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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
21#include "../iio.h"
22#include "../sysfs.h"
23#include "../ring_generic.h"
24#include "accel.h"
25#include "inclinometer.h"
26#include "../gyro/gyro.h"
27#include "../adc/adc.h"
28
29#include "adis16209.h"
30
31#define DRIVER_NAME "adis16209"
32
33static int adis16209_check_status(struct device *dev);
34
35
36
37
38
39
40
41static int adis16209_spi_write_reg_8(struct device *dev,
42 u8 reg_address,
43 u8 val)
44{
45 int ret;
46 struct iio_dev *indio_dev = dev_get_drvdata(dev);
47 struct adis16209_state *st = iio_dev_get_devdata(indio_dev);
48
49 mutex_lock(&st->buf_lock);
50 st->tx[0] = ADIS16209_WRITE_REG(reg_address);
51 st->tx[1] = val;
52
53 ret = spi_write(st->us, st->tx, 2);
54 mutex_unlock(&st->buf_lock);
55
56 return ret;
57}
58
59
60
61
62
63
64
65
66static int adis16209_spi_write_reg_16(struct device *dev,
67 u8 lower_reg_address,
68 u16 value)
69{
70 int ret;
71 struct spi_message msg;
72 struct iio_dev *indio_dev = dev_get_drvdata(dev);
73 struct adis16209_state *st = iio_dev_get_devdata(indio_dev);
74 struct spi_transfer xfers[] = {
75 {
76 .tx_buf = st->tx,
77 .bits_per_word = 8,
78 .len = 2,
79 .cs_change = 1,
80 .delay_usecs = 30,
81 }, {
82 .tx_buf = st->tx + 2,
83 .bits_per_word = 8,
84 .len = 2,
85 .cs_change = 1,
86 .delay_usecs = 30,
87 },
88 };
89
90 mutex_lock(&st->buf_lock);
91 st->tx[0] = ADIS16209_WRITE_REG(lower_reg_address);
92 st->tx[1] = value & 0xFF;
93 st->tx[2] = ADIS16209_WRITE_REG(lower_reg_address + 1);
94 st->tx[3] = (value >> 8) & 0xFF;
95
96 spi_message_init(&msg);
97 spi_message_add_tail(&xfers[0], &msg);
98 spi_message_add_tail(&xfers[1], &msg);
99 ret = spi_sync(st->us, &msg);
100 mutex_unlock(&st->buf_lock);
101
102 return ret;
103}
104
105
106
107
108
109
110
111
112static int adis16209_spi_read_reg_16(struct device *dev,
113 u8 lower_reg_address,
114 u16 *val)
115{
116 struct spi_message msg;
117 struct iio_dev *indio_dev = dev_get_drvdata(dev);
118 struct adis16209_state *st = iio_dev_get_devdata(indio_dev);
119 int ret;
120 struct spi_transfer xfers[] = {
121 {
122 .tx_buf = st->tx,
123 .bits_per_word = 8,
124 .len = 2,
125 .cs_change = 1,
126 .delay_usecs = 30,
127 }, {
128 .rx_buf = st->rx,
129 .bits_per_word = 8,
130 .len = 2,
131 .cs_change = 1,
132 .delay_usecs = 30,
133 },
134 };
135
136 mutex_lock(&st->buf_lock);
137 st->tx[0] = ADIS16209_READ_REG(lower_reg_address);
138 st->tx[1] = 0;
139
140 spi_message_init(&msg);
141 spi_message_add_tail(&xfers[0], &msg);
142 spi_message_add_tail(&xfers[1], &msg);
143 ret = spi_sync(st->us, &msg);
144 if (ret) {
145 dev_err(&st->us->dev,
146 "problem when reading 16 bit register 0x%02X",
147 lower_reg_address);
148 goto error_ret;
149 }
150 *val = (st->rx[0] << 8) | st->rx[1];
151
152error_ret:
153 mutex_unlock(&st->buf_lock);
154 return ret;
155}
156
157static ssize_t adis16209_read_12bit_unsigned(struct device *dev,
