| Author | Tokens | Token Proportion | Commits | Commit Proportion |
|---|---|---|---|---|
| Alexandru Ardelean | 1851 | 100.00% | 1 | 100.00% |
| Total | 1851 | 1 |
// 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); 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_ids); 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@analog.com>"); MODULE_DESCRIPTION("Analog Devices ADIS16460 IMU driver"); MODULE_LICENSE("GPL");
Information contained on this website is for historical information purposes only and does not indicate or represent copyright ownership.
Created with Cregit http://github.com/cregit/cregit
Version 2.0-RC1