[linux.git] / drivers / iio / gyro / adis16136.c

/*
 * ADIS16133/ADIS16135/ADIS16136 gyroscope driver
 *
 * Copyright 2012 Analog Devices Inc.
 *   Author: Lars-Peter Clausen <[email protected]>
 *
 * 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/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_DEBUGFS_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_DEBUGFS_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_unsafe("serial_number", 0400,
		indio_dev->debugfs_dentry, adis16136,
		&adis16136_serial_fops);
	debugfs_create_file_unsafe("product_id", 0400,
		indio_dev->debugfs_dentry,
		adis16136, &adis16136_product_id_fops);
	debugfs_create_file_unsafe("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);
	unsigned int val;
	int ret;

	ret = kstrtouint(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_separate = BIT(IIO_CHAN_INFO_RAW) |
			BIT(IIO_CHAN_INFO_CALIBBIAS) |
			BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY),
		.info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE),

		.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_separate = BIT(IIO_CHAN_INFO_RAW) |
			BIT(IIO_CHAN_INFO_SCALE),
		.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 = {
	.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;

	ret = sscanf(indio_dev->name, "adis%u\n", &device_id);
	if (ret != 1)
		return -EINVAL;

	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,
	ID_ADIS16137,
};

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,
	},
	[ID_ADIS16137] = {
		.precision = IIO_DEGREE_TO_RAD(1000),
		.fullscale = 24609,
	},
};

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 = devm_iio_device_alloc(&spi->dev, 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)
		return ret;

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

	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);
	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);

	return 0;
}

static const struct spi_device_id adis16136_ids[] = {
	{ "adis16133", ID_ADIS16133 },
	{ "adis16135", ID_ADIS16135 },
	{ "adis16136", ID_ADIS16136 },
	{ "adis16137", ID_ADIS16137 },
	{ }
};
MODULE_DEVICE_TABLE(spi, adis16136_ids);

static struct spi_driver adis16136_driver = {
	.driver = {
		.name = "adis16136",
	},
	.id_table = adis16136_ids,
	.probe = adis16136_probe,
	.remove = adis16136_remove,
};
module_spi_driver(adis16136_driver);

