2 * ADIS16260/ADIS16265 Programmable Digital Gyroscope Sensor Driver
4 * Copyright 2010 Analog Devices Inc.
6 * Licensed under the GPL-2 or later.
9 #include <linux/interrupt.h>
10 #include <linux/mutex.h>
11 #include <linux/device.h>
12 #include <linux/kernel.h>
13 #include <linux/spi/spi.h>
14 #include <linux/sysfs.h>
15 #include <linux/module.h>
17 #include <linux/iio/iio.h>
18 #include <linux/iio/sysfs.h>
19 #include <linux/iio/buffer.h>
20 #include <linux/iio/imu/adis.h>
22 #define ADIS16260_STARTUP_DELAY 220 /* ms */
24 #define ADIS16260_FLASH_CNT 0x00 /* Flash memory write count */
25 #define ADIS16260_SUPPLY_OUT 0x02 /* Power supply measurement */
26 #define ADIS16260_GYRO_OUT 0x04 /* X-axis gyroscope output */
27 #define ADIS16260_AUX_ADC 0x0A /* analog input channel measurement */
28 #define ADIS16260_TEMP_OUT 0x0C /* internal temperature measurement */
29 #define ADIS16260_ANGL_OUT 0x0E /* angle displacement */
30 #define ADIS16260_GYRO_OFF 0x14 /* Calibration, offset/bias adjustment */
31 #define ADIS16260_GYRO_SCALE 0x16 /* Calibration, scale adjustment */
32 #define ADIS16260_ALM_MAG1 0x20 /* Alarm 1 magnitude/polarity setting */
33 #define ADIS16260_ALM_MAG2 0x22 /* Alarm 2 magnitude/polarity setting */
34 #define ADIS16260_ALM_SMPL1 0x24 /* Alarm 1 dynamic rate of change setting */
35 #define ADIS16260_ALM_SMPL2 0x26 /* Alarm 2 dynamic rate of change setting */
36 #define ADIS16260_ALM_CTRL 0x28 /* Alarm control */
37 #define ADIS16260_AUX_DAC 0x30 /* Auxiliary DAC data */
38 #define ADIS16260_GPIO_CTRL 0x32 /* Control, digital I/O line */
39 #define ADIS16260_MSC_CTRL 0x34 /* Control, data ready, self-test settings */
40 #define ADIS16260_SMPL_PRD 0x36 /* Control, internal sample rate */
41 #define ADIS16260_SENS_AVG 0x38 /* Control, dynamic range, filtering */
42 #define ADIS16260_SLP_CNT 0x3A /* Control, sleep mode initiation */
43 #define ADIS16260_DIAG_STAT 0x3C /* Diagnostic, error flags */
44 #define ADIS16260_GLOB_CMD 0x3E /* Control, global commands */
45 #define ADIS16260_LOT_ID1 0x52 /* Lot Identification Code 1 */
46 #define ADIS16260_LOT_ID2 0x54 /* Lot Identification Code 2 */
47 #define ADIS16260_PROD_ID 0x56 /* Product identifier;
48 * convert to decimal = 16,265/16,260 */
49 #define ADIS16260_SERIAL_NUM 0x58 /* Serial number */
51 #define ADIS16260_ERROR_ACTIVE (1<<14)
52 #define ADIS16260_NEW_DATA (1<<15)
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)
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
70 #define ADIS16260_SLP_CNT_POWER_OFF 0x80
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
84 #define ADIS16260_GLOB_CMD_SW_RESET (1<<7)
85 #define ADIS16260_GLOB_CMD_FLASH_UPD (1<<3)
86 #define ADIS16260_GLOB_CMD_DAC_LATCH (1<<2)
87 #define ADIS16260_GLOB_CMD_FAC_CALIB (1<<1)
88 #define ADIS16260_GLOB_CMD_AUTO_NULL (1<<0)
90 #define ADIS16260_SPI_SLOW (u32)(300 * 1000)
91 #define ADIS16260_SPI_BURST (u32)(1000 * 1000)
92 #define ADIS16260_SPI_FAST (u32)(2000 * 1000)
94 /* At the moment triggers are only used for ring buffer
95 * filling. This may change!
