diff options
author | Barry Song <Barry.Song@analog.com> | 2010-05-04 09:43:15 -0400 |
---|---|---|
committer | Greg Kroah-Hartman <gregkh@suse.de> | 2010-05-11 14:36:06 -0400 |
commit | a9d26f00b8b1b2a79e42cfa4ca20ec9a1c11c1d2 (patch) | |
tree | 8137bf4691da0ad7d11d3fb2d44d146d7bf9f47f /drivers/staging/iio/imu/adis16400_core.c | |
parent | 1e3864e63576e33dd1b26ab750ffaab3066aaba9 (diff) |
staging:iio:imu ADIS16400 and ADIS16405 driver
Signed-off-by: Manuel Stahl <manuel.stahl@iis.fraunhofer.de>
Signed-off-by: Barry Song <Barry.Song@analog.com>
Acked-by: Jonathan Cameron <jic23@cam.ac.uk>
Signed-off-by: Greg Kroah-Hartman <gregkh@suse.de>
Diffstat (limited to 'drivers/staging/iio/imu/adis16400_core.c')
-rw-r--r-- | drivers/staging/iio/imu/adis16400_core.c | 849 |
1 files changed, 849 insertions, 0 deletions
diff --git a/drivers/staging/iio/imu/adis16400_core.c b/drivers/staging/iio/imu/adis16400_core.c new file mode 100644 index 00000000000..27e4a734807 --- /dev/null +++ b/drivers/staging/iio/imu/adis16400_core.c | |||
@@ -0,0 +1,849 @@ | |||
1 | /* | ||
2 | * adis16400.c support Analog Devices ADIS16400/5 | ||
3 | * 3d 2g Linear Accelerometers, | ||
4 | * 3d Gyroscopes, | ||
5 | * 3d Magnetometers via SPI | ||
6 | * | ||
7 | * Copyright (c) 2009 Manuel Stahl <manuel.stahl@iis.fraunhofer.de> | ||
8 | * Copyright (c) 2007 Jonathan Cameron <jic23@cam.ac.uk> | ||
9 | * | ||
10 | * This program is free software; you can redistribute it and/or modify | ||
11 | * it under the terms of the GNU General Public License version 2 as | ||
12 | * published by the Free Software Foundation. | ||
13 | * | ||
14 | */ | ||
15 | |||
16 | #include <linux/interrupt.h> | ||
17 | #include <linux/irq.h> | ||
18 | #include <linux/gpio.h> | ||
19 | #include <linux/delay.h> | ||
20 | #include <linux/mutex.h> | ||
21 | #include <linux/device.h> | ||
22 | #include <linux/kernel.h> | ||
23 | #include <linux/spi/spi.h> | ||
24 | |||
25 | #include <linux/sysfs.h> | ||
26 | #include <linux/list.h> | ||
27 | |||
28 | #include "../iio.h" | ||
29 | #include "../sysfs.h" | ||
30 | #include "../accel/accel.h" | ||
31 | #include "../adc/adc.h" | ||
32 | #include "../gyro/gyro.h" | ||
33 | #include "../magnetometer/magnet.h" | ||
34 | |||
35 | #include "adis16400.h" | ||
36 | |||
37 | #define DRIVER_NAME "adis16400" | ||
38 | |||
39 | /* At the moment the spi framework doesn't allow global setting of cs_change. | ||
40 | * It's in the likely to be added comment at the top of spi.h. | ||
41 | * This means that use cannot be made of spi_write etc. | ||
42 | */ | ||
43 | |||
44 | /** | ||
45 | * adis16400_spi_write_reg_8() - write single byte to a register | ||
46 | * @dev: device associated with child of actual device (iio_dev or iio_trig) | ||
47 | * @reg_address: the address of the register to be written | ||
48 | * @val: the value to write | ||
49 | **/ | ||
50 | int adis16400_spi_write_reg_8(struct device *dev, | ||
51 | u8 reg_address, | ||
52 | u8 val) | ||
53 | { | ||
54 | int ret; | ||
55 | struct iio_dev *indio_dev = dev_get_drvdata(dev); | ||
56 | struct adis16400_state *st = iio_dev_get_devdata(indio_dev); | ||
57 | |||
58 | mutex_lock(&st->buf_lock); | ||
59 | st->tx[0] = ADIS16400_WRITE_REG(reg_address); | ||
60 | st->tx[1] = val; | ||
61 | |||
62 | ret = spi_write(st->us, st->tx, 2); | ||
63 | mutex_unlock(&st->buf_lock); | ||
64 | |||
65 | return ret; | ||
66 | } | ||
67 | |||
68 | /** | ||
69 | * adis16400_spi_write_reg_16() - write 2 bytes to a pair of registers | ||
70 | * @dev: device associated with child of actual device (iio_dev or iio_trig) | ||
71 | * @reg_address: the address of the lower of the two registers. Second register | ||
72 | * is assumed to have address one greater. | ||
73 | * @val: value to be written | ||
74 | **/ | ||
75 | static int adis16400_spi_write_reg_16(struct device *dev, | ||
