// SPDX-License-Identifier: GPL-2.0-or-later /* * ADIS16260/ADIS16265 Programmable Digital Gyroscope Sensor Driver * * Copyright 2010 Analog Devices Inc. */ #include #include #include #include #include #include #include #include #include #include #include #define ADIS16260_STARTUP_DELAY 220 /* ms */ #define ADIS16260_FLASH_CNT 0x00 /* Flash memory write count */ #define ADIS16260_SUPPLY_OUT 0x02 /* Power supply measurement */ #define ADIS16260_GYRO_OUT 0x04 /* X-axis gyroscope output */ #define ADIS16260_AUX_ADC 0x0A /* analog input channel measurement */ #define ADIS16260_TEMP_OUT 0x0C /* internal temperature measurement */ #define ADIS16260_ANGL_OUT 0x0E /* angle displacement */ #define ADIS16260_GYRO_OFF 0x14 /* Calibration, offset/bias adjustment */ #define ADIS16260_GYRO_SCALE 0x16 /* Calibration, scale adjustment */ #define ADIS16260_ALM_MAG1 0x20 /* Alarm 1 magnitude/polarity setting */ #define ADIS16260_ALM_MAG2 0x22 /* Alarm 2 magnitude/polarity setting */ #define ADIS16260_ALM_SMPL1 0x24 /* Alarm 1 dynamic rate of change setting */ #define ADIS16260_ALM_SMPL2 0x26 /* Alarm 2 dynamic rate of change setting */ #define ADIS16260_ALM_CTRL 0x28 /* Alarm control */ #define ADIS16260_AUX_DAC 0x30 /* Auxiliary DAC data */ #define ADIS16260_GPIO_CTRL 0x32 /* Control, digital I/O line */ #define ADIS16260_MSC_CTRL 0x34 /* Control, data ready, self-test settings */ #define ADIS16260_SMPL_PRD 0x36 /* Control, internal sample rate */ #define ADIS16260_SENS_AVG 0x38 /* Control, dynamic range, filtering */ #define ADIS16260_SLP_CNT 0x3A /* Control, sleep mode initiation */ #define ADIS16260_DIAG_STAT 0x3C /* Diagnostic, error flags */ #define ADIS16260_GLOB_CMD 0x3E /* Control, global commands */ #define ADIS16260_LOT_ID1 0x52 /* Lot Identification Code 1 */ #define ADIS16260_LOT_ID2 0x54 /* Lot Identification Code 2 */ #define ADIS16260_PROD_ID 0x56 /* Product identifier; * convert to decimal = 16,265/16,260 */ #define ADIS16260_SERIAL_NUM 0x58 /* Serial number */ #define ADIS16260_ERROR_ACTIVE (1<<14) #define ADIS16260_NEW_DATA (1<<15) /* MSC_CTRL */ #define ADIS16260_MSC_CTRL_MEM_TEST (1<<11) /* Internal self-test enable */ #define ADIS16260_MSC_CTRL_INT_SELF_TEST (1<<10) #define ADIS16260_MSC_CTRL_NEG_SELF_TEST (1<<9) #define ADIS16260_MSC_CTRL_POS_SELF_TEST (1<<8) #define ADIS16260_MSC_CTRL_DATA_RDY_EN (1<<2) #define ADIS16260_MSC_CTRL_DATA_RDY_POL_HIGH (1<<1) #define ADIS16260_MSC_CTRL_DATA_RDY_DIO2 (1<<0) /* SMPL_PRD */ /* Time base (tB): 0 = 1.953 ms, 1 = 60.54 ms */ #define ADIS16260_SMPL_PRD_TIME_BASE (1<<7) #define ADIS16260_SMPL_PRD_DIV_MASK 0x7F /* SLP_CNT */ #define ADIS16260_SLP_CNT_POWER_OFF 0x80 /* DIAG_STAT */ #define ADIS16260_DIAG_STAT_ALARM2 (1<<9) #define ADIS16260_DIAG_STAT_ALARM1 (1<<8) #define ADIS16260_DIAG_STAT_FLASH_CHK_BIT 6 #define ADIS16260_DIAG_STAT_SELF_TEST_BIT 5 #define ADIS16260_DIAG_STAT_OVERFLOW_BIT 4 #define ADIS16260_DIAG_STAT_SPI_FAIL_BIT 3 #define ADIS16260_DIAG_STAT_FLASH_UPT_BIT 2 #define ADIS16260_DIAG_STAT_POWER_HIGH_BIT 1 #define ADIS16260_DIAG_STAT_POWER_LOW_BIT 0 /* GLOB_CMD */ #define ADIS16260_GLOB_CMD_SW_RESET (1<<7) #define ADIS16260_GLOB_CMD_FLASH_UPD (1<<3) #define ADIS16260_GLOB_CMD_DAC_LATCH (1<<2) #define ADIS16260_GLOB_CMD_FAC_CALIB (1<<1) #define ADIS16260_GLOB_CMD_AUTO_NULL (1<<0) #define ADIS16260_SPI_SLOW (u32)(300 * 1000) #define ADIS16260_SPI_BURST (u32)(1000 * 1000) #define ADIS16260_SPI_FAST (u32)(2000 * 1000) /* At the moment triggers are only used for ring buffer * filling. This may change! */ #define ADIS16260_SCAN_GYRO 0 #define ADIS16260_SCAN_SUPPLY 1 #define ADIS16260_SCAN_AUX_ADC 2 #define ADIS16260_SCAN_TEMP 3 #define ADIS16260_SCAN_ANGL 4 struct adis16260_chip_info { unsigned int gyro_max_val; unsigned int gyro_max_scale; const struct iio_chan_spec *channels; unsigned int num_channels; }; struct adis16260 { const struct adis16260_chip_info *info; struct adis adis; }; enum adis16260_type { ADIS16251, ADIS16260, ADIS16266, }; static const struct iio_chan_spec adis16260_channels[] = { ADIS_GYRO_CHAN(X, ADIS16260_GYRO_OUT, ADIS16260_SCAN_GYRO, BIT(IIO_CHAN_INFO_CALIBBIAS) | BIT(IIO_CHAN_INFO_CALIBSCALE), BIT(IIO_CHAN_INFO_SAMP_FREQ), 14), ADIS_INCLI_CHAN(X, ADIS16260_ANGL_OUT, ADIS16260_SCAN_ANGL, 0, BIT(IIO_CHAN_INFO_SAMP_FREQ), 14), ADIS_TEMP_CHAN(ADIS16260_TEMP_OUT, ADIS16260_SCAN_TEMP, BIT(IIO_CHAN_INFO_SAMP_FREQ), 12), ADIS_SUPPLY_CHAN(ADIS16260_SUPPLY_OUT, ADIS16260_SCAN_SUPPLY, BIT(IIO_CHAN_INFO_SAMP_FREQ), 12), ADIS_AUX_ADC_CHAN(ADIS16260_AUX_ADC, ADIS16260_SCAN_AUX_ADC, BIT(IIO_CHAN_INFO_SAMP_FREQ), 12), IIO_CHAN_SOFT_TIMESTAMP(5), }; static const struct iio_chan_spec adis16266_channels[] = { ADIS_GYRO_CHAN(X, ADIS16260_GYRO_OUT, ADIS16260_SCAN_GYRO, BIT(IIO_CHAN_INFO_CALIBBIAS) | BIT(IIO_CHAN_INFO_CALIBSCALE), BIT(IIO_CHAN_INFO_SAMP_FREQ), 14), ADIS_TEMP_CHAN(ADIS16260_TEMP_OUT, ADIS16260_SCAN_TEMP, BIT(IIO_CHAN_INFO_SAMP_FREQ), 12), ADIS_SUPPLY_CHAN(ADIS16260_SUPPLY_OUT, ADIS16260_SCAN_SUPPLY, BIT(IIO_CHAN_INFO_SAMP_FREQ), 12), ADIS_AUX_ADC_CHAN(ADIS16260_AUX_ADC, ADIS16260_SCAN_AUX_ADC, BIT(IIO_CHAN_INFO_SAMP_FREQ), 12), IIO_CHAN_SOFT_TIMESTAMP(4), }; static const struct adis16260_chip_info adis16260_chip_info_table[] = { [ADIS16251] = { .gyro_max_scale = 80, .gyro_max_val = IIO_RAD_TO_DEGREE(4368), .channels = adis16260_channels, .num_channels = ARRAY_SIZE(adis16260_channels), }, [ADIS16260] = { .gyro_max_scale = 320, .gyro_max_val = IIO_RAD_TO_DEGREE(4368), .channels = adis16260_channels, .num_channels = ARRAY_SIZE(adis16260_channels), }, [ADIS16266] = { .gyro_max_scale = 14000, .gyro_max_val = IIO_RAD_TO_DEGREE(3357), .channels = adis16266_channels, .num_channels = ARRAY_SIZE(adis16266_channels), }, }; /* Power down the device */ static int adis16260_stop_device(struct iio_dev *indio_dev) { struct adis16260 *adis16260 = iio_priv(indio_dev); int ret; u16 val = ADIS16260_SLP_CNT_POWER_OFF; ret = adis_write_reg_16(&adis16260->adis, ADIS16260_SLP_CNT, val); if (ret) dev_err(&indio_dev->dev, "problem with turning device off: SLP_CNT"); return ret; } static const u8 adis16260_addresses[][2] = { [ADIS16260_SCAN_GYRO] = { ADIS16260_GYRO_OFF, ADIS16260_GYRO_SCALE }, }; static int adis16260_read_raw(struct iio_dev *indio_dev, struct iio_chan_spec const *chan, int *val, int *val2, long mask) { struct adis16260 *adis16260 = iio_priv(indio_dev); const struct adis16260_chip_info *info = adis16260->info; struct adis *adis = &adis16260->adis; int ret; u8 addr; s16 val16; switch (mask) { case IIO_CHAN_INFO_RAW: return adis_single_conversion(indio_dev, chan, ADIS16260_ERROR_ACTIVE, val); case IIO_CHAN_INFO_SCALE: switch (chan->type) { case IIO_ANGL_VEL: *val = info->gyro_max_scale; *val2 = info->gyro_max_val; return IIO_VAL_FRACTIONAL; case IIO_INCLI: *val = 0; *val2 = IIO_DEGREE_TO_RAD(36630); return IIO_VAL_INT_PLUS_MICRO; case IIO_VOLTAGE: if (chan->channel == 0) { *val = 1; *val2 = 831500; /* 1.8315 mV */ } else { *val = 0; *val2 = 610500; /* 610.5 uV */ } return IIO_VAL_INT_PLUS_MICRO; case IIO_TEMP: *val = 145; *val2 = 300000; /* 0.1453 C */ return IIO_VAL_INT_PLUS_MICRO; default: return -EINVAL; } case IIO_CHAN_INFO_OFFSET: *val = 250000 / 1453; /* 25 C = 0x00 */ return IIO_VAL_INT; case IIO_CHAN_INFO_CALIBBIAS: addr = adis16260_addresses[chan->scan_index][0]; ret = adis_read_reg_16(adis, addr, &val16); if (ret) return ret; *val = sign_extend32(val16, 11); return IIO_VAL_INT; case IIO_CHAN_INFO_CALIBSCALE: addr = adis16260_addresses[chan->scan_index][1]; ret = adis_read_reg_16(adis, addr, &val16); if (ret) return ret; *val = val16; return IIO_VAL_INT; case IIO_CHAN_INFO_SAMP_FREQ: ret = adis_read_reg_16(adis, ADIS16260_SMPL_PRD, &val16); if (ret) return ret; if (spi_get_device_id(adis->spi)->driver_data) /* If an adis16251 */ *val = (val16 & ADIS16260_SMPL_PRD_TIME_BASE) ? 8 : 256; else *val = (val16 & ADIS16260_SMPL_PRD_TIME_BASE) ? 66 : 2048; *val /= (val16 & ADIS16260_SMPL_PRD_DIV_MASK) + 1; return IIO_VAL_INT; } return -EINVAL; } static int adis16260_write_raw(struct iio_dev *indio_dev, struct iio_chan_spec const *chan, int val, int val2, long mask) { struct adis16260 *adis16260 = iio_priv(indio_dev); struct adis *adis = &adis16260->adis; int ret; u8 addr; u8 t; switch (mask) { case IIO_CHAN_INFO_CALIBBIAS: if (val < -2048 || val >= 2048) return -EINVAL; addr = adis16260_addresses[chan->scan_index][0]; return adis_write_reg_16(adis, addr, val); case IIO_CHAN_INFO_CALIBSCALE: if (val < 0 || val >= 4096) return -EINVAL; addr = adis16260_addresses[chan->scan_index][1]; return adis_write_reg_16(adis, addr, val); case IIO_CHAN_INFO_SAMP_FREQ: mutex_lock(&adis->state_lock); if (spi_get_device_id(adis->spi)->driver_data) t = 256 / val; else t = 2048 / val; if (t > ADIS16260_SMPL_PRD_DIV_MASK) t = ADIS16260_SMPL_PRD_DIV_MASK; else if (t > 0) t--; if (t >= 0x0A) adis->spi->max_speed_hz = ADIS16260_SPI_SLOW; else adis->spi->max_speed_hz = ADIS16260_SPI_FAST; ret = __adis_write_reg_8(adis, ADIS16260_SMPL_PRD, t); mutex_unlock(&adis->state_lock); return ret; } return -EINVAL; } static const struct iio_info adis16260_info = { .read_raw = &adis16260_read_raw, .write_raw = &adis16260_write_raw, .update_scan_mode = adis_update_scan_mode, }; static const char * const adis1620_status_error_msgs[] = { [ADIS16260_DIAG_STAT_FLASH_CHK_BIT] = "Flash checksum error", [ADIS16260_DIAG_STAT_SELF_TEST_BIT] = "Self test error", [ADIS16260_DIAG_STAT_OVERFLOW_BIT] = "Sensor overrange", [ADIS16260_DIAG_STAT_SPI_FAIL_BIT] = "SPI