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: Lars-Peter Clausen <lars@metafoo.de> Signed-off-by: Jonathan Cameron <jic23@kernel.org>
This commit is contained in:
Lars-Peter Clausen
Jonathan Cameron
parent
57a1228a06
commit
9caed0d9d6
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@ -3,6 +3,15 @@
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#
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menu "Digital gyroscope sensors"
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config ADIS16136
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tristate "Analog devices ADIS16136 and similar gyroscopes driver"
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depends on SPI_MASTER
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select IIO_ADIS_LIB
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select IIO_ADIS_LIB_BUFFER if IIO_BUFFER
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help
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Say yes here to build support for the Analog Devices ADIS16133, ADIS16135,
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ADIS16136 gyroscope devices.
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config HID_SENSOR_GYRO_3D
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depends on HID_SENSOR_HUB
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select IIO_BUFFER
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@ -2,4 +2,5 @@
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# Makefile for industrial I/O gyroscope sensor drivers
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#
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obj-$(CONFIG_ADIS16136) += adis16136.o
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obj-$(CONFIG_HID_SENSOR_GYRO_3D) += hid-sensor-gyro-3d.o
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@ -0,0 +1,581 @@
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/*
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* ADIS16133/ADIS16135/ADIS16136 gyroscope driver
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*
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* Copyright 2012 Analog Devices Inc.
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* Author: Lars-Peter Clausen <lars@metafoo.de>
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*
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* Licensed under the GPL-2.
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*/
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#include <linux/interrupt.h>
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#include <linux/delay.h>
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#include <linux/mutex.h>
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#include <linux/device.h>
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#include <linux/kernel.h>
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#include <linux/spi/spi.h>
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#include <linux/slab.h>
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#include <linux/sysfs.h>
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#include <linux/module.h>
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#include <linux/iio/iio.h>
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#include <linux/iio/sysfs.h>
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#include <linux/iio/buffer.h>
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#include <linux/iio/imu/adis.h>
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#include <linux/iio/iio.h>
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#include <linux/debugfs.h>
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#define ADIS16136_REG_FLASH_CNT 0x00
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#define ADIS16136_REG_TEMP_OUT 0x02
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#define ADIS16136_REG_GYRO_OUT2 0x04
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#define ADIS16136_REG_GYRO_OUT 0x06
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#define ADIS16136_REG_GYRO_OFF2 0x08
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#define ADIS16136_REG_GYRO_OFF 0x0A
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#define ADIS16136_REG_ALM_MAG1 0x10
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#define ADIS16136_REG_ALM_MAG2 0x12
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#define ADIS16136_REG_ALM_SAMPL1 0x14
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#define ADIS16136_REG_ALM_SAMPL2 0x16
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#define ADIS16136_REG_ALM_CTRL 0x18
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#define ADIS16136_REG_GPIO_CTRL 0x1A
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#define ADIS16136_REG_MSC_CTRL 0x1C
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#define ADIS16136_REG_SMPL_PRD 0x1E
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#define ADIS16136_REG_AVG_CNT 0x20
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#define ADIS16136_REG_DEC_RATE 0x22
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#define ADIS16136_REG_SLP_CTRL 0x24
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#define ADIS16136_REG_DIAG_STAT 0x26
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#define ADIS16136_REG_GLOB_CMD 0x28
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#define ADIS16136_REG_LOT1 0x32
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#define ADIS16136_REG_LOT2 0x34
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#define ADIS16136_REG_LOT3 0x36
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#define ADIS16136_REG_PROD_ID 0x38
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#define ADIS16136_REG_SERIAL_NUM 0x3A
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#define ADIS16136_DIAG_STAT_FLASH_UPDATE_FAIL 2
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#define ADIS16136_DIAG_STAT_SPI_FAIL 3
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#define ADIS16136_DIAG_STAT_SELF_TEST_FAIL 5
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#define ADIS16136_DIAG_STAT_FLASH_CHKSUM_FAIL 6
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#define ADIS16136_MSC_CTRL_MEMORY_TEST BIT(11)
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#define ADIS16136_MSC_CTRL_SELF_TEST BIT(10)
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struct adis16136_chip_info {
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unsigned int precision;
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unsigned int fullscale;
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};
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struct adis16136 {
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const struct adis16136_chip_info *chip_info;
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struct adis adis;
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};
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#ifdef CONFIG_DEBUG_FS
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static ssize_t adis16136_show_serial(struct file *file,
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char __user *userbuf, size_t count, loff_t *ppos)
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{
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struct adis16136 *adis16136 = file->private_data;
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uint16_t lot1, lot2, lot3, serial;
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char buf[20];
