// 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 * * Device register to IIO ABI mapping: * * Register | Addr | IIO ABI (sysfs) * ----------------------------|------|------------------------------------------- * DOS Overrange Threshold | 0x89 | events/in_altvoltage0_thresh_rising_value * DOS Mismatch Threshold | 0x8A | events/in_altvoltage0_mag_rising_value * DOS Reset Maximum Threshold | 0x8B | events/in_altvoltage0_mag_rising_reset_max * DOS Reset Minimum Threshold | 0x8C | events/in_altvoltage0_mag_rising_reset_min * LOT High Threshold | 0x8D | events/in_angl1_thresh_rising_value * LOT Low Threshold [1] | 0x8E | events/in_angl1_thresh_rising_hysteresis * Excitation Frequency | 0x91 | out_altvoltage0_frequency * Control | 0x92 | *as bit fields* * Phase lock range | D5 | events/in_phase0_mag_rising_value * Hysteresis | D4 | in_angl0_hysteresis * Encoder resolution | D3:2 | *not implemented* * Resolution | D1:0 | *device tree: assigned-resolution-bits* * Soft Reset | 0xF0 | [2] * Fault | 0xFF | *not implemented* * * [1]: The value written to the LOT low register is high value minus the * hysteresis. * [2]: Soft reset is performed when `out_altvoltage0_frequency` is written. * * Fault to event mapping: * * Fault | | Channel | Type | Direction * ----------------------------------------|----|--------------------------------- * Sine/cosine inputs clipped [3] | D7 | altvoltage1 | mag | either * Sine/cosine inputs below LOS | D6 | altvoltage0 | thresh | falling * Sine/cosine inputs exceed DOS overrange | D5 | altvoltage0 | thresh | rising * Sine/cosine inputs exceed DOS mismatch | D4 | altvoltage0 | mag | rising * Tracking error exceeds LOT | D3 | angl1 | thresh | rising * Velocity exceeds maximum tracking rate | D2 | anglvel0 | mag | rising * Phase error exceeds phase lock range | D1 | phase0 | mag | rising * Configuration parity error | D0 | *writes to kernel log* * * [3]: The chip does not differentiate between fault on sine vs. cosine so * there will also be an event on the altvoltage2 channel. */ #include <linux/bitfield.h> #include <linux/bits.h> #include <linux/cleanup.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/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/events.h> #include <linux/iio/iio.h> #include <linux/iio/sysfs.h> #include <linux/iio/trigger_consumer.h> #include <linux/iio/triggered_buffer.h> /* control register flags */ #define AD2S1210_ADDRESS_DATA … #define AD2S1210_PHASE_LOCK_RANGE_44 … #define AD2S1210_ENABLE_HYSTERESIS … #define AD2S1210_SET_ENRES … #define AD2S1210_SET_RES … /* fault register flags */ #define AD2S1210_FAULT_CLIP … #define AD2S1210_FAULT_LOS … #define AD2S1210_FAULT_DOS_OVR … #define AD2S1210_FAULT_DOS_MIS … #define AD2S1210_FAULT_LOT … #define AD2S1210_FAULT_VELOCITY … #define AD2S1210_FAULT_PHASE … #define AD2S1210_FAULT_CONFIG_PARITY … #define AD2S1210_REG_POSITION_MSB … #define AD2S1210_REG_POSITION_LSB … #define AD2S1210_REG_VELOCITY_MSB … #define AD2S1210_REG_VELOCITY_LSB … #define AD2S1210_REG_LOS_THRD … #define AD2S1210_REG_DOS_OVR_THRD … #define AD2S1210_REG_DOS_MIS_THRD … #define AD2S1210_REG_DOS_RST_MAX_THRD … #define AD2S1210_REG_DOS_RST_MIN_THRD … #define AD2S1210_REG_LOT_HIGH_THRD … #define AD2S1210_REG_LOT_LOW_THRD … #define AD2S1210_REG_EXCIT_FREQ … #define AD2S1210_REG_CONTROL … #define AD2S1210_REG_SOFT_RESET … #define AD2S1210_REG_FAULT … #define AD2S1210_MIN_CLKIN … #define AD2S1210_MAX_CLKIN … #define AD2S1210_MIN_EXCIT … #define AD2S1210_DEF_EXCIT … #define AD2S1210_MAX_EXCIT … #define AD2S1210_MIN_FCW … #define