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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 const struct adis_data adis_data;
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)
85 return ret;
86
87 ret = adis_read_reg_16(&adis16136->adis, ADIS16136_REG_LOT1, &lot1);
88 if (ret)
89 return ret;
90
91 ret = adis_read_reg_16(&adis16136->adis, ADIS16136_REG_LOT2, &lot2);
92 if (ret)
93 return ret;
94
95 ret = adis_read_reg_16(&adis16136->adis, ADIS16136_REG_LOT3, &lot3);
96 if (ret)
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)
121 return ret;
122
123 *val = prod_id;
124
125 return 0;
126}
127DEFINE_DEBUGFS_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)
139 return ret;
140
141 *val = flash_count;
142
143 return 0;
144}
145DEFINE_DEBUGFS_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 struct dentry *d = iio_get_debugfs_dentry(indio_dev);
152
153 debugfs_create_file_unsafe("serial_number", 0400,
154 d, adis16136, &adis16136_serial_fops);
155 debugfs_create_file_unsafe("product_id", 0400,
156 d, adis16136, &adis16136_product_id_fops);
157 debugfs_create_file_unsafe("flash_count", 0400,
158 d, adis16136, &adis16136_flash_count_fops);
159
160 return 0;
161}
162
163#else
164
165static int adis16136_debugfs_init(struct iio_dev *indio_dev)
166{
167 return 0;
168}
169
170#endif
171
172static int adis16136_set_freq(struct adis16136 *adis16136, unsigned int freq)
173{
174 unsigned int t;
175
176 t = 32768 / freq;
177 if (t < 0xf)
178 t = 0xf;
179 else if (t > 0xffff)
180 t = 0xffff;
181 else
182 t--;
183
184 return adis_write_reg_16(&adis16136->adis, ADIS16136_REG_SMPL_PRD, t);
185}
186
187static int __adis16136_get_freq(struct adis16136 *adis16136, unsigned int *freq)
188{
189 uint16_t t;
190 int ret;
191
192 ret = __adis_read_reg_16(&adis16136->adis, ADIS16136_REG_SMPL_PRD, &t);
193 if (ret)
194 return ret;
195
196 *freq = 32768 / (t + 1);
197
198 return 0;
199}
200
201static ssize_t adis16136_write_frequency(struct device *dev,
202 struct device_attribute *attr, const char *buf, size_t len)
203{
204 struct iio_dev *indio_dev = dev_to_iio_dev(dev);
205 struct adis16136 *adis16136 = iio_priv(indio_dev);
206 unsigned int val;
207 int ret;
208
209 ret = kstrtouint(buf, 10, &val);
210 if (ret)
211 return ret;
212
213 if (val == 0)
214 return -EINVAL;
215
216 ret = adis16136_set_freq(adis16136, val);
217
218 return ret ? ret : len;
219}
220
221static ssize_t adis16136_read_frequency(struct device *dev,
222 struct device_attribute *attr, char *buf)
223{
224 struct iio_dev *indio_dev = dev_to_iio_dev(dev);
225 struct adis16136 *adis16136 = iio_priv(indio_dev);
226 struct mutex *slock = &adis16136->adis.state_lock;
227 unsigned int freq;
228 int ret;
229
230 mutex_lock(slock);
231 ret = __adis16136_get_freq(adis16136, &freq);
232 mutex_unlock(slock);
233 if (ret)
234 return ret;
235
236 return sprintf(buf, "%d\n", freq);
237}
238
239static IIO_DEV_ATTR_SAMP_FREQ(S_IWUSR | S_IRUGO,
240 adis16136_read_frequency,
241 adis16136_write_frequency);
242
243static const unsigned adis16136_3db_divisors[] = {
244 [0] = 2,
245 [1] = 6,
246 [2] = 12,
247 [3] = 25,
248 [4] = 50,
249 [5] = 100,
250 [6] = 200,
251 [7] = 200,
252};
253
254static int adis16136_set_filter(struct iio_dev *indio_dev, int val)
