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9#include <linux/interrupt.h>
10#include <linux/delay.h>
11#include <linux/mutex.h>
12#include <linux/device.h>
13#include <linux/kernel.h>
14#include <linux/spi/spi.h>
15#include <linux/slab.h>
16#include <linux/sysfs.h>
17#include <linux/module.h>
18
19#include <linux/iio/iio.h>
20#include <linux/iio/sysfs.h>
21#include <linux/iio/buffer.h>
22#include <linux/iio/imu/adis.h>
23
24#include <linux/debugfs.h>
25
26#define ADIS16136_REG_FLASH_CNT 0x00
27#define ADIS16136_REG_TEMP_OUT 0x02
28#define ADIS16136_REG_GYRO_OUT2 0x04
29#define ADIS16136_REG_GYRO_OUT 0x06
30#define ADIS16136_REG_GYRO_OFF2 0x08
31#define ADIS16136_REG_GYRO_OFF 0x0A
32#define ADIS16136_REG_ALM_MAG1 0x10
33#define ADIS16136_REG_ALM_MAG2 0x12
34#define ADIS16136_REG_ALM_SAMPL1 0x14
35#define ADIS16136_REG_ALM_SAMPL2 0x16
36#define ADIS16136_REG_ALM_CTRL 0x18
37#define ADIS16136_REG_GPIO_CTRL 0x1A
38#define ADIS16136_REG_MSC_CTRL 0x1C
39#define ADIS16136_REG_SMPL_PRD 0x1E
40#define ADIS16136_REG_AVG_CNT 0x20
41#define ADIS16136_REG_DEC_RATE 0x22
42#define ADIS16136_REG_SLP_CTRL 0x24
43#define ADIS16136_REG_DIAG_STAT 0x26
44#define ADIS16136_REG_GLOB_CMD 0x28
45#define ADIS16136_REG_LOT1 0x32
46#define ADIS16136_REG_LOT2 0x34
47#define ADIS16136_REG_LOT3 0x36
48#define ADIS16136_REG_PROD_ID 0x38
49#define ADIS16136_REG_SERIAL_NUM 0x3A
50
51#define ADIS16136_DIAG_STAT_FLASH_UPDATE_FAIL 2
52#define ADIS16136_DIAG_STAT_SPI_FAIL 3
53#define ADIS16136_DIAG_STAT_SELF_TEST_FAIL 5
54#define ADIS16136_DIAG_STAT_FLASH_CHKSUM_FAIL 6
55
56#define ADIS16136_MSC_CTRL_MEMORY_TEST BIT(11)
57#define ADIS16136_MSC_CTRL_SELF_TEST BIT(10)
58
59struct adis16136_chip_info {
60 unsigned int precision;
61 unsigned int fullscale;
62};
63
64struct adis16136 {
65 const struct adis16136_chip_info *chip_info;
66
67 struct adis adis;
68};
69
70#ifdef CONFIG_DEBUG_FS
71
72static ssize_t adis16136_show_serial(struct file *file,
73 char __user *userbuf, size_t count, loff_t *ppos)
74{
75 struct adis16136 *adis16136 = file->private_data;
76 uint16_t lot1, lot2, lot3, serial;
77 char buf[20];
78 size_t len;
79 int ret;
80
81 ret = adis_read_reg_16(&adis16136->adis, ADIS16136_REG_SERIAL_NUM,
82 &serial);
83 if (ret < 0)
84 return ret;
85
86 ret = adis_read_reg_16(&adis16136->adis, ADIS16136_REG_LOT1, &lot1);
87 if (ret < 0)
88 return ret;
89
90 ret = adis_read_reg_16(&adis16136->adis, ADIS16136_REG_LOT2, &lot2);
91 if (ret < 0)
92 return ret;
93
94 ret = adis_read_reg_16(&adis16136->adis, ADIS16136_REG_LOT3, &lot3);
95 if (ret < 0)
96 return ret;
97
98 len = snprintf(buf, sizeof(buf), "%.4x%.4x%.4x-%.4x\n", lot1, lot2,
99 lot3, serial);
100
101 return simple_read_from_buffer(userbuf, count, ppos, buf, len);
102}
103
104static const struct file_operations adis16136_serial_fops = {
105 .open = simple_open,
106 .read = adis16136_show_serial,
107 .llseek = default_llseek,
108 .owner = THIS_MODULE,
109};
110
111static int adis16136_show_product_id(void *arg, u64 *val)
112{
113 struct adis16136 *adis16136 = arg;
