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Commit 9caed0d9 authored by Lars-Peter Clausen's avatar Lars-Peter Clausen Committed by Jonathan Cameron
Browse files

iio:gyro: Add support for the ADIS16136 gyroscope 



This patch adds support for the ADIS16133, ADIS16135, ADIS16136 single channel
gyroscopes. The main difference between them is the sensor precision.

Signed-off-by: default avatarLars-Peter Clausen <lars@metafoo.de>
Signed-off-by: default avatarJonathan Cameron <jic23@kernel.org>
parent 57a1228a

drivers/iio/gyro/Kconfig

+9 −0
Original line number Diff line number Diff line
@@ -3,6 +3,15 @@ 
#

menu "Digital gyroscope sensors"



config ADIS16136

	tristate "Analog devices ADIS16136 and similar gyroscopes driver"

	depends on SPI_MASTER

	select IIO_ADIS_LIB

	select IIO_ADIS_LIB_BUFFER if IIO_BUFFER

	help

	  Say yes here to build support for the Analog Devices ADIS16133, ADIS16135,

	  ADIS16136 gyroscope devices.



config HID_SENSOR_GYRO_3D

	depends on HID_SENSOR_HUB

	select IIO_BUFFER

drivers/iio/gyro/Makefile

+1 −0
Original line number Diff line number Diff line
@@ -2,4 +2,5 @@ 
# Makefile for industrial I/O gyroscope sensor drivers

#



obj-$(CONFIG_ADIS16136) += adis16136.o

obj-$(CONFIG_HID_SENSOR_GYRO_3D) += hid-sensor-gyro-3d.o

drivers/iio/gyro/adis16136.c

0 → 100644
+581 −0
Original line number Diff line number Diff line 
/*

 * ADIS16133/ADIS16135/ADIS16136 gyroscope driver

 *

 * Copyright 2012 Analog Devices Inc.

 *   Author: Lars-Peter Clausen <lars@metafoo.de>

 *

 * Licensed under the GPL-2.

 */



#include <linux/interrupt.h>

#include <linux/delay.h>

#include <linux/mutex.h>

#include <linux/device.h>

#include <linux/kernel.h>

#include <linux/spi/spi.h>

#include <linux/slab.h>

#include <linux/sysfs.h>

#include <linux/module.h>



#include <linux/iio/iio.h>

#include <linux/iio/sysfs.h>

#include <linux/iio/buffer.h>

#include <linux/iio/imu/adis.h>



#include <linux/iio/iio.h>

#include <linux/debugfs.h>



#define ADIS16136_REG_FLASH_CNT		0x00

#define ADIS16136_REG_TEMP_OUT		0x02

#define ADIS16136_REG_GYRO_OUT2		0x04

#define ADIS16136_REG_GYRO_OUT		0x06

#define ADIS16136_REG_GYRO_OFF2		0x08

#define ADIS16136_REG_GYRO_OFF		0x0A

#define ADIS16136_REG_ALM_MAG1		0x10

#define ADIS16136_REG_ALM_MAG2		0x12

#define ADIS16136_REG_ALM_SAMPL1	0x14

#define ADIS16136_REG_ALM_SAMPL2	0x16

#define ADIS16136_REG_ALM_CTRL		0x18

#define ADIS16136_REG_GPIO_CTRL		0x1A

#define ADIS16136_REG_MSC_CTRL		0x1C

#define ADIS16136_REG_SMPL_PRD		0x1E

#define ADIS16136_REG_AVG_CNT		0x20

#define ADIS16136_REG_DEC_RATE		0x22

#define ADIS16136_REG_SLP_CTRL		0x24

#define ADIS16136_REG_DIAG_STAT		0x26

#define ADIS16136_REG_GLOB_CMD		0x28

#define ADIS16136_REG_LOT1		0x32

#define ADIS16136_REG_LOT2		0x34

#define ADIS16136_REG_LOT3		0x36

#define ADIS16136_REG_PROD_ID		0x38

#define ADIS16136_REG_SERIAL_NUM	0x3A



#define ADIS16136_DIAG_STAT_FLASH_UPDATE_FAIL	2

#define ADIS16136_DIAG_STAT_SPI_FAIL		3

#define ADIS16136_DIAG_STAT_SELF_TEST_FAIL	5

#define ADIS16136_DIAG_STAT_FLASH_CHKSUM_FAIL	6



#define ADIS16136_MSC_CTRL_MEMORY_TEST BIT(11)

