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OpenCloudOS-Kernel/drivers/iio/imu/adis16460.c

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// SPDX-License-Identifier: GPL-2.0+
/*
* ADIS16460 IMU driver
*
* Copyright 2019 Analog Devices Inc.
*/
#include <linux/delay.h>
#include <linux/module.h>
#include <linux/spi/spi.h>
#include <linux/iio/iio.h>
#include <linux/iio/imu/adis.h>
#include <linux/debugfs.h>
#define ADIS16460_REG_FLASH_CNT 0x00
#define ADIS16460_REG_DIAG_STAT 0x02
#define ADIS16460_REG_X_GYRO_LOW 0x04
#define ADIS16460_REG_X_GYRO_OUT 0x06
#define ADIS16460_REG_Y_GYRO_LOW 0x08
#define ADIS16460_REG_Y_GYRO_OUT 0x0A
#define ADIS16460_REG_Z_GYRO_LOW 0x0C
#define ADIS16460_REG_Z_GYRO_OUT 0x0E
#define ADIS16460_REG_X_ACCL_LOW 0x10
#define ADIS16460_REG_X_ACCL_OUT 0x12
#define ADIS16460_REG_Y_ACCL_LOW 0x14
#define ADIS16460_REG_Y_ACCL_OUT 0x16
#define ADIS16460_REG_Z_ACCL_LOW 0x18
#define ADIS16460_REG_Z_ACCL_OUT 0x1A
#define ADIS16460_REG_SMPL_CNTR 0x1C
#define ADIS16460_REG_TEMP_OUT 0x1E
#define ADIS16460_REG_X_DELT_ANG 0x24
#define ADIS16460_REG_Y_DELT_ANG 0x26
#define ADIS16460_REG_Z_DELT_ANG 0x28
#define ADIS16460_REG_X_DELT_VEL 0x2A
#define ADIS16460_REG_Y_DELT_VEL 0x2C
#define ADIS16460_REG_Z_DELT_VEL 0x2E
#define ADIS16460_REG_MSC_CTRL 0x32
#define ADIS16460_REG_SYNC_SCAL 0x34
#define ADIS16460_REG_DEC_RATE 0x36
#define ADIS16460_REG_FLTR_CTRL 0x38
#define ADIS16460_REG_GLOB_CMD 0x3E
#define ADIS16460_REG_X_GYRO_OFF 0x40
#define ADIS16460_REG_Y_GYRO_OFF 0x42
#define ADIS16460_REG_Z_GYRO_OFF 0x44
#define ADIS16460_REG_X_ACCL_OFF 0x46
#define ADIS16460_REG_Y_ACCL_OFF 0x48
#define ADIS16460_REG_Z_ACCL_OFF 0x4A
#define ADIS16460_REG_LOT_ID1 0x52
#define ADIS16460_REG_LOT_ID2 0x54
#define ADIS16460_REG_PROD_ID 0x56
#define ADIS16460_REG_SERIAL_NUM 0x58
#define ADIS16460_REG_CAL_SGNTR 0x60
#define ADIS16460_REG_CAL_CRC 0x62
#define ADIS16460_REG_CODE_SGNTR 0x64
#define ADIS16460_REG_CODE_CRC 0x66
struct adis16460_chip_info {
unsigned int num_channels;
const struct iio_chan_spec *channels;
unsigned int gyro_max_val;
unsigned int gyro_max_scale;
unsigned int accel_max_val;
unsigned int accel_max_scale;
};
struct adis16460 {
const struct adis16460_chip_info *chip_info;
struct adis adis;
};
#ifdef CONFIG_DEBUG_FS
static int adis16460_show_serial_number(void *arg, u64 *val)
{
struct adis16460 *adis16460 = arg;
u16 serial;
int ret;
ret = adis_read_reg_16(&adis16460->adis, ADIS16460_REG_SERIAL_NUM,
&serial);
if (ret)
return ret;
*val = serial;
return 0;
}
DEFINE_SIMPLE_ATTRIBUTE(adis16460_serial_number_fops,
adis16460_show_serial_number, NULL, "0x%.4llx\n");
static int adis16460_show_product_id(void *arg, u64 *val)
{
struct adis16460 *adis16460 = arg;
u16 prod_id;
int ret;
ret = adis_read_reg_16(&adis16460->adis, ADIS16460_REG_PROD_ID,
&prod_id);
if (ret)
return ret;
*val = prod_id;
return 0;
}
DEFINE_SIMPLE_ATTRIBUTE(adis16460_product_id_fops,
adis16460_show_product_id, NULL, "%llu\n");
static int adis16460_show_flash_count(void *arg, u64 *val)
{
struct adis16460 *adis16460 = arg;
u32 flash_count;
int ret;
ret = adis_read_reg_32(&adis16460->adis, ADIS16460_REG_FLASH_CNT,
