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 adis16480 *st, unsigned int freq) 261 { 262 unsigned int t; 263 264 t = 2460000 / freq; 265 if (t > 2048) 266 t = 2048; 267 268 if (t != 0) 269 t--; 270 271 return adis_write_reg_16(&st->adis, ADIS16480_REG_DEC_RATE, t); 272 } 273 274 static int adis16480_get_freq(struct adis16480 *st, unsigned int *freq) 275 { 276 uint16_t t; 277 int ret; 278 279 ret = adis_read_reg_16(&st->adis, ADIS16480_REG_DEC_RATE, &t); 280 if (ret < 0) 281 return ret; 282 283 *freq = 2460000 / (t + 1); 284 285 return 0; 286 } 287 288 static ssize_t adis16480_read_frequency(struct device *dev, 289 struct device_attribute *attr, 290 char *buf) 291 { 292 struct iio_dev *indio_dev = dev_to_iio_dev(dev); 293 struct adis16480 *st = iio_priv(indio_dev); 294 unsigned int freq; 295 int ret; 296 297 ret = adis16480_get_freq(st, &freq); 298 if (ret < 0) 299 return ret; 300 301 return sprintf(buf, "%d.%.3d\n", freq / 1000, freq % 1000); 302 } 303 304 static ssize_t adis16480_write_frequency(struct device *dev, 305 struct device_attribute *attr, 306 const char *buf, 307 size_t len) 308 { 309 struct iio_dev *indio_dev = dev_to_iio_dev(dev); 310 struct adis16480 *st = iio_priv(indio_dev); 311 int freq_int, freq_fract; 312 long val; 313 int ret; 314 315 ret = iio_str_to_fixpoint(buf, 100, &freq_int, &freq_fract); 316 if (ret) 317 return ret; 318 319 val = freq_int * 1000 + freq_fract; 320 321 if (val <= 0) 322 return -EINVAL; 323 324 ret = adis16480_set_freq(st, val); 325 326 return ret ? ret : len; 327 } 328 329 static IIO_DEV_ATTR_SAMP_FREQ(S_IWUSR | S_IRUGO, 330 adis16480_read_frequency, 331 adis16480_write_frequency); 332 333 enum { 334 ADIS16480_SCAN_GYRO_X, 335 ADIS16480_SCAN_GYRO_Y, 336 ADIS16480_SCAN_GYRO_Z, 337 ADIS16480_SCAN_ACCEL_X, 338 ADIS16480_SCAN_ACCEL_Y, 339 ADIS16480_SCAN_ACCEL_Z, 340 ADIS16480_SCAN_MAGN_X, 341 ADIS16480_SCAN_MAGN_Y, 342 ADIS16480_SCAN_MAGN_Z, 343 ADIS16480_SCAN_BARO, 344 ADIS16480_SCAN_TEMP, 345 }; 346 347 static const unsigned int adis16480_calibbias_regs[] = { 348 [ADIS16480_SCAN_GYRO_X] = ADIS16480_REG_X_GYRO_BIAS, 349 [ADIS16480_SCAN_GYRO_Y] = ADIS16480_REG_Y_GYRO_BIAS, 350 [ADIS16480_SCAN_GYRO_Z] = ADIS16480_REG_Z_GYRO_BIAS, 351 [ADIS16480_SCAN_ACCEL_X] = ADIS16480_REG_X_ACCEL_BIAS, 352 [ADIS16480_SCAN_ACCEL_Y] = ADIS16480_REG_Y_ACCEL_BIAS, 353 [ADIS16480_SCAN_ACCEL_Z] = ADIS16480_REG_Z_ACCEL_BIAS, 354 [ADIS16480_SCAN_MAGN_X] = ADIS16480_REG_X_HARD_IRON, 355 [ADIS16480_SCAN_MAGN_Y] = ADIS16480_REG_Y_HARD_IRON, 356 [ADIS16480_SCAN_MAGN_Z] = ADIS16480_REG_Z_HARD_IRON, 357 [ADIS16480_SCAN_BARO] = ADIS16480_REG_BAROM_BIAS, 358 }; 359 360 static const unsigned int adis16480_calibscale_regs[] = { 361 [ADIS16480_SCAN_GYRO_X] = ADIS16480_REG_X_GYRO_SCALE, 362 [ADIS16480_SCAN_GYRO_Y] = ADIS16480_REG_Y_GYRO_SCALE, 