1 // SPDX-License-Identifier: GPL-2.0+ 2 /* 3 * ADIS16460 IMU driver 4 * 5 * Copyright 2019 Analog Devices Inc. 6 */ 7 8 #include <linux/delay.h> 9 #include <linux/module.h> 10 #include <linux/spi/spi.h> 11 12 #include <linux/iio/iio.h> 13 #include <linux/iio/imu/adis.h> 14 15 #include <linux/debugfs.h> 16 17 #define ADIS16460_REG_FLASH_CNT 0x00 18 #define ADIS16460_REG_DIAG_STAT 0x02 19 #define ADIS16460_REG_X_GYRO_LOW 0x04 20 #define ADIS16460_REG_X_GYRO_OUT 0x06 21 #define ADIS16460_REG_Y_GYRO_LOW 0x08 22 #define ADIS16460_REG_Y_GYRO_OUT 0x0A 23 #define ADIS16460_REG_Z_GYRO_LOW 0x0C 24 #define ADIS16460_REG_Z_GYRO_OUT 0x0E 25 #define ADIS16460_REG_X_ACCL_LOW 0x10 26 #define ADIS16460_REG_X_ACCL_OUT 0x12 27 #define ADIS16460_REG_Y_ACCL_LOW 0x14 28 #define ADIS16460_REG_Y_ACCL_OUT 0x16 29 #define ADIS16460_REG_Z_ACCL_LOW 0x18 30 #define ADIS16460_REG_Z_ACCL_OUT 0x1A 31 #define ADIS16460_REG_SMPL_CNTR 0x1C 32 #define ADIS16460_REG_TEMP_OUT 0x1E 33 #define ADIS16460_REG_X_DELT_ANG 0x24 34 #define ADIS16460_REG_Y_DELT_ANG 0x26 35 #define ADIS16460_REG_Z_DELT_ANG 0x28 36 #define ADIS16460_REG_X_DELT_VEL 0x2A 37 #define ADIS16460_REG_Y_DELT_VEL 0x2C 38 #define ADIS16460_REG_Z_DELT_VEL 0x2E 39 #define ADIS16460_REG_MSC_CTRL 0x32 40 #define ADIS16460_REG_SYNC_SCAL 0x34 41 #define ADIS16460_REG_DEC_RATE 0x36 42 #define ADIS16460_REG_FLTR_CTRL 0x38 43 #define ADIS16460_REG_GLOB_CMD 0x3E 44 #define ADIS16460_REG_X_GYRO_OFF 0x40 45 #define ADIS16460_REG_Y_GYRO_OFF 0x42 46 #define ADIS16460_REG_Z_GYRO_OFF 0x44 47 #define ADIS16460_REG_X_ACCL_OFF 0x46 48 #define ADIS16460_REG_Y_ACCL_OFF 0x48 49 #define ADIS16460_REG_Z_ACCL_OFF 0x4A 50 #define ADIS16460_REG_LOT_ID1 0x52 51 #define ADIS16460_REG_LOT_ID2 0x54 52 #define ADIS16460_REG_PROD_ID 0x56 53 #define ADIS16460_REG_SERIAL_NUM 0x58 54 #define ADIS16460_REG_CAL_SGNTR 0x60 55 #define ADIS16460_REG_CAL_CRC 0x62 56 #define ADIS16460_REG_CODE_SGNTR 0x64 57 #define ADIS16460_REG_CODE_CRC 0x66 58 59 struct adis16460_chip_info { 60 unsigned int num_channels; 61 const struct iio_chan_spec *channels; 62 unsigned int gyro_max_val; 63 unsigned int gyro_max_scale; 64 unsigned int accel_max_val; 65 unsigned int accel_max_scale; 66 }; 67 68 struct adis16460 { 69 const struct adis16460_chip_info *chip_info; 70 struct adis adis; 71 }; 72 73 #ifdef CONFIG_DEBUG_FS 74 75 static int adis16460_show_serial_number(void *arg, u64 *val) 76 { 77 struct adis16460 *adis16460 = arg; 78 u16 serial; 79 int ret; 80 81 ret = adis_read_reg_16(&adis16460->adis, ADIS16460_REG_SERIAL_NUM, 82 &serial); 83 if (ret) 84 return ret; 85 86 *val = serial; 87 88 return 0; 89 } 90 DEFINE_DEBUGFS_ATTRIBUTE(adis16460_serial_number_fops, 91 adis16460_show_serial_number, NULL, "0x%.4llx\n"); 92 93 static int adis16460_show_product_id(void *arg, u64 *val) 94 { 95 struct adis16460 *adis16460 = arg; 96 u16 prod_id; 97 int ret; 98 99 ret = adis_read_reg_16(&adis16460->adis, ADIS16460_REG_PROD_ID, 100 &prod_id); 101 if (ret) 102 return ret; 103 104 *val = prod_id; 105 106 return 0; 107 } 108 DEFINE_DEBUGFS_ATTRIBUTE(adis16460_product_id_fops, 109 adis16460_show_product_id, NULL, "%llu\n"); 110 111 static int adis16460_show_flash_count(void *arg, u64 *val) 112 { 113 struct adis16460 *adis16460 = arg; 114 u32 flash_count; 115 int ret; 116 117 ret = adis_read_reg_32(&adis16460->adis, ADIS16460_REG_FLASH_CNT, 118 &flash_count); 119 if (ret) 120 return ret; 121 122 *val = flash_count; 123 124 return 0; 125 } 126 DEFINE_DEBUGFS_ATTRIBUTE(adis16460_flash_count_fops, 127 adis16460_show_flash_count, NULL, "%lld\n"); 128 129 static int adis16460_debugfs_init(struct iio_dev *indio_dev) 130 { 131 struct adis16460 *adis16460 = iio_priv(indio_dev); 132 struct dentry *d = iio_get_debugfs_dentry(indio_dev); 133 134 debugfs_create_file_unsafe("serial_number", 0400, 135 d, adis16460, &adis16460_serial_number_fops); 136 debugfs_create_file_unsafe("product_id", 0400, 137 d, adis16460, &adis16460_product_id_fops); 138 debugfs_create_file_unsafe("flash_count", 0400, 139 d, adis16460, &adis16460_flash_count_fops); 140 141 return 0; 142 } 143 144 #else 145 146 static int adis16460_debugfs_init(struct iio_dev *indio_dev) 147 { 148 return 0; 149 } 150 151 #endif 152 153 static int adis16460_set_freq(struct iio_dev *indio_dev, int val, int val2) 154 { 155 struct adis16460 *st = iio_priv(indio_dev); 156 int t; 157 158 t = val * 1000 + val2 / 1000; 159 if (t <= 0) 160 return -EINVAL; 161 162 t = 2048000 / t; 163 if (t > 2048) 164 t = 2048; 165 166 if (t != 0) 167 t--; 168 169 return adis_write_reg_16(&st->adis, ADIS16460_REG_DEC_RATE, t); 170 } 171 172 static int adis16460_get_freq(struct iio_dev *indio_dev, int *val, int *val2) 173 { 174 struct adis16460 *st = iio_priv(indio_dev); 175 uint16_t t; 176 int ret; 177 unsigned int freq; 178 179 ret = adis_read_reg_16(&st->adis, ADIS16460_REG_DEC_RATE, &t); 180 if (ret) 181 return ret; 182 183 freq = 2048000 / (t + 1); 184 *val = freq / 1000; 185 *val2 = (freq % 1000) * 1000; 186 187 return IIO_VAL_INT_PLUS_MICRO; 188 } 189 190 static int adis16460_read_raw(struct iio_dev *indio_dev, 191 const struct iio_chan_spec *chan, int *val, int *val2, long info) 192 { 193 struct adis16460 *st = iio_priv(indio_dev); 194 195 switch (info) { 196 case IIO_CHAN_INFO_RAW: 197 return adis_single_conversion(indio_dev, chan, 0, val); 198 case IIO_CHAN_INFO_SCALE: 199 switch (chan->type) { 200 case IIO_ANGL_VEL: 201 *val = st->chip_info->gyro_max_scale; 202 *val2 = st->chip_info->gyro_max_val; 203 return IIO_VAL_FRACTIONAL; 204 case IIO_ACCEL: 205 *val = st->chip_info->accel_max_scale; 206 *val2 = st->chip_info->accel_max_val; 207 return IIO_VAL_FRACTIONAL; 208 case IIO_TEMP: 209 *val = 50; /* 50 milli degrees Celsius/LSB */ 210 return IIO_VAL_INT; 211 default: 212 return -EINVAL; 213 } 214 case IIO_CHAN_INFO_OFFSET: 215 *val = 500; /* 25 degrees Celsius = 0x0000 */ 216 return IIO_VAL_INT; 217 case IIO_CHAN_INFO_SAMP_FREQ: 218 return adis16460_get_freq(indio_dev, val, val2); 219 default: 220 return -EINVAL; 221 } 222 } 223 224 static int adis16460_write_raw(struct iio_dev *indio_dev, 225 const struct iio_chan_spec *chan, int val, int val2, long info) 226 { 227 switch (info) { 228 case IIO_CHAN_INFO_SAMP_FREQ: 229 return adis16460_set_freq(indio_dev, val, val2); 230 default: 231 return -EINVAL; 232 } 233 } 234 235 enum { 236 ADIS16460_SCAN_GYRO_X, 237 ADIS16460_SCAN_GYRO_Y, 238 ADIS16460_SCAN_GYRO_Z, 239 ADIS16460_SCAN_ACCEL_X, 240 ADIS16460_SCAN_ACCEL_Y, 241 ADIS16460_SCAN_ACCEL_Z, 242 ADIS16460_SCAN_TEMP, 243 }; 244 245 #define ADIS16460_MOD_CHANNEL(_type, _mod, _address, _si, _bits) \ 246 { \ 247 .type = (_type), \ 248 .modified = 1, \ 249 .channel2 = (_mod), \ 250 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW), \ 251 .