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_DEBUGFS_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_DEBUGFS_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_DEBUGFS_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_unsafe("firmware_revision", 0400, 241 indio_dev->debugfs_dentry, adis16480, 242 &adis16480_firmware_revision_fops); 243 debugfs_create_file_unsafe("firmware_date", 0400, 244 indio_dev->debugfs_dentry, adis16480, 245 &adis16480_firmware_date_fops); 246 debugfs_create_file_unsafe("serial_number", 0400, 247 indio_dev->debugfs_dentry, adis16480, 248 &adis16480_serial_number_fops); 249 debugfs_create_file_unsafe("product_id", 0400, 250 indio_dev->debugfs_dentry, adis16480, 251 &adis16480_product_id_fops); 252 debugfs_create_file_unsafe("flash_count", 0400, 253 indio_dev->debugfs_dentry, adis16480, 254 &adis16480_flash_count_fops); 255 256 return 0; 257 } 258 259 #else 260 261 static int adis16480_debugfs_init(struct iio_dev *indio_dev) 262 { 263 return 0; 264 } 265 266 #endif 267 268 static int adis16480_set_freq(struct iio_dev *indio_dev, int val, int val2) 269 { 270 struct adis16480 *st = iio_priv(indio_dev); 271 unsigned int t; 272 273 t = val * 1000 + val2 / 1000; 274 if (t <= 0) 275 return -EINVAL; 276 277 t = 2460000 / t; 278 if (t > 2048) 279 t = 2048; 280 281 if (t != 0) 282 t--; 283 284 return adis_write_reg_16(&st->adis, ADIS16480_REG_DEC_RATE, t); 285 } 286 287 static int adis16480_get_freq(struct iio_dev *indio_dev, int *val, int *val2) 288 { 289 struct adis16480 *st = iio_priv(indio_dev); 290 uint16_t t; 291 int ret; 292 unsigned freq; 293 294 ret = adis_read_reg_16(&st->adis, ADIS16480_REG_DEC_RATE, &t); 295 if (ret < 0) 296 return ret; 297 298 freq = 2460000 / (t + 1); 299 *val = freq / 1000; 300 *val2 = (freq % 1000) * 1000; 301 302 return IIO_VAL_INT_PLUS_MICRO; 303 } 304 305 enum { 306 ADIS16480_SCAN_GYRO_X, 307 ADIS16480_SCAN_GYRO_Y, 308 ADIS16480_SCAN_GYRO_Z, 309 ADIS16480_SCAN_ACCEL_X, 310 ADIS16480_SCAN_ACCEL_Y, 311 ADIS16480_SCAN_ACCEL_Z, 312 ADIS16480_SCAN_MAGN_X, 313 ADIS16480_SCAN_MAGN_Y, 314 ADIS16480_SCAN_MAGN_Z, 315 ADIS16480_SCAN_BARO, 316 ADIS16480_SCAN_TEMP, 317 }; 318 319 static const unsigned int adis16480_calibbias_regs[] = { 320 [ADIS16480_SCAN_GYRO_X] = ADIS16480_REG_X_GYRO_BIAS, 321 [ADIS16480_SCAN_GYRO_Y] = ADIS16480_REG_Y_GYRO_BIAS, 322 [ADIS16480_SCAN_GYRO_Z] = ADIS16480_REG_Z_GYRO_BIAS, 323 [ADIS16480_SCAN_ACCEL_X] = ADIS16480_REG_X_ACCEL_BIAS, 324 [ADIS16480_SCAN_ACCEL_Y] = ADIS16480_REG_Y_ACCEL_BIAS, 325 [ADIS16480_SCAN_ACCEL_Z] = ADIS16480_REG_Z_ACCEL_BIAS, 326 [ADIS16480_SCAN_MAGN_X] = ADIS16480_REG_X_HARD_IRON, 327 [ADIS16480_SCAN_MAGN_Y] = ADIS16480_REG_Y_HARD_IRON, 328 [ADIS16480_SCAN_MAGN_Z] = ADIS16480_REG_Z_HARD_IRON, 329 [ADIS16480_SCAN_BARO] = ADIS16480_REG_BAROM_BIAS, 330 }; 331 332 static const unsigned int adis16480_calibscale_regs[] = { 333 [ADIS16480_SCAN_GYRO_X] = ADIS16480_REG_X_GYRO_SCALE, 