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* ADIS16201 Programmable Digital Vibration Sensor 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 "accel.h"
#include "inclinometer.h"
#include "../gyro/gyro.h"
#include "../adc/adc.h"
#include "adis16201.h"
#define DRIVER_NAME "adis16201"
static int adis16201_check_status(struct device *dev);
/**
* adis16201_spi_write_reg_8() - write single byte to a register
* @dev: device associated with child of actual device (iio_dev or iio_trig)
* @reg_address: the address of the register to be written
* @val: the value to write
**/
static int adis16201_spi_write_reg_8(struct device *dev,
u8 reg_address,
u8 val)
{
int ret;
struct iio_dev *indio_dev = dev_get_drvdata(dev);
struct adis16201_state *st = iio_dev_get_devdata(indio_dev);
mutex_lock(&st->buf_lock);
st->tx[0] = ADIS16201_WRITE_REG(reg_address);
st->tx[1] = val;
ret = spi_write(st->us, st->tx, 2);
mutex_unlock(&st->buf_lock);
return ret;
}
/**
* adis16201_spi_write_reg_16() - write 2 bytes to a pair of registers
* @dev: device associated with child of actual device (iio_dev or iio_trig)
* @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 adis16201_spi_write_reg_16(struct device *dev,
u8 lower_reg_address,
u16 value)
{
int ret;
struct spi_message msg;
struct iio_dev *indio_dev = dev_get_drvdata(dev);
struct adis16201_state *st = iio_dev_get_devdata(indio_dev);
struct spi_transfer xfers[] = {
{
.tx_buf = st->tx,
.bits_per_word = 8,
.len = 2,
.cs_change = 1,
}, {
.tx_buf = st->tx + 2,
.bits_per_word = 8,
.len = 2,
.cs_change = 1,
},
};
mutex_lock(&st->buf_lock);
st->tx[0] = ADIS16201_WRITE_REG(lower_reg_address);
st->tx[1] = value & 0xFF;
st->tx[2] = ADIS16201_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;
}
/**
* adis16201_spi_read_reg_16() - read 2 bytes from a 16-bit register
* @dev: device associated with child of actual device (iio_dev or iio_trig)
* @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 adis16201_spi_read_reg_16(struct device *dev,
u8 lower_reg_address,
u16 *val)
{
struct spi_message msg;
struct iio_dev *indio_dev = dev_get_drvdata(dev);
struct adis16201_state *st = iio_dev_get_devdata(indio_dev);
int ret;
struct spi_transfer xfers[] = {
{
.tx_buf = st->tx,
.bits_per_word = 8,
.len = 2,
.cs_change = 1,
.delay_usecs = 20,
}, {
.rx_buf = st->rx,
.bits_per_word = 8,
.len = 2,
.cs_change = 1,
.delay_usecs = 20,
},
};
mutex_lock(&st->buf_lock);
st->tx[0] = ADIS16201_READ_REG(lower_reg_address);
st->tx[1] = 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 adis16201_read_12bit_unsigned(struct device *dev,
struct device_attribute *attr,
char *buf)
{
int ret;
u16 val = 0;
struct iio_dev_attr *this_attr = to_iio_dev_attr(attr);
ret = adis16201_spi_read_reg_16(dev, this_attr->address, &val);
if (ret)
return ret;
if (val & ADIS16201_ERROR_ACTIVE) {
ret = adis16201_check_status(dev);
if (ret)
return ret;
}
return sprintf(buf, "%u\n", val & 0x0FFF);
}
static ssize_t adis16201_read_temp(struct device *dev,
struct device_attribute *attr,
char *buf)
{
struct iio_dev *indio_dev = dev_get_drvdata(dev);
ssize_t ret;
u16 val;
/* Take the iio_dev status lock */
mutex_lock(&indio_dev->mlock);
ret = adis16201_spi_read_reg_16(dev, ADIS16201_TEMP_OUT, (u16 *)&val);
if (ret)
goto error_ret;
if (val & ADIS16201_ERROR_ACTIVE) {
ret = adis16201_check_status(dev);
if (ret)
goto error_ret;
}
val &= 0xFFF;
ret = sprintf(buf, "%d\n", val);
error_ret:
mutex_unlock(&indio_dev->mlock);
return ret;
}
