1// SPDX-License-Identifier: GPL-2.0-only
2/*
3 * ADIS16133/ADIS16135/ADIS16136 gyroscope driver
4 *
5 * Copyright 2012 Analog Devices Inc.
6 *   Author: Lars-Peter Clausen <lars@metafoo.de>
7 */
8
9#include <linux/device.h>
10#include <linux/kernel.h>
11#include <linux/spi/spi.h>
12#include <linux/sysfs.h>
13#include <linux/module.h>
14
15#include <linux/iio/iio.h>
16#include <linux/iio/sysfs.h>
17#include <linux/iio/imu/adis.h>
18
19#include <linux/debugfs.h>
20
21#define ADIS16136_REG_FLASH_CNT		0x00
22#define ADIS16136_REG_TEMP_OUT		0x02
23#define ADIS16136_REG_GYRO_OUT2		0x04
24#define ADIS16136_REG_GYRO_OUT		0x06
25#define ADIS16136_REG_GYRO_OFF2		0x08
26#define ADIS16136_REG_GYRO_OFF		0x0A
27#define ADIS16136_REG_ALM_MAG1		0x10
28#define ADIS16136_REG_ALM_MAG2		0x12
29#define ADIS16136_REG_ALM_SAMPL1	0x14
30#define ADIS16136_REG_ALM_SAMPL2	0x16
31#define ADIS16136_REG_ALM_CTRL		0x18
32#define ADIS16136_REG_GPIO_CTRL		0x1A
33#define ADIS16136_REG_MSC_CTRL		0x1C
34#define ADIS16136_REG_SMPL_PRD		0x1E
35#define ADIS16136_REG_AVG_CNT		0x20
36#define ADIS16136_REG_DEC_RATE		0x22
37#define ADIS16136_REG_SLP_CTRL		0x24
38#define ADIS16136_REG_DIAG_STAT		0x26
39#define ADIS16136_REG_GLOB_CMD		0x28
40#define ADIS16136_REG_LOT1		0x32
41#define ADIS16136_REG_LOT2		0x34
42#define ADIS16136_REG_LOT3		0x36
43#define ADIS16136_REG_PROD_ID		0x38
44#define ADIS16136_REG_SERIAL_NUM	0x3A
45
46#define ADIS16136_DIAG_STAT_FLASH_UPDATE_FAIL	2
47#define ADIS16136_DIAG_STAT_SPI_FAIL		3
48#define ADIS16136_DIAG_STAT_SELF_TEST_FAIL	5
49#define ADIS16136_DIAG_STAT_FLASH_CHKSUM_FAIL	6
50
51#define ADIS16136_MSC_CTRL_MEMORY_TEST BIT(11)
52#define ADIS16136_MSC_CTRL_SELF_TEST BIT(10)
53
54struct adis16136_chip_info {
55	unsigned int precision;
56	unsigned int fullscale;
57	const struct adis_data adis_data;
58};
59
60struct adis16136 {
61	const struct adis16136_chip_info *chip_info;
62
63	struct adis adis;
64};
65
66#ifdef CONFIG_DEBUG_FS
67
68static ssize_t adis16136_show_serial(struct file *file,
69		char __user *userbuf, size_t count, loff_t *ppos)
70{
71	struct adis16136 *adis16136 = file->private_data;
72	uint16_t lot1, lot2, lot3, serial;
73	char buf[20];
74	size_t len;
75	int ret;
76
77	ret = adis_read_reg_16(&adis16136->adis, ADIS16136_REG_SERIAL_NUM,
78		&serial);
79	if (ret)
80		return ret;
81
82	ret = adis_read_reg_16(&adis16136->adis, ADIS16136_REG_LOT1, &lot1);
83	if (ret)
84		return ret;
85
86	ret = adis_read_reg_16(&adis16136->adis, ADIS16136_REG_LOT2, &lot2);
87	if (ret)
88		return ret;
89
90	ret = adis_read_reg_16(&adis16136->adis, ADIS16136_REG_LOT3, &lot3);
91	if (ret)
92		return ret;
93
94	len = snprintf(buf, sizeof(buf), "%.4x%.4x%.4x-%.4x\n", lot1, lot2,
95		lot3, serial);
96
97	return simple_read_from_buffer(userbuf, count, ppos, buf, len);
98}
99
100static const struct file_operations adis16136_serial_fops = {
101	.open = simple_open,
102	.read = adis16136_show_serial,
103	.llseek = default_llseek,
104	.owner = THIS_MODULE,
105};
106
107static int adis16136_show_product_id(void *arg, u64 *val)
108{
109	struct adis16136 *adis16136 = arg;
110	u16 prod_id;
111	int ret;
112
