adis16460.c 11 KB

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  1. // SPDX-License-Identifier: GPL-2.0+
  2. /*
  3. * ADIS16460 IMU driver
  4. *
  5. * Copyright 2019 Analog Devices Inc.
  6. */
  7. #include <linux/delay.h>
  8. #include <linux/module.h>
  9. #include <linux/spi/spi.h>
  10. #include <linux/iio/iio.h>
  11. #include <linux/iio/imu/adis.h>
  12. #include <linux/debugfs.h>
  13. #define ADIS16460_REG_FLASH_CNT 0x00
  14. #define ADIS16460_REG_DIAG_STAT 0x02
  15. #define ADIS16460_REG_X_GYRO_LOW 0x04
  16. #define ADIS16460_REG_X_GYRO_OUT 0x06
  17. #define ADIS16460_REG_Y_GYRO_LOW 0x08
  18. #define ADIS16460_REG_Y_GYRO_OUT 0x0A
  19. #define ADIS16460_REG_Z_GYRO_LOW 0x0C
  20. #define ADIS16460_REG_Z_GYRO_OUT 0x0E
  21. #define ADIS16460_REG_X_ACCL_LOW 0x10
  22. #define ADIS16460_REG_X_ACCL_OUT 0x12
  23. #define ADIS16460_REG_Y_ACCL_LOW 0x14
  24. #define ADIS16460_REG_Y_ACCL_OUT 0x16
  25. #define ADIS16460_REG_Z_ACCL_LOW 0x18
  26. #define ADIS16460_REG_Z_ACCL_OUT 0x1A
  27. #define ADIS16460_REG_SMPL_CNTR 0x1C
  28. #define ADIS16460_REG_TEMP_OUT 0x1E
  29. #define ADIS16460_REG_X_DELT_ANG 0x24
  30. #define ADIS16460_REG_Y_DELT_ANG 0x26
  31. #define ADIS16460_REG_Z_DELT_ANG 0x28
  32. #define ADIS16460_REG_X_DELT_VEL 0x2A
  33. #define ADIS16460_REG_Y_DELT_VEL 0x2C
  34. #define ADIS16460_REG_Z_DELT_VEL 0x2E
  35. #define ADIS16460_REG_MSC_CTRL 0x32
  36. #define ADIS16460_REG_SYNC_SCAL 0x34
  37. #define ADIS16460_REG_DEC_RATE 0x36
  38. #define ADIS16460_REG_FLTR_CTRL 0x38
  39. #define ADIS16460_REG_GLOB_CMD 0x3E
  40. #define ADIS16460_REG_X_GYRO_OFF 0x40
  41. #define ADIS16460_REG_Y_GYRO_OFF 0x42
  42. #define ADIS16460_REG_Z_GYRO_OFF 0x44
  43. #define ADIS16460_REG_X_ACCL_OFF 0x46
  44. #define ADIS16460_REG_Y_ACCL_OFF 0x48
  45. #define ADIS16460_REG_Z_ACCL_OFF 0x4A
  46. #define ADIS16460_REG_LOT_ID1 0x52
  47. #define ADIS16460_REG_LOT_ID2 0x54
  48. #define ADIS16460_REG_PROD_ID 0x56
  49. #define ADIS16460_REG_SERIAL_NUM 0x58
  50. #define ADIS16460_REG_CAL_SGNTR 0x60
  51. #define ADIS16460_REG_CAL_CRC 0x62
  52. #define ADIS16460_REG_CODE_SGNTR 0x64
  53. #define ADIS16460_REG_CODE_CRC 0x66
  54. struct adis16460_chip_info {
  55. unsigned int num_channels;
  56. const struct iio_chan_spec *channels;
  57. unsigned int gyro_max_val;
  58. unsigned int gyro_max_scale;
  59. unsigned int accel_max_val;
  60. unsigned int accel_max_scale;
  61. };
  62. struct adis16460 {
  63. const struct adis16460_chip_info *chip_info;
  64. struct adis adis;
  65. };
  66. #ifdef CONFIG_DEBUG_FS
  67. static int adis16460_show_serial_number(void *arg, u64 *val)
  68. {
  69. struct adis16460 *adis16460 = arg;
  70. u16 serial;
  71. int ret;
  72. ret = adis_read_reg_16(&adis16460->adis, ADIS16460_REG_SERIAL_NUM,
  73. &serial);
  74. if (ret)
  75. return ret;
  76. *val = serial;
  77. return 0;
  78. }
  79. DEFINE_DEBUGFS_ATTRIBUTE(adis16460_serial_number_fops,
  80. adis16460_show_serial_number, NULL, "0x%.4llx\n");
  81. static int adis16460_show_product_id(void *arg, u64 *val)
  82. {
