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8#include <linux/module.h>
9#include <linux/spi/spi.h>
10
11#include <linux/iio/iio.h>
12#include <linux/iio/imu/adis.h>
13
14#include <linux/debugfs.h>
15
16#define ADIS16460_REG_FLASH_CNT 0x00
17#define ADIS16460_REG_DIAG_STAT 0x02
18#define ADIS16460_REG_X_GYRO_LOW 0x04
19#define ADIS16460_REG_X_GYRO_OUT 0x06
20#define ADIS16460_REG_Y_GYRO_LOW 0x08
21#define ADIS16460_REG_Y_GYRO_OUT 0x0A
22#define ADIS16460_REG_Z_GYRO_LOW 0x0C
23#define ADIS16460_REG_Z_GYRO_OUT 0x0E
24#define ADIS16460_REG_X_ACCL_LOW 0x10
25#define ADIS16460_REG_X_ACCL_OUT 0x12
26#define ADIS16460_REG_Y_ACCL_LOW 0x14
27#define ADIS16460_REG_Y_ACCL_OUT 0x16
28#define ADIS16460_REG_Z_ACCL_LOW 0x18
29#define ADIS16460_REG_Z_ACCL_OUT 0x1A
30#define ADIS16460_REG_SMPL_CNTR 0x1C
31#define ADIS16460_REG_TEMP_OUT 0x1E
32#define ADIS16460_REG_X_DELT_ANG 0x24
33#define ADIS16460_REG_Y_DELT_ANG 0x26
34#define ADIS16460_REG_Z_DELT_ANG 0x28
35#define ADIS16460_REG_X_DELT_VEL 0x2A
36#define ADIS16460_REG_Y_DELT_VEL 0x2C
37#define ADIS16460_REG_Z_DELT_VEL 0x2E
38#define ADIS16460_REG_MSC_CTRL 0x32
39#define ADIS16460_REG_SYNC_SCAL 0x34
40#define ADIS16460_REG_DEC_RATE 0x36
41#define ADIS16460_REG_FLTR_CTRL 0x38
42#define ADIS16460_REG_GLOB_CMD 0x3E
43#define ADIS16460_REG_X_GYRO_OFF 0x40
44#define ADIS16460_REG_Y_GYRO_OFF 0x42
45#define ADIS16460_REG_Z_GYRO_OFF 0x44
46#define ADIS16460_REG_X_ACCL_OFF 0x46
47#define ADIS16460_REG_Y_ACCL_OFF 0x48
48#define ADIS16460_REG_Z_ACCL_OFF 0x4A
49#define ADIS16460_REG_LOT_ID1 0x52
50#define ADIS16460_REG_LOT_ID2 0x54
51#define ADIS16460_REG_PROD_ID 0x56
52#define ADIS16460_REG_SERIAL_NUM 0x58
53#define ADIS16460_REG_CAL_SGNTR 0x60
54#define ADIS16460_REG_CAL_CRC 0x62
55#define ADIS16460_REG_CODE_SGNTR 0x64
56#define ADIS16460_REG_CODE_CRC 0x66
57
58struct adis16460_chip_info {
59 unsigned int num_channels;
60 const struct iio_chan_spec *channels;
61 unsigned int gyro_max_val;
62 unsigned int gyro_max_scale;
63 unsigned int accel_max_val;
64 unsigned int accel_max_scale;
65};
66
67struct adis16460 {
68 const struct adis16460_chip_info *chip_info;
69 struct adis adis;
70};
71
72#ifdef CONFIG_DEBUG_FS
73
74static int adis16460_show_serial_number(void *arg, u64 *val)
75{
76 struct adis16460 *adis16460 = arg;
77 u16 serial;
78 int ret;
79
80 ret = adis_read_reg_16(&adis16460->adis, ADIS16460_REG_SERIAL_NUM,
81 &serial);
82 if (ret)
83 return ret;
84
85 *val = serial;
86
87 return 0;
88}
89DEFINE_DEBUGFS_ATTRIBUTE(adis16460_serial_number_fops,
90 adis16460_show_serial_number, NULL, "0x%.4llx\n");
91
92static int adis16460_show_product_id(void *arg, u64 *val)
93{
94 struct adis16460 *adis16460 = arg;
95 u16 prod_id;
96 int ret;
97
98 ret = adis_read_reg_16(&adis16460->adis, ADIS16460_REG_PROD_ID,
99 &prod_id);
100 if (ret)
101 return ret;
102
103 *val = prod_id;
104
105 return 0;
106}
107DEFINE_DEBUGFS_ATTRIBUTE(adis16460_product_id_fops,
108 adis16460_show_product_id, NULL, "%llu\n");
109
110static int adis16460_show_flash_count(void *arg, u64 *val)
