1	// SPDX-License-Identifier: GPL-2.0
2	/*
3	* ad2s1210.c support for the ADI Resolver to Digital Converters: AD2S1210
4	*
5	* Copyright (c) 2010-2010 Analog Devices Inc.
6	* Copyright (c) 2023 BayLibre, SAS
7	*
8	* Device register to IIO ABI mapping:
9	*
10	* Register | Addr | IIO ABI (sysfs)
11	* ----------------------------|------|-------------------------------------------
12	* DOS Overrange Threshold | 0x89 | events/in_altvoltage0_thresh_rising_value
13	* DOS Mismatch Threshold | 0x8A | events/in_altvoltage0_mag_rising_value
14	* DOS Reset Maximum Threshold | 0x8B | events/in_altvoltage0_mag_rising_reset_max
15	* DOS Reset Minimum Threshold | 0x8C | events/in_altvoltage0_mag_rising_reset_min
16	* LOT High Threshold | 0x8D | events/in_angl1_thresh_rising_value
17	* LOT Low Threshold [1] | 0x8E | events/in_angl1_thresh_rising_hysteresis
18	* Excitation Frequency | 0x91 | out_altvoltage0_frequency
19	* Control | 0x92 | *as bit fields*
20	* Phase lock range | D5 | events/in_phase0_mag_rising_value
21	* Hysteresis | D4 | in_angl0_hysteresis
22	* Encoder resolution | D3:2 | *not implemented*
23	* Resolution | D1:0 | *device tree: assigned-resolution-bits*
24	* Soft Reset | 0xF0 | [2]
25	* Fault | 0xFF | *not implemented*
26	*
27	* [1]: The value written to the LOT low register is high value minus the
28	* hysteresis.
29	* [2]: Soft reset is performed when `out_altvoltage0_frequency` is written.
30	*
31	* Fault to event mapping:
32	*
33	* Fault | | Channel | Type | Direction
34	* ----------------------------------------|----|---------------------------------
35	* Sine/cosine inputs clipped [3] | D7 | altvoltage1 | mag | either
36	* Sine/cosine inputs below LOS | D6 | altvoltage0 | thresh | falling
37	* Sine/cosine inputs exceed DOS overrange | D5 | altvoltage0 | thresh | rising
38	* Sine/cosine inputs exceed DOS mismatch | D4 | altvoltage0 | mag | rising
39	* Tracking error exceeds LOT | D3 | angl1 | thresh | rising
40	* Velocity exceeds maximum tracking rate | D2 | anglvel0 | mag | rising
41	* Phase error exceeds phase lock range | D1 | phase0 | mag | rising
42	* Configuration parity error | D0 | *writes to kernel log*
43	*
44	* [3]: The chip does not differentiate between fault on sine vs. cosine so
45	* there will also be an event on the altvoltage2 channel.
46	*/
47
48	#include <linux/bitfield.h>
49	#include <linux/bits.h>
50	#include <linux/cleanup.h>
51	#include <linux/clk.h>
52	#include <linux/delay.h>
53	#include <linux/device.h>
54	#include <linux/gpio/consumer.h>
55	#include <linux/module.h>
56	#include <linux/mutex.h>
57	#include <linux/regmap.h>
58	#include <linux/slab.h>
59	#include <linux/spi/spi.h>
60	#include <linux/sysfs.h>
61	#include <linux/types.h>
62
63	#include <linux/iio/buffer.h>
64	#include <linux/iio/events.h>
65	#include <linux/iio/iio.h>
66	#include <linux/iio/sysfs.h>
67	#include <linux/iio/trigger_consumer.h>
68	#include <linux/iio/triggered_buffer.h>
69
70	/* control register flags */
71	#define AD2S1210_ADDRESS_DATA BIT(7)
72	#define AD2S1210_PHASE_LOCK_RANGE_44 BIT(5)
73	#define AD2S1210_ENABLE_HYSTERESIS BIT(4)
74	#define AD2S1210_SET_ENRES GENMASK(3, 2)
75	#define AD2S1210_SET_RES GENMASK(1, 0)
76
77	/* fault register flags */
78	#define AD2S1210_FAULT_CLIP BIT(7)
79	#define AD2S1210_FAULT_LOS BIT(6)
80	#define AD2S1210_FAULT_DOS_OVR BIT(5)
81	#define AD2S1210_FAULT_DOS_MIS BIT(4)
82	#define AD2S1210_FAULT_LOT BIT(3)
83	#define AD2S1210_FAULT_VELOCITY BIT(2)
84	#define AD2S1210_FAULT_PHASE BIT(1)
85	#define AD2S1210_FAULT_CONFIG_PARITY BIT(0)
86
87	#define AD2S1210_REG_POSITION_MSB 0x80
88	#define AD2S1210_REG_POSITION_LSB 0x81
89	#define AD2S1210_REG_VELOCITY_MSB 0x82
90	#define AD2S1210_REG_VELOCITY_LSB 0x83
91	#define AD2S1210_REG_LOS_THRD 0x88
92	#define AD2S1210_REG_DOS_OVR_THRD 0x89
93	#define AD2S1210_REG_DOS_MIS_THRD 0x8A
94	#define AD2S1210_REG_DOS_RST_MAX_THRD 0x8B
95	#define AD2S1210_REG_DOS_RST_MIN_THRD 0x8C
96	#define AD2S1210_REG_LOT_HIGH_THRD 0x8D
97	#define AD2S1210_REG_LOT_LOW_THRD 0x8E
98	#define AD2S1210_REG_EXCIT_FREQ 0x91
99	#define AD2S1210_REG_CONTROL 0x92
100	#define AD2S1210_REG_SOFT_RESET 0xF0
101	#define AD2S1210_REG_FAULT 0xFF
102
103	#define AD2S1210_MIN_CLKIN 6144000
104	#define AD2S1210_MAX_CLKIN 10240000
105	#define AD2S1210_MIN_EXCIT 2000
106	#define AD2S1210_DEF_EXCIT 10000
107	#define AD2S1210_MAX_EXCIT 20000
108	#define AD2S1210_MIN_FCW 0x4
109	#define AD2S1210_MAX_FCW 0x50
110
111	/* 44 degrees ~= 0.767945 radians */
112	#define PHASE_44_DEG_TO_RAD_INT 0
113	#define PHASE_44_DEG_TO_RAD_MICRO 767945
114	/* 360 degrees ~= 6.283185 radians */
115	#define PHASE_360_DEG_TO_RAD_INT 6
116	#define PHASE_360_DEG_TO_RAD_MICRO 283185
117
118	/* Threshold voltage registers have 1 LSB == 38 mV */
119	#define THRESHOLD_MILLIVOLT_PER_LSB 38
120	/* max voltage for threshold registers is 0x7F * 38 mV */
121	#define THRESHOLD_RANGE_STR "[0 38 4826]"
122
123	#define FAULT_ONESHOT(bit, new, old) (new & bit && !(old & bit))
124
125	enum ad2s1210_mode {
126	MOD_POS = 0b00,
127	MOD_VEL = 0b01,
128	MOD_RESERVED = 0b10,
129	MOD_CONFIG = 0b11,
130	};
131
132	enum ad2s1210_resolution {
133	AD2S1210_RES_10 = 0b00,
134	AD2S1210_RES_12 = 0b01,
135	AD2S1210_RES_14 = 0b10,
136	AD2S1210_RES_16 = 0b11,
137	};
138
139	struct ad2s1210_state {
140	struct mutex lock;
141	struct spi_device *sdev;
142	/** GPIO pin connected to SAMPLE line. */
143	struct gpio_desc *sample_gpio;
144	/** GPIO pins connected to A0 and A1 lines (optional). */
145	struct gpio_descs *mode_gpios;
146	/** Used to access config registers. */
147	struct regmap *regmap;
148	/** The external oscillator frequency in Hz. */
149	unsigned long clkin_hz;
150	/** Available raw hysteresis values based on resolution. */
151	int hysteresis_available[2];
152	/* adi,fixed-mode property - only valid when mode_gpios == NULL. */
153	enum ad2s1210_mode fixed_mode;
154	/** The selected resolution */
155	enum ad2s1210_resolution resolution;
156	/** Copy of fault register from the previous read. */
157	u8 prev_fault_flags;
158	/** For reading raw sample value via SPI. */
159	struct {
160	__be16 raw;
161	u8 fault;
162	} sample __aligned(IIO_DMA_MINALIGN);
163	/** Scan buffer */
164	struct {
165	__be16 chan[2];
166	/* Ensure timestamp is naturally aligned. */
167	s64 timestamp __aligned(8);
168	} scan;
169	/** SPI transmit buffer. */
170	u8 rx[2];
171	/** SPI receive buffer. */
172	u8 tx[2];
173	};
174
175	static int ad2s1210_set_mode(struct ad2s1210_state *st, enum ad2s1210_mode mode)
176	{
177	struct gpio_descs *gpios = st->mode_gpios;
178	DECLARE_BITMAP(bitmap, 2);
179
180	if (!gpios)
181	return mode == st->fixed_mode ? 0 : -EOPNOTSUPP;
182
183	bitmap[0] = mode;
184
185	return gpiod_set_array_value(array_size: gpios->ndescs, desc_array: gpios->desc, array_info: gpios->info,
186	value_bitmap: bitmap);
187	}
188
189	/*
190	* Writes the given data to the given register address.
