| Message ID | 20200724110159.24402-1-nish.malpani25@gmail.com (mailing list archive) |
|---|---|
| State | New, archived |
| Headers | show |
| Series | [v3,1/2] iio: gyro: Add driver support for ADXRS290 | expand |
On Fri, Jul 24, 2020 at 2:02 PM Nishant Malpani <nish.malpani25@gmail.com> wrote: > > 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. Thanks for an update! My nits below, after addressing them Reviewed-by: Andy Shevchenko <andy.shevchenko@gmail.com> > Datasheet: https://www.analog.com/media/en/technical-documentation/data-sheets/ADXRS290.pdf > Signed-off-by: Nishant Malpani <nish.malpani25@gmail.com> > --- > > Changes in v3: > - drop "Link" tag & extra line in commit message > - rename cut-off frequencies tables to > 'adxrs290_{lpf, hpf}_3db_freq_hz_table' to be more descriptive > - fix unsigned type errors > - add comments on how to scale raw angular velocity and temperature > values to appropriate units mentioned in the ABI > - re-order declarations in reversed spruce tree order > - remove 'indio_dev->dev.parent = &spi->dev' as the iio core handles it > during iio_device_alloc() > - use plain msleep() instead of the interruptible variant > - remove extra terminal comma > > Changes in v2: > - append copyright tag with author's info > - remove asm/unaligned.h header > - remove unnecessary comments about the registers' description > - rephrase comment on the usage of mutex_lock > - discard the usage of local tx, rx buffers; use DMA-safe buffers > provided by the SPI core instead > - utilize spi_w8r16 provided by the SPI core instead of writing a > wrapper over spi_sync_transfer which semantically does the same > - equip spi_write_then_read instead of plain spi_write since the > latter requires a DMA-safe buffer > - implement exact matching of filter 3db frequencies instead of > finding the "closest" match; rounding complexity is left to the > userspace > - include 'info_mask_shared_by_type_available' when initialising > iio_chan_spec instead of explicitly exposing attributes > signifying available filter 3db frequencies; with this we can > utilize read_avail core callback > --- > MAINTAINERS | 6 + > drivers/iio/gyro/Kconfig | 10 + > drivers/iio/gyro/Makefile | 1 + > drivers/iio/gyro/adxrs290.c | 446 ++++++++++++++++++++++++++++++++++++ > 4 files changed, 463 insertions(+) > create mode 100644 drivers/iio/gyro/adxrs290.c > > diff --git a/MAINTAINERS b/MAINTAINERS > index 9077411c9890..71ae9b184179 100644 > --- a/MAINTAINERS > +++ b/MAINTAINERS > @@ -1098,6 +1098,12 @@ 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> > diff --git a/drivers/iio/gyro/Kconfig b/drivers/iio/gyro/Kconfig > index 6daeddf37f60..024a34139875 100644 > --- a/drivers/iio/gyro/Kconfig > +++ b/drivers/iio/gyro/Kconfig > @@ -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 > diff --git a/drivers/iio/gyro/Makefile b/drivers/iio/gyro/Makefile > index 45cbd5dc644e..0319b397dc3f 100644 > --- a/drivers/iio/gyro/Makefile > +++ b/drivers/iio/gyro/Makefile > @@ -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 > diff --git a/drivers/iio/gyro/adxrs290.c b/drivers/iio/gyro/adxrs290.c > new file mode 100644 > index 000000000000..cff1af9211bc > --- /dev/null > +++ b/drivers/iio/gyro/adxrs290.c > @@ -0,0 +1,446 @@ > +// 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/device.h> > +#include <linux/delay.h> Keep it ordered? > +#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 { > + STANDBY, > + MEASUREMENT, > +}; Perhaps a prefix ADXRS290_STANDBY, etc. > +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, > + unsigned 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, unsigned 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 = 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), > + &t); > + if (ret < 0) Please, revisit all ' < 0' checks and drop ones that are not necessary (above seems fine, but here and below are subject to revisit). > + return ret; > + *val = t; > + return IIO_VAL_INT; > + case IIO_TEMP: > + ret = adxrs290_get_temp_data(indio_dev, &t); > + if (ret < 0) > + return ret; > + *val = t; > + 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; > + spi_set_drvdata(spi, indio_dev); > + > + 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 = 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"); > -- > 2.20.1 >
