iio: imu: Add support for the ADIS16460 IMU
The ADIS16460 device is a complete inertial system that includes a triaxial gyroscope and a triaxial accelerometer. It's more simplified design than that of the ADIS16480, and does not offer the triaxial magnetometers & pressure sensors. It does also have a temperature sensor (like the ADIS16480). Since it is part of the ADIS16XXX family, it re-uses parts of the ADIS library. Naturally, the register map is different and much more simplified than the ADIS16480 subfamily, so it cannot be integrated into that driver. A major difference is that the registers are not paged. One thing that is particularly special about it, is that it requires a higher delay between CS changes (i.e. when CS goes up, the spec recommends that it be brought down after a minimum of 16 uS). Other ADIS chips require (via spec) a minimum of 2 uS between CS changes. The kernel's 10 uS default should be fine for those other chips; they haven't been tested with lower CS change delays yet. Datasheet: https://www.analog.com/media/en/technical-documentation/data-sheets/adis16460.pdf Signed-off-by: Dragos Bogdan <dragos.bogdan@analog.com> Signed-off-by: Michael Hennerich <michael.hennerich@analog.com> Signed-off-by: Alexandru Ardelean <alexandru.ardelean@analog.com> Signed-off-by: Jonathan Cameron <Jonathan.Cameron@huawei.com>
This commit is contained in:
Alexandru Ardelean
Jonathan Cameron
parent
dca39af883
commit
db6ed4d23d
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@ -945,6 +945,13 @@ L: linux-iio@vger.kernel.org
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F: include/linux/iio/imu/adis.h
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F: drivers/iio/imu/adis.c
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ANALOG DEVICES INC ADIS16460 DRIVER
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M: Dragos Bogdan <dragos.bogdan@analog.com>
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S: Supported
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L: linux-iio@vger.kernel.org
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W: http://ez.analog.com/community/linux-device-drivers
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F: drivers/iio/imu/adis16460.c
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ANALOG DEVICES INC ADP5061 DRIVER
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M: Stefan Popa <stefan.popa@analog.com>
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L: linux-pm@vger.kernel.org
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@ -17,6 +17,18 @@ config ADIS16400
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adis16365, adis16400 and adis16405 triaxial inertial sensors
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(adis16400 series also have magnetometers).
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config ADIS16460
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tristate "Analog Devices ADIS16460 and similar IMU driver"
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depends on SPI
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select IIO_ADIS_LIB
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select IIO_ADIS_LIB_BUFFER if IIO_BUFFER
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help
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Say yes here to build support for Analog Devices ADIS16460 inertial
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sensor.
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To compile this driver as a module, choose M here: the module will be
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called adis16460.
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config ADIS16480
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tristate "Analog Devices ADIS16480 and similar IMU driver"
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depends on SPI
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@ -5,6 +5,7 @@
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# When adding new entries keep the list in alphabetical order
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obj-$(CONFIG_ADIS16400) += adis16400.o
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obj-$(CONFIG_ADIS16460) += adis16460.o
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obj-$(CONFIG_ADIS16480) += adis16480.o
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adis_lib-y += adis.o
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@ -0,0 +1,489 @@
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// SPDX-License-Identifier: GPL-2.0+
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/*
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* ADIS16460 IMU driver
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*
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* Copyright 2019 Analog Devices Inc.
