adis16260.c 13 KB

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  1. // SPDX-License-Identifier: GPL-2.0-or-later
  2. /*
  3. * ADIS16260/ADIS16265 Programmable Digital Gyroscope Sensor Driver
  4. *
  5. * Copyright 2010 Analog Devices Inc.
  6. */
  7. #include <linux/interrupt.h>
  8. #include <linux/mutex.h>
  9. #include <linux/device.h>
  10. #include <linux/kernel.h>
  11. #include <linux/spi/spi.h>
  12. #include <linux/sysfs.h>
  13. #include <linux/module.h>
  14. #include <linux/iio/iio.h>
  15. #include <linux/iio/sysfs.h>
  16. #include <linux/iio/buffer.h>
  17. #include <linux/iio/imu/adis.h>
  18. #define ADIS16260_STARTUP_DELAY 220 /* ms */
  19. #define ADIS16260_FLASH_CNT 0x00 /* Flash memory write count */
  20. #define ADIS16260_SUPPLY_OUT 0x02 /* Power supply measurement */
  21. #define ADIS16260_GYRO_OUT 0x04 /* X-axis gyroscope output */
  22. #define ADIS16260_AUX_ADC 0x0A /* analog input channel measurement */
  23. #define ADIS16260_TEMP_OUT 0x0C /* internal temperature measurement */
  24. #define ADIS16260_ANGL_OUT 0x0E /* angle displacement */
  25. #define ADIS16260_GYRO_OFF 0x14 /* Calibration, offset/bias adjustment */
  26. #define ADIS16260_GYRO_SCALE 0x16 /* Calibration, scale adjustment */
  27. #define ADIS16260_ALM_MAG1 0x20 /* Alarm 1 magnitude/polarity setting */
  28. #define ADIS16260_ALM_MAG2 0x22 /* Alarm 2 magnitude/polarity setting */
  29. #define ADIS16260_ALM_SMPL1 0x24 /* Alarm 1 dynamic rate of change setting */
  30. #define ADIS16260_ALM_SMPL2 0x26 /* Alarm 2 dynamic rate of change setting */
  31. #define ADIS16260_ALM_CTRL 0x28 /* Alarm control */
  32. #define ADIS16260_AUX_DAC 0x30 /* Auxiliary DAC data */
  33. #define ADIS16260_GPIO_CTRL 0x32 /* Control, digital I/O line */
  34. #define ADIS16260_MSC_CTRL 0x34 /* Control, data ready, self-test settings */
  35. #define ADIS16260_SMPL_PRD 0x36 /* Control, internal sample rate */
  36. #define ADIS16260_SENS_AVG 0x38 /* Control, dynamic range, filtering */
  37. #define ADIS16260_SLP_CNT 0x3A /* Control, sleep mode initiation */
  38. #define ADIS16260_DIAG_STAT 0x3C /* Diagnostic, error flags */
  39. #define ADIS16260_GLOB_CMD 0x3E /* Control, global commands */
  40. #define ADIS16260_LOT_ID1 0x52 /* Lot Identification Code 1 */
  41. #define ADIS16260_LOT_ID2 0x54 /* Lot Identification Code 2 */
  42. #define ADIS16260_PROD_ID 0x56 /* Product identifier;
  43. * convert to decimal = 16,265/16,260 */
  44. #define ADIS16260_SERIAL_NUM 0x58 /* Serial number */
  45. #define ADIS16260_ERROR_ACTIVE (1<<14)
  46. #define ADIS16260_NEW_DATA (1<<15)
  47. /* MSC_CTRL */
  48. #define ADIS16260_MSC_CTRL_MEM_TEST (1<<11)
  49. /* Internal self-test enable */
  50. #define ADIS16260_MSC_CTRL_INT_SELF_TEST (1<<10)
  51. #define ADIS16260_MSC_CTRL_NEG_SELF_TEST (1<<9)
  52. #define ADIS16260_MSC_CTRL_POS_SELF_TEST (1<<8)
  53. #define ADIS16260_MSC_CTRL_DATA_RDY_EN (1<<2)
  54. #define ADIS16260_MSC_CTRL_DATA_RDY_POL_HIGH (1<<1)
  55. #define ADIS16260_MSC_CTRL_DATA_RDY_DIO2 (1<<0)
  56. /* SMPL_PRD */
  57. /* Time base (tB): 0 = 1.953 ms, 1 = 60.54 ms */
  58. #define ADIS16260_SMPL_PRD_TIME_BASE (1<<7)
