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440 lines
13 KiB
440 lines
13 KiB
// SPDX-License-Identifier: GPL-2.0-or-later |
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/* |
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* ADIS16260/ADIS16265 Programmable Digital Gyroscope Sensor Driver |
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* |
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* Copyright 2010 Analog Devices Inc. |
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*/ |
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#include <linux/interrupt.h> |
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#include <linux/mutex.h> |
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#include <linux/device.h> |
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#include <linux/kernel.h> |
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#include <linux/spi/spi.h> |
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#include <linux/sysfs.h> |
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#include <linux/module.h> |
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#include <linux/iio/iio.h> |
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#include <linux/iio/sysfs.h> |
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#include <linux/iio/buffer.h> |
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#include <linux/iio/imu/adis.h> |
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#define ADIS16260_STARTUP_DELAY 220 /* ms */ |
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#define ADIS16260_FLASH_CNT 0x00 /* Flash memory write count */ |
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#define ADIS16260_SUPPLY_OUT 0x02 /* Power supply measurement */ |
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#define ADIS16260_GYRO_OUT 0x04 /* X-axis gyroscope output */ |
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#define ADIS16260_AUX_ADC 0x0A /* analog input channel measurement */ |
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#define ADIS16260_TEMP_OUT 0x0C /* internal temperature measurement */ |
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#define ADIS16260_ANGL_OUT 0x0E /* angle displacement */ |
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#define ADIS16260_GYRO_OFF 0x14 /* Calibration, offset/bias adjustment */ |
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#define ADIS16260_GYRO_SCALE 0x16 /* Calibration, scale adjustment */ |
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#define ADIS16260_ALM_MAG1 0x20 /* Alarm 1 magnitude/polarity setting */ |
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#define ADIS16260_ALM_MAG2 0x22 /* Alarm 2 magnitude/polarity setting */ |
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#define ADIS16260_ALM_SMPL1 0x24 /* Alarm 1 dynamic rate of change setting */ |
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#define ADIS16260_ALM_SMPL2 0x26 /* Alarm 2 dynamic rate of change setting */ |
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#define ADIS16260_ALM_CTRL 0x28 /* Alarm control */ |
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#define ADIS16260_AUX_DAC 0x30 /* Auxiliary DAC data */ |
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#define ADIS16260_GPIO_CTRL 0x32 /* Control, digital I/O line */ |
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#define ADIS16260_MSC_CTRL 0x34 /* Control, data ready, self-test settings */ |
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#define ADIS16260_SMPL_PRD 0x36 /* Control, internal sample rate */ |
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#define ADIS16260_SENS_AVG 0x38 /* Control, dynamic range, filtering */ |
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#define ADIS16260_SLP_CNT 0x3A /* Control, sleep mode initiation */ |
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#define ADIS16260_DIAG_STAT 0x3C /* Diagnostic, error flags */ |
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#define ADIS16260_GLOB_CMD 0x3E /* Control, global commands */ |
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#define ADIS16260_LOT_ID1 0x52 /* Lot Identification Code 1 */ |
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#define ADIS16260_LOT_ID2 0x54 /* Lot Identification Code 2 */ |
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#define ADIS16260_PROD_ID 0x56 /* Product identifier; |
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* convert to decimal = 16,265/16,260 */ |
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#define ADIS16260_SERIAL_NUM 0x58 /* Serial number */ |
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#define ADIS16260_ERROR_ACTIVE (1<<14) |
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#define ADIS16260_NEW_DATA (1<<15) |
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/* MSC_CTRL */ |
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#define ADIS16260_MSC_CTRL_MEM_TEST (1<<11) |
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/* Internal self-test enable */ |
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#define ADIS16260_MSC_CTRL_INT_SELF_TEST (1<<10) |
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#define ADIS16260_MSC_CTRL_NEG_SELF_TEST (1<<9) |
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#define ADIS16260_MSC_CTRL_POS_SELF_TEST (1<<8) |
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#define ADIS16260_MSC_CTRL_DATA_RDY_EN (1<<2) |
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#define ADIS16260_MSC_CTRL_DATA_RDY_POL_HIGH (1<<1) |
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#define ADIS16260_MSC_CTRL_DATA_RDY_DIO2 (1<<0) |
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/* SMPL_PRD */ |
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/* Time base (tB): 0 = 1.953 ms, 1 = 60.54 ms */ |
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#define ADIS16260_SMPL_PRD_TIME_BASE (1<<7) |
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#define ADIS16260_SMPL_PRD_DIV_MASK 0x7F |
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/* SLP_CNT */ |
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#define ADIS16260_SLP_CNT_POWER_OFF 0x80 |
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/* DIAG_STAT */ |
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#define ADIS16260_DIAG_STAT_ALARM2 (1<<9) |
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#define ADIS16260_DIAG_STAT_ALARM1 (1<<8) |
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#define ADIS16260_DIAG_STAT_FLASH_CHK_BIT 6 |
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#define ADIS16260_DIAG_STAT_SELF_TEST_BIT 5 |
