path: root/drivers/iio/imu/adis16480.c

/*
 * ADIS16480 and similar IMUs driver
 *
 * Copyright 2012 Analog Devices Inc.
 *
 * This program is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License version 2 as
 * published by the Free Software Foundation.
 *
 */

#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 ADIS16480_PAGE_SIZE 0x80

#define ADIS16480_REG(page, reg) ((page) * ADIS16480_PAGE_SIZE + (reg))

#define ADIS16480_REG_PAGE_ID 0x00 /* Same address on each page */
#define ADIS16480_REG_SEQ_CNT			ADIS16480_REG(0x00, 0x06)
#define ADIS16480_REG_SYS_E_FLA			ADIS16480_REG(0x00, 0x08)
#define ADIS16480_REG_DIAG_STS			ADIS16480_REG(0x00, 0x0A)
#define ADIS16480_REG_ALM_STS			ADIS16480_REG(0x00, 0x0C)
#define ADIS16480_REG_TEMP_OUT			ADIS16480_REG(0x00, 0x0E)
#define ADIS16480_REG_X_GYRO_OUT		ADIS16480_REG(0x00, 0x10)
#define ADIS16480_REG_Y_GYRO_OUT		ADIS16480_REG(0x00, 0x14)
#define ADIS16480_REG_Z_GYRO_OUT		ADIS16480_REG(0x00, 0x18)
#define ADIS16480_REG_X_ACCEL_OUT		ADIS16480_REG(0x00, 0x1C)
#define ADIS16480_REG_Y_ACCEL_OUT		ADIS16480_REG(0x00, 0x20)
#define ADIS16480_REG_Z_ACCEL_OUT		ADIS16480_REG(0x00, 0x24)
#define ADIS16480_REG_X_MAGN_OUT		ADIS16480_REG(0x00, 0x28)
#define ADIS16480_REG_Y_MAGN_OUT		ADIS16480_REG(0x00, 0x2A)
#define ADIS16480_REG_Z_MAGN_OUT		ADIS16480_REG(0x00, 0x2C)
#define ADIS16480_REG_BAROM_OUT			ADIS16480_REG(0x00, 0x2E)
#define ADIS16480_REG_X_DELTAANG_OUT		ADIS16480_REG(0x00, 0x40)
#define ADIS16480_REG_Y_DELTAANG_OUT		ADIS16480_REG(0x00, 0x44)
#define ADIS16480_REG_Z_DELTAANG_OUT		ADIS16480_REG(0x00, 0x48)
#define ADIS16480_REG_X_DELTAVEL_OUT		ADIS16480_REG(0x00, 0x4C)
#define ADIS16480_REG_Y_DELTAVEL_OUT		ADIS16480_REG(0x00, 0x50)
#define ADIS16480_REG_Z_DELTAVEL_OUT		ADIS16480_REG(0x00, 0x54)
#define ADIS16480_REG_PROD_ID			ADIS16480_REG(0x00, 0x7E)

#define ADIS16480_REG_X_GYRO_SCALE		ADIS16480_REG(0x02, 0x04)
#define ADIS16480_REG_Y_GYRO_SCALE		ADIS16480_REG(0x02, 0x06)
#define ADIS16480_REG_Z_GYRO_SCALE		ADIS16480_REG(0x02, 0x08)
#define ADIS16480_REG_X_ACCEL_SCALE		ADIS16480_REG(0x02, 0x0A)
#define ADIS16480_REG_Y_ACCEL_SCALE		ADIS16480_REG(0x02, 0x0C)
#define ADIS16480_REG_Z_ACCEL_SCALE		ADIS16480_REG(0x02, 0x0E)
#define ADIS16480_REG_X_GYRO_BIAS		ADIS16480_REG(0x02, 0x10)
#define ADIS16480_REG_Y_GYRO_BIAS		ADIS16480_REG(0x02, 0x14)
#define ADIS16480_REG_Z_GYRO_BIAS		ADIS16480_REG(0x02, 0x18)
#define ADIS16480_REG_X_ACCEL_BIAS		ADIS16480_REG(0x02, 0x1C)
#define ADIS16480_REG_Y_ACCEL_BIAS		ADIS16480_REG(0x02, 0x20)
#define ADIS16480_REG_Z_ACCEL_BIAS		ADIS16480_REG(0x02, 0x24)
#define ADIS16480_REG_X_HARD_IRON		ADIS16480_REG(0x02, 0x28)
#define ADIS16480_REG_Y_HARD_IRON		ADIS16480_REG(0x02, 0x2A)
#define ADIS16480_REG_Z_HARD_IRON		ADIS16480_REG(0x02, 0x2C)
#define ADIS16480_REG_BAROM_BIAS		ADIS16480_REG(0x02, 0x40)
#define ADIS16480_REG_FLASH_CNT			ADIS16480_REG(0x02, 0x7C)

