[PATCH 4/4] iio: resolver: add new driver for AD2S1210
From: David Lechner
Date: Wed Sep 20 2023 - 13:03:41 EST
This adds a new driver for Analog Devices, Inc. AD2S1210 resolver to
digital converter. The driver is based on the staging driver with the
following improvements:
Fixes:
- Fix use before initialization bug in probe.
- Fix not checking error returns in probe.
- Remove spi_setup() and spi_set_drvdata() from probe.
- Fix ordering of devm_iio_device_register()
- Remove incorrect hysteresis logic
Changes:
- Use BIT/GENMASK macros.
- Use devicetree to get CLKIN frequency (was sysfs attribute).
- No longer bit-shift the raw value for IIO_CHAN_INFO_RAW.
- Use regmap for register access.
- Remove config sysfs attribute.
- Use gpio array for mode and resolution gpios.
- Invert sample gpio logic and use GPIO_ACTIVE_LOW in devicetree.
- Change hysteresis to use IIO_CHAN_INFO_HYSTERESIS instead of custom
device attribute.
- Rename fexcit attribute to excitation_frequency.
- Use devicetree to specify resolution instead of sysfs attribute.
Additions:
- Implement IIO_CHAN_INFO_SCALE.
- Implement debugfs register access.
- Add phase_lock_range attribute.
- Add triggered buffer support.
Signed-off-by: David Lechner <dlechner@xxxxxxxxxxxx>
---
.../testing/sysfs-bus-iio-resolver-ad2s1210 | 109 ++
drivers/iio/resolver/Kconfig | 13 +
drivers/iio/resolver/Makefile | 1 +
drivers/iio/resolver/ad2s1210.c | 948 ++++++++++++++++++
4 files changed, 1071 insertions(+)
create mode 100644 Documentation/ABI/testing/sysfs-bus-iio-resolver-ad2s1210
create mode 100644 drivers/iio/resolver/ad2s1210.c
diff --git a/Documentation/ABI/testing/sysfs-bus-iio-resolver-ad2s1210 b/Documentation/ABI/testing/sysfs-bus-iio-resolver-ad2s1210
new file mode 100644
index 000000000000..32890c85168e
--- /dev/null
+++ b/Documentation/ABI/testing/sysfs-bus-iio-resolver-ad2s1210
@@ -0,0 +1,109 @@
+What: /sys/bus/iio/devices/iio:deviceX/dos_mis_thrd
+KernelVersion: 6.7
+Contact: linux-iio@xxxxxxxxxxxxxxx
+Description:
+ Reading returns the current Degradation of Signal Mismatch
+ Threshold value. Writing sets the value. Valid values are 0 (0V)
+ to 127 (4.826V). To convert the value to volts, multiply by
+ 0.038.
+
+What: /sys/bus/iio/devices/iio:deviceX/dos_ovr_thrd
+KernelVersion: 6.7
+Contact: linux-iio@xxxxxxxxxxxxxxx
+Description:
+ Reading returns the current Degradation of Signal Overrange
+ Threshold value. Writing sets the value. Valid values are 0 (0V)
+ to 127 (4.826V). To convert the value to volts, multiply by
+ 0.038.
+
+What: /sys/bus/iio/devices/iio:deviceX/dos_rst_max_thrd
+KernelVersion: 6.7
+Contact: linux-iio@xxxxxxxxxxxxxxx
+Description:
+ Reading returns the current Degradation of Signal Reset Maximum
+ Threshold value. Writing sets the value. Valid values are 0 (0V)
+ to 127 (4.826V). To convert the value to volts, multiply by
+ 0.038.
+
+What: /sys/bus/iio/devices/iio:deviceX/dos_rst_min_thrd
+KernelVersion: 6.7
+Contact: linux-iio@xxxxxxxxxxxxxxx
+Description:
+ Reading returns the current Degradation of Signal Reset Minimum
+ Threshold value. Writing sets the value. Valid values are 0 (0V)
+ to 127 (4.826V). To convert the value to volts, multiply by
+ 0.038.
+
+What: /sys/bus/iio/devices/iio:deviceX/fault
+KernelVersion: 6.7
+Contact: linux-iio@xxxxxxxxxxxxxxx
+Description:
+ Reading returns a hex value containing the fault bit flags.
+
+ Bit Description
+ --- -----------
+ D7 Sine/cosine inputs clipped
+ D6 Sine/cosine inputs below LOS threshold
+ D5 Sine/cosine inputs exceed DOS overrange threshold
+ D4 Sine/cosine inputs exceed DOS mismatch threshold
+ D3 Tracking error exceeds LOT threshold
+ D2 Velocity exceeds maximum tracking rate
+ D1 Phase error exceeds phase lock range
+ D0 Configuration parity error
+
+ Writing any value will clear any fault conditions.
+
+What: /sys/bus/iio/devices/iio:deviceX/excitation_frequency
+KernelVersion: 6.7
+Contact: linux-iio@xxxxxxxxxxxxxxx
+Description:
+ Reading returns the current Excitation Frequency in Hz. Writing
+ sets the Excitation Frequency and performs a software reset on
+ the device to apply the change. Valid values are 2000 (2kHz) to
+ 20000 (20kHz).
+
+What: /sys/bus/iio/devices/iio:deviceX/los_thrd
+KernelVersion: 6.7
+Contact: linux-iio@xxxxxxxxxxxxxxx
+Description:
+ Reading returns the current Loss of Signal Reset Threshold
+ value. Writing sets the value. Valid values are 0 (0V) to
+ 127 (4.826V). To convert the value to volts, multiply by 0.038.