MODULE_AUTHOR("Lars-Peter Clausen <[email protected]>");
MODULE_DESCRIPTION("Analog Devices ADIS16133/ADIS16135/ADIS16136 gyroscope driver");
MODULE_LICENSE("GPL v2");
Commit	Line	Data
9caed0d9 LPC	1	/*
	2	* ADIS16133/ADIS16135/ADIS16136 gyroscope driver
	3	*
	4	* Copyright 2012 Analog Devices Inc.
	5	* Author: Lars-Peter Clausen <[email protected]>
	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
9caed0d9 LPC	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
	60	struct adis16136_chip_info {
	61	unsigned int precision;
	62	unsigned int fullscale;
	63	};
	64
	65	struct adis16136 {
	66	const struct adis16136_chip_info *chip_info;
	67
	68	struct adis adis;
	69	};
	70
	71	#ifdef CONFIG_DEBUG_FS
	72
	73	static 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
105	static 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
112	static 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	}
9aaea09b	127	DEFINE_DEBUGFS_ATTRIBUTE(adis16136_product_id_fops,
9caed0d9 LPC	128	adis16136_show_product_id, NULL, "%llu\n");
	129
	130	static 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	}
9aaea09b	145	DEFINE_DEBUGFS_ATTRIBUTE(adis16136_flash_count_fops,
9caed0d9 LPC	146	adis16136_show_flash_count, NULL, "%lld\n");
	147
	148	static int adis16136_debugfs_init(struct iio_dev *indio_dev)
	149	{
	150	struct adis16136 *adis16136 = iio_priv(indio_dev);
	151
9aaea09b VP	152	debugfs_create_file_unsafe("serial_number", 0400,
	153	indio_dev->debugfs_dentry, adis16136,
	154	&adis16136_serial_fops);
	155	debugfs_create_file_unsafe("product_id", 0400,
	156	indio_dev->debugfs_dentry,
9caed0d9	157	adis16136, &adis16136_product_id_fops);
9aaea09b VP	158	debugfs_create_file_unsafe("flash_count", 0400,
9aaea09b VP	159	indio_dev->debugfs_dentry,
9caed0d9 LPC	160	adis16136, &adis16136_flash_count_fops);
	161
	162	return 0;
	163	}
	164
	165	#else
	166
	167	static int adis16136_debugfs_init(struct iio_dev *indio_dev)
	168	{
	169	return 0;
	170	}
	171
	172	#endif
	173
	174	static int adis16136_set_freq(struct adis16136 *adis16136, unsigned int freq)
	175	{
	176	unsigned int t;
	177
	178	t = 32768 / freq;
	179	if (t < 0xf)
	180	t = 0xf;
	181	else if (t > 0xffff)
	182	t = 0xffff;
	183	else
	184	t--;
	185
	186	return adis_write_reg_16(&adis16136->adis, ADIS16136_REG_SMPL_PRD, t);
	187	}
	188
	189	static int adis16136_get_freq(struct adis16136 adis16136, unsigned int freq)
	190	{
	191	uint16_t t;
	192	int ret;
	193
	194	ret = adis_read_reg_16(&adis16136->adis, ADIS16136_REG_SMPL_PRD, &t);
	195	if (ret < 0)
	196	return ret;
	197
	198	*freq = 32768 / (t + 1);
	199
	200	return 0;
	201	}
	202
	203	static ssize_t adis16136_write_frequency(struct device *dev,
	204	struct device_attribute attr, const char buf, size_t len)
	205	{
	206	struct iio_dev *indio_dev = dev_to_iio_dev(dev);
	207	struct adis16136 *adis16136 = iio_priv(indio_dev);
12660138	208	unsigned int val;
9caed0d9 LPC	209	int ret;
9caed0d9 LPC	210
12660138	211	ret = kstrtouint(buf, 10, &val);
9caed0d9 LPC	212	if (ret)
	213	return ret;
	214
	215	if (val == 0)
	216	return -EINVAL;
	217
	218	ret = adis16136_set_freq(adis16136, val);
	219
	220	return ret ? ret : len;
	221	}
	222
	223	static ssize_t adis16136_read_frequency(struct device *dev,
	224	struct device_attribute attr, char buf)
	225	{
	226	struct iio_dev *indio_dev = dev_to_iio_dev(dev);
