ADXRS290 is a high performance MEMS pitch and roll (dual-axis in-plane) angular rate sensor (gyroscope) designed for use in stabilization applications. It also features an internal temperature sensor and programmable high-pass and low-pass filters. Add support for ADXRS290 in direct-access mode for now. Datasheet: https://www.analog.com/media/en/technical-documentation/data-sheets/ADXRS290.pdf Signed-off-by: Nishant Malpani <nish.malpani25@xxxxxxxxx> --- Changes in v3: - drop "Link" tag & extra line in commit message - rename cut-off frequencies tables to 'adxrs290_{lpf, hpf}_3db_freq_hz_table' to be more descriptive - fix unsigned type errors - add comments on how to scale raw angular velocity and temperature values to appropriate units mentioned in the ABI - re-order declarations in reversed spruce tree order - remove 'indio_dev->dev.parent = &spi->dev' as the iio core handles it during iio_device_alloc() - use plain msleep() instead of the interruptible variant - remove extra terminal comma Changes in v2: - append copyright tag with author's info - remove asm/unaligned.h header - remove unnecessary comments about the registers' description - rephrase comment on the usage of mutex_lock - discard the usage of local tx, rx buffers; use DMA-safe buffers provided by the SPI core instead - utilize spi_w8r16 provided by the SPI core instead of writing a wrapper over spi_sync_transfer which semantically does the same - equip spi_write_then_read instead of plain spi_write since the latter requires a DMA-safe buffer - implement exact matching of filter 3db frequencies instead of finding the "closest" match; rounding complexity is left to the userspace - include 'info_mask_shared_by_type_available' when initialising iio_chan_spec instead of explicitly exposing attributes signifying available filter 3db frequencies; with this we can utilize read_avail core callback --- MAINTAINERS | 6 + drivers/iio/gyro/Kconfig | 10 + drivers/iio/gyro/Makefile | 1 + drivers/iio/gyro/adxrs290.c | 446 ++++++++++++++++++++++++++++++++++++ 4 files changed, 463 insertions(+) create mode 100644 drivers/iio/gyro/adxrs290.c diff --git a/MAINTAINERS b/MAINTAINERS index 9077411c9890..71ae9b184179 100644 --- a/MAINTAINERS +++ b/MAINTAINERS @@ -1098,6 +1098,12 @@ L: linux-media@xxxxxxxxxxxxxxx S: Maintained F: drivers/media/i2c/adv7842* +ANALOG DEVICES INC ADXRS290 DRIVER +M: Nishant Malpani <nish.malpani25@xxxxxxxxx> +L: linux-iio@xxxxxxxxxxxxxxx +S: Supported +F: drivers/iio/gyro/adxrs290.c + ANALOG DEVICES INC ASOC CODEC DRIVERS M: Lars-Peter Clausen <lars@xxxxxxxxxx> M: Nuno Sá <nuno.sa@xxxxxxxxxx> diff --git a/drivers/iio/gyro/Kconfig b/drivers/iio/gyro/Kconfig index 6daeddf37f60..024a34139875 100644 --- a/drivers/iio/gyro/Kconfig +++ b/drivers/iio/gyro/Kconfig @@ -41,6 +41,16 @@ config ADIS16260 This driver can also be built as a module. If so, the module will be called adis16260. +config ADXRS290 + tristate "Analog Devices ADXRS290 Dual-Axis MEMS Gyroscope SPI driver" + depends on SPI + help + Say yes here to build support for Analog Devices ADXRS290 programmable + digital