adis16460.c

  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
 58struct 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
 67struct adis16460 {
 68	const struct adis16460_chip_info *chip_info;
 69	struct adis adis;
 70};
 71
 72static int adis16460_show_serial_number(void *arg, u64 *val)
 73{
 74	struct adis16460 *adis16460 = arg;
 75	u16 serial;
 76	int ret;
 77
 78	ret = adis_read_reg_16(&adis16460->adis, ADIS16460_REG_SERIAL_NUM,
 79		&serial);
 80	if (ret)
 81		return ret;
 82
 83	*val = serial;
 84
 85	return 0;
 86}
 87DEFINE_DEBUGFS_ATTRIBUTE(adis16460_serial_number_fops,
 88		adis16460_show_serial_number, NULL, "0x%.4llx\n");
 89
 90static int adis16460_show_product_id(void *arg, u64 *val)
 91{
 92	struct adis16460 *adis16460 = arg;
 93	u16 prod_id;
 94	int ret;
 95
 96	ret = adis_read_reg_16(&adis16460->adis, ADIS16460_REG_PROD_ID,
 97		&prod_id);
 98	if (ret)
 99		return ret;
100
101	*val = prod_id;
102
103	return 0;
104}
105DEFINE_DEBUGFS_ATTRIBUTE(adis16460_product_id_fops,
106		adis16460_show_product_id, NULL, "%llu\n");
107
108static int adis16460_show_flash_count(void *arg, u64 *val)
109{
110	struct adis16460 *adis16460 = arg;
111	u32 flash_count;
112	int ret;
113
114	ret = adis_read_reg_32(&adis16460->adis, ADIS16460_REG_FLASH_CNT,
115		&flash_count);
116	if (ret)
117		return ret;
118
119	*val = flash_count;
120
121	return 0;
122}
123DEFINE_DEBUGFS_ATTRIBUTE(adis16460_flash_count_fops,
124		adis16460_show_flash_count, NULL, "%lld\n");
125
126static void adis16460_debugfs_init(struct iio_dev *indio_dev)
127{
128	struct adis16460 *adis16460 = iio_priv(indio_dev);
129	struct dentry *d = iio_get_debugfs_dentry(indio_dev);
130
131	if (!IS_ENABLED(CONFIG_DEBUG_FS))
132		return;
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
142static int adis16460_set_freq(struct iio_dev *indio_dev, int val, int val2)
143{
144	struct adis16460 *st = iio_priv(indio_dev);
145	int t;
146
147	t =  val * 1000 + val2 / 1000;
148	if (t <= 0)
149		return -EINVAL;
150
151	t = 2048000 / t;
152	if (t > 2048)
153		t = 2048;
154
155	if (t != 0)
156		t--;
157
158	return adis_write_reg_16(&st->adis, ADIS16460_REG_DEC_RATE, t);
159}
160
161static int adis16460_get_freq(struct iio_dev *indio_dev, int *val, int *val2)
162{
163	struct adis16460 *st = iio_priv(indio_dev);
164	uint16_t t;
165	int ret;
166	unsigned int freq;
167
168	ret = adis_read_reg_16(&st->adis, ADIS16460_REG_DEC_RATE, &t);
169	if (ret)
170		return ret;
171
172	freq = 2048000 / (t + 1);
173	*val = freq / 1000;
174	*val2 = (freq % 1000) * 1000;
175
176	return IIO_VAL_INT_PLUS_MICRO;
177}
178
179static int adis16460_read_raw(struct iio_dev *indio_dev,
180	const struct iio_chan_spec *chan, int *val, int *val2, long info)
181{
182	struct adis16460 *st = iio_priv(indio_dev);
183
184	switch (info) {
185	case IIO_CHAN_INFO_RAW:
186		return adis_single_conversion(indio_dev, chan, 0, val);
187	case IIO_CHAN_INFO_SCALE:
188		switch (chan->type) {
189		case IIO_ANGL_VEL:
190			*val = st->chip_info->gyro_max_scale;
191			*val2 = st->chip_info->gyro_max_val;
192			return IIO_VAL_FRACTIONAL;
193		case IIO_ACCEL:
194			*val = st->chip_info->accel_max_scale;
195			*val2 = st->chip_info->accel_max_val;
196			return IIO_VAL_FRACTIONAL;
197		case IIO_TEMP:
198			*val = 50; /* 50 milli degrees Celsius/LSB */
199			return IIO_VAL_INT;
200		default:
201			return -EINVAL;
202		}
203	case IIO_CHAN_INFO_OFFSET:
204		*val = 500; /* 25 degrees Celsius = 0x0000 */
205		return IIO_VAL_INT;
206	case IIO_CHAN_INFO_SAMP_FREQ:
207		return adis16460_get_freq(indio_dev, val, val2);
208	default:
209		return -EINVAL;
210	}
211}
212
213static int adis16460_write_raw(struct iio_dev *indio_dev,
214	const struct iio_chan_spec *chan, int val, int val2, long info)
215{
216	switch (info) {
217	case IIO_CHAN_INFO_SAMP_FREQ:
218		return adis16460_set_freq(indio_dev, val, val2);
219	default:
220		return -EINVAL;
221	}
222}
223
224enum {
225	ADIS16460_SCAN_GYRO_X,
226	ADIS16460_SCAN_GYRO_Y,
227	ADIS16460_SCAN_GYRO_Z,
228	ADIS16460_SCAN_ACCEL_X,
229	ADIS16460_SCAN_ACCEL_Y,
230	ADIS16460_SCAN_ACCEL_Z,
231	ADIS16460_SCAN_TEMP,
232};
233
234#define ADIS16460_MOD_CHANNEL(_type, _mod, _address, _si, _bits) \
235	{ \
236		.type = (_type), \
237		.modified = 1, \
238		.channel2 = (_mod), \
239		.info_mask_separate = BIT(IIO_CHAN_INFO_RAW), \
240		.info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE), \
241		.info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
242		.address = (_address), \
243		.scan_index = (_si), \
244		.scan_type = { \
245			.sign = 's', \
246			.realbits = (_bits), \
247			.storagebits = (_bits), \
248			.endianness = IIO_BE, \
249		}, \
250	}
251
252#define ADIS16460_GYRO_CHANNEL(_mod) \
253	ADIS16460_MOD_CHANNEL(IIO_ANGL_VEL, IIO_MOD_ ## _mod, \
254	ADIS16460_REG_ ## _mod ## _GYRO_LOW, ADIS16460_SCAN_GYRO_ ## _mod, \
255	32)
256
257#define ADIS16460_ACCEL_CHANNEL(_mod) \
258	ADIS16460_MOD_CHANNEL(IIO_ACCEL, IIO_MOD_ ## _mod, \
259	ADIS16460_REG_ ## _mod ## _ACCL_LOW, ADIS16460_SCAN_ACCEL_ ## _mod, \
260	32)
261
262#define ADIS16460_TEMP_CHANNEL() { \
263		.type = IIO_TEMP, \
264		.indexed = 1, \
265		.channel = 0, \
266		.info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \
267			BIT(IIO_CHAN_INFO_SCALE) | \
268			BIT(IIO_CHAN_INFO_OFFSET), \
269		.info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
270		.address = ADIS16460_REG_TEMP_OUT, \
271		.scan_index = ADIS16460_SCAN_TEMP, \
272		.scan_type = { \
273			.sign = 's', \
274			.realbits = 16, \
275			.storagebits = 16, \
276			.endianness = IIO_BE, \
277		}, \
278	}
279
280static const struct iio_chan_spec adis16460_channels[] = {
281	ADIS16460_GYRO_CHANNEL(X),
282	ADIS16460_GYRO_CHANNEL(Y),
283	ADIS16460_GYRO_CHANNEL(Z),
284	ADIS16460_ACCEL_CHANNEL(X),
285	ADIS16460_ACCEL_CHANNEL(Y),
286	ADIS16460_ACCEL_CHANNEL(Z),
287	ADIS16460_TEMP_CHANNEL(),
288	IIO_CHAN_SOFT_TIMESTAMP(7)
289};
290
291static const struct adis16460_chip_info adis16460_chip_info = {
292	.channels = adis16460_channels,
293	.num_channels = ARRAY_SIZE(adis16460_channels),
294	/*
295	 * storing the value in rad/degree and the scale in degree
296	 * gives us the result in rad and better precession than
297	 * storing the scale directly in rad.
