iio/gyro/adis16260.c

0001 // SPDX-License-Identifier: GPL-2.0-or-later
0002 /*
0003  * ADIS16260/ADIS16265 Programmable Digital Gyroscope Sensor Driver
0004  *
0005  * Copyright 2010 Analog Devices Inc.
0006  */
0007
0008 #include <linux/device.h>
0009 #include <linux/kernel.h>
0010 #include <linux/spi/spi.h>
0011 #include <linux/module.h>
0012
0013 #include <linux/iio/iio.h>
0014 #include <linux/iio/imu/adis.h>
0015
0016 #define ADIS16260_STARTUP_DELAY 220 /* ms */
0017
0018 #define ADIS16260_FLASH_CNT  0x00 /* Flash memory write count */
0019 #define ADIS16260_SUPPLY_OUT 0x02 /* Power supply measurement */
0020 #define ADIS16260_GYRO_OUT   0x04 /* X-axis gyroscope output */
0021 #define ADIS16260_AUX_ADC    0x0A /* analog input channel measurement */
0022 #define ADIS16260_TEMP_OUT   0x0C /* internal temperature measurement */
0023 #define ADIS16260_ANGL_OUT   0x0E /* angle displacement */
0024 #define ADIS16260_GYRO_OFF   0x14 /* Calibration, offset/bias adjustment */
0025 #define ADIS16260_GYRO_SCALE 0x16 /* Calibration, scale adjustment */
0026 #define ADIS16260_ALM_MAG1   0x20 /* Alarm 1 magnitude/polarity setting */
0027 #define ADIS16260_ALM_MAG2   0x22 /* Alarm 2 magnitude/polarity setting */
0028 #define ADIS16260_ALM_SMPL1  0x24 /* Alarm 1 dynamic rate of change setting */
0029 #define ADIS16260_ALM_SMPL2  0x26 /* Alarm 2 dynamic rate of change setting */
0030 #define ADIS16260_ALM_CTRL   0x28 /* Alarm control */
0031 #define ADIS16260_AUX_DAC    0x30 /* Auxiliary DAC data */
0032 #define ADIS16260_GPIO_CTRL  0x32 /* Control, digital I/O line */
0033 #define ADIS16260_MSC_CTRL   0x34 /* Control, data ready, self-test settings */
0034 #define ADIS16260_SMPL_PRD   0x36 /* Control, internal sample rate */
0035 #define ADIS16260_SENS_AVG   0x38 /* Control, dynamic range, filtering */
0036 #define ADIS16260_SLP_CNT    0x3A /* Control, sleep mode initiation */
0037 #define ADIS16260_DIAG_STAT  0x3C /* Diagnostic, error flags */
0038 #define ADIS16260_GLOB_CMD   0x3E /* Control, global commands */
0039 #define ADIS16260_LOT_ID1    0x52 /* Lot Identification Code 1 */
0040 #define ADIS16260_LOT_ID2    0x54 /* Lot Identification Code 2 */
0041 #define ADIS16260_PROD_ID    0x56 /* Product identifier;
0042                    * convert to decimal = 16,265/16,260 */
0043 #define ADIS16260_SERIAL_NUM 0x58 /* Serial number */
0044
0045 #define ADIS16260_ERROR_ACTIVE          (1<<14)
0046 #define ADIS16260_NEW_DATA          (1<<15)
0047
0048 /* MSC_CTRL */
0049 #define ADIS16260_MSC_CTRL_MEM_TEST     (1<<11)
0050 /* Internal self-test enable */
0051 #define ADIS16260_MSC_CTRL_INT_SELF_TEST    (1<<10)
0052 #define ADIS16260_MSC_CTRL_NEG_SELF_TEST    (1<<9)
0053 #define ADIS16260_MSC_CTRL_POS_SELF_TEST    (1<<8)
0054 #define ADIS16260_MSC_CTRL_DATA_RDY_EN      (1<<2)
0055 #define ADIS16260_MSC_CTRL_DATA_RDY_POL_HIGH    (1<<1)
0056 #define ADIS16260_MSC_CTRL_DATA_RDY_DIO2    (1<<0)
0057
0058 /* SMPL_PRD */
0059 /* Time base (tB): 0 = 1.953 ms, 1 = 60.54 ms */
0060 #define ADIS16260_SMPL_PRD_TIME_BASE    (1<<7)
0061 #define ADIS16260_SMPL_PRD_DIV_MASK 0x7F
0062
0063 /* SLP_CNT */
0064 #define ADIS16260_SLP_CNT_POWER_OFF     0x80
0065
0066 /* DIAG_STAT */
0067 #define ADIS16260_DIAG_STAT_ALARM2  (1<<9)
0068 #define ADIS16260_DIAG_STAT_ALARM1  (1<<8)
0069 #define ADIS16260_DIAG_STAT_FLASH_CHK_BIT   6
0070 #define ADIS16260_DIAG_STAT_SELF_TEST_BIT   5
