![Lars-Peter Clausen](/assets/img/avatar_default.png)
Some variants of the devices from the ADIS family don't auto-clear the self-test bit after the self-test has completed. Instead we have to manually clear. Add support for this to the ADIS library. Signed-off-by: Lars-Peter Clausen <lars@metafoo.de> Signed-off-by: Jonathan Cameron <jic23@kernel.org>
446 lines
9.8 KiB
C
446 lines
9.8 KiB
C
/*
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* Common library for ADIS16XXX devices
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*
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* Copyright 2012 Analog Devices Inc.
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* Author: Lars-Peter Clausen <lars@metafoo.de>
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*
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* Licensed under the GPL-2 or later.
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*/
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#include <linux/delay.h>
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#include <linux/mutex.h>
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#include <linux/device.h>
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#include <linux/kernel.h>
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#include <linux/spi/spi.h>
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#include <linux/slab.h>
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#include <linux/sysfs.h>
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#include <linux/module.h>
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#include <asm/unaligned.h>
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#include <linux/iio/iio.h>
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#include <linux/iio/sysfs.h>
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#include <linux/iio/buffer.h>
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#include <linux/iio/imu/adis.h>
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#define ADIS_MSC_CTRL_DATA_RDY_EN BIT(2)
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#define ADIS_MSC_CTRL_DATA_RDY_POL_HIGH BIT(1)
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#define ADIS_MSC_CTRL_DATA_RDY_DIO2 BIT(0)
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#define ADIS_GLOB_CMD_SW_RESET BIT(7)
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int adis_write_reg(struct adis *adis, unsigned int reg,
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unsigned int value, unsigned int size)
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{
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unsigned int page = reg / ADIS_PAGE_SIZE;
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int ret, i;
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struct spi_message msg;
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struct spi_transfer xfers[] = {
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{
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.tx_buf = adis->tx,
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.bits_per_word = 8,
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.len = 2,
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.cs_change = 1,
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.delay_usecs = adis->data->write_delay,
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}, {
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.tx_buf = adis->tx + 2,
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.bits_per_word = 8,
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.len = 2,
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.cs_change = 1,
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.delay_usecs = adis->data->write_delay,
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}, {
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.tx_buf = adis->tx + 4,
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.bits_per_word = 8,
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.len = 2,
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.cs_change = 1,
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.delay_usecs = adis->data->write_delay,
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}, {
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.tx_buf = adis->tx + 6,
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.bits_per_word = 8,
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.len = 2,
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.delay_usecs = adis->data->write_delay,
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}, {
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.tx_buf = adis->tx + 8,
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.bits_per_word = 8,
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.len = 2,
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.delay_usecs = adis->data->write_delay,
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},
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};
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mutex_lock(&adis->txrx_lock);
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spi_message_init(&msg);
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if (adis->current_page != page) {
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adis->tx[0] = ADIS_WRITE_REG(ADIS_REG_PAGE_ID);
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adis->tx[1] = page;
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spi_message_add_tail(&xfers[0], &msg);
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}
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switch (size) {
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case 4:
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adis->tx[8] = ADIS_WRITE_REG(reg + 3);
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adis->tx[9] = (value >> 24) & 0xff;
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adis->tx[6] = ADIS_WRITE_REG(reg + 2);
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adis->tx[7] = (value >> 16) & 0xff;
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case 2:
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adis->tx[4] = ADIS_WRITE_REG(reg + 1);
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adis->tx[5] = (value >> 8) & 0xff;
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case 1:
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adis->tx[2] = ADIS_WRITE_REG(reg);
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adis->tx[3] = value & 0xff;
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break;
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default:
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ret = -EINVAL;
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goto out_unlock;
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}
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xfers[size].cs_change = 0;
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for (i = 1; i <= size; i++)
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spi_message_add_tail(&xfers[i], &msg);
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ret = spi_sync(adis->spi, &msg);
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if (ret) {
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dev_err(&adis->spi->dev, "Failed to write register 0x%02X: %d\n",
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reg, ret);
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} else {
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adis->current_page = page;
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}
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out_unlock:
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mutex_unlock(&adis->txrx_lock);
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return ret;
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}
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EXPORT_SYMBOL_GPL(adis_write_reg);
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/**
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* adis_read_reg() - read 2 bytes from a 16-bit register
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* @adis: The adis device
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* @reg: The address of the lower of the two registers
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* @val: The value read back from the device
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*/
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int adis_read_reg(struct adis *adis, unsigned int reg,
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unsigned int *val, unsigned int size)
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{
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unsigned int page = reg / ADIS_PAGE_SIZE;
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struct spi_message msg;
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int ret;
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struct spi_transfer xfers[] = {
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{
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.tx_buf = adis->tx,
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.bits_per_word = 8,
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.len = 2,
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.cs_change = 1,
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.delay_usecs = adis->data->write_delay,
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}, {
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.tx_buf = adis->tx + 2,
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.bits_per_word = 8,
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.len = 2,
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.cs_change = 1,
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.delay_usecs = adis->data->read_delay,
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}, {
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.tx_buf = adis->tx + 4,
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.rx_buf = adis->rx,
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.bits_per_word = 8,
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.len = 2,
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.cs_change = 1,
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.delay_usecs = adis->data->read_delay,
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}, {
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.rx_buf = adis->rx + 2,
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.bits_per_word = 8,
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.len = 2,
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.delay_usecs = adis->data->read_delay,
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},
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};
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mutex_lock(&adis->txrx_lock);
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spi_message_init(&msg);
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if (adis->current_page != page) {
