1 // SPDX-License-Identifier: GPL-2.0-or-later
3 * Common library for ADIS16XXX devices
5 * Copyright 2012 Analog Devices Inc.
6 * Author: Lars-Peter Clausen <lars@metafoo.de>
9 #include <linux/delay.h>
10 #include <linux/mutex.h>
11 #include <linux/device.h>
12 #include <linux/kernel.h>
13 #include <linux/spi/spi.h>
14 #include <linux/slab.h>
15 #include <linux/sysfs.h>
16 #include <linux/module.h>
17 #include <asm/unaligned.h>
19 #include <linux/iio/iio.h>
20 #include <linux/iio/sysfs.h>
21 #include <linux/iio/buffer.h>
22 #include <linux/iio/imu/adis.h>
24 #define ADIS_MSC_CTRL_DATA_RDY_EN BIT(2)
25 #define ADIS_MSC_CTRL_DATA_RDY_POL_HIGH BIT(1)
26 #define ADIS_MSC_CTRL_DATA_RDY_DIO2 BIT(0)
27 #define ADIS_GLOB_CMD_SW_RESET BIT(7)
29 int adis_write_reg(struct adis *adis, unsigned int reg,
30 unsigned int value, unsigned int size)
32 unsigned int page = reg / ADIS_PAGE_SIZE;
34 struct spi_message msg;
35 struct spi_transfer xfers[] = {
41 .delay_usecs = adis->data->write_delay,
43 .tx_buf = adis->tx + 2,
47 .delay_usecs = adis->data->write_delay,
49 .tx_buf = adis->tx + 4,
53 .delay_usecs = adis->data->write_delay,
55 .tx_buf = adis->tx + 6,
58 .delay_usecs = adis->data->write_delay,
60 .tx_buf = adis->tx + 8,
63 .delay_usecs = adis->data->write_delay,
67 mutex_lock(&adis->txrx_lock);
69 spi_message_init(&msg);
71 if (adis->current_page != page) {
72 adis->tx[0] = ADIS_WRITE_REG(ADIS_REG_PAGE_ID);
74 spi_message_add_tail(&xfers[0], &msg);
79 adis->tx[8] = ADIS_WRITE_REG(reg + 3);
80 adis->tx[9] = (value >> 24) & 0xff;
81 adis->tx[6] = ADIS_WRITE_REG(reg + 2);
82 adis->tx[7] = (value >> 16) & 0xff;
85 adis->tx[4] = ADIS_WRITE_REG(reg + 1);
86 adis->tx[5] = (value >> 8) & 0xff;
89 adis->tx[2] = ADIS_WRITE_REG(reg);
90 adis->tx[3] = value & 0xff;
97 xfers[size].cs_change = 0;
99 for (i = 1; i <= size; i++)
100 spi_message_add_tail(&xfers[i], &msg);
102 ret = spi_sync(adis->spi, &msg);
104 dev_err(&adis->spi->dev, "Failed to write register 0x%02X: %d\n",
107 adis->current_page = page;
111 mutex_unlock(&adis->txrx_lock);
115 EXPORT_SYMBOL_GPL(adis_write_reg);
118 * adis_read_reg() - read 2 bytes from a 16-bit register
119 * @adis: The adis device
120 * @reg: The address of the lower of the two registers
121 * @val: The value read back from the device
123 int adis_read_reg(struct adis *adis, unsigned int reg,
124 unsigned int *val, unsigned int size)
126 unsigned int page = reg / ADIS_PAGE_SIZE;
127 struct spi_message msg;
129 struct spi_transfer xfers[] = {
135 .delay_usecs = adis->data->write_delay,
137 .tx_buf = adis->tx + 2,
141 .delay_usecs = adis->data->read_delay,
143 .tx_buf = adis->tx + 4,
148 .delay_usecs = adis->data->read_delay,
150 .rx_buf = adis->rx + 2,
153 .delay_usecs = adis->data->read_delay,
157 mutex_lock(&adis->txrx_lock);
158 spi_message_init(&msg);
160 if (adis->current_page != page) {
161 adis->tx[0] = ADIS_WRITE_REG(ADIS_REG_PAGE_ID);
163 spi_message_add_tail(&xfers[0], &msg);
168 adis->tx[2] = ADIS_READ_REG(reg + 2);
170 spi_message_add_tail(&xfers[1], &msg);
173 adis->tx[4] = ADIS_READ_REG(reg);
175 spi_message_add_tail(&xfers[2], &msg);
176 spi_message_add_tail(&xfers[3], &msg);
183 ret = spi_sync(adis->spi, &msg);
185 dev_err(&adis->spi->dev, "Failed to read register 0x%02X: %d\n",
189 adis->current_page = page;
194 *val = get_unaligned_be32(adis->rx);
197 *val = get_unaligned_be16(adis->rx + 2);
202 mutex_unlock(&adis->txrx_lock);
206 EXPORT_SYMBOL_GPL(adis_read_reg);
208 #ifdef CONFIG_DEBUG_FS
210 int adis_debugfs_reg_access(struct iio_dev *indio_dev,
211 unsigned int reg, unsigned int writeval, unsigned int *readval)
213 struct adis *adis = iio_device_get_drvdata(indio_dev);
219 ret = adis_read_reg_16(adis, reg, &val16);
224 return adis_write_reg_16(adis, reg, writeval);
227 EXPORT_SYMBOL(adis_debugfs_reg_access);
232 * adis_enable_irq() - Enable or disable data ready IRQ
233 * @adis: The adis device
234 * @enable: Whether to enable the IRQ
236 * Returns 0 on success, negative error code otherwise
238 int adis_enable_irq(struct adis *adis, bool enable)
243 if (adis->data->enable_irq)
244 return adis->data->enable_irq(adis, enable);
246 ret = adis_read_reg_16(adis, adis->data->msc_ctrl_reg, &msc);
250 msc |= ADIS_MSC_CTRL_DATA_RDY_POL_HIGH;
251 msc &= ~ADIS_MSC_CTRL_DATA_RDY_DIO2;
