summaryrefslogtreecommitdiffstats
path: root/drivers/iio/gyro/adxrs450.c
blob: a330d4288bb07dcdeb124094fa369fa3d70b9599 (plain)
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
446
447
448
449
450
451
452
453
454
455
456
457
458
459
460
461
462
463
464
465
466
467
/*
 * ADXRS450/ADXRS453 Digital Output Gyroscope Driver
 *
 * Copyright 2011 Analog Devices Inc.
 *
 * Licensed under the GPL-2.
 */

#include <linux/interrupt.h>
#include <linux/irq.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 <linux/module.h>

#include <linux/iio/iio.h>
#include <linux/iio/sysfs.h>

#define ADXRS450_STARTUP_DELAY	50 /* ms */

/* The MSB for the spi commands */
#define ADXRS450_SENSOR_DATA    (0x20 << 24)
#define ADXRS450_WRITE_DATA	(0x40 << 24)
#define ADXRS450_READ_DATA	(0x80 << 24)

#define ADXRS450_RATE1	0x00	/* Rate Registers */
#define ADXRS450_TEMP1	0x02	/* Temperature Registers */
#define ADXRS450_LOCST1	0x04	/* Low CST Memory Registers */
#define ADXRS450_HICST1	0x06	/* High CST Memory Registers */
#define ADXRS450_QUAD1	0x08	/* Quad Memory Registers */
#define ADXRS450_FAULT1	0x0A	/* Fault Registers */
#define ADXRS450_PID1	0x0C	/* Part ID Register 1 */
#define ADXRS450_SNH	0x0E	/* Serial Number Registers, 4 bytes */
#define ADXRS450_SNL	0x10
#define ADXRS450_DNC1	0x12	/* Dynamic Null Correction Registers */
/* Check bits */
#define ADXRS450_P	0x01
#define ADXRS450_CHK	0x02
#define ADXRS450_CST	0x04
#define ADXRS450_PWR	0x08
#define ADXRS450_POR	0x10
#define ADXRS450_NVM	0x20
#define ADXRS450_Q	0x40
#define ADXRS450_PLL	0x80
#define ADXRS450_UV	0x100
#define ADXRS450_OV	0x200
#define ADXRS450_AMP	0x400
#define ADXRS450_FAIL	0x800

#define ADXRS450_WRERR_MASK	(0x7 << 29)

#define ADXRS450_MAX_RX 4
#define ADXRS450_MAX_TX 4

#define ADXRS450_GET_ST(a)	((a >> 26) & 0x3)

enum {
	ID_ADXRS450,
	ID_ADXRS453,
};

/**
 * struct adxrs450_state - device instance specific data
 * @us:			actual spi_device
 * @buf_lock:		mutex to protect tx and rx
 * @tx:			transmit buffer
 * @rx:			receive buffer
 **/
struct adxrs450_state {
	struct spi_device	*us;
	struct mutex		buf_lock;
	__be32			tx ____cacheline_aligned;
	__be32			rx;

};

/**
 * adxrs450_spi_read_reg_16() - read 2 bytes from a register pair
 * @indio_dev: device associated with child of actual iio_dev
 * @reg_address: the address of the lower of the two registers, which should be
 *	an even address, the second register's address is reg_address + 1.
 * @val: somewhere to pass back the value read
 **/
static int adxrs450_spi_read_reg_16(struct iio_dev *indio_dev,
				    u8 reg_address,
				    u16 *val)
{
	struct adxrs450_state *st = iio_priv(indio_dev);
	u32 tx;
	int ret;
	struct spi_transfer xfers[] = {
		{
			.tx_buf = &st->tx,
			.bits_per_word = 8,
			.len = sizeof(st->tx),
			.cs_change = 1,
		}, {
			.rx_buf = &st->rx,
			.bits_per_word = 8,
			.len = sizeof(st->rx),
		},
	};

	mutex_lock(&st->buf_lock);
	tx = ADXRS450_READ_DATA | (reg_address << 17);

	if (!(hweight32(tx) & 1))
		tx |= ADXRS450_P;

	st->tx = cpu_to_be32(tx);
	ret = spi_sync_transfer(st->us, xfers, ARRAY_SIZE(xfers));
	if (ret) {
		dev_err(&st->us->dev, "problem while reading 16 bit register 0x%02x\n",
				reg_address);
		goto error_ret;
	}