&flash_count);
if (ret)
return ret;
*val = flash_count;
return 0;
}
DEFINE_SIMPLE_ATTRIBUTE(adis16460_flash_count_fops,
adis16460_show_flash_count, NULL, "%lld\n");
static int adis16460_debugfs_init(struct iio_dev *indio_dev)
{
struct adis16460 *adis16460 = iio_priv(indio_dev);
debugfs_create_file("serial_number", 0400, indio_dev->debugfs_dentry,
adis16460, &adis16460_serial_number_fops);
debugfs_create_file("product_id", 0400, indio_dev->debugfs_dentry,
adis16460, &adis16460_product_id_fops);
debugfs_create_file("flash_count", 0400, indio_dev->debugfs_dentry,
adis16460, &adis16460_flash_count_fops);
return 0;
}
#else
static int adis16460_debugfs_init(struct iio_dev *indio_dev)
{
return 0;
}
#endif
static int adis16460_set_freq(struct iio_dev *indio_dev, int val, int val2)
{
struct adis16460 *st = iio_priv(indio_dev);
int t;
t = val * 1000 + val2 / 1000;
if (t <= 0)
return -EINVAL;
t = 2048000 / t;
if (t > 2048)
t = 2048;
if (t != 0)
t--;
return adis_write_reg_16(&st->adis, ADIS16460_REG_DEC_RATE, t);
}
static int adis16460_get_freq(struct iio_dev *indio_dev, int *val, int *val2)
{
struct adis16460 *st = iio_priv(indio_dev);
uint16_t t;
int ret;
unsigned int freq;
ret = adis_read_reg_16(&st->adis, ADIS16460_REG_DEC_RATE, &t);
if (ret)
return ret;
freq = 2048000 / (t + 1);
*val = freq / 1000;
*val2 = (freq % 1000) * 1000;
return IIO_VAL_INT_PLUS_MICRO;
}
static int adis16460_read_raw(struct iio_dev *indio_dev,
const struct iio_chan_spec *chan, int *val, int *val2, long info)
{
struct adis16460 *st = iio_priv(indio_dev);
switch (info) {
case IIO_CHAN_INFO_RAW:
return adis_single_conversion(indio_dev, chan, 0, val);
case IIO_CHAN_INFO_SCALE:
switch (chan->type) {
case IIO_ANGL_VEL:
*val = st->chip_info->gyro_max_scale;
*val2 = st->chip_info->gyro_max_val;
return IIO_VAL_FRACTIONAL;
case IIO_ACCEL:
*val = st->chip_info->accel_max_scale;
*val2 = st->chip_info->accel_max_val;
return IIO_VAL_FRACTIONAL;
case IIO_TEMP:
*val = 50; /* 50 milli degrees Celsius/LSB */
return IIO_VAL_INT;
default:
return -EINVAL;
}
case IIO_CHAN_INFO_OFFSET:
*val = 500; /* 25 degrees Celsius = 0x0000 */
return IIO_VAL_INT;
case IIO_CHAN_INFO_SAMP_FREQ:
return adis16460_get_freq(indio_dev, val, val2);
default:
return -EINVAL;
}
}
static int adis16460_write_raw(struct iio_dev *indio_dev,
const struct iio_chan_spec *chan, int val, int val2, long info)
{
switch (info) {
case IIO_CHAN_INFO_SAMP_FREQ:
return adis16460_set_freq(indio_dev, val, val2);
default:
return -EINVAL;
}
}
enum {
ADIS16460_SCAN_GYRO_X,
ADIS16460_SCAN_GYRO_Y,
ADIS16460_SCAN_GYRO_Z,
ADIS16460_SCAN_ACCEL_X,
ADIS16460_SCAN_ACCEL_Y,
ADIS16460_SCAN_ACCEL_Z,
ADIS16460_SCAN_TEMP,
};
#define ADIS16460_MOD_CHANNEL(_type, _mod, _address, _si, _bits) \
{ \
.type = (_type), \
.modified = 1, \
.channel2 = (_mod), \
.info_mask_separate = BIT(IIO_CHAN_INFO_RAW), \
.info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE), \
.info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
.address = (_address), \
.scan_index = (_si), \
.scan_type = { \
.sign = 's', \
.realbits = (_bits), \
.storagebits = (_bits), \
.endianness = IIO_BE, \
