diff options
Diffstat (limited to 'drivers/iio/imu/adis.c')
| -rw-r--r-- | drivers/iio/imu/adis.c | 176 |
1 files changed, 122 insertions, 54 deletions
diff --git a/drivers/iio/imu/adis.c b/drivers/iio/imu/adis.c index 022bb54fb748..f7fcfd04f659 100644 --- a/drivers/iio/imu/adis.c +++ b/drivers/iio/imu/adis.c @@ -7,18 +7,15 @@ */ #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/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) @@ -33,8 +30,8 @@ * @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) +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; @@ -96,11 +93,11 @@ 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; @@ -117,14 +114,14 @@ 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; } return ret; } -EXPORT_SYMBOL_GPL(__adis_write_reg); +EXPORT_SYMBOL_NS_GPL(__adis_write_reg, IIO_ADISLIB); /** * __adis_read_reg() - read N bytes from register (unlocked version) @@ -133,8 +130,8 @@ EXPORT_SYMBOL_GPL(__adis_write_reg); * @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; @@ -190,7 +187,7 @@ 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; @@ -204,12 +201,12 @@ int __adis_read_reg(struct adis *adis, unsigned int reg, ret = spi_sync(adis->spi, &msg); if (ret) { dev_err(&adis->spi->dev, "Failed to read register 0x%02X: %d\n", - reg, ret); + reg, ret); return ret; - } else { - adis->current_page = page; } + adis->current_page = page; + switch (size) { case 4: *val = get_unaligned_be32(adis->rx); @@ -221,17 +218,42 @@ int __adis_read_reg(struct adis *adis, unsigned int reg, 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_read_reg(adis, reg, &__val, size); + if (ret) + return ret; + + __val = (__val & ~mask) | (val & mask); + + return __adis_write_reg(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); @@ -239,11 +261,11 @@ int adis_debugfs_reg_access(struct iio_dev *indio_dev, *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 @@ -257,7 +279,7 @@ EXPORT_SYMBOL(adis_debugfs_reg_access); int adis_enable_irq(struct adis *adis, bool enable) { int ret = 0; - uint16_t msc; + u16 msc; mutex_lock(&adis->state_lock); @@ -266,6 +288,15 @@ int adis_enable_irq(struct adis *adis, bool enable) goto out_unlock; } + if (adis->data->unmasked_drdy) { + if (enable) + enable_irq(adis->spi->irq); + else + disable_irq(adis->spi->irq); + + goto out_unlock; + } + ret = __adis_read_reg_16(adis, adis->data->msc_ctrl_reg, &msc); if (ret) goto out_unlock; @@ -283,7 +314,7 @@ out_unlock: mutex_unlock(&adis->state_lock); return ret; } -EXPORT_SYMBOL(adis_enable_irq); +EXPORT_SYMBOL_NS(adis_enable_irq, IIO_ADISLIB); /** * __adis_check_status() - Check the device for error conditions (unlocked) @@ -293,7 +324,7 @@ EXPORT_SYMBOL(adis_enable_irq); */ int __adis_check_status(struct adis *adis) { - uint16_t status; + u16 status; int ret; int i; @@ -315,7 +346,7 @@ 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 (unlocked version) @@ -329,7 +360,7 @@ int __adis_reset(struct adis *adis) const struct adis_timeout *timeouts = adis->data->timeouts; ret = __adis_write_reg_8(adis, adis->data->glob_cmd_reg, - ADIS_GLOB_CMD_SW_RESET); + ADIS_GLOB_CMD_SW_RESET); if (ret) { dev_err(&adis->spi->dev, "Failed to reset device: %d\n", ret); return ret; @@ -339,15 +370,15 @@ int __adis_reset(struct adis *adis) 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); @@ -359,42 +390,78 @@ static int adis_self_test(struct adis *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; - mutex_lock(&adis->state_lock); + /* 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); - ret = adis_self_test(adis); - if (ret) { - dev_err(&adis->spi->dev, "Self-test failed, trying reset.\n"); - __adis_reset(adis); - ret = adis_self_test(adis); - if (ret) { - dev_err(&adis->spi->dev, "Second self-test failed, giving up.\n"); - goto out_unlock; - } + 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; } -out_unlock: - mutex_unlock(&adis->state_lock); - 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 @@ -412,7 +479,8 @@ 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; @@ -421,7 +489,7 @@ int adis_single_conversion(struct iio_dev *indio_dev, mutex_lock(&adis->state_lock); ret = __adis_read_reg(adis, chan->address, &uval, - chan->scan_type.storagebits / 8); + chan->scan_type.storagebits / 8); if (ret) goto err_unlock; @@ -441,7 +509,7 @@ err_unlock: mutex_unlock(&adis->state_lock); return ret; } -EXPORT_SYMBOL_GPL(adis_single_conversion); +EXPORT_SYMBOL_NS_GPL(adis_single_conversion, IIO_ADISLIB); /** * adis_init() - Initialize adis device structure @@ -456,7 +524,7 @@ 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) { if (!data || !data->timeouts) { dev_err(&spi->dev, "No config data or timeouts not defined!\n"); @@ -476,9 +544,9 @@ 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>"); |