#define ADIS16136_MSC_CTRL_SELF_TEST BIT(10)



struct adis16136_chip_info {

	unsigned int precision;

	unsigned int fullscale;

};



struct adis16136 {

	const struct adis16136_chip_info *chip_info;



	struct adis adis;

};



#ifdef CONFIG_DEBUG_FS



static ssize_t adis16136_show_serial(struct file *file,

		char __user *userbuf, size_t count, loff_t *ppos)

{

	struct adis16136 *adis16136 = file->private_data;

	uint16_t lot1, lot2, lot3, serial;

	char buf[20];

	size_t len;

	int ret;



	ret = adis_read_reg_16(&adis16136->adis, ADIS16136_REG_SERIAL_NUM,

		&serial);

	if (ret < 0)

		return ret;



	ret = adis_read_reg_16(&adis16136->adis, ADIS16136_REG_LOT1, &lot1);

	if (ret < 0)

		return ret;



	ret = adis_read_reg_16(&adis16136->adis, ADIS16136_REG_LOT2, &lot2);

	if (ret < 0)

		return ret;



	ret = adis_read_reg_16(&adis16136->adis, ADIS16136_REG_LOT3, &lot3);

	if (ret < 0)

		return ret;



	len = snprintf(buf, sizeof(buf), "%.4x%.4x%.4x-%.4x\n", lot1, lot2,

		lot3, serial);



	return simple_read_from_buffer(userbuf, count, ppos, buf, len);

}



static const struct file_operations adis16136_serial_fops = {

	.open = simple_open,

	.read = adis16136_show_serial,

	.llseek = default_llseek,

	.owner = THIS_MODULE,

};



static int adis16136_show_product_id(void *arg, u64 *val)

{

	struct adis16136 *adis16136 = arg;

	u16 prod_id;

	int ret;



	ret = adis_read_reg_16(&adis16136->adis, ADIS16136_REG_PROD_ID,

		&prod_id);

	if (ret < 0)

		return ret;



	*val = prod_id;



	return 0;

}

DEFINE_SIMPLE_ATTRIBUTE(adis16136_product_id_fops,

	adis16136_show_product_id, NULL, "%llu\n");



static int adis16136_show_flash_count(void *arg, u64 *val)

{

	struct adis16136 *adis16136 = arg;

	uint16_t flash_count;

	int ret;



	ret = adis_read_reg_16(&adis16136->adis, ADIS16136_REG_FLASH_CNT,

		&flash_count);

	if (ret < 0)

		return ret;



	*val = flash_count;



	return 0;

}

DEFINE_SIMPLE_ATTRIBUTE(adis16136_flash_count_fops,

	adis16136_show_flash_count, NULL, "%lld\n");



static int adis16136_debugfs_init(struct iio_dev *indio_dev)

{

	struct adis16136 *adis16136 = iio_priv(indio_dev);



	debugfs_create_file("serial_number", 0400, indio_dev->debugfs_dentry,

		adis16136, &adis16136_serial_fops);

	debugfs_create_file("product_id", 0400, indio_dev->debugfs_dentry,

		adis16136, &adis16136_product_id_fops);

	debugfs_create_file("flash_count", 0400, indio_dev->debugfs_dentry,

		adis16136, &adis16136_flash_count_fops);



	return 0;

}



#else



static int adis16136_debugfs_init(struct iio_dev *indio_dev)

{

	return 0;

}



#endif



static int adis16136_set_freq(struct adis16136 *adis16136, unsigned int freq)

{

	unsigned int t;



	t = 32768 / freq;

	if (t < 0xf)

		t = 0xf;

	else if (t > 0xffff)

		t = 0xffff;

	else

		t--;



	return adis_write_reg_16(&adis16136->adis, ADIS16136_REG_SMPL_PRD, t);

}



static int adis16136_get_freq(struct adis16136 *adis16136, unsigned int *freq)

{

	uint16_t t;

	int ret;



	ret = adis_read_reg_16(&adis16136->adis, ADIS16136_REG_SMPL_PRD, &t);

	if (ret < 0)

		return ret;



