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
58 struct 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
67 struct adis16460 {
68 const struct adis16460_chip_info *chip_info;
69 struct adis adis;
70 };
71
adis16460_show_serial_number(void * arg,u64 * val)72 static 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 }
87 DEFINE_DEBUGFS_ATTRIBUTE(adis16460_serial_number_fops,
88 adis16460_show_serial_number, NULL, "0x%.4llx\n");
89
adis16460_show_product_id(void * arg,u64 * val)90 static 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 }
105 DEFINE_DEBUGFS_ATTRIBUTE(adis16460_product_id_fops,
106 adis16460_show_product_id, NULL, "%llu\n");
107
adis16460_show_flash_count(void * arg,u64 * val)108 static 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 }
123 DEFINE_DEBUGFS_ATTRIBUTE(adis16460_flash_count_fops,
124 adis16460_show_flash_count, NULL, "%lld\n");
125
adis16460_debugfs_init(struct iio_dev * indio_dev)126 static 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
adis16460_set_freq(struct iio_dev * indio_dev,int val,int val2)142 static 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
adis16460_get_freq(struct iio_dev * indio_dev,int * val,int * val2)161 static 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
adis16460_read_raw(struct iio_dev * indio_dev,const struct iio_chan_spec * chan,int * val,int * val2,long info)179 static 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
adis16460_write_raw(struct iio_dev * indio_dev,const struct iio_chan_spec * chan,int val,int val2,long info)213 static 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
224 enum {
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
280 static 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
291 static 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
305 static 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
319 static 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
328 static const struct adis_timeout adis16460_timeouts = {
329 .reset_ms = 225,
330 .sw_reset_ms = 225,
331 .self_test_ms = 10,
332 };
333
334 static 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
adis16460_probe(struct spi_device * spi)356 static 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
396 static const struct spi_device_id adis16460_ids[] = {
397 { "adis16460", 0 },
398 {}
399 };
400 MODULE_DEVICE_TABLE(spi, adis16460_ids);
401
402 static const struct of_device_id adis16460_of_match[] = {
403 { .compatible = "adi,adis16460" },
404 {}
405 };
406 MODULE_DEVICE_TABLE(of, adis16460_of_match);
407
408 static 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 };
416 module_spi_driver(adis16460_driver);
417
418 MODULE_AUTHOR("Dragos Bogdan <dragos.bogdan@analog.com>");
419 MODULE_DESCRIPTION("Analog Devices ADIS16460 IMU driver");
420 MODULE_LICENSE("GPL");
421 MODULE_IMPORT_NS(IIO_ADISLIB);
422