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 8 #include <linux/interrupt.h> 9 #include <linux/mutex.h> 10 #include <linux/device.h> 11 #include <linux/kernel.h> 12 #include <linux/spi/spi.h> 13 #include <linux/sysfs.h> 14 #include <linux/module.h> 15 16 #include <linux/iio/iio.h> 17 #include <linux/iio/sysfs.h> 18 #include <linux/iio/buffer.h> 19 #include <linux/iio/imu/adis.h> 20 21 #define ADIS16260_STARTUP_DELAY 220 /* ms */ 22 23 #define ADIS16260_FLASH_CNT 0x00 /* Flash memory write count */ 24 #define ADIS16260_SUPPLY_OUT 0x02 /* Power supply measurement */ 25 #define ADIS16260_GYRO_OUT 0x04 /* X-axis gyroscope output */ 26 #define ADIS16260_AUX_ADC 0x0A /* analog input channel measurement */ 27 #define ADIS16260_TEMP_OUT 0x0C /* internal temperature measurement */ 28 #define ADIS16260_ANGL_OUT 0x0E /* angle displacement */ 29 #define ADIS16260_GYRO_OFF 0x14 /* Calibration, offset/bias adjustment */ 30 #define ADIS16260_GYRO_SCALE 0x16 /* Calibration, scale adjustment */ 31 #define ADIS16260_ALM_MAG1 0x20 /* Alarm 1 magnitude/polarity setting */ 32 #define ADIS16260_ALM_MAG2 0x22 /* Alarm 2 magnitude/polarity setting */ 33 #define ADIS16260_ALM_SMPL1 0x24 /* Alarm 1 dynamic rate of change setting */ 34 #define ADIS16260_ALM_SMPL2 0x26 /* Alarm 2 dynamic rate of change setting */ 35 #define ADIS16260_ALM_CTRL 0x28 /* Alarm control */ 36 #define ADIS16260_AUX_DAC 0x30 /* Auxiliary DAC data */ 37 #define ADIS16260_GPIO_CTRL 0x32 /* Control, digital I/O line */ 38 #define ADIS16260_MSC_CTRL 0x34 /* Control, data ready, self-test settings */ 39 #define ADIS16260_SMPL_PRD 0x36 /* Control, internal sample rate */ 40 #define ADIS16260_SENS_AVG 0x38 /* Control, dynamic range, filtering */ 41 #define ADIS16260_SLP_CNT 0x3A /* Control, sleep mode initiation */ 42 #define ADIS16260_DIAG_STAT 0x3C /* Diagnostic, error flags */ 43 #define ADIS16260_GLOB_CMD 0x3E /* Control, global commands */ 44 #define ADIS16260_LOT_ID1 0x52 /* Lot Identification Code 1 */ 45 #define ADIS16260_LOT_ID2 0x54 /* Lot Identification Code 2 */ 46 #define ADIS16260_PROD_ID 0x56 /* Product identifier; 47 * convert to decimal = 16,265/16,260 */ 48 #define ADIS16260_SERIAL_NUM 0x58 /* Serial number */ 49 50 #define ADIS16260_ERROR_ACTIVE (1<<14) 51 #define ADIS16260_NEW_DATA (1<<15) 52 53 /* MSC_CTRL */ 54 #define ADIS16260_MSC_CTRL_MEM_TEST (1<<11) 55 /* Internal self-test enable */ 56 #define ADIS16260_MSC_CTRL_INT_SELF_TEST (1<<10) 57 #define ADIS16260_MSC_CTRL_NEG_SELF_TEST (1<<9) 58 #define ADIS16260_MSC_CTRL_POS_SELF_TEST (1<<8) 59 #define ADIS16260_MSC_CTRL_DATA_RDY_EN (1<<2) 60 #define ADIS16260_MSC_CTRL_DATA_RDY_POL_HIGH (1<<1) 61 #define ADIS16260_MSC_CTRL_DATA_RDY_DIO2 (1<<0) 62 63 /* SMPL_PRD */ 64 /* Time base (tB): 0 = 1.953 ms, 1 = 60.54 ms */ 65 #define ADIS16260_SMPL_PRD_TIME_BASE (1<<7) 66 #define ADIS16260_SMPL_PRD_DIV_MASK 0x7F 67 68 /* SLP_CNT */ 69 #define