1 /* 2 * ADIS16480 and similar IMUs driver 3 * 4 * Copyright 2012 Analog Devices Inc. 5 * 6 * This program is free software; you can redistribute it and/or modify 7 * it under the terms of the GNU General Public License version 2 as 8 * published by the Free Software Foundation. 9 * 10 */ 11 12 #include <linux/interrupt.h> 13 #include <linux/delay.h> 14 #include <linux/mutex.h> 15 #include <linux/device.h> 16 #include <linux/kernel.h> 17 #include <linux/spi/spi.h> 18 #include <linux/slab.h> 19 #include <linux/sysfs.h> 20 #include <linux/module.h> 21 22 #include <linux/iio/iio.h> 23 #include <linux/iio/sysfs.h> 24 #include <linux/iio/buffer.h> 25 #include <linux/iio/imu/adis.h> 26 27 #include <linux/debugfs.h> 28 29 #define ADIS16480_PAGE_SIZE 0x80 30 31 #define ADIS16480_REG(page, reg) ((page) * ADIS16480_PAGE_SIZE + (reg)) 32 33 #define ADIS16480_REG_PAGE_ID 0x00 /* Same address on each page */ 34 #define ADIS16480_REG_SEQ_CNT ADIS16480_REG(0x00, 0x06) 35 #define ADIS16480_REG_SYS_E_FLA ADIS16480_REG(0x00, 0x08) 36 #define ADIS16480_REG_DIAG_STS ADIS16480_REG(0x00, 0x0A) 37 #define ADIS16480_REG_ALM_STS ADIS16480_REG(0x00, 0x0C) 38 #define ADIS16480_REG_TEMP_OUT ADIS16480_REG(0x00, 0x0E) 39 #define ADIS16480_REG_X_GYRO_OUT ADIS16480_REG(0x00, 0x10) 40 #define ADIS16480_REG_Y_GYRO_OUT ADIS16480_REG(0x00, 0x14) 41 #define ADIS16480_REG_Z_GYRO_OUT ADIS16480_REG(0x00, 0x18) 42 #define ADIS16480_REG_X_ACCEL_OUT ADIS16480_REG(0x00, 0x1C) 43 #define ADIS16480_REG_Y_ACCEL_OUT ADIS16480_REG(0x00, 0x20) 44 #define ADIS16480_REG_Z_ACCEL_OUT ADIS16480_REG(0x00, 0x24) 45 #define ADIS16480_REG_X_MAGN_OUT ADIS16480_REG(0x00, 0x28) 46 #define ADIS16480_REG_Y_MAGN_OUT ADIS16480_REG(0x00, 0x2A) 47 #define ADIS16480_REG_Z_MAGN_OUT ADIS16480_REG(0x00, 0x2C) 48 #define ADIS16480_REG_BAROM_OUT ADIS16480_REG(0x00, 0x2E) 49 #define ADIS16480_REG_X_DELTAANG_OUT ADIS16480_REG(0x00, 0x40) 50 #define ADIS16480_REG_Y_DELTAANG_OUT ADIS16480_REG(0x00, 0x44) 51 #define ADIS16480_REG_Z_DELTAANG_OUT ADIS16480_REG(0x00, 0x48) 52 #define ADIS16480_REG_X_DELTAVEL_OUT ADIS16480_REG(0x00, 0x4C) 53 #define ADIS16480_REG_Y_DELTAVEL_OUT ADIS16480_REG(0x00, 0x50) 54 #define ADIS16480_REG_Z_DELTAVEL_OUT ADIS16480_REG(0x00, 0x54) 55 #define ADIS16480_REG_PROD_ID ADIS16480_REG(0x00, 0x7E) 56 57 #define ADIS16480_REG_X_GYRO_SCALE ADIS16480_REG(0x02, 0x04) 58 #define ADIS16480_REG_Y_GYRO_SCALE ADIS16480_REG(0x02, 0x06) 59 #define ADIS16480_REG_Z_GYRO_SCALE ADIS16480_REG(0x02, 0x08) 60 #define ADIS16480_REG_X_ACCEL_SCALE ADIS16480_REG(0x02, 0x0A) 61 #define ADIS16480_REG_Y_ACCEL_SCALE ADIS16480_REG(0x02, 0x0C) 62 #define ADIS16480_REG_Z_ACCEL_SCALE ADIS16480_REG(0x02, 0x0E) 63 #define ADIS16480_REG_X_GYRO_BIAS ADIS16480_REG(0x02, 0x10) 64 #define ADIS16480_REG_Y_GYRO_BIAS ADIS16480_REG(0x02, 0x14) 65 #define ADIS16480_REG_Z_GYRO_BIAS ADIS16480_REG(0x02, 0x18) 66 #define ADIS16480_REG_X_ACCEL_BIAS ADIS16480_REG(0x02, 0x1C) 67 #define ADIS16480_REG_Y_ACCEL_BIAS ADIS16480_REG(0x02, 0x20) 68 #define ADIS16480_REG_Z_ACCEL_BIAS ADIS16480_REG(0x02, 0x24) 69 #define ADIS16480_REG_X_HARD_IRON ADIS16480_REG(0x02, 0x28) 70 #define ADIS16480_REG_Y_HARD_IRON ADIS16480_REG(0x02, 0x2A) 71 #define ADIS16480_REG_Z_HARD_IRON ADIS16480_REG(0x02, 0x2C) 72 #define ADIS16480_REG_BAROM_BIAS ADIS16480_REG(0x02, 0x40) 73 #define ADIS16480_REG_FLASH_CNT ADIS16480_REG(0x02, 0x7C) 74 75 #define ADIS16480_REG_GLOB_CMD ADIS16480_REG(0x03, 0x02) 76 #define ADIS16480_REG_FNCTIO_CTRL ADIS16480_REG(0x03, 0x06) 77 #define ADIS16480_REG_GPIO_CTRL ADIS16480_REG(0x03, 0x08) 78 #define ADIS16480_REG_CONFIG ADIS16480_REG(0x03, 0x0A) 79 #define