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1// SPDX-License-Identifier: GPL-2.0-or-later
2/*
3 * Common library for ADIS16XXX devices
4 *
5 * Copyright 2012 Analog Devices Inc.
6 * Author: Lars-Peter Clausen <lars@metafoo.de>
7 */
8
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>
18
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>
23
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)
28
29int adis_write_reg(struct adis *adis, unsigned int reg,
30 unsigned int value, unsigned int size)
31{
32 unsigned int page = reg / ADIS_PAGE_SIZE;
33 int ret, i;
34 struct spi_message msg;
35 struct spi_transfer xfers[] = {
36 {
37 .tx_buf = adis->tx,
38 .bits_per_word = 8,
39 .len = 2,
40 .cs_change = 1,
41 .delay_usecs = adis->data->write_delay,
42 .cs_change_delay = adis->data->cs_change_delay,
43 .cs_change_delay_unit = SPI_DELAY_UNIT_USECS,
44 }, {
45 .tx_buf = adis->tx + 2,
46 .bits_per_word = 8,
47 .len = 2,
48 .cs_change = 1,
49 .delay_usecs = adis->data->write_delay,
50 .cs_change_delay = adis->data->cs_change_delay,
51 .cs_change_delay_unit = SPI_DELAY_UNIT_USECS,
52 }, {
53 .tx_buf = adis->tx + 4,
54 .bits_per_word = 8,
55 .len = 2,
56 .cs_change = 1,
57 .delay_usecs = adis->data->write_delay,
58 .cs_change_delay = adis->data->cs_change_delay,
59 .cs_change_delay_unit = SPI_DELAY_UNIT_USECS,
60 }, {
61 .tx_buf = adis->tx + 6,
62 .bits_per_word = 8,
63 .len = 2,
64 .delay_usecs = adis->data->write_delay,
65 }, {
66 .tx_buf = adis->tx + 8,
67 .bits_per_word = 8,
68 .len = 2,
69 .delay_usecs = adis->data->write_delay,
70 },
71 };
72
73 mutex_lock(&adis->txrx_lock);
74
75 spi_message_init(&msg);
76
77 if (adis->current_page != page) {
78 adis->tx[0] = ADIS_WRITE_REG(ADIS_REG_PAGE_ID);
79 adis->tx[1] = page;
80 spi_message_add_tail(&xfers[0], &msg);
81 }
82
83 switch (size) {
84 case 4:
85 adis->tx[8] = ADIS_WRITE_REG(reg + 3);
86 adis->tx[9] = (value >> 24) & 0xff;
87 adis->tx[6] = ADIS_WRITE_REG(reg + 2);
88 adis->tx[7] = (value >> 16) & 0xff;
89 /* fall through */
90 case 2:
91 adis->tx[4] = ADIS_WRITE_REG(reg + 1);
92 adis->tx[5] = (value >> 8) & 0xff;
93 /* fall through */
94 case 1:
95 adis->tx[2] = ADIS_WRITE_REG(reg);
96 adis->tx[3] = value & 0xff;
97 break;
98 default:
99 ret = -EINVAL;
100 goto out_unlock;
101 }
102
103 xfers[size].cs_change = 0;
104
105 for (i = 1; i <= size; i++)
106 spi_message_add_tail(&xfers[i], &msg);
107
108 ret = spi_sync(adis->spi, &msg);
109 if (ret) {
110 dev_err(&adis->spi->dev, "Failed to write register 0x%02X: %d\n",
111 reg, ret);
112 } else {
113 adis->current_page = page;
114 }
115
116out_unlock:
117 mutex_unlock(&adis->txrx_lock);
118
119 return ret;
120}
121EXPORT_SYMBOL_GPL(adis_write_reg);
122
123/**
124 * adis_read_reg() - read 2 bytes from a 16-bit register
125 * @adis: The adis device
126 * @reg: The address of the lower of the two registers
127 * @val: The value read back from the device
128 */
129int adis_read_reg(struct adis *adis, unsigned int reg,
130 unsigned int *val, unsigned int size)
131{
132 unsigned int page = reg / ADIS_PAGE_SIZE;
