2 * ADIS16240 Programmable Impact Sensor and Recorder driver
4 * Copyright 2010 Analog Devices Inc.
6 * Licensed under the GPL-2 or later.
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>
18 #include <linux/sysfs.h>
19 #include <linux/list.h>
24 #include "../adc/adc.h"
26 #include "adis16240.h"
28 #define DRIVER_NAME "adis16240"
30 static int adis16240_check_status(struct device *dev);
33 * adis16240_spi_write_reg_8() - write single byte to a register
34 * @dev: device associated with child of actual device (iio_dev or iio_trig)
35 * @reg_address: the address of the register to be written
36 * @val: the value to write
38 static int adis16240_spi_write_reg_8(struct device *dev,
43 struct iio_dev *indio_dev = dev_get_drvdata(dev);
44 struct adis16240_state *st = iio_dev_get_devdata(indio_dev);
46 mutex_lock(&st->buf_lock);
47 st->tx[0] = ADIS16240_WRITE_REG(reg_address);
50 ret = spi_write(st->us, st->tx, 2);
51 mutex_unlock(&st->buf_lock);
57 * adis16240_spi_write_reg_16() - write 2 bytes to a pair of registers
58 * @dev: device associated with child of actual device (iio_dev or iio_trig)
59 * @reg_address: the address of the lower of the two registers. Second register
60 * is assumed to have address one greater.
61 * @val: value to be written
63 static int adis16240_spi_write_reg_16(struct device *dev,
68 struct spi_message msg;
69 struct iio_dev *indio_dev = dev_get_drvdata(dev);
70 struct adis16240_state *st = iio_dev_get_devdata(indio_dev);
71 struct spi_transfer xfers[] = {
87 mutex_lock(&st->buf_lock);
88 st->tx[0] = ADIS16240_WRITE_REG(lower_reg_address);
89 st->tx[1] = value & 0xFF;
90 st->tx[2] = ADIS16240_WRITE_REG(lower_reg_address + 1);
91 st->tx[3] = (value >> 8) & 0xFF;
93 spi_message_init(&msg);
94 spi_message_add_tail(&xfers[0], &msg);
95 spi_message_add_tail(&xfers[1], &msg);
96 ret = spi_sync(st->us, &msg);
97 mutex_unlock(&st->buf_lock);
103 * adis16240_spi_read_reg_16() - read 2 bytes from a 16-bit register
104 * @dev: device associated with child of actual device (iio_dev or iio_trig)
105 * @reg_address: the address of the lower of the two registers. Second register
106 * is assumed to have address one greater.
107 * @val: somewhere to pass back the value read
109 static int adis16240_spi_read_reg_16(struct device *dev,
110 u8 lower_reg_address,
113 struct spi_message msg;
114 struct iio_dev *indio_dev = dev_get_drvdata(dev);
115 struct adis16240_state *st = iio_dev_get_devdata(indio_dev);
117 struct spi_transfer xfers[] = {
133 mutex_lock(&st->buf_lock);
134 st->tx[0] = ADIS16240_READ_REG(lower_reg_address);
139 spi_message_init(&msg);
140 spi_message_add_tail(&xfers[0], &msg);
141 spi_message_add_tail(&xfers[1], &msg);
142 ret = spi_sync(st->us, &msg);
144 dev_err(&st->us->dev,
145 "problem when reading 16 bit register 0x%02X",
149 *val = (st->rx[0] << 8) | st->rx[1];
152 mutex_unlock(&st->buf_lock);
156 static ssize_t adis16240_spi_read_signed(struct device *dev,
157 struct device_attribute *attr,
163 unsigned shift = 16 - bits;
164 struct iio_dev_attr *this_attr = to_iio_dev_attr(attr);
166 ret = adis16240_spi_read_reg_16(dev, this_attr->address, (u16 *)&val);
