iio/gyro/adis16136.c

0001 // SPDX-License-Identifier: GPL-2.0-only
0002 /*
0003  * ADIS16133/ADIS16135/ADIS16136 gyroscope driver
0004  *
0005  * Copyright 2012 Analog Devices Inc.
0006  *   Author: Lars-Peter Clausen <lars@metafoo.de>
0007  */
0008
0009 #include <linux/device.h>
0010 #include <linux/kernel.h>
0011 #include <linux/spi/spi.h>
0012 #include <linux/sysfs.h>
0013 #include <linux/module.h>
0014
0015 #include <linux/iio/iio.h>
0016 #include <linux/iio/sysfs.h>
0017 #include <linux/iio/imu/adis.h>
0018
0019 #include <linux/debugfs.h>
0020
0021 #define ADIS16136_REG_FLASH_CNT     0x00
0022 #define ADIS16136_REG_TEMP_OUT      0x02
0023 #define ADIS16136_REG_GYRO_OUT2     0x04
0024 #define ADIS16136_REG_GYRO_OUT      0x06
0025 #define ADIS16136_REG_GYRO_OFF2     0x08
0026 #define ADIS16136_REG_GYRO_OFF      0x0A
0027 #define ADIS16136_REG_ALM_MAG1      0x10
0028 #define ADIS16136_REG_ALM_MAG2      0x12
0029 #define ADIS16136_REG_ALM_SAMPL1    0x14
0030 #define ADIS16136_REG_ALM_SAMPL2    0x16
0031 #define ADIS16136_REG_ALM_CTRL      0x18
0032 #define ADIS16136_REG_GPIO_CTRL     0x1A
0033 #define ADIS16136_REG_MSC_CTRL      0x1C
0034 #define ADIS16136_REG_SMPL_PRD      0x1E
0035 #define ADIS16136_REG_AVG_CNT       0x20
0036 #define ADIS16136_REG_DEC_RATE      0x22
0037 #define ADIS16136_REG_SLP_CTRL      0x24
0038 #define ADIS16136_REG_DIAG_STAT     0x26
0039 #define ADIS16136_REG_GLOB_CMD      0x28
0040 #define ADIS16136_REG_LOT1      0x32
0041 #define ADIS16136_REG_LOT2      0x34
0042 #define ADIS16136_REG_LOT3      0x36
0043 #define ADIS16136_REG_PROD_ID       0x38
0044 #define ADIS16136_REG_SERIAL_NUM    0x3A
0045
0046 #define ADIS16136_DIAG_STAT_FLASH_UPDATE_FAIL   2
0047 #define ADIS16136_DIAG_STAT_SPI_FAIL        3
0048 #define ADIS16136_DIAG_STAT_SELF_TEST_FAIL  5
0049 #define ADIS16136_DIAG_STAT_FLASH_CHKSUM_FAIL   6
0050
0051 #define ADIS16136_MSC_CTRL_MEMORY_TEST BIT(11)
0052 #define ADIS16136_MSC_CTRL_SELF_TEST BIT(10)
0053
0054 struct adis16136_chip_info {
0055     unsigned int precision;
0056     unsigned int fullscale;
0057     const struct adis_data adis_data;
0058 };
0059
0060 struct adis16136 {
0061     const struct adis16136_chip_info *chip_info;
0062
0063     struct adis adis;
0064 };
0065
0066 #ifdef CONFIG_DEBUG_FS
0067
0068 static ssize_t adis16136_show_serial(struct file *file,
0069         char __user *userbuf, size_t count, loff_t *ppos)
0070 {
0071     struct adis16136 *adis16136 = file->private_data;
0072     uint16_t lot1, lot2, lot3, serial;
0073     char buf[20];
0074     size_t len;
0075     int ret;
0076
0077     ret = adis_read_reg_16(&adis16136->adis, ADIS16136_REG_SERIAL_NUM,
0078         &serial);
0079     if (ret)
0080         return ret;
0081
0082     ret = adis_read_reg_16(&adis16136->adis, ADIS16136_REG_LOT1, &lot1);
0083     if (ret)
0084         return ret;
0085
0086     ret = adis_read_reg_16(&adis16136->adis, ADIS16136_REG_LOT2, &lot2);
0087     if (ret)
0088         return ret;
0089
0090     ret = adis_read_reg_16(&adis16136->adis, ADIS16136_REG_LOT3, &lot3);
0091     if (ret)
0092         return ret;
0093
