indio_dev);
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adis_cleanup_buffer_and_trigger(&adis16260->adis, indio_dev);
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return 0;
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}
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/*
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* These parts do not need to be differentiated until someone adds
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* support for the on chip filtering.
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*/
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static const struct spi_device_id adis16260_id[] = {
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{"adis16260", ADIS16260},
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{"adis16265", ADIS16260},
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{"adis16266", ADIS16266},
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{"adis16250", ADIS16260},
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|
{"adis16255", ADIS16260},
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|
{"adis16251", ADIS16251},
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|
{}
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|
};
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MODULE_DEVICE_TABLE(spi, adis16260_id);
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|
|
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static struct spi_driver adis16260_driver = {
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.driver = {
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.name = "adis16260",
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|
},
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.probe = adis16260_probe,
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|
.remove = adis16260_remove,
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.id_table = adis16260_id,
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|
};
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|
module_spi_driver(adis16260_driver);
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|
|
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MODULE_AUTHOR("Barry Song <21cnbao@gmail.com>");
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MODULE_DESCRIPTION("Analog Devices ADIS16260/5 Digital Gyroscope Sensor");
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|
MODULE_LICENSE("GPL v2");
|