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iio: gyro: Add driver support for ADXRS290 

ADXRS290 is a high performance MEMS pitch and roll (dual-axis in-plane)
angular rate sensor (gyroscope) designed for use in stabilization
applications. It also features an internal temperature sensor and
programmable high-pass and low-pass filters.

Add support for ADXRS290 in direct-access mode for now.

Datasheet: https://www.analog.com/media/en/technical-documentation/data-sheets/ADXRS290.pdf
Reviewed-by: Andy Shevchenko <andy.shevchenko@gmail.com>
Signed-off-by: Nishant Malpani <nish.malpani25@gmail.com>
Signed-off-by: Jonathan Cameron <Jonathan.Cameron@huawei.com>
This commit is contained in:
Nishant Malpani 2020-07-26 19:40:16 +05:30 committed by Jonathan Cameron
parent 96f962511b
commit 2c8920fff1
4 changed files with 461 additions and 0 deletions
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6
MAINTAINERS
View File

@ -1108,6 +1108,12 @@ L: linux-media@vger.kernel.org
S: Maintained
F: drivers/media/i2c/adv7842*
ANALOG DEVICES INC ADXRS290 DRIVER
M: Nishant Malpani <nish.malpani25@gmail.com>
L: linux-iio@vger.kernel.org
S: Supported
F: drivers/iio/gyro/adxrs290.c
ANALOG DEVICES INC ASOC CODEC DRIVERS
M: Lars-Peter Clausen <lars@metafoo.de>
M: Nuno Sá <nuno.sa@analog.com>

10
drivers/iio/gyro/Kconfig
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@ -41,6 +41,16 @@ config ADIS16260
This driver can also be built as a module. If so, the module
will be called adis16260.
config ADXRS290
tristate "Analog Devices ADXRS290 Dual-Axis MEMS Gyroscope SPI driver"
depends on SPI
help
Say yes here to build support for Analog Devices ADXRS290 programmable
digital output gyroscope.
This driver can also be built as a module. If so, the module will be
called adxrs290.
config ADXRS450
tristate "Analog Devices ADXRS450/3 Digital Output Gyroscope SPI driver"
depends on SPI

1
drivers/iio/gyro/Makefile
View File

@ -8,6 +8,7 @@ obj-$(CONFIG_ADIS16080) += adis16080.o
obj-$(CONFIG_ADIS16130) += adis16130.o
obj-$(CONFIG_ADIS16136) += adis16136.o
obj-$(CONFIG_ADIS16260) += adis16260.o
obj-$(CONFIG_ADXRS290) += adxrs290.o
obj-$(CONFIG_ADXRS450) += adxrs450.o
obj-$(CONFIG_BMG160) += bmg160_core.o
obj-$(CONFIG_BMG160_I2C) += bmg160_i2c.o