ADIS16480_REG_DEC_RATE ADIS16480_REG(0x03, 0x0C) 80 #define ADIS16480_REG_SLP_CNT ADIS16480_REG(0x03, 0x10) 81 #define ADIS16480_REG_FILTER_BNK0 ADIS16480_REG(0x03, 0x16) 82 #define ADIS16480_REG_FILTER_BNK1 ADIS16480_REG(0x03, 0x18) 83 #define ADIS16480_REG_ALM_CNFG0 ADIS16480_REG(0x03, 0x20) 84 #define ADIS16480_REG_ALM_CNFG1 ADIS16480_REG(0x03, 0x22) 85 #define ADIS16480_REG_ALM_CNFG2 ADIS16480_REG(0x03, 0x24) 86 #define ADIS16480_REG_XG_ALM_MAGN ADIS16480_REG(0x03, 0x28) 87 #define ADIS16480_REG_YG_ALM_MAGN ADIS16480_REG(0x03, 0x2A) 88 #define ADIS16480_REG_ZG_ALM_MAGN ADIS16480_REG(0x03, 0x2C) 89 #define ADIS16480_REG_XA_ALM_MAGN ADIS16480_REG(0x03, 0x2E) 90 #define ADIS16480_REG_YA_ALM_MAGN ADIS16480_REG(0x03, 0x30) 91 #define ADIS16480_REG_ZA_ALM_MAGN ADIS16480_REG(0x03, 0x32) 92 #define ADIS16480_REG_XM_ALM_MAGN ADIS16480_REG(0x03, 0x34) 93 #define ADIS16480_REG_YM_ALM_MAGN ADIS16480_REG(0x03, 0x36) 94 #define ADIS16480_REG_ZM_ALM_MAGN ADIS16480_REG(0x03, 0x38) 95 #define ADIS16480_REG_BR_ALM_MAGN ADIS16480_REG(0x03, 0x3A) 96 #define ADIS16480_REG_FIRM_REV ADIS16480_REG(0x03, 0x78) 97 #define ADIS16480_REG_FIRM_DM ADIS16480_REG(0x03, 0x7A) 98 #define ADIS16480_REG_FIRM_Y ADIS16480_REG(0x03, 0x7C) 99 100 #define ADIS16480_REG_SERIAL_NUM ADIS16480_REG(0x04, 0x20) 101 102 /* Each filter coefficent bank spans two pages */ 103 #define ADIS16480_FIR_COEF(page) (x < 60 ? ADIS16480_REG(page, (x) + 8) : \ 104 ADIS16480_REG((page) + 1, (x) - 60 + 8)) 105 #define ADIS16480_FIR_COEF_A(x) ADIS16480_FIR_COEF(0x05, (x)) 106 #define ADIS16480_FIR_COEF_B(x) ADIS16480_FIR_COEF(0x07, (x)) 107 #define ADIS16480_FIR_COEF_C(x) ADIS16480_FIR_COEF(0x09, (x)) 108 #define ADIS16480_FIR_COEF_D(x) ADIS16480_FIR_COEF(0x0B, (x)) 109 110 struct adis16480_chip_info { 111 unsigned int num_channels; 112 const struct iio_chan_spec *channels; 113 unsigned int gyro_max_val; 114 unsigned int gyro_max_scale; 115 unsigned int accel_max_val; 116 unsigned int accel_max_scale; 117 }; 118 119 struct adis16480 { 120 const struct adis16480_chip_info *chip_info; 121 122 struct adis adis; 123 }; 124 125 #ifdef CONFIG_DEBUG_FS 126 127 static ssize_t adis16480_show_firmware_revision(struct file *file, 128 char __user *userbuf, size_t count, loff_t *ppos) 129 { 130 struct adis16480 *adis16480 = file->private_data; 131 char buf[7]; 132 size_t len; 133 u16 rev; 134 int ret; 135 136 ret = adis_read_reg_16(&adis16480->adis, ADIS16480_REG_FIRM_REV, &rev); 137 if (ret < 0) 138 return ret; 139 140 len = scnprintf(buf, sizeof(buf), "%x.%x\n", rev >> 8, rev & 0xff); 141 142 return simple_read_from_buffer(userbuf, count, ppos, buf, len); 143 } 144 145 static const struct file_operations adis16480_firmware_revision_fops = { 146 .open = simple_open, 147 .read = adis16480_show_firmware_revision, 148 .llseek = default_llseek, 149 .owner = THIS_MODULE, 150 }; 151 152 static ssize_t adis16480_show_firmware_date(struct file *file, 153 char __user *userbuf, size_t count, loff_t *ppos) 154 { 155 struct adis16480 *adis16480 = file->private_data; 156 u16 md, year; 157 char buf[12]; 158 size_t len; 159 int ret; 160 161 ret = adis_read_reg_16(&adis16480->adis, ADIS16480_REG_FIRM_Y, &year); 162 if (ret < 0) 163 return ret; 164 165 ret = adis_read_reg_16(&adis16480->adis, ADIS16480_REG_FIRM_DM, &md); 166 if (ret < 0) 167 return ret; 168 169 len = snprintf(buf, sizeof(buf), "%.2x-%.2x-%.4x\n", 170 md >> 8, md & 0xff, year); 171 172 return simple_read_from_buffer(userbuf, count, ppos, buf, len); 173 } 174 175 static const struct file_operations adis16480_firmware_date_fops = { 176 .open = simple_open, 177 .read = adis16480_show_firmware_date, 