191	*
192	* If the mode is configurable, the device will first be placed in
193	* configuration mode.
194	*/
195	static int ad2s1210_regmap_reg_write(void *context, unsigned int reg,
196	unsigned int val)
197	{
198	struct ad2s1210_state *st = context;
199	struct spi_transfer xfers[] = {
200	{
201	.len = 1,
202	.rx_buf = &st->rx[0],
203	.tx_buf = &st->tx[0],
204	.cs_change = 1,
205	}, {
206	.len = 1,
207	.rx_buf = &st->rx[1],
208	.tx_buf = &st->tx[1],
209	},
210	};
211	int ret;
212
213	/* values can only be 7 bits, the MSB indicates an address */
214	if (val & ~0x7F)
215	return -EINVAL;
216
217	st->tx[0] = reg;
218	st->tx[1] = val;
219
220	ret = ad2s1210_set_mode(st, mode: MOD_CONFIG);
221	if (ret < 0)
222	return ret;
223
224	ret = spi_sync_transfer(spi: st->sdev, xfers, ARRAY_SIZE(xfers));
225	if (ret < 0)
226	return ret;
227
228	/* soft reset also clears the fault register */
229	if (reg == AD2S1210_REG_SOFT_RESET)
230	st->prev_fault_flags = 0;
231
232	return 0;
233	}
234
235	/*
236	* Reads value from one of the registers.
237	*
238	* If the mode is configurable, the device will first be placed in
239	* configuration mode.
240	*/
241	static int ad2s1210_regmap_reg_read(void *context, unsigned int reg,
242	unsigned int *val)
243	{
244	struct ad2s1210_state *st = context;
245	struct spi_transfer xfers[] = {
246	{
247	.len = 1,
248	.rx_buf = &st->rx[0],
249	.tx_buf = &st->tx[0],
250	.cs_change = 1,
251	}, {
252	.len = 1,
253	.rx_buf = &st->rx[1],
254	.tx_buf = &st->tx[1],
255	},
256	};
257	int ret;
258
259	ret = ad2s1210_set_mode(st, mode: MOD_CONFIG);
260	if (ret < 0)
261	return ret;
262
263	st->tx[0] = reg;
264	/*
265	* Must be valid register address here otherwise this could write data.
266	* It doesn't matter which one as long as reading doesn't have side-
267	* effects.
268	*/
269	st->tx[1] = AD2S1210_REG_CONTROL;
270
271	ret = spi_sync_transfer(spi: st->sdev, xfers, ARRAY_SIZE(xfers));
272	if (ret < 0)
273	return ret;
274
275	/* reading the fault register also clears it */
276	if (reg == AD2S1210_REG_FAULT)
277	st->prev_fault_flags = 0;
278
279	/*
280	* If the D7 bit is set on any read/write register, it indicates a
281	* parity error. The fault register is read-only and the D7 bit means
282	* something else there.
283	*/
284	if ((reg > AD2S1210_REG_VELOCITY_LSB && reg != AD2S1210_REG_FAULT)
285	&& st->rx[1] & AD2S1210_ADDRESS_DATA)
286	return -EBADMSG;
287
288	*val = st->rx[1];
289
290	return 0;
291	}
292
293	/*
294	* Toggles the SAMPLE line on the AD2S1210 to latch in the current position,
295	* velocity, and faults.
296	*
297	* Must be called with lock held.
298	*/
299	static void ad2s1210_toggle_sample_line(struct ad2s1210_state *st)
300	{
301	/*
302	* Datasheet specifies minimum hold time t16 = 2 * tck + 20 ns. So the
303	* longest time needed is when CLKIN is 6.144 MHz, in which case t16
304	* ~= 350 ns. The same delay is also needed before re-asserting the
305	* SAMPLE line.
306	*/
307	gpiod_set_value(desc: st->sample_gpio, value: 1);
308	ndelay(350);
309	gpiod_set_value(desc: st->sample_gpio, value: 0);
310	ndelay(350);
311	}
312
313	/*
314	* Sets the excitation frequency and performs software reset.
315	*
316	* Must be called with lock held.
317	*/
318	static int ad2s1210_reinit_excitation_frequency(struct ad2s1210_state *st,
319	u16 fexcit)
320	{
321	/* Map resolution to settle time in milliseconds. */
322	static const int track_time_ms[] = { 10, 20, 25, 60 };
323	unsigned int ignored;
324	int ret;
325	u8 fcw;
326
327	fcw = fexcit * (1 << 15) / st->clkin_hz;
328	if (fcw < AD2S1210_MIN_FCW || fcw > AD2S1210_MAX_FCW)
329	return -ERANGE;
330
331	ret = regmap_write(map: st->regmap, AD2S1210_REG_EXCIT_FREQ, val: fcw);
332	if (ret < 0)
333	return ret;
334
335	/*
336	* Software reset reinitializes the excitation frequency output.
337	* It does not reset any of the configuration registers.
338	*/
339	ret = regmap_write(map: st->regmap, AD2S1210_REG_SOFT_RESET, val: 0);
340	if (ret < 0)
341	return ret;
342
343	/*
344	* Soft reset always triggers some faults due the change in the output
345	* signal so clear the faults too. We need to delay for some time
346	* (what datasheet calls t[track]) to allow things to settle before
347	* clearing the faults.
348	*/
349	msleep(msecs: track_time_ms[st->resolution] * 8192000 / st->clkin_hz);
350
351	/* Reading the fault register clears the faults. */
352	ret = regmap_read(map: st->regmap, AD2S1210_REG_FAULT, val: &ignored);
353	if (ret < 0)
354	return ret;
355
356	/* Have to toggle sample line to get fault output pins to reset. */
357	ad2s1210_toggle_sample_line(st);
358
359	return 0;
360	}
361
362	static void ad2s1210_push_events(struct iio_dev *indio_dev,
363	u8 flags, s64 timestamp)
364	{
365	struct ad2s1210_state *st = iio_priv(indio_dev);
366
367	/* Sine/cosine inputs clipped */
368	if (FAULT_ONESHOT(AD2S1210_FAULT_CLIP, flags, st->prev_fault_flags)) {
369	/*
370	* The chip does not differentiate between fault on sine vs.
371	* cosine channel so we just send an event on both channels.