444
drivers/iio/gyro/adxrs290.c Normal file
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@ -0,0 +1,444 @@
// SPDX-License-Identifier: GPL-2.0-or-later
/*
* ADXRS290 SPI Gyroscope Driver
*
* Copyright (C) 2020 Nishant Malpani <nish.malpani25@gmail.com>
* Copyright (C) 2020 Analog Devices, Inc.
*/
#include <linux/bitfield.h>
#include <linux/delay.h>
#include <linux/device.h>
#include <linux/kernel.h>
#include <linux/module.h>
#include <linux/spi/spi.h>
#include <linux/iio/iio.h>
#include <linux/iio/sysfs.h>
#define ADXRS290_ADI_ID 0xAD
#define ADXRS290_MEMS_ID 0x1D
#define ADXRS290_DEV_ID 0x92
#define ADXRS290_REG_ADI_ID 0x00
#define ADXRS290_REG_MEMS_ID 0x01
#define ADXRS290_REG_DEV_ID 0x02
#define ADXRS290_REG_REV_ID 0x03
#define ADXRS290_REG_SN0 0x04 /* Serial Number Registers, 4 bytes */
#define ADXRS290_REG_DATAX0 0x08 /* Roll Rate o/p Data Regs, 2 bytes */
#define ADXRS290_REG_DATAY0 0x0A /* Pitch Rate o/p Data Regs, 2 bytes */
#define ADXRS290_REG_TEMP0 0x0C
#define ADXRS290_REG_POWER_CTL 0x10
#define ADXRS290_REG_FILTER 0x11
#define ADXRS290_REG_DATA_RDY 0x12
#define ADXRS290_READ BIT(7)
#define ADXRS290_TSM BIT(0)
#define ADXRS290_MEASUREMENT BIT(1)
#define ADXRS290_SYNC GENMASK(1, 0)
#define ADXRS290_LPF_MASK GENMASK(2, 0)
#define ADXRS290_LPF(x) FIELD_PREP(ADXRS290_LPF_MASK, x)
#define ADXRS290_HPF_MASK GENMASK(7, 4)
#define ADXRS290_HPF(x) FIELD_PREP(ADXRS290_HPF_MASK, x)
#define ADXRS290_READ_REG(reg) (ADXRS290_READ | (reg))
#define ADXRS290_MAX_TRANSITION_TIME_MS 100
enum adxrs290_mode {
ADXRS290_MODE_STANDBY,
ADXRS290_MODE_MEASUREMENT,
};
struct adxrs290_state {
struct spi_device *spi;
/* Serialize reads and their subsequent processing */
struct mutex lock;
enum adxrs290_mode mode;
unsigned int lpf_3db_freq_idx;
unsigned int hpf_3db_freq_idx;
};
/*
* Available cut-off frequencies of the low pass filter in Hz.
* The integer part and fractional part are represented separately.
*/
static const int adxrs290_lpf_3db_freq_hz_table[][2] = {
[0] = {480, 0},
[1] = {320, 0},
[2] = {160, 0},
[3] = {80, 0},
[4] = {56, 600000},
[5] = {40, 0},
[6] = {28, 300000},
[7] = {20, 0},
};
/*
* Available cut-off frequencies of the high pass filter in Hz.
* The integer part and fractional part are represented separately.
*/
static const int adxrs290_hpf_3db_freq_hz_table[][2] = {
[0] = {0, 0},
[1] = {0, 11000},
[2] = {0, 22000},
[3] = {0, 44000},
[4] = {0, 87000},
[5] = {0, 175000},
[6] = {0, 350000},
[7] = {0, 700000},
[8] = {1, 400000},
[9] = {2, 800000},
[10] = {11, 300000},
};
static int adxrs290_get_rate_data(struct iio_dev *indio_dev, const u8 cmd, int *val)
{
struct adxrs290_state *st = iio_priv(indio_dev);
int ret = 0;
int temp;
mutex_lock(&st->lock);
temp = spi_w8r16(st->spi, cmd);
if (temp < 0) {
ret = temp;
goto err_unlock;
}
*val = temp;
err_unlock:
mutex_unlock(&st->lock);
return ret;
}
static int adxrs290_get_temp_data(struct iio_dev *indio_dev, int *val)
{
const u8 cmd = ADXRS290_READ_REG(ADXRS290_REG_TEMP0);
struct adxrs290_state *st = iio_priv(indio_dev);
int ret = 0;
int temp;
mutex_lock(&st->lock);
temp = spi_w8r16(st->spi, cmd);
if (temp < 0) {
ret = temp;
goto err_unlock;
}
/* extract lower 12 bits temperature reading */
*val = temp & 0x0FFF;
err_unlock:
mutex_unlock(&st->lock);
return ret;
}
static int adxrs290_get_3db_freq(struct iio_dev *indio_dev, u8 *val, u8 *val2)
{
const u8 cmd = ADXRS290_READ_REG(ADXRS290_REG_FILTER);
struct adxrs290_state *st = iio_priv(indio_dev);
int ret = 0;
short temp;
mutex_lock(&st->lock);
temp = spi_w8r8(st->spi, cmd);
if (temp < 0) {
ret = temp;
goto err_unlock;
}
