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/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/list.h>
  17 #include <linux/module.h>
  18
  19 #include <linux/iio/iio.h>
  20 #include <linux/iio/sysfs.h>
  21 #include <linux/iio/buffer.h>
  22
  23 #include "adis16209.h"
  24
  25 #define DRIVER_NAME             "adis16209"
  26
  27 /**
  28  * adis16209_spi_write_reg_8() - write single byte to a register
  29  * @indio_dev: iio device associated with actual device
  30  * @reg_address: the address of the register to be written
  31  * @val: the value to write
  32  **/
  33 static int adis16209_spi_write_reg_8(struct iio_dev *indio_dev,
  34                                      u8 reg_address,
  35                                      u8 val)
  36 {
  37         int ret;
  38         struct adis16209_state *st = iio_priv(indio_dev);
  39
  40         mutex_lock(&st->buf_lock);
  41         st->tx[0] = ADIS16209_WRITE_REG(reg_address);
  42         st->tx[1] = val;
  43
  44         ret = spi_write(st->us, st->tx, 2);
  45         mutex_unlock(&st->buf_lock);
  46
  47         return ret;
  48 }
  49
  50 /**
  51  * adis16209_spi_write_reg_16() - write 2 bytes to a pair of registers
  52  * @indio_dev: iio device associated actual device
  53  * @reg_address: the address of the lower of the two registers. Second register
  54  *               is assumed to have address one greater.
  55  * @val: value to be written
  56  **/
  57 static int adis16209_spi_write_reg_16(struct iio_dev *indio_dev,
  58                                       u8 lower_reg_address,
  59                                       u16 value)
  60 {
  61         int ret;
  62         struct spi_message msg;
  63         struct adis16209_state *st = iio_priv(indio_dev);
  64         struct spi_transfer xfers[] = {
  65                 {
  66                         .tx_buf = st->tx,
  67                         .bits_per_word = 8,
  68                         .len = 2,
  69                         .cs_change = 1,
  70                         .delay_usecs = 30,
  71                 }, {
  72                         .tx_buf = st->tx + 2,
  73                         .bits_per_word = 8,
  74                         .len = 2,
  75                         .delay_usecs = 30,
  76                 },
  77         };
  78
  79         mutex_lock(&st->buf_lock);
  80         st->tx[0] = ADIS16209_WRITE_REG(lower_reg_address);
  81         st->tx[1] = value & 0xFF;
  82         st->tx[2] = ADIS16209_WRITE_REG(lower_reg_address + 1);
  83         st->tx[3] = (value >> 8) & 0xFF;
  84
  85         spi_message_init(&msg);
  86         spi_message_add_tail(&xfers[0], &msg);
  87         spi_message_add_tail(&xfers[1], &msg);
  88         ret = spi_sync(st->us, &msg);
  89         mutex_unlock(&st->buf_lock);
  90
  91         return ret;
  92 }
  93
  94 /**
  95  * adis16209_spi_read_reg_16() - read 2 bytes from a 16-bit register
  96  * @indio_dev: iio device associated with device
  97  * @reg_address: the address of the lower of the two registers. Second register
  98  *               is assumed to have address one greater.
