1 // SPDX-License-Identifier: GPL-2.0-or-later
2 /*
3 * ADIS16260/ADIS16265 Programmable Digital Gyroscope Sensor Driver
4 *
5 * Copyright 2010 Analog Devices Inc.
6 */
7
8 #include <linux/device.h>
9 #include <linux/kernel.h>
10 #include <linux/spi/spi.h>
11 #include <linux/module.h>
12
13 #include <linux/iio/iio.h>
14 #include <linux/iio/imu/adis.h>
15
16 #define ADIS16260_STARTUP_DELAY 220 /* ms */
17
18 #define ADIS16260_FLASH_CNT 0x00 /* Flash memory write count */
19 #define ADIS16260_SUPPLY_OUT 0x02 /* Power supply measurement */
20 #define ADIS16260_GYRO_OUT 0x04 /* X-axis gyroscope output */
21 #define ADIS16260_AUX_ADC 0x0A /* analog input channel measurement */
22 #define ADIS16260_TEMP_OUT 0x0C /* internal temperature measurement */
23 #define ADIS16260_ANGL_OUT 0x0E /* angle displacement */
24 #define ADIS16260_GYRO_OFF 0x14 /* Calibration, offset/bias adjustment */
25 #define ADIS16260_GYRO_SCALE 0x16 /* Calibration, scale adjustment */
26 #define ADIS16260_ALM_MAG1 0x20 /* Alarm 1 magnitude/polarity setting */
27 #define ADIS16260_ALM_MAG2 0x22 /* Alarm 2 magnitude/polarity setting */
28 #define ADIS16260_ALM_SMPL1 0x24 /* Alarm 1 dynamic rate of change setting */
29 #define ADIS16260_ALM_SMPL2 0x26 /* Alarm 2 dynamic rate of change setting */
30 #define ADIS16260_ALM_CTRL 0x28 /* Alarm control */
31 #define ADIS16260_AUX_DAC 0x30 /* Auxiliary DAC data */
32 #define ADIS16260_GPIO_CTRL 0x32 /* Control, digital I/O line */
33 #define ADIS16260_MSC_CTRL 0x34 /* Control, data ready, self-test settings */
34 #define ADIS16260_SMPL_PRD 0x36 /* Control, internal sample rate */
35 #define ADIS16260_SENS_AVG 0x38 /* Control, dynamic range, filtering */
36 #define ADIS16260_SLP_CNT 0x3A /* Control, sleep mode initiation */
37 #define ADIS16260_DIAG_STAT 0x3C /* Diagnostic, error flags */
38 #define ADIS16260_GLOB_CMD 0x3E /* Control, global commands */
39 #define ADIS16260_LOT_ID1 0x52 /* Lot Identification Code 1 */
40 #define ADIS16260_LOT_ID2 0x54 /* Lot Identification Code 2 */
41 #define ADIS16260_PROD_ID 0x56 /* Product identifier;
42 * convert to decimal = 16,265/16,260 */
43 #define ADIS16260_SERIAL_NUM 0x58 /* Serial number */
44
45 #define ADIS16260_ERROR_ACTIVE (1<<14)
46 #define ADIS16260_NEW_DATA (1<<15)
47
48 /* MSC_CTRL */
49 #define ADIS16260_MSC_CTRL_MEM_TEST (1<<11)
50 /* Internal self-test enable */
51 #define ADIS16260_MSC_CTRL_INT_SELF_TEST (1<<10)
52 #define ADIS16260_MSC_CTRL_NEG_SELF_TEST (1<<9)
53 #define ADIS16260_MSC_CTRL_POS_SELF_TEST (1<<8)
54 #define ADIS16260_MSC_CTRL_DATA_RDY_EN (1<<2)
55 #define ADIS16260_MSC_CTRL_DATA_RDY_POL_HIGH (1<<1)
56 #define ADIS16260_MSC_CTRL_DATA_RDY_DIO2 (1<<0)
57
58 /* SMPL_PRD */
59 /* Time base (tB): 0 = 1.953 ms, 1 = 60.54 ms */
60 #define ADIS16260_SMPL_PRD_TIME_BASE (1<<7)
61 #define ADIS16260_SMPL_PRD_DIV_MASK 0x7F
62
63 /* SLP_CNT */
64 #define ADIS16260_SLP_CNT_POWER_OFF 0x80
65
66 /* DIAG_STAT */
67 #define ADIS16260_DIAG_STAT_ALARM2 (1<<9)
