drivers/staging/iio/accel/adis16201_core.c

   1 /*
   2  * ADIS16201 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/delay.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/slab.h>
  15 #include <linux/sysfs.h>
  16
  17 #include "../iio.h"
  18 #include "../sysfs.h"
  19 #include "../ring_generic.h"
  20
  21 #include "accel.h"
  22 #include "inclinometer.h"
  23 #include "../adc/adc.h"
  24
  25 #include "adis16201.h"
  26
  27 enum adis16201_chan {
  28         in_supply,
  29         temp,
  30         accel_x,
  31         accel_y,
  32         incli_x,
  33         incli_y,
  34         in_aux,
  35 };
  36
  37 /**
  38  * adis16201_spi_write_reg_8() - write single byte to a register
  39  * @dev: device associated with child of actual device (iio_dev or iio_trig)
  40  * @reg_address: the address of the register to be written
  41  * @val: the value to write
  42  **/
  43 static int adis16201_spi_write_reg_8(struct iio_dev *indio_dev,
  44                 u8 reg_address,
  45                 u8 val)
  46 {
  47         int ret;
  48         struct adis16201_state *st = iio_priv(indio_dev);
  49
  50         mutex_lock(&st->buf_lock);
  51         st->tx[0] = ADIS16201_WRITE_REG(reg_address);
  52         st->tx[1] = val;
  53
  54         ret = spi_write(st->us, st->tx, 2);
  55         mutex_unlock(&st->buf_lock);
  56
  57         return ret;
  58 }
  59
  60 /**
  61  * adis16201_spi_write_reg_16() - write 2 bytes to a pair of registers
  62  * @indio_dev: iio device associated with child of actual device
  63  * @reg_address: the address of the lower of the two registers. Second register
  64  *               is assumed to have address one greater.
  65  * @val: value to be written
  66  **/
  67 static int adis16201_spi_write_reg_16(struct iio_dev *indio_dev,
  68                                       u8 lower_reg_address,
  69                                       u16 value)
  70 {
  71         int ret;
  72         struct spi_message msg;
  73         struct adis16201_state *st = iio_priv(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                 }, {
  81                         .tx_buf = st->tx + 2,
  82                         .bits_per_word = 8,
  83                         .len = 2,
  84                 },
  85         };
  86
  87         mutex_lock(&st->buf_lock);
  88         st->tx[0] = ADIS16201_WRITE_REG(lower_reg_address);
  89         st->tx[1] = value & 0xFF;
  90         st->tx[2] = ADIS16201_WRITE_REG(lower_reg_address + 1);
  91         st->tx[3] = (value >> 8) & 0xFF;
  92
  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);
  98
  99         return ret;
 100 }
 101
 102 /**
 103  * adis16201_spi_read_reg_16() - read 2 bytes from a 16-bit register
 104  * @indio_dev: iio device associated with child of actual device
 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
 108  **/
 109 static int adis16201_spi_read_reg_16(struct iio_dev *indio_dev,
 110                 u8 lower_reg_address,
 111                 u16 *val)
 112 {
 113         struct spi_message msg;
 114         struct adis16201_state *st = iio_priv(indio_dev);
 115         int ret;
 116         struct spi_transfer xfers[] = {
 117                 {
 118                         .tx_buf = st->tx,
 119                         .bits_per_word = 8,
 120                         .len = 2,
 121                         .cs_change = 1,
 122                         .delay_usecs = 20,
 123                 }, {
 124                         .rx_buf = st->rx,
 125                         .bits_per_word = 8,
 126                         .len = 2,
 127                         .delay_usecs = 20,
 128                 },
 129         };
 130
 131         mutex_lock(&st->buf_lock);
 132         st->tx[0] = ADIS16201_READ_REG(lower_reg_address);
 133         st->tx[1] = 0;
 134
 135         spi_message_init(&msg);
 136         spi_message_add_tail(&xfers[0], &msg);
 137         spi_message_add_tail(&xfers[1], &msg);
 138         ret = spi_sync(st->us, &msg);
 139         if (ret) {