133 struct spi_message msg;
134 int ret;
135 struct spi_transfer xfers[] = {
136 {
137 .tx_buf = adis->tx,
138 .bits_per_word = 8,
139 .len = 2,
140 .cs_change = 1,
141 .delay_usecs = adis->data->write_delay,
142 .cs_change_delay = adis->data->cs_change_delay,
143 .cs_change_delay_unit = SPI_DELAY_UNIT_USECS,
144 }, {
145 .tx_buf = adis->tx + 2,
146 .bits_per_word = 8,
147 .len = 2,
148 .cs_change = 1,
149 .delay_usecs = adis->data->read_delay,
150 .cs_change_delay = adis->data->cs_change_delay,
151 .cs_change_delay_unit = SPI_DELAY_UNIT_USECS,
152 }, {
153 .tx_buf = adis->tx + 4,
154 .rx_buf = adis->rx,
155 .bits_per_word = 8,
156 .len = 2,
157 .cs_change = 1,
158 .delay_usecs = adis->data->read_delay,
159 .cs_change_delay = adis->data->cs_change_delay,
160 .cs_change_delay_unit = SPI_DELAY_UNIT_USECS,
161 }, {
162 .rx_buf = adis->rx + 2,
163 .bits_per_word = 8,
164 .len = 2,
165 .delay_usecs = adis->data->read_delay,
166 },
167 };
168
169 mutex_lock(&adis->txrx_lock);
170 spi_message_init(&msg);
171
172 if (adis->current_page != page) {
173 adis->tx[0] = ADIS_WRITE_REG(ADIS_REG_PAGE_ID);
174 adis->tx[1] = page;
175 spi_message_add_tail(&xfers[0], &msg);
176 }
177
178 switch (size) {
179 case 4:
180 adis->tx[2] = ADIS_READ_REG(reg + 2);
181 adis->tx[3] = 0;
182 spi_message_add_tail(&xfers[1], &msg);
183 /* fall through */
184 case 2:
185 adis->tx[4] = ADIS_READ_REG(reg);
186 adis->tx[5] = 0;
187 spi_message_add_tail(&xfers[2], &msg);
188 spi_message_add_tail(&xfers[3], &msg);
189 break;
190 default:
191 ret = -EINVAL;
192 goto out_unlock;
193 }
194
195 ret = spi_sync(adis->spi, &msg);
196 if (ret) {
197 dev_err(&adis->spi->dev, "Failed to read register 0x%02X: %d\n",
198 reg, ret);
199 goto out_unlock;
200 } else {
201 adis->current_page = page;
202 }
203
204 switch (size) {
205 case 4:
206 *val = get_unaligned_be32(adis->rx);
207 break;
208 case 2:
209 *val = get_unaligned_be16(adis->rx + 2);
210 break;
211 }
212
213out_unlock:
214 mutex_unlock(&adis->txrx_lock);
215
216 return ret;
217}
218EXPORT_SYMBOL_GPL(adis_read_reg);
219
220#ifdef CONFIG_DEBUG_FS
221
222int adis_debugfs_reg_access(struct iio_dev *indio_dev,
223 unsigned int reg, unsigned int writeval, unsigned int *readval)
224{
225 struct adis *adis = iio_device_get_drvdata(indio_dev);
226
227 if (readval) {
228 uint16_t val16;
229 int ret;
230
231 ret = adis_read_reg_16(adis, reg, &val16);
232 *readval = val16;
233
234 return ret;
235 } else {
236 return adis_write_reg_16(adis, reg, writeval);
237 }
238}
239EXPORT_SYMBOL(adis_debugfs_reg_access);
240
241#endif
242
243/**
244 * adis_enable_irq() - Enable or disable data ready IRQ
245 * @adis: The adis device
246 * @enable: Whether to enable the IRQ
247 *
248 * Returns 0 on success, negative error code otherwise
249 */
250int adis_enable_irq(struct adis *adis, bool enable)
251{
252 int ret = 0;
253 uint16_t msc;
254
255 if (adis->data->enable_irq)
256 return adis->data->enable_irq(adis, enable);
257
258 ret = adis_read_reg_16(adis, adis->data->msc_ctrl_reg, &msc);
259 if (ret)
260 goto error_ret;
261
