1 // SPDX-License-Identifier: GPL-2.0+
2 /*
3 * ADIS16460 IMU driver
4 *
5 * Copyright 2019 Analog Devices Inc.
6 */
7
8 #include <linux/module.h>
9 #include <linux/spi/spi.h>
10
11 #include <linux/iio/iio.h>
12 #include <linux/iio/imu/adis.h>
13
14 #include <linux/debugfs.h>
15
16 #define ADIS16460_REG_FLASH_CNT 0x00
17 #define ADIS16460_REG_DIAG_STAT 0x02
18 #define ADIS16460_REG_X_GYRO_LOW 0x04
19 #define ADIS16460_REG_X_GYRO_OUT 0x06
20 #define ADIS16460_REG_Y_GYRO_LOW 0x08
21 #define ADIS16460_REG_Y_GYRO_OUT 0x0A
22 #define ADIS16460_REG_Z_GYRO_LOW 0x0C
23 #define ADIS16460_REG_Z_GYRO_OUT 0x0E
24 #define ADIS16460_REG_X_ACCL_LOW 0x10
25 #define ADIS16460_REG_X_ACCL_OUT 0x12
26 #define ADIS16460_REG_Y_ACCL_LOW 0x14
27 #define ADIS16460_REG_Y_ACCL_OUT 0x16
28 #define ADIS16460_REG_Z_ACCL_LOW 0x18
29 #define ADIS16460_REG_Z_ACCL_OUT 0x1A
30 #define ADIS16460_REG_SMPL_CNTR 0x1C
31 #define ADIS16460_REG_TEMP_OUT 0x1E
32 #define ADIS16460_REG_X_DELT_ANG 0x24
33 #define ADIS16460_REG_Y_DELT_ANG 0x26
34 #define ADIS16460_REG_Z_DELT_ANG 0x28
35 #define ADIS16460_REG_X_DELT_VEL 0x2A
36 #define ADIS16460_REG_Y_DELT_VEL 0x2C
37 #define ADIS16460_REG_Z_DELT_VEL 0x2E
38 #define ADIS16460_REG_MSC_CTRL 0x32
39 #define ADIS16460_REG_SYNC_SCAL 0x34
40 #define ADIS16460_REG_DEC_RATE 0x36
41 #define ADIS16460_REG_FLTR_CTRL 0x38
42 #define ADIS16460_REG_GLOB_CMD 0x3E
43 #define ADIS16460_REG_X_GYRO_OFF 0x40
44 #define ADIS16460_REG_Y_GYRO_OFF 0x42
45 #define ADIS16460_REG_Z_GYRO_OFF 0x44
46 #define ADIS16460_REG_X_ACCL_OFF 0x46
47 #define ADIS16460_REG_Y_ACCL_OFF 0x48
48 #define ADIS16460_REG_Z_ACCL_OFF 0x4A
49 #define ADIS16460_REG_LOT_ID1 0x52
50 #define ADIS16460_REG_LOT_ID2 0x54
51 #define ADIS16460_REG_PROD_ID 0x56
52 #define ADIS16460_REG_SERIAL_NUM 0x58
53 #define ADIS16460_REG_CAL_SGNTR 0x60
54 #define ADIS16460_REG_CAL_CRC 0x62
55 #define ADIS16460_REG_CODE_SGNTR 0x64
56 #define ADIS16460_REG_CODE_CRC 0x66
57
58 struct adis16460_chip_info {
59 unsigned int num_channels;
60 const struct iio_chan_spec *channels;
61 unsigned int gyro_max_val;
62 unsigned int gyro_max_scale;
63 unsigned int accel_max_val;
64 unsigned int accel_max_scale;
65 };
66
67 struct adis16460 {
68 const struct adis16460_chip_info *chip_info;
69 struct adis adis;
70 };
71
72 #ifdef CONFIG_DEBUG_FS
73
adis16460_show_serial_number(void * arg,u64 * val)74 static int adis16460_show_serial_number(void *arg, u64 *val)
75 {
76 struct adis16460 *adis16460 = arg;
77 u16 serial;
78 int ret;
79
80 ret = adis_read_reg_16(&adis16460->adis, ADIS16460_REG_SERIAL_NUM,
81 &serial);
82 if (ret)
83 return ret;
84
85 *val = serial;
86
87 return 0;
88 }
89 DEFINE_DEBUGFS_ATTRIBUTE(adis16460_serial_number_fops,
90 adis16460_show_serial_number, NULL, "0x%.4llx\n");
91
adis16460_show_product_id(void * arg,u64 * val)92 static int adis16460_show_product_id(void *arg, u64 *val)
93 {
94 struct adis16460 *adis16460 = arg;
95 u16 prod_id;
96 int ret;
97
98 ret = adis_read_reg_16(&adis16460->adis, ADIS16460_REG_PROD_ID,
99 &prod_id);
100 if (ret)
101 return ret;
102
