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 #include <linux/module.h>
  17
  18 #include "../iio.h"
  19 #include "../sysfs.h"
  20 #include "../ring_generic.h"
  21
  22 #include "adis16201.h"
  23
  24 enum adis16201_chan {
  25         in_supply,
  26         temp,
  27         accel_x,
  28         accel_y,
  29         incli_x,
  30         incli_y,
  31         in_aux,
  32 };
  33
  34 /**
  35  * adis16201_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
  39  **/
  40 static int adis16201_spi_write_reg_8(struct iio_dev *indio_dev,
  41                 u8 reg_address,
  42                 u8 val)
  43 {
  44         int ret;
  45         struct adis16201_state *st = iio_priv(indio_dev);
  46
  47         mutex_lock(&st->buf_lock);
  48         st->tx[0] = ADIS16201_WRITE_REG(reg_address);
  49         st->tx[1] = val;
  50
  51         ret = spi_write(st->us, st->tx, 2);
  52         mutex_unlock(&st->buf_lock);
  53
  54         return ret;
  55 }
  56
  57 /**
  58  * adis16201_spi_write_reg_16() - write 2 bytes to a pair of registers
  59  * @indio_dev: iio device associated with child of actual device
  60  * @reg_address: the address of the lower of the two registers. Second register
  61  *               is assumed to have address one greater.
  62  * @val: value to be written
  63  **/
  64 static int adis16201_spi_write_reg_16(struct iio_dev *indio_dev,
  65                                       u8 lower_reg_address,
  66                                       u16 value)
  67 {
  68         int ret;
  69         struct spi_message msg;
  70         struct adis16201_state *st = iio_priv(indio_dev);
  71         struct spi_transfer xfers[] = {
  72                 {
  73                         .tx_buf = st->tx,
  74                         .bits_per_word = 8,
  75                         .len = 2,
  76                         .cs_change = 1,
  77                 }, {
  78                         .tx_buf = st->tx + 2,
  79                         .bits_per_word = 8,
  80                         .len = 2,
  81                 },
  82         };
  83
  84         mutex_lock(&st->buf_lock);
  85         st->tx[0] = ADIS16201_WRITE_REG(lower_reg_address);
  86         st->tx[1] = value & 0xFF;
  87         st->tx[2] = ADIS16201_WRITE_REG(lower_reg_address + 1);
  88         st->tx[3] = (value >> 8) & 0xFF;
  89
  90         spi_message_init(&msg);
  91         spi_message_add_tail(&xfers[0], &msg);
  92         spi_message_add_tail(&xfers[1], &msg);
  93         ret = spi_sync(st->us, &msg);
  94         mutex_unlock(&st->buf_lock);
  95
  96         return ret;
  97 }
  98
  99 /**
 100  * adis16201_spi_read_reg_16() - read 2 bytes from a 16-bit register
 101  * @indio_dev: iio device associated with child of actual device
 102  * @reg_address: the address of the lower of the two registers. Second register
 103  *               is assumed to have address one greater.
 104  * @val: somewhere to pass back the value read
 105  **/
 106 static int adis16201_spi_read_reg_16(struct iio_dev *indio_dev,
 107                 u8 lower_reg_address,
 108                 u16 *val)
 109 {
 110         struct spi_message msg;
 111         struct adis16201_state *st = iio_priv(indio_dev);
 112         int ret;
 113         struct spi_transfer xfers[] = {
 114                 {
 115                         .tx_buf = st->tx,
 116                         .bits_per_word = 8,
 117                         .len = 2,
 118                         .cs_change = 1,
 119                         .delay_usecs = 20,
 120                 }, {
 121                         .rx_buf = st->rx,
 122                         .bits_per_word = 8,
 123                         .len = 2,
 124                         .delay_usecs = 20,
 125                 },
 126         };
 127
 128         mutex_lock(&st->buf_lock);
 129         st->tx[0] = ADIS16201_READ_REG(lower_reg_address);
 130         st->tx[1] = 0;
 131
 132         spi_message_init(&msg);
 133         spi_message_add_tail(&xfers[0], &msg);
 134         spi_message_add_tail(&xfers[1], &msg);
