1 /* 2 * ADIS16480 and similar IMUs driver 3 * 4 * Copyright 2012 Analog Devices Inc. 5 * 6 * This program is free software; you can redistribute it and/or modify 7 * it under the terms of the GNU General Public License version 2 as 8 * published by the Free Software Foundation. 9 * 10 */ 11 12 #include <linux/interrupt.h> 13 #include <linux/delay.h> 14 #include <linux/mutex.h> 15 #include <linux/device.h> 16 #include <linux/kernel.h> 17 #include <linux/spi/spi.h> 18 #include <linux/slab.h> 19 #include <linux/sysfs.h> 20 #include <linux/module.h> 21 22 #include <linux/iio/iio.h> 23 #include <linux/iio/sysfs.h> 24 #include <linux/iio/buffer.h> 25 #include <linux/iio/imu/adis.h> 26 27 #include <linux/debugfs.h> 28 29 #define ADIS16480_PAGE_SIZE 0x80 30 31 #define ADIS16480_REG(page, reg) ((page) * ADIS16480_PAGE_SIZE + (reg)) 32 33 #define ADIS16480_REG_PAGE_ID 0x00 /* Same address on each page */ 34 #define ADIS16480_REG_SEQ_CNT ADIS16480_REG(0x00, 0x06) 35 #define ADIS16480_REG_SYS_E_FLA ADIS16480_REG(0x00, 0x08) 36 #define ADIS16480_REG_DIAG_STS ADIS16480_REG(0x00, 0x0A) 37 #define ADIS16480_REG_ALM_STS ADIS16480_REG(0x00, 0x0C) 38 #define ADIS16480_REG_TEMP_OUT ADIS16480_REG(0x00, 0x0E) 39 #define ADIS16480_REG_X_GYRO_OUT ADIS16480_REG(0x00, 0x10) 40 #define ADIS16480_REG_Y_GYRO_OUT ADIS16480_REG(0x00, 0x14) 41 #define ADIS16480_REG_Z_GYRO_OUT ADIS16480_REG(0x00, 0x18) 42 #define ADIS16480_REG_X_ACCEL_OUT ADIS16480_REG(0x00, 0x1C) 43 #define ADIS16480_REG_Y_ACCEL_OUT ADIS16480_REG(0x00, 0x20) 44 #define ADIS16480_REG_Z_ACCEL_OUT ADIS16480_REG(0x00, 0x24) 45 #define ADIS16480_REG_X_MAGN_OUT ADIS16480_REG(0x00, 0x28) 46 #define ADIS16480_REG_Y_MAGN_OUT ADIS16480_REG(0x00, 0x2A) 47 #define ADIS16480_REG_Z_MAGN_OUT ADIS16480_REG(0x00, 0x2C) 48 #define ADIS16480_REG_BAROM_OUT ADIS16480_REG(0x00, 0x2E) 49 #define ADIS16480_REG_X_DELTAANG_OUT ADIS16480_REG(0x00, 0x40) 50 #define ADIS16480_REG_Y_DELTAANG_OUT ADIS16480_REG(0x00, 0x44) 51 #define ADIS16480_REG_Z_DELTAANG_OUT ADIS16480_REG(0x00, 0x48) 52 #define ADIS16480_REG_X_DELTAVEL_OUT ADIS16480_REG(0x00, 0x4C) 53 #define ADIS16480_REG_Y_DELTAVEL_OUT ADIS16480_REG(0x00, 0x50) 54 #define ADIS16480_REG_Z_DELTAVEL_OUT ADIS16480_REG(0x00, 0x54) 55 #define ADIS16480_REG_PROD_ID ADIS16480_REG(0x00, 0x7E) 56 57 #define ADIS16480_REG_X_GYRO_SCALE ADIS16480_REG(0x02, 0x04) 58 #define ADIS16480_REG_Y_GYRO_SCALE ADIS16480_REG(0x02, 0x06) 59 #define ADIS16480_REG_Z_GYRO_SCALE ADIS16480_REG(0x02, 0x08) 60 #define ADIS16480_REG_X_ACCEL_SCALE ADIS16480_REG(0x02, 0x0A) 61 #define ADIS16480_REG_Y_ACCEL_SCALE ADIS16480_REG(0x02, 0x0C) 62 #define ADIS16480_REG_Z_ACCEL_SCALE ADIS16480_REG(0x02, 0x0E) 63 #define ADIS16480_REG_X_GYRO_BIAS ADIS16480_REG(0x02, 0x10) 64 #define ADIS16480_REG_Y_GYRO_BIAS ADIS16480_REG(0x02, 0x14) 65 #define ADIS16480_REG_Z_GYRO_BIAS ADIS16480_REG(0x02, 0x18) 66 #define ADIS16480_REG_X_ACCEL_BIAS ADIS16480_REG(0x02, 0x1C) 67 #define ADIS16480_REG_Y_ACCEL_BIAS ADIS16480_REG(0x02, 0x20) 68 #define ADIS16480_REG_Z_ACCEL_BIAS ADIS16480_REG(0x02, 0x24) 69 #define ADIS16480_REG_X_HARD_IRON ADIS16480_REG(0x02, 0x28) 70 #define ADIS16480_REG_Y_HARD_IRON ADIS16480_REG(0x02, 0x2A) 71 #define ADIS16480_REG_Z_HARD_IRON ADIS16480_REG(0x02, 0x2C) 72 #define ADIS16480_REG_BAROM_BIAS ADIS16480_REG(0x02, 0x40) 73 #define ADIS16480_REG_FLASH_CNT ADIS16480_REG(0x02, 0x7C) 74 75 #define ADIS16480_REG_GLOB_CMD ADIS16480_REG(0x03, 0x02) 76 #define ADIS16480_REG_FNCTIO_CTRL ADIS16480_REG(0x03, 0x06) 77 #define