release/src-rt-6.x.4708/linux/linux-2.6.36/drivers/staging/iio/accel/adis16209_core.c

   1 /*
   2  * ADIS16209 Programmable Digital Vibration 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/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>
  20
  21 #include "../iio.h"
  22 #include "../sysfs.h"
  23 #include "../ring_generic.h"
  24 #include "accel.h"
  25 #include "inclinometer.h"
  26 #include "../gyro/gyro.h"
  27 #include "../adc/adc.h"
  28
  29 #include "adis16209.h"
  30
  31 #define DRIVER_NAME             "adis16209"
  32
  33 static int adis16209_check_status(struct device *dev);
  34
  35 /**
  36  * adis16209_spi_write_reg_8() - write single byte to a register
  37  * @dev: device associated with child of actual device (iio_dev or iio_trig)
  38  * @reg_address: the address of the register to be written
  39  * @val: the value to write
  40  **/
  41 static int adis16209_spi_write_reg_8(struct device *dev,
  42                 u8 reg_address,
  43                 u8 val)
  44 {
  45         int ret;
  46         struct iio_dev *indio_dev = dev_get_drvdata(dev);
  47         struct adis16209_state *st = iio_dev_get_devdata(indio_dev);
  48
  49         mutex_lock(&st->buf_lock);
  50         st->tx[0] = ADIS16209_WRITE_REG(reg_address);
  51         st->tx[1] = val;
  52
  53         ret = spi_write(st->us, st->tx, 2);
  54         mutex_unlock(&st->buf_lock);
  55
  56         return ret;
  57 }
  58
  59 /**
  60  * adis16209_spi_write_reg_16() - write 2 bytes to a pair of registers
  61  * @dev: device associated with child of actual device (iio_dev or iio_trig)
  62  * @reg_address: the address of the lower of the two registers. Second register
  63  *               is assumed to have address one greater.
  64  * @val: value to be written
  65  **/
  66 static int adis16209_spi_write_reg_16(struct device *dev,
  67                 u8 lower_reg_address,
  68                 u16 value)
  69 {
  70         int ret;
  71         struct spi_message msg;
  72         struct iio_dev *indio_dev = dev_get_drvdata(dev);
  73         struct adis16209_state *st = iio_dev_get_devdata(indio_dev);
  74         struct spi_transfer xfers[] = {
  75                 {
  76                         .tx_buf = st->tx,
  77                         .bits_per_word = 8,
  78                         .len = 2,
  79                         .cs_change = 1,
  80                         .delay_usecs = 30,
  81                 }, {
  82                         .tx_buf = st->tx + 2,
  83                         .bits_per_word = 8,
  84                         .len = 2,
  85                         .cs_change = 1,
  86                         .delay_usecs = 30,
  87                 },
  88         };
  89
  90         mutex_lock(&st->buf_lock);
  91         st->tx[0] = ADIS16209_WRITE_REG(lower_reg_address);
  92         st->tx[1] = value & 0xFF;
  93         st->tx[2] = ADIS16209_WRITE_REG(lower_reg_address + 1);
  94         st->tx[3] = (value >> 8) & 0xFF;
  95
  96         spi_message_init(&msg);
  97         spi_message_add_tail(&xfers[0], &msg);
  98         spi_message_add_tail(&xfers[1], &msg);
  99         ret = spi_sync(st->us, &msg);
 100         mutex_unlock(&st->buf_lock);
 101
 102         return ret;
 103 }
 104
 105 /**
 106  * adis16209_spi_read_reg_16() - read 2 bytes from a 16-bit register
 107  * @dev: device associated with child of actual device (iio_dev or iio_trig)
 108  * @reg_address: the address of the lower of the two registers. Second register
 109  *               is assumed to have address one greater.