262 msc |= ADIS_MSC_CTRL_DATA_RDY_POL_HIGH;
263 msc &= ~ADIS_MSC_CTRL_DATA_RDY_DIO2;
264 if (enable)
265 msc |= ADIS_MSC_CTRL_DATA_RDY_EN;
266 else
267 msc &= ~ADIS_MSC_CTRL_DATA_RDY_EN;
268
269 ret = adis_write_reg_16(adis, adis->data->msc_ctrl_reg, msc);
270
271error_ret:
272 return ret;
273}
274EXPORT_SYMBOL(adis_enable_irq);
275
276/**
277 * adis_check_status() - Check the device for error conditions
278 * @adis: The adis device
279 *
280 * Returns 0 on success, a negative error code otherwise
281 */
282int adis_check_status(struct adis *adis)
283{
284 uint16_t status;
285 int ret;
286 int i;
287
288 ret = adis_read_reg_16(adis, adis->data->diag_stat_reg, &status);
289 if (ret < 0)
290 return ret;
291
292 status &= adis->data->status_error_mask;
293
294 if (status == 0)
295 return 0;
296
297 for (i = 0; i < 16; ++i) {
298 if (status & BIT(i)) {
299 dev_err(&adis->spi->dev, "%s.\n",
300 adis->data->status_error_msgs[i]);
301 }
302 }
303
304 return -EIO;
305}
306EXPORT_SYMBOL_GPL(adis_check_status);
307
308/**
309 * adis_reset() - Reset the device
310 * @adis: The adis device
311 *
312 * Returns 0 on success, a negative error code otherwise
313 */
314int adis_reset(struct adis *adis)
315{
316 int ret;
317
318 ret = adis_write_reg_8(adis, adis->data->glob_cmd_reg,
319 ADIS_GLOB_CMD_SW_RESET);
320 if (ret)
321 dev_err(&adis->spi->dev, "Failed to reset device: %d\n", ret);
322
323 return ret;
324}
325EXPORT_SYMBOL_GPL(adis_reset);
326
327static int adis_self_test(struct adis *adis)
328{
329 int ret;
330
331 ret = adis_write_reg_16(adis, adis->data->msc_ctrl_reg,
332 adis->data->self_test_mask);
333 if (ret) {
334 dev_err(&adis->spi->dev, "Failed to initiate self test: %d\n",
335 ret);
336 return ret;
337 }
338
339 msleep(adis->data->startup_delay);
340
341 ret = adis_check_status(adis);
342
343 if (adis->data->self_test_no_autoclear)
344 adis_write_reg_16(adis, adis->data->msc_ctrl_reg, 0x00);
345
346 return ret;
347}
348
349/**
350 * adis_inital_startup() - Performs device self-test
351 * @adis: The adis device
352 *
353 * Returns 0 if the device is operational, a negative error code otherwise.
354 *
355 * This function should be called early on in the device initialization sequence
356 * to ensure that the device is in a sane and known state and that it is usable.
357 */
358int adis_initial_startup(struct adis *adis)
359{
360 int ret;
361
362 ret = adis_self_test(adis);
363 if (ret) {
364 dev_err(&adis->spi->dev, "Self-test failed, trying reset.\n");
365 adis_reset(adis);
366 msleep(adis->data->startup_delay);
367 ret = adis_self_test(adis);
368 if (ret) {
369 dev_err(&adis->spi->dev, "Second self-test failed, giving up.\n");
370 return ret;
371 }
372 }
373
374 return 0;
375}
376EXPORT_SYMBOL_GPL(adis_initial_startup);
377
378/**
379 * adis_single_conversion() - Performs a single sample conversion
380 * @indio_dev: The IIO device
381 * @chan: The IIO channel
382 * @error_mask: Mask for the error bit
383 * @val: Result of the conversion
384 *
385 * Returns IIO_VAL_INT on success, a negative error code otherwise.
