632 lines
15 KiB
C
632 lines
15 KiB
C
/*
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* Renesas R-Car GyroADC driver
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*
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* Copyright 2016 Marek Vasut <marek.vasut@gmail.com>
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*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 2 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*/
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#include <linux/module.h>
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#include <linux/platform_device.h>
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#include <linux/delay.h>
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#include <linux/kernel.h>
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#include <linux/slab.h>
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#include <linux/io.h>
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#include <linux/clk.h>
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#include <linux/of.h>
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#include <linux/of_irq.h>
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#include <linux/regulator/consumer.h>
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#include <linux/of_platform.h>
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#include <linux/err.h>
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#include <linux/pm_runtime.h>
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#include <linux/iio/iio.h>
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#include <linux/iio/sysfs.h>
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#include <linux/iio/trigger.h>
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#define DRIVER_NAME "rcar-gyroadc"
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/* GyroADC registers. */
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#define RCAR_GYROADC_MODE_SELECT 0x00
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#define RCAR_GYROADC_MODE_SELECT_1_MB88101A 0x0
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#define RCAR_GYROADC_MODE_SELECT_2_ADCS7476 0x1
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#define RCAR_GYROADC_MODE_SELECT_3_MAX1162 0x3
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#define RCAR_GYROADC_START_STOP 0x04
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#define RCAR_GYROADC_START_STOP_START BIT(0)
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#define RCAR_GYROADC_CLOCK_LENGTH 0x08
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#define RCAR_GYROADC_1_25MS_LENGTH 0x0c
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#define RCAR_GYROADC_REALTIME_DATA(ch) (0x10 + ((ch) * 4))
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#define RCAR_GYROADC_100MS_ADDED_DATA(ch) (0x30 + ((ch) * 4))
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#define RCAR_GYROADC_10MS_AVG_DATA(ch) (0x50 + ((ch) * 4))
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#define RCAR_GYROADC_FIFO_STATUS 0x70
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#define RCAR_GYROADC_FIFO_STATUS_EMPTY(ch) BIT(0 + (4 * (ch)))
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#define RCAR_GYROADC_FIFO_STATUS_FULL(ch) BIT(1 + (4 * (ch)))
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#define RCAR_GYROADC_FIFO_STATUS_ERROR(ch) BIT(2 + (4 * (ch)))
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#define RCAR_GYROADC_INTR 0x74
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#define RCAR_GYROADC_INTR_INT BIT(0)
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#define RCAR_GYROADC_INTENR 0x78
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#define RCAR_GYROADC_INTENR_INTEN BIT(0)
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#define RCAR_GYROADC_SAMPLE_RATE 800 /* Hz */
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#define RCAR_GYROADC_RUNTIME_PM_DELAY_MS 2000
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enum rcar_gyroadc_model {
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RCAR_GYROADC_MODEL_DEFAULT,
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RCAR_GYROADC_MODEL_R8A7792,
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};
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struct rcar_gyroadc {
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struct device *dev;
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void __iomem *regs;
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struct clk *clk;
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struct regulator *vref[8];
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unsigned int num_channels;
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enum rcar_gyroadc_model model;
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unsigned int mode;
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unsigned int sample_width;
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};
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static void rcar_gyroadc_hw_init(struct rcar_gyroadc *priv)
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{
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const unsigned long clk_mhz = clk_get_rate(priv->clk) / 1000000;
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const unsigned long clk_mul =
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(priv->mode == RCAR_GYROADC_MODE_SELECT_1_MB88101A) ? 10 : 5;
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unsigned long clk_len = clk_mhz * clk_mul;
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/*
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* According to the R-Car Gen2 datasheet Rev. 1.01, Sept 08 2014,
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* page 77-7, clock length must be even number. If it's odd number,
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* add one.
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*/
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if (clk_len & 1)
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clk_len++;
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/* Stop the GyroADC. */
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writel(0, priv->regs + RCAR_GYROADC_START_STOP);
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/* Disable IRQ on V2H. */
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if (priv->model == RCAR_GYROADC_MODEL_R8A7792)
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writel(0, priv->regs + RCAR_GYROADC_INTENR);
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/* Set mode and timing. */
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writel(priv->mode, priv->regs + RCAR_GYROADC_MODE_SELECT);
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writel(clk_len, priv->regs + RCAR_GYROADC_CLOCK_LENGTH);
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writel(clk_mhz * 1250, priv->regs + RCAR_GYROADC_1_25MS_LENGTH);
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}
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static void rcar_gyroadc_hw_start(struct rcar_gyroadc *priv)
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{
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/* Start sampling. */
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writel(RCAR_GYROADC_START_STOP_START,
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priv->regs + RCAR_GYROADC_START_STOP);
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/*
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* Wait for the first conversion to complete. This is longer than
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* the 1.25 mS in the datasheet because 1.25 mS is not enough for
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* the hardware to deliver the first sample and the hardware does
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* then return zeroes instead of valid data.