	*freq = 32768 / (t + 1);



	return 0;

}



static ssize_t adis16136_write_frequency(struct device *dev,

	struct device_attribute *attr, const char *buf, size_t len)

{

	struct iio_dev *indio_dev = dev_to_iio_dev(dev);

	struct adis16136 *adis16136 = iio_priv(indio_dev);

	long val;

	int ret;



	ret = kstrtol(buf, 10, &val);

	if (ret)

		return ret;



	if (val == 0)

		return -EINVAL;



	ret = adis16136_set_freq(adis16136, val);



	return ret ? ret : len;

}



static ssize_t adis16136_read_frequency(struct device *dev,

	struct device_attribute *attr, char *buf)

{

	struct iio_dev *indio_dev = dev_to_iio_dev(dev);

	struct adis16136 *adis16136 = iio_priv(indio_dev);

	unsigned int freq;

	int ret;



	ret = adis16136_get_freq(adis16136, &freq);

	if (ret < 0)

		return ret;



	return sprintf(buf, "%d\n", freq);

}



static IIO_DEV_ATTR_SAMP_FREQ(S_IWUSR | S_IRUGO,

				  adis16136_read_frequency,

				  adis16136_write_frequency);



static const unsigned adis16136_3db_divisors[] = {

	[0] = 2, /* Special case */

	[1] = 6,

	[2] = 12,

	[3] = 25,

	[4] = 50,

	[5] = 100,

	[6] = 200,

	[7] = 200, /* Not a valid setting */

};



static int adis16136_set_filter(struct iio_dev *indio_dev, int val)

{

	struct adis16136 *adis16136 = iio_priv(indio_dev);

	unsigned int freq;

	int i, ret;



	ret = adis16136_get_freq(adis16136, &freq);

	if (ret < 0)

		return ret;



	for (i = ARRAY_SIZE(adis16136_3db_divisors) - 1; i >= 1; i--) {

		if (freq / adis16136_3db_divisors[i] >= val)

			break;

	}



	return adis_write_reg_16(&adis16136->adis, ADIS16136_REG_AVG_CNT, i);

}



static int adis16136_get_filter(struct iio_dev *indio_dev, int *val)

{

	struct adis16136 *adis16136 = iio_priv(indio_dev);

	unsigned int freq;

	uint16_t val16;

	int ret;



	mutex_lock(&indio_dev->mlock);



	ret = adis_read_reg_16(&adis16136->adis, ADIS16136_REG_AVG_CNT, &val16);

	if (ret < 0)

		goto err_unlock;



	ret = adis16136_get_freq(adis16136, &freq);

	if (ret < 0)

		goto err_unlock;



	*val = freq / adis16136_3db_divisors[val16 & 0x07];



err_unlock:

	mutex_unlock(&indio_dev->mlock);



	return ret ? ret : IIO_VAL_INT;

}



static int adis16136_read_raw(struct iio_dev *indio_dev,

	const struct iio_chan_spec *chan, int *val, int *val2, long info)

{

	struct adis16136 *adis16136 = iio_priv(indio_dev);

	uint32_t val32;

	int ret;



	switch (info) {

	case IIO_CHAN_INFO_RAW:

		return adis_single_conversion(indio_dev, chan, 0, val);

	case IIO_CHAN_INFO_SCALE:

		switch (chan->type) {

		case IIO_ANGL_VEL:

			*val = adis16136->chip_info->precision;

			*val2 = (adis16136->chip_info->fullscale << 16);

			return IIO_VAL_FRACTIONAL;

		case IIO_TEMP:

			*val = 10;

			*val2 = 697000; /* 0.010697 degree Celsius */

			return IIO_VAL_INT_PLUS_MICRO;

		default:

			return -EINVAL;

		}

	case IIO_CHAN_INFO_CALIBBIAS:

		ret = adis_read_reg_32(&adis16136->adis,

			ADIS16136_REG_GYRO_OFF2, &val32);

		if (ret < 0)

			return ret;



		*val = sign_extend32(val32, 31);



		return IIO_VAL_INT;

	case IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY:

		return adis16136_get_filter(indio_dev, val);

	default:

		return -EINVAL;