static ssize_t adis16201_read_9bit_signed(struct device *dev,
struct device_attribute *attr,
char *buf)
{
struct iio_dev *indio_dev = dev_get_drvdata(dev);
struct iio_dev_attr *this_attr = to_iio_dev_attr(attr);
s16 val = 0;
ssize_t ret;
mutex_lock(&indio_dev->mlock);
ret = adis16201_spi_read_reg_16(dev, this_attr->address, (u16 *)&val);
if (!ret) {
if (val & ADIS16201_ERROR_ACTIVE) {
ret = adis16201_check_status(dev);
if (ret)
goto error_ret;
}
val = ((s16)(val << 7) >> 7);
ret = sprintf(buf, "%d\n", val);
}
error_ret:
mutex_unlock(&indio_dev->mlock);
return ret;
}
static ssize_t adis16201_read_12bit_signed(struct device *dev,
struct device_attribute *attr,
char *buf)
{
struct iio_dev *indio_dev = dev_get_drvdata(dev);
struct iio_dev_attr *this_attr = to_iio_dev_attr(attr);
s16 val = 0;
ssize_t ret;
mutex_lock(&indio_dev->mlock);
ret = adis16201_spi_read_reg_16(dev, this_attr->address, (u16 *)&val);
if (!ret) {
if (val & ADIS16201_ERROR_ACTIVE) {
ret = adis16201_check_status(dev);
if (ret)
goto error_ret;
}
val = ((s16)(val << 4) >> 4);
ret = sprintf(buf, "%d\n", val);
}
error_ret:
mutex_unlock(&indio_dev->mlock);
return ret;
}
static ssize_t adis16201_read_14bit_signed(struct device *dev,
struct device_attribute *attr,
char *buf)
{
struct iio_dev *indio_dev = dev_get_drvdata(dev);
struct iio_dev_attr *this_attr = to_iio_dev_attr(attr);
s16 val = 0;
ssize_t ret;
mutex_lock(&indio_dev->mlock);
ret = adis16201_spi_read_reg_16(dev, this_attr->address, (u16 *)&val);
if (!ret) {
if (val & ADIS16201_ERROR_ACTIVE) {
ret = adis16201_check_status(dev);
if (ret)
goto error_ret;
}
val = ((s16)(val << 2) >> 2);
ret = sprintf(buf, "%d\n", val);
}
error_ret:
mutex_unlock(&indio_dev->mlock);
return ret;
}
static ssize_t adis16201_write_16bit(struct device *dev,
struct device_attribute *attr,
const char *buf,
size_t len)
{
struct iio_dev_attr *this_attr = to_iio_dev_attr(attr);
int ret;
long val;
ret = strict_strtol(buf, 10, &val);
if (ret)
goto error_ret;
ret = adis16201_spi_write_reg_16(dev, this_attr->address, val);
error_ret:
return ret ? ret : len;
}
static int adis16201_reset(struct device *dev)
{
int ret;
ret = adis16201_spi_write_reg_8(dev,
ADIS16201_GLOB_CMD,
ADIS16201_GLOB_CMD_SW_RESET);
if (ret)
dev_err(dev, "problem resetting device");
return ret;
}
static ssize_t adis16201_write_reset(struct device *dev,
struct device_attribute *attr,
const char *buf, size_t len)
{
if (len < 1)
return -EINVAL;
switch (buf[0]) {
case '1':
case 'y':
case 'Y':
return adis16201_reset(dev);
}
return -EINVAL;
}
int adis16201_set_irq(struct device *dev, bool enable)
{
int ret = 0;
u16 msc;
ret = adis16201_spi_read_reg_16(dev, ADIS16201_MSC_CTRL, &msc);
if (ret)
goto error_ret;
msc |= ADIS16201_MSC_CTRL_ACTIVE_HIGH;
msc &= ~ADIS16201_MSC_CTRL_DATA_RDY_DIO1;
if (enable)
msc |= ADIS16201_MSC_CTRL_DATA_RDY_EN;
else
msc &= ~ADIS16201_MSC_CTRL_DATA_RDY_EN;
ret = adis16201_spi_write_reg_16(dev, ADIS16201_MSC_CTRL, msc);
error_ret:
return ret;
}
static int adis16201_check_status(struct device *dev)
{
u16 status;
int ret;
ret = adis16201_spi_read_reg_16(dev, ADIS16201_DIAG_STAT, &status);
if (ret < 0) {
dev_err(dev, "Reading status failed\n");
goto error_ret;
}
ret = status & 0xF;
if (ret)
ret = -EFAULT;
if (status & ADIS16201_DIAG_STAT_SPI_FAIL)
dev_err(dev, "SPI failure\n");
if (status & ADIS16201_DIAG_STAT_FLASH_UPT)
dev_err(dev, "Flash update failed\n");
if (status & ADIS16201_DIAG_STAT_POWER_HIGH)
dev_err(dev, "Power supply above 3.625V\n");
if (status & ADIS16201_DIAG_STAT_POWER_LOW)
