drivers/iio/gyro/adis16260.c

   1 // SPDX-License-Identifier: GPL-2.0-or-later
   2 /*
   3  * ADIS16260/ADIS16265 Programmable Digital Gyroscope Sensor Driver
   4  *
   5  * Copyright 2010 Analog Devices Inc.
   6  */
   7
   8 #include <linux/interrupt.h>
   9 #include <linux/mutex.h>
  10 #include <linux/device.h>
  11 #include <linux/kernel.h>
  12 #include <linux/spi/spi.h>
  13 #include <linux/sysfs.h>
  14 #include <linux/module.h>
  15
  16 #include <linux/iio/iio.h>
  17 #include <linux/iio/sysfs.h>
  18 #include <linux/iio/buffer.h>
  19 #include <linux/iio/imu/adis.h>
  20
  21 #define ADIS16260_STARTUP_DELAY 220 /* ms */
  22
  23 #define ADIS16260_FLASH_CNT  0x00 /* Flash memory write count */
  24 #define ADIS16260_SUPPLY_OUT 0x02 /* Power supply measurement */
  25 #define ADIS16260_GYRO_OUT   0x04 /* X-axis gyroscope output */
  26 #define ADIS16260_AUX_ADC    0x0A /* analog input channel measurement */
  27 #define ADIS16260_TEMP_OUT   0x0C /* internal temperature measurement */
  28 #define ADIS16260_ANGL_OUT   0x0E /* angle displacement */
  29 #define ADIS16260_GYRO_OFF   0x14 /* Calibration, offset/bias adjustment */
  30 #define ADIS16260_GYRO_SCALE 0x16 /* Calibration, scale adjustment */
  31 #define ADIS16260_ALM_MAG1   0x20 /* Alarm 1 magnitude/polarity setting */
  32 #define ADIS16260_ALM_MAG2   0x22 /* Alarm 2 magnitude/polarity setting */
  33 #define ADIS16260_ALM_SMPL1  0x24 /* Alarm 1 dynamic rate of change setting */
  34 #define ADIS16260_ALM_SMPL2  0x26 /* Alarm 2 dynamic rate of change setting */
  35 #define ADIS16260_ALM_CTRL   0x28 /* Alarm control */
  36 #define ADIS16260_AUX_DAC    0x30 /* Auxiliary DAC data */
  37 #define ADIS16260_GPIO_CTRL  0x32 /* Control, digital I/O line */
  38 #define ADIS16260_MSC_CTRL   0x34 /* Control, data ready, self-test settings */
  39 #define ADIS16260_SMPL_PRD   0x36 /* Control, internal sample rate */
  40 #define ADIS16260_SENS_AVG   0x38 /* Control, dynamic range, filtering */
  41 #define ADIS16260_SLP_CNT    0x3A /* Control, sleep mode initiation */
  42 #define ADIS16260_DIAG_STAT  0x3C /* Diagnostic, error flags */
  43 #define ADIS16260_GLOB_CMD   0x3E /* Control, global commands */
  44 #define ADIS16260_LOT_ID1    0x52 /* Lot Identification Code 1 */
  45 #define ADIS16260_LOT_ID2    0x54 /* Lot Identification Code 2 */
  46 #define ADIS16260_PROD_ID    0x56 /* Product identifier;
  47                                    * convert to decimal = 16,265/16,260 */
  48 #define ADIS16260_SERIAL_NUM 0x58 /* Serial number */
  49
  50 #define ADIS16260_ERROR_ACTIVE                  (1<<14)
  51 #define ADIS16260_NEW_DATA                      (1<<15)
  52
  53 /* MSC_CTRL */
  54 #define ADIS16260_MSC_CTRL_MEM_TEST             (1<<11)
  55 /* Internal self-test enable */
  56 #define ADIS16260_MSC_CTRL_INT_SELF_TEST        (1<<10)
  57 #define ADIS16260_MSC_CTRL_NEG_SELF_TEST        (1<<9)
  58 #define ADIS16260_MSC_CTRL_POS_SELF_TEST        (1<<8)
  59 #define ADIS16260_MSC_CTRL_DATA_RDY_EN          (1<<2)
  60 #define ADIS16260_MSC_CTRL_DATA_RDY_POL_HIGH    (1<<1)
  61 #define ADIS16260_MSC_CTRL_DATA_RDY_DIO2        (1<<0)
  62
  63 /* SMPL_PRD */
  64 /* Time base (tB): 0 = 1.953 ms, 1 = 60.54 ms */
  65 #define ADIS16260_SMPL_PRD_TIME_BASE    (1<<7)
  66 #define ADIS16260_SMPL_PRD_DIV_MASK     0x7F
  67
  68 /* SLP_CNT */
  69 #define ADIS16260_SLP_CNT_POWER_OFF     0x80
  70
  71 /* DIAG_STAT */
  72 #define ADIS16260_DIAG_STAT_ALARM2      (1<<9)
  73 #define ADIS16260_DIAG_STAT_ALARM1      (1<<8)
  74 #define ADIS16260_DIAG_STAT_FLASH_CHK_BIT       6
  75 #define ADIS16260_DIAG_STAT_SELF_TEST_BIT       5
  76 #define ADIS16260_DIAG_STAT_OVERFLOW_BIT        4
  77 #define ADIS16260_DIAG_STAT_SPI_FAIL_BIT        3
  78 #define ADIS16260_DIAG_STAT_FLASH_UPT_BIT       2
