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 <linux/iio/iio.h>
  19 #include <linux/iio/sysfs.h>
  20 #include <linux/iio/buffer.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 int adis16201_set_irq(struct iio_dev *indio_dev, bool enable)
 163 {
 164         int ret = 0;
 165         u16 msc;
 166
 167         ret = adis16201_spi_read_reg_16(indio_dev, ADIS16201_MSC_CTRL, &msc);
 168         if (ret)
 169                 goto error_ret;
 170
 171         msc |= ADIS16201_MSC_CTRL_ACTIVE_HIGH;
 172         msc &= ~ADIS16201_MSC_CTRL_DATA_RDY_DIO1;
 173         if (enable)
 174                 msc |= ADIS16201_MSC_CTRL_DATA_RDY_EN;
 175         else
 176                 msc &= ~ADIS16201_MSC_CTRL_DATA_RDY_EN;
 177
 178         ret = adis16201_spi_write_reg_16(indio_dev, ADIS16201_MSC_CTRL, msc);
 179
 180 error_ret:
 181         return ret;
 182 }
 183
 184 static int adis16201_check_status(struct iio_dev *indio_dev)
 185 {
 186         u16 status;
 187         int ret;
 188
 189         ret = adis16201_spi_read_reg_16(indio_dev,
 190                                         ADIS16201_DIAG_STAT, &status);
 191         if (ret < 0) {
 192                 dev_err(&indio_dev->dev, "Reading status failed\n");
 193                 goto error_ret;
 194         }
 195         ret = status & 0xF;
 196         if (ret)
 197                 ret = -EFAULT;
 198
 199         if (status & ADIS16201_DIAG_STAT_SPI_FAIL)
 200                 dev_err(&indio_dev->dev, "SPI failure\n");
 201         if (status & ADIS16201_DIAG_STAT_FLASH_UPT)
 202                 dev_err(&indio_dev->dev, "Flash update failed\n");
 203         if (status & ADIS16201_DIAG_STAT_POWER_HIGH)
 204                 dev_err(&indio_dev->dev, "Power supply above 3.625V\n");
 205         if (status & ADIS16201_DIAG_STAT_POWER_LOW)
 206                 dev_err(&indio_dev->dev, "Power supply below 3.15V\n");
 207
 208 error_ret:
 209         return ret;
 210 }
 211
 212 static int adis16201_self_test(struct iio_dev *indio_dev)
 213 {
 214         int ret;
 215         ret = adis16201_spi_write_reg_16(indio_dev,
 216                         ADIS16201_MSC_CTRL,
 217                         ADIS16201_MSC_CTRL_SELF_TEST_EN);
 218         if (ret) {
 219                 dev_err(&indio_dev->dev, "problem starting self test");
 220                 goto err_ret;
 221         }
 222
 223         ret = adis16201_check_status(indio_dev);
 224
 225 err_ret:
 226         return ret;
 227 }
 228
 229 static int adis16201_initial_setup(struct iio_dev *indio_dev)
 230 {
 231         int ret;
 232         struct device *dev = &indio_dev->dev;
 233
 234         /* Disable IRQ */
 235         ret = adis16201_set_irq(indio_dev, false);
 236         if (ret) {
 237                 dev_err(dev, "disable irq failed");
 238                 goto err_ret;
 239         }
 240
 241         /* Do self test */
 242         ret = adis16201_self_test(indio_dev);
 243         if (ret) {
 244                 dev_err(dev, "self test failure");
 245                 goto err_ret;
 246         }
 247
 248         /* Read status register to check the result */
 249         ret = adis16201_check_status(indio_dev);
 250         if (ret) {
 251                 adis16201_reset(indio_dev);
 252                 dev_err(dev, "device not playing ball -> reset");
 253                 msleep(ADIS16201_STARTUP_DELAY);
 254                 ret = adis16201_check_status(indio_dev);
 255                 if (ret) {
 256                         dev_err(dev, "giving up");
 257                         goto err_ret;
 258                 }
 259         }
 260
 261 err_ret:
 262         return ret;
 263 }
 264
 265 static u8 adis16201_addresses[7][2] = {
 266         [in_supply] = { ADIS16201_SUPPLY_OUT, },
 267         [temp] = { ADIS16201_TEMP_OUT },
 268         [accel_x] = { ADIS16201_XACCL_OUT, ADIS16201_XACCL_OFFS },
 269         [accel_y] = { ADIS16201_YACCL_OUT, ADIS16201_YACCL_OFFS },
 270         [in_aux] = { ADIS16201_AUX_ADC },
 271         [incli_x] = { ADIS16201_XINCL_OUT },
 272         [incli_y] = { ADIS16201_YINCL_OUT },
 273 };
 274
 275 static int adis16201_read_raw(struct iio_dev *indio_dev,
 276                               struct iio_chan_spec const *chan,