158 struct device_attribute *attr,
159 char *buf)
160{
161 int ret;
162 u16 val = 0;
163 struct iio_dev_attr *this_attr = to_iio_dev_attr(attr);
164
165 ret = adis16209_spi_read_reg_16(dev, this_attr->address, &val);
166 if (ret)
167 return ret;
168
169 if (val & ADIS16209_ERROR_ACTIVE)
170 adis16209_check_status(dev);
171
172 return sprintf(buf, "%u\n", val & 0x0FFF);
173}
174
175static ssize_t adis16209_read_14bit_unsigned(struct device *dev,
176 struct device_attribute *attr,
177 char *buf)
178{
179 int ret;
180 u16 val = 0;
181 struct iio_dev_attr *this_attr = to_iio_dev_attr(attr);
182
183 ret = adis16209_spi_read_reg_16(dev, this_attr->address, &val);
184 if (ret)
185 return ret;
186
187 if (val & ADIS16209_ERROR_ACTIVE)
188 adis16209_check_status(dev);
189
190 return sprintf(buf, "%u\n", val & 0x3FFF);
191}
192
193static ssize_t adis16209_read_temp(struct device *dev,
194 struct device_attribute *attr,
195 char *buf)
196{
197 struct iio_dev *indio_dev = dev_get_drvdata(dev);
198 ssize_t ret;
199 u16 val;
200
201
202 mutex_lock(&indio_dev->mlock);
203
204 ret = adis16209_spi_read_reg_16(dev, ADIS16209_TEMP_OUT, (u16 *)&val);
205 if (ret)
206 goto error_ret;
207
208 if (val & ADIS16209_ERROR_ACTIVE)
209 adis16209_check_status(dev);
210
211 val &= 0xFFF;
212 ret = sprintf(buf, "%d\n", val);
213
214error_ret:
215 mutex_unlock(&indio_dev->mlock);
216 return ret;
217}
218
219static ssize_t adis16209_read_14bit_signed(struct device *dev,
220 struct device_attribute *attr,
221 char *buf)
222{
223 struct iio_dev *indio_dev = dev_get_drvdata(dev);
224 struct iio_dev_attr *this_attr = to_iio_dev_attr(attr);
225 s16 val = 0;
226 ssize_t ret;
227
228 mutex_lock(&indio_dev->mlock);
229
230 ret = adis16209_spi_read_reg_16(dev, this_attr->address, (u16 *)&val);
231 if (!ret) {
232 if (val & ADIS16209_ERROR_ACTIVE)
233 adis16209_check_status(dev);
234
235 val = ((s16)(val << 2) >> 2);
236 ret = sprintf(buf, "%d\n", val);
237 }
238
239 mutex_unlock(&indio_dev->mlock);
240
241 return ret;
242}
243
244static ssize_t adis16209_write_16bit(struct device *dev,
245 struct device_attribute *attr,
246 const char *buf,
247 size_t len)
248{
249 struct iio_dev_attr *this_attr = to_iio_dev_attr(attr);
250 int ret;
251 long val;
252
253 ret = strict_strtol(buf, 10, &val);
254 if (ret)
255 goto error_ret;
256 ret = adis16209_spi_write_reg_16(dev, this_attr->address, val);
257
258error_ret:
259 return ret ? ret : len;
260}
261
262static int adis16209_reset(struct device *dev)
263{
264 int ret;
265 ret = adis16209_spi_write_reg_8(dev,
266 ADIS16209_GLOB_CMD,
267 ADIS16209_GLOB_CMD_SW_RESET);
268 if (ret)
269 dev_err(dev, "problem resetting device");
270
271 return ret;
272}
273
274static ssize_t adis16209_write_reset(struct device *dev,
275 struct device_attribute *attr,
276 const char *buf, size_t len)
277{
278 if (len < 1)
279 return -EINVAL;
280 switch (buf[0]) {
281 case '1':
282 case 'y':