170 if (val & ADIS16240_ERROR_ACTIVE)
171 adis16240_check_status(dev);
173 val = ((s16)(val << shift) >> shift);
174 return sprintf(buf, "%d\n", val);
177 static ssize_t adis16240_read_10bit_unsigned(struct device *dev,
178 struct device_attribute *attr,
183 struct iio_dev_attr *this_attr = to_iio_dev_attr(attr);
185 ret = adis16240_spi_read_reg_16(dev, this_attr->address, &val);
189 if (val & ADIS16240_ERROR_ACTIVE)
190 adis16240_check_status(dev);
192 return sprintf(buf, "%u\n", val & 0x03FF);
195 static ssize_t adis16240_read_10bit_signed(struct device *dev,
196 struct device_attribute *attr,
199 struct iio_dev *indio_dev = dev_get_drvdata(dev);
202 /* Take the iio_dev status lock */
203 mutex_lock(&indio_dev->mlock);
204 ret = adis16240_spi_read_signed(dev, attr, buf, 10);
205 mutex_unlock(&indio_dev->mlock);
210 static ssize_t adis16240_read_12bit_signed(struct device *dev,
211 struct device_attribute *attr,
214 struct iio_dev *indio_dev = dev_get_drvdata(dev);
217 /* Take the iio_dev status lock */
218 mutex_lock(&indio_dev->mlock);
219 ret = adis16240_spi_read_signed(dev, attr, buf, 12);
220 mutex_unlock(&indio_dev->mlock);
225 static ssize_t adis16240_write_16bit(struct device *dev,
226 struct device_attribute *attr,
230 struct iio_dev_attr *this_attr = to_iio_dev_attr(attr);
234 ret = strict_strtol(buf, 10, &val);
237 ret = adis16240_spi_write_reg_16(dev, this_attr->address, val);
240 return ret ? ret : len;
243 static int adis16240_reset(struct device *dev)
246 ret = adis16240_spi_write_reg_8(dev,
248 ADIS16240_GLOB_CMD_SW_RESET);
250 dev_err(dev, "problem resetting device");
255 static ssize_t adis16240_write_reset(struct device *dev,
256 struct device_attribute *attr,
257 const char *buf, size_t len)
265 return adis16240_reset(dev);
270 int adis16240_set_irq(struct device *dev, bool enable)
275 ret = adis16240_spi_read_reg_16(dev, ADIS16240_MSC_CTRL, &msc);
279 msc |= ADIS16240_MSC_CTRL_ACTIVE_HIGH;
280 msc &= ~ADIS16240_MSC_CTRL_DATA_RDY_DIO2;
282 msc |= ADIS16240_MSC_CTRL_DATA_RDY_EN;
284 msc &= ~ADIS16240_MSC_CTRL_DATA_RDY_EN;
286 ret = adis16240_spi_write_reg_16(dev, ADIS16240_MSC_CTRL, msc);
292 static int adis16240_self_test(struct device *dev)
295 ret = adis16240_spi_write_reg_16(dev,
297 ADIS16240_MSC_CTRL_SELF_TEST_EN);
299 dev_err(dev, "problem starting self test");
303 msleep(ADIS16240_STARTUP_DELAY);
305 adis16240_check_status(dev);
311 static int adis16240_check_status(struct device *dev)
316 ret = adis16240_spi_read_reg_16(dev, ADIS16240_DIAG_STAT, &status);
319 dev_err(dev, "Reading status failed\n");
324 if (status & ADIS16240_DIAG_STAT_PWRON_FAIL)
325 dev_err(dev, "Power-on, self-test fail\n");
326 if (status & ADIS16240_DIAG_STAT_SPI_FAIL)
327 dev_err(dev, "SPI failure\n");
328 if (status & ADIS16240_DIAG_STAT_FLASH_UPT)
329 dev_err(dev, "Flash update failed\n");
330 if (status & ADIS16240_DIAG_STAT_POWER_HIGH)
331 dev_err(dev, "Power supply above 3.625V\n");
332 if (status & ADIS16240_DIAG_STAT_POWER_LOW)
333 dev_err(dev, "Power supply below 2.225V\n");
339 static int adis16240_initial_setup(struct adis16240_state *st)
342 struct device *dev = &st->indio_dev->dev;