298	 */
299	.gyro_max_val = IIO_RAD_TO_DEGREE(200 << 16),
300	.gyro_max_scale = 1,
301	.accel_max_val = IIO_M_S_2_TO_G(20000 << 16),
302	.accel_max_scale = 5,
303};
304
305static const struct iio_info adis16460_info = {
306	.read_raw = &adis16460_read_raw,
307	.write_raw = &adis16460_write_raw,
308	.update_scan_mode = adis_update_scan_mode,
309	.debugfs_reg_access = adis_debugfs_reg_access,
310};
311
312#define ADIS16460_DIAG_STAT_IN_CLK_OOS	7
313#define ADIS16460_DIAG_STAT_FLASH_MEM	6
314#define ADIS16460_DIAG_STAT_SELF_TEST	5
315#define ADIS16460_DIAG_STAT_OVERRANGE	4
316#define ADIS16460_DIAG_STAT_SPI_COMM	3
317#define ADIS16460_DIAG_STAT_FLASH_UPT	2
318
319static const char * const adis16460_status_error_msgs[] = {
320	[ADIS16460_DIAG_STAT_IN_CLK_OOS] = "Input clock out of sync",
321	[ADIS16460_DIAG_STAT_FLASH_MEM] = "Flash memory failure",
322	[ADIS16460_DIAG_STAT_SELF_TEST] = "Self test diagnostic failure",
323	[ADIS16460_DIAG_STAT_OVERRANGE] = "Sensor overrange",
324	[ADIS16460_DIAG_STAT_SPI_COMM] = "SPI communication failure",
325	[ADIS16460_DIAG_STAT_FLASH_UPT] = "Flash update failure",
326};
327
328static const struct adis_timeout adis16460_timeouts = {
329	.reset_ms = 225,
330	.sw_reset_ms = 225,
331	.self_test_ms = 10,
332};
333
334static const struct adis_data adis16460_data = {
335	.diag_stat_reg = ADIS16460_REG_DIAG_STAT,
336	.glob_cmd_reg = ADIS16460_REG_GLOB_CMD,
337	.prod_id_reg = ADIS16460_REG_PROD_ID,
338	.prod_id = 16460,
339	.self_test_mask = BIT(2),
340	.self_test_reg = ADIS16460_REG_GLOB_CMD,
341	.has_paging = false,
342	.read_delay = 5,
343	.write_delay = 5,
344	.cs_change_delay = 16,
345	.status_error_msgs = adis16460_status_error_msgs,
346	.status_error_mask = BIT(ADIS16460_DIAG_STAT_IN_CLK_OOS) |
347		BIT(ADIS16460_DIAG_STAT_FLASH_MEM) |
348		BIT(ADIS16460_DIAG_STAT_SELF_TEST) |
349		BIT(ADIS16460_DIAG_STAT_OVERRANGE) |
350		BIT(ADIS16460_DIAG_STAT_SPI_COMM) |
351		BIT(ADIS16460_DIAG_STAT_FLASH_UPT),
352	.unmasked_drdy = true,
353	.timeouts = &adis16460_timeouts,
354};
355
356static int adis16460_probe(struct spi_device *spi)
357{
358	struct iio_dev *indio_dev;
359	struct adis16460 *st;
360	int ret;
361
362	indio_dev = devm_iio_device_alloc(&spi->dev, sizeof(*st));
363	if (indio_dev == NULL)
364		return -ENOMEM;
365
366	st = iio_priv(indio_dev);
367
368	st->chip_info = &adis16460_chip_info;
369	indio_dev->name = spi_get_device_id(spi)->name;
370	indio_dev->channels = st->chip_info->channels;
371	indio_dev->num_channels = st->chip_info->num_channels;
372	indio_dev->info = &adis16460_info;
373	indio_dev->modes = INDIO_DIRECT_MODE;
374
375	ret = adis_init(&st->adis, indio_dev, spi, &adis16460_data);
376	if (ret)
377		return ret;
378
379	ret = devm_adis_setup_buffer_and_trigger(&st->adis, indio_dev, NULL);
380	if (ret)
381		return ret;
382
383	ret = __adis_initial_startup(&st->adis);
384	if (ret)
385		return ret;
386
387	ret = devm_iio_device_register(&spi->dev, indio_dev);
388	if (ret)
389		return ret;
390
391	adis16460_debugfs_init(indio_dev);
392
393	return 0;
394}
395
396static const struct spi_device_id adis16460_ids[] = {
397	{ "adis16460", 0 },
398	{ }
399};
400MODULE_DEVICE_TABLE(spi, adis16460_ids);
401
402static const struct of_device_id adis16460_of_match[] = {
403	{ .compatible = "adi,adis16460" },
404	{ }
405};
406MODULE_DEVICE_TABLE(of, adis16460_of_match);
407
408static struct spi_driver adis16460_driver = {
409	.driver = {
410		.name = "adis16460",
411		.of_match_table = adis16460_of_match,
412	},
413	.id_table = adis16460_ids,
414	.probe = adis16460_probe,
415};
416module_spi_driver(adis16460_driver);
417
418MODULE_AUTHOR("Dragos Bogdan <dragos.bogdan@analog.com>");
419MODULE_DESCRIPTION("Analog Devices ADIS16460 IMU driver");
420MODULE_LICENSE("GPL");
421MODULE_IMPORT_NS("IIO_ADISLIB");