113	ret = adis_read_reg_16(&adis16136->adis, ADIS16136_REG_PROD_ID,
114		&prod_id);
115	if (ret)
116		return ret;
117
118	*val = prod_id;
119
120	return 0;
121}
122DEFINE_DEBUGFS_ATTRIBUTE(adis16136_product_id_fops,
123	adis16136_show_product_id, NULL, "%llu\n");
124
125static int adis16136_show_flash_count(void *arg, u64 *val)
126{
127	struct adis16136 *adis16136 = arg;
128	uint16_t flash_count;
129	int ret;
130
131	ret = adis_read_reg_16(&adis16136->adis, ADIS16136_REG_FLASH_CNT,
132		&flash_count);
133	if (ret)
134		return ret;
135
136	*val = flash_count;
137
138	return 0;
139}
140DEFINE_DEBUGFS_ATTRIBUTE(adis16136_flash_count_fops,
141	adis16136_show_flash_count, NULL, "%lld\n");
142
143static int adis16136_debugfs_init(struct iio_dev *indio_dev)
144{
145	struct adis16136 *adis16136 = iio_priv(indio_dev);
146	struct dentry *d = iio_get_debugfs_dentry(indio_dev);
147
148	debugfs_create_file_unsafe("serial_number", 0400,
149		d, adis16136, &adis16136_serial_fops);
150	debugfs_create_file_unsafe("product_id", 0400,
151		d, adis16136, &adis16136_product_id_fops);
152	debugfs_create_file_unsafe("flash_count", 0400,
153		d, adis16136, &adis16136_flash_count_fops);
154
155	return 0;
156}
157
158#else
159
160static int adis16136_debugfs_init(struct iio_dev *indio_dev)
161{
162	return 0;
163}
164
165#endif
166
167static int adis16136_set_freq(struct adis16136 *adis16136, unsigned int freq)
168{
169	unsigned int t;
170
171	t = 32768 / freq;
172	if (t < 0xf)
173		t = 0xf;
174	else if (t > 0xffff)
175		t = 0xffff;
176	else
177		t--;
178
179	return adis_write_reg_16(&adis16136->adis, ADIS16136_REG_SMPL_PRD, t);
180}
181
182static int __adis16136_get_freq(struct adis16136 *adis16136, unsigned int *freq)
183{
184	uint16_t t;
185	int ret;
186
187	ret = __adis_read_reg_16(&adis16136->adis, ADIS16136_REG_SMPL_PRD, &t);
188	if (ret)
189		return ret;
190
191	*freq = 32768 / (t + 1);
192
193	return 0;
194}
195
196static ssize_t adis16136_write_frequency(struct device *dev,
197	struct device_attribute *attr, const char *buf, size_t len)
198{
199	struct iio_dev *indio_dev = dev_to_iio_dev(dev);
200	struct adis16136 *adis16136 = iio_priv(indio_dev);
201	unsigned int val;
202	int ret;
203
204	ret = kstrtouint(buf, 10, &val);
205	if (ret)
206		return ret;
207
208	if (val == 0)
209		return -EINVAL;
210
211	ret = adis16136_set_freq(adis16136, val);
212
213	return ret ? ret : len;
214}
215
216static ssize_t adis16136_read_frequency(struct device *dev,
217	struct device_attribute *attr, char *buf)
218{
219	struct iio_dev *indio_dev = dev_to_iio_dev(dev);
220	struct adis16136 *adis16136 = iio_priv(indio_dev);
221	unsigned int freq;
222	int ret;
223
224	adis_dev_lock(&adis16136->adis);
225	ret = __adis16136_get_freq(adis16136, &freq);
226	adis_dev_unlock(&adis16136->adis);
227	if (ret)
228		return ret;
229
230	return sprintf(buf, "%d\n", freq);
231}
232
233static IIO_DEV_ATTR_SAMP_FREQ(S_IWUSR | S_IRUGO,
234				  adis16136_read_frequency,
235				  adis16136_write_frequency);
236
237static const unsigned adis16136_3db_divisors[] = {
238	[0] = 2, /* Special case */
239	[1] = 6,
240	[2] = 12,
241	[3] = 25,
242	[4] = 50,
243	[5] = 100,
244	[6] = 200,