  59. #define ADIS16260_SMPL_PRD_DIV_MASK 0x7F
  60. /* SLP_CNT */
  61. #define ADIS16260_SLP_CNT_POWER_OFF 0x80
  62. /* DIAG_STAT */
  63. #define ADIS16260_DIAG_STAT_ALARM2 (1<<9)
  64. #define ADIS16260_DIAG_STAT_ALARM1 (1<<8)
  65. #define ADIS16260_DIAG_STAT_FLASH_CHK_BIT 6
  66. #define ADIS16260_DIAG_STAT_SELF_TEST_BIT 5
  67. #define ADIS16260_DIAG_STAT_OVERFLOW_BIT 4
  68. #define ADIS16260_DIAG_STAT_SPI_FAIL_BIT 3
  69. #define ADIS16260_DIAG_STAT_FLASH_UPT_BIT 2
  70. #define ADIS16260_DIAG_STAT_POWER_HIGH_BIT 1
  71. #define ADIS16260_DIAG_STAT_POWER_LOW_BIT 0
  72. /* GLOB_CMD */
  73. #define ADIS16260_GLOB_CMD_SW_RESET (1<<7)
  74. #define ADIS16260_GLOB_CMD_FLASH_UPD (1<<3)
  75. #define ADIS16260_GLOB_CMD_DAC_LATCH (1<<2)
  76. #define ADIS16260_GLOB_CMD_FAC_CALIB (1<<1)
  77. #define ADIS16260_GLOB_CMD_AUTO_NULL (1<<0)
  78. #define ADIS16260_SPI_SLOW (u32)(300 * 1000)
  79. #define ADIS16260_SPI_BURST (u32)(1000 * 1000)
  80. #define ADIS16260_SPI_FAST (u32)(2000 * 1000)
  81. /* At the moment triggers are only used for ring buffer
  82. * filling. This may change!
  83. */
  84. #define ADIS16260_SCAN_GYRO 0
  85. #define ADIS16260_SCAN_SUPPLY 1
  86. #define ADIS16260_SCAN_AUX_ADC 2
  87. #define ADIS16260_SCAN_TEMP 3
  88. #define ADIS16260_SCAN_ANGL 4
  89. struct adis16260_chip_info {
  90. unsigned int gyro_max_val;
  91. unsigned int gyro_max_scale;
  92. const struct iio_chan_spec *channels;
  93. unsigned int num_channels;
  94. };
  95. struct adis16260 {
  96. const struct adis16260_chip_info *info;
  97. struct adis adis;
  98. };
  99. enum adis16260_type {
  100. ADIS16251,
  101. ADIS16260,
  102. ADIS16266,
  103. };
  104. static const struct iio_chan_spec adis16260_channels[] = {
  105. ADIS_GYRO_CHAN(X, ADIS16260_GYRO_OUT, ADIS16260_SCAN_GYRO,
  106. BIT(IIO_CHAN_INFO_CALIBBIAS) |
  107. BIT(IIO_CHAN_INFO_CALIBSCALE),
  108. BIT(IIO_CHAN_INFO_SAMP_FREQ), 14),
  109. ADIS_INCLI_CHAN(X, ADIS16260_ANGL_OUT, ADIS16260_SCAN_ANGL, 0,
  110. BIT(IIO_CHAN_INFO_SAMP_FREQ), 14),
  111. ADIS_TEMP_CHAN(ADIS16260_TEMP_OUT, ADIS16260_SCAN_TEMP,
  112. BIT(IIO_CHAN_INFO_SAMP_FREQ), 12),
  113. ADIS_SUPPLY_CHAN(ADIS16260_SUPPLY_OUT, ADIS16260_SCAN_SUPPLY,
  114. BIT(IIO_CHAN_INFO_SAMP_FREQ), 12),
  115. ADIS_AUX_ADC_CHAN(ADIS16260_AUX_ADC, ADIS16260_SCAN_AUX_ADC,
  116. BIT(IIO_CHAN_INFO_SAMP_FREQ), 12),
  117. IIO_CHAN_SOFT_TIMESTAMP(5),
  118. };
  119. static const struct iio_chan_spec adis16266_channels[] = {
  120. ADIS_GYRO_CHAN(X, ADIS16260_GYRO_OUT, ADIS16260_SCAN_GYRO,
  121. BIT(IIO_CHAN_INFO_CALIBBIAS) |
  122. BIT(IIO_CHAN_INFO_CALIBSCALE),
  123. BIT(IIO_CHAN_INFO_SAMP_FREQ), 14),
  124. ADIS_TEMP_CHAN(ADIS16260_TEMP_OUT, ADIS16260_SCAN_TEMP,
  125. BIT(IIO_CHAN_INFO_SAMP_FREQ), 12),
  126. ADIS_SUPPLY_CHAN(ADIS16260_SUPPLY_OUT, ADIS16260_SCAN_SUPPLY,
  127. BIT(IIO_CHAN_INFO_SAMP_FREQ), 12),
  128. ADIS_AUX_ADC_CHAN(ADIS16260_AUX_ADC, ADIS16260_SCAN_AUX_ADC,
  129. BIT(IIO_CHAN_INFO_SAMP_FREQ), 12),
  130. IIO_CHAN_SOFT_TIMESTAMP(4),
  131. };
  132. static const struct adis16260_chip_info adis16260_chip_info_table[] = {
  133. [ADIS16251] = {
  134. .gyro_max_scale = 80,
  135. .gyro_max_val = IIO_RAD_TO_DEGREE(4368),