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*/
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mdelay(3);
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}
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static void rcar_gyroadc_hw_stop(struct rcar_gyroadc *priv)
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{
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/* Stop the GyroADC. */
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writel(0, priv->regs + RCAR_GYROADC_START_STOP);
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}
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#define RCAR_GYROADC_CHAN(_idx) { \
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.type = IIO_VOLTAGE, \
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.indexed = 1, \
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.channel = (_idx), \
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.info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \
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BIT(IIO_CHAN_INFO_SCALE), \
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.info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
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}
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static const struct iio_chan_spec rcar_gyroadc_iio_channels_1[] = {
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RCAR_GYROADC_CHAN(0),
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RCAR_GYROADC_CHAN(1),
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RCAR_GYROADC_CHAN(2),
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RCAR_GYROADC_CHAN(3),
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};
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static const struct iio_chan_spec rcar_gyroadc_iio_channels_2[] = {
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RCAR_GYROADC_CHAN(0),
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RCAR_GYROADC_CHAN(1),
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RCAR_GYROADC_CHAN(2),
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RCAR_GYROADC_CHAN(3),
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RCAR_GYROADC_CHAN(4),
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RCAR_GYROADC_CHAN(5),
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RCAR_GYROADC_CHAN(6),
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RCAR_GYROADC_CHAN(7),
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};
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static const struct iio_chan_spec rcar_gyroadc_iio_channels_3[] = {
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RCAR_GYROADC_CHAN(0),
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RCAR_GYROADC_CHAN(1),
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RCAR_GYROADC_CHAN(2),
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RCAR_GYROADC_CHAN(3),
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RCAR_GYROADC_CHAN(4),
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RCAR_GYROADC_CHAN(5),
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RCAR_GYROADC_CHAN(6),
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RCAR_GYROADC_CHAN(7),
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};
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static int rcar_gyroadc_set_power(struct rcar_gyroadc *priv, bool on)
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{
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struct device *dev = priv->dev;
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int ret;
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if (on) {
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ret = pm_runtime_get_sync(dev);
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if (ret < 0)
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pm_runtime_put_noidle(dev);
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} else {
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pm_runtime_mark_last_busy(dev);
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ret = pm_runtime_put_autosuspend(dev);
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}
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return ret;
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}
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static int rcar_gyroadc_read_raw(struct iio_dev *indio_dev,
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struct iio_chan_spec const *chan,
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int *val, int *val2, long mask)
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{
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struct rcar_gyroadc *priv = iio_priv(indio_dev);
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struct regulator *consumer;
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unsigned int datareg = RCAR_GYROADC_REALTIME_DATA(chan->channel);
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unsigned int vref;
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int ret;
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/*
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* MB88101 is special in that it has only single regulator for
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* all four channels.
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*/
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if (priv->mode == RCAR_GYROADC_MODE_SELECT_1_MB88101A)
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consumer = priv->vref[0];
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else
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consumer = priv->vref[chan->channel];
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switch (mask) {
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case IIO_CHAN_INFO_RAW:
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if (chan->type != IIO_VOLTAGE)
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return -EINVAL;
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/* Channel not connected. */
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if (!consumer)
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return -EINVAL;
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ret = iio_device_claim_direct_mode(indio_dev);
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if (ret)
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return ret;
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ret = rcar_gyroadc_set_power(priv, true);
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if (ret < 0) {
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iio_device_release_direct_mode(indio_dev);
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return ret;
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}
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*val = readl(priv->regs + datareg);
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*val &= BIT(priv->sample_width) - 1;
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ret = rcar_gyroadc_set_power(priv, false);
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iio_device_release_direct_mode(indio_dev);
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if (ret < 0)
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return ret;
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return IIO_VAL_INT;
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case IIO_CHAN_INFO_SCALE:
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/* Channel not connected. */
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if (!consumer)
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return -EINVAL;
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vref = regulator_get_voltage(consumer);
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*val = vref / 1000;
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*val2 = 1 << priv->sample_width;
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return IIO_VAL_FRACTIONAL;
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case IIO_CHAN_INFO_SAMP_FREQ:
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*val = RCAR_GYROADC_SAMPLE_RATE;
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return IIO_VAL_INT;
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default:
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return -EINVAL;
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}
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}
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static int rcar_gyroadc_reg_access(struct iio_dev *indio_dev,
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unsigned int reg, unsigned int writeval,