363 [ADIS16480_SCAN_GYRO_Z] = ADIS16480_REG_Z_GYRO_SCALE, 364 [ADIS16480_SCAN_ACCEL_X] = ADIS16480_REG_X_ACCEL_SCALE, 365 [ADIS16480_SCAN_ACCEL_Y] = ADIS16480_REG_Y_ACCEL_SCALE, 366 [ADIS16480_SCAN_ACCEL_Z] = ADIS16480_REG_Z_ACCEL_SCALE, 367 }; 368 369 static int adis16480_set_calibbias(struct iio_dev *indio_dev, 370 const struct iio_chan_spec *chan, int bias) 371 { 372 unsigned int reg = adis16480_calibbias_regs[chan->scan_index]; 373 struct adis16480 *st = iio_priv(indio_dev); 374 375 switch (chan->type) { 376 case IIO_MAGN: 377 case IIO_PRESSURE: 378 if (bias < -0x8000 || bias >= 0x8000) 379 return -EINVAL; 380 return adis_write_reg_16(&st->adis, reg, bias); 381 case IIO_ANGL_VEL: 382 case IIO_ACCEL: 383 return adis_write_reg_32(&st->adis, reg, bias); 384 default: 385 break; 386 } 387 388 return -EINVAL; 389 } 390 391 static int adis16480_get_calibbias(struct iio_dev *indio_dev, 392 const struct iio_chan_spec *chan, int *bias) 393 { 394 unsigned int reg = adis16480_calibbias_regs[chan->scan_index]; 395 struct adis16480 *st = iio_priv(indio_dev); 396 uint16_t val16; 397 uint32_t val32; 398 int ret; 399 400 switch (chan->type) { 401 case IIO_MAGN: 402 case IIO_PRESSURE: 403 ret = adis_read_reg_16(&st->adis, reg, &val16); 404 *bias = sign_extend32(val16, 15); 405 break; 406 case IIO_ANGL_VEL: 407 case IIO_ACCEL: 408 ret = adis_read_reg_32(&st->adis, reg, &val32); 409 *bias = sign_extend32(val32, 31); 410 break; 411 default: 412 ret = -EINVAL; 413 } 414 415 if (ret < 0) 416 return ret; 417 418 return IIO_VAL_INT; 419 } 420 421 static int adis16480_set_calibscale(struct iio_dev *indio_dev, 422 const struct iio_chan_spec *chan, int scale) 423 { 424 unsigned int reg = adis16480_calibscale_regs[chan->scan_index]; 425 struct adis16480 *st = iio_priv(indio_dev); 426 427 if (scale < -0x8000 || scale >= 0x8000) 428 return -EINVAL; 429 430 return adis_write_reg_16(&st->adis, reg, scale); 431 } 432 433 static int adis16480_get_calibscale(struct iio_dev *indio_dev, 434 const struct iio_chan_spec *chan, int *scale) 435 { 436 unsigned int reg = adis16480_calibscale_regs[chan->scan_index]; 437 struct adis16480 *st = iio_priv(indio_dev); 438 uint16_t val16; 439 int ret; 440 441 ret = adis_read_reg_16(&st->adis, reg, &val16); 442 if (ret < 0) 443 return ret; 444 445 *scale = sign_extend32(val16, 15); 446 return IIO_VAL_INT; 447 } 448 449 static const unsigned int adis16480_def_filter_freqs[] = { 450 310, 451 55, 452 275, 453 63, 454 }; 455 456 static const unsigned int ad16480_filter_data[][2] = { 457 [ADIS16480_SCAN_GYRO_X] = { ADIS16480_REG_FILTER_BNK0, 0 }, 458 [ADIS16480_SCAN_GYRO_Y] = { ADIS16480_REG_FILTER_BNK0, 3 }, 459 [ADIS16480_SCAN_GYRO_Z] = { ADIS16480_REG_FILTER_BNK0, 6 }, 460 [ADIS16480_SCAN_ACCEL_X] = { ADIS16480_REG_FILTER_BNK0, 9 }, 461 [ADIS16480_SCAN_ACCEL_Y] = { ADIS16480_REG_FILTER_BNK0, 12 }, 462 [ADIS16480_SCAN_ACCEL_Z] = { ADIS16480_REG_FILTER_BNK1, 0 }, 463 [ADIS16480_SCAN_MAGN_X] = { ADIS16480_REG_FILTER_BNK1, 3 }, 464 [ADIS16480_SCAN_MAGN_Y] = { ADIS16480_REG_FILTER_BNK1, 6 }, 465 [ADIS16480_SCAN_MAGN_Z] = { ADIS16480_REG_FILTER_BNK1, 9 }, 466 }; 467 468 static int adis16480_get_filter_freq(struct iio_dev *indio_dev, 469 const struct iio_chan_spec *chan, int *freq) 470 { 471 struct adis16480 *st = iio_priv(indio_dev); 472 unsigned int enable_mask, offset, reg; 473 uint16_t val; 474 int ret; 475 476 reg = ad16480_filter_data[chan->scan_index][0]; 477 offset = ad16480_filter_data[chan->scan_index][1]; 478 enable_mask = BIT(offset + 2); 479 480 ret = adis_read_reg_16(&st->adis, reg, &val); 481 if (ret < 0) 482 return ret; 483 484 if (!(val & enable_mask)) 485 *freq = 0; 486 else 487 *freq = adis16480_def_filter_freqs[(val >> offset) & 0x3]; 488 489 return IIO_VAL_INT; 490 } 491 492 static int adis16480_set_filter_freq(struct iio_dev *indio_dev, 493 const struct iio_chan_spec *chan, unsigned int freq) 494 { 495 struct adis16480 *st = iio_priv(indio_dev); 496 unsigned int enable_mask, offset, reg; 497 unsigned int diff, best_diff; 498 unsigned int i, best_freq; 499 uint16_t val; 500 int ret; 501 502 reg = ad16480_filter_data[chan->scan_index][0]; 503 offset = ad16480_filter_data[chan->scan_index][1]; 504 enable_mask = BIT(offset + 2); 505 506 ret = adis_read_reg_16(&st->adis, reg, &val); 507 if (ret < 0) 508 return ret; 509 510 if (freq == 0) { 511 val &= ~enable_mask; 512 } else { 513 best_freq = 0; 514 best_diff = 310; 515 for (i = 0; i < ARRAY_SIZE(adis16480_def_filter_freqs); i++) { 516 if (adis16480_def_filter_freqs[i] >= freq) { 517 diff = adis16480_def_filter_freqs[i] - freq; 518 if (diff < best_diff) { 519 best_diff = diff; 520 best_freq = i; 521 } 522 } 523 } 524 525 val &= ~(0x3 << offset); 526 val |= best_freq << offset; 527 val |= enable_mask; 528 } 529 530 return adis_write_reg_16(&st->adis, reg, val); 531 } 532 533 static int adis16480_read_raw(struct iio_dev *indio_dev, 534 const struct iio_chan_spec *chan, int *val, int *val2, long info) 535 { 536 switch (info) { 537 case IIO_CHAN_INFO_RAW: 538 return adis_single_conversion(indio_dev, chan, 0, val); 539 case IIO_CHAN_INFO_SCALE: 540 switch (chan->type) { 541 case IIO_ANGL_VEL: 542 *val = 0; 543 *val2 = IIO_DEGREE_TO_RAD(20000); /* 0.02 degree/sec */ 544 return IIO_VAL_INT_PLUS_MICRO; 545 case IIO_ACCEL: 546 *val = 0; 547 *val2 = IIO_G_TO_M_S_2(800); /* 0.8 mg */ 548 return IIO_VAL_INT_PLUS_MICRO; 549 case IIO_MAGN: 550 *val = 0; 551 *val2 = 100; /* 0.0001 gauss */ 552 return IIO_VAL_INT_PLUS_MICRO; 553 case IIO_TEMP: 554 *val = 5; 555 *val2 = 650000; /* 5.65 milli degree Celsius */ 556 return IIO_VAL_INT_PLUS_MICRO; 557 case