1 /*
2 * ADIS16240 Programmable Impact Sensor and Recorder driver
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/gpio.h>
12 #include <linux/delay.h>
13 #include <linux/mutex.h>
14 #include <linux/device.h>
15 #include <linux/kernel.h>
16 #include <linux/spi/spi.h>
17 #include <linux/slab.h>
18 #include <linux/sysfs.h>
19 #include <linux/list.h>
20 #include <linux/module.h>
21
22 #include "../iio.h"
23 #include "../sysfs.h"
24 #include "../buffer.h"
25
26 #include "adis16240.h"
27
28 #define DRIVER_NAME "adis16240"
29
30 static int adis16240_check_status(struct iio_dev *indio_dev);
31
32 /**
33 * adis16240_spi_write_reg_8() - write single byte to a register
34 * @indio_dev: iio_dev associated with device
35 * @reg_address: the address of the register to be written
36 * @val: the value to write
37 **/
adis16240_spi_write_reg_8(struct iio_dev * indio_dev,u8 reg_address,u8 val)38 static int adis16240_spi_write_reg_8(struct iio_dev *indio_dev,
39 u8 reg_address,
40 u8 val)
41 {
42 int ret;
43 struct adis16240_state *st = iio_priv(indio_dev);
44
45 mutex_lock(&st->buf_lock);
46 st->tx[0] = ADIS16240_WRITE_REG(reg_address);
47 st->tx[1] = val;
48
49 ret = spi_write(st->us, st->tx, 2);
50 mutex_unlock(&st->buf_lock);
51
52 return ret;
53 }
54
55 /**
56 * adis16240_spi_write_reg_16() - write 2 bytes to a pair of registers
57 * @indio_dev: iio_dev for this device
58 * @reg_address: the address of the lower of the two registers. Second register
59 * is assumed to have address one greater.
60 * @val: value to be written
61 **/
adis16240_spi_write_reg_16(struct iio_dev * indio_dev,u8 lower_reg_address,u16 value)62 static int adis16240_spi_write_reg_16(struct iio_dev *indio_dev,
63 u8 lower_reg_address,
64 u16 value)
65 {
66 int ret;
67 struct spi_message msg;
68 struct adis16240_state *st = iio_priv(indio_dev);
69 struct spi_transfer xfers[] = {
70 {
71 .tx_buf = st->tx,
72 .bits_per_word = 8,
73 .len = 2,
74 .cs_change = 1,
75 .delay_usecs = 35,
76 }, {
77 .tx_buf = st->tx + 2,
78 .bits_per_word = 8,
79 .len = 2,
80 .delay_usecs = 35,
81 },
82 };
83
84 mutex_lock(&st->buf_lock);
85 st->tx[0] = ADIS16240_WRITE_REG(lower_reg_address);
86 st->tx[1] = value & 0xFF;
87 st->tx[2] = ADIS16240_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 * adis16240_spi_read_reg_16() - read 2 bytes from a 16-bit register
101 * @indio_dev: iio_dev for this 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 **/
adis16240_spi_read_reg_16(struct iio_dev * indio_dev,u8 lower_reg_address,u16 * val)106 static int adis16240_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 adis16240_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 = 35,
120 }, {
121 .rx_buf = st->rx,
122 .bits_per_word = 8,
123 .len = 2,
124 .cs_change = 1,
125 .delay_usecs = 35,
126 },
127 };
128
129 mutex_lock(&st->buf_lock);
130 st->tx[0] = ADIS16240_READ_REG(lower_reg_address);
131 st->tx[1] = 0;
132 st->tx[2] = 0;
133 st->tx[3] = 0;
134
135 spi_message_init(&msg);
136 spi_message_add_tail(&xfers[0], &msg);
137 spi_message_add_tail(&xfers[1], &msg);
138 ret = spi_sync(st->us, &msg);
139 if (ret) {
140 dev_err(&st->us->dev,
141 "problem when reading 16 bit register 0x%02X",
142 lower_reg_address);
143 goto error_ret;
144 }
145 *val = (st->rx[0] << 8) | st->rx[1];
146
147 error_ret:
148 mutex_unlock(&st->buf_lock);
149 return ret;
150 }
151
adis16240_spi_read_signed(struct device * dev,struct device_attribute * attr,char * buf,unsigned bits)152 static ssize_t adis16240_spi_read_signed(struct device *dev,
153 struct device_attribute *attr,
154 char *buf,
155 unsigned bits)
156 {
157 struct iio_dev *indio_dev = dev_get_drvdata(dev);
158 int ret;
159 s16 val = 0;
160 unsigned shift = 16 - bits;
161 struct iio_dev_attr *this_attr = to_iio_dev_attr(attr);
162
163 ret = adis16240_spi_read_reg_16(indio_dev,
164 this_attr->address, (u16 *)&val);
165 if (ret)
166 return ret;
167
168 if (val & ADIS16240_ERROR_ACTIVE)
169 adis16240_check_status(indio_dev);
170
171 val = ((s16)(val << shift) >> shift);
172 return sprintf(buf, "%d\n", val);
173 }
174
adis16240_read_12bit_signed(struct device * dev,struct device_attribute * attr,char * buf)175 static ssize_t adis16240_read_12bit_signed(struct device *dev,
176 struct device_attribute *attr,
177 char *buf)
178 {
179 ssize_t ret;
180 struct iio_dev *indio_dev = dev_get_drvdata(dev);
181
182 /* Take the iio_dev status lock */
183 mutex_lock(&indio_dev->mlock);
184 ret = adis16240_spi_read_signed(dev, attr, buf, 12);
185 mutex_unlock(&indio_dev->mlock);
186
187 return ret;
188 }
189
adis16240_reset(struct iio_dev * indio_dev)190 static int adis16240_reset(struct iio_dev *indio_dev)
191 {
192 int ret;
193 ret = adis16240_spi_write_reg_8(indio_dev,
194 ADIS16240_GLOB_CMD,
195 ADIS16240_GLOB_CMD_SW_RESET);
196 if (ret)
197 dev_err(&indio_dev->dev, "problem resetting device");
198
199 return ret;
200 }
201
adis16240_write_reset(struct device * dev,struct device_attribute * attr,const char * buf,size_t len)202 static ssize_t adis16240_write_reset(struct device *dev,
203 struct device_attribute *attr,
204 const char *buf, size_t len)
205 {
206 struct iio_dev *indio_dev = dev_get_drvdata(dev);
207
208 if (len < 1)
209 return -EINVAL;
210 switch (buf[0]) {
211 case '1':
212 case 'y':
213 case 'Y':
214 return adis16240_reset(indio_dev);
215 }
216 return -EINVAL;
217 }
218
adis16240_set_irq(struct iio_dev * indio_dev,bool enable)219 int adis16240_set_irq(struct iio_dev *indio_dev, bool enable)
220 {
221 int ret = 0;
222 u16 msc;
223
224 ret = adis16240_spi_read_reg_16(indio_dev,
225 ADIS16240_MSC_CTRL, &msc);
226 if (ret)
227 goto error_ret;
228
229 msc |= ADIS16240_MSC_CTRL_ACTIVE_HIGH;
230 msc &= ~ADIS16240_MSC_CTRL_DATA_RDY_DIO2;
231 if (enable)
232 msc |= ADIS16240_MSC_CTRL_DATA_RDY_EN;
233 else
234 msc &= ~ADIS16240_MSC_CTRL_DATA_RDY_EN;
235
236 ret = adis16240_spi_write_reg_16(indio_dev,
237 ADIS16240_MSC_CTRL, msc);
238
239 error_ret:
240 return ret;
241 }
242
adis16240_self_test(struct iio_dev * indio_dev)243 static int adis16240_self_test(struct iio_dev *indio_dev)
244 {
245 int ret;
246 ret = adis16240_spi_write_reg_16(indio_dev,
247 ADIS16240_MSC_CTRL,
248 ADIS16240_MSC_CTRL_SELF_TEST_EN);
249 if (ret) {
250 dev_err(&indio_dev->dev, "problem starting self test");
251 goto err_ret;
252 }
253
254 msleep(ADIS16240_STARTUP_DELAY);
255
256 adis16240_check_status(indio_dev);
257
258 err_ret:
259 return ret;
260 }
261
adis16240_check_status(struct iio_dev * indio_dev)262 static int adis16240_check_status(struct iio_dev *indio_dev)
263 {
264 u16 status;
265 int ret;