  136. .channels = adis16260_channels,
  137. .num_channels = ARRAY_SIZE(adis16260_channels),
  138. },
  139. [ADIS16260] = {
  140. .gyro_max_scale = 320,
  141. .gyro_max_val = IIO_RAD_TO_DEGREE(4368),
  142. .channels = adis16260_channels,
  143. .num_channels = ARRAY_SIZE(adis16260_channels),
  144. },
  145. [ADIS16266] = {
  146. .gyro_max_scale = 14000,
  147. .gyro_max_val = IIO_RAD_TO_DEGREE(3357),
  148. .channels = adis16266_channels,
  149. .num_channels = ARRAY_SIZE(adis16266_channels),
  150. },
  151. };
  152. /* Power down the device */
  153. static int adis16260_stop_device(struct iio_dev *indio_dev)
  154. {
  155. struct adis16260 *adis16260 = iio_priv(indio_dev);
  156. int ret;
  157. u16 val = ADIS16260_SLP_CNT_POWER_OFF;
  158. ret = adis_write_reg_16(&adis16260->adis, ADIS16260_SLP_CNT, val);
  159. if (ret)
  160. dev_err(&indio_dev->dev, "problem with turning device off: SLP_CNT");
  161. return ret;
  162. }
  163. static const u8 adis16260_addresses[][2] = {
  164. [ADIS16260_SCAN_GYRO] = { ADIS16260_GYRO_OFF, ADIS16260_GYRO_SCALE },
  165. };
  166. static int adis16260_read_raw(struct iio_dev *indio_dev,
  167. struct iio_chan_spec const *chan,
  168. int *val, int *val2,
  169. long mask)
  170. {
  171. struct adis16260 *adis16260 = iio_priv(indio_dev);
  172. const struct adis16260_chip_info *info = adis16260->info;
  173. struct adis *adis = &adis16260->adis;
  174. int ret;
  175. u8 addr;
  176. s16 val16;
  177. switch (mask) {
  178. case IIO_CHAN_INFO_RAW:
  179. return adis_single_conversion(indio_dev, chan,
  180. ADIS16260_ERROR_ACTIVE, val);
  181. case IIO_CHAN_INFO_SCALE:
  182. switch (chan->type) {
  183. case IIO_ANGL_VEL:
  184. *val = info->gyro_max_scale;
  185. *val2 = info->gyro_max_val;
  186. return IIO_VAL_FRACTIONAL;
  187. case IIO_INCLI:
  188. *val = 0;
  189. *val2 = IIO_DEGREE_TO_RAD(36630);
  190. return IIO_VAL_INT_PLUS_MICRO;
  191. case IIO_VOLTAGE:
  192. if (chan->channel == 0) {
  193. *val = 1;
  194. *val2 = 831500; /* 1.8315 mV */
  195. } else {
  196. *val = 0;
  197. *val2 = 610500; /* 610.5 uV */
  198. }
  199. return IIO_VAL_INT_PLUS_MICRO;
  200. case IIO_TEMP:
  201. *val = 145;
  202. *val2 = 300000; /* 0.1453 C */
  203. return IIO_VAL_INT_PLUS_MICRO;
  204. default:
  205. return -EINVAL;
  206. }
  207. case IIO_CHAN_INFO_OFFSET:
  208. *val = 250000 / 1453; /* 25 C = 0x00 */
  209. return IIO_VAL_INT;
  210. case IIO_CHAN_INFO_CALIBBIAS:
  211. addr = adis16260_addresses[chan->scan_index][0];
  212. ret = adis_read_reg_16(adis, addr, &val16);
  213. if (ret)
  214. return ret;
  215. *val = sign_extend32(val16, 11);
  216. return IIO_VAL_INT;
  217. case IIO_CHAN_INFO_CALIBSCALE:
  218. addr = adis16260_addresses[chan->scan_index][1];
  219. ret = adis_read_reg_16(adis, addr, &val16);
  220. if (ret)
  221. return ret;
  222. *val = val16;
  223. return IIO_VAL_INT;
  224. case IIO_CHAN_INFO_SAMP_FREQ:
  225. ret = adis_read_reg_16(adis, ADIS16260_SMPL_PRD, &val16);
  226. if (ret)
  227. return ret;
  228. if (spi_get_device_id(adis->spi)->driver_data)
  229. /* If an adis16251 */
  230. *val = (val16 & ADIS16260_SMPL_PRD_TIME_BASE) ?
