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1// SPDX-License-Identifier: GPL-2.0+2/*3 * ADIS16460 IMU driver4 *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 0x0017#define ADIS16460_REG_DIAG_STAT 0x0218#define ADIS16460_REG_X_GYRO_LOW 0x0419#define ADIS16460_REG_X_GYRO_OUT 0x0620#define ADIS16460_REG_Y_GYRO_LOW 0x0821#define ADIS16460_REG_Y_GYRO_OUT 0x0A22#define ADIS16460_REG_Z_GYRO_LOW 0x0C23#define ADIS16460_REG_Z_GYRO_OUT 0x0E24#define ADIS16460_REG_X_ACCL_LOW 0x1025#define ADIS16460_REG_X_ACCL_OUT 0x1226#define ADIS16460_REG_Y_ACCL_LOW 0x1427#define ADIS16460_REG_Y_ACCL_OUT 0x1628#define ADIS16460_REG_Z_ACCL_LOW 0x1829#define ADIS16460_REG_Z_ACCL_OUT 0x1A30#define ADIS16460_REG_SMPL_CNTR 0x1C31#define ADIS16460_REG_TEMP_OUT 0x1E32#define ADIS16460_REG_X_DELT_ANG 0x2433#define ADIS16460_REG_Y_DELT_ANG 0x2634#define ADIS16460_REG_Z_DELT_ANG 0x2835#define ADIS16460_REG_X_DELT_VEL 0x2A36#define ADIS16460_REG_Y_DELT_VEL 0x2C37#define ADIS16460_REG_Z_DELT_VEL 0x2E38#define ADIS16460_REG_MSC_CTRL 0x3239#define ADIS16460_REG_SYNC_SCAL 0x3440#define ADIS16460_REG_DEC_RATE 0x3641#define ADIS16460_REG_FLTR_CTRL 0x3842#define ADIS16460_REG_GLOB_CMD 0x3E43#define ADIS16460_REG_X_GYRO_OFF 0x4044#define ADIS16460_REG_Y_GYRO_OFF 0x4245#define ADIS16460_REG_Z_GYRO_OFF 0x4446#define ADIS16460_REG_X_ACCL_OFF 0x4647#define ADIS16460_REG_Y_ACCL_OFF 0x4848#define ADIS16460_REG_Z_ACCL_OFF 0x4A49#define ADIS16460_REG_LOT_ID1 0x5250#define ADIS16460_REG_LOT_ID2 0x5451#define ADIS16460_REG_PROD_ID 0x5652#define ADIS16460_REG_SERIAL_NUM 0x5853#define ADIS16460_REG_CAL_SGNTR 0x6054#define ADIS16460_REG_CAL_CRC 0x6255#define ADIS16460_REG_CODE_SGNTR 0x6456#define ADIS16460_REG_CODE_CRC 0x6657 58struct 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 67struct adis16460 {68 const struct adis16460_chip_info *chip_info;69 struct adis adis;70};71 72static 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}87DEFINE_DEBUGFS_ATTRIBUTE(adis16460_serial_number_fops,88 adis16460_show_serial_number, NULL, "0x%.4llx\n");89 90static 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}105DEFINE_DEBUGFS_ATTRIBUTE(adis16460_product_id_fops,106 adis16460_show_product_id, NULL, "%llu\n");107 108static 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}123DEFINE_DEBUGFS_ATTRIBUTE(adis16460_flash_count_fops,124 adis16460_show_flash_count, NULL, "%lld\n");125 126static 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 142static 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 161static 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 179static 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 213static 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 224enum {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 280static 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 291static 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 degree296 * gives us the result in rad and better precession than297 * 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 305static 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 7313#define ADIS16460_DIAG_STAT_FLASH_MEM 6314#define ADIS16460_DIAG_STAT_SELF_TEST 5315#define ADIS16460_DIAG_STAT_OVERRANGE 4316#define ADIS16460_DIAG_STAT_SPI_COMM 3317#define ADIS16460_DIAG_STAT_FLASH_UPT 2318 319static 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 328static const struct adis_timeout adis16460_timeouts = {329 .reset_ms = 225,330 .sw_reset_ms = 225,331 .self_test_ms = 10,332};333 334static 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 356static 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 396static const struct spi_device_id adis16460_ids[] = {397 { "adis16460", 0 },398 {}399};400MODULE_DEVICE_TABLE(spi, adis16460_ids);401 402static const struct of_device_id adis16460_of_match[] = {403 { .compatible = "adi,adis16460" },404 {}405};406MODULE_DEVICE_TABLE(of, adis16460_of_match);407 408static 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};416module_spi_driver(adis16460_driver);417 418MODULE_AUTHOR("Dragos Bogdan <dragos.bogdan@analog.com>");419MODULE_DESCRIPTION("Analog Devices ADIS16460 IMU driver");420MODULE_LICENSE("GPL");421MODULE_IMPORT_NS(IIO_ADISLIB);422