1// SPDX-License-Identifier: GPL-2.0+
2/*
3 * ADIS16460 IMU driver
4 *
5 * Copyright 2019 Analog Devices Inc.
6 */
7
8#include <linux/delay.h>
9#include <linux/module.h>
10#include <linux/spi/spi.h>
11
12#include <linux/iio/iio.h>
13#include <linux/iio/imu/adis.h>
14
15#include <linux/debugfs.h>
16
17#define ADIS16460_REG_FLASH_CNT		0x00
18#define ADIS16460_REG_DIAG_STAT		0x02
19#define ADIS16460_REG_X_GYRO_LOW	0x04
20#define ADIS16460_REG_X_GYRO_OUT	0x06
21#define ADIS16460_REG_Y_GYRO_LOW	0x08
22#define ADIS16460_REG_Y_GYRO_OUT	0x0A
23#define ADIS16460_REG_Z_GYRO_LOW	0x0C
24#define ADIS16460_REG_Z_GYRO_OUT	0x0E
25#define ADIS16460_REG_X_ACCL_LOW	0x10
26#define ADIS16460_REG_X_ACCL_OUT	0x12
27#define ADIS16460_REG_Y_ACCL_LOW	0x14
28#define ADIS16460_REG_Y_ACCL_OUT	0x16
29#define ADIS16460_REG_Z_ACCL_LOW	0x18
30#define ADIS16460_REG_Z_ACCL_OUT	0x1A
31#define ADIS16460_REG_SMPL_CNTR		0x1C
32#define ADIS16460_REG_TEMP_OUT		0x1E
33#define ADIS16460_REG_X_DELT_ANG	0x24
34#define ADIS16460_REG_Y_DELT_ANG	0x26
35#define ADIS16460_REG_Z_DELT_ANG	0x28
36#define ADIS16460_REG_X_DELT_VEL	0x2A
37#define ADIS16460_REG_Y_DELT_VEL	0x2C
38#define ADIS16460_REG_Z_DELT_VEL	0x2E
39#define ADIS16460_REG_MSC_CTRL		0x32
40#define ADIS16460_REG_SYNC_SCAL		0x34
41#define ADIS16460_REG_DEC_RATE		0x36
42#define ADIS16460_REG_FLTR_CTRL		0x38
43#define ADIS16460_REG_GLOB_CMD		0x3E
44#define ADIS16460_REG_X_GYRO_OFF	0x40
45#define ADIS16460_REG_Y_GYRO_OFF	0x42
46#define ADIS16460_REG_Z_GYRO_OFF	0x44
47#define ADIS16460_REG_X_ACCL_OFF	0x46
48#define ADIS16460_REG_Y_ACCL_OFF	0x48
49#define ADIS16460_REG_Z_ACCL_OFF	0x4A
50#define ADIS16460_REG_LOT_ID1		0x52
51#define ADIS16460_REG_LOT_ID2		0x54
52#define ADIS16460_REG_PROD_ID		0x56
53#define ADIS16460_REG_SERIAL_NUM	0x58
54#define ADIS16460_REG_CAL_SGNTR		0x60
55#define ADIS16460_REG_CAL_CRC		0x62
56#define ADIS16460_REG_CODE_SGNTR	0x64
57#define ADIS16460_REG_CODE_CRC		0x66
58
59struct adis16460_chip_info {
60	unsigned int num_channels;
61	const struct iio_chan_spec *channels;
62	unsigned int gyro_max_val;
63	unsigned int gyro_max_scale;
64	unsigned int accel_max_val;
65	unsigned int accel_max_scale;
66};
67
68struct adis16460 {
69	const struct adis16460_chip_info *chip_info;
70	struct adis adis;
71};
72
73#ifdef CONFIG_DEBUG_FS
74
75static int adis16460_show_serial_number(void *arg, u64 *val)
76{
77	struct adis16460 *adis16460 = arg;
78	u16 serial;
79	int ret;
80
81	ret = adis_read_reg_16(&adis16460->adis, ADIS16460_REG_SERIAL_NUM,
82		&serial);
83	if (ret)
84		return ret;
85
86	*val = serial;
87
88	return 0;
89}
90DEFINE_DEBUGFS_ATTRIBUTE(adis16460_serial_number_fops,
91		adis16460_show_serial_number, NULL, "0x%.4llx\n");
92
93static int adis16460_show_product_id(void *arg, u64 *val)
94{
95	struct adis16460 *adis16460 = arg;
96	u16 prod_id;
97	int ret;
98
99	ret = adis_read_reg_16(&adis16460->adis, ADIS16460_REG_PROD_ID,