  231. 8 : 256;
  232. else
  233. *val = (val16 & ADIS16260_SMPL_PRD_TIME_BASE) ?
  234. 66 : 2048;
  235. *val /= (val16 & ADIS16260_SMPL_PRD_DIV_MASK) + 1;
  236. return IIO_VAL_INT;
  237. }
  238. return -EINVAL;
  239. }
  240. static int adis16260_write_raw(struct iio_dev *indio_dev,
  241. struct iio_chan_spec const *chan,
  242. int val,
  243. int val2,
  244. long mask)
  245. {
  246. struct adis16260 *adis16260 = iio_priv(indio_dev);
  247. struct adis *adis = &adis16260->adis;
  248. int ret;
  249. u8 addr;
  250. u8 t;
  251. switch (mask) {
  252. case IIO_CHAN_INFO_CALIBBIAS:
  253. if (val < -2048 || val >= 2048)
  254. return -EINVAL;
  255. addr = adis16260_addresses[chan->scan_index][0];
  256. return adis_write_reg_16(adis, addr, val);
  257. case IIO_CHAN_INFO_CALIBSCALE:
  258. if (val < 0 || val >= 4096)
  259. return -EINVAL;
  260. addr = adis16260_addresses[chan->scan_index][1];
  261. return adis_write_reg_16(adis, addr, val);
  262. case IIO_CHAN_INFO_SAMP_FREQ:
  263. mutex_lock(&adis->state_lock);
  264. if (spi_get_device_id(adis->spi)->driver_data)
  265. t = 256 / val;
  266. else
  267. t = 2048 / val;
  268. if (t > ADIS16260_SMPL_PRD_DIV_MASK)
  269. t = ADIS16260_SMPL_PRD_DIV_MASK;
  270. else if (t > 0)
  271. t--;
  272. if (t >= 0x0A)
  273. adis->spi->max_speed_hz = ADIS16260_SPI_SLOW;
  274. else
  275. adis->spi->max_speed_hz = ADIS16260_SPI_FAST;
  276. ret = __adis_write_reg_8(adis, ADIS16260_SMPL_PRD, t);
  277. mutex_unlock(&adis->state_lock);
  278. return ret;
  279. }
  280. return -EINVAL;
  281. }
  282. static const struct iio_info adis16260_info = {
  283. .read_raw = &adis16260_read_raw,
  284. .write_raw = &adis16260_write_raw,
  285. .update_scan_mode = adis_update_scan_mode,
  286. };
  287. static const char * const adis1620_status_error_msgs[] = {
  288. [ADIS16260_DIAG_STAT_FLASH_CHK_BIT] = "Flash checksum error",
  289. [ADIS16260_DIAG_STAT_SELF_TEST_BIT] = "Self test error",
  290. [ADIS16260_DIAG_STAT_OVERFLOW_BIT] = "Sensor overrange",
  291. [ADIS16260_DIAG_STAT_SPI_FAIL_BIT] = "SPI failure",
  292. [ADIS16260_DIAG_STAT_FLASH_UPT_BIT] = "Flash update failed",
  293. [ADIS16260_DIAG_STAT_POWER_HIGH_BIT] = "Power supply above 5.25",
  294. [ADIS16260_DIAG_STAT_POWER_LOW_BIT] = "Power supply below 4.75",
  295. };
  296. static const struct adis_timeout adis16260_timeouts = {
  297. .reset_ms = ADIS16260_STARTUP_DELAY,
  298. .sw_reset_ms = ADIS16260_STARTUP_DELAY,
  299. .self_test_ms = ADIS16260_STARTUP_DELAY,
  300. };
  301. static const struct adis_data adis16260_data = {
  302. .write_delay = 30,
  303. .read_delay = 30,
  304. .msc_ctrl_reg = ADIS16260_MSC_CTRL,
  305. .glob_cmd_reg = ADIS16260_GLOB_CMD,
  306. .diag_stat_reg = ADIS16260_DIAG_STAT,
  307. .self_test_mask = ADIS16260_MSC_CTRL_MEM_TEST,
  308. .self_test_reg = ADIS16260_MSC_CTRL,
