drivers/staging/iio/accel/adis16204_core.c

   1 /*
   2  * ADIS16204 Programmable High-g Digital Impact Sensor and Recorder
   3  *
   4  * Copyright 2010 Analog Devices Inc.
   5  *
   6  * Licensed under the GPL-2 or later.
   7  */
   8
   9 #include <linux/interrupt.h>
  10 #include <linux/irq.h>
  11 #include <linux/delay.h>
  12 #include <linux/mutex.h>
  13 #include <linux/device.h>
  14 #include <linux/kernel.h>
  15 #include <linux/spi/spi.h>
  16 #include <linux/slab.h>
  17 #include <linux/sysfs.h>
  18 #include <linux/list.h>
  19 #include <linux/module.h>
  20
  21 #include <linux/iio/iio.h>
  22 #include <linux/iio/sysfs.h>
  23 #include <linux/iio/buffer.h>
  24
  25 #include "adis16204.h"
  26
  27 #define DRIVER_NAME             "adis16204"
  28
  29 /**
  30  * adis16204_spi_write_reg_8() - write single byte to a register
  31  * @dev: device associated with child of actual device (iio_dev or iio_trig)
  32  * @reg_address: the address of the register to be written
  33  * @val: the value to write
  34  **/
  35 static int adis16204_spi_write_reg_8(struct iio_dev *indio_dev,
  36                 u8 reg_address,
  37                 u8 val)
  38 {
  39         int ret;
  40         struct adis16204_state *st = iio_priv(indio_dev);
  41
  42         mutex_lock(&st->buf_lock);
  43         st->tx[0] = ADIS16204_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  * adis16204_spi_write_reg_16() - write 2 bytes to a pair of registers
  54  * @indio_dev: iio device associated with child of 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 adis16204_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 adis16204_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                 }, {
  73                         .tx_buf = st->tx + 2,
  74                         .bits_per_word = 8,
  75                         .len = 2,
  76                         .cs_change = 1,
  77                 },
  78         };
  79
  80         mutex_lock(&st->buf_lock);
  81         st->tx[0] = ADIS16204_WRITE_REG(lower_reg_address);
  82         st->tx[1] = value & 0xFF;
  83         st->tx[2] = ADIS16204_WRITE_REG(lower_reg_address + 1);
  84         st->tx[3] = (value >> 8) & 0xFF;
  85
  86         spi_message_init(&msg);
  87         spi_message_add_tail(&xfers[0], &msg);
  88         spi_message_add_tail(&xfers[1], &msg);
  89         ret = spi_sync(st->us, &msg);
  90         mutex_unlock(&st->buf_lock);
  91
  92         return ret;
  93 }
  94
  95 /**
  96  * adis16204_spi_read_reg_16() - read 2 bytes from a 16-bit register
  97  * @indio_dev: iio device associated with child of actual device
  98  * @reg_address: the address of the lower of the two registers. Second register
  99  *               is assumed to have address one greater.
 100  * @val: somewhere to pass back the value read
 101  **/
 102 static int adis16204_spi_read_reg_16(struct iio_dev *indio_dev,
 103                                      u8 lower_reg_address,
 104                                      u16 *val)
 105 {
 106         struct spi_message msg;
 107         struct adis16204_state *st = iio_priv(indio_dev);
 108         int ret;
 109         struct spi_transfer xfers[] = {
 110                 {
 111                         .tx_buf = st->tx,
 112                         .bits_per_word = 8,
 113                         .len = 2,
 114                         .cs_change = 1,
 115                         .delay_usecs = 20,
 116                 }, {
 117                         .rx_buf = st->rx,
 118                         .bits_per_word = 8,
 119                         .len = 2,
 120                         .delay_usecs = 20,
 121                 },
 122         };
 123
 124         mutex_lock(&st->buf_lock);
 125         st->tx[0] = ADIS16204_READ_REG(lower_reg_address);
 126         st->tx[1] = 0;
 127
 128         spi_message_init(&msg);
 129         spi_message_add_tail(&xfers[0], &msg);
 130         spi_message_add_tail(&xfers[1], &msg);
 131         ret = spi_sync(st->us, &msg);
 132         if (ret) {
 133                 dev_err(&st->us->dev, "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 adis16204_check_status(struct iio_dev *indio_dev)
 145 {
 146         u16 status;