 277                               int *val, int *val2,
 278                               long mask)
 279 {
 280         int ret;
 281         int bits;
 282         u8 addr;
 283         s16 val16;
 284
 285         switch (mask) {
 286         case IIO_CHAN_INFO_RAW:
 287                 mutex_lock(&indio_dev->mlock);
 288                 addr = adis16201_addresses[chan->address][0];
 289                 ret = adis16201_spi_read_reg_16(indio_dev, addr, &val16);
 290                 if (ret) {
 291                         mutex_unlock(&indio_dev->mlock);
 292                         return ret;
 293                 }
 294
 295                 if (val16 & ADIS16201_ERROR_ACTIVE) {
 296                         ret = adis16201_check_status(indio_dev);
 297                         if (ret) {
 298                                 mutex_unlock(&indio_dev->mlock);
 299                                 return ret;
 300                         }
 301                 }
 302                 val16 = val16 & ((1 << chan->scan_type.realbits) - 1);
 303                 if (chan->scan_type.sign == 's')
 304                         val16 = (s16)(val16 <<
 305                                       (16 - chan->scan_type.realbits)) >>
 306                                 (16 - chan->scan_type.realbits);
 307                 *val = val16;
 308                 mutex_unlock(&indio_dev->mlock);
 309                 return IIO_VAL_INT;
 310         case IIO_CHAN_INFO_SCALE:
 311                 switch (chan->type) {
 312                 case IIO_VOLTAGE:
 313                         if (chan->channel == 0) {
 314                                 *val = 1;
 315                                 *val2 = 220000; /* 1.22 mV */
 316                         } else {
 317                                 *val = 0;
 318                                 *val2 = 610000; /* 0.610 mV */
 319                         }
 320                         return IIO_VAL_INT_PLUS_MICRO;
 321                 case IIO_TEMP:
 322                         *val = -470; /* 0.47 C */
 323                         *val2 = 0;
 324                         return IIO_VAL_INT_PLUS_MICRO;
 325                 case IIO_ACCEL:
 326                         *val = 0;
 327                         *val2 = IIO_G_TO_M_S_2(462400); /* 0.4624 mg */
 328                         return IIO_VAL_INT_PLUS_NANO;
 329                 case IIO_INCLI:
 330                         *val = 0;
 331                         *val2 = 100000; /* 0.1 degree */
 332                         return IIO_VAL_INT_PLUS_MICRO;
 333                 default:
 334                         return -EINVAL;
 335                 }
 336                 break;
 337         case IIO_CHAN_INFO_OFFSET:
 338                 *val = 25000 / -470 - 1278; /* 25 C = 1278 */
 339                 return IIO_VAL_INT;
 340         case IIO_CHAN_INFO_CALIBBIAS:
 341                 switch (chan->type) {
 342                 case IIO_ACCEL:
 343                         bits = 12;
 344                         break;
 345                 case IIO_INCLI:
 346                         bits = 9;
 347                         break;
 348                 default:
 349                         return -EINVAL;
 350                 };
 351                 mutex_lock(&indio_dev->mlock);
 352                 addr = adis16201_addresses[chan->address][1];
 353                 ret = adis16201_spi_read_reg_16(indio_dev, addr, &val16);
 354                 if (ret) {
 355                         mutex_unlock(&indio_dev->mlock);
 356                         return ret;
 357                 }
 358                 val16 &= (1 << bits) - 1;
 359                 val16 = (s16)(val16 << (16 - bits)) >> (16 - bits);
 360                 *val = val16;
 361                 mutex_unlock(&indio_dev->mlock);
 362                 return IIO_VAL_INT;
 363         }
 364         return -EINVAL;
 365 }
 366
 367 static int adis16201_write_raw(struct iio_dev *indio_dev,
 368                                struct iio_chan_spec const *chan,
 369                                int val,
 370                                int val2,
 371                                long mask)
 372 {
 373         int bits;
 374         s16 val16;
 375         u8 addr;
 376         switch (mask) {