 135         ret = spi_sync(st->us, &msg);
 136         if (ret) {
 137                 dev_err(&st->us->dev, "problem when reading 16 bit register 0x%02X",
 138                                 lower_reg_address);
 139                 goto error_ret;
 140         }
 141         *val = (st->rx[0] << 8) | st->rx[1];
 142
 143 error_ret:
 144         mutex_unlock(&st->buf_lock);
 145         return ret;
 146 }
 147
 148 static int adis16201_reset(struct iio_dev *indio_dev)
 149 {
 150         int ret;
 151         struct adis16201_state *st = iio_priv(indio_dev);
 152
 153         ret = adis16201_spi_write_reg_8(indio_dev,
 154                         ADIS16201_GLOB_CMD,
 155                         ADIS16201_GLOB_CMD_SW_RESET);
 156         if (ret)
 157                 dev_err(&st->us->dev, "problem resetting device");
 158
 159         return ret;
 160 }
 161
 162 static ssize_t adis16201_write_reset(struct device *dev,
 163                 struct device_attribute *attr,
 164                 const char *buf, size_t len)
 165 {
 166         int ret;
 167         bool res;
 168
 169         if (len < 1)
 170                 return -EINVAL;
 171         ret = strtobool(buf, &res);
 172         if (ret || !res)
 173                 return ret;
 174         return adis16201_reset(dev_get_drvdata(dev));
 175 }
 176
 177 int adis16201_set_irq(struct iio_dev *indio_dev, bool enable)
 178 {
 179         int ret = 0;
 180         u16 msc;
 181
 182         ret = adis16201_spi_read_reg_16(indio_dev, ADIS16201_MSC_CTRL, &msc);
 183         if (ret)
 184                 goto error_ret;
 185
 186         msc |= ADIS16201_MSC_CTRL_ACTIVE_HIGH;
 187         msc &= ~ADIS16201_MSC_CTRL_DATA_RDY_DIO1;
 188         if (enable)
 189                 msc |= ADIS16201_MSC_CTRL_DATA_RDY_EN;
 190         else
 191                 msc &= ~ADIS16201_MSC_CTRL_DATA_RDY_EN;
 192
 193         ret = adis16201_spi_write_reg_16(indio_dev, ADIS16201_MSC_CTRL, msc);
 194
 195 error_ret:
 196         return ret;
 197 }
 198
 199 static int adis16201_check_status(struct iio_dev *indio_dev)
 200 {
 201         u16 status;
 202         int ret;
 203
 204         ret = adis16201_spi_read_reg_16(indio_dev,
 205                                         ADIS16201_DIAG_STAT, &status);
 206         if (ret < 0) {
 207                 dev_err(&indio_dev->dev, "Reading status failed\n");
 208                 goto error_ret;
 209         }
 210         ret = status & 0xF;
 211         if (ret)
 212                 ret = -EFAULT;
 213
 214         if (status & ADIS16201_DIAG_STAT_SPI_FAIL)
 215                 dev_err(&indio_dev->dev, "SPI failure\n");
 216         if (status & ADIS16201_DIAG_STAT_FLASH_UPT)
 217                 dev_err(&indio_dev->dev, "Flash update failed\n");
 218         if (status & ADIS16201_DIAG_STAT_POWER_HIGH)
 219                 dev_err(&indio_dev->dev, "Power supply above 3.625V\n");
 220         if (status & ADIS16201_DIAG_STAT_POWER_LOW)
 221                 dev_err(&indio_dev->dev, "Power supply below 3.15V\n");
 222
 223 error_ret:
 224         return ret;
 225 }
 226
 227 static int adis16201_self_test(struct iio_dev *indio_dev)
 228 {
 229         int ret;
 230         ret = adis16201_spi_write_reg_16(indio_dev,
 231                         ADIS16201_MSC_CTRL,
 232                         ADIS16201_MSC_CTRL_SELF_TEST_EN);
 233         if (ret) {
 234                 dev_err(&indio_dev->dev, "problem starting self test");
 235                 goto err_ret;
 236         }
 237
 238         ret = adis16201_check_status(indio_dev);
 239
 240 err_ret:
 241         return ret;
 242 }
 243
 244 static int adis16201_initial_setup(struct iio_dev *indio_dev)
 245 {
 246         int ret;
 247         struct device *dev = &indio_dev->dev;
 248
 249         /* Disable IRQ */
 250         ret = adis16201_set_irq(indio_dev, false);
 251         if (ret) {
 252                 dev_err(dev, "disable irq failed");
 253                 goto err_ret;
 254         }
 255
 256         /* Do self test */
 257         ret = adis16201_self_test(indio_dev);
 258         if (ret) {