  99  * @val: somewhere to pass back the value read
 100  **/
 101 static int adis16209_spi_read_reg_16(struct iio_dev *indio_dev,
 102                                      u8 lower_reg_address,
 103                                      u16 *val)
 104 {
 105         struct spi_message msg;
 106         struct adis16209_state *st = iio_priv(indio_dev);
 107         int ret;
 108         struct spi_transfer xfers[] = {
 109                 {
 110                         .tx_buf = st->tx,
 111                         .bits_per_word = 8,
 112                         .len = 2,
 113                         .cs_change = 1,
 114                         .delay_usecs = 30,
 115                 }, {
 116                         .rx_buf = st->rx,
 117                         .bits_per_word = 8,
 118                         .len = 2,
 119                         .delay_usecs = 30,
 120                 },
 121         };
 122
 123         mutex_lock(&st->buf_lock);
 124         st->tx[0] = ADIS16209_READ_REG(lower_reg_address);
 125         st->tx[1] = 0;
 126
 127         spi_message_init(&msg);
 128         spi_message_add_tail(&xfers[0], &msg);
 129         spi_message_add_tail(&xfers[1], &msg);
 130         ret = spi_sync(st->us, &msg);
 131         if (ret) {
 132                 dev_err(&st->us->dev,
 133                         "problem when reading 16 bit register 0x%02X",
 134                         lower_reg_address);
 135                 goto error_ret;
 136         }
 137         *val = (st->rx[0] << 8) | st->rx[1];
 138
 139 error_ret:
 140         mutex_unlock(&st->buf_lock);
 141         return ret;
 142 }
 143
 144 static int adis16209_reset(struct iio_dev *indio_dev)
 145 {
 146         int ret;
 147         ret = adis16209_spi_write_reg_8(indio_dev,
 148                         ADIS16209_GLOB_CMD,
 149                         ADIS16209_GLOB_CMD_SW_RESET);
 150         if (ret)
 151                 dev_err(&indio_dev->dev, "problem resetting device");
 152
 153         return ret;
 154 }
 155
 156 static ssize_t adis16209_write_reset(struct device *dev,
 157                 struct device_attribute *attr,
 158                 const char *buf, size_t len)
 159 {
 160         struct iio_dev *indio_dev = dev_get_drvdata(dev);
 161
 162         if (len < 1)
 163                 return -EINVAL;
 164         switch (buf[0]) {
 165         case '1':
 166         case 'y':
 167         case 'Y':
 168                 return adis16209_reset(indio_dev);
 169         }
 170         return -EINVAL;
 171 }
 172
 173 int adis16209_set_irq(struct iio_dev *indio_dev, bool enable)
 174 {
 175         int ret = 0;
 176         u16 msc;
 177
 178         ret = adis16209_spi_read_reg_16(indio_dev, ADIS16209_MSC_CTRL, &msc);
 179         if (ret)
 180                 goto error_ret;
 181
 182         msc |= ADIS16209_MSC_CTRL_ACTIVE_HIGH;
 183         msc &= ~ADIS16209_MSC_CTRL_DATA_RDY_DIO2;
 184         if (enable)
 185                 msc |= ADIS16209_MSC_CTRL_DATA_RDY_EN;
 186         else
 187                 msc &= ~ADIS16209_MSC_CTRL_DATA_RDY_EN;
 188
 189         ret = adis16209_spi_write_reg_16(indio_dev, ADIS16209_MSC_CTRL, msc);
 190
 191 error_ret:
 192         return ret;
 193 }
 194
 195 static int adis16209_check_status(struct iio_dev *indio_dev)
 196 {
 197         u16 status;
 198         int ret;
 199
 200         ret = adis16209_spi_read_reg_16(indio_dev,
 201                                         ADIS16209_DIAG_STAT, &status);
 202         if (ret < 0) {
 203                 dev_err(&indio_dev->dev, "Reading status failed\n");
 204                 goto error_ret;
 205         }
 206         ret = status & 0x1F;
 207
 208         if (status & ADIS16209_DIAG_STAT_SELFTEST_FAIL)
 209                 dev_err(&indio_dev->dev, "Self test failure\n");
 210         if (status & ADIS16209_DIAG_STAT_SPI_FAIL)
 211                 dev_err(&indio_dev->dev, "SPI failure\n");
 212         if (status & ADIS16209_DIAG_STAT_FLASH_UPT)
 213                 dev_err(&indio_dev->dev, "Flash update failed\n");