}, \
}
#define ADIS16460_GYRO_CHANNEL(_mod) \
ADIS16460_MOD_CHANNEL(IIO_ANGL_VEL, IIO_MOD_ ## _mod, \
ADIS16460_REG_ ## _mod ## _GYRO_LOW, ADIS16460_SCAN_GYRO_ ## _mod, \
32)
#define ADIS16460_ACCEL_CHANNEL(_mod) \
ADIS16460_MOD_CHANNEL(IIO_ACCEL, IIO_MOD_ ## _mod, \
ADIS16460_REG_ ## _mod ## _ACCL_LOW, ADIS16460_SCAN_ACCEL_ ## _mod, \
32)
#define ADIS16460_TEMP_CHANNEL() { \
.type = IIO_TEMP, \
.indexed = 1, \
.channel = 0, \
.info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \
BIT(IIO_CHAN_INFO_SCALE) | \
BIT(IIO_CHAN_INFO_OFFSET), \
.info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
.address = ADIS16460_REG_TEMP_OUT, \
.scan_index = ADIS16460_SCAN_TEMP, \
.scan_type = { \
.sign = 's', \
.realbits = 16, \
.storagebits = 16, \
.endianness = IIO_BE, \
}, \
}
static const struct iio_chan_spec adis16460_channels[] = {
ADIS16460_GYRO_CHANNEL(X),
ADIS16460_GYRO_CHANNEL(Y),
ADIS16460_GYRO_CHANNEL(Z),
ADIS16460_ACCEL_CHANNEL(X),
ADIS16460_ACCEL_CHANNEL(Y),
ADIS16460_ACCEL_CHANNEL(Z),
ADIS16460_TEMP_CHANNEL(),
IIO_CHAN_SOFT_TIMESTAMP(7)
};
static const struct adis16460_chip_info adis16460_chip_info = {
.channels = adis16460_channels,
.num_channels = ARRAY_SIZE(adis16460_channels),
/*
* storing the value in rad/degree and the scale in degree
* gives us the result in rad and better precession than
* storing the scale directly in rad.
*/
.gyro_max_val = IIO_RAD_TO_DEGREE(200 << 16),
.gyro_max_scale = 1,
.accel_max_val = IIO_M_S_2_TO_G(20000 << 16),
.accel_max_scale = 5,
};
static const struct iio_info adis16460_info = {
.read_raw = &adis16460_read_raw,
.write_raw = &adis16460_write_raw,
.update_scan_mode = adis_update_scan_mode,
.debugfs_reg_access = adis_debugfs_reg_access,
};
static int adis16460_enable_irq(struct adis *adis, bool enable)
{
/*
* There is no way to gate the data-ready signal internally inside the
* ADIS16460 :(
*/
if (enable)
enable_irq(adis->spi->irq);
else
disable_irq(adis->spi->irq);
return 0;
}
static int adis16460_initial_setup(struct iio_dev *indio_dev)
{
struct adis16460 *st = iio_priv(indio_dev);
uint16_t prod_id;
unsigned int device_id;
int ret;
adis_reset(&st->adis);
msleep(222);
ret = adis_write_reg_16(&st->adis, ADIS16460_REG_GLOB_CMD, BIT(1));
if (ret)
return ret;
msleep(75);
ret = adis_check_status(&st->adis);
if (ret)
return ret;
ret = adis_read_reg_16(&st->adis, ADIS16460_REG_PROD_ID, &prod_id);
if (ret)
return ret;
ret = sscanf(indio_dev->name, "adis%u\n", &device_id);
if (ret != 1)
return -EINVAL;
if (prod_id != device_id)
dev_warn(&indio_dev->dev, "Device ID(%u) and product ID(%u) do not match.",
device_id, prod_id);
return 0;
}
#define ADIS16460_DIAG_STAT_IN_CLK_OOS 7
#define ADIS16460_DIAG_STAT_FLASH_MEM 6
#define ADIS16460_DIAG_STAT_SELF_TEST 5
#define ADIS16460_DIAG_STAT_OVERRANGE 4
#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_timeout adis16460_timeouts = {
.reset_ms = 225,
.sw_reset_ms = 225,
.self_test_ms = 10,
};
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,
.timeouts = &adis16460_timeouts,
};
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");
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