372	*/
373	iio_push_event(indio_dev,
374	IIO_UNMOD_EVENT_CODE(IIO_ALTVOLTAGE, 1,
375	IIO_EV_TYPE_MAG,
376	IIO_EV_DIR_EITHER),
377	timestamp);
378	iio_push_event(indio_dev,
379	IIO_UNMOD_EVENT_CODE(IIO_ALTVOLTAGE, 2,
380	IIO_EV_TYPE_MAG,
381	IIO_EV_DIR_EITHER),
382	timestamp);
383	}
384
385	/* Sine/cosine inputs below LOS threshold */
386	if (FAULT_ONESHOT(AD2S1210_FAULT_LOS, flags, st->prev_fault_flags))
387	iio_push_event(indio_dev,
388	IIO_UNMOD_EVENT_CODE(IIO_ALTVOLTAGE, 0,
389	IIO_EV_TYPE_THRESH,
390	IIO_EV_DIR_FALLING),
391	timestamp);
392
393	/* Sine/cosine inputs exceed DOS overrange threshold */
394	if (FAULT_ONESHOT(AD2S1210_FAULT_DOS_OVR, flags, st->prev_fault_flags))
395	iio_push_event(indio_dev,
396	IIO_UNMOD_EVENT_CODE(IIO_ALTVOLTAGE, 0,
397	IIO_EV_TYPE_THRESH,
398	IIO_EV_DIR_RISING),
399	timestamp);
400
401	/* Sine/cosine inputs exceed DOS mismatch threshold */
402	if (FAULT_ONESHOT(AD2S1210_FAULT_DOS_MIS, flags, st->prev_fault_flags))
403	iio_push_event(indio_dev,
404	IIO_UNMOD_EVENT_CODE(IIO_ALTVOLTAGE, 0,
405	IIO_EV_TYPE_MAG,
406	IIO_EV_DIR_RISING),
407	timestamp);
408
409	/* Tracking error exceeds LOT threshold */
410	if (FAULT_ONESHOT(AD2S1210_FAULT_LOT, flags, st->prev_fault_flags))
411	iio_push_event(indio_dev,
412	IIO_UNMOD_EVENT_CODE(IIO_ANGL, 1,
413	IIO_EV_TYPE_THRESH,
414	IIO_EV_DIR_RISING),
415	timestamp);
416
417	/* Velocity exceeds maximum tracking rate */
418	if (FAULT_ONESHOT(AD2S1210_FAULT_VELOCITY, flags, st->prev_fault_flags))
419	iio_push_event(indio_dev,
420	IIO_UNMOD_EVENT_CODE(IIO_ANGL_VEL, 0,
421	IIO_EV_TYPE_THRESH,
422	IIO_EV_DIR_RISING),
423	timestamp);
424
425	/* Phase error exceeds phase lock range */
426	if (FAULT_ONESHOT(AD2S1210_FAULT_PHASE, flags, st->prev_fault_flags))
427	iio_push_event(indio_dev,
428	IIO_UNMOD_EVENT_CODE(IIO_PHASE, 0,
429	IIO_EV_TYPE_MAG,
430	IIO_EV_DIR_RISING),
431	timestamp);
432
433	/* Configuration parity error */
434	if (FAULT_ONESHOT(AD2S1210_FAULT_CONFIG_PARITY, flags,
435	st->prev_fault_flags))
436	/*
437	* Userspace should also get notified of this via error return
438	* when trying to write to any attribute that writes a register.
439	*/
440	dev_err_ratelimited(&indio_dev->dev,
441	"Configuration parity error\n");
442
443	st->prev_fault_flags = flags;
444	}
445
446	static int ad2s1210_single_conversion(struct iio_dev *indio_dev,
447	struct iio_chan_spec const *chan,
448	int *val)
449	{
450	struct ad2s1210_state *st = iio_priv(indio_dev);
451	s64 timestamp;
452	int ret;
453
454	guard(mutex)(T: &st->lock);
455
456	ad2s1210_toggle_sample_line(st);
457	timestamp = iio_get_time_ns(indio_dev);
458
459	if (st->fixed_mode == MOD_CONFIG) {
460	unsigned int reg_val;
461
462	switch (chan->type) {
463	case IIO_ANGL:
464	ret = regmap_bulk_read(map: st->regmap,
465	AD2S1210_REG_POSITION_MSB,
466	val: &st->sample.raw, val_count: 2);
467	if (ret < 0)
468	return ret;
469
470	break;
471	case IIO_ANGL_VEL:
472	ret = regmap_bulk_read(map: st->regmap,
473	AD2S1210_REG_VELOCITY_MSB,
474	val: &st->sample.raw, val_count: 2);
475	if (ret < 0)
476	return ret;
477
478	break;
479	default:
480	return -EINVAL;
481	}
482
483	ret = regmap_read(map: st->regmap, AD2S1210_REG_FAULT, val: &reg_val);
484	if (ret < 0)
485	return ret;
486
487	st->sample.fault = reg_val;
488	} else {
489	switch (chan->type) {
490	case IIO_ANGL:
491	ret = ad2s1210_set_mode(st, mode: MOD_POS);
492	break;
493	case IIO_ANGL_VEL:
494	ret = ad2s1210_set_mode(st, mode: MOD_VEL);
495	break;
496	default:
497	return -EINVAL;
498	}
499	if (ret < 0)
500	return ret;
501
502	ret = spi_read(spi: st->sdev, buf: &st->sample, len: 3);
503	if (ret < 0)
504	return ret;
505	}
506
507	switch (chan->type) {
508	case IIO_ANGL:
509	*val = be16_to_cpu(st->sample.raw);
510	ret = IIO_VAL_INT;
511	break;
512	case IIO_ANGL_VEL:
513	*val = (s16)be16_to_cpu(st->sample.raw);
514	ret = IIO_VAL_INT;
515	break;
516	default:
517	return -EINVAL;
518	}
519
520	ad2s1210_push_events(indio_dev, flags: st->sample.fault, timestamp);
521
522	return ret;
523	}
524
525	static int ad2s1210_get_hysteresis(struct ad2s1210_state *st, int *val)
526	{
527	int ret;
528
529	guard(mutex)(T: &st->lock);
530	ret = regmap_test_bits(map: st->regmap, AD2S1210_REG_CONTROL,
531	AD2S1210_ENABLE_HYSTERESIS);
532	if (ret < 0)
533	return ret;
534
535	*val = ret << (2 * (AD2S1210_RES_16 - st->resolution));
536	return IIO_VAL_INT;
537	}
538
539	static int ad2s1210_set_hysteresis(struct ad2s1210_state *st, int val)
540	{
541	guard(mutex)(T: &st->lock);
542	return regmap_update_bits(map: st->regmap, AD2S1210_REG_CONTROL,
543	AD2S1210_ENABLE_HYSTERESIS,
544	val: val ? AD2S1210_ENABLE_HYSTERESIS : 0);
545	}
546
547	static int ad2s1210_get_phase_lock_range(struct ad2s1210_state *st,
548	int *val, int *val2)
549	{
550	int ret;
551
552	guard(mutex)(T: &st->lock);
553	ret = regmap_test_bits(map: st->regmap, AD2S1210_REG_CONTROL,
554	AD2S1210_PHASE_LOCK_RANGE_44);
555	if (ret < 0)
556	return ret;
557
558	if (ret) {
559	/* 44 degrees as radians */
560	*val = PHASE_44_DEG_TO_RAD_INT;
561	*val2 = PHASE_44_DEG_TO_RAD_MICRO;
562	} else {
563	/* 360 degrees as radians */
564	*val = PHASE_360_DEG_TO_RAD_INT;
565	*val2 = PHASE_360_DEG_TO_RAD_MICRO;
566	}
567
568	return IIO_VAL_INT_PLUS_MICRO;
569	}
570
571	static int ad2s1210_set_phase_lock_range(struct ad2s1210_state *st,
572	int val, int val2)
573	{
574	int deg;
575
576	/* convert radians to degrees - only two allowable values */
577	if (val == PHASE_44_DEG_TO_RAD_INT && val2 == PHASE_44_DEG_TO_RAD_MICRO)
578	deg = 44;
579	else if (val == PHASE_360_DEG_TO_RAD_INT &&
580	val2 == PHASE_360_DEG_TO_RAD_MICRO)
581	deg = 360;
582	else
583	return -EINVAL;
584
585	guard(mutex)(T: &st->lock);
586	return regmap_update_bits(map: st->regmap, AD2S1210_REG_CONTROL,
587	AD2S1210_PHASE_LOCK_RANGE_44,
588	val: deg == 44 ? AD2S1210_PHASE_LOCK_RANGE_44 : 0);
589	}
590
591	/* map resolution to microradians/LSB for LOT registers */
592	static const int ad2s1210_lot_threshold_urad_per_lsb[] = {
593	6184, /* 10-bit: ~0.35 deg/LSB, 45 deg max */
594	2473, /* 12-bit: ~0.14 deg/LSB, 18 deg max */
595	1237, /* 14-bit: ~0.07 deg/LSB, 9 deg max */
596	1237, /* 16-bit: same as 14-bit */
597	};
598
599	static int ad2s1210_get_voltage_threshold(struct ad2s1210_state *st,
600	unsigned int reg, int *val)
601	{
602	unsigned int reg_val;
603	int ret;
604
605	guard(mutex)(T: &st->lock);
606	ret = regmap_read(map: st->regmap, reg, val: &reg_val);
607	if (ret < 0)
608	return ret;
609
610	*val = reg_val * THRESHOLD_MILLIVOLT_PER_LSB;
611	return IIO_VAL_INT;
612	}
613
614	static int ad2s1210_set_voltage_threshold(struct ad2s1210_state *st,
615	unsigned int reg, int val)
616	{
617	unsigned int reg_val;
618
619	reg_val = val / THRESHOLD_MILLIVOLT_PER_LSB;
620
621	guard(mutex)(T: &st->lock);
622	return regmap_write(map: st->regmap, reg, val: reg_val);
623	}
624
625	static int ad2s1210_get_lot_high_threshold(struct ad2s1210_state *st,
626	int *val, int *val2)
627	{
628	unsigned int reg_val;
629	int ret;
630
631	guard(mutex)(T: &st->lock);
632	ret = regmap_read(map: st->regmap, AD2S1210_REG_LOT_HIGH_THRD, val: &reg_val);
633	if (ret < 0)
634	return ret;
635
636	*val = 0;
637	*val2 = reg_val * ad2s1210_lot_threshold_urad_per_lsb[st->resolution];
638	return IIO_VAL_INT_PLUS_MICRO;
639	}
640
641	static int ad2s1210_set_lot_high_threshold(struct ad2s1210_state *st,
642	int val, int val2)
643	{
644	unsigned int high_reg_val, low_reg_val, hysteresis;
645	int ret;
646
647	/* all valid values are between 0 and pi/4 radians */
648	if (val != 0)
649	return -EINVAL;
650
651	guard(mutex)(T: &st->lock);
652	/*
653	* We need to read both high and low registers first so we can preserve
654	* the hysteresis.