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*/
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#include <linux/delay.h>
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#include <linux/module.h>
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#include <linux/spi/spi.h>
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#include <linux/iio/iio.h>
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#include <linux/iio/imu/adis.h>
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#include <linux/debugfs.h>
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#define ADIS16460_REG_FLASH_CNT 0x00
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#define ADIS16460_REG_DIAG_STAT 0x02
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#define ADIS16460_REG_X_GYRO_LOW 0x04
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#define ADIS16460_REG_X_GYRO_OUT 0x06
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#define ADIS16460_REG_Y_GYRO_LOW 0x08
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#define ADIS16460_REG_Y_GYRO_OUT 0x0A
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#define ADIS16460_REG_Z_GYRO_LOW 0x0C
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#define ADIS16460_REG_Z_GYRO_OUT 0x0E
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#define ADIS16460_REG_X_ACCL_LOW 0x10
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#define ADIS16460_REG_X_ACCL_OUT 0x12
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#define ADIS16460_REG_Y_ACCL_LOW 0x14
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#define ADIS16460_REG_Y_ACCL_OUT 0x16
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#define ADIS16460_REG_Z_ACCL_LOW 0x18
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#define ADIS16460_REG_Z_ACCL_OUT 0x1A
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#define ADIS16460_REG_SMPL_CNTR 0x1C
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#define ADIS16460_REG_TEMP_OUT 0x1E
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#define ADIS16460_REG_X_DELT_ANG 0x24
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#define ADIS16460_REG_Y_DELT_ANG 0x26
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#define ADIS16460_REG_Z_DELT_ANG 0x28
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#define ADIS16460_REG_X_DELT_VEL 0x2A
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#define ADIS16460_REG_Y_DELT_VEL 0x2C
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#define ADIS16460_REG_Z_DELT_VEL 0x2E
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#define ADIS16460_REG_MSC_CTRL 0x32
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#define ADIS16460_REG_SYNC_SCAL 0x34
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#define ADIS16460_REG_DEC_RATE 0x36
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#define ADIS16460_REG_FLTR_CTRL 0x38
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#define ADIS16460_REG_GLOB_CMD 0x3E
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#define ADIS16460_REG_X_GYRO_OFF 0x40
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#define ADIS16460_REG_Y_GYRO_OFF 0x42
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#define ADIS16460_REG_Z_GYRO_OFF 0x44
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#define ADIS16460_REG_X_ACCL_OFF 0x46
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#define ADIS16460_REG_Y_ACCL_OFF 0x48
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#define ADIS16460_REG_Z_ACCL_OFF 0x4A
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#define ADIS16460_REG_LOT_ID1 0x52
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#define ADIS16460_REG_LOT_ID2 0x54
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#define ADIS16460_REG_PROD_ID 0x56
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#define ADIS16460_REG_SERIAL_NUM 0x58
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#define ADIS16460_REG_CAL_SGNTR 0x60
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#define ADIS16460_REG_CAL_CRC 0x62
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#define ADIS16460_REG_CODE_SGNTR 0x64
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#define ADIS16460_REG_CODE_CRC 0x66
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struct adis16460_chip_info {
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unsigned int num_channels;
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const struct iio_chan_spec *channels;
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unsigned int gyro_max_val;
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unsigned int gyro_max_scale;
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unsigned int accel_max_val;
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unsigned int accel_max_scale;
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};
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struct adis16460 {
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const struct adis16460_chip_info *chip_info;
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struct adis adis;
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};
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#ifdef CONFIG_DEBUG_FS
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static int adis16460_show_serial_number(void *arg, u64 *val)
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{
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struct adis16460 *adis16460 = arg;
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u16 serial;
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int ret;
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ret = adis_read_reg_16(&adis16460->adis, ADIS16460_REG_SERIAL_NUM,
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&serial);
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if (ret < 0)
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return ret;
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*val = serial;
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return 0;
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}
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DEFINE_SIMPLE_ATTRIBUTE(adis16460_serial_number_fops,
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adis16460_show_serial_number, NULL, "0x%.4llx\n");
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static int adis16460_show_product_id(void *arg, u64 *val)
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{
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struct adis16460 *adis16460 = arg;
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u16 prod_id;
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int ret;
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ret = adis_read_reg_16(&adis16460->adis, ADIS16460_REG_PROD_ID,
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&prod_id);
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if (ret < 0)
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return ret;
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*val = prod_id;
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return 0;
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}
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DEFINE_SIMPLE_ATTRIBUTE(adis16460_product_id_fops,
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adis16460_show_product_id, NULL, "%llu\n");
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static int adis16460_show_flash_count(void *arg, u64 *val)
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{
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struct adis16460 *adis16460 = arg;
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u32 flash_count;
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int ret;
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ret = adis_read_reg_32(&adis16460->adis, ADIS16460_REG_FLASH_CNT,
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&flash_count);
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if (ret < 0)
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return ret;
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*val = flash_count;
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return 0;
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}
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DEFINE_SIMPLE_ATTRIBUTE(adis16460_flash_count_fops,
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adis16460_show_flash_count, NULL, "%lld\n");
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static int adis16460_debugfs_init(struct iio_dev *indio_dev)
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{
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struct adis16460 *adis16460 = iio_priv(indio_dev);
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debugfs_create_file("serial_number", 0400, indio_dev->debugfs_dentry,
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adis16460, &adis16460_serial_number_fops);
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debugfs_create_file("product_id", 0400, indio_dev->debugfs_dentry,
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adis16460, &adis16460_product_id_fops);
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debugfs_create_file("flash_count", 0400, indio_dev->debugfs_dentry,
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adis16460, &adis16460_flash_count_fops);
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return 0;
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}
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#else
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static int adis16460_debugfs_init(struct iio_dev *indio_dev)
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{
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return 0;
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}
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#endif
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static int adis16460_set_freq(struct iio_dev *indio_dev, int val, int val2)
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{
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struct adis16460 *st = iio_priv(indio_dev);
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unsigned int t;
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t = val * 1000 + val2 / 1000;
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if (t <= 0)
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return -EINVAL;