ADIS16260_SLP_CNT_POWER_OFF 0x80 70 71 /* DIAG_STAT */ 72 #define ADIS16260_DIAG_STAT_ALARM2 (1<<9) 73 #define ADIS16260_DIAG_STAT_ALARM1 (1<<8) 74 #define ADIS16260_DIAG_STAT_FLASH_CHK_BIT 6 75 #define ADIS16260_DIAG_STAT_SELF_TEST_BIT 5 76 #define ADIS16260_DIAG_STAT_OVERFLOW_BIT 4 77 #define ADIS16260_DIAG_STAT_SPI_FAIL_BIT 3 78 #define ADIS16260_DIAG_STAT_FLASH_UPT_BIT 2 79 #define ADIS16260_DIAG_STAT_POWER_HIGH_BIT 1 80 #define ADIS16260_DIAG_STAT_POWER_LOW_BIT 0 81 82 /* GLOB_CMD */ 83 #define ADIS16260_GLOB_CMD_SW_RESET (1<<7) 84 #define ADIS16260_GLOB_CMD_FLASH_UPD (1<<3) 85 #define ADIS16260_GLOB_CMD_DAC_LATCH (1<<2) 86 #define ADIS16260_GLOB_CMD_FAC_CALIB (1<<1) 87 #define ADIS16260_GLOB_CMD_AUTO_NULL (1<<0) 88 89 #define ADIS16260_SPI_SLOW (u32)(300 * 1000) 90 #define ADIS16260_SPI_BURST (u32)(1000 * 1000) 91 #define ADIS16260_SPI_FAST (u32)(2000 * 1000) 92 93 /* At the moment triggers are only used for ring buffer 94 * filling. This may change! 95 */ 96 97 #define ADIS16260_SCAN_GYRO 0 98 #define ADIS16260_SCAN_SUPPLY 1 99 #define ADIS16260_SCAN_AUX_ADC 2 100 #define ADIS16260_SCAN_TEMP 3 101 #define ADIS16260_SCAN_ANGL 4 102 103 struct adis16260_chip_info { 104 unsigned int gyro_max_val; 105 unsigned int gyro_max_scale; 106 const struct iio_chan_spec *channels; 107 unsigned int num_channels; 108 }; 109 110 struct adis16260 { 111 const struct adis16260_chip_info *info; 112 113 struct adis adis; 114 }; 115 116 enum adis16260_type { 117 ADIS16251, 118 ADIS16260, 119 ADIS16266, 120 }; 121 122 static const struct iio_chan_spec adis16260_channels[] = { 123 ADIS_GYRO_CHAN(X, ADIS16260_GYRO_OUT, ADIS16260_SCAN_GYRO, 124 BIT(IIO_CHAN_INFO_CALIBBIAS) | 125 BIT(IIO_CHAN_INFO_CALIBSCALE), 126 BIT(IIO_CHAN_INFO_SAMP_FREQ), 14), 127 ADIS_INCLI_CHAN(X, ADIS16260_ANGL_OUT, ADIS16260_SCAN_ANGL, 0, 128 BIT(IIO_CHAN_INFO_SAMP_FREQ), 14), 129 ADIS_TEMP_CHAN(ADIS16260_TEMP_OUT, ADIS16260_SCAN_TEMP, 130 BIT(IIO_CHAN_INFO_SAMP_FREQ), 12), 131 ADIS_SUPPLY_CHAN(ADIS16260_SUPPLY_OUT, ADIS16260_SCAN_SUPPLY, 132 BIT(IIO_CHAN_INFO_SAMP_FREQ), 12), 133 ADIS_AUX_ADC_CHAN(ADIS16260_AUX_ADC, ADIS16260_SCAN_AUX_ADC, 134 BIT(IIO_CHAN_INFO_SAMP_FREQ), 12), 135 IIO_CHAN_SOFT_TIMESTAMP(5), 136 }; 137 138 static const struct iio_chan_spec adis16266_channels[] = { 139 ADIS_GYRO_CHAN(X, ADIS16260_GYRO_OUT, ADIS16260_SCAN_GYRO, 140 BIT(IIO_CHAN_INFO_CALIBBIAS) | 141 BIT(IIO_CHAN_INFO_CALIBSCALE), 142 BIT(IIO_CHAN_INFO_SAMP_FREQ), 14), 143 ADIS_TEMP_CHAN(ADIS16260_TEMP_OUT, ADIS16260_SCAN_TEMP, 144 BIT(IIO_CHAN_INFO_SAMP_FREQ), 12), 145 ADIS_SUPPLY_CHAN(ADIS16260_SUPPLY_OUT, ADIS16260_SCAN_SUPPLY, 146 BIT(IIO_CHAN_INFO_SAMP_FREQ), 12), 147 ADIS_AUX_ADC_CHAN(ADIS16260_AUX_ADC, ADIS16260_SCAN_AUX_ADC, 148 BIT(IIO_CHAN_INFO_SAMP_FREQ), 12), 149 IIO_CHAN_SOFT_TIMESTAMP(4), 150 }; 151 152 static const struct adis16260_chip_info adis16260_chip_info_table[] = { 153 [ADIS16251] = { 154 .gyro_max_scale = 80, 155 .gyro_max_val = IIO_RAD_TO_DEGREE(4368), 156 .channels = adis16260_channels, 157 .num_channels = ARRAY_SIZE(adis16260_channels), 158 }, 159 [ADIS16260] = { 160 .gyro_max_scale = 320, 161 .gyro_max_val = IIO_RAD_TO_DEGREE(4368), 162 .channels = adis16260_channels, 163 .num_channels = ARRAY_SIZE(adis16260_channels), 164 }, 165 [ADIS16266] = { 166 .gyro_max_scale = 14000, 167 .gyro_max_val = IIO_RAD_TO_DEGREE(3357), 168 .channels = adis16266_channels, 169 .num_channels = ARRAY_SIZE(adis16266_channels), 170 }, 171 }; 172 173 /* Power down the device */ 174 static int adis16260_stop_device(struct iio_dev *indio_dev) 175 { 176 struct adis16260 *adis16260 = iio_priv(indio_dev); 177 int ret; 178 u16 val = ADIS16260_SLP_CNT_POWER_OFF; 179 180 ret = adis_write_reg_16(&adis16260->adis, ADIS16260_SLP_CNT, val); 181 if (ret) 182 dev_err(&indio_dev->dev, "problem with turning device off: SLP_CNT"); 183 184 return ret; 185 } 186 187 static const u8 adis16260_addresses[][2] = { 188 [ADIS16260_SCAN_GYRO] = { ADIS16260_GYRO_OFF, ADIS16260_GYRO_SCALE }, 189 }; 190 191 static int adis16260_read_raw(struct iio_dev *indio_dev, 192 struct iio_chan_spec const *chan, 193 int *val, int *val2, 194 long mask) 195 { 196 struct adis16260 *adis16260 = iio_priv(indio_dev); 197 const struct adis16260_chip_info *info = adis16260->info; 198 struct adis *adis = &adis16260->adis; 199 int ret; 200 u8 addr; 201 s16 val16; 202 203 switch (mask) { 204 case IIO_CHAN_INFO_RAW: 205 return adis_single_conversion(indio_dev, chan, 206 ADIS16260_ERROR_ACTIVE, val); 207 case IIO_CHAN_INFO_SCALE: 208 switch (chan->type) { 209 case IIO_ANGL_VEL: 210 *val = info->gyro_max_scale; 211 *val2 = info->gyro_max_val; 212 return IIO_VAL_FRACTIONAL; 213 case IIO_INCLI: 214 *val = 0; 215 *val2 = IIO_DEGREE_TO_RAD(36630); 216 return IIO_VAL_INT_PLUS_MICRO; 217 case IIO_VOLTAGE: 218 if (chan->channel == 0) { 219 *val = 1; 220 *val2 = 831500; /* 1.8315 mV */ 221 } else { 222 *val = 0; 223 *val2 = 610500; /* 610.5 uV */ 224 } 225 return IIO_VAL_INT_PLUS_MICRO; 226 case IIO_TEMP: 227 *val = 145; 228 *val2 = 300000; /* 0.1453 C */ 229 return IIO_VAL_INT_PLUS_MICRO; 230 default: 231 return -EINVAL; 232 } 233 case IIO_CHAN_INFO_OFFSET: 234 *val = 250000 / 1453; /* 25 C = 0x00 */ 235 return IIO_VAL_INT; 236 case IIO_CHAN_INFO_CALIBBIAS: 237 addr = adis16260_addresses[chan->scan_index][0]; 238 ret = adis_read_reg_16(adis, addr, &val16); 239 if (ret) 240 return ret; 241 242 *val = sign_extend32(val16, 11); 243 return IIO_VAL_INT; 244 case IIO_CHAN_INFO_CALIBSCALE: 245 addr = adis16260_addresses[chan->scan_index][1]; 246 ret = adis_read_reg_16(adis, addr, &val16); 247 if (ret) 248 return ret; 249 250 *val = val16; 251 return IIO_VAL_INT; 252 case IIO_CHAN_INFO_SAMP_FREQ: 253 ret = adis_read_reg_16(adis, ADIS16260_SMPL_PRD, &val16); 254 if (ret) 255 return ret; 256 257 if (spi_get_device_id(adis->spi)->driver_data) 258 /* If an adis16251 */ 259 *val = (val16 & ADIS16260_SMPL_PRD_TIME_BASE) ? 