ADIS16480_REG_GPIO_CTRL ADIS16480_REG(0x03, 0x08) 78 #define ADIS16480_REG_CONFIG ADIS16480_REG(0x03, 0x0A) 79 #define ADIS16480_REG_DEC_RATE ADIS16480_REG(0x03, 0x0C) 80 #define ADIS16480_REG_SLP_CNT ADIS16480_REG(0x03, 0x10) 81 #define ADIS16480_REG_FILTER_BNK0 ADIS16480_REG(0x03, 0x16) 82 #define ADIS16480_REG_FILTER_BNK1 ADIS16480_REG(0x03, 0x18) 83 #define ADIS16480_REG_ALM_CNFG0 ADIS16480_REG(0x03, 0x20) 84 #define ADIS16480_REG_ALM_CNFG1 ADIS16480_REG(0x03, 0x22) 85 #define ADIS16480_REG_ALM_CNFG2 ADIS16480_REG(0x03, 0x24) 86 #define ADIS16480_REG_XG_ALM_MAGN ADIS16480_REG(0x03, 0x28) 87 #define ADIS16480_REG_YG_ALM_MAGN ADIS16480_REG(0x03, 0x2A) 88 #define ADIS16480_REG_ZG_ALM_MAGN ADIS16480_REG(0x03, 0x2C) 89 #define ADIS16480_REG_XA_ALM_MAGN ADIS16480_REG(0x03, 0x2E) 90 #define ADIS16480_REG_YA_ALM_MAGN ADIS16480_REG(0x03, 0x30) 91 #define ADIS16480_REG_ZA_ALM_MAGN ADIS16480_REG(0x03, 0x32) 92 #define ADIS16480_REG_XM_ALM_MAGN ADIS16480_REG(0x03, 0x34) 93 #define ADIS16480_REG_YM_ALM_MAGN ADIS16480_REG(0x03, 0x36) 94 #define ADIS16480_REG_ZM_ALM_MAGN ADIS16480_REG(0x03, 0x38) 95 #define ADIS16480_REG_BR_ALM_MAGN ADIS16480_REG(0x03, 0x3A) 96 #define ADIS16480_REG_FIRM_REV ADIS16480_REG(0x03, 0x78) 97 #define ADIS16480_REG_FIRM_DM ADIS16480_REG(0x03, 0x7A) 98 #define ADIS16480_REG_FIRM_Y ADIS16480_REG(0x03, 0x7C) 99 100 #define ADIS16480_REG_SERIAL_NUM ADIS16480_REG(0x04, 0x20) 101 102 /* Each filter coefficent bank spans two pages */ 103 #define ADIS16480_FIR_COEF(page) (x < 60 ? ADIS16480_REG(page, (x) + 8) : \ 104 ADIS16480_REG((page) + 1, (x) - 60 + 8)) 105 #define ADIS16480_FIR_COEF_A(x) ADIS16480_FIR_COEF(0x05, (x)) 106 #define ADIS16480_FIR_COEF_B(x) ADIS16480_FIR_COEF(0x07, (x)) 107 #define ADIS16480_FIR_COEF_C(x) ADIS16480_FIR_COEF(0x09, (x)) 108 #define ADIS16480_FIR_COEF_D(x) ADIS16480_FIR_COEF(0x0B, (x)) 109 110 struct adis16480_chip_info { 111 unsigned int num_channels; 112 const struct iio_chan_spec *channels; 113 }; 114 115 struct adis16480 { 116 const struct adis16480_chip_info *chip_info; 117 118 struct adis adis; 119 }; 120 121 #ifdef CONFIG_DEBUG_FS 122 123 static ssize_t adis16480_show_firmware_revision(struct file *file, 124 char __user *userbuf, size_t count, loff_t *ppos) 125 { 126 struct adis16480 *adis16480 = file->private_data; 127 char buf[7]; 128 size_t len; 129 u16 rev; 130 int ret; 131 132 ret = adis_read_reg_16(&adis16480->adis, ADIS16480_REG_FIRM_REV, &rev); 133 if (ret < 0) 134 return ret; 135 136 len = scnprintf(buf, sizeof(buf), "%x.%x\n", rev >> 8, rev & 0xff); 137 138 return simple_read_from_buffer(userbuf, count, ppos, buf, len); 139 } 140 141 static const struct file_operations adis16480_firmware_revision_fops = { 142 .open = simple_open, 143 .read = adis16480_show_firmware_revision, 144 .llseek = default_llseek, 145 .owner = THIS_MODULE, 146 }; 147 148 static ssize_t adis16480_show_firmware_date(struct file *file, 149 char __user *userbuf, size_t count, loff_t *ppos) 150 { 151 struct adis16480 *adis16480 = file->private_data; 152 u16 md, year; 153 char buf[12]; 154 size_t len; 155 int ret; 156 157 ret = adis_read_reg_16(&adis16480->adis, ADIS16480_REG_FIRM_Y, &year); 158 if (ret < 0) 159 return ret; 160 161 ret = adis_read_reg_16(&adis16480->adis, ADIS16480_REG_FIRM_DM, &md); 162 if (ret < 0) 163 return ret; 164 165 len = snprintf(buf, sizeof(buf), "%.2x-%.2x-%.4x\n", 166 md >> 8, md & 0xff, year); 167 168 return simple_read_from_buffer(userbuf, count, ppos, buf, len); 169 } 170 171 static const