| /* |
| * ADIS16240 Programmable Impact Sensor and Recorder driver |
| * |
| * Copyright 2010 Analog Devices Inc. |
| * |
| * Licensed under the GPL-2 or later. |
| */ |
| |
| #include <linux/interrupt.h> |
| #include <linux/irq.h> |
| #include <linux/gpio.h> |
| #include <linux/delay.h> |
| #include <linux/mutex.h> |
| #include <linux/device.h> |
| #include <linux/kernel.h> |
| #include <linux/spi/spi.h> |
| #include <linux/slab.h> |
| #include <linux/sysfs.h> |
| #include <linux/list.h> |
| |
| #include "../iio.h" |
| #include "../sysfs.h" |
| #include "../ring_generic.h" |
| #include "accel.h" |
| #include "../adc/adc.h" |
| |
| #include "adis16240.h" |
| |
| #define DRIVER_NAME "adis16240" |
| |
| static int adis16240_check_status(struct iio_dev *indio_dev); |
| |
| /** |
| * adis16240_spi_write_reg_8() - write single byte to a register |
| * @indio_dev: iio_dev associated with device |
| * @reg_address: the address of the register to be written |
| * @val: the value to write |
| **/ |
| static int adis16240_spi_write_reg_8(struct iio_dev *indio_dev, |
| u8 reg_address, |
| u8 val) |
| { |
| int ret; |
| struct adis16240_state *st = iio_priv(indio_dev); |
| |
| mutex_lock(&st->buf_lock); |
| st->tx[0] = ADIS16240_WRITE_REG(reg_address); |
| st->tx[1] = val; |
| |
| ret = spi_write(st->us, st->tx, 2); |
| mutex_unlock(&st->buf_lock); |
| |
| return ret; |
| } |
| |
| /** |
| * adis16240_spi_write_reg_16() - write 2 bytes to a pair of registers |
| * @indio_dev: iio_dev for this device |
| * @reg_address: the address of the lower of the two registers. Second register |
| * is assumed to have address one greater. |
| * @val: value to be written |
| **/ |
| static int adis16240_spi_write_reg_16(struct iio_dev *indio_dev, |
| u8 lower_reg_address, |
| u16 value) |
| { |
| int ret; |
| struct spi_message msg; |
| struct adis16240_state *st = iio_priv(indio_dev); |
| struct spi_transfer xfers[] = { |
| { |
| .tx_buf = st->tx, |
| .bits_per_word = 8, |
| .len = 2, |
| .cs_change = 1, |
| .delay_usecs = 35, |
| }, { |
| .tx_buf = st->tx + 2, |
| .bits_per_word = 8, |
| .len = 2, |
| .delay_usecs = 35, |
| }, |
| }; |
| |
| mutex_lock(&st->buf_lock); |
| st->tx[0] = ADIS16240_WRITE_REG(lower_reg_address); |
| st->tx[1] = value & 0xFF; |
| st->tx[2] = ADIS16240_WRITE_REG(lower_reg_address + 1); |
| st->tx[3] = (value >> 8) & 0xFF; |
| |
| spi_message_init(&msg); |
| spi_message_add_tail(&xfers[0], &msg); |
| spi_message_add_tail(&xfers[1], &msg); |
| ret = spi_sync(st->us, &msg); |
| mutex_unlock(&st->buf_lock); |
| |
| return ret; |
| } |
| |
| /** |
| * adis16240_spi_read_reg_16() - read 2 bytes from a 16-bit register |
| * @indio_dev: iio_dev for this device |
| * @reg_address: the address of the lower of the two registers. Second register |