AD2S1210_MAX_FCW … /* 44 degrees ~= 0.767945 radians */ #define PHASE_44_DEG_TO_RAD_INT … #define PHASE_44_DEG_TO_RAD_MICRO … /* 360 degrees ~= 6.283185 radians */ #define PHASE_360_DEG_TO_RAD_INT … #define PHASE_360_DEG_TO_RAD_MICRO … /* Threshold voltage registers have 1 LSB == 38 mV */ #define THRESHOLD_MILLIVOLT_PER_LSB … /* max voltage for threshold registers is 0x7F * 38 mV */ #define THRESHOLD_RANGE_STR … #define FAULT_ONESHOT(bit, new, old) … enum ad2s1210_mode { … }; enum ad2s1210_resolution { … }; struct ad2s1210_state { … }; static int ad2s1210_set_mode(struct ad2s1210_state *st, enum ad2s1210_mode mode) { … } /* * 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) { … } /* * 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) { … } /* * Toggles the SAMPLE line on the AD2S1210 to latch in the current position, * velocity, and faults. * * Must be called with lock held. */ static void ad2s1210_toggle_sample_line(struct ad2s1210_state *st) { … } /* * Sets the excitation frequency and performs software reset. * * Must be called with lock held. */ static int ad2s1210_reinit_excitation_frequency(struct ad2s1210_state *st, u16 fexcit) { … } static void ad2s1210_push_events(struct iio_dev *indio_dev, u8 flags, s64 timestamp) { … } static int ad2s1210_single_conversion(struct iio_dev *indio_dev, struct iio_chan_spec const *chan, int *val) { … } static int ad2s1210_get_hysteresis(struct ad2s1210_state *st, int *val) { … } static int ad2s1210_set_hysteresis(struct ad2s1210_state *st, int val) { … } static int ad2s1210_get_phase_lock_range(struct ad2s1210_state *st, int *val, int *val2) { … } static int ad2s1210_set_phase_lock_range(struct ad2s1210_state *st, int val, int val2) { … } /* map resolution to microradians/LSB for LOT registers */ static const int ad2s1210_lot_threshold_urad_per_lsb[] = …; static int ad2s1210_get_voltage_threshold(struct ad2s1210_state *st, unsigned int reg, int *val) { … } static int ad2s1210_set_voltage_threshold(struct ad2s1210_state *st, unsigned int reg, int val) { … } static int ad2s1210_get_lot_high_threshold(struct ad2s1210_state *st, int *val, int *val2) { … } static int ad2s1210_set_lot_high_threshold(struct ad2s1210_state *st, int val, int val2) { … } static int ad2s1210_get_lot_low_threshold(struct ad2s1210_state *st, int *val, int *val2) { … } static int ad2s1210_set_lot_low_threshold(struct ad2s1210_state *st, int val, int val2) { … } static int ad2s1210_get_excitation_frequency(struct ad2s1210_state *st, int *val) { … } static int ad2s1210_set_excitation_frequency(struct ad2s1210_state *st, int val) { … } static const int ad2s1210_velocity_scale[] = …; static int ad2s1210_read_raw(struct iio_dev *indio_dev, struct iio_chan_spec const *chan, int *val, int *val2, long mask) { … } 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 int ad2s1210_write_raw(struct iio_dev *indio_dev, struct iio_chan_spec const *chan, int val, int val2, long mask) { … } static const struct iio_event_spec ad2s1210_position_event_spec[] = …; static const struct iio_event_spec ad2s1210_velocity_event_spec[] = …; static const struct iio_event_spec ad2s1210_phase_event_spec[] = …; static const struct iio_event_spec ad2s1210_monitor_signal_event_spec[] = …; static const struct iio_event_spec ad2s1210_sin_cos_event_spec[] = …; static const struct iio_chan_spec ad2s1210_channels[] = …; static ssize_t event_attr_voltage_reg_show(struct device *dev, struct device_attribute *attr, char *buf) { … } static ssize_t event_attr_voltage_reg_store(struct device *dev, struct device_attribute *attr, const char *buf, size_t len) { … } static ssize_t in_angl1_thresh_rising_value_available_show(struct device *dev, struct device_attribute *attr, char *buf) { … } static ssize_t in_angl1_thresh_rising_hysteresis_available_show(struct device *dev, struct device_attribute *attr, char *buf) { … } static IIO_CONST_ATTR(in_phase0_mag_rising_value_available, __stringify(PHASE_44_DEG_TO_RAD_INT) "." __stringify(PHASE_44_DEG_TO_RAD_MICRO) " " __stringify(PHASE_360_DEG_TO_RAD_INT) "." __stringify(PHASE_360_DEG_TO_RAD_MICRO)); static IIO_CONST_ATTR(in_altvoltage0_thresh_falling_value_available, THRESHOLD_RANGE_STR); static IIO_CONST_ATTR(in_altvoltage0_thresh_rising_value_available, THRESHOLD_RANGE_STR); static IIO_CONST_ATTR(in_altvoltage0_mag_rising_value_available, THRESHOLD_RANGE_STR); static IIO_DEVICE_ATTR(in_altvoltage0_mag_rising_reset_max, 0644, event_attr_voltage_reg_show, event_attr_voltage_reg_store, AD2S1210_REG_DOS_RST_MAX_THRD); static IIO_CONST_ATTR(in_altvoltage0_mag_rising_reset_max_available, THRESHOLD_RANGE_STR); static IIO_DEVICE_ATTR(in_altvoltage0_mag_rising_reset_min, 0644, event_attr_voltage_reg_show, event_attr_voltage_reg_store, AD2S1210_REG_DOS_RST_MIN_THRD); static IIO_CONST_ATTR(in_altvoltage0_mag_rising_reset_min_available, THRESHOLD_RANGE_STR); static IIO_DEVICE_ATTR_RO(in_angl1_thresh_rising_value_available, 0); static IIO_DEVICE_ATTR_RO(in_angl1_thresh_rising_hysteresis_available, 0); static struct attribute *ad2s1210_event_attributes[] = …; static const struct attribute_group ad2s1210_event_attribute_group = …; static int ad2s1210_initial(struct ad2s1210_state *st) { … } static int ad2s1210_read_label(struct iio_dev *indio_dev, struct iio_chan_spec const *chan, char *label) { … } static int ad2s1210_read_event_value(struct iio_dev *indio_dev, const struct iio_chan_spec *chan, enum iio_event_type type, enum iio_event_direction dir, enum iio_event_info info, int *val, int *val2) { … } static int ad2s1210_write_event_value(struct iio_dev *indio_dev, const struct iio_chan_spec *chan, enum iio_event_type type, enum iio_event_direction dir, enum iio_event_info info, int val, int val2) { … } static int ad2s1210_read_event_label(struct iio_dev *indio_dev, struct iio_chan_spec const *chan, enum iio_event_type type, enum iio_event_direction dir, char *label) { … } static int ad2s1210_debugfs_reg_access(struct iio_dev *indio_dev, unsigned int reg, unsigned int writeval, unsigned int *readval) { … } static irqreturn_t ad2s1210_trigger_handler(int irq, void *p) { … } static const struct iio_info ad2s1210_info = …; static int ad2s1210_setup_properties(struct ad2s1210_state *st) { … } static int ad2s1210_setup_clocks(struct ad2s1210_state *st) { … } static int ad2s1210_setup_gpios(struct ad2s1210_state *st) { … } static const struct regmap_range ad2s1210_regmap_readable_ranges[] = …; static const struct regmap_access_table ad2s1210_regmap_rd_table = …; static const struct regmap_range ad2s1210_regmap_writeable_ranges[] = …; static const struct regmap_access_table ad2s1210_regmap_wr_table = …; static int ad2s1210_setup_regmap(struct ad2s1210_state *st) { … } static int ad2s1210_probe(struct spi_device *spi) { … } static const struct of_device_id ad2s1210_of_match[] = …; MODULE_DEVICE_TABLE(of, ad2s1210_of_match); static const struct spi_device_id ad2s1210_id[] = …; MODULE_DEVICE_TABLE(spi, ad2s1210_id); static struct spi_driver ad2s1210_driver = …; module_spi_driver(…) …; MODULE_AUTHOR(…) …; MODULE_DESCRIPTION(…) …; MODULE_LICENSE(…) …;
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