diff options
Diffstat (limited to 'drivers/iio/gyro')
| -rw-r--r-- | drivers/iio/gyro/Kconfig | 9 | ||||
| -rw-r--r-- | drivers/iio/gyro/Makefile | 1 | ||||
| -rw-r--r-- | drivers/iio/gyro/adis16136.c | 581 |
3 files changed, 591 insertions, 0 deletions
diff --git a/drivers/iio/gyro/Kconfig b/drivers/iio/gyro/Kconfig index 21e27e2fc68c..48ed1483ff27 100644 --- a/drivers/iio/gyro/Kconfig +++ b/drivers/iio/gyro/Kconfig @@ -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 diff --git a/drivers/iio/gyro/Makefile b/drivers/iio/gyro/Makefile index 8a895d9fcbce..702a058907e3 100644 --- a/drivers/iio/gyro/Makefile +++ b/drivers/iio/gyro/Makefile @@ -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 diff --git a/drivers/iio/gyro/adis16136.c b/drivers/iio/gyro/adis16136.c new file mode 100644 index 000000000000..05486dfd721b --- /dev/null +++ b/drivers/iio/gyro/adis16136.c @@ -0,0 +1,581 @@ +/* + * 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"); |