1 /* 2 * ADIS16133/ADIS16135/ADIS16136 gyroscope driver 3 * 4 * Copyright 2012 Analog Devices Inc. 5 * Author: Lars-Peter Clausen <lars@metafoo.de> 6 * 7 * Licensed under the GPL-2. 8 */ 9 10 #include <linux/interrupt.h> 11 #include <linux/delay.h> 12 #include <linux/mutex.h> 13 #include <linux/device.h> 14 #include <linux/kernel.h> 15 #include <linux/spi/spi.h> 16 #include <linux/slab.h> 17 #include <linux/sysfs.h> 18 #include <linux/module.h> 19 20 #include <linux/iio/iio.h> 21 #include <linux/iio/sysfs.h> 22 #include <linux/iio/buffer.h> 23 #include <linux/iio/imu/adis.h> 24 25 #include <linux/debugfs.h> 26 27 #define ADIS16136_REG_FLASH_CNT 0x00 28 #define ADIS16136_REG_TEMP_OUT 0x02 29 #define ADIS16136_REG_GYRO_OUT2 0x04 30 #define ADIS16136_REG_GYRO_OUT 0x06 31 #define ADIS16136_REG_GYRO_OFF2 0x08 32 #define ADIS16136_REG_GYRO_OFF 0x0A 33 #define ADIS16136_REG_ALM_MAG1 0x10 34 #define ADIS16136_REG_ALM_MAG2 0x12 35 #define ADIS16136_REG_ALM_SAMPL1 0x14 36 #define ADIS16136_REG_ALM_SAMPL2 0x16 37 #define ADIS16136_REG_ALM_CTRL 0x18 38 #define ADIS16136_REG_GPIO_CTRL 0x1A 39 #define ADIS16136_REG_MSC_CTRL 0x1C 40 #define ADIS16136_REG_SMPL_PRD 0x1E 41 #define ADIS16136_REG_AVG_CNT 0x20 42 #define ADIS16136_REG_DEC_RATE 0x22 43 #define ADIS16136_REG_SLP_CTRL 0x24 44 #define ADIS16136_REG_DIAG_STAT 0x26 45 #define ADIS16136_REG_GLOB_CMD 0x28 46 #define ADIS16136_REG_LOT1 0x32 47 #define ADIS16136_REG_LOT2 0x34 48 #define ADIS16136_REG_LOT3 0x36 49 #define ADIS16136_REG_PROD_ID 0x38 50 #define ADIS16136_REG_SERIAL_NUM 0x3A 51 52 #define ADIS16136_DIAG_STAT_FLASH_UPDATE_FAIL 2 53 #define ADIS16136_DIAG_STAT_SPI_FAIL 3 54 #define ADIS16136_DIAG_STAT_SELF_TEST_FAIL 5 55 #define ADIS16136_DIAG_STAT_FLASH_CHKSUM_FAIL 6 56 57 #define ADIS16136_MSC_CTRL_MEMORY_TEST BIT(11) 58 #define ADIS16136_MSC_CTRL_SELF_TEST BIT(10) 59 60 struct adis16136_chip_info { 61 unsigned int precision; 62 unsigned int fullscale; 63 }; 64 65 struct adis16136 { 66 const struct adis16136_chip_info *chip_info; 67 68 struct adis adis; 69 }; 70 71 #ifdef CONFIG_DEBUG_FS 72 73 static ssize_t adis16136_show_serial(struct file *file, 74 char __user *userbuf, size_t count, loff_t *ppos) 75 { 76 struct adis16136 *adis16136 = file->private_data; 77 uint16_t lot1, lot2, lot3, serial; 78 char buf[20]; 79 size_t len; 80 int ret; 81 82 ret = adis_read_reg_16(&adis16136->adis, ADIS16136_REG_SERIAL_NUM, 83 &serial); 84 if (ret < 0) 85 return ret; 86 87 ret = adis_read_reg_16(&adis16136->adis, ADIS16136_REG_LOT1, &lot1); 88 if (ret < 0) 89 return ret; 90 91 ret = adis_read_reg_16(&adis16136->adis, ADIS16136_REG_LOT2, &lot2); 92 if (ret < 0) 93 return ret; 94 95 ret = adis_read_reg_16(&adis16136->adis, ADIS16136_REG_LOT3, &lot3); 96 if (ret < 0) 97 return ret; 98 99 len = snprintf(buf, sizeof(buf), "%.4x%.4x%.4x-%.4x\n", lot1, lot2, 100 lot3, serial); 101 102 return simple_read_from_buffer(userbuf, count, ppos, buf, len); 103 } 104 105 static const struct file_operations adis16136_serial_fops = { 106 .open = simple_open, 107 .read = adis16136_show_serial, 108 .llseek = default_llseek, 109 .owner = THIS_MODULE, 110 }; 111 112 static int adis16136_show_product_id(void *arg, u64 *val) 113 { 114 struct adis16136 *adis16136 = arg; 115 u16 prod_id; 116 int ret; 117 118 ret = adis_read_reg_16(&adis16136->adis, ADIS16136_REG_PROD_ID, 119 &prod_id); 120 if (ret < 0) 121 return ret; 122 123 *val = prod_id; 124 125 return 0; 126 } 127 DEFINE_DEBUGFS_ATTRIBUTE(adis16136_product_id_fops, 128 adis16136_show_product_id, NULL, "%llu\n"); 129 130 static int adis16136_show_flash_count(void *arg, u64 *val) 131 { 132 struct adis16136 *adis16136 = arg; 133 uint16_t flash_count; 134 int ret; 135 136 ret = adis_read_reg_16(&adis16136->adis, ADIS16136_REG_FLASH_CNT, 137 &flash_count); 138 if (ret < 0) 139 return ret; 140 141 *val = flash_count; 142 143 return 0; 144 } 145 DEFINE_DEBUGFS_ATTRIBUTE(adis16136_flash_count_fops, 146 adis16136_show_flash_count, NULL, "%lld\n"); 147 148 static int adis16136_debugfs_init(struct iio_dev *indio_dev) 149 { 150 struct adis16136 *adis16136 = iio_priv(indio_dev); 151 152 debugfs_create_file_unsafe("serial_number", 0400, 153 indio_dev->debugfs_dentry, adis16136, 154 &adis16136_serial_fops); 155 debugfs_create_file_unsafe("product_id", 0400, 156 indio_dev->debugfs_dentry, 157 adis16136, &adis16136_product_id_fops); 158 debugfs_create_file_unsafe("flash_count", 0400, 159 indio_dev->debugfs_dentry, 160 adis16136, &adis16136_flash_count_fops); 161 162 return 0; 163 } 164 165 #else 166 167 static int adis16136_debugfs_init(struct iio_dev *indio_dev) 168 { 169 return 0; 170 } 171 172 #endif 173 174 static int adis16136_set_freq(struct adis16136 *adis16136, unsigned int freq) 175 { 176 unsigned int t; 177 178 t = 32768 / freq; 179 if (t < 0xf) 180 t = 0xf; 181 else if (t > 0xffff) 182 t = 0xffff; 183 else 184 t--; 185 186 return adis_write_reg_16(&adis16136->adis, ADIS16136_REG_SMPL_PRD, t); 187 } 188 189 static int adis16136_get_freq(struct adis16136 *adis16136, unsigned int *freq) 190 { 191 uint16_t t; 192 int ret; 193 194 ret = adis_read_reg_16(&adis16136->adis, ADIS16136_REG_SMPL_PRD, &t); 195 if (ret < 0) 196 return ret; 197 198 *freq = 32768 / (t + 1); 199 200 return 0; 201 } 202 203 static ssize_t adis16136_write_frequency(struct device *dev, 204 struct device_attribute *attr, const char *buf, size_t len) 205 { 206 struct iio_dev *indio_dev = dev_to_iio_dev(dev); 207 struct adis16136 *adis16136 = iio_priv(indio_dev); 208 unsigned int val; 209 int ret; 210 211 ret = kstrtouint(buf, 10, &val); 212 if (ret) 213 return ret; 214 215 if (val == 0) 216 return -EINVAL; 217 218 ret = adis16136_set_freq(adis16136, val); 219 220 return ret ? ret : len; 221 } 222 223 static ssize_t adis16136_read_frequency(struct device *dev, 224 struct device_attribute *attr, char *buf) 225 { 226 struct iio_dev *indio_dev = dev_to_iio_dev(dev); 227 struct adis16136 *adis16136 = iio_priv(indio_dev); 228 unsigned int freq; 229 int ret; 230 231 ret = adis16136_get_freq(adis16136, &freq); 232 if (ret < 0) 233 return ret; 234 235 