*val = FIELD_GET(ADXRS290_LPF_MASK, temp);
*val2 = FIELD_GET(ADXRS290_HPF_MASK, temp);
err_unlock:
mutex_unlock(&st->lock);
return ret;
}
static int adxrs290_spi_write_reg(struct spi_device *spi, const u8 reg,
const u8 val)
{
u8 buf[2];
buf[0] = reg;
buf[1] = val;
return spi_write_then_read(spi, buf, ARRAY_SIZE(buf), NULL, 0);
}
static int adxrs290_find_match(const int (*freq_tbl)[2], const int n,
const int val, const int val2)
{
int i;
for (i = 0; i < n; i++) {
if (freq_tbl[i][0] == val && freq_tbl[i][1] == val2)
return i;
}
return -EINVAL;
}
static int adxrs290_set_filter_freq(struct iio_dev *indio_dev,
const unsigned int lpf_idx,
const unsigned int hpf_idx)
{
struct adxrs290_state *st = iio_priv(indio_dev);
u8 val;
val = ADXRS290_HPF(hpf_idx) | ADXRS290_LPF(lpf_idx);
return adxrs290_spi_write_reg(st->spi, ADXRS290_REG_FILTER, val);
}
static int adxrs290_initial_setup(struct iio_dev *indio_dev)
{
struct adxrs290_state *st = iio_priv(indio_dev);
st->mode = ADXRS290_MODE_MEASUREMENT;
return adxrs290_spi_write_reg(st->spi,
ADXRS290_REG_POWER_CTL,
ADXRS290_MEASUREMENT | ADXRS290_TSM);
}
static int adxrs290_read_raw(struct iio_dev *indio_dev,
struct iio_chan_spec const *chan,
int *val,
int *val2,
long mask)
{
struct adxrs290_state *st = iio_priv(indio_dev);
unsigned int t;
int ret;
switch (mask) {
case IIO_CHAN_INFO_RAW:
switch (chan->type) {
case IIO_ANGL_VEL:
ret = adxrs290_get_rate_data(indio_dev,
ADXRS290_READ_REG(chan->address),
val);
if (ret < 0)
return ret;
return IIO_VAL_INT;
case IIO_TEMP:
ret = adxrs290_get_temp_data(indio_dev, val);
if (ret < 0)
return ret;
return IIO_VAL_INT;
default:
return -EINVAL;
}
case IIO_CHAN_INFO_SCALE:
switch (chan->type) {
case IIO_ANGL_VEL:
/* 1 LSB = 0.005 degrees/sec */
*val = 0;
*val2 = 87266;
return IIO_VAL_INT_PLUS_NANO;
case IIO_TEMP:
/* 1 LSB = 0.1 degrees Celsius */
*val = 100;
return IIO_VAL_INT;
default:
return -EINVAL;
}
case IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY:
switch (chan->type) {
case IIO_ANGL_VEL:
t = st->lpf_3db_freq_idx;
*val = adxrs290_lpf_3db_freq_hz_table[t][0];
*val2 = adxrs290_lpf_3db_freq_hz_table[t][1];
return IIO_VAL_INT_PLUS_MICRO;
default:
return -EINVAL;
}
case IIO_CHAN_INFO_HIGH_PASS_FILTER_3DB_FREQUENCY:
switch (chan->type) {
case IIO_ANGL_VEL:
t = st->hpf_3db_freq_idx;
*val = adxrs290_hpf_3db_freq_hz_table[t][0];
*val2 = adxrs290_hpf_3db_freq_hz_table[t][1];
return IIO_VAL_INT_PLUS_MICRO;
default:
return -EINVAL;
}
}
return -EINVAL;
}
static int adxrs290_write_raw(struct iio_dev *indio_dev,
struct iio_chan_spec const *chan,
int val,
int val2,
long mask)
{
struct adxrs290_state *st = iio_priv(indio_dev);
int lpf_idx, hpf_idx;
switch (mask) {
case IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY:
lpf_idx = adxrs290_find_match(adxrs290_lpf_3db_freq_hz_table,
ARRAY_SIZE(adxrs290_lpf_3db_freq_hz_table),
val, val2);
if (lpf_idx < 0)
return -EINVAL;
/* caching the updated state of the low-pass filter */
st->lpf_3db_freq_idx = lpf_idx;
/* retrieving the current state of the high-pass filter */
hpf_idx = st->hpf_3db_freq_idx;
return adxrs290_set_filter_freq(indio_dev, lpf_idx, hpf_idx);
case IIO_CHAN_INFO_HIGH_PASS_FILTER_3DB_FREQUENCY:
hpf_idx = adxrs290_find_match(adxrs290_hpf_3db_freq_hz_table,
ARRAY_SIZE(adxrs290_hpf_3db_freq_hz_table),
val, val2);
if (hpf_idx < 0)
return -EINVAL;
/* caching the updated state of the high-pass filter */
st->hpf_3db_freq_idx = hpf_idx;
/* retrieving the current state of the low-pass filter */
lpf_idx = st->lpf_3db_freq_idx;
return adxrs290_set_filter_freq(indio_dev, lpf_idx, hpf_idx);
}
return -EINVAL;
}