283 case 'Y':
284 return adis16209_reset(dev);
285 }
286 return -EINVAL;
287}
288
289int adis16209_set_irq(struct device *dev, bool enable)
290{
291 int ret = 0;
292 u16 msc;
293
294 ret = adis16209_spi_read_reg_16(dev, ADIS16209_MSC_CTRL, &msc);
295 if (ret)
296 goto error_ret;
297
298 msc |= ADIS16209_MSC_CTRL_ACTIVE_HIGH;
299 msc &= ~ADIS16209_MSC_CTRL_DATA_RDY_DIO2;
300 if (enable)
301 msc |= ADIS16209_MSC_CTRL_DATA_RDY_EN;
302 else
303 msc &= ~ADIS16209_MSC_CTRL_DATA_RDY_EN;
304
305 ret = adis16209_spi_write_reg_16(dev, ADIS16209_MSC_CTRL, msc);
306
307error_ret:
308 return ret;
309}
310
311static int adis16209_check_status(struct device *dev)
312{
313 u16 status;
314 int ret;
315
316 ret = adis16209_spi_read_reg_16(dev, ADIS16209_DIAG_STAT, &status);
317 if (ret < 0) {
318 dev_err(dev, "Reading status failed\n");
319 goto error_ret;
320 }
321 ret = status & 0x1F;
322
323 if (status & ADIS16209_DIAG_STAT_SELFTEST_FAIL)
324 dev_err(dev, "Self test failure\n");
325 if (status & ADIS16209_DIAG_STAT_SPI_FAIL)
326 dev_err(dev, "SPI failure\n");
327 if (status & ADIS16209_DIAG_STAT_FLASH_UPT)
328 dev_err(dev, "Flash update failed\n");
329 if (status & ADIS16209_DIAG_STAT_POWER_HIGH)
330 dev_err(dev, "Power supply above 3.625V\n");
331 if (status & ADIS16209_DIAG_STAT_POWER_LOW)
332 dev_err(dev, "Power supply below 3.15V\n");
333
334error_ret:
335 return ret;
336}
337
338static int adis16209_self_test(struct device *dev)
339{
340 int ret;
341 ret = adis16209_spi_write_reg_16(dev,
342 ADIS16209_MSC_CTRL,
343 ADIS16209_MSC_CTRL_SELF_TEST_EN);
344 if (ret) {
345 dev_err(dev, "problem starting self test");
346 goto err_ret;
347 }
348
349 adis16209_check_status(dev);
350
351err_ret:
352 return ret;
353}
354
355static int adis16209_initial_setup(struct adis16209_state *st)
356{
357 int ret;
358 struct device *dev = &st->indio_dev->dev;
359
360
361 ret = adis16209_set_irq(dev, false);
362 if (ret) {
363 dev_err(dev, "disable irq failed");
364 goto err_ret;
365 }
366
367
368 ret = adis16209_self_test(dev);
369 if (ret) {
370 dev_err(dev, "self test failure");
371 goto err_ret;
372 }
373
374
375 ret = adis16209_check_status(dev);
376 if (ret) {
377 adis16209_reset(dev);
378 dev_err(dev, "device not playing ball -> reset");
379 msleep(ADIS16209_STARTUP_DELAY);
380 ret = adis16209_check_status(dev);
381 if (ret) {
382 dev_err(dev, "giving up");
383 goto err_ret;
384 }
385 }
386
387 printk(KERN_INFO DRIVER_NAME ": at CS%d (irq %d)\n",
388 st->us->chip_select, st->us->irq);
389
390err_ret:
391 return ret;
392}
393
394static IIO_DEV_ATTR_IN_NAMED_RAW(0, supply, adis16209_read_14bit_unsigned,
395 ADIS16209_SUPPLY_OUT);
396static IIO_CONST_ATTR_IN_NAMED_SCALE(0, supply, "0.30518");
397static IIO_DEV_ATTR_IN_RAW(1, adis16209_read_12bit_unsigned,
398 ADIS16209_AUX_ADC);
399static IIO_CONST_ATTR(in1_scale, "0.6105");
400
401static IIO_DEV_ATTR_ACCEL_X(adis16209_read_14bit_signed,
402 ADIS16209_XACCL_OUT);
