1 // SPDX-License-Identifier: GPL-2.0-only
2 /*
3 * ADIS16133/ADIS16135/ADIS16136 gyroscope driver
4 *
5 * Copyright 2012 Analog Devices Inc.
6 * Author: Lars-Peter Clausen <lars@metafoo.de>
7 */
8
9 #include <linux/device.h>
10 #include <linux/kernel.h>
11 #include <linux/spi/spi.h>
12 #include <linux/sysfs.h>
13 #include <linux/module.h>
14
15 #include <linux/iio/iio.h>
16 #include <linux/iio/sysfs.h>
17 #include <linux/iio/imu/adis.h>
18
19 #include <linux/debugfs.h>
20
21 #define ADIS16136_REG_FLASH_CNT 0x00
22 #define ADIS16136_REG_TEMP_OUT 0x02
23 #define ADIS16136_REG_GYRO_OUT2 0x04
24 #define ADIS16136_REG_GYRO_OUT 0x06
25 #define ADIS16136_REG_GYRO_OFF2 0x08
26 #define ADIS16136_REG_GYRO_OFF 0x0A
27 #define ADIS16136_REG_ALM_MAG1 0x10
28 #define ADIS16136_REG_ALM_MAG2 0x12
29 #define ADIS16136_REG_ALM_SAMPL1 0x14
30 #define ADIS16136_REG_ALM_SAMPL2 0x16
31 #define ADIS16136_REG_ALM_CTRL 0x18
32 #define ADIS16136_REG_GPIO_CTRL 0x1A
33 #define ADIS16136_REG_MSC_CTRL 0x1C
34 #define ADIS16136_REG_SMPL_PRD 0x1E
35 #define ADIS16136_REG_AVG_CNT 0x20
36 #define ADIS16136_REG_DEC_RATE 0x22
37 #define ADIS16136_REG_SLP_CTRL 0x24
38 #define ADIS16136_REG_DIAG_STAT 0x26
39 #define ADIS16136_REG_GLOB_CMD 0x28
40 #define ADIS16136_REG_LOT1 0x32
41 #define ADIS16136_REG_LOT2 0x34
42 #define ADIS16136_REG_LOT3 0x36
43 #define ADIS16136_REG_PROD_ID 0x38
44 #define ADIS16136_REG_SERIAL_NUM 0x3A
45
46 #define ADIS16136_DIAG_STAT_FLASH_UPDATE_FAIL 2
47 #define ADIS16136_DIAG_STAT_SPI_FAIL 3
48 #define ADIS16136_DIAG_STAT_SELF_TEST_FAIL 5
49 #define ADIS16136_DIAG_STAT_FLASH_CHKSUM_FAIL 6
50
51 #define ADIS16136_MSC_CTRL_MEMORY_TEST BIT(11)
52 #define ADIS16136_MSC_CTRL_SELF_TEST BIT(10)
53
54 struct adis16136_chip_info {
55 unsigned int precision;
56 unsigned int fullscale;
57 const struct adis_data adis_data;
58 };
59
60 struct adis16136 {
61 const struct adis16136_chip_info *chip_info;
62
63 struct adis adis;
64 };
65
66 #ifdef CONFIG_DEBUG_FS
67
adis16136_show_serial(struct file * file,char __user * userbuf,size_t count,loff_t * ppos)68 static ssize_t adis16136_show_serial(struct file *file,
69 char __user *userbuf, size_t count, loff_t *ppos)
70 {
71 struct adis16136 *adis16136 = file->private_data;
72 uint16_t lot1, lot2, lot3, serial;
73 char buf[20];
74 size_t len;
75 int ret;
76
77 ret = adis_read_reg_16(&adis16136->adis, ADIS16136_REG_SERIAL_NUM,
78 &serial);
79 if (ret)
80 return ret;
81
82 ret = adis_read_reg_16(&adis16136->adis, ADIS16136_REG_LOT1, &lot1);
83 if (ret)
84 return ret;
85
86 ret = adis_read_reg_16(&adis16136->adis, ADIS16136_REG_LOT2, &lot2);
87 if (ret)
88 return ret;
89
90 ret = adis_read_reg_16(&adis16136->adis, ADIS16136_REG_LOT3, &lot3);
91 if (ret)
92 return ret;
93
94 len = snprintf(buf, sizeof(buf), "%.4x%.4x%.4x-%.4x\n", lot1, lot2,
95 lot3, serial);
96
97 return simple_read_from_buffer(userbuf, count, ppos, buf, len);
98 }
99
100 static const struct file_operations adis16136_serial_fops = {
101 .open = simple_open,
102 .read = adis16136_show_serial,
103 .llseek = default_llseek,
104 .owner = THIS_MODULE,
105 };
106
adis16136_show_product_id(void * arg,u64 * val)107 static int adis16136_show_product_id(void *arg, u64 *val)
108 {
109 struct adis16136 *adis16136 = arg;
110 u16 prod_id;
111 int ret;
112
113 ret = adis_read_reg_16(&adis16136->adis, ADIS16136_REG_PROD_ID,
114 &prod_id);