  309. .timeouts = &adis16260_timeouts,
  310. .status_error_msgs = adis1620_status_error_msgs,
  311. .status_error_mask = BIT(ADIS16260_DIAG_STAT_FLASH_CHK_BIT) |
  312. BIT(ADIS16260_DIAG_STAT_SELF_TEST_BIT) |
  313. BIT(ADIS16260_DIAG_STAT_OVERFLOW_BIT) |
  314. BIT(ADIS16260_DIAG_STAT_SPI_FAIL_BIT) |
  315. BIT(ADIS16260_DIAG_STAT_FLASH_UPT_BIT) |
  316. BIT(ADIS16260_DIAG_STAT_POWER_HIGH_BIT) |
  317. BIT(ADIS16260_DIAG_STAT_POWER_LOW_BIT),
  318. };
  319. static void adis16260_stop(void *data)
  320. {
  321. adis16260_stop_device(data);
  322. }
  323. static int adis16260_probe(struct spi_device *spi)
  324. {
  325. const struct spi_device_id *id;
  326. struct adis16260 *adis16260;
  327. struct iio_dev *indio_dev;
  328. int ret;
  329. id = spi_get_device_id(spi);
  330. if (!id)
  331. return -ENODEV;
  332. /* setup the industrialio driver allocated elements */
  333. indio_dev = devm_iio_device_alloc(&spi->dev, sizeof(*adis16260));
  334. if (!indio_dev)
  335. return -ENOMEM;
  336. adis16260 = iio_priv(indio_dev);
  337. /* this is only used for removal purposes */
  338. spi_set_drvdata(spi, indio_dev);
  339. adis16260->info = &adis16260_chip_info_table[id->driver_data];
  340. indio_dev->name = id->name;
  341. indio_dev->info = &adis16260_info;
  342. indio_dev->channels = adis16260->info->channels;
  343. indio_dev->num_channels = adis16260->info->num_channels;
  344. indio_dev->modes = INDIO_DIRECT_MODE;
  345. ret = adis_init(&adis16260->adis, indio_dev, spi, &adis16260_data);
  346. if (ret)
  347. return ret;
  348. ret = devm_adis_setup_buffer_and_trigger(&adis16260->adis, indio_dev, NULL);
  349. if (ret)
  350. return ret;
  351. /* Get the device into a sane initial state */
  352. ret = adis_initial_startup(&adis16260->adis);
  353. if (ret)
  354. return ret;
  355. ret = devm_add_action_or_reset(&spi->dev, adis16260_stop, indio_dev);
  356. if (ret)
  357. return ret;
  358. return devm_iio_device_register(&spi->dev, indio_dev);
  359. }
  360. /*
  361. * These parts do not need to be differentiated until someone adds
  362. * support for the on chip filtering.
  363. */
  364. static const struct spi_device_id adis16260_id[] = {
  365. {"adis16260", ADIS16260},
  366. {"adis16265", ADIS16260},
  367. {"adis16266", ADIS16266},
  368. {"adis16250", ADIS16260},
  369. {"adis16255", ADIS16260},
  370. {"adis16251", ADIS16251},
  371. {}
  372. };
  373. MODULE_DEVICE_TABLE(spi, adis16260_id);
  374. static struct spi_driver adis16260_driver = {
  375. .driver = {
  376. .name = "adis16260",
  377. },
  378. .probe = adis16260_probe,
  379. .id_table = adis16260_id,
  380. };
  381. module_spi_driver(adis16260_driver);
  382. MODULE_AUTHOR("Barry Song <21cnbao@gmail.com>");
  383. MODULE_DESCRIPTION("Analog Devices ADIS16260/5 Digital Gyroscope Sensor");
  384. MODULE_LICENSE("GPL v2");