403static IIO_DEV_ATTR_ACCEL_Y(adis16209_read_14bit_signed,
404 ADIS16209_YACCL_OUT);
405static IIO_DEV_ATTR_ACCEL_X_CALIBBIAS(S_IWUSR | S_IRUGO,
406 adis16209_read_14bit_signed,
407 adis16209_write_16bit,
408 ADIS16209_XACCL_NULL);
409static IIO_DEV_ATTR_ACCEL_Y_CALIBBIAS(S_IWUSR | S_IRUGO,
410 adis16209_read_14bit_signed,
411 adis16209_write_16bit,
412 ADIS16209_YACCL_NULL);
413static IIO_CONST_ATTR_ACCEL_SCALE("0.002394195531");
414
415static IIO_DEV_ATTR_INCLI_X(adis16209_read_14bit_signed,
416 ADIS16209_XINCL_OUT);
417static IIO_DEV_ATTR_INCLI_Y(adis16209_read_14bit_signed,
418 ADIS16209_YINCL_OUT);
419static IIO_CONST_ATTR(incli_scale, "0.00043633231");
420
421static IIO_DEVICE_ATTR(rot_raw, S_IRUGO, adis16209_read_14bit_signed,
422 NULL, ADIS16209_ROT_OUT);
423
424static IIO_DEV_ATTR_TEMP_RAW(adis16209_read_temp);
425static IIO_CONST_ATTR_TEMP_OFFSET("25");
426static IIO_CONST_ATTR_TEMP_SCALE("-0.47");
427
428static IIO_DEVICE_ATTR(reset, S_IWUSR, NULL, adis16209_write_reset, 0);
429
430static IIO_CONST_ATTR_NAME("adis16209");
431
432static struct attribute *adis16209_event_attributes[] = {
433 NULL
434};
435
436static struct attribute_group adis16209_event_attribute_group = {
437 .attrs = adis16209_event_attributes,
438};
439
440static struct attribute *adis16209_attributes[] = {
441 &iio_dev_attr_in0_supply_raw.dev_attr.attr,
442 &iio_const_attr_in0_supply_scale.dev_attr.attr,
443 &iio_dev_attr_temp_raw.dev_attr.attr,
444 &iio_const_attr_temp_offset.dev_attr.attr,
445 &iio_const_attr_temp_scale.dev_attr.attr,
446 &iio_dev_attr_reset.dev_attr.attr,
447 &iio_const_attr_name.dev_attr.attr,
448 &iio_dev_attr_in1_raw.dev_attr.attr,
449 &iio_const_attr_in1_scale.dev_attr.attr,
450 &iio_dev_attr_accel_x_raw.dev_attr.attr,
451 &iio_dev_attr_accel_y_raw.dev_attr.attr,
452 &iio_dev_attr_accel_x_calibbias.dev_attr.attr,
453 &iio_dev_attr_accel_y_calibbias.dev_attr.attr,
454 &iio_const_attr_accel_scale.dev_attr.attr,
455 &iio_dev_attr_incli_x_raw.dev_attr.attr,
456 &iio_dev_attr_incli_y_raw.dev_attr.attr,
457 &iio_const_attr_incli_scale.dev_attr.attr,
458 &iio_dev_attr_rot_raw.dev_attr.attr,
459 NULL
460};
461
462static const struct attribute_group adis16209_attribute_group = {
463 .attrs = adis16209_attributes,
464};
465
466static int __devinit adis16209_probe(struct spi_device *spi)
467{
468 int ret, regdone = 0;
469 struct adis16209_state *st = kzalloc(sizeof *st, GFP_KERNEL);
470 if (!st) {
471 ret = -ENOMEM;
472 goto error_ret;
473 }
474
475 spi_set_drvdata(spi, st);
476
477
478 st->rx = kzalloc(sizeof(*st->rx)*ADIS16209_MAX_RX, GFP_KERNEL);
479 if (st->rx == NULL) {
480 ret = -ENOMEM;
481 goto error_free_st;
482 }
483 st->tx = kzalloc(sizeof(*st->tx)*ADIS16209_MAX_TX, GFP_KERNEL);
484 if (st->tx == NULL) {
485 ret = -ENOMEM;
486 goto error_free_rx;
487 }
488 st->us = spi;
489 mutex_init(&st->buf_lock);
490
491 st->indio_dev = iio_allocate_device();
492 if (st->indio_dev == NULL) {