  79 #define ADIS16260_DIAG_STAT_POWER_HIGH_BIT      1
  80 #define ADIS16260_DIAG_STAT_POWER_LOW_BIT       0
  81
  82 /* GLOB_CMD */
  83 #define ADIS16260_GLOB_CMD_SW_RESET     (1<<7)
  84 #define ADIS16260_GLOB_CMD_FLASH_UPD    (1<<3)
  85 #define ADIS16260_GLOB_CMD_DAC_LATCH    (1<<2)
  86 #define ADIS16260_GLOB_CMD_FAC_CALIB    (1<<1)
  87 #define ADIS16260_GLOB_CMD_AUTO_NULL    (1<<0)
  88
  89 #define ADIS16260_SPI_SLOW      (u32)(300 * 1000)
  90 #define ADIS16260_SPI_BURST     (u32)(1000 * 1000)
  91 #define ADIS16260_SPI_FAST      (u32)(2000 * 1000)
  92
  93 /* At the moment triggers are only used for ring buffer
  94  * filling. This may change!
  95  */
  96
  97 #define ADIS16260_SCAN_GYRO     0
  98 #define ADIS16260_SCAN_SUPPLY   1
  99 #define ADIS16260_SCAN_AUX_ADC  2
 100 #define ADIS16260_SCAN_TEMP     3
 101 #define ADIS16260_SCAN_ANGL     4
 102
 103 struct adis16260_chip_info {
 104         unsigned int gyro_max_val;
 105         unsigned int gyro_max_scale;
 106         const struct iio_chan_spec *channels;
 107         unsigned int num_channels;
 108 };
 109
 110 struct adis16260 {
 111         const struct adis16260_chip_info *info;
 112
 113         struct adis adis;
 114 };
 115
 116 enum adis16260_type {
 117         ADIS16251,
 118         ADIS16260,
 119         ADIS16266,
 120 };
 121
 122 static const struct iio_chan_spec adis16260_channels[] = {
 123         ADIS_GYRO_CHAN(X, ADIS16260_GYRO_OUT, ADIS16260_SCAN_GYRO,
 124                 BIT(IIO_CHAN_INFO_CALIBBIAS) |
 125                 BIT(IIO_CHAN_INFO_CALIBSCALE),
 126                 BIT(IIO_CHAN_INFO_SAMP_FREQ), 14),
 127         ADIS_INCLI_CHAN(X, ADIS16260_ANGL_OUT, ADIS16260_SCAN_ANGL, 0,
 128                 BIT(IIO_CHAN_INFO_SAMP_FREQ), 14),
 129         ADIS_TEMP_CHAN(ADIS16260_TEMP_OUT, ADIS16260_SCAN_TEMP,
 130                 BIT(IIO_CHAN_INFO_SAMP_FREQ), 12),
 131         ADIS_SUPPLY_CHAN(ADIS16260_SUPPLY_OUT, ADIS16260_SCAN_SUPPLY,
 132                 BIT(IIO_CHAN_INFO_SAMP_FREQ), 12),
 133         ADIS_AUX_ADC_CHAN(ADIS16260_AUX_ADC, ADIS16260_SCAN_AUX_ADC,
 134                 BIT(IIO_CHAN_INFO_SAMP_FREQ), 12),
 135         IIO_CHAN_SOFT_TIMESTAMP(5),
 136 };
 137
 138 static const struct iio_chan_spec adis16266_channels[] = {
 139         ADIS_GYRO_CHAN(X, ADIS16260_GYRO_OUT, ADIS16260_SCAN_GYRO,
 140                 BIT(IIO_CHAN_INFO_CALIBBIAS) |
 141                 BIT(IIO_CHAN_INFO_CALIBSCALE),
 142                 BIT(IIO_CHAN_INFO_SAMP_FREQ), 14),
 143         ADIS_TEMP_CHAN(ADIS16260_TEMP_OUT, ADIS16260_SCAN_TEMP,
 144                 BIT(IIO_CHAN_INFO_SAMP_FREQ), 12),
 145         ADIS_SUPPLY_CHAN(ADIS16260_SUPPLY_OUT, ADIS16260_SCAN_SUPPLY,
 146                 BIT(IIO_CHAN_INFO_SAMP_FREQ), 12),
 147         ADIS_AUX_ADC_CHAN(ADIS16260_AUX_ADC, ADIS16260_SCAN_AUX_ADC,
 148                 BIT(IIO_CHAN_INFO_SAMP_FREQ), 12),
 149         IIO_CHAN_SOFT_TIMESTAMP(4),
 150 };
 151
 152 static const struct adis16260_chip_info adis16260_chip_info_table[] = {
 153         [ADIS16251] = {
 154                 .gyro_max_scale = 80,
 155                 .gyro_max_val = IIO_RAD_TO_DEGREE(4368),
 156                 .channels = adis16260_channels,
 157                 .num_channels = ARRAY_SIZE(adis16260_channels),
 158         },
 159         [ADIS16260] = {
 160                 .gyro_max_scale = 320,
 161                 .gyro_max_val = IIO_RAD_TO_DEGREE(4368),
 162                 .channels = adis16260_channels,
 163                 .num_channels = ARRAY_SIZE(adis16260_channels),
 164         },
 165         [ADIS16266] = {
 166                 .gyro_max_scale = 14000,
 167                 .gyro_max_val = IIO_RAD_TO_DEGREE(3357),
 168                 .channels = adis16266_channels,
 169                 .num_channels = ARRAY_SIZE(adis16266_channels),
