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464 lines
11 KiB
464 lines
11 KiB
// SPDX-License-Identifier: GPL-2.0-only |
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/* |
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* ADXRS450/ADXRS453 Digital Output Gyroscope Driver |
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* |
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* Copyright 2011 Analog Devices Inc. |
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*/ |
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#include <linux/interrupt.h> |
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#include <linux/irq.h> |
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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/list.h> |
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#include <linux/module.h> |
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#include <linux/iio/iio.h> |
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#include <linux/iio/sysfs.h> |
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#define ADXRS450_STARTUP_DELAY 50 /* ms */ |
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/* The MSB for the spi commands */ |
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#define ADXRS450_SENSOR_DATA (0x20 << 24) |
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#define ADXRS450_WRITE_DATA (0x40 << 24) |
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#define ADXRS450_READ_DATA (0x80 << 24) |
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#define ADXRS450_RATE1 0x00 /* Rate Registers */ |
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#define ADXRS450_TEMP1 0x02 /* Temperature Registers */ |
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#define ADXRS450_LOCST1 0x04 /* Low CST Memory Registers */ |
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#define ADXRS450_HICST1 0x06 /* High CST Memory Registers */ |
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#define ADXRS450_QUAD1 0x08 /* Quad Memory Registers */ |
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#define ADXRS450_FAULT1 0x0A /* Fault Registers */ |
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#define ADXRS450_PID1 0x0C /* Part ID Register 1 */ |
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#define ADXRS450_SNH 0x0E /* Serial Number Registers, 4 bytes */ |
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#define ADXRS450_SNL 0x10 |
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#define ADXRS450_DNC1 0x12 /* Dynamic Null Correction Registers */ |
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/* Check bits */ |
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#define ADXRS450_P 0x01 |
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#define ADXRS450_CHK 0x02 |
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#define ADXRS450_CST 0x04 |
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#define ADXRS450_PWR 0x08 |
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#define ADXRS450_POR 0x10 |
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#define ADXRS450_NVM 0x20 |
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#define ADXRS450_Q 0x40 |
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#define ADXRS450_PLL 0x80 |
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#define ADXRS450_UV 0x100 |
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#define ADXRS450_OV 0x200 |
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#define ADXRS450_AMP 0x400 |
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#define ADXRS450_FAIL 0x800 |
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#define ADXRS450_WRERR_MASK (0x7 << 29) |
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#define ADXRS450_MAX_RX 4 |
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#define ADXRS450_MAX_TX 4 |
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#define ADXRS450_GET_ST(a) ((a >> 26) & 0x3) |
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enum { |
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ID_ADXRS450, |
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ID_ADXRS453, |
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}; |
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/** |
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* struct adxrs450_state - device instance specific data |
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* @us: actual spi_device |
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* @buf_lock: mutex to protect tx and rx |
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* @tx: transmit buffer |
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* @rx: receive buffer |
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**/ |
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struct adxrs450_state { |
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struct spi_device *us; |
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struct mutex buf_lock; |
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__be32 tx ____cacheline_aligned; |
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__be32 rx; |
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}; |
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/** |
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* adxrs450_spi_read_reg_16() - read 2 bytes from a register pair |
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* @indio_dev: device associated with child of actual iio_dev |
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* @reg_address: the address of the lower of the two registers, which should be |
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* an even address, the second register's address is reg_address + 1. |
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* @val: somewhere to pass back the value read |
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**/ |
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static int adxrs450_spi_read_reg_16(struct iio_dev *indio_dev, |
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u8 reg_address, |
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u16 *val) |
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{ |
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struct adxrs450_state *st = iio_priv(indio_dev); |
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u32 tx; |
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int ret; |
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struct spi_transfer xfers[] = { |
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{ |
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.tx_buf = &st->tx, |
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.bits_per_word = 8, |
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.len = sizeof(st->tx), |
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.cs_change = 1, |
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}, { |
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.rx_buf = &st->rx, |
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.bits_per_word = 8, |
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.len = sizeof(st->rx), |
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}, |
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}; |
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mutex_lock(&st->buf_lock); |
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tx = ADXRS450_READ_DATA | (reg_address << 17); |
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if (!(hweight32(tx) & 1)) |
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tx |= ADXRS450_P; |
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st->tx = cpu_to_be32(tx); |
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ret = spi_sync_transfer(st->us, xfers, ARRAY_SIZE(xfers)); |
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if (ret) { |
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dev_err(&st->us->dev, "problem while reading 16 bit register 0x%02x\n", |
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reg_address); |