655	*/
656	ret = regmap_read(map: st->regmap, AD2S1210_REG_LOT_HIGH_THRD, val: &high_reg_val);
657	if (ret < 0)
658	return ret;
659
660	ret = regmap_read(map: st->regmap, AD2S1210_REG_LOT_LOW_THRD, val: &low_reg_val);
661	if (ret < 0)
662	return ret;
663
664	hysteresis = high_reg_val - low_reg_val;
665	high_reg_val = val2 / ad2s1210_lot_threshold_urad_per_lsb[st->resolution];
666	low_reg_val = high_reg_val - hysteresis;
667
668	ret = regmap_write(map: st->regmap, AD2S1210_REG_LOT_HIGH_THRD, val: high_reg_val);
669	if (ret < 0)
670	return ret;
671
672	return regmap_write(map: st->regmap, AD2S1210_REG_LOT_LOW_THRD, val: low_reg_val);
673	}
674
675	static int ad2s1210_get_lot_low_threshold(struct ad2s1210_state *st,
676	int *val, int *val2)
677	{
678	unsigned int high_reg_val, low_reg_val;
679	int ret;
680
681	guard(mutex)(T: &st->lock);
682
683	ret = regmap_read(map: st->regmap, AD2S1210_REG_LOT_HIGH_THRD, val: &high_reg_val);
684	if (ret < 0)
685	return ret;
686
687	ret = regmap_read(map: st->regmap, AD2S1210_REG_LOT_LOW_THRD, val: &low_reg_val);
688	if (ret < 0)
689	return ret;
690
691	/* sysfs value is hysteresis rather than actual low value */
692	*val = 0;
693	*val2 = (high_reg_val - low_reg_val) *
694	ad2s1210_lot_threshold_urad_per_lsb[st->resolution];
695	return IIO_VAL_INT_PLUS_MICRO;
696	}
697
698	static int ad2s1210_set_lot_low_threshold(struct ad2s1210_state *st,
699	int val, int val2)
700	{
701	unsigned int reg_val, hysteresis;
702	int ret;
703
704	/* all valid values are between 0 and pi/4 radians */
705	if (val != 0)
706	return -EINVAL;
707
708	hysteresis = val2 / ad2s1210_lot_threshold_urad_per_lsb[st->resolution];
709
710	guard(mutex)(T: &st->lock);
711
712	ret = regmap_read(map: st->regmap, AD2S1210_REG_LOT_HIGH_THRD, val: &reg_val);
713	if (ret < 0)
714	return ret;
715
716	return regmap_write(map: st->regmap, AD2S1210_REG_LOT_LOW_THRD,
717	val: reg_val - hysteresis);
718	}
719
720	static int ad2s1210_get_excitation_frequency(struct ad2s1210_state *st, int *val)
721	{
722	unsigned int reg_val;
723	int ret;
724
725	guard(mutex)(T: &st->lock);
726
727	ret = regmap_read(map: st->regmap, AD2S1210_REG_EXCIT_FREQ, val: &reg_val);
728	if (ret < 0)
729	return ret;
730
731	*val = reg_val * st->clkin_hz / (1 << 15);
732	return IIO_VAL_INT;
733	}
734
735	static int ad2s1210_set_excitation_frequency(struct ad2s1210_state *st, int val)
736	{
737	if (val < AD2S1210_MIN_EXCIT || val > AD2S1210_MAX_EXCIT)
738	return -EINVAL;
739
740	guard(mutex)(T: &st->lock);
741	return ad2s1210_reinit_excitation_frequency(st, fexcit: val);
742	}
743
744	static const int ad2s1210_velocity_scale[] = {
745	17089132, /* 8.192MHz / (2*pi * 2500 / 2^15) */
746	42722830, /* 8.192MHz / (2*pi * 1000 / 2^15) */
747	85445659, /* 8.192MHz / (2*pi * 500 / 2^15) */
748	341782638, /* 8.192MHz / (2*pi * 125 / 2^15) */
749	};
750
751	static int ad2s1210_read_raw(struct iio_dev *indio_dev,
752	struct iio_chan_spec const *chan,
753	int *val,
754	int *val2,
755	long mask)
756	{
757	struct ad2s1210_state *st = iio_priv(indio_dev);
758
759	switch (mask) {
760	case IIO_CHAN_INFO_RAW:
761	return ad2s1210_single_conversion(indio_dev, chan, val);
762	case IIO_CHAN_INFO_SCALE:
763	switch (chan->type) {
764	case IIO_ANGL:
765	/* approx 0.3 arc min converted to radians */
766	*val = 0;
767	*val2 = 95874;
768	return IIO_VAL_INT_PLUS_NANO;
769	case IIO_ANGL_VEL:
770	*val = st->clkin_hz;
771	*val2 = ad2s1210_velocity_scale[st->resolution];
772	return IIO_VAL_FRACTIONAL;
773	default:
774	return -EINVAL;
775	}
776	case IIO_CHAN_INFO_FREQUENCY:
777	switch (chan->type) {
778	case IIO_ALTVOLTAGE:
779	return ad2s1210_get_excitation_frequency(st, val);
780	default:
781	return -EINVAL;
782	}
783	case IIO_CHAN_INFO_HYSTERESIS:
784	switch (chan->type) {
785	case IIO_ANGL:
786	return ad2s1210_get_hysteresis(st, val);
787	default:
788	return -EINVAL;
789	}
790	default:
791	return -EINVAL;
792	}
793	}
794
795	static int ad2s1210_read_avail(struct iio_dev *indio_dev,
796	struct iio_chan_spec const *chan,
797	const int **vals, int *type,
798	int *length, long mask)
799	{
800	static const int excitation_frequency_available[] = {
801	AD2S1210_MIN_EXCIT,
802	250, /* step */
803	AD2S1210_MAX_EXCIT,
804	};
805
806	struct ad2s1210_state *st = iio_priv(indio_dev);
807
808	switch (mask) {
809	case IIO_CHAN_INFO_FREQUENCY:
810	switch (chan->type) {
811	case IIO_ALTVOLTAGE:
812	*type = IIO_VAL_INT;
813	*vals = excitation_frequency_available;
814	return IIO_AVAIL_RANGE;
815	default:
816	return -EINVAL;
817	}
818	case IIO_CHAN_INFO_HYSTERESIS:
819	switch (chan->type) {
820	case IIO_ANGL:
821	*vals = st->hysteresis_available;
822	*type = IIO_VAL_INT;
823	*length = ARRAY_SIZE(st->hysteresis_available);
824	return IIO_AVAIL_LIST;
825	default:
826	return -EINVAL;
827	}
828	default:
829	return -EINVAL;
830	}
831	}
832
833	static int ad2s1210_write_raw(struct iio_dev *indio_dev,
834	struct iio_chan_spec const *chan,
835	int val, int val2, long mask)
836	{
837	struct ad2s1210_state *st = iio_priv(indio_dev);
838
839	switch (mask) {
840	case IIO_CHAN_INFO_FREQUENCY:
841	switch (chan->type) {
842	case IIO_ALTVOLTAGE:
843	return ad2s1210_set_excitation_frequency(st, val);
844	default:
845	return -EINVAL;
846	}
847	case IIO_CHAN_INFO_HYSTERESIS:
848	switch (chan->type) {
849	case IIO_ANGL:
850	return ad2s1210_set_hysteresis(st, val);
851	default:
852	return -EINVAL;
853	}
854	default:
855	return -EINVAL;
856	}
857	}
858
859	static const struct iio_event_spec ad2s1210_position_event_spec[] = {
860	{
861	/* Tracking error exceeds LOT threshold fault. */
862	.type = IIO_EV_TYPE_THRESH,
863	.dir = IIO_EV_DIR_RISING,
864	.mask_separate =
865	/* Loss of tracking high threshold. */
866	BIT(IIO_EV_INFO_VALUE) |
867	/* Loss of tracking low threshold. */
868	BIT(IIO_EV_INFO_HYSTERESIS),
869	},
870	};
871