98 #define ADIS16260_SCAN_GYRO 0
99 #define ADIS16260_SCAN_SUPPLY 1
100 #define ADIS16260_SCAN_AUX_ADC 2
101 #define ADIS16260_SCAN_TEMP 3
102 #define ADIS16260_SCAN_ANGL 4
104 struct adis16260_chip_info
{
105 unsigned int gyro_max_val
;
106 unsigned int gyro_max_scale
;
107 const struct iio_chan_spec
*channels
;
108 unsigned int num_channels
;
112 const struct adis16260_chip_info
*info
;
117 enum adis16260_type
{
123 static const struct iio_chan_spec adis16260_channels
[] = {
124 ADIS_GYRO_CHAN(X
, ADIS16260_GYRO_OUT
, ADIS16260_SCAN_GYRO
,
125 BIT(IIO_CHAN_INFO_CALIBBIAS
) |
126 BIT(IIO_CHAN_INFO_CALIBSCALE
),
127 BIT(IIO_CHAN_INFO_SAMP_FREQ
), 14),
128 ADIS_INCLI_CHAN(X
, ADIS16260_ANGL_OUT
, ADIS16260_SCAN_ANGL
, 0,
129 BIT(IIO_CHAN_INFO_SAMP_FREQ
), 14),
130 ADIS_TEMP_CHAN(ADIS16260_TEMP_OUT
, ADIS16260_SCAN_TEMP
,
131 BIT(IIO_CHAN_INFO_SAMP_FREQ
), 12),
132 ADIS_SUPPLY_CHAN(ADIS16260_SUPPLY_OUT
, ADIS16260_SCAN_SUPPLY
,
133 BIT(IIO_CHAN_INFO_SAMP_FREQ
), 12),
134 ADIS_AUX_ADC_CHAN(ADIS16260_AUX_ADC
, ADIS16260_SCAN_AUX_ADC
,
135 BIT(IIO_CHAN_INFO_SAMP_FREQ
), 12),
136 IIO_CHAN_SOFT_TIMESTAMP(5),
139 static const struct iio_chan_spec adis16266_channels
[] = {
140 ADIS_GYRO_CHAN(X
, ADIS16260_GYRO_OUT
, ADIS16260_SCAN_GYRO
,
141 BIT(IIO_CHAN_INFO_CALIBBIAS
) |
142 BIT(IIO_CHAN_INFO_CALIBSCALE
),
143 BIT(IIO_CHAN_INFO_SAMP_FREQ
), 14),
144 ADIS_TEMP_CHAN(ADIS16260_TEMP_OUT
, ADIS16260_SCAN_TEMP
,
145 BIT(IIO_CHAN_INFO_SAMP_FREQ
), 12),
146 ADIS_SUPPLY_CHAN(ADIS16260_SUPPLY_OUT
, ADIS16260_SCAN_SUPPLY
,
147 BIT(IIO_CHAN_INFO_SAMP_FREQ
), 12),
148 ADIS_AUX_ADC_CHAN(ADIS16260_AUX_ADC
, ADIS16260_SCAN_AUX_ADC
,
149 BIT(IIO_CHAN_INFO_SAMP_FREQ
), 12),
150 IIO_CHAN_SOFT_TIMESTAMP(4),
153 static const struct adis16260_chip_info adis16260_chip_info_table
[] = {
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
),
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
),
167 .gyro_max_scale
= 14000,
168 .gyro_max_val
= IIO_RAD_TO_DEGREE(3357),
169 .channels
= adis16266_channels
,
170 .num_channels
= ARRAY_SIZE(adis16266_channels
),
174 /* Power down the device */
175 static int adis16260_stop_device(struct iio_dev
*indio_dev
)
177 struct adis16260
*adis16260
= iio_priv(indio_dev
);
179 u16 val
= ADIS16260_SLP_CNT_POWER_OFF
;
181 ret
= adis_write_reg_16(&adis16260
->adis
, ADIS16260_SLP_CNT
, val
);
183 dev_err(&indio_dev
->dev
, "problem with turning device off: SLP_CNT");
188 static const u8 adis16260_addresses
[][2] = {
189 [ADIS16260_SCAN_GYRO
] = { ADIS16260_GYRO_OFF
, ADIS16260_GYRO_SCALE
},
192 static int adis16260_read_raw(struct iio_dev
*indio_dev
,
193 struct iio_chan_spec
const *chan
,
197 struct adis16260
*adis16260
= iio_priv(indio_dev
);
198 const struct adis16260_chip_info
*info
= adis16260
->info
;
199 struct adis
*adis
= &adis16260
->adis
;