0094     len = snprintf(buf, sizeof(buf), "%.4x%.4x%.4x-%.4x\n", lot1, lot2,
0095         lot3, serial);
0096
0097     return simple_read_from_buffer(userbuf, count, ppos, buf, len);
0098 }
0099
0100 static const struct file_operations adis16136_serial_fops = {
0101     .open = simple_open,
0102     .read = adis16136_show_serial,
0103     .llseek = default_llseek,
0104     .owner = THIS_MODULE,
0105 };
0106
0107 static int adis16136_show_product_id(void *arg, u64 *val)
0108 {
0109     struct adis16136 *adis16136 = arg;
0110     u16 prod_id;
0111     int ret;
0112
0113     ret = adis_read_reg_16(&adis16136->adis, ADIS16136_REG_PROD_ID,
0114         &prod_id);
0115     if (ret)
0116         return ret;
0117
0118     *val = prod_id;
0119
0120     return 0;
0121 }
0122 DEFINE_DEBUGFS_ATTRIBUTE(adis16136_product_id_fops,
0123     adis16136_show_product_id, NULL, "%llu\n");
0124
0125 static int adis16136_show_flash_count(void *arg, u64 *val)
0126 {
0127     struct adis16136 *adis16136 = arg;
0128     uint16_t flash_count;
0129     int ret;
0130
0131     ret = adis_read_reg_16(&adis16136->adis, ADIS16136_REG_FLASH_CNT,
0132         &flash_count);
0133     if (ret)
0134         return ret;
0135
0136     *val = flash_count;
0137
0138     return 0;
0139 }
0140 DEFINE_DEBUGFS_ATTRIBUTE(adis16136_flash_count_fops,
0141     adis16136_show_flash_count, NULL, "%lld\n");
0142
0143 static int adis16136_debugfs_init(struct iio_dev *indio_dev)
0144 {
0145     struct adis16136 *adis16136 = iio_priv(indio_dev);
0146     struct dentry *d = iio_get_debugfs_dentry(indio_dev);
0147
0148     debugfs_create_file_unsafe("serial_number", 0400,
0149         d, adis16136, &adis16136_serial_fops);
0150     debugfs_create_file_unsafe("product_id", 0400,
0151         d, adis16136, &adis16136_product_id_fops);
0152     debugfs_create_file_unsafe("flash_count", 0400,
0153         d, adis16136, &adis16136_flash_count_fops);
0154
0155     return 0;
0156 }
0157
0158 #else
0159
0160 static int adis16136_debugfs_init(struct iio_dev *indio_dev)
0161 {
0162     return 0;
0163 }
0164
0165 #endif
0166
0167 static int adis16136_set_freq(struct adis16136 *adis16136, unsigned int freq)
0168 {
0169     unsigned int t;
0170
0171     t = 32768 / freq;
0172     if (t < 0xf)
0173         t = 0xf;
0174     else if (t > 0xffff)
0175         t = 0xffff;
0176     else
0177         t--;
0178
0179     return adis_write_reg_16(&adis16136->adis, ADIS16136_REG_SMPL_PRD, t);
0180 }
0181
0182 static int __adis16136_get_freq(struct adis16136 *adis16136, unsigned int *freq)
0183 {
0184     uint16_t t;
0185     int ret;
0186
0187     ret = __adis_read_reg_16(&adis16136->adis, ADIS16136_REG_SMPL_PRD, &t);
0188     if (ret)
0189         return ret;
0190
0191     *freq = 32768 / (t + 1);
0192
0193     return 0;
0194 }
0195
0196 static ssize_t adis16136_write_frequency(struct device *dev,
0197     struct device_attribute *attr, const char *buf, size_t len)
0198 {
0199     struct iio_dev *indio_dev = dev_to_iio_dev(dev);
0200     struct adis16136 *adis16136 = iio_priv(indio_dev);
0201     unsigned int val;
0202     int ret;
0203
0204     ret = kstrtouint(buf, 10, &val);
0205     if (ret)
0206         return ret;