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adis->tx[0] = ADIS_WRITE_REG(ADIS_REG_PAGE_ID);
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adis->tx[1] = page;
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spi_message_add_tail(&xfers[0], &msg);
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}
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switch (size) {
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case 4:
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adis->tx[2] = ADIS_READ_REG(reg + 2);
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adis->tx[3] = 0;
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spi_message_add_tail(&xfers[1], &msg);
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case 2:
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adis->tx[4] = ADIS_READ_REG(reg);
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adis->tx[5] = 0;
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spi_message_add_tail(&xfers[2], &msg);
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spi_message_add_tail(&xfers[3], &msg);
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break;
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default:
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ret = -EINVAL;
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goto out_unlock;
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}
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ret = spi_sync(adis->spi, &msg);
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if (ret) {
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dev_err(&adis->spi->dev, "Failed to read register 0x%02X: %d\n",
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reg, ret);
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goto out_unlock;
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} else {
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adis->current_page = page;
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}
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switch (size) {
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case 4:
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*val = get_unaligned_be32(adis->rx);
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break;
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case 2:
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*val = get_unaligned_be16(adis->rx + 2);
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break;
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}
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out_unlock:
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mutex_unlock(&adis->txrx_lock);
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return ret;
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}
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EXPORT_SYMBOL_GPL(adis_read_reg);
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#ifdef CONFIG_DEBUG_FS
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int adis_debugfs_reg_access(struct iio_dev *indio_dev,
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unsigned int reg, unsigned int writeval, unsigned int *readval)
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{
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struct adis *adis = iio_device_get_drvdata(indio_dev);
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if (readval) {
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uint16_t val16;
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int ret;
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ret = adis_read_reg_16(adis, reg, &val16);
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*readval = val16;
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return ret;
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} else {
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return adis_write_reg_16(adis, reg, writeval);
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}
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}
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EXPORT_SYMBOL(adis_debugfs_reg_access);
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#endif
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/**
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* adis_enable_irq() - Enable or disable data ready IRQ
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* @adis: The adis device
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* @enable: Whether to enable the IRQ
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*
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* Returns 0 on success, negative error code otherwise
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*/
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int adis_enable_irq(struct adis *adis, bool enable)
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{
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int ret = 0;
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uint16_t msc;
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if (adis->data->enable_irq)
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return adis->data->enable_irq(adis, enable);
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ret = adis_read_reg_16(adis, adis->data->msc_ctrl_reg, &msc);
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if (ret)
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goto error_ret;
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msc |= ADIS_MSC_CTRL_DATA_RDY_POL_HIGH;
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msc &= ~ADIS_MSC_CTRL_DATA_RDY_DIO2;
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if (enable)
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msc |= ADIS_MSC_CTRL_DATA_RDY_EN;
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else
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msc &= ~ADIS_MSC_CTRL_DATA_RDY_EN;
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ret = adis_write_reg_16(adis, adis->data->msc_ctrl_reg, msc);
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error_ret:
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return ret;
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}
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EXPORT_SYMBOL(adis_enable_irq);
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/**
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* adis_check_status() - Check the device for error conditions
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* @adis: The adis device
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*
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* Returns 0 on success, a negative error code otherwise
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*/
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int adis_check_status(struct adis *adis)
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{
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uint16_t status;
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int ret;
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int i;
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ret = adis_read_reg_16(adis, adis->data->diag_stat_reg, &status);
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if (ret < 0)
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return ret;
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status &= adis->data->status_error_mask;
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if (status == 0)
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return 0;
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for (i = 0; i < 16; ++i) {
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if (status & BIT(i)) {
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dev_err(&adis->spi->dev, "%s.\n",
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adis->data->status_error_msgs[i]);
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}
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}
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return -EIO;
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}
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EXPORT_SYMBOL_GPL(adis_check_status);
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/**
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* adis_reset() - Reset the device
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* @adis: The adis device
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*
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* Returns 0 on success, a negative error code otherwise
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*/
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int adis_reset(struct adis *adis)
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{
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int ret;
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ret = adis_write_reg_8(adis, adis->data->glob_cmd_reg,
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ADIS_GLOB_CMD_SW_RESET);
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if (ret)
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dev_err(&adis->spi->dev, "Failed to reset device: %d\n", ret);
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return ret;
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}
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EXPORT_SYMBOL_GPL(adis_reset);
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static int adis_self_test(struct adis *adis)
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{
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int ret;
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ret = adis_write_reg_16(adis, adis->data->msc_ctrl_reg,
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adis->data->self_test_mask);
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if (ret) {
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dev_err(&adis->spi->dev, "Failed to initiate self test: %d\n",
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ret);
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return ret;
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}
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msleep(adis->data->startup_delay);
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ret = adis_check_status(adis);
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if (adis->data->self_test_no_autoclear)
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adis_write_reg_16(adis, adis->data->msc_ctrl_reg, 0x00);
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return ret;
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}
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/**
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* adis_inital_startup() - Performs device self-test
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* @adis: The adis device
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*
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* Returns 0 if the device is operational, a negative error code otherwise.