266 struct device *dev = &indio_dev->dev;
267
268 ret = adis16240_spi_read_reg_16(indio_dev,
269 ADIS16240_DIAG_STAT, &status);
270
271 if (ret < 0) {
272 dev_err(dev, "Reading status failed\n");
273 goto error_ret;
274 }
275
276 ret = status & 0x2F;
277 if (status & ADIS16240_DIAG_STAT_PWRON_FAIL)
278 dev_err(dev, "Power-on, self-test fail\n");
279 if (status & ADIS16240_DIAG_STAT_SPI_FAIL)
280 dev_err(dev, "SPI failure\n");
281 if (status & ADIS16240_DIAG_STAT_FLASH_UPT)
282 dev_err(dev, "Flash update failed\n");
283 if (status & ADIS16240_DIAG_STAT_POWER_HIGH)
284 dev_err(dev, "Power supply above 3.625V\n");
285 if (status & ADIS16240_DIAG_STAT_POWER_LOW)
286 dev_err(dev, "Power supply below 2.225V\n");
287
288 error_ret:
289 return ret;
290 }
291
adis16240_initial_setup(struct iio_dev * indio_dev)292 static int adis16240_initial_setup(struct iio_dev *indio_dev)
293 {
294 int ret;
295 struct device *dev = &indio_dev->dev;
296
297 /* Disable IRQ */
298 ret = adis16240_set_irq(indio_dev, false);
299 if (ret) {
300 dev_err(dev, "disable irq failed");
301 goto err_ret;
302 }
303
304 /* Do self test */
305 ret = adis16240_self_test(indio_dev);
306 if (ret) {
307 dev_err(dev, "self test failure");
308 goto err_ret;
309 }
310
311 /* Read status register to check the result */
312 ret = adis16240_check_status(indio_dev);
313 if (ret) {
314 adis16240_reset(indio_dev);
315 dev_err(dev, "device not playing ball -> reset");
316 msleep(ADIS16240_STARTUP_DELAY);
317 ret = adis16240_check_status(indio_dev);
318 if (ret) {
319 dev_err(dev, "giving up");
320 goto err_ret;
321 }
322 }
323
324 err_ret:
325 return ret;
326 }
327
328 static IIO_DEVICE_ATTR(in_accel_xyz_squared_peak_raw, S_IRUGO,
329 adis16240_read_12bit_signed, NULL,
330 ADIS16240_XYZPEAK_OUT);
331
332 static IIO_DEVICE_ATTR(reset, S_IWUSR, NULL, adis16240_write_reset, 0);
333
334 static IIO_CONST_ATTR_SAMP_FREQ_AVAIL("4096");
335
336 enum adis16240_chan {
337 in_supply,
338 in_aux,
339 accel_x,
340 accel_y,
341 accel_z,
342 temp,
343 };
344
345 static const u8 adis16240_addresses[6][3] = {
346 [in_supply] = { ADIS16240_SUPPLY_OUT },
347 [in_aux] = { ADIS16240_AUX_ADC },
348 [accel_x] = { ADIS16240_XACCL_OUT, ADIS16240_XACCL_OFF,
349 ADIS16240_XPEAK_OUT },
350 [accel_y] = { ADIS16240_YACCL_OUT, ADIS16240_YACCL_OFF,
351 ADIS16240_YPEAK_OUT },
352 [accel_z] = { ADIS16240_ZACCL_OUT, ADIS16240_ZACCL_OFF,
353 ADIS16240_ZPEAK_OUT },
354 [temp] = { ADIS16240_TEMP_OUT },
355 };
356
adis16240_read_raw(struct iio_dev * indio_dev,struct iio_chan_spec const * chan,int * val,int * val2,long mask)357 static int adis16240_read_raw(struct iio_dev *indio_dev,
358 struct iio_chan_spec const *chan,
359 int *val, int *val2,
360 long mask)
361 {
362 int ret;
363 int bits;
364 u8 addr;
365 s16 val16;
366
367 switch (mask) {
368 case 0:
369 mutex_lock(&indio_dev->mlock);
370 addr = adis16240_addresses[chan->address][0];
371 ret = adis16240_spi_read_reg_16(indio_dev, addr, &val16);
372 if (ret) {
373 mutex_unlock(&indio_dev->mlock);
374 return ret;
375 }
376
377 if (val16 & ADIS16240_ERROR_ACTIVE) {
378 ret = adis16240_check_status(indio_dev);
379 if (ret) {
380 mutex_unlock(&indio_dev->mlock);
381 return ret;
382 }
383 }
384 val16 = val16 & ((1 << chan->scan_type.realbits) - 1);
385 if (chan->scan_type.sign == 's')
