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/device.h> 9 #include <linux/kernel.h> 10 #include <linux/spi/spi.h> 11 #include <linux/module.h> 12 13 #include <linux/iio/iio.h> 14 #include <linux/iio/imu/adis.h> 15 16 #define ADIS16260_STARTUP_DELAY 220 /* ms */ 17 18 #define ADIS16260_FLASH_CNT 0x00 /* Flash memory write count */ 19 #define ADIS16260_SUPPLY_OUT 0x02 /* Power supply measurement */ 20 #define ADIS16260_GYRO_OUT 0x04 /* X-axis gyroscope output */ 21 #define ADIS16260_AUX_ADC 0x0A /* analog input channel measurement */ 22 #define ADIS16260_TEMP_OUT 0x0C /* internal temperature measurement */ 23 #define ADIS16260_ANGL_OUT 0x0E /* angle displacement */ 24 #define ADIS16260_GYRO_OFF 0x14 /* Calibration, offset/bias adjustment */ 25 #define ADIS16260_GYRO_SCALE 0x16 /* Calibration, scale adjustment */ 26 #define ADIS16260_ALM_MAG1 0x20 /* Alarm 1 magnitude/polarity setting */ 27 #define ADIS16260_ALM_MAG2 0x22 /* Alarm 2 magnitude/polarity setting */ 28 #define ADIS16260_ALM_SMPL1 0x24 /* Alarm 1 dynamic rate of change setting */ 29 #define ADIS16260_ALM_SMPL2 0x26 /* Alarm 2 dynamic rate of change setting */ 30 #define ADIS16260_ALM_CTRL 0x28 /* Alarm control */ 31 #define ADIS16260_AUX_DAC 0x30 /* Auxiliary DAC data */ 32 #define ADIS16260_GPIO_CTRL 0x32 /* Control, digital I/O line */ 33 #define ADIS16260_MSC_CTRL 0x34 /* Control, data ready, self-test settings */ 34 #define ADIS16260_SMPL_PRD 0x36 /* Control, internal sample rate */ 35 #define ADIS16260_SENS_AVG 0x38 /* Control, dynamic range, filtering */ 36 #define ADIS16260_SLP_CNT 0x3A /* Control, sleep mode initiation */ 37 #define ADIS16260_DIAG_STAT 0x3C /* Diagnostic, error flags */ 38 #define ADIS16260_GLOB_CMD 0x3E /* Control, global commands */ 39 #define ADIS16260_LOT_ID1 0x52 /* Lot Identification Code 1 */ 40 #define ADIS16260_LOT_ID2 0x54 /* Lot Identification Code 2 */ 41 #define ADIS16260_PROD_ID 0x56 /* Product identifier; 42 * convert to decimal = 16,265/16,260 */ 43 #define ADIS16260_SERIAL_NUM 0x58 /* Serial number */ 44 45 #define ADIS16260_ERROR_ACTIVE (1<<14) 46 #define ADIS16260_NEW_DATA (1<<15) 47 48 /* MSC_CTRL */ 49 #define ADIS16260_MSC_CTRL_MEM_TEST (1<<11) 50 /* Internal self-test enable */ 51 #define ADIS16260_MSC_CTRL_INT_SELF_TEST (1<<10) 52 #define ADIS16260_MSC_CTRL_NEG_SELF_TEST (1<<9) 53 #define ADIS16260_MSC_CTRL_POS_SELF_TEST (1<<8) 54 #define ADIS16260_MSC_CTRL_DATA_RDY_EN (1<<2) 55 #define ADIS16260_MSC_CTRL_DATA_RDY_POL_HIGH (1<<1) 56 #define ADIS16260_MSC_CTRL_DATA_RDY_DIO2 (1<<0) 57 58 /* SMPL_PRD */ 59 /* Time base (tB): 0 = 1.953 ms, 1 = 60.54 ms */ 