On Fri, 24 Jul 2020 16:31:59 +0530 Nishant Malpani <nish.malpani25@gmail.com> wrote: > 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 > Signed-off-by: Nishant Malpani <nish.malpani25@gmail.com> Looks pretty good to me. A few minor comments seeing as you'll be doing a v4 anyway to tidy up the bits Andy pointed out. I've pointed out the locking is probably in excess of what is needed, but I have no problem with you leaving it as it stands, in the interests of having less fragile code as you extend the driver futher. Thanks, Jonathan > --- > > Changes in v3: > - drop "Link" tag & extra line in commit message > - rename cut-off frequencies tables to > 'adxrs290_{lpf, hpf}_3db_freq_hz_table' to be more descriptive > - fix unsigned type errors > - add comments on how to scale raw angular velocity and temperature > values to appropriate units mentioned in the ABI > - re-order declarations in reversed spruce tree order > - remove 'indio_dev->dev.parent = &spi->dev' as the iio core handles it > during iio_device_alloc() > - use plain msleep() instead of the interruptible variant > - remove extra terminal comma > > Changes in v2: > - append copyright tag with author's info > - remove asm/unaligned.h header > - remove unnecessary comments about the registers' description > - rephrase comment on the usage of mutex_lock > - discard the usage of local tx, rx buffers; use DMA-safe buffers > provided by the SPI core instead > - utilize spi_w8r16 provided by the SPI core instead of writing a > wrapper over spi_sync_transfer which semantically does the same > - equip spi_write_then_read instead of plain spi_write since the > latter requires a DMA-safe buffer > - implement exact matching of filter 3db frequencies instead of > finding the "closest" match; rounding complexity is left to the > userspace > - include 'info_mask_shared_by_type_available' when initialising > iio_chan_spec instead of explicitly exposing attributes > signifying available filter 3db frequencies; with this we can > utilize read_avail core callback > --- > MAINTAINERS | 6 + > drivers/iio/gyro/Kconfig | 10 + > drivers/iio/gyro/Makefile | 1 + > drivers/iio/gyro/adxrs290.c | 446 ++++++++++++++++++++++++++++++++++++ > 4 files changed, 463 insertions(+) > create mode 100644 drivers/iio/gyro/adxrs290.c > > diff --git a/MAINTAINERS b/MAINTAINERS > index 9077411c9890..71ae9b184179 100644 > --- a/MAINTAINERS > +++ b/MAINTAINERS > @@ -1098,6 +1098,12 @@ 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> > diff --git a/drivers/iio/gyro/Kconfig b/drivers/iio/gyro/Kconfig > index 6daeddf37f60..024a34139875 100644 > --- a/drivers/iio/gyro/Kconfig > +++ b/drivers/iio/gyro/Kconfig > @@ -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 > diff --git a/drivers/iio/gyro/Makefile b/drivers/iio/gyro/Makefile > index 45cbd5dc644e..0319b397dc3f 100644 > --- a/drivers/iio/gyro/Makefile > +++ b/drivers/iio/gyro/Makefile > @@ -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 > diff --git a/drivers/iio/gyro/adxrs290.c b/drivers/iio/gyro/adxrs290.c > new file mode 100644 > index 000000000000..cff1af9211bc > --- /dev/null > +++ b/drivers/iio/gyro/adxrs290.c > @@ -0,0 +1,446 @@ > +// 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/device.h> > +#include <linux/delay.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 { > + STANDBY, > + 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, > + unsigned int *val) Why go through the effort of signed to unsigned to signed for 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, unsigned 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); Just a quick note here. I don't think you actually need the lock (yet) as you aren't doing any read modify write cycles and in this particular case there is no local cached state to protect. However, I don't mind if you want to leave them as it may make things less fragile as you move forwards. > + 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 = 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), > + &t); > + if (ret < 0) > + return ret; > + *val = t; As mentioned above, you should be fine with using a signed value where you have &t. As we don't use *val in the error case, it's fine to write directly into it and avoid the need for the local variable t at all. > + return IIO_VAL_INT; > + case IIO_TEMP: > + ret = adxrs290_get_temp_data(indio_dev, &t); > + if (ret < 0) > + return ret; > + *val = t; > + 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; > + spi_set_drvdata(spi, indio_dev); As things currently stand I don't think you ever use this. So drop it for now and reintroduce it when you need it (probably when you add power management support). > + > + 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 = 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");