#define ADIS16480_REG_GLOB_CMD			ADIS16480_REG(0x03, 0x02)
#define ADIS16480_REG_FNCTIO_CTRL		ADIS16480_REG(0x03, 0x06)
#define ADIS16480_REG_GPIO_CTRL			ADIS16480_REG(0x03, 0x08)
#define ADIS16480_REG_CONFIG			ADIS16480_REG(0x03, 0x0A)
#define ADIS16480_REG_DEC_RATE			ADIS16480_REG(0x03, 0x0C)
#define ADIS16480_REG_SLP_CNT			ADIS16480_REG(0x03, 0x10)
#define ADIS16480_REG_FILTER_BNK0		ADIS16480_REG(0x03, 0x16)
#define ADIS16480_REG_FILTER_BNK1		ADIS16480_REG(0x03, 0x18)
#define ADIS16480_REG_ALM_CNFG0			ADIS16480_REG(0x03, 0x20)
#define ADIS16480_REG_ALM_CNFG1			ADIS16480_REG(0x03, 0x22)
#define ADIS16480_REG_ALM_CNFG2			ADIS16480_REG(0x03, 0x24)
#define ADIS16480_REG_XG_ALM_MAGN		ADIS16480_REG(0x03, 0x28)
#define ADIS16480_REG_YG_ALM_MAGN		ADIS16480_REG(0x03, 0x2A)
#define ADIS16480_REG_ZG_ALM_MAGN		ADIS16480_REG(0x03, 0x2C)
#define ADIS16480_REG_XA_ALM_MAGN		ADIS16480_REG(0x03, 0x2E)
#define ADIS16480_REG_YA_ALM_MAGN		ADIS16480_REG(0x03, 0x30)
#define ADIS16480_REG_ZA_ALM_MAGN		ADIS16480_REG(0x03, 0x32)
#define ADIS16480_REG_XM_ALM_MAGN		ADIS16480_REG(0x03, 0x34)
#define ADIS16480_REG_YM_ALM_MAGN		ADIS16480_REG(0x03, 0x36)
#define ADIS16480_REG_ZM_ALM_MAGN		ADIS16480_REG(0x03, 0x38)
#define ADIS16480_REG_BR_ALM_MAGN		ADIS16480_REG(0x03, 0x3A)
#define ADIS16480_REG_FIRM_REV			ADIS16480_REG(0x03, 0x78)
#define ADIS16480_REG_FIRM_DM			ADIS16480_REG(0x03, 0x7A)
#define ADIS16480_REG_FIRM_Y			ADIS16480_REG(0x03, 0x7C)

#define ADIS16480_REG_SERIAL_NUM		ADIS16480_REG(0x04, 0x20)

/* Each filter coefficent bank spans two pages */
#define ADIS16480_FIR_COEF(page) (x < 60 ? ADIS16480_REG(page, (x) + 8) : \
		ADIS16480_REG((page) + 1, (x) - 60 + 8))
#define ADIS16480_FIR_COEF_A(x)			ADIS16480_FIR_COEF(0x05, (x))
#define ADIS16480_FIR_COEF_B(x)			ADIS16480_FIR_COEF(0x07, (x))
#define ADIS16480_FIR_COEF_C(x)			ADIS16480_FIR_COEF(0x09, (x))
#define ADIS16480_FIR_COEF_D(x)			ADIS16480_FIR_COEF(0x0B, (x))

struct adis16480_chip_info {
	unsigned int num_channels;
	const struct iio_chan_spec *channels;
	unsigned int gyro_max_val;
	unsigned int gyro_max_scale;
	unsigned int accel_max_val;
	unsigned int accel_max_scale;
};

struct adis16480 {
	const struct adis16480_chip_info *chip_info;

	struct adis adis;
};

#ifdef CONFIG_DEBUG_FS

static ssize_t adis16480_show_firmware_revision(struct file *file,
		char __user *userbuf, size_t count, loff_t *ppos)
{
	struct adis16480 *adis16480 = file->private_data;
	char buf[7];
	size_t len;
	u16 rev;
	int ret;

	ret = adis_read_reg_16(&adis16480->adis, ADIS16480_REG_FIRM_REV, &rev);
	if (ret < 0)
		return ret;

	len = scnprintf(buf, sizeof(buf), "%x.%x\n", rev >> 8, rev & 0xff);

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

static const struct file_operations adis16480_firmware_revision_fops = {
	.open = simple_open,
	.read = adis16480_show_firmware_revision,
	.llseek = default_llseek,
	.owner = THIS_MODULE,
};

static ssize_t adis16480_show_firmware_date(struct file *file,
		char __user *userbuf, size_t count, loff_t *ppos)
{
	struct adis16480 *adis16480 = file->private_data;
	u16 md, year;
	char buf[12];
	size_t len;
	int ret;

	ret = adis_read_reg_16(&adis16480->adis, ADIS16480_REG_FIRM_Y, &year);
	if (ret < 0)
		return ret;

	ret = adis_read_reg_16(&adis16480->adis, ADIS16480_REG_FIRM_DM, &md);
	if (ret < 0)
		return ret;

	len = snprintf(buf, sizeof(buf), "%.2x-%.2x-%.4x\n",
			md >> 8, md & 0xff, year);

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

static const struct file_operations adis16480_firmware_date_fops = {
	.open = simple_open,
	.read = adis16480_show_firmware_date,
	.llseek = default_llseek,
	.owner = THIS_MODULE,
};

static int adis16480_show_serial_number(void *arg, u64 *val)
{
	struct adis16480 *adis16480 = arg;
	u16 serial;
	int ret;

	ret = adis_read_reg_16(&adis16480->adis, ADIS16480_REG_SERIAL_NUM,
		&serial);
	if (ret < 0)
		return ret;

	*val = serial;

	return 0;
}
DEFINE_SIMPLE_ATTRIBUTE(adis16480_serial_number_fops,
	adis16480_show_serial_number, NULL, "0x%.4llx\n");

static int adis16480_show_product_id(void *arg, u64 *val)
{
	struct adis16480 *adis16480 = arg;
	u16 prod_id;
	int ret;

	ret