| * is assumed to have address one greater. |
| * @val: somewhere to pass back the value read |
| **/ |
| static int adis16240_spi_read_reg_16(struct iio_dev *indio_dev, |
| u8 lower_reg_address, |
| u16 *val) |
| { |
| struct spi_message msg; |
| struct adis16240_state *st = iio_priv(indio_dev); |
| int ret; |
| struct spi_transfer xfers[] = { |
| { |
| .tx_buf = st->tx, |
| .bits_per_word = 8, |
| .len = 2, |
| .cs_change = 1, |
| .delay_usecs = 35, |
| }, { |
| .rx_buf = st->rx, |
| .bits_per_word = 8, |
| .len = 2, |
| .cs_change = 1, |
| .delay_usecs = 35, |
| }, |
| }; |
| |
| mutex_lock(&st->buf_lock); |
| st->tx[0] = ADIS16240_READ_REG(lower_reg_address); |
| st->tx[1] = 0; |
| st->tx[2] = 0; |
| st->tx[3] = 0; |
| |
| spi_message_init(&msg); |
| spi_message_add_tail(&xfers[0], &msg); |
| spi_message_add_tail(&xfers[1], &msg); |
| ret = spi_sync(st->us, &msg); |
| if (ret) { |
| dev_err(&st->us->dev, |
| "problem when reading 16 bit register 0x%02X", |
| lower_reg_address); |
| goto error_ret; |
| } |
| *val = (st->rx[0] << 8) | st->rx[1]; |
| |
| error_ret: |
| mutex_unlock(&st->buf_lock); |
| return ret; |
| } |
| |
| static ssize_t adis16240_spi_read_signed(struct device *dev, |
| struct device_attribute *attr, |
| char *buf, |
| unsigned bits) |
| { |
| struct iio_dev *indio_dev = dev_get_drvdata(dev); |
| int ret; |
| s16 val = 0; |
| unsigned shift = 16 - bits; |
| struct iio_dev_attr *this_attr = to_iio_dev_attr(attr); |
| |
| ret = adis16240_spi_read_reg_16(indio_dev, |
| this_attr->address, (u16 *)&val); |
| if (ret) |
| return ret; |
| |
| if (val & ADIS16240_ERROR_ACTIVE) |
| adis16240_check_status(indio_dev); |
| |
| val = ((s16)(val << shift) >> shift); |
| return sprintf(buf, "%d\n", val); |
| } |
| |
| static ssize_t adis16240_read_12bit_signed(struct device *dev, |
| struct device_attribute *attr, |
| char *buf) |
| { |
| ssize_t ret; |
| struct iio_dev *indio_dev = dev_get_drvdata(dev); |
| |
| /* Take the iio_dev status lock */ |
| mutex_lock(&indio_dev->mlock); |
| ret = adis16240_spi_read_signed(dev, attr, buf, 12); |
| mutex_unlock(&indio_dev->mlock); |
| |
| return ret; |
| } |
| |
| static int adis16240_reset(struct iio_dev *indio_dev) |
| { |
| int ret; |
| ret = adis16240_spi_write_reg_8(indio_dev, |
| ADIS16240_GLOB_CMD, |
| ADIS16240_GLOB_CMD_SW_RESET); |
| if (ret) |
| dev_err(&indio_dev->dev, "problem resetting device"); |
| |
| return ret; |
| } |
| |
| static ssize_t adis16240_write_reset(struct device *dev, |
| struct device_attribute *attr, |
| const char *buf, size_t len) |
| { |
| struct iio_dev *indio_dev = dev_get_drvdata(dev); |
| |
| if (len < 1) |
| return -EINVAL; |
| switch (buf[0]) { |
| case '1': |
| case 'y': |
| case 'Y': |
| return adis16240_reset(indio_dev); |