 170         },
 171 };
 172
 173 /* Power down the device */
 174 static int adis16260_stop_device(struct iio_dev *indio_dev)
 175 {
 176         struct adis16260 *adis16260 = iio_priv(indio_dev);
 177         int ret;
 178         u16 val = ADIS16260_SLP_CNT_POWER_OFF;
 179
 180         ret = adis_write_reg_16(&adis16260->adis, ADIS16260_SLP_CNT, val);
 181         if (ret)
 182                 dev_err(&indio_dev->dev, "problem with turning device off: SLP_CNT");
 183
 184         return ret;
 185 }
 186
 187 static const u8 adis16260_addresses[][2] = {
 188         [ADIS16260_SCAN_GYRO] = { ADIS16260_GYRO_OFF, ADIS16260_GYRO_SCALE },
 189 };
 190
 191 static int adis16260_read_raw(struct iio_dev *indio_dev,
 192                               struct iio_chan_spec const *chan,
 193                               int *val, int *val2,
 194                               long mask)
 195 {
 196         struct adis16260 *adis16260 = iio_priv(indio_dev);
 197         const struct adis16260_chip_info *info = adis16260->info;
 198         struct adis *adis = &adis16260->adis;
 199         int ret;
 200         u8 addr;
 201         s16 val16;
 202
 203         switch (mask) {
 204         case IIO_CHAN_INFO_RAW:
 205                 return adis_single_conversion(indio_dev, chan,
 206                                 ADIS16260_ERROR_ACTIVE, val);
 207         case IIO_CHAN_INFO_SCALE:
 208                 switch (chan->type) {
 209                 case IIO_ANGL_VEL:
 210                         *val = info->gyro_max_scale;
 211                         *val2 = info->gyro_max_val;
 212                         return IIO_VAL_FRACTIONAL;
 213                 case IIO_INCLI:
 214                         *val = 0;
 215                         *val2 = IIO_DEGREE_TO_RAD(36630);
 216                         return IIO_VAL_INT_PLUS_MICRO;
 217                 case IIO_VOLTAGE:
 218                         if (chan->channel == 0) {
 219                                 *val = 1;
 220                                 *val2 = 831500; /* 1.8315 mV */
 221                         } else {
 222                                 *val = 0;
 223                                 *val2 = 610500; /* 610.5 uV */
 224                         }
 225                         return IIO_VAL_INT_PLUS_MICRO;
 226                 case IIO_TEMP:
 227                         *val = 145;
 228                         *val2 = 300000; /* 0.1453 C */
 229                         return IIO_VAL_INT_PLUS_MICRO;
 230                 default:
 231                         return -EINVAL;
 232                 }
 233         case IIO_CHAN_INFO_OFFSET:
 234                 *val = 250000 / 1453; /* 25 C = 0x00 */
 235                 return IIO_VAL_INT;
 236         case IIO_CHAN_INFO_CALIBBIAS:
 237                 addr = adis16260_addresses[chan->scan_index][0];
 238                 ret = adis_read_reg_16(adis, addr, &val16);
 239                 if (ret)
 240                         return ret;
 241
 242                 *val = sign_extend32(val16, 11);
 243                 return IIO_VAL_INT;
 244         case IIO_CHAN_INFO_CALIBSCALE:
 245                 addr = adis16260_addresses[chan->scan_index][1];
 246                 ret = adis_read_reg_16(adis, addr, &val16);
 247                 if (ret)
 248                         return ret;
 249
 250                 *val = val16;
 251                 return IIO_VAL_INT;
 252         case IIO_CHAN_INFO_SAMP_FREQ:
 253                 ret = adis_read_reg_16(adis, ADIS16260_SMPL_PRD, &val16);
 254                 if (ret)
 255                         return ret;
 256
 257                 if (spi_get_device_id(adis->spi)->driver_data)
 258                 /* If an adis16251 */
 259                         *val = (val16 & ADIS16260_SMPL_PRD_TIME_BASE) ?
