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_SIMPLE_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_SIMPLE_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("serial_number", 0400, indio_dev->debugfs_dentry, 153 adis16136, &adis16136_serial_fops); 154 debugfs_create_file("product_id", 0400, indio_dev->debugfs_dentry, 155 adis16136, &adis16136_product_id_fops); 156 debugfs_create_file("flash_count", 0400, indio_dev->debugfs_dentry, 157 adis16136, &adis16136_flash_count_fops); 158 159 return 0; 160 } 161 162 #else 163 164 static int adis16136_debugfs_init(struct iio_dev *indio_dev) 165 { 166 return 0; 167 } 168 169 #endif 170 171 static int adis16136_set_freq(struct adis16136 *adis16136, unsigned int freq) 172 { 173 unsigned int t; 174 175 t = 32768 / freq; 176 if (t < 0xf) 177 t = 0xf; 178 else if (t > 0xffff) 179 t = 0xffff; 180 else 181 t--; 182 183 return adis_write_reg_16(&adis16136->adis, ADIS16136_REG_SMPL_PRD, t); 184 } 185 186 static int adis16136_get_freq(struct adis16136 *adis16136, unsigned int *freq) 187 { 188 uint16_t t; 189 int ret; 190 191 ret = adis_read_reg_16(&adis16136->adis, ADIS16136_REG_SMPL_PRD, &t); 192 if (ret < 0) 193 return ret; 194 195 *freq = 32768 / (t + 1); 196 197 return 0; 198 } 199 200 static ssize_t adis16136_write_frequency(struct device *dev, 201 struct device_attribute *attr, const char *buf, size_t len) 202 { 203 struct iio_dev *indio_dev = dev_to_iio_dev(dev); 204 struct adis16136 *adis16136 = iio_priv(indio_dev); 205 unsigned int val; 206 int ret; 207 208 ret = kstrtouint(buf, 10, &val); 209 if (ret) 210 return ret; 211 212 if (val == 0) 213 return -EINVAL; 214 215 ret = adis16136_set_freq(adis16136, val); 216 217 return ret ? ret : len; 218 } 219 220 static ssize_t adis16136_read_frequency(struct device *dev, 221 struct device_attribute *attr, char *buf) 222 { 223 struct iio_dev *indio_dev = dev_to_iio_dev(dev); 224 struct adis16136 *adis16136 = iio_priv(indio_dev); 225 unsigned int freq; 226 int ret; 227 228 ret = adis16136_get_freq(adis16136, &freq); 229 if (ret < 0) 230 return ret; 231 232 return sprintf(buf, "%d\n", freq); 233 } 234 235 static IIO_DEV_ATTR_SAMP_FREQ(S_IWUSR | S_IRUGO, 236 adis16136_read_frequency, 237 adis16136_write_frequency); 238 239 static const unsigned adis16136_3db_divisors[] = { 240 [0] = 2, /* Special case */ 241 [1] = 6, 242 [2] = 12, 243 [3] = 25, 244 [4] = 50, 245 [5] = 100, 246 [6] = 200, 247 [7] = 200, /* Not a valid setting */ 248 }; 249 250 static int adis16136_set_filter(struct iio_dev *indio_dev, int val) 251 { 252 struct adis16136 *adis16136 = iio_priv(indio_dev); 253 unsigned int freq; 254 int i, ret; 255 256 ret = adis16136_get_freq(adis16136, &freq); 257 if (ret < 0) 258 return ret; 259 260 for (i = ARRAY_SIZE(adis16136_3db_divisors) - 1; i >= 1; i--) { 261 if (freq / adis16136_3db_divisors[i] >= val) 262 break; 263 } 264 265 return