60 #define ADIS16260_SMPL_PRD_TIME_BASE (1<<7) 61 #define ADIS16260_SMPL_PRD_DIV_MASK 0x7F 62 63 /* SLP_CNT */ 64 #define ADIS16260_SLP_CNT_POWER_OFF 0x80 65 66 /* DIAG_STAT */ 67 #define ADIS16260_DIAG_STAT_ALARM2 (1<<9) 68 #define ADIS16260_DIAG_STAT_ALARM1 (1<<8) 69 #define ADIS16260_DIAG_STAT_FLASH_CHK_BIT 6 70 #define ADIS16260_DIAG_STAT_SELF_TEST_BIT 5 71 #define ADIS16260_DIAG_STAT_OVERFLOW_BIT 4 72 #define ADIS16260_DIAG_STAT_SPI_FAIL_BIT 3 73 #define ADIS16260_DIAG_STAT_FLASH_UPT_BIT 2 74 #define ADIS16260_DIAG_STAT_POWER_HIGH_BIT 1 75 #define ADIS16260_DIAG_STAT_POWER_LOW_BIT 0 76 77 /* GLOB_CMD */ 78 #define ADIS16260_GLOB_CMD_SW_RESET (1<<7) 79 #define ADIS16260_GLOB_CMD_FLASH_UPD (1<<3) 80 #define ADIS16260_GLOB_CMD_DAC_LATCH (1<<2) 81 #define ADIS16260_GLOB_CMD_FAC_CALIB (1<<1) 82 #define ADIS16260_GLOB_CMD_AUTO_NULL (1<<0) 83 84 #define ADIS16260_SPI_SLOW (u32)(300 * 1000) 85 #define ADIS16260_SPI_BURST (u32)(1000 * 1000) 86 #define ADIS16260_SPI_FAST (u32)(2000 * 1000) 87 88 /* At the moment triggers are only used for ring buffer 89 * filling. This may change! 90 */ 91 92 #define ADIS16260_SCAN_GYRO 0 93 #define ADIS16260_SCAN_SUPPLY 1 94 #define ADIS16260_SCAN_AUX_ADC 2 95 #define ADIS16260_SCAN_TEMP 3 96 #define ADIS16260_SCAN_ANGL 4 97 98 struct adis16260_chip_info { 99 unsigned int gyro_max_val; 100 unsigned int gyro_max_scale; 101 const struct iio_chan_spec *channels; 102 unsigned int num_channels; 103 }; 104 105 struct adis16260 { 106 const struct adis16260_chip_info *info; 107 108 struct adis adis; 109 }; 110 111 enum adis16260_type { 112 ADIS16251, 113 ADIS16260, 114 ADIS16266, 115 }; 116 117 static const struct iio_chan_spec adis16260_channels[] = { 118 ADIS_GYRO_CHAN(X, ADIS16260_GYRO_OUT, ADIS16260_SCAN_GYRO, 119 BIT(IIO_CHAN_INFO_CALIBBIAS) | 120 BIT(IIO_CHAN_INFO_CALIBSCALE), 121 BIT(IIO_CHAN_INFO_SAMP_FREQ), 14), 122 ADIS_INCLI_CHAN(X, ADIS16260_ANGL_OUT, ADIS16260_SCAN_ANGL, 0, 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(5), 131 }; 132 133 static const struct iio_chan_spec adis16266_channels[] = { 134 ADIS_GYRO_CHAN(X, ADIS16260_GYRO_OUT, ADIS16260_SCAN_GYRO, 135 BIT(IIO_CHAN_INFO_CALIBBIAS) | 136 BIT(IIO_CHAN_INFO_CALIBSCALE), 137 BIT(IIO_CHAN_INFO_SAMP_FREQ), 14), 138 ADIS_TEMP_CHAN(ADIS16260_TEMP_OUT, ADIS16260_SCAN_TEMP, 139 BIT(IIO_CHAN_INFO_SAMP_FREQ), 12), 140 ADIS_SUPPLY_CHAN(ADIS16260_SUPPLY_OUT, ADIS16260_SCAN_SUPPLY, 141 BIT(IIO_CHAN_INFO_SAMP_FREQ), 12), 142 ADIS_AUX_ADC_CHAN(ADIS16260_AUX_ADC, ADIS16260_SCAN_AUX_ADC, 143 BIT(IIO_CHAN_INFO_SAMP_FREQ), 12), 144 IIO_CHAN_SOFT_TIMESTAMP(4), 145 }; 146 147 static