114 u16 prod_id;
115 int ret;
116
117 ret = adis_read_reg_16(&adis16136->adis, ADIS16136_REG_PROD_ID,
118 &prod_id);
119 if (ret < 0)
120 return ret;
121
122 *val = prod_id;
123
124 return 0;
125}
126DEFINE_DEBUGFS_ATTRIBUTE(adis16136_product_id_fops,
127 adis16136_show_product_id, NULL, "%llu\n");
128
129static int adis16136_show_flash_count(void *arg, u64 *val)
130{
131 struct adis16136 *adis16136 = arg;
132 uint16_t flash_count;
133 int ret;
134
135 ret = adis_read_reg_16(&adis16136->adis, ADIS16136_REG_FLASH_CNT,
136 &flash_count);
137 if (ret < 0)
138 return ret;
139
140 *val = flash_count;
141
142 return 0;
143}
144DEFINE_DEBUGFS_ATTRIBUTE(adis16136_flash_count_fops,
145 adis16136_show_flash_count, NULL, "%lld\n");
146
147static int adis16136_debugfs_init(struct iio_dev *indio_dev)
148{
149 struct adis16136 *adis16136 = iio_priv(indio_dev);
150
151 debugfs_create_file_unsafe("serial_number", 0400,
152 indio_dev->debugfs_dentry, adis16136,
153 &adis16136_serial_fops);
154 debugfs_create_file_unsafe("product_id", 0400,
155 indio_dev->debugfs_dentry,
156 adis16136, &adis16136_product_id_fops);
157 debugfs_create_file_unsafe("flash_count", 0400,
158 indio_dev->debugfs_dentry,
159 adis16136, &adis16136_flash_count_fops);
160
161 return 0;
162}
163
164#else
165
166static int adis16136_debugfs_init(struct iio_dev *indio_dev)
167{
168 return 0;
169}
170
171#endif
172
173static int adis16136_set_freq(struct adis16136 *adis16136, unsigned int freq)
174{
175 unsigned int t;
176
177 t = 32768 / freq;
178 if (t < 0xf)
179 t = 0xf;
180 else if (t > 0xffff)
181 t = 0xffff;
182 else
183 t--;
184
185 return adis_write_reg_16(&adis16136->adis, ADIS16136_REG_SMPL_PRD, t);
186}
187
188static int adis16136_get_freq(struct adis16136 *adis16136, unsigned int *freq)
189{
190 uint16_t t;
191 int ret;
192
193 ret = adis_read_reg_16(&adis16136->adis, ADIS16136_REG_SMPL_PRD, &t);
194 if (ret < 0)
195 return ret;
196
197 *freq = 32768 / (t + 1);
198
199 return 0;
200}
201
202static ssize_t adis16136_write_frequency(struct device *dev,
203 struct device_attribute *attr, const char *buf, size_t len)
204{
205 struct iio_dev *indio_dev = dev_to_iio_dev(dev);
206 struct adis16136 *adis16136 = iio_priv(indio_dev);
207 unsigned int val;
208 int ret;
209
210 ret = kstrtouint(buf, 10, &val);
211 if (ret)
212 return ret;
213
214 if (val == 0)
215 return -EINVAL;
216
217 ret = adis16136_set_freq(adis16136, val);
218
219 return ret ? ret : len;
220}
221
222static ssize_t adis16136_read_frequency(struct device *dev,
223 struct device_attribute *attr, char *buf)
224{
225 struct iio_dev *indio_dev = dev_to_iio_dev(dev);
226 struct adis16136 *adis16136 = iio_priv(indio_dev);
227 unsigned int freq;
228 int ret;
229
230 ret = adis16136_get_freq(adis16136, &freq);
231 if (ret < 0)
232 return ret;
233
234 return sprintf(buf, "%d\n", freq);
235}
236
237static IIO_DEV_ATTR_SAMP_FREQ(S_IWUSR | S_IRUGO,
238 adis16136_read_frequency,
239 adis16136_write_frequency);
240
241static const unsigned adis16136_3db_divisors[] = {
242 [0] = 2,
243 [1] = 6,