111{
112 struct adis16460 *adis16460 = arg;
113 u32 flash_count;
114 int ret;
115
116 ret = adis_read_reg_32(&adis16460->adis, ADIS16460_REG_FLASH_CNT,
117 &flash_count);
118 if (ret)
119 return ret;
120
121 *val = flash_count;
122
123 return 0;
124}
125DEFINE_DEBUGFS_ATTRIBUTE(adis16460_flash_count_fops,
126 adis16460_show_flash_count, NULL, "%lld\n");
127
128static int adis16460_debugfs_init(struct iio_dev *indio_dev)
129{
130 struct adis16460 *adis16460 = iio_priv(indio_dev);
131 struct dentry *d = iio_get_debugfs_dentry(indio_dev);
132
133 debugfs_create_file_unsafe("serial_number", 0400,
134 d, adis16460, &adis16460_serial_number_fops);
135 debugfs_create_file_unsafe("product_id", 0400,
136 d, adis16460, &adis16460_product_id_fops);
137 debugfs_create_file_unsafe("flash_count", 0400,
138 d, adis16460, &adis16460_flash_count_fops);
139
140 return 0;
141}
142
143#else
144
145static int adis16460_debugfs_init(struct iio_dev *indio_dev)
146{
147 return 0;
148}
149
150#endif
151
152static int adis16460_set_freq(struct iio_dev *indio_dev, int val, int val2)
153{
154 struct adis16460 *st = iio_priv(indio_dev);
155 int t;
156
157 t = val * 1000 + val2 / 1000;
158 if (t <= 0)
159 return -EINVAL;
160
161 t = 2048000 / t;
162 if (t > 2048)
163 t = 2048;
164
165 if (t != 0)
166 t--;
167
168 return adis_write_reg_16(&st->adis, ADIS16460_REG_DEC_RATE, t);
169}
170
171static int adis16460_get_freq(struct iio_dev *indio_dev, int *val, int *val2)
172{
173 struct adis16460 *st = iio_priv(indio_dev);
174 uint16_t t;
175 int ret;
176 unsigned int freq;
177
178 ret = adis_read_reg_16(&st->adis, ADIS16460_REG_DEC_RATE, &t);
179 if (ret)
180 return ret;
181
182 freq = 2048000 / (t + 1);
183 *val = freq / 1000;
184 *val2 = (freq % 1000) * 1000;
185
186 return IIO_VAL_INT_PLUS_MICRO;
187}
188
189static int adis16460_read_raw(struct iio_dev *indio_dev,
190 const struct iio_chan_spec *chan, int *val, int *val2, long info)
191{
192 struct adis16460 *st = iio_priv(indio_dev);
193
194 switch (info) {
195 case IIO_CHAN_INFO_RAW:
196 return adis_single_conversion(indio_dev, chan, 0, val);
197 case IIO_CHAN_INFO_SCALE:
198 switch (chan->type) {
199 case IIO_ANGL_VEL:
200 *val = st->chip_info->gyro_max_scale;
201 *val2 = st->chip_info->gyro_max_val;
202 return IIO_VAL_FRACTIONAL;
203 case IIO_ACCEL:
204 *val = st->chip_info->accel_max_scale;
205 *val2 = st->chip_info->accel_max_val;
206 return IIO_VAL_FRACTIONAL;
207 case IIO_TEMP:
208 *val = 50;
209 return IIO_VAL_INT;
210 default:
211 return -EINVAL;
212 }
213 case IIO_CHAN_INFO_OFFSET:
214 *val = 500;
215 return IIO_VAL_INT;
216 case IIO_CHAN_INFO_SAMP_FREQ:
217 return adis16460_get_freq(indio_dev, val, val2);
218 default:
219 return -EINVAL;
220 }
221}
222
223static int adis16460_write_raw(struct iio_dev *indio_dev,
224 const struct iio_chan_spec *chan, int val, int val2, long info)
225{
226 switch (info) {
227 case IIO_CHAN_INFO_SAMP_FREQ:
228 return adis16460_set_freq(indio_dev, val, val2);
229 default:
230 return -EINVAL;
231 }
232}
233
234enum {
235 ADIS16460_SCAN_GYRO_X,