 110  * @val: somewhere to pass back the value read
 111  **/
 112 static int adis16209_spi_read_reg_16(struct device *dev,
 113                 u8 lower_reg_address,
 114                 u16 *val)
 115 {
 116         struct spi_message msg;
 117         struct iio_dev *indio_dev = dev_get_drvdata(dev);
 118         struct adis16209_state *st = iio_dev_get_devdata(indio_dev);
 119         int ret;
 120         struct spi_transfer xfers[] = {
 121                 {
 122                         .tx_buf = st->tx,
 123                         .bits_per_word = 8,
 124                         .len = 2,
 125                         .cs_change = 1,
 126                         .delay_usecs = 30,
 127                 }, {
 128                         .rx_buf = st->rx,
 129                         .bits_per_word = 8,
 130                         .len = 2,
 131                         .cs_change = 1,
 132                         .delay_usecs = 30,
 133                 },
 134         };
 135
 136         mutex_lock(&st->buf_lock);
 137         st->tx[0] = ADIS16209_READ_REG(lower_reg_address);
 138         st->tx[1] = 0;
 139
 140         spi_message_init(&msg);
 141         spi_message_add_tail(&xfers[0], &msg);
 142         spi_message_add_tail(&xfers[1], &msg);
 143         ret = spi_sync(st->us, &msg);
 144         if (ret) {
 145                 dev_err(&st->us->dev,
 146                         "problem when reading 16 bit register 0x%02X",
 147                         lower_reg_address);
 148                 goto error_ret;
 149         }
 150         *val = (st->rx[0] << 8) | st->rx[1];
 151
 152 error_ret:
 153         mutex_unlock(&st->buf_lock);
 154         return ret;
 155 }
 156
 157 static ssize_t adis16209_read_12bit_unsigned(struct device *dev,
 158                 struct device_attribute *attr,
 159                 char *buf)
 160 {
 161         int ret;
 162         u16 val = 0;
 163         struct iio_dev_attr *this_attr = to_iio_dev_attr(attr);
 164
 165         ret = adis16209_spi_read_reg_16(dev, this_attr->address, &val);
 166         if (ret)
 167                 return ret;
 168
 169         if (val & ADIS16209_ERROR_ACTIVE)
 170                 adis16209_check_status(dev);
 171
 172         return sprintf(buf, "%u\n", val & 0x0FFF);
 173 }
 174
 175 static ssize_t adis16209_read_14bit_unsigned(struct device *dev,
 176                 struct device_attribute *attr,
 177                 char *buf)
 178 {
 179         int ret;
 180         u16 val = 0;
 181         struct iio_dev_attr *this_attr = to_iio_dev_attr(attr);
 182
 183         ret = adis16209_spi_read_reg_16(dev, this_attr->address, &val);
 184         if (ret)
 185                 return ret;
 186
 187         if (val & ADIS16209_ERROR_ACTIVE)
 188                 adis16209_check_status(dev);
 189
 190         return sprintf(buf, "%u\n", val & 0x3FFF);
 191 }
 192
 193 static ssize_t adis16209_read_temp(struct device *dev,
 194                 struct device_attribute *attr,
 195                 char *buf)
 196 {
 197         struct iio_dev *indio_dev = dev_get_drvdata(dev);
 198         ssize_t ret;
 199         u16 val;
 200
 201         /* Take the iio_dev status lock */
 202         mutex_lock(&indio_dev->mlock);
 203
 204         ret = adis16209_spi_read_reg_16(dev, ADIS16209_TEMP_OUT, (u16 *)&val);
 205         if (ret)
 206                 goto error_ret;
 207
 208         if (val & ADIS16209_ERROR_ACTIVE)
 209                 adis16209_check_status(dev);
 210
 211         val &= 0xFFF;
 212         ret = sprintf(buf, "%d\n", val);
 213
 214 error_ret:
 215         mutex_unlock(&indio_dev->mlock);
 216         return ret;
 217 }
 218
 219 static ssize_t adis16209_read_14bit_signed(struct device *dev,
 220                 struct device_attribute *attr,
 221                 char *buf)
 222 {
 223         struct iio_dev *indio_dev = dev_get_drvdata(dev);
 224         struct iio_dev_attr *this_attr = to_iio_dev_attr(attr);
 225         s16 val = 0;
 226         ssize_t ret;
 227
 228         mutex_lock(&indio_dev->mlock);
 229
 230         ret = adis16209_spi_read_reg_16(dev, this_attr->address, (u16 *)&val);
 231         if (!ret) {
 232                 if (val & ADIS16209_ERROR_ACTIVE)
 233                         adis16209_check_status(dev);
 234
 235                 val = ((s16)(val << 2) >> 2);
 236                 ret = sprintf(buf, "%d\n", val);
 237         }
 238
 239         mutex_unlock(&indio_dev->mlock);
 240
 241         return ret;
 242 }
 243
 244 static ssize_t adis16209_write_16bit(struct device *dev,
 245                 struct device_attribute *attr,
 246                 const char *buf,
 247                 size_t len)
 248 {
 249         struct iio_dev_attr *this_attr = to_iio_dev_attr(attr);
 250         int ret;
 251         long val;
 252
 253         ret = strict_strtol(buf, 10, &val);
 254         if (ret)
 255                 goto error_ret;
 256         ret = adis16209_spi_write_reg_16(dev, this_attr->address, val);
 257
 258 error_ret:
 259         return ret ? ret : len;
 260 }
 261
 262 static int adis16209_reset(struct device *dev)
 263 {
 264         int ret;
 265         ret = adis16209_spi_write_reg_8(dev,
 266                         ADIS16209_GLOB_CMD,
 267                         ADIS16209_GLOB_CMD_SW_RESET);
 268         if (ret)
 269                 dev_err(dev, "problem resetting device");
 270
 271         return ret;
 272 }
 273
 274 static ssize_t adis16209_write_reset(struct device *dev,
 275                 struct device_attribute *attr,
 276                 const char *buf, size_t len)
 277 {
 278         if (len < 1)
 279                 return -EINVAL;
 280         switch (buf[0]) {
 281         case '1':
 282         case 'y':
 283         case 'Y':
 284                 return adis16209_reset(dev);
 285         }
 286         return -EINVAL;
 287 }
 288
 289 int adis16209_set_irq(struct device *dev, bool enable)
 290 {
 291         int ret = 0;
 292         u16 msc;
 293
 294         ret = adis16209_spi_read_reg_16(dev, ADIS16209_MSC_CTRL, &msc);
 295         if (ret)
 296                 goto error_ret;
 297
 298         msc |= ADIS16209_MSC_CTRL_ACTIVE_HIGH;
 299         msc &= ~ADIS16209_MSC_CTRL_DATA_RDY_DIO2;
 300         if (enable)
 301                 msc |= ADIS16209_MSC_CTRL_DATA_RDY_EN;
 302         else
 303                 msc &= ~ADIS16209_MSC_CTRL_DATA_RDY_EN;
 304
 305         ret = adis16209_spi_write_reg_16(dev, ADIS16209_MSC_CTRL, msc);
 306
 307 error_ret:
 308         return ret;
 309 }
 310
 311 static int adis16209_check_status(struct device *dev)
 312 {
 313         u16 status;
 314         int ret;
 315
 316         ret = adis16209_spi_read_reg_16(dev, ADIS16209_DIAG_STAT, &status);
 317         if (ret < 0) {
 318                 dev_err(dev, "Reading status failed\n");
 319                 goto error_ret;
 320         }
 321         ret = status & 0x1F;
 322
 323         if (status & ADIS16209_DIAG_STAT_SELFTEST_FAIL)
 324                 dev_err(dev, "Self test failure\n");
 325         if (status & ADIS16209_DIAG_STAT_SPI_FAIL)
 326                 dev_err(dev, "SPI failure\n");
 327         if (status & ADIS16209_DIAG_STAT_FLASH_UPT)