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#define ADIS16260_DIAG_STAT_OVERFLOW_BIT 4 |
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#define ADIS16260_DIAG_STAT_SPI_FAIL_BIT 3 |
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#define ADIS16260_DIAG_STAT_FLASH_UPT_BIT 2 |
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#define ADIS16260_DIAG_STAT_POWER_HIGH_BIT 1 |
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#define ADIS16260_DIAG_STAT_POWER_LOW_BIT 0 |
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/* GLOB_CMD */ |
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#define ADIS16260_GLOB_CMD_SW_RESET (1<<7) |
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#define ADIS16260_GLOB_CMD_FLASH_UPD (1<<3) |
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#define ADIS16260_GLOB_CMD_DAC_LATCH (1<<2) |
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#define ADIS16260_GLOB_CMD_FAC_CALIB (1<<1) |
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#define ADIS16260_GLOB_CMD_AUTO_NULL (1<<0) |
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#define ADIS16260_SPI_SLOW (u32)(300 * 1000) |
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#define ADIS16260_SPI_BURST (u32)(1000 * 1000) |
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#define ADIS16260_SPI_FAST (u32)(2000 * 1000) |
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/* At the moment triggers are only used for ring buffer |
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* filling. This may change! |
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*/ |
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#define ADIS16260_SCAN_GYRO 0 |
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#define ADIS16260_SCAN_SUPPLY 1 |
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#define ADIS16260_SCAN_AUX_ADC 2 |
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#define ADIS16260_SCAN_TEMP 3 |
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#define ADIS16260_SCAN_ANGL 4 |
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struct adis16260_chip_info { |
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unsigned int gyro_max_val; |
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unsigned int gyro_max_scale; |
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const struct iio_chan_spec *channels; |
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unsigned int num_channels; |
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}; |
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struct adis16260 { |
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const struct adis16260_chip_info *info; |
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struct adis adis; |
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}; |
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enum adis16260_type { |
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ADIS16251, |
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ADIS16260, |
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ADIS16266, |
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}; |
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static const struct iio_chan_spec adis16260_channels[] = { |
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ADIS_GYRO_CHAN(X, ADIS16260_GYRO_OUT, ADIS16260_SCAN_GYRO, |
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BIT(IIO_CHAN_INFO_CALIBBIAS) | |
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BIT(IIO_CHAN_INFO_CALIBSCALE), |
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BIT(IIO_CHAN_INFO_SAMP_FREQ), 14), |
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ADIS_INCLI_CHAN(X, ADIS16260_ANGL_OUT, ADIS16260_SCAN_ANGL, 0, |
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BIT(IIO_CHAN_INFO_SAMP_FREQ), 14), |
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ADIS_TEMP_CHAN(ADIS16260_TEMP_OUT, ADIS16260_SCAN_TEMP, |
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BIT(IIO_CHAN_INFO_SAMP_FREQ), 12), |
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ADIS_SUPPLY_CHAN(ADIS16260_SUPPLY_OUT, ADIS16260_SCAN_SUPPLY, |
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BIT(IIO_CHAN_INFO_SAMP_FREQ), 12), |
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ADIS_AUX_ADC_CHAN(ADIS16260_AUX_ADC, ADIS16260_SCAN_AUX_ADC, |
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BIT(IIO_CHAN_INFO_SAMP_FREQ), 12), |
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IIO_CHAN_SOFT_TIMESTAMP(5), |
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}; |
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static const struct iio_chan_spec adis16266_channels[] = { |
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ADIS_GYRO_CHAN(X, ADIS16260_GYRO_OUT, ADIS16260_SCAN_GYRO, |
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BIT(IIO_CHAN_INFO_CALIBBIAS) | |
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BIT(IIO_CHAN_INFO_CALIBSCALE), |
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BIT(IIO_CHAN_INFO_SAMP_FREQ), 14), |
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ADIS_TEMP_CHAN(ADIS16260_TEMP_OUT, ADIS16260_SCAN_TEMP, |
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BIT(IIO_CHAN_INFO_SAMP_FREQ), 12), |
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ADIS_SUPPLY_CHAN(ADIS16260_SUPPLY_OUT, ADIS16260_SCAN_SUPPLY, |
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BIT(IIO_CHAN_INFO_SAMP_FREQ), 12), |
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ADIS_AUX_ADC_CHAN(ADIS16260_AUX_ADC, ADIS16260_SCAN_AUX_ADC, |
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BIT(IIO_CHAN_INFO_SAMP_FREQ), 12), |
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IIO_CHAN_SOFT_TIMESTAMP(4), |
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}; |
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static const struct adis16260_chip_info adis16260_chip_info_table[] = { |
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[ADIS16251] = { |
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.gyro_max_scale = 80, |
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.gyro_max_val = IIO_RAD_TO_DEGREE(4368), |
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.channels = adis16260_channels, |
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.num_channels = ARRAY_SIZE(adis16260_channels), |
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}, |
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[ADIS16260] = { |
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.gyro_max_scale = 320, |