103 *val = prod_id;
104
105 return 0;
106 }
107 DEFINE_DEBUGFS_ATTRIBUTE(adis16460_product_id_fops,
108 adis16460_show_product_id, NULL, "%llu\n");
109
adis16460_show_flash_count(void * arg,u64 * val)110 static int adis16460_show_flash_count(void *arg, u64 *val)
111 {
112 struct adis16460 *adis16460 = arg;
113 u32 flash_count;
114 int ret;
115
116 ret = adis_read_reg_32(&adis16460->adis, ADIS16460_REG_FLASH_CNT,
117 &flash_count);
118 if (ret)
119 return ret;
120
121 *val = flash_count;
122
123 return 0;
124 }
125 DEFINE_DEBUGFS_ATTRIBUTE(adis16460_flash_count_fops,
126 adis16460_show_flash_count, NULL, "%lld\n");
127
adis16460_debugfs_init(struct iio_dev * indio_dev)128 static int adis16460_debugfs_init(struct iio_dev *indio_dev)
129 {
130 struct adis16460 *adis16460 = iio_priv(indio_dev);
131 struct dentry *d = iio_get_debugfs_dentry(indio_dev);
132
133 debugfs_create_file_unsafe("serial_number", 0400,
134 d, adis16460, &adis16460_serial_number_fops);
135 debugfs_create_file_unsafe("product_id", 0400,
136 d, adis16460, &adis16460_product_id_fops);
137 debugfs_create_file_unsafe("flash_count", 0400,
138 d, adis16460, &adis16460_flash_count_fops);
139
140 return 0;
141 }
142
143 #else
144
adis16460_debugfs_init(struct iio_dev * indio_dev)145 static int adis16460_debugfs_init(struct iio_dev *indio_dev)
146 {
147 return 0;
148 }
149
150 #endif
151
adis16460_set_freq(struct iio_dev * indio_dev,int val,int val2)152 static int adis16460_set_freq(struct iio_dev *indio_dev, int val, int val2)
153 {
154 struct adis16460 *st = iio_priv(indio_dev);
155 int t;
156
157 t = val * 1000 + val2 / 1000;
158 if (t <= 0)
159 return -EINVAL;
160
161 t = 2048000 / t;
162 if (t > 2048)
163 t = 2048;
164
165 if (t != 0)
166 t--;
167
168 return adis_write_reg_16(&st->adis, ADIS16460_REG_DEC_RATE, t);
169 }
170
adis16460_get_freq(struct iio_dev * indio_dev,int * val,int * val2)171 static int adis16460_get_freq(struct iio_dev *indio_dev, int *val, int *val2)
172 {
173 struct adis16460 *st = iio_priv(indio_dev);
174 uint16_t t;
175 int ret;
176 unsigned int freq;
177
178 ret = adis_read_reg_16(&st->adis, ADIS16460_REG_DEC_RATE, &t);
179 if (ret)
180 return ret;
181
182 freq = 2048000 / (t + 1);
183 *val = freq / 1000;
184 *val2 = (freq % 1000) * 1000;
185
186 return IIO_VAL_INT_PLUS_MICRO;
187 }
188
adis16460_read_raw(struct iio_dev * indio_dev,const struct iio_chan_spec * chan,int * val,int * val2,long info)189 static int adis16460_read_raw(struct iio_dev *indio_dev,
190 const struct iio_chan_spec *chan, int *val, int *val2, long info)
191 {
192 struct adis16460 *st = iio_priv(indio_dev);
193
194 switch (info) {
195 case IIO_CHAN_INFO_RAW:
196 return adis_single_conversion(indio_dev, chan, 0, val);
197 case IIO_CHAN_INFO_SCALE:
198 switch (chan->type) {
199 case IIO_ANGL_VEL:
200 *val = st->chip_info->gyro_max_scale;
201 *val2 = st->chip_info->gyro_max_val;
202 return IIO_VAL_FRACTIONAL;
203 case IIO_ACCEL:
204 *val = st->chip_info->accel_max_scale;
205 *val2 = st->chip_info->accel_max_val;
206 return IIO_VAL_FRACTIONAL;