334 [ADIS16480_SCAN_GYRO_Y] = ADIS16480_REG_Y_GYRO_SCALE, 335 [ADIS16480_SCAN_GYRO_Z] = ADIS16480_REG_Z_GYRO_SCALE, 336 [ADIS16480_SCAN_ACCEL_X] = ADIS16480_REG_X_ACCEL_SCALE, 337 [ADIS16480_SCAN_ACCEL_Y] = ADIS16480_REG_Y_ACCEL_SCALE, 338 [ADIS16480_SCAN_ACCEL_Z] = ADIS16480_REG_Z_ACCEL_SCALE, 339 }; 340 341 static int adis16480_set_calibbias(struct iio_dev *indio_dev, 342 const struct iio_chan_spec *chan, int bias) 343 { 344 unsigned int reg = adis16480_calibbias_regs[chan->scan_index]; 345 struct adis16480 *st = iio_priv(indio_dev); 346 347 switch (chan->type) { 348 case IIO_MAGN: 349 case IIO_PRESSURE: 350 if (bias < -0x8000 || bias >= 0x8000) 351 return -EINVAL; 352 return adis_write_reg_16(&st->adis, reg, bias); 353 case IIO_ANGL_VEL: 354 case IIO_ACCEL: 355 return adis_write_reg_32(&st->adis, reg, bias); 356 default: 357 break; 358 } 359 360 return -EINVAL; 361 } 362 363 static int adis16480_get_calibbias(struct iio_dev *indio_dev, 364 const struct iio_chan_spec *chan, int *bias) 365 { 366 unsigned int reg = adis16480_calibbias_regs[chan->scan_index]; 367 struct adis16480 *st = iio_priv(indio_dev); 368 uint16_t val16; 369 uint32_t val32; 370 int ret; 371 372 switch (chan->type) { 373 case IIO_MAGN: 374 case IIO_PRESSURE: 375 ret = adis_read_reg_16(&st->adis, reg, &val16); 376 *bias = sign_extend32(val16, 15); 377 break; 378 case IIO_ANGL_VEL: 379 case IIO_ACCEL: 380 ret = adis_read_reg_32(&st->adis, reg, &val32); 381 *bias = sign_extend32(val32, 31); 382 break; 383 default: 384 ret = -EINVAL; 385 } 386 387 if (ret < 0) 388 return ret; 389 390 return IIO_VAL_INT; 391 } 392 393 static int adis16480_set_calibscale(struct iio_dev *indio_dev, 394 const struct iio_chan_spec *chan, int scale) 395 { 396 unsigned int reg = adis16480_calibscale_regs[chan->scan_index]; 397 struct adis16480 *st = iio_priv(indio_dev); 398 399 if (scale < -0x8000 || scale >= 0x8000) 400 return -EINVAL; 401 402 return adis_write_reg_16(&st->adis, reg, scale); 403 } 404 405 static int adis16480_get_calibscale(struct iio_dev *indio_dev, 406 const struct iio_chan_spec *chan, int *scale) 407 { 408 unsigned int reg = adis16480_calibscale_regs[chan->scan_index]; 409 struct adis16480 *st = iio_priv(indio_dev); 410 uint16_t val16; 411 int ret; 412 413 ret = adis_read_reg_16(&st->adis, reg, &val16); 414 if (ret < 0) 415 return ret; 416 417 *scale = sign_extend32(val16, 15); 418 return IIO_VAL_INT; 419 } 420 421 static const unsigned int adis16480_def_filter_freqs[] = { 422 310, 423 55, 424 275, 425 63, 426 }; 427 428 static const unsigned int ad16480_filter_data[][2] = { 429 [ADIS16480_SCAN_GYRO_X] = { ADIS16480_REG_FILTER_BNK0, 0 }, 430 [ADIS16480_SCAN_GYRO_Y] = { ADIS16480_REG_FILTER_BNK0, 3 }, 431 [ADIS16480_SCAN_GYRO_Z] = { ADIS16480_REG_FILTER_BNK0, 6 }, 432 [ADIS16480_SCAN_ACCEL_X] = { ADIS16480_REG_FILTER_BNK0, 9 }, 433 [ADIS16480_SCAN_ACCEL_Y] = { ADIS16480_REG_FILTER_BNK0, 12 }, 434 [ADIS16480_SCAN_ACCEL_Z] = { ADIS16480_REG_FILTER_BNK1, 0 }, 435 [ADIS16480_SCAN_MAGN_X] = { ADIS16480_REG_FILTER_BNK1, 3 }, 436 [ADIS16480_SCAN_MAGN_Y] = { ADIS16480_REG_FILTER_BNK1, 6 }, 437 [ADIS16480_SCAN_MAGN_Z] = { ADIS16480_REG_FILTER_BNK1, 9 }, 438 }; 439 440 static int adis16480_get_filter_freq(struct iio_dev *indio_dev, 441 const struct iio_chan_spec *chan, int *freq) 442 { 443 struct adis16480 *st = iio_priv(indio_dev); 444 unsigned int enable_mask, offset, reg; 445 uint16_t val; 446 int ret; 447 448 reg = ad16480_filter_data[chan->scan_index][0]; 449 offset = ad16480_filter_data[chan->scan_index][1]; 450 enable_mask = BIT(offset + 2); 451 452 ret = adis_read_reg_16(&st->adis, reg, &val); 453 if (ret < 0) 454 return ret; 455 456 if (!(val & enable_mask)) 457 *freq = 0; 458 else 459 *freq = adis16480_def_filter_freqs[(val >> offset) & 0x3]; 460 461 return IIO_VAL_INT; 462 } 463 464 static int adis16480_set_filter_freq(struct iio_dev *indio_dev, 465 const struct iio_chan_spec *chan, unsigned int freq) 466 { 467 struct adis16480 *st = iio_priv(indio_dev); 468 unsigned int enable_mask, offset, reg; 469 unsigned int diff, best_diff; 470 unsigned int i, best_freq; 471 uint16_t val; 472 int ret; 473 474 reg = ad16480_filter_data[chan->scan_index][0]; 475 offset = ad16480_filter_data[chan->scan_index][1]; 476 enable_mask = BIT(offset + 2); 477 478 ret = adis_read_reg_16(&st->adis, reg, &val); 479 if (ret < 0) 480 return ret; 481 482 if (freq == 0) { 483 val &= ~enable_mask; 484 } else { 485 best_freq = 0; 486 best_diff = 310; 487 for (i = 0; i < ARRAY_SIZE(adis16480_def_filter_freqs); i++) { 488 if (adis16480_def_filter_freqs[i] >= freq) { 489 diff = adis16480_def_filter_freqs[i] - freq; 490 if (diff < best_diff) { 491 best_diff = diff; 492 best_freq = i; 493 } 494 } 495 } 496 497 val &= ~(0x3 << offset); 498 val |= best_freq << offset; 499 val |= enable_mask; 500 } 501 502 return adis_write_reg_16(&st->adis, reg, val); 503 } 504 505 static int adis16480_read_raw(struct iio_dev *indio_dev, 506 const struct iio_chan_spec *chan, int *val, int *val2, long info) 507 { 508 struct adis16480 *st = iio_priv(indio_dev); 509 510 switch (info) { 511 case IIO_CHAN_INFO_RAW: 512 return adis_single_conversion(indio_dev, chan, 0, val); 513 case IIO_CHAN_INFO_SCALE: 514 switch (chan->type) { 515 case IIO_ANGL_VEL: 516 *val = st->chip_info->gyro_max_scale; 517 *val2 = st->chip_info->gyro_max_val; 518 return IIO_VAL_FRACTIONAL; 519 case IIO_ACCEL: 520 *val = st->chip_info->accel_max_scale; 521 *val2 = st->chip_info->accel_max_val; 522 return IIO_VAL_FRACTIONAL; 523 case IIO_MAGN: 524 *val = 0; 525 *val2 = 100; /* 0.0001 gauss */ 526 return IIO_VAL_INT_PLUS_MICRO; 527 case IIO_TEMP: 528 *val = 5; 529 *val2 = 650000; /* 5.65 milli degree Celsius */ 530 return IIO_VAL_INT_PLUS_MICRO; 531 case IIO_PRESSURE: 532 *val = 0; 533 *val2 = 4000; /* 40ubar = 0.004 kPa */ 534 return IIO_VAL_INT_PLUS_MICRO; 535 default: 536 return -EINVAL; 537 } 538 case IIO_CHAN_INFO_OFFSET: 539 /* Only the temperature channel has a offset */ 540 *val = 4425; /* 25 degree Celsius = 0x0000 */ 541 return IIO_VAL_INT; 542 case IIO_CHAN_INFO_CALIBBIAS: 543 return adis16480_get_calibbias(indio_dev, chan, val); 544 case IIO_CHAN_INFO_CALIBSCALE: 545 return adis16480_get_calibscale(indio_dev, chan, val); 546 case IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY: 547 return adis16480_get_filter_freq(indio_dev, chan, val); 548 case IIO_CHAN_INFO_SAMP_FREQ: 549 return adis16480_get_freq(indio_dev, val, val2); 550 default: 551 return -EINVAL; 552 } 553 } 554 555 static int adis16480_write_raw(struct iio_dev *indio_dev, 556 const struct iio_chan_spec *chan, int val, int val2, long info) 557 { 558 switch (info) { 559 case IIO_CHAN_INFO_CALIBBIAS: 560 return adis16480_set_calibbias(indio_dev, chan, val); 561 case IIO_CHAN_INFO_CALIBSCALE: 562 return adis16480_set_calibscale(indio_dev, chan, val); 563 case IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY: 564 return adis16480_set_filter_freq(indio_dev, chan, val); 565 case IIO_CHAN_INFO_SAMP_FREQ: 566 return adis16480_set_freq(indio_dev, val, val2); 567 568 default: 569 return -EINVAL; 570 } 571 } 572 573 #define ADIS16480_MOD_CHANNEL(_type, _mod, _address, _si, _info_sep, _bits) \ 574 { \ 575 .type = (_type), \ 576 .modified = 1, \ 577 .channel2 = (_mod), \ 578 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \ 579 BIT(IIO_CHAN_INFO_CALIBBIAS) | \ 580 _info_sep, \ 581 .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE), \ 582 .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \ 583 .address = (_address), \ 584 .scan_index = (_si), \ 585 .scan_type = { \ 586 .sign = 's', \ 587 .realbits = (_bits), \ 588 .storagebits = (_bits), \ 589 .endianness = IIO_BE, \ 590 }, \ 591 } 592 593 #define ADIS16480_GYRO_CHANNEL(_mod) \ 594 ADIS16480_MOD_CHANNEL(IIO_ANGL_VEL, IIO_MOD_ ## _mod, \ 595 ADIS16480_REG_ ## _mod ## _GYRO_OUT, ADIS16480_SCAN_GYRO_ ## _mod, \ 596 BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY) | \ 597 BIT(IIO_CHAN_INFO_CALIBSCALE), \ 598 32) 599 600 #define ADIS16480_ACCEL_CHANNEL(_mod) \ 601 ADIS16480_MOD_CHANNEL(IIO_ACCEL, IIO_MOD_ ## _mod, \ 602 ADIS16480_REG_ ## _mod ## _ACCEL_OUT, ADIS16480_SCAN_ACCEL_ ## _mod, \ 603 BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY) | \ 604 BIT(IIO_CHAN_INFO_CALIBSCALE), \ 605 32) 606 607 #define ADIS16480_MAGN_CHANNEL(_mod) \ 608 ADIS16480_MOD_CHANNEL(IIO_MAGN, IIO_MOD_ ## _mod, \ 609 ADIS16480_REG_ ## _mod ## _MAGN_OUT, ADIS16480_SCAN_MAGN_ ## _mod, \ 610 BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY), \ 611 16) 612 613 #define ADIS16480_PRESSURE_CHANNEL() \ 614 { \ 615 .type = IIO_PRESSURE, \ 616 .indexed = 1, \ 617 .channel = 0, \ 618 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \ 619 BIT(IIO_CHAN_INFO_CALIBBIAS) | \ 620 BIT(IIO_CHAN_INFO_SCALE), \ 621 .