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.gyro_max_val = IIO_RAD_TO_DEGREE(4368), |
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.channels = adis16260_channels, |
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.num_channels = ARRAY_SIZE(adis16260_channels), |
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}, |
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[ADIS16266] = { |
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.gyro_max_scale = 14000, |
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.gyro_max_val = IIO_RAD_TO_DEGREE(3357), |
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.channels = adis16266_channels, |
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.num_channels = ARRAY_SIZE(adis16266_channels), |
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}, |
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}; |
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/* Power down the device */ |
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static int adis16260_stop_device(struct iio_dev *indio_dev) |
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{ |
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struct adis16260 *adis16260 = iio_priv(indio_dev); |
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int ret; |
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u16 val = ADIS16260_SLP_CNT_POWER_OFF; |
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ret = adis_write_reg_16(&adis16260->adis, ADIS16260_SLP_CNT, val); |
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if (ret) |
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dev_err(&indio_dev->dev, "problem with turning device off: SLP_CNT"); |
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return ret; |
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} |
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static const u8 adis16260_addresses[][2] = { |
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[ADIS16260_SCAN_GYRO] = { ADIS16260_GYRO_OFF, ADIS16260_GYRO_SCALE }, |
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}; |
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static int adis16260_read_raw(struct iio_dev *indio_dev, |
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struct iio_chan_spec const *chan, |
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int *val, int *val2, |
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long mask) |
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{ |
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struct adis16260 *adis16260 = iio_priv(indio_dev); |
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const struct adis16260_chip_info *info = adis16260->info; |
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struct adis *adis = &adis16260->adis; |
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int ret; |
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u8 addr; |
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s16 val16; |
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switch (mask) { |
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case IIO_CHAN_INFO_RAW: |
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return adis_single_conversion(indio_dev, chan, |
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ADIS16260_ERROR_ACTIVE, 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 = info->gyro_max_scale; |
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*val2 = info->gyro_max_val; |
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return IIO_VAL_FRACTIONAL; |
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case IIO_INCLI: |
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*val = 0; |
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*val2 = IIO_DEGREE_TO_RAD(36630); |
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return IIO_VAL_INT_PLUS_MICRO; |
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case IIO_VOLTAGE: |
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if (chan->channel == 0) { |
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*val = 1; |
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*val2 = 831500; /* 1.8315 mV */ |
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} else { |
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*val = 0; |
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*val2 = 610500; /* 610.5 uV */ |
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} |
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return IIO_VAL_INT_PLUS_MICRO; |
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case IIO_TEMP: |
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*val = 145; |
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*val2 = 300000; /* 0.1453 C */ |
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return IIO_VAL_INT_PLUS_MICRO; |
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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 = 250000 / 1453; /* 25 C = 0x00 */ |
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return IIO_VAL_INT; |
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case IIO_CHAN_INFO_CALIBBIAS: |
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addr = adis16260_addresses[chan->scan_index][0]; |
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ret = adis_read_reg_16(adis, addr, &val16); |
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if (ret) |
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return ret; |
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*val = sign_extend32(val16, 11); |
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return IIO_VAL_INT; |
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case IIO_CHAN_INFO_CALIBSCALE: |
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addr = adis16260_addresses[chan->scan_index][1]; |
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ret = adis_read_reg_16(adis, addr, &val16); |
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if (ret) |
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return ret; |
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*val = val16; |
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return IIO_VAL_INT; |
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case IIO_CHAN_INFO_SAMP_FREQ: |
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ret = adis_read_reg_16(adis, ADIS16260_SMPL_PRD, &val16); |
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if (ret) |
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return ret; |
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if (spi_get_device_id(adis->spi)->driver_data) |