const struct adis16260_chip_info adis16260_chip_info_table[] = { 148 [ADIS16251] = { 149 .gyro_max_scale = 80, 150 .gyro_max_val = IIO_RAD_TO_DEGREE(4368), 151 .channels = adis16260_channels, 152 .num_channels = ARRAY_SIZE(adis16260_channels), 153 }, 154 [ADIS16260] = { 155 .gyro_max_scale = 320, 156 .gyro_max_val = IIO_RAD_TO_DEGREE(4368), 157 .channels = adis16260_channels, 158 .num_channels = ARRAY_SIZE(adis16260_channels), 159 }, 160 [ADIS16266] = { 161 .gyro_max_scale = 14000, 162 .gyro_max_val = IIO_RAD_TO_DEGREE(3357), 163 .channels = adis16266_channels, 164 .num_channels = ARRAY_SIZE(adis16266_channels), 165 }, 166 }; 167 168 /* Power down the device */ 169 static int adis16260_stop_device(struct iio_dev *indio_dev) 170 { 171 struct adis16260 *adis16260 = iio_priv(indio_dev); 172 int ret; 173 u16 val = ADIS16260_SLP_CNT_POWER_OFF; 174 175 ret = adis_write_reg_16(&adis16260->adis, ADIS16260_SLP_CNT, val); 176 if (ret) 177 dev_err(&indio_dev->dev, "problem with turning device off: SLP_CNT"); 178 179 return ret; 180 } 181 182 static const u8 adis16260_addresses[][2] = { 183 [ADIS16260_SCAN_GYRO] = { ADIS16260_GYRO_OFF, ADIS16260_GYRO_SCALE }, 184 }; 185 186 static int adis16260_read_raw(struct iio_dev *indio_dev, 187 struct iio_chan_spec const *chan, 188 int *val, int *val2, 189 long mask) 190 { 191 struct adis16260 *adis16260 = iio_priv(indio_dev); 192 const struct adis16260_chip_info *info = adis16260->info; 193 struct adis *adis = &adis16260->adis; 194 int ret; 195 u8 addr; 196 s16 val16; 197 198 switch (mask) { 199 case IIO_CHAN_INFO_RAW: 200 return adis_single_conversion(indio_dev, chan, 201 ADIS16260_ERROR_ACTIVE, val); 202 case IIO_CHAN_INFO_SCALE: 203 switch (chan->type) { 204 case IIO_ANGL_VEL: 205 *val = info->gyro_max_scale; 206 *val2 = info->gyro_max_val; 207 return IIO_VAL_FRACTIONAL; 208 case IIO_INCLI: 209 *val = 0; 210 *val2 = IIO_DEGREE_TO_RAD(36630); 211 return IIO_VAL_INT_PLUS_MICRO; 212 case IIO_VOLTAGE: 213 if (chan->channel == 0) { 214 *val = 1; 215 *val2 = 831500; /* 1.8315 mV */ 216 } else { 217 *val = 0; 218 *val2 = 610500; /* 610.5 uV */ 219 } 220 return IIO_VAL_INT_PLUS_MICRO; 221 case IIO_TEMP: 222 *val = 145; 223 *val2 = 300000; /* 0.1453 C */ 224 return IIO_VAL_INT_PLUS_MICRO; 225 default: 226 return -EINVAL; 227 } 228 case IIO_CHAN_INFO_OFFSET: 229 *val = 250000 / 1453; /* 25 C = 0x00 */ 230 return IIO_VAL_INT; 231 case IIO_CHAN_INFO_CALIBBIAS: 232 addr = adis16260_addresses[chan->scan_index][0]; 233 ret = adis_read_reg_16(adis, addr, &val16); 234 if (ret) 235 return ret; 236 237 *val = sign_extend32(val16, 11); 238 return IIO_VAL_INT; 