236 ADIS16460_SCAN_GYRO_Y,
237 ADIS16460_SCAN_GYRO_Z,
238 ADIS16460_SCAN_ACCEL_X,
239 ADIS16460_SCAN_ACCEL_Y,
240 ADIS16460_SCAN_ACCEL_Z,
241 ADIS16460_SCAN_TEMP,
242};
243
244#define ADIS16460_MOD_CHANNEL(_type, _mod, _address, _si, _bits) \
245 { \
246 .type = (_type), \
247 .modified = 1, \
248 .channel2 = (_mod), \
249 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW), \
250 .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE), \
251 .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
252 .address = (_address), \
253 .scan_index = (_si), \
254 .scan_type = { \
255 .sign = 's', \
256 .realbits = (_bits), \
257 .storagebits = (_bits), \
258 .endianness = IIO_BE, \
259 }, \
260 }
261
262#define ADIS16460_GYRO_CHANNEL(_mod) \
263 ADIS16460_MOD_CHANNEL(IIO_ANGL_VEL, IIO_MOD_ ## _mod, \
264 ADIS16460_REG_ ## _mod ## _GYRO_LOW, ADIS16460_SCAN_GYRO_ ## _mod, \
265 32)
266
267#define ADIS16460_ACCEL_CHANNEL(_mod) \
268 ADIS16460_MOD_CHANNEL(IIO_ACCEL, IIO_MOD_ ## _mod, \
269 ADIS16460_REG_ ## _mod ## _ACCL_LOW, ADIS16460_SCAN_ACCEL_ ## _mod, \
270 32)
271
272#define ADIS16460_TEMP_CHANNEL() { \
273 .type = IIO_TEMP, \
274 .indexed = 1, \
275 .channel = 0, \
276 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \
277 BIT(IIO_CHAN_INFO_SCALE) | \
278 BIT(IIO_CHAN_INFO_OFFSET), \
279 .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
280 .address = ADIS16460_REG_TEMP_OUT, \
281 .scan_index = ADIS16460_SCAN_TEMP, \
282 .scan_type = { \
283 .sign = 's', \
284 .realbits = 16, \
285 .storagebits = 16, \
286 .endianness = IIO_BE, \
287 }, \
288 }
289
290static const struct iio_chan_spec adis16460_channels[] = {
291 ADIS16460_GYRO_CHANNEL(X),
292 ADIS16460_GYRO_CHANNEL(Y),
293 ADIS16460_GYRO_CHANNEL(Z),
294 ADIS16460_ACCEL_CHANNEL(X),
295 ADIS16460_ACCEL_CHANNEL(Y),
296 ADIS16460_ACCEL_CHANNEL(Z),
297 ADIS16460_TEMP_CHANNEL(),
298 IIO_CHAN_SOFT_TIMESTAMP(7)
299};
300
301static const struct adis16460_chip_info adis16460_chip_info = {
302 .channels = adis16460_channels,
303 .num_channels = ARRAY_SIZE(adis16460_channels),
304
305
306
307
308
309 .gyro_max_val = IIO_RAD_TO_DEGREE(200 << 16),
310 .gyro_max_scale = 1,
311 .accel_max_val = IIO_M_S_2_TO_G(20000 << 16),
312 .accel_max_scale = 5,
313};
314
315static const struct iio_info adis16460_info = {
316 .read_raw = &adis16460_read_raw,
317 .write_raw = &adis16460_write_raw,
318 .update_scan_mode = adis_update_scan_mode,
319 .debugfs_reg_access = adis_debugfs_reg_access,
320};
321
322static int adis16460_enable_irq(struct adis *adis, bool enable)
323{
324
325
326
327
328 if (enable)
329 enable_irq(adis->spi->irq);
330 else
331 disable_irq(adis->spi->irq);
332
333 return 0;
334}
335
336#define ADIS16460_DIAG_STAT_IN_CLK_OOS 7
337#define ADIS16460_DIAG_STAT_FLASH_MEM 6
338#define ADIS16460_DIAG_STAT_SELF_TEST 5
339#define ADIS16460_DIAG_STAT_OVERRANGE 4
340#define ADIS16460_DIAG_STAT_SPI_COMM 3
341#define ADIS16460_DIAG_STAT_FLASH_UPT 2
342
343static const char * const adis16460_status_error_msgs[] = {
344 [ADIS16460_DIAG_STAT_IN_CLK_OOS] = "Input clock out of sync",