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goto error_ret; |
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} |
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*val = (be32_to_cpu(st->rx) >> 5) & 0xFFFF; |
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error_ret: |
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mutex_unlock(&st->buf_lock); |
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return ret; |
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} |
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/** |
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* adxrs450_spi_write_reg_16() - write 2 bytes data to a register pair |
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* @indio_dev: device associated with child of actual actual iio_dev |
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* @reg_address: the address of the lower of the two registers,which should be |
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* an even address, the second register's address is reg_address + 1. |
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* @val: value to be written. |
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**/ |
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static int adxrs450_spi_write_reg_16(struct iio_dev *indio_dev, |
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u8 reg_address, |
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u16 val) |
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{ |
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struct adxrs450_state *st = iio_priv(indio_dev); |
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u32 tx; |
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int ret; |
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mutex_lock(&st->buf_lock); |
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tx = ADXRS450_WRITE_DATA | (reg_address << 17) | (val << 1); |
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if (!(hweight32(tx) & 1)) |
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tx |= ADXRS450_P; |
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st->tx = cpu_to_be32(tx); |
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ret = spi_write(st->us, &st->tx, sizeof(st->tx)); |
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if (ret) |
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dev_err(&st->us->dev, "problem while writing 16 bit register 0x%02x\n", |
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reg_address); |
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usleep_range(100, 1000); /* enforce sequential transfer delay 0.1ms */ |
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mutex_unlock(&st->buf_lock); |
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return ret; |
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} |
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/** |
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* adxrs450_spi_sensor_data() - read 2 bytes sensor data |
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* @indio_dev: device associated with child of actual iio_dev |
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* @val: somewhere to pass back the value read |
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**/ |
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static int adxrs450_spi_sensor_data(struct iio_dev *indio_dev, s16 *val) |
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{ |
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struct adxrs450_state *st = iio_priv(indio_dev); |
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int ret; |
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struct spi_transfer xfers[] = { |
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{ |
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.tx_buf = &st->tx, |
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.bits_per_word = 8, |
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.len = sizeof(st->tx), |
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.cs_change = 1, |
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}, { |
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.rx_buf = &st->rx, |
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.bits_per_word = 8, |
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.len = sizeof(st->rx), |
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}, |
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}; |
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mutex_lock(&st->buf_lock); |
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st->tx = cpu_to_be32(ADXRS450_SENSOR_DATA); |
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ret = spi_sync_transfer(st->us, xfers, ARRAY_SIZE(xfers)); |
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if (ret) { |
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dev_err(&st->us->dev, "Problem while reading sensor data\n"); |
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goto error_ret; |
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} |
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*val = (be32_to_cpu(st->rx) >> 10) & 0xFFFF; |
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error_ret: |
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mutex_unlock(&st->buf_lock); |
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return ret; |
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} |
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/** |
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* adxrs450_spi_initial() - use for initializing procedure. |
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* @st: device instance specific data |
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* @val: somewhere to pass back the value read |
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* @chk: Whether to perform fault check |
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**/ |
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static int adxrs450_spi_initial(struct adxrs450_state *st, |
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u32 *val, char chk) |
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{ |
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int ret; |
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u32 tx; |
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struct spi_transfer xfers = { |
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.tx_buf = &st->tx, |
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.rx_buf = &st->rx, |
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.bits_per_word = 8, |
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.len = sizeof(st->tx), |
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}; |
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mutex_lock(&st->buf_lock); |
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tx = ADXRS450_SENSOR_DATA; |
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if (chk) |
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tx |= (ADXRS450_CHK | ADXRS450_P); |
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st->tx = cpu_to_be32(tx); |
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ret = spi_sync_transfer(st->us, &xfers, 1); |
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if (ret) { |
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dev_err(&st->us->dev, "Problem while reading initializing data\n"); |
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goto error_ret; |
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} |
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*val = be32_to_cpu(st->rx); |
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error_ret: |
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mutex_unlock(&st->buf_lock); |
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return ret; |
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} |
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/* Recommended Startup Sequence by spec */ |