239 case IIO_CHAN_INFO_CALIBSCALE: 240 addr = adis16260_addresses[chan->scan_index][1]; 241 ret = adis_read_reg_16(adis, addr, &val16); 242 if (ret) 243 return ret; 244 245 *val = val16; 246 return IIO_VAL_INT; 247 case IIO_CHAN_INFO_SAMP_FREQ: 248 ret = adis_read_reg_16(adis, ADIS16260_SMPL_PRD, &val16); 249 if (ret) 250 return ret; 251 252 if (spi_get_device_id(adis->spi)->driver_data) 253 /* If an adis16251 */ 254 *val = (val16 & ADIS16260_SMPL_PRD_TIME_BASE) ? 255 8 : 256; 256 else 257 *val = (val16 & ADIS16260_SMPL_PRD_TIME_BASE) ? 258 66 : 2048; 259 *val /= (val16 & ADIS16260_SMPL_PRD_DIV_MASK) + 1; 260 return IIO_VAL_INT; 261 } 262 return -EINVAL; 263 } 264 265 static int adis16260_write_raw(struct iio_dev *indio_dev, 266 struct iio_chan_spec const *chan, 267 int val, 268 int val2, 269 long mask) 270 { 271 struct adis16260 *adis16260 = iio_priv(indio_dev); 272 struct adis *adis = &adis16260->adis; 273 int ret; 274 u8 addr; 275 u8 t; 276 277 switch (mask) { 278 case IIO_CHAN_INFO_CALIBBIAS: 279 if (val < -2048 || val >= 2048) 280 return -EINVAL; 281 282 addr = adis16260_addresses[chan->scan_index][0]; 283 return adis_write_reg_16(adis, addr, val); 284 case IIO_CHAN_INFO_CALIBSCALE: 285 if (val < 0 || val >= 4096) 286 return -EINVAL; 287 288 addr = adis16260_addresses[chan->scan_index][1]; 289 return adis_write_reg_16(adis, addr, val); 290 case IIO_CHAN_INFO_SAMP_FREQ: 291 adis_dev_lock(adis); 292 if (spi_get_device_id(adis->spi)->driver_data) 293 t = 256 / val; 294 else 295 t = 2048 / val; 296 297 if (t > ADIS16260_SMPL_PRD_DIV_MASK) 298 t = ADIS16260_SMPL_PRD_DIV_MASK; 299 else if (t > 0) 300 t--; 301 302 if (t >= 0x0A) 303 adis->spi->max_speed_hz = ADIS16260_SPI_SLOW; 304 else 305 adis->spi->max_speed_hz = ADIS16260_SPI_FAST; 306 ret = __adis_write_reg_8(adis, ADIS16260_SMPL_PRD, t); 307 308 adis_dev_unlock(adis); 309 return ret; 310 } 311 return -EINVAL; 312 } 313 314 static const struct iio_info adis16260_info = { 315 .read_raw = &adis16260_read_raw, 316 .write_raw = &adis16260_write_raw, 317 .update_scan_mode = adis_update_scan_mode, 318 }; 319 320 static const char * const adis1620_status_error_msgs[] = { 321 [ADIS16260_DIAG_STAT_FLASH_CHK_BIT] = "Flash checksum error", 322 [ADIS16260_DIAG_STAT_SELF_TEST_BIT] = "Self test error", 323 [ADIS16260_DIAG_STAT_OVERFLOW_BIT] = "Sensor overrange", 324 [ADIS16260_DIAG_STAT_SPI_FAIL_BIT] = "SPI failure", 325 [ADIS16260_DIAG_STAT_FLASH_UPT_BIT] = "Flash update failed", 326 [ADIS16260_DIAG_STAT_POWER_HIGH_BIT] = "Power supply above 5.25", 327 [ADIS16260_DIAG_STAT_POWER_LOW_BIT] = "Power supply below 4.75", 328 }; 329 330 static const struct adis_timeout adis16260_timeouts = { 331 .reset_ms = ADIS16260_STARTUP_DELAY, 332 .sw_reset_ms = ADIS16260_STARTUP_DELAY, 333 .self_test_ms = ADIS16260_STARTUP_DELAY, 334 }; 335 336 static const struct adis_data adis16260_data = { 337 .write_delay = 30, 338 .read_delay = 30, 339 .msc_ctrl_reg = ADIS16260_MSC_CTRL, 340 .glob_cmd_reg = ADIS16260_GLOB_CMD, 341 .diag_stat_reg = ADIS16260_DIAG_STAT, 342 343 .self_test_mask = ADIS16260_MSC_CTRL_MEM_TEST, 344 .self_test_reg = ADIS16260_MSC_CTRL, 345 .timeouts = &adis16260_timeouts, 346 347 .status_error_msgs = adis1620_status_error_msgs, 348 .status_error_mask = BIT(ADIS16260_DIAG_STAT_FLASH_CHK_BIT) | 349 BIT(ADIS16260_DIAG_STAT_SELF_TEST_BIT) | 350 BIT(ADIS16260_DIAG_STAT_OVERFLOW_BIT) | 351 BIT(ADIS16260_DIAG_STAT_SPI_FAIL_BIT) | 352 BIT(ADIS16260_DIAG_STAT_FLASH_UPT_BIT) | 353 BIT(ADIS16260_DIAG_STAT_POWER_HIGH_BIT) | 354 BIT(ADIS16260_DIAG_STAT_POWER_LOW_BIT), 355 }; 356 357 static void adis16260_stop(void *data) 358 { 359 adis16260_stop_device(data); 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->info = &adis16260_info; 385 indio_dev->channels = adis16260->info->channels; 386 indio_dev->num_channels = adis16260->info->num_channels; 387 indio_dev->modes = INDIO_DIRECT_MODE; 388 389 ret = adis_init(&adis16260->adis, indio_dev, spi, &adis16260_data); 390 if (ret) 391 return ret; 392 393 ret = devm_adis_setup_buffer_and_trigger(&adis16260->adis, indio_dev, NULL); 394 if (ret) 395 return ret; 396 397 /* Get the device into a sane initial state */ 398 ret = adis_initial_startup(&adis16260->adis); 399 if (ret) 400 return ret; 401 402 ret = devm_add_action_or_reset(&spi->dev, adis16260_stop, indio_dev); 403 if (ret) 404 return ret; 405 406 return devm_iio_device_register(&spi->dev, indio_dev); 407 } 408 409 /* 410 * These parts do not need to be differentiated until someone adds 411 * support for the on chip filtering. 412 */ 413 static const struct spi_device_id adis16260_id[] = { 414 {"adis16260", ADIS16260}, 415 {"adis16265", ADIS16260}, 416 {"adis16266", ADIS16266}, 417 {"adis16250", ADIS16260}, 418 {"adis16255", ADIS16260}, 419 {"adis16251", ADIS16251}, 420 {} 421 }; 422 MODULE_DEVICE_TABLE(spi, adis16260_id); 423 424 static struct spi_driver adis16260_driver = { 425 .driver = { 426 .name = "adis16260", 427 }, 428 .probe = adis16260_probe, 429 .id_table = adis16260_id, 430 }; 431 module_spi_driver(adis16260_driver); 432 433 MODULE_AUTHOR("Barry Song <21cnbao@gmail.com>"); 434 MODULE_DESCRIPTION("Analog Devices ADIS16260/5 Digital Gyroscope Sensor"); 435 MODULE_LICENSE("GPL v2"); 436