  83. struct adis16460 *adis16460 = arg;
  84. u16 prod_id;
  85. int ret;
  86. ret = adis_read_reg_16(&adis16460->adis, ADIS16460_REG_PROD_ID,
  87. &prod_id);
  88. if (ret)
  89. return ret;
  90. *val = prod_id;
  91. return 0;
  92. }
  93. DEFINE_DEBUGFS_ATTRIBUTE(adis16460_product_id_fops,
  94. adis16460_show_product_id, NULL, "%llu\n");
  95. static int adis16460_show_flash_count(void *arg, u64 *val)
  96. {
  97. struct adis16460 *adis16460 = arg;
  98. u32 flash_count;
  99. int ret;
  100. ret = adis_read_reg_32(&adis16460->adis, ADIS16460_REG_FLASH_CNT,
  101. &flash_count);
  102. if (ret)
  103. return ret;
  104. *val = flash_count;
  105. return 0;
  106. }
  107. DEFINE_DEBUGFS_ATTRIBUTE(adis16460_flash_count_fops,
  108. adis16460_show_flash_count, NULL, "%lld\n");
  109. static int adis16460_debugfs_init(struct iio_dev *indio_dev)
  110. {
  111. struct adis16460 *adis16460 = iio_priv(indio_dev);
  112. struct dentry *d = iio_get_debugfs_dentry(indio_dev);
  113. debugfs_create_file_unsafe("serial_number", 0400,
  114. d, adis16460, &adis16460_serial_number_fops);
  115. debugfs_create_file_unsafe("product_id", 0400,
  116. d, adis16460, &adis16460_product_id_fops);
  117. debugfs_create_file_unsafe("flash_count", 0400,
  118. d, adis16460, &adis16460_flash_count_fops);
  119. return 0;
  120. }
  121. #else
  122. static int adis16460_debugfs_init(struct iio_dev *indio_dev)
  123. {
  124. return 0;
  125. }
  126. #endif
  127. static int adis16460_set_freq(struct iio_dev *indio_dev, int val, int val2)
  128. {
  129. struct adis16460 *st = iio_priv(indio_dev);
  130. int t;
  131. t = val * 1000 + val2 / 1000;
  132. if (t <= 0)
  133. return -EINVAL;
  134. t = 2048000 / t;
  135. if (t > 2048)
  136. t = 2048;
  137. if (t != 0)
  138. t--;
  139. return adis_write_reg_16(&st->adis, ADIS16460_REG_DEC_RATE, t);
  140. }
  141. static int adis16460_get_freq(struct iio_dev *indio_dev, int *val, int *val2)
  142. {
  143. struct adis16460 *st = iio_priv(indio_dev);
  144. uint16_t t;
  145. int ret;
  146. unsigned int freq;
  147. ret = adis_read_reg_16(&st->adis, ADIS16460_REG_DEC_RATE, &t);
  148. if (ret)
  149. return ret;
  150. freq = 2048000 / (t + 1);
  151. *val = freq / 1000;
  152. *val2 = (freq % 1000) * 1000;
  153. return IIO_VAL_INT_PLUS_MICRO;
  154. }
  155. static int adis16460_read_raw(struct iio_dev *indio_dev,
  156. const struct iio_chan_spec *chan, int *val, int *val2, long info)
  157. {
  158. struct adis16460 *st = iio_priv(indio_dev);
  159. switch (info) {
  160. case IIO_CHAN_INFO_RAW:
  161. return adis_single_conversion(indio_dev, chan, 0, val);
  162. case IIO_CHAN_INFO_SCALE:
  163. switch (chan->type) {
  164. case IIO_ANGL_VEL:
  165. *val = st->chip_info->gyro_max_scale;
  166. *val2 = st->chip_info->gyro_max_val;
  167. return IIO_VAL_FRACTIONAL;
  168. case IIO_ACCEL:
  169. *val = st->chip_info->accel_max_scale;
  170. *val2 = st->chip_info->accel_max_val;
  171. return IIO_VAL_FRACTIONAL;
  172. case IIO_TEMP:
  173. *val = 50; /* 50 milli degrees Celsius/LSB */
  174. return IIO_VAL_INT;