	227	struct adis16136 *adis16136 = iio_priv(indio_dev);
	228	unsigned int freq;
	229	int ret;
	230
	231	ret = adis16136_get_freq(adis16136, &freq);
	232	if (ret < 0)
	233	return ret;
	234
	235	return sprintf(buf, "%d\n", freq);
	236	}
	237
	238	static IIO_DEV_ATTR_SAMP_FREQ(S_IWUSR \| S_IRUGO,
	239	adis16136_read_frequency,
	240	adis16136_write_frequency);
	241
	242	static const unsigned adis16136_3db_divisors[] = {
	243	[0] = 2, /* Special case */
	244	[1] = 6,
	245	[2] = 12,
	246	[3] = 25,
	247	[4] = 50,
	248	[5] = 100,
	249	[6] = 200,
	250	[7] = 200, /* Not a valid setting */
	251	};
	252
	253	static int adis16136_set_filter(struct iio_dev *indio_dev, int val)
	254	{
	255	struct adis16136 *adis16136 = iio_priv(indio_dev);
	256	unsigned int freq;
	257	int i, ret;
	258
	259	ret = adis16136_get_freq(adis16136, &freq);
	260	if (ret < 0)
	261	return ret;
	262
	263	for (i = ARRAY_SIZE(adis16136_3db_divisors) - 1; i >= 1; i--) {
	264	if (freq / adis16136_3db_divisors[i] >= val)
	265	break;
	266	}
	267
	268	return adis_write_reg_16(&adis16136->adis, ADIS16136_REG_AVG_CNT, i);
	269	}
	270
	271	static 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	mutex_lock(&indio_dev->mlock);
279
280	ret = adis_read_reg_16(&adis16136->adis, ADIS16136_REG_AVG_CNT, &val16);
281	if (ret < 0)
282	goto err_unlock;
283
284	ret = adis16136_get_freq(adis16136, &freq);
285	if (ret < 0)
286	goto err_unlock;
287
288	*val = freq / adis16136_3db_divisors[val16 & 0x07];
289
290	err_unlock:
291	mutex_unlock(&indio_dev->mlock);
292
293	return ret ? ret : IIO_VAL_INT;
294	}
295
296	static int adis16136_read_raw(struct iio_dev *indio_dev,
297	const struct iio_chan_spec chan, int val, int *val2, long info)
298	{
299	struct adis16136 *adis16136 = iio_priv(indio_dev);
300	uint32_t val32;
301	int ret;
302
303	switch (info) {
304	case IIO_CHAN_INFO_RAW:
305	return adis_single_conversion(indio_dev, chan, 0, val);
306	case IIO_CHAN_INFO_SCALE:
307	switch (chan->type) {
308	case IIO_ANGL_VEL:
309	*val = adis16136->chip_info->precision;
310	*val2 = (adis16136->chip_info->fullscale << 16);
311	return IIO_VAL_FRACTIONAL;
312	case IIO_TEMP:
313	*val = 10;
314	val2 = 697000; / 0.010697 degree Celsius */
315	return IIO_VAL_INT_PLUS_MICRO;
316	default:
317	return -EINVAL;
318	}
319	case IIO_CHAN_INFO_CALIBBIAS:
320	ret = adis_read_reg_32(&adis16136->adis,
321	ADIS16136_REG_GYRO_OFF2, &val32);
322	if (ret < 0)
323	return ret;
324
325	*val = sign_extend32(val32, 31);
326
327	return IIO_VAL_INT;
328	case IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY:
329	return adis16136_get_filter(indio_dev, val);
330	default:
331	return -EINVAL;
332	}
333	}
334
335	static int adis16136_write_raw(struct iio_dev *indio_dev,
336	const struct iio_chan_spec *chan, int val, int val2, long info)
337	{
338	struct adis16136 *adis16136 = iio_priv(indio_dev);
339
340	switch (info) {
341	case IIO_CHAN_INFO_CALIBBIAS:
342	return adis_write_reg_32(&adis16136->adis,
343	ADIS16136_REG_GYRO_OFF2, val);
344	case IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY:
345	return adis16136_set_filter(indio_dev, val);
346	default:
347	break;
348	}
349
350	return -EINVAL;
351	}
352
353	enum {
354	ADIS16136_SCAN_GYRO,
355	ADIS16136_SCAN_TEMP,
356	};
357
358	static const struct iio_chan_spec adis16136_channels[] = {
359	{
360	.type = IIO_ANGL_VEL,
361	.modified = 1,
362	.channel2 = IIO_MOD_X,