 260                                 8 : 256;
 261                 else
 262                         *val = (val16 & ADIS16260_SMPL_PRD_TIME_BASE) ?
 263                                 66 : 2048;
 264                 *val /= (val16 & ADIS16260_SMPL_PRD_DIV_MASK) + 1;
 265                 return IIO_VAL_INT;
 266         }
 267         return -EINVAL;
 268 }
 269
 270 static int adis16260_write_raw(struct iio_dev *indio_dev,
 271                                struct iio_chan_spec const *chan,
 272                                int val,
 273                                int val2,
 274                                long mask)
 275 {
 276         struct adis16260 *adis16260 = iio_priv(indio_dev);
 277         struct adis *adis = &adis16260->adis;
 278         int ret;
 279         u8 addr;
 280         u8 t;
 281
 282         switch (mask) {
 283         case IIO_CHAN_INFO_CALIBBIAS:
 284                 if (val < -2048 || val >= 2048)
 285                         return -EINVAL;
 286
 287                 addr = adis16260_addresses[chan->scan_index][0];
 288                 return adis_write_reg_16(adis, addr, val);
 289         case IIO_CHAN_INFO_CALIBSCALE:
 290                 if (val < 0 || val >= 4096)
 291                         return -EINVAL;
 292
 293                 addr = adis16260_addresses[chan->scan_index][1];
 294                 return adis_write_reg_16(adis, addr, val);
 295         case IIO_CHAN_INFO_SAMP_FREQ:
 296                 mutex_lock(&adis->state_lock);
 297                 if (spi_get_device_id(adis->spi)->driver_data)
 298                         t = 256 / val;
 299                 else
 300                         t = 2048 / val;
 301
 302                 if (t > ADIS16260_SMPL_PRD_DIV_MASK)
 303                         t = ADIS16260_SMPL_PRD_DIV_MASK;
 304                 else if (t > 0)
 305                         t--;
 306
 307                 if (t >= 0x0A)
 308                         adis->spi->max_speed_hz = ADIS16260_SPI_SLOW;
 309                 else
 310                         adis->spi->max_speed_hz = ADIS16260_SPI_FAST;
 311                 ret = __adis_write_reg_8(adis, ADIS16260_SMPL_PRD, t);
 312
 313                 mutex_unlock(&adis->state_lock);
 314                 return ret;
 315         }
 316         return -EINVAL;
 317 }
 318
 319 static const struct iio_info adis16260_info = {
 320         .read_raw = &adis16260_read_raw,
 321         .write_raw = &adis16260_write_raw,
 322         .update_scan_mode = adis_update_scan_mode,
 323 };
 324
 325 static const char * const adis1620_status_error_msgs[] = {
 326         [ADIS16260_DIAG_STAT_FLASH_CHK_BIT] = "Flash checksum error",
 327         [ADIS16260_DIAG_STAT_SELF_TEST_BIT] = "Self test error",
 328         [ADIS16260_DIAG_STAT_OVERFLOW_BIT] = "Sensor overrange",
 329         [ADIS16260_DIAG_STAT_SPI_FAIL_BIT] = "SPI failure",
 330         [ADIS16260_DIAG_STAT_FLASH_UPT_BIT] = "Flash update failed",
 331         [ADIS16260_DIAG_STAT_POWER_HIGH_BIT] = "Power supply above 5.25",
 332         [ADIS16260_DIAG_STAT_POWER_LOW_BIT] = "Power supply below 4.75",
 333 };
 334
 335 static const struct adis_timeout adis16260_timeouts = {
 336         .reset_ms = ADIS16260_STARTUP_DELAY,
 337         .sw_reset_ms = ADIS16260_STARTUP_DELAY,
 338         .self_test_ms = ADIS16260_STARTUP_DELAY,
 339 };
 340
 341 static const struct adis_data adis16260_data = {
 342         .write_delay = 30,
 343         .read_delay = 30,
 344         .msc_ctrl_reg = ADIS16260_MSC_CTRL,