0071 #define ADIS16260_DIAG_STAT_OVERFLOW_BIT    4
0072 #define ADIS16260_DIAG_STAT_SPI_FAIL_BIT    3
0073 #define ADIS16260_DIAG_STAT_FLASH_UPT_BIT   2
0074 #define ADIS16260_DIAG_STAT_POWER_HIGH_BIT  1
0075 #define ADIS16260_DIAG_STAT_POWER_LOW_BIT   0
0076
0077 /* GLOB_CMD */
0078 #define ADIS16260_GLOB_CMD_SW_RESET (1<<7)
0079 #define ADIS16260_GLOB_CMD_FLASH_UPD    (1<<3)
0080 #define ADIS16260_GLOB_CMD_DAC_LATCH    (1<<2)
0081 #define ADIS16260_GLOB_CMD_FAC_CALIB    (1<<1)
0082 #define ADIS16260_GLOB_CMD_AUTO_NULL    (1<<0)
0083
0084 #define ADIS16260_SPI_SLOW  (u32)(300 * 1000)
0085 #define ADIS16260_SPI_BURST (u32)(1000 * 1000)
0086 #define ADIS16260_SPI_FAST  (u32)(2000 * 1000)
0087
0088 /* At the moment triggers are only used for ring buffer
0089  * filling. This may change!
0090  */
0091
0092 #define ADIS16260_SCAN_GYRO 0
0093 #define ADIS16260_SCAN_SUPPLY   1
0094 #define ADIS16260_SCAN_AUX_ADC  2
0095 #define ADIS16260_SCAN_TEMP 3
0096 #define ADIS16260_SCAN_ANGL 4
0097
0098 struct adis16260_chip_info {
0099     unsigned int gyro_max_val;
0100     unsigned int gyro_max_scale;
0101     const struct iio_chan_spec *channels;
0102     unsigned int num_channels;
0103 };
0104
0105 struct adis16260 {
0106     const struct adis16260_chip_info *info;
0107
0108     struct adis adis;
0109 };
0110
0111 enum adis16260_type {
0112     ADIS16251,
0113     ADIS16260,
0114     ADIS16266,
0115 };
0116
0117 static const struct iio_chan_spec adis16260_channels[] = {
0118     ADIS_GYRO_CHAN(X, ADIS16260_GYRO_OUT, ADIS16260_SCAN_GYRO,
0119         BIT(IIO_CHAN_INFO_CALIBBIAS) |
0120         BIT(IIO_CHAN_INFO_CALIBSCALE),
0121         BIT(IIO_CHAN_INFO_SAMP_FREQ), 14),
0122     ADIS_INCLI_CHAN(X, ADIS16260_ANGL_OUT, ADIS16260_SCAN_ANGL, 0,
0123         BIT(IIO_CHAN_INFO_SAMP_FREQ), 14),
0124     ADIS_TEMP_CHAN(ADIS16260_TEMP_OUT, ADIS16260_SCAN_TEMP,
0125         BIT(IIO_CHAN_INFO_SAMP_FREQ), 12),
0126     ADIS_SUPPLY_CHAN(ADIS16260_SUPPLY_OUT, ADIS16260_SCAN_SUPPLY,
0127         BIT(IIO_CHAN_INFO_SAMP_FREQ), 12),
0128     ADIS_AUX_ADC_CHAN(ADIS16260_AUX_ADC, ADIS16260_SCAN_AUX_ADC,
0129         BIT(IIO_CHAN_INFO_SAMP_FREQ), 12),
0130     IIO_CHAN_SOFT_TIMESTAMP(5),
0131 };
0132
0133 static const struct iio_chan_spec adis16266_channels[] = {
0134     ADIS_GYRO_CHAN(X, ADIS16260_GYRO_OUT, ADIS16260_SCAN_GYRO,
0135         BIT(IIO_CHAN_INFO_CALIBBIAS) |
0136         BIT(IIO_CHAN_INFO_CALIBSCALE),
0137         BIT(IIO_CHAN_INFO_SAMP_FREQ), 14),
0138     ADIS_TEMP_CHAN(ADIS16260_TEMP_OUT, ADIS16260_SCAN_TEMP,
0139         BIT(IIO_CHAN_INFO_SAMP_FREQ), 12),
0140     ADIS_SUPPLY_CHAN(ADIS16260_SUPPLY_OUT, ADIS16260_SCAN_SUPPLY,
0141         BIT(IIO_CHAN_INFO_SAMP_FREQ), 12),
0142     ADIS_AUX_ADC_CHAN(ADIS16260_AUX_ADC, ADIS16260_SCAN_AUX_ADC,
0143         BIT(IIO_CHAN_INFO_SAMP_FREQ), 12),
0144     IIO_CHAN_SOFT_TIMESTAMP(4),
0145 };
0146
0147 static const struct adis16260_chip_info adis16260_chip_info_table[] = {
0148     [ADIS16251] = {
0149         .gyro_max_scale = 80,
0150         .gyro_max_val = IIO_RAD_TO_DEGREE(4368),
0151         .channels = adis16260_channels,
0152         .num_channels = ARRAY_SIZE(adis16260_channels),
0153     },
0154     [ADIS16260] = {
0155         .gyro_max_scale = 320,
0156         .gyro_max_val = IIO_RAD_TO_DEGREE(4368),
0157         .channels = adis16260_channels,
0158         .num_channels = ARRAY_SIZE(adis16260_channels),
0159     },