606f9067 JC	363	.info_mask_separate = BIT(IIO_CHAN_INFO_RAW) \|
	364	BIT(IIO_CHAN_INFO_CALIBBIAS) \|
	365	BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY),
	366	.info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE),
	367
9caed0d9 LPC	368	.address = ADIS16136_REG_GYRO_OUT2,
	369	.scan_index = ADIS16136_SCAN_GYRO,
	370	.scan_type = {
	371	.sign = 's',
	372	.realbits = 32,
	373	.storagebits = 32,
	374	.endianness = IIO_BE,
	375	},
	376	}, {
	377	.type = IIO_TEMP,
	378	.indexed = 1,
	379	.channel = 0,
606f9067 JC	380	.info_mask_separate = BIT(IIO_CHAN_INFO_RAW) \|
606f9067 JC	381	BIT(IIO_CHAN_INFO_SCALE),
9caed0d9 LPC	382	.address = ADIS16136_REG_TEMP_OUT,
	383	.scan_index = ADIS16136_SCAN_TEMP,
	384	.scan_type = {
	385	.sign = 's',
	386	.realbits = 16,
	387	.storagebits = 16,
	388	.endianness = IIO_BE,
	389	},
	390	},
	391	IIO_CHAN_SOFT_TIMESTAMP(2),
	392	};
	393
	394	static struct attribute *adis16136_attributes[] = {
	395	&iio_dev_attr_sampling_frequency.dev_attr.attr,
	396	NULL
	397	};
	398
	399	static const struct attribute_group adis16136_attribute_group = {
	400	.attrs = adis16136_attributes,
	401	};
	402
	403	static const struct iio_info adis16136_info = {
9caed0d9 LPC	404	.attrs = &adis16136_attribute_group,
	405	.read_raw = &adis16136_read_raw,
	406	.write_raw = &adis16136_write_raw,
	407	.update_scan_mode = adis_update_scan_mode,
	408	.debugfs_reg_access = adis_debugfs_reg_access,
	409	};
	410
	411	static int adis16136_stop_device(struct iio_dev *indio_dev)
	412	{
	413	struct adis16136 *adis16136 = iio_priv(indio_dev);
	414	int ret;
	415
	416	ret = adis_write_reg_16(&adis16136->adis, ADIS16136_REG_SLP_CTRL, 0xff);
	417	if (ret)
	418	dev_err(&indio_dev->dev,
	419	"Could not power down device: %d\n", ret);
	420
	421	return ret;
	422	}
	423
	424	static int adis16136_initial_setup(struct iio_dev *indio_dev)
	425	{
	426	struct adis16136 *adis16136 = iio_priv(indio_dev);
	427	unsigned int device_id;
	428	uint16_t prod_id;
	429	int ret;
	430
	431	ret = adis_initial_startup(&adis16136->adis);
	432	if (ret)
	433	return ret;
	434
	435	ret = adis_read_reg_16(&adis16136->adis, ADIS16136_REG_PROD_ID,
	436	&prod_id);
	437	if (ret)
	438	return ret;
	439
a106b474 IC	440	ret = sscanf(indio_dev->name, "adis%u\n", &device_id);
	441	if (ret != 1)
	442	return -EINVAL;
9caed0d9 LPC	443
	444	if (prod_id != device_id)
	445	dev_warn(&indio_dev->dev, "Device ID(%u) and product ID(%u) do not match.",
	446	device_id, prod_id);
	447
	448	return 0;
	449	}
	450
	451	static const char * const adis16136_status_error_msgs[] = {
	452	[ADIS16136_DIAG_STAT_FLASH_UPDATE_FAIL] = "Flash update failed",
	453	[ADIS16136_DIAG_STAT_SPI_FAIL] = "SPI failure",
	454	[ADIS16136_DIAG_STAT_SELF_TEST_FAIL] = "Self test error",
	455	[ADIS16136_DIAG_STAT_FLASH_CHKSUM_FAIL] = "Flash checksum error",
	456	};
	457
	458	static const struct adis_data adis16136_data = {
	459	.diag_stat_reg = ADIS16136_REG_DIAG_STAT,
	460	.glob_cmd_reg = ADIS16136_REG_GLOB_CMD,
	461	.msc_ctrl_reg = ADIS16136_REG_MSC_CTRL,
	462
	463	.self_test_mask = ADIS16136_MSC_CTRL_SELF_TEST,
	464	.startup_delay = 80,
	465
	466	.read_delay = 10,
	467	.write_delay = 10,
	468
	469	.status_error_msgs = adis16136_status_error_msgs,
	470	.status_error_mask = BIT(ADIS16136_DIAG_STAT_FLASH_UPDATE_FAIL) \|
	471	BIT(ADIS16136_DIAG_STAT_SPI_FAIL) \|