260 8 : 256; 261 else 262 *val = (val16 & ADIS16260_SMPL_PRD_TIME_BASE) ? 263 66 : 2048; 264 *val /= (val16 & ADIS16260_SMPL_PRD_DIV_MASK) + 1; 265 return IIO_VAL_INT; 266 } 267 return -EINVAL; 268 } 269 270 static int adis16260_write_raw(struct iio_dev *indio_dev, 271 struct iio_chan_spec const *chan, 272 int val, 273 int val2, 274 long mask) 275 { 276 struct adis16260 *adis16260 = iio_priv(indio_dev); 277 struct adis *adis = &adis16260->adis; 278 int ret; 279 u8 addr; 280 u8 t; 281 282 switch (mask) { 283 case IIO_CHAN_INFO_CALIBBIAS: 284 if (val < -2048 || val >= 2048) 285 return -EINVAL; 286 287 addr = adis16260_addresses[chan->scan_index][0]; 288 return adis_write_reg_16(adis, addr, val); 289 case IIO_CHAN_INFO_CALIBSCALE: 290 if (val < 0 || val >= 4096) 291 return -EINVAL; 292 293 addr = adis16260_addresses[chan->scan_index][1]; 294 return adis_write_reg_16(adis, addr, val); 295 case IIO_CHAN_INFO_SAMP_FREQ: 296 mutex_lock(&adis->state_lock); 297 if (spi_get_device_id(adis->spi)->driver_data) 298 t = 256 / val; 299 else 300 t = 2048 / val; 301 302 if (t > ADIS16260_SMPL_PRD_DIV_MASK) 303 t = ADIS16260_SMPL_PRD_DIV_MASK; 304 else if (t > 0) 305 t--; 306 307 if (t >= 0x0A) 308 adis->spi->max_speed_hz = ADIS16260_SPI_SLOW; 309 else 310 adis->spi->max_speed_hz = ADIS16260_SPI_FAST; 311 ret = __adis_write_reg_8(adis, ADIS16260_SMPL_PRD, t); 312 313 mutex_unlock(&adis->state_lock); 314 return ret; 315 } 316 return -EINVAL; 317 } 318 319 static const struct iio_info adis16260_info = { 320 .read_raw = &adis16260_read_raw, 321 .write_raw = &adis16260_write_raw, 322 .update_scan_mode = adis_update_scan_mode, 323 }; 324 325 static const char * const adis1620_status_error_msgs[] = { 326 [ADIS16260_DIAG_STAT_FLASH_CHK_BIT] = "Flash checksum error", 327 [ADIS16260_DIAG_STAT_SELF_TEST_BIT] = "Self test error", 328 [ADIS16260_DIAG_STAT_OVERFLOW_BIT] = "Sensor overrange", 329 [ADIS16260_DIAG_STAT_SPI_FAIL_BIT] = "SPI failure", 330 [ADIS16260_DIAG_STAT_FLASH_UPT_BIT] = "Flash update failed", 331 [ADIS16260_DIAG_STAT_POWER_HIGH_BIT] = "Power supply above 5.25", 332 [ADIS16260_DIAG_STAT_POWER_LOW_BIT] = "Power supply below 4.75", 333 }; 334 335 static const struct adis_timeout adis16260_timeouts = { 336 .reset_ms = ADIS16260_STARTUP_DELAY, 337 .sw_reset_ms = ADIS16260_STARTUP_DELAY, 338 .self_test_ms = ADIS16260_STARTUP_DELAY, 339 }; 340 341 static const struct adis_data adis16260_data = { 342 .write_delay = 30, 343 .read_delay = 30, 344 .msc_ctrl_reg = ADIS16260_MSC_CTRL, 345 .glob_cmd_reg = ADIS16260_GLOB_CMD, 346 .diag_stat_reg = ADIS16260_DIAG_STAT, 347 348 .self_test_mask = ADIS16260_MSC_CTRL_MEM_TEST, 349 .self_test_reg = ADIS16260_MSC_CTRL, 350 .timeouts = &adis16260_timeouts, 351 352 .status_error_msgs = adis1620_status_error_msgs, 353 .status_error_mask = BIT(ADIS16260_DIAG_STAT_FLASH_CHK_BIT) | 354 BIT(ADIS16260_DIAG_STAT_SELF_TEST_BIT) | 