115 if (ret)
116 return ret;
117
118 *val = prod_id;
119
120 return 0;
121 }
122 DEFINE_DEBUGFS_ATTRIBUTE(adis16136_product_id_fops,
123 adis16136_show_product_id, NULL, "%llu\n");
124
adis16136_show_flash_count(void * arg,u64 * val)125 static int adis16136_show_flash_count(void *arg, u64 *val)
126 {
127 struct adis16136 *adis16136 = arg;
128 uint16_t flash_count;
129 int ret;
130
131 ret = adis_read_reg_16(&adis16136->adis, ADIS16136_REG_FLASH_CNT,
132 &flash_count);
133 if (ret)
134 return ret;
135
136 *val = flash_count;
137
138 return 0;
139 }
140 DEFINE_DEBUGFS_ATTRIBUTE(adis16136_flash_count_fops,
141 adis16136_show_flash_count, NULL, "%lld\n");
142
adis16136_debugfs_init(struct iio_dev * indio_dev)143 static int adis16136_debugfs_init(struct iio_dev *indio_dev)
144 {
145 struct adis16136 *adis16136 = iio_priv(indio_dev);
146 struct dentry *d = iio_get_debugfs_dentry(indio_dev);
147
148 debugfs_create_file_unsafe("serial_number", 0400,
149 d, adis16136, &adis16136_serial_fops);
150 debugfs_create_file_unsafe("product_id", 0400,
151 d, adis16136, &adis16136_product_id_fops);
152 debugfs_create_file_unsafe("flash_count", 0400,
153 d, adis16136, &adis16136_flash_count_fops);
154
155 return 0;
156 }
157
158 #else
159
adis16136_debugfs_init(struct iio_dev * indio_dev)160 static int adis16136_debugfs_init(struct iio_dev *indio_dev)
161 {
162 return 0;
163 }
164
165 #endif
166
adis16136_set_freq(struct adis16136 * adis16136,unsigned int freq)167 static int adis16136_set_freq(struct adis16136 *adis16136, unsigned int freq)
168 {
169 unsigned int t;
170
171 t = 32768 / freq;
172 if (t < 0xf)
173 t = 0xf;
174 else if (t > 0xffff)
175 t = 0xffff;
176 else
177 t--;
178
179 return adis_write_reg_16(&adis16136->adis, ADIS16136_REG_SMPL_PRD, t);
180 }
181
__adis16136_get_freq(struct adis16136 * adis16136,unsigned int * freq)182 static int __adis16136_get_freq(struct adis16136 *adis16136, unsigned int *freq)
183 {
184 uint16_t t;
185 int ret;
186
187 ret = __adis_read_reg_16(&adis16136->adis, ADIS16136_REG_SMPL_PRD, &t);
188 if (ret)
189 return ret;
190
191 *freq = 32768 / (t + 1);
192
193 return 0;
194 }
195
adis16136_write_frequency(struct device * dev,struct device_attribute * attr,const char * buf,size_t len)196 static ssize_t adis16136_write_frequency(struct device *dev,
197 struct device_attribute *attr, const char *buf, size_t len)
198 {
199 struct iio_dev *indio_dev = dev_to_iio_dev(dev);
200 struct adis16136 *adis16136 = iio_priv(indio_dev);
201 unsigned int val;
202 int ret;
203
204 ret = kstrtouint(buf, 10, &val);
205 if (ret)
206 return ret;
207
208 if (val == 0)
209 return -EINVAL;
210
211 ret = adis16136_set_freq(adis16136, val);
212
213 return ret ? ret : len;
214 }
215
adis16136_read_frequency(struct device * dev,struct device_attribute * attr,char * buf)216 static ssize_t adis16136_read_frequency(struct device *dev,
217 struct device_attribute *attr, char *buf)
218 {
219 struct iio_dev *indio_dev = dev_to_iio_dev(dev);
220 struct adis16136 *adis16136 = iio_priv(indio_dev);
221 unsigned int freq;
222 int ret;
223
224 adis_dev_auto_lock(&adis16136->adis);
225 ret = __adis16136_get_freq(adis16136, &freq);
226 if (ret)
227 return ret;
228
229 return sysfs_emit(buf, "%d\n", freq);
230 }
231
232 static IIO_DEV_ATTR_SAMP_FREQ(S_IWUSR | S_IRUGO,
233 adis16136_read_frequency,
234 adis16136_write_frequency);
235
