1/* 2 * ADIS16220 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/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 "accel.h" 24#include "../adc/adc.h" 25 26#include "adis16220.h" 27 28#define DRIVER_NAME "adis16220" 29 30/** 31 * adis16220_spi_write_reg_8() - write single byte to a register 32 * @dev: device associated with child of actual device (iio_dev or iio_trig) 33 * @reg_address: the address of the register to be written 34 * @val: the value to write 35 **/ 36static int adis16220_spi_write_reg_8(struct device *dev, 37 u8 reg_address, 38 u8 val) 39{ 40 int ret; 41 struct iio_dev *indio_dev = dev_get_drvdata(dev); 42 struct adis16220_state *st = iio_dev_get_devdata(indio_dev); 43 44 mutex_lock(&st->buf_lock); 45 st->tx[0] = ADIS16220_WRITE_REG(reg_address); 46 st->tx[1] = val; 47 48 ret = spi_write(st->us, st->tx, 2); 49 mutex_unlock(&st->buf_lock); 50 51 return ret; 52} 53 54/** 55 * adis16220_spi_write_reg_16() - write 2 bytes to a pair of registers 56 * @dev: device associated with child of actual device (iio_dev or iio_trig) 57 * @reg_address: the address of the lower of the two registers. Second register 58 * is assumed to have address one greater. 59 * @val: value to be written 60 **/ 61static int adis16220_spi_write_reg_16(struct device *dev, 62 u8 lower_reg_address, 63 u16 value) 64{ 65 int ret; 66 struct spi_message msg; 67 struct iio_dev *indio_dev = dev_get_drvdata(dev); 68 struct adis16220_state *st = iio_dev_get_devdata(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 .cs_change = 1, 81 .delay_usecs = 35, 82 }, 83 }; 84 85 mutex_lock(&st->buf_lock); 86 st->tx[0] = ADIS16220_WRITE_REG(lower_reg_address); 87 st->tx[1] = value & 0xFF; 88 st->tx[2] = ADIS16220_WRITE_REG(lower_reg_address + 1); 89 st->tx[3] = (value >> 8) & 0xFF; 90 91 spi_message_init(&msg); 92 spi_message_add_tail(&xfers[0], &msg); 93 spi_message_add_tail(&xfers[1], &msg); 94 ret = spi_sync(st->us, &msg); 95 mutex_unlock(&st->buf_lock); 96 97 return ret; 98} 99 100/** 101 * adis16220_spi_read_reg_16() - read 2 bytes from a 16-bit register 102 * @dev: device associated with child of actual device (iio_dev or iio_trig) 103 * @reg_address: the address of the lower of the two registers. Second register 104 * is assumed to have address one greater. 105 * @val: somewhere to pass back the value read 106 **/ 107static int adis16220_spi_read_reg_16(struct device *dev, 108 u8 lower_reg_address, 109 u16 *val) 110{ 111 struct spi_message msg; 112 struct iio_dev *indio_dev = dev_get_drvdata(dev); 113 struct adis16220_state *st = iio_dev_get_devdata(indio_dev); 114 int ret; 115 struct spi_transfer xfers[] = { 116 { 117 .tx_buf = st->tx, 118 .bits_per_word = 8, 119 .len = 2, 120 .cs_change = 1, 121 .delay_usecs = 35, 122 }, { 123 .rx_buf = st->rx, 124 .bits_per_word = 8, 125 .len = 2, 126 .cs_change = 1, 127 .delay_usecs = 35, 128 }, 129 }; 130 131 mutex_lock(&st->buf_lock); 132 st->tx[0] = ADIS16220_READ_REG(lower_reg_address); 133 st->tx[1] = 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 147error_ret: 148 mutex_unlock(&st->buf_lock); 149 return ret; 150} 151 152static ssize_t adis16220_spi_read_signed(struct device *dev, 153 struct device_attribute *attr, 154 char *buf, 155 unsigned bits) 156{ 157 int ret; 158 s16 val = 0; 159 unsigned shift = 16 - bits; 160 struct iio_dev_attr *this_attr = to_iio_dev_attr(attr); 161 162 ret = adis16220_spi_read_reg_16(dev, this_attr->address, (u16 *)&val); 163 if (ret) 164 return ret; 165 166 val = ((s16)(val << shift) >> shift); 167 return sprintf(buf, "%d\n", val); 168} 169 170static ssize_t adis16220_read_12bit_unsigned(struct device *dev, 171 struct device_attribute *attr, 172 char *buf) 173{ 174 int ret; 175 u16 val = 0; 176 struct iio_dev_attr *this_attr = to_iio_dev_attr(attr); 177 178 ret = adis16220_spi_read_reg_16(dev, this_attr->address, &val); 179 if (ret) 180 return ret; 181 182 return sprintf(buf, "%u\n", val & 0x0FFF); 183} 184 185static ssize_t adis16220_read_16bit(struct device *dev, 186 struct device_attribute *attr, 187 char *buf) 188{ 189 struct iio_dev *indio_dev = dev_get_drvdata(dev); 190 ssize_t ret; 191 192 /* Take the iio_dev status lock */ 193 mutex_lock(&indio_dev->mlock); 194 ret = adis16220_spi_read_signed(dev, attr, buf, 16); 195 mutex_unlock(&indio_dev->mlock); 196 197 return ret; 198} 199 200static ssize_t adis16220_write_16bit(struct device *dev, 201 struct device_attribute *attr, 202 const char *buf, 203 size_t len) 204{ 205 struct iio_dev_attr *this_attr = to_iio_dev_attr(attr); 206 int ret; 207 long val; 208 209 ret = strict_strtol(buf, 10, &val); 210 if (ret) 211 goto error_ret; 212 ret = adis16220_spi_write_reg_16(dev, this_attr->address, val); 213 214error_ret: 215 return ret ? ret : len; 216} 217 218static int adis16220_capture(struct device *dev) 219{ 220 int ret; 221 ret = adis16220_spi_write_reg_16(dev, 222 ADIS16220_GLOB_CMD, 223 0xBF08); /* initiates a manual data capture */ 224 if (ret) 225 dev_err(dev, "problem beginning capture"); 226 227 msleep(10); /* delay for capture to finish */ 228 229 return ret; 230} 231 232static int adis16220_reset(struct device *dev) 233{ 234 int ret; 235 ret = adis16220_spi_write_reg_8(dev, 236 ADIS16220_GLOB_CMD, 237 ADIS16220_GLOB_CMD_SW_RESET); 238 if (ret) 239 dev_err(dev, "problem resetting device"); 240 241 return ret; 242} 243 244static ssize_t adis16220_write_reset(struct device *dev, 245 struct device_attribute *attr, 246 const char *buf, size_t len) 247{ 248 if (len < 1) 249 return -1; 250 switch (buf[0]) { 251 case '1': 252 case 'y': 253 case 'Y': 254 return adis16220_reset(dev) == 0 ? len : -EIO; 255 } 256 return -1; 257} 258 259static ssize_t adis16220_write_capture(struct device *dev, 260 struct device_attribute *attr, 261 const char *buf, size_t len) 262{ 263 if (len < 1) 264 return -1; 265 switch (buf[0]) { 266 case '1': 267 case 'y': 268 case 'Y': 269 return adis16220_capture(dev) == 0 ? len : -EIO; 270 } 271 return -1; 272} 273 274static int adis16220_check_status(struct device *dev) 275{ 276 u16 status; 277 int ret; 278 279 ret = adis16220_spi_read_reg_16(dev, ADIS16220_DIAG_STAT, &status); 280 281 if (ret < 0) { 282 dev_err(dev, "Reading status failed\n"); 283 goto error_ret; 284 } 285 ret = status & 0x7F; 286 287 if (status & ADIS16220_DIAG_STAT_VIOLATION) 288 dev_err(dev, "Capture period violation/interruption\n"); 289 if (status & ADIS16220_DIAG_STAT_SPI_FAIL) 290 dev_err(dev, "SPI failure\n"); 291 if (status & ADIS16220_DIAG_STAT_FLASH_UPT) 292 dev_err(dev, "Flash update failed\n"); 293 if (status & ADIS16220_DIAG_STAT_POWER_HIGH) 294 dev_err(dev, "Power supply above 3.625V\n"); 295 if (status & ADIS16220_DIAG_STAT_POWER_LOW) 296 dev_err(dev, "Power supply below 3.15V\n"); 297 298error_ret: 299 return ret; 300} 301 