178 .llseek = default_llseek, 179 .owner = THIS_MODULE, 180 }; 181 182 static int adis16480_show_serial_number(void *arg, u64 *val) 183 { 184 struct adis16480 *adis16480 = arg; 185 u16 serial; 186 int ret; 187 188 ret = adis_read_reg_16(&adis16480->adis, ADIS16480_REG_SERIAL_NUM, 189 &serial); 190 if (ret < 0) 191 return ret; 192 193 *val = serial; 194 195 return 0; 196 } 197 DEFINE_SIMPLE_ATTRIBUTE(adis16480_serial_number_fops, 198 adis16480_show_serial_number, NULL, "0x%.4llx\n"); 199 200 static int adis16480_show_product_id(void *arg, u64 *val) 201 { 202 struct adis16480 *adis16480 = arg; 203 u16 prod_id; 204 int ret; 205 206 ret = adis_read_reg_16(&adis16480->adis, ADIS16480_REG_PROD_ID, 207 &prod_id); 208 if (ret < 0) 209 return ret; 210 211 *val = prod_id; 212 213 return 0; 214 } 215 DEFINE_SIMPLE_ATTRIBUTE(adis16480_product_id_fops, 216 adis16480_show_product_id, NULL, "%llu\n"); 217 218 static int adis16480_show_flash_count(void *arg, u64 *val) 219 { 220 struct adis16480 *adis16480 = arg; 221 u32 flash_count; 222 int ret; 223 224 ret = adis_read_reg_32(&adis16480->adis, ADIS16480_REG_FLASH_CNT, 225 &flash_count); 226 if (ret < 0) 227 return ret; 228 229 *val = flash_count; 230 231 return 0; 232 } 233 DEFINE_SIMPLE_ATTRIBUTE(adis16480_flash_count_fops, 234 adis16480_show_flash_count, NULL, "%lld\n"); 235 236 static int adis16480_debugfs_init(struct iio_dev *indio_dev) 237 { 238 struct adis16480 *adis16480 = iio_priv(indio_dev); 239 240 debugfs_create_file("firmware_revision", 0400, 241 indio_dev->debugfs_dentry, adis16480, 242 &adis16480_firmware_revision_fops); 243 debugfs_create_file("firmware_date", 0400, indio_dev->debugfs_dentry, 244 adis16480, &adis16480_firmware_date_fops); 245 debugfs_create_file("serial_number", 0400, indio_dev->debugfs_dentry, 246 adis16480, &adis16480_serial_number_fops); 247 debugfs_create_file("product_id", 0400, indio_dev->debugfs_dentry, 248 adis16480, &adis16480_product_id_fops); 249 debugfs_create_file("flash_count", 0400, indio_dev->debugfs_dentry, 250 adis16480, &adis16480_flash_count_fops); 251 252 return 0; 253 } 254 255 #else 256 257 static int adis16480_debugfs_init(struct iio_dev *indio_dev) 258 { 259 return 0; 260 } 261 262 #endif 263 264 static int adis16480_set_freq(struct iio_dev *indio_dev, int val, int val2) 265 { 266 struct adis16480 *st = iio_priv(indio_dev); 267 unsigned int t; 268 269 t = val * 1000 + val2 / 1000; 270 if (t <= 0) 271 return -EINVAL; 272 273 t = 2460000 / t; 274 if (t > 2048) 275 t = 2048; 276 277 if (t != 0) 278 t--; 279 280 return adis_write_reg_16(&st->adis, ADIS16480_REG_DEC_RATE, t); 281 } 282 283 static int adis16480_get_freq(struct iio_dev *indio_dev, int *val, int *val2) 284 { 285 struct adis16480 *st = iio_priv(indio_dev); 286 uint16_t t; 287 int ret; 288 unsigned freq; 289 290 ret = adis_read_reg_16(&st->adis, ADIS16480_REG_DEC_RATE, &t); 291 if (ret < 0) 292 return ret; 293 294 freq = 2460000 / (t + 1); 295 *val = freq / 1000; 296 *val2 = (freq % 1000) * 1000; 297 298 return IIO_VAL_INT_PLUS_MICRO; 299 } 300 301 enum { 302 ADIS16480_SCAN_GYRO_X, 303 ADIS16480_SCAN_GYRO_Y, 304 ADIS16480_SCAN_GYRO_Z, 305 ADIS16480_SCAN_ACCEL_X, 306 ADIS16480_SCAN_ACCEL_Y, 307 ADIS16480_SCAN_ACCEL_Z, 308 ADIS16480_SCAN_MAGN_X, 309 ADIS16480_SCAN_MAGN_Y, 310 ADIS16480_SCAN_MAGN_Z, 311 ADIS16480_SCAN_BARO, 312 ADIS16480_SCAN_TEMP, 313 }; 314 315 static const unsigned int adis16480_calibbias_regs[] = { 316 [ADIS16480_SCAN_GYRO_X] = ADIS16480_REG_X_GYRO_BIAS, 317 [ADIS16480_SCAN_GYRO_Y] = ADIS16480_REG_Y_GYRO_BIAS, 318 [ADIS16480_SCAN_GYRO_Z] = ADIS16480_REG_Z_GYRO_BIAS, 319 [ADIS16480_SCAN_ACCEL_X] = ADIS16480_REG_X_ACCEL_BIAS, 320 [ADIS16480_SCAN_ACCEL_Y] = ADIS16480_REG_Y_ACCEL_BIAS, 321 [ADIS16480_SCAN_ACCEL_Z] = ADIS16480_REG_Z_ACCEL_BIAS, 322 [ADIS16480_SCAN_MAGN_X] = ADIS16480_REG_X_HARD_IRON, 323 [ADIS16480_SCAN_MAGN_Y] = ADIS16480_REG_Y_HARD_IRON, 324 [ADIS16480_SCAN_MAGN_Z] = ADIS16480_REG_Z_HARD_IRON, 325 [ADIS16480_SCAN_BARO] = ADIS16480_REG_BAROM_BIAS, 326 }; 327 328 static const unsigned int adis16480_calibscale_regs[] = { 329 [ADIS16480_SCAN_GYRO_X] = ADIS16480_REG_X_GYRO_SCALE, 330 [ADIS16480_SCAN_GYRO_Y] = ADIS16480_REG_Y_GYRO_SCALE, 331 [ADIS16480_SCAN_GYRO_Z] = ADIS16480_REG_Z_GYRO_SCALE, 332 [ADIS16480_SCAN_ACCEL_X] = ADIS16480_REG_X_ACCEL_SCALE, 333 [ADIS16480_SCAN_ACCEL_Y] = ADIS16480_REG_Y_ACCEL_SCALE, 334 [ADIS16480_SCAN_ACCEL_Z] = ADIS16480_REG_Z_ACCEL_SCALE, 335 }; 336 337 static int adis16480_set_calibbias(struct iio_dev *indio_dev, 338 const struct iio_chan_spec *chan, int bias) 339 { 340 unsigned int reg = adis16480_calibbias_regs[chan->scan_index]; 341 struct adis16480 *st = iio_priv(indio_dev); 342 343 switch (chan->type) { 344 case IIO_MAGN: 345 case IIO_PRESSURE: 346 if (bias < -0x8000 || bias >= 0x8000) 347 return -EINVAL; 348 return adis_write_reg_16(&st->adis, reg, bias); 349 case IIO_ANGL_VEL: 350 case IIO_ACCEL: 351 return adis_write_reg_32(&st->adis, reg, bias); 352 default: 353 break; 354 } 355 356 return -EINVAL; 357 } 358 359 static int adis16480_get_calibbias(struct iio_dev *indio_dev, 360 const struct iio_chan_spec *chan, int *bias) 361 { 362 unsigned int reg = adis16480_calibbias_regs[chan->scan_index]; 363 struct adis16480 *st = iio_priv(indio_dev); 364 uint16_t val16; 365 uint32_t val32; 366 int ret; 367 368 switch (chan->type) { 369 case IIO_MAGN: 370 case IIO_PRESSURE: 371 ret = adis_read_reg_16(&st->adis, reg, &val16); 372 *bias = sign_extend32(val16, 15); 373 break; 374 case IIO_ANGL_VEL: 375 case IIO_ACCEL: 376 ret = adis_read_reg_32(&st->adis, reg, &val32); 377 *bias = sign_extend32(val32, 31); 378 break; 379 default: 380 ret = -EINVAL; 381 } 382 383 if (ret < 0) 384 return ret; 385 386 return IIO_VAL_INT; 387 } 388 389 static int adis16480_set_calibscale(struct iio_dev *indio_dev, 390 const struct iio_chan_spec *chan, int scale) 391 { 392 unsigned int reg = adis16480_calibscale_regs[chan->scan_index]; 393 struct adis16480 *st = iio_priv(indio_dev); 394 395 if (scale < -0x8000 || scale >= 0x8000) 396 return -EINVAL; 397 398 return adis_write_reg_16(&st->adis, reg, scale); 399 } 400 401 static int adis16480_get_calibscale(struct iio_dev *indio_dev, 402 const struct iio_chan_spec *chan, int *scale) 403 { 404 unsigned int reg = adis16480_calibscale_regs[chan->scan_index]; 405 struct adis16480 *st = iio_priv(indio_dev); 406 uint16_t val16; 407 int ret; 408 409 ret = adis_read_reg_16(&st->adis, reg, &val16); 410 if (ret < 0) 411 return ret; 412 413 *scale = sign_extend32(val16, 15); 414 return IIO_VAL_INT; 415 } 416 417 static const unsigned int adis16480_def_filter_freqs[] = { 418 310, 419 55, 420 275, 421 63, 422 }; 423 424 static const unsigned int ad16480_filter_data[][2] = { 425 [ADIS16480_SCAN_GYRO_X] = { ADIS16480_REG_FILTER_BNK0, 0 }, 426 [ADIS16480_SCAN_GYRO_Y] = { ADIS16480_REG_FILTER_BNK0, 3 }, 427 [ADIS16480_SCAN_GYRO_Z] = { ADIS16480_REG_FILTER_BNK0, 6 }, 428 [ADIS16480_SCAN_ACCEL_X] = { ADIS16480_REG_FILTER_BNK0, 9 }, 429 [ADIS16480_SCAN_ACCEL_Y] = { ADIS16480_REG_FILTER_BNK0, 12 }, 430 [ADIS16480_SCAN_ACCEL_Z] = { ADIS16480_REG_FILTER_BNK1, 0 }, 431 [ADIS16480_SCAN_MAGN_X] = { ADIS16480_REG_FILTER_BNK1, 3 }, 432 [ADIS16480_SCAN_MAGN_Y] = { ADIS16480_REG_FILTER_BNK1, 6 }, 433 [ADIS16480_SCAN_MAGN_Z] = { ADIS16480_REG_FILTER_BNK1, 9 }, 434 }; 435 436 static int adis16480_get_filter_freq(struct iio_dev *indio_dev, 437 const struct iio_chan_spec *chan, int *freq) 438 { 439 struct adis16480 *st = iio_priv(indio_dev); 440 unsigned int enable_mask, offset, reg; 441 uint16_t val; 442 int ret; 443 444 reg = ad16480_filter_data[chan->scan_index][0]; 445 offset = ad16480_filter_data[chan->scan_index][1]; 446 enable_mask = BIT(offset + 2); 447 448 ret = adis_read_reg_16(&st->adis, reg, &val); 449 if (ret < 0) 450 return ret; 451 452 if (!(val & enable_mask)) 453 *freq = 0; 454 else 455 *freq = adis16480_def_filter_freqs[(val >> offset) & 0x3]; 456 457 return IIO_VAL_INT; 458 } 459 460 static int adis16480_set_filter_freq(struct iio_dev *indio_dev, 461 const struct iio_chan_spec *chan, unsigned int freq) 462 { 463 struct adis16480 *st = iio_priv(indio_dev); 464 unsigned int enable_mask, offset, reg; 465 unsigned int diff, best_diff; 466 unsigned int i, best_freq; 467 uint16_t val; 468 int ret; 469 470 reg = ad16480_filter_data[chan->scan_index][0]; 471 offset = ad16480_filter_data[chan->scan_index][1]; 472 enable_mask = BIT(offset + 2); 473 474 ret = adis_read_reg_16(&st->adis, reg, &val); 475 if (ret < 0) 476 return ret; 477 478 if (freq == 0) { 479 val &= ~enable_mask; 480 } else { 481 best_freq = 0; 482 best_diff = 310; 483 for (i = 0; i < ARRAY_SIZE(adis16480_def_filter_freqs); i++) { 484 if (adis16480_def_filter_freqs[i] >= freq) { 485 diff = adis16480_def_filter_freqs[i] - freq; 486 if (diff < best_diff) { 487 best_diff = diff; 488 best_freq = i; 489 } 490 } 491 } 492 493 val &= ~(0x3 << offset); 494 val |= best_freq << offset; 495 val |= enable_mask; 496 } 497 498 return adis_write_reg_16(&st->adis, reg, val); 499 } 500 501 static int adis16480_read_raw(struct iio_dev *indio_dev, 502 const struct iio_chan_spec *chan, int *val, int *val2, long info) 503 { 504 struct adis16480 *st = iio_priv(indio_dev); 505 506 switch (info) { 507 case IIO_CHAN_INFO_RAW: 508 return adis_single_conversion(indio_dev, chan, 0, val); 509 case IIO_CHAN_INFO_SCALE: 510 switch (chan->type) { 511 case IIO_ANGL_VEL: 512 *val = st->chip_info->gyro_max_scale; 513 *val2 = st->chip_info->gyro_max_val; 514 return IIO_VAL_FRACTIONAL; 515 case IIO_ACCEL: 516 *val = st->chip_info->accel_max_scale; 517 *val2 = st->chip_info->accel_max_val; 518 return IIO_VAL_FRACTIONAL; 519 case IIO_MAGN: 520 *val = 0; 521 *val2 = 100; /* 0.0001 gauss */ 522 return IIO_VAL_INT_PLUS_MICRO; 523 case IIO_TEMP: 524 *val = 5; 525 *val2 = 650000; /* 5.65 milli degree Celsius */ 526 return IIO_VAL_INT_PLUS_MICRO; 527 case IIO_PRESSURE: 528 *val = 0; 529 *val2 = 4000; /* 40ubar = 0.004 kPa */ 530 return IIO_VAL_INT_PLUS_MICRO; 531 default: 532 return -EINVAL; 533 } 534 case IIO_CHAN_INFO_OFFSET: 535 /* Only the temperature channel has a offset */ 536 *val = 4425; /* 25 degree Celsius = 0x0000 */ 537 return IIO_VAL_INT; 538 case IIO_CHAN_INFO_CALIBBIAS: 539 return adis16480_get_calibbias(indio_dev, chan, val); 540 case IIO_CHAN_INFO_CALIBSCALE: 541 return adis16480_get_calibscale(indio_dev, chan, val); 542 case IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY: 543 return adis16480_get_filter_freq(indio_dev, chan, val); 544 case IIO_CHAN_INFO_SAMP_FREQ: 545 return adis16480_get_freq(indio_dev, val, val2); 546 default: 547 return -EINVAL; 548 } 549 } 550 551 static int adis16480_write_raw(struct iio_dev *indio_dev, 552 const struct iio_chan_spec *chan, int val, int val2, long info) 553 { 554 switch (info) { 555 case IIO_CHAN_INFO_CALIBBIAS: 556 return adis16480_set_calibbias(indio_dev, chan, val); 557 