--- /dev/null
+/*
+ * ADIS16204 Programmable High-g Digital Impact Sensor and Recorder
+ *
+ * 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 "../gyro/gyro.h"
+#include "../adc/adc.h"
+
+#include "adis16204.h"
+
+#define DRIVER_NAME "adis16204"
+
+static int adis16204_check_status(struct device *dev);
+
+/**
+ * adis16204_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 adis16204_spi_write_reg_8(struct device *dev,
+ u8 reg_address,
+ u8 val)
+{
+ int ret;
+ struct iio_dev *indio_dev = dev_get_drvdata(dev);
+ struct adis16204_state *st = iio_dev_get_devdata(indio_dev);
+
+ mutex_lock(&st->buf_lock);
+ st->tx[0] = ADIS16204_WRITE_REG(reg_address);
+ st->tx[1] = val;
+
+ ret = spi_write(st->us, st->tx, 2);
+ mutex_unlock(&st->buf_lock);
+
+ return ret;
+}
+
+/**
+ * adis16204_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 adis16204_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 adis16204_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] = ADIS16204_WRITE_REG(lower_reg_address);
+ st->tx[1] = value & 0xFF;
+ st->tx[2] = ADIS16204_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;
+}
+
+/**
+ * adis16204_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 adis16204_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 adis16204_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] = ADIS16204_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 adis16204_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 = adis16204_spi_read_reg_16(dev, this_attr->address, &val);
+ if (ret)
+ return ret;
+
+ if (val & ADIS16204_ERROR_ACTIVE)
+ adis16204_check_status(dev);
+
+ return sprintf(buf, "%u\n", val & 0x0FFF);
+}
+
+static ssize_t adis16204_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 = adis16204_spi_read_reg_16(dev, ADIS16204_TEMP_OUT, (u16 *)&val);
+ if (ret)
+ goto error_ret;
+
+ if (val & ADIS16204_ERROR_ACTIVE)
+ adis16204_check_status(dev);
+
+ val &= 0xFFF;
+ ret = sprintf(buf, "%d\n", val);
+
+error_ret:
+ mutex_unlock(&indio_dev->mlock);
+ return ret;
+}
+
+static ssize_t adis16204_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 = adis16204_spi_read_reg_16(dev, this_attr->address, (u16 *)&val);
+ if (!ret) {
+ if (val & ADIS16204_ERROR_ACTIVE)
+ adis16204_check_status(dev);
+
+ val = ((s16)(val << 4) >> 4);
+ ret = sprintf(buf, "%d\n", val);
+ }
+
+ mutex_unlock(&indio_dev->mlock);
+
+ return ret;
+}
+
+static ssize_t adis16204_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 = adis16204_spi_read_reg_16(dev, this_attr->address, (u16 *)&val);
+ if (!ret) {
+ if (val & ADIS16204_ERROR_ACTIVE)
+ adis16204_check_status(dev);
+
+ val = ((s16)(val << 2) >> 2);
+ ret = sprintf(buf, "%d\n", val);
+ }
+
+ mutex_unlock(&indio_dev->mlock);
+
+ return ret;
+}
+
+static ssize_t adis16204_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 = adis16204_spi_write_reg_16(dev, this_attr->address, val);
+
+error_ret:
+ return ret ? ret : len;
+}
+
+static int adis16204_reset(struct device *dev)
+{
+ int ret;
+ ret = adis16204_spi_write_reg_8(dev,
+ ADIS16204_GLOB_CMD,
+ ADIS16204_GLOB_CMD_SW_RESET);
+ if (ret)
+ dev_err(dev, "problem resetting device");
+
+ return ret;
+}
+
+static ssize_t adis16204_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 adis16204_reset(dev);
+ }
+ return -EINVAL;
+}
+
+int adis16204_set_irq(struct device *dev, bool enable)