struct file_operations adis16480_firmware_date_fops = { 172 .open = simple_open, 173 .read = adis16480_show_firmware_date, 174 .llseek = default_llseek, 175 .owner = THIS_MODULE, 176 }; 177 178 static int adis16480_show_serial_number(void *arg, u64 *val) 179 { 180 struct adis16480 *adis16480 = arg; 181 u16 serial; 182 int ret; 183 184 ret = adis_read_reg_16(&adis16480->adis, ADIS16480_REG_SERIAL_NUM, 185 &serial); 186 if (ret < 0) 187 return ret; 188 189 *val = serial; 190 191 return 0; 192 } 193 DEFINE_SIMPLE_ATTRIBUTE(adis16480_serial_number_fops, 194 adis16480_show_serial_number, NULL, "0x%.4llx\n"); 195 196 static int adis16480_show_product_id(void *arg, u64 *val) 197 { 198 struct adis16480 *adis16480 = arg; 199 u16 prod_id; 200 int ret; 201 202 ret = adis_read_reg_16(&adis16480->adis, ADIS16480_REG_PROD_ID, 203 &prod_id); 204 if (ret < 0) 205 return ret; 206 207 *val = prod_id; 208 209 return 0; 210 } 211 DEFINE_SIMPLE_ATTRIBUTE(adis16480_product_id_fops, 212 adis16480_show_product_id, NULL, "%llu\n"); 213 214 static int adis16480_show_flash_count(void *arg, u64 *val) 215 { 216 struct adis16480 *adis16480 = arg; 217 u32 flash_count; 218 int ret; 219 220 ret = adis_read_reg_32(&adis16480->adis, ADIS16480_REG_FLASH_CNT, 221 &flash_count); 222 if (ret < 0) 223 return ret; 224 225 *val = flash_count; 226 227 return 0; 228 } 229 DEFINE_SIMPLE_ATTRIBUTE(adis16480_flash_count_fops, 230 adis16480_show_flash_count, NULL, "%lld\n"); 231 232 static int adis16480_debugfs_init(struct iio_dev *indio_dev) 233 { 234 struct adis16480 *adis16480 = iio_priv(indio_dev); 235 236 debugfs_create_file("firmware_revision", 0400, 237 indio_dev->debugfs_dentry, adis16480, 238 &adis16480_firmware_revision_fops); 239 debugfs_create_file("firmware_date", 0400, indio_dev->debugfs_dentry, 240 adis16480, &adis16480_firmware_date_fops); 241 debugfs_create_file("serial_number", 0400, indio_dev->debugfs_dentry, 242 adis16480, &adis16480_serial_number_fops); 243 debugfs_create_file("product_id", 0400, indio_dev->debugfs_dentry, 244 adis16480, &adis16480_product_id_fops); 245 debugfs_create_file("flash_count", 0400, indio_dev->debugfs_dentry, 246 adis16480, &adis16480_flash_count_fops); 247 248 return 0; 249 } 250 251 #else 252 253 static int adis16480_debugfs_init(struct iio_dev *indio_dev) 254 { 255 return 0; 256 } 257 258 #endif 259 260 static int adis16480_set_freq(struct iio_dev *indio_dev, int val, int val2) 261 { 262 struct adis16480 *st = iio_priv(indio_dev); 263 unsigned int t; 264 265 t = val * 1000 + val2 / 1000; 266 if (t <= 0) 267 return -EINVAL; 268 269 t = 2460000 / t; 270 if (t > 2048) 271 t = 2048; 272 273 if (t != 0) 274 t--; 275 276 return adis_write_reg_16(&st->adis, ADIS16480_REG_DEC_RATE, t); 277 } 278 279 static int adis16480_get_freq(struct iio_dev *indio_dev, int *val, int *val2) 280 { 281 struct adis16480 *st = iio_priv(indio_dev); 282 uint16_t t; 283 int ret; 284 unsigned freq; 285 286 ret = adis_read_reg_16(&st->adis, ADIS16480_REG_DEC_RATE, &t); 287 if (ret < 0) 288 return ret; 289 290 freq = 2460000 / (t + 1); 291 *val = freq / 1000; 292 *val2 = (freq % 1000) * 1000; 293 294 return IIO_VAL_INT_PLUS_MICRO; 295 } 296 297 enum { 298 ADIS16480_SCAN_GYRO_X, 299 ADIS16480_SCAN_GYRO_Y, 300 ADIS16480_SCAN_GYRO_Z, 301 ADIS16480_SCAN_ACCEL_X, 302 ADIS16480_SCAN_ACCEL_Y, 303 ADIS16480_SCAN_ACCEL_Z, 304 ADIS16480_SCAN_MAGN_X, 305 ADIS16480_SCAN_MAGN_Y, 306 ADIS16480_SCAN_MAGN_Z, 307 ADIS16480_SCAN_BARO, 308 ADIS16480_SCAN_TEMP, 309 }; 310 311 static const