+
+What: /sys/bus/iio/devices/iio:deviceX/lot_high_thrd
+KernelVersion: 6.7
+Contact: linux-iio@xxxxxxxxxxxxxxx
+Description:
+ Reading returns the current Loss of Position Tracking Detection
+ High Threshold value. Writing sets the value. Valid values are
+ 0 (0 deg) to 127 (9/18/45 deg). The interpretation of the value
+ depends on the selected resolution. To convert the value to
+ degrees, multiply by 0.35 for 10-bit resolution, multiply by
+ 0.14 for 12-bit resolution or multiply by 0.09 for 14 and 16-bit
+ resolution.
+
+What: /sys/bus/iio/devices/iio:deviceX/lot_low_thrd
+KernelVersion: 6.7
+Contact: linux-iio@xxxxxxxxxxxxxxx
+Description:
+ Reading returns the current Loss of Position Tracking Detection
+ Low Threshold value. Writing sets the value. Valid values are
+ 0 (0 deg) to 127 (9/18/45 deg). The interpretation of the value
+ depends on the selected resolution. To convert the value to
+ degrees, multiply by 0.35 for 10-bit resolution, multiply by
+ 0.14 for 12-bit resolution or multiply by 0.09 for 14 and 16-bit
+ resolution.
+
+What: /sys/bus/iio/devices/iio:deviceX/phase_lock_range
+KernelVersion: 6.7
+Contact: linux-iio@xxxxxxxxxxxxxxx
+Description:
+ Reading returns the current Phase lock range in degrees. Writing
+ sets the value in the configuration register.
+
+What: /sys/bus/iio/devices/iio:deviceX/phase_lock_range_available
+KernelVersion: 6.7
+Contact: linux-iio@xxxxxxxxxxxxxxx
+Description:
+ Reading returns the possible values for the phase_lock_range
+ attribute, namely 44 and 360.
diff --git a/drivers/iio/resolver/Kconfig b/drivers/iio/resolver/Kconfig
index 47dbfead9b31..424529d36080 100644
--- a/drivers/iio/resolver/Kconfig
+++ b/drivers/iio/resolver/Kconfig
@@ -25,4 +25,17 @@ config AD2S1200
To compile this driver as a module, choose M here: the
module will be called ad2s1200.
+
+config AD2S1210
+ tristate "Analog Devices ad2s1210 driver"
+ depends on SPI
+ depends on COMMON_CLK
+ depends on GPIOLIB || COMPILE_TEST
+ help
+ Say yes here to build support for Analog Devices spi resolver
+ to digital converters, ad2s1210, provides direct access via sysfs.
+
+ To compile this driver as a module, choose M here: the
+ module will be called ad2s1210.
+
endmenu
diff --git a/drivers/iio/resolver/Makefile b/drivers/iio/resolver/Makefile
index fa558138ce45..7f6c876c35ae 100644
--- a/drivers/iio/resolver/Makefile
+++ b/drivers/iio/resolver/Makefile
@@ -5,3 +5,4 @@
obj-$(CONFIG_AD2S90) += ad2s90.o
obj-$(CONFIG_AD2S1200) += ad2s1200.o
+obj-$(CONFIG_AD2S1210) += ad2s1210.o
diff --git a/drivers/iio/resolver/ad2s1210.c b/drivers/iio/resolver/ad2s1210.c
new file mode 100644
index 000000000000..97833fbcbf7a
--- /dev/null
+++ b/drivers/iio/resolver/ad2s1210.c
@@ -0,0 +1,948 @@
+// SPDX-License-Identifier: GPL-2.0
+/*
+ * ad2s1210.c support for the ADI Resolver to Digital Converters: AD2S1210
+ *
+ * Copyright (c) 2010-2010 Analog Devices Inc.
+ * Copyright (C) 2023 BayLibre, SAS
+ */
+
+#include <linux/bits.h>
+#include <linux/clk.h>
+#include <linux/delay.h>
+#include <linux/device.h>
+#include <linux/gpio/consumer.h>
+#include <linux/module.h>
+#include <linux/mutex.h>
+#include <linux/of.h>
+#include <linux/regmap.h>
+#include <linux/slab.h>
+#include <linux/spi/spi.h>
+#include <linux/sysfs.h>
+#include <linux/types.h>
+
+#include <linux/iio/buffer.h>
+#include <linux/iio/iio.h>
+#include <linux/iio/sysfs.h>
+#include <linux/iio/trigger_consumer.h>
+#include <linux/iio/triggered_buffer.h>
+
+#define DRV_NAME "ad2s1210"
+
+/* default value of control register on powerup */
+#define AD2S1210_DEF_CONTROL 0x7E
+
+/* control register flags */
+#define AD2S1210_ADDRESS_DATA BIT(7)
+#define AD2S1210_PHASE_LOCK_RANGE_44 BIT(5)
+#define AD2S1210_ENABLE_HYSTERESIS BIT(4)
+#define AD2S1210_SET_ENRES GENMASK(3, 2)
+#define AD2S1210_SET_RES GENMASK(1, 0)
+
+#define AD2S1210_REG_POSITION_MSB 0x80
+#define AD2S1210_REG_POSITION_LSB 0x81