static int adxrs290_read_avail(struct iio_dev *indio_dev,
struct iio_chan_spec const *chan,
const int **vals, int *type, int *length,
long mask)
{
switch (mask) {
case IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY:
*vals = (const int *)adxrs290_lpf_3db_freq_hz_table;
*type = IIO_VAL_INT_PLUS_MICRO;
/* Values are stored in a 2D matrix */
*length = ARRAY_SIZE(adxrs290_lpf_3db_freq_hz_table) * 2;
return IIO_AVAIL_LIST;
case IIO_CHAN_INFO_HIGH_PASS_FILTER_3DB_FREQUENCY:
*vals = (const int *)adxrs290_hpf_3db_freq_hz_table;
*type = IIO_VAL_INT_PLUS_MICRO;
/* Values are stored in a 2D matrix */
*length = ARRAY_SIZE(adxrs290_hpf_3db_freq_hz_table) * 2;
return IIO_AVAIL_LIST;
default:
return -EINVAL;
}
}
#define ADXRS290_ANGL_VEL_CHANNEL(reg, axis) { \
.type = IIO_ANGL_VEL, \
.address = reg, \
.modified = 1, \
.channel2 = IIO_MOD_##axis, \
.info_mask_separate = BIT(IIO_CHAN_INFO_RAW), \
.info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE) | \
BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY) | \
BIT(IIO_CHAN_INFO_HIGH_PASS_FILTER_3DB_FREQUENCY), \
.info_mask_shared_by_type_available = \
BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY) | \
BIT(IIO_CHAN_INFO_HIGH_PASS_FILTER_3DB_FREQUENCY), \
}
static const struct iio_chan_spec adxrs290_channels[] = {
ADXRS290_ANGL_VEL_CHANNEL(ADXRS290_REG_DATAX0, X),
ADXRS290_ANGL_VEL_CHANNEL(ADXRS290_REG_DATAY0, Y),
{
.type = IIO_TEMP,
.address = ADXRS290_REG_TEMP0,
.info_mask_separate = BIT(IIO_CHAN_INFO_RAW) |
BIT(IIO_CHAN_INFO_SCALE),
},
};
static const struct iio_info adxrs290_info = {
.read_raw = &adxrs290_read_raw,
.write_raw = &adxrs290_write_raw,
.read_avail = &adxrs290_read_avail,
};
static int adxrs290_probe(struct spi_device *spi)
{
struct iio_dev *indio_dev;
struct adxrs290_state *st;
u8 val, val2;
int ret;
indio_dev = devm_iio_device_alloc(&spi->dev, sizeof(*st));
if (!indio_dev)
return -ENOMEM;
st = iio_priv(indio_dev);
st->spi = spi;
indio_dev->name = "adxrs290";
indio_dev->modes = INDIO_DIRECT_MODE;
indio_dev->channels = adxrs290_channels;
indio_dev->num_channels = ARRAY_SIZE(adxrs290_channels);
indio_dev->info = &adxrs290_info;
val = spi_w8r8(spi, ADXRS290_READ_REG(ADXRS290_REG_ADI_ID));
if (val != ADXRS290_ADI_ID) {
dev_err(&spi->dev, "Wrong ADI ID 0x%02x\n", val);
return -ENODEV;
}
val = spi_w8r8(spi, ADXRS290_READ_REG(ADXRS290_REG_MEMS_ID));
if (val != ADXRS290_MEMS_ID) {
dev_err(&spi->dev, "Wrong MEMS ID 0x%02x\n", val);
return -ENODEV;
}
val = spi_w8r8(spi, ADXRS290_READ_REG(ADXRS290_REG_DEV_ID));
if (val != ADXRS290_DEV_ID) {
dev_err(&spi->dev, "Wrong DEV ID 0x%02x\n", val);
return -ENODEV;
}
/* default mode the gyroscope starts in */
st->mode = ADXRS290_MODE_STANDBY;
/* switch to measurement mode and switch on the temperature sensor */
ret = adxrs290_initial_setup(indio_dev);
if (ret < 0)
return ret;
/* max transition time to measurement mode */
msleep(ADXRS290_MAX_TRANSITION_TIME_MS);
ret = adxrs290_get_3db_freq(indio_dev, &val, &val2);
if (ret < 0)
return ret;
st->lpf_3db_freq_idx = val;
st->hpf_3db_freq_idx = val2;
return devm_iio_device_register(&spi->dev, indio_dev);
}
static const struct of_device_id adxrs290_of_match[] = {
{ .compatible = "adi,adxrs290" },
{ }
};
MODULE_DEVICE_TABLE(of, adxrs290_of_match);
static struct spi_driver adxrs290_driver = {
.driver = {
.name = "adxrs290",
.of_match_table = adxrs290_of_match,
},
.probe = adxrs290_probe,
};
module_spi_driver(adxrs290_driver);
MODULE_AUTHOR("Nishant Malpani <nish.malpani25@gmail.com>");
MODULE_DESCRIPTION("Analog Devices ADXRS290 Gyroscope SPI driver");
MODULE_LICENSE("GPL");