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
  18 #include "../iio.h"
  19 #include "../sysfs.h"
  20 #include "../ring_generic.h"
  21 #include "accel.h"
  22 #include "inclinometer.h"
  23 #include "../adc/adc.h"
  24
  25 #include "adis16209.h"
  26
  27 #define DRIVER_NAME             "adis16209"
  28
  29 /**
  30  * adis16209_spi_write_reg_8() - write single byte to a register
  31  * @indio_dev: iio device associated with actual device
  32  * @reg_address: the address of the register to be written
  33  * @val: the value to write
  34  **/
  35 static int adis16209_spi_write_reg_8(struct iio_dev *indio_dev,
  36                                      u8 reg_address,
  37                                      u8 val)
  38 {
  39         int ret;
  40         struct adis16209_state *st = iio_priv(indio_dev);
  41
  42         mutex_lock(&st->buf_lock);
  43         st->tx[0] = ADIS16209_WRITE_REG(reg_address);
  44         st->tx[1] = val;
  45
  46         ret = spi_write(st->us, st->tx, 2);
  47         mutex_unlock(&st->buf_lock);
  48
  49         return ret;
  50 }
  51
  52 /**
  53  * adis16209_spi_write_reg_16() - write 2 bytes to a pair of registers
  54  * @indio_dev: iio device associated actual device
  55  * @reg_address: the address of the lower of the two registers. Second register
  56  *               is assumed to have address one greater.
  57  * @val: value to be written
  58  **/
  59 static int adis16209_spi_write_reg_16(struct iio_dev *indio_dev,
  60                                       u8 lower_reg_address,
  61                                       u16 value)
  62 {
  63         int ret;
  64         struct spi_message msg;
  65         struct adis16209_state *st = iio_priv(indio_dev);
  66         struct spi_transfer xfers[] = {
  67                 {
  68                         .tx_buf = st->tx,
  69                         .bits_per_word = 8,
  70                         .len = 2,
  71                         .cs_change = 1,
  72                         .delay_usecs = 30,
  73                 }, {
  74                         .tx_buf = st->tx + 2,
  75                         .bits_per_word = 8,
  76                         .len = 2,
  77                         .delay_usecs = 30,
  78                 },
  79         };
  80
  81         mutex_lock(&st->buf_lock);
  82         st->tx[0] = ADIS16209_WRITE_REG(lower_reg_address);
  83         st->tx[1] = value & 0xFF;
  84         st->tx[2] = ADIS16209_WRITE_REG(lower_reg_address + 1);
  85         st->tx[3] = (value >> 8) & 0xFF;
  86
  87         spi_message_init(&msg);
  88         spi_message_add_tail(&xfers[0], &msg);
  89         spi_message_add_tail(&xfers[1], &msg);
  90         ret = spi_sync(st->us, &msg);
  91         mutex_unlock(&st->buf_lock);
  92
  93         return ret;
  94 }
  95
  96 /**
  97  * adis16209_spi_read_reg_16() - read 2 bytes from a 16-bit register
  98  * @indio_dev: iio device associated with device
  99  * @reg_address: the address of the lower of the two registers. Second register
 100  *               is assumed to have address one greater.
 101  * @val: somewhere to pass back the value read
 102  **/
 103 static int adis16209_spi_read_reg_16(struct iio_dev *indio_dev,
 104                                      u8 lower_reg_address,
 105                                      u16 *val)
 106 {
 107         struct spi_message msg;
 108         struct adis16209_state *st = iio_priv(indio_dev);
 109         int ret;
 110         struct spi_transfer xfers[] = {
 111                 {
 112                         .tx_buf = st->tx,
 113                         .bits_per_word = 8,
 114                         .len = 2,
 115                         .cs_change = 1,
 116                         .delay_usecs = 30,
 117                 }, {
 118                         .rx_buf = st->rx,
 119                         .bits_per_word = 8,
 120                         .len = 2,
 121                         .delay_usecs = 30,
 122                 },
 123         };
 124
 125         mutex_lock(&st->buf_lock);
 126         st->tx[0] = ADIS16209_READ_REG(lower_reg_address);
 127         st->tx[1] = 0;
 128
 129         spi_message_init(&msg);
