iio: gyro: Add driver support for ADXRS290 (2c8920ff) · Commits · 戴 / test

MAINTAINERS

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		@@ -1108,6 +1108,12 @@ L: linux-media@vger.kernel.org
		S: Maintained
		F: drivers/media/i2c/adv7842*

		ANALOG DEVICES INC ADXRS290 DRIVER
		M: Nishant Malpani <nish.malpani25@gmail.com>
		L: linux-iio@vger.kernel.org
		S: Supported
		F: drivers/iio/gyro/adxrs290.c

		ANALOG DEVICES INC ASOC CODEC DRIVERS
		M: Lars-Peter Clausen <lars@metafoo.de>
		M: Nuno Sá <nuno.sa@analog.com>

drivers/iio/gyro/Kconfig

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		@@ -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

drivers/iio/gyro/Makefile

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		@@ -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

drivers/iio/gyro/adxrs290.c

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		// SPDX-License-Identifier: GPL-2.0-or-later
		/*
		* ADXRS290 SPI Gyroscope Driver
		*
		* Copyright (C) 2020 Nishant Malpani <nish.malpani25@gmail.com>
		* Copyright (C) 2020 Analog Devices, Inc.
		*/

		#include <linux/bitfield.h>
		#include <linux/delay.h>
		#include <linux/device.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 {
		ADXRS290_MODE_STANDBY,
		ADXRS290_MODE_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, 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, 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 = ADXRS290_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),
		val);
		if (ret < 0)
		return ret;

		return IIO_VAL_INT;
		case IIO_TEMP:
		ret = adxrs290_get_temp_data(indio_dev, val);
		if (ret < 0)
		return ret;

		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;

		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 = ADXRS290_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@gmail.com>");
		MODULE_DESCRIPTION("Analog Devices ADXRS290 Gyroscope SPI driver");
		MODULE_LICENSE("GPL");

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