output gyroscope. + + This driver can also be built as a module. If so, the module will be + called adxrs290. + config ADXRS450 tristate "Analog Devices ADXRS450/3 Digital Output Gyroscope SPI driver" depends on SPI diff --git a/drivers/iio/gyro/Makefile b/drivers/iio/gyro/Makefile index 45cbd5dc644e..0319b397dc3f 100644 --- a/drivers/iio/gyro/Makefile +++ b/drivers/iio/gyro/Makefile @@ -8,6 +8,7 @@ obj-$(CONFIG_ADIS16080) += adis16080.o obj-$(CONFIG_ADIS16130) += adis16130.o obj-$(CONFIG_ADIS16136) += adis16136.o obj-$(CONFIG_ADIS16260) += adis16260.o +obj-$(CONFIG_ADXRS290) += adxrs290.o obj-$(CONFIG_ADXRS450) += adxrs450.o obj-$(CONFIG_BMG160) += bmg160_core.o obj-$(CONFIG_BMG160_I2C) += bmg160_i2c.o diff --git a/drivers/iio/gyro/adxrs290.c b/drivers/iio/gyro/adxrs290.c new file mode 100644 index 000000000000..cff1af9211bc --- /dev/null +++ b/drivers/iio/gyro/adxrs290.c @@ -0,0 +1,446 @@ +// SPDX-License-Identifier: GPL-2.0-or-later +/* + * ADXRS290 SPI Gyroscope Driver + * + * Copyright (C) 2020 Nishant Malpani <nish.malpani25@xxxxxxxxx> + * Copyright (C) 2020 Analog Devices, Inc. + */ + +#include <linux/bitfield.h> +#include <linux/device.h> +#include <linux/delay.h> +#include <linux/kernel.h> +#include <linux/module.h> +#include <linux/spi/spi.h> + +#include <linux/iio/iio.h> +#include <linux/iio/sysfs.h> + +#define ADXRS290_ADI_ID 0xAD +#define ADXRS290_MEMS_ID 0x1D +#define ADXRS290_DEV_ID 0x92 + +#define ADXRS290_REG_ADI_ID 0x00 +#define ADXRS290_REG_MEMS_ID 0x01 +#define ADXRS290_REG_DEV_ID 0x02 +#define ADXRS290_REG_REV_ID 0x03 +#define ADXRS290_REG_SN0 0x04 /* Serial Number Registers, 4 bytes */ +#define ADXRS290_REG_DATAX0 0x08 /* Roll Rate o/p Data Regs, 2 bytes */ +#define ADXRS290_REG_DATAY0 0x0A /* Pitch Rate o/p Data Regs, 2 bytes */ +#define ADXRS290_REG_TEMP0 0x0C +#define ADXRS290_REG_POWER_CTL 0x10 +#define ADXRS290_REG_FILTER 0x11 +#define ADXRS290_REG_DATA_RDY 0x12 + +#define ADXRS290_READ BIT(7) +#define ADXRS290_TSM BIT(0) +#define ADXRS290_MEASUREMENT BIT(1) +#define ADXRS290_SYNC GENMASK(1, 0) +#define ADXRS290_LPF_MASK GENMASK(2, 0) +#define ADXRS290_LPF(x) FIELD_PREP(ADXRS290_LPF_MASK, x) +#define ADXRS290_HPF_MASK GENMASK(7, 4) +#define ADXRS290_HPF(x) FIELD_PREP(ADXRS290_HPF_MASK, x) + +#define ADXRS290_READ_REG(reg) (ADXRS290_READ | (reg)) + +#define ADXRS290_MAX_TRANSITION_TIME_MS 100 + +enum adxrs290_mode { + STANDBY, + MEASUREMENT, +}; + +struct adxrs290_state { + struct spi_device *spi; + /* Serialize reads and their subsequent processing */ + struct mutex lock; + enum adxrs290_mode mode; + unsigned int lpf_3db_freq_idx; + unsigned int hpf_3db_freq_idx; +}; + +/* + * Available cut-off frequencies of the low pass filter in Hz. + * The integer part and fractional part are represented separately. + */ +static const int adxrs290_lpf_3db_freq_hz_table[][2] = { + [0] = {480, 0}, + [1] = {320, 0}, + [2] = {160, 0}, + [3] = {80, 0}, + [4] = {56, 600000}, + [5] = {40, 0}, + [6] = {28, 300000}, + [7] = {20, 0}, +}; + +/* + * Available cut-off frequencies of the high pass filter in Hz. + * The integer part