+#define AD2S1210_REG_VELOCITY_MSB 0x82
+#define AD2S1210_REG_VELOCITY_LSB 0x83
+#define AD2S1210_REG_LOS_THRD 0x88
+#define AD2S1210_REG_DOS_OVR_THRD 0x89
+#define AD2S1210_REG_DOS_MIS_THRD 0x8A
+#define AD2S1210_REG_DOS_RST_MAX_THRD 0x8B
+#define AD2S1210_REG_DOS_RST_MIN_THRD 0x8C
+#define AD2S1210_REG_LOT_HIGH_THRD 0x8D
+#define AD2S1210_REG_LOT_LOW_THRD 0x8E
+#define AD2S1210_REG_EXCIT_FREQ 0x91
+#define AD2S1210_REG_CONTROL 0x92
+#define AD2S1210_REG_SOFT_RESET 0xF0
+#define AD2S1210_REG_FAULT 0xFF
+
+#define AD2S1210_MIN_CLKIN 6144000
+#define AD2S1210_MAX_CLKIN 10240000
+#define AD2S1210_MIN_EXCIT 2000
+#define AD2S1210_DEF_EXCIT 10000
+#define AD2S1210_MAX_EXCIT 20000
+#define AD2S1210_MIN_FCW 0x4
+#define AD2S1210_MAX_FCW 0x50
+
+enum ad2s1210_mode {
+ AD2S1210_MODE_POS = 0b00,
+ AD2S1210_MODE_VEL = 0b01,
+ AD2S1210_MODE_CONFIG = 0b11,
+};
+
+enum ad2s1210_resolution {
+ AD2S1210_RES_10 = 0b00,
+ AD2S1210_RES_12 = 0b01,
+ AD2S1210_RES_14 = 0b10,
+ AD2S1210_RES_16 = 0b11,
+};
+
+struct ad2s1210_state {
+ struct mutex lock;
+ struct spi_device *sdev;
+ /** GPIO pin connected to SAMPLE line. */
+ struct gpio_desc *sample_gpio;
+ /** GPIO pins connected to A0 and A1 lines. */
+ struct gpio_descs *mode_gpios;
+ /** Used to access config registers. */
+ struct regmap *regmap;
+ /** The external oscillator frequency in Hz. */
+ unsigned long fclkin;
+ /** The selected resolution */
+ enum ad2s1210_resolution resolution;
+ /* Scan buffer */
+ struct {
+ __be16 chan[2];
+ /* Ensure timestamp is naturally aligned. */
+ s64 timestamp __aligned(8);
+ } scan;
+ u8 rx[2] __aligned(IIO_DMA_MINALIGN);
+ u8 tx[2];
+};
+
+static int ad2s1210_set_mode(struct ad2s1210_state *st, enum ad2s1210_mode mode)
+{
+ struct gpio_descs *gpios = st->mode_gpios;
+ DECLARE_BITMAP(bitmap, 2);
+
+ bitmap[0] = mode;
+
+ return gpiod_set_array_value(gpios->ndescs, gpios->desc, gpios->info,
+ bitmap);
+}
+
+/**
+ * Writes the given data to the given register address.
+ *
+ * If the mode is configurable, the device will first be placed in
+ * configuration mode.
+ */
+static int ad2s1210_regmap_reg_write(void *context, unsigned int reg,
+ unsigned int val)
+{
+ struct ad2s1210_state *st = context;
+ struct spi_transfer xfers[] = {
+ {
+ .len = 1,
+ .rx_buf = &st->rx[0],
+ .tx_buf = &st->tx[0],
+ .cs_change = 1,
+ }, {
+ .len = 1,
+ .rx_buf = &st->rx[1],
+ .tx_buf = &st->tx[1],
+ },
+ };
+ int ret;
+
+ /* values can only be 7 bits, the MSB indicates an address */
+ if (val & ~0x7F)
+ return -EINVAL;
+
+ st->tx[0] = reg;
+ st->tx[1] = val;
+
+ ret = ad2s1210_set_mode(st, AD2S1210_MODE_CONFIG);
+ if (ret < 0)
+ return ret;
+
+ return spi_sync_transfer(st->sdev, xfers, ARRAY_SIZE(xfers));
+}
+
+/**
+ * Reads value from one of the registers.
+ *
+ * If the mode is configurable, the device will first be placed in
+ * configuration mode.
+ */
+static int ad2s1210_regmap_reg_read(void *context, unsigned int reg,
+ unsigned int *val)
+{
+ struct ad2s1210_state *st = context;
+ struct spi_transfer xfers[] = {
+ {
+ .len = 1,
+ .rx_buf = &st->rx[0],
+ .tx_buf = &st->tx[0],
+ .cs_change = 1,
+ }, {
+ .len = 1,
+ .rx_buf = &st->rx[1],
+ .tx_buf = &st->tx[1],
+ },
+ };
+ int ret;
+
+ ret = ad2s1210_set_mode(st, AD2S1210_MODE_CONFIG);
+ if (ret < 0)
+ return ret;
+
+ st->tx[0] = reg;
+ /* Must be valid register address here otherwise this could write data.
+ * It doesn't matter which one.
+ */
+ st->tx[1] = AD2S1210_REG_FAULT;
+
+ ret = spi_sync_transfer(st->sdev, xfers, ARRAY_SIZE(xfers));
+ if (ret < 0)
+ return ret;
+
+ /* If the D7 bit is set on any read/write register, it indicates a
+ * parity error. The fault register is read-only and the D7 bit means
+ * something else there.
+ */
+ if (reg != AD2S1210_REG_FAULT && st->rx[1] & AD2S1210_ADDRESS_DATA)
+ return -EBADMSG;
+
+ *val = st->rx[1];
+
+ return 0;
+}
+
+/**
+ * Sets the excitation frequency and performs software reset.