236 static const unsigned adis16136_3db_divisors[] = {
237 [0] = 2, /* Special case */
238 [1] = 6,
239 [2] = 12,
240 [3] = 25,
241 [4] = 50,
242 [5] = 100,
243 [6] = 200,
244 [7] = 200, /* Not a valid setting */
245 };
246
adis16136_set_filter(struct iio_dev * indio_dev,int val)247 static int adis16136_set_filter(struct iio_dev *indio_dev, int val)
248 {
249 struct adis16136 *adis16136 = iio_priv(indio_dev);
250 unsigned int freq;
251 int i, ret;
252
253 adis_dev_auto_lock(&adis16136->adis);
254 ret = __adis16136_get_freq(adis16136, &freq);
255 if (ret)
256 return ret;
257
258 for (i = ARRAY_SIZE(adis16136_3db_divisors) - 1; i >= 1; i--) {
259 if (freq / adis16136_3db_divisors[i] >= val)
260 break;
261 }
262
263 return __adis_write_reg_16(&adis16136->adis, ADIS16136_REG_AVG_CNT, i);
264 }
265
adis16136_get_filter(struct iio_dev * indio_dev,int * val)266 static int adis16136_get_filter(struct iio_dev *indio_dev, int *val)
267 {
268 struct adis16136 *adis16136 = iio_priv(indio_dev);
269 unsigned int freq;
270 uint16_t val16;
271 int ret;
272
273 adis_dev_auto_lock(&adis16136->adis);
274
275 ret = __adis_read_reg_16(&adis16136->adis, ADIS16136_REG_AVG_CNT,
276 &val16);
277 if (ret)
278 return ret;
279
280 ret = __adis16136_get_freq(adis16136, &freq);
281 if (ret)
282 return ret;
283
284 *val = freq / adis16136_3db_divisors[val16 & 0x07];
285
286 return IIO_VAL_INT;
287 }
288
adis16136_read_raw(struct iio_dev * indio_dev,const struct iio_chan_spec * chan,int * val,int * val2,long info)289 static int adis16136_read_raw(struct iio_dev *indio_dev,
290 const struct iio_chan_spec *chan, int *val, int *val2, long info)
291 {
292 struct adis16136 *adis16136 = iio_priv(indio_dev);
293 uint32_t val32;
294 int ret;
295
296 switch (info) {
297 case IIO_CHAN_INFO_RAW:
298 return adis_single_conversion(indio_dev, chan, 0, val);
299 case IIO_CHAN_INFO_SCALE:
300 switch (chan->type) {
301 case IIO_ANGL_VEL:
302 *val = adis16136->chip_info->precision;
303 *val2 = (adis16136->chip_info->fullscale << 16);
304 return IIO_VAL_FRACTIONAL;
305 case IIO_TEMP:
306 *val = 10;
307 *val2 = 697000; /* 0.010697 degree Celsius */
308 return IIO_VAL_INT_PLUS_MICRO;
309 default:
310 return -EINVAL;
311 }
312 case IIO_CHAN_INFO_CALIBBIAS:
313 ret = adis_read_reg_32(&adis16136->adis,
314 ADIS16136_REG_GYRO_OFF2, &val32);
315 if (ret)
316 return ret;
317
318 *val = sign_extend32(val32, 31);
319
320 return IIO_VAL_INT;
321 case IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY:
322 return adis16136_get_filter(indio_dev, val);
323 default:
324 return -EINVAL;
325 }
326 }
327
adis16136_write_raw(struct iio_dev * indio_dev,const struct iio_chan_spec * chan,int val,int val2,long info)328 static int adis16136_write_raw(struct iio_dev *indio_dev,
329 const struct iio_chan_spec *chan, int val, int val2, long info)
330 {
331 struct adis16136 *adis16136 = iio_priv(indio_dev);
332
333 switch (info) {
334 case IIO_CHAN_INFO_CALIBBIAS:
335 return adis_write_reg_32(&adis16136->adis,
336 ADIS16136_REG_GYRO_OFF2, val);
337 case IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY:
338 return adis16136_set_filter(indio_dev, val);
339 default:
340 break;
341 }
342
343 return -EINVAL;
344 }
345
346 enum {
347 ADIS16136_SCAN_GYRO,
348 ADIS16136_SCAN_TEMP,
349 };
350
351 static const struct iio_chan_spec adis16136_channels[] = {
352 {
353 .type = IIO_ANGL_VEL,