244 [2] = 12,
245 [3] = 25,
246 [4] = 50,
247 [5] = 100,
248 [6] = 200,
249 [7] = 200,
250};
251
252static int adis16136_set_filter(struct iio_dev *indio_dev, int val)
253{
254 struct adis16136 *adis16136 = iio_priv(indio_dev);
255 unsigned int freq;
256 int i, ret;
257
258 ret = adis16136_get_freq(adis16136, &freq);
259 if (ret < 0)
260 return ret;
261
262 for (i = ARRAY_SIZE(adis16136_3db_divisors) - 1; i >= 1; i--) {
263 if (freq / adis16136_3db_divisors[i] >= val)
264 break;
265 }
266
267 return adis_write_reg_16(&adis16136->adis, ADIS16136_REG_AVG_CNT, i);
268}
269
270static int adis16136_get_filter(struct iio_dev *indio_dev, int *val)
271{
272 struct adis16136 *adis16136 = iio_priv(indio_dev);
273 unsigned int freq;
274 uint16_t val16;
275 int ret;
276
277 mutex_lock(&indio_dev->mlock);
278
279 ret = adis_read_reg_16(&adis16136->adis, ADIS16136_REG_AVG_CNT, &val16);
280 if (ret < 0)
281 goto err_unlock;
282
283 ret = adis16136_get_freq(adis16136, &freq);
284 if (ret < 0)
285 goto err_unlock;
286
287 *val = freq / adis16136_3db_divisors[val16 & 0x07];
288
289err_unlock:
290 mutex_unlock(&indio_dev->mlock);
291
292 return ret ? ret : IIO_VAL_INT;
293}
294
295static int adis16136_read_raw(struct iio_dev *indio_dev,
296 const struct iio_chan_spec *chan, int *val, int *val2, long info)
297{
298 struct adis16136 *adis16136 = iio_priv(indio_dev);
299 uint32_t val32;
300 int ret;
301
302 switch (info) {
303 case IIO_CHAN_INFO_RAW:
304 return adis_single_conversion(indio_dev, chan, 0, val);
305 case IIO_CHAN_INFO_SCALE:
306 switch (chan->type) {
307 case IIO_ANGL_VEL:
308 *val = adis16136->chip_info->precision;
309 *val2 = (adis16136->chip_info->fullscale << 16);
310 return IIO_VAL_FRACTIONAL;
311 case IIO_TEMP:
312 *val = 10;
313 *val2 = 697000;
314 return IIO_VAL_INT_PLUS_MICRO;
315 default:
316 return -EINVAL;
317 }
318 case IIO_CHAN_INFO_CALIBBIAS:
319 ret = adis_read_reg_32(&adis16136->adis,
320 ADIS16136_REG_GYRO_OFF2, &val32);
321 if (ret < 0)
322 return ret;
323
324 *val = sign_extend32(val32, 31);
325
326 return IIO_VAL_INT;
327 case IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY:
328 return adis16136_get_filter(indio_dev, val);
329 default:
330 return -EINVAL;
331 }
332}
333
334static int adis16136_write_raw(struct iio_dev *indio_dev,
335 const struct iio_chan_spec *chan, int val, int val2, long info)
336{
337 struct adis16136 *adis16136 = iio_priv(indio_dev);
338
339 switch (info) {
340 case IIO_CHAN_INFO_CALIBBIAS:
341 return adis_write_reg_32(&adis16136->adis,
342 ADIS16136_REG_GYRO_OFF2, val);
343 case IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY:
344 return adis16136_set_filter(indio_dev, val);
345 default:
346 break;
347 }
348
349 return -EINVAL;
350}
351
352enum {
353 ADIS16136_SCAN_GYRO,
354 ADIS16136_SCAN_TEMP,
355};
356
357static const struct iio_chan_spec adis16136_channels[] = {
358 {
359 .type = IIO_ANGL_VEL,
360 .modified = 1,
361 .channel2 = IIO_MOD_X,
362 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) |
363 BIT(IIO_CHAN_INFO_CALIBBIAS) |