 147         int ret;
 148
 149         ret = adis16204_spi_read_reg_16(indio_dev,
 150                                         ADIS16204_DIAG_STAT, &status);
 151         if (ret < 0) {
 152                 dev_err(&indio_dev->dev, "Reading status failed\n");
 153                 goto error_ret;
 154         }
 155         ret = status & 0x1F;
 156
 157         if (status & ADIS16204_DIAG_STAT_SELFTEST_FAIL)
 158                 dev_err(&indio_dev->dev, "Self test failure\n");
 159         if (status & ADIS16204_DIAG_STAT_SPI_FAIL)
 160                 dev_err(&indio_dev->dev, "SPI failure\n");
 161         if (status & ADIS16204_DIAG_STAT_FLASH_UPT)
 162                 dev_err(&indio_dev->dev, "Flash update failed\n");
 163         if (status & ADIS16204_DIAG_STAT_POWER_HIGH)
 164                 dev_err(&indio_dev->dev, "Power supply above 3.625V\n");
 165         if (status & ADIS16204_DIAG_STAT_POWER_LOW)
 166                 dev_err(&indio_dev->dev, "Power supply below 2.975V\n");
 167
 168 error_ret:
 169         return ret;
 170 }
 171
 172 static int adis16204_reset(struct iio_dev *indio_dev)
 173 {
 174         int ret;
 175         ret = adis16204_spi_write_reg_8(indio_dev,
 176                         ADIS16204_GLOB_CMD,
 177                         ADIS16204_GLOB_CMD_SW_RESET);
 178         if (ret)
 179                 dev_err(&indio_dev->dev, "problem resetting device");
 180
 181         return ret;
 182 }
 183
 184 int adis16204_set_irq(struct iio_dev *indio_dev, bool enable)
 185 {
 186         int ret = 0;
 187         u16 msc;
 188
 189         ret = adis16204_spi_read_reg_16(indio_dev, ADIS16204_MSC_CTRL, &msc);
 190         if (ret)
 191                 goto error_ret;
 192
 193         msc |= ADIS16204_MSC_CTRL_ACTIVE_HIGH;
 194         msc &= ~ADIS16204_MSC_CTRL_DATA_RDY_DIO2;
 195         if (enable)
 196                 msc |= ADIS16204_MSC_CTRL_DATA_RDY_EN;
 197         else
 198                 msc &= ~ADIS16204_MSC_CTRL_DATA_RDY_EN;
 199
 200         ret = adis16204_spi_write_reg_16(indio_dev, ADIS16204_MSC_CTRL, msc);
 201
 202 error_ret:
 203         return ret;
 204 }
 205
 206 static int adis16204_self_test(struct iio_dev *indio_dev)
 207 {
 208         int ret;
 209         ret = adis16204_spi_write_reg_16(indio_dev,
 210                         ADIS16204_MSC_CTRL,
 211                         ADIS16204_MSC_CTRL_SELF_TEST_EN);
 212         if (ret) {
 213                 dev_err(&indio_dev->dev, "problem starting self test");
 214                 goto err_ret;
 215         }
 216
 217         adis16204_check_status(indio_dev);
 218
 219 err_ret:
 220         return ret;
 221 }
 222
 223 static int adis16204_initial_setup(struct iio_dev *indio_dev)
 224 {
 225         int ret;
 226
 227         /* Disable IRQ */
 228         ret = adis16204_set_irq(indio_dev, false);
 229         if (ret) {
 230                 dev_err(&indio_dev->dev, "disable irq failed");
 231                 goto err_ret;
 232         }
 233
 234         /* Do self test */
 235         ret = adis16204_self_test(indio_dev);
 236         if (ret) {
 237                 dev_err(&indio_dev->dev, "self test failure");
 238                 goto err_ret;
 239         }
 240
 241         /* Read status register to check the result */
 242         ret = adis16204_check_status(indio_dev);
 243         if (ret) {
 244                 adis16204_reset(indio_dev);
 245                 dev_err(&indio_dev->dev, "device not playing ball -> reset");
 246                 msleep(ADIS16204_STARTUP_DELAY);
 247                 ret = adis16204_check_status(indio_dev);
 248                 if (ret) {
 249                         dev_err(&indio_dev->dev, "giving up");
 250                         goto err_ret;
 251                 }
 252         }
 253
 254 err_ret:
 255         return ret;
 256 }
 257
 258 /* Unique to this driver currently */
 259
 260 enum adis16204_channel {
 261         in_supply,
 262         in_aux,
 263         temp,
 264         accel_x,
 265         accel_y,
 266         accel_xy,
 267 };
 268
 269 static u8 adis16204_addresses[6][3] = {
 270         [in_supply] = { ADIS16204_SUPPLY_OUT },
 271         [in_aux] = { ADIS16204_AUX_ADC },
 272         [temp] = { ADIS16204_TEMP_OUT },