adis_write_reg_16(&adis16136->adis, ADIS16136_REG_AVG_CNT, i); 266 } 267 268 static int adis16136_get_filter(struct iio_dev *indio_dev, int *val) 269 { 270 struct adis16136 *adis16136 = iio_priv(indio_dev); 271 unsigned int freq; 272 uint16_t val16; 273 int ret; 274 275 mutex_lock(&indio_dev->mlock); 276 277 ret = adis_read_reg_16(&adis16136->adis, ADIS16136_REG_AVG_CNT, &val16); 278 if (ret < 0) 279 goto err_unlock; 280 281 ret = adis16136_get_freq(adis16136, &freq); 282 if (ret < 0) 283 goto err_unlock; 284 285 *val = freq / adis16136_3db_divisors[val16 & 0x07]; 286 287 err_unlock: 288 mutex_unlock(&indio_dev->mlock); 289 290 return ret ? ret : IIO_VAL_INT; 291 } 292 293 static int adis16136_read_raw(struct iio_dev *indio_dev, 294 const struct iio_chan_spec *chan, int *val, int *val2, long info) 295 { 296 struct adis16136 *adis16136 = iio_priv(indio_dev); 297 uint32_t val32; 298 int ret; 299 300 switch (info) { 301 case IIO_CHAN_INFO_RAW: 302 return adis_single_conversion(indio_dev, chan, 0, val); 303 case IIO_CHAN_INFO_SCALE: 304 switch (chan->type) { 305 case IIO_ANGL_VEL: 306 *val = adis16136->chip_info->precision; 307 *val2 = (adis16136->chip_info->fullscale << 16); 308 return IIO_VAL_FRACTIONAL; 309 case IIO_TEMP: 310 *val = 10; 311 *val2 = 697000; /* 0.010697 degree Celsius */ 312 return IIO_VAL_INT_PLUS_MICRO; 313 default: 314 return -EINVAL; 315 } 316 case IIO_CHAN_INFO_CALIBBIAS: 317 ret = adis_read_reg_32(&adis16136->adis, 318 ADIS16136_REG_GYRO_OFF2, &val32); 319 if (ret < 0) 320 return ret; 321 322 *val = sign_extend32(val32, 31); 323 324 return IIO_VAL_INT; 325 case IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY: 326 return adis16136_get_filter(indio_dev, val); 327 default: 328 return -EINVAL; 329 } 330 } 331 332 static int adis16136_write_raw(struct iio_dev *indio_dev, 333 const struct iio_chan_spec *chan, int val, int val2, long info) 334 { 335 struct adis16136 *adis16136 = iio_priv(indio_dev); 336 337 switch (info) { 338 case IIO_CHAN_INFO_CALIBBIAS: 339 return adis_write_reg_32(&adis16136->adis, 340 ADIS16136_REG_GYRO_OFF2, val); 341 case IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY: 342 return adis16136_set_filter(indio_dev, val); 343 default: 344 break; 345 } 346 347 return -EINVAL; 348 } 349 350 enum { 351 ADIS16136_SCAN_GYRO, 352 ADIS16136_SCAN_TEMP, 353 }; 354 355 static const struct iio_chan_spec adis16136_channels[] = { 356 { 357 .type = IIO_ANGL_VEL, 358 .modified = 1, 359 .channel2 = IIO_MOD_X, 360 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | 361 BIT(IIO_CHAN_INFO_CALIBBIAS) | 362 BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY), 363 .