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unsigned int *readval)
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{
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struct rcar_gyroadc *priv = iio_priv(indio_dev);
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unsigned int maxreg = RCAR_GYROADC_FIFO_STATUS;
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if (readval == NULL)
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return -EINVAL;
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if (reg % 4)
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return -EINVAL;
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/* Handle the V2H case with extra interrupt block. */
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if (priv->model == RCAR_GYROADC_MODEL_R8A7792)
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maxreg = RCAR_GYROADC_INTENR;
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if (reg > maxreg)
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return -EINVAL;
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*readval = readl(priv->regs + reg);
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return 0;
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}
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static const struct iio_info rcar_gyroadc_iio_info = {
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.read_raw = rcar_gyroadc_read_raw,
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.debugfs_reg_access = rcar_gyroadc_reg_access,
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};
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static const struct of_device_id rcar_gyroadc_match[] = {
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{
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/* R-Car compatible GyroADC */
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.compatible = "renesas,rcar-gyroadc",
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.data = (void *)RCAR_GYROADC_MODEL_DEFAULT,
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}, {
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/* R-Car V2H specialty with interrupt registers. */
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.compatible = "renesas,r8a7792-gyroadc",
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.data = (void *)RCAR_GYROADC_MODEL_R8A7792,
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}, {
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/* sentinel */
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}
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};
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MODULE_DEVICE_TABLE(of, rcar_gyroadc_match);
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static const struct of_device_id rcar_gyroadc_child_match[] = {
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/* Mode 1 ADCs */
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{
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.compatible = "fujitsu,mb88101a",
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.data = (void *)RCAR_GYROADC_MODE_SELECT_1_MB88101A,
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},
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/* Mode 2 ADCs */
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{
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.compatible = "ti,adcs7476",
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.data = (void *)RCAR_GYROADC_MODE_SELECT_2_ADCS7476,
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}, {
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.compatible = "ti,adc121",
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.data = (void *)RCAR_GYROADC_MODE_SELECT_2_ADCS7476,
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}, {
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.compatible = "adi,ad7476",
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.data = (void *)RCAR_GYROADC_MODE_SELECT_2_ADCS7476,
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},
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/* Mode 3 ADCs */
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{
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.compatible = "maxim,max1162",
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.data = (void *)RCAR_GYROADC_MODE_SELECT_3_MAX1162,
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}, {
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.compatible = "maxim,max11100",
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.data = (void *)RCAR_GYROADC_MODE_SELECT_3_MAX1162,
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},
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{ /* sentinel */ }
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};
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static int rcar_gyroadc_parse_subdevs(struct iio_dev *indio_dev)
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{
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const struct of_device_id *of_id;
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const struct iio_chan_spec *channels;
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struct rcar_gyroadc *priv = iio_priv(indio_dev);
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struct device *dev = priv->dev;
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struct device_node *np = dev->of_node;
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struct device_node *child;
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struct regulator *vref;
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unsigned int reg;
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unsigned int adcmode = -1, childmode;
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unsigned int sample_width;
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unsigned int num_channels;
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int ret, first = 1;
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for_each_child_of_node(np, child) {
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of_id = of_match_node(rcar_gyroadc_child_match, child);
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if (!of_id) {
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dev_err(dev, "Ignoring unsupported ADC \"%s\".",
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child->name);
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continue;
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}
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childmode = (uintptr_t)of_id->data;
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switch (childmode) {
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case RCAR_GYROADC_MODE_SELECT_1_MB88101A:
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sample_width = 12;
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channels = rcar_gyroadc_iio_channels_1;
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num_channels = ARRAY_SIZE(rcar_gyroadc_iio_channels_1);
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break;
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case RCAR_GYROADC_MODE_SELECT_2_ADCS7476:
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sample_width = 15;
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channels = rcar_gyroadc_iio_channels_2;
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num_channels = ARRAY_SIZE(rcar_gyroadc_iio_channels_2);
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break;
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case RCAR_GYROADC_MODE_SELECT_3_MAX1162:
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sample_width = 16;
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channels = rcar_gyroadc_iio_channels_3;
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num_channels = ARRAY_SIZE(rcar_gyroadc_iio_channels_3);
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break;
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default:
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return -EINVAL;
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}
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/*
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* MB88101 is special in that it's only a single chip taking
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* up all the CHS lines. Thus, the DT binding is also special
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* and has no reg property. If we run into such ADC, handle
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* it here.