unsigned int adis16480_calibbias_regs[] = { 312 [ADIS16480_SCAN_GYRO_X] = ADIS16480_REG_X_GYRO_BIAS, 313 [ADIS16480_SCAN_GYRO_Y] = ADIS16480_REG_Y_GYRO_BIAS, 314 [ADIS16480_SCAN_GYRO_Z] = ADIS16480_REG_Z_GYRO_BIAS, 315 [ADIS16480_SCAN_ACCEL_X] = ADIS16480_REG_X_ACCEL_BIAS, 316 [ADIS16480_SCAN_ACCEL_Y] = ADIS16480_REG_Y_ACCEL_BIAS, 317 [ADIS16480_SCAN_ACCEL_Z] = ADIS16480_REG_Z_ACCEL_BIAS, 318 [ADIS16480_SCAN_MAGN_X] = ADIS16480_REG_X_HARD_IRON, 319 [ADIS16480_SCAN_MAGN_Y] = ADIS16480_REG_Y_HARD_IRON, 320 [ADIS16480_SCAN_MAGN_Z] = ADIS16480_REG_Z_HARD_IRON, 321 [ADIS16480_SCAN_BARO] = ADIS16480_REG_BAROM_BIAS, 322 }; 323 324 static const unsigned int adis16480_calibscale_regs[] = { 325 [ADIS16480_SCAN_GYRO_X] = ADIS16480_REG_X_GYRO_SCALE, 326 [ADIS16480_SCAN_GYRO_Y] = ADIS16480_REG_Y_GYRO_SCALE, 327 [ADIS16480_SCAN_GYRO_Z] = ADIS16480_REG_Z_GYRO_SCALE, 328 [ADIS16480_SCAN_ACCEL_X] = ADIS16480_REG_X_ACCEL_SCALE, 329 [ADIS16480_SCAN_ACCEL_Y] = ADIS16480_REG_Y_ACCEL_SCALE, 330 [ADIS16480_SCAN_ACCEL_Z] = ADIS16480_REG_Z_ACCEL_SCALE, 331 }; 332 333 static int adis16480_set_calibbias(struct iio_dev *indio_dev, 334 const struct iio_chan_spec *chan, int bias) 335 { 336 unsigned int reg = adis16480_calibbias_regs[chan->scan_index]; 337 struct adis16480 *st = iio_priv(indio_dev); 338 339 switch (chan->type) { 340 case IIO_MAGN: 341 case IIO_PRESSURE: 342 if (bias < -0x8000 || bias >= 0x8000) 343 return -EINVAL; 344 return adis_write_reg_16(&st->adis, reg, bias); 345 case IIO_ANGL_VEL: 346 case IIO_ACCEL: 347 return adis_write_reg_32(&st->adis, reg, bias); 348 default: 349 break; 350 } 351 352 return -EINVAL; 353 } 354 355 static int adis16480_get_calibbias(struct iio_dev *indio_dev, 356 const struct iio_chan_spec *chan, int *bias) 357 { 358 unsigned int reg = adis16480_calibbias_regs[chan->scan_index]; 359 struct adis16480 *st = iio_priv(indio_dev); 360 uint16_t val16; 361 uint32_t val32; 362 int ret; 363 364 switch (chan->type) { 365 case IIO_MAGN: 366 case IIO_PRESSURE: 367 ret = adis_read_reg_16(&st->adis, reg, &val16); 368 *bias = sign_extend32(val16, 15); 369 break; 370 case IIO_ANGL_VEL: 371 case IIO_ACCEL: 372 ret = adis_read_reg_32(&st->adis, reg, &val32); 373 *bias = sign_extend32(val32, 31); 374 break; 375 default: 376 ret = -EINVAL; 377 } 378 379 if (ret < 0) 380 return ret; 381 382 return IIO_VAL_INT; 383 } 384 385 static int adis16480_set_calibscale(struct iio_dev *indio_dev, 386 const struct iio_chan_spec *chan, int scale) 387 { 388 unsigned int reg = adis16480_calibscale_regs[chan->scan_index]; 389 struct adis16480 *st = iio_priv(indio_dev); 390 391 if (scale < -0x8000 || scale >= 0x8000) 392 return -EINVAL; 393 394 return adis_write_reg_16(&st->adis, reg, scale); 395 } 396 397 static int adis16480_get_calibscale(struct iio_dev *indio_dev, 398 const struct iio_chan_spec *chan, int *scale) 399 { 400 unsigned int reg = adis16480_calibscale_regs[chan->scan_index]; 401 struct adis16480 *st = iio_priv(indio_dev); 402 uint16_t val16; 403 int ret; 404 405 ret = adis_read_reg_16(&st->adis, reg, &val16); 406 if (ret < 0) 407 return ret; 408 409 *scale = sign_extend32(val16, 15); 410 return IIO_VAL_INT; 411 } 412 413 static const unsigned int adis16480_def_filter_freqs[] = { 414 310, 415 55, 416 275, 417 63, 418 }; 419 420 static const unsigned int ad16480_filter_data[][2] = { 421 [ADIS16480_SCAN_GYRO_X] = { ADIS16480_REG_FILTER_BNK0, 0 }, 422 [ADIS16480_SCAN_GYRO_Y] = { ADIS16480_REG_FILTER_BNK0, 3 }, 423 [ADIS16480_SCAN_GYRO_Z] = { ADIS16480_REG_FILTER_BNK0, 