0160     [ADIS16266] = {
0161         .gyro_max_scale = 14000,
0162         .gyro_max_val = IIO_RAD_TO_DEGREE(3357),
0163         .channels = adis16266_channels,
0164         .num_channels = ARRAY_SIZE(adis16266_channels),
0165     },
0166 };
0167
0168 /* Power down the device */
0169 static int adis16260_stop_device(struct iio_dev *indio_dev)
0170 {
0171     struct adis16260 *adis16260 = iio_priv(indio_dev);
0172     int ret;
0173     u16 val = ADIS16260_SLP_CNT_POWER_OFF;
0174
0175     ret = adis_write_reg_16(&adis16260->adis, ADIS16260_SLP_CNT, val);
0176     if (ret)
0177         dev_err(&indio_dev->dev, "problem with turning device off: SLP_CNT");
0178
0179     return ret;
0180 }
0181
0182 static const u8 adis16260_addresses[][2] = {
0183     [ADIS16260_SCAN_GYRO] = { ADIS16260_GYRO_OFF, ADIS16260_GYRO_SCALE },
0184 };
0185
0186 static int adis16260_read_raw(struct iio_dev *indio_dev,
0187                   struct iio_chan_spec const *chan,
0188                   int *val, int *val2,
0189                   long mask)
0190 {
0191     struct adis16260 *adis16260 = iio_priv(indio_dev);
0192     const struct adis16260_chip_info *info = adis16260->info;
0193     struct adis *adis = &adis16260->adis;
0194     int ret;
0195     u8 addr;
0196     s16 val16;
0197
0198     switch (mask) {
0199     case IIO_CHAN_INFO_RAW:
0200         return adis_single_conversion(indio_dev, chan,
0201                 ADIS16260_ERROR_ACTIVE, val);
0202     case IIO_CHAN_INFO_SCALE:
0203         switch (chan->type) {
0204         case IIO_ANGL_VEL:
0205             *val = info->gyro_max_scale;
0206             *val2 = info->gyro_max_val;
0207             return IIO_VAL_FRACTIONAL;
0208         case IIO_INCLI:
0209             *val = 0;
0210             *val2 = IIO_DEGREE_TO_RAD(36630);
0211             return IIO_VAL_INT_PLUS_MICRO;
0212         case IIO_VOLTAGE:
0213             if (chan->channel == 0) {
0214                 *val = 1;
0215                 *val2 = 831500; /* 1.8315 mV */
0216             } else {
0217                 *val = 0;
0218                 *val2 = 610500; /* 610.5 uV */
0219             }
0220             return IIO_VAL_INT_PLUS_MICRO;
0221         case IIO_TEMP:
0222             *val = 145;
0223             *val2 = 300000; /* 0.1453 C */
0224             return IIO_VAL_INT_PLUS_MICRO;
0225         default:
0226             return -EINVAL;
0227         }
0228     case IIO_CHAN_INFO_OFFSET:
0229         *val = 250000 / 1453; /* 25 C = 0x00 */
0230         return IIO_VAL_INT;
0231     case IIO_CHAN_INFO_CALIBBIAS:
0232         addr = adis16260_addresses[chan->scan_index][0];
0233         ret = adis_read_reg_16(adis, addr, &val16);
0234         if (ret)
0235             return ret;
0236
0237         *val = sign_extend32(val16, 11);
0238         return IIO_VAL_INT;
0239     case IIO_CHAN_INFO_CALIBSCALE:
0240         addr = adis16260_addresses[chan->scan_index][1];
0241         ret = adis_read_reg_16(adis, addr, &val16);
0242         if (ret)
0243             return ret;
0244
0245         *val = val16;
0246         return IIO_VAL_INT;
0247     case IIO_CHAN_INFO_SAMP_FREQ:
0248         ret = adis_read_reg_16(adis, ADIS16260_SMPL_PRD, &val16);
0249         if (ret)
0250             return ret;
0251
0252         if (spi_get_device_id(adis->spi)->driver_data)
0253         /* If an adis16251 */
0254             *val = (val16 & ADIS16260_SMPL_PRD_TIME_BASE) ?
