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 #define DRIVER_NAME             "adis16201"
  28
  29 enum adis16201_chan {
  30         in_supply,
  31         temp,
  32         accel_x,
  33         accel_y,
  34         incli_x,
  35         incli_y,
  36         in_aux,
  37 };
  38
  39 /**
  40  * adis16201_spi_write_reg_8() - write single byte to a register
  41  * @dev: device associated with child of actual device (iio_dev or iio_trig)
  42  * @reg_address: the address of the register to be written
  43  * @val: the value to write
  44  **/
  45 static int adis16201_spi_write_reg_8(struct device *dev,
  46                 u8 reg_address,
  47                 u8 val)
  48 {
  49         int ret;
  50         struct iio_dev *indio_dev = dev_get_drvdata(dev);
  51         struct adis16201_state *st = iio_dev_get_devdata(indio_dev);
  52
  53         mutex_lock(&st->buf_lock);
  54         st->tx[0] = ADIS16201_WRITE_REG(reg_address);
  55         st->tx[1] = val;
  56
  57         ret = spi_write(st->us, st->tx, 2);
  58         mutex_unlock(&st->buf_lock);
  59
  60         return ret;
  61 }
  62
  63 /**
  64  * adis16201_spi_write_reg_16() - write 2 bytes to a pair of registers
  65  * @indio_dev: iio device associated with child of actual device
  66  * @reg_address: the address of the lower of the two registers. Second register
  67  *               is assumed to have address one greater.
  68  * @val: value to be written
  69  **/
  70 static int adis16201_spi_write_reg_16(struct iio_dev *indio_dev,
  71                                       u8 lower_reg_address,
  72                                       u16 value)
  73 {
  74         int ret;
  75         struct spi_message msg;
  76         struct adis16201_state *st = iio_dev_get_devdata(indio_dev);
  77         struct spi_transfer xfers[] = {
  78                 {
  79                         .tx_buf = st->tx,
  80                         .bits_per_word = 8,
  81                         .len = 2,
  82                         .cs_change = 1,
  83                 }, {
  84                         .tx_buf = st->tx + 2,
  85                         .bits_per_word = 8,
  86                         .len = 2,
  87                 },
  88         };
  89
  90         mutex_lock(&st->buf_lock);
  91         st->tx[0] = ADIS16201_WRITE_REG(lower_reg_address);
  92         st->tx[1] = value & 0xFF;
  93         st->tx[2] = ADIS16201_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  * adis16201_spi_read_reg_16() - read 2 bytes from a 16-bit register
 107  * @indio_dev: iio device associated with child of actual device
 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 adis16201_spi_read_reg_16(struct iio_dev *indio_dev,
 113                 u8 lower_reg_address,
 114                 u16 *val)
 115 {
 116         struct spi_message msg;
 117         struct adis16201_state *st = iio_dev_get_devdata(indio_dev);
 118         int ret;
 119         struct spi_transfer xfers[] = {
 120                 {
 121                         .tx_buf = st->tx,
 122                         .bits_per_word = 8,
 123                         .len = 2,
 124                         .cs_change = 1,
 125                         .delay_usecs = 20,
 126                 }, {
 127                         .rx_buf = st->rx,
 128                         .bits_per_word = 8,
 129                         .len = 2,
 130                         .delay_usecs = 20,
 131                 },
 132         };
 133
 134         mutex_lock(&st->buf_lock);
 135         st->tx[0] = ADIS16201_READ_REG(lower_reg_address);
 136         st->tx[1] = 0;
 137
 138         spi_message_init(&msg);
 139         spi_message_add_tail(&xfers[0], &msg);
 140         spi_message_add_tail(&xfers[1], &msg);
 141         ret = spi_sync(st->us, &msg);
 142         if (ret) {
 143                 dev_err(&st->us->dev, "problem when reading 16 bit register 0x%02X",
 144                                 lower_reg_address);
 145                 goto error_ret;
 146         }
 147         *val = (st->rx[0] << 8) | st->rx[1];
 148
 149 error_ret:
 150         mutex_unlock(&st->buf_lock);
 151         return ret;
 152 }
 153
 154 static int adis16201_reset(struct device *dev)
 155 {
 156         int ret;
 157         ret = adis16201_spi_write_reg_8(dev,
 158                         ADIS16201_GLOB_CMD,
 159                         ADIS16201_GLOB_CMD_SW_RESET);
 160         if (ret)
 161                 dev_err(dev, "problem resetting device");
 162
 163         return ret;
 164 }
 165
 166 static ssize_t adis16201_write_reset(struct device *dev,
 167                 struct device_attribute *attr,
 168                 const char *buf, size_t len)
 169 {
 170         if (len < 1)
 171                 return -EINVAL;
 172         switch (buf[0]) {