 214         if (status & ADIS16209_DIAG_STAT_POWER_HIGH)
 215                 dev_err(&indio_dev->dev, "Power supply above 3.625V\n");
 216         if (status & ADIS16209_DIAG_STAT_POWER_LOW)
 217                 dev_err(&indio_dev->dev, "Power supply below 3.15V\n");
 218
 219 error_ret:
 220         return ret;
 221 }
 222
 223 static int adis16209_self_test(struct iio_dev *indio_dev)
 224 {
 225         int ret;
 226         ret = adis16209_spi_write_reg_16(indio_dev,
 227                         ADIS16209_MSC_CTRL,
 228                         ADIS16209_MSC_CTRL_SELF_TEST_EN);
 229         if (ret) {
 230                 dev_err(&indio_dev->dev, "problem starting self test");
 231                 goto err_ret;
 232         }
 233
 234         adis16209_check_status(indio_dev);
 235
 236 err_ret:
 237         return ret;
 238 }
 239
 240 static int adis16209_initial_setup(struct iio_dev *indio_dev)
 241 {
 242         int ret;
 243
 244         /* Disable IRQ */
 245         ret = adis16209_set_irq(indio_dev, false);
 246         if (ret) {
 247                 dev_err(&indio_dev->dev, "disable irq failed");
 248                 goto err_ret;
 249         }
 250
 251         /* Do self test */
 252         ret = adis16209_self_test(indio_dev);
 253         if (ret) {
 254                 dev_err(&indio_dev->dev, "self test failure");
 255                 goto err_ret;
 256         }
 257
 258         /* Read status register to check the result */
 259         ret = adis16209_check_status(indio_dev);
 260         if (ret) {
 261                 adis16209_reset(indio_dev);
 262                 dev_err(&indio_dev->dev, "device not playing ball -> reset");
 263                 msleep(ADIS16209_STARTUP_DELAY);
 264                 ret = adis16209_check_status(indio_dev);
 265                 if (ret) {
 266                         dev_err(&indio_dev->dev, "giving up");
 267                         goto err_ret;
 268                 }
 269         }
 270
 271 err_ret:
 272         return ret;
 273 }
 274
 275 enum adis16209_chan {
 276         in_supply,
 277         temp,
 278         accel_x,
 279         accel_y,
 280         incli_x,
 281         incli_y,
 282         in_aux,
 283         rot,
 284 };
 285
 286 static const u8 adis16209_addresses[8][2] = {
 287         [in_supply] = { ADIS16209_SUPPLY_OUT },
 288         [in_aux] = { ADIS16209_AUX_ADC },
 289         [accel_x] = { ADIS16209_XACCL_OUT, ADIS16209_XACCL_NULL },
 290         [accel_y] = { ADIS16209_YACCL_OUT, ADIS16209_YACCL_NULL },
 291         [incli_x] = { ADIS16209_XINCL_OUT, ADIS16209_XINCL_NULL },
 292         [incli_y] = { ADIS16209_YINCL_OUT, ADIS16209_YINCL_NULL },
 293         [rot] = { ADIS16209_ROT_OUT },
 294         [temp] = { ADIS16209_TEMP_OUT },
 295 };
 296
 297 static int adis16209_write_raw(struct iio_dev *indio_dev,
 298                                struct iio_chan_spec const *chan,
 299                                int val,
 300                                int val2,
 301                                long mask)
 302 {
 303         int bits;
 304         s16 val16;
 305         u8 addr;
 306         switch (mask) {
 307         case IIO_CHAN_INFO_CALIBBIAS:
 308                 switch (chan->type) {
 309                 case IIO_ACCEL:
 310                 case IIO_INCLI:
 311                         bits = 14;
 312                         break;
 313                 default:
 314                         return -EINVAL;
 315                 };
 316                 val16 = val & ((1 << bits) - 1);
 317                 addr = adis16209_addresses[chan->address][1];
 318                 return adis16209_spi_write_reg_16(indio_dev, addr, val16);
 319         }
 320         return -EINVAL;
 321 }
 322
 323 static int adis16209_read_raw(struct iio_dev *indio_dev,
 324                               struct iio_chan_spec const *chan,
 325                               int *val, int *val2,
 326                               long mask)
 327 {
 328         int ret;