return sprintf(buf, "%d\n", freq); 236 } 237 238 static IIO_DEV_ATTR_SAMP_FREQ(S_IWUSR | S_IRUGO, 239 adis16136_read_frequency, 240 adis16136_write_frequency); 241 242 static const unsigned adis16136_3db_divisors[] = { 243 [0] = 2, /* Special case */ 244 [1] = 6, 245 [2] = 12, 246 [3] = 25, 247 [4] = 50, 248 [5] = 100, 249 [6] = 200, 250 [7] = 200, /* Not a valid setting */ 251 }; 252 253 static int adis16136_set_filter(struct iio_dev *indio_dev, int val) 254 { 255 struct adis16136 *adis16136 = iio_priv(indio_dev); 256 unsigned int freq; 257 int i, ret; 258 259 ret = adis16136_get_freq(adis16136, &freq); 260 if (ret < 0) 261 return ret; 262 263 for (i = ARRAY_SIZE(adis16136_3db_divisors) - 1; i >= 1; i--) { 264 if (freq / adis16136_3db_divisors[i] >= val) 265 break; 266 } 267 268 return adis_write_reg_16(&adis16136->adis, ADIS16136_REG_AVG_CNT, i); 269 } 270 271 static int adis16136_get_filter(struct iio_dev *indio_dev, int *val) 272 { 273 struct adis16136 *adis16136 = iio_priv(indio_dev); 274 unsigned int freq; 275 uint16_t val16; 276 int ret; 277 278 mutex_lock(&indio_dev->mlock); 279 280 ret = adis_read_reg_16(&adis16136->adis, ADIS16136_REG_AVG_CNT, &val16); 281 if (ret < 0) 282 goto err_unlock; 283 284 ret = adis16136_get_freq(adis16136, &freq); 285 if (ret < 0) 286 goto err_unlock; 287 288 *val = freq / adis16136_3db_divisors[val16 & 0x07]; 289 290 err_unlock: 291 mutex_unlock(&indio_dev->mlock); 292 293 return ret ? ret : IIO_VAL_INT; 294 } 295 296 static int adis16136_read_raw(struct iio_dev *indio_dev, 297 const struct iio_chan_spec *chan, int *val, int *val2, long info) 298 { 299 struct adis16136 *adis16136 = iio_priv(indio_dev); 300 uint32_t val32; 301 int ret; 302 303 switch (info) { 304 case IIO_CHAN_INFO_RAW: 305 return adis_single_conversion(indio_dev, chan, 0, val); 306 case IIO_CHAN_INFO_SCALE: 307 switch (chan->type) { 308 case IIO_ANGL_VEL: 309 *val = adis16136->chip_info->precision; 310 *val2 = (adis16136->chip_info->fullscale << 16); 311 return IIO_VAL_FRACTIONAL; 312 case IIO_TEMP: 313 *val = 10; 314 *val2 = 697000; /* 0.010697 degree Celsius */ 315 return IIO_VAL_INT_PLUS_MICRO; 316 default: 317 return -EINVAL; 318 } 319 case IIO_CHAN_INFO_CALIBBIAS: 320 ret = adis_read_reg_32(&adis16136->adis, 321 ADIS16136_REG_GYRO_OFF2, &val32); 322 if (ret < 0) 323 return ret; 324 325 *val = sign_extend32(val32, 31); 326 327 return IIO_VAL_INT; 328 case IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY: 329 return adis16136_get_filter(indio_dev, val); 330 default: 331 return -EINVAL; 332 } 333 } 334 335 static int adis16136_write_raw(struct iio_dev *indio_dev, 336 const struct iio_chan_spec *chan, int val, int val2, long info) 337 { 338 struct adis16136 *adis16136 = iio_priv(indio_dev); 339 340 switch (info) { 341 case IIO_CHAN_INFO_CALIBBIAS: 342 return adis_write_reg_32(&adis16136->adis, 343 ADIS16136_REG_GYRO_OFF2, val); 344 case IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY: 345 return adis16136_set_filter(indio_dev, val); 346 default: 347 break; 348 } 349 350 return -EINVAL; 351 } 352 353 enum { 354 ADIS16136_SCAN_GYRO, 355 ADIS16136_SCAN_TEMP, 356 }; 357 358 static const struct iio_chan_spec adis16136_channels[] = { 359 { 360 .type = IIO_ANGL_VEL, 361 .modified = 1, 362 .channel2 = IIO_MOD_X, 363 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | 364 BIT(IIO_CHAN_INFO_CALIBBIAS) | 365 BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY), 366 .