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE), 364 365 .address = ADIS16136_REG_GYRO_OUT2, 366 .scan_index = ADIS16136_SCAN_GYRO, 367 .scan_type = { 368 .sign = 's', 369 .realbits = 32, 370 .storagebits = 32, 371 .endianness = IIO_BE, 372 }, 373 }, { 374 .type = IIO_TEMP, 375 .indexed = 1, 376 .channel = 0, 377 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | 378 BIT(IIO_CHAN_INFO_SCALE), 379 .address = ADIS16136_REG_TEMP_OUT, 380 .scan_index = ADIS16136_SCAN_TEMP, 381 .scan_type = { 382 .sign = 's', 383 .realbits = 16, 384 .storagebits = 16, 385 .endianness = IIO_BE, 386 }, 387 }, 388 IIO_CHAN_SOFT_TIMESTAMP(2), 389 }; 390 391 static struct attribute *adis16136_attributes[] = { 392 &iio_dev_attr_sampling_frequency.dev_attr.attr, 393 NULL 394 }; 395 396 static const struct attribute_group adis16136_attribute_group = { 397 .attrs = adis16136_attributes, 398 }; 399 400 static const struct iio_info adis16136_info = { 401 .driver_module = THIS_MODULE, 402 .attrs = &adis16136_attribute_group, 403 .read_raw = &adis16136_read_raw, 404 .write_raw = &adis16136_write_raw, 405 .update_scan_mode = adis_update_scan_mode, 406 .debugfs_reg_access = adis_debugfs_reg_access, 407 }; 408 409 static int adis16136_stop_device(struct iio_dev *indio_dev) 410 { 411 struct adis16136 *adis16136 = iio_priv(indio_dev); 412 int ret; 413 414 ret = adis_write_reg_16(&adis16136->adis, ADIS16136_REG_SLP_CTRL, 0xff); 415 if (ret) 416 dev_err(&indio_dev->dev, 417 "Could not power down device: %d\n", ret); 418 419 return ret; 420 } 421 422 static int adis16136_initial_setup(struct iio_dev *indio_dev) 423 { 424 struct adis16136 *adis16136 = iio_priv(indio_dev); 425 unsigned int device_id; 426 uint16_t prod_id; 427 int ret; 428 429 ret = adis_initial_startup(&adis16136->adis); 430 if (ret) 431 return ret; 432 433 ret = adis_read_reg_16(&adis16136->adis, ADIS16136_REG_PROD_ID, 434 &prod_id); 435 if (ret) 436 return ret; 437 438 ret = sscanf(indio_dev->name, "adis%u\n", &device_id); 439 if (ret != 1) 440 return -EINVAL; 441 442 if (prod_id != device_id) 443 dev_warn(&indio_dev->dev, "Device ID(%u) and product ID(%u) do not match.", 444 device_id, prod_id); 445 446 return 0; 447 } 448 449 static const char * const adis16136_status_error_msgs[] = { 450 [ADIS16136_DIAG_STAT_FLASH_UPDATE_FAIL] = "Flash update failed", 451 [ADIS16136_DIAG_STAT_SPI_FAIL] = "SPI failure", 452 [ADIS16136_DIAG_STAT_SELF_TEST_FAIL] = "Self test error", 453 [ADIS16136_DIAG_STAT_FLASH_CHKSUM_FAIL] = "Flash checksum error", 454 }; 455 456 static const struct adis_data adis16136_data = { 457 .diag_stat_reg = ADIS16136_REG_DIAG_STAT, 458 .glob_cmd_reg = ADIS16136_REG_GLOB_CMD, 459 .msc_ctrl_reg = ADIS16136_REG_MSC_CTRL, 460 461 .self_test_mask = ADIS16136_MSC_CTRL_SELF_TEST, 462 .startup_delay = 80, 463 464 .read_delay = 10, 465 .write_delay = 10, 466 467 .status_error_msgs = adis16136_status_error_msgs, 468 .status_error_mask = BIT(ADIS16136_DIAG_STAT_FLASH_UPDATE_FAIL) | 469 BIT(ADIS16136_DIAG_STAT_SPI_FAIL) | 470 BIT(ADIS16136_DIAG_STAT_SELF_TEST_FAIL) | 471 BIT(ADIS16136_DIAG_STAT_FLASH_CHKSUM_FAIL), 472 }; 473 474 enum adis16136_id { 475 ID_ADIS16133, 476 ID_ADIS16135, 477 ID_ADIS16136, 478 