 329         int bits;
 330         u8 addr;
 331         s16 val16;
 332
 333         switch (mask) {
 334         case IIO_CHAN_INFO_RAW:
 335                 mutex_lock(&indio_dev->mlock);
 336                 addr = adis16209_addresses[chan->address][0];
 337                 ret = adis16209_spi_read_reg_16(indio_dev, addr, &val16);
 338                 if (ret) {
 339                         mutex_unlock(&indio_dev->mlock);
 340                         return ret;
 341                 }
 342
 343                 if (val16 & ADIS16209_ERROR_ACTIVE) {
 344                         ret = adis16209_check_status(indio_dev);
 345                         if (ret) {
 346                                 mutex_unlock(&indio_dev->mlock);
 347                                 return ret;
 348                         }
 349                 }
 350                 val16 = val16 & ((1 << chan->scan_type.realbits) - 1);
 351                 if (chan->scan_type.sign == 's')
 352                         val16 = (s16)(val16 <<
 353                                       (16 - chan->scan_type.realbits)) >>
 354                                 (16 - chan->scan_type.realbits);
 355                 *val = val16;
 356                 mutex_unlock(&indio_dev->mlock);
 357                 return IIO_VAL_INT;
 358         case IIO_CHAN_INFO_SCALE:
 359                 switch (chan->type) {
 360                 case IIO_VOLTAGE:
 361                         *val = 0;
 362                         if (chan->channel == 0)
 363                                 *val2 = 305180;
 364                         else
 365                                 *val2 = 610500;
 366                         return IIO_VAL_INT_PLUS_MICRO;
 367                 case IIO_TEMP:
 368                         *val = 0;
 369                         *val2 = -470000;
 370                         return IIO_VAL_INT_PLUS_MICRO;
 371                 case IIO_ACCEL:
 372                         *val = 0;
 373                         *val2 = 2394;
 374                         return IIO_VAL_INT_PLUS_MICRO;
 375                 case IIO_INCLI:
 376                         *val = 0;
 377                         *val2 = 436;
 378                         return IIO_VAL_INT_PLUS_MICRO;
 379                 default:
 380                         return -EINVAL;
 381                 }
 382                 break;
 383         case IIO_CHAN_INFO_OFFSET:
 384                 *val = 25;
 385                 return IIO_VAL_INT;
 386         case IIO_CHAN_INFO_CALIBBIAS:
 387                 switch (chan->type) {
 388                 case IIO_ACCEL:
 389                         bits = 14;
 390                         break;
 391                 default:
 392                         return -EINVAL;
 393                 };
 394                 mutex_lock(&indio_dev->mlock);
 395                 addr = adis16209_addresses[chan->address][1];
 396                 ret = adis16209_spi_read_reg_16(indio_dev, addr, &val16);
 397                 if (ret) {
 398                         mutex_unlock(&indio_dev->mlock);
 399                         return ret;
 400                 }
 401                 val16 &= (1 << bits) - 1;
 402                 val16 = (s16)(val16 << (16 - bits)) >> (16 - bits);
 403                 *val = val16;
 404                 mutex_unlock(&indio_dev->mlock);
 405                 return IIO_VAL_INT;
 406         }
 407         return -EINVAL;
 408 }
 409
 410 static struct iio_chan_spec adis16209_channels[] = {
 411         {
 412                 .type = IIO_VOLTAGE,
 413                 .indexed = 1,
 414                 .channel = 0,
 415                 .extend_name = "supply",
 416                 .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT |
 417                 IIO_CHAN_INFO_SCALE_SEPARATE_BIT,
 418                 .address = in_supply,
 419                 .scan_index = ADIS16209_SCAN_SUPPLY,
 420                 .scan_type = {
 421                         .sign = 'u',
 422                         .realbits = 14,