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
) {
211 *val
= info
->gyro_max_scale
;
212 *val2
= info
->gyro_max_val
;
213 return IIO_VAL_FRACTIONAL
;
216 *val2
= IIO_DEGREE_TO_RAD(36630);
217 return IIO_VAL_INT_PLUS_MICRO
;
219 if (chan
->channel
== 0) {
221 *val2
= 831500; /* 1.8315 mV */
224 *val2
= 610500; /* 610.5 uV */
226 return IIO_VAL_INT_PLUS_MICRO
;
229 *val2
= 300000; /* 0.1453 C */
230 return IIO_VAL_INT_PLUS_MICRO
;
234 case IIO_CHAN_INFO_OFFSET
:
235 *val
= 250000 / 1453; /* 25 C = 0x00 */
237 case IIO_CHAN_INFO_CALIBBIAS
:
238 addr
= adis16260_addresses
[chan
->scan_index
][0];
239 ret
= adis_read_reg_16(adis
, addr
, &val16
);
243 *val
= sign_extend32(val16
, 11);
245 case IIO_CHAN_INFO_CALIBSCALE
:
246 addr
= adis16260_addresses
[chan
->scan_index
][1];
247 ret
= adis_read_reg_16(adis
, addr
, &val16
);
253 case IIO_CHAN_INFO_SAMP_FREQ
:
254 ret
= adis_read_reg_16(adis
, ADIS16260_SMPL_PRD
, &val16
);
258 if (spi_get_device_id(adis
->spi
)->driver_data
)
259 /* If an adis16251 */
260 *val
= (val16
& ADIS16260_SMPL_PRD_TIME_BASE
) ?
263 *val
= (val16
& ADIS16260_SMPL_PRD_TIME_BASE
) ?
265 *val
/= (val16
& ADIS16260_SMPL_PRD_DIV_MASK
) + 1;
271 static int adis16260_write_raw(struct iio_dev
*indio_dev
,
272 struct iio_chan_spec
const *chan
,
277 struct adis16260
*adis16260
= iio_priv(indio_dev
);
278 struct adis
*adis
= &adis16260
->adis
;
284 case IIO_CHAN_INFO_CALIBBIAS
:
285 if (val
< -2048 || val
>= 2048)
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)
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
)
303 if (t
> ADIS16260_SMPL_PRD_DIV_MASK
)
304 t
= ADIS16260_SMPL_PRD_DIV_MASK
;
309 adis
->spi
->max_speed_hz
= ADIS16260_SPI_SLOW
;
311 adis
->spi
->max_speed_hz
= ADIS16260_SPI_FAST
;
312 ret
= adis_write_reg_8(adis
, ADIS16260_SMPL_PRD
, t
);
314 mutex_unlock(&indio_dev
->mlock
);
320 static const struct iio_info adis16260_info
= {
321 .read_raw
= &adis16260_read_raw
,
322 .write_raw
= &adis16260_write_raw
,
323 .update_scan_mode
= adis_update_scan_mode
,
324 .driver_module
= THIS_MODULE
,
327 static const char * const adis1620_status_error_msgs
[] = {
328 [ADIS16260_DIAG_STAT_FLASH_CHK_BIT
] = "Flash checksum error",
329 [ADIS16260_DIAG_STAT_SELF_TEST_BIT
] = "Self test error",
330 [ADIS16260_DIAG_STAT_OVERFLOW_BIT
] = "Sensor overrange",
331 [ADIS16260_DIAG_STAT_SPI_FAIL_BIT
] = "SPI failure",
332 [ADIS16260_DIAG_STAT_FLASH_UPT_BIT
] = "Flash update failed",
333 [ADIS16260_DIAG_STAT_POWER_HIGH_BIT
] = "Power supply above 5.25",
334 [ADIS16260_DIAG_STAT_POWER_LOW_BIT
] = "Power supply below 4.75",
337 static const struct adis_data adis16260_data
= {
340 .msc_ctrl_reg
= ADIS16260_MSC_CTRL
,
341 .glob_cmd_reg
= ADIS16260_GLOB_CMD
,
342 .diag_stat_reg
= ADIS16260_DIAG_STAT
,
344 .self_test_mask
= ADIS16260_MSC_CTRL_MEM_TEST
,
345 .startup_delay
