mirror of
https://git.kernel.org/pub/scm/linux/kernel/git/stable/linux.git
synced 2024-08-23 17:30:02 +00:00
![Ramona Bolboaca](/assets/img/avatar_default.png)
Call '__adis_initial_startup()' instead of its locked variant in 'adis16260_probe()'. The locks are not needed at this point. Signed-off-by: Ramona Bolboaca <ramona.bolboaca@analog.com> Reviewed-by: Nuno Sá <nuno.sa@analog.com> Link: https://lore.kernel.org/r/20221122082757.449452-6-ramona.bolboaca@analog.com Signed-off-by: Jonathan Cameron <Jonathan.Cameron@huawei.com>
436 lines
13 KiB
C
436 lines
13 KiB
C
// SPDX-License-Identifier: GPL-2.0-or-later
|
|
/*
|
|
* ADIS16260/ADIS16265 Programmable Digital Gyroscope Sensor Driver
|
|
*
|
|
* Copyright 2010 Analog Devices Inc.
|
|
*/
|
|
|
|
#include <linux/device.h>
|
|
#include <linux/kernel.h>
|
|
#include <linux/spi/spi.h>
|
|
#include <linux/module.h>
|
|
|
|
#include <linux/iio/iio.h>
|
|
#include <linux/iio/imu/adis.h>
|
|
|
|
#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:
|
|
adis_dev_lock(adis);
|
|
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);
|
|
|
|
adis_dev_unlock(adis);
|
|
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_timeout adis16260_timeouts = {
|
|
.reset_ms = ADIS16260_STARTUP_DELAY,
|
|
.sw_reset_ms = ADIS16260_STARTUP_DELAY,
|
|
.self_test_ms = ADIS16260_STARTUP_DELAY,
|
|
};
|
|
|
|
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,
|
|
.self_test_reg = ADIS16260_MSC_CTRL,
|
|
.timeouts = &adis16260_timeouts,
|
|
|
|
.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 void adis16260_stop(void *data)
|
|
{
|
|
adis16260_stop_device(data);
|
|
}
|
|
|
|
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->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 = devm_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)
|
|
return ret;
|
|
|
|
ret = devm_add_action_or_reset(&spi->dev, adis16260_stop, indio_dev);
|
|
if (ret)
|
|
return ret;
|
|
|
|
return devm_iio_device_register(&spi->dev, indio_dev);
|
|
}
|
|
|
|
/*
|
|
* 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,
|
|
.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");
|
|
MODULE_IMPORT_NS(IIO_ADISLIB);
|