345 [ADIS16460_DIAG_STAT_FLASH_MEM] = "Flash memory failure",
346 [ADIS16460_DIAG_STAT_SELF_TEST] = "Self test diagnostic failure",
347 [ADIS16460_DIAG_STAT_OVERRANGE] = "Sensor overrange",
348 [ADIS16460_DIAG_STAT_SPI_COMM] = "SPI communication failure",
349 [ADIS16460_DIAG_STAT_FLASH_UPT] = "Flash update failure",
350};
351
352static const struct adis_timeout adis16460_timeouts = {
353 .reset_ms = 225,
354 .sw_reset_ms = 225,
355 .self_test_ms = 10,
356};
357
358static const struct adis_data adis16460_data = {
359 .diag_stat_reg = ADIS16460_REG_DIAG_STAT,
360 .glob_cmd_reg = ADIS16460_REG_GLOB_CMD,
361 .prod_id_reg = ADIS16460_REG_PROD_ID,
362 .prod_id = 16460,
363 .self_test_mask = BIT(2),
364 .self_test_reg = ADIS16460_REG_GLOB_CMD,
365 .has_paging = false,
366 .read_delay = 5,
367 .write_delay = 5,
368 .cs_change_delay = 16,
369 .status_error_msgs = adis16460_status_error_msgs,
370 .status_error_mask = BIT(ADIS16460_DIAG_STAT_IN_CLK_OOS) |
371 BIT(ADIS16460_DIAG_STAT_FLASH_MEM) |
372 BIT(ADIS16460_DIAG_STAT_SELF_TEST) |
373 BIT(ADIS16460_DIAG_STAT_OVERRANGE) |
374 BIT(ADIS16460_DIAG_STAT_SPI_COMM) |
375 BIT(ADIS16460_DIAG_STAT_FLASH_UPT),
376 .enable_irq = adis16460_enable_irq,
377 .timeouts = &adis16460_timeouts,
378};
379
380static int adis16460_probe(struct spi_device *spi)
381{
382 struct iio_dev *indio_dev;
383 struct adis16460 *st;
384 int ret;
385
386 indio_dev = devm_iio_device_alloc(&spi->dev, sizeof(*st));
387 if (indio_dev == NULL)
388 return -ENOMEM;
389
390 st = iio_priv(indio_dev);
391
392 st->chip_info = &adis16460_chip_info;
393 indio_dev->name = spi_get_device_id(spi)->name;
394 indio_dev->channels = st->chip_info->channels;
395 indio_dev->num_channels = st->chip_info->num_channels;
396 indio_dev->info = &adis16460_info;
397 indio_dev->modes = INDIO_DIRECT_MODE;
398
399 ret = adis_init(&st->adis, indio_dev, spi, &adis16460_data);
400 if (ret)
401 return ret;
402
403
404 st->adis.irq_flag |= IRQF_NO_AUTOEN;
405 ret = devm_adis_setup_buffer_and_trigger(&st->adis, indio_dev, NULL);
406 if (ret)
407 return ret;
408
409 ret = __adis_initial_startup(&st->adis);
410 if (ret)
411 return ret;
412
413 ret = devm_iio_device_register(&spi->dev, indio_dev);
414 if (ret)
415 return ret;
416
417 adis16460_debugfs_init(indio_dev);
418
419 return 0;
420}
421
422static const struct spi_device_id adis16460_ids[] = {
423 { "adis16460", 0 },
424 {}
425};
426MODULE_DEVICE_TABLE(spi, adis16460_ids);
427
428static const struct of_device_id adis16460_of_match[] = {
429 { .compatible = "adi,adis16460" },
430 {}
431};
432MODULE_DEVICE_TABLE(of, adis16460_of_match);
433
434static struct spi_driver adis16460_driver = {
435 .driver = {
436 .name = "adis16460",
437 .of_match_table = adis16460_of_match,
438 },
439 .id_table = adis16460_ids,
440 .probe = adis16460_probe,
441};
442module_spi_driver(adis16460_driver);
443
444MODULE_AUTHOR("Dragos Bogdan <dragos.bogdan@analog.com>");
445MODULE_DESCRIPTION("Analog Devices ADIS16460 IMU driver");
446MODULE_LICENSE("GPL");
447