	}

}



static int adis16136_write_raw(struct iio_dev *indio_dev,

	const struct iio_chan_spec *chan, int val, int val2, long info)

{

	struct adis16136 *adis16136 = iio_priv(indio_dev);



	switch (info) {

	case IIO_CHAN_INFO_CALIBBIAS:

		return adis_write_reg_32(&adis16136->adis,

			ADIS16136_REG_GYRO_OFF2, val);

	case IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY:

		return adis16136_set_filter(indio_dev, val);

	default:

		break;

	}



	return -EINVAL;

}



enum {

	ADIS16136_SCAN_GYRO,

	ADIS16136_SCAN_TEMP,

};



static const struct iio_chan_spec adis16136_channels[] = {

	{

		.type = IIO_ANGL_VEL,

		.modified = 1,

		.channel2 = IIO_MOD_X,

		.info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT |

			IIO_CHAN_INFO_CALIBBIAS_SEPARATE_BIT |

			IIO_CHAN_INFO_SCALE_SHARED_BIT |

			IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY_SEPARATE_BIT,

		.address = ADIS16136_REG_GYRO_OUT2,

		.scan_index = ADIS16136_SCAN_GYRO,

		.scan_type = {

			.sign = 's',

			.realbits = 32,

			.storagebits = 32,

			.endianness = IIO_BE,

		},

	}, {

		.type = IIO_TEMP,

		.indexed = 1,

		.channel = 0,

		.info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT |

			IIO_CHAN_INFO_SCALE_SEPARATE_BIT,

		.address = ADIS16136_REG_TEMP_OUT,

		.scan_index = ADIS16136_SCAN_TEMP,

		.scan_type = {

			.sign = 's',

			.realbits = 16,

			.storagebits = 16,

			.endianness = IIO_BE,

		},

	},

	IIO_CHAN_SOFT_TIMESTAMP(2),

};



static struct attribute *adis16136_attributes[] = {

	&iio_dev_attr_sampling_frequency.dev_attr.attr,

	NULL

};



static const struct attribute_group adis16136_attribute_group = {

	.attrs = adis16136_attributes,

};



static const struct iio_info adis16136_info = {

	.driver_module = THIS_MODULE,

	.attrs = &adis16136_attribute_group,

	.read_raw = &adis16136_read_raw,

	.write_raw = &adis16136_write_raw,

	.update_scan_mode = adis_update_scan_mode,

	.debugfs_reg_access = adis_debugfs_reg_access,

};



static int adis16136_stop_device(struct iio_dev *indio_dev)

{

	struct adis16136 *adis16136 = iio_priv(indio_dev);

	int ret;



	ret = adis_write_reg_16(&adis16136->adis, ADIS16136_REG_SLP_CTRL, 0xff);

	if (ret)

		dev_err(&indio_dev->dev,

			"Could not power down device: %d\n", ret);



	return ret;

}



static int adis16136_initial_setup(struct iio_dev *indio_dev)

{

	struct adis16136 *adis16136 = iio_priv(indio_dev);

	unsigned int device_id;

	uint16_t prod_id;

	int ret;



	ret = adis_initial_startup(&adis16136->adis);

	if (ret)

		return ret;



	ret = adis_read_reg_16(&adis16136->adis, ADIS16136_REG_PROD_ID,

		&prod_id);

	if (ret)

		return ret;



	sscanf(indio_dev->name, "adis%u\n", &device_id);



	if (prod_id != device_id)

		dev_warn(&indio_dev->dev, "Device ID(%u) and product ID(%u) do not match.",

				device_id, prod_id);



	return 0;

}



static const char * const adis16136_status_error_msgs[] = {

	[ADIS16136_DIAG_STAT_FLASH_UPDATE_FAIL] = "Flash update failed",

	[ADIS16136_DIAG_STAT_SPI_FAIL] = "SPI failure",

	[ADIS16136_DIAG_STAT_SELF_TEST_FAIL] = "Self test error",

	[ADIS16136_DIAG_STAT_FLASH_CHKSUM_FAIL] = "Flash checksum error",

};



