drivers/iio/gyro/adis16136.c

   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);