drivers/iio/gyro/adis16136.c

   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");