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@xxxxxxxxxx>
---
drivers/iio/gyro/Kconfig | 9 +
drivers/iio/gyro/Makefile | 1 +
drivers/iio/gyro/adis16136.c | 581 +++++++++++++++++++++++++++++++++++++++++++
3 files changed, 591 insertions(+)
create mode 100644 drivers/iio/gyro/adis16136.c
diff --git a/drivers/iio/gyro/Kconfig b/drivers/iio/gyro/Kconfig
index 21e27e2..48ed148 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 8a895d9..702a058 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 0000000..277aa74
--- /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@xxxxxxxxxx>
+ *
+ * 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 __devinit 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 __devexit 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 = __devexit_p(adis16136_remove),
+};
+module_spi_driver(adis16136_driver);
+
+MODULE_AUTHOR("Lars-Peter Clausen <lars@xxxxxxxxxx>");
+MODULE_DESCRIPTION("Analog Devices ADIS16133/ADIS16135/ADIS16136 gyroscope driver");
+MODULE_LICENSE("GPL v2");
--
1.8.0
--
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