245	[7] = 200, /* Not a valid setting */
246};
247
248static int adis16136_set_filter(struct iio_dev *indio_dev, int val)
249{
250	struct adis16136 *adis16136 = iio_priv(indio_dev);
251	unsigned int freq;
252	int i, ret;
253
254	adis_dev_lock(&adis16136->adis);
255	ret = __adis16136_get_freq(adis16136, &freq);
256	if (ret)
257		goto out_unlock;
258
259	for (i = ARRAY_SIZE(adis16136_3db_divisors) - 1; i >= 1; i--) {
260		if (freq / adis16136_3db_divisors[i] >= val)
261			break;
262	}
263
264	ret = __adis_write_reg_16(&adis16136->adis, ADIS16136_REG_AVG_CNT, i);
265out_unlock:
266	adis_dev_unlock(&adis16136->adis);
267
268	return ret;
269}
270
271static int adis16136_get_filter(struct iio_dev *indio_dev, int *val)
272{
273	struct adis16136 *adis16136 = iio_priv(indio_dev);
274	unsigned int freq;
275	uint16_t val16;
276	int ret;
277
278	adis_dev_lock(&adis16136->adis);
279
280	ret = __adis_read_reg_16(&adis16136->adis, ADIS16136_REG_AVG_CNT,
281				 &val16);
282	if (ret)
283		goto err_unlock;
284
285	ret = __adis16136_get_freq(adis16136, &freq);
286	if (ret)
287		goto err_unlock;
288
289	*val = freq / adis16136_3db_divisors[val16 & 0x07];
290
291err_unlock:
292	adis_dev_unlock(&adis16136->adis);
293
294	return ret ? ret : IIO_VAL_INT;
295}
296
297static int adis16136_read_raw(struct iio_dev *indio_dev,
298	const struct iio_chan_spec *chan, int *val, int *val2, long info)
299{
300	struct adis16136 *adis16136 = iio_priv(indio_dev);
301	uint32_t val32;
302	int ret;
303
304	switch (info) {
305	case IIO_CHAN_INFO_RAW:
306		return adis_single_conversion(indio_dev, chan, 0, val);
307	case IIO_CHAN_INFO_SCALE:
308		switch (chan->type) {
309		case IIO_ANGL_VEL:
310			*val = adis16136->chip_info->precision;
311			*val2 = (adis16136->chip_info->fullscale << 16);
312			return IIO_VAL_FRACTIONAL;
313		case IIO_TEMP:
314			*val = 10;
315			*val2 = 697000; /* 0.010697 degree Celsius */
316			return IIO_VAL_INT_PLUS_MICRO;
317		default:
318			return -EINVAL;
319		}
320	case IIO_CHAN_INFO_CALIBBIAS:
321		ret = adis_read_reg_32(&adis16136->adis,
322			ADIS16136_REG_GYRO_OFF2, &val32);
323		if (ret)
324			return ret;
325
326		*val = sign_extend32(val32, 31);
327
328		return IIO_VAL_INT;
329	case IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY:
330		return adis16136_get_filter(indio_dev, val);
331	default:
332		return -EINVAL;
333	}
334}
335
336static int adis16136_write_raw(struct iio_dev *indio_dev,
337	const struct iio_chan_spec *chan, int val, int val2, long info)
338{
339	struct adis16136 *adis16136 = iio_priv(indio_dev);
340
341	switch (info) {
342	case IIO_CHAN_INFO_CALIBBIAS:
343		return adis_write_reg_32(&adis16136->adis,
344			ADIS16136_REG_GYRO_OFF2, val);
345	case IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY:
346		return adis16136_set_filter(indio_dev, val);
347	default:
348		break;
349	}
350
351	return -EINVAL;
352}
353
354enum {
355	ADIS16136_SCAN_GYRO,
356	ADIS16136_SCAN_TEMP,
357};
358
359static const struct iio_chan_spec adis16136_channels[] = {
360	{
361		.type = IIO_ANGL_VEL,
362		.modified = 1,
363		.channel2 = IIO_MOD_X,
364		.info_mask_separate = BIT(IIO_CHAN_INFO_RAW) |