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/* If an adis16251 */ |
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*val = (val16 & ADIS16260_SMPL_PRD_TIME_BASE) ? |
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8 : 256; |
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else |
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*val = (val16 & ADIS16260_SMPL_PRD_TIME_BASE) ? |
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66 : 2048; |
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*val /= (val16 & ADIS16260_SMPL_PRD_DIV_MASK) + 1; |
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return IIO_VAL_INT; |
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} |
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return -EINVAL; |
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} |
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static int adis16260_write_raw(struct iio_dev *indio_dev, |
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struct iio_chan_spec const *chan, |
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int val, |
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int val2, |
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long mask) |
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{ |
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struct adis16260 *adis16260 = iio_priv(indio_dev); |
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struct adis *adis = &adis16260->adis; |
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int ret; |
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u8 addr; |
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u8 t; |
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switch (mask) { |
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case IIO_CHAN_INFO_CALIBBIAS: |
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if (val < -2048 || val >= 2048) |
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return -EINVAL; |
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addr = adis16260_addresses[chan->scan_index][0]; |
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return adis_write_reg_16(adis, addr, val); |
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case IIO_CHAN_INFO_CALIBSCALE: |
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if (val < 0 || val >= 4096) |
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return -EINVAL; |
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addr = adis16260_addresses[chan->scan_index][1]; |
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return adis_write_reg_16(adis, addr, val); |
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case IIO_CHAN_INFO_SAMP_FREQ: |
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mutex_lock(&adis->state_lock); |
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if (spi_get_device_id(adis->spi)->driver_data) |
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t = 256 / val; |
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else |
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t = 2048 / val; |
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if (t > ADIS16260_SMPL_PRD_DIV_MASK) |
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t = ADIS16260_SMPL_PRD_DIV_MASK; |
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else if (t > 0) |
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t--; |
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if (t >= 0x0A) |
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adis->spi->max_speed_hz = ADIS16260_SPI_SLOW; |
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else |
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adis->spi->max_speed_hz = ADIS16260_SPI_FAST; |
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ret = __adis_write_reg_8(adis, ADIS16260_SMPL_PRD, t); |
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mutex_unlock(&adis->state_lock); |
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return ret; |
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} |
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return -EINVAL; |
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} |
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static const struct iio_info adis16260_info = { |
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.read_raw = &adis16260_read_raw, |
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.write_raw = &adis16260_write_raw, |
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.update_scan_mode = adis_update_scan_mode, |
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}; |
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static const char * const adis1620_status_error_msgs[] = { |
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[ADIS16260_DIAG_STAT_FLASH_CHK_BIT] = "Flash checksum error", |
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[ADIS16260_DIAG_STAT_SELF_TEST_BIT] = "Self test error", |
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[ADIS16260_DIAG_STAT_OVERFLOW_BIT] = "Sensor overrange", |
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[ADIS16260_DIAG_STAT_SPI_FAIL_BIT] = "SPI failure", |
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[ADIS16260_DIAG_STAT_FLASH_UPT_BIT] = "Flash update failed", |
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[ADIS16260_DIAG_STAT_POWER_HIGH_BIT] = "Power supply above 5.25", |
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[ADIS16260_DIAG_STAT_POWER_LOW_BIT] = "Power supply below 4.75", |
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}; |
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static const struct adis_timeout adis16260_timeouts = { |
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.reset_ms = ADIS16260_STARTUP_DELAY, |
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.sw_reset_ms = ADIS16260_STARTUP_DELAY, |
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.self_test_ms = ADIS16260_STARTUP_DELAY, |
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}; |
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static const struct adis_data adis16260_data = { |
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.write_delay = 30, |
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.read_delay = 30, |
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.msc_ctrl_reg = ADIS16260_MSC_CTRL, |
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.glob_cmd_reg = ADIS16260_GLOB_CMD, |
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.diag_stat_reg = ADIS16260_DIAG_STAT, |
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.self_test_mask = ADIS16260_MSC_CTRL_MEM_TEST, |