872	static const struct iio_event_spec ad2s1210_velocity_event_spec[] = {
873	{
874	/* Velocity exceeds maximum tracking rate fault. */
875	.type = IIO_EV_TYPE_MAG,
876	.dir = IIO_EV_DIR_RISING,
877	},
878	};
879
880	static const struct iio_event_spec ad2s1210_phase_event_spec[] = {
881	{
882	/* Phase error fault. */
883	.type = IIO_EV_TYPE_MAG,
884	.dir = IIO_EV_DIR_RISING,
885	/* Phase lock range. */
886	.mask_separate = BIT(IIO_EV_INFO_VALUE),
887	},
888	};
889
890	static const struct iio_event_spec ad2s1210_monitor_signal_event_spec[] = {
891	{
892	/* Sine/cosine below LOS threshold fault. */
893	.type = IIO_EV_TYPE_THRESH,
894	.dir = IIO_EV_DIR_FALLING,
895	/* Loss of signal threshold. */
896	.mask_separate = BIT(IIO_EV_INFO_VALUE),
897	},
898	{
899	/* Sine/cosine DOS overrange fault.*/
900	.type = IIO_EV_TYPE_THRESH,
901	.dir = IIO_EV_DIR_RISING,
902	/* Degredation of signal overrange threshold. */
903	.mask_separate = BIT(IIO_EV_INFO_VALUE),
904	},
905	{
906	/* Sine/cosine DOS mismatch fault.*/
907	.type = IIO_EV_TYPE_MAG,
908	.dir = IIO_EV_DIR_RISING,
909	.mask_separate = BIT(IIO_EV_INFO_VALUE),
910	},
911	};
912
913	static const struct iio_event_spec ad2s1210_sin_cos_event_spec[] = {
914	{
915	/* Sine/cosine clipping fault. */
916	.type = IIO_EV_TYPE_MAG,
917	.dir = IIO_EV_DIR_EITHER,
918	},
919	};
920
921	static const struct iio_chan_spec ad2s1210_channels[] = {
922	{
923	.type = IIO_ANGL,
924	.indexed = 1,
925	.channel = 0,
926	.scan_index = 0,
927	.scan_type = {
928	.sign = 'u',
929	.realbits = 16,
930	.storagebits = 16,
931	.endianness = IIO_BE,
932	},
933	.info_mask_separate = BIT(IIO_CHAN_INFO_RAW) |
934	BIT(IIO_CHAN_INFO_SCALE) |
935	BIT(IIO_CHAN_INFO_HYSTERESIS),
936	.info_mask_separate_available =
937	BIT(IIO_CHAN_INFO_HYSTERESIS),
938	}, {
939	.type = IIO_ANGL_VEL,
940	.indexed = 1,
941	.channel = 0,
942	.scan_index = 1,
943	.scan_type = {
944	.sign = 's',
945	.realbits = 16,
946	.storagebits = 16,
947	.endianness = IIO_BE,
948	},
949	.info_mask_separate = BIT(IIO_CHAN_INFO_RAW) |
950	BIT(IIO_CHAN_INFO_SCALE),
951	.event_spec = ad2s1210_velocity_event_spec,
952	.num_event_specs = ARRAY_SIZE(ad2s1210_velocity_event_spec),
953	},
954	IIO_CHAN_SOFT_TIMESTAMP(2),
955	{
956	/* used to configure LOT thresholds and get tracking error */
957	.type = IIO_ANGL,
958	.indexed = 1,
959	.channel = 1,
960	.scan_index = -1,
961	.event_spec = ad2s1210_position_event_spec,
962	.num_event_specs = ARRAY_SIZE(ad2s1210_position_event_spec),
963	},
964	{
965	/* used to configure phase lock range and get phase lock error */
966	.type = IIO_PHASE,
967	.indexed = 1,
968	.channel = 0,
969	.scan_index = -1,
970	.event_spec = ad2s1210_phase_event_spec,
971	.num_event_specs = ARRAY_SIZE(ad2s1210_phase_event_spec),
972	}, {
973	/* excitation frequency output */
974	.type = IIO_ALTVOLTAGE,
975	.indexed = 1,
976	.channel = 0,
977	.output = 1,
978	.scan_index = -1,
979	.info_mask_separate = BIT(IIO_CHAN_INFO_FREQUENCY),
980	.info_mask_separate_available = BIT(IIO_CHAN_INFO_FREQUENCY),
981	}, {
982	/* monitor signal */
983	.type = IIO_ALTVOLTAGE,
984	.indexed = 1,
985	.channel = 0,
986	.scan_index = -1,
987	.event_spec = ad2s1210_monitor_signal_event_spec,
988	.num_event_specs = ARRAY_SIZE(ad2s1210_monitor_signal_event_spec),
989	}, {
990	/* sine input */
991	.type = IIO_ALTVOLTAGE,
992	.indexed = 1,
993	.channel = 1,
994	.scan_index = -1,
995	.event_spec = ad2s1210_sin_cos_event_spec,
996	.num_event_specs = ARRAY_SIZE(ad2s1210_sin_cos_event_spec),
997	}, {
998	/* cosine input */
999	.type = IIO_ALTVOLTAGE,
1000	.indexed = 1,
1001	.channel = 2,
1002	.scan_index = -1,
1003	.event_spec = ad2s1210_sin_cos_event_spec,
1004	.num_event_specs = ARRAY_SIZE(ad2s1210_sin_cos_event_spec),
1005	},
1006	};
1007
1008	static ssize_t event_attr_voltage_reg_show(struct device *dev,
1009	struct device_attribute *attr,
1010	char *buf)
1011	{
1012	struct ad2s1210_state *st = iio_priv(indio_dev: dev_to_iio_dev(dev));
1013	struct iio_dev_attr *iattr = to_iio_dev_attr(attr);
1014	unsigned int value;
1015	int ret;
1016
1017	guard(mutex)(T: &st->lock);
1018	ret = regmap_read(map: st->regmap, reg: iattr->address, val: &value);
1019	if (ret < 0)
1020	return ret;
1021
1022	return sprintf(buf, fmt: "%d\n", value * THRESHOLD_MILLIVOLT_PER_LSB);
1023	}
1024
1025	static ssize_t event_attr_voltage_reg_store(struct device *dev,
1026	struct device_attribute *attr,
1027	const char *buf, size_t len)
1028	{
1029	struct ad2s1210_state *st = iio_priv(indio_dev: dev_to_iio_dev(dev));
1030	struct iio_dev_attr *iattr = to_iio_dev_attr(attr);
1031	u16 data;
1032	int ret;
1033
1034	ret = kstrtou16(s: buf, base: 10, res: &data);
1035	if (ret)
1036	return -EINVAL;
1037
1038	guard(mutex)(T: &st->lock);
1039	ret = regmap_write(map: st->regmap, reg: iattr->address,
1040	val: data / THRESHOLD_MILLIVOLT_PER_LSB);
1041	if (ret < 0)
1042	return ret;
1043
1044	return len;
1045	}
1046
1047	static ssize_t
1048	in_angl1_thresh_rising_value_available_show(struct device *dev,
1049	struct device_attribute *attr,
1050	char *buf)
1051	{
1052	struct ad2s1210_state *st = iio_priv(indio_dev: dev_to_iio_dev(dev));
1053	int step = ad2s1210_lot_threshold_urad_per_lsb[st->resolution];
1054
1055	return sysfs_emit(buf, fmt: "[0 0.%06d 0.%06d]\n", step, step * 0x7F);
1056	}
1057
1058	static ssize_t
1059	in_angl1_thresh_rising_hysteresis_available_show(struct device *dev,
1060	struct device_attribute *attr,
1061	char *buf)
1062	{
1063	struct ad2s1210_state *st = iio_priv(indio_dev: dev_to_iio_dev(dev));
1064	int step = ad2s1210_lot_threshold_urad_per_lsb[st->resolution];
1065
1066	return sysfs_emit(buf, fmt: "[0 0.%06d 0.%06d]\n", step, step * 0x7F);
1067	}
1068
1069	static IIO_CONST_ATTR(in_phase0_mag_rising_value_available,
1070	__stringify(PHASE_44_DEG_TO_RAD_INT) "."
1071	__stringify(PHASE_44_DEG_TO_RAD_MICRO) " "
1072	__stringify(PHASE_360_DEG_TO_RAD_INT) "."