386 *
387 * The function performs a single conversion on a given channel and post
388 * processes the value accordingly to the channel spec. If a error_mask is given
389 * the function will check if the mask is set in the returned raw value. If it
390 * is set the function will perform a self-check. If the device does not report
391 * a error bit in the channels raw value set error_mask to 0.
392 */
393int adis_single_conversion(struct iio_dev *indio_dev,
394 const struct iio_chan_spec *chan, unsigned int error_mask, int *val)
395{
396 struct adis *adis = iio_device_get_drvdata(indio_dev);
397 unsigned int uval;
398 int ret;
399
400 mutex_lock(&indio_dev->mlock);
401
402 ret = adis_read_reg(adis, chan->address, &uval,
403 chan->scan_type.storagebits / 8);
404 if (ret)
405 goto err_unlock;
406
407 if (uval & error_mask) {
408 ret = adis_check_status(adis);
409 if (ret)
410 goto err_unlock;
411 }
412
413 if (chan->scan_type.sign == 's')
414 *val = sign_extend32(uval, chan->scan_type.realbits - 1);
415 else
416 *val = uval & ((1 << chan->scan_type.realbits) - 1);
417
418 ret = IIO_VAL_INT;
419err_unlock:
420 mutex_unlock(&indio_dev->mlock);
421 return ret;
422}
423EXPORT_SYMBOL_GPL(adis_single_conversion);
424
425/**
426 * adis_init() - Initialize adis device structure
427 * @adis: The adis device
428 * @indio_dev: The iio device
429 * @spi: The spi device
430 * @data: Chip specific data
431 *
432 * Returns 0 on success, a negative error code otherwise.
433 *
434 * This function must be called, before any other adis helper function may be
435 * called.
436 */
437int adis_init(struct adis *adis, struct iio_dev *indio_dev,
438 struct spi_device *spi, const struct adis_data *data)
439{
440 mutex_init(&adis->txrx_lock);
441 adis->spi = spi;
442 adis->data = data;
443 iio_device_set_drvdata(indio_dev, adis);
444
445 if (data->has_paging) {
446 /* Need to set the page before first read/write */
447 adis->current_page = -1;
448 } else {
449 /* Page will always be 0 */
450 adis->current_page = 0;
451 }
452
453 return adis_enable_irq(adis, false);
454}
455EXPORT_SYMBOL_GPL(adis_init);
456
457MODULE_LICENSE("GPL");
458MODULE_AUTHOR("Lars-Peter Clausen <lars@metafoo.de>");
459MODULE_DESCRIPTION("Common library code for ADIS16XXX devices");
1/*
2 * Common library for ADIS16XXX devices
3 *
4 * Copyright 2012 Analog Devices Inc.
5 * Author: Lars-Peter Clausen <lars@metafoo.de>
6 *
7 * Licensed under the GPL-2 or later.