 377         case IIO_CHAN_INFO_CALIBBIAS:
 378                 switch (chan->type) {
 379                 case IIO_ACCEL:
 380                         bits = 12;
 381                         break;
 382                 case IIO_INCLI:
 383                         bits = 9;
 384                         break;
 385                 default:
 386                         return -EINVAL;
 387                 };
 388                 val16 = val & ((1 << bits) - 1);
 389                 addr = adis16201_addresses[chan->address][1];
 390                 return adis16201_spi_write_reg_16(indio_dev, addr, val16);
 391         }
 392         return -EINVAL;
 393 }
 394
 395 static const struct iio_chan_spec adis16201_channels[] = {
 396         {
 397                 .type = IIO_VOLTAGE,
 398                 .indexed = 1,
 399                 .channel = 0,
 400                 .extend_name = "supply",
 401                 .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT |
 402                  IIO_CHAN_INFO_SCALE_SEPARATE_BIT,
 403                 .address = in_supply,
 404                 .scan_index = ADIS16201_SCAN_SUPPLY,
 405                 .scan_type = {
 406                         .sign = 'u',
 407                         .realbits = 12,
 408                         .storagebits = 16,
 409                 },
 410         }, {
 411                 .type = IIO_TEMP,
 412                 .indexed = 1,
 413                 .channel = 0,
 414                 .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT |
 415                  IIO_CHAN_INFO_SCALE_SEPARATE_BIT |
 416                  IIO_CHAN_INFO_OFFSET_SEPARATE_BIT,
 417                 .address = temp,
 418                 .scan_index = ADIS16201_SCAN_TEMP,
 419                 .scan_type = {
 420                         .sign = 'u',
 421                         .realbits = 12,
 422                         .storagebits = 16,
 423                 },
 424         }, {
 425                 .type = IIO_ACCEL,
 426                 .modified = 1,
 427                 .channel2 = IIO_MOD_X,
 428                 .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT |
 429                  IIO_CHAN_INFO_SCALE_SHARED_BIT |
 430                  IIO_CHAN_INFO_CALIBBIAS_SEPARATE_BIT,
 431                 .address = accel_x,
 432                 .scan_index = ADIS16201_SCAN_ACC_X,
 433                 .scan_type = {
 434                         .sign = 's',
 435                         .realbits = 14,
 436                         .storagebits = 16,
 437                 },
 438         }, {
 439                 .type = IIO_ACCEL,
 440                 .modified = 1,
 441                 .channel2 = IIO_MOD_Y,
 442                 .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT |
 443                  IIO_CHAN_INFO_SCALE_SHARED_BIT |
 444                  IIO_CHAN_INFO_CALIBBIAS_SEPARATE_BIT,
 445                 .address = accel_y,
 446                 .scan_index = ADIS16201_SCAN_ACC_Y,
 447                 .scan_type = {
 448                         .sign = 's',
 449                         .realbits = 14,
 450                         .storagebits = 16,
 451                 },
 452         }, {
 453                 .type = IIO_VOLTAGE,
 454                 .indexed = 1,
 455                 .channel = 1,
 456                 .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT |
 457                  IIO_CHAN_INFO_SCALE_SEPARATE_BIT,
 458                 .address = in_aux,
 459                 .scan_index = ADIS16201_SCAN_AUX_ADC,
 460                 .scan_type = {
 461                         .sign = 'u',
 462                         .realbits = 12,
 463                         .storagebits = 16,
 464                 },
 465         }, {
 466                 .type = IIO_INCLI,
 467                 .modified = 1,
 468                 .channel2 = IIO_MOD_X,
 469                 .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT |
 470                  IIO_CHAN_INFO_SCALE_SHARED_BIT |
 471                  IIO_CHAN_INFO_CALIBBIAS_SEPARATE_BIT,
 472                 .address = incli_x,
 473                 .scan_index = ADIS16201_SCAN_INCLI_X,
 474                 .scan_type = {
 475                         .sign = 's',
 476                         .realbits = 14,