1073	__stringify(PHASE_360_DEG_TO_RAD_MICRO));
1074	static IIO_CONST_ATTR(in_altvoltage0_thresh_falling_value_available,
1075	THRESHOLD_RANGE_STR);
1076	static IIO_CONST_ATTR(in_altvoltage0_thresh_rising_value_available,
1077	THRESHOLD_RANGE_STR);
1078	static IIO_CONST_ATTR(in_altvoltage0_mag_rising_value_available,
1079	THRESHOLD_RANGE_STR);
1080	static IIO_DEVICE_ATTR(in_altvoltage0_mag_rising_reset_max, 0644,
1081	event_attr_voltage_reg_show, event_attr_voltage_reg_store,
1082	AD2S1210_REG_DOS_RST_MAX_THRD);
1083	static IIO_CONST_ATTR(in_altvoltage0_mag_rising_reset_max_available, THRESHOLD_RANGE_STR);
1084	static IIO_DEVICE_ATTR(in_altvoltage0_mag_rising_reset_min, 0644,
1085	event_attr_voltage_reg_show, event_attr_voltage_reg_store,
1086	AD2S1210_REG_DOS_RST_MIN_THRD);
1087	static IIO_CONST_ATTR(in_altvoltage0_mag_rising_reset_min_available, THRESHOLD_RANGE_STR);
1088	static IIO_DEVICE_ATTR_RO(in_angl1_thresh_rising_value_available, 0);
1089	static IIO_DEVICE_ATTR_RO(in_angl1_thresh_rising_hysteresis_available, 0);
1090
1091	static struct attribute *ad2s1210_event_attributes[] = {
1092	&iio_const_attr_in_phase0_mag_rising_value_available.dev_attr.attr,
1093	&iio_const_attr_in_altvoltage0_thresh_falling_value_available.dev_attr.attr,
1094	&iio_const_attr_in_altvoltage0_thresh_rising_value_available.dev_attr.attr,
1095	&iio_const_attr_in_altvoltage0_mag_rising_value_available.dev_attr.attr,
1096	&iio_dev_attr_in_altvoltage0_mag_rising_reset_max.dev_attr.attr,
1097	&iio_const_attr_in_altvoltage0_mag_rising_reset_max_available.dev_attr.attr,
1098	&iio_dev_attr_in_altvoltage0_mag_rising_reset_min.dev_attr.attr,
1099	&iio_const_attr_in_altvoltage0_mag_rising_reset_min_available.dev_attr.attr,
1100	&iio_dev_attr_in_angl1_thresh_rising_value_available.dev_attr.attr,
1101	&iio_dev_attr_in_angl1_thresh_rising_hysteresis_available.dev_attr.attr,
1102	NULL,
1103	};
1104
1105	static const struct attribute_group ad2s1210_event_attribute_group = {
1106	.attrs = ad2s1210_event_attributes,
1107	};
1108
1109	static int ad2s1210_initial(struct ad2s1210_state *st)
1110	{
1111	unsigned int data;
1112	int ret;
1113
1114	guard(mutex)(T: &st->lock);
1115
1116	/* Use default config register value plus resolution from devicetree. */
1117	data = FIELD_PREP(AD2S1210_PHASE_LOCK_RANGE_44, 1);
1118	data |= FIELD_PREP(AD2S1210_ENABLE_HYSTERESIS, 1);
1119	data |= FIELD_PREP(AD2S1210_SET_ENRES, 0x3);
1120	data |= FIELD_PREP(AD2S1210_SET_RES, st->resolution);
1121
1122	ret = regmap_write(map: st->regmap, AD2S1210_REG_CONTROL, val: data);
1123	if (ret < 0)
1124	return ret;
1125
1126	return ad2s1210_reinit_excitation_frequency(st, AD2S1210_DEF_EXCIT);
1127	}
1128
1129	static int ad2s1210_read_label(struct iio_dev *indio_dev,
1130	struct iio_chan_spec const *chan,
1131	char *label)
1132	{
1133	if (chan->type == IIO_ANGL) {
1134	if (chan->channel == 0)
1135	return sprintf(buf: label, fmt: "position\n");
1136	if (chan->channel == 1)
1137	return sprintf(buf: label, fmt: "tracking error\n");
1138	}
1139	if (chan->type == IIO_ANGL_VEL)
1140	return sprintf(buf: label, fmt: "velocity\n");
1141	if (chan->type == IIO_PHASE)
1142	return sprintf(buf: label, fmt: "synthetic reference\n");
1143	if (chan->type == IIO_ALTVOLTAGE) {
1144	if (chan->output)
1145	return sprintf(buf: label, fmt: "excitation\n");
1146	if (chan->channel == 0)
1147	return sprintf(buf: label, fmt: "monitor signal\n");
1148	if (chan->channel == 1)
1149	return sprintf(buf: label, fmt: "cosine\n");
1150	if (chan->channel == 2)
1151	return sprintf(buf: label, fmt: "sine\n");
1152	}
1153
1154	return -EINVAL;
1155	}
1156
1157	static int ad2s1210_read_event_value(struct iio_dev *indio_dev,
1158	const struct iio_chan_spec *chan,
1159	enum iio_event_type type,
1160	enum iio_event_direction dir,
1161	enum iio_event_info info,
1162	int *val, int *val2)
1163	{
1164	struct ad2s1210_state *st = iio_priv(indio_dev);
1165
1166	switch (chan->type) {
1167	case IIO_ANGL:
1168	switch (info) {
1169	case IIO_EV_INFO_VALUE:
1170	return ad2s1210_get_lot_high_threshold(st, val, val2);
1171	case IIO_EV_INFO_HYSTERESIS:
1172	return ad2s1210_get_lot_low_threshold(st, val, val2);
1173	default:
1174	return -EINVAL;
1175	}
1176	case IIO_ALTVOLTAGE:
1177	if (chan->output)
1178	return -EINVAL;
1179	if (type == IIO_EV_TYPE_THRESH && dir == IIO_EV_DIR_FALLING)
1180	return ad2s1210_get_voltage_threshold(st,
1181	AD2S1210_REG_LOS_THRD, val);
1182	if (type == IIO_EV_TYPE_THRESH && dir == IIO_EV_DIR_RISING)
1183	return ad2s1210_get_voltage_threshold(st,
1184	AD2S1210_REG_DOS_OVR_THRD, val);
1185	if (type == IIO_EV_TYPE_MAG)
1186	return ad2s1210_get_voltage_threshold(st,
1187	AD2S1210_REG_DOS_MIS_THRD, val);
1188	return -EINVAL;
1189	case IIO_PHASE:
1190	return ad2s1210_get_phase_lock_range(st, val, val2);
1191	default:
1192	return -EINVAL;
1193	}
1194	}
1195
1196	static int ad2s1210_write_event_value(struct iio_dev *indio_dev,
1197	const struct iio_chan_spec *chan,
1198	enum iio_event_type type,
1199	enum iio_event_direction dir,
1200	enum iio_event_info info,
1201	int val, int val2)
1202	{
1203	struct ad2s1210_state *st = iio_priv(indio_dev);
1204
1205	switch (chan->type) {
1206	case IIO_ANGL:
1207	switch (info) {
1208	case IIO_EV_INFO_VALUE:
1209	return ad2s1210_set_lot_high_threshold(st, val, val2);
1210	case IIO_EV_INFO_HYSTERESIS:
1211	return ad2s1210_set_lot_low_threshold(st, val, val2);
1212	default:
1213	return -EINVAL;
1214	}
1215	case IIO_ALTVOLTAGE:
1216	if (chan->output)
1217	return -EINVAL;
1218	if (type == IIO_EV_TYPE_THRESH && dir == IIO_EV_DIR_FALLING)
1219	return ad2s1210_set_voltage_threshold(st,
1220	AD2S1210_REG_LOS_THRD, val);
1221	if (type == IIO_EV_TYPE_THRESH && dir == IIO_EV_DIR_RISING)
1222	return ad2s1210_set_voltage_threshold(st,
1223	AD2S1210_REG_DOS_OVR_THRD, val);
1224	if (type == IIO_EV_TYPE_MAG)
1225	return ad2s1210_set_voltage_threshold(st,
1226	AD2S1210_REG_DOS_MIS_THRD, val);
1227	return -EINVAL;
1228	case IIO_PHASE:
1229	return ad2s1210_set_phase_lock_range(st, val, val2);
1230	default:
1231	return -EINVAL;
1232	}
1233	}
1234
1235	static int ad2s1210_read_event_label(struct iio_dev *indio_dev,
1236	struct iio_chan_spec const *chan,
1237	enum iio_event_type type,
1238	enum iio_event_direction dir,
1239	char *label)
1240	{
1241	if (chan->type == IIO_ANGL)
1242	return sprintf(buf: label, fmt: "LOT\n");
1243	if (chan->type == IIO_ANGL_VEL)
1244	return sprintf(buf: label, fmt: "max tracking rate\n");
1245	if (chan->type == IIO_PHASE)
1246	return sprintf(buf: label, fmt: "phase lock\n");
1247	if (chan->type == IIO_ALTVOLTAGE) {
1248	if (chan->channel == 0) {
1249	if (type == IIO_EV_TYPE_THRESH &&
1250	dir == IIO_EV_DIR_FALLING)
1251	return sprintf(buf: label, fmt: "LOS\n");
1252	if (type == IIO_EV_TYPE_THRESH &&
1253	dir == IIO_EV_DIR_RISING)