386 val16 = (s16)(val16 <<
387 (16 - chan->scan_type.realbits)) >>
388 (16 - chan->scan_type.realbits);
389 *val = val16;
390 mutex_unlock(&indio_dev->mlock);
391 return IIO_VAL_INT;
392 case IIO_CHAN_INFO_SCALE:
393 switch (chan->type) {
394 case IIO_VOLTAGE:
395 *val = 0;
396 if (chan->channel == 0)
397 *val2 = 4880;
398 else
399 return -EINVAL;
400 return IIO_VAL_INT_PLUS_MICRO;
401 case IIO_TEMP:
402 *val = 0;
403 *val2 = 244000;
404 return IIO_VAL_INT_PLUS_MICRO;
405 case IIO_ACCEL:
406 *val = 0;
407 *val2 = 504062;
408 return IIO_VAL_INT_PLUS_MICRO;
409 default:
410 return -EINVAL;
411 }
412 break;
413 case IIO_CHAN_INFO_PEAK_SCALE:
414 *val = 6;
415 *val2 = 629295;
416 return IIO_VAL_INT_PLUS_MICRO;
417 case IIO_CHAN_INFO_OFFSET:
418 *val = 25;
419 return IIO_VAL_INT;
420 case IIO_CHAN_INFO_CALIBBIAS:
421 bits = 10;
422 mutex_lock(&indio_dev->mlock);
423 addr = adis16240_addresses[chan->address][1];
424 ret = adis16240_spi_read_reg_16(indio_dev, addr, &val16);
425 if (ret) {
426 mutex_unlock(&indio_dev->mlock);
427 return ret;
428 }
429 val16 &= (1 << bits) - 1;
430 val16 = (s16)(val16 << (16 - bits)) >> (16 - bits);
431 *val = val16;
432 mutex_unlock(&indio_dev->mlock);
433 return IIO_VAL_INT;
434 case IIO_CHAN_INFO_PEAK:
435 bits = 10;
436 mutex_lock(&indio_dev->mlock);
437 addr = adis16240_addresses[chan->address][2];
438 ret = adis16240_spi_read_reg_16(indio_dev, addr, &val16);
439 if (ret) {
440 mutex_unlock(&indio_dev->mlock);
441 return ret;
442 }
443 val16 &= (1 << bits) - 1;
444 val16 = (s16)(val16 << (16 - bits)) >> (16 - bits);
445 *val = val16;
446 mutex_unlock(&indio_dev->mlock);
447 return IIO_VAL_INT;
448 }
449 return -EINVAL;
450 }
451
adis16240_write_raw(struct iio_dev * indio_dev,struct iio_chan_spec const * chan,int val,int val2,long mask)452 static int adis16240_write_raw(struct iio_dev *indio_dev,
453 struct iio_chan_spec const *chan,
454 int val,
455 int val2,
456 long mask)
457 {
458 int bits = 10;
459 s16 val16;
460 u8 addr;
461 switch (mask) {
462 case IIO_CHAN_INFO_CALIBBIAS:
463 val16 = val & ((1 << bits) - 1);
464 addr = adis16240_addresses[chan->address][1];
465 return adis16240_spi_write_reg_16(indio_dev, addr, val16);
466 }
467 return -EINVAL;
468 }
469
470 static struct iio_chan_spec adis16240_channels[] = {
471 IIO_CHAN(IIO_VOLTAGE, 0, 1, 0, "supply", 0, 0,
472 IIO_CHAN_INFO_SCALE_SEPARATE_BIT,
473 in_supply, ADIS16240_SCAN_SUPPLY,
474 IIO_ST('u', 10, 16, 0), 0),
475 IIO_CHAN(IIO_VOLTAGE, 0, 1, 0, NULL, 1, 0,
476 0,
477 in_aux, ADIS16240_SCAN_AUX_ADC,
478 IIO_ST('u', 10, 16, 0), 0),
479 IIO_CHAN(IIO_ACCEL, 1, 0, 0, NULL, 0, IIO_MOD_X,
480 IIO_CHAN_INFO_SCALE_SHARED_BIT |
481 IIO_CHAN_INFO_CALIBBIAS_SEPARATE_BIT,
482 accel_x, ADIS16240_SCAN_ACC_X,
483 IIO_ST('s', 10, 16, 0), 0),
484 IIO_CHAN(IIO_ACCEL, 1, 0, 0, NULL, 0, IIO_MOD_Y,
485 IIO_CHAN_INFO_SCALE_SHARED_BIT |
486 IIO_CHAN_INFO_CALIBBIAS_SEPARATE_BIT,
487 accel_y, ADIS16240_SCAN_ACC_Y,
488 IIO_ST('s', 10, 16, 0), 0),
489 IIO_CHAN(IIO_ACCEL, 1, 0, 0, NULL, 0, IIO_MOD_Z,
490 IIO_CHAN_INFO_SCALE_SHARED_BIT |
491 IIO_CHAN_INFO_CALIBBIAS_SEPARATE_BIT,
492 accel_z, ADIS16240_SCAN_ACC_Z,
493 IIO_ST('s', 10, 16, 0), 0),
494 IIO_CHAN(IIO_TEMP, 0, 1, 0, NULL, 0, 0,
495 IIO_CHAN_INFO_SCALE_SEPARATE_BIT,
496 temp, ADIS16240_SCAN_TEMP,
497 IIO_ST('u', 10, 16, 0), 0),