76 | u8 lower_reg_address, | ||
77 | u16 value) | ||
78 | { | ||
79 | int ret; | ||
80 | struct spi_message msg; | ||
81 | struct iio_dev *indio_dev = dev_get_drvdata(dev); | ||
82 | struct adis16400_state *st = iio_dev_get_devdata(indio_dev); | ||
83 | struct spi_transfer xfers[] = { | ||
84 | { | ||
85 | .tx_buf = st->tx, | ||
86 | .bits_per_word = 8, | ||
87 | .len = 2, | ||
88 | .cs_change = 1, | ||
89 | }, { | ||
90 | .tx_buf = st->tx + 2, | ||
91 | .bits_per_word = 8, | ||
92 | .len = 2, | ||
93 | .cs_change = 1, | ||
94 | }, | ||
95 | }; | ||
96 | |||
97 | mutex_lock(&st->buf_lock); | ||
98 | st->tx[0] = ADIS16400_WRITE_REG(lower_reg_address); | ||
99 | st->tx[1] = value & 0xFF; | ||
100 | st->tx[2] = ADIS16400_WRITE_REG(lower_reg_address + 1); | ||
101 | st->tx[3] = (value >> 8) & 0xFF; | ||
102 | |||
103 | spi_message_init(&msg); | ||
104 | spi_message_add_tail(&xfers[0], &msg); | ||
105 | spi_message_add_tail(&xfers[1], &msg); | ||
106 | ret = spi_sync(st->us, &msg); | ||
107 | mutex_unlock(&st->buf_lock); | ||
108 | |||
109 | return ret; | ||
110 | } | ||
111 | |||
112 | /** | ||
113 | * adis16400_spi_read_reg_16() - read 2 bytes from a 16-bit register | ||
114 | * @dev: device associated with child of actual device (iio_dev or iio_trig) | ||
115 | * @reg_address: the address of the lower of the two registers. Second register | ||
116 | * is assumed to have address one greater. | ||
117 | * @val: somewhere to pass back the value read | ||
118 | **/ | ||
119 | static int adis16400_spi_read_reg_16(struct device *dev, | ||
120 | u8 lower_reg_address, | ||
121 | u16 *val) | ||
122 | { | ||
123 | struct spi_message msg; | ||
124 | struct iio_dev *indio_dev = dev_get_drvdata(dev); | ||
125 | struct adis16400_state *st = iio_dev_get_devdata(indio_dev); | ||
126 | int ret; | ||
127 | struct spi_transfer xfers[] = { | ||
128 | { | ||
129 | .tx_buf = st->tx, | ||
130 | .bits_per_word = 8, | ||
131 | .len = 2, | ||
132 | .cs_change = 1, | ||
133 | }, { | ||
134 | .rx_buf = st->rx, | ||
135 | .bits_per_word = 8, | ||
136 | .len = 2, | ||
137 | .cs_change = 1, | ||
138 | }, | ||
139 | }; | ||
140 | |||
141 | mutex_lock(&st->buf_lock); | ||
142 | st->tx[0] = ADIS16400_READ_REG(lower_reg_address); | ||
143 | st->tx[1] = 0; | ||
144 | st->tx[2] = 0; | ||
145 | st->tx[3] = 0; | ||
146 | |||
147 | spi_message_init(&msg); | ||
148 | spi_message_add_tail(&xfers[0], &msg); | ||
149 | spi_message_add_tail(&xfers[1], &msg); | ||
150 | ret = spi_sync(st->us, &msg); | ||
151 | if (ret) { | ||
152 | dev_err(&st->us->dev, | ||
153 | "problem when reading 16 bit register 0x%02X", | ||
154 | lower_reg_address); | ||
155 | goto error_ret; | ||
156 | } | ||
157 | *val = (st->rx[0] << 8) | st->rx[1]; | ||
158 | |||
159 | error_ret: | ||
160 | mutex_unlock(&st->buf_lock); | ||
161 | return ret; | ||
162 | } | ||
163 | |||
164 | /** | ||
165 | * adis16400_spi_read_burst() - read all data registers | ||
166 | * @dev: device associated with child of actual device (iio_dev or iio_trig) | ||
167 | * @rx: somewhere to pass back the value read (min size is 24 bytes) | ||
168 | **/ | ||
169 | int adis16400_spi_read_burst(struct device *dev, u8 *rx) | ||
170 | { | ||
171 | struct spi_message msg; | ||
172 | struct iio_dev *indio_dev = dev_get_drvdata(dev); | ||
173 | struct adis16400_state *st = iio_dev_get_devdata(indio_dev); | ||
174 | u32 old_speed_hz = st->us->max_speed_hz; | ||
175 | int ret; | ||
176 | |||
177 | struct spi_transfer xfers[] = { | ||
178 | { | ||
179 | .tx_buf = st->tx, | ||
180 | .bits_per_word = 8, | ||
181 | .len = 2, | ||
182 | .cs_change = 0, | ||
183 | }, { | ||
184 | .rx_buf = rx, | ||
185 | .bits_per_word = 8, | ||
186 | .len = 24, | ||
187 | .cs_change = 1, | ||
188 | }, | ||
189 | }; | ||
190 | |||
191 | mutex_lock(&st->buf_lock); | ||