On 26/07/20 1:33 pm, Andy Shevchenko wrote: > On Fri, Jul 24, 2020 at 2:02 PM Nishant Malpani > <nish.malpani25@gmail.com> wrote: >> >> 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. > > Thanks for an update! > My nits below, after addressing them > Reviewed-by: Andy Shevchenko <andy.shevchenko@gmail.com> > Thanks! >> Datasheet: https://www.analog.com/media/en/technical-documentation/data-sheets/ADXRS290.pdf >> Signed-off-by: Nishant Malpani <nish.malpani25@gmail.com> >> --- >> >> Changes in v3: >> - drop "Link" tag & extra line in commit message >> - rename cut-off frequencies tables to >> 'adxrs290_{lpf, hpf}_3db_freq_hz_table' to be more descriptive >> - fix unsigned type errors >> - add comments on how to scale raw angular velocity and temperature >> values to appropriate units mentioned in the ABI >> - re-order declarations in reversed spruce tree order >> - remove 'indio_dev->dev.parent = &spi->dev' as the iio core handles it >> during iio_device_alloc() >> - use plain msleep() instead of the interruptible variant >> - remove extra terminal comma >> >> Changes in v2: >> - append copyright tag with author's info >> - remove asm/unaligned.h header >> - remove unnecessary comments about the registers' description >> - rephrase comment on the usage of mutex_lock >> - discard the usage of local tx, rx buffers; use DMA-safe buffers >> provided by the SPI core instead >> - utilize spi_w8r16 provided by the SPI core instead of writing a >> wrapper over spi_sync_transfer which semantically does the same >> - equip spi_write_then_read instead of plain spi_write since the >> latter requires a DMA-safe buffer >> - implement exact matching of filter 3db frequencies instead of >> finding the "closest" match; rounding complexity is left to the >> userspace >> - include 'info_mask_shared_by_type_available' when initialising >> iio_chan_spec instead of explicitly exposing attributes >> signifying available filter 3db frequencies; with this we can >> utilize read_avail core callback >> --- >> MAINTAINERS | 6 + >> drivers/iio/gyro/Kconfig | 10 + >> drivers/iio/gyro/Makefile | 1 + >> drivers/iio/gyro/adxrs290.c | 446 ++++++++++++++++++++++++++++++++++++ >> 4 files changed, 463 insertions(+) >> create mode 100644 drivers/iio/gyro/adxrs290.c >> >> diff --git a/MAINTAINERS b/MAINTAINERS >> index 9077411c9890..71ae9b184179 100644 >> --- a/MAINTAINERS >> +++ b/MAINTAINERS >> @@ -1098,6 +1098,12 @@ 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> >> diff --git a/drivers/iio/gyro/Kconfig b/drivers/iio/gyro/Kconfig >> index 6daeddf37f60..024a34139875 100644 >> --- a/drivers/iio/gyro/Kconfig >> +++ b/drivers/iio/gyro/Kconfig >> @@ -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 >> diff --git a/drivers/iio/gyro/Makefile b/drivers/iio/gyro/Makefile >> index 45cbd5dc644e..0319b397dc3f 100644 >> --- a/drivers/iio/gyro/Makefile >> +++ b/drivers/iio/gyro/Makefile >> @@ -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 >> diff --git a/drivers/iio/gyro/adxrs290.c b/drivers/iio/gyro/adxrs290.c >> new file mode 100644 >> index 000000000000..cff1af9211bc >> --- /dev/null >> +++ b/drivers/iio/gyro/adxrs290.c >> @@ -0,0 +1,446 @@ >> +// 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/device.h> >> +#include <linux/delay.h> > > Keep it ordered? > Ah, missed it somehow. Will reorder in v4. >> +#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 { >> + STANDBY, >> + MEASUREMENT, >> +}; > > Perhaps a prefix > ADXRS290_STANDBY, > etc. > Makes sense. I'll prefix with 'ADXRS290_MODE_' (in v4) as 'ADXRS290_MEASUREMENT' is already a macro defintion. >> +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, >> + unsigned 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, unsigned 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 = 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), >> + &t); > >> + if (ret < 0) > > Please, revisit all ' < 0' checks and drop ones that are not necessary > (above seems fine, but here and below are subject to revisit). > Revisited all '< 0' checks and I consider them all necessary as they (mostly) reflect failed spi transactions. With regards, Nishant Malpani >> + return ret; >> + *val = t; >> + return IIO_VAL_INT; >> + case IIO_TEMP: >> + ret = adxrs290_get_temp_data(indio_dev, &t); >> + if (ret < 0) >> + return ret; >> + *val = t; >> + 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; >> + spi_set_drvdata(spi, indio_dev); >> + >> + 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 = 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"); >> -- >> 2.20.1 >> > >
