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iio: gyro: Add driver support for ADXRS290
ADXRS290 is a high performance MEMS pitch and roll (dual-axis in-plane) angular rate sensor (gyroscope) designed for use in stabilization applications. It also features an internal temperature sensor and programmable high-pass and low-pass filters. Add support for ADXRS290 in direct-access mode for now. Datasheet: https://www.analog.com/media/en/technical-documentation/data-sheets/ADXRS290.pdf Reviewed-by: Andy Shevchenko <andy.shevchenko@gmail.com> Signed-off-by: Nishant Malpani <nish.malpani25@gmail.com> Signed-off-by: Jonathan Cameron <Jonathan.Cameron@huawei.com>
This commit is contained in:
parent
96f962511b
commit
2c8920fff1
4 changed files with 461 additions and 0 deletions
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@ -1108,6 +1108,12 @@ L: linux-media@vger.kernel.org
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S: Maintained
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F: drivers/media/i2c/adv7842*
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ANALOG DEVICES INC ADXRS290 DRIVER
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M: Nishant Malpani <nish.malpani25@gmail.com>
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L: linux-iio@vger.kernel.org
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S: Supported
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F: drivers/iio/gyro/adxrs290.c
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ANALOG DEVICES INC ASOC CODEC DRIVERS
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M: Lars-Peter Clausen <lars@metafoo.de>
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M: Nuno Sá <nuno.sa@analog.com>
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@ -41,6 +41,16 @@ config ADIS16260
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This driver can also be built as a module. If so, the module
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will be called adis16260.
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config ADXRS290
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tristate "Analog Devices ADXRS290 Dual-Axis MEMS Gyroscope SPI driver"
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depends on SPI
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help
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Say yes here to build support for Analog Devices ADXRS290 programmable
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digital output gyroscope.
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This driver can also be built as a module. If so, the module will be
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called adxrs290.
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config ADXRS450
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tristate "Analog Devices ADXRS450/3 Digital Output Gyroscope SPI driver"
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depends on SPI
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@ -8,6 +8,7 @@ obj-$(CONFIG_ADIS16080) += adis16080.o
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obj-$(CONFIG_ADIS16130) += adis16130.o
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obj-$(CONFIG_ADIS16136) += adis16136.o
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obj-$(CONFIG_ADIS16260) += adis16260.o
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obj-$(CONFIG_ADXRS290) += adxrs290.o
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obj-$(CONFIG_ADXRS450) += adxrs450.o
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obj-$(CONFIG_BMG160) += bmg160_core.o
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obj-$(CONFIG_BMG160_I2C) += bmg160_i2c.o
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444
drivers/iio/gyro/adxrs290.c
Normal file
444
drivers/iio/gyro/adxrs290.c
Normal file
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@ -0,0 +1,444 @@
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// SPDX-License-Identifier: GPL-2.0-or-later
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/*
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* ADXRS290 SPI Gyroscope Driver
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*
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* Copyright (C) 2020 Nishant Malpani <nish.malpani25@gmail.com>
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* Copyright (C) 2020 Analog Devices, Inc.
