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@xxxxxxxxxx> Signed-off-by: Michael Hennerich <michael.hennerich@xxxxxxxxxx> Signed-off-by: Alexandru Ardelean <alexandru.ardelean@xxxxxxxxxx> --- MAINTAINERS | 7 + drivers/iio/imu/Kconfig | 12 + drivers/iio/imu/Makefile | 1 + drivers/iio/imu/adis16460.c | 489 ++++++++++++++++++++++++++++++++++++ 4 files changed, 509 insertions(+) create mode 100644 drivers/iio/imu/adis16460.c diff --git a/MAINTAINERS b/MAINTAINERS index ad498428b38c..8e679504c087 100644 --- a/MAINTAINERS +++ b/MAINTAINERS @@ -937,6 +937,13 @@ L: linux-iio@xxxxxxxxxxxxxxx F: include/linux/iio/imu/adis.h F: drivers/iio/imu/adis.c +ANALOG DEVICES INC ADIS16460 DRIVER +M: Dragos Bogdan <dragos.bogdan@xxxxxxxxxx> +S: Supported +L: linux-iio@xxxxxxxxxxxxxxx +W: http://ez.analog.com/community/linux-device-drivers +F: drivers/iio/imu/adis16460.c + ANALOG DEVICES INC ADP5061 DRIVER M: Stefan Popa <stefan.popa@xxxxxxxxxx> L: linux-pm@xxxxxxxxxxxxxxx diff --git a/drivers/iio/imu/Kconfig b/drivers/iio/imu/Kconfig index 156630a21696..f048d0d757b1 100644 --- a/drivers/iio/imu/Kconfig +++ b/drivers/iio/imu/Kconfig @@ -16,6 +16,18 @@ config ADIS16400 adis16365, adis16400 and adis16405 triaxial inertial sensors (adis16400 series also have magnetometers). +config ADIS16460 + tristate "Analog Devices ADIS16460 and similar IMU driver" + depends on SPI + select IIO_ADIS_LIB + select IIO_ADIS_LIB_BUFFER if IIO_BUFFER + help + Say yes here to build support for Analog Devices ADIS16460 inertial + sensor. + + To compile this driver as a module, choose M here: the module will be + called adis16460. + config ADIS16480 tristate "Analog Devices ADIS16480 and similar IMU driver" depends on SPI diff --git a/drivers/iio/imu/Makefile b/drivers/iio/imu/Makefile index 9e452fce1aaf..4a6958865504 100644 --- a/drivers/iio/imu/Makefile +++ b/drivers/iio/imu/Makefile @@ -5,6 +5,7 @@ # When adding new entries keep the list in alphabetical order obj-$(CONFIG_ADIS16400) += adis16400.o +obj-$(CONFIG_ADIS16460) += adis16460.o obj-$(CONFIG_ADIS16480) += adis16480.o adis_lib-y += adis.o diff --git a/drivers/iio/imu/adis16460.c b/drivers/iio/imu/adis16460.c new file mode 100644 index 000000000000..db713cba75a2 --- /dev/null +++ b/drivers/iio/imu/adis16460.c @@ -0,0 +1,489 @@ +// 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 < 0) + 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 < 0) + 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 < 0) + 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); + unsigned 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 < 0) + 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_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_id); + +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@xxxxxxxxxx>"); +MODULE_DESCRIPTION("Analog Devices ADIS16460 IMU driver"); +MODULE_LICENSE("GPL"); -- 2.20.1