IIO_PRESSURE: 558 *val = 0; 559 *val2 = 4000; /* 40ubar = 0.004 kPa */ 560 return IIO_VAL_INT_PLUS_MICRO; 561 default: 562 return -EINVAL; 563 } 564 case IIO_CHAN_INFO_OFFSET: 565 /* Only the temperature channel has a offset */ 566 *val = 4425; /* 25 degree Celsius = 0x0000 */ 567 return IIO_VAL_INT; 568 case IIO_CHAN_INFO_CALIBBIAS: 569 return adis16480_get_calibbias(indio_dev, chan, val); 570 case IIO_CHAN_INFO_CALIBSCALE: 571 return adis16480_get_calibscale(indio_dev, chan, val); 572 case IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY: 573 return adis16480_get_filter_freq(indio_dev, chan, val); 574 default: 575 return -EINVAL; 576 } 577 } 578 579 static int adis16480_write_raw(struct iio_dev *indio_dev, 580 const struct iio_chan_spec *chan, int val, int val2, long info) 581 { 582 switch (info) { 583 case IIO_CHAN_INFO_CALIBBIAS: 584 return adis16480_set_calibbias(indio_dev, chan, val); 585 case IIO_CHAN_INFO_CALIBSCALE: 586 return adis16480_set_calibscale(indio_dev, chan, val); 587 case IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY: 588 return adis16480_set_filter_freq(indio_dev, chan, val); 589 default: 590 return -EINVAL; 591 } 592 } 593 594 #define ADIS16480_MOD_CHANNEL(_type, _mod, _address, _si, _info, _bits) \ 595 { \ 596 .type = (_type), \ 597 .modified = 1, \ 598 .channel2 = (_mod), \ 599 .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT | \ 600 IIO_CHAN_INFO_CALIBBIAS_SEPARATE_BIT | \ 601 IIO_CHAN_INFO_SCALE_SHARED_BIT | \ 602 _info, \ 603 .address = (_address), \ 604 .scan_index = (_si), \ 605 .scan_type = { \ 606 .sign = 's', \ 607 .realbits = (_bits), \ 608 .storagebits = (_bits), \ 609 .endianness = IIO_BE, \ 610 }, \ 611 } 612 613 #define ADIS16480_GYRO_CHANNEL(_mod) \ 614 ADIS16480_MOD_CHANNEL(IIO_ANGL_VEL, IIO_MOD_ ## _mod, \ 615 ADIS16480_REG_ ## _mod ## _GYRO_OUT, ADIS16480_SCAN_GYRO_ ## _mod, \ 616 IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY_SEPARATE_BIT | \ 617 IIO_CHAN_INFO_CALIBSCALE_SEPARATE_BIT, \ 618 32) 619 620 #define ADIS16480_ACCEL_CHANNEL(_mod) \ 621 ADIS16480_MOD_CHANNEL(IIO_ACCEL, IIO_MOD_ ## _mod, \ 622 ADIS16480_REG_ ## _mod ## _ACCEL_OUT, ADIS16480_SCAN_ACCEL_ ## _mod, \ 623 IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY_SEPARATE_BIT | \ 624 IIO_CHAN_INFO_CALIBSCALE_SEPARATE_BIT, \ 625 32) 626 627 #define ADIS16480_MAGN_CHANNEL(_mod) \ 628 ADIS16480_MOD_CHANNEL(IIO_MAGN, IIO_MOD_ ## _mod, \ 629 ADIS16480_REG_ ## _mod ## _MAGN_OUT, ADIS16480_SCAN_MAGN_ ## _mod, \ 630 IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY_SEPARATE_BIT, \ 631 16) 632 633 #define ADIS16480_PRESSURE_CHANNEL() \ 634 { \ 635 .type = IIO_PRESSURE, \ 636 .indexed = 1, \ 637 .channel = 0, \ 638 .