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([2409:4072:6188:2bbe:d028:8959:a8a3:a7bc]) by smtp.gmail.com with ESMTPSA id z9sm1803752pgh.94.2020.07.15.02.50.38 (version=TLS1_3 cipher=TLS_AES_128_GCM_SHA256 bits=128/128); Wed, 15 Jul 2020 02:50:41 -0700 (PDT) Subject: Re: [PATCH 1/2] iio: gyro: Add driver support for ADXRS290 To: jic23@kernel.org Cc: dragos.bogdan@analog.com, darius.berghe@analog.com, linux-kernel@vger.kernel.org, linux-iio@vger.kernel.org References: <20200715092757.14563-1-nish.malpani25@gmail.com> From: Nishant Malpani Message-ID: Date: Wed, 15 Jul 2020 15:20:35 +0530 User-Agent: Mozilla/5.0 (X11; Linux x86_64; rv:68.0) Gecko/20100101 Thunderbird/68.8.0 MIME-Version: 1.0 In-Reply-To: <20200715092757.14563-1-nish.malpani25@gmail.com> Content-Type: text/plain; charset=utf-8; format=flowed Content-Language: en-US Content-Transfer-Encoding: 8bit Sender: linux-kernel-owner@vger.kernel.org Precedence: bulk List-ID: X-Mailing-List: linux-kernel@vger.kernel.org Hello, On 15/07/20 2:57 pm, Nishant Malpani 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: > Link: https://www.analog.com/media/en/technical-documentation/data-sheets/ADXRS290.pdf > > Signed-off-by: Nishant Malpani > --- > MAINTAINERS | 6 + > drivers/iio/gyro/Kconfig | 10 + > drivers/iio/gyro/Makefile | 1 + > drivers/iio/gyro/adxrs290.c | 490 ++++++++++++++++++++++++++++++++++++ > 4 files changed, 507 insertions(+) > create mode 100644 drivers/iio/gyro/adxrs290.c > > diff --git a/MAINTAINERS b/MAINTAINERS > index e016ee39c74a..dd02cfc410e8 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 > +L: linux-iio@vger.kernel.org > +S: Supported > +F: drivers/iio/gyro/adxrs290.c > + > ANALOG DEVICES INC ASOC CODEC DRIVERS > M: Lars-Peter Clausen > M: Nuno Sá > 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..1139f79a3bd5 > --- /dev/null > +++ b/drivers/iio/gyro/adxrs290.c > @@ -0,0 +1,490 @@ > +// SPDX-License-Identifier: GPL-2.0-or-later > +/* > + * ADXRS290 SPI Gyroscope Driver > + * > + * Copyright (C) 2020 Analog Devices, Inc. > + */ > + > +#include > +#include > +#include > +#include > +#include > +#include > +#include > + > +#include > +#include > + > +#define ADXRS290_ADI_ID 0xAD > +#define ADXRS290_MEMS_ID 0x1D > +#define ADXRS290_DEV_ID 0x92 > + > +#define ADXRS290_REG_ADI_ID 0x00 /* Analog Devices Identifier Register */ > +#define ADXRS290_REG_MEMS_ID 0x01 /* MEMS Identifier Register */ > +#define ADXRS290_REG_DEV_ID 0x02 /* Device Identifier Register */ > +#define ADXRS290_REG_REV_ID 0x03 /* Silicon Revision Number Register */ > +#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 /* Temperature Data Registers, 2 bytes */ > +#define ADXRS290_REG_POWER_CTL 0x10 /* Power Control Register */ > +#define ADXRS290_REG_FILTER 0x11 /* Band-pass Filter Register */ > +#define ADXRS290_REG_DATA_RDY 0x12 /* Data Ready Register */ > + > +#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; > + /* To atomize successive reads for single measurement */ > + struct mutex lock; > + enum adxrs290_mode mode; > + unsigned int lpf_3db_freq_idx; > + unsigned int hpf_3db_freq_idx; > + union { > + u8 tx; > + u8 rx[2]; > + } data ____cacheline_aligned; > +}; > + > +/* > + * Available cut-off frequencies of the low pass filter in Hz. > + * The