354 .modified = 1,
355 .channel2 = IIO_MOD_X,
356 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) |
357 BIT(IIO_CHAN_INFO_CALIBBIAS) |
358 BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY),
359 .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE),
360
361 .address = ADIS16136_REG_GYRO_OUT2,
362 .scan_index = ADIS16136_SCAN_GYRO,
363 .scan_type = {
364 .sign = 's',
365 .realbits = 32,
366 .storagebits = 32,
367 .endianness = IIO_BE,
368 },
369 }, {
370 .type = IIO_TEMP,
371 .indexed = 1,
372 .channel = 0,
373 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) |
374 BIT(IIO_CHAN_INFO_SCALE),
375 .address = ADIS16136_REG_TEMP_OUT,
376 .scan_index = ADIS16136_SCAN_TEMP,
377 .scan_type = {
378 .sign = 's',
379 .realbits = 16,
380 .storagebits = 16,
381 .endianness = IIO_BE,
382 },
383 },
384 IIO_CHAN_SOFT_TIMESTAMP(2),
385 };
386
387 static struct attribute *adis16136_attributes[] = {
388 &iio_dev_attr_sampling_frequency.dev_attr.attr,
389 NULL
390 };
391
392 static const struct attribute_group adis16136_attribute_group = {
393 .attrs = adis16136_attributes,
394 };
395
396 static const struct iio_info adis16136_info = {
397 .attrs = &adis16136_attribute_group,
398 .read_raw = &adis16136_read_raw,
399 .write_raw = &adis16136_write_raw,
400 .update_scan_mode = adis_update_scan_mode,
401 .debugfs_reg_access = adis_debugfs_reg_access,
402 };
403
adis16136_stop_device(struct iio_dev * indio_dev)404 static int adis16136_stop_device(struct iio_dev *indio_dev)
405 {
406 struct adis16136 *adis16136 = iio_priv(indio_dev);
407 int ret;
408
409 ret = adis_write_reg_16(&adis16136->adis, ADIS16136_REG_SLP_CTRL, 0xff);
410 if (ret)
411 dev_err(&indio_dev->dev,
412 "Could not power down device: %d\n", ret);
413
414 return ret;
415 }
416
adis16136_initial_setup(struct iio_dev * indio_dev)417 static int adis16136_initial_setup(struct iio_dev *indio_dev)
418 {
419 struct adis16136 *adis16136 = iio_priv(indio_dev);
420 unsigned int device_id;
421 uint16_t prod_id;
422 int ret;
423
424 ret = __adis_initial_startup(&adis16136->adis);
425 if (ret)
426 return ret;
427
428 ret = adis_read_reg_16(&adis16136->adis, ADIS16136_REG_PROD_ID,
429 &prod_id);
430 if (ret)
431 return ret;
432
433 ret = sscanf(indio_dev->name, "adis%u\n", &device_id);
434 if (ret != 1)
435 return -EINVAL;
436
437 if (prod_id != device_id)
438 dev_warn(&indio_dev->dev, "Device ID(%u) and product ID(%u) do not match.",
439 device_id, prod_id);
440
441 return 0;
442 }
443
444 static const char * const adis16136_status_error_msgs[] = {
445 [ADIS16136_DIAG_STAT_FLASH_UPDATE_FAIL] = "Flash update failed",
446 [ADIS16136_DIAG_STAT_SPI_FAIL] = "SPI failure",
447 [ADIS16136_DIAG_STAT_SELF_TEST_FAIL] = "Self test error",
448 [ADIS16136_DIAG_STAT_FLASH_CHKSUM_FAIL] = "Flash checksum error",
449 };
450
451 #define ADIS16136_DATA(_timeouts) \
452 { \
453 .diag_stat_reg = ADIS16136_REG_DIAG_STAT, \
454 .glob_cmd_reg = ADIS16136_REG_GLOB_CMD, \
455 .msc_ctrl_reg = ADIS16136_REG_MSC_CTRL, \
456 .self_test_reg = ADIS16136_REG_MSC_CTRL, \
457 .self_test_mask = ADIS16136_MSC_CTRL_SELF_TEST, \
458 .read_delay = 10, \
459 .write_delay = 10, \
460 .status_error_msgs = adis16136_status_error_msgs, \
461 .status_error_mask = BIT(ADIS16136_DIAG_STAT_FLASH_UPDATE_FAIL) | \
462 BIT(ADIS16136_DIAG_STAT_SPI_FAIL) | \
463 BIT(ADIS16136_DIAG_STAT_SELF_TEST_FAIL) | \
