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 "../iio.h"
20 #include "../sysfs.h"
21 #include "../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 **/
adis16209_spi_write_reg_8(struct iio_dev * indio_dev,u8 reg_address,u8 val)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 **/
adis16209_spi_write_reg_16(struct iio_dev * indio_dev,u8 lower_reg_address,u16 value)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 **/
adis16209_spi_read_reg_16(struct iio_dev * indio_dev,u8 lower_reg_address,u16 * val)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
adis16209_reset(struct iio_dev * indio_dev)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
adis16209_write_reset(struct device * dev,struct device_attribute * attr,const char * buf,size_t len)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
adis16209_set_irq(struct iio_dev * indio_dev,bool enable)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
adis16209_check_status(struct iio_dev * indio_dev)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
adis16209_self_test(struct iio_dev * indio_dev)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
adis16209_initial_setup(struct iio_dev * indio_dev)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
adis16209_write_raw(struct iio_dev * indio_dev,struct iio_chan_spec const * chan,int val,int val2,long mask)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
adis16209_read_raw(struct iio_dev * indio_dev,struct iio_chan_spec const * chan,int * val,int * val2,long mask)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 0:
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 IIO_CHAN(IIO_VOLTAGE, 0, 1, 0, NULL, 0, 0,
412 IIO_CHAN_INFO_SCALE_SEPARATE_BIT,
413 in_supply, ADIS16209_SCAN_SUPPLY,
414 IIO_ST('u', 14, 16, 0), 0),
415 IIO_CHAN(IIO_TEMP, 0, 1, 0, NULL, 0, 0,
416 IIO_CHAN_INFO_SCALE_SEPARATE_BIT |
417 IIO_CHAN_INFO_OFFSET_SEPARATE_BIT,
418 temp, ADIS16209_SCAN_TEMP,
419 IIO_ST('u', 12, 16, 0), 0),
420 IIO_CHAN(IIO_ACCEL, 1, 0, 0, NULL, 0, IIO_MOD_X,
421 IIO_CHAN_INFO_SCALE_SHARED_BIT |
422 IIO_CHAN_INFO_CALIBBIAS_SEPARATE_BIT,
423 accel_x, ADIS16209_SCAN_ACC_X,
424 IIO_ST('s', 14, 16, 0), 0),
425 IIO_CHAN(IIO_ACCEL, 1, 0, 0, NULL, 0, IIO_MOD_Y,
426 IIO_CHAN_INFO_SCALE_SHARED_BIT |
427 IIO_CHAN_INFO_CALIBBIAS_SEPARATE_BIT,
428 accel_y, ADIS16209_SCAN_ACC_Y,
429 IIO_ST('s', 14, 16, 0), 0),
430 IIO_CHAN(IIO_VOLTAGE, 0, 1, 0, NULL, 1, 0,
431 IIO_CHAN_INFO_SCALE_SEPARATE_BIT,
432 in_aux, ADIS16209_SCAN_AUX_ADC,
433 IIO_ST('u', 12, 16, 0), 0),
434 IIO_CHAN(IIO_INCLI, 1, 0, 0, NULL, 0, IIO_MOD_X,
435 IIO_CHAN_INFO_SCALE_SHARED_BIT,
436 incli_x, ADIS16209_SCAN_INCLI_X,
437 IIO_ST('s', 14, 16, 0), 0),
438 IIO_CHAN(IIO_INCLI, 1, 0, 0, NULL, 0, IIO_MOD_Y,
439 IIO_CHAN_INFO_SCALE_SHARED_BIT,
440 incli_y, ADIS16209_SCAN_INCLI_Y,
441 IIO_ST('s', 14, 16, 0), 0),
442 IIO_CHAN(IIO_ROT, 0, 1, 0, NULL, 0, IIO_MOD_X,
443 0,
444 rot, ADIS16209_SCAN_ROT,
445 IIO_ST('s', 14, 16, 0), 0),
446 IIO_CHAN_SOFT_TIMESTAMP(8)
447 };
448
449 static IIO_DEVICE_ATTR(reset, S_IWUSR, NULL, adis16209_write_reset, 0);
450