 328                 dev_err(dev, "Flash update failed\n");
 329         if (status & ADIS16209_DIAG_STAT_POWER_HIGH)
 330                 dev_err(dev, "Power supply above 3.625V\n");
 331         if (status & ADIS16209_DIAG_STAT_POWER_LOW)
 332                 dev_err(dev, "Power supply below 3.15V\n");
 333
 334 error_ret:
 335         return ret;
 336 }
 337
 338 static int adis16209_self_test(struct device *dev)
 339 {
 340         int ret;
 341         ret = adis16209_spi_write_reg_16(dev,
 342                         ADIS16209_MSC_CTRL,
 343                         ADIS16209_MSC_CTRL_SELF_TEST_EN);
 344         if (ret) {
 345                 dev_err(dev, "problem starting self test");
 346                 goto err_ret;
 347         }
 348
 349         adis16209_check_status(dev);
 350
 351 err_ret:
 352         return ret;
 353 }
 354
 355 static int adis16209_initial_setup(struct adis16209_state *st)
 356 {
 357         int ret;
 358         struct device *dev = &st->indio_dev->dev;
 359
 360         /* Disable IRQ */
 361         ret = adis16209_set_irq(dev, false);
 362         if (ret) {
 363                 dev_err(dev, "disable irq failed");
 364                 goto err_ret;
 365         }
 366
 367         /* Do self test */
 368         ret = adis16209_self_test(dev);
 369         if (ret) {
 370                 dev_err(dev, "self test failure");
 371                 goto err_ret;
 372         }
 373
 374         /* Read status register to check the result */
 375         ret = adis16209_check_status(dev);
 376         if (ret) {
 377                 adis16209_reset(dev);
 378                 dev_err(dev, "device not playing ball -> reset");
 379                 msleep(ADIS16209_STARTUP_DELAY);
 380                 ret = adis16209_check_status(dev);
 381                 if (ret) {
 382                         dev_err(dev, "giving up");
 383                         goto err_ret;
 384                 }
 385         }
 386
 387         printk(KERN_INFO DRIVER_NAME ": at CS%d (irq %d)\n",
 388                         st->us->chip_select, st->us->irq);
 389
 390 err_ret:
 391         return ret;
 392 }
 393
 394 static IIO_DEV_ATTR_IN_NAMED_RAW(supply, adis16209_read_14bit_unsigned,
 395                 ADIS16209_SUPPLY_OUT);
 396 static IIO_CONST_ATTR(in_supply_scale, "0.30518");
 397 static IIO_DEV_ATTR_IN_RAW(0, adis16209_read_12bit_unsigned,
 398                 ADIS16209_AUX_ADC);
 399 static IIO_CONST_ATTR(in0_scale, "0.6105");
 400
 401 static IIO_DEV_ATTR_ACCEL_X(adis16209_read_14bit_signed,
 402                 ADIS16209_XACCL_OUT);
 403 static IIO_DEV_ATTR_ACCEL_Y(adis16209_read_14bit_signed,
 404                 ADIS16209_YACCL_OUT);
 405 static IIO_DEV_ATTR_ACCEL_X_OFFSET(S_IWUSR | S_IRUGO,
 406                 adis16209_read_14bit_signed,
 407                 adis16209_write_16bit,
 408                 ADIS16209_XACCL_NULL);
 409 static IIO_DEV_ATTR_ACCEL_Y_OFFSET(S_IWUSR | S_IRUGO,
 410                 adis16209_read_14bit_signed,
 411                 adis16209_write_16bit,
 412                 ADIS16209_YACCL_NULL);
 413 static IIO_CONST_ATTR(accel_scale, "0.24414");
 414
 415 static IIO_DEV_ATTR_INCLI_X(adis16209_read_14bit_signed,
 416                 ADIS16209_XINCL_OUT);
 417 static IIO_DEV_ATTR_INCLI_Y(adis16209_read_14bit_signed,
 418                 ADIS16209_YINCL_OUT);
 419 static IIO_DEV_ATTR_INCLI_X_OFFSET(S_IWUSR | S_IRUGO,
 420                 adis16209_read_14bit_signed,
 421                 adis16209_write_16bit,
 422                 ADIS16209_XACCL_NULL);
 423 static IIO_DEV_ATTR_INCLI_Y_OFFSET(S_IWUSR | S_IRUGO,