 423                         .storagebits = 16,
 424                 },
 425         }, {
 426                 .type = IIO_TEMP,
 427                 .indexed = 0,
 428                 .channel = 0,
 429                 .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT |
 430                 IIO_CHAN_INFO_SCALE_SEPARATE_BIT |
 431                 IIO_CHAN_INFO_OFFSET_SEPARATE_BIT,
 432                 .address = temp,
 433                 .scan_index = ADIS16209_SCAN_TEMP,
 434                 .scan_type = {
 435                         .sign = 'u',
 436                         .realbits = 12,
 437                         .storagebits = 16,
 438                 },
 439         }, {
 440                 .type = IIO_ACCEL,
 441                 .modified = 1,
 442                 .channel2 = IIO_MOD_X,
 443                 .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT |
 444                 IIO_CHAN_INFO_SCALE_SHARED_BIT |
 445                 IIO_CHAN_INFO_CALIBBIAS_SEPARATE_BIT,
 446                 .address = accel_x,
 447                 .scan_index = ADIS16209_SCAN_ACC_X,
 448                 .scan_type = {
 449                         .sign = 's',
 450                         .realbits = 14,
 451                         .storagebits = 16,
 452                 },
 453         }, {
 454                 .type = IIO_ACCEL,
 455                 .modified = 1,
 456                 .channel2 = IIO_MOD_Y,
 457                 .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT |
 458                 IIO_CHAN_INFO_SCALE_SHARED_BIT |
 459                 IIO_CHAN_INFO_CALIBBIAS_SEPARATE_BIT,
 460                 .address = accel_y,
 461                 .scan_index = ADIS16209_SCAN_ACC_Y,
 462                 .scan_type = {
 463                         .sign = 's',
 464                         .realbits = 14,
 465                         .storagebits = 16,
 466                 },
 467         }, {
 468                 .type = IIO_VOLTAGE,
 469                 .indexed = 1,
 470                 .channel = 1,
 471                 .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT |
 472                 IIO_CHAN_INFO_SCALE_SEPARATE_BIT,
 473                 .address = in_aux,
 474                 .scan_index = ADIS16209_SCAN_AUX_ADC,
 475                 .scan_type = {
 476                         .sign = 'u',
 477                         .realbits = 12,
 478                         .storagebits = 16,
 479                 },
 480         }, {
 481                 .type = IIO_INCLI,
 482                 .modified = 1,
 483                 .channel2 = IIO_MOD_X,
 484                 .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT |
 485                 IIO_CHAN_INFO_SCALE_SHARED_BIT,
 486                 .address = incli_x,
 487                 .scan_index = ADIS16209_SCAN_INCLI_X,
 488                 .scan_type = {
 489                         .sign = 's',
 490                         .realbits = 14,
 491                         .storagebits = 16,
 492                 },
 493         }, {
 494                 .type = IIO_INCLI,
 495                 .modified = 1,
 496                 .channel2 = IIO_MOD_Y,
 497                 .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT |
 498                 IIO_CHAN_INFO_SCALE_SHARED_BIT,
 499                 .address = incli_y,
 500                 .scan_index = ADIS16209_SCAN_INCLI_Y,
 501                 .scan_type = {
 502                         .sign = 's',
 503                         .realbits = 14,
 504                         .storagebits = 16,
 505                 },
 506         }, {
 507                 .type = IIO_ROT,
 508                 .modified = 1,
 509                 .channel2 = IIO_MOD_X,
 510                 .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT,
 511                 .address = rot,
 512                 .scan_index = ADIS16209_SCAN_ROT,
 513                 .scan_type = {
 514                         .sign = 's',
 515                         .realbits = 14,
