2 * ADIS16203 Programmable Digital Vibration Sensor driver
4 * Copyright 2010 Analog Devices Inc.
6 * Licensed under the GPL-2 or later.
9 #include <linux/interrupt.h>
10 #include <linux/irq.h>
11 #include <linux/gpio.h>
12 #include <linux/delay.h>
13 #include <linux/mutex.h>
14 #include <linux/device.h>
15 #include <linux/kernel.h>
16 #include <linux/spi/spi.h>
17 #include <linux/slab.h>
18 #include <linux/sysfs.h>
19 #include <linux/list.h>
24 #include "inclinometer.h"
25 #include "../gyro/gyro.h"
26 #include "../adc/adc.h"
28 #include "adis16203.h"
30 #define DRIVER_NAME "adis16203"
32 static int adis16203_check_status(struct device *dev);
35 * adis16203_spi_write_reg_8() - write single byte to a register
36 * @dev: device associated with child of actual device (iio_dev or iio_trig)
37 * @reg_address: the address of the register to be written
38 * @val: the value to write
40 static int adis16203_spi_write_reg_8(struct device *dev,
45 struct iio_dev *indio_dev = dev_get_drvdata(dev);
46 struct adis16203_state *st = iio_dev_get_devdata(indio_dev);
48 mutex_lock(&st->buf_lock);
49 st->tx[0] = ADIS16203_WRITE_REG(reg_address);
52 ret = spi_write(st->us, st->tx, 2);
53 mutex_unlock(&st->buf_lock);
59 * adis16203_spi_write_reg_16() - write 2 bytes to a pair of registers
60 * @dev: device associated with child of actual device (iio_dev or iio_trig)
61 * @reg_address: the address of the lower of the two registers. Second register
62 * is assumed to have address one greater.
63 * @val: value to be written
65 static int adis16203_spi_write_reg_16(struct device *dev,
70 struct spi_message msg;
71 struct iio_dev *indio_dev = dev_get_drvdata(dev);
72 struct adis16203_state *st = iio_dev_get_devdata(indio_dev);
73 struct spi_transfer xfers[] = {
87 mutex_lock(&st->buf_lock);
88 st->tx[0] = ADIS16203_WRITE_REG(lower_reg_address);
89 st->tx[1] = value & 0xFF;
90 st->tx[2] = ADIS16203_WRITE_REG(lower_reg_address + 1);
91 st->tx[3] = (value >> 8) & 0xFF;
93 spi_message_init(&msg);
94 spi_message_add_tail(&xfers[0], &msg);
95 spi_message_add_tail(&xfers[1], &msg);
96 ret = spi_sync(st->us, &msg);
97 mutex_unlock(&st->buf_lock);
103 * adis16203_spi_read_reg_16() - read 2 bytes from a 16-bit register
104 * @dev: device associated with child of actual device (iio_dev or iio_trig)
105 * @reg_address: the address of the lower of the two registers. Second register
106 * is assumed to have address one greater.
107 * @val: somewhere to pass back the value read
109 static int adis16203_spi_read_reg_16(struct device *dev,
110 u8 lower_reg_address,
113 struct spi_message msg;
114 struct iio_dev *indio_dev = dev_get_drvdata(dev);
115 struct adis16203_state *st = iio_dev_get_devdata(indio_dev);
117 struct spi_transfer xfers[] = {
133 mutex_lock(&st->buf_lock);
134 st->tx[0] = ADIS16203_READ_REG(lower_reg_address);
137 spi_message_init(&msg);
138 spi_message_add_tail(&xfers[0], &msg);
139 spi_message_add_tail(&xfers[1], &msg);
140 ret = spi_sync(st->us, &msg);
142 dev_err(&st->us->dev, "problem when reading 16 bit register 0x%02X",
146 *val = (st->rx[0] << 8) | st->rx[1];
149 mutex_unlock(&st->buf_lock);
153 static ssize_t adis16203_read_12bit_unsigned(struct device *dev,
154 struct device_attribute *attr,
159 struct iio_dev_attr *this_attr = to_iio_dev_attr(attr);
161 ret = adis16203_spi_read_reg_16(dev, this_attr->address, &val);
165 if (val & ADIS16203_ERROR_ACTIVE)
166 adis16203_check_status(dev);
168 return sprintf(buf, "%u\n", val & 0x0FFF);
171 static ssize_t adis16203_read_temp(struct device *dev,
172 struct device_attribute *attr,
175 struct iio_dev *indio_dev = dev_get_drvdata(dev);
179 /* Take the iio_dev status lock */
180 mutex_lock(&indio_dev->mlock);
182 ret = adis16203_spi_read_reg_16(dev, ADIS16203_TEMP_OUT, (u16 *)&val);
186 if (val & ADIS16203_ERROR_ACTIVE)
187 adis16203_check_status(dev);
190 ret = sprintf(buf, "%d\n", val);
