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_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 }; 247 248 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 } 270 271 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 } 296 297 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 } 335 336 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 }; 411 412 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 } 424 425 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 }; 517 518 static void adis16136_stop(void *data) 519 { 520 adis16136_stop_device(data); 521 } 522 523 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