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_lock(&adis16136->adis);
225 ret = __adis16136_get_freq(adis16136, &freq);
226 adis_dev_unlock(&adis16136->adis);
227 if (ret)
228 return ret;
229
230 return sprintf(buf, "%d\n", freq);
231 }
232
233 static IIO_DEV_ATTR_SAMP_FREQ(S_IWUSR | S_IRUGO,
234 adis16136_read_frequency,
235 adis16136_write_frequency);
236
237 static const unsigned adis16136_3db_divisors[] = {
238 [0] = 2, /* Special case */
239 [1] = 6,
240 [2] = 12,
241 [3] = 25,
242 [4] = 50,
243 [5] = 100,
244 [6] = 200,
245 [7] = 200, /* Not a valid setting */
246 };
247
adis16136_set_filter(struct iio_dev * indio_dev,int val)248 static int adis16136_set_filter(struct iio_dev *indio_dev, int val)
249 {
250 struct adis16136 *adis16136 = iio_priv(indio_dev);
251 unsigned int freq;
252 int i, ret;
253
254 adis_dev_lock(&adis16136->adis);
255 ret = __adis16136_get_freq(adis16136, &freq);
256 if (ret)
257 goto out_unlock;
258
259 for (i = ARRAY_SIZE(adis16136_3db_divisors) - 1; i >= 1; i--) {
260 if (freq / adis16136_3db_divisors[i] >= val)
261 break;
262 }
263
264 ret = __adis_write_reg_16(&adis16136->adis, ADIS16136_REG_AVG_CNT, i);
265 out_unlock:
266 adis_dev_unlock(&adis16136->adis);
267
268 return ret;
269 }
270
adis16136_get_filter(struct iio_dev * indio_dev,int * val)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 adis_dev_lock(&adis16136->adis);
279
280 ret = __adis_read_reg_16(&adis16136->adis, ADIS16136_REG_AVG_CNT,
281 &val16);
282 if (ret)
283 goto err_unlock;
284
285 ret = __adis16136_get_freq(adis16136, &freq);
286 if (ret)
287 goto err_unlock;
288
289 *val = freq / adis16136_3db_divisors[val16 & 0x07];
290
291 err_unlock:
292 adis_dev_unlock(&adis16136->adis);
293
294 return ret ? ret : IIO_VAL_INT;
295 }
296
adis16136_read_raw(struct iio_dev * indio_dev,const struct iio_chan_spec * chan,int * val,int * val2,long info)297 static int adis16136_read_raw(struct iio_dev *indio_dev,
298 const struct iio_chan_spec *chan, int *val, int *val2, long info)
299 {
300 struct adis16136 *adis16136 = iio_priv(indio_dev);
301 uint32_t val32;
302 int ret;
303
304 switch (info) {
305 case IIO_CHAN_INFO_RAW:
306 return adis_single_conversion(indio_dev, chan, 0, val);
307 case IIO_CHAN_INFO_SCALE:
308 switch (chan->type) {
309 case IIO_ANGL_VEL:
310 *val = adis16136->chip_info->precision;
311 *val2 = (adis16136->chip_info->fullscale << 16);
312 return IIO_VAL_FRACTIONAL;
313 case IIO_TEMP:
314 *val = 10;
315 *val2 = 697000; /* 0.010697 degree Celsius */
316 return IIO_VAL_INT_PLUS_MICRO;
317 default:
318 return -EINVAL;
319 }
320 case IIO_CHAN_INFO_CALIBBIAS:
321 ret = adis_read_reg_32(&adis16136->adis,
322 ADIS16136_REG_GYRO_OFF2, &val32);
323 if (ret)
324 return ret;
325
326 *val = sign_extend32(val32, 31);
327
328 return IIO_VAL_INT;
329 case IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY:
330 return adis16136_get_filter(indio_dev, val);
331 default:
332 return -EINVAL;
333 }
334 }
335
adis16136_write_raw(struct iio_dev * indio_dev,const struct iio_chan_spec * chan,int val,int val2,long info)336 static int adis16136_write_raw(struct iio_dev *indio_dev,
337 const struct iio_chan_spec *chan, int val, int val2, long info)
338 {
339 struct adis16136 *adis16136 = iio_priv(indio_dev);
340
341 switch (info) {
342 case IIO_CHAN_INFO_CALIBBIAS:
343 return adis_write_reg_32(&adis16136->adis,
344 ADIS16136_REG_GYRO_OFF2, val);
345 case IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY:
346 return adis16136_set_filter(indio_dev, val);