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size_t len;
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int ret;
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ret = adis_read_reg_16(&adis16136->adis, ADIS16136_REG_SERIAL_NUM,
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&serial);
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if (ret < 0)
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return ret;
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ret = adis_read_reg_16(&adis16136->adis, ADIS16136_REG_LOT1, &lot1);
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if (ret < 0)
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return ret;
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ret = adis_read_reg_16(&adis16136->adis, ADIS16136_REG_LOT2, &lot2);
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if (ret < 0)
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return ret;
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ret = adis_read_reg_16(&adis16136->adis, ADIS16136_REG_LOT3, &lot3);
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if (ret < 0)
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return ret;
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len = snprintf(buf, sizeof(buf), "%.4x%.4x%.4x-%.4x\n", lot1, lot2,
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lot3, serial);
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return simple_read_from_buffer(userbuf, count, ppos, buf, len);
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}
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static const struct file_operations adis16136_serial_fops = {
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.open = simple_open,
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.read = adis16136_show_serial,
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.llseek = default_llseek,
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.owner = THIS_MODULE,
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};
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static int adis16136_show_product_id(void *arg, u64 *val)
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{
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struct adis16136 *adis16136 = arg;
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u16 prod_id;
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int ret;
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ret = adis_read_reg_16(&adis16136->adis, ADIS16136_REG_PROD_ID,
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&prod_id);
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if (ret < 0)
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return ret;
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*val = prod_id;
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return 0;
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}
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DEFINE_SIMPLE_ATTRIBUTE(adis16136_product_id_fops,
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adis16136_show_product_id, NULL, "%llu\n");
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static int adis16136_show_flash_count(void *arg, u64 *val)
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{
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struct adis16136 *adis16136 = arg;
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uint16_t flash_count;
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int ret;
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ret = adis_read_reg_16(&adis16136->adis, ADIS16136_REG_FLASH_CNT,
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&flash_count);
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if (ret < 0)
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return ret;
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*val = flash_count;
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return 0;
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}
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DEFINE_SIMPLE_ATTRIBUTE(adis16136_flash_count_fops,
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adis16136_show_flash_count, NULL, "%lld\n");
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static int adis16136_debugfs_init(struct iio_dev *indio_dev)
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{
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struct adis16136 *adis16136 = iio_priv(indio_dev);
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debugfs_create_file("serial_number", 0400, indio_dev->debugfs_dentry,
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adis16136, &adis16136_serial_fops);
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debugfs_create_file("product_id", 0400, indio_dev->debugfs_dentry,
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adis16136, &adis16136_product_id_fops);
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debugfs_create_file("flash_count", 0400, indio_dev->debugfs_dentry,
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adis16136, &adis16136_flash_count_fops);
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return 0;
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}
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#else
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static int adis16136_debugfs_init(struct iio_dev *indio_dev)
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{
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return 0;
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}
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#endif
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static int adis16136_set_freq(struct adis16136 *adis16136, unsigned int freq)
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{
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unsigned int t;
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t = 32768 / freq;
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if (t < 0xf)
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t = 0xf;
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else if (t > 0xffff)
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t = 0xffff;
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else
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t--;
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return adis_write_reg_16(&adis16136->adis, ADIS16136_REG_SMPL_PRD, t);
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}
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static int adis16136_get_freq(struct adis16136 *adis16136, unsigned int *freq)
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{
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uint16_t t;
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int ret;
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ret = adis_read_reg_16(&adis16136->adis, ADIS16136_REG_SMPL_PRD, &t);
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if (ret < 0)
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return ret;
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*freq = 32768 / (t + 1);
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return 0;
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}
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static ssize_t adis16136_write_frequency(struct device *dev,
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struct device_attribute *attr, const char *buf, size_t len)
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{
