diff options
Diffstat (limited to 'drivers/iio/imu/adis.c')
| -rw-r--r-- | drivers/iio/imu/adis.c | 338 |
1 files changed, 220 insertions, 118 deletions
diff --git a/drivers/iio/imu/adis.c b/drivers/iio/imu/adis.c index c771ae6803a9..d160147cce0b 100644 --- a/drivers/iio/imu/adis.c +++ b/drivers/iio/imu/adis.c @@ -1,25 +1,21 @@ +// SPDX-License-Identifier: GPL-2.0-or-later /* * Common library for ADIS16XXX devices * * Copyright 2012 Analog Devices Inc. * Author: Lars-Peter Clausen <lars@metafoo.de> - * - * Licensed under the GPL-2 or later. */ #include <linux/delay.h> +#include <linux/gpio/consumer.h> #include <linux/mutex.h> #include <linux/device.h> #include <linux/kernel.h> #include <linux/spi/spi.h> -#include <linux/slab.h> -#include <linux/sysfs.h> #include <linux/module.h> -#include <asm/unaligned.h> +#include <linux/unaligned.h> #include <linux/iio/iio.h> -#include <linux/iio/sysfs.h> -#include <linux/iio/buffer.h> #include <linux/iio/imu/adis.h> #define ADIS_MSC_CTRL_DATA_RDY_EN BIT(2) @@ -27,8 +23,15 @@ #define ADIS_MSC_CTRL_DATA_RDY_DIO2 BIT(0) #define ADIS_GLOB_CMD_SW_RESET BIT(7) -int adis_write_reg(struct adis *adis, unsigned int reg, - unsigned int value, unsigned int size) +/** + * __adis_write_reg() - write N bytes to register (unlocked version) + * @adis: The adis device + * @reg: The address of the lower of the two registers + * @value: The value to write to device (up to 4 bytes) + * @size: The size of the @value (in bytes) + */ +int __adis_write_reg(struct adis *adis, unsigned int reg, unsigned int value, + unsigned int size) { unsigned int page = reg / ADIS_PAGE_SIZE; int ret, i; @@ -36,37 +39,35 @@ int adis_write_reg(struct adis *adis, unsigned int reg, struct spi_transfer xfers[] = { { .tx_buf = adis->tx, - .bits_per_word = 8, .len = 2, .cs_change = 1, - .delay_usecs = adis->data->write_delay, + .delay.value = adis->data->write_delay, + .delay.unit = SPI_DELAY_UNIT_USECS, }, { .tx_buf = adis->tx + 2, - .bits_per_word = 8, .len = 2, .cs_change = 1, - .delay_usecs = adis->data->write_delay, + .delay.value = adis->data->write_delay, + .delay.unit = SPI_DELAY_UNIT_USECS, }, { .tx_buf = adis->tx + 4, - .bits_per_word = 8, .len = 2, .cs_change = 1, - .delay_usecs = adis->data->write_delay, + .delay.value = adis->data->write_delay, + .delay.unit = SPI_DELAY_UNIT_USECS, }, { .tx_buf = adis->tx + 6, - .bits_per_word = 8, .len = 2, - .delay_usecs = adis->data->write_delay, + .delay.value = adis->data->write_delay, + .delay.unit = SPI_DELAY_UNIT_USECS, }, { .tx_buf = adis->tx + 8, - .bits_per_word = 8, .len = 2, - .delay_usecs = adis->data->write_delay, + .delay.value = adis->data->write_delay, + .delay.unit = SPI_DELAY_UNIT_USECS, }, }; - mutex_lock(&adis->txrx_lock); - spi_message_init(&msg); if (adis->current_page != page) { @@ -81,18 +82,17 @@ int adis_write_reg(struct adis *adis, unsigned int reg, adis->tx[9] = (value >> 24) & 0xff; adis->tx[6] = ADIS_WRITE_REG(reg + 2); adis->tx[7] = (value >> 16) & 0xff; - /* fall through */ + fallthrough; case 2: adis->tx[4] = ADIS_WRITE_REG(reg + 1); adis->tx[5] = (value >> 8) & 0xff; - /* fall through */ + fallthrough; case 1: adis->tx[2] = ADIS_WRITE_REG(reg); adis->tx[3] = value & 0xff; break; default: - ret = -EINVAL; - goto out_unlock; + return -EINVAL; } xfers[size].cs_change = 0; @@ -103,26 +103,24 @@ int adis_write_reg(struct adis *adis, unsigned int reg, ret = spi_sync(adis->spi, &msg); if (ret) { dev_err(&adis->spi->dev, "Failed to write register 0x%02X: %d\n", - reg, ret); + reg, ret); } else { adis->current_page = page; } -out_unlock: - mutex_unlock(&adis->txrx_lock); - return ret; } -EXPORT_SYMBOL_GPL(adis_write_reg); +EXPORT_SYMBOL_NS_GPL(__adis_write_reg, "IIO_ADISLIB"); /** - * adis_read_reg() - read 2 bytes from a 16-bit register + * __adis_read_reg() - read N bytes from register (unlocked version) * @adis: The adis device * @reg: The address of the lower of the two registers * @val: The value read back from the device + * @size: The size of the @val buffer */ -int adis_read_reg(struct adis *adis, unsigned int reg, - unsigned int *val, unsigned int size) +int __adis_read_reg(struct adis *adis, unsigned int reg, unsigned int *val, + unsigned int size) { unsigned int page = reg / ADIS_PAGE_SIZE; struct spi_message msg; @@ -130,32 +128,31 @@ int adis_read_reg(struct adis *adis, unsigned int reg, struct spi_transfer xfers[] = { { .tx_buf = adis->tx, - .bits_per_word = 8, .len = 2, .cs_change = 1, - .delay_usecs = adis->data->write_delay, + .delay.value = adis->data->write_delay, + .delay.unit = SPI_DELAY_UNIT_USECS, }, { .tx_buf = adis->tx + 2, - .bits_per_word = 8, .len = 2, .cs_change = 1, - .delay_usecs = adis->data->read_delay, + .delay.value = adis->data->read_delay, + .delay.unit = SPI_DELAY_UNIT_USECS, }, { .tx_buf = adis->tx + 4, .rx_buf = adis->rx, - .bits_per_word = 8, .len = 2, .cs_change = 1, - .delay_usecs = adis->data->read_delay, + .delay.value = adis->data->read_delay, + .delay.unit = SPI_DELAY_UNIT_USECS, }, { .rx_buf = adis->rx + 2, - .bits_per_word = 8, .len = 2, - .delay_usecs = adis->data->read_delay, + .delay.value = adis->data->read_delay, + .delay.unit = SPI_DELAY_UNIT_USECS, }, }; - mutex_lock(&adis->txrx_lock); spi_message_init(&msg); if (adis->current_page != page) { @@ -169,7 +166,7 @@ int adis_read_reg(struct adis *adis, unsigned int reg, adis->tx[2] = ADIS_READ_REG(reg + 2); adis->tx[3] = 0; spi_message_add_tail(&xfers[1], &msg); - /* fall through */ + fallthrough; case 2: adis->tx[4] = ADIS_READ_REG(reg); adis->tx[5] = 0; @@ -177,19 +174,18 @@ int adis_read_reg(struct adis *adis, unsigned int reg, spi_message_add_tail(&xfers[3], &msg); break; default: - ret = -EINVAL; - goto out_unlock; + return -EINVAL; } ret = spi_sync(adis->spi, &msg); if (ret) { dev_err(&adis->spi->dev, "Failed to read register 0x%02X: %d\n", - reg, ret); - goto out_unlock; - } else { - adis->current_page = page; + reg, ret); + return ret; } + adis->current_page = page; + switch (size) { case 4: *val = get_unaligned_be32(adis->rx); @@ -199,54 +195,86 @@ int adis_read_reg(struct adis *adis, unsigned int reg, break; } -out_unlock: - mutex_unlock(&adis->txrx_lock); - return ret; } -EXPORT_SYMBOL_GPL(adis_read_reg); +EXPORT_SYMBOL_NS_GPL(__adis_read_reg, "IIO_ADISLIB"); +/** + * __adis_update_bits_base() - ADIS Update bits function - Unlocked version + * @adis: The adis device + * @reg: The address of the lower of the two registers + * @mask: Bitmask to change + * @val: Value to be written + * @size: Size of the register to update + * + * Updates the desired bits of @reg in accordance with @mask and @val. + */ +int __adis_update_bits_base(struct adis *adis, unsigned int reg, const u32 mask, + const u32 val, u8 size) +{ + int ret; + u32 __val; + + ret = adis->ops->read(adis, reg, &__val, size); + if (ret) + return ret; + + __val = (__val & ~mask) | (val & mask); + + return adis->ops->write(adis, reg, __val, size); +} +EXPORT_SYMBOL_NS_GPL(__adis_update_bits_base, "IIO_ADISLIB"); #ifdef CONFIG_DEBUG_FS -int adis_debugfs_reg_access(struct iio_dev *indio_dev, - unsigned int reg, unsigned int writeval, unsigned int *readval) +int adis_debugfs_reg_access(struct iio_dev *indio_dev, unsigned int reg, + unsigned int writeval, unsigned int *readval) { struct adis *adis = iio_device_get_drvdata(indio_dev); if (readval) { - uint16_t val16; + u16 val16; int ret; ret = adis_read_reg_16(adis, reg, &val16); - *readval = val16; + if (ret == 0) + *readval = val16; return ret; - } else { - return adis_write_reg_16(adis, reg, writeval); } + + return adis_write_reg_16(adis, reg, writeval); } -EXPORT_SYMBOL(adis_debugfs_reg_access); +EXPORT_SYMBOL_NS(adis_debugfs_reg_access, "IIO_ADISLIB"); #endif /** - * adis_enable_irq() - Enable or disable data ready IRQ + * __adis_enable_irq() - Enable or disable data ready IRQ (unlocked) * @adis: The adis device * @enable: Whether to enable the IRQ * * Returns 0 on success, negative error code otherwise */ -int adis_enable_irq(struct adis *adis, bool enable) +int __adis_enable_irq(struct adis *adis, bool enable) { - int ret = 0; - uint16_t msc; + int ret; + u16 msc; if (adis->data->enable_irq) return adis->data->enable_irq(adis, enable); - ret = adis_read_reg_16(adis, adis->data->msc_ctrl_reg, &msc); + if (adis->data->unmasked_drdy) { + if (enable) + enable_irq(adis->spi->irq); + else + disable_irq(adis->spi->irq); + + return 0; + } + + ret = __adis_read_reg_16(adis, adis->data->msc_ctrl_reg, &msc); if (ret) - goto error_ret; + return ret; msc |= ADIS_MSC_CTRL_DATA_RDY_POL_HIGH; msc &= ~ADIS_MSC_CTRL_DATA_RDY_DIO2; @@ -255,27 +283,33 @@ int adis_enable_irq(struct adis *adis, bool enable) else msc &= ~ADIS_MSC_CTRL_DATA_RDY_EN; - ret = adis_write_reg_16(adis, adis->data->msc_ctrl_reg, msc); - -error_ret: - return ret; + return __adis_write_reg_16(adis, adis->data->msc_ctrl_reg, msc); } -EXPORT_SYMBOL(adis_enable_irq); +EXPORT_SYMBOL_NS(__adis_enable_irq, "IIO_ADISLIB"); /** - * adis_check_status() - Check the device for error conditions + * __adis_check_status() - Check the device for error conditions (unlocked) * @adis: The adis device * * Returns 0 on success, a negative error code otherwise */ -int adis_check_status(struct adis *adis) +int __adis_check_status(struct adis *adis) { - uint16_t status; + unsigned int status; + int diag_stat_bits; + u16 status_16 = 0; int ret; int i; - ret = adis_read_reg_16(adis, adis->data->diag_stat_reg, &status); - if (ret < 0) + if (adis->data->diag_stat_size) { + ret = adis->ops->read(adis, adis->data->diag_stat_reg, &status, + adis->data->diag_stat_size); + } else { + ret = __adis_read_reg_16(adis, adis->data->diag_stat_reg, + &status_16); + status = status_16; + } + if (ret) return ret; status &= adis->data->status_error_mask; @@ -283,7 +317,10 @@ int adis_check_status(struct adis *adis) if (status == 0) return 0; - for (i = 0; i < 16; ++i) { + diag_stat_bits = BITS_PER_BYTE * (adis->data->diag_stat_size ? + adis->data->diag_stat_size : 2); + + for (i = 0; i < diag_stat_bits; ++i) { if (status & BIT(i)) { dev_err(&adis->spi->dev, "%s.