integer part and fractional part are represented separately. > + */ > +static const unsigned int adxrs290_lpf_3db_freq_tbl[][2] = { > + [0] = {480, 0}, > + [1] = {320, 0}, > + [2] = {160, 0}, > + [3] = {80, 0}, > + [4] = {56, 600}, > + [5] = {40, 0}, > + [6] = {28, 300}, > + [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 unsigned int adxrs290_hpf_3db_freq_tbl[][2] = { > + [0] = {0, 0}, > + [1] = {0, 11}, > + [2] = {0, 22}, > + [3] = {0, 44}, > + [4] = {0, 87}, > + [5] = {0, 175}, > + [6] = {0, 350}, > + [7] = {0, 700}, > + [8] = {1, 400}, > + [9] = {2, 800}, > + [10] = {11, 300}, > +}; > + > +static int adxrs290_spi_read16b(struct iio_dev *indio_dev, const u8 cmd, > + u16 *val) > +{ > + struct adxrs290_state *st = iio_priv(indio_dev); > + int ret = 0; > + > + struct spi_transfer t[] = { > + { > + .tx_buf = &st->data.tx, > + .bits_per_word = 8, > + .len = sizeof(st->data.tx), > + .cs_change = 0, > + }, { > + .rx_buf = &st->data.rx, > + .bits_per_word = 8, > + .len = sizeof(st->data.rx), > + }, > + }; > + > + mutex_lock(&st->lock); > + > + st->data.tx = cmd; > + ret = spi_sync_transfer(st->spi, t, ARRAY_SIZE(t)); > + > + if (ret < 0) { > + dev_err(&st->spi->dev, "error reading 16b from reg 0x%02x\n", > + cmd); > + goto err_unlock; > + } > + > + *val = get_unaligned_le16(st->data.rx); > + > +err_unlock: > + mutex_unlock(&st->lock); > + return ret; > +} > + > +static int adxrs290_get_rate_data(struct iio_dev *indio_dev, const u8 cmd, > + unsigned int *val) > +{ > + int ret; > + u16 temp; > + > + ret = adxrs290_spi_read16b(indio_dev, cmd, &temp); > + if (ret < 0) > + return ret; > + > + *val = temp; > + > + return 0; > +} > + > +static int adxrs290_get_temp_data(struct iio_dev *indio_dev, unsigned int *val) > +{ > + const u8 cmd = ADXRS290_READ_REG(ADXRS290_REG_TEMP0); > + int ret; > + u16 temp; > + > + ret = adxrs290_spi_read16b(indio_dev, cmd, &temp); > + if (ret < 0) > + return ret; > + > + /* extract lower 12 bits temperature reading */ > + *val = temp & 0x0FFF; > + > + return 0; > +} > + > +static int adxrs290_get_3db_freq(struct iio_dev *indio_dev, u8 *val, u8 *val2) > +{ > + struct adxrs290_state *st = iio_priv(indio_dev); > + const u8 cmd = ADXRS290_READ_REG(ADXRS290_REG_FILTER); > + int temp; > + > + temp = spi_w8r8(st->spi, cmd); > + if (temp < 0) > + return temp; > + > + *val = FIELD_GET(ADXRS290_LPF_MASK, temp); > + *val2 = FIELD_GET(ADXRS290_HPF_MASK, temp); > + > + return 0; > +} > + > +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(spi, buf, ARRAY_SIZE(buf)); > +} > + > +static unsigned int adxrs290_find_best_match(const unsigned int (*freq_tbl)[2], > + unsigned int n, unsigned int freq) > +{ > + unsigned int i, best_freq_idx; > + unsigned int diff, best_diff; > + > + best_freq_idx = 0; > + best_diff = UINT_MAX; > + for (i = 0; i < n; i++) { > + diff = abs(freq_tbl[i][0] - freq); To find the "closest" 3db frequency from the acceptable ones, for now, I simply consider the integer part of the frequency (freq_tbl[i][0]). Taking into account the sensitivity of acceptable 3db frequencies for the high-pass filter [1], I'm guessing this isn't an acceptable solution. Should I progressively compare the fractional part after the integer part or perhaps directly exercise a FP arithmetic? Any other