355 BIT(ADIS16260_DIAG_STAT_OVERFLOW_BIT) | 356 BIT(ADIS16260_DIAG_STAT_SPI_FAIL_BIT) | 357 BIT(ADIS16260_DIAG_STAT_FLASH_UPT_BIT) | 358 BIT(ADIS16260_DIAG_STAT_POWER_HIGH_BIT) | 359 BIT(ADIS16260_DIAG_STAT_POWER_LOW_BIT), 360 }; 361 362 static int adis16260_probe(struct spi_device *spi) 363 { 364 const struct spi_device_id *id; 365 struct adis16260 *adis16260; 366 struct iio_dev *indio_dev; 367 int ret; 368 369 id = spi_get_device_id(spi); 370 if (!id) 371 return -ENODEV; 372 373 /* setup the industrialio driver allocated elements */ 374 indio_dev = devm_iio_device_alloc(&spi->dev, sizeof(*adis16260)); 375 if (!indio_dev) 376 return -ENOMEM; 377 adis16260 = iio_priv(indio_dev); 378 /* this is only used for removal purposes */ 379 spi_set_drvdata(spi, indio_dev); 380 381 adis16260->info = &adis16260_chip_info_table[id->driver_data]; 382 383 indio_dev->name = id->name; 384 indio_dev->dev.parent = &spi->dev; 385 indio_dev->info = &adis16260_info; 386 indio_dev->channels = adis16260->info->channels; 387 indio_dev->num_channels = adis16260->info->num_channels; 388 indio_dev->modes = INDIO_DIRECT_MODE; 389 390 ret = adis_init(&adis16260->adis, indio_dev, spi, &adis16260_data); 391 if (ret) 392 return ret; 393 394 ret = adis_setup_buffer_and_trigger(&adis16260->adis, indio_dev, NULL); 395 if (ret) 396 return ret; 397 398 /* Get the device into a sane initial state */ 399 ret = adis_initial_startup(&adis16260->adis); 400 if (ret) 401 goto error_cleanup_buffer_trigger; 402 ret = iio_device_register(indio_dev); 403 if (ret) 404 goto error_cleanup_buffer_trigger; 405 406 return 0; 407 408 error_cleanup_buffer_trigger: 409 adis_cleanup_buffer_and_trigger(&adis16260->adis, indio_dev); 410 return ret; 411 } 412 413 static int adis16260_remove(struct spi_device *spi) 414 { 415 struct iio_dev *indio_dev = spi_get_drvdata(spi); 416 struct adis16260 *adis16260 = iio_priv(indio_dev); 417 418 iio_device_unregister(indio_dev); 419 adis16260_stop_device(indio_dev); 420 adis_cleanup_buffer_and_trigger(&adis16260->adis, indio_dev); 421 422 return 0; 423 } 424 425 /* 426 * These parts do not need to be differentiated until someone adds 427 * support for the on chip filtering. 428 */ 429 static const struct spi_device_id adis16260_id[] = { 430 {"adis16260", ADIS16260}, 431 {"adis16265", ADIS16260}, 432 {"adis16266", ADIS16266}, 433 {"adis16250", ADIS16260}, 434 {"adis16255", ADIS16260}, 435 {"adis16251", ADIS16251}, 436 {} 437 }; 438 MODULE_DEVICE_TABLE(spi, adis16260_id); 439 440 static struct spi_driver adis16260_driver = { 441 .driver = { 442 .name = "adis16260", 443 }, 444 .probe = adis16260_probe, 445 .remove = adis16260_remove, 446 .id_table = adis16260_id, 447 }; 448 module_spi_driver(adis16260_driver); 449 450 MODULE_AUTHOR("Barry Song <21cnbao@gmail.com>"); 451 MODULE_DESCRIPTION("Analog Devices ADIS16260/5 Digital Gyroscope Sensor"); 452 MODULE_LICENSE("GPL v2"); 453