\n", adis->data->status_error_msgs[i]); @@ -292,77 +329,122 @@ int adis_check_status(struct adis *adis) return -EIO; } -EXPORT_SYMBOL_GPL(adis_check_status); +EXPORT_SYMBOL_NS_GPL(__adis_check_status, "IIO_ADISLIB"); /** - * adis_reset() - Reset the device + * __adis_reset() - Reset the device (unlocked version) * @adis: The adis device * * Returns 0 on success, a negative error code otherwise */ -int adis_reset(struct adis *adis) +int __adis_reset(struct adis *adis) { int ret; + const struct adis_timeout *timeouts = adis->data->timeouts; - ret = adis_write_reg_8(adis, adis->data->glob_cmd_reg, - ADIS_GLOB_CMD_SW_RESET); - if (ret) + ret = __adis_write_reg_8(adis, adis->data->glob_cmd_reg, + ADIS_GLOB_CMD_SW_RESET); + if (ret) { dev_err(&adis->spi->dev, "Failed to reset device: %d\n", ret); + return ret; + } - return ret; + msleep(timeouts->sw_reset_ms); + + return 0; } -EXPORT_SYMBOL_GPL(adis_reset); +EXPORT_SYMBOL_NS_GPL(__adis_reset, "IIO_ADIS_LIB"); static int adis_self_test(struct adis *adis) { int ret; + const struct adis_timeout *timeouts = adis->data->timeouts; - ret = adis_write_reg_16(adis, adis->data->msc_ctrl_reg, - adis->data->self_test_mask); + ret = __adis_write_reg_16(adis, adis->data->self_test_reg, + adis->data->self_test_mask); if (ret) { dev_err(&adis->spi->dev, "Failed to initiate self test: %d\n", ret); return ret; } - msleep(adis->data->startup_delay); + msleep(timeouts->self_test_ms); - ret = adis_check_status(adis); + ret = __adis_check_status(adis); if (adis->data->self_test_no_autoclear) - adis_write_reg_16(adis, adis->data->msc_ctrl_reg, 0x00); + __adis_write_reg_16(adis, adis->data->self_test_reg, 0x00); return ret; } /** - * adis_inital_startup() - Performs device self-test + * __adis_initial_startup() - Device initial setup * @adis: The adis device * + * The function performs a HW reset via a reset pin that should be specified + * via GPIOLIB. If no pin is configured a SW reset will be performed. + * The RST pin for the ADIS devices should be configured as ACTIVE_LOW. + * + * After the self-test operation is performed, the function will also check + * that the product ID is as expected. This assumes that drivers providing + * 'prod_id_reg' will also provide the 'prod_id'. + * * Returns 0 if the device is operational, a negative error code otherwise. * * This function should be called early on in the device initialization sequence * to ensure that the device is in a sane and known state and that it is usable. */ -int adis_initial_startup(struct adis *adis) +int __adis_initial_startup(struct adis *adis) { + const struct adis_timeout *timeouts = adis->data->timeouts; + struct gpio_desc *gpio; + u16 prod_id; int ret; - ret = adis_self_test(adis); - if (ret) { - dev_err(&adis->spi->dev, "Self-test failed, trying reset.\n"); - adis_reset(adis); - msleep(adis->data->startup_delay); - ret = adis_self_test(adis); - if (ret) { - dev_err(&adis->spi->dev, "Second self-test failed, giving up.