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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
60struct adis16136_chip_info {
61 unsigned int precision;
62 unsigned int fullscale;
63};
64
65struct adis16136 {
66 const struct adis16136_chip_info *chip_info;
67
68 struct adis adis;
69};
70
71#ifdef CONFIG_DEBUG_FS
72
73static 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
105static 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
112static 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}
127DEFINE_SIMPLE_ATTRIBUTE(adis16136_product_id_fops,
128 adis16136_show_product_id, NULL, "%llu\n");
129
130static 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}
145DEFINE_SIMPLE_ATTRIBUTE(adis16136_flash_count_fops,
146 adis16136_show_flash_count, NULL, "%lld\n");
147
148static 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
164static int adis16136_debugfs_init(struct iio_dev *indio_dev)
165{
166 return 0;
167}
168
169#endif
170
171static 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
186static 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
200static 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
220static 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
235static IIO_DEV_ATTR_SAMP_FREQ(S_IWUSR | S_IRUGO,
236 adis16136_read_frequency,
237 adis16136_write_frequency);
238
239static const unsigned adis16136_3db_divisors[] = {
240 [0] = 2,
241 [1] = 6,
242 [2] = 12,
243 [3] = 25,
244 [4] = 50,
245 [5] = 100,
246 [6] = 200,
247 [7] = 200,
248};
249
250static 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
268static 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
287err_unlock:
288 mutex_unlock(&indio_dev->mlock);
289
290 return ret ? ret : IIO_VAL_INT;
291}
292
293static 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;
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
332static 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
350enum {
351 ADIS16136_SCAN_GYRO,
352 ADIS16136_SCAN_TEMP,
353};
354
355static 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
391static struct attribute *adis16136_attributes[] = {
392 &iio_dev_attr_sampling_frequency.dev_attr.attr,
393 NULL
394};
395
396static const struct attribute_group adis16136_attribute_group = {
397 .attrs = adis16136_attributes,
398};
399
400static 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
409static 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
422static 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 sscanf(indio_dev->name, "adis%u\n", &device_id);
439
440 if (prod_id != device_id)
441 dev_warn(&indio_dev->dev, "Device ID(%u) and product ID(%u) do not match.",
442 device_id, prod_id);
443
444 return 0;
445}
446
447static const char * const adis16136_status_error_msgs[] = {
448 [ADIS16136_DIAG_STAT_FLASH_UPDATE_FAIL] = "Flash update failed",
449 [ADIS16136_DIAG_STAT_SPI_FAIL] = "SPI failure",
450 [ADIS16136_DIAG_STAT_SELF_TEST_FAIL] = "Self test error",
451 [ADIS16136_DIAG_STAT_FLASH_CHKSUM_FAIL] = "Flash checksum error",
452};
453
454static const struct adis_data adis16136_data = {
455 .diag_stat_reg = ADIS16136_REG_DIAG_STAT,
456 .glob_cmd_reg = ADIS16136_REG_GLOB_CMD,
457 .msc_ctrl_reg = ADIS16136_REG_MSC_CTRL,
458
459 .self_test_mask = ADIS16136_MSC_CTRL_SELF_TEST,
460 .startup_delay = 80,
461
462 .read_delay = 10,
463 .write_delay = 10,
464
465 .status_error_msgs = adis16136_status_error_msgs,
466 .status_error_mask = BIT(ADIS16136_DIAG_STAT_FLASH_UPDATE_FAIL) |
467 BIT(ADIS16136_DIAG_STAT_SPI_FAIL) |
468 BIT(ADIS16136_DIAG_STAT_SELF_TEST_FAIL) |
469 BIT(ADIS16136_DIAG_STAT_FLASH_CHKSUM_FAIL),
470};
471
472enum adis16136_id {
473 ID_ADIS16133,
474 ID_ADIS16135,
475 ID_ADIS16136,
476};
477
478static const struct adis16136_chip_info adis16136_chip_info[] = {
479 [ID_ADIS16133] = {
480 .precision = IIO_DEGREE_TO_RAD(1200),
481 .fullscale = 24000,
482 },
483 [ID_ADIS16135] = {
484 .precision = IIO_DEGREE_TO_RAD(300),
485 .fullscale = 24000,
486 },
487 [ID_ADIS16136] = {
488 .precision = IIO_DEGREE_TO_RAD(450),
489 .fullscale = 24623,
490 },
491};
492
493static int adis16136_probe(struct spi_device *spi)
494{
495 const struct spi_device_id *id = spi_get_device_id(spi);
496 struct adis16136 *adis16136;
497 struct iio_dev *indio_dev;
498 int ret;
499
500 indio_dev = iio_device_alloc(sizeof(*adis16136));
501 if (indio_dev == NULL)
502 return -ENOMEM;
503
504 spi_set_drvdata(spi, indio_dev);
505
506 adis16136 = iio_priv(indio_dev);
507
508 adis16136->chip_info = &adis16136_chip_info[id->driver_data];
509 indio_dev->dev.parent = &spi->dev;
510 indio_dev->name = spi_get_device_id(spi)->name;
511 indio_dev->channels = adis16136_channels;
512 indio_dev->num_channels = ARRAY_SIZE(adis16136_channels);
513 indio_dev->info = &adis16136_info;
514 indio_dev->modes = INDIO_DIRECT_MODE;
515
516 ret = adis_init(&adis16136->adis, indio_dev, spi, &adis16136_data);
517 if (ret)
518 goto error_free_dev;
519
520 ret = adis_setup_buffer_and_trigger(&adis16136->adis, indio_dev, NULL);
521 if (ret)
522 goto error_free_dev;
523
524 ret = adis16136_initial_setup(indio_dev);
525 if (ret)
526 goto error_cleanup_buffer;
527
528 ret = iio_device_register(indio_dev);
529 if (ret)
530 goto error_stop_device;
531
532 adis16136_debugfs_init(indio_dev);
533
534 return 0;
535
536error_stop_device:
537 adis16136_stop_device(indio_dev);
538error_cleanup_buffer:
539 adis_cleanup_buffer_and_trigger(&adis16136->adis, indio_dev);
540error_free_dev:
541 iio_device_free(indio_dev);
542 return ret;
543}
544
545static int adis16136_remove(struct spi_device *spi)
546{
547 struct iio_dev *indio_dev = spi_get_drvdata(spi);
548 struct adis16136 *adis16136 = iio_priv(indio_dev);
549
550 iio_device_unregister(indio_dev);
551 adis16136_stop_device(indio_dev);
552
553 adis_cleanup_buffer_and_trigger(&adis16136->adis, indio_dev);
554
555 iio_device_free(indio_dev);
556
557 return 0;
558}
559
560static const struct spi_device_id adis16136_ids[] = {
561 { "adis16133", ID_ADIS16133 },
562 { "adis16135", ID_ADIS16135 },
563 { "adis16136", ID_ADIS16136 },
564 { }
565};
566MODULE_DEVICE_TABLE(spi, adis16136_ids);
567
568static struct spi_driver adis16136_driver = {
569 .driver = {
570 .name = "adis16136",
571 .owner = THIS_MODULE,
572 },
573 .id_table = adis16136_ids,
574 .probe = adis16136_probe,
575 .remove = adis16136_remove,
576};
577module_spi_driver(adis16136_driver);
578
579MODULE_AUTHOR("Lars-Peter Clausen <lars@metafoo.de>");
580MODULE_DESCRIPTION("Analog Devices ADIS16133/ADIS16135/ADIS16136 gyroscope driver");
581MODULE_LICENSE("GPL v2");
582