dev_err(dev, "Power supply below 3.15V\n");
error_ret:
return ret;
}
static int adis16201_self_test(struct device *dev)
{
int ret;
ret = adis16201_spi_write_reg_16(dev,
ADIS16201_MSC_CTRL,
ADIS16201_MSC_CTRL_SELF_TEST_EN);
if (ret) {
dev_err(dev, "problem starting self test");
goto err_ret;
}
ret = adis16201_check_status(dev);
err_ret:
return ret;
}
static int adis16201_initial_setup(struct adis16201_state *st)
{
int ret;
struct device *dev = &st->indio_dev->dev;
/* Disable IRQ */
ret = adis16201_set_irq(dev, false);
if (ret) {
dev_err(dev, "disable irq failed");
goto err_ret;
}
/* Do self test */
ret = adis16201_self_test(dev);
if (ret) {
dev_err(dev, "self test failure");
goto err_ret;
}
/* Read status register to check the result */
ret = adis16201_check_status(dev);
if (ret) {
adis16201_reset(dev);
dev_err(dev, "device not playing ball -> reset");
msleep(ADIS16201_STARTUP_DELAY);
ret = adis16201_check_status(dev);
if (ret) {
dev_err(dev, "giving up");
goto err_ret;
}
}
printk(KERN_INFO DRIVER_NAME ": at CS%d (irq %d)\n",
st->us->chip_select, st->us->irq);
err_ret:
return ret;
}
static IIO_DEV_ATTR_IN_NAMED_RAW(0, supply, adis16201_read_12bit_unsigned,
ADIS16201_SUPPLY_OUT);
static IIO_CONST_ATTR(in0_supply_scale, "0.00122");
static IIO_DEV_ATTR_IN_RAW(1, adis16201_read_12bit_unsigned,
ADIS16201_AUX_ADC);
static IIO_CONST_ATTR(in1_scale, "0.00061");
static IIO_DEV_ATTR_ACCEL_X(adis16201_read_14bit_signed,
ADIS16201_XACCL_OUT);
static IIO_DEV_ATTR_ACCEL_Y(adis16201_read_14bit_signed,
ADIS16201_YACCL_OUT);
static IIO_DEV_ATTR_ACCEL_X_OFFSET(S_IWUSR | S_IRUGO,
adis16201_read_12bit_signed,
adis16201_write_16bit,
ADIS16201_XACCL_OFFS);
static IIO_DEV_ATTR_ACCEL_Y_OFFSET(S_IWUSR | S_IRUGO,
adis16201_read_12bit_signed,
adis16201_write_16bit,
ADIS16201_YACCL_OFFS);
static IIO_CONST_ATTR(accel_scale, "0.4625");
static IIO_DEV_ATTR_INCLI_X(adis16201_read_14bit_signed,
ADIS16201_XINCL_OUT);
static IIO_DEV_ATTR_INCLI_Y(adis16201_read_14bit_signed,
ADIS16201_YINCL_OUT);
static IIO_DEV_ATTR_INCLI_X_OFFSET(S_IWUSR | S_IRUGO,
adis16201_read_9bit_signed,
adis16201_write_16bit,
ADIS16201_XACCL_OFFS);
static IIO_DEV_ATTR_INCLI_Y_OFFSET(S_IWUSR | S_IRUGO,
adis16201_read_9bit_signed,
adis16201_write_16bit,
ADIS16201_YACCL_OFFS);
static IIO_CONST_ATTR(incli_scale, "0.1");
static IIO_DEV_ATTR_TEMP_RAW(adis16201_read_temp);
static IIO_CONST_ATTR(temp_offset, "25");
static IIO_CONST_ATTR(temp_scale, "-0.47");
static IIO_DEVICE_ATTR(reset, S_IWUSR, NULL, adis16201_write_reset, 0);
static IIO_CONST_ATTR(name, "adis16201");
static struct attribute *adis16201_event_attributes[] = {
NULL
};
static struct attribute_group adis16201_event_attribute_group = {
.attrs = adis16201_event_attributes,
};
static struct attribute *adis16201_attributes[] = {
&iio_dev_attr_in0_supply_raw.dev_attr.attr,
&iio_const_attr_in0_supply_scale.dev_attr.attr,
&iio_dev_attr_temp_raw.dev_attr.attr,
&iio_const_attr_temp_offset.dev_attr.attr,
&iio_const_attr_temp_scale.dev_attr.attr,
&iio_dev_attr_reset.dev_attr.attr,
&iio_const_attr_name.dev_attr.attr,
&iio_dev_attr_in1_raw.dev_attr.attr,
&iio_const_attr_in1_scale.dev_attr.attr,
&iio_dev_attr_accel_x_raw.dev_attr.attr,
&iio_dev_attr_accel_y_raw.dev_attr.attr,
&iio_dev_attr_accel_x_offset.dev_attr.attr,
&iio_dev_attr_accel_y_offset.dev_attr.attr,
&iio_const_attr_accel_scale.dev_attr.attr,
&iio_dev_attr_incli_x_raw.dev_attr.attr,
&iio_dev_attr_incli_y_raw.dev_attr.attr,
&iio_dev_attr_incli_x_offset.dev_attr.attr,