0207
0208     if (val == 0)
0209         return -EINVAL;
0210
0211     ret = adis16136_set_freq(adis16136, val);
0212
0213     return ret ? ret : len;
0214 }
0215
0216 static ssize_t adis16136_read_frequency(struct device *dev,
0217     struct device_attribute *attr, char *buf)
0218 {
0219     struct iio_dev *indio_dev = dev_to_iio_dev(dev);
0220     struct adis16136 *adis16136 = iio_priv(indio_dev);
0221     unsigned int freq;
0222     int ret;
0223
0224     adis_dev_lock(&adis16136->adis);
0225     ret = __adis16136_get_freq(adis16136, &freq);
0226     adis_dev_unlock(&adis16136->adis);
0227     if (ret)
0228         return ret;
0229
0230     return sprintf(buf, "%d\n", freq);
0231 }
0232
0233 static IIO_DEV_ATTR_SAMP_FREQ(S_IWUSR | S_IRUGO,
0234                   adis16136_read_frequency,
0235                   adis16136_write_frequency);
0236
0237 static const unsigned adis16136_3db_divisors[] = {
0238     [0] = 2, /* Special case */
0239     [1] = 6,
0240     [2] = 12,
0241     [3] = 25,
0242     [4] = 50,
0243     [5] = 100,
0244     [6] = 200,
0245     [7] = 200, /* Not a valid setting */
0246 };
0247
0248 static int adis16136_set_filter(struct iio_dev *indio_dev, int val)
0249 {
0250     struct adis16136 *adis16136 = iio_priv(indio_dev);
0251     unsigned int freq;
0252     int i, ret;
0253
0254     adis_dev_lock(&adis16136->adis);
0255     ret = __adis16136_get_freq(adis16136, &freq);
0256     if (ret)
0257         goto out_unlock;
0258
0259     for (i = ARRAY_SIZE(adis16136_3db_divisors) - 1; i >= 1; i--) {
0260         if (freq / adis16136_3db_divisors[i] >= val)
0261             break;
0262     }
0263
0264     ret = __adis_write_reg_16(&adis16136->adis, ADIS16136_REG_AVG_CNT, i);
0265 out_unlock:
0266     adis_dev_unlock(&adis16136->adis);
0267
0268     return ret;
0269 }
0270
0271 static int adis16136_get_filter(struct iio_dev *indio_dev, int *val)
0272 {
0273     struct adis16136 *adis16136 = iio_priv(indio_dev);
0274     unsigned int freq;
0275     uint16_t val16;
0276     int ret;
0277
0278     adis_dev_lock(&adis16136->adis);
0279
0280     ret = __adis_read_reg_16(&adis16136->adis, ADIS16136_REG_AVG_CNT,
0281                  &val16);
0282     if (ret)
0283         goto err_unlock;
0284
0285     ret = __adis16136_get_freq(adis16136, &freq);
0286     if (ret)
0287         goto err_unlock;
0288
0289     *val = freq / adis16136_3db_divisors[val16 & 0x07];
0290
0291 err_unlock:
0292     adis_dev_unlock(&adis16136->adis);
0293
0294     return ret ? ret : IIO_VAL_INT;
0295 }
0296
0297 static int adis16136_read_raw(struct iio_dev *indio_dev,
0298     const struct iio_chan_spec *chan, int *val, int *val2, long info)
0299 {
0300     struct adis16136 *adis16136 = iio_priv(indio_dev);
0301     uint32_t val32;
0302     int ret;
0303
0304     switch (info) {
0305     case IIO_CHAN_INFO_RAW:
0306         return adis_single_conversion(indio_dev, chan, 0, val);
0307     case IIO_CHAN_INFO_SCALE:
0308         switch (chan->type) {
0309         case IIO_ANGL_VEL:
0310             *val = adis16136->chip_info->precision;
0311             *val2 = (adis16136->chip_info->fullscale << 16);