case IIO_CHAN_INFO_CALIBSCALE: 558 return adis16480_set_calibscale(indio_dev, chan, val); 559 case IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY: 560 return adis16480_set_filter_freq(indio_dev, chan, val); 561 case IIO_CHAN_INFO_SAMP_FREQ: 562 return adis16480_set_freq(indio_dev, val, val2); 563 564 default: 565 return -EINVAL; 566 } 567 } 568 569 #define ADIS16480_MOD_CHANNEL(_type, _mod, _address, _si, _info_sep, _bits) \ 570 { \ 571 .type = (_type), \ 572 .modified = 1, \ 573 .channel2 = (_mod), \ 574 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \ 575 BIT(IIO_CHAN_INFO_CALIBBIAS) | \ 576 _info_sep, \ 577 .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE), \ 578 .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \ 579 .address = (_address), \ 580 .scan_index = (_si), \ 581 .scan_type = { \ 582 .sign = 's', \ 583 .realbits = (_bits), \ 584 .storagebits = (_bits), \ 585 .endianness = IIO_BE, \ 586 }, \ 587 } 588 589 #define ADIS16480_GYRO_CHANNEL(_mod) \ 590 ADIS16480_MOD_CHANNEL(IIO_ANGL_VEL, IIO_MOD_ ## _mod, \ 591 ADIS16480_REG_ ## _mod ## _GYRO_OUT, ADIS16480_SCAN_GYRO_ ## _mod, \ 592 BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY) | \ 593 BIT(IIO_CHAN_INFO_CALIBSCALE), \ 594 32) 595 596 #define ADIS16480_ACCEL_CHANNEL(_mod) \ 597 ADIS16480_MOD_CHANNEL(IIO_ACCEL, IIO_MOD_ ## _mod, \ 598 ADIS16480_REG_ ## _mod ## _ACCEL_OUT, ADIS16480_SCAN_ACCEL_ ## _mod, \ 599 BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY) | \ 600 BIT(IIO_CHAN_INFO_CALIBSCALE), \ 601 32) 602 603 #define ADIS16480_MAGN_CHANNEL(_mod) \ 604 ADIS16480_MOD_CHANNEL(IIO_MAGN, IIO_MOD_ ## _mod, \ 605 ADIS16480_REG_ ## _mod ## _MAGN_OUT, ADIS16480_SCAN_MAGN_ ## _mod, \ 606 BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY), \ 607 16) 608 609 #define ADIS16480_PRESSURE_CHANNEL() \ 610 { \ 611 .type = IIO_PRESSURE, \ 612 .indexed = 1, \ 613 .channel = 0, \ 614 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \ 615 BIT(IIO_CHAN_INFO_CALIBBIAS) | \ 616 BIT(IIO_CHAN_INFO_SCALE), \ 617 .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \ 618 .address = ADIS16480_REG_BAROM_OUT, \ 619 .scan_index = ADIS16480_SCAN_BARO, \ 620 .scan_type = { \ 621 .sign = 's', \ 622 .realbits = 32, \ 623 .storagebits = 32, \ 624 .endianness = IIO_BE, \ 625 }, \ 626 } 627 628 #define ADIS16480_TEMP_CHANNEL() { \ 629 .type = IIO_TEMP, \ 630 .indexed = 1, \ 631 .channel = 0, \ 632 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \ 633 BIT(IIO_CHAN_INFO_SCALE) | \ 634 BIT(IIO_CHAN_INFO_OFFSET), \ 635 .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \ 636 .address = ADIS16480_REG_TEMP_OUT, \ 637 .scan_index = ADIS16480_SCAN_TEMP, \ 638 .scan_type = { \ 639 .sign = 's', \ 640 .realbits = 16, \ 641 .storagebits = 16, \ 642 .endianness = IIO_BE, \ 643 }, \ 644 } 645 646 static const struct iio_chan_spec adis16480_channels[] = { 647 ADIS16480_GYRO_CHANNEL(X), 648 ADIS16480_GYRO_CHANNEL(Y), 649 ADIS16480_GYRO_CHANNEL(Z), 650 ADIS16480_ACCEL_CHANNEL(X), 651 ADIS16480_ACCEL_CHANNEL(Y), 652 ADIS16480_ACCEL_CHANNEL(Z), 653 ADIS16480_MAGN_CHANNEL(X), 654 ADIS16480_MAGN_CHANNEL(Y), 655 ADIS16480_MAGN_CHANNEL(Z), 656 ADIS16480_PRESSURE_CHANNEL(), 657 ADIS16480_TEMP_CHANNEL(), 658 IIO_CHAN_SOFT_TIMESTAMP(11) 659 }; 660 661 static const struct iio_chan_spec adis16485_channels[] = { 662 ADIS16480_GYRO_CHANNEL(X), 663 ADIS16480_GYRO_CHANNEL(Y), 664 ADIS16480_GYRO_CHANNEL(Z), 665 ADIS16480_ACCEL_CHANNEL(X), 666 ADIS16480_ACCEL_CHANNEL(Y), 667 ADIS16480_ACCEL_CHANNEL(Z), 668 ADIS16480_TEMP_CHANNEL(), 669 IIO_CHAN_SOFT_TIMESTAMP(7) 670 }; 671 672 enum adis16480_variant { 673 ADIS16375, 