 424                 adis16209_read_14bit_signed,
 425                 adis16209_write_16bit,
 426                 ADIS16209_YACCL_NULL);
 427 static IIO_CONST_ATTR(incli_scale, "0.025");
 428
 429 static IIO_DEVICE_ATTR(rot_raw, S_IRUGO, adis16209_read_14bit_signed,
 430                        NULL, ADIS16209_ROT_OUT);
 431
 432 static IIO_DEV_ATTR_TEMP(adis16209_read_temp);
 433 static IIO_CONST_ATTR(temp_offset, "25");
 434 static IIO_CONST_ATTR(temp_scale, "-0.47");
 435
 436 static IIO_DEVICE_ATTR(reset, S_IWUSR, NULL, adis16209_write_reset, 0);
 437
 438 static IIO_CONST_ATTR(name, "adis16209");
 439
 440 static struct attribute *adis16209_event_attributes[] = {
 441         NULL
 442 };
 443
 444 static struct attribute_group adis16209_event_attribute_group = {
 445         .attrs = adis16209_event_attributes,
 446 };
 447
 448 static struct attribute *adis16209_attributes[] = {
 449         &iio_dev_attr_in_supply_raw.dev_attr.attr,
 450         &iio_const_attr_in_supply_scale.dev_attr.attr,
 451         &iio_dev_attr_temp.dev_attr.attr,
 452         &iio_const_attr_temp_offset.dev_attr.attr,
 453         &iio_const_attr_temp_scale.dev_attr.attr,
 454         &iio_dev_attr_reset.dev_attr.attr,
 455         &iio_const_attr_name.dev_attr.attr,
 456         &iio_dev_attr_in0_raw.dev_attr.attr,
 457         &iio_const_attr_in0_scale.dev_attr.attr,
 458         &iio_dev_attr_accel_x_raw.dev_attr.attr,
 459         &iio_dev_attr_accel_y_raw.dev_attr.attr,
 460         &iio_dev_attr_accel_x_offset.dev_attr.attr,
 461         &iio_dev_attr_accel_y_offset.dev_attr.attr,
 462         &iio_const_attr_accel_scale.dev_attr.attr,
 463         &iio_dev_attr_incli_x_raw.dev_attr.attr,
 464         &iio_dev_attr_incli_y_raw.dev_attr.attr,
 465         &iio_dev_attr_incli_x_offset.dev_attr.attr,
 466         &iio_dev_attr_incli_y_offset.dev_attr.attr,
 467         &iio_const_attr_incli_scale.dev_attr.attr,
 468         &iio_dev_attr_rot_raw.dev_attr.attr,
 469         NULL
 470 };
 471
 472 static const struct attribute_group adis16209_attribute_group = {
 473         .attrs = adis16209_attributes,
 474 };
 475
 476 static int __devinit adis16209_probe(struct spi_device *spi)
 477 {
 478         int ret, regdone = 0;
 479         struct adis16209_state *st = kzalloc(sizeof *st, GFP_KERNEL);
 480         if (!st) {
 481                 ret =  -ENOMEM;
 482                 goto error_ret;
 483         }
 484         /* this is only used for removal purposes */
 485         spi_set_drvdata(spi, st);
 486
 487         /* Allocate the comms buffers */
 488         st->rx = kzalloc(sizeof(*st->rx)*ADIS16209_MAX_RX, GFP_KERNEL);
 489         if (st->rx == NULL) {
 490                 ret = -ENOMEM;
 491                 goto error_free_st;
 492         }
 493         st->tx = kzalloc(sizeof(*st->tx)*ADIS16209_MAX_TX, GFP_KERNEL);
 494         if (st->tx == NULL) {
 495                 ret = -ENOMEM;
 496                 goto error_free_rx;
 497         }
 498         st->us = spi;
 499         mutex_init(&st->buf_lock);
 500         /* setup the industrialio driver allocated elements */
 501         st->indio_dev = iio_allocate_device();
 502         if (st->indio_dev == NULL) {
 503                 ret = -ENOMEM;
 504                 goto error_free_tx;
 505         }
 506
 507         st->indio_dev->dev.parent = &spi->dev;
 508         st->indio_dev->num_interrupt_lines = 1;
 509         st->indio_dev->event_attrs = &adis16209_event_attribute_group;
 510         st->indio_dev->attrs = &adis16209_attribute_group;