| } |
| return -EINVAL; |
| } |
| |
| int adis16240_set_irq(struct iio_dev *indio_dev, bool enable) |
| { |
| int ret = 0; |
| u16 msc; |
| |
| ret = adis16240_spi_read_reg_16(indio_dev, |
| ADIS16240_MSC_CTRL, &msc); |
| if (ret) |
| goto error_ret; |
| |
| msc |= ADIS16240_MSC_CTRL_ACTIVE_HIGH; |
| msc &= ~ADIS16240_MSC_CTRL_DATA_RDY_DIO2; |
| if (enable) |
| msc |= ADIS16240_MSC_CTRL_DATA_RDY_EN; |
| else |
| msc &= ~ADIS16240_MSC_CTRL_DATA_RDY_EN; |
| |
| ret = adis16240_spi_write_reg_16(indio_dev, |
| ADIS16240_MSC_CTRL, msc); |
| |
| error_ret: |
| return ret; |
| } |
| |
| static int adis16240_self_test(struct iio_dev *indio_dev) |
| { |
| int ret; |
| ret = adis16240_spi_write_reg_16(indio_dev, |
| ADIS16240_MSC_CTRL, |
| ADIS16240_MSC_CTRL_SELF_TEST_EN); |
| if (ret) { |
| dev_err(&indio_dev->dev, "problem starting self test"); |
| goto err_ret; |
| } |
| |
| msleep(ADIS16240_STARTUP_DELAY); |
| |
| adis16240_check_status(indio_dev); |
| |
| err_ret: |
| return ret; |
| } |
| |
| static int adis16240_check_status(struct iio_dev *indio_dev) |
| { |
| u16 status; |
| int ret; |
| struct device *dev = &indio_dev->dev; |
| |
| ret = adis16240_spi_read_reg_16(indio_dev, |
| ADIS16240_DIAG_STAT, &status); |
| |
| if (ret < 0) { |
| dev_err(dev, "Reading status failed\n"); |
| goto error_ret; |
| } |
| |
| ret = status & 0x2F; |
| if (status & ADIS16240_DIAG_STAT_PWRON_FAIL) |
| dev_err(dev, "Power-on, self-test fail\n"); |
| if (status & ADIS16240_DIAG_STAT_SPI_FAIL) |
| dev_err(dev, "SPI failure\n"); |
| if (status & ADIS16240_DIAG_STAT_FLASH_UPT) |
| dev_err(dev, "Flash update failed\n"); |
| if (status & ADIS16240_DIAG_STAT_POWER_HIGH) |
| dev_err(dev, "Power supply above 3.625V\n"); |
| if (status & ADIS16240_DIAG_STAT_POWER_LOW) |
| dev_err(dev, "Power supply below 2.225V\n"); |
| |
| error_ret: |
| return ret; |
| } |
| |
| static int adis16240_initial_setup(struct iio_dev *indio_dev) |
| { |
| int ret; |
| struct device *dev = &indio_dev->dev; |
| |
| /* Disable IRQ */ |
| ret = adis16240_set_irq(indio_dev, false); |
| if (ret) { |
| dev_err(dev, "disable irq failed"); |
| goto err_ret; |
| } |
| |
| /* Do self test */ |
| ret = adis16240_self_test(indio_dev); |
| if (ret) { |
| dev_err(dev, "self test failure"); |
| goto err_ret; |
| } |
| |
| /* Read status register to check the result */ |
| ret = adis16240_check_status(indio_dev); |
| if (ret) { |
| adis16240_reset(indio_dev); |
| dev_err(dev, "device not playing ball -> reset"); |
| msleep(ADIS16240_STARTUP_DELAY); |
| ret = adis16240_check_status(indio_dev); |
| if (ret) { |
| dev_err(dev, "giving up"); |
| goto err_ret; |
| } |
| } |
| |
| err_ret: |
| return ret; |
| } |
| |
| static IIO_DEVICE_ATTR(accel_xyz_squared_peak_raw, S_IRUGO, |