 273         [accel_x] = { ADIS16204_XACCL_OUT, ADIS16204_XACCL_NULL,
 274                       ADIS16204_X_PEAK_OUT },
 275         [accel_y] = { ADIS16204_XACCL_OUT, ADIS16204_YACCL_NULL,
 276                       ADIS16204_Y_PEAK_OUT },
 277         [accel_xy] = { ADIS16204_XY_RSS_OUT, 0,
 278                        ADIS16204_XY_PEAK_OUT },
 279 };
 280
 281 static int adis16204_read_raw(struct iio_dev *indio_dev,
 282                               struct iio_chan_spec const *chan,
 283                               int *val, int *val2,
 284                               long mask)
 285 {
 286         int ret;
 287         int bits;
 288         u8 addr;
 289         s16 val16;
 290         int addrind;
 291
 292         switch (mask) {
 293         case IIO_CHAN_INFO_RAW:
 294                 mutex_lock(&indio_dev->mlock);
 295                 addr = adis16204_addresses[chan->address][0];
 296                 ret = adis16204_spi_read_reg_16(indio_dev, addr, &val16);
 297                 if (ret) {
 298                         mutex_unlock(&indio_dev->mlock);
 299                         return ret;
 300                 }
 301
 302                 if (val16 & ADIS16204_ERROR_ACTIVE) {
 303                         ret = adis16204_check_status(indio_dev);
 304                         if (ret) {
 305                                 mutex_unlock(&indio_dev->mlock);
 306                                 return ret;
 307                         }
 308                 }
 309                 val16 = val16 & ((1 << chan->scan_type.realbits) - 1);
 310                 if (chan->scan_type.sign == 's')
 311                         val16 = (s16)(val16 <<
 312                                       (16 - chan->scan_type.realbits)) >>
 313                                 (16 - chan->scan_type.realbits);
 314                 *val = val16;
 315                 mutex_unlock(&indio_dev->mlock);
 316                 return IIO_VAL_INT;
 317         case IIO_CHAN_INFO_SCALE:
 318                 switch (chan->type) {
 319                 case IIO_VOLTAGE:
 320                         *val = 0;
 321                         if (chan->channel == 0)
 322                                 *val2 = 1220;
 323                         else
 324                                 *val2 = 610;
 325                         return IIO_VAL_INT_PLUS_MICRO;
 326                 case IIO_TEMP:
 327                         *val = 0;
 328                         *val2 = -470000;
 329                         return IIO_VAL_INT_PLUS_MICRO;
 330                 case IIO_ACCEL:
 331                         *val = 0;
 332                         switch (chan->channel2) {
 333                         case IIO_MOD_X:
 334                         case IIO_MOD_ROOT_SUM_SQUARED_X_Y:
 335                                 *val2 = 17125;
 336                                 break;
 337                         case IIO_MOD_Y:
 338                         case IIO_MOD_Z:
 339                                 *val2 = 8407;
 340                                 break;
 341                         }
 342                         return IIO_VAL_INT_PLUS_MICRO;
 343                 default:
 344                         return -EINVAL;
 345                 }
 346                 break;
 347         case IIO_CHAN_INFO_OFFSET:
 348                 *val = 25;
 349                 return IIO_VAL_INT;
 350         case IIO_CHAN_INFO_CALIBBIAS:
 351         case IIO_CHAN_INFO_PEAK:
 352                 if (mask == IIO_CHAN_INFO_CALIBBIAS) {
 353                         bits = 12;
 354                         addrind = 1;
 355                 } else { /* PEAK_SEPARATE */
 356                         bits = 14;
 357                         addrind = 2;
 358                 }
 359                 mutex_lock(&indio_dev->mlock);
 360                 addr = adis16204_addresses[chan->address][addrind];
 361                 ret = adis16204_spi_read_reg_16(indio_dev, addr, &val16);
 362                 if (ret) {
 363                         mutex_unlock(&indio_dev->mlock);
 364                         return ret;
 365                 }
 366                 val16 &= (1 << bits) - 1;
 367                 val16 = (s16)(val16 << (16 - bits)) >> (16 - bits);