207 case IIO_TEMP:
208 *val = 50; /* 50 milli degrees Celsius/LSB */
209 return IIO_VAL_INT;
210 default:
211 return -EINVAL;
212 }
213 case IIO_CHAN_INFO_OFFSET:
214 *val = 500; /* 25 degrees Celsius = 0x0000 */
215 return IIO_VAL_INT;
216 case IIO_CHAN_INFO_SAMP_FREQ:
217 return adis16460_get_freq(indio_dev, val, val2);
218 default:
219 return -EINVAL;
220 }
221 }
222
adis16460_write_raw(struct iio_dev * indio_dev,const struct iio_chan_spec * chan,int val,int val2,long info)223 static int adis16460_write_raw(struct iio_dev *indio_dev,
224 const struct iio_chan_spec *chan, int val, int val2, long info)
225 {
226 switch (info) {
227 case IIO_CHAN_INFO_SAMP_FREQ:
228 return adis16460_set_freq(indio_dev, val, val2);
229 default:
230 return -EINVAL;
231 }
232 }
233
234 enum {
235 ADIS16460_SCAN_GYRO_X,
236 ADIS16460_SCAN_GYRO_Y,
237 ADIS16460_SCAN_GYRO_Z,
238 ADIS16460_SCAN_ACCEL_X,
239 ADIS16460_SCAN_ACCEL_Y,
240 ADIS16460_SCAN_ACCEL_Z,
241 ADIS16460_SCAN_TEMP,
242 };
243
244 #define ADIS16460_MOD_CHANNEL(_type, _mod, _address, _si, _bits) \
245 { \
246 .type = (_type), \
247 .modified = 1, \
248 .channel2 = (_mod), \
249 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW), \
250 .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE), \
251 .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
252 .address = (_address), \
253 .scan_index = (_si), \
254 .scan_type = { \
255 .sign = 's', \
256 .realbits = (_bits), \
257 .storagebits = (_bits), \
258 .endianness = IIO_BE, \
259 }, \
260 }
261
262 #define ADIS16460_GYRO_CHANNEL(_mod) \
263 ADIS16460_MOD_CHANNEL(IIO_ANGL_VEL, IIO_MOD_ ## _mod, \
264 ADIS16460_REG_ ## _mod ## _GYRO_LOW, ADIS16460_SCAN_GYRO_ ## _mod, \
265 32)
266
267 #define ADIS16460_ACCEL_CHANNEL(_mod) \
268 ADIS16460_MOD_CHANNEL(IIO_ACCEL, IIO_MOD_ ## _mod, \
269 ADIS16460_REG_ ## _mod ## _ACCL_LOW, ADIS16460_SCAN_ACCEL_ ## _mod, \
270 32)
271
272 #define ADIS16460_TEMP_CHANNEL() { \
273 .type = IIO_TEMP, \
274 .indexed = 1, \
275 .channel = 0, \
276 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \
277 BIT(IIO_CHAN_INFO_SCALE) | \
278 BIT(IIO_CHAN_INFO_OFFSET), \
279 .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
280 .address = ADIS16460_REG_TEMP_OUT, \
281 .scan_index = ADIS16460_SCAN_TEMP, \
282 .scan_type = { \
283 .sign = 's', \
284 .realbits = 16, \
285 .storagebits = 16, \
286 .endianness = IIO_BE, \
287 }, \
288 }
289
290 static const struct iio_chan_spec adis16460_channels[] = {
291 ADIS16460_GYRO_CHANNEL(X),
292 ADIS16460_GYRO_CHANNEL(Y),
293 ADIS16460_GYRO_CHANNEL(Z),
294 ADIS16460_ACCEL_CHANNEL(X),
295 ADIS16460_ACCEL_CHANNEL(Y),
296 ADIS16460_ACCEL_CHANNEL(Z),
297 ADIS16460_TEMP_CHANNEL(),
298 IIO_CHAN_SOFT_TIMESTAMP(7)
299 };
300
301 static const struct adis16460_chip_info adis16460_chip_info = {
302 .channels = adis16460_channels,
303 .num_channels = ARRAY_SIZE(adis16460_channels),
304 /*
305 * storing the value in rad/degree and the scale in degree
306 * gives us the result in rad and better precession than
307 * storing the scale directly in rad.