 173         case '1':
 174         case 'y':
 175         case 'Y':
 176                 return adis16201_reset(dev);
 177         }
 178         return -EINVAL;
 179 }
 180
 181 int adis16201_set_irq(struct iio_dev *indio_dev, bool enable)
 182 {
 183         int ret = 0;
 184         u16 msc;
 185
 186         ret = adis16201_spi_read_reg_16(indio_dev, ADIS16201_MSC_CTRL, &msc);
 187         if (ret)
 188                 goto error_ret;
 189
 190         msc |= ADIS16201_MSC_CTRL_ACTIVE_HIGH;
 191         msc &= ~ADIS16201_MSC_CTRL_DATA_RDY_DIO1;
 192         if (enable)
 193                 msc |= ADIS16201_MSC_CTRL_DATA_RDY_EN;
 194         else
 195                 msc &= ~ADIS16201_MSC_CTRL_DATA_RDY_EN;
 196
 197         ret = adis16201_spi_write_reg_16(indio_dev, ADIS16201_MSC_CTRL, msc);
 198
 199 error_ret:
 200         return ret;
 201 }
 202
 203 static int adis16201_check_status(struct iio_dev *indio_dev)
 204 {
 205         u16 status;
 206         int ret;
 207
 208         ret = adis16201_spi_read_reg_16(indio_dev,
 209                                         ADIS16201_DIAG_STAT, &status);
 210         if (ret < 0) {
 211                 dev_err(&indio_dev->dev, "Reading status failed\n");
 212                 goto error_ret;
 213         }
 214         ret = status & 0xF;
 215         if (ret)
 216                 ret = -EFAULT;
 217
 218         if (status & ADIS16201_DIAG_STAT_SPI_FAIL)
 219                 dev_err(&indio_dev->dev, "SPI failure\n");
 220         if (status & ADIS16201_DIAG_STAT_FLASH_UPT)
 221                 dev_err(&indio_dev->dev, "Flash update failed\n");
 222         if (status & ADIS16201_DIAG_STAT_POWER_HIGH)
 223                 dev_err(&indio_dev->dev, "Power supply above 3.625V\n");
 224         if (status & ADIS16201_DIAG_STAT_POWER_LOW)
 225                 dev_err(&indio_dev->dev, "Power supply below 3.15V\n");
 226
 227 error_ret:
 228         return ret;
 229 }
 230
 231 static int adis16201_self_test(struct iio_dev *indio_dev)
 232 {
 233         int ret;
 234         ret = adis16201_spi_write_reg_16(indio_dev,
 235                         ADIS16201_MSC_CTRL,
 236                         ADIS16201_MSC_CTRL_SELF_TEST_EN);
 237         if (ret) {
 238                 dev_err(&indio_dev->dev, "problem starting self test");
 239                 goto err_ret;
 240         }
 241
 242         ret = adis16201_check_status(indio_dev);
 243
 244 err_ret:
 245         return ret;
 246 }
 247
 248 static int adis16201_initial_setup(struct adis16201_state *st)
 249 {
 250         int ret;
 251         struct device *dev = &st->indio_dev->dev;
 252
 253         /* Disable IRQ */
 254         ret = adis16201_set_irq(st->indio_dev, false);
 255         if (ret) {
 256                 dev_err(dev, "disable irq failed");
 257                 goto err_ret;
 258         }
 259
 260         /* Do self test */
 261         ret = adis16201_self_test(st->indio_dev);
 262         if (ret) {
 263                 dev_err(dev, "self test failure");
 264                 goto err_ret;
 265         }
 266
 267         /* Read status register to check the result */
 268         ret = adis16201_check_status(st->indio_dev);
 269         if (ret) {
 270                 adis16201_reset(dev);
 271                 dev_err(dev, "device not playing ball -> reset");
 272                 msleep(ADIS16201_STARTUP_DELAY);
 273                 ret = adis16201_check_status(st->indio_dev);
 274                 if (ret) {
 275                         dev_err(dev, "giving up");
 276                         goto err_ret;
 277                 }
 278         }
 279
 280         printk(KERN_INFO DRIVER_NAME ": at CS%d (irq %d)\n",
 281                         st->us->chip_select, st->us->irq);
 282
 283 err_ret:
 284         return ret;
 285 }
 286
 287 static u8 adis16201_addresses[7][2] = {
 288         [in_supply] = { ADIS16201_SUPPLY_OUT, },
 289         [temp] = { ADIS16201_TEMP_OUT },
 290         [accel_x] = { ADIS16201_XACCL_OUT, ADIS16201_XACCL_OFFS },
 291         [accel_y] = { ADIS16201_YACCL_OUT, ADIS16201_YACCL_OFFS },
 292         [in_aux] = { ADIS16201_AUX_ADC },
 293         [incli_x] = { ADIS16201_XINCL_OUT },
 294         [incli_y] = { ADIS16201_YINCL_OUT },
 295 };
 296
 297 static int adis16201_read_raw(struct iio_dev *indio_dev,
 298                               struct iio_chan_spec const *chan,
 299                               int *val, int *val2,
 300                               long mask)
 301 {
 302         int ret;
 303         int bits;
 304         u8 addr;
 305         s16 val16;
 306
 307         switch (mask) {
 308         case 0:
 309                 mutex_lock(&indio_dev->mlock);
 310                 addr = adis16201_addresses[chan->address][0];
 311                 ret = adis16201_spi_read_reg_16(indio_dev, addr, &val16);