 368                 *val = val16;
 369                 mutex_unlock(&indio_dev->mlock);
 370                 return IIO_VAL_INT;
 371         }
 372         return -EINVAL;
 373 }
 374
 375 static int adis16204_write_raw(struct iio_dev *indio_dev,
 376                                struct iio_chan_spec const *chan,
 377                                int val,
 378                                int val2,
 379                                long mask)
 380 {
 381         int bits;
 382         s16 val16;
 383         u8 addr;
 384         switch (mask) {
 385         case IIO_CHAN_INFO_CALIBBIAS:
 386                 switch (chan->type) {
 387                 case IIO_ACCEL:
 388                         bits = 12;
 389                         break;
 390                 default:
 391                         return -EINVAL;
 392                 };
 393                 val16 = val & ((1 << bits) - 1);
 394                 addr = adis16204_addresses[chan->address][1];
 395                 return adis16204_spi_write_reg_16(indio_dev, addr, val16);
 396         }
 397         return -EINVAL;
 398 }
 399
 400 static const struct iio_chan_spec adis16204_channels[] = {
 401         {
 402                 .type = IIO_VOLTAGE,
 403                 .indexed = 1, /* Note was not previously indexed */
 404                 .channel = 0,
 405                 .extend_name = "supply",
 406                 .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT |
 407                 IIO_CHAN_INFO_SCALE_SEPARATE_BIT,
 408                 .address = in_supply,
 409                 .scan_index = ADIS16204_SCAN_SUPPLY,
 410                 .scan_type = {
 411                         .sign = 'u',
 412                         .realbits = 12,
 413                         .storagebits = 16,
 414                 },
 415         }, {
 416                 .type = IIO_VOLTAGE,
 417                 .indexed = 1,
 418                 .channel = 1,
 419                 .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT |
 420                 IIO_CHAN_INFO_SCALE_SEPARATE_BIT,
 421                 .address = in_aux,
 422                 .scan_index = ADIS16204_SCAN_AUX_ADC,
 423                 .scan_type = {
 424                         .sign = 'u',
 425                         .realbits = 12,
 426                         .storagebits = 16,
 427                 },
 428         }, {
 429                 .type = IIO_TEMP,
 430                 .indexed = 1,
 431                 .channel = 0,
 432                 .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT |
 433                 IIO_CHAN_INFO_SCALE_SEPARATE_BIT |
 434                 IIO_CHAN_INFO_OFFSET_SEPARATE_BIT,
 435                 .address = temp,
 436                 .scan_index = ADIS16204_SCAN_TEMP,
 437                 .scan_type = {
 438                         .sign = 'u',
 439                         .realbits = 12,
 440                         .storagebits = 16,
 441                 },
 442         }, {
 443                 .type = IIO_ACCEL,
 444                 .modified = 1,
 445                 .channel2 = IIO_MOD_X,
 446                 .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT |
 447                 IIO_CHAN_INFO_SCALE_SEPARATE_BIT |
 448                 IIO_CHAN_INFO_CALIBBIAS_SEPARATE_BIT |
 449                 IIO_CHAN_INFO_PEAK_SEPARATE_BIT,
 450                 .address = accel_x,
 451                 .scan_index = ADIS16204_SCAN_ACC_X,
 452                 .scan_type = {
 453                         .sign = 's',
 454                         .realbits = 14,
 455                         .storagebits = 16,
 456                 },
 457         }, {
 458                 .type = IIO_ACCEL,
 459                 .modified = 1,
 460                 .channel2 = IIO_MOD_Y,
 461                 .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT |
 462                 IIO_CHAN_INFO_SCALE_SEPARATE_BIT |
 463                 IIO_CHAN_INFO_CALIBBIAS_SEPARATE_BIT |
 464                 IIO_CHAN_INFO_PEAK_SEPARATE_BIT,
 465                 .address = accel_y,
 466                 .scan_index = ADIS16204_SCAN_ACC_Y,
 467                 .scan_type = {
 468                         .sign = 's',