255{
256 struct adis16136 *adis16136 = iio_priv(indio_dev);
257 struct mutex *slock = &adis16136->adis.state_lock;
258 unsigned int freq;
259 int i, ret;
260
261 mutex_lock(slock);
262 ret = __adis16136_get_freq(adis16136, &freq);
263 if (ret)
264 goto out_unlock;
265
266 for (i = ARRAY_SIZE(adis16136_3db_divisors) - 1; i >= 1; i--) {
267 if (freq / adis16136_3db_divisors[i] >= val)
268 break;
269 }
270
271 ret = __adis_write_reg_16(&adis16136->adis, ADIS16136_REG_AVG_CNT, i);
272out_unlock:
273 mutex_unlock(slock);
274
275 return ret;
276}
277
278static int adis16136_get_filter(struct iio_dev *indio_dev, int *val)
279{
280 struct adis16136 *adis16136 = iio_priv(indio_dev);
281 struct mutex *slock = &adis16136->adis.state_lock;
282 unsigned int freq;
283 uint16_t val16;
284 int ret;
285
286 mutex_lock(slock);
287
288 ret = __adis_read_reg_16(&adis16136->adis, ADIS16136_REG_AVG_CNT,
289 &val16);
290 if (ret)
291 goto err_unlock;
292
293 ret = __adis16136_get_freq(adis16136, &freq);
294 if (ret)
295 goto err_unlock;
296
297 *val = freq / adis16136_3db_divisors[val16 & 0x07];
298
299err_unlock:
300 mutex_unlock(slock);
301
302 return ret ? ret : IIO_VAL_INT;
303}
304
305static int adis16136_read_raw(struct iio_dev *indio_dev,
306 const struct iio_chan_spec *chan, int *val, int *val2, long info)
307{
308 struct adis16136 *adis16136 = iio_priv(indio_dev);
309 uint32_t val32;
310 int ret;
311
312 switch (info) {
313 case IIO_CHAN_INFO_RAW:
314 return adis_single_conversion(indio_dev, chan, 0, val);
315 case IIO_CHAN_INFO_SCALE:
316 switch (chan->type) {
317 case IIO_ANGL_VEL:
318 *val = adis16136->chip_info->precision;
319 *val2 = (adis16136->chip_info->fullscale << 16);
320 return IIO_VAL_FRACTIONAL;
321 case IIO_TEMP:
322 *val = 10;
323 *val2 = 697000;
324 return IIO_VAL_INT_PLUS_MICRO;
325 default:
326 return -EINVAL;
327 }
328 case IIO_CHAN_INFO_CALIBBIAS:
329 ret = adis_read_reg_32(&adis16136->adis,
330 ADIS16136_REG_GYRO_OFF2, &val32);
331 if (ret)
332 return ret;
333
334 *val = sign_extend32(val32, 31);
335
336 return IIO_VAL_INT;
337 case IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY:
338 return adis16136_get_filter(indio_dev, val);
339 default:
340 return -EINVAL;
341 }
342}
343
344static int adis16136_write_raw(struct iio_dev *indio_dev,
345 const struct iio_chan_spec *chan, int val, int val2, long info)
346{
347 struct adis16136 *adis16136 = iio_priv(indio_dev);
348
349 switch (info) {
350 case IIO_CHAN_INFO_CALIBBIAS:
351 return adis_write_reg_32(&adis16136->adis,
352 ADIS16136_REG_GYRO_OFF2, val);
353 case IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY:
354 return adis16136_set_filter(indio_dev, val);
355 default:
356 break;
357 }
358
359 return -EINVAL;
360}
361
362enum {
363 ADIS16136_SCAN_GYRO,
364 ADIS16136_SCAN_TEMP,
365};
366
367static const struct iio_chan_spec adis16136_channels[] = {
368 {
369 .type = IIO_ANGL_VEL,
370 .modified = 1,
371 .channel2 = IIO_MOD_X,
372 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) |
373 BIT(IIO_CHAN_INFO_CALIBBIAS) |
374 BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY),
375 .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE),
376
377 .address = ADIS16136_REG_GYRO_OUT2,
378 .scan_index = ADIS16136_SCAN_GYRO,