 477                         .storagebits = 16,
 478                 },
 479         }, {
 480                 .type = IIO_INCLI,
 481                 .modified = 1,
 482                 .channel2 = IIO_MOD_Y,
 483                 .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT |
 484                  IIO_CHAN_INFO_SCALE_SHARED_BIT |
 485                  IIO_CHAN_INFO_CALIBBIAS_SEPARATE_BIT,
 486                 .address = incli_y,
 487                 .scan_index = ADIS16201_SCAN_INCLI_Y,
 488                 .scan_type = {
 489                         .sign = 's',
 490                         .realbits = 14,
 491                         .storagebits = 16,
 492                 },
 493         },
 494         IIO_CHAN_SOFT_TIMESTAMP(7)
 495 };
 496
 497 static const struct iio_info adis16201_info = {
 498         .read_raw = &adis16201_read_raw,
 499         .write_raw = &adis16201_write_raw,
 500         .driver_module = THIS_MODULE,
 501 };
 502
 503 static int __devinit adis16201_probe(struct spi_device *spi)
 504 {
 505         int ret;
 506         struct adis16201_state *st;
 507         struct iio_dev *indio_dev;
 508
 509         /* setup the industrialio driver allocated elements */
 510         indio_dev = iio_device_alloc(sizeof(*st));
 511         if (indio_dev == NULL) {
 512                 ret = -ENOMEM;
 513                 goto error_ret;
 514         }
 515         st = iio_priv(indio_dev);
 516         /* this is only used for removal purposes */
 517         spi_set_drvdata(spi, indio_dev);
 518
 519         st->us = spi;
 520         mutex_init(&st->buf_lock);
 521
 522         indio_dev->name = spi->dev.driver->name;
 523         indio_dev->dev.parent = &spi->dev;
 524         indio_dev->info = &adis16201_info;
 525
 526         indio_dev->channels = adis16201_channels;
 527         indio_dev->num_channels = ARRAY_SIZE(adis16201_channels);
 528         indio_dev->modes = INDIO_DIRECT_MODE;
 529
 530         ret = adis16201_configure_ring(indio_dev);
 531         if (ret)
 532                 goto error_free_dev;
 533
 534         ret = iio_buffer_register(indio_dev,
 535                                   adis16201_channels,
 536                                   ARRAY_SIZE(adis16201_channels));
 537         if (ret) {
 538                 printk(KERN_ERR "failed to initialize the ring\n");
 539                 goto error_unreg_ring_funcs;
 540         }
 541
 542         if (spi->irq) {
 543                 ret = adis16201_probe_trigger(indio_dev);
 544                 if (ret)
 545                         goto error_uninitialize_ring;
 546         }
 547
 548         /* Get the device into a sane initial state */
 549         ret = adis16201_initial_setup(indio_dev);
 550         if (ret)
 551                 goto error_remove_trigger;
 552
 553         ret = iio_device_register(indio_dev);
 554         if (ret < 0)
 555                 goto error_remove_trigger;
 556         return 0;
 557
 558 error_remove_trigger:
 559         adis16201_remove_trigger(indio_dev);
 560 error_uninitialize_ring:
 561         iio_buffer_unregister(indio_dev);
 562 error_unreg_ring_funcs:
 563         adis16201_unconfigure_ring(indio_dev);
 564 error_free_dev:
 565         iio_device_free(indio_dev);
 566 error_ret:
 567         return ret;
 568 }
 569
 570 static int __devexit adis16201_remove(struct spi_device *spi)
 571 {
 572         struct iio_dev *indio_dev = spi_get_drvdata(spi);
 573
 574         iio_device_unregister(indio_dev);
 575         adis16201_remove_trigger(indio_dev);
 576         iio_buffer_unregister(indio_dev);
 577         adis16201_unconfigure_ring(indio_dev);
 578         iio_device_free(indio_dev);
 579
 580         return 0;
 581 }
 582
 583 static struct spi_driver adis16201_driver = {
 584         .driver = {
 585                 .name = "adis16201",
 586                 .owner = THIS_MODULE,
 587         },
 588         .probe = adis16201_probe,
 589         .remove = __devexit_p(adis16201_remove),
 590 };
 591 module_spi_driver(adis16201_driver);
 592
 593 MODULE_AUTHOR("Barry Song <21cnbao@gmail.com>");
 594 MODULE_DESCRIPTION("Analog Devices ADIS16201 Programmable Digital Vibration Sensor driver");
 595 MODULE_LICENSE("GPL v2");
 596 MODULE_ALIAS("spi:adis16201");