6 }, 424 [ADIS16480_SCAN_ACCEL_X] = { ADIS16480_REG_FILTER_BNK0, 9 }, 425 [ADIS16480_SCAN_ACCEL_Y] = { ADIS16480_REG_FILTER_BNK0, 12 }, 426 [ADIS16480_SCAN_ACCEL_Z] = { ADIS16480_REG_FILTER_BNK1, 0 }, 427 [ADIS16480_SCAN_MAGN_X] = { ADIS16480_REG_FILTER_BNK1, 3 }, 428 [ADIS16480_SCAN_MAGN_Y] = { ADIS16480_REG_FILTER_BNK1, 6 }, 429 [ADIS16480_SCAN_MAGN_Z] = { ADIS16480_REG_FILTER_BNK1, 9 }, 430 }; 431 432 static int adis16480_get_filter_freq(struct iio_dev *indio_dev, 433 const struct iio_chan_spec *chan, int *freq) 434 { 435 struct adis16480 *st = iio_priv(indio_dev); 436 unsigned int enable_mask, offset, reg; 437 uint16_t val; 438 int ret; 439 440 reg = ad16480_filter_data[chan->scan_index][0]; 441 offset = ad16480_filter_data[chan->scan_index][1]; 442 enable_mask = BIT(offset + 2); 443 444 ret = adis_read_reg_16(&st->adis, reg, &val); 445 if (ret < 0) 446 return ret; 447 448 if (!(val & enable_mask)) 449 *freq = 0; 450 else 451 *freq = adis16480_def_filter_freqs[(val >> offset) & 0x3]; 452 453 return IIO_VAL_INT; 454 } 455 456 static int adis16480_set_filter_freq(struct iio_dev *indio_dev, 457 const struct iio_chan_spec *chan, unsigned int freq) 458 { 459 struct adis16480 *st = iio_priv(indio_dev); 460 unsigned int enable_mask, offset, reg; 461 unsigned int diff, best_diff; 462 unsigned int i, best_freq; 463 uint16_t val; 464 int ret; 465 466 reg = ad16480_filter_data[chan->scan_index][0]; 467 offset = ad16480_filter_data[chan->scan_index][1]; 468 enable_mask = BIT(offset + 2); 469 470 ret = adis_read_reg_16(&st->adis, reg, &val); 471 if (ret < 0) 472 return ret; 473 474 if (freq == 0) { 475 val &= ~enable_mask; 476 } else { 477 best_freq = 0; 478 best_diff = 310; 479 for (i = 0; i < ARRAY_SIZE(adis16480_def_filter_freqs); i++) { 480 if (adis16480_def_filter_freqs[i] >= freq) { 481 diff = adis16480_def_filter_freqs[i] - freq; 482 if (diff < best_diff) { 483 best_diff = diff; 484 best_freq = i; 485 } 486 } 487 } 488 489 val &= ~(0x3 << offset); 490 val |= best_freq << offset; 491 val |= enable_mask; 492 } 493 494 return adis_write_reg_16(&st->adis, reg, val); 495 } 496 497 static int adis16480_read_raw(struct iio_dev *indio_dev, 498 const struct iio_chan_spec *chan, int *val, int *val2, long info) 499 { 500 switch (info) { 501 case IIO_CHAN_INFO_RAW: 502 return adis_single_conversion(indio_dev, chan, 0, val); 503 case IIO_CHAN_INFO_SCALE: 504 switch (chan->type) { 505 case IIO_ANGL_VEL: 506 *val = 0; 507 *val2 = IIO_DEGREE_TO_RAD(20000); /* 0.02 degree/sec */ 508 return IIO_VAL_INT_PLUS_MICRO; 509 case IIO_ACCEL: 510 *val = 0; 511 *val2 = IIO_G_TO_M_S_2(800); /* 0.8 mg */ 512 return IIO_VAL_INT_PLUS_MICRO; 513 case IIO_MAGN: 514 *val = 0; 515 *val2 = 100; /* 0.0001 gauss */ 516 return IIO_VAL_INT_PLUS_MICRO; 517 case IIO_TEMP: 518 *val = 5; 519 *val2 = 650000; /* 5.65 milli degree Celsius */ 520 return IIO_VAL_INT_PLUS_MICRO; 521 case IIO_PRESSURE: 522 *val = 0; 523 *val2 = 4000; /* 40ubar = 0.004 kPa */ 524 return IIO_VAL_INT_PLUS_MICRO; 525 default: 526 return -EINVAL; 527 } 528 case IIO_CHAN_INFO_OFFSET: 529 /* Only the temperature channel has a offset */ 530 *val = 4425; /* 25 degree Celsius = 0x0000 */ 531 return IIO_VAL_INT; 532 case IIO_CHAN_INFO_CALIBBIAS: 533 return adis16480_get_calibbias(indio_dev, chan, val); 534 case IIO_CHAN_INFO_CALIBSCALE: 535 return adis16480_get_calibscale(indio_dev, chan, val); 536 case IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY: 537 return adis16480_get_filter_freq(indio_dev, chan, val); 