+ *
+ * Must be called with lock held.
+ */
+static int ad2s1210_set_excitation_frequency(struct ad2s1210_state *st,
+ u16 fexcit)
+{
+ int ret;
+ u8 fcw;
+
+ fcw = fexcit * (1 << 15) / st->fclkin;
+ if (fcw < AD2S1210_MIN_FCW || fcw > AD2S1210_MAX_FCW)
+ return -ERANGE;
+
+ ret = regmap_write(st->regmap, AD2S1210_REG_EXCIT_FREQ, fcw);
+ if (ret < 0)
+ return ret;
+
+ /* software reset reinitializes the excitation frequency output */
+ return regmap_write(st->regmap, AD2S1210_REG_SOFT_RESET, 0);
+}
+
+static ssize_t excitation_frequency_show(struct device *dev,
+ struct device_attribute *attr,
+ char *buf)
+{
+ struct ad2s1210_state *st = iio_priv(dev_to_iio_dev(dev));
+ unsigned int value;
+ u16 fexcit;
+ int ret;
+
+ mutex_lock(&st->lock);
+ ret = regmap_read(st->regmap, AD2S1210_REG_EXCIT_FREQ, &value);
+ if (ret < 0)
+ goto error_ret;
+
+ fexcit = value * st->fclkin / (1 << 15);
+
+ ret = sysfs_emit(buf, "%u\n", fexcit);
+
+error_ret:
+ mutex_unlock(&st->lock);
+ return ret;
+}
+
+static ssize_t excitation_frequency_store(struct device *dev,
+ struct device_attribute *attr,
+ const char *buf, size_t len)
+{
+ struct ad2s1210_state *st = iio_priv(dev_to_iio_dev(dev));
+ u16 fexcit;
+ int ret;
+
+ ret = kstrtou16(buf, 10, &fexcit);
+ if (ret < 0 || fexcit < AD2S1210_MIN_EXCIT || fexcit > AD2S1210_MAX_EXCIT)
+ return -EINVAL;
+
+ mutex_lock(&st->lock);
+ ret = ad2s1210_set_excitation_frequency(st, fexcit);
+ if (ret < 0)
+ goto error_ret;
+
+ ret = len;
+
+error_ret:
+ mutex_unlock(&st->lock);
+
+ return ret;
+}
+
+static ssize_t phase_lock_range_show(struct device *dev,
+ struct device_attribute *attr,
+ char *buf)
+{
+ struct ad2s1210_state *st = iio_priv(dev_to_iio_dev(dev));
+ int ret;
+
+ mutex_lock(&st->lock);
+ ret = regmap_test_bits(st->regmap, AD2S1210_REG_CONTROL,
+ AD2S1210_PHASE_LOCK_RANGE_44);
+ if (ret < 0)
+ goto error_ret;
+
+ ret = sysfs_emit(buf, "%d\n", ret ? 44 : 360);
+
+error_ret:
+ mutex_unlock(&st->lock);
+ return ret;
+}
+
+static ssize_t phase_lock_range_store(struct device *dev,
+ struct device_attribute *attr,
+ const char *buf, size_t len)
+{
+ struct ad2s1210_state *st = iio_priv(dev_to_iio_dev(dev));
+ u16 udata;
+ int ret;
+
+ ret = kstrtou16(buf, 10, &udata);
+ if (ret < 0 || (udata != 44 && udata != 360))
+ return -EINVAL;
+
+ mutex_lock(&st->lock);
+
+ ret = regmap_update_bits(st->regmap, AD2S1210_REG_CONTROL,
+ AD2S1210_PHASE_LOCK_RANGE_44,
+ udata == 44 ? AD2S1210_PHASE_LOCK_RANGE_44 : 0);
+ if (ret < 0)
+ goto error_ret;
+
+ ret = len;
+
+error_ret:
+ mutex_unlock(&st->lock);
+ return ret;
+}
+
+static ssize_t phase_lock_range_available_show(struct device *dev,
+ struct device_attribute *attr,
+ char *buf)
+{
+ return sysfs_emit(buf, "44 360\n");
+}
+
+/* read the fault register since last sample */
+static ssize_t fault_show(struct device *dev,
+ struct device_attribute *attr, char *buf)
+{
+ struct ad2s1210_state *st = iio_priv(dev_to_iio_dev(dev));
+ unsigned int value;
+ int ret;
+
+ mutex_lock(&st->lock);
+ ret = regmap_read(st->regmap, AD2S1210_REG_FAULT, &value);
+ mutex_unlock(&st->lock);
+
+ return ret < 0 ? ret : sysfs_emit(buf, "0x%02x\n", value);
+}
+
+static ssize_t fault_store(struct device *dev,
+ struct device_attribute *attr,
+ const char *buf,
+ size_t len)
+{
+ struct ad2s1210_state *st = iio_priv(dev_to_iio_dev(dev));
+ unsigned int value;
+ int ret;
+
+ mutex_lock(&st->lock);
+
+ gpiod_set_value(st->sample_gpio, 1);
+ /* delay (2 * tck + 20) nano seconds */
+ udelay(1);
