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
adis16460_show_serial_number(void * arg,u64 * val)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
adis16460_show_product_id(void * arg,u64 * val)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
adis16460_show_flash_count(void * arg,u64 * val)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
adis16460_debugfs_init(struct iio_dev * indio_dev)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
adis16460_debugfs_init(struct iio_dev * indio_dev)145 static int adis16460_debugfs_init(struct iio_dev *indio_dev)
146 {
147 return 0;
148 }
149
150 #endif
151
adis16460_set_freq(struct iio_dev * indio_dev,int val,int val2)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
adis16460_get_freq(struct iio_dev * indio_dev,int * val,int * val2)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
adis16460_read_raw(struct iio_dev * indio_dev,const struct iio_chan_spec * chan,int * val,int * val2,long info)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
adis16460_write_raw(struct iio_dev * indio_dev,const struct iio_chan_spec * chan,int val,int val2,long info)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
adis16460_enable_irq(struct adis * adis,bool enable)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
adis16460_initial_setup(struct iio_dev * indio_dev)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
adis16460_probe(struct spi_device * spi)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
adis16460_remove(struct spi_device * spi)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