 130         spi_message_add_tail(&xfers[0], &msg);
 131         spi_message_add_tail(&xfers[1], &msg);
 132         ret = spi_sync(st->us, &msg);
 133         if (ret) {
 134                 dev_err(&st->us->dev,
 135                         "problem when reading 16 bit register 0x%02X",
 136                         lower_reg_address);
 137                 goto error_ret;
 138         }
 139         *val = (st->rx[0] << 8) | st->rx[1];
 140
 141 error_ret:
 142         mutex_unlock(&st->buf_lock);
 143         return ret;
 144 }
 145
 146 static int adis16209_reset(struct iio_dev *indio_dev)
 147 {
 148         int ret;
 149         ret = adis16209_spi_write_reg_8(indio_dev,
 150                         ADIS16209_GLOB_CMD,
 151                         ADIS16209_GLOB_CMD_SW_RESET);
 152         if (ret)
 153                 dev_err(&indio_dev->dev, "problem resetting device");
 154
 155         return ret;
 156 }
 157
 158 static ssize_t adis16209_write_reset(struct device *dev,
 159                 struct device_attribute *attr,
 160                 const char *buf, size_t len)
 161 {
 162         struct iio_dev *indio_dev = dev_get_drvdata(dev);
 163
 164         if (len < 1)
 165                 return -EINVAL;
 166         switch (buf[0]) {
 167         case '1':
 168         case 'y':
 169         case 'Y':
 170                 return adis16209_reset(indio_dev);
 171         }
 172         return -EINVAL;
 173 }
 174
 175 int adis16209_set_irq(struct iio_dev *indio_dev, bool enable)
 176 {
 177         int ret = 0;
 178         u16 msc;
 179
 180         ret = adis16209_spi_read_reg_16(indio_dev, ADIS16209_MSC_CTRL, &msc);
 181         if (ret)
 182                 goto error_ret;
 183
 184         msc |= ADIS16209_MSC_CTRL_ACTIVE_HIGH;
 185         msc &= ~ADIS16209_MSC_CTRL_DATA_RDY_DIO2;
 186         if (enable)
 187                 msc |= ADIS16209_MSC_CTRL_DATA_RDY_EN;
 188         else
 189                 msc &= ~ADIS16209_MSC_CTRL_DATA_RDY_EN;
 190
 191         ret = adis16209_spi_write_reg_16(indio_dev, ADIS16209_MSC_CTRL, msc);
 192
 193 error_ret:
 194         return ret;
 195 }
 196
 197 static int adis16209_check_status(struct iio_dev *indio_dev)
 198 {
 199         u16 status;
 200         int ret;
 201
 202         ret = adis16209_spi_read_reg_16(indio_dev,
 203                                         ADIS16209_DIAG_STAT, &status);
 204         if (ret < 0) {
 205                 dev_err(&indio_dev->dev, "Reading status failed\n");
 206                 goto error_ret;
 207         }
 208         ret = status & 0x1F;
 209
 210         if (status & ADIS16209_DIAG_STAT_SELFTEST_FAIL)
 211                 dev_err(&indio_dev->dev, "Self test failure\n");
 212         if (status & ADIS16209_DIAG_STAT_SPI_FAIL)
 213                 dev_err(&indio_dev->dev, "SPI failure\n");
 214         if (status & ADIS16209_DIAG_STAT_FLASH_UPT)
 215                 dev_err(&indio_dev->dev, "Flash update failed\n");
 216         if (status & ADIS16209_DIAG_STAT_POWER_HIGH)
 217                 dev_err(&indio_dev->dev, "Power supply above 3.625V\n");
 218         if (status & ADIS16209_DIAG_STAT_POWER_LOW)
 219                 dev_err(&indio_dev->dev, "Power supply below 3.15V\n");
 220
 221 error_ret:
 222         return ret;
 223 }
 224
 225 static int adis16209_self_test(struct iio_dev *indio_dev)
 226 {
 227         int ret;
 228         ret = adis16209_spi_write_reg_16(indio_dev,
 229                         ADIS16209_MSC_CTRL,
 230                         ADIS16209_MSC_CTRL_SELF_TEST_EN);
 231         if (ret) {
 232                 dev_err(&indio_dev->dev, "problem starting self test");
 233                 goto err_ret;
 234         }
 235
 236         adis16209_check_status(indio_dev);
 237
 238 err_ret:
 239         return ret;
 240 }
 241
 242 static int adis16209_initial_setup(struct iio_dev *indio_dev)
 243 {
 244         int ret;
 245
 246         /* Disable IRQ */
 247         ret = adis16209_set_irq(indio_dev, false);
 248         if (ret) {
 249                 dev_err(&indio_dev->dev, "disable irq failed");
 250                 goto err_ret;
 251         }
 252
 253         /* Do self test */
 254         ret = adis16209_self_test(indio_dev);