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struct iio_dev *indio_dev = dev_to_iio_dev(dev);
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struct adis16136 *adis16136 = iio_priv(indio_dev);
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long val;
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int ret;
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ret = kstrtol(buf, 10, &val);
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if (ret)
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return ret;
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if (val == 0)
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return -EINVAL;
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ret = adis16136_set_freq(adis16136, val);
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return ret ? ret : len;
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}
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static ssize_t adis16136_read_frequency(struct device *dev,
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struct device_attribute *attr, char *buf)
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{
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struct iio_dev *indio_dev = dev_to_iio_dev(dev);
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struct adis16136 *adis16136 = iio_priv(indio_dev);
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unsigned int freq;
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int ret;
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ret = adis16136_get_freq(adis16136, &freq);
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if (ret < 0)
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return ret;
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return sprintf(buf, "%d\n", freq);
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}
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static IIO_DEV_ATTR_SAMP_FREQ(S_IWUSR | S_IRUGO,
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adis16136_read_frequency,
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adis16136_write_frequency);
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static const unsigned adis16136_3db_divisors[] = {
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[0] = 2, /* Special case */
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[1] = 6,
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[2] = 12,
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[3] = 25,
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[4] = 50,
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[5] = 100,
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[6] = 200,
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[7] = 200, /* Not a valid setting */
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};
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static int adis16136_set_filter(struct iio_dev *indio_dev, int val)
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{
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struct adis16136 *adis16136 = iio_priv(indio_dev);
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unsigned int freq;
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int i, ret;
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ret = adis16136_get_freq(adis16136, &freq);
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if (ret < 0)
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return ret;
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for (i = ARRAY_SIZE(adis16136_3db_divisors) - 1; i >= 1; i--) {
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if (freq / adis16136_3db_divisors[i] >= val)
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break;
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}
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return adis_write_reg_16(&adis16136->adis, ADIS16136_REG_AVG_CNT, i);
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}
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static int adis16136_get_filter(struct iio_dev *indio_dev, int *val)
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{
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struct adis16136 *adis16136 = iio_priv(indio_dev);
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unsigned int freq;
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uint16_t val16;
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int ret;
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mutex_lock(&indio_dev->mlock);
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ret = adis_read_reg_16(&adis16136->adis, ADIS16136_REG_AVG_CNT, &val16);
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if (ret < 0)
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goto err_unlock;
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ret = adis16136_get_freq(adis16136, &freq);
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if (ret < 0)
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goto err_unlock;
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*val = freq / adis16136_3db_divisors[val16 & 0x07];
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err_unlock:
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mutex_unlock(&indio_dev->mlock);
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return ret ? ret : IIO_VAL_INT;
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}
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static int adis16136_read_raw(struct iio_dev *indio_dev,
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const struct iio_chan_spec *chan, int *val, int *val2, long info)
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{
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struct adis16136 *adis16136 = iio_priv(indio_dev);
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uint32_t val32;
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int ret;
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switch (info) {
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case IIO_CHAN_INFO_RAW:
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return adis_single_conversion(indio_dev, chan, 0, val);
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case IIO_CHAN_INFO_SCALE:
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switch (chan->type) {
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case IIO_ANGL_VEL:
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*val = adis16136->chip_info->precision;
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*val2 = (adis16136->chip_info->fullscale << 16);
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return IIO_VAL_FRACTIONAL;
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case IIO_TEMP:
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*val = 10;
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*val2 = 697000; /* 0.010697 degree Celsius */
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return IIO_VAL_INT_PLUS_MICRO;
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default:
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return -EINVAL;
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}
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case IIO_CHAN_INFO_CALIBBIAS:
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ret = adis_read_reg_32(&adis16136->adis,
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ADIS16136_REG_GYRO_OFF2, &val32);
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if (ret < 0)
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return ret;