498 IIO_CHAN_SOFT_TIMESTAMP(6)
499 };
500
501 static struct attribute *adis16240_attributes[] = {
502 &iio_dev_attr_in_accel_xyz_squared_peak_raw.dev_attr.attr,
503 &iio_const_attr_sampling_frequency_available.dev_attr.attr,
504 &iio_dev_attr_reset.dev_attr.attr,
505 NULL
506 };
507
508 static const struct attribute_group adis16240_attribute_group = {
509 .attrs = adis16240_attributes,
510 };
511
512 static const struct iio_info adis16240_info = {
513 .attrs = &adis16240_attribute_group,
514 .read_raw = &adis16240_read_raw,
515 .write_raw = &adis16240_write_raw,
516 .driver_module = THIS_MODULE,
517 };
518
adis16240_probe(struct spi_device * spi)519 static int __devinit adis16240_probe(struct spi_device *spi)
520 {
521 int ret;
522 struct adis16240_state *st;
523 struct iio_dev *indio_dev;
524
525 /* setup the industrialio driver allocated elements */
526 indio_dev = iio_allocate_device(sizeof(*st));
527 if (indio_dev == NULL) {
528 ret = -ENOMEM;
529 goto error_ret;
530 }
531 st = iio_priv(indio_dev);
532 /* this is only used for removal purposes */
533 spi_set_drvdata(spi, indio_dev);
534
535 st->us = spi;
536 mutex_init(&st->buf_lock);
537
538 indio_dev->name = spi->dev.driver->name;
539 indio_dev->dev.parent = &spi->dev;
540 indio_dev->info = &adis16240_info;
541 indio_dev->channels = adis16240_channels;
542 indio_dev->num_channels = ARRAY_SIZE(adis16240_channels);
543 indio_dev->modes = INDIO_DIRECT_MODE;
544
545 ret = adis16240_configure_ring(indio_dev);
546 if (ret)
547 goto error_free_dev;
548
549 ret = iio_buffer_register(indio_dev,
550 adis16240_channels,
551 ARRAY_SIZE(adis16240_channels));
552 if (ret) {
553 printk(KERN_ERR "failed to initialize the ring\n");
554 goto error_unreg_ring_funcs;
555 }
556
557 if (spi->irq) {
558 ret = adis16240_probe_trigger(indio_dev);
559 if (ret)
560 goto error_uninitialize_ring;
561 }
562
563 /* Get the device into a sane initial state */
564 ret = adis16240_initial_setup(indio_dev);
565 if (ret)
566 goto error_remove_trigger;
567 ret = iio_device_register(indio_dev);
568 if (ret)
569 goto error_remove_trigger;
570 return 0;
571
572 error_remove_trigger:
573 adis16240_remove_trigger(indio_dev);
574 error_uninitialize_ring:
575 iio_buffer_unregister(indio_dev);
576 error_unreg_ring_funcs:
577 adis16240_unconfigure_ring(indio_dev);
578 error_free_dev:
579 iio_free_device(indio_dev);
580 error_ret:
581 return ret;
582 }
583
adis16240_remove(struct spi_device * spi)584 static int adis16240_remove(struct spi_device *spi)
585 {
586
587 struct iio_dev *indio_dev = spi_get_drvdata(spi);
588
589 flush_scheduled_work();
590
591 iio_device_unregister(indio_dev);
592 adis16240_remove_trigger(indio_dev);
593 iio_buffer_unregister(indio_dev);
594 adis16240_unconfigure_ring(indio_dev);
595 iio_free_device(indio_dev);
596
597 return 0;
598 }
599
600 static struct spi_driver adis16240_driver = {
601 .driver = {
602 .name = "adis16240",
603 .owner = THIS_MODULE,
604 },
605 .probe = adis16240_probe,
606 .remove = __devexit_p(adis16240_remove),
607 };
608 module_spi_driver(adis16240_driver);
609
610 MODULE_AUTHOR("Barry Song <21cnbao@gmail.com>");
611 MODULE_DESCRIPTION("Analog Devices Programmable Impact Sensor and Recorder");
612 MODULE_LICENSE("GPL v2");
613 MODULE_ALIAS("spi:adis16240");
614