8 */
9
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>
19
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>
24
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)
29
30int adis_write_reg(struct adis *adis, unsigned int reg,
31 unsigned int value, unsigned int size)
32{
33 unsigned int page = reg / ADIS_PAGE_SIZE;
34 int ret, i;
35 struct spi_message msg;
36 struct spi_transfer xfers[] = {
37 {
38 .tx_buf = adis->tx,
39 .bits_per_word = 8,
40 .len = 2,
41 .cs_change = 1,
42 .delay_usecs = adis->data->write_delay,
43 }, {
44 .tx_buf = adis->tx + 2,
45 .bits_per_word = 8,
46 .len = 2,
47 .cs_change = 1,
48 .delay_usecs = adis->data->write_delay,
49 }, {
50 .tx_buf = adis->tx + 4,
51 .bits_per_word = 8,
52 .len = 2,
53 .cs_change = 1,
54 .delay_usecs = adis->data->write_delay,
55 }, {
56 .tx_buf = adis->tx + 6,
57 .bits_per_word = 8,
58 .len = 2,
59 .delay_usecs = adis->data->write_delay,
60 }, {
61 .tx_buf = adis->tx + 8,
62 .bits_per_word = 8,
63 .len = 2,
64 .delay_usecs = adis->data->write_delay,
65 },
66 };
67
68 mutex_lock(&adis->txrx_lock);
69
70 spi_message_init(&msg);
71
72 if (adis->current_page != page) {
73 adis->tx[0] = ADIS_WRITE_REG(ADIS_REG_PAGE_ID);
74 adis->tx[1] = page;
75 spi_message_add_tail(&xfers[0], &msg);
76 }
77
78 switch (size) {
79 case 4:
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;
84 case 2:
85 adis->tx[4] = ADIS_WRITE_REG(reg + 1);
86 adis->tx[5] = (value >> 8) & 0xff;
87 case 1:
88 adis->tx[2] = ADIS_WRITE_REG(reg);
89 adis->tx[3] = value & 0xff;
90 break;
91 default:
92 ret = -EINVAL;
93 goto out_unlock;
94 }
95
96 xfers[size].cs_change = 0;
97
98 for (i = 1; i <= size; i++)
99 spi_message_add_tail(&xfers[i], &msg);
100
101 ret = spi_sync(adis->spi, &msg);
102 if (ret) {
103 dev_err(&adis->spi->dev, "Failed to write register 0x%02X: %d\n",
104 reg, ret);
105 } else {
106 adis->current_page = page;
107 }
108
109out_unlock:
110 mutex_unlock(&adis->txrx_lock);
111
112 return ret;
113}
114EXPORT_SYMBOL_GPL(adis_write_reg);
115
116/**
117 * adis_read_reg() - read 2 bytes from a 16-bit register
118 * @adis: The adis device
119 * @reg: The address of the lower of the two registers
120 * @val: The value read back from the device
121 */
122int adis_read_reg(struct adis *adis, unsigned int reg,
123 unsigned int *val, unsigned int size)
124{
125 unsigned int page = reg / ADIS_PAGE_SIZE;
126 struct spi_message msg;
127 int ret;
128 struct spi_transfer xfers[] = {
129 {
130 .tx_buf = adis->tx,
131 .bits_per_word = 8,
132 .len = 2,
133 .cs_change = 1,
134 .delay_usecs = adis->data->write_delay,
135 }, {
136 .tx_buf = adis->tx + 2,
137 .bits_per_word = 8,
138 .len = 2,
139 .cs_change = 1,
140 .delay_usecs = adis->data->read_delay,
141 }, {
142 .tx_buf = adis->tx + 4,
143 .rx_buf = adis->rx,
144 .bits_per_word = 8,
145 .len = 2,
146 .cs_change = 1,
147 .delay_usecs = adis->data->read_delay,
148 }, {
149 .rx_buf = adis->rx + 2,
150 .bits_per_word = 8,
151 .len = 2,
152 .delay_usecs = adis->data->read_delay,
153 },
154 };
155
156 mutex_lock(&adis->txrx_lock);
157 spi_message_init(&msg);
158
159 if (adis->current_page != page) {
160 adis->tx[0] = ADIS_WRITE_REG(ADIS_REG_PAGE_ID);
161 adis->tx[1] = page;
162 spi_message_add_tail(&xfers[0], &msg);
163 }
164
165 switch (size) {
166 case 4:
167 adis->tx[2] = ADIS_READ_REG(reg + 2);
168 adis->tx[3] = 0;
169 spi_message_add_tail(&xfers[1], &msg);
170 case 2:
171 adis->tx[4] = ADIS_READ_REG(reg);
172 adis->tx[5] = 0;
173 spi_message_add_tail(&xfers[2], &msg);
174 spi_message_add_tail(&xfers[3], &msg);
175 break;