192 | st->tx[0] = ADIS16400_READ_REG(ADIS16400_GLOB_CMD); | ||
193 | st->tx[1] = 0; | ||
194 | |||
195 | spi_message_init(&msg); | ||
196 | spi_message_add_tail(&xfers[0], &msg); | ||
197 | spi_message_add_tail(&xfers[1], &msg); | ||
198 | |||
199 | st->us->max_speed_hz = min(ADIS16400_SPI_BURST, old_speed_hz); | ||
200 | spi_setup(st->us); | ||
201 | |||
202 | ret = spi_sync(st->us, &msg); | ||
203 | if (ret) | ||
204 | dev_err(&st->us->dev, "problem when burst reading"); | ||
205 | |||
206 | st->us->max_speed_hz = old_speed_hz; | ||
207 | spi_setup(st->us); | ||
208 | mutex_unlock(&st->buf_lock); | ||
209 | return ret; | ||
210 | } | ||
211 | |||
212 | /** | ||
213 | * adis16400_spi_read_sequence() - read a sequence of 16-bit registers | ||
214 | * @dev: device associated with child of actual device (iio_dev or iio_trig) | ||
215 | * @tx: register addresses in bytes 0,2,4,6... (min size is 2*num bytes) | ||
216 | * @rx: somewhere to pass back the value read (min size is 2*num bytes) | ||
217 | **/ | ||
218 | int adis16400_spi_read_sequence(struct device *dev, | ||
219 | u8 *tx, u8 *rx, int num) | ||
220 | { | ||
221 | struct spi_message msg; | ||
222 | struct spi_transfer *xfers; | ||
223 | struct iio_dev *indio_dev = dev_get_drvdata(dev); | ||
224 | struct adis16400_state *st = iio_dev_get_devdata(indio_dev); | ||
225 | int ret, i; | ||
226 | |||
227 | xfers = kzalloc(num + 1, GFP_KERNEL); | ||
228 | if (xfers == NULL) { | ||
229 | dev_err(&st->us->dev, "memory alloc failed"); | ||
230 | ret = -ENOMEM; | ||
231 | goto error_ret; | ||
232 | } | ||
233 | |||
234 | /* tx: |add1|addr2|addr3|...|addrN |zero| | ||
235 | * rx: |zero|res1 |res2 |...|resN-1|resN| */ | ||
236 | spi_message_init(&msg); | ||
237 | for (i = 0; i < num + 1; i++) { | ||
238 | if (i > 0) | ||
239 | xfers[i].rx_buf = st->rx + 2*(i - 1); | ||
240 | if (i < num) | ||
241 | xfers[i].tx_buf = st->tx + 2*i; | ||
242 | xfers[i].bits_per_word = 8; | ||
243 | xfers[i].len = 2; | ||
244 | xfers[i].cs_change = 1; | ||
245 | spi_message_add_tail(&xfers[i], &msg); | ||
246 | } | ||
247 | |||
248 | mutex_lock(&st->buf_lock); | ||
249 | |||
250 | ret = spi_sync(st->us, &msg); | ||
251 | if (ret) | ||
252 | dev_err(&st->us->dev, "problem when reading sequence"); | ||
253 | |||
254 | mutex_unlock(&st->buf_lock); | ||
255 | kfree(xfers); | ||
256 | |||
257 | error_ret: | ||
258 | return ret; | ||
259 | } | ||
260 | |||
261 | static ssize_t adis16400_spi_read_signed(struct device *dev, | ||
262 | struct device_attribute *attr, | ||
263 | char *buf, | ||
264 | unsigned bits) | ||
265 | { | ||
266 | int ret; | ||
267 | s16 val = 0; | ||
268 | unsigned shift = 16 - bits; | ||
269 | struct iio_dev_attr *this_attr = to_iio_dev_attr(attr); | ||
270 | |||
271 | ret = adis16400_spi_read_reg_16(dev, this_attr->address, (u16 *)&val); | ||
272 | if (ret) | ||
273 | return ret; | ||
274 | |||
275 | if (val & ADIS16400_ERROR_ACTIVE) | ||
276 | adis16400_check_status(dev); | ||
277 | val = ((s16)(val << shift) >> shift); | ||
278 | return sprintf(buf, "%d\n", val); | ||
279 | } | ||
280 | |||
281 | static ssize_t adis16400_read_12bit_unsigned(struct device *dev, | ||
282 | struct device_attribute *attr, | ||
283 | char *buf) | ||
284 | { | ||
285 | int ret; | ||
286 | u16 val = 0; | ||
287 | struct iio_dev_attr *this_attr = to_iio_dev_attr(attr); | ||
288 | |||
289 | ret = adis16400_spi_read_reg_16(dev, this_attr->address, &val); | ||
290 | if (ret) | ||
291 | return ret; | ||
292 | |||
293 | if (val & ADIS16400_ERROR_ACTIVE) | ||
294 | adis16400_check_status(dev); | ||
295 | |||
296 | return sprintf(buf, "%u\n", val & 0x0FFF); | ||
297 | } | ||
298 | |||
299 | static ssize_t adis16400_read_14bit_signed(struct device *dev, | ||
300 | struct device_attribute *attr, | ||
301 | char *buf) | ||
302 | { | ||