 516                         .storagebits = 16,
 517                 },
 518         },
 519         IIO_CHAN_SOFT_TIMESTAMP(8)
 520 };
 521
 522 static IIO_DEVICE_ATTR(reset, S_IWUSR, NULL, adis16209_write_reset, 0);
 523
 524 static struct attribute *adis16209_attributes[] = {
 525         &iio_dev_attr_reset.dev_attr.attr,
 526         NULL
 527 };
 528
 529 static const struct attribute_group adis16209_attribute_group = {
 530         .attrs = adis16209_attributes,
 531 };
 532
 533 static const struct iio_info adis16209_info = {
 534         .attrs = &adis16209_attribute_group,
 535         .read_raw = &adis16209_read_raw,
 536         .write_raw = &adis16209_write_raw,
 537         .driver_module = THIS_MODULE,
 538 };
 539
 540 static int __devinit adis16209_probe(struct spi_device *spi)
 541 {
 542         int ret;
 543         struct adis16209_state *st;
 544         struct iio_dev *indio_dev;
 545
 546         /* setup the industrialio driver allocated elements */
 547         indio_dev = iio_allocate_device(sizeof(*st));
 548         if (indio_dev == NULL) {
 549                 ret = -ENOMEM;
 550                 goto error_ret;
 551         }
 552         st = iio_priv(indio_dev);
 553         /* this is only used for removal purposes */
 554         spi_set_drvdata(spi, indio_dev);
 555         st->us = spi;
 556         mutex_init(&st->buf_lock);
 557
 558         indio_dev->name = spi->dev.driver->name;
 559         indio_dev->dev.parent = &spi->dev;
 560         indio_dev->info = &adis16209_info;
 561         indio_dev->channels = adis16209_channels;
 562         indio_dev->num_channels = ARRAY_SIZE(adis16209_channels);
 563         indio_dev->modes = INDIO_DIRECT_MODE;
 564
 565         ret = adis16209_configure_ring(indio_dev);
 566         if (ret)
 567                 goto error_free_dev;
 568
 569         ret = iio_buffer_register(indio_dev,
 570                                   adis16209_channels,
 571                                   ARRAY_SIZE(adis16209_channels));
 572         if (ret) {
 573                 printk(KERN_ERR "failed to initialize the ring\n");
 574                 goto error_unreg_ring_funcs;
 575         }
 576
 577         if (spi->irq) {
 578                 ret = adis16209_probe_trigger(indio_dev);
 579                 if (ret)
 580                         goto error_uninitialize_ring;
 581         }
 582
 583         /* Get the device into a sane initial state */
 584         ret = adis16209_initial_setup(indio_dev);
 585         if (ret)
 586                 goto error_remove_trigger;
 587         ret = iio_device_register(indio_dev);
 588         if (ret)
 589                 goto error_remove_trigger;
 590
 591         return 0;
 592
 593 error_remove_trigger:
 594         adis16209_remove_trigger(indio_dev);
 595 error_uninitialize_ring:
 596         iio_buffer_unregister(indio_dev);
 597 error_unreg_ring_funcs:
 598         adis16209_unconfigure_ring(indio_dev);
 599 error_free_dev:
 600         iio_free_device(indio_dev);
 601 error_ret:
 602         return ret;
 603 }
 604
 605 static int adis16209_remove(struct spi_device *spi)
 606 {
 607         struct iio_dev *indio_dev = spi_get_drvdata(spi);
 608
 609         flush_scheduled_work();
 610
 611         iio_device_unregister(indio_dev);
 612         adis16209_remove_trigger(indio_dev);
 613         iio_buffer_unregister(indio_dev);
 614         adis16209_unconfigure_ring(indio_dev);
 615         iio_free_device(indio_dev);
 616
 617         return 0;
 618 }
 619
 620 static struct spi_driver adis16209_driver = {
 621         .driver = {
 622                 .name = "adis16209",
 623                 .owner = THIS_MODULE,
 624         },
 625         .probe = adis16209_probe,
 626         .remove = __devexit_p(adis16209_remove),
 627 };
 628 module_spi_driver(adis16209_driver);
 629
 630 MODULE_AUTHOR("Barry Song <21cnbao@gmail.com>");
 631 MODULE_DESCRIPTION("Analog Devices ADIS16209 Digital Vibration Sensor driver");
 632 MODULE_LICENSE("GPL v2");
 633 MODULE_ALIAS("spi:adis16209");