176 default:
177 ret = -EINVAL;
178 goto out_unlock;
179 }
180
181 ret = spi_sync(adis->spi, &msg);
182 if (ret) {
183 dev_err(&adis->spi->dev, "Failed to read register 0x%02X: %d\n",
184 reg, ret);
185 goto out_unlock;
186 } else {
187 adis->current_page = page;
188 }
189
190 switch (size) {
191 case 4:
192 *val = get_unaligned_be32(adis->rx);
193 break;
194 case 2:
195 *val = get_unaligned_be16(adis->rx + 2);
196 break;
197 }
198
199out_unlock:
200 mutex_unlock(&adis->txrx_lock);
201
202 return ret;
203}
204EXPORT_SYMBOL_GPL(adis_read_reg);
205
206#ifdef CONFIG_DEBUG_FS
207
208int adis_debugfs_reg_access(struct iio_dev *indio_dev,
209 unsigned int reg, unsigned int writeval, unsigned int *readval)
210{
211 struct adis *adis = iio_device_get_drvdata(indio_dev);
212
213 if (readval) {
214 uint16_t val16;
215 int ret;
216
217 ret = adis_read_reg_16(adis, reg, &val16);
218 *readval = val16;
219
220 return ret;
221 } else {
222 return adis_write_reg_16(adis, reg, writeval);
223 }
224}
225EXPORT_SYMBOL(adis_debugfs_reg_access);
226
227#endif
228
229/**
230 * adis_enable_irq() - Enable or disable data ready IRQ
231 * @adis: The adis device
232 * @enable: Whether to enable the IRQ
233 *
234 * Returns 0 on success, negative error code otherwise
235 */
236int adis_enable_irq(struct adis *adis, bool enable)
237{
238 int ret = 0;
239 uint16_t msc;
240
241 if (adis->data->enable_irq)
242 return adis->data->enable_irq(adis, enable);
243
244 ret = adis_read_reg_16(adis, adis->data->msc_ctrl_reg, &msc);
245 if (ret)
246 goto error_ret;
247
248 msc |= ADIS_MSC_CTRL_DATA_RDY_POL_HIGH;
249 msc &= ~ADIS_MSC_CTRL_DATA_RDY_DIO2;
250 if (enable)
251 msc |= ADIS_MSC_CTRL_DATA_RDY_EN;
252 else
253 msc &= ~ADIS_MSC_CTRL_DATA_RDY_EN;
254
255 ret = adis_write_reg_16(adis, adis->data->msc_ctrl_reg, msc);
256
257error_ret:
258 return ret;
259}
260EXPORT_SYMBOL(adis_enable_irq);
261
262/**
263 * adis_check_status() - Check the device for error conditions
264 * @adis: The adis device
265 *
266 * Returns 0 on success, a negative error code otherwise
267 */
268int adis_check_status(struct adis *adis)
269{
270 uint16_t status;
271 int ret;
272 int i;
273
274 ret = adis_read_reg_16(adis, adis->data->diag_stat_reg, &status);
275 if (ret < 0)
276 return ret;
277
278 status &= adis->data->status_error_mask;
279
280 if (status == 0)
281 return 0;
282
283 for (i = 0; i < 16; ++i) {
284 if (status & BIT(i)) {
285 dev_err(&adis->spi->dev, "%s.\n",
286 adis->data->status_error_msgs[i]);
287 }
288 }
289
290 return -EIO;
291}
292EXPORT_SYMBOL_GPL(adis_check_status);
293
294/**
295 * adis_reset() - Reset the device
296 * @adis: The adis device
297 *
298 * Returns 0 on success, a negative error code otherwise
299 */
300int adis_reset(struct adis *adis)
301{
302 int ret;
303
304 ret = adis_write_reg_8(adis, adis->data->glob_cmd_reg,
305 ADIS_GLOB_CMD_SW_RESET);
306 if (ret)
307 dev_err(&adis->spi->dev, "Failed to reset device: %d\n", ret);
308
309 return ret;
310}
311EXPORT_SYMBOL_GPL(adis_reset);
312
313static int adis_self_test(struct adis *adis)
314{
315 int ret;
316
317 ret = adis_write_reg_16(adis, adis->data->msc_ctrl_reg,
318 adis->data->self_test_mask);
319 if (ret) {
320 dev_err(&adis->spi->dev, "Failed to initiate self test: %d\n",
321 ret);
322 return ret;
323 }
324
325 msleep(adis->data->startup_delay);
326
327 return adis_check_status(adis);
328}
329
330/**
331 * adis_inital_startup() - Performs device self-test
332 * @adis: The adis device
333 *
334 * Returns 0 if the device is operational, a negative error code otherwise.