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*/
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if (childmode == RCAR_GYROADC_MODE_SELECT_1_MB88101A) {
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reg = 0;
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} else {
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ret = of_property_read_u32(child, "reg", ®);
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if (ret) {
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dev_err(dev,
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"Failed to get child reg property of ADC \"%s\".\n",
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child->name);
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return ret;
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}
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/* Channel number is too high. */
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if (reg >= num_channels) {
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dev_err(dev,
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"Only %i channels supported with %s, but reg = <%i>.\n",
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num_channels, child->name, reg);
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return ret;
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}
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}
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/* Child node selected different mode than the rest. */
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if (!first && (adcmode != childmode)) {
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dev_err(dev,
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"Channel %i uses different ADC mode than the rest.\n",
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reg);
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return ret;
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}
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/* Channel is valid, grab the regulator. */
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dev->of_node = child;
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vref = devm_regulator_get(dev, "vref");
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dev->of_node = np;
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if (IS_ERR(vref)) {
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dev_dbg(dev, "Channel %i 'vref' supply not connected.\n",
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reg);
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return PTR_ERR(vref);
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}
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priv->vref[reg] = vref;
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if (!first)
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continue;
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/* First child node which passed sanity tests. */
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adcmode = childmode;
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first = 0;
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priv->num_channels = num_channels;
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priv->mode = childmode;
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priv->sample_width = sample_width;
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indio_dev->channels = channels;
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indio_dev->num_channels = num_channels;
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/*
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* MB88101 is special and we only have one such device
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* attached to the GyroADC at a time, so if we found it,
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* we can stop parsing here.
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*/
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if (childmode == RCAR_GYROADC_MODE_SELECT_1_MB88101A)
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break;
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}
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if (first) {
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dev_err(dev, "No valid ADC channels found, aborting.\n");
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return -EINVAL;
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}
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return 0;
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}
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static void rcar_gyroadc_deinit_supplies(struct iio_dev *indio_dev)
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{
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struct rcar_gyroadc *priv = iio_priv(indio_dev);
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unsigned int i;
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for (i = 0; i < priv->num_channels; i++) {
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if (!priv->vref[i])
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continue;
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regulator_disable(priv->vref[i]);
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}
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}
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static int rcar_gyroadc_init_supplies(struct iio_dev *indio_dev)
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{
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struct rcar_gyroadc *priv = iio_priv(indio_dev);
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struct device *dev = priv->dev;
