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/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, /* Special case */
245	[1] = 6,
246	[2] = 12,
247	[3] = 25,
248	[4] = 50,
249	[5] = 100,
250	[6] = 200,
251	[7] = 200, /* Not a valid setting */
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; /* 0.010697 degree Celsius */
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 void adis16136_stop(void *data)
527{
528	adis16136_stop_device(data);
529}
530
531static int adis16136_probe(struct spi_device *spi)
532{
533	const struct spi_device_id *id = spi_get_device_id(spi);
534	struct adis16136 *adis16136;
535	struct iio_dev *indio_dev;
536	const struct adis_data *adis16136_data;
537	int ret;
538
539	indio_dev = devm_iio_device_alloc(&spi->dev, sizeof(*adis16136));
540	if (indio_dev == NULL)
541		return -ENOMEM;
542
543	spi_set_drvdata(spi, indio_dev);
544
545	adis16136 = iio_priv(indio_dev);
546
547	adis16136->chip_info = &adis16136_chip_info[id->driver_data];
548	indio_dev->name = spi_get_device_id(spi)->name;
549	indio_dev->channels = adis16136_channels;
550	indio_dev->num_channels = ARRAY_SIZE(adis16136_channels);
551	indio_dev->info = &adis16136_info;
552	indio_dev->modes = INDIO_DIRECT_MODE;
553
554	adis16136_data = &adis16136->chip_info->adis_data;
555
556	ret = adis_init(&adis16136->adis, indio_dev, spi, adis16136_data);
557	if (ret)
558		return ret;
559
560	ret = devm_adis_setup_buffer_and_trigger(&adis16136->adis, indio_dev, NULL);
561	if (ret)
562		return ret;
563
564	ret = adis16136_initial_setup(indio_dev);
565	if (ret)
566		return ret;
567
568	ret = devm_add_action_or_reset(&spi->dev, adis16136_stop, indio_dev);
569	if (ret)
570		return ret;
571
572	ret = devm_iio_device_register(&spi->dev, indio_dev);
573	if (ret)
574		return ret;
575
576	adis16136_debugfs_init(indio_dev);
577
578	return 0;
579}
580
581static const struct spi_device_id adis16136_ids[] = {
582	{ "adis16133", ID_ADIS16133 },
583	{ "adis16135", ID_ADIS16135 },
584	{ "adis16136", ID_ADIS16136 },
585	{ "adis16137", ID_ADIS16137 },
586	{ }
587};
588MODULE_DEVICE_TABLE(spi, adis16136_ids);
589
590static struct spi_driver adis16136_driver = {
591	.driver = {
592		.name = "adis16136",
593	},
594	.id_table = adis16136_ids,
595	.probe = adis16136_probe,
596};
597module_spi_driver(adis16136_driver);
598
599MODULE_AUTHOR("Lars-Peter Clausen <lars@metafoo.de>");
600MODULE_DESCRIPTION("Analog Devices ADIS16133/ADIS16135/ADIS16136 gyroscope driver");
601MODULE_LICENSE("GPL v2");
602MODULE_IMPORT_NS(IIO_ADISLIB);
603