193 mutex_unlock(&indio_dev->mlock);
197 static ssize_t adis16203_read_14bit_signed(struct device *dev,
198 struct device_attribute *attr,
201 struct iio_dev *indio_dev = dev_get_drvdata(dev);
202 struct iio_dev_attr *this_attr = to_iio_dev_attr(attr);
206 mutex_lock(&indio_dev->mlock);
208 ret = adis16203_spi_read_reg_16(dev, this_attr->address, (u16 *)&val);
210 if (val & ADIS16203_ERROR_ACTIVE)
211 adis16203_check_status(dev);
213 val = ((s16)(val << 2) >> 2);
214 ret = sprintf(buf, "%d\n", val);
217 mutex_unlock(&indio_dev->mlock);
222 static ssize_t adis16203_write_16bit(struct device *dev,
223 struct device_attribute *attr,
227 struct iio_dev_attr *this_attr = to_iio_dev_attr(attr);
231 ret = strict_strtol(buf, 10, &val);
234 ret = adis16203_spi_write_reg_16(dev, this_attr->address, val);
237 return ret ? ret : len;
240 static int adis16203_reset(struct device *dev)
243 ret = adis16203_spi_write_reg_8(dev,
245 ADIS16203_GLOB_CMD_SW_RESET);
247 dev_err(dev, "problem resetting device");
252 static ssize_t adis16203_write_reset(struct device *dev,
253 struct device_attribute *attr,
254 const char *buf, size_t len)
262 return adis16203_reset(dev);
267 int adis16203_set_irq(struct device *dev, bool enable)
272 ret = adis16203_spi_read_reg_16(dev, ADIS16203_MSC_CTRL, &msc);
276 msc |= ADIS16203_MSC_CTRL_ACTIVE_HIGH;
277 msc &= ~ADIS16203_MSC_CTRL_DATA_RDY_DIO1;
279 msc |= ADIS16203_MSC_CTRL_DATA_RDY_EN;
281 msc &= ~ADIS16203_MSC_CTRL_DATA_RDY_EN;
283 ret = adis16203_spi_write_reg_16(dev, ADIS16203_MSC_CTRL, msc);
289 static int adis16203_check_status(struct device *dev)
294 ret = adis16203_spi_read_reg_16(dev, ADIS16203_DIAG_STAT, &status);
296 dev_err(dev, "Reading status failed\n");
301 if (status & ADIS16203_DIAG_STAT_SELFTEST_FAIL)
302 dev_err(dev, "Self test failure\n");
303 if (status & ADIS16203_DIAG_STAT_SPI_FAIL)
304 dev_err(dev, "SPI failure\n");
305 if (status & ADIS16203_DIAG_STAT_FLASH_UPT)
306 dev_err(dev, "Flash update failed\n");
307 if (status & ADIS16203_DIAG_STAT_POWER_HIGH)
308 dev_err(dev, "Power supply above 3.625V\n");
309 if (status & ADIS16203_DIAG_STAT_POWER_LOW)
310 dev_err(dev, "Power supply below 3.15V\n");
316 static int adis16203_self_test(struct device *dev)
319 ret = adis16203_spi_write_reg_16(dev,
321 ADIS16203_MSC_CTRL_SELF_TEST_EN);
323 dev_err(dev, "problem starting self test");
327 adis16203_check_status(dev);
333 static int adis16203_initial_setup(struct adis16203_state *st)
336 struct device *dev = &st->indio_dev->dev;
339 ret = adis16203_set_irq(dev, false);
341 dev_err(dev, "disable irq failed");
346 ret = adis16203_self_test(dev);
348 dev_err(dev, "self test failure");
352 /* Read status register to check the result */
353 ret = adis16203_check_status(dev);
355 adis16203_reset(dev);
356 dev_err(dev, "device not playing ball -> reset");
357 msleep(ADIS16203_STARTUP_DELAY);
358 ret = adis16203_check_status(dev);
360 dev_err(dev, "giving up");
365 printk(KERN_INFO DRIVER_NAME ": at CS%d (irq %d)\n",
366 st->us->chip_select, st->us->irq);
372 static IIO_DEV_ATTR_IN_NAMED_RAW(0, supply, adis16203_read_12bit_unsigned,
373 ADIS16203_SUPPLY_OUT);
374 static IIO_CONST_ATTR(in0_supply_scale, "0.00122");
375 static IIO_DEV_ATTR_IN_RAW(1, adis16203_read_12bit_unsigned,
377 static IIO_CONST_ATTR(in1_scale, "0.00061");
379 static IIO_DEV_ATTR_INCLI_X(adis16203_read_14bit_signed,
380 ADIS16203_XINCL_OUT);
381 static IIO_DEV_ATTR_INCLI_Y(adis16203_read_14bit_signed,
382 ADIS16203_YINCL_OUT);
383 static IIO_DEV_ATTR_INCLI_X_OFFSET(S_IWUSR | S_IRUGO,
384 adis16203_read_14bit_signed,
385 adis16203_write_16bit,
386 ADIS16203_INCL_NULL);
387 static IIO_CONST_ATTR(incli_scale, "0.025");
389 static IIO_DEV_ATTR_TEMP_RAW(adis16203_read_temp);
390 static IIO_CONST_ATTR(temp_offset, "25");
391 static IIO_CONST_ATTR(temp_scale, "-0.47");
393 static IIO_DEVICE_ATTR(reset, S_IWUSR, NULL, adis16203_write_reset, 0);