303 | struct iio_dev *indio_dev = dev_get_drvdata(dev); | ||
304 | ssize_t ret; | ||
305 | |||
306 | /* Take the iio_dev status lock */ | ||
307 | mutex_lock(&indio_dev->mlock); | ||
308 | ret = adis16400_spi_read_signed(dev, attr, buf, 14); | ||
309 | mutex_unlock(&indio_dev->mlock); | ||
310 | |||
311 | return ret; | ||
312 | } | ||
313 | |||
314 | static ssize_t adis16400_read_12bit_signed(struct device *dev, | ||
315 | struct device_attribute *attr, | ||
316 | char *buf) | ||
317 | { | ||
318 | struct iio_dev *indio_dev = dev_get_drvdata(dev); | ||
319 | ssize_t ret; | ||
320 | |||
321 | /* Take the iio_dev status lock */ | ||
322 | mutex_lock(&indio_dev->mlock); | ||
323 | ret = adis16400_spi_read_signed(dev, attr, buf, 12); | ||
324 | mutex_unlock(&indio_dev->mlock); | ||
325 | |||
326 | return ret; | ||
327 | } | ||
328 | |||
329 | |||
330 | static ssize_t adis16400_write_16bit(struct device *dev, | ||
331 | struct device_attribute *attr, | ||
332 | const char *buf, | ||
333 | size_t len) | ||
334 | { | ||
335 | struct iio_dev_attr *this_attr = to_iio_dev_attr(attr); | ||
336 | int ret; | ||
337 | long val; | ||
338 | |||
339 | ret = strict_strtol(buf, 10, &val); | ||
340 | if (ret) | ||
341 | goto error_ret; | ||
342 | ret = adis16400_spi_write_reg_16(dev, this_attr->address, val); | ||
343 | |||
344 | error_ret: | ||
345 | return ret ? ret : len; | ||
346 | } | ||
347 | |||
348 | static ssize_t adis16400_read_frequency(struct device *dev, | ||
349 | struct device_attribute *attr, | ||
350 | char *buf) | ||
351 | { | ||
352 | int ret, len = 0; | ||
353 | u16 t; | ||
354 | int sps; | ||
355 | ret = adis16400_spi_read_reg_16(dev, | ||
356 | ADIS16400_SMPL_PRD, | ||
357 | &t); | ||
358 | if (ret) | ||
359 | return ret; | ||
360 | sps = (t & ADIS16400_SMPL_PRD_TIME_BASE) ? 53 : 1638; | ||
361 | sps /= (t & ADIS16400_SMPL_PRD_DIV_MASK) + 1; | ||
362 | len = sprintf(buf, "%d SPS\n", sps); | ||
363 | return len; | ||
364 | } | ||
365 | |||
366 | static ssize_t adis16400_write_frequency(struct device *dev, | ||
367 | struct device_attribute *attr, | ||
368 | const char *buf, | ||
369 | size_t len) | ||
370 | { | ||
371 | struct iio_dev *indio_dev = dev_get_drvdata(dev); | ||
372 | struct adis16400_state *st = iio_dev_get_devdata(indio_dev); | ||
373 | long val; | ||
374 | int ret; | ||
375 | u8 t; | ||
376 | |||
377 | ret = strict_strtol(buf, 10, &val); | ||
378 | if (ret) | ||
379 | return ret; | ||
380 | |||
381 | mutex_lock(&indio_dev->mlock); | ||
382 | |||
383 | t = (1638 / val); | ||
384 | if (t > 0) | ||
385 | t--; | ||
386 | t &= ADIS16400_SMPL_PRD_DIV_MASK; | ||
387 | if ((t & ADIS16400_SMPL_PRD_DIV_MASK) >= 0x0A) | ||
388 | st->us->max_speed_hz = ADIS16400_SPI_SLOW; | ||
389 | else | ||
390 | st->us->max_speed_hz = ADIS16400_SPI_FAST; | ||
391 | |||
392 | ret = adis16400_spi_write_reg_8(dev, | ||
393 | ADIS16400_SMPL_PRD, | ||
394 | t); | ||
395 | |||
396 | mutex_unlock(&indio_dev->mlock); | ||
397 | |||
398 | return ret ? ret : len; | ||
399 | } | ||
400 | |||
401 | static ssize_t adis16400_write_reset(struct device *dev, | ||
402 | struct device_attribute *attr, | ||
403 | const char *buf, size_t len) | ||
404 | { | ||
405 | if (len < 1) | ||
406 | return -1; | ||
407 | switch (buf[0]) { | ||
408 | case '1': | ||
409 | case 'y': | ||
410 | case 'Y': | ||
411 | return adis16400_reset(dev); | ||
412 | } | ||
413 | return -1; | ||
414 | } | ||
415 | |||
416 | |||
417 | |||
418 | int adis16400_set_irq(struct device *dev, bool enable) | ||
419 | { | ||
420 | int ret; | ||
421 | u16 msc; | ||
422 | ret = adis16400_spi_read_reg_16(dev, ADIS16400_MSC_CTRL, &msc); | ||
423 | if (ret) | ||
424 | goto error_ret; | ||
425 | |||
426 | msc |= ADIS16400_MSC_CTRL_DATA_RDY_POL_HIGH; | ||
427 | if (enable) | ||
428 | msc |= ADIS16400_MSC_CTRL_DATA_RDY_EN; | ||
429 | else | ||