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*
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* This function should be called early on in the device initialization sequence
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* to ensure that the device is in a sane and known state and that it is usable.
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*/
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int adis_initial_startup(struct adis *adis)
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{
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int ret;
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ret = adis_self_test(adis);
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if (ret) {
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dev_err(&adis->spi->dev, "Self-test failed, trying reset.\n");
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adis_reset(adis);
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msleep(adis->data->startup_delay);
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ret = adis_self_test(adis);
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if (ret) {
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dev_err(&adis->spi->dev, "Second self-test failed, giving up.\n");
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return ret;
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}
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}
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return 0;
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}
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EXPORT_SYMBOL_GPL(adis_initial_startup);
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/**
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* adis_single_conversion() - Performs a single sample conversion
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* @indio_dev: The IIO device
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* @chan: The IIO channel
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* @error_mask: Mask for the error bit
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* @val: Result of the conversion
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*
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* Returns IIO_VAL_INT on success, a negative error code otherwise.
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*
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* The function performs a single conversion on a given channel and post
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* processes the value accordingly to the channel spec. If a error_mask is given
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* the function will check if the mask is set in the returned raw value. If it
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* is set the function will perform a self-check. If the device does not report
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* a error bit in the channels raw value set error_mask to 0.
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*/
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int adis_single_conversion(struct iio_dev *indio_dev,
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const struct iio_chan_spec *chan, unsigned int error_mask, int *val)
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{
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struct adis *adis = iio_device_get_drvdata(indio_dev);
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unsigned int uval;
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int ret;
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mutex_lock(&indio_dev->mlock);
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ret = adis_read_reg(adis, chan->address, &uval,
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chan->scan_type.storagebits / 8);
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if (ret)
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goto err_unlock;
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if (uval & error_mask) {
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ret = adis_check_status(adis);
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if (ret)
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goto err_unlock;
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}
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if (chan->scan_type.sign == 's')
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*val = sign_extend32(uval, chan->scan_type.realbits - 1);
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else
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*val = uval & ((1 << chan->scan_type.realbits) - 1);
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ret = IIO_VAL_INT;
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err_unlock:
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mutex_unlock(&indio_dev->mlock);
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return ret;
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}
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EXPORT_SYMBOL_GPL(adis_single_conversion);
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/**
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* adis_init() - Initialize adis device structure
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* @adis: The adis device
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* @indio_dev: The iio device
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* @spi: The spi device
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* @data: Chip specific data
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*
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* Returns 0 on success, a negative error code otherwise.
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*
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* This function must be called, before any other adis helper function may be
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* called.
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*/
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int adis_init(struct adis *adis, struct iio_dev *indio_dev,
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struct spi_device *spi, const struct adis_data *data)
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{
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mutex_init(&adis->txrx_lock);
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adis->spi = spi;
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adis->data = data;
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iio_device_set_drvdata(indio_dev, adis);
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if (data->has_paging) {
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/* Need to set the page before first read/write */
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adis->current_page = -1;
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} else {
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/* Page will always be 0 */
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adis->current_page = 0;
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}
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return adis_enable_irq(adis, false);
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}
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EXPORT_SYMBOL_GPL(adis_init);
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MODULE_LICENSE("GPL");
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MODULE_AUTHOR("Lars-Peter Clausen <lars@metafoo.de>");
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MODULE_DESCRIPTION("Common library code for ADIS16XXX devices");
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