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE), 367 368 .address = ADIS16136_REG_GYRO_OUT2, 369 .scan_index = ADIS16136_SCAN_GYRO, 370 .scan_type = { 371 .sign = 's', 372 .realbits = 32, 373 .storagebits = 32, 374 .endianness = IIO_BE, 375 }, 376 }, { 377 .type = IIO_TEMP, 378 .indexed = 1, 379 .channel = 0, 380 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | 381 BIT(IIO_CHAN_INFO_SCALE), 382 .address = ADIS16136_REG_TEMP_OUT, 383 .scan_index = ADIS16136_SCAN_TEMP, 384 .scan_type = { 385 .sign = 's', 386 .realbits = 16, 387 .storagebits = 16, 388 .endianness = IIO_BE, 389 }, 390 }, 391 IIO_CHAN_SOFT_TIMESTAMP(2), 392 }; 393 394 static struct attribute *adis16136_attributes[] = { 395 &iio_dev_attr_sampling_frequency.dev_attr.attr, 396 NULL 397 }; 398 399 static const struct attribute_group adis16136_attribute_group = { 400 .attrs = adis16136_attributes, 401 }; 402 403 static const struct iio_info adis16136_info = { 404 .attrs = &adis16136_attribute_group, 405 .read_raw = &adis16136_read_raw, 406 .write_raw = &adis16136_write_raw, 407 .update_scan_mode = adis_update_scan_mode, 408 .debugfs_reg_access = adis_debugfs_reg_access, 409 }; 410 411 static int adis16136_stop_device(struct iio_dev *indio_dev) 412 { 413 struct adis16136 *adis16136 = iio_priv(indio_dev); 414 int ret; 415 416 ret = adis_write_reg_16(&adis16136->adis, ADIS16136_REG_SLP_CTRL, 0xff); 417 if (ret) 418 dev_err(&indio_dev->dev, 419 "Could not power down device: %d\n", ret); 420 421 return ret; 422 } 423 424 static int adis16136_initial_setup(struct iio_dev *indio_dev) 425 { 426 struct adis16136 *adis16136 = iio_priv(indio_dev); 427 unsigned int device_id; 428 uint16_t prod_id; 429 int ret; 430 431 ret = adis_initial_startup(&adis16136->adis); 432 if (ret) 433 return ret; 434 435 ret = adis_read_reg_16(&adis16136->adis, ADIS16136_REG_PROD_ID, 436 &prod_id); 437 if (ret) 438 return ret; 439 440 ret = sscanf(indio_dev->name, "adis%u\n", &device_id); 441 if (ret != 1) 442 return -EINVAL; 443 444 if (prod_id != device_id) 445 dev_warn(&indio_dev->dev, "Device ID(%u) and product ID(%u) do not match.", 446 device_id, prod_id); 447 448 return 0; 449 } 450 451 static const char * const adis16136_status_error_msgs[] = { 452 [ADIS16136_DIAG_STAT_FLASH_UPDATE_FAIL] = "Flash update failed", 453 [ADIS16136_DIAG_STAT_SPI_FAIL] = "SPI failure", 454 [ADIS16136_DIAG_STAT_SELF_TEST_FAIL] = "Self test error", 455 [ADIS16136_DIAG_STAT_FLASH_CHKSUM_FAIL] = "Flash checksum error", 456 }; 457 458 static const struct adis_data adis16136_data = { 459 .diag_stat_reg = ADIS16136_REG_DIAG_STAT, 460 .glob_cmd_reg = ADIS16136_REG_GLOB_CMD, 