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE), \ 252 .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \ 253 .address = (_address), \ 254 .scan_index = (_si), \ 255 .scan_type = { \ 256 .sign = 's', \ 257 .realbits = (_bits), \ 258 .storagebits = (_bits), \ 259 .endianness = IIO_BE, \ 260 }, \ 261 } 262 263 #define ADIS16460_GYRO_CHANNEL(_mod) \ 264 ADIS16460_MOD_CHANNEL(IIO_ANGL_VEL, IIO_MOD_ ## _mod, \ 265 ADIS16460_REG_ ## _mod ## _GYRO_LOW, ADIS16460_SCAN_GYRO_ ## _mod, \ 266 32) 267 268 #define ADIS16460_ACCEL_CHANNEL(_mod) \ 269 ADIS16460_MOD_CHANNEL(IIO_ACCEL, IIO_MOD_ ## _mod, \ 270 ADIS16460_REG_ ## _mod ## _ACCL_LOW, ADIS16460_SCAN_ACCEL_ ## _mod, \ 271 32) 272 273 #define ADIS16460_TEMP_CHANNEL() { \ 274 .type = IIO_TEMP, \ 275 .indexed = 1, \ 276 .channel = 0, \ 277 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \ 278 BIT(IIO_CHAN_INFO_SCALE) | \ 279 BIT(IIO_CHAN_INFO_OFFSET), \ 280 .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \ 281 .address = ADIS16460_REG_TEMP_OUT, \ 282 .scan_index = ADIS16460_SCAN_TEMP, \ 283 .scan_type = { \ 284 .sign = 's', \ 285 .realbits = 16, \ 286 .storagebits = 16, \ 287 .endianness = IIO_BE, \ 288 }, \ 289 } 290 291 static const struct iio_chan_spec adis16460_channels[] = { 292 ADIS16460_GYRO_CHANNEL(X), 293 ADIS16460_GYRO_CHANNEL(Y), 294 ADIS16460_GYRO_CHANNEL(Z), 295 ADIS16460_ACCEL_CHANNEL(X), 296 ADIS16460_ACCEL_CHANNEL(Y), 297 ADIS16460_ACCEL_CHANNEL(Z), 298 ADIS16460_TEMP_CHANNEL(), 299 IIO_CHAN_SOFT_TIMESTAMP(7) 300 }; 301 302 static const struct adis16460_chip_info adis16460_chip_info = { 303 .channels = adis16460_channels, 304 .num_channels = ARRAY_SIZE(adis16460_channels), 305 /* 306 * storing the value in rad/degree and the scale in degree 307 * gives us the result in rad and better precession than 308 * storing the scale directly in rad. 309 */ 310 .gyro_max_val = IIO_RAD_TO_DEGREE(200 << 16), 311 .gyro_max_scale = 1, 312 .accel_max_val = IIO_M_S_2_TO_G(20000 << 16), 313 .accel_max_scale = 5, 314 }; 315 316 static const struct iio_info adis16460_info = { 317 .read_raw = &adis16460_read_raw, 318 .write_raw = &adis16460_write_raw, 319 .update_scan_mode = adis_update_scan_mode, 320 .debugfs_reg_access = adis_debugfs_reg_access, 321 }; 322 323 static int adis16460_enable_irq(struct adis *adis, bool enable) 324 { 325 /* 326 * There is no way to gate the data-ready signal internally inside the 327 * ADIS16460 :( 328 */ 329 if (enable) 330 enable_irq(adis->spi->irq); 331 else 332 disable_irq(adis->spi->irq); 333 334 return 0; 335 } 336 337 #define ADIS16460_DIAG_STAT_IN_CLK_OOS 7 338 #define ADIS16460_DIAG_STAT_FLASH_MEM 6 339 #define ADIS16460_DIAG_STAT_SELF_TEST 5 340 #define ADIS16460_DIAG_STAT_OVERRANGE 4 341 #define ADIS16460_DIAG_STAT_SPI_COMM 3 342 #define ADIS16460_DIAG_STAT_FLASH_UPT 2 343 344 static const char * const adis16460_status_error_msgs[] = { 345 [ADIS16460_DIAG_STAT_IN_CLK_OOS] = "Input clock out of sync", 346 [ADIS16460_DIAG_STAT_FLASH_MEM] = "Flash memory failure", 347 [ADIS16460_DIAG_STAT_SELF_TEST] = "Self test diagnostic failure", 348 [ADIS16460_DIAG_STAT_OVERRANGE] = "Sensor overrange", 349 [ADIS16460_DIAG_STAT_SPI_COMM] = "SPI communication