+ gpiod_set_value(st->sample_gpio, 0);
+
+ ret = regmap_read(st->regmap, AD2S1210_REG_FAULT, &value);
+ if (ret < 0)
+ goto error_ret;
+
+ gpiod_set_value(st->sample_gpio, 1);
+ gpiod_set_value(st->sample_gpio, 0);
+
+error_ret:
+ mutex_unlock(&st->lock);
+
+ return ret < 0 ? ret : len;
+}
+
+static ssize_t reg_show(struct device *dev,
+ struct device_attribute *attr,
+ char *buf)
+{
+ struct ad2s1210_state *st = iio_priv(dev_to_iio_dev(dev));
+ struct iio_dev_attr *iattr = to_iio_dev_attr(attr);
+ unsigned int value;
+ int ret;
+
+ mutex_lock(&st->lock);
+ ret = regmap_read(st->regmap, iattr->address, &value);
+ mutex_unlock(&st->lock);
+
+ return ret < 0 ? ret : sysfs_emit(buf, "%d\n", value);
+}
+
+static ssize_t reg_store(struct device *dev,
+ struct device_attribute *attr,
+ const char *buf, size_t len)
+{
+ struct ad2s1210_state *st = iio_priv(dev_to_iio_dev(dev));
+ unsigned char data;
+ int ret;
+ struct iio_dev_attr *iattr = to_iio_dev_attr(attr);
+
+ ret = kstrtou8(buf, 10, &data);
+ if (ret < 0)
+ return -EINVAL;
+
+ mutex_lock(&st->lock);
+ ret = regmap_write(st->regmap, iattr->address, data);
+ mutex_unlock(&st->lock);
+ return ret < 0 ? ret : len;
+}
+
+static const int ad2s1210_velocity_scale[] = {
+ 17089132, /* 8.192MHz / (2*pi * 2500 / 2^15) */
+ 42722830, /* 8.192MHz / (2*pi * 1000 / 2^15) */
+ 85445659, /* 8.192MHz / (2*pi * 500 / 2^15) */
+ 341782638, /* 8.192MHz / (2*pi * 125 / 2^15) */
+};
+
+static int ad2s1210_read_raw(struct iio_dev *indio_dev,
+ struct iio_chan_spec const *chan,
+ int *val,
+ int *val2,
+ long mask)
+{
+ struct ad2s1210_state *st = iio_priv(indio_dev);
+ int ret = 0;
+
+ switch (mask) {
+ case IIO_CHAN_INFO_RAW:
+ mutex_lock(&st->lock);
+ gpiod_set_value(st->sample_gpio, 1);
+ /* delay (6 * tck + 20) nano seconds */
+ udelay(1);
+
+ switch (chan->type) {
+ case IIO_ANGL:
+ ret = ad2s1210_set_mode(st, AD2S1210_MODE_POS);
+ break;
+ case IIO_ANGL_VEL:
+ ret = ad2s1210_set_mode(st, AD2S1210_MODE_VEL);
+ break;
+ default:
+ ret = -EINVAL;
+ break;
+ }
+ if (ret < 0)
+ goto error_info_raw;
+ ret = spi_read(st->sdev, st->rx, 2);
+ if (ret < 0)
+ goto error_info_raw;
+
+ switch (chan->type) {
+ case IIO_ANGL:
+ *val = be16_to_cpup((__be16 *)st->rx);
+ ret = IIO_VAL_INT;
+ break;
+ case IIO_ANGL_VEL:
+ *val = (s16)be16_to_cpup((__be16 *)st->rx);
+ ret = IIO_VAL_INT;
+ break;
+ default:
+ ret = -EINVAL;
+ break;
+ }
+
+error_info_raw:
+ gpiod_set_value(st->sample_gpio, 0);
+ /* delay (2 * tck + 20) nano seconds */
+ udelay(1);
+ mutex_unlock(&st->lock);
+ break;
+
+ case IIO_CHAN_INFO_SCALE:
+ switch (chan->type) {
+ case IIO_ANGL:
+ /* approx 0.3 arc min converted to radians */
+ *val = 0;
+ *val2 = 95874;
+ ret = IIO_VAL_INT_PLUS_NANO;
+ break;
+ case IIO_ANGL_VEL:
+ *val = st->fclkin;
+ *val2 = ad2s1210_velocity_scale[st->resolution];
+ ret = IIO_VAL_FRACTIONAL;
+ break;
+ default:
+ ret = -EINVAL;
+ break;
+ }
+ break;
+
+ case IIO_CHAN_INFO_HYSTERESIS:
+ switch (chan->type) {
+ case IIO_ANGL:
+ mutex_lock(&st->lock);
+ ret = regmap_test_bits(st->regmap, AD2S1210_REG_CONTROL,
+ AD2S1210_ENABLE_HYSTERESIS);
+ if (ret < 0)
+ goto error_info_hysteresis;
+
+ *val = !!ret;
+ ret = IIO_VAL_INT;
+
+error_info_hysteresis:
+ mutex_unlock(&st->lock);
+ break;
+ default:
+ ret = -EINVAL;
+ break;
+ }
+ break;
+
+ default:
+ ret = -EINVAL;
+ break;
+ }
+
+ return ret;
+}
+
+static int ad2s1210_read_avail(struct iio_dev *indio_dev,
+ struct iio_chan_spec const *chan,
+ const int **vals, int *type,