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*/
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#include <linux/bitfield.h>
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#include <linux/delay.h>
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#include <linux/device.h>
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#include <linux/kernel.h>
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#include <linux/module.h>
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#include <linux/spi/spi.h>
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#include <linux/iio/iio.h>
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#include <linux/iio/sysfs.h>
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#define ADXRS290_ADI_ID 0xAD
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#define ADXRS290_MEMS_ID 0x1D
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#define ADXRS290_DEV_ID 0x92
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#define ADXRS290_REG_ADI_ID 0x00
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#define ADXRS290_REG_MEMS_ID 0x01
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#define ADXRS290_REG_DEV_ID 0x02
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#define ADXRS290_REG_REV_ID 0x03
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#define ADXRS290_REG_SN0 0x04 /* Serial Number Registers, 4 bytes */
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#define ADXRS290_REG_DATAX0 0x08 /* Roll Rate o/p Data Regs, 2 bytes */
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#define ADXRS290_REG_DATAY0 0x0A /* Pitch Rate o/p Data Regs, 2 bytes */
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#define ADXRS290_REG_TEMP0 0x0C
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#define ADXRS290_REG_POWER_CTL 0x10
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#define ADXRS290_REG_FILTER 0x11
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#define ADXRS290_REG_DATA_RDY 0x12
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#define ADXRS290_READ BIT(7)
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#define ADXRS290_TSM BIT(0)
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#define ADXRS290_MEASUREMENT BIT(1)
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#define ADXRS290_SYNC GENMASK(1, 0)
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#define ADXRS290_LPF_MASK GENMASK(2, 0)
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#define ADXRS290_LPF(x) FIELD_PREP(ADXRS290_LPF_MASK, x)
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#define ADXRS290_HPF_MASK GENMASK(7, 4)
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#define ADXRS290_HPF(x) FIELD_PREP(ADXRS290_HPF_MASK, x)
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#define ADXRS290_READ_REG(reg) (ADXRS290_READ | (reg))
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#define ADXRS290_MAX_TRANSITION_TIME_MS 100
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enum adxrs290_mode {
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ADXRS290_MODE_STANDBY,
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ADXRS290_MODE_MEASUREMENT,
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};
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struct adxrs290_state {
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struct spi_device *spi;
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/* Serialize reads and their subsequent processing */
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struct mutex lock;
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enum adxrs290_mode mode;
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unsigned int lpf_3db_freq_idx;
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unsigned int hpf_3db_freq_idx;
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};
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/*
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* Available cut-off frequencies of the low pass filter in Hz.
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* The integer part and fractional part are represented separately.
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*/
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static const int adxrs290_lpf_3db_freq_hz_table[][2] = {
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[0] = {480, 0},
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[1] = {320, 0},
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[2] = {160, 0},
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[3] = {80, 0},
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[4] = {56, 600000},
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[5] = {40, 0},
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[6] = {28, 300000},
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[7] = {20, 0},
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};
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/*
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* Available cut-off frequencies of the high pass filter in Hz.
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* The integer part and fractional part are represented separately.
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*/
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static const int adxrs290_hpf_3db_freq_hz_table[][2] = {
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[0] = {0, 0},
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[1] = {0, 11000},
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[2] = {0, 22000},
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[3] = {0, 44000},
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[4] = {0, 87000},
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[5] = {0, 175000},
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[6] = {0, 350000},
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[7] = {0, 700000},
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[8] = {1, 400000},
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[9] = {2, 800000},
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[10] = {11, 300000},
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};
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static int adxrs290_get_rate_data(struct iio_dev *indio_dev, const u8 cmd, int *val)
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{
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struct adxrs290_state *st = iio_priv(indio_dev);
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int ret = 0;
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int temp;
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mutex_lock(&st->lock);
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temp = spi_w8r16(st->spi, cmd);
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if (temp < 0) {
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ret = temp;
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goto err_unlock;
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}
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*val = temp;
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err_unlock:
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mutex_unlock(&st->lock);
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return ret;
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}
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static int adxrs290_get_temp_data(struct iio_dev *indio_dev, int *val)
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{
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const u8 cmd = ADXRS290_READ_REG(ADXRS290_REG_TEMP0);
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struct adxrs290_state *st = iio_priv(indio_dev);
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int ret = 0;
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int temp;
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mutex_lock(&st->lock);
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temp = spi_w8r16(st->spi, cmd);
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if (temp < 0) {
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ret = temp;
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goto err_unlock;
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}
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/* extract lower 12 bits temperature reading */
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*val = temp & 0x0FFF;
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err_unlock:
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mutex_unlock(&st->lock);