308 */
309 .gyro_max_val = IIO_RAD_TO_DEGREE(200 << 16),
310 .gyro_max_scale = 1,
311 .accel_max_val = IIO_M_S_2_TO_G(20000 << 16),
312 .accel_max_scale = 5,
313 };
314
315 static const struct iio_info adis16460_info = {
316 .read_raw = &adis16460_read_raw,
317 .write_raw = &adis16460_write_raw,
318 .update_scan_mode = adis_update_scan_mode,
319 .debugfs_reg_access = adis_debugfs_reg_access,
320 };
321
322 #define ADIS16460_DIAG_STAT_IN_CLK_OOS 7
323 #define ADIS16460_DIAG_STAT_FLASH_MEM 6
324 #define ADIS16460_DIAG_STAT_SELF_TEST 5
325 #define ADIS16460_DIAG_STAT_OVERRANGE 4
326 #define ADIS16460_DIAG_STAT_SPI_COMM 3
327 #define ADIS16460_DIAG_STAT_FLASH_UPT 2
328
329 static const char * const adis16460_status_error_msgs[] = {
330 [ADIS16460_DIAG_STAT_IN_CLK_OOS] = "Input clock out of sync",
331 [ADIS16460_DIAG_STAT_FLASH_MEM] = "Flash memory failure",
332 [ADIS16460_DIAG_STAT_SELF_TEST] = "Self test diagnostic failure",
333 [ADIS16460_DIAG_STAT_OVERRANGE] = "Sensor overrange",
334 [ADIS16460_DIAG_STAT_SPI_COMM] = "SPI communication failure",
335 [ADIS16460_DIAG_STAT_FLASH_UPT] = "Flash update failure",
336 };
337
338 static const struct adis_timeout adis16460_timeouts = {
339 .reset_ms = 225,
340 .sw_reset_ms = 225,
341 .self_test_ms = 10,
342 };
343
344 static const struct adis_data adis16460_data = {
345 .diag_stat_reg = ADIS16460_REG_DIAG_STAT,
346 .glob_cmd_reg = ADIS16460_REG_GLOB_CMD,
347 .prod_id_reg = ADIS16460_REG_PROD_ID,
348 .prod_id = 16460,
349 .self_test_mask = BIT(2),
350 .self_test_reg = ADIS16460_REG_GLOB_CMD,
351 .has_paging = false,
352 .read_delay = 5,
353 .write_delay = 5,
354 .cs_change_delay = 16,
355 .status_error_msgs = adis16460_status_error_msgs,
356 .status_error_mask = BIT(ADIS16460_DIAG_STAT_IN_CLK_OOS) |
357 BIT(ADIS16460_DIAG_STAT_FLASH_MEM) |
358 BIT(ADIS16460_DIAG_STAT_SELF_TEST) |
359 BIT(ADIS16460_DIAG_STAT_OVERRANGE) |
360 BIT(ADIS16460_DIAG_STAT_SPI_COMM) |
361 BIT(ADIS16460_DIAG_STAT_FLASH_UPT),
362 .unmasked_drdy = true,
363 .timeouts = &adis16460_timeouts,
364 };
365
adis16460_probe(struct spi_device * spi)366 static int adis16460_probe(struct spi_device *spi)
367 {
368 struct iio_dev *indio_dev;
369 struct adis16460 *st;
370 int ret;
371
372 indio_dev = devm_iio_device_alloc(&spi->dev, sizeof(*st));
373 if (indio_dev == NULL)
374 return -ENOMEM;
375
376 st = iio_priv(indio_dev);
377
378 st->chip_info = &adis16460_chip_info;
379 indio_dev->name = spi_get_device_id(spi)->name;
380 indio_dev->channels = st->chip_info->channels;
381 indio_dev->num_channels = st->chip_info->num_channels;
382 indio_dev->info = &adis16460_info;
383 indio_dev->modes = INDIO_DIRECT_MODE;
384
385 ret = adis_init(&st->adis, indio_dev, spi, &adis16460_data);
386 if (ret)
387 return ret;
388
389 ret = devm_adis_setup_buffer_and_trigger(&st->adis, indio_dev, NULL);
390 if (ret)
391 return ret;
392
393 ret = __adis_initial_startup(&st->adis);
394 if (ret)
395 return ret;
396
397 ret = devm_iio_device_register(&spi->dev, indio_dev);
398 if (ret)
399 return ret;
400
401 adis16460_debugfs_init(indio_dev);
402
403 return 0;
404 }
405
406 static const struct spi_device_id adis16460_ids[] = {
407 { "adis16460", 0 },
408 {}
409 };
410 MODULE_DEVICE_TABLE(spi, adis16460_ids);
411
412 static const struct of_device_id adis16460_of_match[] = {
413 { .compatible = "adi,adis16460" },
414 {}
415 };
416 MODULE_DEVICE_TABLE(of, adis16460_of_match);
417
418 static struct spi_driver adis16460_driver = {
419 .driver = {
420 .name = "adis16460",
421 .of_match_table = adis16460_of_match,
422 },
423 .id_table = adis16460_ids,
424 .probe = adis16460_probe,
425 };
426 module_spi_driver(adis16460_driver);
427
428 MODULE_AUTHOR("Dragos Bogdan <dragos.bogdan@analog.com>");
429 MODULE_DESCRIPTION("Analog Devices ADIS16460 IMU driver");
430 MODULE_LICENSE("GPL");
431 MODULE_IMPORT_NS(IIO_ADISLIB);
432