+ int *length, long mask)
+{
+ static const int available[] = { 0, 1 };
+ int ret = -EINVAL;
+
+ switch (mask) {
+ case IIO_CHAN_INFO_HYSTERESIS:
+ switch (chan->type) {
+ case IIO_ANGL:
+ *vals = available;
+ *type = IIO_VAL_INT;
+ *length = ARRAY_SIZE(available);
+ ret = IIO_AVAIL_LIST;
+ break;
+ default:
+ break;
+ }
+ default:
+ break;
+ }
+
+ return ret;
+}
+
+static int ad2s1210_write_raw(struct iio_dev *indio_dev,
+ struct iio_chan_spec const *chan,
+ int val, int val2, long mask)
+{
+ struct ad2s1210_state *st = iio_priv(indio_dev);
+ int ret = -EINVAL;
+
+ switch (mask) {
+ case IIO_CHAN_INFO_HYSTERESIS:
+ switch (chan->type) {
+ case IIO_ANGL:
+ mutex_lock(&st->lock);
+ ret = regmap_update_bits(st->regmap, AD2S1210_REG_CONTROL,
+ AD2S1210_ENABLE_HYSTERESIS,
+ val ? AD2S1210_ENABLE_HYSTERESIS
+ : 0);
+ mutex_unlock(&st->lock);
+ break;
+
+ default:
+ break;
+ }
+ break;
+
+ default:
+ break;
+ }
+
+ return ret;
+}
+
+static IIO_DEVICE_ATTR_RW(excitation_frequency, 0);
+static IIO_DEVICE_ATTR_RW(phase_lock_range, 0);
+static IIO_DEVICE_ATTR_RO(phase_lock_range_available, 0);
+static IIO_DEVICE_ATTR_RW(fault, 0);
+static IIO_DEVICE_ATTR_NAMED_RW(los_thrd, reg, AD2S1210_REG_LOS_THRD);
+static IIO_DEVICE_ATTR_NAMED_RW(dos_ovr_thrd, reg, AD2S1210_REG_DOS_OVR_THRD);
+static IIO_DEVICE_ATTR_NAMED_RW(dos_mis_thrd, reg, AD2S1210_REG_DOS_MIS_THRD);
+static IIO_DEVICE_ATTR_NAMED_RW(dos_rst_max_thrd, reg,
+ AD2S1210_REG_DOS_RST_MAX_THRD);
+static IIO_DEVICE_ATTR_NAMED_RW(dos_rst_min_thrd, reg,
+ AD2S1210_REG_DOS_RST_MIN_THRD);
+static IIO_DEVICE_ATTR_NAMED_RW(lot_high_thrd, reg, AD2S1210_REG_LOT_HIGH_THRD);
+static IIO_DEVICE_ATTR_NAMED_RW(lot_low_thrd, reg, AD2S1210_REG_LOT_LOW_THRD);
+
+static const struct iio_chan_spec ad2s1210_channels[] = {
+ {
+ .type = IIO_ANGL,
+ .indexed = 1,
+ .channel = 0,
+ .scan_index = 0,
+ .scan_type = {
+ .sign = 'u',
+ .realbits = 16,
+ .storagebits = 16,
+ .endianness = IIO_BE,
+ },
+ .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) |
+ BIT(IIO_CHAN_INFO_SCALE) |
+ BIT(IIO_CHAN_INFO_HYSTERESIS),
+ .info_mask_separate_available =
+ BIT(IIO_CHAN_INFO_HYSTERESIS),
+ .datasheet_name = "position",
+ }, {
+ .type = IIO_ANGL_VEL,
+ .indexed = 1,
+ .channel = 0,
+ .scan_index = 1,
+ .scan_type = {
+ .sign = 's',
+ .realbits = 16,
+ .storagebits = 16,
+ .endianness = IIO_BE,
+ },
+ .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) |
+ BIT(IIO_CHAN_INFO_SCALE),
+ .datasheet_name = "velocity",
+ },
+ IIO_CHAN_SOFT_TIMESTAMP(2),
+};
+
+static struct attribute *ad2s1210_attributes[] = {
+ &iio_dev_attr_excitation_frequency.dev_attr.attr,
+ &iio_dev_attr_phase_lock_range.dev_attr.attr,
+ &iio_dev_attr_phase_lock_range_available.dev_attr.attr,
+ &iio_dev_attr_fault.dev_attr.attr,
+ &iio_dev_attr_los_thrd.dev_attr.attr,
+ &iio_dev_attr_dos_ovr_thrd.dev_attr.attr,
+ &iio_dev_attr_dos_mis_thrd.dev_attr.attr,
+ &iio_dev_attr_dos_rst_max_thrd.dev_attr.attr,
+ &iio_dev_attr_dos_rst_min_thrd.dev_attr.attr,
+ &iio_dev_attr_lot_high_thrd.dev_attr.attr,
+ &iio_dev_attr_lot_low_thrd.dev_attr.attr,
+ NULL,
+};
+
+static const struct attribute_group ad2s1210_attribute_group = {
+ .attrs = ad2s1210_attributes,
+};
+
+static int ad2s1210_debugfs_reg_access(struct iio_dev *indio_dev,
+ unsigned int reg, unsigned int writeval,
+ unsigned int *readval)
+{
+ struct ad2s1210_state *st = iio_priv(indio_dev);
+ int ret;
+
+ mutex_lock(&st->lock);
+
+ if (readval)
+ ret = regmap_read(st->regmap, reg, readval);
+ else