+{
+ int ret = 0;
+ u16 msc;
+
+ ret = adis16204_spi_read_reg_16(dev, ADIS16204_MSC_CTRL, &msc);
+ if (ret)
+ goto error_ret;
+
+ msc |= ADIS16204_MSC_CTRL_ACTIVE_HIGH;
+ msc &= ~ADIS16204_MSC_CTRL_DATA_RDY_DIO2;
+ if (enable)
+ msc |= ADIS16204_MSC_CTRL_DATA_RDY_EN;
+ else
+ msc &= ~ADIS16204_MSC_CTRL_DATA_RDY_EN;
+
+ ret = adis16204_spi_write_reg_16(dev, ADIS16204_MSC_CTRL, msc);
+
+error_ret:
+ return ret;
+}
+
+static int adis16204_check_status(struct device *dev)
+{
+ u16 status;
+ int ret;
+
+ ret = adis16204_spi_read_reg_16(dev, ADIS16204_DIAG_STAT, &status);
+ if (ret < 0) {
+ dev_err(dev, "Reading status failed\n");
+ goto error_ret;
+ }
+ ret = status & 0x1F;
+
+ if (status & ADIS16204_DIAG_STAT_SELFTEST_FAIL)
+ dev_err(dev, "Self test failure\n");
+ if (status & ADIS16204_DIAG_STAT_SPI_FAIL)
+ dev_err(dev, "SPI failure\n");
+ if (status & ADIS16204_DIAG_STAT_FLASH_UPT)
+ dev_err(dev, "Flash update failed\n");
+ if (status & ADIS16204_DIAG_STAT_POWER_HIGH)
+ dev_err(dev, "Power supply above 3.625V\n");
+ if (status & ADIS16204_DIAG_STAT_POWER_LOW)
+ dev_err(dev, "Power supply below 2.975V\n");
+
+error_ret:
+ return ret;
+}
+
+static int adis16204_self_test(struct device *dev)
+{
+ int ret;
+ ret = adis16204_spi_write_reg_16(dev,
+ ADIS16204_MSC_CTRL,
+ ADIS16204_MSC_CTRL_SELF_TEST_EN);
+ if (ret) {
+ dev_err(dev, "problem starting self test");
+ goto err_ret;
+ }
+
+ adis16204_check_status(dev);
+
+err_ret:
+ return ret;
+}
+
+static int adis16204_initial_setup(struct adis16204_state *st)
+{
+ int ret;
+ struct device *dev = &st->indio_dev->dev;
+
+ /* Disable IRQ */
+ ret = adis16204_set_irq(dev, false);
+ if (ret) {
+ dev_err(dev, "disable irq failed");
+ goto err_ret;
+ }
+
+ /* Do self test */
+ ret = adis16204_self_test(dev);
+ if (ret) {
+ dev_err(dev, "self test failure");
+ goto err_ret;
+ }
+
+ /* Read status register to check the result */
+ ret = adis16204_check_status(dev);
+ if (ret) {
+ adis16204_reset(dev);
+ dev_err(dev, "device not playing ball -> reset");
+ msleep(ADIS16204_STARTUP_DELAY);
+ ret = adis16204_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, adis16204_read_12bit_unsigned,
+ ADIS16204_SUPPLY_OUT);
+static IIO_CONST_ATTR(in0_supply_scale, "0.00122");
+static IIO_DEV_ATTR_IN_RAW(1, adis16204_read_12bit_unsigned,
+ ADIS16204_AUX_ADC);
+static IIO_CONST_ATTR(in1_scale, "0.00061");
+
+static IIO_DEV_ATTR_ACCEL_X(adis16204_read_14bit_signed,
+ ADIS16204_XACCL_OUT);
+static IIO_DEV_ATTR_ACCEL_Y(adis16204_read_14bit_signed,
+ ADIS16204_YACCL_OUT);
+static IIO_DEV_ATTR_ACCEL_XY(adis16204_read_14bit_signed,
+ ADIS16204_XY_RSS_OUT);
+static IIO_DEV_ATTR_ACCEL_XPEAK(adis16204_read_14bit_signed,
+ ADIS16204_X_PEAK_OUT);
+static IIO_DEV_ATTR_ACCEL_YPEAK(adis16204_read_14bit_signed,
+ ADIS16204_Y_PEAK_OUT);
+static IIO_DEV_ATTR_ACCEL_XYPEAK(adis16204_read_14bit_signed,
+ ADIS16204_XY_PEAK_OUT);
+static IIO_DEV_ATTR_ACCEL_X_OFFSET(S_IWUSR | S_IRUGO,
+ adis16204_read_12bit_signed,
+ adis16204_write_16bit,
+ ADIS16204_XACCL_NULL);
+static IIO_DEV_ATTR_ACCEL_Y_OFFSET(S_IWUSR | S_IRUGO,
+ adis16204_read_12bit_signed,
+ adis16204_write_16bit,
+ ADIS16204_YACCL_NULL);
+static IIO_CONST_ATTR(accel_x_scale, "0.017125");
+static IIO_CONST_ATTR(accel_y_scale, "0.008407");
+static IIO_CONST_ATTR(accel_xy_scale, "0.017125");
+