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t = 2048000 / t;
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if (t > 2048)
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t = 2048;
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if (t != 0)
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t--;
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return adis_write_reg_16(&st->adis, ADIS16460_REG_DEC_RATE, t);
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}
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static int adis16460_get_freq(struct iio_dev *indio_dev, int *val, int *val2)
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{
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struct adis16460 *st = iio_priv(indio_dev);
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uint16_t t;
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int ret;
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unsigned int freq;
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ret = adis_read_reg_16(&st->adis, ADIS16460_REG_DEC_RATE, &t);
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if (ret < 0)
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return ret;
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freq = 2048000 / (t + 1);
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*val = freq / 1000;
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*val2 = (freq % 1000) * 1000;
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return IIO_VAL_INT_PLUS_MICRO;
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}
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static int adis16460_read_raw(struct iio_dev *indio_dev,
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const struct iio_chan_spec *chan, int *val, int *val2, long info)
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{
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struct adis16460 *st = iio_priv(indio_dev);
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switch (info) {
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case IIO_CHAN_INFO_RAW:
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return adis_single_conversion(indio_dev, chan, 0, val);
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case IIO_CHAN_INFO_SCALE:
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switch (chan->type) {
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case IIO_ANGL_VEL:
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*val = st->chip_info->gyro_max_scale;
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*val2 = st->chip_info->gyro_max_val;
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return IIO_VAL_FRACTIONAL;
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case IIO_ACCEL:
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*val = st->chip_info->accel_max_scale;
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*val2 = st->chip_info->accel_max_val;
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return IIO_VAL_FRACTIONAL;
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case IIO_TEMP:
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*val = 50; /* 50 milli degrees Celsius/LSB */
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return IIO_VAL_INT;
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default:
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return -EINVAL;
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}
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case IIO_CHAN_INFO_OFFSET:
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*val = 500; /* 25 degrees Celsius = 0x0000 */
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return IIO_VAL_INT;
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case IIO_CHAN_INFO_SAMP_FREQ:
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return adis16460_get_freq(indio_dev, val, val2);
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default:
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return -EINVAL;
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}
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}
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static int adis16460_write_raw(struct iio_dev *indio_dev,
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const struct iio_chan_spec *chan, int val, int val2, long info)
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{
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switch (info) {
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case IIO_CHAN_INFO_SAMP_FREQ:
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return adis16460_set_freq(indio_dev, val, val2);
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default:
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return -EINVAL;
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}
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}
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enum {
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ADIS16460_SCAN_GYRO_X,
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ADIS16460_SCAN_GYRO_Y,
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ADIS16460_SCAN_GYRO_Z,
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ADIS16460_SCAN_ACCEL_X,
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ADIS16460_SCAN_ACCEL_Y,
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ADIS16460_SCAN_ACCEL_Z,
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ADIS16460_SCAN_TEMP,
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};
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#define ADIS16460_MOD_CHANNEL(_type, _mod, _address, _si, _bits) \
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{ \
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.type = (_type), \
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.modified = 1, \
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.channel2 = (_mod), \
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.info_mask_separate = BIT(IIO_CHAN_INFO_RAW), \
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.info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE), \
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.info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
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.address = (_address), \
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.scan_index = (_si), \
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.scan_type = { \
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.sign = 's', \
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.realbits = (_bits), \
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.storagebits = (_bits), \
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.endianness = IIO_BE, \
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}, \
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}
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#define ADIS16460_GYRO_CHANNEL(_mod) \
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ADIS16460_MOD_CHANNEL(IIO_ANGL_VEL, IIO_MOD_ ## _mod, \
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ADIS16460_REG_ ## _mod ## _GYRO_LOW, ADIS16460_SCAN_GYRO_ ## _mod, \
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32)
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#define ADIS16460_ACCEL_CHANNEL(_mod) \
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ADIS16460_MOD_CHANNEL(IIO_ACCEL, IIO_MOD_ ## _mod, \
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ADIS16460_REG_ ## _mod ## _ACCL_LOW, ADIS16460_SCAN_ACCEL_ ## _mod, \
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32)
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#define ADIS16460_TEMP_CHANNEL() { \
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.type = IIO_TEMP, \
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.indexed = 1, \
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.channel = 0, \
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.info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \
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BIT(IIO_CHAN_INFO_SCALE) | \
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BIT(IIO_CHAN_INFO_OFFSET), \
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.info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
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.address = ADIS16460_REG_TEMP_OUT, \
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.scan_index = ADIS16460_SCAN_TEMP, \
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.scan_type = { \
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.sign = 's', \
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.realbits = 16, \
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.storagebits = 16, \
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.endianness = IIO_BE, \
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}, \
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}
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static const struct iio_chan_spec adis16460_channels[] = {
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ADIS16460_GYRO_CHANNEL(X),
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ADIS16460_GYRO_CHANNEL(Y),
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ADIS16460_GYRO_CHANNEL(Z),
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ADIS16460_ACCEL_CHANNEL(X),
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ADIS16460_ACCEL_CHANNEL(Y),
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ADIS16460_ACCEL_CHANNEL(Z),
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ADIS16460_TEMP_CHANNEL(),
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IIO_CHAN_SOFT_TIMESTAMP(7)
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};
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static const struct adis16460_chip_info adis16460_chip_info = {
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.channels = adis16460_channels,
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.num_channels = ARRAY_SIZE(adis16460_channels),
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/*
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* storing the value in rad/degree and the scale in degree
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* gives us the result in rad and better precession than
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* storing the scale directly in rad.
