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 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 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"); 107 108 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"); 125 126 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 } 141 142 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 } 160 161 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 } 178 179 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 } 212 213 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 }; 355 356 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