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \ 622 .address = ADIS16480_REG_BAROM_OUT, \ 623 .scan_index = ADIS16480_SCAN_BARO, \ 624 .scan_type = { \ 625 .sign = 's', \ 626 .realbits = 32, \ 627 .storagebits = 32, \ 628 .endianness = IIO_BE, \ 629 }, \ 630 } 631 632 #define ADIS16480_TEMP_CHANNEL() { \ 633 .type = IIO_TEMP, \ 634 .indexed = 1, \ 635 .channel = 0, \ 636 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \ 637 BIT(IIO_CHAN_INFO_SCALE) | \ 638 BIT(IIO_CHAN_INFO_OFFSET), \ 639 .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \ 640 .address = ADIS16480_REG_TEMP_OUT, \ 641 .scan_index = ADIS16480_SCAN_TEMP, \ 642 .scan_type = { \ 643 .sign = 's', \ 644 .realbits = 16, \ 645 .storagebits = 16, \ 646 .endianness = IIO_BE, \ 647 }, \ 648 } 649 650 static const struct iio_chan_spec adis16480_channels[] = { 651 ADIS16480_GYRO_CHANNEL(X), 652 ADIS16480_GYRO_CHANNEL(Y), 653 ADIS16480_GYRO_CHANNEL(Z), 654 ADIS16480_ACCEL_CHANNEL(X), 655 ADIS16480_ACCEL_CHANNEL(Y), 656 ADIS16480_ACCEL_CHANNEL(Z), 657 ADIS16480_MAGN_CHANNEL(X), 658 ADIS16480_MAGN_CHANNEL(Y), 659 ADIS16480_MAGN_CHANNEL(Z), 660 ADIS16480_PRESSURE_CHANNEL(), 661 ADIS16480_TEMP_CHANNEL(), 662 IIO_CHAN_SOFT_TIMESTAMP(11) 663 }; 664 665 static const struct iio_chan_spec adis16485_channels[] = { 666 ADIS16480_GYRO_CHANNEL(X), 667 ADIS16480_GYRO_CHANNEL(Y), 668 ADIS16480_GYRO_CHANNEL(Z), 669 ADIS16480_ACCEL_CHANNEL(X), 670 ADIS16480_ACCEL_CHANNEL(Y), 671 ADIS16480_ACCEL_CHANNEL(Z), 672 ADIS16480_TEMP_CHANNEL(), 673 IIO_CHAN_SOFT_TIMESTAMP(7) 674 }; 675 676 enum adis16480_variant { 677 ADIS16375, 678 ADIS16480, 679 ADIS16485, 680 ADIS16488, 681 }; 682 683 static const struct adis16480_chip_info adis16480_chip_info[] = { 684 [ADIS16375] = { 685 .channels = adis16485_channels, 686 .num_channels = ARRAY_SIZE(adis16485_channels), 687 /* 688 * storing the value in rad/degree and the scale in degree 689 * gives us the result in rad and better precession than 690 * storing the scale directly in rad. 691 */ 692 .gyro_max_val = IIO_RAD_TO_DEGREE(22887), 693 .gyro_max_scale = 300, 694 .accel_max_val = IIO_M_S_2_TO_G(21973), 695 .accel_max_scale = 18, 696 }, 697 [ADIS16480] = { 698 .channels = adis16480_channels, 699 .num_channels = ARRAY_SIZE(adis16480_channels), 700 .gyro_max_val = IIO_RAD_TO_DEGREE(22500), 701 .gyro_max_scale = 450, 702 .accel_max_val = IIO_M_S_2_TO_G(12500), 703 .accel_max_scale = 10, 704 }, 705 [ADIS16485] = { 706 .channels = adis16485_channels, 707 .num_channels = ARRAY_SIZE(adis16485_channels), 708 .gyro_max_val = IIO_RAD_TO_DEGREE(22500), 709 .gyro_max_scale = 450, 710 .accel_max_val = IIO_M_S_2_TO_G(20000), 711 .accel_max_scale = 5, 712 }, 713 [ADIS16488] = { 714 .channels = adis16480_channels, 715 .num_channels = ARRAY_SIZE(adis16480_channels), 716 .gyro_max_val = IIO_RAD_TO_DEGREE(22500), 717 .gyro_max_scale = 450, 718 .accel_max_val = IIO_M_S_2_TO_G(22500), 719 .accel_max_scale = 18, 720 }, 721 }; 722 723 static const