364 BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY),
365 .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE),
366
367 .address = ADIS16136_REG_GYRO_OUT2,
368 .scan_index = ADIS16136_SCAN_GYRO,
369 .scan_type = {
370 .sign = 's',
371 .realbits = 32,
372 .storagebits = 32,
373 .endianness = IIO_BE,
374 },
375 }, {
376 .type = IIO_TEMP,
377 .indexed = 1,
378 .channel = 0,
379 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) |
380 BIT(IIO_CHAN_INFO_SCALE),
381 .address = ADIS16136_REG_TEMP_OUT,
382 .scan_index = ADIS16136_SCAN_TEMP,
383 .scan_type = {
384 .sign = 's',
385 .realbits = 16,
386 .storagebits = 16,
387 .endianness = IIO_BE,
388 },
389 },
390 IIO_CHAN_SOFT_TIMESTAMP(2),
391};
392
393static struct attribute *adis16136_attributes[] = {
394 &iio_dev_attr_sampling_frequency.dev_attr.attr,
395 NULL
396};
397
398static const struct attribute_group adis16136_attribute_group = {
399 .attrs = adis16136_attributes,
400};
401
402static const struct iio_info adis16136_info = {
403 .attrs = &adis16136_attribute_group,
404 .read_raw = &adis16136_read_raw,
405 .write_raw = &adis16136_write_raw,
406 .update_scan_mode = adis_update_scan_mode,
407 .debugfs_reg_access = adis_debugfs_reg_access,
408};
409
410static int adis16136_stop_device(struct iio_dev *indio_dev)
411{
412 struct adis16136 *adis16136 = iio_priv(indio_dev);
413 int ret;
414
415 ret = adis_write_reg_16(&adis16136->adis, ADIS16136_REG_SLP_CTRL, 0xff);
416 if (ret)
417 dev_err(&indio_dev->dev,
418 "Could not power down device: %d\n", ret);
419
420 return ret;
421}
422
423static int adis16136_initial_setup(struct iio_dev *indio_dev)
424{
425 struct adis16136 *adis16136 = iio_priv(indio_dev);
426 unsigned int device_id;
427 uint16_t prod_id;
428 int ret;
429
430 ret = adis_initial_startup(&adis16136->adis);
431 if (ret)
432 return ret;
433
434 ret = adis_read_reg_16(&adis16136->adis, ADIS16136_REG_PROD_ID,
435 &prod_id);
436 if (ret)
437 return ret;
438
439 ret = sscanf(indio_dev->name, "adis%u\n", &device_id);
440 if (ret != 1)
441 return -EINVAL;
442
443 if (prod_id != device_id)
444 dev_warn(&indio_dev->dev, "Device ID(%u) and product ID(%u) do not match.",
445 device_id, prod_id);
446
447 return 0;
448}
449
450static const char * const adis16136_status_error_msgs[] = {
451 [ADIS16136_DIAG_STAT_FLASH_UPDATE_FAIL] = "Flash update failed",
452 [ADIS16136_DIAG_STAT_SPI_FAIL] = "SPI failure",
453 [ADIS16136_DIAG_STAT_SELF_TEST_FAIL] = "Self test error",
454 [ADIS16136_DIAG_STAT_FLASH_CHKSUM_FAIL] = "Flash checksum error",
455};
456
457static const struct adis_data adis16136_data = {
458 .diag_stat_reg = ADIS16136_REG_DIAG_STAT,
459 .glob_cmd_reg = ADIS16136_REG_GLOB_CMD,
460 .msc_ctrl_reg = ADIS16136_REG_MSC_CTRL,
461
462 .self_test_mask = ADIS16136_MSC_CTRL_SELF_TEST,
463 .startup_delay = 80,
464
465 .read_delay = 10,
466 .write_delay = 10,
467
468 .status_error_msgs = adis16136_status_error_msgs,
469 .status_error_mask = BIT(ADIS16136_DIAG_STAT_FLASH_UPDATE_FAIL) |
470 BIT(ADIS16136_DIAG_STAT_SPI_FAIL) |
471 BIT(ADIS16136_DIAG_STAT_SELF_TEST_FAIL) |
