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
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, /* 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
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; /* 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
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 = devm_iio_device_alloc(&spi->dev, 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		return ret;
519
520	ret = adis_setup_buffer_and_trigger(&adis16136->adis, indio_dev, NULL);
521	if (ret)
522		return ret;
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);
540	return ret;
541}
542
543static int adis16136_remove(struct spi_device *spi)
544{
545	struct iio_dev *indio_dev = spi_get_drvdata(spi);
546	struct adis16136 *adis16136 = iio_priv(indio_dev);
547
548	iio_device_unregister(indio_dev);
549	adis16136_stop_device(indio_dev);
550
551	adis_cleanup_buffer_and_trigger(&adis16136->adis, indio_dev);
552
553	return 0;
554}
555
556static const struct spi_device_id adis16136_ids[] = {
557	{ "adis16133", ID_ADIS16133 },
558	{ "adis16135", ID_ADIS16135 },
559	{ "adis16136", ID_ADIS16136 },
560	{ }
561};
562MODULE_DEVICE_TABLE(spi, adis16136_ids);
563
564static struct spi_driver adis16136_driver = {
565	.driver = {
566		.name = "adis16136",
567		.owner = THIS_MODULE,
568	},
569	.id_table = adis16136_ids,
570	.probe = adis16136_probe,
571	.remove = adis16136_remove,
572};
573module_spi_driver(adis16136_driver);
574
575MODULE_AUTHOR("Lars-Peter Clausen <lars@metafoo.de>");
576MODULE_DESCRIPTION("Analog Devices ADIS16133/ADIS16135/ADIS16136 gyroscope driver");
577MODULE_LICENSE("GPL v2");
578