| adis16240_read_12bit_signed, NULL, |
| ADIS16240_XYZPEAK_OUT); |
| |
| static IIO_DEVICE_ATTR(reset, S_IWUSR, NULL, adis16240_write_reset, 0); |
| |
| static IIO_CONST_ATTR_SAMP_FREQ_AVAIL("4096"); |
| |
| enum adis16240_chan { |
| in_supply, |
| in_aux, |
| accel_x, |
| accel_y, |
| accel_z, |
| temp, |
| }; |
| |
| static const u8 adis16240_addresses[6][3] = { |
| [in_supply] = { ADIS16240_SUPPLY_OUT }, |
| [in_aux] = { ADIS16240_AUX_ADC }, |
| [accel_x] = { ADIS16240_XACCL_OUT, ADIS16240_XACCL_OFF, |
| ADIS16240_XPEAK_OUT }, |
| [accel_y] = { ADIS16240_YACCL_OUT, ADIS16240_YACCL_OFF, |
| ADIS16240_YPEAK_OUT }, |
| [accel_z] = { ADIS16240_ZACCL_OUT, ADIS16240_ZACCL_OFF, |
| ADIS16240_ZPEAK_OUT }, |
| [temp] = { ADIS16240_TEMP_OUT }, |
| }; |
| |
| static int adis16240_read_raw(struct iio_dev *indio_dev, |
| struct iio_chan_spec const *chan, |
| int *val, int *val2, |
| long mask) |
| { |
| int ret; |
| int bits; |
| u8 addr; |
| s16 val16; |
| |
| switch (mask) { |
| case 0: |
| mutex_lock(&indio_dev->mlock); |
| addr = adis16240_addresses[chan->address][0]; |
| ret = adis16240_spi_read_reg_16(indio_dev, addr, &val16); |
| if (ret) { |
| mutex_unlock(&indio_dev->mlock); |
| return ret; |
| } |
| |
| if (val16 & ADIS16240_ERROR_ACTIVE) { |
| ret = adis16240_check_status(indio_dev); |
| if (ret) { |
| mutex_unlock(&indio_dev->mlock); |
| return ret; |
| } |
| } |
| val16 = val16 & ((1 << chan->scan_type.realbits) - 1); |
| if (chan->scan_type.sign == 's') |
| val16 = (s16)(val16 << |
| (16 - chan->scan_type.realbits)) >> |
| (16 - chan->scan_type.realbits); |
| *val = val16; |
| mutex_unlock(&indio_dev->mlock); |
| return IIO_VAL_INT; |
| case (1 << IIO_CHAN_INFO_SCALE_SEPARATE): |
| case (1 << IIO_CHAN_INFO_SCALE_SHARED): |
| switch (chan->type) { |
| case IIO_IN: |
| *val = 0; |
| if (chan->channel == 0) |
| *val2 = 4880; |
| else |
| return -EINVAL; |
| return IIO_VAL_INT_PLUS_MICRO; |
| case IIO_TEMP: |
| *val = 0; |
| *val2 = 244000; |
| return IIO_VAL_INT_PLUS_MICRO; |
| case IIO_ACCEL: |
| *val = 0; |
| *val2 = 504062; |
| return IIO_VAL_INT_PLUS_MICRO; |
| default: |
| return -EINVAL; |
| } |
| break; |
| case (1 << IIO_CHAN_INFO_PEAK_SCALE_SHARED): |
| *val = 6; |
| *val2 = 629295; |
| return IIO_VAL_INT_PLUS_MICRO; |
| case (1 << IIO_CHAN_INFO_OFFSET_SEPARATE): |
| *val = 25; |
| return IIO_VAL_INT; |
| case (1 << IIO_CHAN_INFO_CALIBBIAS_SEPARATE): |
| bits = 10; |
| mutex_lock(&indio_dev->mlock); |
| addr = adis16240_addresses[chan->address][1]; |
| ret = adis16240_spi_read_reg_16(indio_dev, addr, &val16); |
| if (ret) { |
| mutex_unlock(&indio_dev->mlock); |
| return ret; |
| } |
| val16 &= (1 << bits) - 1; |
| val16 = (s16)(val16 << (16 - bits)) >> (16 - bits); |
| *val = val16; |
| mutex_unlock(&indio_dev->mlock); |