0312             return IIO_VAL_FRACTIONAL;
0313         case IIO_TEMP:
0314             *val = 10;
0315             *val2 = 697000; /* 0.010697 degree Celsius */
0316             return IIO_VAL_INT_PLUS_MICRO;
0317         default:
0318             return -EINVAL;
0319         }
0320     case IIO_CHAN_INFO_CALIBBIAS:
0321         ret = adis_read_reg_32(&adis16136->adis,
0322             ADIS16136_REG_GYRO_OFF2, &val32);
0323         if (ret)
0324             return ret;
0325
0326         *val = sign_extend32(val32, 31);
0327
0328         return IIO_VAL_INT;
0329     case IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY:
0330         return adis16136_get_filter(indio_dev, val);
0331     default:
0332         return -EINVAL;
0333     }
0334 }
0335
0336 static int adis16136_write_raw(struct iio_dev *indio_dev,
0337     const struct iio_chan_spec *chan, int val, int val2, long info)
0338 {
0339     struct adis16136 *adis16136 = iio_priv(indio_dev);
0340
0341     switch (info) {
0342     case IIO_CHAN_INFO_CALIBBIAS:
0343         return adis_write_reg_32(&adis16136->adis,
0344             ADIS16136_REG_GYRO_OFF2, val);
0345     case IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY:
0346         return adis16136_set_filter(indio_dev, val);
0347     default:
0348         break;
0349     }
0350
0351     return -EINVAL;
0352 }
0353
0354 enum {
0355     ADIS16136_SCAN_GYRO,
0356     ADIS16136_SCAN_TEMP,
0357 };
0358
0359 static const struct iio_chan_spec adis16136_channels[] = {
0360     {
0361         .type = IIO_ANGL_VEL,
0362         .modified = 1,
0363         .channel2 = IIO_MOD_X,
0364         .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) |
0365             BIT(IIO_CHAN_INFO_CALIBBIAS) |
0366             BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY),
0367         .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE),
0368
0369         .address = ADIS16136_REG_GYRO_OUT2,
0370         .scan_index = ADIS16136_SCAN_GYRO,
0371         .scan_type = {
0372             .sign = 's',
0373             .realbits = 32,
0374             .storagebits = 32,
0375             .endianness = IIO_BE,
0376         },
0377     }, {
0378         .type = IIO_TEMP,
0379         .indexed = 1,
0380         .channel = 0,
0381         .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) |
0382             BIT(IIO_CHAN_INFO_SCALE),
0383         .address = ADIS16136_REG_TEMP_OUT,
0384         .scan_index = ADIS16136_SCAN_TEMP,
0385         .scan_type = {
0386             .sign = 's',
0387             .realbits = 16,
0388             .storagebits = 16,
0389             .endianness = IIO_BE,
0390         },
0391     },
0392     IIO_CHAN_SOFT_TIMESTAMP(2),
0393 };
0394
0395 static struct attribute *adis16136_attributes[] = {
0396     &iio_dev_attr_sampling_frequency.dev_attr.attr,
0397     NULL
0398 };
0399
0400 static const struct attribute_group adis16136_attribute_group = {
0401     .attrs = adis16136_attributes,
0402 };
0403
0404 static const struct iio_info adis16136_info = {
0405     .attrs = &adis16136_attribute_group,
0406     .read_raw = &adis16136_read_raw,
0407     .write_raw = &adis16136_write_raw,