302static int adis16220_self_test(struct device *dev) 303{ 304 int ret; 305 ret = adis16220_spi_write_reg_16(dev, 306 ADIS16220_MSC_CTRL, 307 ADIS16220_MSC_CTRL_SELF_TEST_EN); 308 if (ret) { 309 dev_err(dev, "problem starting self test"); 310 goto err_ret; 311 } 312 313 adis16220_check_status(dev); 314 315err_ret: 316 return ret; 317} 318 319static int adis16220_initial_setup(struct adis16220_state *st) 320{ 321 int ret; 322 struct device *dev = &st->indio_dev->dev; 323 324 /* Do self test */ 325 ret = adis16220_self_test(dev); 326 if (ret) { 327 dev_err(dev, "self test failure"); 328 goto err_ret; 329 } 330 331 /* Read status register to check the result */ 332 ret = adis16220_check_status(dev); 333 if (ret) { 334 adis16220_reset(dev); 335 dev_err(dev, "device not playing ball -> reset"); 336 msleep(ADIS16220_STARTUP_DELAY); 337 ret = adis16220_check_status(dev); 338 if (ret) { 339 dev_err(dev, "giving up"); 340 goto err_ret; 341 } 342 } 343 344 printk(KERN_INFO DRIVER_NAME ": at CS%d (irq %d)\n", 345 st->us->chip_select, st->us->irq); 346 347err_ret: 348 return ret; 349} 350 351static ssize_t adis16220_capture_buffer_read(struct adis16220_state *st, 352 char *buf, 353 loff_t off, 354 size_t count, 355 int addr) 356{ 357 struct spi_message msg; 358 struct spi_transfer xfers[] = { 359 { 360 .tx_buf = st->tx, 361 .bits_per_word = 8, 362 .len = 2, 363 .cs_change = 1, 364 .delay_usecs = 25, 365 }, { 366 .tx_buf = st->tx, 367 .rx_buf = st->rx, 368 .bits_per_word = 8, 369 .cs_change = 1, 370 .delay_usecs = 25, 371 }, 372 }; 373 int ret; 374 int i; 375 376 if (unlikely(!count)) 377 return count; 378 379 if ((off >= ADIS16220_CAPTURE_SIZE) || (count & 1) || (off & 1)) 380 return -EINVAL; 381 382 if (off + count > ADIS16220_CAPTURE_SIZE) 383 count = ADIS16220_CAPTURE_SIZE - off; 384 385 /* write the begin position of capture buffer */ 386 ret = adis16220_spi_write_reg_16(&st->indio_dev->dev, 387 ADIS16220_CAPT_PNTR, 388 off > 1); 389 if (ret) 390 return -EIO; 391 392 /* read count/2 values from capture buffer */ 393 mutex_lock(&st->buf_lock); 394 395 for (i = 0; i < count; i += 2) { 396 st->tx[i] = ADIS16220_READ_REG(addr); 397 st->tx[i + 1] = 0; 398 } 399 xfers[1].len = count; 400 401 spi_message_init(&msg); 402 spi_message_add_tail(&xfers[0], &msg); 403 spi_message_add_tail(&xfers[1], &msg); 404 ret = spi_sync(st->us, &msg); 405 if (ret) { 406 407 mutex_unlock(&st->buf_lock); 408 return -EIO; 409 } 410 411 memcpy(buf, st->rx, count); 412 413 mutex_unlock(&st->buf_lock); 414 return count; 415} 416 417static ssize_t adis16220_accel_bin_read(struct file *filp, struct kobject *kobj, 418 struct bin_attribute *attr, 419 char *buf, 420 loff_t off, 421 size_t count) 422{ 423 struct device *dev = container_of(kobj, struct device, kobj); 424 struct iio_dev *indio_dev = dev_get_drvdata(dev); 425 struct adis16220_state *st = iio_dev_get_devdata(indio_dev); 426 427 return adis16220_capture_buffer_read(st, buf, 428 off, count, 429 ADIS16220_CAPT_BUFA); 430} 431 432static struct bin_attribute accel_bin = { 433 .attr = { 434 .name = "accel_bin", 435 .mode = S_IRUGO, 436 }, 437 .read = adis16220_accel_bin_read, 438 .size = ADIS16220_CAPTURE_SIZE, 439}; 440 441static ssize_t adis16220_adc1_bin_read(struct file *filp, struct kobject *kobj, 442 struct bin_attribute *attr, 443 char *buf, loff_t off, 444 size_t count) 445{ 446 struct device *dev = container_of(kobj, struct device, kobj); 447 struct iio_dev *indio_dev = dev_get_drvdata(dev); 448 struct adis16220_state *st = iio_dev_get_devdata(indio_dev); 449 450 return adis16220_capture_buffer_read(st, buf, 451 off, count, 452 ADIS16220_CAPT_BUF1); 453} 454 455static struct bin_attribute adc1_bin = { 456 .attr = { 457 .name = "in0_bin", 458 .mode = S_IRUGO, 459 }, 460 .read = adis16220_adc1_bin_read, 461 .size = ADIS16220_CAPTURE_SIZE, 462}; 463 464static ssize_t adis16220_adc2_bin_read(struct file *filp, struct kobject *kobj, 465 struct bin_attribute *attr, 466 char *buf, loff_t off, 467 size_t count) 468{ 469 struct device *dev = container_of(kobj, struct device, kobj); 470 struct iio_dev *indio_dev = dev_get_drvdata(dev); 471 struct adis16220_state *st = iio_dev_get_devdata(indio_dev); 472 473 return adis16220_capture_buffer_read(st, buf, 474 off, count, 475 ADIS16220_CAPT_BUF2); 476} 477 478 479static struct bin_attribute adc2_bin = { 480 .attr = { 481 .name = "in1_bin", 482 .mode = S_IRUGO, 483 }, 484 .read = adis16220_adc2_bin_read, 485 .size = ADIS16220_CAPTURE_SIZE, 486}; 487 488static IIO_DEV_ATTR_IN_NAMED_RAW(supply, adis16220_read_12bit_unsigned, 489 ADIS16220_CAPT_SUPPLY); 490static IIO_CONST_ATTR(in_supply_scale, "0.0012207"); 491static IIO_DEV_ATTR_ACCEL(adis16220_read_16bit, ADIS16220_CAPT_BUFA); 492static IIO_DEVICE_ATTR(accel_peak_raw, S_IRUGO, adis16220_read_16bit, 493 NULL, ADIS16220_CAPT_PEAKA); 494static IIO_DEV_ATTR_ACCEL_OFFSET(S_IWUSR | S_IRUGO, 495 adis16220_read_16bit, 496 adis16220_write_16bit, 497 ADIS16220_ACCL_NULL); 498static IIO_DEV_ATTR_TEMP_RAW(adis16220_read_12bit_unsigned); 499static IIO_CONST_ATTR(temp_offset, "25"); 500static IIO_CONST_ATTR(temp_scale, "-0.47"); 501 502static IIO_DEV_ATTR_IN_RAW(0, adis16220_read_16bit, ADIS16220_CAPT_BUF1); 503static IIO_DEV_ATTR_IN_RAW(1, adis16220_read_16bit, ADIS16220_CAPT_BUF2); 504 505static IIO_DEVICE_ATTR(reset, S_IWUSR, NULL, 506 adis16220_write_reset, 0); 507 508#define IIO_DEV_ATTR_CAPTURE(_store) \ 509 IIO_DEVICE_ATTR(capture, S_IWUSR, NULL, _store, 0) 510 511static IIO_DEV_ATTR_CAPTURE(adis16220_write_capture); 512 513#define IIO_DEV_ATTR_CAPTURE_COUNT(_mode, _show, _store, _addr) \ 514 IIO_DEVICE_ATTR(capture_count, _mode, _show, _store, _addr) 515 516static IIO_DEV_ATTR_CAPTURE_COUNT(S_IWUSR | S_IRUGO, 517 adis16220_read_16bit, 518 adis16220_write_16bit, 519 ADIS16220_CAPT_PNTR); 520 521static IIO_CONST_ATTR_AVAIL_SAMP_FREQ("100200"); 522 523static IIO_CONST_ATTR(name, "adis16220"); 524 525static struct attribute *adis16220_attributes[] = { 526 &iio_dev_attr_in_supply_raw.dev_attr.attr, 527 &iio_const_attr_in_supply_scale.dev_attr.attr, 528 &iio_dev_attr_accel_raw.dev_attr.attr, 529 &iio_dev_attr_accel_offset.dev_attr.attr, 530 &iio_dev_attr_accel_peak_raw.dev_attr.attr, 531 &iio_dev_attr_temp_raw.dev_attr.attr, 532 &iio_dev_attr_in0_raw.dev_attr.attr, 533 &iio_dev_attr_in1_raw.dev_attr.attr, 534 &iio_const_attr_temp_offset.dev_attr.attr, 535 &iio_const_attr_temp_scale.dev_attr.attr, 536 &iio_const_attr_available_sampling_frequency.dev_attr.attr, 537 &iio_dev_attr_reset.dev_attr.attr, 538 &iio_dev_attr_capture.dev_attr.attr, 539 &iio_dev_attr_capture_count.dev_attr.attr, 540 &iio_const_attr_name.dev_attr.attr, 541 NULL 542}; 543 544static const struct attribute_group adis16220_attribute_group = { 545 .attrs = adis16220_attributes, 546}; 