430 | msc &= ~ADIS16400_MSC_CTRL_DATA_RDY_EN; | ||
431 | |||
432 | ret = adis16400_spi_write_reg_16(dev, ADIS16400_MSC_CTRL, msc); | ||
433 | if (ret) | ||
434 | goto error_ret; | ||
435 | |||
436 | error_ret: | ||
437 | return ret; | ||
438 | } | ||
439 | |||
440 | int adis16400_reset(struct device *dev) | ||
441 | { | ||
442 | int ret; | ||
443 | ret = adis16400_spi_write_reg_8(dev, | ||
444 | ADIS16400_GLOB_CMD, | ||
445 | ADIS16400_GLOB_CMD_SW_RESET); | ||
446 | if (ret) | ||
447 | dev_err(dev, "problem resetting device"); | ||
448 | |||
449 | return ret; | ||
450 | } | ||
451 | |||
452 | /* Power down the device */ | ||
453 | int adis16400_stop_device(struct device *dev) | ||
454 | { | ||
455 | int ret; | ||
456 | u16 val = ADIS16400_SLP_CNT_POWER_OFF; | ||
457 | |||
458 | ret = adis16400_spi_write_reg_16(dev, ADIS16400_SLP_CNT, val); | ||
459 | if (ret) | ||
460 | dev_err(dev, "problem with turning device off: SLP_CNT"); | ||
461 | |||
462 | return ret; | ||
463 | } | ||
464 | |||
465 | int adis16400_self_test(struct device *dev) | ||
466 | { | ||
467 | int ret; | ||
468 | ret = adis16400_spi_write_reg_16(dev, | ||
469 | ADIS16400_MSC_CTRL, | ||
470 | ADIS16400_MSC_CTRL_MEM_TEST); | ||
471 | if (ret) { | ||
472 | dev_err(dev, "problem starting self test"); | ||
473 | goto err_ret; | ||
474 | } | ||
475 | |||
476 | adis16400_check_status(dev); | ||
477 | |||
478 | err_ret: | ||
479 | return ret; | ||
480 | } | ||
481 | |||
482 | int adis16400_check_status(struct device *dev) | ||
483 | { | ||
484 | u16 status; | ||
485 | int ret; | ||
486 | |||
487 | ret = adis16400_spi_read_reg_16(dev, ADIS16400_DIAG_STAT, &status); | ||
488 | |||
489 | if (ret < 0) { | ||
490 | dev_err(dev, "Reading status failed\n"); | ||
491 | goto error_ret; | ||
492 | } | ||
493 | ret = status; | ||
494 | if (status & ADIS16400_DIAG_STAT_ZACCL_FAIL) | ||
495 | dev_err(dev, "Z-axis accelerometer self-test failure\n"); | ||
496 | if (status & ADIS16400_DIAG_STAT_YACCL_FAIL) | ||
497 | dev_err(dev, "Y-axis accelerometer self-test failure\n"); | ||
498 | if (status & ADIS16400_DIAG_STAT_XACCL_FAIL) | ||
499 | dev_err(dev, "X-axis accelerometer self-test failure\n"); | ||
500 | if (status & ADIS16400_DIAG_STAT_XGYRO_FAIL) | ||
501 | dev_err(dev, "X-axis gyroscope self-test failure\n"); | ||
502 | if (status & ADIS16400_DIAG_STAT_YGYRO_FAIL) | ||
503 | dev_err(dev, "Y-axis gyroscope self-test failure\n"); | ||
504 | if (status & ADIS16400_DIAG_STAT_ZGYRO_FAIL) | ||
505 | dev_err(dev, "Z-axis gyroscope self-test failure\n"); | ||
506 | if (status & ADIS16400_DIAG_STAT_ALARM2) | ||
507 | dev_err(dev, "Alarm 2 active\n"); | ||
508 | if (status & ADIS16400_DIAG_STAT_ALARM1) | ||
509 | dev_err(dev, "Alarm 1 active\n"); | ||
510 | if (status & ADIS16400_DIAG_STAT_FLASH_CHK) | ||
511 | dev_err(dev, "Flash checksum error\n"); | ||
512 | if (status & ADIS16400_DIAG_STAT_SELF_TEST) | ||
513 | dev_err(dev, "Self test error\n"); | ||
514 | if (status & ADIS16400_DIAG_STAT_OVERFLOW) | ||
515 | dev_err(dev, "Sensor overrange\n"); | ||
516 | if (status & ADIS16400_DIAG_STAT_SPI_FAIL) | ||
517 | dev_err(dev, "SPI failure\n"); | ||
518 | if (status & ADIS16400_DIAG_STAT_FLASH_UPT) | ||
519 | dev_err(dev, "Flash update failed\n"); | ||
520 | if (status & ADIS16400_DIAG_STAT_POWER_HIGH) | ||
521 | dev_err(dev, "Power supply above 5.25V\n"); | ||
522 | if (status & ADIS16400_DIAG_STAT_POWER_LOW) | ||
523 | dev_err(dev, "Power supply below 4.75V\n"); | ||
524 | |||
525 | error_ret: | ||
526 | return ret; | ||
527 | } | ||
528 | |||
529 | static int adis16400_initial_setup(struct adis16400_state *st) | ||
530 | { | ||
531 | int ret; | ||
532 | u16 prod_id, smp_prd; | ||
533 | struct device *dev = &st->indio_dev->dev; | ||
534 | |||
535 | /* use low spi speed for init */ | ||
