432 lines
11 KiB
C
432 lines
11 KiB
C
|
// SPDX-License-Identifier: GPL-2.0+
|
||
|
|
/*
|
||
|
|
* ADIS16460 IMU driver
|
||
|
|
*
|
||
|
|
* Copyright 2019 Analog Devices Inc.
|
||
|
|
*/
|
||
|
|
|
||
|
|
#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_DEBUGFS_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_DEBUGFS_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_DEBUGFS_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);
|
||
|
|
struct dentry *d = iio_get_debugfs_dentry(indio_dev);
|
||
|
|
|
||
|
|
debugfs_create_file_unsafe("serial_number", 0400,
|
||
|
|
d, adis16460, &adis16460_serial_number_fops);
|
||
|
|
debugfs_create_file_unsafe("product_id", 0400,
|
||
|
|
d, adis16460, &adis16460_product_id_fops);
|
||
|
|
debugfs_create_file_unsafe("flash_count", 0400,
|
||
|
|
d, 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,
|
||
|
|
};
|
||
|
|
|
||
|
|
#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,
|
||
|
|
.prod_id_reg = ADIS16460_REG_PROD_ID,
|
||
|
|
.prod_id = 16460,
|
||
|
|
.self_test_mask = BIT(2),
|
||
|
|
.self_test_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),
|
||
|
|
.unmasked_drdy = true,
|
||
|
|
.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;
|
||
|
|
|
||
|
|
st = iio_priv(indio_dev);
|
||
|
|
|
||
|
|
st->chip_info = &adis16460_chip_info;
|
||
|
|
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 = devm_adis_setup_buffer_and_trigger(&st->adis, indio_dev, NULL);
|
||
|
|
if (ret)
|
||
|
|
return ret;
|
||
|
|
|
||
|
|
ret = __adis_initial_startup(&st->adis);
|
||
|
|
if (ret)
|
||
|
|
return ret;
|
||
|
|
|
||
|
|
ret = devm_iio_device_register(&spi->dev, indio_dev);
|
||
|
|
if (ret)
|
||
|
|
return ret;
|
||
|
|
|
||
|
|
adis16460_debugfs_init(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,
|
||
|
|
};
|
||
|
|
module_spi_driver(adis16460_driver);
|
||
|
|
|
||
|
|
MODULE_AUTHOR("Dragos Bogdan <dragos.bogdan@analog.com>");
|
||
|
|
MODULE_DESCRIPTION("Analog Devices ADIS16460 IMU driver");
|
||
|
|
MODULE_LICENSE("GPL");
|
||
|
|
MODULE_IMPORT_NS(IIO_ADISLIB);
|