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return ret;
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}
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static int adxrs290_get_3db_freq(struct iio_dev *indio_dev, u8 *val, u8 *val2)
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{
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const u8 cmd = ADXRS290_READ_REG(ADXRS290_REG_FILTER);
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struct adxrs290_state *st = iio_priv(indio_dev);
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int ret = 0;
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short temp;
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mutex_lock(&st->lock);
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temp = spi_w8r8(st->spi, cmd);
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if (temp < 0) {
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ret = temp;
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goto err_unlock;
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}
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*val = FIELD_GET(ADXRS290_LPF_MASK, temp);
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*val2 = FIELD_GET(ADXRS290_HPF_MASK, temp);
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err_unlock:
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mutex_unlock(&st->lock);
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return ret;
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}
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static int adxrs290_spi_write_reg(struct spi_device *spi, const u8 reg,
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const u8 val)
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{
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u8 buf[2];
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buf[0] = reg;
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buf[1] = val;
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return spi_write_then_read(spi, buf, ARRAY_SIZE(buf), NULL, 0);
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}
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static int adxrs290_find_match(const int (*freq_tbl)[2], const int n,
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const int val, const int val2)
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{
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int i;
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for (i = 0; i < n; i++) {
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if (freq_tbl[i][0] == val && freq_tbl[i][1] == val2)
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return i;
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}
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return -EINVAL;
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}
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static int adxrs290_set_filter_freq(struct iio_dev *indio_dev,
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const unsigned int lpf_idx,
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const unsigned int hpf_idx)
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{
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struct adxrs290_state *st = iio_priv(indio_dev);
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u8 val;
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val = ADXRS290_HPF(hpf_idx) | ADXRS290_LPF(lpf_idx);
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return adxrs290_spi_write_reg(st->spi, ADXRS290_REG_FILTER, val);
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}
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static int adxrs290_initial_setup(struct iio_dev *indio_dev)
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{
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struct adxrs290_state *st = iio_priv(indio_dev);
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st->mode = ADXRS290_MODE_MEASUREMENT;
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return adxrs290_spi_write_reg(st->spi,
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ADXRS290_REG_POWER_CTL,
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ADXRS290_MEASUREMENT | ADXRS290_TSM);
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}
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static int adxrs290_read_raw(struct iio_dev *indio_dev,
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struct iio_chan_spec const *chan,
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int *val,
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int *val2,
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long mask)
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{
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struct adxrs290_state *st = iio_priv(indio_dev);
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unsigned int t;
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int ret;
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switch (mask) {
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case IIO_CHAN_INFO_RAW:
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switch (chan->type) {
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case IIO_ANGL_VEL:
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ret = adxrs290_get_rate_data(indio_dev,
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ADXRS290_READ_REG(chan->address),
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val);
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if (ret < 0)
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return ret;
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return IIO_VAL_INT;
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case IIO_TEMP:
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ret = adxrs290_get_temp_data(indio_dev, val);
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if (ret < 0)
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return ret;
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return IIO_VAL_INT;
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default:
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return -EINVAL;
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}
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case IIO_CHAN_INFO_SCALE:
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switch (chan->type) {
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case IIO_ANGL_VEL:
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/* 1 LSB = 0.005 degrees/sec */
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*val = 0;
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*val2 = 87266;
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return IIO_VAL_INT_PLUS_NANO;
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case IIO_TEMP:
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/* 1 LSB = 0.1 degrees Celsius */
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*val = 100;
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return IIO_VAL_INT;
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default:
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return -EINVAL;
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}
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case IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY:
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switch (chan->type) {
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case IIO_ANGL_VEL:
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t = st->lpf_3db_freq_idx;
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*val = adxrs290_lpf_3db_freq_hz_table[t][0];
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*val2 = adxrs290_lpf_3db_freq_hz_table[t][1];
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return IIO_VAL_INT_PLUS_MICRO;
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default:
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return -EINVAL;
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}
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case IIO_CHAN_INFO_HIGH_PASS_FILTER_3DB_FREQUENCY:
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switch (chan->type) {
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case IIO_ANGL_VEL:
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t = st->hpf_3db_freq_idx;
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*val = adxrs290_hpf_3db_freq_hz_table[t][0];
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*val2 = adxrs290_hpf_3db_freq_hz_table[t][1];
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return IIO_VAL_INT_PLUS_MICRO;