451 static struct attribute *adis16209_attributes[] = {
452 &iio_dev_attr_reset.dev_attr.attr,
453 NULL
454 };
455
456 static const struct attribute_group adis16209_attribute_group = {
457 .attrs = adis16209_attributes,
458 };
459
460 static const struct iio_info adis16209_info = {
461 .attrs = &adis16209_attribute_group,
462 .read_raw = &adis16209_read_raw,
463 .write_raw = &adis16209_write_raw,
464 .driver_module = THIS_MODULE,
465 };
466
adis16209_probe(struct spi_device * spi)467 static int __devinit adis16209_probe(struct spi_device *spi)
468 {
469 int ret;
470 struct adis16209_state *st;
471 struct iio_dev *indio_dev;
472
473 /* setup the industrialio driver allocated elements */
474 indio_dev = iio_allocate_device(sizeof(*st));
475 if (indio_dev == NULL) {
476 ret = -ENOMEM;
477 goto error_ret;
478 }
479 st = iio_priv(indio_dev);
480 /* this is only used for removal purposes */
481 spi_set_drvdata(spi, indio_dev);
482 st->us = spi;
483 mutex_init(&st->buf_lock);
484
485 indio_dev->name = spi->dev.driver->name;
486 indio_dev->dev.parent = &spi->dev;
487 indio_dev->info = &adis16209_info;
488 indio_dev->channels = adis16209_channels;
489 indio_dev->num_channels = ARRAY_SIZE(adis16209_channels);
490 indio_dev->modes = INDIO_DIRECT_MODE;
491
492 ret = adis16209_configure_ring(indio_dev);
493 if (ret)
494 goto error_free_dev;
495
496 ret = iio_buffer_register(indio_dev,
497 adis16209_channels,
498 ARRAY_SIZE(adis16209_channels));
499 if (ret) {
500 printk(KERN_ERR "failed to initialize the ring\n");
501 goto error_unreg_ring_funcs;
502 }
503
504 if (spi->irq) {
505 ret = adis16209_probe_trigger(indio_dev);
506 if (ret)
507 goto error_uninitialize_ring;
508 }
509
510 /* Get the device into a sane initial state */
511 ret = adis16209_initial_setup(indio_dev);
512 if (ret)
513 goto error_remove_trigger;
514 ret = iio_device_register(indio_dev);
515 if (ret)
516 goto error_remove_trigger;
517
518 return 0;
519
520 error_remove_trigger:
521 adis16209_remove_trigger(indio_dev);
522 error_uninitialize_ring:
523 iio_buffer_unregister(indio_dev);
524 error_unreg_ring_funcs:
525 adis16209_unconfigure_ring(indio_dev);
526 error_free_dev:
527 iio_free_device(indio_dev);
528 error_ret:
529 return ret;
530 }
531
adis16209_remove(struct spi_device * spi)532 static int adis16209_remove(struct spi_device *spi)
533 {
534 struct iio_dev *indio_dev = spi_get_drvdata(spi);
535
536 flush_scheduled_work();
537
538 iio_device_unregister(indio_dev);
539 adis16209_remove_trigger(indio_dev);
540 iio_buffer_unregister(indio_dev);
541 adis16209_unconfigure_ring(indio_dev);
542 iio_free_device(indio_dev);
543
544 return 0;
545 }
546
547 static struct spi_driver adis16209_driver = {
548 .driver = {
549 .name = "adis16209",
550 .owner = THIS_MODULE,
551 },
552 .probe = adis16209_probe,
553 .remove = __devexit_p(adis16209_remove),
554 };
555 module_spi_driver(adis16209_driver);
556
557 MODULE_AUTHOR("Barry Song <21cnbao@gmail.com>");
558 MODULE_DESCRIPTION("Analog Devices ADIS16209 Digital Vibration Sensor driver");
559 MODULE_LICENSE("GPL v2");
560 MODULE_ALIAS("spi:adis16209");
561