538 case IIO_CHAN_INFO_SAMP_FREQ: 539 return adis16480_get_freq(indio_dev, val, val2); 540 default: 541 return -EINVAL; 542 } 543 } 544 545 static int adis16480_write_raw(struct iio_dev *indio_dev, 546 const struct iio_chan_spec *chan, int val, int val2, long info) 547 { 548 switch (info) { 549 case IIO_CHAN_INFO_CALIBBIAS: 550 return adis16480_set_calibbias(indio_dev, chan, val); 551 case IIO_CHAN_INFO_CALIBSCALE: 552 return adis16480_set_calibscale(indio_dev, chan, val); 553 case IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY: 554 return adis16480_set_filter_freq(indio_dev, chan, val); 555 case IIO_CHAN_INFO_SAMP_FREQ: 556 return adis16480_set_freq(indio_dev, val, val2); 557 558 default: 559 return -EINVAL; 560 } 561 } 562 563 #define ADIS16480_MOD_CHANNEL(_type, _mod, _address, _si, _info_sep, _bits) \ 564 { \ 565 .type = (_type), \ 566 .modified = 1, \ 567 .channel2 = (_mod), \ 568 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \ 569 BIT(IIO_CHAN_INFO_CALIBBIAS) | \ 570 _info_sep, \ 571 .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE), \ 572 .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \ 573 .address = (_address), \ 574 .scan_index = (_si), \ 575 .scan_type = { \ 576 .sign = 's', \ 577 .realbits = (_bits), \ 578 .storagebits = (_bits), \ 579 .endianness = IIO_BE, \ 580 }, \ 581 } 582 583 #define ADIS16480_GYRO_CHANNEL(_mod) \ 584 ADIS16480_MOD_CHANNEL(IIO_ANGL_VEL, IIO_MOD_ ## _mod, \ 585 ADIS16480_REG_ ## _mod ## _GYRO_OUT, ADIS16480_SCAN_GYRO_ ## _mod, \ 586 BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY) | \ 587 BIT(IIO_CHAN_INFO_CALIBSCALE), \ 588 32) 589 590 #define ADIS16480_ACCEL_CHANNEL(_mod) \ 591 ADIS16480_MOD_CHANNEL(IIO_ACCEL, IIO_MOD_ ## _mod, \ 592 ADIS16480_REG_ ## _mod ## _ACCEL_OUT, ADIS16480_SCAN_ACCEL_ ## _mod, \ 593 BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY) | \ 594 BIT(IIO_CHAN_INFO_CALIBSCALE), \ 595 32) 596 597 #define ADIS16480_MAGN_CHANNEL(_mod) \ 598 ADIS16480_MOD_CHANNEL(IIO_MAGN, IIO_MOD_ ## _mod, \ 599 ADIS16480_REG_ ## _mod ## _MAGN_OUT, ADIS16480_SCAN_MAGN_ ## _mod, \ 600 BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY), \ 601 16) 602 603 #define ADIS16480_PRESSURE_CHANNEL() \ 604 { \ 605 .type = IIO_PRESSURE, \ 606 .indexed = 1, \ 607 .channel = 0, \ 608 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \ 609 BIT(IIO_CHAN_INFO_CALIBBIAS) | \ 610 BIT(IIO_CHAN_INFO_SCALE), \ 611 .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \ 612 .address = ADIS16480_REG_BAROM_OUT, \ 613 .scan_index = ADIS16480_SCAN_BARO, \ 614 .scan_type = { \ 615 .sign = 's', \ 616 .realbits = 32, \ 617 .storagebits = 32, \ 618 .endianness = IIO_BE, \ 619 }, \ 620 } 621 622 #define ADIS16480_TEMP_CHANNEL() { \ 623 .type = IIO_TEMP, \ 624 .indexed = 1, \ 625 .channel = 0, \ 626 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \ 627 BIT(IIO_CHAN_INFO_SCALE) | \ 628 BIT(IIO_CHAN_INFO_OFFSET), \ 629 .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \ 630 .address = ADIS16480_REG_TEMP_OUT, \ 631 .scan_index = ADIS16480_SCAN_TEMP, \ 632 .scan_type = { \ 633 .sign = 's', \ 634 .realbits = 16, \ 635 .storagebits = 16, \ 636 .endianness = IIO_BE, \ 637 }, \ 638 } 639 640 static const struct iio_chan_spec adis16480_channels[] = { 641 ADIS16480_GYRO_CHANNEL(X), 642 ADIS16480_GYRO_CHANNEL(Y), 643 ADIS16480_GYRO_CHANNEL(Z), 644 ADIS16480_ACCEL_CHANNEL(X), 645 ADIS16480_ACCEL_CHANNEL(Y), 646 ADIS16480_ACCEL_CHANNEL(Z), 647 ADIS16480_MAGN_CHANNEL(X), 648 ADIS16480_MAGN_CHANNEL(Y), 