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT | \ 639 IIO_CHAN_INFO_CALIBBIAS_SEPARATE_BIT | \ 640 IIO_CHAN_INFO_SCALE_SEPARATE_BIT, \ 641 .address = ADIS16480_REG_BAROM_OUT, \ 642 .scan_index = ADIS16480_SCAN_BARO, \ 643 .scan_type = { \ 644 .sign = 's', \ 645 .realbits = 32, \ 646 .storagebits = 32, \ 647 .endianness = IIO_BE, \ 648 }, \ 649 } 650 651 #define ADIS16480_TEMP_CHANNEL() { \ 652 .type = IIO_TEMP, \ 653 .indexed = 1, \ 654 .channel = 0, \ 655 .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT | \ 656 IIO_CHAN_INFO_SCALE_SEPARATE_BIT | \ 657 IIO_CHAN_INFO_OFFSET_SEPARATE_BIT, \ 658 .address = ADIS16480_REG_TEMP_OUT, \ 659 .scan_index = ADIS16480_SCAN_TEMP, \ 660 .scan_type = { \ 661 .sign = 's', \ 662 .realbits = 16, \ 663 .storagebits = 16, \ 664 .endianness = IIO_BE, \ 665 }, \ 666 } 667 668 static const struct iio_chan_spec adis16480_channels[] = { 669 ADIS16480_GYRO_CHANNEL(X), 670 ADIS16480_GYRO_CHANNEL(Y), 671 ADIS16480_GYRO_CHANNEL(Z), 672 ADIS16480_ACCEL_CHANNEL(X), 673 ADIS16480_ACCEL_CHANNEL(Y), 674 ADIS16480_ACCEL_CHANNEL(Z), 675 ADIS16480_MAGN_CHANNEL(X), 676 ADIS16480_MAGN_CHANNEL(Y), 677 ADIS16480_MAGN_CHANNEL(Z), 678 ADIS16480_PRESSURE_CHANNEL(), 679 ADIS16480_TEMP_CHANNEL(), 680 IIO_CHAN_SOFT_TIMESTAMP(11) 681 }; 682 683 static const struct iio_chan_spec adis16485_channels[] = { 684 ADIS16480_GYRO_CHANNEL(X), 685 ADIS16480_GYRO_CHANNEL(Y), 686 ADIS16480_GYRO_CHANNEL(Z), 687 ADIS16480_ACCEL_CHANNEL(X), 688 ADIS16480_ACCEL_CHANNEL(Y), 689 ADIS16480_ACCEL_CHANNEL(Z), 690 ADIS16480_TEMP_CHANNEL(), 691 IIO_CHAN_SOFT_TIMESTAMP(7) 692 }; 693 694 enum adis16480_variant { 695 ADIS16375, 696 ADIS16480, 697 ADIS16485, 698 ADIS16488, 699 }; 700 701 static const struct adis16480_chip_info adis16480_chip_info[] = { 702 [ADIS16375] = { 703 .channels = adis16485_channels, 704 .num_channels = ARRAY_SIZE(adis16485_channels), 705 }, 706 [ADIS16480] = { 707 .channels = adis16480_channels, 708 .num_channels = ARRAY_SIZE(adis16480_channels), 709 }, 710 [ADIS16485] = { 711 .channels = adis16485_channels, 712 .num_channels = ARRAY_SIZE(adis16485_channels), 713 }, 714 [ADIS16488] = { 715 .channels = adis16480_channels, 716 .num_channels = ARRAY_SIZE(adis16480_channels), 717 }, 718 }; 719 720 static struct attribute *adis16480_attributes[] = { 721 &iio_dev_attr_sampling_frequency.dev_attr.attr, 722 NULL 723 }; 724 725 static const struct attribute_group adis16480_attribute_group = { 726 .attrs = adis16480_attributes, 727 }; 728 729 static const struct iio_info adis16480_info = { 730 .attrs = &adis16480_attribute_group, 731 .read_raw = &adis16480_read_raw, 732 .write_raw = &adis16480_write_raw, 733 .update_scan_mode = adis_update_scan_mode, 734 .driver_module = THIS_MODULE, 735 }; 736 737 static int adis16480_stop_device(struct iio_dev *indio_dev) 738 { 739 struct adis16480 *st = iio_priv(indio_dev); 740 int ret; 741 742 ret = adis_write_reg_16(&st->adis, ADIS16480_REG_SLP_CNT, BIT(9)); 743 if (ret) 744 dev_err(&indio_dev->dev, 745 "Could not power down device: %d\n", ret); 746 747 return ret; 748 } 749 750 static int adis16480_enable_irq(struct adis *adis, bool enable) 751 { 752 return adis_write_reg_16(adis, ADIS16480_REG_FNCTIO_CTRL, 753 enable ? BIT(3) : 0); 754 } 755 756 static int adis16480_initial_setup(struct iio_dev *indio_dev) 757 { 758 struct adis16480 *st = iio_priv(indio_dev); 759 uint16_t prod_id; 760 unsigned int device_id; 761 int ret; 762 763 adis_reset(&st->adis); 764 msleep(70); 765 766 ret = adis_write_reg_16(&st->adis, ADIS16480_REG_GLOB_CMD, BIT(1)); 767 if (ret) 768 return ret; 769 msleep(30); 770 771 ret = adis_check_status(&st->adis); 772 if (ret) 773 return ret; 774 775 ret = adis_read_reg_16(&st->adis, ADIS16480_REG_PROD_ID, &prod_id); 776 if (ret) 777 return ret; 778 779 sscanf(indio_dev->name, "adis%u\n", &device_id); 780 781 if (prod_id != device_id) 782 dev_warn(&indio_dev->dev, "Device ID(%u) and product ID(%u) do not match.", 783 device_id, prod_id); 784 785 return 0; 786 } 787 788 #define ADIS16480_DIAG_STAT_XGYRO_FAIL 0 789 #define ADIS16480_DIAG_STAT_YGYRO_FAIL 1 790 #define ADIS16480_DIAG_STAT_ZGYRO_FAIL 2 791 #define ADIS16480_DIAG_STAT_XACCL_FAIL 3 792 #define ADIS16480_DIAG_STAT_YACCL_FAIL 4 793 #define ADIS16480_DIAG_STAT_ZACCL_FAIL 5 794 #define ADIS16480_DIAG_STAT_XMAGN_FAIL 8 795 #define ADIS16480_DIAG_STAT_YMAGN_FAIL 9 796 #define ADIS16480_DIAG_STAT_ZMAGN_FAIL 10 797 #define ADIS16480_DIAG_STAT_BARO_FAIL 11 798 799 static const char * const adis16480_status_error_msgs[] = { 800 [ADIS16480_DIAG_STAT_XGYRO_FAIL] = "X-axis gyroscope self-test failure", 801 [ADIS16480_DIAG_STAT_YGYRO_FAIL] = "Y-axis gyroscope self-test failure", 802 [ADIS16480_DIAG_STAT_ZGYRO_FAIL] = "Z-axis gyroscope self-test failure", 803 [ADIS16480_DIAG_STAT_XACCL_FAIL] = "X-axis accelerometer self-test failure", 804 [ADIS16480_DIAG_STAT_YACCL_FAIL] = "Y-axis accelerometer self-test failure", 805 [ADIS16480_DIAG_STAT_ZACCL_FAIL] = "Z-axis accelerometer self-test failure", 806 [ADIS16480_DIAG_STAT_XMAGN_FAIL] = "X-axis magnetometer self-test failure", 807 [ADIS16480_DIAG_STAT_YMAGN_FAIL] = "Y-axis magnetometer self-test failure", 808 [ADIS16480_DIAG_STAT_ZMAGN_FAIL] = "Z-axis magnetometer self-test failure", 809 [ADIS16480_DIAG_STAT_BARO_FAIL] = "Barometer self-test failure", 810 }; 811 812 static const struct adis_data adis16480_data = { 813 .diag_stat_reg = ADIS16480_REG_DIAG_STS, 814 .glob_cmd_reg = ADIS16480_REG_GLOB_CMD, 815 .has_paging = true, 816 817 .read_delay = 5, 818 .write_delay = 5, 819 820 .status_error_msgs = adis16480_status_error_msgs, 821 .status_error_mask = BIT(ADIS16480_DIAG_STAT_XGYRO_FAIL) | 822 BIT(ADIS16480_DIAG_STAT_YGYRO_FAIL) | 823 BIT(ADIS16480_DIAG_STAT_ZGYRO_FAIL) | 