536 | st->us->max_speed_hz = ADIS16400_SPI_SLOW; | ||
537 | st->us->mode = SPI_MODE_3; | ||
538 | spi_setup(st->us); | ||
539 | |||
540 | /* Disable IRQ */ | ||
541 | ret = adis16400_set_irq(dev, false); | ||
542 | if (ret) { | ||
543 | dev_err(dev, "disable irq failed"); | ||
544 | goto err_ret; | ||
545 | } | ||
546 | |||
547 | /* Do self test */ | ||
548 | |||
549 | /* Read status register to check the result */ | ||
550 | ret = adis16400_check_status(dev); | ||
551 | if (ret) { | ||
552 | adis16400_reset(dev); | ||
553 | dev_err(dev, "device not playing ball -> reset"); | ||
554 | msleep(ADIS16400_STARTUP_DELAY); | ||
555 | ret = adis16400_check_status(dev); | ||
556 | if (ret) { | ||
557 | dev_err(dev, "giving up"); | ||
558 | goto err_ret; | ||
559 | } | ||
560 | } | ||
561 | |||
562 | ret = adis16400_spi_read_reg_16(dev, ADIS16400_PRODUCT_ID, &prod_id); | ||
563 | if (ret) | ||
564 | goto err_ret; | ||
565 | |||
566 | if (prod_id != ADIS16400_PRODUCT_ID_DEFAULT) | ||
567 | dev_warn(dev, "unknown product id"); | ||
568 | |||
569 | printk(KERN_INFO DRIVER_NAME ": prod_id 0x%04x at CS%d (irq %d)\n", | ||
570 | prod_id, st->us->chip_select, st->us->irq); | ||
571 | |||
572 | /* use high spi speed if possible */ | ||
573 | ret = adis16400_spi_read_reg_16(dev, ADIS16400_SMPL_PRD, &smp_prd); | ||
574 | if (!ret && (smp_prd & ADIS16400_SMPL_PRD_DIV_MASK) < 0x0A) { | ||
575 | st->us->max_speed_hz = ADIS16400_SPI_SLOW; | ||
576 | spi_setup(st->us); | ||
577 | } | ||
578 | |||
579 | |||
580 | err_ret: | ||
581 | |||
582 | return ret; | ||
583 | } | ||
584 | |||
585 | static IIO_DEV_ATTR_ACCEL_X_OFFSET(S_IWUSR | S_IRUGO, | ||
586 | adis16400_read_12bit_signed, | ||
587 | adis16400_write_16bit, | ||
588 | ADIS16400_XACCL_OFF); | ||
589 | |||
590 | static IIO_DEV_ATTR_ACCEL_Y_OFFSET(S_IWUSR | S_IRUGO, | ||
591 | adis16400_read_12bit_signed, | ||
592 | adis16400_write_16bit, | ||
593 | ADIS16400_YACCL_OFF); | ||
594 | |||
595 | static IIO_DEV_ATTR_ACCEL_Z_OFFSET(S_IWUSR | S_IRUGO, | ||
596 | adis16400_read_12bit_signed, | ||
597 | adis16400_write_16bit, | ||
598 | ADIS16400_ZACCL_OFF); | ||
599 | |||
600 | static IIO_DEV_ATTR_IN_NAMED_RAW(supply, adis16400_read_14bit_signed, | ||
601 | ADIS16400_SUPPLY_OUT); | ||
602 | static IIO_CONST_ATTR(in_supply_scale, "0.002418"); | ||
603 | |||
604 | static IIO_DEV_ATTR_GYRO_X(adis16400_read_14bit_signed, | ||
605 | ADIS16400_XGYRO_OUT); | ||
606 | static IIO_DEV_ATTR_GYRO_Y(adis16400_read_14bit_signed, | ||
607 | ADIS16400_YGYRO_OUT); | ||
608 | static IIO_DEV_ATTR_GYRO_Z(adis16400_read_14bit_signed, | ||
609 | ADIS16400_ZGYRO_OUT); | ||
610 | static IIO_CONST_ATTR(gyro_scale, "0.05 deg/s"); | ||
611 | |||
612 | static IIO_DEV_ATTR_ACCEL_X(adis16400_read_14bit_signed, | ||
613 | ADIS16400_XACCL_OUT); | ||
614 | static IIO_DEV_ATTR_ACCEL_Y(adis16400_read_14bit_signed, | ||
615 | ADIS16400_YACCL_OUT); | ||
616 | static IIO_DEV_ATTR_ACCEL_Z(adis16400_read_14bit_signed, | ||
617 | ADIS16400_ZACCL_OUT); | ||
618 | static IIO_CONST_ATTR(accel_scale, "0.00333 g"); | ||
619 | |||
620 | static IIO_DEV_ATTR_MAGN_X(adis16400_read_14bit_signed, | ||
621 | ADIS16400_XMAGN_OUT); | ||
622 | static IIO_DEV_ATTR_MAGN_Y(adis16400_read_14bit_signed, | ||
623 | ADIS16400_YMAGN_OUT); | ||
624 | static IIO_DEV_ATTR_MAGN_Z(adis16400_read_14bit_signed, | ||
625 | ADIS16400_ZMAGN_OUT); | ||
626 | static IIO_CONST_ATTR(magn_scale, "0.0005 Gs"); | ||
627 | |||
628 | |||
629 | static IIO_DEV_ATTR_TEMP(adis16400_read_12bit_signed); | ||
630 | static IIO_CONST_ATTR(temp_offset, "198.16 K"); | ||
631 | static IIO_CONST_ATTR(temp_scale, "0.14 K"); | ||
632 | |||
633 | static IIO_DEV_ATTR_IN_RAW(0, adis16400_read_12bit_unsigned, | ||
634 | ADIS16400_AUX_ADC); | ||
635 | static IIO_CONST_ATTR(in0_scale, "0.000806"); | ||
636 | |||
637 | static IIO_DEV_ATTR_SAMP_FREQ(S_IWUSR | S_IRUGO, | ||