 469                         .realbits = 14,
 470                         .storagebits = 16,
 471                 },
 472         },
 473         IIO_CHAN_SOFT_TIMESTAMP(5),
 474         {
 475                 .type = IIO_ACCEL,
 476                 .modified = 1,
 477                 .channel2 = IIO_MOD_ROOT_SUM_SQUARED_X_Y,
 478                 .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT |
 479                 IIO_CHAN_INFO_SCALE_SEPARATE_BIT |
 480                 IIO_CHAN_INFO_PEAK_SEPARATE_BIT,
 481                 .address = accel_xy,
 482                 .scan_type = {
 483                         .sign = 'u',
 484                         .realbits = 14,
 485                         .storagebits = 16,
 486                 },
 487         }
 488 };
 489
 490 static const struct iio_info adis16204_info = {
 491         .read_raw = &adis16204_read_raw,
 492         .write_raw = &adis16204_write_raw,
 493         .driver_module = THIS_MODULE,
 494 };
 495
 496 static int __devinit adis16204_probe(struct spi_device *spi)
 497 {
 498         int ret;
 499         struct adis16204_state *st;
 500         struct iio_dev *indio_dev;
 501
 502         /* setup the industrialio driver allocated elements */
 503         indio_dev = iio_device_alloc(sizeof(*st));
 504         if (indio_dev == NULL) {
 505                 ret = -ENOMEM;
 506                 goto error_ret;
 507         }
 508         st = iio_priv(indio_dev);
 509         /* this is only used for removal purposes */
 510         spi_set_drvdata(spi, indio_dev);
 511         st->us = spi;
 512         mutex_init(&st->buf_lock);
 513
 514         indio_dev->name = spi->dev.driver->name;
 515         indio_dev->dev.parent = &spi->dev;
 516         indio_dev->info = &adis16204_info;
 517         indio_dev->channels = adis16204_channels;
 518         indio_dev->num_channels = ARRAY_SIZE(adis16204_channels);
 519         indio_dev->modes = INDIO_DIRECT_MODE;
 520
 521         ret = adis16204_configure_ring(indio_dev);
 522         if (ret)
 523                 goto error_free_dev;
 524
 525         ret = iio_buffer_register(indio_dev,
 526                                   adis16204_channels,
 527                                   6);
 528         if (ret) {
 529                 printk(KERN_ERR "failed to initialize the ring\n");
 530                 goto error_unreg_ring_funcs;
 531         }
 532
 533         if (spi->irq) {
 534                 ret = adis16204_probe_trigger(indio_dev);
 535                 if (ret)
 536                         goto error_uninitialize_ring;
 537         }
 538
 539         /* Get the device into a sane initial state */
 540         ret = adis16204_initial_setup(indio_dev);
 541         if (ret)
 542                 goto error_remove_trigger;
 543         ret = iio_device_register(indio_dev);
 544         if (ret)
 545                 goto error_remove_trigger;
 546
 547         return 0;
 548
 549 error_remove_trigger:
 550         adis16204_remove_trigger(indio_dev);
 551 error_uninitialize_ring:
 552         iio_buffer_unregister(indio_dev);
 553 error_unreg_ring_funcs:
 554         adis16204_unconfigure_ring(indio_dev);
 555 error_free_dev:
 556         iio_device_free(indio_dev);
 557 error_ret:
 558         return ret;
 559 }
 560
 561 static int __devexit adis16204_remove(struct spi_device *spi)
 562 {
 563         struct iio_dev *indio_dev = spi_get_drvdata(spi);
 564
 565         iio_device_unregister(indio_dev);
 566         adis16204_remove_trigger(indio_dev);
 567         iio_buffer_unregister(indio_dev);
 568         adis16204_unconfigure_ring(indio_dev);
 569         iio_device_free(indio_dev);
 570
 571         return 0;
 572 }
 573
 574 static struct spi_driver adis16204_driver = {
 575         .driver = {
 576                 .name = "adis16204",
 577                 .owner = THIS_MODULE,
 578         },
 579         .probe = adis16204_probe,
 580         .remove = __devexit_p(adis16204_remove),
 581 };
 582 module_spi_driver(adis16204_driver);
 583
 584 MODULE_AUTHOR("Barry Song <21cnbao@gmail.com>");
 585 MODULE_DESCRIPTION("ADIS16204 High-g Digital Impact Sensor and Recorder");
 586 MODULE_LICENSE("GPL v2");
 587 MODULE_ALIAS("spi:adis16204");