 255         if (ret) {
 256                 dev_err(&indio_dev->dev, "self test failure");
 257                 goto err_ret;
 258         }
 259
 260         /* Read status register to check the result */
 261         ret = adis16209_check_status(indio_dev);
 262         if (ret) {
 263                 adis16209_reset(indio_dev);
 264                 dev_err(&indio_dev->dev, "device not playing ball -> reset");
 265                 msleep(ADIS16209_STARTUP_DELAY);
 266                 ret = adis16209_check_status(indio_dev);
 267                 if (ret) {
 268                         dev_err(&indio_dev->dev, "giving up");
 269                         goto err_ret;
 270                 }
 271         }
 272
 273 err_ret:
 274         return ret;
 275 }
 276
 277 enum adis16209_chan {
 278         in_supply,
 279         temp,
 280         accel_x,
 281         accel_y,
 282         incli_x,
 283         incli_y,
 284         in_aux,
 285         rot,
 286 };
 287
 288 static const u8 adis16209_addresses[8][2] = {
 289         [in_supply] = { ADIS16209_SUPPLY_OUT },
 290         [in_aux] = { ADIS16209_AUX_ADC },
 291         [accel_x] = { ADIS16209_XACCL_OUT, ADIS16209_XACCL_NULL },
 292         [accel_y] = { ADIS16209_YACCL_OUT, ADIS16209_YACCL_NULL },
 293         [incli_x] = { ADIS16209_XINCL_OUT, ADIS16209_XINCL_NULL },
 294         [incli_y] = { ADIS16209_YINCL_OUT, ADIS16209_YINCL_NULL },
 295         [rot] = { ADIS16209_ROT_OUT },
 296         [temp] = { ADIS16209_TEMP_OUT },
 297 };
 298
 299 static int adis16209_write_raw(struct iio_dev *indio_dev,
 300                                struct iio_chan_spec const *chan,
 301                                int val,
 302                                int val2,
 303                                long mask)
 304 {
 305         int bits;
 306         s16 val16;
 307         u8 addr;
 308         switch (mask) {
 309         case (1 << IIO_CHAN_INFO_CALIBBIAS_SEPARATE):
 310                 switch (chan->type) {
 311                 case IIO_ACCEL:
 312                 case IIO_INCLI:
 313                         bits = 14;
 314                         break;
 315                 default:
 316                         return -EINVAL;
 317                 };
 318                 val16 = val & ((1 << bits) - 1);
 319                 addr = adis16209_addresses[chan->address][1];
 320                 return adis16209_spi_write_reg_16(indio_dev, addr, val16);
 321         }
 322         return -EINVAL;
 323 }
 324
 325 static int adis16209_read_raw(struct iio_dev *indio_dev,
 326                               struct iio_chan_spec const *chan,
 327                               int *val, int *val2,
 328                               long mask)
 329 {
 330         int ret;
 331         int bits;
 332         u8 addr;
 333         s16 val16;
 334
 335         switch (mask) {
 336         case 0:
 337                 mutex_lock(&indio_dev->mlock);
 338                 addr = adis16209_addresses[chan->address][0];
 339                 ret = adis16209_spi_read_reg_16(indio_dev, addr, &val16);
 340                 if (ret) {
 341                         mutex_unlock(&indio_dev->mlock);
 342                         return ret;
 343                 }
 344
 345                 if (val16 & ADIS16209_ERROR_ACTIVE) {
 346                         ret = adis16209_check_status(indio_dev);
 347                         if (ret) {
 348                                 mutex_unlock(&indio_dev->mlock);
 349                                 return ret;
 350                         }
 351                 }
 352                 val16 = val16 & ((1 << chan->scan_type.realbits) - 1);
 353                 if (chan->scan_type.sign == 's')
 354                         val16 = (s16)(val16 <<
 355                                       (16 - chan->scan_type.realbits)) >>
 356                                 (16 - chan->scan_type.realbits);
 357                 *val = val16;
 358                 mutex_unlock(&indio_dev->mlock);
 359                 return IIO_VAL_INT;
 360         case (1 << IIO_CHAN_INFO_SCALE_SEPARATE):
 361         case (1 << IIO_CHAN_INFO_SCALE_SHARED):
 362                 switch (chan->type) {