674 ADIS16480, 675 ADIS16485, 676 ADIS16488, 677 }; 678 679 static const struct adis16480_chip_info adis16480_chip_info[] = { 680 [ADIS16375] = { 681 .channels = adis16485_channels, 682 .num_channels = ARRAY_SIZE(adis16485_channels), 683 /* 684 * storing the value in rad/degree and the scale in degree 685 * gives us the result in rad and better precession than 686 * storing the scale directly in rad. 687 */ 688 .gyro_max_val = IIO_RAD_TO_DEGREE(22887), 689 .gyro_max_scale = 300, 690 .accel_max_val = IIO_M_S_2_TO_G(21973), 691 .accel_max_scale = 18, 692 }, 693 [ADIS16480] = { 694 .channels = adis16480_channels, 695 .num_channels = ARRAY_SIZE(adis16480_channels), 696 .gyro_max_val = IIO_RAD_TO_DEGREE(22500), 697 .gyro_max_scale = 450, 698 .accel_max_val = IIO_M_S_2_TO_G(12500), 699 .accel_max_scale = 5, 700 }, 701 [ADIS16485] = { 702 .channels = adis16485_channels, 703 .num_channels = ARRAY_SIZE(adis16485_channels), 704 .gyro_max_val = IIO_RAD_TO_DEGREE(22500), 705 .gyro_max_scale = 450, 706 .accel_max_val = IIO_M_S_2_TO_G(20000), 707 .accel_max_scale = 5, 708 }, 709 [ADIS16488] = { 710 .channels = adis16480_channels, 711 .num_channels = ARRAY_SIZE(adis16480_channels), 712 .gyro_max_val = IIO_RAD_TO_DEGREE(22500), 713 .gyro_max_scale = 450, 714 .accel_max_val = IIO_M_S_2_TO_G(22500), 715 .accel_max_scale = 18, 716 }, 717 }; 718 719 static const struct iio_info adis16480_info = { 720 .read_raw = &adis16480_read_raw, 721 .write_raw = &adis16480_write_raw, 722 .update_scan_mode = adis_update_scan_mode, 723 .driver_module = THIS_MODULE, 724 }; 725 726 static int adis16480_stop_device(struct iio_dev *indio_dev) 727 { 728 struct adis16480 *st = iio_priv(indio_dev); 729 int ret; 730 731 ret = adis_write_reg_16(&st->adis, ADIS16480_REG_SLP_CNT, BIT(9)); 732 if (ret) 733 dev_err(&indio_dev->dev, 734 "Could not power down device: %d\n", ret); 735 736 return ret; 737 } 738 739 static int adis16480_enable_irq(struct adis *adis, bool enable) 740 { 741 return adis_write_reg_16(adis, ADIS16480_REG_FNCTIO_CTRL, 742 enable ? BIT(3) : 0); 743 } 744 745 static int adis16480_initial_setup(struct iio_dev *indio_dev) 746 { 747 struct adis16480 *st = iio_priv(indio_dev); 748 uint16_t prod_id; 749 unsigned int device_id; 750 int ret; 751 752 adis_reset(&st->adis); 753 msleep(70); 754 755 ret = adis_write_reg_16(&st->adis, ADIS16480_REG_GLOB_CMD, BIT(1)); 756 if (ret) 757 return ret; 758 msleep(30); 759 760 ret = adis_check_status(&st->adis); 761 if (ret) 762 return ret; 763 764 ret = adis_read_reg_16(&st->adis, ADIS16480_REG_PROD_ID, &prod_id); 765 if (ret) 766 return ret; 767 768 sscanf(indio_dev->name, "adis%u\n", &device_id); 769 770 if (prod_id != device_id) 771 dev_warn(&indio_dev->dev, "Device ID(%u) and product ID(%u) do not match.", 772 device_id, prod_id); 773 774 return 0; 775 } 776 777 #define ADIS16480_DIAG_STAT_XGYRO_FAIL 0 778 #define ADIS16480_DIAG_STAT_YGYRO_FAIL 1 779 #define ADIS16480_DIAG_STAT_ZGYRO_FAIL 2 780 #define ADIS16480_DIAG_STAT_XACCL_FAIL 3 781 #define ADIS16480_DIAG_STAT_YACCL_FAIL 4 782 #define ADIS16480_DIAG_STAT_ZACCL_FAIL 5 783 #define ADIS16480_DIAG_STAT_XMAGN_FAIL 8 784 #define ADIS16480_DIAG_STAT_YMAGN_FAIL 9 785 #define ADIS16480_DIAG_STAT_ZMAGN_FAIL 10 786 #define ADIS16480_DIAG_STAT_BARO_FAIL 11 787 788 static const char * const adis16480_status_error_msgs[] = { 789 [ADIS16480_DIAG_STAT_XGYRO_FAIL] = "X-axis gyroscope self-test failure", 790 [ADIS16480_DIAG_STAT_YGYRO_FAIL] = "Y-axis gyroscope self-test failure", 791 [ADIS16480_DIAG_STAT_ZGYRO_FAIL] = "Z-axis gyroscope self-test failure", 792 [ADIS16480_DIAG_STAT_XACCL_FAIL] = "X-axis accelerometer