68 #define ADIS16260_DIAG_STAT_ALARM1 (1<<8)
69 #define ADIS16260_DIAG_STAT_FLASH_CHK_BIT 6
70 #define ADIS16260_DIAG_STAT_SELF_TEST_BIT 5
71 #define ADIS16260_DIAG_STAT_OVERFLOW_BIT 4
72 #define ADIS16260_DIAG_STAT_SPI_FAIL_BIT 3
73 #define ADIS16260_DIAG_STAT_FLASH_UPT_BIT 2
74 #define ADIS16260_DIAG_STAT_POWER_HIGH_BIT 1
75 #define ADIS16260_DIAG_STAT_POWER_LOW_BIT 0
76
77 /* GLOB_CMD */
78 #define ADIS16260_GLOB_CMD_SW_RESET (1<<7)
79 #define ADIS16260_GLOB_CMD_FLASH_UPD (1<<3)
80 #define ADIS16260_GLOB_CMD_DAC_LATCH (1<<2)
81 #define ADIS16260_GLOB_CMD_FAC_CALIB (1<<1)
82 #define ADIS16260_GLOB_CMD_AUTO_NULL (1<<0)
83
84 #define ADIS16260_SPI_SLOW (u32)(300 * 1000)
85 #define ADIS16260_SPI_BURST (u32)(1000 * 1000)
86 #define ADIS16260_SPI_FAST (u32)(2000 * 1000)
87
88 /* At the moment triggers are only used for ring buffer
89 * filling. This may change!
90 */
91
92 #define ADIS16260_SCAN_GYRO 0
93 #define ADIS16260_SCAN_SUPPLY 1
94 #define ADIS16260_SCAN_AUX_ADC 2
95 #define ADIS16260_SCAN_TEMP 3
96 #define ADIS16260_SCAN_ANGL 4
97
98 struct adis16260_chip_info {
99 unsigned int gyro_max_val;
100 unsigned int gyro_max_scale;
101 const struct iio_chan_spec *channels;
102 unsigned int num_channels;
103 };
104
105 struct adis16260 {
106 const struct adis16260_chip_info *info;
107
108 struct adis adis;
109 };
110
111 enum adis16260_type {
112 ADIS16251,
113 ADIS16260,
114 ADIS16266,
115 };
116
117 static const struct iio_chan_spec adis16260_channels[] = {
118 ADIS_GYRO_CHAN(X, ADIS16260_GYRO_OUT, ADIS16260_SCAN_GYRO,
119 BIT(IIO_CHAN_INFO_CALIBBIAS) |
120 BIT(IIO_CHAN_INFO_CALIBSCALE),
121 BIT(IIO_CHAN_INFO_SAMP_FREQ), 14),
122 ADIS_INCLI_CHAN(X, ADIS16260_ANGL_OUT, ADIS16260_SCAN_ANGL, 0,
123 BIT(IIO_CHAN_INFO_SAMP_FREQ), 14),
124 ADIS_TEMP_CHAN(ADIS16260_TEMP_OUT, ADIS16260_SCAN_TEMP,
125 BIT(IIO_CHAN_INFO_SAMP_FREQ), 12),
126 ADIS_SUPPLY_CHAN(ADIS16260_SUPPLY_OUT, ADIS16260_SCAN_SUPPLY,
127 BIT(IIO_CHAN_INFO_SAMP_FREQ), 12),
128 ADIS_AUX_ADC_CHAN(ADIS16260_AUX_ADC, ADIS16260_SCAN_AUX_ADC,
129 BIT(IIO_CHAN_INFO_SAMP_FREQ), 12),
130 IIO_CHAN_SOFT_TIMESTAMP(5),
131 };
132
133 static const struct iio_chan_spec adis16266_channels[] = {
134 ADIS_GYRO_CHAN(X, ADIS16260_GYRO_OUT, ADIS16260_SCAN_GYRO,
135 BIT(IIO_CHAN_INFO_CALIBBIAS) |
136 BIT(IIO_CHAN_INFO_CALIBSCALE),
137 BIT(IIO_CHAN_INFO_SAMP_FREQ), 14),
138 ADIS_TEMP_CHAN(ADIS16260_TEMP_OUT, ADIS16260_SCAN_TEMP,
139 BIT(IIO_CHAN_INFO_SAMP_FREQ), 12),
140 ADIS_SUPPLY_CHAN(ADIS16260_SUPPLY_OUT, ADIS16260_SCAN_SUPPLY,
141 BIT(IIO_CHAN_INFO_SAMP_FREQ), 12),
142 ADIS_AUX_ADC_CHAN(ADIS16260_AUX_ADC, ADIS16260_SCAN_AUX_ADC,
143 BIT(IIO_CHAN_INFO_SAMP_FREQ), 12),
144 IIO_CHAN_SOFT_TIMESTAMP(4),
145 };
146
147 static const struct adis16260_chip_info adis16260_chip_info_table[] = {
148 [ADIS16251] = {
149 .gyro_max_scale = 80,
150 .gyro_max_val = IIO_RAD_TO_DEGREE(4368),
151 .channels = adis16260_channels,
152 .num_channels = ARRAY_SIZE(adis16260_channels),
153 },
154 [ADIS16260] = {