253 msc |= ADIS_MSC_CTRL_DATA_RDY_EN;
255 msc &= ~ADIS_MSC_CTRL_DATA_RDY_EN;
257 ret = adis_write_reg_16(adis, adis->data->msc_ctrl_reg, msc);
262 EXPORT_SYMBOL(adis_enable_irq);
265 * adis_check_status() - Check the device for error conditions
266 * @adis: The adis device
268 * Returns 0 on success, a negative error code otherwise
270 int adis_check_status(struct adis *adis)
276 ret = adis_read_reg_16(adis, adis->data->diag_stat_reg, &status);
280 status &= adis->data->status_error_mask;
285 for (i = 0; i < 16; ++i) {
286 if (status & BIT(i)) {
287 dev_err(&adis->spi->dev, "%s.\n",
288 adis->data->status_error_msgs[i]);
294 EXPORT_SYMBOL_GPL(adis_check_status);
297 * adis_reset() - Reset the device
298 * @adis: The adis device
300 * Returns 0 on success, a negative error code otherwise
302 int adis_reset(struct adis *adis)
306 ret = adis_write_reg_8(adis, adis->data->glob_cmd_reg,
307 ADIS_GLOB_CMD_SW_RESET);
309 dev_err(&adis->spi->dev, "Failed to reset device: %d\n", ret);
313 EXPORT_SYMBOL_GPL(adis_reset);
315 static int adis_self_test(struct adis *adis)
319 ret = adis_write_reg_16(adis, adis->data->msc_ctrl_reg,
320 adis->data->self_test_mask);
322 dev_err(&adis->spi->dev, "Failed to initiate self test: %d\n",
327 msleep(adis->data->startup_delay);
329 ret = adis_check_status(adis);
331 if (adis->data->self_test_no_autoclear)
332 adis_write_reg_16(adis, adis->data->msc_ctrl_reg, 0x00);
338 * adis_inital_startup() - Performs device self-test
339 * @adis: The adis device
341 * Returns 0 if the device is operational, a negative error code otherwise.
343 * This function should be called early on in the device initialization sequence
344 * to ensure that the device is in a sane and known state and that it is usable.
346 int adis_initial_startup(struct adis *adis)
350 ret = adis_self_test(adis);
352 dev_err(&adis->spi->dev, "Self-test failed, trying reset.\n");
354 msleep(adis->data->startup_delay);
355 ret = adis_self_test(adis);
357 dev_err(&adis->spi->dev, "Second self-test failed, giving up.\n");
364 EXPORT_SYMBOL_GPL(adis_initial_startup);
367 * adis_single_conversion() - Performs a single sample conversion
368 * @indio_dev: The IIO device
369 * @chan: The IIO channel
370 * @error_mask: Mask for the error bit
371 * @val: Result of the conversion
373 * Returns IIO_VAL_INT on success, a negative error code otherwise.
375 * The function performs a single conversion on a given channel and post
376 * processes the value accordingly to the channel spec. If a error_mask is given
377 * the function will check if the mask is set in the returned raw value. If it
378 * is set the function will perform a self-check. If the device does not report
379 * a error bit in the channels raw value set error_mask to 0.
381 int adis_single_conversion(struct iio_dev *indio_dev,
382 const struct iio_chan_spec *chan, unsigned int error_mask, int *val)
384 struct adis *adis = iio_device_get_drvdata(indio_dev);
388 mutex_lock(&indio_dev->mlock);
390 ret = adis_read_reg(adis, chan->address, &uval,
391 chan->scan_type.storagebits / 8);
395 if (uval & error_mask) {
396 ret = adis_check_status(adis);
401 if (chan->scan_type.sign == 's')
402 *val = sign_extend32(uval, chan->scan_type.realbits - 1);
404 *val = uval & ((1 << chan->scan_type.realbits) - 1);
408 mutex_unlock(&indio_dev->mlock);
411 EXPORT_SYMBOL_GPL(adis_single_conversion);
414 * adis_init() - Initialize adis device structure
415 * @adis: The adis device
416 * @indio_dev: The iio device
417 * @spi: The spi device
418 * @data: Chip specific data
420 * Returns 0 on success, a negative error code otherwise.
422 * This function must be called, before any other adis helper function may be
425 int adis_init(struct adis *adis, struct iio_dev *indio_dev,
426 struct spi_device *spi, const struct adis_data *data)
428 mutex_init(&adis->txrx_lock);
431 iio_device_set_drvdata(indio_dev, adis);
433 if (data->has_paging) {
434 /* Need to set the page before first read/write */
435 adis->current_page = -1;
437 /* Page will always be 0 */
438 adis->current_page = 0;
441 return adis_enable_irq(adis, false);
443 EXPORT_SYMBOL_GPL(adis_init);
445 MODULE_LICENSE("GPL");
446 MODULE_AUTHOR("Lars-Peter Clausen <lars@metafoo.de>");
447 MODULE_DESCRIPTION("Common library code for ADIS16XXX devices");