\n"); + /* check if the device has rst pin low */ + gpio = devm_gpiod_get_optional(&adis->spi->dev, "reset", GPIOD_OUT_HIGH); + if (IS_ERR(gpio)) + return PTR_ERR(gpio); + + if (gpio) { + usleep_range(10, 12); + /* bring device out of reset */ + gpiod_set_value_cansleep(gpio, 0); + msleep(timeouts->reset_ms); + } else { + ret = __adis_reset(adis); + if (ret) return ret; - } } + ret = adis_self_test(adis); + if (ret) + return ret; + + /* + * don't bother calling this if we can't unmask the IRQ as in this case + * the IRQ is most likely not yet requested and we will request it + * with 'IRQF_NO_AUTOEN' anyways. + */ + if (!adis->data->unmasked_drdy) + __adis_enable_irq(adis, false); + + if (!adis->data->prod_id_reg) + return 0; + + ret = adis_read_reg_16(adis, adis->data->prod_id_reg, &prod_id); + if (ret) + return ret; + + if (prod_id != adis->data->prod_id) + dev_warn(&adis->spi->dev, + "Device ID(%u) and product ID(%u) do not match.\n", + adis->data->prod_id, prod_id); + return 0; } -EXPORT_SYMBOL_GPL(adis_initial_startup); +EXPORT_SYMBOL_NS_GPL(__adis_initial_startup, "IIO_ADISLIB"); /** * adis_single_conversion() - Performs a single sample conversion @@ -380,23 +462,24 @@ EXPORT_SYMBOL_GPL(adis_initial_startup); * a error bit in the channels raw value set error_mask to 0. */ int adis_single_conversion(struct iio_dev *indio_dev, - const struct iio_chan_spec *chan, unsigned int error_mask, int *val) + const struct iio_chan_spec *chan, + unsigned int error_mask, int *val) { struct adis *adis = iio_device_get_drvdata(indio_dev); unsigned int uval; int ret; - mutex_lock(&indio_dev->mlock); + guard(mutex)(&adis->state_lock); - ret = adis_read_reg(adis, chan->address, &uval, - chan->scan_type.storagebits / 8); + ret = adis->ops->read(adis, chan->address, &uval, + chan->scan_type.storagebits / 8); if (ret) - goto err_unlock; + return ret; if (uval & error_mask) { - ret = adis_check_status(adis); + ret = __adis_check_status(adis); if (ret) - goto err_unlock; + return ret; } if (chan->scan_type.sign == 's') @@ -404,12 +487,15 @@ int adis_single_conversion(struct iio_dev *indio_dev, else *val = uval & ((1 << chan->scan_type.realbits) - 1); - ret = IIO_VAL_INT; -err_unlock: - mutex_unlock(&indio_dev->mlock); - return ret; + return IIO_VAL_INT; } -EXPORT_SYMBOL_GPL(adis_single_conversion); +EXPORT_SYMBOL_NS_GPL(adis_single_conversion, "IIO_ADISLIB"); + +static const struct adis_ops adis_default_ops = { + .read = __adis_read_reg, + .write = __adis_write_reg, + .reset = __adis_reset, +}; /** * adis_init() - Initialize adis device structure @@ -424,11 +510,27 @@ EXPORT_SYMBOL_GPL(adis_single_conversion); * called. */ int adis_init(struct adis *adis, struct iio_dev *indio_dev, - struct spi_device *spi, const struct adis_data *data) + struct spi_device *spi, const struct adis_data *data) { - mutex_init(&adis->txrx_lock); + if (!data || !data->timeouts) { + dev_err(&spi->dev, "No config data or timeouts not defined!\n"); + return -EINVAL; + } + + mutex_init(&adis->state_lock); + + if (!spi->cs_inactive.value) { + spi->cs_inactive.value = data->cs_change_delay; + spi->cs_inactive.unit = SPI_DELAY_UNIT_USECS; + } + adis->spi = spi; adis->data = data; + if (!adis->ops->write && !adis->ops->read && !adis->ops->reset) + adis->ops = &adis_default_ops; + else if (!adis->ops->write || !adis->ops->read || !adis->ops->reset) + return -EINVAL; + iio_device_set_drvdata(indio_dev, adis); if (data->has_paging) { @@ -439,9 +541,9 @@ int adis_init(struct adis *adis, struct iio_dev *indio_dev, adis->current_page = 0; } - return adis_enable_irq(adis, false); + return 0; } -EXPORT_SYMBOL_GPL(adis_init); +EXPORT_SYMBOL_NS_GPL(adis_init, "IIO_ADISLIB"); MODULE_LICENSE("GPL"); MODULE_AUTHOR("Lars-Peter Clausen <lars@metafoo.de>"); |