649 ADIS16480_MAGN_CHANNEL(Z), 650 ADIS16480_PRESSURE_CHANNEL(), 651 ADIS16480_TEMP_CHANNEL(), 652 IIO_CHAN_SOFT_TIMESTAMP(11) 653 }; 654 655 static const struct iio_chan_spec adis16485_channels[] = { 656 ADIS16480_GYRO_CHANNEL(X), 657 ADIS16480_GYRO_CHANNEL(Y), 658 ADIS16480_GYRO_CHANNEL(Z), 659 ADIS16480_ACCEL_CHANNEL(X), 660 ADIS16480_ACCEL_CHANNEL(Y), 661 ADIS16480_ACCEL_CHANNEL(Z), 662 ADIS16480_TEMP_CHANNEL(), 663 IIO_CHAN_SOFT_TIMESTAMP(7) 664 }; 665 666 enum adis16480_variant { 667 ADIS16375, 668 ADIS16480, 669 ADIS16485, 670 ADIS16488, 671 }; 672 673 static const struct adis16480_chip_info adis16480_chip_info[] = { 674 [ADIS16375] = { 675 .channels = adis16485_channels, 676 .num_channels = ARRAY_SIZE(adis16485_channels), 677 }, 678 [ADIS16480] = { 679 .channels = adis16480_channels, 680 .num_channels = ARRAY_SIZE(adis16480_channels), 681 }, 682 [ADIS16485] = { 683 .channels = adis16485_channels, 684 .num_channels = ARRAY_SIZE(adis16485_channels), 685 }, 686 [ADIS16488] = { 687 .channels = adis16480_channels, 688 .num_channels = ARRAY_SIZE(adis16480_channels), 689 }, 690 }; 691 692 static const struct iio_info adis16480_info = { 693 .read_raw = &adis16480_read_raw, 694 .write_raw = &adis16480_write_raw, 695 .update_scan_mode = adis_update_scan_mode, 696 .driver_module = THIS_MODULE, 697 }; 698 699 static int adis16480_stop_device(struct iio_dev *indio_dev) 700 { 701 struct adis16480 *st = iio_priv(indio_dev); 702 int ret; 703 704 ret = adis_write_reg_16(&st->adis, ADIS16480_REG_SLP_CNT, BIT(9)); 705 if (ret) 706 dev_err(&indio_dev->dev, 707 "Could not power down device: %d\n", ret); 708 709 return ret; 710 } 711 712 static int adis16480_enable_irq(struct adis *adis, bool enable) 713 { 714 return adis_write_reg_16(adis, ADIS16480_REG_FNCTIO_CTRL, 715 enable ? BIT(3) : 0); 716 } 717 718 static int adis16480_initial_setup(struct iio_dev *indio_dev) 719 { 720 struct adis16480 *st = iio_priv(indio_dev); 721 uint16_t prod_id; 722 unsigned int device_id; 723 int ret; 724 725 adis_reset(&st->adis); 726 msleep(70); 727 728 ret = adis_write_reg_16(&st->adis, ADIS16480_REG_GLOB_CMD, BIT(1)); 729 if (ret) 730 return ret; 731 msleep(30); 732 733 ret = adis_check_status(&st->adis); 734 if (ret) 735 return ret; 736 737 ret = adis_read_reg_16(&st->adis, ADIS16480_REG_PROD_ID, &prod_id); 738 if (ret) 739 return ret; 740 741 sscanf(indio_dev->name, "adis%u\n", &device_id); 742 743 if (prod_id != device_id) 744 dev_warn(&indio_dev->dev, "Device ID(%u) and product ID(%u) do not match.", 745 device_id, prod_id); 746 747 return 0; 748 } 749 750 #define ADIS16480_DIAG_STAT_XGYRO_FAIL 0 751 #define ADIS16480_DIAG_STAT_YGYRO_FAIL 1 752 #define ADIS16480_DIAG_STAT_ZGYRO_FAIL 2 753 #define ADIS16480_DIAG_STAT_XACCL_FAIL 3 754 #define ADIS16480_DIAG_STAT_YACCL_FAIL 4 755 #define ADIS16480_DIAG_STAT_ZACCL_FAIL 5 756 #define ADIS16480_DIAG_STAT_XMAGN_FAIL 8 757 #define ADIS16480_DIAG_STAT_YMAGN_FAIL 9 758 #define ADIS16480_DIAG_STAT_ZMAGN_FAIL 10 759 #define ADIS16480_DIAG_STAT_BARO_FAIL 11 760 761 static const char * const adis16480_status_error_msgs[] = { 762 [ADIS16480_DIAG_STAT_XGYRO_FAIL] = "X-axis gyroscope self-test failure", 763 [ADIS16480_DIAG_STAT_YGYRO_FAIL] = "Y-axis gyroscope self-test failure", 764 [ADIS16480_DIAG_STAT_ZGYRO_FAIL] = "Z-axis gyroscope self-test failure", 765 [ADIS16480_DIAG_STAT_XACCL_FAIL] = "X-axis accelerometer self-test failure", 766 [ADIS16480_DIAG_STAT_YACCL_FAIL] = "Y-axis accelerometer self-test failure", 767 [ADIS16480_DIAG_STAT_ZACCL_FAIL] = "Z-axis accelerometer self-test failure", 768 [ADIS16480_DIAG_STAT_XMAGN_FAIL] = "X-axis magnetometer self-test failure", 769 [ADIS16480_DIAG_STAT_YMAGN_FAIL] = "Y-axis magnetometer self-test failure", 770 [ADIS16480_DIAG_STAT_ZMAGN_FAIL] = "Z-axis magnetometer self-test failure", 771 [ADIS16480_DIAG_STAT_BARO_FAIL] = "Barometer self-test failure", 772 }; 773 774 static const struct adis_data adis16480_data = { 775 .diag_stat_reg = ADIS16480_REG_DIAG_STS, 776 .glob_cmd_reg = ADIS16480_REG_GLOB_CMD, 777 .has_paging = true, 778 779 .read_delay = 5, 780 .write_delay = 5, 781 782 .status_error_msgs = adis16480_status_error_msgs, 783 .status_error_mask = BIT(ADIS16480_DIAG_STAT_XGYRO_FAIL) | 784 BIT(ADIS16480_DIAG_STAT_YGYRO_FAIL) | 785 BIT(ADIS16480_DIAG_STAT_ZGYRO_FAIL) | 786 BIT(ADIS16480_DIAG_STAT_XACCL_FAIL) | 787 BIT(ADIS16480_DIAG_STAT_YACCL_FAIL) | 788 BIT(ADIS16480_DIAG_STAT_ZACCL_FAIL) | 789 BIT(ADIS16480_DIAG_STAT_XMAGN_FAIL) | 790 BIT(ADIS16480_DIAG_STAT_YMAGN_FAIL) | 791 BIT(ADIS16480_DIAG_STAT_ZMAGN_FAIL) | 792 BIT(ADIS16480_DIAG_STAT_BARO_FAIL), 793 794 .enable_irq = adis16480_enable_irq, 795 }; 796 797 static int adis16480_probe(struct spi_device *spi) 798 { 799 const struct spi_device_id *id = spi_get_device_id(spi); 800 struct iio_dev *indio_dev; 801 struct adis16480 *st; 802 int ret; 803 804 indio_dev = devm_iio_device_alloc(&spi->dev, sizeof(*st)); 805 if (indio_dev == NULL) 806 return -ENOMEM; 807 808 spi_set_drvdata(spi, indio_dev); 809 810 st = iio_priv(indio_dev); 811 812 st->chip_info = &adis16480_chip_info[id->driver_data]; 813 indio_dev->dev.parent = &spi->dev; 814 indio_dev->name = spi_get_device_id(spi)->name; 815 indio_dev->channels = st->chip_info->channels; 816 indio_dev->num_channels = st->chip_info->num_channels; 817 indio_dev->info = &adis16480_info; 818 indio_dev->modes = INDIO_DIRECT_MODE; 819 820 ret = adis_init(&st->adis, indio_dev, spi, &adis16480_data); 821 if (ret) 822 return ret; 823 824 ret = adis_setup_buffer_and_trigger(&st->adis, indio_dev, NULL); 825 if (ret) 826 return ret; 827 828 ret = adis16480_initial_setup(indio_dev); 829 if (ret) 830 goto error_cleanup_buffer; 831 832 ret = iio_device_register(indio_dev); 833 if (ret) 834 goto error_stop_device; 835 836 adis16480_debugfs_init(indio_dev); 837 838 return 0; 839 840 error_stop_device: 841 adis16480_stop_device(indio_dev); 842 error_cleanup_buffer: 843 adis_cleanup_buffer_and_trigger(&st->adis, indio_dev); 844 return ret; 845 } 846 847 static int adis16480_remove(struct spi_device *spi) 848 { 849 struct iio_dev *indio_dev = spi_get_drvdata(spi); 850 struct adis16480 *st = iio_priv(indio_dev); 851 852 iio_device_unregister(indio_dev); 853 adis16480_stop_device(indio_dev); 854 855 adis_cleanup_buffer_and_trigger(&st->adis, indio_dev); 856 857 return 0; 858 } 859 860 static const struct spi_device_id adis16480_ids[] = { 861 { "adis16375", ADIS16375 }, 862 { "adis16480", ADIS16480 }, 863 { "adis16485", ADIS16485 }, 864 { "adis16488", ADIS16488 }, 865 { } 866 }; 867 MODULE_DEVICE_TABLE(spi, adis16480_ids); 868 869 static struct spi_driver adis16480_driver = { 870 .driver = { 871 .name = "adis16480", 872 .owner = THIS_MODULE, 873 }, 874 .id_table = adis16480_ids, 875 .probe = adis16480_probe, 876 .remove = adis16480_remove, 877 }; 878 module_spi_driver(adis16480_driver); 879 880 MODULE_AUTHOR("Lars-Peter Clausen <lars@metafoo.de>"); 881 MODULE_DESCRIPTION("Analog Devices ADIS16480 IMU driver"); 882 MODULE_LICENSE("GPL v2"); 883