= ADIS16260_STARTUP_DELAY
,
347 .status_error_msgs
= adis1620_status_error_msgs
,
348 .status_error_mask
= BIT(ADIS16260_DIAG_STAT_FLASH_CHK_BIT
) |
349 BIT(ADIS16260_DIAG_STAT_SELF_TEST_BIT
) |
350 BIT(ADIS16260_DIAG_STAT_OVERFLOW_BIT
) |
351 BIT(ADIS16260_DIAG_STAT_SPI_FAIL_BIT
) |
352 BIT(ADIS16260_DIAG_STAT_FLASH_UPT_BIT
) |
353 BIT(ADIS16260_DIAG_STAT_POWER_HIGH_BIT
) |
354 BIT(ADIS16260_DIAG_STAT_POWER_LOW_BIT
),
357 static int adis16260_probe(struct spi_device
*spi
)
359 const struct spi_device_id
*id
;
360 struct adis16260
*adis16260
;
361 struct iio_dev
*indio_dev
;
364 id
= spi_get_device_id(spi
);
368 /* setup the industrialio driver allocated elements */
369 indio_dev
= devm_iio_device_alloc(&spi
->dev
, sizeof(*adis16260
));
372 adis16260
= iio_priv(indio_dev
);
373 /* this is only used for removal purposes */
374 spi_set_drvdata(spi
, indio_dev
);
376 adis16260
->info
= &adis16260_chip_info_table
[id
->driver_data
];
378 indio_dev
->name
= id
->name
;
379 indio_dev
->dev
.parent
= &spi
->dev
;
380 indio_dev
->info
= &adis16260_info
;
381 indio_dev
->channels
= adis16260
->info
->channels
;
382 indio_dev
->num_channels
= adis16260
->info
->num_channels
;
383 indio_dev
->modes
= INDIO_DIRECT_MODE
;
385 ret
= adis_init(&adis16260
->adis
, indio_dev
, spi
, &adis16260_data
);
389 ret
= adis_setup_buffer_and_trigger(&adis16260
->adis
, indio_dev
, NULL
);
393 /* Get the device into a sane initial state */
394 ret
= adis_initial_startup(&adis16260
->adis
);
396 goto error_cleanup_buffer_trigger
;
397 ret
= iio_device_register(indio_dev
);
399 goto error_cleanup_buffer_trigger
;
403 error_cleanup_buffer_trigger
:
404 adis_cleanup_buffer_and_trigger(&adis16260
->adis
, indio_dev
);
408 static int adis16260_remove(struct spi_device
*spi
)
410 struct iio_dev
*indio_dev
= spi_get_drvdata(spi
);
411 struct adis16260
*adis16260
= iio_priv(indio_dev
);
413 iio_device_unregister(indio_dev
);
414 adis16260_stop_device(indio_dev
);
415 adis_cleanup_buffer_and_trigger(&adis16260
->adis
, indio_dev
);
421 * These parts do not need to be differentiated until someone adds
422 * support for the on chip filtering.
424 static const struct spi_device_id adis16260_id
[] = {
425 {"adis16260", ADIS16260
},
426 {"adis16265", ADIS16260
},
427 {"adis16266", ADIS16266
},
428 {"adis16250", ADIS16260
},
429 {"adis16255", ADIS16260
},
430 {"adis16251", ADIS16251
},
433 MODULE_DEVICE_TABLE(spi
, adis16260_id
);
435 static struct spi_driver adis16260_driver
= {
438 .owner
= THIS_MODULE
,
440 .probe
= adis16260_probe
,
441 .remove
= adis16260_remove
,
442 .id_table
= adis16260_id
,
444 module_spi_driver(adis16260_driver
);
446 MODULE_AUTHOR("Barry Song <21cnbao@gmail.com>");
447 MODULE_DESCRIPTION("Analog Devices ADIS16260/5 Digital Gyroscope Sensor");
448 MODULE_LICENSE("GPL v2");