365			BIT(IIO_CHAN_INFO_CALIBBIAS) |
366			BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY),
367		.info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE),
368
369		.address = ADIS16136_REG_GYRO_OUT2,
370		.scan_index = ADIS16136_SCAN_GYRO,
371		.scan_type = {
372			.sign = 's',
373			.realbits = 32,
374			.storagebits = 32,
375			.endianness = IIO_BE,
376		},
377	}, {
378		.type = IIO_TEMP,
379		.indexed = 1,
380		.channel = 0,
381		.info_mask_separate = BIT(IIO_CHAN_INFO_RAW) |
382			BIT(IIO_CHAN_INFO_SCALE),
383		.address = ADIS16136_REG_TEMP_OUT,
384		.scan_index = ADIS16136_SCAN_TEMP,
385		.scan_type = {
386			.sign = 's',
387			.realbits = 16,
388			.storagebits = 16,
389			.endianness = IIO_BE,
390		},
391	},
392	IIO_CHAN_SOFT_TIMESTAMP(2),
393};
394
395static struct attribute *adis16136_attributes[] = {
396	&iio_dev_attr_sampling_frequency.dev_attr.attr,
397	NULL
398};
399
400static const struct attribute_group adis16136_attribute_group = {
401	.attrs = adis16136_attributes,
402};
403
404static const struct iio_info adis16136_info = {
405	.attrs = &adis16136_attribute_group,
406	.read_raw = &adis16136_read_raw,
407	.write_raw = &adis16136_write_raw,
408	.update_scan_mode = adis_update_scan_mode,
409	.debugfs_reg_access = adis_debugfs_reg_access,
410};
411
412static int adis16136_stop_device(struct iio_dev *indio_dev)
413{
414	struct adis16136 *adis16136 = iio_priv(indio_dev);
415	int ret;
416
417	ret = adis_write_reg_16(&adis16136->adis, ADIS16136_REG_SLP_CTRL, 0xff);
418	if (ret)
419		dev_err(&indio_dev->dev,
420			"Could not power down device: %d\n", ret);
421
422	return ret;
423}
424
425static int adis16136_initial_setup(struct iio_dev *indio_dev)
426{
427	struct adis16136 *adis16136 = iio_priv(indio_dev);
428	unsigned int device_id;
429	uint16_t prod_id;
430	int ret;
431
432	ret = __adis_initial_startup(&adis16136->adis);
433	if (ret)
434		return ret;
435
436	ret = adis_read_reg_16(&adis16136->adis, ADIS16136_REG_PROD_ID,
437		&prod_id);
438	if (ret)
439		return ret;
440
441	ret = sscanf(indio_dev->name, "adis%u\n", &device_id);
442	if (ret != 1)
443		return -EINVAL;
444
445	if (prod_id != device_id)
446		dev_warn(&indio_dev->dev, "Device ID(%u) and product ID(%u) do not match.",
447				device_id, prod_id);
448
449	return 0;
450}
451
452static const char * const adis16136_status_error_msgs[] = {
453	[ADIS16136_DIAG_STAT_FLASH_UPDATE_FAIL] = "Flash update failed",
454	[ADIS16136_DIAG_STAT_SPI_FAIL] = "SPI failure",
455	[ADIS16136_DIAG_STAT_SELF_TEST_FAIL] = "Self test error",
456	[ADIS16136_DIAG_STAT_FLASH_CHKSUM_FAIL] = "Flash checksum error",
457};
458
459#define ADIS16136_DATA(_timeouts)					\
460{									\
461	.diag_stat_reg = ADIS16136_REG_DIAG_STAT,			\
462	.glob_cmd_reg = ADIS16136_REG_GLOB_CMD,				\
463	.msc_ctrl_reg = ADIS16136_REG_MSC_CTRL,				\
464	.self_test_reg = ADIS16136_REG_MSC_CTRL,			\
465	.self_test_mask = ADIS16136_MSC_CTRL_SELF_TEST,			\
466	.read_delay = 10,						\
467	.write_delay = 10,						\
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	.timeouts = (_timeouts),					\
474}
475
476enum adis16136_id {
477	ID_ADIS16133,
478	ID_ADIS16135,
479	ID_ADIS16136,