638 | adis16400_read_frequency, | ||
639 | adis16400_write_frequency); | ||
640 | |||
641 | static IIO_DEVICE_ATTR(reset, S_IWUSR, NULL, adis16400_write_reset, 0); | ||
642 | |||
643 | static IIO_CONST_ATTR_AVAIL_SAMP_FREQ("409 546 819 1638"); | ||
644 | |||
645 | static IIO_CONST_ATTR(name, "adis16400"); | ||
646 | |||
647 | static struct attribute *adis16400_event_attributes[] = { | ||
648 | NULL | ||
649 | }; | ||
650 | |||
651 | static struct attribute_group adis16400_event_attribute_group = { | ||
652 | .attrs = adis16400_event_attributes, | ||
653 | }; | ||
654 | |||
655 | static struct attribute *adis16400_attributes[] = { | ||
656 | &iio_dev_attr_accel_x_offset.dev_attr.attr, | ||
657 | &iio_dev_attr_accel_y_offset.dev_attr.attr, | ||
658 | &iio_dev_attr_accel_z_offset.dev_attr.attr, | ||
659 | &iio_dev_attr_in_supply_raw.dev_attr.attr, | ||
660 | &iio_const_attr_in_supply_scale.dev_attr.attr, | ||
661 | &iio_dev_attr_gyro_x.dev_attr.attr, | ||
662 | &iio_dev_attr_gyro_y.dev_attr.attr, | ||
663 | &iio_dev_attr_gyro_z.dev_attr.attr, | ||
664 | &iio_const_attr_gyro_scale.dev_attr.attr, | ||
665 | &iio_dev_attr_accel_x_raw.dev_attr.attr, | ||
666 | &iio_dev_attr_accel_y_raw.dev_attr.attr, | ||
667 | &iio_dev_attr_accel_z_raw.dev_attr.attr, | ||
668 | &iio_const_attr_accel_scale.dev_attr.attr, | ||
669 | &iio_dev_attr_magn_x.dev_attr.attr, | ||
670 | &iio_dev_attr_magn_y.dev_attr.attr, | ||
671 | &iio_dev_attr_magn_z.dev_attr.attr, | ||
672 | &iio_const_attr_magn_scale.dev_attr.attr, | ||
673 | &iio_dev_attr_temp.dev_attr.attr, | ||
674 | &iio_const_attr_temp_offset.dev_attr.attr, | ||
675 | &iio_const_attr_temp_scale.dev_attr.attr, | ||
676 | &iio_dev_attr_in0_raw.dev_attr.attr, | ||
677 | &iio_const_attr_in0_scale.dev_attr.attr, | ||
678 | &iio_dev_attr_sampling_frequency.dev_attr.attr, | ||
679 | &iio_const_attr_available_sampling_frequency.dev_attr.attr, | ||
680 | &iio_dev_attr_reset.dev_attr.attr, | ||
681 | &iio_const_attr_name.dev_attr.attr, | ||
682 | NULL | ||
683 | }; | ||
684 | |||
685 | static const struct attribute_group adis16400_attribute_group = { | ||
686 | .attrs = adis16400_attributes, | ||
687 | }; | ||
688 | |||
689 | static int __devinit adis16400_probe(struct spi_device *spi) | ||
690 | { | ||
691 | int ret, regdone = 0; | ||
692 | struct adis16400_state *st = kzalloc(sizeof *st, GFP_KERNEL); | ||
693 | if (!st) { | ||
694 | ret = -ENOMEM; | ||
695 | goto error_ret; | ||
696 | } | ||
697 | /* this is only used for removal purposes */ | ||
698 | spi_set_drvdata(spi, st); | ||
699 | |||
700 | /* Allocate the comms buffers */ | ||
701 | st->rx = kzalloc(sizeof(*st->rx)*ADIS16400_MAX_RX, GFP_KERNEL); | ||
702 | if (st->rx == NULL) { | ||
703 | ret = -ENOMEM; | ||
704 | goto error_free_st; | ||
705 | } | ||
706 | st->tx = kzalloc(sizeof(*st->tx)*ADIS16400_MAX_TX, GFP_KERNEL); | ||
707 | if (st->tx == NULL) { | ||
708 | ret = -ENOMEM; | ||
709 | goto error_free_rx; | ||
710 | } | ||
711 | st->us = spi; | ||
712 | mutex_init(&st->buf_lock); | ||
713 | /* setup the industrialio driver allocated elements */ | ||
714 | st->indio_dev = iio_allocate_device(); | ||
715 | if (st->indio_dev == NULL) { | ||
716 | ret = -ENOMEM; | ||
717 | goto error_free_tx; | ||
718 | } | ||
719 | |||
720 | st->indio_dev->dev.parent = &spi->dev; | ||
721 | st->indio_dev->num_interrupt_lines = 1; | ||
722 | st->indio_dev->event_attrs = &adis16400_event_attribute_group; | ||
723 | st->indio_dev->attrs = &adis16400_attribute_group; | ||
724 | st->indio_dev->dev_data = (void *)(st); | ||
725 | st->indio_dev->driver_module = THIS_MODULE; | ||
726 | st->indio_dev->modes = INDIO_DIRECT_MODE; | ||
727 | |||
728 | ret = adis16400_configure_ring(st->indio_dev); | ||
729 | if (ret) | ||
730 | goto error_free_dev; | ||
731 | |||
732 | ret = iio_device_register(st->indio_dev); | ||