	*val = (be32_to_cpu(st->rx) >> 5) & 0xFFFF;

error_ret:
	mutex_unlock(&st->buf_lock);
	return ret;
}

/**
 * adxrs450_spi_write_reg_16() - write 2 bytes data to a register pair
 * @indio_dev: device associated with child of actual actual iio_dev
 * @reg_address: the address of the lower of the two registers,which should be
 *	an even address, the second register's address is reg_address + 1.
 * @val: value to be written.
 **/
static int adxrs450_spi_write_reg_16(struct iio_dev *indio_dev,
				     u8 reg_address,
				     u16 val)
{
	struct adxrs450_state *st = iio_priv(indio_dev);
	u32 tx;
	int ret;

	mutex_lock(&st->buf_lock);
	tx = ADXRS450_WRITE_DATA | (reg_address << 17) | (val << 1);

	if (!(hweight32(tx) & 1))
		tx |= ADXRS450_P;

	st->tx = cpu_to_be32(tx);
	ret = spi_write(st->us, &st->tx, sizeof(st->tx));
	if (ret)
		dev_err(&st->us->dev, "problem while writing 16 bit register 0x%02x\n",
			reg_address);
	usleep_range(100, 1000); /* enforce sequential transfer delay 0.1ms */
	mutex_unlock(&st->buf_lock);
	return ret;
}

/**
 * adxrs450_spi_sensor_data() - read 2 bytes sensor data
 * @indio_dev: device associated with child of actual iio_dev
 * @val: somewhere to pass back the value read
 **/
static int adxrs450_spi_sensor_data(struct iio_dev *indio_dev, s16 *val)
{
	struct adxrs450_state *st = iio_priv(indio_dev);
	int ret;
	struct spi_transfer xfers[] = {
		{
			.tx_buf = &st->tx,
			.bits_per_word = 8,
			.len = sizeof(st->tx),
			.cs_change = 1,
		}, {
			.rx_buf = &st->rx,
			.bits_per_word = 8,
			.len = sizeof(st->rx),
		},
	};

	mutex_lock(&st->buf_lock);
	st->tx = cpu_to_be32(ADXRS450_SENSOR_DATA);

	ret = spi_sync_transfer(st->us, xfers, ARRAY_SIZE(xfers));
	if (ret) {
		dev_err(&st->us->dev, "Problem while reading sensor data\n");
		goto error_ret;
	}

	*val = (be32_to_cpu(st->rx) >> 10) & 0xFFFF;

error_ret:
	mutex_unlock(&st->buf_lock);
	return ret;
}

/**
 * adxrs450_spi_initial() - use for initializing procedure.
 * @st: device instance specific data
 * @val: somewhere to pass back the value read
 * @chk: Whether to perform fault check
 **/
static int adxrs450_spi_initial(struct adxrs450_state *st,
		u32 *val, char chk)
{
	int ret;
	u32 tx;
	struct spi_transfer xfers = {
		.tx_buf = &st->tx,
		.rx_buf = &st->rx,
		.bits_per_word = 8,
		.len = sizeof(st->tx),
	};

	mutex_lock(&st->buf_lock);
	tx = ADXRS450_SENSOR_DATA;
	if (chk)
		tx |= (ADXRS450_CHK | ADXRS450_P);
	st->tx = cpu_to_be32(tx);
	ret = spi_sync_transfer(st->us, &xfers, 1);
	if (ret) {
		dev_err(&st->us->dev, "Problem while reading initializing data\n");
		goto error_ret;
	}