On 26/07/20 5:45 pm, Jonathan Cameron wrote: > On Fri, 24 Jul 2020 16:31:59 +0530 > Nishant Malpani <nish.malpani25@gmail.com> wrote: > >> 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 >> Signed-off-by: Nishant Malpani <nish.malpani25@gmail.com> > > Looks pretty good to me. A few minor comments seeing as you'll be doing > a v4 anyway to tidy up the bits Andy pointed out. > > I've pointed out the locking is probably in excess of what is needed, but > I have no problem with you leaving it as it stands, in the interests of > having less fragile code as you extend the driver futher. > > Thanks, > > Jonathan > >> --- >> >> Changes in v3: >> - drop "Link" tag & extra line in commit message >> - rename cut-off frequencies tables to >> 'adxrs290_{lpf, hpf}_3db_freq_hz_table' to be more descriptive >> - fix unsigned type errors >> - add comments on how to scale raw angular velocity and temperature >> values to appropriate units mentioned in the ABI >> - re-order declarations in reversed spruce tree order >> - remove 'indio_dev->dev.parent = &spi->dev' as the iio core handles it >> during iio_device_alloc() >> - use plain msleep() instead of the interruptible variant >> - remove extra terminal comma >> >> Changes in v2: >> - append copyright tag with author's info >> - remove asm/unaligned.h header >> - remove unnecessary comments about the registers' description >> - rephrase comment on the usage of mutex_lock >> - discard the usage of local tx, rx buffers; use DMA-safe buffers >> provided by the SPI core instead >> - utilize spi_w8r16 provided by the SPI core instead of writing a >> wrapper over spi_sync_transfer which semantically does the same >> - equip spi_write_then_read instead of plain spi_write since the >> latter requires a DMA-safe buffer >> - implement exact matching of filter 3db frequencies instead of >> finding the "closest" match; rounding complexity is left to the >> userspace >> - include 'info_mask_shared_by_type_available' when initialising >> iio_chan_spec instead of explicitly exposing attributes >> signifying available filter 3db frequencies; with this we can >> utilize read_avail core callback >> --- >> MAINTAINERS | 6 + >> drivers/iio/gyro/Kconfig | 10 + >> drivers/iio/gyro/Makefile | 1 + >> drivers/iio/gyro/adxrs290.c | 446 ++++++++++++++++++++++++++++++++++++ >> 4 files changed, 463 insertions(+) >> create mode 100644 drivers/iio/gyro/adxrs290.c >> >> diff --git a/MAINTAINERS b/MAINTAINERS >> index 9077411c9890..71ae9b184179 100644 >> --- a/MAINTAINERS >> +++ b/MAINTAINERS >> @@ -1098,6 +1098,12 @@ 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> >> diff --git a/drivers/iio/gyro/Kconfig b/drivers/iio/gyro/Kconfig >> index 6daeddf37f60..024a34139875 100644 >> --- a/drivers/iio/gyro/Kconfig >> +++ b/drivers/iio/gyro/Kconfig >> @@ -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 >> diff --git a/drivers/iio/gyro/Makefile b/drivers/iio/gyro/Makefile >> index 45cbd5dc644e..0319b397dc3f 100644 >> --- a/drivers/iio/gyro/Makefile >> +++ b/drivers/iio/gyro/Makefile >> @@ -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 >> diff --git a/drivers/iio/gyro/adxrs290.c b/drivers/iio/gyro/adxrs290.c >> new file mode 100644 >> index 000000000000..cff1af9211bc >> --- /dev/null >> +++ b/drivers/iio/gyro/adxrs290.c >> @@ -0,0 +1,446 @@ >> +// 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/device.h> >> +#include <linux/delay.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 { >> + STANDBY, >> + 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, >> + unsigned int *val) > > Why go through the effort of signed to unsigned to signed for val? > Yeah, those are some unnecessary type promotions and demotions. Will change the function signature to directly accept 'int *val' in v4. >> +{ >> + 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, unsigned 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); > > Just a quick note here. I don't think you actually need the lock > (yet) as you aren't doing any read modify write cycles and in this > particular case there is no local cached state to protect. > However, I don't mind if you want to leave them as it may make things > less fragile as you move forwards. > I was also doubtful about the protections previously but, as you've summarized perfectly, I left those as a 'good-to-have' for now, in the hope that they