824 BIT(ADIS16480_DIAG_STAT_XACCL_FAIL) | 825 BIT(ADIS16480_DIAG_STAT_YACCL_FAIL) | 826 BIT(ADIS16480_DIAG_STAT_ZACCL_FAIL) | 827 BIT(ADIS16480_DIAG_STAT_XMAGN_FAIL) | 828 BIT(ADIS16480_DIAG_STAT_YMAGN_FAIL) | 829 BIT(ADIS16480_DIAG_STAT_ZMAGN_FAIL) | 830 BIT(ADIS16480_DIAG_STAT_BARO_FAIL), 831 832 .enable_irq = adis16480_enable_irq, 833 }; 834 835 static int adis16480_probe(struct spi_device *spi) 836 { 837 const struct spi_device_id *id = spi_get_device_id(spi); 838 struct iio_dev *indio_dev; 839 struct adis16480 *st; 840 int ret; 841 842 indio_dev = iio_device_alloc(sizeof(*st)); 843 if (indio_dev == NULL) 844 return -ENOMEM; 845 846 spi_set_drvdata(spi, indio_dev); 847 848 st = iio_priv(indio_dev); 849 850 st->chip_info = &adis16480_chip_info[id->driver_data]; 851 indio_dev->dev.parent = &spi->dev; 852 indio_dev->name = spi_get_device_id(spi)->name; 853 indio_dev->channels = st->chip_info->channels; 854 indio_dev->num_channels = st->chip_info->num_channels; 855 indio_dev->info = &adis16480_info; 856 indio_dev->modes = INDIO_DIRECT_MODE; 857 858 ret = adis_init(&st->adis, indio_dev, spi, &adis16480_data); 859 if (ret) 860 goto error_free_dev; 861 862 ret = adis_setup_buffer_and_trigger(&st->adis, indio_dev, NULL); 863 if (ret) 864 goto error_free_dev; 865 866 ret = adis16480_initial_setup(indio_dev); 867 if (ret) 868 goto error_cleanup_buffer; 869 870 ret = iio_device_register(indio_dev); 871 if (ret) 872 goto error_stop_device; 873 874 adis16480_debugfs_init(indio_dev); 875 876 return 0; 877 878 error_stop_device: 879 adis16480_stop_device(indio_dev); 880 error_cleanup_buffer: 881 adis_cleanup_buffer_and_trigger(&st->adis, indio_dev); 882 error_free_dev: 883 iio_device_free(indio_dev); 884 return ret; 885 } 886 887 static int adis16480_remove(struct spi_device *spi) 888 { 889 struct iio_dev *indio_dev = spi_get_drvdata(spi); 890 struct adis16480 *st = iio_priv(indio_dev); 891 892 iio_device_unregister(indio_dev); 893 adis16480_stop_device(indio_dev); 894 895 adis_cleanup_buffer_and_trigger(&st->adis, indio_dev); 896 897 iio_device_free(indio_dev); 898 899 return 0; 900 } 901 902 static const struct spi_device_id adis16480_ids[] = { 903 { "adis16375", ADIS16375 }, 904 { "adis16480", ADIS16480 }, 905 { "adis16485", ADIS16485 }, 906 { "adis16488", ADIS16488 }, 907 { } 908 }; 909 MODULE_DEVICE_TABLE(spi, adis16480_ids); 910 911 static struct spi_driver adis16480_driver = { 912 .driver = { 913 .name = "adis16480", 914 .owner = THIS_MODULE, 915 }, 916 .id_table = adis16480_ids, 917 .probe = adis16480_probe, 918 .remove = adis16480_remove, 919 }; 920 module_spi_driver(adis16480_driver); 921 922 MODULE_AUTHOR("Lars-Peter Clausen <lars@metafoo.de>"); 923 MODULE_DESCRIPTION("Analog Devices ADIS16480 IMU driver"); 924 MODULE_LICENSE("GPL v2"); 925