	*val = be32_to_cpu(st->rx);

error_ret:
	mutex_unlock(&st->buf_lock);
	return ret;
}

/* Recommended Startup Sequence by spec */
static int adxrs450_initial_setup(struct iio_dev *indio_dev)
{
	u32 t;
	u16 data;
	int ret;
	struct adxrs450_state *st = iio_priv(indio_dev);

	msleep(ADXRS450_STARTUP_DELAY*2);
	ret = adxrs450_spi_initial(st, &t, 1);
	if (ret)
		return ret;
	if (t != 0x01)
		dev_warn(&st->us->dev, "The initial power on response is not correct! Restart without reset?\n");

	msleep(ADXRS450_STARTUP_DELAY);
	ret = adxrs450_spi_initial(st, &t, 0);
	if (ret)
		return ret;

	msleep(ADXRS450_STARTUP_DELAY);
	ret = adxrs450_spi_initial(st, &t, 0);
	if (ret)
		return ret;
	if (((t & 0xff) | 0x01) != 0xff || ADXRS450_GET_ST(t) != 2) {
		dev_err(&st->us->dev, "The second response is not correct!\n");
		return -EIO;

	}
	ret = adxrs450_spi_initial(st, &t, 0);
	if (ret)
		return ret;
	if (((t & 0xff) | 0x01) != 0xff || ADXRS450_GET_ST(t) != 2) {
		dev_err(&st->us->dev, "The third response is not correct!\n");
		return -EIO;

	}
	ret = adxrs450_spi_read_reg_16(indio_dev, ADXRS450_FAULT1, &data);
	if (ret)
		return ret;
	if (data & 0x0fff) {
		dev_err(&st->us->dev, "The device is not in normal status!\n");
		return -EINVAL;
	}

	return 0;
}

static int adxrs450_write_raw(struct iio_dev *indio_dev,
			      struct iio_chan_spec const *chan,
			      int val,
			      int val2,
			      long mask)
{
	int ret;
	switch (mask) {
	case IIO_CHAN_INFO_CALIBBIAS:
		if (val < -0x400 || val >= 0x400)
			return -EINVAL;
		ret = adxrs450_spi_write_reg_16(indio_dev,
						ADXRS450_DNC1, val);
		break;
	default:
		ret = -EINVAL;
		break;
	}
	return ret;
}

static int adxrs450_read_raw(struct iio_dev *indio_dev,
			     struct iio_chan_spec const *chan,
			     int *val,
			     int *val2,
			     long mask)
{
	int ret;
	s16 t;

	switch (mask) {
	case IIO_CHAN_INFO_RAW:
		switch (chan->type) {
		case IIO_ANGL_VEL:
			ret = adxrs450_spi_sensor_data(indio_dev, &t);
			if (ret)
				break;
			*val = t;
			ret = IIO_VAL_INT;
			break;
		case IIO_TEMP:
			ret = adxrs450_spi_read_reg_16(indio_dev,
						       ADXRS450_TEMP1, &t);
			if (ret)
				break;
			*val = (t >> 6) + 225;
			ret = IIO_VAL_INT;
			break;
		default:
			ret = -EINVAL;
			break;
		}
		break;
	case IIO_CHAN_INFO_SCALE:
		switch (chan->type) {
		case IIO_ANGL_VEL:
			*val = 0;
			*val2 = 218166;
			return IIO_VAL_INT_PLUS_NANO;
		case IIO_TEMP:
			*val = 200;
			*val2 = 0;
			return IIO_VAL_INT;
		default:
			return -EINVAL;
		}
	case IIO_CHAN_INFO_QUADRATURE_CORRECTION_RAW:
		ret = adxrs450_spi_read_reg_16(indio_dev, ADXRS450_QUAD1, &t);
		if (ret)
			break;
		*val = t;
		ret = IIO_VAL_INT;
		break;
	case IIO_CHAN_INFO_CALIBBIAS:
		ret = adxrs450_spi_read_reg_16(indio_dev, ADXRS450_DNC1, &t);
		if (ret)
			break;
		*val = sign_extend32(t, 9);
		ret = IIO_VAL_INT;
		break;
	default:
		ret = -EINVAL;
		break;
	}