+static IIO_DEV_ATTR_TEMP_RAW(adis16204_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, adis16204_write_reset, 0);
+
+static IIO_CONST_ATTR(name, "adis16204");
+
+static struct attribute *adis16204_event_attributes[] = {
+ NULL
+};
+
+static struct attribute_group adis16204_event_attribute_group = {
+ .attrs = adis16204_event_attributes,
+};
+
+static struct attribute *adis16204_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_xy.dev_attr.attr,
+ &iio_dev_attr_accel_xpeak.dev_attr.attr,
+ &iio_dev_attr_accel_ypeak.dev_attr.attr,
+ &iio_dev_attr_accel_xypeak.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_x_scale.dev_attr.attr,
+ &iio_const_attr_accel_y_scale.dev_attr.attr,
+ &iio_const_attr_accel_xy_scale.dev_attr.attr,
+ NULL
+};
+
+static const struct attribute_group adis16204_attribute_group = {
+ .attrs = adis16204_attributes,
+};
+
+static int __devinit adis16204_probe(struct spi_device *spi)
+{
+ int ret, regdone = 0;
+ struct adis16204_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)*ADIS16204_MAX_RX, GFP_KERNEL);
+ if (st->rx == NULL) {
+ ret = -ENOMEM;
+ goto error_free_st;
+ }
+ st->tx = kzalloc(sizeof(*st->tx)*ADIS16204_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 = &adis16204_event_attribute_group;
+ st->indio_dev->attrs = &adis16204_attribute_group;
+ st->indio_dev->dev_data = (void *)(st);
+ st->indio_dev->driver_module = THIS_MODULE;
+ st->indio_dev->modes = INDIO_DIRECT_MODE;
+
+ ret = adis16204_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 = adis16204_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,
+ "adis16204");
+ if (ret)
+ goto error_uninitialize_ring;
+
+ ret = adis16204_probe_trigger(st->indio_dev);
+ if (ret)
+ goto error_unregister_line;
+ }
+
+ /* Get the device into a sane initial state */
+ ret = adis16204_initial_setup(st);
+ if (ret)
+ goto error_remove_trigger;
+ return 0;
+
+error_remove_trigger:
+ adis16204_remove_trigger(st->indio_dev);
+error_unregister_line:
+ if (spi->irq)
+ iio_unregister_interrupt_line(st->indio_dev, 0);
+error_uninitialize_ring:
+ adis16204_uninitialize_ring(st->indio_dev->ring);
+error_unreg_ring_funcs:
+ adis16204_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 adis16204_remove(struct spi_device *spi)
+{
+ struct adis16204_state *st = spi_get_drvdata(spi);
+ struct iio_dev *indio_dev = st->indio_dev;
+
+ flush_scheduled_work();
+
+ adis16204_remove_trigger(indio_dev);
+ if (spi->irq)
+ iio_unregister_interrupt_line(indio_dev, 0);
+
+ adis16204_uninitialize_ring(indio_dev->ring);
+ iio_device_unregister(indio_dev);
+ adis16204_unconfigure_ring(indio_dev);
+ kfree(st->tx);
+ kfree(st->rx);
+ kfree(st);
+
+ return 0;
+}
+
+static struct spi_driver adis16204_driver = {
+ .driver = {
+ .name = "adis16204",
+ .owner = THIS_MODULE,
+ },
+ .probe = adis16204_probe,
+ .remove = __devexit_p(adis16204_remove),
+};
+
+static __init int adis16204_init(void)
+{
+ return spi_register_driver(&adis16204_driver);
+}
+module_init(adis16204_init);
+
+static __exit void adis16204_exit(void)
+{
+ spi_unregister_driver(&adis16204_driver);
+}
+module_exit(adis16204_exit);
+
+MODULE_AUTHOR("Barry Song <21cnbao@gmail.com>");
+MODULE_DESCRIPTION("Analog Devices ADIS16204 Programmable High-g Digital Impact Sensor and Recorder");
+MODULE_LICENSE("GPL v2");
projects / mv-sheeva.git / blobdiff