0408     .update_scan_mode = adis_update_scan_mode,
0409     .debugfs_reg_access = adis_debugfs_reg_access,
0410 };
0411
0412 static int adis16136_stop_device(struct iio_dev *indio_dev)
0413 {
0414     struct adis16136 *adis16136 = iio_priv(indio_dev);
0415     int ret;
0416
0417     ret = adis_write_reg_16(&adis16136->adis, ADIS16136_REG_SLP_CTRL, 0xff);
0418     if (ret)
0419         dev_err(&indio_dev->dev,
0420             "Could not power down device: %d\n", ret);
0421
0422     return ret;
0423 }
0424
0425 static int adis16136_initial_setup(struct iio_dev *indio_dev)
0426 {
0427     struct adis16136 *adis16136 = iio_priv(indio_dev);
0428     unsigned int device_id;
0429     uint16_t prod_id;
0430     int ret;
0431
0432     ret = adis_initial_startup(&adis16136->adis);
0433     if (ret)
0434         return ret;
0435
0436     ret = adis_read_reg_16(&adis16136->adis, ADIS16136_REG_PROD_ID,
0437         &prod_id);
0438     if (ret)
0439         return ret;
0440
0441     ret = sscanf(indio_dev->name, "adis%u\n", &device_id);
0442     if (ret != 1)
0443         return -EINVAL;
0444
0445     if (prod_id != device_id)
0446         dev_warn(&indio_dev->dev, "Device ID(%u) and product ID(%u) do not match.",
0447                 device_id, prod_id);
0448
0449     return 0;
0450 }
0451
0452 static const char * const adis16136_status_error_msgs[] = {
0453     [ADIS16136_DIAG_STAT_FLASH_UPDATE_FAIL] = "Flash update failed",
0454     [ADIS16136_DIAG_STAT_SPI_FAIL] = "SPI failure",
0455     [ADIS16136_DIAG_STAT_SELF_TEST_FAIL] = "Self test error",
0456     [ADIS16136_DIAG_STAT_FLASH_CHKSUM_FAIL] = "Flash checksum error",
0457 };
0458
0459 #define ADIS16136_DATA(_timeouts)                   \
0460 {                                   \
0461     .diag_stat_reg = ADIS16136_REG_DIAG_STAT,           \
0462     .glob_cmd_reg = ADIS16136_REG_GLOB_CMD,             \
0463     .msc_ctrl_reg = ADIS16136_REG_MSC_CTRL,             \
0464     .self_test_reg = ADIS16136_REG_MSC_CTRL,            \
0465     .self_test_mask = ADIS16136_MSC_CTRL_SELF_TEST,         \
0466     .read_delay = 10,                       \
0467     .write_delay = 10,                      \
0468     .status_error_msgs = adis16136_status_error_msgs,       \
0469     .status_error_mask = BIT(ADIS16136_DIAG_STAT_FLASH_UPDATE_FAIL) |   \
0470         BIT(ADIS16136_DIAG_STAT_SPI_FAIL) |         \
0471         BIT(ADIS16136_DIAG_STAT_SELF_TEST_FAIL) |       \
0472         BIT(ADIS16136_DIAG_STAT_FLASH_CHKSUM_FAIL),     \
0473     .timeouts = (_timeouts),                    \
0474 }
0475
0476 enum adis16136_id {
0477     ID_ADIS16133,
0478     ID_ADIS16135,
0479     ID_ADIS16136,
0480     ID_ADIS16137,
0481 };
0482
0483 static const struct adis_timeout adis16133_timeouts = {
0484     .reset_ms = 75,
0485     .sw_reset_ms = 75,
0486     .self_test_ms = 50,
0487 };
0488
0489 static const struct adis_timeout adis16136_timeouts = {
0490     .reset_ms = 128,
0491     .sw_reset_ms = 75,
0492     .self_test_ms = 245,
0493 };
0494
0495 static const struct adis16136_chip_info adis16136_chip_info[] = {
0496     [ID_ADIS16133] = {