	return ret;
}

static const struct iio_chan_spec adxrs450_channels[2][2] = {
	[ID_ADXRS450] = {
		{
			.type = IIO_ANGL_VEL,
			.modified = 1,
			.channel2 = IIO_MOD_Z,
			.info_mask_separate = BIT(IIO_CHAN_INFO_RAW) |
			BIT(IIO_CHAN_INFO_CALIBBIAS) |
			BIT(IIO_CHAN_INFO_QUADRATURE_CORRECTION_RAW) |
			BIT(IIO_CHAN_INFO_SCALE),
		}, {
			.type = IIO_TEMP,
			.indexed = 1,
			.channel = 0,
			.info_mask_separate = BIT(IIO_CHAN_INFO_RAW) |
			BIT(IIO_CHAN_INFO_SCALE),
		}
	},
	[ID_ADXRS453] = {
		{
			.type = IIO_ANGL_VEL,
			.modified = 1,
			.channel2 = IIO_MOD_Z,
			.info_mask_separate = BIT(IIO_CHAN_INFO_RAW) |
			BIT(IIO_CHAN_INFO_SCALE) |
			BIT(IIO_CHAN_INFO_QUADRATURE_CORRECTION_RAW),
		}, {
			.type = IIO_TEMP,
			.indexed = 1,
			.channel = 0,
			.info_mask_separate = BIT(IIO_CHAN_INFO_RAW) |
			BIT(IIO_CHAN_INFO_SCALE),
		}
	},
};

static const struct iio_info adxrs450_info = {
	.driver_module = THIS_MODULE,
	.read_raw = &adxrs450_read_raw,
	.write_raw = &adxrs450_write_raw,
};

static int adxrs450_probe(struct spi_device *spi)
{
	int ret;
	struct adxrs450_state *st;
	struct iio_dev *indio_dev;

	/* setup the industrialio driver allocated elements */
	indio_dev = devm_iio_device_alloc(&spi->dev, sizeof(*st));
	if (!indio_dev)
		return -ENOMEM;
	st = iio_priv(indio_dev);
	st->us = spi;
	mutex_init(&st->buf_lock);
	/* This is only used for removal purposes */
	spi_set_drvdata(spi, indio_dev);

	indio_dev->dev.parent = &spi->dev;
	indio_dev->info = &adxrs450_info;
	indio_dev->modes = INDIO_DIRECT_MODE;
	indio_dev->channels =
		adxrs450_channels[spi_get_device_id(spi)->driver_data];
	indio_dev->num_channels = ARRAY_SIZE(adxrs450_channels);
	indio_dev->name = spi->dev.driver->name;

	ret = devm_iio_device_register(&spi->dev, indio_dev);
	if (ret)
		return ret;

	/* Get the device into a sane initial state */
	ret = adxrs450_initial_setup(indio_dev);
	if (ret)
		return ret;

	return 0;
}

static const struct spi_device_id adxrs450_id[] = {
	{"adxrs450", ID_ADXRS450},
	{"adxrs453", ID_ADXRS453},
	{}
};
MODULE_DEVICE_TABLE(spi, adxrs450_id);

static struct spi_driver adxrs450_driver = {
	.driver = {
		.name = "adxrs450",
	},
	.probe = adxrs450_probe,
	.id_table	= adxrs450_id,
};
module_spi_driver(adxrs450_driver);

MODULE_AUTHOR("Cliff Cai <cliff.cai@xxxxxxxxxx>");
MODULE_DESCRIPTION("Analog Devices ADXRS450/ADXRS453 Gyroscope SPI driver");
MODULE_LICENSE("GPL v2");