493 ret = -ENOMEM;
494 goto error_free_tx;
495 }
496
497 st->indio_dev->dev.parent = &spi->dev;
498 st->indio_dev->num_interrupt_lines = 1;
499 st->indio_dev->event_attrs = &adis16209_event_attribute_group;
500 st->indio_dev->attrs = &adis16209_attribute_group;
501 st->indio_dev->dev_data = (void *)(st);
502 st->indio_dev->driver_module = THIS_MODULE;
503 st->indio_dev->modes = INDIO_DIRECT_MODE;
504
505 ret = adis16209_configure_ring(st->indio_dev);
506 if (ret)
507 goto error_free_dev;
508
509 ret = iio_device_register(st->indio_dev);
510 if (ret)
511 goto error_unreg_ring_funcs;
512 regdone = 1;
513
514 ret = iio_ring_buffer_register(st->indio_dev->ring, 0);
515 if (ret) {
516 printk(KERN_ERR "failed to initialize the ring\n");
517 goto error_unreg_ring_funcs;
518 }
519
520 if (spi->irq) {
521 ret = iio_register_interrupt_line(spi->irq,
522 st->indio_dev,
523 0,
524 IRQF_TRIGGER_RISING,
525 "adis16209");
526 if (ret)
527 goto error_uninitialize_ring;
528
529 ret = adis16209_probe_trigger(st->indio_dev);
530 if (ret)
531 goto error_unregister_line;
532 }
533
534
535 ret = adis16209_initial_setup(st);
536 if (ret)
537 goto error_remove_trigger;
538 return 0;
539
540error_remove_trigger:
541 adis16209_remove_trigger(st->indio_dev);
542error_unregister_line:
543 if (spi->irq)
544 iio_unregister_interrupt_line(st->indio_dev, 0);
545error_uninitialize_ring:
546 iio_ring_buffer_unregister(st->indio_dev->ring);
547error_unreg_ring_funcs:
548 adis16209_unconfigure_ring(st->indio_dev);
549error_free_dev:
550 if (regdone)
551 iio_device_unregister(st->indio_dev);
552 else
553 iio_free_device(st->indio_dev);
554error_free_tx:
555 kfree(st->tx);
556error_free_rx:
557 kfree(st->rx);
558error_free_st:
559 kfree(st);
560error_ret:
561 return ret;
562}
563
564static int adis16209_remove(struct spi_device *spi)
565{
566 struct adis16209_state *st = spi_get_drvdata(spi);
567 struct iio_dev *indio_dev = st->indio_dev;
568
569 flush_scheduled_work();
570
571 adis16209_remove_trigger(indio_dev);
572 if (spi->irq)
573 iio_unregister_interrupt_line(indio_dev, 0);
574
575 iio_ring_buffer_unregister(indio_dev->ring);
576 iio_device_unregister(indio_dev);
577 adis16209_unconfigure_ring(indio_dev);
578 kfree(st->tx);
579 kfree(st->rx);
580 kfree(st);
581
582 return 0;
583}
584
585static struct spi_driver adis16209_driver = {
586 .driver = {
587 .name = "adis16209",
588 .owner = THIS_MODULE,
589 },
590 .probe = adis16209_probe,
591 .remove = __devexit_p(adis16209_remove),
592};
593
594static __init int adis16209_init(void)
595{
596 return spi_register_driver(&adis16209_driver);
597}
598module_init(adis16209_init);
599
600static __exit void adis16209_exit(void)
601{
602 spi_unregister_driver(&adis16209_driver);
603}
604module_exit(adis16209_exit);
605
606MODULE_AUTHOR("Barry Song <21cnbao@gmail.com>");
607MODULE_DESCRIPTION("Analog Devices ADIS16209 Digital Vibration Sensor driver");
608MODULE_LICENSE("GPL v2");
609