+ ret = regmap_write(st->regmap, reg, writeval);
+
+ mutex_unlock(&st->lock);
+
+ return ret;
+}
+
+static irqreturn_t ad2s1210_trigger_handler(int irq, void *p)
+{
+ struct iio_poll_func *pf = p;
+ struct iio_dev *indio_dev = pf->indio_dev;
+ struct ad2s1210_state *st = iio_priv(indio_dev);
+ size_t chan = 0;
+ int ret;
+
+ mutex_lock(&st->lock);
+
+ memset(&st->scan, 0, sizeof(st->scan));
+ gpiod_set_value(st->sample_gpio, 1);
+
+ if (test_bit(0, indio_dev->active_scan_mask)) {
+ ret = ad2s1210_set_mode(st, AD2S1210_MODE_POS);
+ if (ret < 0)
+ goto error_ret;
+
+ /* REVIST: we can read 3 bytes here and also get fault flags */
+ ret = spi_read(st->sdev, st->rx, 2);
+ if (ret < 0)
+ goto error_ret;
+
+ memcpy(&st->scan.chan[chan++], st->rx, 2);
+ }
+
+ if (test_bit(1, indio_dev->active_scan_mask)) {
+ ret = ad2s1210_set_mode(st, AD2S1210_MODE_VEL);
+ if (ret < 0)
+ goto error_ret;
+
+ /* REVIST: we can read 3 bytes here and also get fault flags */
+ ret = spi_read(st->sdev, st->rx, 2);
+ if (ret < 0)
+ goto error_ret;
+
+ memcpy(&st->scan.chan[chan++], st->rx, 2);
+ }
+
+ iio_push_to_buffers_with_timestamp(indio_dev, &st->scan, pf->timestamp);
+
+error_ret:
+ gpiod_set_value(st->sample_gpio, 0);
+ mutex_unlock(&st->lock);
+ iio_trigger_notify_done(indio_dev->trig);
+
+ return IRQ_HANDLED;
+}
+
+static const struct iio_info ad2s1210_info = {
+ .read_raw = ad2s1210_read_raw,
+ .read_avail = ad2s1210_read_avail,
+ .write_raw = ad2s1210_write_raw,
+ .attrs = &ad2s1210_attribute_group,
+ .debugfs_reg_access = &ad2s1210_debugfs_reg_access,
+};
+
+static int ad2s1210_setup_properties(struct ad2s1210_state *st)
+{
+ struct device *dev = &st->sdev->dev;
+ u32 val;
+ int ret;
+
+ ret = device_property_read_u32(dev, "assigned-resolution-bits", &val);
+ if (ret < 0)
+ return dev_err_probe(dev, ret,
+ "failed to read assigned-resolution-bits property\n");
+
+ if (val < 10 || val > 16)
+ return dev_err_probe(dev, -EINVAL,
+ "resolution out of range: %u\n", val);
+
+ st->resolution = (val - 10) >> 1;
+
+ return 0;
+}
+
+static int ad2s1210_setup_clocks(struct ad2s1210_state *st)
+{
+ struct device *dev = &st->sdev->dev;
+ struct clk *clk;
+
+ clk = devm_clk_get_enabled(dev, NULL);
+ if (IS_ERR(clk))
+ return dev_err_probe(dev, PTR_ERR(clk), "failed to get clock\n");
+
+ st->fclkin = clk_get_rate(clk);
+ if (st->fclkin < AD2S1210_MIN_CLKIN || st->fclkin > AD2S1210_MAX_CLKIN)
+ return dev_err_probe(dev, -EINVAL,
+ "clock frequency out of range: %lu\n",
+ st->fclkin);
+
+ return 0;
+}
+
+static int ad2s1210_setup_gpios(struct ad2s1210_state *st)
+{
+ struct device *dev = &st->sdev->dev;
+ struct gpio_descs *resolution_gpios;
+ DECLARE_BITMAP(bitmap, 2);
+ int ret;
+
+ /* should not be sampling on startup */
+ st->sample_gpio = devm_gpiod_get(dev, "sample", GPIOD_OUT_LOW);
+ if (IS_ERR(st->sample_gpio))
+ return dev_err_probe(dev, PTR_ERR(st->sample_gpio),
+ "failed to request sample GPIO\n");
+
+ /* both pins high means that we start in config mode */
+ st->mode_gpios = devm_gpiod_get_array(dev, "mode", GPIOD_OUT_HIGH);
+ if (IS_ERR(st->mode_gpios))
+ return dev_err_probe(dev, PTR_ERR(st->mode_gpios),
+ "failed to request mode GPIOs\n");
+
+ if (st->mode_gpios->ndescs != 2)
+ return dev_err_probe(dev, -EINVAL,
+ "requires exactly 2 mode-gpios\n");
+
+ /* If resolution gpios are provided, they get set to the required
+ * resolution, otherwise it is assumed the RES0 and RES1 pins are
+ * hard-wired to match the resolution indicated in the devicetree.