347 default:
348 break;
349 }
350
351 return -EINVAL;
352 }
353
354 enum {
355 ADIS16136_SCAN_GYRO,
356 ADIS16136_SCAN_TEMP,
357 };
358
359 static const struct iio_chan_spec adis16136_channels[] = {
360 {
361 .type = IIO_ANGL_VEL,
362 .modified = 1,
363 .channel2 = IIO_MOD_X,
364 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) |
365 BIT(IIO_CHAN_INFO_CALIBBIAS) |
366 BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY),
367 .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE),
368
369 .address = ADIS16136_REG_GYRO_OUT2,
370 .scan_index = ADIS16136_SCAN_GYRO,
371 .scan_type = {
372 .sign = 's',
373 .realbits = 32,
374 .storagebits = 32,
375 .endianness = IIO_BE,
376 },
377 }, {
378 .type = IIO_TEMP,
379 .indexed = 1,
380 .channel = 0,
381 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) |
382 BIT(IIO_CHAN_INFO_SCALE),
383 .address = ADIS16136_REG_TEMP_OUT,
384 .scan_index = ADIS16136_SCAN_TEMP,
385 .scan_type = {
386 .sign = 's',
387 .realbits = 16,
388 .storagebits = 16,
389 .endianness = IIO_BE,
390 },
391 },
392 IIO_CHAN_SOFT_TIMESTAMP(2),
393 };
394
395 static struct attribute *adis16136_attributes[] = {
396 &iio_dev_attr_sampling_frequency.dev_attr.attr,
397 NULL
398 };
399
400 static const struct attribute_group adis16136_attribute_group = {
401 .attrs = adis16136_attributes,
402 };
403
404 static const struct iio_info adis16136_info = {
405 .attrs = &adis16136_attribute_group,
406 .read_raw = &adis16136_read_raw,
407 .write_raw = &adis16136_write_raw,
408 .update_scan_mode = adis_update_scan_mode,
409 .debugfs_reg_access = adis_debugfs_reg_access,
410 };
411
adis16136_stop_device(struct iio_dev * indio_dev)412 static int adis16136_stop_device(struct iio_dev *indio_dev)
413 {
414 struct adis16136 *adis16136 = iio_priv(indio_dev);
415 int ret;
416
417 ret = adis_write_reg_16(&adis16136->adis, ADIS16136_REG_SLP_CTRL, 0xff);
418 if (ret)
419 dev_err(&indio_dev->dev,
420 "Could not power down device: %d\n", ret);
421
422 return ret;
423 }
424
adis16136_initial_setup(struct iio_dev * indio_dev)425 static int adis16136_initial_setup(struct iio_dev *indio_dev)
426 {
427 struct adis16136 *adis16136 = iio_priv(indio_dev);
428 unsigned int device_id;
429 uint16_t prod_id;
430 int ret;
431
432 ret = __adis_initial_startup(&adis16136->adis);
433 if (ret)
434 return ret;
435
436 ret = adis_read_reg_16(&adis16136->adis, ADIS16136_REG_PROD_ID,
437 &prod_id);
438 if (ret)
439 return ret;
440
441 ret = sscanf(indio_dev->name, "adis%u\n", &device_id);
442 if (ret != 1)
443 return -EINVAL;
444
445 if (prod_id != device_id)
446 dev_warn(&indio_dev->dev, "Device ID(%u) and product ID(%u) do not match.",
447 device_id, prod_id);
448
449 return 0;
450 }
451
452 static const char * const adis16136_status_error_msgs[] = {
453 [ADIS16136_DIAG_STAT_FLASH_UPDATE_FAIL] = "Flash update failed",
454 [ADIS16136_DIAG_STAT_SPI_FAIL] = "SPI failure",
455 [ADIS16136_DIAG_STAT_SELF_TEST_FAIL] = "Self test error",
456 [ADIS16136_DIAG_STAT_FLASH_CHKSUM_FAIL] = "Flash checksum error",
457 };
458
459 #define ADIS16136_DATA(_timeouts) \
460 { \
461 .diag_stat_reg = ADIS16136_REG_DIAG_STAT, \
462 .glob_cmd_reg = ADIS16136_REG_GLOB_CMD, \
463 .msc_ctrl_reg = ADIS16136_REG_MSC_CTRL, \
464 .self_test_reg = ADIS16136_REG_MSC_CTRL, \
465 .self_test_mask = ADIS16136_MSC_CTRL_SELF_TEST, \
466 .read_delay = 10, \
467 .write_delay = 10, \
468 .status_error_msgs = adis16136_status_error_msgs, \
469 .status_error_mask = BIT(ADIS16136_DIAG_STAT_FLASH_UPDATE_FAIL) | \