 511         st->indio_dev->dev_data = (void *)(st);
 512         st->indio_dev->driver_module = THIS_MODULE;
 513         st->indio_dev->modes = INDIO_DIRECT_MODE;
 514
 515         ret = adis16209_configure_ring(st->indio_dev);
 516         if (ret)
 517                 goto error_free_dev;
 518
 519         ret = iio_device_register(st->indio_dev);
 520         if (ret)
 521                 goto error_unreg_ring_funcs;
 522         regdone = 1;
 523
 524         ret = iio_ring_buffer_register(st->indio_dev->ring, 0);
 525         if (ret) {
 526                 printk(KERN_ERR "failed to initialize the ring\n");
 527                 goto error_unreg_ring_funcs;
 528         }
 529
 530         if (spi->irq) {
 531                 ret = iio_register_interrupt_line(spi->irq,
 532                                 st->indio_dev,
 533                                 0,
 534                                 IRQF_TRIGGER_RISING,
 535                                 "adis16209");
 536                 if (ret)
 537                         goto error_uninitialize_ring;
 538
 539                 ret = adis16209_probe_trigger(st->indio_dev);
 540                 if (ret)
 541                         goto error_unregister_line;
 542         }
 543
 544         /* Get the device into a sane initial state */
 545         ret = adis16209_initial_setup(st);
 546         if (ret)
 547                 goto error_remove_trigger;
 548         return 0;
 549
 550 error_remove_trigger:
 551         adis16209_remove_trigger(st->indio_dev);
 552 error_unregister_line:
 553         if (spi->irq)
 554                 iio_unregister_interrupt_line(st->indio_dev, 0);
 555 error_uninitialize_ring:
 556         iio_ring_buffer_unregister(st->indio_dev->ring);
 557 error_unreg_ring_funcs:
 558         adis16209_unconfigure_ring(st->indio_dev);
 559 error_free_dev:
 560         if (regdone)
 561                 iio_device_unregister(st->indio_dev);
 562         else
 563                 iio_free_device(st->indio_dev);
 564 error_free_tx:
 565         kfree(st->tx);
 566 error_free_rx:
 567         kfree(st->rx);
 568 error_free_st:
 569         kfree(st);
 570 error_ret:
 571         return ret;
 572 }
 573
 574 static int adis16209_remove(struct spi_device *spi)
 575 {
 576         struct adis16209_state *st = spi_get_drvdata(spi);
 577         struct iio_dev *indio_dev = st->indio_dev;
 578
 579         flush_scheduled_work();
 580
 581         adis16209_remove_trigger(indio_dev);
 582         if (spi->irq)
 583                 iio_unregister_interrupt_line(indio_dev, 0);
 584
 585         iio_ring_buffer_unregister(indio_dev->ring);
 586         iio_device_unregister(indio_dev);
 587         adis16209_unconfigure_ring(indio_dev);
 588         kfree(st->tx);
 589         kfree(st->rx);
 590         kfree(st);
 591
 592         return 0;
 593 }
 594
 595 static struct spi_driver adis16209_driver = {
 596         .driver = {
 597                 .name = "adis16209",
 598                 .owner = THIS_MODULE,
 599         },
 600         .probe = adis16209_probe,
 601         .remove = __devexit_p(adis16209_remove),
 602 };
 603
 604 static __init int adis16209_init(void)
 605 {
 606         return spi_register_driver(&adis16209_driver);
 607 }
 608 module_init(adis16209_init);
 609
 610 static __exit void adis16209_exit(void)
 611 {
 612         spi_unregister_driver(&adis16209_driver);
 613 }
 614 module_exit(adis16209_exit);
 615
 616 MODULE_AUTHOR("Barry Song <21cnbao@gmail.com>");
 617 MODULE_DESCRIPTION("Analog Devices ADIS16209 Digital Vibration Sensor driver");
 618 MODULE_LICENSE("GPL v2");