0497         .precision = IIO_DEGREE_TO_RAD(1200),
0498         .fullscale = 24000,
0499         .adis_data = ADIS16136_DATA(&adis16133_timeouts),
0500     },
0501     [ID_ADIS16135] = {
0502         .precision = IIO_DEGREE_TO_RAD(300),
0503         .fullscale = 24000,
0504         .adis_data = ADIS16136_DATA(&adis16133_timeouts),
0505     },
0506     [ID_ADIS16136] = {
0507         .precision = IIO_DEGREE_TO_RAD(450),
0508         .fullscale = 24623,
0509         .adis_data = ADIS16136_DATA(&adis16136_timeouts),
0510     },
0511     [ID_ADIS16137] = {
0512         .precision = IIO_DEGREE_TO_RAD(1000),
0513         .fullscale = 24609,
0514         .adis_data = ADIS16136_DATA(&adis16136_timeouts),
0515     },
0516 };
0517
0518 static void adis16136_stop(void *data)
0519 {
0520     adis16136_stop_device(data);
0521 }
0522
0523 static int adis16136_probe(struct spi_device *spi)
0524 {
0525     const struct spi_device_id *id = spi_get_device_id(spi);
0526     struct adis16136 *adis16136;
0527     struct iio_dev *indio_dev;
0528     const struct adis_data *adis16136_data;
0529     int ret;
0530
0531     indio_dev = devm_iio_device_alloc(&spi->dev, sizeof(*adis16136));
0532     if (indio_dev == NULL)
0533         return -ENOMEM;
0534
0535     spi_set_drvdata(spi, indio_dev);
0536
0537     adis16136 = iio_priv(indio_dev);
0538
0539     adis16136->chip_info = &adis16136_chip_info[id->driver_data];
0540     indio_dev->name = spi_get_device_id(spi)->name;
0541     indio_dev->channels = adis16136_channels;
0542     indio_dev->num_channels = ARRAY_SIZE(adis16136_channels);
0543     indio_dev->info = &adis16136_info;
0544     indio_dev->modes = INDIO_DIRECT_MODE;
0545
0546     adis16136_data = &adis16136->chip_info->adis_data;
0547
0548     ret = adis_init(&adis16136->adis, indio_dev, spi, adis16136_data);
0549     if (ret)
0550         return ret;
0551
0552     ret = devm_adis_setup_buffer_and_trigger(&adis16136->adis, indio_dev, NULL);
0553     if (ret)
0554         return ret;
0555
0556     ret = adis16136_initial_setup(indio_dev);
0557     if (ret)
0558         return ret;
0559
0560     ret = devm_add_action_or_reset(&spi->dev, adis16136_stop, indio_dev);
0561     if (ret)
0562         return ret;
0563
0564     ret = devm_iio_device_register(&spi->dev, indio_dev);
0565     if (ret)
0566         return ret;
0567
0568     adis16136_debugfs_init(indio_dev);
0569
0570     return 0;
0571 }
0572
0573 static const struct spi_device_id adis16136_ids[] = {
0574     { "adis16133", ID_ADIS16133 },
0575     { "adis16135", ID_ADIS16135 },
0576     { "adis16136", ID_ADIS16136 },
0577     { "adis16137", ID_ADIS16137 },
0578     { }
0579 };
0580 MODULE_DEVICE_TABLE(spi, adis16136_ids);
0581
0582 static struct spi_driver adis16136_driver = {
0583     .driver = {
0584         .name = "adis16136",
0585     },
0586     .id_table = adis16136_ids,
0587     .probe = adis16136_probe,
0588 };
0589 module_spi_driver(adis16136_driver);
0590
0591 MODULE_AUTHOR("Lars-Peter Clausen <lars@metafoo.de>");
0592 MODULE_DESCRIPTION("Analog Devices ADIS16133/ADIS16135/ADIS16136 gyroscope driver");
0593 MODULE_LICENSE("GPL v2");
0594 MODULE_IMPORT_NS(IIO_ADISLIB);