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unsigned int i;
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int ret;
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for (i = 0; i < priv->num_channels; i++) {
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if (!priv->vref[i])
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continue;
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ret = regulator_enable(priv->vref[i]);
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if (ret) {
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dev_err(dev, "Failed to enable regulator %i (ret=%i)\n",
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i, ret);
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goto err;
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}
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}
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return 0;
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err:
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rcar_gyroadc_deinit_supplies(indio_dev);
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return ret;
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}
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static int rcar_gyroadc_probe(struct platform_device *pdev)
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{
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struct device *dev = &pdev->dev;
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struct rcar_gyroadc *priv;
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struct iio_dev *indio_dev;
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struct resource *mem;
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int ret;
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indio_dev = devm_iio_device_alloc(dev, sizeof(*priv));
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if (!indio_dev) {
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dev_err(dev, "Failed to allocate IIO device.\n");
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return -ENOMEM;
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}
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priv = iio_priv(indio_dev);
|
|
priv->dev = dev;
|
|
|
|
mem = platform_get_resource(pdev, IORESOURCE_MEM, 0);
|
|
priv->regs = devm_ioremap_resource(dev, mem);
|
|
if (IS_ERR(priv->regs))
|
|
return PTR_ERR(priv->regs);
|
|
|
|
priv->clk = devm_clk_get(dev, "fck");
|
|
if (IS_ERR(priv->clk)) {
|
|
ret = PTR_ERR(priv->clk);
|
|
if (ret != -EPROBE_DEFER)
|
|
dev_err(dev, "Failed to get IF clock (ret=%i)\n", ret);
|
|
return ret;
|
|
}
|
|
|
|
ret = rcar_gyroadc_parse_subdevs(indio_dev);
|
|
if (ret)
|
|
return ret;
|
|
|
|
ret = rcar_gyroadc_init_supplies(indio_dev);
|
|
if (ret)
|
|
return ret;
|
|
|
|
priv->model = (enum rcar_gyroadc_model)
|
|
of_device_get_match_data(&pdev->dev);
|
|
|
|
platform_set_drvdata(pdev, indio_dev);
|
|
|
|
indio_dev->name = DRIVER_NAME;
|
|
indio_dev->dev.parent = dev;
|
|
indio_dev->dev.of_node = pdev->dev.of_node;
|
|
indio_dev->info = &rcar_gyroadc_iio_info;
|
|
indio_dev->modes = INDIO_DIRECT_MODE;
|
|
|
|
ret = clk_prepare_enable(priv->clk);
|
|
if (ret) {
|
|
dev_err(dev, "Could not prepare or enable the IF clock.\n");
|
|
goto err_clk_if_enable;
|
|
}
|
|
|
|
pm_runtime_set_autosuspend_delay(dev, RCAR_GYROADC_RUNTIME_PM_DELAY_MS);
|
|
pm_runtime_use_autosuspend(dev);
|
|
pm_runtime_enable(dev);
|
|
|
|
pm_runtime_get_sync(dev);
|
|
rcar_gyroadc_hw_init(priv);
|
|
rcar_gyroadc_hw_start(priv);
|
|
|
|
ret = iio_device_register(indio_dev);
|
|
if (ret) {
|
|
dev_err(dev, "Couldn't register IIO device.\n");
|
|
goto err_iio_device_register;
|
|
}
|
|
|
|
pm_runtime_put_sync(dev);
|
|
|
|
return 0;
|
|
|
|
err_iio_device_register:
|
|
rcar_gyroadc_hw_stop(priv);
|
|
pm_runtime_put_sync(dev);
|
|
pm_runtime_disable(dev);
|
|
pm_runtime_set_suspended(dev);
|
|
clk_disable_unprepare(priv->clk);
|
|
err_clk_if_enable:
|
|
rcar_gyroadc_deinit_supplies(indio_dev);
|
|
|
|
return ret;
|
|
}
|
|
|
|
static int rcar_gyroadc_remove(struct platform_device *pdev)
|
|
{
|
|
struct iio_dev *indio_dev = platform_get_drvdata(pdev);
|
|
struct rcar_gyroadc *priv = iio_priv(indio_dev);
|
|
struct device *dev = priv->dev;
|
|
|
|
iio_device_unregister(indio_dev);
|
|
pm_runtime_get_sync(dev);
|
|
rcar_gyroadc_hw_stop(priv);
|
|
pm_runtime_put_sync(dev);
|
|
pm_runtime_disable(dev);
|
|
pm_runtime_set_suspended(dev);
|
|
clk_disable_unprepare(priv->clk);
|
|
rcar_gyroadc_deinit_supplies(indio_dev);
|
|
|
|
return 0;
|
|
}
|
|
|
|
#if defined(CONFIG_PM)
|
|
static int rcar_gyroadc_suspend(struct device *dev)
|
|
{
|
|
struct iio_dev *indio_dev = dev_get_drvdata(dev);
|
|
struct rcar_gyroadc *priv = iio_priv(indio_dev);
|
|
|
|
rcar_gyroadc_hw_stop(priv);
|
|
|
|
return 0;
|
|
}
|
|
|
|
static int rcar_gyroadc_resume(struct device *dev)
|
|
{
|
|
struct iio_dev *indio_dev = dev_get_drvdata(dev);
|
|
struct rcar_gyroadc *priv = iio_priv(indio_dev);
|
|
|
|
rcar_gyroadc_hw_start(priv);
|
|
|
|
return 0;
|
|
}
|
|
#endif
|
|
|
|
static const struct dev_pm_ops rcar_gyroadc_pm_ops = {
|
|
SET_RUNTIME_PM_OPS(rcar_gyroadc_suspend, rcar_gyroadc_resume, NULL)
|
|
};
|
|
|
|
static struct platform_driver rcar_gyroadc_driver = {
|
|
.probe = rcar_gyroadc_probe,
|
|
.remove = rcar_gyroadc_remove,
|
|
.driver = {
|
|
.name = DRIVER_NAME,
|
|
.of_match_table = rcar_gyroadc_match,
|
|
.pm = &rcar_gyroadc_pm_ops,
|
|
},
|
|
};
|
|
|
|
module_platform_driver(rcar_gyroadc_driver);
|
|
|
|
MODULE_AUTHOR("Marek Vasut <marek.vasut@gmail.com>");
|
|
MODULE_DESCRIPTION("Renesas R-Car GyroADC driver");
|
|
MODULE_LICENSE("GPL");
|