failure", 350 [ADIS16460_DIAG_STAT_FLASH_UPT] = "Flash update failure", 351 }; 352 353 static const struct adis_timeout adis16460_timeouts = { 354 .reset_ms = 225, 355 .sw_reset_ms = 225, 356 .self_test_ms = 10, 357 }; 358 359 static const struct adis_data adis16460_data = { 360 .diag_stat_reg = ADIS16460_REG_DIAG_STAT, 361 .glob_cmd_reg = ADIS16460_REG_GLOB_CMD, 362 .prod_id_reg = ADIS16460_REG_PROD_ID, 363 .prod_id = 16460, 364 .self_test_mask = BIT(2), 365 .self_test_reg = ADIS16460_REG_GLOB_CMD, 366 .has_paging = false, 367 .read_delay = 5, 368 .write_delay = 5, 369 .cs_change_delay = 16, 370 .status_error_msgs = adis16460_status_error_msgs, 371 .status_error_mask = BIT(ADIS16460_DIAG_STAT_IN_CLK_OOS) | 372 BIT(ADIS16460_DIAG_STAT_FLASH_MEM) | 373 BIT(ADIS16460_DIAG_STAT_SELF_TEST) | 374 BIT(ADIS16460_DIAG_STAT_OVERRANGE) | 375 BIT(ADIS16460_DIAG_STAT_SPI_COMM) | 376 BIT(ADIS16460_DIAG_STAT_FLASH_UPT), 377 .enable_irq = adis16460_enable_irq, 378 .timeouts = &adis16460_timeouts, 379 }; 380 381 static int adis16460_probe(struct spi_device *spi) 382 { 383 struct iio_dev *indio_dev; 384 struct adis16460 *st; 385 int ret; 386 387 indio_dev = devm_iio_device_alloc(&spi->dev, sizeof(*st)); 388 if (indio_dev == NULL) 389 return -ENOMEM; 390 391 spi_set_drvdata(spi, indio_dev); 392 393 st = iio_priv(indio_dev); 394 395 st->chip_info = &adis16460_chip_info; 396 indio_dev->dev.parent = &spi->dev; 397 indio_dev->name = spi_get_device_id(spi)->name; 398 indio_dev->channels = st->chip_info->channels; 399 indio_dev->num_channels = st->chip_info->num_channels; 400 indio_dev->info = &adis16460_info; 401 indio_dev->modes = INDIO_DIRECT_MODE; 402 403 ret = adis_init(&st->adis, indio_dev, spi, &adis16460_data); 404 if (ret) 405 return ret; 406 407 ret = adis_setup_buffer_and_trigger(&st->adis, indio_dev, NULL); 408 if (ret) 409 return ret; 410 411 adis16460_enable_irq(&st->adis, 0); 412 413 ret = __adis_initial_startup(&st->adis); 414 if (ret) 415 goto error_cleanup_buffer; 416 417 ret = iio_device_register(indio_dev); 418 if (ret) 419 goto error_cleanup_buffer; 420 421 adis16460_debugfs_init(indio_dev); 422 423 return 0; 424 425 error_cleanup_buffer: 426 adis_cleanup_buffer_and_trigger(&st->adis, indio_dev); 427 return ret; 428 } 429 430 static int adis16460_remove(struct spi_device *spi) 431 { 432 struct iio_dev *indio_dev = spi_get_drvdata(spi); 433 struct adis16460 *st = iio_priv(indio_dev); 434 435 iio_device_unregister(indio_dev); 436 437 adis_cleanup_buffer_and_trigger(&st->adis, indio_dev); 438 439 return 0; 440 } 441 442 static const struct spi_device_id adis16460_ids[] = { 443 { "adis16460", 0 }, 444 {} 445 }; 446 MODULE_DEVICE_TABLE(spi, adis16460_ids); 447 448 static const struct of_device_id adis16460_of_match[] = { 449 { .compatible = "adi,adis16460" }, 450 {} 451 }; 452 MODULE_DEVICE_TABLE(of, adis16460_of_match); 453 454 static struct spi_driver adis16460_driver = { 455 .driver = { 456 .name = "adis16460", 457 .of_match_table = adis16460_of_match, 458 }, 459 .id_table = adis16460_ids, 460 .probe = adis16460_probe, 461 .remove = adis16460_remove, 462 }; 463 module_spi_driver(adis16460_driver); 464 465 MODULE_AUTHOR("Dragos Bogdan <dragos.bogdan@analog.com>"); 466 MODULE_DESCRIPTION("Analog Devices ADIS16460 IMU driver"); 467 MODULE_LICENSE("GPL"); 468