static const struct adis_data adis16136_data = {

	.diag_stat_reg = ADIS16136_REG_DIAG_STAT,

	.glob_cmd_reg = ADIS16136_REG_GLOB_CMD,

	.msc_ctrl_reg = ADIS16136_REG_MSC_CTRL,



	.self_test_mask = ADIS16136_MSC_CTRL_SELF_TEST,

	.startup_delay = 80,



	.read_delay = 10,

	.write_delay = 10,



	.status_error_msgs = adis16136_status_error_msgs,

	.status_error_mask = BIT(ADIS16136_DIAG_STAT_FLASH_UPDATE_FAIL) |

		BIT(ADIS16136_DIAG_STAT_SPI_FAIL) |

		BIT(ADIS16136_DIAG_STAT_SELF_TEST_FAIL) |

		BIT(ADIS16136_DIAG_STAT_FLASH_CHKSUM_FAIL),

};



enum adis16136_id {

	ID_ADIS16133,

	ID_ADIS16135,

	ID_ADIS16136,

};



static const struct adis16136_chip_info adis16136_chip_info[] = {

	[ID_ADIS16133] = {

		.precision = IIO_DEGREE_TO_RAD(1200),

		.fullscale = 24000,

	},

	[ID_ADIS16135] = {

		.precision = IIO_DEGREE_TO_RAD(300),

		.fullscale = 24000,

	},

	[ID_ADIS16136] = {

		.precision = IIO_DEGREE_TO_RAD(450),

		.fullscale = 24623,

	},

};



static int adis16136_probe(struct spi_device *spi)

{

	const struct spi_device_id *id = spi_get_device_id(spi);

	struct adis16136 *adis16136;

	struct iio_dev *indio_dev;

	int ret;



	indio_dev = iio_device_alloc(sizeof(*adis16136));

	if (indio_dev == NULL)

		return -ENOMEM;



	spi_set_drvdata(spi, indio_dev);



	adis16136 = iio_priv(indio_dev);



	adis16136->chip_info = &adis16136_chip_info[id->driver_data];

	indio_dev->dev.parent = &spi->dev;

	indio_dev->name = spi_get_device_id(spi)->name;

	indio_dev->channels = adis16136_channels;

	indio_dev->num_channels = ARRAY_SIZE(adis16136_channels);

	indio_dev->info = &adis16136_info;

	indio_dev->modes = INDIO_DIRECT_MODE;



	ret = adis_init(&adis16136->adis, indio_dev, spi, &adis16136_data);

	if (ret)

		goto error_free_dev;



	ret = adis_setup_buffer_and_trigger(&adis16136->adis, indio_dev, NULL);

	if (ret)

		goto error_free_dev;



	ret = adis16136_initial_setup(indio_dev);

	if (ret)

		goto error_cleanup_buffer;



	ret = iio_device_register(indio_dev);

	if (ret)

		goto error_stop_device;



	adis16136_debugfs_init(indio_dev);



	return 0;



error_stop_device:

	adis16136_stop_device(indio_dev);

error_cleanup_buffer:

	adis_cleanup_buffer_and_trigger(&adis16136->adis, indio_dev);

error_free_dev:

	iio_device_free(indio_dev);

	return ret;

}



static int adis16136_remove(struct spi_device *spi)

{

	struct iio_dev *indio_dev = spi_get_drvdata(spi);

	struct adis16136 *adis16136 = iio_priv(indio_dev);



	iio_device_unregister(indio_dev);

	adis16136_stop_device(indio_dev);



	adis_cleanup_buffer_and_trigger(&adis16136->adis, indio_dev);



	iio_device_free(indio_dev);



	return 0;

}



static const struct spi_device_id adis16136_ids[] = {

	{ "adis16133", ID_ADIS16133 },

	{ "adis16135", ID_ADIS16135 },

	{ "adis16136", ID_ADIS16136 },

	{ }

};

MODULE_DEVICE_TABLE(spi, adis16136_ids);



static struct spi_driver adis16136_driver = {

	.driver = {

		.name = "adis16136",

		.owner = THIS_MODULE,

	},

	.id_table = adis16136_ids,

	.probe = adis16136_probe,

	.remove = adis16136_remove,

};

module_spi_driver(adis16136_driver);



MODULE_AUTHOR("Lars-Peter Clausen <lars@metafoo.de>");

MODULE_DESCRIPTION("Analog Devices ADIS16133/ADIS16135/ADIS16136 gyroscope driver");

MODULE_LICENSE("GPL v2");