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 < 0) 84 return ret; 85 86 *val = serial; 87 88 return 0; 89 } 90 DEFINE_SIMPLE_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 < 0) 102 return ret; 103 104 *val = prod_id; 105 106 return 0; 107 } 108 DEFINE_SIMPLE_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 < 0) 120 return ret; 121 122 *val = flash_count; 123 124 return 0; 125 } 126 DEFINE_SIMPLE_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); 132 133 debugfs_create_file("serial_number", 0400, indio_dev->debugfs_dentry, 134 adis16460, &adis16460_serial_number_fops); 135 debugfs_create_file("product_id", 0400, indio_dev->debugfs_dentry, 136 adis16460, &adis16460_product_id_fops); 137 debugfs_create_file("flash_count", 0400, indio_dev->debugfs_dentry, 138 adis16460, &adis16460_flash_count_fops); 139 140 return 0; 141 } 142 143 #else 144 145 static int adis16460_debugfs_init(struct iio_dev *indio_dev) 146 { 147 return 0; 148 } 149 150 #endif 151 152 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 } 170 171 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 < 0) 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 } 188 189 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 } 222 223 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 static int adis16460_enable_irq(struct adis *adis, bool enable) 323 { 324 /* 325 * There is no way to gate the data-ready signal internally inside the 326 * ADIS16460 :( 327 */ 328 if (enable) 329 enable_irq(adis->spi->irq); 330 else 331 disable_irq(adis->spi->irq); 332 333 return 0; 334 } 335 336 static int adis16460_initial_setup(struct iio_dev *indio_dev) 337 { 338 struct adis16460 *st = iio_priv(indio_dev); 339 uint16_t prod_id; 340 unsigned int device_id; 341 int ret; 342 343 adis_reset(&st->adis); 344 msleep(222); 345 346 ret = adis_write_reg_16(&st->adis, ADIS16460_REG_GLOB_CMD, BIT(1)); 347 if (ret) 348 return ret; 349 msleep(75); 350 351 ret = adis_check_status(&st->adis); 352 if (ret) 353 return ret; 354 355 ret = adis_read_reg_16(&st->adis, ADIS16460_REG_PROD_ID, &prod_id); 356 if (ret) 357 return ret; 358 359 ret = sscanf(indio_dev->name, "adis%u\n", &device_id); 360 if (ret != 1) 361 return -EINVAL; 362 363 if (prod_id != device_id) 364 dev_warn(&indio_dev->dev, "Device ID(%u) and product ID(%u) do not match.", 365 device_id, prod_id); 366 367 return 0; 368 } 369 370 #define ADIS16460_DIAG_STAT_IN_CLK_OOS 7 371 #define ADIS16460_DIAG_STAT_FLASH_MEM 6 372 #define ADIS16460_DIAG_STAT_SELF_TEST 5 373 #define ADIS16460_DIAG_STAT_OVERRANGE 4 374 #define ADIS16460_DIAG_STAT_SPI_COMM 3 375 #define ADIS16460_DIAG_STAT_FLASH_UPT 2 376 377 static const char * const adis16460_status_error_msgs[] = { 378 [ADIS16460_DIAG_STAT_IN_CLK_OOS] = "Input clock out of sync", 379 [ADIS16460_DIAG_STAT_FLASH_MEM] = "Flash memory failure", 380 [ADIS16460_DIAG_STAT_SELF_TEST] = "Self test diagnostic failure", 381 [ADIS16460_DIAG_STAT_OVERRANGE] = "Sensor overrange", 382 [ADIS16460_DIAG_STAT_SPI_COMM] = "SPI