395 static IIO_CONST_ATTR(name, "adis16203");
397 static struct attribute *adis16203_event_attributes[] = {
401 static struct attribute_group adis16203_event_attribute_group = {
402 .attrs = adis16203_event_attributes,
405 static struct attribute *adis16203_attributes[] = {
406 &iio_dev_attr_in0_supply_raw.dev_attr.attr,
407 &iio_const_attr_in0_supply_scale.dev_attr.attr,
408 &iio_dev_attr_temp_raw.dev_attr.attr,
409 &iio_const_attr_temp_offset.dev_attr.attr,
410 &iio_const_attr_temp_scale.dev_attr.attr,
411 &iio_dev_attr_reset.dev_attr.attr,
412 &iio_const_attr_name.dev_attr.attr,
413 &iio_dev_attr_in1_raw.dev_attr.attr,
414 &iio_const_attr_in1_scale.dev_attr.attr,
415 &iio_dev_attr_incli_x_raw.dev_attr.attr,
416 &iio_dev_attr_incli_y_raw.dev_attr.attr,
417 &iio_dev_attr_incli_x_offset.dev_attr.attr,
418 &iio_const_attr_incli_scale.dev_attr.attr,
422 static const struct attribute_group adis16203_attribute_group = {
423 .attrs = adis16203_attributes,
426 static int __devinit adis16203_probe(struct spi_device *spi)
428 int ret, regdone = 0;
429 struct adis16203_state *st = kzalloc(sizeof *st, GFP_KERNEL);
434 /* this is only used for removal purposes */
435 spi_set_drvdata(spi, st);
437 /* Allocate the comms buffers */
438 st->rx = kzalloc(sizeof(*st->rx)*ADIS16203_MAX_RX, GFP_KERNEL);
439 if (st->rx == NULL) {
443 st->tx = kzalloc(sizeof(*st->tx)*ADIS16203_MAX_TX, GFP_KERNEL);
444 if (st->tx == NULL) {
449 mutex_init(&st->buf_lock);
450 /* setup the industrialio driver allocated elements */
451 st->indio_dev = iio_allocate_device();
452 if (st->indio_dev == NULL) {
457 st->indio_dev->dev.parent = &spi->dev;
458 st->indio_dev->num_interrupt_lines = 1;
459 st->indio_dev->event_attrs = &adis16203_event_attribute_group;
460 st->indio_dev->attrs = &adis16203_attribute_group;
461 st->indio_dev->dev_data = (void *)(st);
462 st->indio_dev->driver_module = THIS_MODULE;
463 st->indio_dev->modes = INDIO_DIRECT_MODE;
465 ret = adis16203_configure_ring(st->indio_dev);
469 ret = iio_device_register(st->indio_dev);
471 goto error_unreg_ring_funcs;
474 ret = adis16203_initialize_ring(st->indio_dev->ring);
476 printk(KERN_ERR "failed to initialize the ring\n");
477 goto error_unreg_ring_funcs;
481 ret = iio_register_interrupt_line(spi->irq,
487 goto error_uninitialize_ring;
489 ret = adis16203_probe_trigger(st->indio_dev);
491 goto error_unregister_line;
494 /* Get the device into a sane initial state */
495 ret = adis16203_initial_setup(st);
497 goto error_remove_trigger;
500 error_remove_trigger:
501 adis16203_remove_trigger(st->indio_dev);
502 error_unregister_line:
504 iio_unregister_interrupt_line(st->indio_dev, 0);
505 error_uninitialize_ring:
506 adis16203_uninitialize_ring(st->indio_dev->ring);
507 error_unreg_ring_funcs:
508 adis16203_unconfigure_ring(st->indio_dev);
511 iio_device_unregister(st->indio_dev);
513 iio_free_device(st->indio_dev);
524 static int adis16203_remove(struct spi_device *spi)
526 struct adis16203_state *st = spi_get_drvdata(spi);
527 struct iio_dev *indio_dev = st->indio_dev;
529 flush_scheduled_work();
531 adis16203_remove_trigger(indio_dev);
533 iio_unregister_interrupt_line(indio_dev, 0);
535 adis16203_uninitialize_ring(indio_dev->ring);
536 iio_device_unregister(indio_dev);
537 adis16203_unconfigure_ring(indio_dev);
545 static struct spi_driver adis16203_driver = {
548 .owner = THIS_MODULE,
550 .probe = adis16203_probe,
551 .remove = __devexit_p(adis16203_remove),
554 static __init int adis16203_init(void)
556 return spi_register_driver(&adis16203_driver);
558 module_init(adis16203_init);
560 static __exit void adis16203_exit(void)
562 spi_unregister_driver(&adis16203_driver);
564 module_exit(adis16203_exit);
566 MODULE_AUTHOR("Barry Song <21cnbao@gmail.com>");
567 MODULE_DESCRIPTION("Analog Devices ADIS16203 Programmable Digital Vibration Sensor driver");
568 MODULE_LICENSE("GPL v2");