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default:
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return -EINVAL;
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}
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}
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return -EINVAL;
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}
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static int adxrs290_write_raw(struct iio_dev *indio_dev,
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struct iio_chan_spec const *chan,
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int val,
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int val2,
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long mask)
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{
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struct adxrs290_state *st = iio_priv(indio_dev);
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int lpf_idx, hpf_idx;
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switch (mask) {
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case IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY:
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lpf_idx = adxrs290_find_match(adxrs290_lpf_3db_freq_hz_table,
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ARRAY_SIZE(adxrs290_lpf_3db_freq_hz_table),
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val, val2);
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if (lpf_idx < 0)
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return -EINVAL;
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/* caching the updated state of the low-pass filter */
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st->lpf_3db_freq_idx = lpf_idx;
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/* retrieving the current state of the high-pass filter */
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hpf_idx = st->hpf_3db_freq_idx;
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return adxrs290_set_filter_freq(indio_dev, lpf_idx, hpf_idx);
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case IIO_CHAN_INFO_HIGH_PASS_FILTER_3DB_FREQUENCY:
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hpf_idx = adxrs290_find_match(adxrs290_hpf_3db_freq_hz_table,
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ARRAY_SIZE(adxrs290_hpf_3db_freq_hz_table),
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val, val2);
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if (hpf_idx < 0)
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return -EINVAL;
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/* caching the updated state of the high-pass filter */
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st->hpf_3db_freq_idx = hpf_idx;
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/* retrieving the current state of the low-pass filter */
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lpf_idx = st->lpf_3db_freq_idx;
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return adxrs290_set_filter_freq(indio_dev, lpf_idx, hpf_idx);
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}
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return -EINVAL;
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}
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static int adxrs290_read_avail(struct iio_dev *indio_dev,
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struct iio_chan_spec const *chan,
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const int **vals, int *type, int *length,
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long mask)
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{
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switch (mask) {
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case IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY:
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*vals = (const int *)adxrs290_lpf_3db_freq_hz_table;
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*type = IIO_VAL_INT_PLUS_MICRO;
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/* Values are stored in a 2D matrix */
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*length = ARRAY_SIZE(adxrs290_lpf_3db_freq_hz_table) * 2;
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return IIO_AVAIL_LIST;
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case IIO_CHAN_INFO_HIGH_PASS_FILTER_3DB_FREQUENCY:
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*vals = (const int *)adxrs290_hpf_3db_freq_hz_table;
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*type = IIO_VAL_INT_PLUS_MICRO;
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/* Values are stored in a 2D matrix */
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*length = ARRAY_SIZE(adxrs290_hpf_3db_freq_hz_table) * 2;
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return IIO_AVAIL_LIST;
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default:
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return -EINVAL;
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}
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}
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#define ADXRS290_ANGL_VEL_CHANNEL(reg, axis) { \
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.type = IIO_ANGL_VEL, \
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.address = reg, \
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.modified = 1, \
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.channel2 = IIO_MOD_##axis, \
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.info_mask_separate = BIT(IIO_CHAN_INFO_RAW), \
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.info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE) | \
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BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY) | \
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BIT(IIO_CHAN_INFO_HIGH_PASS_FILTER_3DB_FREQUENCY), \
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.info_mask_shared_by_type_available = \
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BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY) | \
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BIT(IIO_CHAN_INFO_HIGH_PASS_FILTER_3DB_FREQUENCY), \
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}
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static const struct iio_chan_spec adxrs290_channels[] = {
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ADXRS290_ANGL_VEL_CHANNEL(ADXRS290_REG_DATAX0, X),
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ADXRS290_ANGL_VEL_CHANNEL(ADXRS290_REG_DATAY0, Y),
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{
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.type = IIO_TEMP,
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.address = ADXRS290_REG_TEMP0,
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.info_mask_separate = BIT(IIO_CHAN_INFO_RAW) |
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BIT(IIO_CHAN_INFO_SCALE),
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},
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};
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static const struct iio_info adxrs290_info = {
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.read_raw = &adxrs290_read_raw,
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.write_raw = &adxrs290_write_raw,
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.read_avail = &adxrs290_read_avail,
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};
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static int adxrs290_probe(struct spi_device *spi)
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{
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struct iio_dev *indio_dev;
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struct adxrs290_state *st;
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u8 val, val2;
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int ret;
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indio_dev = devm_iio_device_alloc(&spi->dev, sizeof(*st));
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if (!indio_dev)
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return -ENOMEM;
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st = iio_priv(indio_dev);
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st->spi = spi;
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indio_dev->name = "adxrs290";
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||||
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");
|
Loading…
Reference in a new issue