Commit db6ed4d2 authored by Alexandru Ardelean's avatar Alexandru Ardelean Committed by Jonathan Cameron
Browse files

iio: imu: Add support for the ADIS16460 IMU 

The ADIS16460 device is a complete inertial system that includes a triaxial
gyroscope and a triaxial accelerometer. It's more simplified design than
that of the ADIS16480, and does not offer the triaxial magnetometers &
pressure sensors. It does also have a temperature sensor (like the
ADIS16480).
Since it is part of the ADIS16XXX family, it re-uses parts of the ADIS
library.

Naturally, the register map is different and much more simplified than the
ADIS16480 subfamily, so it cannot be integrated into that driver. A major
difference is that the registers are not paged.

One thing that is particularly special about it, is that it requires a
higher delay between CS changes (i.e. when CS goes up, the spec recommends
that it be brought down after a minimum of 16 uS).
Other ADIS chips require (via spec) a minimum of 2 uS between CS changes.
The kernel's 10 uS default should be fine for those other chips; they
haven't been tested with lower CS change delays yet.

Datasheet:
  https://www.analog.com/media/en/technical-documentation/data-sheets/adis16460.pdf



Signed-off-by: default avatarDragos Bogdan <dragos.bogdan@analog.com>
Signed-off-by: default avatarMichael Hennerich <michael.hennerich@analog.com>
Signed-off-by: default avatarAlexandru Ardelean <alexandru.ardelean@analog.com>
Signed-off-by: default avatarJonathan Cameron <Jonathan.Cameron@huawei.com>
parent dca39af8

MAINTAINERS

+7 −0
Original line number Diff line number Diff line
@@ -945,6 +945,13 @@ L: linux-iio@vger.kernel.org 
F:	include/linux/iio/imu/adis.h

F:	drivers/iio/imu/adis.c



ANALOG DEVICES INC ADIS16460 DRIVER

M:	Dragos Bogdan <dragos.bogdan@analog.com>

S:	Supported

L:	linux-iio@vger.kernel.org

W:	http://ez.analog.com/community/linux-device-drivers

F:	drivers/iio/imu/adis16460.c



ANALOG DEVICES INC ADP5061 DRIVER

M:	Stefan Popa <stefan.popa@analog.com>

L:	linux-pm@vger.kernel.org

drivers/iio/imu/Kconfig

+12 −0
Original line number Diff line number Diff line
@@ -17,6 +17,18 @@ config ADIS16400 
	  adis16365, adis16400 and adis16405 triaxial inertial sensors

	  (adis16400 series also have magnetometers).



config ADIS16460

	tristate "Analog Devices ADIS16460 and similar IMU driver"

	depends on SPI

	select IIO_ADIS_LIB

	select IIO_ADIS_LIB_BUFFER if IIO_BUFFER

	help

	  Say yes here to build support for Analog Devices ADIS16460 inertial

	  sensor.



	  To compile this driver as a module, choose M here: the module will be

	  called adis16460.



config ADIS16480

	tristate "Analog Devices ADIS16480 and similar IMU driver"

	depends on SPI

drivers/iio/imu/Makefile

+1 −0
Original line number Diff line number Diff line
@@ -5,6 +5,7 @@ 


# When adding new entries keep the list in alphabetical order

obj-$(CONFIG_ADIS16400) += adis16400.o

obj-$(CONFIG_ADIS16460) += adis16460.o

obj-$(CONFIG_ADIS16480) += adis16480.o



adis_lib-y += adis.o

drivers/iio/imu/adis16460.c

0 → 100644
+489 −0
Original line number Diff line number Diff line 
// 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);

	unsigned 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");

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