 140                 dev_err(&st->us->dev, "problem when reading 16 bit register 0x%02X",
 141                                 lower_reg_address);
 142                 goto error_ret;
 143         }
 144         *val = (st->rx[0] << 8) | st->rx[1];
 145
 146 error_ret:
 147         mutex_unlock(&st->buf_lock);
 148         return ret;
 149 }
 150
 151 static int adis16201_reset(struct iio_dev *indio_dev)
 152 {
 153         int ret;
 154         struct adis16201_state *st = iio_priv(indio_dev);
 155
 156         ret = adis16201_spi_write_reg_8(indio_dev,
 157                         ADIS16201_GLOB_CMD,
 158                         ADIS16201_GLOB_CMD_SW_RESET);
 159         if (ret)
 160                 dev_err(&st->us->dev, "problem resetting device");
 161
 162         return ret;
 163 }
 164
 165 static ssize_t adis16201_write_reset(struct device *dev,
 166                 struct device_attribute *attr,
 167                 const char *buf, size_t len)
 168 {
 169         int ret;
 170         bool res;
 171
 172         if (len < 1)
 173                 return -EINVAL;
 174         ret = strtobool(buf, &res);
 175         if (ret || !res)
 176                 return ret;
 177         return adis16201_reset(dev_get_drvdata(dev));
 178 }
 179
 180 int adis16201_set_irq(struct iio_dev *indio_dev, bool enable)
 181 {
 182         int ret = 0;
 183         u16 msc;
 184
 185         ret = adis16201_spi_read_reg_16(indio_dev, ADIS16201_MSC_CTRL, &msc);
 186         if (ret)
 187                 goto error_ret;
 188
 189         msc |= ADIS16201_MSC_CTRL_ACTIVE_HIGH;
 190         msc &= ~ADIS16201_MSC_CTRL_DATA_RDY_DIO1;
 191         if (enable)
 192                 msc |= ADIS16201_MSC_CTRL_DATA_RDY_EN;
 193         else
 194                 msc &= ~ADIS16201_MSC_CTRL_DATA_RDY_EN;
 195
 196         ret = adis16201_spi_write_reg_16(indio_dev, ADIS16201_MSC_CTRL, msc);
 197
 198 error_ret:
 199         return ret;
 200 }
 201
 202 static int adis16201_check_status(struct iio_dev *indio_dev)
 203 {
 204         u16 status;
 205         int ret;
 206
 207         ret = adis16201_spi_read_reg_16(indio_dev,
 208                                         ADIS16201_DIAG_STAT, &status);
 209         if (ret < 0) {
 210                 dev_err(&indio_dev->dev, "Reading status failed\n");
 211                 goto error_ret;
 212         }
 213         ret = status & 0xF;
 214         if (ret)
 215                 ret = -EFAULT;
 216
 217         if (status & ADIS16201_DIAG_STAT_SPI_FAIL)
 218                 dev_err(&indio_dev->dev, "SPI failure\n");
 219         if (status & ADIS16201_DIAG_STAT_FLASH_UPT)
 220                 dev_err(&indio_dev->dev, "Flash update failed\n");
 221         if (status & ADIS16201_DIAG_STAT_POWER_HIGH)
 222                 dev_err(&indio_dev->dev, "Power supply above 3.625V\n");
 223         if (status & ADIS16201_DIAG_STAT_POWER_LOW)
 224                 dev_err(&indio_dev->dev, "Power supply below 3.15V\n");
 225
 226 error_ret:
 227         return ret;
 228 }
 229
 230 static int adis16201_self_test(struct iio_dev *indio_dev)
 231 {
 232         int ret;
 233         ret = adis16201_spi_write_reg_16(indio_dev,
 234                         ADIS16201_MSC_CTRL,
 235                         ADIS16201_MSC_CTRL_SELF_TEST_EN);
 236         if (ret) {
 237                 dev_err(&indio_dev->dev, "problem starting self test");
 238                 goto err_ret;
 239         }
 240
 241         ret = adis16201_check_status(indio_dev);
 242
 243 err_ret:
 244         return ret;
 245 }
 246
 247 static int adis16201_initial_setup(struct iio_dev *indio_dev)
 248 {
 249         int ret;
 250         struct device *dev = &indio_dev->dev;
 251
 252         /* Disable IRQ */
 253         ret = adis16201_set_irq(indio_dev, false);
 254         if (ret) {
 255                 dev_err(dev, "disable irq failed");
 256                 goto err_ret;
 257         }
 258
 259         /* Do self test */
 260         ret = adis16201_self_test(indio_dev);
 261         if (ret) {
 262                 dev_err(dev, "self test failure");
 263                 goto err_ret;