1254	return sprintf(buf: label, fmt: "DOS overrange\n");
1255	if (type == IIO_EV_TYPE_MAG)
1256	return sprintf(buf: label, fmt: "DOS mismatch\n");
1257	}
1258	if (chan->channel == 1 || chan->channel == 2)
1259	return sprintf(buf: label, fmt: "clipped\n");
1260	}
1261
1262	return -EINVAL;
1263	}
1264
1265	static int ad2s1210_debugfs_reg_access(struct iio_dev *indio_dev,
1266	unsigned int reg, unsigned int writeval,
1267	unsigned int *readval)
1268	{
1269	struct ad2s1210_state *st = iio_priv(indio_dev);
1270
1271	guard(mutex)(T: &st->lock);
1272
1273	if (readval)
1274	return regmap_read(map: st->regmap, reg, val: readval);
1275
1276	return regmap_write(map: st->regmap, reg, val: writeval);
1277	}
1278
1279	static irqreturn_t ad2s1210_trigger_handler(int irq, void *p)
1280	{
1281	struct iio_poll_func *pf = p;
1282	struct iio_dev *indio_dev = pf->indio_dev;
1283	struct ad2s1210_state *st = iio_priv(indio_dev);
1284	size_t chan = 0;
1285	int ret;
1286
1287	guard(mutex)(T: &st->lock);
1288
1289	memset(&st->scan, 0, sizeof(st->scan));
1290	ad2s1210_toggle_sample_line(st);
1291
1292	if (test_bit(0, indio_dev->active_scan_mask)) {
1293	if (st->fixed_mode == MOD_CONFIG) {
1294	ret = regmap_bulk_read(map: st->regmap,
1295	AD2S1210_REG_POSITION_MSB,
1296	val: &st->sample.raw, val_count: 2);
1297	if (ret < 0)
1298	goto error_ret;
1299	} else {
1300	ret = ad2s1210_set_mode(st, mode: MOD_POS);
1301	if (ret < 0)
1302	goto error_ret;
1303
1304	ret = spi_read(spi: st->sdev, buf: &st->sample, len: 3);
1305	if (ret < 0)
1306	goto error_ret;
1307	}
1308
1309	memcpy(&st->scan.chan[chan++], &st->sample.raw, 2);
1310	}
1311
1312	if (test_bit(1, indio_dev->active_scan_mask)) {
1313	if (st->fixed_mode == MOD_CONFIG) {
1314	ret = regmap_bulk_read(map: st->regmap,
1315	AD2S1210_REG_VELOCITY_MSB,
1316	val: &st->sample.raw, val_count: 2);
1317	if (ret < 0)
1318	goto error_ret;
1319	} else {
1320	ret = ad2s1210_set_mode(st, mode: MOD_VEL);
1321	if (ret < 0)
1322	goto error_ret;
1323
1324	ret = spi_read(spi: st->sdev, buf: &st->sample, len: 3);
1325	if (ret < 0)
1326	goto error_ret;
1327	}
1328
1329	memcpy(&st->scan.chan[chan++], &st->sample.raw, 2);
1330	}
1331
1332	if (st->fixed_mode == MOD_CONFIG) {
1333	unsigned int reg_val;
1334
1335	ret = regmap_read(map: st->regmap, AD2S1210_REG_FAULT, val: &reg_val);
1336	if (ret < 0)
1337	return ret;
1338
1339	st->sample.fault = reg_val;
1340	}
1341
1342	ad2s1210_push_events(indio_dev, flags: st->sample.fault, timestamp: pf->timestamp);
1343	iio_push_to_buffers_with_timestamp(indio_dev, data: &st->scan, timestamp: pf->timestamp);
1344
1345	error_ret:
1346	iio_trigger_notify_done(trig: indio_dev->trig);
1347
1348	return IRQ_HANDLED;
1349	}
1350
1351	static const struct iio_info ad2s1210_info = {
1352	.event_attrs = &ad2s1210_event_attribute_group,
1353	.read_raw = ad2s1210_read_raw,
1354	.read_avail = ad2s1210_read_avail,
1355	.write_raw = ad2s1210_write_raw,
1356	.read_label = ad2s1210_read_label,
1357	.read_event_value = ad2s1210_read_event_value,
1358	.write_event_value = ad2s1210_write_event_value,
1359	.read_event_label = ad2s1210_read_event_label,
1360	.debugfs_reg_access = &ad2s1210_debugfs_reg_access,
1361	};
1362
1363	static int ad2s1210_setup_properties(struct ad2s1210_state *st)
1364	{
1365	struct device *dev = &st->sdev->dev;
1366	const char *str_val;
1367	u32 val;
1368	int ret;
1369
1370	ret = device_property_read_string(dev, propname: "adi,fixed-mode", val: &str_val);
1371	if (ret == -EINVAL)
1372	st->fixed_mode = -1;
1373	else if (ret < 0)
1374	return dev_err_probe(dev, err: ret,
1375	fmt: "failed to read adi,fixed-mode property\n");
1376	else {
1377	if (strcmp(str_val, "config"))
1378	return dev_err_probe(dev, err: -EINVAL,
1379	fmt: "only adi,fixed-mode=\"config\" is supported\n");
1380
1381	st->fixed_mode = MOD_CONFIG;
1382	}
1383
1384	ret = device_property_read_u32(dev, propname: "assigned-resolution-bits", val: &val);
1385	if (ret < 0)
1386	return dev_err_probe(dev, err: ret,
1387	fmt: "failed to read assigned-resolution-bits property\n");
1388
1389	if (val < 10 || val > 16)
1390	return dev_err_probe(dev, err: -EINVAL,
1391	fmt: "resolution out of range: %u\n", val);
1392
1393	st->resolution = (val - 10) >> 1;
1394	/*
1395	* These are values that correlate to the hysteresis bit in the Control
1396	* register. 0 = disabled, 1 = enabled. When enabled, the actual
1397	* hysteresis is +/- 1 LSB of the raw position value. Which bit is the
1398	* LSB depends on the specified resolution.
1399	*/
1400	st->hysteresis_available[0] = 0;
1401	st->hysteresis_available[1] = 1 << (2 * (AD2S1210_RES_16 -
1402	st->resolution));
1403
1404	return 0;
1405	}
1406
1407	static int ad2s1210_setup_clocks(struct ad2s1210_state *st)
1408	{
1409	struct device *dev = &st->sdev->dev;
1410	struct clk *clk;
1411
1412	clk = devm_clk_get_enabled(dev, NULL);
1413	if (IS_ERR(ptr: clk))
1414	return dev_err_probe(dev, err: PTR_ERR(ptr: clk), fmt: "failed to get clock\n");
1415
1416	st->clkin_hz = clk_get_rate(clk);
1417	if (st->clkin_hz < AD2S1210_MIN_CLKIN || st->clkin_hz > AD2S1210_MAX_CLKIN)
1418	return dev_err_probe(dev, err: -EINVAL,
1419	fmt: "clock frequency out of range: %lu\n",
1420	st->clkin_hz);
1421
1422	return 0;
1423	}
1424
1425	static int ad2s1210_setup_gpios(struct ad2s1210_state *st)
1426	{
1427	struct device *dev = &st->sdev->dev;
1428	struct gpio_descs *resolution_gpios;
1429	struct gpio_desc *reset_gpio;
1430	DECLARE_BITMAP(bitmap, 2);
1431	int ret;
1432
1433	/* should not be sampling on startup */
1434	st->sample_gpio = devm_gpiod_get(dev, con_id: "sample", flags: GPIOD_OUT_LOW);
1435	if (IS_ERR(ptr: st->sample_gpio))
1436	return dev_err_probe(dev, err: PTR_ERR(ptr: st->sample_gpio),
1437	fmt: "failed to request sample GPIO\n");
1438
1439	/* both pins high means that we start in config mode */
1440	st->mode_gpios = devm_gpiod_get_array_optional(dev, con_id: "mode",
1441	flags: GPIOD_OUT_HIGH);
1442	if (IS_ERR(ptr: st->mode_gpios))
1443	return dev_err_probe(dev, err: PTR_ERR(ptr: st->mode_gpios),
1444	fmt: "failed to request mode GPIOs\n");
1445
1446	if (!st->mode_gpios && st->fixed_mode == -1)
1447	return dev_err_probe(dev, err: -EINVAL,
1448	fmt: "must specify either adi,fixed-mode or mode-gpios\n");
1449
1450	if (st->mode_gpios && st->fixed_mode != -1)
1451	return dev_err_probe(dev, err: -EINVAL,
1452	fmt: "must specify only one of adi,fixed-mode or mode-gpios\n");
1453
1454	if (st->mode_gpios && st->mode_gpios->ndescs != 2)
1455	return dev_err_probe(dev, err: -EINVAL,
1456	fmt: "requires exactly 2 mode-gpios\n");
1457
1458	/*
1459	* If resolution gpios are provided, they get set to the required
1460	* resolution, otherwise it is assumed the RES0 and RES1 pins are
1461	* hard-wired to match the resolution indicated in the devicetree.