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*val = sign_extend32(val32, 31);
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return IIO_VAL_INT;
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case IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY:
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return adis16136_get_filter(indio_dev, val);
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default:
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return -EINVAL;
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}
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}
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static int adis16136_write_raw(struct iio_dev *indio_dev,
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const struct iio_chan_spec *chan, int val, int val2, long info)
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{
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struct adis16136 *adis16136 = iio_priv(indio_dev);
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switch (info) {
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case IIO_CHAN_INFO_CALIBBIAS:
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return adis_write_reg_32(&adis16136->adis,
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ADIS16136_REG_GYRO_OFF2, val);
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case IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY:
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return adis16136_set_filter(indio_dev, val);
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default:
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break;
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}
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return -EINVAL;
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}
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enum {
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ADIS16136_SCAN_GYRO,
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ADIS16136_SCAN_TEMP,
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};
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static const struct iio_chan_spec adis16136_channels[] = {
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{
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.type = IIO_ANGL_VEL,
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.modified = 1,
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.channel2 = IIO_MOD_X,
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.info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT |
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IIO_CHAN_INFO_CALIBBIAS_SEPARATE_BIT |
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IIO_CHAN_INFO_SCALE_SHARED_BIT |
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IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY_SEPARATE_BIT,
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.address = ADIS16136_REG_GYRO_OUT2,
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.scan_index = ADIS16136_SCAN_GYRO,
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.scan_type = {
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.sign = 's',
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.realbits = 32,
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.storagebits = 32,
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.endianness = IIO_BE,
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},
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}, {
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.type = IIO_TEMP,
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.indexed = 1,
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.channel = 0,
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.info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT |
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IIO_CHAN_INFO_SCALE_SEPARATE_BIT,
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.address = ADIS16136_REG_TEMP_OUT,
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.scan_index = ADIS16136_SCAN_TEMP,
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.scan_type = {
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.sign = 's',
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.realbits = 16,
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.storagebits = 16,
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.endianness = IIO_BE,
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},
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},
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IIO_CHAN_SOFT_TIMESTAMP(2),
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};
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static struct attribute *adis16136_attributes[] = {
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&iio_dev_attr_sampling_frequency.dev_attr.attr,
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NULL
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};
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static const struct attribute_group adis16136_attribute_group = {
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.attrs = adis16136_attributes,
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};
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static const struct iio_info adis16136_info = {
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.driver_module = THIS_MODULE,
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.attrs = &adis16136_attribute_group,
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.read_raw = &adis16136_read_raw,
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.write_raw = &adis16136_write_raw,
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.update_scan_mode = adis_update_scan_mode,
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.debugfs_reg_access = adis_debugfs_reg_access,
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};
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static int adis16136_stop_device(struct iio_dev *indio_dev)
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{
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struct adis16136 *adis16136 = iio_priv(indio_dev);
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int ret;
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ret = adis_write_reg_16(&adis16136->adis, ADIS16136_REG_SLP_CTRL, 0xff);
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if (ret)
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dev_err(&indio_dev->dev,
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"Could not power down device: %d\n", ret);
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return ret;
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}
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static int adis16136_initial_setup(struct iio_dev *indio_dev)
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{
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struct adis16136 *adis16136 = iio_priv(indio_dev);
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unsigned int device_id;
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uint16_t prod_id;
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int ret;
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ret = adis_initial_startup(&adis16136->adis);
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if (ret)
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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");
|
||||
Loading…
Reference in New Issue