 259                 dev_err(dev, "self test failure");
 260                 goto err_ret;
 261         }
 262
 263         /* Read status register to check the result */
 264         ret = adis16201_check_status(indio_dev);
 265         if (ret) {
 266                 adis16201_reset(indio_dev);
 267                 dev_err(dev, "device not playing ball -> reset");
 268                 msleep(ADIS16201_STARTUP_DELAY);
 269                 ret = adis16201_check_status(indio_dev);
 270                 if (ret) {
 271                         dev_err(dev, "giving up");
 272                         goto err_ret;
 273                 }
 274         }
 275
 276 err_ret:
 277         return ret;
 278 }
 279
 280 static u8 adis16201_addresses[7][2] = {
 281         [in_supply] = { ADIS16201_SUPPLY_OUT, },
 282         [temp] = { ADIS16201_TEMP_OUT },
 283         [accel_x] = { ADIS16201_XACCL_OUT, ADIS16201_XACCL_OFFS },
 284         [accel_y] = { ADIS16201_YACCL_OUT, ADIS16201_YACCL_OFFS },
 285         [in_aux] = { ADIS16201_AUX_ADC },
 286         [incli_x] = { ADIS16201_XINCL_OUT },
 287         [incli_y] = { ADIS16201_YINCL_OUT },
 288 };
 289
 290 static int adis16201_read_raw(struct iio_dev *indio_dev,
 291                               struct iio_chan_spec const *chan,
 292                               int *val, int *val2,
 293                               long mask)
 294 {
 295         int ret;
 296         int bits;
 297         u8 addr;
 298         s16 val16;
 299
 300         switch (mask) {
 301         case 0:
 302                 mutex_lock(&indio_dev->mlock);
 303                 addr = adis16201_addresses[chan->address][0];
 304                 ret = adis16201_spi_read_reg_16(indio_dev, addr, &val16);
 305                 if (ret) {
 306                         mutex_unlock(&indio_dev->mlock);
 307                         return ret;
 308                 }
 309
 310                 if (val16 & ADIS16201_ERROR_ACTIVE) {
 311                         ret = adis16201_check_status(indio_dev);
 312                         if (ret) {
 313                                 mutex_unlock(&indio_dev->mlock);
 314                                 return ret;
 315                         }
 316                 }
 317                 val16 = val16 & ((1 << chan->scan_type.realbits) - 1);
 318                 if (chan->scan_type.sign == 's')
 319                         val16 = (s16)(val16 <<
 320                                       (16 - chan->scan_type.realbits)) >>
 321                                 (16 - chan->scan_type.realbits);
 322                 *val = val16;
 323                 mutex_unlock(&indio_dev->mlock);
 324                 return IIO_VAL_INT;
 325         case (1 << IIO_CHAN_INFO_SCALE_SEPARATE):
 326         case (1 << IIO_CHAN_INFO_SCALE_SHARED):
 327                 switch (chan->type) {
 328                 case IIO_IN:
 329                         *val = 0;
 330                         if (chan->channel == 0)
 331                                 *val2 = 1220;
 332                         else
 333                                 *val2 = 610;
 334                         return IIO_VAL_INT_PLUS_MICRO;
 335                 case IIO_TEMP:
 336                         *val = 0;
 337                         *val2 = -470000;
 338                         return IIO_VAL_INT_PLUS_MICRO;
 339                 case IIO_ACCEL:
 340                         *val = 0;
 341                         *val2 = 462500;
 342                         return IIO_VAL_INT_PLUS_MICRO;
 343                 case IIO_INCLI:
 344                         *val = 0;
 345                         *val2 = 100000;
 346                         return IIO_VAL_INT_PLUS_MICRO;
 347                 default:
 348                         return -EINVAL;
 349                 }
 350                 break;
 351         case (1 << IIO_CHAN_INFO_OFFSET_SEPARATE):
 352                 *val = 25;
 353                 return IIO_VAL_INT;
 354         case (1 << IIO_CHAN_INFO_CALIBBIAS_SEPARATE):
 355                 switch (chan->type) {
 356                 case IIO_ACCEL:
 357                         bits = 12;
 358                         break;
 359                 case IIO_INCLI:
 360                         bits = 9;
 361                         break;
 362                 default:
 363                         return -EINVAL;
 364                 };
 365                 mutex_lock(&indio_dev->mlock);
 366                 addr = adis16201_addresses[chan->address][1];
 367                 ret = adis16201_spi_read_reg_16(indio_dev, addr, &val16);
 368                 if (ret) {
 369                         mutex_unlock(&indio_dev->mlock);
 370                         return ret;
 371                 }
 372                 val16 &= (1 << bits) - 1;
 373                 val16 = (s16)(val16 << (16 - bits)) >> (16 - bits);
 374                 *val = val16;
 375                 mutex_unlock(&indio_dev->mlock);
 376                 return IIO_VAL_INT;
 377         }
 378         return -EINVAL;
 379 }
 380
 381 static int adis16201_write_raw(struct iio_dev *indio_dev,
 382                                struct iio_chan_spec const *chan,
 383                                int val,
 384                                int val2,
 385                                long mask)
 386 {
 387         int bits;
 388         s16 val16;
 389         u8 addr;
 390         switch (mask) {
 391         case (1 << IIO_CHAN_INFO_CALIBBIAS_SEPARATE):
 392                 switch (chan->type) {
 393                 case IIO_ACCEL:
 394                         bits = 12;
 395                         break;
 396                 case IIO_INCLI:
 397                         bits = 9;
 398                         break;
 399                 default:
 400                         return -EINVAL;
 401                 };
 402                 val16 = val & ((1 << bits) - 1);
 403                 addr = adis16201_addresses[chan->address][1];
 404                 return adis16201_spi_write_reg_16(indio_dev, addr, val16);
 405         }
 406         return -EINVAL;
 407 }
 408
 409 static struct iio_chan_spec adis16201_channels[] = {
 410         IIO_CHAN(IIO_IN, 0, 1, 0, "supply", 0, 0,
 411                  (1 << IIO_CHAN_INFO_SCALE_SEPARATE),
 412                  in_supply, ADIS16201_SCAN_SUPPLY,
 413                  IIO_ST('u', 12, 16, 0), 0),
 414         IIO_CHAN(IIO_TEMP, 0, 1, 0, NULL, 0, 0,
 415                  (1 << IIO_CHAN_INFO_SCALE_SEPARATE) |
 416                  (1 << IIO_CHAN_INFO_OFFSET_SEPARATE),
 417                  temp, ADIS16201_SCAN_TEMP,
 418                  IIO_ST('u', 12, 16, 0), 0),
 419         IIO_CHAN(IIO_ACCEL, 1, 0, 0, NULL, 0, IIO_MOD_X,
 420                  (1 << IIO_CHAN_INFO_SCALE_SHARED) |
 421                  (1 << IIO_CHAN_INFO_CALIBBIAS_SEPARATE),
 422                  accel_x, ADIS16201_SCAN_ACC_X,
 423                  IIO_ST('s', 14, 16, 0), 0),
 424         IIO_CHAN(IIO_ACCEL, 1, 0, 0, NULL, 0, IIO_MOD_Y,
 425                  (1 << IIO_CHAN_INFO_SCALE_SHARED) |
 426                  (1 << IIO_CHAN_INFO_CALIBBIAS_SEPARATE),
 427                  accel_y, ADIS16201_SCAN_ACC_Y,
 428                  IIO_ST('s', 14, 16, 0), 0),
 429         IIO_CHAN(IIO_IN, 0, 1, 0, NULL, 1, 0,
 430                  (1 << IIO_CHAN_INFO_SCALE_SEPARATE),
 431                  in_aux, ADIS16201_SCAN_AUX_ADC,
 432                  IIO_ST('u', 12, 16, 0), 0),
 433         IIO_CHAN(IIO_INCLI, 1, 0, 0, NULL, 0, IIO_MOD_X,
 434                  (1 << IIO_CHAN_INFO_SCALE_SHARED) |
 435                  (1 << IIO_CHAN_INFO_CALIBBIAS_SEPARATE),
 436                  incli_x, ADIS16201_SCAN_INCLI_X,
 437                  IIO_ST('s', 14, 16, 0), 0),
 438         IIO_CHAN(IIO_INCLI, 1, 0, 0, NULL, 0, IIO_MOD_Y,
 439                  (1 << IIO_CHAN_INFO_SCALE_SHARED) |
 440                  (1 << IIO_CHAN_INFO_CALIBBIAS_SEPARATE),
 441                  incli_y, ADIS16201_SCAN_INCLI_Y,
 442                  IIO_ST('s', 14, 16, 0), 0),
 443         IIO_CHAN_SOFT_TIMESTAMP(7)
 444 };
 445
 446 static IIO_DEVICE_ATTR(reset, S_IWUSR, NULL, adis16201_write_reset, 0);
 447
 448 static struct attribute *adis16201_attributes[] = {