470 BIT(ADIS16136_DIAG_STAT_SPI_FAIL) | \
471 BIT(ADIS16136_DIAG_STAT_SELF_TEST_FAIL) | \
472 BIT(ADIS16136_DIAG_STAT_FLASH_CHKSUM_FAIL), \
473 .timeouts = (_timeouts), \
474 }
475
476 enum adis16136_id {
477 ID_ADIS16133,
478 ID_ADIS16135,
479 ID_ADIS16136,
480 ID_ADIS16137,
481 };
482
483 static const struct adis_timeout adis16133_timeouts = {
484 .reset_ms = 75,
485 .sw_reset_ms = 75,
486 .self_test_ms = 50,
487 };
488
489 static const struct adis_timeout adis16136_timeouts = {
490 .reset_ms = 128,
491 .sw_reset_ms = 75,
492 .self_test_ms = 245,
493 };
494
495 static const struct adis16136_chip_info adis16136_chip_info[] = {
496 [ID_ADIS16133] = {
497 .precision = IIO_DEGREE_TO_RAD(1200),
498 .fullscale = 24000,
499 .adis_data = ADIS16136_DATA(&adis16133_timeouts),
500 },
501 [ID_ADIS16135] = {
502 .precision = IIO_DEGREE_TO_RAD(300),
503 .fullscale = 24000,
504 .adis_data = ADIS16136_DATA(&adis16133_timeouts),
505 },
506 [ID_ADIS16136] = {
507 .precision = IIO_DEGREE_TO_RAD(450),
508 .fullscale = 24623,
509 .adis_data = ADIS16136_DATA(&adis16136_timeouts),
510 },
511 [ID_ADIS16137] = {
512 .precision = IIO_DEGREE_TO_RAD(1000),
513 .fullscale = 24609,
514 .adis_data = ADIS16136_DATA(&adis16136_timeouts),
515 },
516 };
517
adis16136_stop(void * data)518 static void adis16136_stop(void *data)
519 {
520 adis16136_stop_device(data);
521 }
522
adis16136_probe(struct spi_device * spi)523 static int adis16136_probe(struct spi_device *spi)
524 {
525 const struct spi_device_id *id = spi_get_device_id(spi);
526 struct adis16136 *adis16136;
527 struct iio_dev *indio_dev;
528 const struct adis_data *adis16136_data;
529 int ret;
530
531 indio_dev = devm_iio_device_alloc(&spi->dev, sizeof(*adis16136));
532 if (indio_dev == NULL)
533 return -ENOMEM;
534
535 spi_set_drvdata(spi, indio_dev);
536
537 adis16136 = iio_priv(indio_dev);
538
539 adis16136->chip_info = &adis16136_chip_info[id->driver_data];
540 indio_dev->name = spi_get_device_id(spi)->name;
541 indio_dev->channels = adis16136_channels;
542 indio_dev->num_channels = ARRAY_SIZE(adis16136_channels);
543 indio_dev->info = &adis16136_info;
544 indio_dev->modes = INDIO_DIRECT_MODE;
545
546 adis16136_data = &adis16136->chip_info->adis_data;
547
548 ret = adis_init(&adis16136->adis, indio_dev, spi, adis16136_data);
549 if (ret)
550 return ret;
551
552 ret = devm_adis_setup_buffer_and_trigger(&adis16136->adis, indio_dev, NULL);
553 if (ret)
554 return ret;
555
556 ret = adis16136_initial_setup(indio_dev);
557 if (ret)
558 return ret;
559
560 ret = devm_add_action_or_reset(&spi->dev, adis16136_stop, indio_dev);
561 if (ret)
562 return ret;
563
564 ret = devm_iio_device_register(&spi->dev, indio_dev);
565 if (ret)
566 return ret;
567
568 adis16136_debugfs_init(indio_dev);
569
570 return 0;
571 }
572
573 static const struct spi_device_id adis16136_ids[] = {
574 { "adis16133", ID_ADIS16133 },
575 { "adis16135", ID_ADIS16135 },
576 { "adis16136", ID_ADIS16136 },
577 { "adis16137", ID_ADIS16137 },
578 { }
579 };
580 MODULE_DEVICE_TABLE(spi, adis16136_ids);
581
582 static struct spi_driver adis16136_driver = {
583 .driver = {
584 .name = "adis16136",
585 },
586 .id_table = adis16136_ids,
587 .probe = adis16136_probe,
588 };
589 module_spi_driver(adis16136_driver);
590
591 MODULE_AUTHOR("Lars-Peter Clausen <lars@metafoo.de>");
592 MODULE_DESCRIPTION("Analog Devices ADIS16133/ADIS16135/ADIS16136 gyroscope driver");
593 MODULE_LICENSE("GPL v2");
594 MODULE_IMPORT_NS(IIO_ADISLIB);
595