0255                 8 : 256;
0256         else
0257             *val = (val16 & ADIS16260_SMPL_PRD_TIME_BASE) ?
0258                 66 : 2048;
0259         *val /= (val16 & ADIS16260_SMPL_PRD_DIV_MASK) + 1;
0260         return IIO_VAL_INT;
0261     }
0262     return -EINVAL;
0263 }
0264
0265 static int adis16260_write_raw(struct iio_dev *indio_dev,
0266                    struct iio_chan_spec const *chan,
0267                    int val,
0268                    int val2,
0269                    long mask)
0270 {
0271     struct adis16260 *adis16260 = iio_priv(indio_dev);
0272     struct adis *adis = &adis16260->adis;
0273     int ret;
0274     u8 addr;
0275     u8 t;
0276
0277     switch (mask) {
0278     case IIO_CHAN_INFO_CALIBBIAS:
0279         if (val < -2048 || val >= 2048)
0280             return -EINVAL;
0281
0282         addr = adis16260_addresses[chan->scan_index][0];
0283         return adis_write_reg_16(adis, addr, val);
0284     case IIO_CHAN_INFO_CALIBSCALE:
0285         if (val < 0 || val >= 4096)
0286             return -EINVAL;
0287
0288         addr = adis16260_addresses[chan->scan_index][1];
0289         return adis_write_reg_16(adis, addr, val);
0290     case IIO_CHAN_INFO_SAMP_FREQ:
0291         adis_dev_lock(adis);
0292         if (spi_get_device_id(adis->spi)->driver_data)
0293             t = 256 / val;
0294         else
0295             t = 2048 / val;
0296
0297         if (t > ADIS16260_SMPL_PRD_DIV_MASK)
0298             t = ADIS16260_SMPL_PRD_DIV_MASK;
0299         else if (t > 0)
0300             t--;
0301
0302         if (t >= 0x0A)
0303             adis->spi->max_speed_hz = ADIS16260_SPI_SLOW;
0304         else
0305             adis->spi->max_speed_hz = ADIS16260_SPI_FAST;
0306         ret = __adis_write_reg_8(adis, ADIS16260_SMPL_PRD, t);
0307
0308         adis_dev_unlock(adis);
0309         return ret;
0310     }
0311     return -EINVAL;
0312 }
0313
0314 static const struct iio_info adis16260_info = {
0315     .read_raw = &adis16260_read_raw,
0316     .write_raw = &adis16260_write_raw,
0317     .update_scan_mode = adis_update_scan_mode,
0318 };
0319
0320 static const char * const adis1620_status_error_msgs[] = {
0321     [ADIS16260_DIAG_STAT_FLASH_CHK_BIT] = "Flash checksum error",
0322     [ADIS16260_DIAG_STAT_SELF_TEST_BIT] = "Self test error",
0323     [ADIS16260_DIAG_STAT_OVERFLOW_BIT] = "Sensor overrange",
0324     [ADIS16260_DIAG_STAT_SPI_FAIL_BIT] = "SPI failure",
0325     [ADIS16260_DIAG_STAT_FLASH_UPT_BIT] = "Flash update failed",
0326     [ADIS16260_DIAG_STAT_POWER_HIGH_BIT] = "Power supply above 5.25",
0327     [ADIS16260_DIAG_STAT_POWER_LOW_BIT] = "Power supply below 4.75",
0328 };
0329
0330 static const struct adis_timeout adis16260_timeouts = {
0331     .reset_ms = ADIS16260_STARTUP_DELAY,
0332     .sw_reset_ms = ADIS16260_STARTUP_DELAY,
0333     .self_test_ms = ADIS16260_STARTUP_DELAY,
0334 };
0335
0336 static const struct adis_data adis16260_data = {
0337     .write_delay = 30,
0338     .read_delay = 30,
0339     .msc_ctrl_reg = ADIS16260_MSC_CTRL,
0340     .glob_cmd_reg = ADIS16260_GLOB_CMD,
0341     .diag_stat_reg = ADIS16260_DIAG_STAT,
0342
0343     .self_test_mask = ADIS16260_MSC_CTRL_MEM_TEST,