 264         }
 265
 266         /* Read status register to check the result */
 267         ret = adis16201_check_status(indio_dev);
 268         if (ret) {
 269                 adis16201_reset(indio_dev);
 270                 dev_err(dev, "device not playing ball -> reset");
 271                 msleep(ADIS16201_STARTUP_DELAY);
 272                 ret = adis16201_check_status(indio_dev);
 273                 if (ret) {
 274                         dev_err(dev, "giving up");
 275                         goto err_ret;
 276                 }
 277         }
 278
 279 err_ret:
 280         return ret;
 281 }
 282
 283 static u8 adis16201_addresses[7][2] = {
 284         [in_supply] = { ADIS16201_SUPPLY_OUT, },
 285         [temp] = { ADIS16201_TEMP_OUT },
 286         [accel_x] = { ADIS16201_XACCL_OUT, ADIS16201_XACCL_OFFS },
 287         [accel_y] = { ADIS16201_YACCL_OUT, ADIS16201_YACCL_OFFS },
 288         [in_aux] = { ADIS16201_AUX_ADC },
 289         [incli_x] = { ADIS16201_XINCL_OUT },
 290         [incli_y] = { ADIS16201_YINCL_OUT },
 291 };
 292
 293 static int adis16201_read_raw(struct iio_dev *indio_dev,
 294                               struct iio_chan_spec const *chan,
 295                               int *val, int *val2,
 296                               long mask)
 297 {
 298         int ret;
 299         int bits;
 300         u8 addr;
 301         s16 val16;
 302
 303         switch (mask) {
 304         case 0:
 305                 mutex_lock(&indio_dev->mlock);
 306                 addr = adis16201_addresses[chan->address][0];
 307                 ret = adis16201_spi_read_reg_16(indio_dev, addr, &val16);
 308                 if (ret) {
 309                         mutex_unlock(&indio_dev->mlock);
 310                         return ret;
 311                 }
 312
 313                 if (val16 & ADIS16201_ERROR_ACTIVE) {
 314                         ret = adis16201_check_status(indio_dev);
 315                         if (ret) {
 316                                 mutex_unlock(&indio_dev->mlock);
 317                                 return ret;
 318                         }
 319                 }
 320                 val16 = val16 & ((1 << chan->scan_type.realbits) - 1);
 321                 if (chan->scan_type.sign == 's')
 322                         val16 = (s16)(val16 <<
 323                                       (16 - chan->scan_type.realbits)) >>
 324                                 (16 - chan->scan_type.realbits);
 325                 *val = val16;
 326                 mutex_unlock(&indio_dev->mlock);
 327                 return IIO_VAL_INT;
 328         case (1 << IIO_CHAN_INFO_SCALE_SEPARATE):
 329         case (1 << IIO_CHAN_INFO_SCALE_SHARED):
 330                 switch (chan->type) {
 331                 case IIO_IN:
 332                         *val = 0;
 333                         if (chan->channel == 0)
 334                                 *val2 = 1220;
 335                         else
 336                                 *val2 = 610;
 337                         return IIO_VAL_INT_PLUS_MICRO;
 338                 case IIO_TEMP:
 339                         *val = 0;
 340                         *val2 = -470000;
 341                         return IIO_VAL_INT_PLUS_MICRO;
 342                 case IIO_ACCEL:
 343                         *val = 0;
 344                         *val2 = 462500;
 345                         return IIO_VAL_INT_PLUS_MICRO;
 346                 case IIO_INCLI:
 347                         *val = 0;
 348                         *val2 = 100000;
 349                         return IIO_VAL_INT_PLUS_MICRO;
 350                 default:
 351                         return -EINVAL;
 352                 }
 353                 break;
 354         case (1 << IIO_CHAN_INFO_OFFSET_SEPARATE):
 355                 *val = 25;
 356                 return IIO_VAL_INT;
 357         case (1 << IIO_CHAN_INFO_CALIBBIAS_SEPARATE):
 358                 switch (chan->type) {
 359                 case IIO_ACCEL:
 360                         bits = 12;
 361                         break;