155 .gyro_max_scale = 320,
156 .gyro_max_val = IIO_RAD_TO_DEGREE(4368),
157 .channels = adis16260_channels,
158 .num_channels = ARRAY_SIZE(adis16260_channels),
159 },
160 [ADIS16266] = {
161 .gyro_max_scale = 14000,
162 .gyro_max_val = IIO_RAD_TO_DEGREE(3357),
163 .channels = adis16266_channels,
164 .num_channels = ARRAY_SIZE(adis16266_channels),
165 },
166 };
167
168 /* Power down the device */
adis16260_stop_device(struct iio_dev * indio_dev)169 static int adis16260_stop_device(struct iio_dev *indio_dev)
170 {
171 struct adis16260 *adis16260 = iio_priv(indio_dev);
172 int ret;
173 u16 val = ADIS16260_SLP_CNT_POWER_OFF;
174
175 ret = adis_write_reg_16(&adis16260->adis, ADIS16260_SLP_CNT, val);
176 if (ret)
177 dev_err(&indio_dev->dev, "problem with turning device off: SLP_CNT");
178
179 return ret;
180 }
181
182 static const u8 adis16260_addresses[][2] = {
183 [ADIS16260_SCAN_GYRO] = { ADIS16260_GYRO_OFF, ADIS16260_GYRO_SCALE },
184 };
185
adis16260_read_raw(struct iio_dev * indio_dev,struct iio_chan_spec const * chan,int * val,int * val2,long mask)186 static int adis16260_read_raw(struct iio_dev *indio_dev,
187 struct iio_chan_spec const *chan,
188 int *val, int *val2,
189 long mask)
190 {
191 struct adis16260 *adis16260 = iio_priv(indio_dev);
192 const struct adis16260_chip_info *info = adis16260->info;
193 struct adis *adis = &adis16260->adis;
194 int ret;
195 u8 addr;
196 s16 val16;
197
198 switch (mask) {
199 case IIO_CHAN_INFO_RAW:
200 return adis_single_conversion(indio_dev, chan,
201 ADIS16260_ERROR_ACTIVE, val);
202 case IIO_CHAN_INFO_SCALE:
203 switch (chan->type) {
204 case IIO_ANGL_VEL:
205 *val = info->gyro_max_scale;
206 *val2 = info->gyro_max_val;
207 return IIO_VAL_FRACTIONAL;
208 case IIO_INCLI:
209 *val = 0;
210 *val2 = IIO_DEGREE_TO_RAD(36630);
211 return IIO_VAL_INT_PLUS_MICRO;
212 case IIO_VOLTAGE:
213 if (chan->channel == 0) {
214 *val = 1;
215 *val2 = 831500; /* 1.8315 mV */
216 } else {
217 *val = 0;
218 *val2 = 610500; /* 610.5 uV */
219 }
220 return IIO_VAL_INT_PLUS_MICRO;
221 case IIO_TEMP:
222 *val = 145;
223 *val2 = 300000; /* 0.1453 C */
224 return IIO_VAL_INT_PLUS_MICRO;
225 default:
226 return -EINVAL;
227 }
228 case IIO_CHAN_INFO_OFFSET:
229 *val = 250000 / 1453; /* 25 C = 0x00 */
230 return IIO_VAL_INT;
231 case IIO_CHAN_INFO_CALIBBIAS:
232 addr = adis16260_addresses[chan->scan_index][0];
233 ret = adis_read_reg_16(adis, addr, &val16);
234 if (ret)
235 return ret;
236
237 *val = sign_extend32(val16, 11);
238 return IIO_VAL_INT;
239 case IIO_CHAN_INFO_CALIBSCALE:
240 addr = adis16260_addresses[chan->scan_index][1];
241 ret = adis_read_reg_16(adis, addr, &val16);
242 if (ret)
243 return ret;
244
245 *val = val16;
246 return IIO_VAL_INT;
247 case IIO_CHAN_INFO_SAMP_FREQ:
248 ret = adis_read_reg_16(adis, ADIS16260_SMPL_PRD, &val16);
249 if (ret)
250 return ret;
251
252 if (spi_get_device_id(adis->spi)->driver_data)
253 /* If an adis16251 */
254 *val = (val16 & ADIS16260_SMPL_PRD_TIME_BASE) ?