461 .msc_ctrl_reg = ADIS16136_REG_MSC_CTRL, 462 463 .self_test_mask = ADIS16136_MSC_CTRL_SELF_TEST, 464 .startup_delay = 80, 465 466 .read_delay = 10, 467 .write_delay = 10, 468 469 .status_error_msgs = adis16136_status_error_msgs, 470 .status_error_mask = BIT(ADIS16136_DIAG_STAT_FLASH_UPDATE_FAIL) | 471 BIT(ADIS16136_DIAG_STAT_SPI_FAIL) | 472 BIT(ADIS16136_DIAG_STAT_SELF_TEST_FAIL) | 473 BIT(ADIS16136_DIAG_STAT_FLASH_CHKSUM_FAIL), 474 }; 475 476 enum adis16136_id { 477 ID_ADIS16133, 478 ID_ADIS16135, 479 ID_ADIS16136, 480 ID_ADIS16137, 481 }; 482 483 static const struct adis16136_chip_info adis16136_chip_info[] = { 484 [ID_ADIS16133] = { 485 .precision = IIO_DEGREE_TO_RAD(1200), 486 .fullscale = 24000, 487 }, 488 [ID_ADIS16135] = { 489 .precision = IIO_DEGREE_TO_RAD(300), 490 .fullscale = 24000, 491 }, 492 [ID_ADIS16136] = { 493 .precision = IIO_DEGREE_TO_RAD(450), 494 .fullscale = 24623, 495 }, 496 [ID_ADIS16137] = { 497 .precision = IIO_DEGREE_TO_RAD(1000), 498 .fullscale = 24609, 499 }, 500 }; 501 502 static int adis16136_probe(struct spi_device *spi) 503 { 504 const struct spi_device_id *id = spi_get_device_id(spi); 505 struct adis16136 *adis16136; 506 struct iio_dev *indio_dev; 507 int ret; 508 509 indio_dev = devm_iio_device_alloc(&spi->dev, sizeof(*adis16136)); 510 if (indio_dev == NULL) 511 return -ENOMEM; 512 513 spi_set_drvdata(spi, indio_dev); 514 515 adis16136 = iio_priv(indio_dev); 516 517 adis16136->chip_info = &adis16136_chip_info[id->driver_data]; 518 indio_dev->dev.parent = &spi->dev; 519 indio_dev->name = spi_get_device_id(spi)->name; 520 indio_dev->channels = adis16136_channels; 521 indio_dev->num_channels = ARRAY_SIZE(adis16136_channels); 522 indio_dev->info = &adis16136_info; 523 indio_dev->modes = INDIO_DIRECT_MODE; 524 525 ret = adis_init(&adis16136->adis, indio_dev, spi, &adis16136_data); 526 if (ret) 527 return ret; 528 529 ret = adis_setup_buffer_and_trigger(&adis16136->adis, indio_dev, NULL); 530 if (ret) 531 return ret; 532 533 ret = adis16136_initial_setup(indio_dev); 534 if (ret) 535 goto error_cleanup_buffer; 536 537 ret = iio_device_register(indio_dev); 538 if (ret) 539 goto error_stop_device; 540 541 adis16136_debugfs_init(indio_dev); 542 543 return 0; 544 545 error_stop_device: 546 adis16136_stop_device(indio_dev); 547 error_cleanup_buffer: 548 adis_cleanup_buffer_and_trigger(&adis16136->adis, indio_dev); 549 return ret; 550 } 551 552 static int adis16136_remove(struct spi_device *spi) 553 { 554 struct iio_dev *indio_dev = spi_get_drvdata(spi); 555 struct adis16136 *adis16136 = iio_priv(indio_dev); 556 557 iio_device_unregister(indio_dev); 558 adis16136_stop_device(indio_dev); 559 560 adis_cleanup_buffer_and_trigger(&adis16136->adis, 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 .remove = adis16136_remove, 581 }; 582 module_spi_driver(adis16136_driver); 583 584 MODULE_AUTHOR("Lars-Peter Clausen <lars@metafoo.de>"); 585 MODULE_DESCRIPTION("Analog Devices ADIS16133/ADIS16135/ADIS16136 gyroscope driver"); 586 MODULE_LICENSE("GPL v2"); 587