100		&prod_id);
101	if (ret)
102		return ret;
103
104	*val = prod_id;
105
106	return 0;
107}
108DEFINE_DEBUGFS_ATTRIBUTE(adis16460_product_id_fops,
109		adis16460_show_product_id, NULL, "%llu\n");
110
111static int adis16460_show_flash_count(void *arg, u64 *val)
112{
113	struct adis16460 *adis16460 = arg;
114	u32 flash_count;
115	int ret;
116
117	ret = adis_read_reg_32(&adis16460->adis, ADIS16460_REG_FLASH_CNT,
118		&flash_count);
119	if (ret)
120		return ret;
121
122	*val = flash_count;
123
124	return 0;
125}
126DEFINE_DEBUGFS_ATTRIBUTE(adis16460_flash_count_fops,
127		adis16460_show_flash_count, NULL, "%lld\n");
128
129static int adis16460_debugfs_init(struct iio_dev *indio_dev)
130{
131	struct adis16460 *adis16460 = iio_priv(indio_dev);
132	struct dentry *d = iio_get_debugfs_dentry(indio_dev);
133
134	debugfs_create_file_unsafe("serial_number", 0400,
135			d, adis16460, &adis16460_serial_number_fops);
136	debugfs_create_file_unsafe("product_id", 0400,
137			d, adis16460, &adis16460_product_id_fops);
138	debugfs_create_file_unsafe("flash_count", 0400,
139			d, adis16460, &adis16460_flash_count_fops);
140
141	return 0;
142}
143
144#else
145
146static int adis16460_debugfs_init(struct iio_dev *indio_dev)
147{
148	return 0;
149}
150
151#endif
152
153static int adis16460_set_freq(struct iio_dev *indio_dev, int val, int val2)
154{
155	struct adis16460 *st = iio_priv(indio_dev);
156	int t;
157
158	t =  val * 1000 + val2 / 1000;
159	if (t <= 0)
160		return -EINVAL;
161
162	t = 2048000 / t;
163	if (t > 2048)
164		t = 2048;
165
166	if (t != 0)
167		t--;
168
169	return adis_write_reg_16(&st->adis, ADIS16460_REG_DEC_RATE, t);
170}
171
172static int adis16460_get_freq(struct iio_dev *indio_dev, int *val, int *val2)
173{
174	struct adis16460 *st = iio_priv(indio_dev);
175	uint16_t t;
176	int ret;
177	unsigned int freq;
178
179	ret = adis_read_reg_16(&st->adis, ADIS16460_REG_DEC_RATE, &t);
180	if (ret)
181		return ret;
182
183	freq = 2048000 / (t + 1);
184	*val = freq / 1000;
185	*val2 = (freq % 1000) * 1000;
186
187	return IIO_VAL_INT_PLUS_MICRO;
188}
189
190static int adis16460_read_raw(struct iio_dev *indio_dev,
191	const struct iio_chan_spec *chan, int *val, int *val2, long info)
192{
193	struct adis16460 *st = iio_priv(indio_dev);
194
195	switch (info) {
196	case IIO_CHAN_INFO_RAW:
197		return adis_single_conversion(indio_dev, chan, 0, val);
198	case IIO_CHAN_INFO_SCALE:
199		switch (chan->type) {
200		case IIO_ANGL_VEL:
201			*val = st->chip_info->gyro_max_scale;
202			*val2 = st->chip_info->gyro_max_val;
203			return IIO_VAL_FRACTIONAL;
204		case IIO_ACCEL:
205			*val = st->chip_info->accel_max_scale;
206			*val2 = st->chip_info->accel_max_val;
207			return IIO_VAL_FRACTIONAL;
208		case IIO_TEMP:
209			*val = 50; /* 50 milli degrees Celsius/LSB */
210			return IIO_VAL_INT;
211		default:
212			return -EINVAL;
213		}
214	case IIO_CHAN_INFO_OFFSET:
215		*val = 500; /* 25 degrees Celsius = 0x0000 */
216		return IIO_VAL_INT;
217	case IIO_CHAN_INFO_SAMP_FREQ:
218		return adis16460_get_freq(indio_dev, val, val2);
219	default:
220		return -EINVAL;
221	}
222}
223
224static int adis16460_write_raw(struct iio_dev *indio_dev,
225	const struct iio_chan_spec *chan, int val, int val2, long info)
226{
227	switch (info) {
228	case IIO_CHAN_INFO_SAMP_FREQ:
229		return adis16460_set_freq(indio_dev, val, val2);
230	default:
231		return -EINVAL;
232	}
233}
234
235enum {
236	ADIS16460_SCAN_GYRO_X,
237	ADIS16460_SCAN_GYRO_Y,
238	ADIS16460_SCAN_GYRO_Z,
239	ADIS16460_SCAN_ACCEL_X,
240	ADIS16460_SCAN_ACCEL_Y,
241	ADIS16460_SCAN_ACCEL_Z,
242	ADIS16460_SCAN_TEMP,
243};
244
245#define ADIS16460_MOD_CHANNEL(_type, _mod, _address, _si, _bits) \
246	{ \
247		.type = (_type), \
248		.modified = 1, \
249		.channel2 = (_mod), \
250		.info_mask_separate = BIT(IIO_CHAN_INFO_RAW), \
251		.info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE), \
252		.info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
253		.address = (_address), \
254		.scan_index = (_si), \
255		.scan_type = { \
256			.sign = 's', \
257			.realbits = (_bits), \
258			.storagebits = (_bits), \
259			.endianness = IIO_BE, \
260		}, \
261	}
262
263#define ADIS16460_GYRO_CHANNEL(_mod) \
264	ADIS16460_MOD_CHANNEL(IIO_ANGL_VEL, IIO_MOD_ ## _mod, \
265	ADIS16460_REG_ ## _mod ## _GYRO_LOW, ADIS16460_SCAN_GYRO_ ## _mod, \
266	32)
267
268#define ADIS16460_ACCEL_CHANNEL(_mod) \
269	ADIS16460_MOD_CHANNEL(IIO_ACCEL, IIO_MOD_ ## _mod, \
270	ADIS16460_REG_ ## _mod ## _ACCL_LOW, ADIS16460_SCAN_ACCEL_ ## _mod, \
271	32)
272
273#define ADIS16460_TEMP_CHANNEL() { \
274		.type = IIO_TEMP, \
275		.indexed = 1, \
276		.channel = 0, \
277		.info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \
278			BIT(IIO_CHAN_INFO_SCALE) | \
279			BIT(IIO_CHAN_INFO_OFFSET), \
280		.info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
281		.address = ADIS16460_REG_TEMP_OUT, \
282		.scan_index = ADIS16460_SCAN_TEMP, \
283		.scan_type = { \
284			.sign = 's', \
285			.realbits = 16, \
286			.storagebits = 16, \
287			.endianness = IIO_BE, \
288		}, \
289	}
290
291static const struct iio_chan_spec adis16460_channels[] = {
292	ADIS16460_GYRO_CHANNEL(X),
293	ADIS16460_GYRO_CHANNEL(Y),
294	ADIS16460_GYRO_CHANNEL(Z),
295	ADIS16460_ACCEL_CHANNEL(X),
296	ADIS16460_ACCEL_CHANNEL(Y),
297	ADIS16460_ACCEL_CHANNEL(Z),
298	ADIS16460_TEMP_CHANNEL(),
299	IIO_CHAN_SOFT_TIMESTAMP(7)
300};
301
302static const struct adis16460_chip_info adis16460_chip_info = {
303	.channels = adis16460_channels,
304	.num_channels = ARRAY_SIZE(adis16460_channels),
305	/*
306	 * storing the value in rad/degree and the scale in degree
307	 * gives us the result in rad and better precession than
308	 * storing the scale directly in rad.