struct iio_info adis16480_info = { 724 .read_raw = &adis16480_read_raw, 725 .write_raw = &adis16480_write_raw, 726 .update_scan_mode = adis_update_scan_mode, 727 }; 728 729 static int adis16480_stop_device(struct iio_dev *indio_dev) 730 { 731 struct adis16480 *st = iio_priv(indio_dev); 732 int ret; 733 734 ret = adis_write_reg_16(&st->adis, ADIS16480_REG_SLP_CNT, BIT(9)); 735 if (ret) 736 dev_err(&indio_dev->dev, 737 "Could not power down device: %d\n", ret); 738 739 return ret; 740 } 741 742 static int adis16480_enable_irq(struct adis *adis, bool enable) 743 { 744 return adis_write_reg_16(adis, ADIS16480_REG_FNCTIO_CTRL, 745 enable ? BIT(3) : 0); 746 } 747 748 static int adis16480_initial_setup(struct iio_dev *indio_dev) 749 { 750 struct adis16480 *st = iio_priv(indio_dev); 751 uint16_t prod_id; 752 unsigned int device_id; 753 int ret; 754 755 adis_reset(&st->adis); 756 msleep(70); 757 758 ret = adis_write_reg_16(&st->adis, ADIS16480_REG_GLOB_CMD, BIT(1)); 759 if (ret) 760 return ret; 761 msleep(30); 762 763 ret = adis_check_status(&st->adis); 764 if (ret) 765 return ret; 766 767 ret = adis_read_reg_16(&st->adis, ADIS16480_REG_PROD_ID, &prod_id); 768 if (ret) 769 return ret; 770 771 ret = sscanf(indio_dev->name, "adis%u\n", &device_id); 772 if (ret != 1) 773 return -EINVAL; 774 775 if (prod_id != device_id) 776 dev_warn(&indio_dev->dev, "Device ID(%u) and product ID(%u) do not match.", 777 device_id, prod_id); 778 779 return 0; 780 } 781 782 #define ADIS16480_DIAG_STAT_XGYRO_FAIL 0 783 #define ADIS16480_DIAG_STAT_YGYRO_FAIL 1 784 #define ADIS16480_DIAG_STAT_ZGYRO_FAIL 2 785 #define ADIS16480_DIAG_STAT_XACCL_FAIL 3 786 #define ADIS16480_DIAG_STAT_YACCL_FAIL 4 787 #define ADIS16480_DIAG_STAT_ZACCL_FAIL 5 788 #define ADIS16480_DIAG_STAT_XMAGN_FAIL 8 789 #define ADIS16480_DIAG_STAT_YMAGN_FAIL 9 790 #define ADIS16480_DIAG_STAT_ZMAGN_FAIL 10 791 #define ADIS16480_DIAG_STAT_BARO_FAIL 11 792 793 static const char * const adis16480_status_error_msgs[] = { 794 [ADIS16480_DIAG_STAT_XGYRO_FAIL] = "X-axis gyroscope self-test failure", 795 [ADIS16480_DIAG_STAT_YGYRO_FAIL] = "Y-axis gyroscope self-test failure", 796 [ADIS16480_DIAG_STAT_ZGYRO_FAIL] = "Z-axis gyroscope self-test failure", 797 [ADIS16480_DIAG_STAT_XACCL_FAIL] = "X-axis accelerometer self-test failure", 798 [ADIS16480_DIAG_STAT_YACCL_FAIL] = "Y-axis accelerometer self-test failure", 799 [ADIS16480_DIAG_STAT_ZACCL_FAIL] = "Z-axis accelerometer self-test failure", 800 [ADIS16480_DIAG_STAT_XMAGN_FAIL] = "X-axis magnetometer self-test failure", 801 [ADIS16480_DIAG_STAT_YMAGN_FAIL] = "Y-axis magnetometer self-test failure", 802 [ADIS16480_DIAG_STAT_ZMAGN_FAIL] = "Z-axis magnetometer self-test failure", 803 [ADIS16480_DIAG_STAT_BARO_FAIL] = "Barometer self-test failure", 804 }; 805 806 static const struct adis_data adis16480_data = { 807 .diag_stat_reg = ADIS16480_REG_DIAG_STS, 808 .glob_cmd_reg = ADIS16480_REG_GLOB_CMD, 809 .has_paging = true, 810 811 .read_delay = 5, 812 .write_delay = 5, 813 814 .status_error_msgs = adis16480_status_error_msgs, 815 .status_error_mask = BIT(ADIS16480_DIAG_STAT_XGYRO_FAIL) | 816 BIT(ADIS16480_DIAG_STAT_YGYRO_FAIL) | 817 BIT(ADIS16480_DIAG_STAT_ZGYRO_FAIL) | 818 BIT(ADIS16480_DIAG_STAT_XACCL_FAIL) | 819 BIT(ADIS16480_DIAG_STAT_YACCL_FAIL) | 820 BIT(ADIS16480_DIAG_STAT_ZACCL_FAIL) | 821 BIT(ADIS16480_DIAG_STAT_XMAGN_FAIL) | 822 BIT(ADIS16480_DIAG_STAT_YMAGN_FAIL) | 823 BIT(ADIS16480_DIAG_STAT_ZMAGN_FAIL) | 824 BIT(ADIS16480_DIAG_STAT_BARO_FAIL), 825 826 .enable_irq = adis16480_enable_irq, 827 }; 828 829 static int adis16480_probe(struct spi_device *spi) 830 { 831 const struct spi_device_id *id = spi_get_device_id(spi); 832 struct iio_dev *indio_dev; 833 struct adis16480 *st; 834 int ret; 835 836 indio_dev = devm_iio_device_alloc(&spi->dev, sizeof(*st)); 837 if (indio_dev == NULL) 838 return -ENOMEM; 839 840 spi_set_drvdata(spi, indio_dev); 841 842 st = iio_priv(indio_dev); 843 844 st->chip_info = &adis16480_chip_info[id->driver_data]; 845 indio_dev->dev.parent = &spi->dev; 846 indio_dev->name = spi_get_device_id(spi)->name; 847 indio_dev->channels = st->chip_info->channels; 848 indio_dev->num_channels = st->chip_info->num_channels; 849 indio_dev->info = &adis16480_info; 850 indio_dev->modes = INDIO_DIRECT_MODE; 851 852 ret = adis_init(&st->adis, indio_dev, spi, &adis16480_data); 853 if (ret) 854 return ret; 855 856 ret = adis_setup_buffer_and_trigger(&st->adis, indio_dev, NULL); 857 if (ret) 858 return ret; 859 860 ret = adis16480_initial_setup(indio_dev); 861 if (ret) 862 goto error_cleanup_buffer; 863 864 ret = iio_device_register(indio_dev); 865 if (ret) 866 goto error_stop_device; 867 868 adis16480_debugfs_init(indio_dev); 869 870 return 0; 871 872 error_stop_device: 873 adis16480_stop_device(indio_dev); 874 error_cleanup_buffer: 875 adis_cleanup_buffer_and_trigger(&st->adis, indio_dev); 876 return ret; 877 } 878 879 static int adis16480_remove(struct spi_device *spi) 880 { 881 struct iio_dev *indio_dev = spi_get_drvdata(spi); 882 struct adis16480 *st = iio_priv(indio_dev); 883 884 iio_device_unregister(indio_dev); 885 adis16480_stop_device(indio_dev); 886 887 adis_cleanup_buffer_and_trigger(&st->adis, indio_dev); 888 889 return 0; 890 } 891 892 static const struct spi_device_id adis16480_ids[] = { 893 { "adis16375", ADIS16375 }, 894 { "adis16480", ADIS16480 }, 895 { "adis16485", ADIS16485 }, 896 { "adis16488", ADIS16488 }, 897 { } 898 }; 899 MODULE_DEVICE_TABLE(spi, adis16480_ids); 900 901 static struct spi_driver adis16480_driver = { 902 .driver = { 903 .name = "adis16480", 904 }, 905 .id_table = adis16480_ids, 906 .probe = adis16480_probe, 907 .remove = adis16480_remove, 908 }; 909 module_spi_driver(adis16480_driver); 910 911 MODULE_AUTHOR("Lars-Peter Clausen <lars@metafoo.de>"); 912 MODULE_DESCRIPTION("Analog Devices ADIS16480 IMU driver"); 913 MODULE_LICENSE("GPL v2"); 914