 363                 case IIO_IN:
 364                         *val = 0;
 365                         if (chan->channel == 0)
 366                                 *val2 = 305180;
 367                         else
 368                                 *val2 = 610500;
 369                         return IIO_VAL_INT_PLUS_MICRO;
 370                 case IIO_TEMP:
 371                         *val = 0;
 372                         *val2 = -470000;
 373                         return IIO_VAL_INT_PLUS_MICRO;
 374                 case IIO_ACCEL:
 375                         *val = 0;
 376                         *val2 = 2394;
 377                         return IIO_VAL_INT_PLUS_MICRO;
 378                 case IIO_INCLI:
 379                         *val = 0;
 380                         *val2 = 436;
 381                         return IIO_VAL_INT_PLUS_MICRO;
 382                 default:
 383                         return -EINVAL;
 384                 }
 385                 break;
 386         case (1 << IIO_CHAN_INFO_OFFSET_SEPARATE):
 387                 *val = 25;
 388                 return IIO_VAL_INT;
 389         case (1 << IIO_CHAN_INFO_CALIBBIAS_SEPARATE):
 390                 switch (chan->type) {
 391                 case IIO_ACCEL:
 392                         bits = 14;
 393                         break;
 394                 default:
 395                         return -EINVAL;
 396                 };
 397                 mutex_lock(&indio_dev->mlock);
 398                 addr = adis16209_addresses[chan->address][1];
 399                 ret = adis16209_spi_read_reg_16(indio_dev, addr, &val16);
 400                 if (ret) {
 401                         mutex_unlock(&indio_dev->mlock);
 402                         return ret;
 403                 }
 404                 val16 &= (1 << bits) - 1;
 405                 val16 = (s16)(val16 << (16 - bits)) >> (16 - bits);
 406                 *val = val16;
 407                 mutex_unlock(&indio_dev->mlock);
 408                 return IIO_VAL_INT;
 409         }
 410         return -EINVAL;
 411 }
 412
 413 static struct iio_chan_spec adis16209_channels[] = {
 414         IIO_CHAN(IIO_IN, 0, 1, 0, NULL, 0, 0,
 415                  (1 << IIO_CHAN_INFO_SCALE_SEPARATE),
 416                  in_supply, ADIS16209_SCAN_SUPPLY,
 417                  IIO_ST('u', 14, 16, 0), 0),
 418         IIO_CHAN(IIO_TEMP, 0, 1, 0, NULL, 0, 0,
 419                  (1 << IIO_CHAN_INFO_SCALE_SEPARATE) |
 420                  (1 << IIO_CHAN_INFO_OFFSET_SEPARATE),
 421                  temp, ADIS16209_SCAN_TEMP,
 422                  IIO_ST('u', 12, 16, 0), 0),
 423         IIO_CHAN(IIO_ACCEL, 1, 0, 0, NULL, 0, IIO_MOD_X,
 424                  (1 << IIO_CHAN_INFO_SCALE_SHARED) |
 425                  (1 << IIO_CHAN_INFO_CALIBBIAS_SEPARATE),
 426                  accel_x, ADIS16209_SCAN_ACC_X,
 427                  IIO_ST('s', 14, 16, 0), 0),
 428         IIO_CHAN(IIO_ACCEL, 1, 0, 0, NULL, 0, IIO_MOD_Y,
 429                  (1 << IIO_CHAN_INFO_SCALE_SHARED) |
 430                  (1 << IIO_CHAN_INFO_CALIBBIAS_SEPARATE),
 431                  accel_y, ADIS16209_SCAN_ACC_Y,
 432                  IIO_ST('s', 14, 16, 0), 0),
 433         IIO_CHAN(IIO_IN, 0, 1, 0, NULL, 1, 0,
 434                  (1 << IIO_CHAN_INFO_SCALE_SEPARATE),
 435                  in_aux, ADIS16209_SCAN_AUX_ADC,
 436                  IIO_ST('u', 12, 16, 0), 0),
 437         IIO_CHAN(IIO_INCLI, 0, 1, 0, NULL, 0, IIO_MOD_X,
 438                  (1 << IIO_CHAN_INFO_SCALE_SHARED),
 439                  incli_x, ADIS16209_SCAN_INCLI_X,
 440                  IIO_ST('s', 14, 16, 0), 0),
 441         IIO_CHAN(IIO_INCLI, 0, 1, 0, NULL, 0, IIO_MOD_Y,
 442                  (1 << IIO_CHAN_INFO_SCALE_SHARED),
 443                  incli_y, ADIS16209_SCAN_INCLI_Y,
 444                  IIO_ST('s', 14, 16, 0), 0),
 445         IIO_CHAN(IIO_ROT, 0, 1, 0, NULL, 0, IIO_MOD_X,
 446                     0,
 447                     rot, ADIS16209_SCAN_ROT,
 448                     IIO_ST('s', 14, 16, 0), 0),
 449         IIO_CHAN_SOFT_TIMESTAMP(8)
 450 };
 451
 452 static IIO_DEVICE_ATTR(reset, S_IWUSR, NULL, adis16209_write_reset, 0);
 453