 362                 case IIO_INCLI:
 363                         bits = 9;
 364                         break;
 365                 default:
 366                         return -EINVAL;
 367                 };
 368                 mutex_lock(&indio_dev->mlock);
 369                 addr = adis16201_addresses[chan->address][1];
 370                 ret = adis16201_spi_read_reg_16(indio_dev, addr, &val16);
 371                 if (ret) {
 372                         mutex_unlock(&indio_dev->mlock);
 373                         return ret;
 374                 }
 375                 val16 &= (1 << bits) - 1;
 376                 val16 = (s16)(val16 << (16 - bits)) >> (16 - bits);
 377                 *val = val16;
 378                 mutex_unlock(&indio_dev->mlock);
 379                 return IIO_VAL_INT;
 380         }
 381         return -EINVAL;
 382 }
 383
 384 static int adis16201_write_raw(struct iio_dev *indio_dev,
 385                                struct iio_chan_spec const *chan,
 386                                int val,
 387                                int val2,
 388                                long mask)
 389 {
 390         int bits;
 391         s16 val16;
 392         u8 addr;
 393         switch (mask) {
 394         case (1 << IIO_CHAN_INFO_CALIBBIAS_SEPARATE):
 395                 switch (chan->type) {
 396                 case IIO_ACCEL:
 397                         bits = 12;
 398                         break;
 399                 case IIO_INCLI:
 400                         bits = 9;
 401                         break;
 402                 default:
 403                         return -EINVAL;
 404                 };
 405                 val16 = val & ((1 << bits) - 1);
 406                 addr = adis16201_addresses[chan->address][1];
 407                 return adis16201_spi_write_reg_16(indio_dev, addr, val16);
 408         }
 409         return -EINVAL;
 410 }
 411
 412 static struct iio_chan_spec adis16201_channels[] = {
 413         IIO_CHAN(IIO_IN, 0, 1, 0, "supply", 0, 0,
 414                  (1 << IIO_CHAN_INFO_SCALE_SEPARATE),
 415                  in_supply, ADIS16201_SCAN_SUPPLY,
 416                  IIO_ST('u', 12, 16, 0), 0),
 417         IIO_CHAN(IIO_TEMP, 0, 1, 0, NULL, 0, 0,
 418                  (1 << IIO_CHAN_INFO_SCALE_SEPARATE) |
 419                  (1 << IIO_CHAN_INFO_OFFSET_SEPARATE),
 420                  temp, ADIS16201_SCAN_TEMP,
 421                  IIO_ST('u', 12, 16, 0), 0),
 422         IIO_CHAN(IIO_ACCEL, 1, 0, 0, NULL, 0, IIO_MOD_X,
 423                  (1 << IIO_CHAN_INFO_SCALE_SHARED) |
 424                  (1 << IIO_CHAN_INFO_CALIBBIAS_SEPARATE),
 425                  accel_x, ADIS16201_SCAN_ACC_X,
 426                  IIO_ST('s', 14, 16, 0), 0),
 427         IIO_CHAN(IIO_ACCEL, 1, 0, 0, NULL, 0, IIO_MOD_Y,
 428                  (1 << IIO_CHAN_INFO_SCALE_SHARED) |
 429                  (1 << IIO_CHAN_INFO_CALIBBIAS_SEPARATE),
 430                  accel_y, ADIS16201_SCAN_ACC_Y,
 431                  IIO_ST('s', 14, 16, 0), 0),
 432         IIO_CHAN(IIO_IN, 0, 1, 0, NULL, 1, 0,
 433                  (1 << IIO_CHAN_INFO_SCALE_SEPARATE),
 434                  in_aux, ADIS16201_SCAN_AUX_ADC,
 435                  IIO_ST('u', 12, 16, 0), 0),
 436         IIO_CHAN(IIO_INCLI, 1, 0, 0, NULL, 0, IIO_MOD_X,
 437                  (1 << IIO_CHAN_INFO_SCALE_SHARED) |
 438                  (1 << IIO_CHAN_INFO_CALIBBIAS_SEPARATE),
 439                  incli_x, ADIS16201_SCAN_INCLI_X,
 440                  IIO_ST('s', 14, 16, 0), 0),
 441         IIO_CHAN(IIO_INCLI, 1, 0, 0, NULL, 0, IIO_MOD_Y,
 442                  (1 << IIO_CHAN_INFO_SCALE_SHARED) |
 443                  (1 << IIO_CHAN_INFO_CALIBBIAS_SEPARATE),
 444                  incli_y, ADIS16201_SCAN_INCLI_Y,
 445                  IIO_ST('s', 14, 16, 0), 0),
 446         IIO_CHAN_SOFT_TIMESTAMP(7)
 447 };
 448
 449 static IIO_DEVICE_ATTR(reset, S_IWUSR, NULL, adis16201_write_reset, 0);
 450
 451 static struct attribute *adis16201_attributes[] = {
 452         &iio_dev_attr_reset.dev_attr.attr,
 453         NULL