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*/
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.gyro_max_val = IIO_RAD_TO_DEGREE(200 << 16),
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.gyro_max_scale = 1,
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.accel_max_val = IIO_M_S_2_TO_G(20000 << 16),
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.accel_max_scale = 5,
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};
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static const struct iio_info adis16460_info = {
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.read_raw = &adis16460_read_raw,
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.write_raw = &adis16460_write_raw,
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.update_scan_mode = adis_update_scan_mode,
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.debugfs_reg_access = adis_debugfs_reg_access,
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};
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static int adis16460_enable_irq(struct adis *adis, bool enable)
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{
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/*
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* There is no way to gate the data-ready signal internally inside the
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* ADIS16460 :(
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*/
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if (enable)
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enable_irq(adis->spi->irq);
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else
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disable_irq(adis->spi->irq);
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return 0;
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}
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static int adis16460_initial_setup(struct iio_dev *indio_dev)
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{
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struct adis16460 *st = iio_priv(indio_dev);
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uint16_t prod_id;
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unsigned int device_id;
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int ret;
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adis_reset(&st->adis);
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msleep(222);
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ret = adis_write_reg_16(&st->adis, ADIS16460_REG_GLOB_CMD, BIT(1));
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if (ret)
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return ret;
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msleep(75);
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ret = adis_check_status(&st->adis);
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if (ret)
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return ret;
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ret = adis_read_reg_16(&st->adis, ADIS16460_REG_PROD_ID, &prod_id);
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if (ret)
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return ret;
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ret = sscanf(indio_dev->name, "adis%u\n", &device_id);
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if (ret != 1)
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return -EINVAL;
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if (prod_id != device_id)
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dev_warn(&indio_dev->dev, "Device ID(%u) and product ID(%u) do not match.",
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device_id, prod_id);
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return 0;
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}
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#define ADIS16460_DIAG_STAT_IN_CLK_OOS 7
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#define ADIS16460_DIAG_STAT_FLASH_MEM 6