0344     .self_test_reg = ADIS16260_MSC_CTRL,
0345     .timeouts = &adis16260_timeouts,
0346
0347     .status_error_msgs = adis1620_status_error_msgs,
0348     .status_error_mask = BIT(ADIS16260_DIAG_STAT_FLASH_CHK_BIT) |
0349         BIT(ADIS16260_DIAG_STAT_SELF_TEST_BIT) |
0350         BIT(ADIS16260_DIAG_STAT_OVERFLOW_BIT) |
0351         BIT(ADIS16260_DIAG_STAT_SPI_FAIL_BIT) |
0352         BIT(ADIS16260_DIAG_STAT_FLASH_UPT_BIT) |
0353         BIT(ADIS16260_DIAG_STAT_POWER_HIGH_BIT) |
0354         BIT(ADIS16260_DIAG_STAT_POWER_LOW_BIT),
0355 };
0356
0357 static void adis16260_stop(void *data)
0358 {
0359     adis16260_stop_device(data);
0360 }
0361
0362 static int adis16260_probe(struct spi_device *spi)
0363 {
0364     const struct spi_device_id *id;
0365     struct adis16260 *adis16260;
0366     struct iio_dev *indio_dev;
0367     int ret;
0368
0369     id = spi_get_device_id(spi);
0370     if (!id)
0371         return -ENODEV;
0372
0373     /* setup the industrialio driver allocated elements */
0374     indio_dev = devm_iio_device_alloc(&spi->dev, sizeof(*adis16260));
0375     if (!indio_dev)
0376         return -ENOMEM;
0377     adis16260 = iio_priv(indio_dev);
0378     /* this is only used for removal purposes */
0379     spi_set_drvdata(spi, indio_dev);
0380
0381     adis16260->info = &adis16260_chip_info_table[id->driver_data];
0382
0383     indio_dev->name = id->name;
0384     indio_dev->info = &adis16260_info;
0385     indio_dev->channels = adis16260->info->channels;
0386     indio_dev->num_channels = adis16260->info->num_channels;
0387     indio_dev->modes = INDIO_DIRECT_MODE;
0388
0389     ret = adis_init(&adis16260->adis, indio_dev, spi, &adis16260_data);
0390     if (ret)
0391         return ret;
0392
0393     ret = devm_adis_setup_buffer_and_trigger(&adis16260->adis, indio_dev, NULL);
0394     if (ret)
0395         return ret;
0396
0397     /* Get the device into a sane initial state */
0398     ret = adis_initial_startup(&adis16260->adis);
0399     if (ret)
0400         return ret;
0401
0402     ret = devm_add_action_or_reset(&spi->dev, adis16260_stop, indio_dev);
0403     if (ret)
0404         return ret;
0405
0406     return devm_iio_device_register(&spi->dev, indio_dev);
0407 }
0408
0409 /*
0410  * These parts do not need to be differentiated until someone adds
0411  * support for the on chip filtering.
0412  */
0413 static const struct spi_device_id adis16260_id[] = {
0414     {"adis16260", ADIS16260},
0415     {"adis16265", ADIS16260},
0416     {"adis16266", ADIS16266},
0417     {"adis16250", ADIS16260},
0418     {"adis16255", ADIS16260},
0419     {"adis16251", ADIS16251},
0420     {}
0421 };
0422 MODULE_DEVICE_TABLE(spi, adis16260_id);
0423
0424 static struct spi_driver adis16260_driver = {
0425     .driver = {
0426         .name = "adis16260",
0427     },
0428     .probe = adis16260_probe,
0429     .id_table = adis16260_id,
0430 };
0431 module_spi_driver(adis16260_driver);
0432
0433 MODULE_AUTHOR("Barry Song <21cnbao@gmail.com>");
0434 MODULE_DESCRIPTION("Analog Devices ADIS16260/5 Digital Gyroscope Sensor");
0435 MODULE_LICENSE("GPL v2");
0436 MODULE_IMPORT_NS(IIO_ADISLIB);