and fractional part are represented separately. + */ +static const int adxrs290_hpf_3db_freq_hz_table[][2] = { + [0] = {0, 0}, + [1] = {0, 11000}, + [2] = {0, 22000}, + [3] = {0, 44000}, + [4] = {0, 87000}, + [5] = {0, 175000}, + [6] = {0, 350000}, + [7] = {0, 700000}, + [8] = {1, 400000}, + [9] = {2, 800000}, + [10] = {11, 300000}, +}; + +static int adxrs290_get_rate_data(struct iio_dev *indio_dev, const u8 cmd, + unsigned int *val) +{ + struct adxrs290_state *st = iio_priv(indio_dev); + int ret = 0; + int temp; + + mutex_lock(&st->lock); + temp = spi_w8r16(st->spi, cmd); + if (temp < 0) { + ret = temp; + goto err_unlock; + } + + *val = temp; + +err_unlock: + mutex_unlock(&st->lock); + return ret; +} + +static int adxrs290_get_temp_data(struct iio_dev *indio_dev, unsigned int *val) +{ + const u8 cmd = ADXRS290_READ_REG(ADXRS290_REG_TEMP0); + struct adxrs290_state *st = iio_priv(indio_dev); + int ret = 0; + int temp; + + mutex_lock(&st->lock); + temp = spi_w8r16(st->spi, cmd); + if (temp < 0) { + ret = temp; + goto err_unlock; + } + + /* extract lower 12 bits temperature reading */ + *val = temp & 0x0FFF; + +err_unlock: + mutex_unlock(&st->lock); + return ret; +} + +static int adxrs290_get_3db_freq(struct iio_dev *indio_dev, u8 *val, u8 *val2) +{ + const u8 cmd = ADXRS290_READ_REG(ADXRS290_REG_FILTER); + struct adxrs290_state *st = iio_priv(indio_dev); + int ret = 0; + short temp; + + mutex_lock(&st->lock); + temp = spi_w8r8(st->spi, cmd); + if (temp < 0) { + ret = temp; + goto err_unlock; + } + + *val = FIELD_GET(ADXRS290_LPF_MASK, temp); + *val2 = FIELD_GET(ADXRS290_HPF_MASK, temp); + +err_unlock: + mutex_unlock(&st->lock); + return ret; +} + +static int adxrs290_spi_write_reg(struct spi_device *spi, const u8 reg, + const u8 val) +{ + u8 buf[2]; + + buf[0] = reg; + buf[1] = val; + + return spi_write_then_read(spi, buf, ARRAY_SIZE(buf), NULL, 0); +} + +static int adxrs290_find_match(const int (*freq_tbl)[2], const int n, + const int val, const int val2) +{ + int i; + + for (i = 0; i < n; i++) { + if (freq_tbl[i][0] == val && freq_tbl[i][1] == val2) + return i; + } + + return -EINVAL; +} + +static int adxrs290_set_filter_freq(struct iio_dev *indio_dev, + const unsigned int lpf_idx, + const unsigned int hpf_idx) +{ + struct adxrs290_state *st = iio_priv(indio_dev); + u8 val; + + val = ADXRS290_HPF(hpf_idx) | ADXRS290_LPF(lpf_idx); + + return adxrs290_spi_write_reg(st->spi, ADXRS290_REG_FILTER, val); +} + +static int adxrs290_initial_setup(struct iio_dev *indio_dev) +{ + struct adxrs290_state *st = iio_priv(indio_dev); + + st->mode = MEASUREMENT; + + return adxrs290_spi_write_reg(st->spi, + ADXRS290_REG_POWER_CTL, + ADXRS290_MEASUREMENT | ADXRS290_TSM); +} + +static int adxrs290_read_raw(struct iio_dev *indio_dev, + struct iio_chan_spec const *chan, + int *val, + int *val2, + long mask) +{ + struct adxrs290_state *st = iio_priv(indio_dev); + unsigned int t; + int ret; + + switch (mask) { + case IIO_CHAN_INFO_RAW: + switch (chan->type) { + case IIO_ANGL_VEL: + ret = adxrs290_get_rate_data(indio_dev, + ADXRS290_READ_REG(chan->address), + &t); + if (ret < 0) + return ret; + *val = t; + return IIO_VAL_INT; + case IIO_TEMP: + ret = adxrs290_get_temp_data(indio_dev, &t); + if (ret < 0) + return ret; + *val = t; + return IIO_VAL_INT; + default: + return -EINVAL; + } + case IIO_CHAN_INFO_SCALE: + switch (chan->type) { + case IIO_ANGL_VEL: + /* 1 LSB = 0.005 degrees/sec */ + *val = 0; + *val2 = 87266; + return IIO_VAL_INT_PLUS_NANO; + case IIO_TEMP: + /* 1 LSB = 0.1 degrees Celsius */ + *val = 100; + return IIO_VAL_INT; + default: + return -EINVAL; + } + case IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY: + switch (chan->type) { + case IIO_ANGL_VEL: + t = st->lpf_3db_freq_idx; + *val = adxrs290_lpf_3db_freq_hz_table[t][0]; + *val2 = adxrs290_lpf_3db_freq_hz_table[t][1]; + return IIO_VAL_INT_PLUS_MICRO; + default: + return -EINVAL; + } + case IIO_CHAN_INFO_HIGH_PASS_FILTER_3DB_FREQUENCY: + switch (chan->type) { + case IIO_ANGL_VEL: + t = st->hpf_3db_freq_idx; + *val = adxrs290_hpf_3db_freq_hz_table[t][0]; + *val2 = adxrs290_hpf_3db_freq_hz_table[t][1]; + return IIO_VAL_INT_PLUS_MICRO; + default: + return -EINVAL; + } + } + + return -EINVAL; +} + +static int adxrs290_write_raw(struct iio_dev *indio_dev, + struct iio_chan_spec const *chan, + int val, + int val2, + long mask) +{ + struct adxrs290_state *st = iio_priv(indio_dev); + int lpf_idx, hpf_idx; + + switch (mask) { + case IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY: + lpf_idx = adxrs290_find_match(adxrs290_lpf_3db_freq_hz_table, + ARRAY_SIZE(adxrs290_lpf_3db_freq_hz_table), + val, val2); + if (lpf_idx < 0) + return -EINVAL; + /* caching the updated state of the low-pass filter */ + st->lpf_3db_freq_idx = lpf_idx; + /* retrieving the current state of the high-pass filter */ + hpf_idx = st->hpf_3db_freq_idx; + return adxrs290_set_filter_freq(indio_dev, lpf_idx, hpf_idx); + case IIO_CHAN_INFO_HIGH_PASS_FILTER_3DB_FREQUENCY: + hpf_idx = adxrs290_find_match(adxrs290_hpf_3db_freq_hz_table, + ARRAY_SIZE(adxrs290_hpf_3db_freq_hz_table), + val, val2); + if (hpf_idx < 0) + return -EINVAL; + /* caching the updated state of the high-pass filter */ + st->hpf_3db_freq_idx = hpf_idx; + /* retrieving the current state of the low-pass filter */ + lpf_idx = st->lpf_3db_freq_idx; + return adxrs290_set_filter_freq(indio_dev, lpf_idx, hpf_idx); + } + + return -EINVAL; +} + +static int adxrs290_read_avail(struct iio_dev *indio_dev, + struct iio_chan_spec const *chan, + const int **vals, int *type, int *length, + long mask) +{ + switch (mask) { + case IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY: + *vals = (const int *)adxrs290_lpf_3db_freq_hz_table; + *type = IIO_VAL_INT_PLUS_MICRO; + /* Values are stored in a 2D matrix */ + *length = ARRAY_SIZE(adxrs290_lpf_3db_freq_hz_table) * 2; + + return IIO_AVAIL_LIST; + case IIO_CHAN_INFO_HIGH_PASS_FILTER_3DB_FREQUENCY: + *vals = (const int *)adxrs290_hpf_3db_freq_hz_table; + *type = IIO_VAL_INT_PLUS_MICRO; + /* Values are stored in a 2D matrix */ + *length = ARRAY_SIZE(adxrs290_hpf_3db_freq_hz_table) * 2; + + return IIO_AVAIL_LIST; + default: + return -EINVAL; + } +} + +#define ADXRS290_ANGL_VEL_CHANNEL(reg, axis) { \ + .type = IIO_ANGL_VEL, \ + .address = reg, \ + .modified = 1, \ + .channel2 = IIO_MOD_##axis, \ + .info_mask_separate = BIT(IIO_CHAN_INFO_RAW), \ + .