ID_ADIS16137, 479 }; 480 481 static const struct adis16136_chip_info adis16136_chip_info[] = { 482 [ID_ADIS16133] = { 483 .precision = IIO_DEGREE_TO_RAD(1200), 484 .fullscale = 24000, 485 }, 486 [ID_ADIS16135] = { 487 .precision = IIO_DEGREE_TO_RAD(300), 488 .fullscale = 24000, 489 }, 490 [ID_ADIS16136] = { 491 .precision = IIO_DEGREE_TO_RAD(450), 492 .fullscale = 24623, 493 }, 494 [ID_ADIS16137] = { 495 .precision = IIO_DEGREE_TO_RAD(1000), 496 .fullscale = 24609, 497 }, 498 }; 499 500 static int adis16136_probe(struct spi_device *spi) 501 { 502 const struct spi_device_id *id = spi_get_device_id(spi); 503 struct adis16136 *adis16136; 504 struct iio_dev *indio_dev; 505 int ret; 506 507 indio_dev = devm_iio_device_alloc(&spi->dev, sizeof(*adis16136)); 508 if (indio_dev == NULL) 509 return -ENOMEM; 510 511 spi_set_drvdata(spi, indio_dev); 512 513 adis16136 = iio_priv(indio_dev); 514 515 adis16136->chip_info = &adis16136_chip_info[id->driver_data]; 516 indio_dev->dev.parent = &spi->dev; 517 indio_dev->name = spi_get_device_id(spi)->name; 518 indio_dev->channels = adis16136_channels; 519 indio_dev->num_channels = ARRAY_SIZE(adis16136_channels); 520 indio_dev->info = &adis16136_info; 521 indio_dev->modes = INDIO_DIRECT_MODE; 522 523 ret = adis_init(&adis16136->adis, indio_dev, spi, &adis16136_data); 524 if (ret) 525 return ret; 526 527 ret = adis_setup_buffer_and_trigger(&adis16136->adis, indio_dev, NULL); 528 if (ret) 529 return ret; 530 531 ret = adis16136_initial_setup(indio_dev); 532 if (ret) 533 goto error_cleanup_buffer; 534 535 ret = iio_device_register(indio_dev); 536 if (ret) 537 goto error_stop_device; 538 539 adis16136_debugfs_init(indio_dev); 540 541 return 0; 542 543 error_stop_device: 544 adis16136_stop_device(indio_dev); 545 error_cleanup_buffer: 546 adis_cleanup_buffer_and_trigger(&adis16136->adis, indio_dev); 547 return ret; 548 } 549 550 static int adis16136_remove(struct spi_device *spi) 551 { 552 struct iio_dev *indio_dev = spi_get_drvdata(spi); 553 struct adis16136 *adis16136 = iio_priv(indio_dev); 554 555 iio_device_unregister(indio_dev); 556 adis16136_stop_device(indio_dev); 557 558 adis_cleanup_buffer_and_trigger(&adis16136->adis, indio_dev); 559 560 return 0; 561 } 562 563 static const struct spi_device_id adis16136_ids[] = { 564 { "adis16133", ID_ADIS16133 }, 565 { "adis16135", ID_ADIS16135 }, 566 { "adis16136", ID_ADIS16136 }, 567 { "adis16137", ID_ADIS16137 }, 568 { } 569 }; 570 MODULE_DEVICE_TABLE(spi, adis16136_ids); 571 572 static struct spi_driver adis16136_driver = { 573 .driver = { 574 .name = "adis16136", 575 }, 576 .id_table = adis16136_ids, 577 .probe = adis16136_probe, 578 .remove = adis16136_remove, 579 }; 580 module_spi_driver(adis16136_driver); 581 582 MODULE_AUTHOR("Lars-Peter Clausen <lars@metafoo.de>"); 583 MODULE_DESCRIPTION("Analog Devices ADIS16133/ADIS16135/ADIS16136 gyroscope driver"); 584 MODULE_LICENSE("GPL v2"); 585