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#define ADIS16460_DIAG_STAT_SELF_TEST 5
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#define ADIS16460_DIAG_STAT_OVERRANGE 4
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#define ADIS16460_DIAG_STAT_SPI_COMM 3
|
||||
#define ADIS16460_DIAG_STAT_FLASH_UPT 2
|
||||
|
||||
static const char * const adis16460_status_error_msgs[] = {
|
||||
[ADIS16460_DIAG_STAT_IN_CLK_OOS] = "Input clock out of sync",
|
||||
[ADIS16460_DIAG_STAT_FLASH_MEM] = "Flash memory failure",
|
||||
[ADIS16460_DIAG_STAT_SELF_TEST] = "Self test diagnostic failure",
|
||||
[ADIS16460_DIAG_STAT_OVERRANGE] = "Sensor overrange",
|
||||
[ADIS16460_DIAG_STAT_SPI_COMM] = "SPI communication failure",
|
||||
[ADIS16460_DIAG_STAT_FLASH_UPT] = "Flash update failure",
|
||||
};
|
||||
|
||||
static const struct adis_data adis16460_data = {
|
||||
.diag_stat_reg = ADIS16460_REG_DIAG_STAT,
|
||||
.glob_cmd_reg = ADIS16460_REG_GLOB_CMD,
|
||||
.has_paging = false,
|
||||
.read_delay = 5,
|
||||
.write_delay = 5,
|
||||
.cs_change_delay = 16,
|
||||
.status_error_msgs = adis16460_status_error_msgs,
|
||||
.status_error_mask = BIT(ADIS16460_DIAG_STAT_IN_CLK_OOS) |
|
||||
BIT(ADIS16460_DIAG_STAT_FLASH_MEM) |
|
||||
BIT(ADIS16460_DIAG_STAT_SELF_TEST) |
|
||||
BIT(ADIS16460_DIAG_STAT_OVERRANGE) |
|
||||
BIT(ADIS16460_DIAG_STAT_SPI_COMM) |
|
||||
BIT(ADIS16460_DIAG_STAT_FLASH_UPT),
|
||||
.enable_irq = adis16460_enable_irq,
|
||||
};
|
||||
|
||||
static int adis16460_probe(struct spi_device *spi)
|
||||
{
|
||||
struct iio_dev *indio_dev;
|
||||
struct adis16460 *st;
|
||||
int ret;
|
||||
|
||||
indio_dev = devm_iio_device_alloc(&spi->dev, sizeof(*st));
|
||||
if (indio_dev == NULL)
|
||||
return -ENOMEM;
|
||||
|
||||
spi_set_drvdata(spi, indio_dev);
|
||||
|
||||
st = iio_priv(indio_dev);
|
||||
|
||||
st->chip_info = &adis16460_chip_info;
|
||||
indio_dev->dev.parent = &spi->dev;
|
||||
indio_dev->name = spi_get_device_id(spi)->name;
|
||||
indio_dev->channels = st->chip_info->channels;
|
||||
indio_dev->num_channels = st->chip_info->num_channels;
|
||||
indio_dev->info = &adis16460_info;
|
||||
indio_dev->modes = INDIO_DIRECT_MODE;
|
||||
|
||||
ret = adis_init(&st->adis, indio_dev, spi, &adis16460_data);
|
||||
if (ret)
|
||||
return ret;
|
||||
|
||||
ret = adis_setup_buffer_and_trigger(&st->adis, indio_dev, NULL);
|
||||
if (ret)
|
||||
return ret;
|
||||
|
||||
adis16460_enable_irq(&st->adis, 0);
|
||||
|
||||
ret = adis16460_initial_setup(indio_dev);
|
||||
if (ret)
|
||||
goto error_cleanup_buffer;
|
||||
|
||||
ret = iio_device_register(indio_dev);
|
||||
if (ret)
|
||||
goto error_cleanup_buffer;
|
||||
|
||||
adis16460_debugfs_init(indio_dev);
|
||||
|
||||
return 0;
|
||||
|
||||
error_cleanup_buffer:
|
||||
adis_cleanup_buffer_and_trigger(&st->adis, indio_dev);
|
||||
return ret;
|
||||
}
|
||||
|
||||
static int adis16460_remove(struct spi_device *spi)
|
||||
{
|
||||
struct iio_dev *indio_dev = spi_get_drvdata(spi);
|
||||
struct adis16460 *st = iio_priv(indio_dev);
|
||||
|
||||
iio_device_unregister(indio_dev);
|
||||
|
||||
adis_cleanup_buffer_and_trigger(&st->adis, indio_dev);
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
static const struct spi_device_id adis16460_ids[] = {
|
||||
{ "adis16460", 0 },
|
||||
{}
|
||||
};
|
||||
MODULE_DEVICE_TABLE(spi, adis16460_ids);
|
||||
|
||||
static const struct of_device_id adis16460_of_match[] = {
|
||||
{ .compatible = "adi,adis16460" },
|
||||
{}
|
||||
};
|
||||
MODULE_DEVICE_TABLE(of, adis16460_of_match);
|
||||
|
||||
static struct spi_driver adis16460_driver = {
|
||||
.driver = {
|
||||
.name = "adis16460",
|
||||
.of_match_table = adis16460_of_match,
|
||||
},
|
||||
.id_table = adis16460_ids,
|
||||
.probe = adis16460_probe,
|
||||
.remove = adis16460_remove,
|
||||
};
|
||||
module_spi_driver(adis16460_driver);
|
||||
|
||||
MODULE_AUTHOR("Dragos Bogdan <dragos.bogdan@analog.com>");
|
||||
MODULE_DESCRIPTION("Analog Devices ADIS16460 IMU driver");
|
||||
MODULE_LICENSE("GPL");
|
||||
Loading…
Reference in New Issue