345 ret = adis16240_set_irq(dev, false);
347 dev_err(dev, "disable irq failed");
352 ret = adis16240_self_test(dev);
354 dev_err(dev, "self test failure");
358 /* Read status register to check the result */
359 ret = adis16240_check_status(dev);
361 adis16240_reset(dev);
362 dev_err(dev, "device not playing ball -> reset");
363 msleep(ADIS16240_STARTUP_DELAY);
364 ret = adis16240_check_status(dev);
366 dev_err(dev, "giving up");
371 printk(KERN_INFO DRIVER_NAME ": at CS%d (irq %d)\n",
372 st->us->chip_select, st->us->irq);
378 static IIO_DEV_ATTR_IN_NAMED_RAW(supply, adis16240_read_10bit_unsigned,
379 ADIS16240_SUPPLY_OUT);
380 static IIO_DEV_ATTR_IN_RAW(0, adis16240_read_10bit_signed,
382 static IIO_CONST_ATTR(in_supply_scale, "0.00488");
383 static IIO_DEV_ATTR_ACCEL_X(adis16240_read_10bit_signed,
384 ADIS16240_XACCL_OUT);
385 static IIO_DEVICE_ATTR(accel_x_peak_raw, S_IRUGO,
386 adis16240_read_10bit_signed, NULL,
387 ADIS16240_XPEAK_OUT);
388 static IIO_DEV_ATTR_ACCEL_Y(adis16240_read_10bit_signed,
389 ADIS16240_YACCL_OUT);
390 static IIO_DEVICE_ATTR(accel_y_peak_raw, S_IRUGO,
391 adis16240_read_10bit_signed, NULL,
392 ADIS16240_YPEAK_OUT);
393 static IIO_DEV_ATTR_ACCEL_Z(adis16240_read_10bit_signed,
394 ADIS16240_ZACCL_OUT);
395 static IIO_DEVICE_ATTR(accel_z_peak_raw, S_IRUGO,
396 adis16240_read_10bit_signed, NULL,
397 ADIS16240_ZPEAK_OUT);
399 static IIO_DEVICE_ATTR(accel_xyz_squared_peak_raw, S_IRUGO,
400 adis16240_read_12bit_signed, NULL,
401 ADIS16240_XYZPEAK_OUT);
402 static IIO_DEV_ATTR_ACCEL_X_OFFSET(S_IWUSR | S_IRUGO,
403 adis16240_read_10bit_signed,
404 adis16240_write_16bit,
405 ADIS16240_XACCL_OFF);
406 static IIO_DEV_ATTR_ACCEL_Y_OFFSET(S_IWUSR | S_IRUGO,
407 adis16240_read_10bit_signed,
408 adis16240_write_16bit,
409 ADIS16240_YACCL_OFF);
410 static IIO_DEV_ATTR_ACCEL_Z_OFFSET(S_IWUSR | S_IRUGO,
411 adis16240_read_10bit_signed,
412 adis16240_write_16bit,
413 ADIS16240_ZACCL_OFF);
414 static IIO_DEV_ATTR_TEMP_RAW(adis16240_read_10bit_unsigned);
415 static IIO_CONST_ATTR(temp_scale, "0.244");
417 static IIO_DEVICE_ATTR(reset, S_IWUSR, NULL, adis16240_write_reset, 0);
419 static IIO_CONST_ATTR_AVAIL_SAMP_FREQ("4096");
421 static IIO_CONST_ATTR(name, "adis16240");
423 static struct attribute *adis16240_event_attributes[] = {
427 static struct attribute_group adis16240_event_attribute_group = {
428 .attrs = adis16240_event_attributes,
431 static struct attribute *adis16240_attributes[] = {
432 &iio_dev_attr_in_supply_raw.dev_attr.attr,
433 &iio_const_attr_in_supply_scale.dev_attr.attr,
434 &iio_dev_attr_in0_raw.dev_attr.attr,
435 &iio_dev_attr_accel_x_raw.dev_attr.attr,
436 &iio_dev_attr_accel_x_offset.dev_attr.attr,
437 &iio_dev_attr_accel_x_peak_raw.dev_attr.attr,
438 &iio_dev_attr_accel_y_raw.dev_attr.attr,
439 &iio_dev_attr_accel_y_offset.dev_attr.attr,
440 &iio_dev_attr_accel_y_peak_raw.dev_attr.attr,
441 &iio_dev_attr_accel_z_raw.dev_attr.attr,
442 &iio_dev_attr_accel_z_offset.dev_attr.attr,
443 &iio_dev_attr_accel_z_peak_raw.dev_attr.attr,
444 &iio_dev_attr_accel_xyz_squared_peak_raw.dev_attr.attr,
445 &iio_dev_attr_temp_raw.dev_attr.attr,
446 &iio_const_attr_temp_scale.dev_attr.attr,