 312                 if (ret)
 313                         return ret;
 314
 315                 if (val16 & ADIS16201_ERROR_ACTIVE) {
 316                         ret = adis16201_check_status(indio_dev);
 317                         if (ret)
 318                                 return ret;
 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 = kzalloc(sizeof *st, GFP_KERNEL);
 471         if (!st) {
 472                 ret =  -ENOMEM;
 473                 goto error_ret;
 474         }
 475         /* this is only used for removal purposes */
 476         spi_set_drvdata(spi, st);
 477
 478         /* Allocate the comms buffers */
 479         st->rx = kzalloc(sizeof(*st->rx)*ADIS16201_MAX_RX, GFP_KERNEL);
 480         if (st->rx == NULL) {
 481                 ret = -ENOMEM;
 482                 goto error_free_st;
 483         }
 484         st->tx = kzalloc(sizeof(*st->tx)*ADIS16201_MAX_TX, GFP_KERNEL);
 485         if (st->tx == NULL) {
 486                 ret = -ENOMEM;
 487                 goto error_free_rx;
 488         }
 489         st->us = spi;
 490         mutex_init(&st->buf_lock);
 491         /* setup the industrialio driver allocated elements */
 492         st->indio_dev = iio_allocate_device(0);
 493         if (st->indio_dev == NULL) {
 494                 ret = -ENOMEM;
 495                 goto error_free_tx;
 496         }
 497
 498         st->indio_dev->name = spi->dev.driver->name;
 499         st->indio_dev->dev.parent = &spi->dev;
 500         st->indio_dev->info = &adis16201_info;
 501
 502         st->indio_dev->channels = adis16201_channels;
 503         st->indio_dev->num_channels = ARRAY_SIZE(adis16201_channels);
 504         st->indio_dev->dev_data = (void *)(st);
 505         st->indio_dev->modes = INDIO_DIRECT_MODE;
 506
 507         ret = adis16201_configure_ring(st->indio_dev);
 508         if (ret)
 509                 goto error_free_dev;
 510
 511         ret = iio_device_register(st->indio_dev);
 512         if (ret)
 513                 goto error_unreg_ring_funcs;
 514         regdone = 1;
 515
 516         ret = iio_ring_buffer_register_ex(st->indio_dev->ring, 0,
 517                                           adis16201_channels,
 518                                           ARRAY_SIZE(adis16201_channels));
 519         if (ret) {
 520                 printk(KERN_ERR "failed to initialize the ring\n");
 521                 goto error_unreg_ring_funcs;
 522         }
 523
 524         if (spi->irq) {
 525                 ret = adis16201_probe_trigger(st->indio_dev);
 526                 if (ret)
 527                         goto error_uninitialize_ring;
 528         }
 529
 530         /* Get the device into a sane initial state */
 531         ret = adis16201_initial_setup(st);
 532         if (ret)
 533                 goto error_remove_trigger;
 534         return 0;
 535
 536 error_remove_trigger:
 537         adis16201_remove_trigger(st->indio_dev);
 538 error_uninitialize_ring:
 539         iio_ring_buffer_unregister(st->indio_dev->ring);
 540 error_unreg_ring_funcs:
 541         adis16201_unconfigure_ring(st->indio_dev);
 542 error_free_dev:
 543         if (regdone)
 544                 iio_device_unregister(st->indio_dev);
 545         else
 546                 iio_free_device(st->indio_dev);
 547 error_free_tx:
 548         kfree(st->tx);
 549 error_free_rx:
 550         kfree(st->rx);
 551 error_free_st:
 552         kfree(st);
 553 error_ret:
 554         return ret;
 555 }
 556
 557 static int adis16201_remove(struct spi_device *spi)
 558 {
 559         struct adis16201_state *st = spi_get_drvdata(spi);
 560         struct iio_dev *indio_dev = st->indio_dev;
 561
 562         adis16201_remove_trigger(indio_dev);
 563         iio_ring_buffer_unregister(indio_dev->ring);
 564         iio_device_unregister(indio_dev);
 565         adis16201_unconfigure_ring(indio_dev);
 566         kfree(st->tx);
 567         kfree(st->rx);
 568         kfree(st);
 569
 570         return 0;
 571 }
 572
 573 static struct spi_driver adis16201_driver = {
 574         .driver = {
 575                 .name = "adis16201",
 576                 .owner = THIS_MODULE,
 577         },
 578         .probe = adis16201_probe,
 579         .remove = __devexit_p(adis16201_remove),
 580 };
 581
 582 static __init int adis16201_init(void)
 583 {
 584         return spi_register_driver(&adis16201_driver);
 585 }
 586 module_init(adis16201_init);
 587
 588 static __exit void adis16201_exit(void)
 589 {
 590         spi_unregister_driver(&adis16201_driver);
 591 }
 592 module_exit(adis16201_exit);
 593
 594 MODULE_AUTHOR("Barry Song <21cnbao@gmail.com>");
 595 MODULE_DESCRIPTION("Analog Devices ADIS16201 Programmable Digital Vibration Sensor driver");
 596 MODULE_LICENSE("GPL v2");