480	ID_ADIS16137,
481};
482
483static const struct adis_timeout adis16133_timeouts = {
484	.reset_ms = 75,
485	.sw_reset_ms = 75,
486	.self_test_ms = 50,
487};
488
489static const struct adis_timeout adis16136_timeouts = {
490	.reset_ms = 128,
491	.sw_reset_ms = 75,
492	.self_test_ms = 245,
493};
494
495static const struct adis16136_chip_info adis16136_chip_info[] = {
496	[ID_ADIS16133] = {
497		.precision = IIO_DEGREE_TO_RAD(1200),
498		.fullscale = 24000,
499		.adis_data = ADIS16136_DATA(&adis16133_timeouts),
500	},
501	[ID_ADIS16135] = {
502		.precision = IIO_DEGREE_TO_RAD(300),
503		.fullscale = 24000,
504		.adis_data = ADIS16136_DATA(&adis16133_timeouts),
505	},
506	[ID_ADIS16136] = {
507		.precision = IIO_DEGREE_TO_RAD(450),
508		.fullscale = 24623,
509		.adis_data = ADIS16136_DATA(&adis16136_timeouts),
510	},
511	[ID_ADIS16137] = {
512		.precision = IIO_DEGREE_TO_RAD(1000),
513		.fullscale = 24609,
514		.adis_data = ADIS16136_DATA(&adis16136_timeouts),
515	},
516};
517
518static void adis16136_stop(void *data)
519{
520	adis16136_stop_device(data);
521}
522
523static int adis16136_probe(struct spi_device *spi)
524{
525	const struct spi_device_id *id = spi_get_device_id(spi);
526	struct adis16136 *adis16136;
527	struct iio_dev *indio_dev;
528	const struct adis_data *adis16136_data;
529	int ret;
530
531	indio_dev = devm_iio_device_alloc(&spi->dev, sizeof(*adis16136));
532	if (indio_dev == NULL)
533		return -ENOMEM;
534
535	spi_set_drvdata(spi, indio_dev);
536
537	adis16136 = iio_priv(indio_dev);
538
539	adis16136->chip_info = &adis16136_chip_info[id->driver_data];
540	indio_dev->name = spi_get_device_id(spi)->name;
541	indio_dev->channels = adis16136_channels;
542	indio_dev->num_channels = ARRAY_SIZE(adis16136_channels);
543	indio_dev->info = &adis16136_info;
544	indio_dev->modes = INDIO_DIRECT_MODE;
545
546	adis16136_data = &adis16136->chip_info->adis_data;
547
548	ret = adis_init(&adis16136->adis, indio_dev, spi, adis16136_data);
549	if (ret)
550		return ret;
551
552	ret = devm_adis_setup_buffer_and_trigger(&adis16136->adis, indio_dev, NULL);
553	if (ret)
554		return ret;
555
556	ret = adis16136_initial_setup(indio_dev);
557	if (ret)
558		return ret;
559
560	ret = devm_add_action_or_reset(&spi->dev, adis16136_stop, indio_dev);
561	if (ret)
562		return ret;
563
564	ret = devm_iio_device_register(&spi->dev, indio_dev);
565	if (ret)
566		return ret;
567
568	adis16136_debugfs_init(indio_dev);
569
570	return 0;
571}
572
573static const struct spi_device_id adis16136_ids[] = {
574	{ "adis16133", ID_ADIS16133 },
575	{ "adis16135", ID_ADIS16135 },
576	{ "adis16136", ID_ADIS16136 },
577	{ "adis16137", ID_ADIS16137 },
578	{ }
579};
580MODULE_DEVICE_TABLE(spi, adis16136_ids);
581
582static struct spi_driver adis16136_driver = {
583	.driver = {
584		.name = "adis16136",
585	},
586	.id_table = adis16136_ids,
587	.probe = adis16136_probe,
588};
589module_spi_driver(adis16136_driver);
590
591MODULE_AUTHOR("Lars-Peter Clausen <lars@metafoo.de>");
592MODULE_DESCRIPTION("Analog Devices ADIS16133/ADIS16135/ADIS16136 gyroscope driver");
593MODULE_LICENSE("GPL v2");
594MODULE_IMPORT_NS(IIO_ADISLIB);
595