 449         &iio_dev_attr_reset.dev_attr.attr,
 450         NULL
 451 };
 452
 453 static const struct attribute_group adis16201_attribute_group = {
 454         .attrs = adis16201_attributes,
 455 };
 456
 457 static const struct iio_info adis16201_info = {
 458         .attrs = &adis16201_attribute_group,
 459         .read_raw = &adis16201_read_raw,
 460         .write_raw = &adis16201_write_raw,
 461         .driver_module = THIS_MODULE,
 462 };
 463
 464 static int __devinit adis16201_probe(struct spi_device *spi)
 465 {
 466         int ret, regdone = 0;
 467         struct adis16201_state *st;
 468         struct iio_dev *indio_dev;
 469
 470         /* setup the industrialio driver allocated elements */
 471         indio_dev = iio_allocate_device(sizeof(*st));
 472         if (indio_dev == NULL) {
 473                 ret = -ENOMEM;
 474                 goto error_ret;
 475         }
 476         st = iio_priv(indio_dev);
 477         /* this is only used for removal purposes */
 478         spi_set_drvdata(spi, indio_dev);
 479
 480         st->us = spi;
 481         mutex_init(&st->buf_lock);
 482
 483         indio_dev->name = spi->dev.driver->name;
 484         indio_dev->dev.parent = &spi->dev;
 485         indio_dev->info = &adis16201_info;
 486
 487         indio_dev->channels = adis16201_channels;
 488         indio_dev->num_channels = ARRAY_SIZE(adis16201_channels);
 489         indio_dev->modes = INDIO_DIRECT_MODE;
 490
 491         ret = adis16201_configure_ring(indio_dev);
 492         if (ret)
 493                 goto error_free_dev;
 494
 495         ret = iio_device_register(indio_dev);
 496         if (ret)
 497                 goto error_unreg_ring_funcs;
 498         regdone = 1;
 499
 500         ret = iio_ring_buffer_register_ex(indio_dev, 0,
 501                                           adis16201_channels,
 502                                           ARRAY_SIZE(adis16201_channels));
 503         if (ret) {
 504                 printk(KERN_ERR "failed to initialize the ring\n");
 505                 goto error_unreg_ring_funcs;
 506         }
 507
 508         if (spi->irq) {
 509                 ret = adis16201_probe_trigger(indio_dev);
 510                 if (ret)
 511                         goto error_uninitialize_ring;
 512         }
 513
 514         /* Get the device into a sane initial state */
 515         ret = adis16201_initial_setup(indio_dev);
 516         if (ret)
 517                 goto error_remove_trigger;
 518         return 0;
 519
 520 error_remove_trigger:
 521         adis16201_remove_trigger(indio_dev);
 522 error_uninitialize_ring:
 523         iio_ring_buffer_unregister(indio_dev);
 524 error_unreg_ring_funcs:
 525         adis16201_unconfigure_ring(indio_dev);
 526 error_free_dev:
 527         if (regdone)
 528                 iio_device_unregister(indio_dev);
 529         else
 530                 iio_free_device(indio_dev);
 531 error_ret:
 532         return ret;
 533 }
 534
 535 static int adis16201_remove(struct spi_device *spi)
 536 {
 537         struct iio_dev *indio_dev = spi_get_drvdata(spi);
 538
 539         adis16201_remove_trigger(indio_dev);
 540         iio_ring_buffer_unregister(indio_dev);
 541         iio_device_unregister(indio_dev);
 542         adis16201_unconfigure_ring(indio_dev);
 543
 544         return 0;
 545 }
 546
 547 static struct spi_driver adis16201_driver = {
 548         .driver = {
 549                 .name = "adis16201",
 550                 .owner = THIS_MODULE,
 551         },
 552         .probe = adis16201_probe,
 553         .remove = __devexit_p(adis16201_remove),
 554 };
 555
 556 static __init int adis16201_init(void)
 557 {
 558         return spi_register_driver(&adis16201_driver);
 559 }
 560 module_init(adis16201_init);
 561
 562 static __exit void adis16201_exit(void)
 563 {
 564         spi_unregister_driver(&adis16201_driver);
 565 }
 566 module_exit(adis16201_exit);
 567
 568 MODULE_AUTHOR("Barry Song <21cnbao@gmail.com>");
 569 MODULE_DESCRIPTION("Analog Devices ADIS16201 Programmable Digital Vibration Sensor driver");
 570 MODULE_LICENSE("GPL v2");