+ */
+ resolution_gpios = devm_gpiod_get_array_optional(dev, "resolution",
+ GPIOD_ASIS);
+ if (IS_ERR(resolution_gpios))
+ return dev_err_probe(dev, PTR_ERR(resolution_gpios),
+ "failed to request resolution GPIOs\n");
+
+ if (resolution_gpios) {
+ if (resolution_gpios->ndescs != 2)
+ return dev_err_probe(dev, -EINVAL,
+ "requires exactly 2 resolution-gpios\n");
+
+ bitmap[0] = st->resolution;
+
+ ret = gpiod_set_array_value(resolution_gpios->ndescs,
+ resolution_gpios->desc,
+ resolution_gpios->info,
+ bitmap);
+ if (ret < 0)
+ return dev_err_probe(dev, ret,
+ "failed to set resolution gpios\n");
+ }
+
+ return 0;
+}
+
+static const struct regmap_range ad2s1210_regmap_readable_ranges[] = {
+ regmap_reg_range(AD2S1210_REG_POSITION_MSB, AD2S1210_REG_VELOCITY_LSB),
+ regmap_reg_range(AD2S1210_REG_LOS_THRD, AD2S1210_REG_LOT_LOW_THRD),
+ regmap_reg_range(AD2S1210_REG_EXCIT_FREQ, AD2S1210_REG_CONTROL),
+ regmap_reg_range(AD2S1210_REG_FAULT, AD2S1210_REG_FAULT),
+};
+
+static const struct regmap_access_table ad2s1210_regmap_rd_table = {
+ .yes_ranges = ad2s1210_regmap_readable_ranges,
+ .n_yes_ranges = ARRAY_SIZE(ad2s1210_regmap_readable_ranges),
+};
+
+static const struct regmap_range ad2s1210_regmap_writeable_ranges[] = {
+ regmap_reg_range(AD2S1210_REG_LOS_THRD, AD2S1210_REG_LOT_LOW_THRD),
+ regmap_reg_range(AD2S1210_REG_EXCIT_FREQ, AD2S1210_REG_CONTROL),
+ regmap_reg_range(AD2S1210_REG_SOFT_RESET, AD2S1210_REG_SOFT_RESET),
+ regmap_reg_range(AD2S1210_REG_FAULT, AD2S1210_REG_FAULT),
+};
+
+static const struct regmap_access_table ad2s1210_regmap_wr_table = {
+ .yes_ranges = ad2s1210_regmap_writeable_ranges,
+ .n_yes_ranges = ARRAY_SIZE(ad2s1210_regmap_writeable_ranges),
+};
+
+static int ad2s1210_setup_regmap(struct ad2s1210_state *st)
+{
+ struct device *dev = &st->sdev->dev;
+ const struct regmap_config config = {
+ .reg_bits = 8,
+ .val_bits = 8,
+ .disable_locking = true,
+ .reg_read = ad2s1210_regmap_reg_read,
+ .reg_write = ad2s1210_regmap_reg_write,
+ .rd_table = &ad2s1210_regmap_rd_table,
+ .wr_table = &ad2s1210_regmap_wr_table,
+ .can_sleep = true,
+ };
+
+ st->regmap = devm_regmap_init(dev, NULL, st, &config);
+ if (IS_ERR(st->regmap))
+ return dev_err_probe(dev, PTR_ERR(st->regmap),
+ "failed to allocate register map\n");
+
+ return 0;
+}
+
+static int ad2s1210_init(struct ad2s1210_state *st)
+{
+ unsigned char data;
+ int ret;
+
+ mutex_lock(&st->lock);
+
+ data = AD2S1210_DEF_CONTROL & ~AD2S1210_SET_RES;
+ data |= st->resolution;
+
+ ret = regmap_write(st->regmap, AD2S1210_REG_CONTROL, data);
+ if (ret < 0)
+ goto error_ret;
+
+ ret = ad2s1210_set_excitation_frequency(st, AD2S1210_DEF_EXCIT);
+
+error_ret:
+ mutex_unlock(&st->lock);
+ return ret;
+}
+
+static int ad2s1210_probe(struct spi_device *spi)
+{
+ struct iio_dev *indio_dev;
+ struct ad2s1210_state *st;
+ int ret;
+
+ indio_dev = devm_iio_device_alloc(&spi->dev, sizeof(*st));
+ if (!indio_dev)
+ return -ENOMEM;
+
+ st = iio_priv(indio_dev);
+
+ mutex_init(&st->lock);
+ st->sdev = spi;
+
+ ret = ad2s1210_setup_properties(st);
+ if (ret < 0)
+ return ret;
+
+ ret = ad2s1210_setup_clocks(st);
+ if (ret < 0)
+ return ret;
+
+ ret = ad2s1210_setup_gpios(st);
+ if (ret < 0)
+ return ret;
+
+ ret = ad2s1210_setup_regmap(st);
+ if (ret < 0)
+ return ret;
+
+ ret = ad2s1210_init(st);
+ if (ret < 0)
+ return ret;
+
+ indio_dev->info = &ad2s1210_info;
+ indio_dev->modes = INDIO_DIRECT_MODE;
+ indio_dev->channels = ad2s1210_channels;
+ indio_dev->num_channels = ARRAY_SIZE(ad2s1210_channels);
+ indio_dev->name = spi_get_device_id(spi)->name;
+
+ ret = devm_iio_triggered_buffer_setup(&spi->dev, indio_dev,
+ &iio_pollfunc_store_time,
+ &ad2s1210_trigger_handler, NULL);
+ if (ret < 0)
+ return dev_err_probe(&spi->dev, ret,
+ "iio triggered buffer setup failed\n");
+
+ return devm_iio_device_register(&spi->dev, indio_dev);
+}
+
+static const struct of_device_id ad2s1210_of_match[] = {
+ { .compatible = "adi,ad2s1210", },
+ { }
+};
+MODULE_DEVICE_TABLE(of, ad2s1210_of_match);
+
+static const struct spi_device_id ad2s1210_id[] = {
+ { "ad2s1210" },
+ { }
+};
+MODULE_DEVICE_TABLE(spi, ad2s1210_id);
+
+static struct spi_driver ad2s1210_driver = {
+ .driver = {
+ .name = DRV_NAME,
+ .of_match_table = ad2s1210_of_match,
+ },
+ .probe = ad2s1210_probe,
+ .id_table = ad2s1210_id,
+};
+module_spi_driver(ad2s1210_driver);
+
+MODULE_AUTHOR("Graff Yang <graff.yang@xxxxxxxxx>");
+MODULE_DESCRIPTION("Analog Devices AD2S1210 Resolver to Digital SPI driver");
+MODULE_LICENSE("GPL v2");
--
2.34.1