255 8 : 256;
256 else
257 *val = (val16 & ADIS16260_SMPL_PRD_TIME_BASE) ?
258 66 : 2048;
259 *val /= (val16 & ADIS16260_SMPL_PRD_DIV_MASK) + 1;
260 return IIO_VAL_INT;
261 }
262 return -EINVAL;
263 }
264
adis16260_write_raw(struct iio_dev * indio_dev,struct iio_chan_spec const * chan,int val,int val2,long mask)265 static int adis16260_write_raw(struct iio_dev *indio_dev,
266 struct iio_chan_spec const *chan,
267 int val,
268 int val2,
269 long mask)
270 {
271 struct adis16260 *adis16260 = iio_priv(indio_dev);
272 struct adis *adis = &adis16260->adis;
273 u8 addr;
274 u8 t;
275
276 switch (mask) {
277 case IIO_CHAN_INFO_CALIBBIAS:
278 if (val < -2048 || val >= 2048)
279 return -EINVAL;
280
281 addr = adis16260_addresses[chan->scan_index][0];
282 return adis_write_reg_16(adis, addr, val);
283 case IIO_CHAN_INFO_CALIBSCALE:
284 if (val < 0 || val >= 4096)
285 return -EINVAL;
286
287 addr = adis16260_addresses[chan->scan_index][1];
288 return adis_write_reg_16(adis, addr, val);
289 case IIO_CHAN_INFO_SAMP_FREQ:
290 if (spi_get_device_id(adis->spi)->driver_data)
291 t = 256 / val;
292 else
293 t = 2048 / val;
294
295 if (t > ADIS16260_SMPL_PRD_DIV_MASK)
296 t = ADIS16260_SMPL_PRD_DIV_MASK;
297 else if (t > 0)
298 t--;
299 adis_dev_auto_scoped_lock(adis) {
300 if (t >= 0x0A)
301 adis->spi->max_speed_hz = ADIS16260_SPI_SLOW;
302 else
303 adis->spi->max_speed_hz = ADIS16260_SPI_FAST;
304 return __adis_write_reg_8(adis, ADIS16260_SMPL_PRD, t);
305 }
306 unreachable();
307 }
308 return -EINVAL;
309 }
310
311 static const struct iio_info adis16260_info = {
312 .read_raw = &adis16260_read_raw,
313 .write_raw = &adis16260_write_raw,
314 .update_scan_mode = adis_update_scan_mode,
315 };
316
317 static const char * const adis1620_status_error_msgs[] = {
318 [ADIS16260_DIAG_STAT_FLASH_CHK_BIT] = "Flash checksum error",
319 [ADIS16260_DIAG_STAT_SELF_TEST_BIT] = "Self test error",
320 [ADIS16260_DIAG_STAT_OVERFLOW_BIT] = "Sensor overrange",
321 [ADIS16260_DIAG_STAT_SPI_FAIL_BIT] = "SPI failure",
322 [ADIS16260_DIAG_STAT_FLASH_UPT_BIT] = "Flash update failed",
323 [ADIS16260_DIAG_STAT_POWER_HIGH_BIT] = "Power supply above 5.25",
324 [ADIS16260_DIAG_STAT_POWER_LOW_BIT] = "Power supply below 4.75",
325 };
326
327 static const struct adis_timeout adis16260_timeouts = {
328 .reset_ms = ADIS16260_STARTUP_DELAY,
329 .sw_reset_ms = ADIS16260_STARTUP_DELAY,
330 .self_test_ms = ADIS16260_STARTUP_DELAY,
331 };
332
333 static const struct adis_data adis16260_data = {
334 .write_delay = 30,
335 .read_delay = 30,
336 .msc_ctrl_reg = ADIS16260_MSC_CTRL,
337 .glob_cmd_reg = ADIS16260_GLOB_CMD,
338 .diag_stat_reg = ADIS16260_DIAG_STAT,
339
340 .self_test_mask = ADIS16260_MSC_CTRL_MEM_TEST,
341 .self_test_reg = ADIS16260_MSC_CTRL,
342 .timeouts = &adis16260_timeouts,