447 &iio_const_attr_available_sampling_frequency.dev_attr.attr,
448 &iio_dev_attr_reset.dev_attr.attr,
449 &iio_const_attr_name.dev_attr.attr,
453 static const struct attribute_group adis16240_attribute_group = {
454 .attrs = adis16240_attributes,
457 static int __devinit adis16240_probe(struct spi_device *spi)
459 int ret, regdone = 0;
460 struct adis16240_state *st = kzalloc(sizeof *st, GFP_KERNEL);
465 /* this is only used for removal purposes */
466 spi_set_drvdata(spi, st);
468 /* Allocate the comms buffers */
469 st->rx = kzalloc(sizeof(*st->rx)*ADIS16240_MAX_RX, GFP_KERNEL);
470 if (st->rx == NULL) {
474 st->tx = kzalloc(sizeof(*st->tx)*ADIS16240_MAX_TX, GFP_KERNEL);
475 if (st->tx == NULL) {
480 mutex_init(&st->buf_lock);
481 /* setup the industrialio driver allocated elements */
482 st->indio_dev = iio_allocate_device();
483 if (st->indio_dev == NULL) {
488 st->indio_dev->dev.parent = &spi->dev;
489 st->indio_dev->num_interrupt_lines = 1;
490 st->indio_dev->event_attrs = &adis16240_event_attribute_group;
491 st->indio_dev->attrs = &adis16240_attribute_group;
492 st->indio_dev->dev_data = (void *)(st);
493 st->indio_dev->driver_module = THIS_MODULE;
494 st->indio_dev->modes = INDIO_DIRECT_MODE;
496 ret = adis16240_configure_ring(st->indio_dev);
500 ret = iio_device_register(st->indio_dev);
502 goto error_unreg_ring_funcs;
505 ret = adis16240_initialize_ring(st->indio_dev->ring);
507 printk(KERN_ERR "failed to initialize the ring\n");
508 goto error_unreg_ring_funcs;
512 ret = iio_register_interrupt_line(spi->irq,
518 goto error_uninitialize_ring;
520 ret = adis16240_probe_trigger(st->indio_dev);
522 goto error_unregister_line;
525 /* Get the device into a sane initial state */
526 ret = adis16240_initial_setup(st);
528 goto error_remove_trigger;
531 error_remove_trigger:
532 adis16240_remove_trigger(st->indio_dev);
533 error_unregister_line:
535 iio_unregister_interrupt_line(st->indio_dev, 0);
536 error_uninitialize_ring:
537 adis16240_uninitialize_ring(st->indio_dev->ring);
538 error_unreg_ring_funcs:
539 adis16240_unconfigure_ring(st->indio_dev);
542 iio_device_unregister(st->indio_dev);
544 iio_free_device(st->indio_dev);
555 static int adis16240_remove(struct spi_device *spi)
557 struct adis16240_state *st = spi_get_drvdata(spi);
558 struct iio_dev *indio_dev = st->indio_dev;
560 flush_scheduled_work();
562 adis16240_remove_trigger(indio_dev);
564 iio_unregister_interrupt_line(indio_dev, 0);
566 adis16240_uninitialize_ring(indio_dev->ring);
567 iio_device_unregister(indio_dev);
568 adis16240_unconfigure_ring(indio_dev);
576 static struct spi_driver adis16240_driver = {
579 .owner = THIS_MODULE,
581 .probe = adis16240_probe,
582 .remove = __devexit_p(adis16240_remove),
585 static __init int adis16240_init(void)
587 return spi_register_driver(&adis16240_driver);
589 module_init(adis16240_init);
591 static __exit void adis16240_exit(void)
593 spi_unregister_driver(&adis16240_driver);
595 module_exit(adis16240_exit);
597 MODULE_AUTHOR("Barry Song <21cnbao@gmail.com>");
598 MODULE_DESCRIPTION("Analog Devices Programmable Impact Sensor and Recorder");
599 MODULE_LICENSE("GPL v2");