379 .scan_type = {
380 .sign = 's',
381 .realbits = 32,
382 .storagebits = 32,
383 .endianness = IIO_BE,
384 },
385 }, {
386 .type = IIO_TEMP,
387 .indexed = 1,
388 .channel = 0,
389 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) |
390 BIT(IIO_CHAN_INFO_SCALE),
391 .address = ADIS16136_REG_TEMP_OUT,
392 .scan_index = ADIS16136_SCAN_TEMP,
393 .scan_type = {
394 .sign = 's',
395 .realbits = 16,
396 .storagebits = 16,
397 .endianness = IIO_BE,
398 },
399 },
400 IIO_CHAN_SOFT_TIMESTAMP(2),
401};
402
403static struct attribute *adis16136_attributes[] = {
404 &iio_dev_attr_sampling_frequency.dev_attr.attr,
405 NULL
406};
407
408static const struct attribute_group adis16136_attribute_group = {
409 .attrs = adis16136_attributes,
410};
411
412static const struct iio_info adis16136_info = {
413 .attrs = &adis16136_attribute_group,
414 .read_raw = &adis16136_read_raw,
415 .write_raw = &adis16136_write_raw,
416 .update_scan_mode = adis_update_scan_mode,
417 .debugfs_reg_access = adis_debugfs_reg_access,
418};
419
420static int adis16136_stop_device(struct iio_dev *indio_dev)
421{
422 struct adis16136 *adis16136 = iio_priv(indio_dev);
423 int ret;
424
425 ret = adis_write_reg_16(&adis16136->adis, ADIS16136_REG_SLP_CTRL, 0xff);
426 if (ret)
427 dev_err(&indio_dev->dev,
428 "Could not power down device: %d\n", ret);
429
430 return ret;
431}
432
433static int adis16136_initial_setup(struct iio_dev *indio_dev)
434{
435 struct adis16136 *adis16136 = iio_priv(indio_dev);
436 unsigned int device_id;
437 uint16_t prod_id;
438 int ret;
439
440 ret = adis_initial_startup(&adis16136->adis);
441 if (ret)
442 return ret;
443
444 ret = adis_read_reg_16(&adis16136->adis, ADIS16136_REG_PROD_ID,
445 &prod_id);
446 if (ret)
447 return ret;
448
449 ret = sscanf(indio_dev->name, "adis%u\n", &device_id);
450 if (ret != 1)
451 return -EINVAL;
452
453 if (prod_id != device_id)
454 dev_warn(&indio_dev->dev, "Device ID(%u) and product ID(%u) do not match.",
455 device_id, prod_id);
456
457 return 0;
458}
459
460static const char * const adis16136_status_error_msgs[] = {
461 [ADIS16136_DIAG_STAT_FLASH_UPDATE_FAIL] = "Flash update failed",
462 [ADIS16136_DIAG_STAT_SPI_FAIL] = "SPI failure",
463 [ADIS16136_DIAG_STAT_SELF_TEST_FAIL] = "Self test error",
464 [ADIS16136_DIAG_STAT_FLASH_CHKSUM_FAIL] = "Flash checksum error",
465};
466
467#define ADIS16136_DATA(_timeouts) \
468{ \
469 .diag_stat_reg = ADIS16136_REG_DIAG_STAT, \
470 .glob_cmd_reg = ADIS16136_REG_GLOB_CMD, \
471 .msc_ctrl_reg = ADIS16136_REG_MSC_CTRL, \
472 .self_test_reg = ADIS16136_REG_MSC_CTRL, \
473 .self_test_mask = ADIS16136_MSC_CTRL_SELF_TEST, \
474 .read_delay = 10, \
475 .write_delay = 10, \
476 .status_error_msgs = adis16136_status_error_msgs, \
477 .status_error_mask = BIT(ADIS16136_DIAG_STAT_FLASH_UPDATE_FAIL) | \
478 BIT(ADIS16136_DIAG_STAT_SPI_FAIL) | \
479 BIT(ADIS16136_DIAG_STAT_SELF_TEST_FAIL) | \
480 BIT(ADIS16136_DIAG_STAT_FLASH_CHKSUM_FAIL), \
481 .timeouts = (_timeouts), \
482}
483
484enum adis16136_id {
485 ID_ADIS16133,
486 ID_ADIS16135,
487 ID_ADIS16136,
488 ID_ADIS16137,
489};
490
491static const struct adis_timeout adis16133_timeouts = {
492 .reset_ms = 75,
493 .sw_reset_ms = 75,
494 .self_test_ms = 50,
495};
496
497static const struct adis_timeout adis16136_timeouts = {