communication failure", 383 [ADIS16460_DIAG_STAT_FLASH_UPT] = "Flash update failure", 384 }; 385 386 static const struct adis_data adis16460_data = { 387 .diag_stat_reg = ADIS16460_REG_DIAG_STAT, 388 .glob_cmd_reg = ADIS16460_REG_GLOB_CMD, 389 .has_paging = false, 390 .read_delay = 5, 391 .write_delay = 5, 392 .cs_change_delay = 16, 393 .status_error_msgs = adis16460_status_error_msgs, 394 .status_error_mask = BIT(ADIS16460_DIAG_STAT_IN_CLK_OOS) | 395 BIT(ADIS16460_DIAG_STAT_FLASH_MEM) | 396 BIT(ADIS16460_DIAG_STAT_SELF_TEST) | 397 BIT(ADIS16460_DIAG_STAT_OVERRANGE) | 398 BIT(ADIS16460_DIAG_STAT_SPI_COMM) | 399 BIT(ADIS16460_DIAG_STAT_FLASH_UPT), 400 .enable_irq = adis16460_enable_irq, 401 }; 402 403 static int adis16460_probe(struct spi_device *spi) 404 { 405 struct iio_dev *indio_dev; 406 struct adis16460 *st; 407 int ret; 408 409 indio_dev = devm_iio_device_alloc(&spi->dev, sizeof(*st)); 410 if (indio_dev == NULL) 411 return -ENOMEM; 412 413 spi_set_drvdata(spi, indio_dev); 414 415 st = iio_priv(indio_dev); 416 417 st->chip_info = &adis16460_chip_info; 418 indio_dev->dev.parent = &spi->dev; 419 indio_dev->name = spi_get_device_id(spi)->name; 420 indio_dev->channels = st->chip_info->channels; 421 indio_dev->num_channels = st->chip_info->num_channels; 422 indio_dev->info = &adis16460_info; 423 indio_dev->modes = INDIO_DIRECT_MODE; 424 425 ret = adis_init(&st->adis, indio_dev, spi, &adis16460_data); 426 if (ret) 427 return ret; 428 429 ret = adis_setup_buffer_and_trigger(&st->adis, indio_dev, NULL); 430 if (ret) 431 return ret; 432 433 adis16460_enable_irq(&st->adis, 0); 434 435 ret = adis16460_initial_setup(indio_dev); 436 if (ret) 437 goto error_cleanup_buffer; 438 439 ret = iio_device_register(indio_dev); 440 if (ret) 441 goto error_cleanup_buffer; 442 443 adis16460_debugfs_init(indio_dev); 444 445 return 0; 446 447 error_cleanup_buffer: 448 adis_cleanup_buffer_and_trigger(&st->adis, indio_dev); 449 return ret; 450 } 451 452 static int adis16460_remove(struct spi_device *spi) 453 { 454 struct iio_dev *indio_dev = spi_get_drvdata(spi); 455 struct adis16460 *st = iio_priv(indio_dev); 456 457 iio_device_unregister(indio_dev); 458 459 adis_cleanup_buffer_and_trigger(&st->adis, indio_dev); 460 461 return 0; 462 } 463 464 static const struct spi_device_id adis16460_ids[] = { 465 { "adis16460", 0 }, 466 {} 467 }; 468 MODULE_DEVICE_TABLE(spi, adis16460_ids); 469 470 static const struct of_device_id adis16460_of_match[] = { 471 { .compatible = "adi,adis16460" }, 472 {} 473 }; 474 MODULE_DEVICE_TABLE(of, adis16460_of_match); 475 476 static struct spi_driver adis16460_driver = { 477 .driver = { 478 .name = "adis16460", 479 .of_match_table = adis16460_of_match, 480 }, 481 .id_table = adis16460_ids, 482 .probe = adis16460_probe, 483 .remove = adis16460_remove, 484 }; 485 module_spi_driver(adis16460_driver); 486 487 MODULE_AUTHOR("Dragos Bogdan <dragos.bogdan@analog.com>"); 488 MODULE_DESCRIPTION("Analog Devices ADIS16460 IMU driver"); 489 MODULE_LICENSE("GPL"); 490