self-test failure", 793 [ADIS16480_DIAG_STAT_YACCL_FAIL] = "Y-axis accelerometer self-test failure", 794 [ADIS16480_DIAG_STAT_ZACCL_FAIL] = "Z-axis accelerometer self-test failure", 795 [ADIS16480_DIAG_STAT_XMAGN_FAIL] = "X-axis magnetometer self-test failure", 796 [ADIS16480_DIAG_STAT_YMAGN_FAIL] = "Y-axis magnetometer self-test failure", 797 [ADIS16480_DIAG_STAT_ZMAGN_FAIL] = "Z-axis magnetometer self-test failure", 798 [ADIS16480_DIAG_STAT_BARO_FAIL] = "Barometer self-test failure", 799 }; 800 801 static const struct adis_data adis16480_data = { 802 .diag_stat_reg = ADIS16480_REG_DIAG_STS, 803 .glob_cmd_reg = ADIS16480_REG_GLOB_CMD, 804 .has_paging = true, 805 806 .read_delay = 5, 807 .write_delay = 5, 808 809 .status_error_msgs = adis16480_status_error_msgs, 810 .status_error_mask = BIT(ADIS16480_DIAG_STAT_XGYRO_FAIL) | 811 BIT(ADIS16480_DIAG_STAT_YGYRO_FAIL) | 812 BIT(ADIS16480_DIAG_STAT_ZGYRO_FAIL) | 813 BIT(ADIS16480_DIAG_STAT_XACCL_FAIL) | 814 BIT(ADIS16480_DIAG_STAT_YACCL_FAIL) | 815 BIT(ADIS16480_DIAG_STAT_ZACCL_FAIL) | 816 BIT(ADIS16480_DIAG_STAT_XMAGN_FAIL) | 817 BIT(ADIS16480_DIAG_STAT_YMAGN_FAIL) | 818 BIT(ADIS16480_DIAG_STAT_ZMAGN_FAIL) | 819 BIT(ADIS16480_DIAG_STAT_BARO_FAIL), 820 821 .enable_irq = adis16480_enable_irq, 822 }; 823 824 static int adis16480_probe(struct spi_device *spi) 825 { 826 const struct spi_device_id *id = spi_get_device_id(spi); 827 struct iio_dev *indio_dev; 828 struct adis16480 *st; 829 int ret; 830 831 indio_dev = devm_iio_device_alloc(&spi->dev, sizeof(*st)); 832 if (indio_dev == NULL) 833 return -ENOMEM; 834 835 spi_set_drvdata(spi, indio_dev); 836 837 st = iio_priv(indio_dev); 838 839 st->chip_info = &adis16480_chip_info[id->driver_data]; 840 indio_dev->dev.parent = &spi->dev; 841 indio_dev->name = spi_get_device_id(spi)->name; 842 indio_dev->channels = st->chip_info->channels; 843 indio_dev->num_channels = st->chip_info->num_channels; 844 indio_dev->info = &adis16480_info; 845 indio_dev->modes = INDIO_DIRECT_MODE; 846 847 ret = adis_init(&st->adis, indio_dev, spi, &adis16480_data); 848 if (ret) 849 return ret; 850 851 ret = adis_setup_buffer_and_trigger(&st->adis, indio_dev, NULL); 852 if (ret) 853 return ret; 854 855 ret = adis16480_initial_setup(indio_dev); 856 if (ret) 857 goto error_cleanup_buffer; 858 859 ret = iio_device_register(indio_dev); 860 if (ret) 861 goto error_stop_device; 862 863 adis16480_debugfs_init(indio_dev); 864 865 return 0; 866 867 error_stop_device: 868 adis16480_stop_device(indio_dev); 869 error_cleanup_buffer: 870 adis_cleanup_buffer_and_trigger(&st->adis, indio_dev); 871 return ret; 872 } 873 874 static int adis16480_remove(struct spi_device *spi) 875 { 876 struct iio_dev *indio_dev = spi_get_drvdata(spi); 877 struct adis16480 *st = iio_priv(indio_dev); 878 879 iio_device_unregister(indio_dev); 880 adis16480_stop_device(indio_dev); 881 882 adis_cleanup_buffer_and_trigger(&st->adis, indio_dev); 883 884 return 0; 885 } 886 887 static const struct spi_device_id adis16480_ids[] = { 888 { "adis16375", ADIS16375 }, 889 { "adis16480", ADIS16480 }, 890 { "adis16485", ADIS16485 }, 891 { "adis16488", ADIS16488 }, 892 { } 893 }; 894 MODULE_DEVICE_TABLE(spi, adis16480_ids); 895 896 static struct spi_driver adis16480_driver = { 897 .driver = { 898 .name = "adis16480", 899 .owner = THIS_MODULE, 900 }, 901 .id_table = adis16480_ids, 902 .probe = adis16480_probe, 903 .remove = adis16480_remove, 904 }; 905 module_spi_driver(adis16480_driver); 906 907 MODULE_AUTHOR("Lars-Peter Clausen <lars@metafoo.de>"); 908 MODULE_DESCRIPTION("Analog Devices ADIS16480 IMU driver"); 909 MODULE_LICENSE("GPL v2"); 910