failure", [ADIS16260_DIAG_STAT_FLASH_UPT_BIT] = "Flash update failed", [ADIS16260_DIAG_STAT_POWER_HIGH_BIT] = "Power supply above 5.25", [ADIS16260_DIAG_STAT_POWER_LOW_BIT] = "Power supply below 4.75", }; static const struct adis_data adis16260_data = { .write_delay = 30, .read_delay = 30, .msc_ctrl_reg = ADIS16260_MSC_CTRL, .glob_cmd_reg = ADIS16260_GLOB_CMD, .diag_stat_reg = ADIS16260_DIAG_STAT, .self_test_mask = ADIS16260_MSC_CTRL_MEM_TEST, .startup_delay = ADIS16260_STARTUP_DELAY, .status_error_msgs = adis1620_status_error_msgs, .status_error_mask = BIT(ADIS16260_DIAG_STAT_FLASH_CHK_BIT) | BIT(ADIS16260_DIAG_STAT_SELF_TEST_BIT) | BIT(ADIS16260_DIAG_STAT_OVERFLOW_BIT) | BIT(ADIS16260_DIAG_STAT_SPI_FAIL_BIT) | BIT(ADIS16260_DIAG_STAT_FLASH_UPT_BIT) | BIT(ADIS16260_DIAG_STAT_POWER_HIGH_BIT) | BIT(ADIS16260_DIAG_STAT_POWER_LOW_BIT), }; static int adis16260_probe(struct spi_device *spi) { const struct spi_device_id *id; struct adis16260 *adis16260; struct iio_dev *indio_dev; int ret; id = spi_get_device_id(spi); if (!id) return -ENODEV; /* setup the industrialio driver allocated elements */ indio_dev = devm_iio_device_alloc(&spi->dev, sizeof(*adis16260)); if (!indio_dev) return -ENOMEM; adis16260 = iio_priv(indio_dev); /* this is only used for removal purposes */ spi_set_drvdata(spi, indio_dev); adis16260->info = &adis16260_chip_info_table[id->driver_data]; indio_dev->name = id->name; indio_dev->dev.parent = &spi->dev; indio_dev->info = &adis16260_info; indio_dev->channels = adis16260->info->channels; indio_dev->num_channels = adis16260->info->num_channels; indio_dev->modes = INDIO_DIRECT_MODE; ret = adis_init(&adis16260->adis, indio_dev, spi, &adis16260_data); if (ret) return ret; ret = adis_setup_buffer_and_trigger(&adis16260->adis, indio_dev, NULL); if (ret) return ret; /* Get the device into a sane initial state */ ret = adis_initial_startup(&adis16260->adis); if (ret) goto error_cleanup_buffer_trigger; ret = iio_device_register(indio_dev); if (ret) goto error_cleanup_buffer_trigger; return 0; error_cleanup_buffer_trigger: adis_cleanup_buffer_and_trigger(&adis16260->adis, indio_dev); return ret; } static int adis16260_remove(struct spi_device *spi) { struct iio_dev *indio_dev = spi_get_drvdata(spi); struct adis16260 *adis16260 = iio_priv(indio_dev); iio_device_unregister(indio_dev); adis16260_stop_device(indio_dev); adis_cleanup_buffer_and_trigger(&adis16260->adis, indio_dev); return 0; } /* * These parts do not need to be differentiated until someone adds * support for the on chip filtering. */ static const struct spi_device_id adis16260_id[] = { {"adis16260", ADIS16260}, {"adis16265", ADIS16260}, {"adis16266", ADIS16266}, {"adis16250", ADIS16260}, {"adis16255", ADIS16260}, {"adis16251", ADIS16251}, {} }; MODULE_DEVICE_TABLE(spi, adis16260_id); static struct spi_driver adis16260_driver = { .driver = { .name = "adis16260", }, .probe = adis16260_probe, .remove = adis16260_remove, .id_table = adis16260_id, }; module_spi_driver(adis16260_driver); MODULE_AUTHOR("Barry Song <21cnbao@gmail.com>"); MODULE_DESCRIPTION("Analog Devices ADIS16260/5 Digital Gyroscope Sensor"); MODULE_LICENSE("GPL v2");