| return IIO_VAL_INT; |
| case (1 << IIO_CHAN_INFO_PEAK_SEPARATE): |
| bits = 10; |
| mutex_lock(&indio_dev->mlock); |
| addr = adis16240_addresses[chan->address][2]; |
| ret = adis16240_spi_read_reg_16(indio_dev, addr, &val16); |
| if (ret) { |
| mutex_unlock(&indio_dev->mlock); |
| return ret; |
| } |
| val16 &= (1 << bits) - 1; |
| val16 = (s16)(val16 << (16 - bits)) >> (16 - bits); |
| *val = val16; |
| mutex_unlock(&indio_dev->mlock); |
| return IIO_VAL_INT; |
| } |
| return -EINVAL; |
| } |
| |
| static int adis16240_write_raw(struct iio_dev *indio_dev, |
| struct iio_chan_spec const *chan, |
| int val, |
| int val2, |
| long mask) |
| { |
| int bits = 10; |
| s16 val16; |
| u8 addr; |
| switch (mask) { |
| case (1 << IIO_CHAN_INFO_CALIBBIAS_SEPARATE): |
| val16 = val & ((1 << bits) - 1); |
| addr = adis16240_addresses[chan->address][1]; |
| return adis16240_spi_write_reg_16(indio_dev, addr, val16); |
| } |
| return -EINVAL; |
| } |
| |
| static struct iio_chan_spec adis16240_channels[] = { |
| IIO_CHAN(IIO_IN, 0, 1, 0, "supply", 0, 0, |
| (1 << IIO_CHAN_INFO_SCALE_SEPARATE), |
| in_supply, ADIS16240_SCAN_SUPPLY, |
| IIO_ST('u', 10, 16, 0), 0), |
| IIO_CHAN(IIO_IN, 0, 1, 0, NULL, 1, 0, |
| 0, |
| in_aux, ADIS16240_SCAN_AUX_ADC, |
| IIO_ST('u', 10, 16, 0), 0), |
| IIO_CHAN(IIO_ACCEL, 1, 0, 0, NULL, 0, IIO_MOD_X, |
| (1 << IIO_CHAN_INFO_SCALE_SHARED) | |
| (1 << IIO_CHAN_INFO_CALIBBIAS_SEPARATE), |
| accel_x, ADIS16240_SCAN_ACC_X, |
| IIO_ST('s', 10, 16, 0), 0), |
| IIO_CHAN(IIO_ACCEL, 1, 0, 0, NULL, 0, IIO_MOD_Y, |
| (1 << IIO_CHAN_INFO_SCALE_SHARED) | |
| (1 << IIO_CHAN_INFO_CALIBBIAS_SEPARATE), |
| accel_y, ADIS16240_SCAN_ACC_Y, |
| IIO_ST('s', 10, 16, 0), 0), |
| IIO_CHAN(IIO_ACCEL, 1, 0, 0, NULL, 0, IIO_MOD_Z, |
| (1 << IIO_CHAN_INFO_SCALE_SHARED) | |
| (1 << IIO_CHAN_INFO_CALIBBIAS_SEPARATE), |
| accel_z, ADIS16240_SCAN_ACC_Z, |
| IIO_ST('s', 10, 16, 0), 0), |
| IIO_CHAN(IIO_TEMP, 0, 1, 0, NULL, 0, 0, |
| (1 << IIO_CHAN_INFO_SCALE_SEPARATE), |
| temp, ADIS16240_SCAN_TEMP, |
| IIO_ST('u', 10, 16, 0), 0), |
| IIO_CHAN_SOFT_TIMESTAMP(6) |
| }; |
| |
| static struct attribute *adis16240_attributes[] = { |
| &iio_dev_attr_accel_xyz_squared_peak_raw.dev_attr.attr, |
| &iio_const_attr_sampling_frequency_available.dev_attr.attr, |
| &iio_dev_attr_reset.dev_attr.attr, |
| NULL |
| }; |
| |
| static const struct attribute_group adis16240_attribute_group = { |
| .attrs = adis16240_attributes, |
| }; |
| |
| static const struct iio_info adis16240_info = { |
| .attrs = &adis16240_attribute_group, |
| .read_raw = &adis16240_read_raw, |
| .write_raw = &adis16240_write_raw, |
| .driver_module = THIS_MODULE, |
| }; |
| |
| static int __devinit adis16240_probe(struct spi_device *spi) |
| { |
| int ret, regdone = 0; |
| struct adis16240_state *st; |