  175. default:
  176. return -EINVAL;
  177. }
  178. case IIO_CHAN_INFO_OFFSET:
  179. *val = 500; /* 25 degrees Celsius = 0x0000 */
  180. return IIO_VAL_INT;
  181. case IIO_CHAN_INFO_SAMP_FREQ:
  182. return adis16460_get_freq(indio_dev, val, val2);
  183. default:
  184. return -EINVAL;
  185. }
  186. }
  187. static int adis16460_write_raw(struct iio_dev *indio_dev,
  188. const struct iio_chan_spec *chan, int val, int val2, long info)
  189. {
  190. switch (info) {
  191. case IIO_CHAN_INFO_SAMP_FREQ:
  192. return adis16460_set_freq(indio_dev, val, val2);
  193. default:
  194. return -EINVAL;
  195. }
  196. }
  197. enum {
  198. ADIS16460_SCAN_GYRO_X,
  199. ADIS16460_SCAN_GYRO_Y,
  200. ADIS16460_SCAN_GYRO_Z,
  201. ADIS16460_SCAN_ACCEL_X,
  202. ADIS16460_SCAN_ACCEL_Y,
  203. ADIS16460_SCAN_ACCEL_Z,
  204. ADIS16460_SCAN_TEMP,
  205. };
  206. #define ADIS16460_MOD_CHANNEL(_type, _mod, _address, _si, _bits) \
  207. { \
  208. .type = (_type), \
  209. .modified = 1, \
  210. .channel2 = (_mod), \
  211. .info_mask_separate = BIT(IIO_CHAN_INFO_RAW), \
  212. .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE), \
  213. .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
  214. .address = (_address), \
  215. .scan_index = (_si), \
  216. .scan_type = { \
  217. .sign = 's', \
  218. .realbits = (_bits), \
  219. .storagebits = (_bits), \
  220. .endianness = IIO_BE, \
  221. }, \
  222. }
  223. #define ADIS16460_GYRO_CHANNEL(_mod) \
  224. ADIS16460_MOD_CHANNEL(IIO_ANGL_VEL, IIO_MOD_ ## _mod, \
  225. ADIS16460_REG_ ## _mod ## _GYRO_LOW, ADIS16460_SCAN_GYRO_ ## _mod, \
  226. 32)
  227. #define ADIS16460_ACCEL_CHANNEL(_mod) \
  228. ADIS16460_MOD_CHANNEL(IIO_ACCEL, IIO_MOD_ ## _mod, \
  229. ADIS16460_REG_ ## _mod ## _ACCL_LOW, ADIS16460_SCAN_ACCEL_ ## _mod, \
  230. 32)
  231. #define ADIS16460_TEMP_CHANNEL() { \
  232. .type = IIO_TEMP, \
  233. .indexed = 1, \
  234. .channel = 0, \
  235. .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \
  236. BIT(IIO_CHAN_INFO_SCALE) | \
  237. BIT(IIO_CHAN_INFO_OFFSET), \
  238. .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
  239. .address = ADIS16460_REG_TEMP_OUT, \
  240. .scan_index = ADIS16460_SCAN_TEMP, \
  241. .scan_type = { \
  242. .sign = 's', \
  243. .realbits = 16, \
  244. .storagebits = 16, \
  245. .endianness = IIO_BE, \
  246. }, \
  247. }
  248. static const struct iio_chan_spec adis16460_channels[] = {
  249. ADIS16460_GYRO_CHANNEL(X),
  250. ADIS16460_GYRO_CHANNEL(Y),
  251. ADIS16460_GYRO_CHANNEL(Z),
  252. ADIS16460_ACCEL_CHANNEL(X),
  253. ADIS16460_ACCEL_CHANNEL(Y),
  254. ADIS16460_ACCEL_CHANNEL(Z),
  255. ADIS16460_TEMP_CHANNEL(),
  256. IIO_CHAN_SOFT_TIMESTAMP(7)
  257. };
  258. static const struct adis16460_chip_info adis16460_chip_info = {
  259. .channels = adis16460_channels,
  260. .num_channels = ARRAY_SIZE(adis16460_channels),
  261. /*
  262. * storing the value in rad/degree and the scale in degree
  263. * gives us the result in rad and better precession than
  264. * storing the scale directly in rad.
