2 * Common library for ADIS16XXX devices
4 * Copyright 2012 Analog Devices Inc.
5 * Author: Lars-Peter Clausen <lars@metafoo.de>
7 * Licensed under the GPL-2 or later.
10 #include <linux/delay.h>
11 #include <linux/mutex.h>
12 #include <linux/device.h>
13 #include <linux/kernel.h>
14 #include <linux/spi/spi.h>
15 #include <linux/slab.h>
16 #include <linux/sysfs.h>
17 #include <linux/module.h>
18 #include <asm/unaligned.h>
20 #include <linux/iio/iio.h>
21 #include <linux/iio/sysfs.h>
22 #include <linux/iio/buffer.h>
23 #include <linux/iio/imu/adis.h>
25 #define ADIS_MSC_CTRL_DATA_RDY_EN BIT(2)
26 #define ADIS_MSC_CTRL_DATA_RDY_POL_HIGH BIT(1)
27 #define ADIS_MSC_CTRL_DATA_RDY_DIO2 BIT(0)
28 #define ADIS_GLOB_CMD_SW_RESET BIT(7)
30 int adis_write_reg(struct adis *adis, unsigned int reg,
31 unsigned int value, unsigned int size)
33 unsigned int page = reg / ADIS_PAGE_SIZE;
35 struct spi_message msg;
36 struct spi_transfer xfers[] = {
42 .delay_usecs = adis->data->write_delay,
44 .tx_buf = adis->tx + 2,
48 .delay_usecs = adis->data->write_delay,
50 .tx_buf = adis->tx + 4,
54 .delay_usecs = adis->data->write_delay,
56 .tx_buf = adis->tx + 6,
59 .delay_usecs = adis->data->write_delay,
61 .tx_buf = adis->tx + 8,
64 .delay_usecs = adis->data->write_delay,
68 mutex_lock(&adis->txrx_lock);
70 spi_message_init(&msg);
72 if (adis->current_page != page) {
73 adis->tx[0] = ADIS_WRITE_REG(ADIS_REG_PAGE_ID);
75 spi_message_add_tail(&xfers[0], &msg);
80 adis->tx[8] = ADIS_WRITE_REG(reg + 3);
81 adis->tx[9] = (value >> 24) & 0xff;
82 adis->tx[6] = ADIS_WRITE_REG(reg + 2);
83 adis->tx[7] = (value >> 16) & 0xff;
86 adis->tx[4] = ADIS_WRITE_REG(reg + 1);
87 adis->tx[5] = (value >> 8) & 0xff;
90 adis->tx[2] = ADIS_WRITE_REG(reg);
91 adis->tx[3] = value & 0xff;
98 xfers[size].cs_change = 0;
100 for (i = 1; i <= size; i++)
101 spi_message_add_tail(&xfers[i], &msg);
103 ret = spi_sync(adis->spi, &msg);
105 dev_err(&adis->spi->dev, "Failed to write register 0x%02X: %d\n",
108 adis->current_page = page;
112 mutex_unlock(&adis->txrx_lock);
116 EXPORT_SYMBOL_GPL(adis_write_reg);
119 * adis_read_reg() - read 2 bytes from a 16-bit register
120 * @adis: The adis device
121 * @reg: The address of the lower of the two registers
122 * @val: The value read back from the device
124 int adis_read_reg(struct adis *adis, unsigned int reg,
125 unsigned int *val, unsigned int size)
127 unsigned int page = reg / ADIS_PAGE_SIZE;
128 struct spi_message msg;
130 struct spi_transfer xfers[] = {
136 .delay_usecs = adis->data->write_delay,
138 .tx_buf = adis->tx + 2,
142 .delay_usecs = adis->data->read_delay,
144 .tx_buf = adis->tx + 4,
149 .delay_usecs = adis->data->read_delay,
151 .rx_buf = adis->rx + 2,
154 .delay_usecs = adis->data->read_delay,
158 mutex_lock(&adis->txrx_lock);
159 spi_message_init(&msg);
161 if (adis->current_page != page) {
162 adis->tx[0] = ADIS_WRITE_REG(ADIS_REG_PAGE_ID);
164 spi_message_add_tail(&xfers[0], &msg);
169 adis->tx[2] = ADIS_READ_REG(reg + 2);
171 spi_message_add_tail(&xfers[1], &msg);
174 adis->tx[4] = ADIS_READ_REG(reg);
176 spi_message_add_tail(&xfers[2], &msg);
177 spi_message_add_tail(&xfers[3], &msg);
184 ret = spi_sync(adis->spi, &msg);
186 dev_err(&adis->spi->dev, "Failed to read register 0x%02X: %d\n",
190 adis->current_page = page;
195 *val = get_unaligned_be32(adis->rx);
198 *val = get_unaligned_be16(adis->rx + 2);
203 mutex_unlock(&adis->txrx_lock);
207 EXPORT_SYMBOL_GPL(adis_read_reg);
209 #ifdef CONFIG_DEBUG_FS
211 int adis_debugfs_reg_access(struct iio_dev *indio_dev,
212 unsigned int reg, unsigned int writeval, unsigned int *readval)
214 struct adis *adis = iio_device_get_drvdata(indio_dev);
220 ret = adis_read_reg_16(adis, reg, &val16);
225 return adis_write_reg_16(adis, reg, writeval);
228 EXPORT_SYMBOL(adis_debugfs_reg_access);
233 * adis_enable_irq() - Enable or disable data ready IRQ
234 * @adis: The adis device
235 * @enable: Whether to enable the IRQ
237 * Returns 0 on success, negative error code otherwise
239 int adis_enable_irq(struct adis *adis, bool enable)
244 if (adis->data->enable_irq)
245 return adis->data->enable_irq(adis, enable);
247 ret = adis_read_reg_16(adis, adis->data->msc_ctrl_reg, &msc);
251 msc |= ADIS_MSC_CTRL_DATA_RDY_POL_HIGH;
252 msc &= ~ADIS_MSC_CTRL_DATA_RDY_DIO2;