might be necessary as I incrementally add more support in the driver. >> + 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 = 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), >> + &t); >> + if (ret < 0) >> + return ret; >> + *val = t; > > As mentioned above, you should be fine with using a signed value where you have &t. > As we don't use *val in the error case, it's fine to write directly into it and > avoid the need for the local variable t at all. Okay, will take care of this in v4. > >> + return IIO_VAL_INT; >> + case IIO_TEMP: >> + ret = adxrs290_get_temp_data(indio_dev, &t); >> + if (ret < 0) >> + return ret; >> + *val = t; >> + 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; >> + spi_set_drvdata(spi, indio_dev); > > As things currently stand I don't think you ever use this. > So drop it for now and reintroduce it when you need it (probably when > you add power management support). Okay, makes sense. Will remove it in v4. With regards, Nishant Malpani > >> + >> + 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 = 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"); >
diff --git a/MAINTAINERS b/MAINTAINERS index 9077411c9890..71ae9b184179 100644 --- a/MAINTAINERS +++ b/MAINTAINERS @@ -1098,6 +1098,12 @@ 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> diff --git a/drivers/iio/gyro/Kconfig b/drivers/iio/gyro/Kconfig index 6daeddf37f60..024a34139875 100644 --- a/drivers/iio/gyro/Kconfig +++ b/drivers/iio/gyro/Kconfig @@ -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 diff --git a/drivers/iio/gyro/Makefile b/drivers/iio/gyro/Makefile index 45cbd5dc644e..0319b397dc3f 100644 --- a/drivers/iio/gyro/Makefile +++ b/drivers/iio/gyro/Makefile @@ -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 diff --git a/drivers/iio/gyro/adxrs290.c b/drivers/iio/gyro/adxrs290.c new file mode 100644 index 000000000000..cff1af9211bc --- /dev/null +++ b/drivers/iio/gyro/adxrs290.c @@ -0,0 +1,446 @@ +// 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/device.h> +#include <linux/delay.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 { + STANDBY, + 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, + unsigned 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, unsigned 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 = 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), + &t); + if (ret < 0) + return ret; + *val = t; + return IIO_VAL_INT; + case IIO_TEMP: + ret = adxrs290_get_temp_data(indio_dev, &t); + if (ret < 0) + return ret; + *val = t; + 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; + spi_set_drvdata(spi, indio_dev); + + 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 = 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");
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 Signed-off-by: Nishant Malpani <nish.malpani25@gmail.com> --- Changes in v3: - drop "Link" tag & extra line in commit message - rename cut-off frequencies tables to 'adxrs290_{lpf, hpf}_3db_freq_hz_table' to be more descriptive - fix unsigned type errors - add comments on how to scale raw angular velocity and temperature values to appropriate units mentioned in the ABI - re-order declarations in reversed spruce tree order - remove 'indio_dev->dev.parent = &spi->dev' as the iio core handles it during iio_device_alloc() - use plain msleep() instead of the interruptible variant - remove extra terminal comma Changes in v2: - append copyright tag with author's info - remove asm/unaligned.h header - remove unnecessary comments about the registers' description - rephrase comment on the usage of mutex_lock - discard the usage of local tx, rx buffers; use DMA-safe buffers provided by the SPI core instead - utilize spi_w8r16 provided by the SPI core instead of writing a wrapper over spi_sync_transfer which semantically does the same - equip spi_write_then_read instead of plain spi_write since the latter requires a DMA-safe buffer - implement exact matching of filter 3db frequencies instead of finding the "closest" match; rounding complexity is left to the userspace - include 'info_mask_shared_by_type_available' when initialising iio_chan_spec instead of explicitly exposing attributes signifying available filter 3db frequencies; with this we can utilize read_avail core callback --- MAINTAINERS | 6 + drivers/iio/gyro/Kconfig | 10 + drivers/iio/gyro/Makefile | 1 + drivers/iio/gyro/adxrs290.c | 446 ++++++++++++++++++++++++++++++++++++ 4 files changed, 463 insertions(+) create mode 100644 drivers/iio/gyro/adxrs290.c