309	 */
310	.gyro_max_val = IIO_RAD_TO_DEGREE(200 << 16),
311	.gyro_max_scale = 1,
312	.accel_max_val = IIO_M_S_2_TO_G(20000 << 16),
313	.accel_max_scale = 5,
314};
315
316static const struct iio_info adis16460_info = {
317	.read_raw = &adis16460_read_raw,
318	.write_raw = &adis16460_write_raw,
319	.update_scan_mode = adis_update_scan_mode,
320	.debugfs_reg_access = adis_debugfs_reg_access,
321};
322
323static int adis16460_enable_irq(struct adis *adis, bool enable)
324{
325	/*
326	 * There is no way to gate the data-ready signal internally inside the
327	 * ADIS16460 :(
328	 */
329	if (enable)
330		enable_irq(adis->spi->irq);
331	else
332		disable_irq(adis->spi->irq);
333
334	return 0;
335}
336
337#define ADIS16460_DIAG_STAT_IN_CLK_OOS	7
338#define ADIS16460_DIAG_STAT_FLASH_MEM	6
339#define ADIS16460_DIAG_STAT_SELF_TEST	5
340#define ADIS16460_DIAG_STAT_OVERRANGE	4
341#define ADIS16460_DIAG_STAT_SPI_COMM	3
342#define ADIS16460_DIAG_STAT_FLASH_UPT	2
343
344static const char * const adis16460_status_error_msgs[] = {
345	[ADIS16460_DIAG_STAT_IN_CLK_OOS] = "Input clock out of sync",
346	[ADIS16460_DIAG_STAT_FLASH_MEM] = "Flash memory failure",
347	[ADIS16460_DIAG_STAT_SELF_TEST] = "Self test diagnostic failure",
348	[ADIS16460_DIAG_STAT_OVERRANGE] = "Sensor overrange",
349	[ADIS16460_DIAG_STAT_SPI_COMM] = "SPI communication failure",
350	[ADIS16460_DIAG_STAT_FLASH_UPT] = "Flash update failure",
351};
352
353static const struct adis_timeout adis16460_timeouts = {
354	.reset_ms = 225,
355	.sw_reset_ms = 225,
356	.self_test_ms = 10,
357};
358
359static const struct adis_data adis16460_data = {
360	.diag_stat_reg = ADIS16460_REG_DIAG_STAT,
361	.glob_cmd_reg = ADIS16460_REG_GLOB_CMD,
362	.prod_id_reg = ADIS16460_REG_PROD_ID,
363	.prod_id = 16460,
364	.self_test_mask = BIT(2),
365	.self_test_reg = ADIS16460_REG_GLOB_CMD,
366	.has_paging = false,
367	.read_delay = 5,
368	.write_delay = 5,
369	.cs_change_delay = 16,
370	.status_error_msgs = adis16460_status_error_msgs,
371	.status_error_mask = BIT(ADIS16460_DIAG_STAT_IN_CLK_OOS) |
372		BIT(ADIS16460_DIAG_STAT_FLASH_MEM) |
373		BIT(ADIS16460_DIAG_STAT_SELF_TEST) |
374		BIT(ADIS16460_DIAG_STAT_OVERRANGE) |
375		BIT(ADIS16460_DIAG_STAT_SPI_COMM) |
376		BIT(ADIS16460_DIAG_STAT_FLASH_UPT),
377	.enable_irq = adis16460_enable_irq,
378	.timeouts = &adis16460_timeouts,
379};
380
381static int adis16460_probe(struct spi_device *spi)
382{
383	struct iio_dev *indio_dev;
384	struct adis16460 *st;
385	int ret;
386
387	indio_dev = devm_iio_device_alloc(&spi->dev, sizeof(*st));
388	if (indio_dev == NULL)
389		return -ENOMEM;
390
391	spi_set_drvdata(spi, indio_dev);
392
393	st = iio_priv(indio_dev);
394
395	st->chip_info = &adis16460_chip_info;
396	indio_dev->name = spi_get_device_id(spi)->name;
397	indio_dev->channels = st->chip_info->channels;
398	indio_dev->num_channels = st->chip_info->num_channels;
399	indio_dev->info = &adis16460_info;
400	indio_dev->modes = INDIO_DIRECT_MODE;
401
402	ret = adis_init(&st->adis, indio_dev, spi, &adis16460_data);
403	if (ret)
404		return ret;
405
406	/* We cannot mask the interrupt, so ensure it isn't auto enabled */
407	st->adis.irq_flag |= IRQF_NO_AUTOEN;
408	ret = devm_adis_setup_buffer_and_trigger(&st->adis, indio_dev, NULL);
409	if (ret)
410		return ret;
411
412	ret = __adis_initial_startup(&st->adis);
413	if (ret)
414		return ret;
415
416	ret = devm_iio_device_register(&spi->dev, indio_dev);
417	if (ret)
418		return ret;
419
420	adis16460_debugfs_init(indio_dev);
421
422	return 0;
423}
424
425static const struct spi_device_id adis16460_ids[] = {
426	{ "adis16460", 0 },
427	{}
428};
429MODULE_DEVICE_TABLE(spi, adis16460_ids);
430
431static const struct of_device_id adis16460_of_match[] = {
432	{ .compatible = "adi,adis16460" },
433	{}
434};
435MODULE_DEVICE_TABLE(of, adis16460_of_match);
436
437static struct spi_driver adis16460_driver = {
438	.driver = {
439		.name = "adis16460",
440		.of_match_table = adis16460_of_match,
441	},
442	.id_table = adis16460_ids,
443	.probe = adis16460_probe,
444};
445module_spi_driver(adis16460_driver);
446
447MODULE_AUTHOR("Dragos Bogdan <dragos.bogdan@analog.com>");
448MODULE_DESCRIPTION("Analog Devices ADIS16460 IMU driver");
449MODULE_LICENSE("GPL");
450MODULE_IMPORT_NS(IIO_ADISLIB);
451