 454 };
 455
 456 static const struct attribute_group adis16201_attribute_group = {
 457         .attrs = adis16201_attributes,
 458 };
 459
 460 static const struct iio_info adis16201_info = {
 461         .attrs = &adis16201_attribute_group,
 462         .read_raw = &adis16201_read_raw,
 463         .write_raw = &adis16201_write_raw,
 464         .driver_module = THIS_MODULE,
 465 };
 466
 467 static int __devinit adis16201_probe(struct spi_device *spi)
 468 {
 469         int ret, regdone = 0;
 470         struct adis16201_state *st;
 471         struct iio_dev *indio_dev;
 472
 473         /* setup the industrialio driver allocated elements */
 474         indio_dev = iio_allocate_device(sizeof(*st));
 475         if (indio_dev == NULL) {
 476                 ret = -ENOMEM;
 477                 goto error_ret;
 478         }
 479         st = iio_priv(indio_dev);
 480         /* this is only used for removal purposes */
 481         spi_set_drvdata(spi, indio_dev);
 482
 483         st->us = spi;
 484         mutex_init(&st->buf_lock);
 485
 486         indio_dev->name = spi->dev.driver->name;
 487         indio_dev->dev.parent = &spi->dev;
 488         indio_dev->info = &adis16201_info;
 489
 490         indio_dev->channels = adis16201_channels;
 491         indio_dev->num_channels = ARRAY_SIZE(adis16201_channels);
 492         indio_dev->modes = INDIO_DIRECT_MODE;
 493
 494         ret = adis16201_configure_ring(indio_dev);
 495         if (ret)
 496                 goto error_free_dev;
 497
 498         ret = iio_device_register(indio_dev);
 499         if (ret)
 500                 goto error_unreg_ring_funcs;
 501         regdone = 1;
 502
 503         ret = iio_ring_buffer_register_ex(indio_dev->ring, 0,
 504                                           adis16201_channels,
 505                                           ARRAY_SIZE(adis16201_channels));
 506         if (ret) {
 507                 printk(KERN_ERR "failed to initialize the ring\n");
 508                 goto error_unreg_ring_funcs;
 509         }
 510
 511         if (spi->irq) {
 512                 ret = adis16201_probe_trigger(indio_dev);
 513                 if (ret)
 514                         goto error_uninitialize_ring;
 515         }
 516
 517         /* Get the device into a sane initial state */
 518         ret = adis16201_initial_setup(indio_dev);
 519         if (ret)
 520                 goto error_remove_trigger;
 521         return 0;
 522
 523 error_remove_trigger:
 524         adis16201_remove_trigger(indio_dev);
 525 error_uninitialize_ring:
 526         iio_ring_buffer_unregister(indio_dev->ring);
 527 error_unreg_ring_funcs:
 528         adis16201_unconfigure_ring(indio_dev);
 529 error_free_dev:
 530         if (regdone)
 531                 iio_device_unregister(indio_dev);
 532         else
 533                 iio_free_device(indio_dev);
 534 error_ret:
 535         return ret;
 536 }
 537
 538 static int adis16201_remove(struct spi_device *spi)
 539 {
 540         struct iio_dev *indio_dev = spi_get_drvdata(spi);
 541
 542         adis16201_remove_trigger(indio_dev);
 543         iio_ring_buffer_unregister(indio_dev->ring);
 544         iio_device_unregister(indio_dev);
 545         adis16201_unconfigure_ring(indio_dev);
 546
 547         return 0;
 548 }
 549
 550 static struct spi_driver adis16201_driver = {
 551         .driver = {
 552                 .name = "adis16201",
 553                 .owner = THIS_MODULE,
 554         },
 555         .probe = adis16201_probe,
 556         .remove = __devexit_p(adis16201_remove),
 557 };
 558
 559 static __init int adis16201_init(void)
 560 {
 561         return spi_register_driver(&adis16201_driver);
 562 }
 563 module_init(adis16201_init);
 564
 565 static __exit void adis16201_exit(void)
 566 {
 567         spi_unregister_driver(&adis16201_driver);
 568 }
 569 module_exit(adis16201_exit);
 570
 571 MODULE_AUTHOR("Barry Song <21cnbao@gmail.com>");
 572 MODULE_DESCRIPTION("Analog Devices ADIS16201 Programmable Digital Vibration Sensor driver");
 573 MODULE_LICENSE("GPL v2");