733 | if (ret) | ||
734 | goto error_unreg_ring_funcs; | ||
735 | regdone = 1; | ||
736 | |||
737 | ret = adis16400_initialize_ring(st->indio_dev->ring); | ||
738 | if (ret) { | ||
739 | printk(KERN_ERR "failed to initialize the ring\n"); | ||
740 | goto error_unreg_ring_funcs; | ||
741 | } | ||
742 | |||
743 | if (spi->irq && gpio_is_valid(irq_to_gpio(spi->irq)) > 0) { | ||
744 | #if 0 /* fixme: here we should support */ | ||
745 | iio_init_work_cont(&st->work_cont_thresh, | ||
746 | NULL, | ||
747 | adis16400_thresh_handler_bh_no_check, | ||
748 | 0, | ||
749 | 0, | ||
750 | st); | ||
751 | #endif | ||
752 | ret = iio_register_interrupt_line(spi->irq, | ||
753 | st->indio_dev, | ||
754 | 0, | ||
755 | IRQF_TRIGGER_RISING, | ||
756 | "adis16400"); | ||
757 | if (ret) | ||
758 | goto error_uninitialize_ring; | ||
759 | |||
760 | ret = adis16400_probe_trigger(st->indio_dev); | ||
761 | if (ret) | ||
762 | goto error_unregister_line; | ||
763 | } | ||
764 | |||
765 | /* Get the device into a sane initial state */ | ||
766 | ret = adis16400_initial_setup(st); | ||
767 | if (ret) | ||
768 | goto error_remove_trigger; | ||
769 | return 0; | ||
770 | |||
771 | error_remove_trigger: | ||
772 | if (st->indio_dev->modes & INDIO_RING_TRIGGERED) | ||
773 | adis16400_remove_trigger(st->indio_dev); | ||
774 | error_unregister_line: | ||
775 | if (st->indio_dev->modes & INDIO_RING_TRIGGERED) | ||
776 | iio_unregister_interrupt_line(st->indio_dev, 0); | ||
777 | error_uninitialize_ring: | ||
778 | adis16400_uninitialize_ring(st->indio_dev->ring); | ||
779 | error_unreg_ring_funcs: | ||
780 | adis16400_unconfigure_ring(st->indio_dev); | ||
781 | error_free_dev: | ||
782 | if (regdone) | ||
783 | iio_device_unregister(st->indio_dev); | ||
784 | else | ||
785 | iio_free_device(st->indio_dev); | ||
786 | error_free_tx: | ||
787 | kfree(st->tx); | ||
788 | error_free_rx: | ||
789 | kfree(st->rx); | ||
790 | error_free_st: | ||
791 | kfree(st); | ||
792 | error_ret: | ||
793 | return ret; | ||
794 | } | ||
795 | |||
796 | /* fixme, confirm ordering in this function */ | ||
797 | static int adis16400_remove(struct spi_device *spi) | ||
798 | { | ||
799 | int ret; | ||
800 | struct adis16400_state *st = spi_get_drvdata(spi); | ||
801 | struct iio_dev *indio_dev = st->indio_dev; | ||
802 | |||
803 | ret = adis16400_stop_device(&(indio_dev->dev)); | ||
804 | if (ret) | ||
805 | goto err_ret; | ||
806 | |||
807 | flush_scheduled_work(); | ||
808 | |||
809 | adis16400_remove_trigger(indio_dev); | ||
810 | if (spi->irq && gpio_is_valid(irq_to_gpio(spi->irq)) > 0) | ||
811 | iio_unregister_interrupt_line(indio_dev, 0); | ||
812 | |||
813 | adis16400_uninitialize_ring(indio_dev->ring); | ||
814 | adis16400_unconfigure_ring(indio_dev); | ||
815 | iio_device_unregister(indio_dev); | ||
816 | kfree(st->tx); | ||
817 | kfree(st->rx); | ||
818 | kfree(st); | ||
819 | |||
820 | return 0; | ||
821 | |||
822 | err_ret: | ||
823 | return ret; | ||
824 | } | ||
825 | |||
826 | static struct spi_driver adis16400_driver = { | ||
827 | .driver = { | ||
828 | .name = "adis16400", | ||
829 | .owner = THIS_MODULE, | ||
830 | }, | ||
831 | .probe = adis16400_probe, | ||
832 | .remove = __devexit_p(adis16400_remove), | ||
833 | }; | ||
834 | |||
835 | static __init int adis16400_init(void) | ||
836 | { | ||
837 | return spi_register_driver(&adis16400_driver); | ||
838 | } | ||
839 | module_init(adis16400_init); | ||
840 | |||
841 | static __exit void adis16400_exit(void) | ||
842 | { | ||
843 | spi_unregister_driver(&adis16400_driver); | ||
844 | } | ||
845 | module_exit(adis16400_exit); | ||
846 | |||
847 | MODULE_AUTHOR("Manuel Stahl <manuel.stahl@iis.fraunhofer.de>"); | ||
848 | MODULE_DESCRIPTION("Analog Devices ADIS16400/5 IMU SPI driver"); | ||
849 | MODULE_LICENSE("GPL v2"); | ||