547 548static int __devinit adis16220_probe(struct spi_device *spi) 549{ 550 int ret, regdone = 0; 551 struct adis16220_state *st = kzalloc(sizeof *st, GFP_KERNEL); 552 if (!st) { 553 ret = -ENOMEM; 554 goto error_ret; 555 } 556 /* this is only used for removal purposes */ 557 spi_set_drvdata(spi, st); 558 559 /* Allocate the comms buffers */ 560 st->rx = kzalloc(sizeof(*st->rx)*ADIS16220_MAX_RX, GFP_KERNEL); 561 if (st->rx == NULL) { 562 ret = -ENOMEM; 563 goto error_free_st; 564 } 565 st->tx = kzalloc(sizeof(*st->tx)*ADIS16220_MAX_TX, GFP_KERNEL); 566 if (st->tx == NULL) { 567 ret = -ENOMEM; 568 goto error_free_rx; 569 } 570 st->us = spi; 571 mutex_init(&st->buf_lock); 572 /* setup the industrialio driver allocated elements */ 573 st->indio_dev = iio_allocate_device(); 574 if (st->indio_dev == NULL) { 575 ret = -ENOMEM; 576 goto error_free_tx; 577 } 578 579 st->indio_dev->dev.parent = &spi->dev; 580 st->indio_dev->attrs = &adis16220_attribute_group; 581 st->indio_dev->dev_data = (void *)(st); 582 st->indio_dev->driver_module = THIS_MODULE; 583 st->indio_dev->modes = INDIO_DIRECT_MODE; 584 585 ret = iio_device_register(st->indio_dev); 586 if (ret) 587 goto error_free_dev; 588 regdone = 1; 589 590 ret = sysfs_create_bin_file(&st->indio_dev->dev.kobj, &accel_bin); 591 if (ret) 592 goto error_free_dev; 593 594 ret = sysfs_create_bin_file(&st->indio_dev->dev.kobj, &adc1_bin); 595 if (ret) 596 goto error_rm_accel_bin; 597 598 ret = sysfs_create_bin_file(&st->indio_dev->dev.kobj, &adc2_bin); 599 if (ret) 600 goto error_rm_adc1_bin; 601 602 /* Get the device into a sane initial state */ 603 ret = adis16220_initial_setup(st); 604 if (ret) 605 goto error_rm_adc2_bin; 606 return 0; 607 608error_rm_adc2_bin: 609 sysfs_remove_bin_file(&st->indio_dev->dev.kobj, &adc2_bin); 610error_rm_adc1_bin: 611 sysfs_remove_bin_file(&st->indio_dev->dev.kobj, &adc1_bin); 612error_rm_accel_bin: 613 sysfs_remove_bin_file(&st->indio_dev->dev.kobj, &accel_bin); 614error_free_dev: 615 if (regdone) 616 iio_device_unregister(st->indio_dev); 617 else 618 iio_free_device(st->indio_dev); 619error_free_tx: 620 kfree(st->tx); 621error_free_rx: 622 kfree(st->rx); 623error_free_st: 624 kfree(st); 625error_ret: 626 return ret; 627} 628 629static int adis16220_remove(struct spi_device *spi) 630{ 631 struct adis16220_state *st = spi_get_drvdata(spi); 632 struct iio_dev *indio_dev = st->indio_dev; 633 634 flush_scheduled_work(); 635 636 sysfs_remove_bin_file(&st->indio_dev->dev.kobj, &adc2_bin); 637 sysfs_remove_bin_file(&st->indio_dev->dev.kobj, &adc1_bin); 638 sysfs_remove_bin_file(&st->indio_dev->dev.kobj, &accel_bin); 639 iio_device_unregister(indio_dev); 640 kfree(st->tx); 641 kfree(st->rx); 642 kfree(st); 643 644 return 0; 645} 646 647static struct spi_driver adis16220_driver = { 648 .driver = { 649 .name = "adis16220", 650 .owner = THIS_MODULE, 651 }, 652 .probe = adis16220_probe, 653 .remove = __devexit_p(adis16220_remove), 654}; 655 656static __init int adis16220_init(void) 657{ 658 return spi_register_driver(&adis16220_driver); 659} 660module_init(adis16220_init); 661 662static __exit void adis16220_exit(void) 663{ 664 spi_unregister_driver(&adis16220_driver); 665} 666module_exit(adis16220_exit); 667 668MODULE_AUTHOR("Barry Song <21cnbao@gmail.com>"); 669MODULE_DESCRIPTION("Analog Devices ADIS16220 Digital Vibration Sensor"); 670MODULE_LICENSE("GPL v2"); 671