| struct iio_dev *indio_dev; |
| |
| /* setup the industrialio driver allocated elements */ |
| indio_dev = iio_allocate_device(sizeof(*st)); |
| if (indio_dev == NULL) { |
| ret = -ENOMEM; |
| goto error_ret; |
| } |
| st = iio_priv(indio_dev); |
| /* this is only used for removal purposes */ |
| spi_set_drvdata(spi, indio_dev); |
| |
| st->us = spi; |
| mutex_init(&st->buf_lock); |
| |
| indio_dev->name = spi->dev.driver->name; |
| indio_dev->dev.parent = &spi->dev; |
| indio_dev->info = &adis16240_info; |
| indio_dev->channels = adis16240_channels; |
| indio_dev->num_channels = ARRAY_SIZE(adis16240_channels); |
| indio_dev->modes = INDIO_DIRECT_MODE; |
| |
| ret = adis16240_configure_ring(indio_dev); |
| if (ret) |
| goto error_free_dev; |
| |
| ret = iio_device_register(indio_dev); |
| if (ret) |
| goto error_unreg_ring_funcs; |
| regdone = 1; |
| |
| ret = iio_ring_buffer_register_ex(indio_dev->ring, 0, |
| adis16240_channels, |
| ARRAY_SIZE(adis16240_channels)); |
| if (ret) { |
| printk(KERN_ERR "failed to initialize the ring\n"); |
| goto error_unreg_ring_funcs; |
| } |
| |
| if (spi->irq) { |
| ret = adis16240_probe_trigger(indio_dev); |
| if (ret) |
| goto error_uninitialize_ring; |
| } |
| |
| /* Get the device into a sane initial state */ |
| ret = adis16240_initial_setup(indio_dev); |
| if (ret) |
| goto error_remove_trigger; |
| return 0; |
| |
| error_remove_trigger: |
| adis16240_remove_trigger(indio_dev); |
| error_uninitialize_ring: |
| iio_ring_buffer_unregister(indio_dev->ring); |
| error_unreg_ring_funcs: |
| adis16240_unconfigure_ring(indio_dev); |
| error_free_dev: |
| if (regdone) |
| iio_device_unregister(indio_dev); |
| else |
| iio_free_device(indio_dev); |
| error_ret: |
| return ret; |
| } |
| |
| static int adis16240_remove(struct spi_device *spi) |
| { |
| |
| struct iio_dev *indio_dev = spi_get_drvdata(spi); |
| |
| flush_scheduled_work(); |
| |
| adis16240_remove_trigger(indio_dev); |
| iio_ring_buffer_unregister(indio_dev->ring); |
| iio_device_unregister(indio_dev); |
| adis16240_unconfigure_ring(indio_dev); |
| |
| return 0; |
| } |
| |
| static struct spi_driver adis16240_driver = { |
| .driver = { |
| .name = "adis16240", |
| .owner = THIS_MODULE, |
| }, |
| .probe = adis16240_probe, |
| .remove = __devexit_p(adis16240_remove), |
| }; |
| |
| static __init int adis16240_init(void) |
| { |
| return spi_register_driver(&adis16240_driver); |
| } |
| module_init(adis16240_init); |
| |
| static __exit void adis16240_exit(void) |
| { |
| spi_unregister_driver(&adis16240_driver); |
| } |
| module_exit(adis16240_exit); |
| |
| MODULE_AUTHOR("Barry Song <21cnbao@gmail.com>"); |
| MODULE_DESCRIPTION("Analog Devices Programmable Impact Sensor and Recorder"); |
| MODULE_LICENSE("GPL v2"); |