472 BIT(ADIS16136_DIAG_STAT_FLASH_CHKSUM_FAIL),
473};
474
475enum adis16136_id {
476 ID_ADIS16133,
477 ID_ADIS16135,
478 ID_ADIS16136,
479 ID_ADIS16137,
480};
481
482static const struct adis16136_chip_info adis16136_chip_info[] = {
483 [ID_ADIS16133] = {
484 .precision = IIO_DEGREE_TO_RAD(1200),
485 .fullscale = 24000,
486 },
487 [ID_ADIS16135] = {
488 .precision = IIO_DEGREE_TO_RAD(300),
489 .fullscale = 24000,
490 },
491 [ID_ADIS16136] = {
492 .precision = IIO_DEGREE_TO_RAD(450),
493 .fullscale = 24623,
494 },
495 [ID_ADIS16137] = {
496 .precision = IIO_DEGREE_TO_RAD(1000),
497 .fullscale = 24609,
498 },
499};
500
501static int adis16136_probe(struct spi_device *spi)
502{
503 const struct spi_device_id *id = spi_get_device_id(spi);
504 struct adis16136 *adis16136;
505 struct iio_dev *indio_dev;
506 int ret;
507
508 indio_dev = devm_iio_device_alloc(&spi->dev, sizeof(*adis16136));
509 if (indio_dev == NULL)
510 return -ENOMEM;
511
512 spi_set_drvdata(spi, indio_dev);
513
514 adis16136 = iio_priv(indio_dev);
515
516 adis16136->chip_info = &adis16136_chip_info[id->driver_data];
517 indio_dev->dev.parent = &spi->dev;
518 indio_dev->name = spi_get_device_id(spi)->name;
519 indio_dev->channels = adis16136_channels;
520 indio_dev->num_channels = ARRAY_SIZE(adis16136_channels);
521 indio_dev->info = &adis16136_info;
522 indio_dev->modes = INDIO_DIRECT_MODE;
523
524 ret = adis_init(&adis16136->adis, indio_dev, spi, &adis16136_data);
525 if (ret)
526 return ret;
527
528 ret = adis_setup_buffer_and_trigger(&adis16136->adis, indio_dev, NULL);
529 if (ret)
530 return ret;
531
532 ret = adis16136_initial_setup(indio_dev);
533 if (ret)
534 goto error_cleanup_buffer;
535
536 ret = iio_device_register(indio_dev);
537 if (ret)
538 goto error_stop_device;
539
540 adis16136_debugfs_init(indio_dev);
541
542 return 0;
543
544error_stop_device:
545 adis16136_stop_device(indio_dev);
546error_cleanup_buffer:
547 adis_cleanup_buffer_and_trigger(&adis16136->adis, indio_dev);
548 return ret;
549}
550
551static int adis16136_remove(struct spi_device *spi)
552{
553 struct iio_dev *indio_dev = spi_get_drvdata(spi);
554 struct adis16136 *adis16136 = iio_priv(indio_dev);
555
556 iio_device_unregister(indio_dev);
557 adis16136_stop_device(indio_dev);
558
559 adis_cleanup_buffer_and_trigger(&adis16136->adis, indio_dev);
560
561 return 0;
562}
563
564static const struct spi_device_id adis16136_ids[] = {
565 { "adis16133", ID_ADIS16133 },
566 { "adis16135", ID_ADIS16135 },
567 { "adis16136", ID_ADIS16136 },
568 { "adis16137", ID_ADIS16137 },
569 { }
570};
571MODULE_DEVICE_TABLE(spi, adis16136_ids);
572
573static struct spi_driver adis16136_driver = {
574 .driver = {
575 .name = "adis16136",
576 },
577 .id_table = adis16136_ids,
578 .probe = adis16136_probe,
579 .remove = adis16136_remove,
580};
581module_spi_driver(adis16136_driver);
582
583MODULE_AUTHOR("Lars-Peter Clausen <lars@metafoo.de>");
584MODULE_DESCRIPTION("Analog Devices ADIS16133/ADIS16135/ADIS16136 gyroscope driver");
585MODULE_LICENSE("GPL v2");
586
