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[mirror_ubuntu-zesty-kernel.git] / 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");