1462	*/
1463	resolution_gpios = devm_gpiod_get_array_optional(dev, con_id: "resolution",
1464	flags: GPIOD_ASIS);
1465	if (IS_ERR(ptr: resolution_gpios))
1466	return dev_err_probe(dev, err: PTR_ERR(ptr: resolution_gpios),
1467	fmt: "failed to request resolution GPIOs\n");
1468
1469	if (resolution_gpios) {
1470	if (resolution_gpios->ndescs != 2)
1471	return dev_err_probe(dev, err: -EINVAL,
1472	fmt: "requires exactly 2 resolution-gpios\n");
1473
1474	bitmap[0] = st->resolution;
1475
1476	ret = gpiod_set_array_value(array_size: resolution_gpios->ndescs,
1477	desc_array: resolution_gpios->desc,
1478	array_info: resolution_gpios->info,
1479	value_bitmap: bitmap);
1480	if (ret < 0)
1481	return dev_err_probe(dev, err: ret,
1482	fmt: "failed to set resolution gpios\n");
1483	}
1484
1485	/* If the optional reset GPIO is present, toggle it to do a hard reset. */
1486	reset_gpio = devm_gpiod_get_optional(dev, con_id: "reset", flags: GPIOD_OUT_HIGH);
1487	if (IS_ERR(ptr: reset_gpio))
1488	return dev_err_probe(dev, err: PTR_ERR(ptr: reset_gpio),
1489	fmt: "failed to request reset GPIO\n");
1490
1491	if (reset_gpio) {
1492	udelay(10);
1493	gpiod_set_value(desc: reset_gpio, value: 0);
1494	}
1495
1496	return 0;
1497	}
1498
1499	static const struct regmap_range ad2s1210_regmap_readable_ranges[] = {
1500	regmap_reg_range(AD2S1210_REG_POSITION_MSB, AD2S1210_REG_VELOCITY_LSB),
1501	regmap_reg_range(AD2S1210_REG_LOS_THRD, AD2S1210_REG_LOT_LOW_THRD),
1502	regmap_reg_range(AD2S1210_REG_EXCIT_FREQ, AD2S1210_REG_CONTROL),
1503	regmap_reg_range(AD2S1210_REG_FAULT, AD2S1210_REG_FAULT),
1504	};
1505
1506	static const struct regmap_access_table ad2s1210_regmap_rd_table = {
1507	.yes_ranges = ad2s1210_regmap_readable_ranges,
1508	.n_yes_ranges = ARRAY_SIZE(ad2s1210_regmap_readable_ranges),
1509	};
1510
1511	static const struct regmap_range ad2s1210_regmap_writeable_ranges[] = {
1512	regmap_reg_range(AD2S1210_REG_LOS_THRD, AD2S1210_REG_LOT_LOW_THRD),
1513	regmap_reg_range(AD2S1210_REG_EXCIT_FREQ, AD2S1210_REG_CONTROL),
1514	regmap_reg_range(AD2S1210_REG_SOFT_RESET, AD2S1210_REG_SOFT_RESET),
1515	regmap_reg_range(AD2S1210_REG_FAULT, AD2S1210_REG_FAULT),
1516	};
1517
1518	static const struct regmap_access_table ad2s1210_regmap_wr_table = {
1519	.yes_ranges = ad2s1210_regmap_writeable_ranges,
1520	.n_yes_ranges = ARRAY_SIZE(ad2s1210_regmap_writeable_ranges),
1521	};
1522
1523	static int ad2s1210_setup_regmap(struct ad2s1210_state *st)
1524	{
1525	struct device *dev = &st->sdev->dev;
1526	const struct regmap_config config = {
1527	.reg_bits = 8,
1528	.val_bits = 8,
1529	.disable_locking = true,
1530	.reg_read = ad2s1210_regmap_reg_read,
1531	.reg_write = ad2s1210_regmap_reg_write,
1532	.rd_table = &ad2s1210_regmap_rd_table,
1533	.wr_table = &ad2s1210_regmap_wr_table,
1534	.can_sleep = true,
1535	};
1536
1537	st->regmap = devm_regmap_init(dev, NULL, st, &config);
1538	if (IS_ERR(ptr: st->regmap))
1539	return dev_err_probe(dev, err: PTR_ERR(ptr: st->regmap),
1540	fmt: "failed to allocate register map\n");
1541
1542	return 0;
1543	}
1544
1545	static int ad2s1210_probe(struct spi_device *spi)
1546	{
1547	struct iio_dev *indio_dev;
1548	struct ad2s1210_state *st;
1549	int ret;
1550
1551	indio_dev = devm_iio_device_alloc(parent: &spi->dev, sizeof_priv: sizeof(*st));
1552	if (!indio_dev)
1553	return -ENOMEM;
1554	st = iio_priv(indio_dev);
1555
1556	mutex_init(&st->lock);
1557	st->sdev = spi;
1558
1559	ret = ad2s1210_setup_properties(st);
1560	if (ret < 0)
1561	return ret;
1562
1563	ret = ad2s1210_setup_clocks(st);
1564	if (ret < 0)
1565	return ret;
1566
1567	ret = ad2s1210_setup_gpios(st);
1568	if (ret < 0)
1569	return ret;
1570
1571	ret = ad2s1210_setup_regmap(st);
1572	if (ret < 0)
1573	return ret;
1574
1575	ret = ad2s1210_initial(st);
1576	if (ret < 0)
1577	return ret;
1578
1579	indio_dev->info = &ad2s1210_info;
1580	indio_dev->modes = INDIO_DIRECT_MODE;
1581	indio_dev->channels = ad2s1210_channels;
1582	indio_dev->num_channels = ARRAY_SIZE(ad2s1210_channels);
1583	indio_dev->name = spi_get_device_id(sdev: spi)->name;
1584
1585	ret = devm_iio_triggered_buffer_setup(&spi->dev, indio_dev,
1586	&iio_pollfunc_store_time,
1587	&ad2s1210_trigger_handler, NULL);
1588	if (ret < 0)
1589	return dev_err_probe(dev: &spi->dev, err: ret,
1590	fmt: "iio triggered buffer setup failed\n");
1591
1592	return devm_iio_device_register(&spi->dev, indio_dev);
1593	}
1594
1595	static const struct of_device_id ad2s1210_of_match[] = {
1596	{ .compatible = "adi,ad2s1210", },
1597	{ }
1598	};
1599	MODULE_DEVICE_TABLE(of, ad2s1210_of_match);
1600
1601	static const struct spi_device_id ad2s1210_id[] = {
1602	{ "ad2s1210" },
1603	{}
1604	};
1605	MODULE_DEVICE_TABLE(spi, ad2s1210_id);
1606
1607	static struct spi_driver ad2s1210_driver = {
1608	.driver = {
1609	.name = "ad2s1210",
1610	.of_match_table = ad2s1210_of_match,
1611	},
1612	.probe = ad2s1210_probe,
1613	.id_table = ad2s1210_id,
1614	};
1615	module_spi_driver(ad2s1210_driver);
1616
1617	MODULE_AUTHOR("Graff Yang <graff.yang@gmail.com>");
1618	MODULE_DESCRIPTION("Analog Devices AD2S1210 Resolver to Digital SPI driver");
1619	MODULE_LICENSE("GPL v2");
1620