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 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 }; 106 107 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"); 124 125 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"); 142 143 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 159 160 static int adis16136_debugfs_init(struct iio_dev *indio_dev) 161 { 162 return 0; 163 } 164 165 #endif 166 167 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 } 181 182 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 } 195 196 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 } 215 216 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 }; 246 247 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 } 265 266 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 } 288 289 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 } 327 328 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 }; 403 404 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 } 416 417 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 }; 509 510 static void adis16136_stop(void *data) 511 { 512 adis16136_stop_device(data); 513 } 514 515 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