	472	BIT(ADIS16136_DIAG_STAT_SELF_TEST_FAIL) \|
	473	BIT(ADIS16136_DIAG_STAT_FLASH_CHKSUM_FAIL),
	474	};
	475
	476	enum adis16136_id {
	477	ID_ADIS16133,
	478	ID_ADIS16135,
	479	ID_ADIS16136,
5450c360	480	ID_ADIS16137,
9caed0d9 LPC	481	};
	482
	483	static const struct adis16136_chip_info adis16136_chip_info[] = {
	484	[ID_ADIS16133] = {
	485	.precision = IIO_DEGREE_TO_RAD(1200),
	486	.fullscale = 24000,
	487	},
	488	[ID_ADIS16135] = {
	489	.precision = IIO_DEGREE_TO_RAD(300),
	490	.fullscale = 24000,
	491	},
	492	[ID_ADIS16136] = {
	493	.precision = IIO_DEGREE_TO_RAD(450),
	494	.fullscale = 24623,
	495	},
5450c360 LPC	496	[ID_ADIS16137] = {
	497	.precision = IIO_DEGREE_TO_RAD(1000),
	498	.fullscale = 24609,
	499	},
9caed0d9 LPC	500	};
	501
	502	static int adis16136_probe(struct spi_device *spi)
	503	{
	504	const struct spi_device_id *id = spi_get_device_id(spi);
	505	struct adis16136 *adis16136;
	506	struct iio_dev *indio_dev;
	507	int ret;
	508
c0ca6d31	509	indio_dev = devm_iio_device_alloc(&spi->dev, sizeof(*adis16136));
9caed0d9 LPC	510	if (indio_dev == NULL)
	511	return -ENOMEM;
	512
	513	spi_set_drvdata(spi, indio_dev);
	514
	515	adis16136 = iio_priv(indio_dev);
	516
	517	adis16136->chip_info = &adis16136_chip_info[id->driver_data];
	518	indio_dev->dev.parent = &spi->dev;
	519	indio_dev->name = spi_get_device_id(spi)->name;
	520	indio_dev->channels = adis16136_channels;
	521	indio_dev->num_channels = ARRAY_SIZE(adis16136_channels);
	522	indio_dev->info = &adis16136_info;
	523	indio_dev->modes = INDIO_DIRECT_MODE;
	524
	525	ret = adis_init(&adis16136->adis, indio_dev, spi, &adis16136_data);
	526	if (ret)
c0ca6d31	527	return ret;
9caed0d9 LPC	528
	529	ret = adis_setup_buffer_and_trigger(&adis16136->adis, indio_dev, NULL);
	530	if (ret)
c0ca6d31	531	return ret;
9caed0d9 LPC	532
	533	ret = adis16136_initial_setup(indio_dev);
	534	if (ret)
	535	goto error_cleanup_buffer;
	536
	537	ret = iio_device_register(indio_dev);
	538	if (ret)
	539	goto error_stop_device;
	540
	541	adis16136_debugfs_init(indio_dev);
	542
	543	return 0;
	544
	545	error_stop_device:
	546	adis16136_stop_device(indio_dev);
	547	error_cleanup_buffer:
	548	adis_cleanup_buffer_and_trigger(&adis16136->adis, indio_dev);
9caed0d9 LPC	549	return ret;
	550	}
	551
	552	static int adis16136_remove(struct spi_device *spi)
	553	{
	554	struct iio_dev *indio_dev = spi_get_drvdata(spi);
	555	struct adis16136 *adis16136 = iio_priv(indio_dev);
	556
	557	iio_device_unregister(indio_dev);
	558	adis16136_stop_device(indio_dev);
	559
	560	adis_cleanup_buffer_and_trigger(&adis16136->adis, indio_dev);
	561
9caed0d9 LPC	562	return 0;
	563	}
	564
	565	static const struct spi_device_id adis16136_ids[] = {
	566	{ "adis16133", ID_ADIS16133 },
	567	{ "adis16135", ID_ADIS16135 },
	568	{ "adis16136", ID_ADIS16136 },
5450c360	569	{ "adis16137", ID_ADIS16137 },
9caed0d9 LPC	570	{ }
	571	};
	572	MODULE_DEVICE_TABLE(spi, adis16136_ids);
	573
	574	static struct spi_driver adis16136_driver = {
	575	.driver = {
	576	.name = "adis16136",
9caed0d9 LPC	577	},
	578	.id_table = adis16136_ids,
	579	.probe = adis16136_probe,
	580	.remove = adis16136_remove,
	581	};
	582	module_spi_driver(adis16136_driver);
	583
	584	MODULE_AUTHOR("Lars-Peter Clausen <[email protected]>");
	585	MODULE_DESCRIPTION("Analog Devices ADIS16133/ADIS16135/ADIS16136 gyroscope driver");
	586	MODULE_LICENSE("GPL v2");