464 BIT(ADIS16136_DIAG_STAT_FLASH_CHKSUM_FAIL), \
465 .timeouts = (_timeouts), \
466 }
467
468 enum adis16136_id {
469 ID_ADIS16133,
470 ID_ADIS16135,
471 ID_ADIS16136,
472 ID_ADIS16137,
473 };
474
475 static const struct adis_timeout adis16133_timeouts = {
476 .reset_ms = 75,
477 .sw_reset_ms = 75,
478 .self_test_ms = 50,
479 };
480
481 static const struct adis_timeout adis16136_timeouts = {
482 .reset_ms = 128,
483 .sw_reset_ms = 75,
484 .self_test_ms = 245,
485 };
486
487 static const struct adis16136_chip_info adis16136_chip_info[] = {
488 [ID_ADIS16133] = {
489 .precision = IIO_DEGREE_TO_RAD(1200),
490 .fullscale = 24000,
491 .adis_data = ADIS16136_DATA(&adis16133_timeouts),
492 },
493 [ID_ADIS16135] = {
494 .precision = IIO_DEGREE_TO_RAD(300),
495 .fullscale = 24000,
496 .adis_data = ADIS16136_DATA(&adis16133_timeouts),
497 },
498 [ID_ADIS16136] = {
499 .precision = IIO_DEGREE_TO_RAD(450),
500 .fullscale = 24623,
501 .adis_data = ADIS16136_DATA(&adis16136_timeouts),
502 },
503 [ID_ADIS16137] = {
504 .precision = IIO_DEGREE_TO_RAD(1000),
505 .fullscale = 24609,
506 .adis_data = ADIS16136_DATA(&adis16136_timeouts),
507 },
508 };
509
adis16136_stop(void * data)510 static void adis16136_stop(void *data)
511 {
512 adis16136_stop_device(data);
513 }
514
adis16136_probe(struct spi_device * spi)515 static int adis16136_probe(struct spi_device *spi)
516 {
517 const struct spi_device_id *id = spi_get_device_id(spi);
518 struct adis16136 *adis16136;
519 struct iio_dev *indio_dev;
520 const struct adis_data *adis16136_data;
521 int ret;
522
523 indio_dev = devm_iio_device_alloc(&spi->dev, sizeof(*adis16136));
524 if (indio_dev == NULL)
525 return -ENOMEM;
526
527 spi_set_drvdata(spi, indio_dev);
528
529 adis16136 = iio_priv(indio_dev);
530
531 adis16136->chip_info = &adis16136_chip_info[id->driver_data];
532 indio_dev->name = spi_get_device_id(spi)->name;
533 indio_dev->channels = adis16136_channels;
534 indio_dev->num_channels = ARRAY_SIZE(adis16136_channels);
535 indio_dev->info = &adis16136_info;
536 indio_dev->modes = INDIO_DIRECT_MODE;
537
538 adis16136_data = &adis16136->chip_info->adis_data;
539
540 ret = adis_init(&adis16136->adis, indio_dev, spi, adis16136_data);
541 if (ret)
542 return ret;
543
544 ret = devm_adis_setup_buffer_and_trigger(&adis16136->adis, indio_dev, NULL);
545 if (ret)
546 return ret;
547
548 ret = adis16136_initial_setup(indio_dev);
549 if (ret)
550 return ret;
551
552 ret = devm_add_action_or_reset(&spi->dev, adis16136_stop, indio_dev);
553 if (ret)
554 return ret;
555
556 ret = devm_iio_device_register(&spi->dev, indio_dev);
557 if (ret)
558 return ret;
559
560 adis16136_debugfs_init(indio_dev);
561
562 return 0;
563 }
564
565 static const struct spi_device_id adis16136_ids[] = {
566 { "adis16133", ID_ADIS16133 },
567 { "adis16135", ID_ADIS16135 },
568 { "adis16136", ID_ADIS16136 },
569 { "adis16137", ID_ADIS16137 },
570 { }
571 };
572 MODULE_DEVICE_TABLE(spi, adis16136_ids);
573
574 static struct spi_driver adis16136_driver = {
575 .driver = {
576 .name = "adis16136",
577 },
578 .id_table = adis16136_ids,
579 .probe = adis16136_probe,
580 };
581 module_spi_driver(adis16136_driver);
582
583 MODULE_AUTHOR("Lars-Peter Clausen <lars@metafoo.de>");
584 MODULE_DESCRIPTION("Analog Devices ADIS16133/ADIS16135/ADIS16136 gyroscope driver");
585 MODULE_LICENSE("GPL v2");
586 MODULE_IMPORT_NS(IIO_ADISLIB);
587