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static int adxrs450_initial_setup(struct iio_dev *indio_dev) |
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{ |
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u32 t; |
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u16 data; |
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int ret; |
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struct adxrs450_state *st = iio_priv(indio_dev); |
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msleep(ADXRS450_STARTUP_DELAY*2); |
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ret = adxrs450_spi_initial(st, &t, 1); |
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if (ret) |
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return ret; |
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if (t != 0x01) |
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dev_warn(&st->us->dev, "The initial power on response is not correct! Restart without reset?\n"); |
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msleep(ADXRS450_STARTUP_DELAY); |
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ret = adxrs450_spi_initial(st, &t, 0); |
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if (ret) |
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return ret; |
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msleep(ADXRS450_STARTUP_DELAY); |
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ret = adxrs450_spi_initial(st, &t, 0); |
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if (ret) |
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return ret; |
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if (((t & 0xff) | 0x01) != 0xff || ADXRS450_GET_ST(t) != 2) { |
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dev_err(&st->us->dev, "The second response is not correct!\n"); |
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return -EIO; |
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} |
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ret = adxrs450_spi_initial(st, &t, 0); |
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if (ret) |
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return ret; |
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if (((t & 0xff) | 0x01) != 0xff || ADXRS450_GET_ST(t) != 2) { |
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dev_err(&st->us->dev, "The third response is not correct!\n"); |
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return -EIO; |
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} |
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ret = adxrs450_spi_read_reg_16(indio_dev, ADXRS450_FAULT1, &data); |
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if (ret) |
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return ret; |
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if (data & 0x0fff) { |
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dev_err(&st->us->dev, "The device is not in normal status!\n"); |
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return -EINVAL; |
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} |
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return 0; |
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} |
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static int adxrs450_write_raw(struct iio_dev *indio_dev, |
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struct iio_chan_spec const *chan, |
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int val, |
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int val2, |
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long mask) |
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{ |
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int ret; |
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switch (mask) { |
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case IIO_CHAN_INFO_CALIBBIAS: |
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if (val < -0x400 || val >= 0x400) |
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return -EINVAL; |
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ret = adxrs450_spi_write_reg_16(indio_dev, |
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ADXRS450_DNC1, val); |
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break; |
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default: |
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ret = -EINVAL; |
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break; |
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} |
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return ret; |
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} |
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static int adxrs450_read_raw(struct iio_dev *indio_dev, |
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struct iio_chan_spec const *chan, |
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int *val, |
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int *val2, |
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long mask) |
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{ |
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int ret; |
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s16 t; |
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switch (mask) { |
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case IIO_CHAN_INFO_RAW: |
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switch (chan->type) { |
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case IIO_ANGL_VEL: |
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ret = adxrs450_spi_sensor_data(indio_dev, &t); |
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if (ret) |
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break; |
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*val = t; |
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ret = IIO_VAL_INT; |
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break; |
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case IIO_TEMP: |
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ret = adxrs450_spi_read_reg_16(indio_dev, |
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ADXRS450_TEMP1, &t); |
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if (ret) |
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break; |
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*val = (t >> 6) + 225; |
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ret = IIO_VAL_INT; |
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break; |
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default: |
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ret = -EINVAL; |
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break; |
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} |
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break; |
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case IIO_CHAN_INFO_SCALE: |
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switch (chan->type) { |
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case IIO_ANGL_VEL: |
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*val = 0; |
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*val2 = 218166; |
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return IIO_VAL_INT_PLUS_NANO; |
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case IIO_TEMP: |
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*val = 200; |
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*val2 = 0; |
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return IIO_VAL_INT; |
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default: |
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return -EINVAL; |
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} |
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case IIO_CHAN_INFO_QUADRATURE_CORRECTION_RAW: |
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ret = adxrs450_spi_read_reg_16(indio_dev, ADXRS450_QUAD1, &t); |
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if (ret) |