 345         .glob_cmd_reg = ADIS16260_GLOB_CMD,
 346         .diag_stat_reg = ADIS16260_DIAG_STAT,
 347
 348         .self_test_mask = ADIS16260_MSC_CTRL_MEM_TEST,
 349         .self_test_reg = ADIS16260_MSC_CTRL,
 350         .timeouts = &adis16260_timeouts,
 351
 352         .status_error_msgs = adis1620_status_error_msgs,
 353         .status_error_mask = BIT(ADIS16260_DIAG_STAT_FLASH_CHK_BIT) |
 354                 BIT(ADIS16260_DIAG_STAT_SELF_TEST_BIT) |
 355                 BIT(ADIS16260_DIAG_STAT_OVERFLOW_BIT) |
 356                 BIT(ADIS16260_DIAG_STAT_SPI_FAIL_BIT) |
 357                 BIT(ADIS16260_DIAG_STAT_FLASH_UPT_BIT) |
 358                 BIT(ADIS16260_DIAG_STAT_POWER_HIGH_BIT) |
 359                 BIT(ADIS16260_DIAG_STAT_POWER_LOW_BIT),
 360 };
 361
 362 static void adis16260_stop(void *data)
 363 {
 364         adis16260_stop_device(data);
 365 }
 366
 367 static int adis16260_probe(struct spi_device *spi)
 368 {
 369         const struct spi_device_id *id;
 370         struct adis16260 *adis16260;
 371         struct iio_dev *indio_dev;
 372         int ret;
 373
 374         id = spi_get_device_id(spi);
 375         if (!id)
 376                 return -ENODEV;
 377
 378         /* setup the industrialio driver allocated elements */
 379         indio_dev = devm_iio_device_alloc(&spi->dev, sizeof(*adis16260));
 380         if (!indio_dev)
 381                 return -ENOMEM;
 382         adis16260 = iio_priv(indio_dev);
 383         /* this is only used for removal purposes */
 384         spi_set_drvdata(spi, indio_dev);
 385
 386         adis16260->info = &adis16260_chip_info_table[id->driver_data];
 387
 388         indio_dev->name = id->name;
 389         indio_dev->info = &adis16260_info;
 390         indio_dev->channels = adis16260->info->channels;
 391         indio_dev->num_channels = adis16260->info->num_channels;
 392         indio_dev->modes = INDIO_DIRECT_MODE;
 393
 394         ret = adis_init(&adis16260->adis, indio_dev, spi, &adis16260_data);
 395         if (ret)
 396                 return ret;
 397
 398         ret = devm_adis_setup_buffer_and_trigger(&adis16260->adis, indio_dev, NULL);
 399         if (ret)
 400                 return ret;
 401
 402         /* Get the device into a sane initial state */
 403         ret = adis_initial_startup(&adis16260->adis);
 404         if (ret)
 405                 return ret;
 406
 407         ret = devm_add_action_or_reset(&spi->dev, adis16260_stop, indio_dev);
 408         if (ret)
 409                 return ret;
 410
 411         return devm_iio_device_register(&spi->dev, indio_dev);
 412 }
 413
 414 /*
 415  * These parts do not need to be differentiated until someone adds
 416  * support for the on chip filtering.
 417  */
 418 static const struct spi_device_id adis16260_id[] = {
 419         {"adis16260", ADIS16260},
 420         {"adis16265", ADIS16260},
 421         {"adis16266", ADIS16266},
 422         {"adis16250", ADIS16260},
 423         {"adis16255", ADIS16260},
 424         {"adis16251", ADIS16251},
 425         {}
 426 };
 427 MODULE_DEVICE_TABLE(spi, adis16260_id);
 428
 429 static struct spi_driver adis16260_driver = {
 430         .driver = {
 431                 .name = "adis16260",
 432         },
 433         .probe = adis16260_probe,
 434         .id_table = adis16260_id,
 435 };
 436 module_spi_driver(adis16260_driver);
 437
 438 MODULE_AUTHOR("Barry Song <21cnbao@gmail.com>");
 439 MODULE_DESCRIPTION("Analog Devices ADIS16260/5 Digital Gyroscope Sensor");
 440 MODULE_LICENSE("GPL v2");