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.self_test_reg = ADIS16260_MSC_CTRL, |
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.timeouts = &adis16260_timeouts, |
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.status_error_msgs = adis1620_status_error_msgs, |
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.status_error_mask = BIT(ADIS16260_DIAG_STAT_FLASH_CHK_BIT) | |
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BIT(ADIS16260_DIAG_STAT_SELF_TEST_BIT) | |
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BIT(ADIS16260_DIAG_STAT_OVERFLOW_BIT) | |
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BIT(ADIS16260_DIAG_STAT_SPI_FAIL_BIT) | |
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BIT(ADIS16260_DIAG_STAT_FLASH_UPT_BIT) | |
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BIT(ADIS16260_DIAG_STAT_POWER_HIGH_BIT) | |
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BIT(ADIS16260_DIAG_STAT_POWER_LOW_BIT), |
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}; |
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static void adis16260_stop(void *data) |
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{ |
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adis16260_stop_device(data); |
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} |
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static int adis16260_probe(struct spi_device *spi) |
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{ |
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const struct spi_device_id *id; |
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struct adis16260 *adis16260; |
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struct iio_dev *indio_dev; |
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int ret; |
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id = spi_get_device_id(spi); |
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if (!id) |
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return -ENODEV; |
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/* setup the industrialio driver allocated elements */ |
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indio_dev = devm_iio_device_alloc(&spi->dev, sizeof(*adis16260)); |
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if (!indio_dev) |
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return -ENOMEM; |
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adis16260 = iio_priv(indio_dev); |
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/* this is only used for removal purposes */ |
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spi_set_drvdata(spi, indio_dev); |
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adis16260->info = &adis16260_chip_info_table[id->driver_data]; |
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indio_dev->name = id->name; |
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indio_dev->info = &adis16260_info; |
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indio_dev->channels = adis16260->info->channels; |
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indio_dev->num_channels = adis16260->info->num_channels; |
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indio_dev->modes = INDIO_DIRECT_MODE; |
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ret = adis_init(&adis16260->adis, indio_dev, spi, &adis16260_data); |
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if (ret) |
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return ret; |
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ret = devm_adis_setup_buffer_and_trigger(&adis16260->adis, indio_dev, NULL); |
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if (ret) |
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return ret; |
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/* Get the device into a sane initial state */ |
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ret = adis_initial_startup(&adis16260->adis); |
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if (ret) |
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return ret; |
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ret = devm_add_action_or_reset(&spi->dev, adis16260_stop, indio_dev); |
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if (ret) |
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return ret; |
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return devm_iio_device_register(&spi->dev, indio_dev); |
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} |
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/* |
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* These parts do not need to be differentiated until someone adds |
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* support for the on chip filtering. |
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*/ |
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static const struct spi_device_id adis16260_id[] = { |
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{"adis16260", ADIS16260}, |
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{"adis16265", ADIS16260}, |
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{"adis16266", ADIS16266}, |
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{"adis16250", ADIS16260}, |
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{"adis16255", ADIS16260}, |
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{"adis16251", ADIS16251}, |
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{} |
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}; |
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MODULE_DEVICE_TABLE(spi, adis16260_id); |
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static struct spi_driver adis16260_driver = { |
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.driver = { |
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.name = "adis16260", |
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}, |
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.probe = adis16260_probe, |
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.id_table = adis16260_id, |
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}; |
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module_spi_driver(adis16260_driver); |
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MODULE_AUTHOR("Barry Song <[email protected]>"); |
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MODULE_DESCRIPTION("Analog Devices ADIS16260/5 Digital Gyroscope Sensor"); |
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MODULE_LICENSE("GPL v2");
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