 454 static struct attribute *adis16209_attributes[] = {
 455         &iio_dev_attr_reset.dev_attr.attr,
 456         NULL
 457 };
 458
 459 static const struct attribute_group adis16209_attribute_group = {
 460         .attrs = adis16209_attributes,
 461 };
 462
 463 static const struct iio_info adis16209_info = {
 464         .attrs = &adis16209_attribute_group,
 465         .read_raw = &adis16209_read_raw,
 466         .write_raw = &adis16209_write_raw,
 467         .driver_module = THIS_MODULE,
 468 };
 469
 470 static int __devinit adis16209_probe(struct spi_device *spi)
 471 {
 472         int ret, regdone = 0;
 473         struct adis16209_state *st;
 474         struct iio_dev *indio_dev;
 475
 476         /* setup the industrialio driver allocated elements */
 477         indio_dev = iio_allocate_device(sizeof(*st));
 478         if (indio_dev == NULL) {
 479                 ret = -ENOMEM;
 480                 goto error_ret;
 481         }
 482         st = iio_priv(indio_dev);
 483         /* this is only used for removal purposes */
 484         spi_set_drvdata(spi, indio_dev);
 485         st->us = spi;
 486         mutex_init(&st->buf_lock);
 487
 488         indio_dev->name = spi->dev.driver->name;
 489         indio_dev->dev.parent = &spi->dev;
 490         indio_dev->info = &adis16209_info;
 491         indio_dev->channels = adis16209_channels;
 492         indio_dev->num_channels = ARRAY_SIZE(adis16209_channels);
 493         indio_dev->modes = INDIO_DIRECT_MODE;
 494
 495         ret = adis16209_configure_ring(indio_dev);
 496         if (ret)
 497                 goto error_free_dev;
 498
 499         ret = iio_device_register(indio_dev);
 500         if (ret)
 501                 goto error_unreg_ring_funcs;
 502         regdone = 1;
 503
 504         ret = iio_ring_buffer_register_ex(indio_dev->ring, 0,
 505                                           adis16209_channels,
 506                                           ARRAY_SIZE(adis16209_channels));
 507         if (ret) {
 508                 printk(KERN_ERR "failed to initialize the ring\n");
 509                 goto error_unreg_ring_funcs;
 510         }
 511
 512         if (spi->irq) {
 513                 ret = adis16209_probe_trigger(indio_dev);
 514                 if (ret)
 515                         goto error_uninitialize_ring;
 516         }
 517
 518         /* Get the device into a sane initial state */
 519         ret = adis16209_initial_setup(indio_dev);
 520         if (ret)
 521                 goto error_remove_trigger;
 522         return 0;
 523
 524 error_remove_trigger:
 525         adis16209_remove_trigger(indio_dev);
 526 error_uninitialize_ring:
 527         iio_ring_buffer_unregister(indio_dev->ring);
 528 error_unreg_ring_funcs:
 529         adis16209_unconfigure_ring(indio_dev);
 530 error_free_dev:
 531         if (regdone)
 532                 iio_device_unregister(indio_dev);
 533         else
 534                 iio_free_device(indio_dev);
 535 error_ret:
 536         return ret;
 537 }
 538
 539 static int adis16209_remove(struct spi_device *spi)
 540 {
 541         struct iio_dev *indio_dev = spi_get_drvdata(spi);
 542
 543         flush_scheduled_work();
 544
 545         adis16209_remove_trigger(indio_dev);
 546         iio_ring_buffer_unregister(indio_dev->ring);
 547         iio_device_unregister(indio_dev);
 548         adis16209_unconfigure_ring(indio_dev);
 549
 550         return 0;
 551 }
 552
 553 static struct spi_driver adis16209_driver = {
 554         .driver = {
 555                 .name = "adis16209",
 556                 .owner = THIS_MODULE,
 557         },
 558         .probe = adis16209_probe,
 559         .remove = __devexit_p(adis16209_remove),
 560 };
 561
 562 static __init int adis16209_init(void)
 563 {
 564         return spi_register_driver(&adis16209_driver);
 565 }
 566 module_init(adis16209_init);
 567
 568 static __exit void adis16209_exit(void)
 569 {
 570         spi_unregister_driver(&adis16209_driver);
 571 }
 572 module_exit(adis16209_exit);
 573
 574 MODULE_AUTHOR("Barry Song <21cnbao@gmail.com>");
 575 MODULE_DESCRIPTION("Analog Devices ADIS16209 Digital Vibration Sensor driver");
 576 MODULE_LICENSE("GPL v2");