335 *
336 * This function should be called early on in the device initialization sequence
337 * to ensure that the device is in a sane and known state and that it is usable.
338 */
339int adis_initial_startup(struct adis *adis)
340{
341 int ret;
342
343 ret = adis_self_test(adis);
344 if (ret) {
345 dev_err(&adis->spi->dev, "Self-test failed, trying reset.\n");
346 adis_reset(adis);
347 msleep(adis->data->startup_delay);
348 ret = adis_self_test(adis);
349 if (ret) {
350 dev_err(&adis->spi->dev, "Second self-test failed, giving up.\n");
351 return ret;
352 }
353 }
354
355 return 0;
356}
357EXPORT_SYMBOL_GPL(adis_initial_startup);
358
359/**
360 * adis_single_conversion() - Performs a single sample conversion
361 * @indio_dev: The IIO device
362 * @chan: The IIO channel
363 * @error_mask: Mask for the error bit
364 * @val: Result of the conversion
365 *
366 * Returns IIO_VAL_INT on success, a negative error code otherwise.
367 *
368 * The function performs a single conversion on a given channel and post
369 * processes the value accordingly to the channel spec. If a error_mask is given
370 * the function will check if the mask is set in the returned raw value. If it
371 * is set the function will perform a self-check. If the device does not report
372 * a error bit in the channels raw value set error_mask to 0.
373 */
374int adis_single_conversion(struct iio_dev *indio_dev,
375 const struct iio_chan_spec *chan, unsigned int error_mask, int *val)
376{
377 struct adis *adis = iio_device_get_drvdata(indio_dev);
378 unsigned int uval;
379 int ret;
380
381 mutex_lock(&indio_dev->mlock);
382
383 ret = adis_read_reg(adis, chan->address, &uval,
384 chan->scan_type.storagebits / 8);
385 if (ret)
386 goto err_unlock;
387
388 if (uval & error_mask) {
389 ret = adis_check_status(adis);
390 if (ret)
391 goto err_unlock;
392 }
393
394 if (chan->scan_type.sign == 's')
395 *val = sign_extend32(uval, chan->scan_type.realbits - 1);
396 else
397 *val = uval & ((1 << chan->scan_type.realbits) - 1);
398
399 ret = IIO_VAL_INT;
400err_unlock:
401 mutex_unlock(&indio_dev->mlock);
402 return ret;
403}
404EXPORT_SYMBOL_GPL(adis_single_conversion);
405
406/**
407 * adis_init() - Initialize adis device structure
408 * @adis: The adis device
409 * @indio_dev: The iio device
410 * @spi: The spi device
411 * @data: Chip specific data
412 *
413 * Returns 0 on success, a negative error code otherwise.
414 *
415 * This function must be called, before any other adis helper function may be
416 * called.
417 */
418int adis_init(struct adis *adis, struct iio_dev *indio_dev,
419 struct spi_device *spi, const struct adis_data *data)
420{
421 mutex_init(&adis->txrx_lock);
422 adis->spi = spi;
423 adis->data = data;
424 iio_device_set_drvdata(indio_dev, adis);
425
426 if (data->has_paging) {
427 /* Need to set the page before first read/write */
428 adis->current_page = -1;
429 } else {
430 /* Page will always be 0 */
431 adis->current_page = 0;
432 }
433
434 return adis_enable_irq(adis, false);
435}
436EXPORT_SYMBOL_GPL(adis_init);
437
438MODULE_LICENSE("GPL");
439MODULE_AUTHOR("Lars-Peter Clausen <lars@metafoo.de>");
440MODULE_DESCRIPTION("Common library code for ADIS16XXX devices");