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break; |
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*val = t; |
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ret = IIO_VAL_INT; |
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break; |
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case IIO_CHAN_INFO_CALIBBIAS: |
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ret = adxrs450_spi_read_reg_16(indio_dev, ADXRS450_DNC1, &t); |
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if (ret) |
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break; |
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*val = sign_extend32(t, 9); |
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ret = IIO_VAL_INT; |
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break; |
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default: |
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ret = -EINVAL; |
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break; |
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} |
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return ret; |
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} |
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static const struct iio_chan_spec adxrs450_channels[2][2] = { |
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[ID_ADXRS450] = { |
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{ |
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.type = IIO_ANGL_VEL, |
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.modified = 1, |
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.channel2 = IIO_MOD_Z, |
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.info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | |
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BIT(IIO_CHAN_INFO_CALIBBIAS) | |
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BIT(IIO_CHAN_INFO_QUADRATURE_CORRECTION_RAW) | |
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BIT(IIO_CHAN_INFO_SCALE), |
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}, { |
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.type = IIO_TEMP, |
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.indexed = 1, |
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.channel = 0, |
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.info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | |
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BIT(IIO_CHAN_INFO_SCALE), |
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} |
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}, |
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[ID_ADXRS453] = { |
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{ |
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.type = IIO_ANGL_VEL, |
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.modified = 1, |
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.channel2 = IIO_MOD_Z, |
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.info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | |
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BIT(IIO_CHAN_INFO_SCALE) | |
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BIT(IIO_CHAN_INFO_QUADRATURE_CORRECTION_RAW), |
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}, { |
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.type = IIO_TEMP, |
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.indexed = 1, |
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.channel = 0, |
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.info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | |
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BIT(IIO_CHAN_INFO_SCALE), |
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} |
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}, |
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}; |
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static const struct iio_info adxrs450_info = { |
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.read_raw = &adxrs450_read_raw, |
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.write_raw = &adxrs450_write_raw, |
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}; |
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static int adxrs450_probe(struct spi_device *spi) |
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{ |
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int ret; |
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struct adxrs450_state *st; |
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struct iio_dev *indio_dev; |
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/* setup the industrialio driver allocated elements */ |
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indio_dev = devm_iio_device_alloc(&spi->dev, sizeof(*st)); |
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if (!indio_dev) |
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return -ENOMEM; |
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st = iio_priv(indio_dev); |
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st->us = spi; |
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mutex_init(&st->buf_lock); |
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/* This is only used for removal purposes */ |
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spi_set_drvdata(spi, indio_dev); |
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indio_dev->info = &adxrs450_info; |
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indio_dev->modes = INDIO_DIRECT_MODE; |
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indio_dev->channels = |
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adxrs450_channels[spi_get_device_id(spi)->driver_data]; |
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indio_dev->num_channels = ARRAY_SIZE(adxrs450_channels); |
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indio_dev->name = spi->dev.driver->name; |
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ret = devm_iio_device_register(&spi->dev, indio_dev); |
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if (ret) |
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return ret; |
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/* Get the device into a sane initial state */ |
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ret = adxrs450_initial_setup(indio_dev); |
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if (ret) |
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return ret; |
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return 0; |
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} |
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static const struct spi_device_id adxrs450_id[] = { |
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{"adxrs450", ID_ADXRS450}, |
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{"adxrs453", ID_ADXRS453}, |
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{} |
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}; |
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MODULE_DEVICE_TABLE(spi, adxrs450_id); |
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static struct spi_driver adxrs450_driver = { |
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.driver = { |
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.name = "adxrs450", |
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}, |
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.probe = adxrs450_probe, |
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.id_table = adxrs450_id, |
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}; |
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module_spi_driver(adxrs450_driver); |
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MODULE_AUTHOR("Cliff Cai <cliff.cai@xxxxxxxxxx>"); |
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MODULE_DESCRIPTION("Analog Devices ADXRS450/ADXRS453 Gyroscope SPI driver"); |
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MODULE_LICENSE("GPL v2");
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