498 .reset_ms = 128,
499 .sw_reset_ms = 75,
500 .self_test_ms = 245,
501};
502
503static const struct adis16136_chip_info adis16136_chip_info[] = {
504 [ID_ADIS16133] = {
505 .precision = IIO_DEGREE_TO_RAD(1200),
506 .fullscale = 24000,
507 .adis_data = ADIS16136_DATA(&adis16133_timeouts),
508 },
509 [ID_ADIS16135] = {
510 .precision = IIO_DEGREE_TO_RAD(300),
511 .fullscale = 24000,
512 .adis_data = ADIS16136_DATA(&adis16133_timeouts),
513 },
514 [ID_ADIS16136] = {
515 .precision = IIO_DEGREE_TO_RAD(450),
516 .fullscale = 24623,
517 .adis_data = ADIS16136_DATA(&adis16136_timeouts),
518 },
519 [ID_ADIS16137] = {
520 .precision = IIO_DEGREE_TO_RAD(1000),
521 .fullscale = 24609,
522 .adis_data = ADIS16136_DATA(&adis16136_timeouts),
523 },
524};
525
526static int adis16136_probe(struct spi_device *spi)
527{
528 const struct spi_device_id *id = spi_get_device_id(spi);
529 struct adis16136 *adis16136;
530 struct iio_dev *indio_dev;
531 const struct adis_data *adis16136_data;
532 int ret;
533
534 indio_dev = devm_iio_device_alloc(&spi->dev, sizeof(*adis16136));
535 if (indio_dev == NULL)
536 return -ENOMEM;
537
538 spi_set_drvdata(spi, indio_dev);
539
540 adis16136 = iio_priv(indio_dev);
541
542 adis16136->chip_info = &adis16136_chip_info[id->driver_data];
543 indio_dev->name = spi_get_device_id(spi)->name;
544 indio_dev->channels = adis16136_channels;
545 indio_dev->num_channels = ARRAY_SIZE(adis16136_channels);
546 indio_dev->info = &adis16136_info;
547 indio_dev->modes = INDIO_DIRECT_MODE;
548
549 adis16136_data = &adis16136->chip_info->adis_data;
550
551 ret = adis_init(&adis16136->adis, indio_dev, spi, adis16136_data);
552 if (ret)
553 return ret;
554
555 ret = adis_setup_buffer_and_trigger(&adis16136->adis, indio_dev, NULL);
556 if (ret)
557 return ret;
558
559 ret = adis16136_initial_setup(indio_dev);
560 if (ret)
561 goto error_cleanup_buffer;
562
563 ret = iio_device_register(indio_dev);
564 if (ret)
565 goto error_stop_device;
566
567 adis16136_debugfs_init(indio_dev);
568
569 return 0;
570
571error_stop_device:
572 adis16136_stop_device(indio_dev);
573error_cleanup_buffer:
574 adis_cleanup_buffer_and_trigger(&adis16136->adis, indio_dev);
575 return ret;
576}
577
578static int adis16136_remove(struct spi_device *spi)
579{
580 struct iio_dev *indio_dev = spi_get_drvdata(spi);
581 struct adis16136 *adis16136 = iio_priv(indio_dev);
582
583 iio_device_unregister(indio_dev);
584 adis16136_stop_device(indio_dev);
585
586 adis_cleanup_buffer_and_trigger(&adis16136->adis, indio_dev);
587
588 return 0;
589}
590
591static const struct spi_device_id adis16136_ids[] = {
592 { "adis16133", ID_ADIS16133 },
593 { "adis16135", ID_ADIS16135 },
594 { "adis16136", ID_ADIS16136 },
595 { "adis16137", ID_ADIS16137 },
596 { }
597};
598MODULE_DEVICE_TABLE(spi, adis16136_ids);
599
600static struct spi_driver adis16136_driver = {
601 .driver = {
602 .name = "adis16136",
603 },
604 .id_table = adis16136_ids,
605 .probe = adis16136_probe,
606 .remove = adis16136_remove,
607};
608module_spi_driver(adis16136_driver);
609
610MODULE_AUTHOR("Lars-Peter Clausen <lars@metafoo.de>");
611MODULE_DESCRIPTION("Analog Devices ADIS16133/ADIS16135/ADIS16136 gyroscope driver");
612MODULE_LICENSE("GPL v2");
613