  265. */
  266. .gyro_max_val = IIO_RAD_TO_DEGREE(200 << 16),
  267. .gyro_max_scale = 1,
  268. .accel_max_val = IIO_M_S_2_TO_G(20000 << 16),
  269. .accel_max_scale = 5,
  270. };
  271. static const struct iio_info adis16460_info = {
  272. .read_raw = &adis16460_read_raw,
  273. .write_raw = &adis16460_write_raw,
  274. .update_scan_mode = adis_update_scan_mode,
  275. .debugfs_reg_access = adis_debugfs_reg_access,
  276. };
  277. static int adis16460_enable_irq(struct adis *adis, bool enable)
  278. {
  279. /*
  280. * There is no way to gate the data-ready signal internally inside the
  281. * ADIS16460 :(
  282. */
  283. if (enable)
  284. enable_irq(adis->spi->irq);
  285. else
  286. disable_irq(adis->spi->irq);
  287. return 0;
  288. }
  289. #define ADIS16460_DIAG_STAT_IN_CLK_OOS 7
  290. #define ADIS16460_DIAG_STAT_FLASH_MEM 6
  291. #define ADIS16460_DIAG_STAT_SELF_TEST 5
  292. #define ADIS16460_DIAG_STAT_OVERRANGE 4
  293. #define ADIS16460_DIAG_STAT_SPI_COMM 3
  294. #define ADIS16460_DIAG_STAT_FLASH_UPT 2
  295. static const char * const adis16460_status_error_msgs[] = {
  296. [ADIS16460_DIAG_STAT_IN_CLK_OOS] = "Input clock out of sync",
  297. [ADIS16460_DIAG_STAT_FLASH_MEM] = "Flash memory failure",
  298. [ADIS16460_DIAG_STAT_SELF_TEST] = "Self test diagnostic failure",
  299. [ADIS16460_DIAG_STAT_OVERRANGE] = "Sensor overrange",
  300. [ADIS16460_DIAG_STAT_SPI_COMM] = "SPI communication failure",
  301. [ADIS16460_DIAG_STAT_FLASH_UPT] = "Flash update failure",
  302. };
  303. static const struct adis_timeout adis16460_timeouts = {
  304. .reset_ms = 225,
  305. .sw_reset_ms = 225,
  306. .self_test_ms = 10,
  307. };
  308. static const struct adis_data adis16460_data = {
  309. .diag_stat_reg = ADIS16460_REG_DIAG_STAT,
  310. .glob_cmd_reg = ADIS16460_REG_GLOB_CMD,
  311. .prod_id_reg = ADIS16460_REG_PROD_ID,
  312. .prod_id = 16460,
  313. .self_test_mask = BIT(2),
  314. .self_test_reg = ADIS16460_REG_GLOB_CMD,
  315. .has_paging = false,
  316. .read_delay = 5,
  317. .write_delay = 5,
  318. .cs_change_delay = 16,
  319. .status_error_msgs = adis16460_status_error_msgs,
  320. .status_error_mask = BIT(ADIS16460_DIAG_STAT_IN_CLK_OOS) |
  321. BIT(ADIS16460_DIAG_STAT_FLASH_MEM) |
  322. BIT(ADIS16460_DIAG_STAT_SELF_TEST) |
  323. BIT(ADIS16460_DIAG_STAT_OVERRANGE) |
  324. BIT(ADIS16460_DIAG_STAT_SPI_COMM) |
  325. BIT(ADIS16460_DIAG_STAT_FLASH_UPT),
  326. .enable_irq = adis16460_enable_irq,
  327. .timeouts = &adis16460_timeouts,
  328. };
  329. static int adis16460_probe(struct spi_device *spi)
  330. {
  331. struct iio_dev *indio_dev;
  332. struct adis16460 *st;
  333. int ret;
  334. indio_dev = devm_iio_device_alloc(&spi->dev, sizeof(*st));
  335. if (indio_dev == NULL)
  336. return -ENOMEM;
  337. spi_set_drvdata(spi, indio_dev);
  338. st = iio_priv(indio_dev);
  339. st->chip_info = &adis16460_chip_info;
  340. indio_dev->name = spi_get_device_id(spi)->name;
  341. indio_dev->channels = st->chip_info->channels;
  342. indio_dev->num_channels = st->chip_info->num_channels;
  343. indio_dev->info = &adis16460_info;
  344. indio_dev->modes = INDIO_DIRECT_MODE;
  345. ret = adis_init(&st->adis, indio_dev, spi, &adis16460_data);
  346. if (ret)
  347. return ret;
  348. ret = devm_adis_setup_buffer_and_trigger(&st->adis, indio_dev, NULL);
  349. if (ret)
  350. return ret;
  351. adis16460_enable_irq(&st->adis, 0);
  352. ret = __adis_initial_startup(&st->adis);
  353. if (ret)
  354. return ret;
  355. ret = devm_iio_device_register(&spi->dev, indio_dev);
  356. if (ret)
  357. return ret;
  358. adis16460_debugfs_init(indio_dev);
  359. return 0;
  360. }
  361. static const struct spi_device_id adis16460_ids[] = {
  362. { "adis16460", 0 },
  363. {}
  364. };
  365. MODULE_DEVICE_TABLE(spi, adis16460_ids);
  366. static const struct of_device_id adis16460_of_match[] = {
  367. { .compatible = "adi,adis16460" },
  368. {}
  369. };
  370. MODULE_DEVICE_TABLE(of, adis16460_of_match);
  371. static struct spi_driver adis16460_driver = {
  372. .driver = {
  373. .name = "adis16460",
  374. .of_match_table = adis16460_of_match,
  375. },
  376. .id_table = adis16460_ids,
  377. .probe = adis16460_probe,
  378. };
  379. module_spi_driver(adis16460_driver);
  380. MODULE_AUTHOR("Dragos Bogdan <dragos.bogdan@analog.com>");
  381. MODULE_DESCRIPTION("Analog Devices ADIS16460 IMU driver");
  382. MODULE_LICENSE("GPL");