343
344 .status_error_msgs = adis1620_status_error_msgs,
345 .status_error_mask = BIT(ADIS16260_DIAG_STAT_FLASH_CHK_BIT) |
346 BIT(ADIS16260_DIAG_STAT_SELF_TEST_BIT) |
347 BIT(ADIS16260_DIAG_STAT_OVERFLOW_BIT) |
348 BIT(ADIS16260_DIAG_STAT_SPI_FAIL_BIT) |
349 BIT(ADIS16260_DIAG_STAT_FLASH_UPT_BIT) |
350 BIT(ADIS16260_DIAG_STAT_POWER_HIGH_BIT) |
351 BIT(ADIS16260_DIAG_STAT_POWER_LOW_BIT),
352 };
353
adis16260_stop(void * data)354 static void adis16260_stop(void *data)
355 {
356 adis16260_stop_device(data);
357 }
358
adis16260_probe(struct spi_device * spi)359 static int adis16260_probe(struct spi_device *spi)
360 {
361 const struct spi_device_id *id;
362 struct adis16260 *adis16260;
363 struct iio_dev *indio_dev;
364 int ret;
365
366 id = spi_get_device_id(spi);
367 if (!id)
368 return -ENODEV;
369
370 /* setup the industrialio driver allocated elements */
371 indio_dev = devm_iio_device_alloc(&spi->dev, sizeof(*adis16260));
372 if (!indio_dev)
373 return -ENOMEM;
374 adis16260 = iio_priv(indio_dev);
375 /* this is only used for removal purposes */
376 spi_set_drvdata(spi, indio_dev);
377
378 adis16260->info = &adis16260_chip_info_table[id->driver_data];
379
380 indio_dev->name = id->name;
381 indio_dev->info = &adis16260_info;
382 indio_dev->channels = adis16260->info->channels;
383 indio_dev->num_channels = adis16260->info->num_channels;
384 indio_dev->modes = INDIO_DIRECT_MODE;
385
386 ret = adis_init(&adis16260->adis, indio_dev, spi, &adis16260_data);
387 if (ret)
388 return ret;
389
390 ret = devm_adis_setup_buffer_and_trigger(&adis16260->adis, indio_dev, NULL);
391 if (ret)
392 return ret;
393
394 /* Get the device into a sane initial state */
395 ret = __adis_initial_startup(&adis16260->adis);
396 if (ret)
397 return ret;
398
399 ret = devm_add_action_or_reset(&spi->dev, adis16260_stop, indio_dev);
400 if (ret)
401 return ret;
402
403 return devm_iio_device_register(&spi->dev, indio_dev);
404 }
405
406 /*
407 * These parts do not need to be differentiated until someone adds
408 * support for the on chip filtering.
409 */
410 static const struct spi_device_id adis16260_id[] = {
411 {"adis16260", ADIS16260},
412 {"adis16265", ADIS16260},
413 {"adis16266", ADIS16266},
414 {"adis16250", ADIS16260},
415 {"adis16255", ADIS16260},
416 {"adis16251", ADIS16251},
417 {}
418 };
419 MODULE_DEVICE_TABLE(spi, adis16260_id);
420
421 static struct spi_driver adis16260_driver = {
422 .driver = {
423 .name = "adis16260",
424 },
425 .probe = adis16260_probe,
426 .id_table = adis16260_id,
427 };
428 module_spi_driver(adis16260_driver);
429
430 MODULE_AUTHOR("Barry Song <21cnbao@gmail.com>");
431 MODULE_DESCRIPTION("Analog Devices ADIS16260/5 Digital Gyroscope Sensor");
432 MODULE_LICENSE("GPL v2");
433 MODULE_IMPORT_NS("IIO_ADISLIB");
434