&iio_dev_attr_incli_y_offset.dev_attr.attr,
&iio_const_attr_incli_scale.dev_attr.attr,
NULL
};
static const struct attribute_group adis16201_attribute_group = {
.attrs = adis16201_attributes,
};
static int __devinit adis16201_probe(struct spi_device *spi)
{
int ret, regdone = 0;
struct adis16201_state *st = kzalloc(sizeof *st, GFP_KERNEL);
if (!st) {
ret = -ENOMEM;
goto error_ret;
}
/* this is only used for removal purposes */
spi_set_drvdata(spi, st);
/* Allocate the comms buffers */
st->rx = kzalloc(sizeof(*st->rx)*ADIS16201_MAX_RX, GFP_KERNEL);
if (st->rx == NULL) {
ret = -ENOMEM;
goto error_free_st;
}
st->tx = kzalloc(sizeof(*st->tx)*ADIS16201_MAX_TX, GFP_KERNEL);
if (st->tx == NULL) {
ret = -ENOMEM;
goto error_free_rx;
}
st->us = spi;
mutex_init(&st->buf_lock);
/* setup the industrialio driver allocated elements */
st->indio_dev = iio_allocate_device();
if (st->indio_dev == NULL) {
ret = -ENOMEM;
goto error_free_tx;
}
st->indio_dev->dev.parent = &spi->dev;
st->indio_dev->num_interrupt_lines = 1;
st->indio_dev->event_attrs = &adis16201_event_attribute_group;
st->indio_dev->attrs = &adis16201_attribute_group;
st->indio_dev->dev_data = (void *)(st);
st->indio_dev->driver_module = THIS_MODULE;
st->indio_dev->modes = INDIO_DIRECT_MODE;
ret = adis16201_configure_ring(st->indio_dev);
if (ret)
goto error_free_dev;
ret = iio_device_register(st->indio_dev);
if (ret)
goto error_unreg_ring_funcs;
regdone = 1;
ret = adis16201_initialize_ring(st->indio_dev->ring);
if (ret) {
printk(KERN_ERR "failed to initialize the ring\n");
goto error_unreg_ring_funcs;
}
if (spi->irq) {
ret = iio_register_interrupt_line(spi->irq,
st->indio_dev,
0,
IRQF_TRIGGER_RISING,
"adis16201");
if (ret)
goto error_uninitialize_ring;
ret = adis16201_probe_trigger(st->indio_dev);
if (ret)
goto error_unregister_line;
}
/* Get the device into a sane initial state */
ret = adis16201_initial_setup(st);
if (ret)
goto error_remove_trigger;
return 0;
error_remove_trigger:
adis16201_remove_trigger(st->indio_dev);
error_unregister_line:
if (spi->irq)
iio_unregister_interrupt_line(st->indio_dev, 0);
error_uninitialize_ring:
adis16201_uninitialize_ring(st->indio_dev->ring);
error_unreg_ring_funcs:
adis16201_unconfigure_ring(st->indio_dev);
error_free_dev:
if (regdone)
iio_device_unregister(st->indio_dev);
else
iio_free_device(st->indio_dev);
error_free_tx:
kfree(st->tx);
error_free_rx:
kfree(st->rx);
error_free_st:
kfree(st);
error_ret:
return ret;
}
static int adis16201_remove(struct spi_device *spi)
{
struct adis16201_state *st = spi_get_drvdata(spi);
struct iio_dev *indio_dev = st->indio_dev;
flush_scheduled_work();
adis16201_remove_trigger(indio_dev);
if (spi->irq)
iio_unregister_interrupt_line(indio_dev, 0);
adis16201_uninitialize_ring(indio_dev->ring);
iio_device_unregister(indio_dev);
adis16201_unconfigure_ring(indio_dev);
kfree(st->tx);
kfree(st->rx);
kfree(st);
return 0;
}
static struct spi_driver adis16201_driver = {
.driver = {
.name = "adis16201",
.owner = THIS_MODULE,
},
.probe = adis16201_probe,
.remove = __devexit_p(adis16201_remove),
};
static __init int adis16201_init(void)
{
return spi_register_driver(&adis16201_driver);
}
module_init(adis16201_init);
static __exit void adis16201_exit(void)
{
spi_unregister_driver(&adis16201_driver);
}
module_exit(adis16201_exit);
MODULE_AUTHOR("Barry Song <21cnbao@gmail.com>");
MODULE_DESCRIPTION("Analog Devices ADIS16201 Programmable Digital Vibration Sensor driver");
MODULE_LICENSE("GPL v2");
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