254 msc |= ADIS_MSC_CTRL_DATA_RDY_EN;
256 msc &= ~ADIS_MSC_CTRL_DATA_RDY_EN;
258 ret = adis_write_reg_16(adis, adis->data->msc_ctrl_reg, msc);
263 EXPORT_SYMBOL(adis_enable_irq);
266 * adis_check_status() - Check the device for error conditions
267 * @adis: The adis device
269 * Returns 0 on success, a negative error code otherwise
271 int adis_check_status(struct adis *adis)
277 ret = adis_read_reg_16(adis, adis->data->diag_stat_reg, &status);
281 status &= adis->data->status_error_mask;
286 for (i = 0; i < 16; ++i) {
287 if (status & BIT(i)) {
288 dev_err(&adis->spi->dev, "%s.\n",
289 adis->data->status_error_msgs[i]);
295 EXPORT_SYMBOL_GPL(adis_check_status);
298 * adis_reset() - Reset the device
299 * @adis: The adis device
301 * Returns 0 on success, a negative error code otherwise
303 int adis_reset(struct adis *adis)
307 ret = adis_write_reg_8(adis, adis->data->glob_cmd_reg,
308 ADIS_GLOB_CMD_SW_RESET);
310 dev_err(&adis->spi->dev, "Failed to reset device: %d\n", ret);
314 EXPORT_SYMBOL_GPL(adis_reset);
316 static int adis_self_test(struct adis *adis)
320 ret = adis_write_reg_16(adis, adis->data->msc_ctrl_reg,
321 adis->data->self_test_mask);
323 dev_err(&adis->spi->dev, "Failed to initiate self test: %d\n",
328 msleep(adis->data->startup_delay);
330 ret = adis_check_status(adis);
332 if (adis->data->self_test_no_autoclear)
333 adis_write_reg_16(adis, adis->data->msc_ctrl_reg, 0x00);
339 * adis_inital_startup() - Performs device self-test
340 * @adis: The adis device
342 * Returns 0 if the device is operational, a negative error code otherwise.
344 * This function should be called early on in the device initialization sequence
345 * to ensure that the device is in a sane and known state and that it is usable.
347 int adis_initial_startup(struct adis *adis)
351 ret = adis_self_test(adis);
353 dev_err(&adis->spi->dev, "Self-test failed, trying reset.\n");
355 msleep(adis->data->startup_delay);
356 ret = adis_self_test(adis);
358 dev_err(&adis->spi->dev, "Second self-test failed, giving up.\n");
365 EXPORT_SYMBOL_GPL(adis_initial_startup);
368 * adis_single_conversion() - Performs a single sample conversion
369 * @indio_dev: The IIO device
370 * @chan: The IIO channel
371 * @error_mask: Mask for the error bit
372 * @val: Result of the conversion
374 * Returns IIO_VAL_INT on success, a negative error code otherwise.
376 * The function performs a single conversion on a given channel and post
377 * processes the value accordingly to the channel spec. If a error_mask is given
378 * the function will check if the mask is set in the returned raw value. If it
379 * is set the function will perform a self-check. If the device does not report
380 * a error bit in the channels raw value set error_mask to 0.
382 int adis_single_conversion(struct iio_dev *indio_dev,
383 const struct iio_chan_spec *chan, unsigned int error_mask, int *val)
385 struct adis *adis = iio_device_get_drvdata(indio_dev);
389 mutex_lock(&indio_dev->mlock);
391 ret = adis_read_reg(adis, chan->address, &uval,
392 chan->scan_type.storagebits / 8);
396 if (uval & error_mask) {
397 ret = adis_check_status(adis);
402 if (chan->scan_type.sign == 's')
403 *val = sign_extend32(uval, chan->scan_type.realbits - 1);
405 *val = uval & ((1 << chan->scan_type.realbits) - 1);
409 mutex_unlock(&indio_dev->mlock);
412 EXPORT_SYMBOL_GPL(adis_single_conversion);
415 * adis_init() - Initialize adis device structure
416 * @adis: The adis device
417 * @indio_dev: The iio device
418 * @spi: The spi device
419 * @data: Chip specific data
421 * Returns 0 on success, a negative error code otherwise.
423 * This function must be called, before any other adis helper function may be
426 int adis_init(struct adis *adis, struct iio_dev *indio_dev,
427 struct spi_device *spi, const struct adis_data *data)
429 mutex_init(&adis->txrx_lock);
432 iio_device_set_drvdata(indio_dev, adis);
434 if (data->has_paging) {
435 /* Need to set the page before first read/write */
436 adis->current_page = -1;
438 /* Page will always be 0 */
439 adis->current_page = 0;
442 return adis_enable_irq(adis, false);
444 EXPORT_SYMBOL_GPL(adis_init);
446 MODULE_LICENSE("GPL");
447 MODULE_AUTHOR("Lars-Peter Clausen <lars@metafoo.de>");
448 MODULE_DESCRIPTION("Common library code for ADIS16XXX devices");