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE) | \ + BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY) | \ + BIT(IIO_CHAN_INFO_HIGH_PASS_FILTER_3DB_FREQUENCY), \ + .info_mask_shared_by_type_available = \ + BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY) | \ + BIT(IIO_CHAN_INFO_HIGH_PASS_FILTER_3DB_FREQUENCY), \ +} + +static const struct iio_chan_spec adxrs290_channels[] = { + ADXRS290_ANGL_VEL_CHANNEL(ADXRS290_REG_DATAX0, X), + ADXRS290_ANGL_VEL_CHANNEL(ADXRS290_REG_DATAY0, Y), + { + .type = IIO_TEMP, + .address = ADXRS290_REG_TEMP0, + .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | + BIT(IIO_CHAN_INFO_SCALE), + }, +}; + +static const struct iio_info adxrs290_info = { + .read_raw = &adxrs290_read_raw, + .write_raw = &adxrs290_write_raw, + .read_avail = &adxrs290_read_avail, +}; + +static int adxrs290_probe(struct spi_device *spi) +{ + struct iio_dev *indio_dev; + struct adxrs290_state *st; + u8 val, val2; + int ret; + + indio_dev = devm_iio_device_alloc(&spi->dev, sizeof(*st)); + if (!indio_dev) + return -ENOMEM; + + st = iio_priv(indio_dev); + st->spi = spi; + spi_set_drvdata(spi, indio_dev); + + indio_dev->name = "adxrs290"; + indio_dev->modes = INDIO_DIRECT_MODE; + indio_dev->channels = adxrs290_channels; + indio_dev->num_channels = ARRAY_SIZE(adxrs290_channels); + indio_dev->info = &adxrs290_info; + + val = spi_w8r8(spi, ADXRS290_READ_REG(ADXRS290_REG_ADI_ID)); + if (val != ADXRS290_ADI_ID) { + dev_err(&spi->dev, "Wrong ADI ID 0x%02x\n", val); + return -ENODEV; + } + + val = spi_w8r8(spi, ADXRS290_READ_REG(ADXRS290_REG_MEMS_ID)); + if (val != ADXRS290_MEMS_ID) { + dev_err(&spi->dev, "Wrong MEMS ID 0x%02x\n", val); + return -ENODEV; + } + + val = spi_w8r8(spi, ADXRS290_READ_REG(ADXRS290_REG_DEV_ID)); + if (val != ADXRS290_DEV_ID) { + dev_err(&spi->dev, "Wrong DEV ID 0x%02x\n", val); + return -ENODEV; + } + + /* default mode the gyroscope starts in */ + st->mode = STANDBY; + + /* switch to measurement mode and switch on the temperature sensor */ + ret = adxrs290_initial_setup(indio_dev); + if (ret < 0) + return ret; + + /* max transition time to measurement mode */ + msleep(ADXRS290_MAX_TRANSITION_TIME_MS); + + ret = adxrs290_get_3db_freq(indio_dev, &val, &val2); + if (ret < 0) + return ret; + + st->lpf_3db_freq_idx = val; + st->hpf_3db_freq_idx = val2; + + return devm_iio_device_register(&spi->dev, indio_dev); +} + +static const struct of_device_id adxrs290_of_match[] = { + { .compatible = "adi,adxrs290" }, + { } +}; +MODULE_DEVICE_TABLE(of, adxrs290_of_match); + +static struct spi_driver adxrs290_driver = { + .driver = { + .name = "adxrs290", + .of_match_table = adxrs290_of_match, + }, + .probe = adxrs290_probe, +}; +module_spi_driver(adxrs290_driver); + +MODULE_AUTHOR("Nishant Malpani <nish.malpani25@xxxxxxxxx>"); +MODULE_DESCRIPTION("Analog Devices ADXRS290 Gyroscope SPI driver"); +MODULE_LICENSE("GPL"); -- 2.20.1