suggestions? Thanks in advance. [1] Supported 3db frequencies of the high-pass filter: 0.000 0.011 0.022 0.044 0.087 0.175 0.350 0.700 1.400 2.800 11.300 With regards, Nishant Malpani > + if (diff < best_diff) { > + best_diff = diff; > + best_freq_idx = i; > + } > + } > + > + return best_freq_idx; > +} > + > +static int adxrs290_set_filter_freq(struct iio_dev *indio_dev, > + unsigned int lpf_idx, 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 ssize_t adxrs290_show_avail(const unsigned int (*freq_tbl)[2], size_t n, > + char *buf) > +{ > + ssize_t len = 0; > + int i; > + > + for (i = 0; i < n; i++) { > + len += scnprintf(buf + len, PAGE_SIZE - len, > + "%u.%03u ", freq_tbl[i][0], freq_tbl[i][1]); > + } > + buf[len - 1] = '\n'; > + > + return len; > +} > + > +static ssize_t adxrs290_show_lpf_freq_avail(struct device *dev, > + struct device_attribute *attr, > + char *buf) > +{ > + return adxrs290_show_avail(adxrs290_lpf_3db_freq_tbl, > + ARRAY_SIZE(adxrs290_lpf_3db_freq_tbl), buf); > +} > + > +static ssize_t adxrs290_show_hpf_freq_avail(struct device *dev, > + struct device_attribute *attr, > + char *buf) > +{ > + return adxrs290_show_avail(adxrs290_hpf_3db_freq_tbl, > + ARRAY_SIZE(adxrs290_hpf_3db_freq_tbl), buf); > +} > + > +/* attribute to display available 3db frequencies for the low-pass filter */ > +static IIO_DEVICE_ATTR(in_anglvel_filter_low_pass_3db_frequency_available, > + 0444, adxrs290_show_lpf_freq_avail, NULL, 0); > + > +/* attribute to display available 3db frequencies for the high-pass filter */ > +static IIO_DEVICE_ATTR(in_anglvel_filter_high_pass_3db_frequency_available, > + 0444, adxrs290_show_hpf_freq_avail, NULL, 0); > + > +static struct attribute *adxrs290_attributes[] = { > + &iio_dev_attr_in_anglvel_filter_low_pass_3db_frequency_available.dev_attr.attr, > + &iio_dev_attr_in_anglvel_filter_high_pass_3db_frequency_available.dev_attr.attr, > + NULL, > +}; > + > +static const struct attribute_group adxrs290_attrs_group = { > + .attrs = adxrs290_attributes, > +}; > + > +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); > + int ret; > + unsigned int t; > + > + 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: > + *val = 0; > + *val2 = 87266; > + return IIO_VAL_INT_PLUS_NANO; > + case IIO_TEMP: > + *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_tbl[t][0]; > + *val2 = adxrs290_lpf_3db_freq_tbl[t][1] * 1000; > + 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_tbl[t][0]; > + *val2 = adxrs290_hpf_3db_freq_tbl[t][1] * 1000; > + 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); > + unsigned int lpf_idx, hpf_idx; > + > + switch (mask) { > + case IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY: > + lpf_idx = adxrs290_find_best_match(adxrs290_lpf_3db_freq_tbl, > + ARRAY_SIZE(adxrs290_lpf_3db_freq_tbl), > + val); > + /* 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_best_match(adxrs290_hpf_3db_freq_tbl, > + ARRAY_SIZE(adxrs290_hpf_3db_freq_tbl), > + val); > + /* 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; > +} > + > +#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), \ > +} > + > +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 = { > + .attrs = &adxrs290_attrs_group, > + .read_raw = &adxrs290_read_raw, > + .write_raw = &adxrs290_write_raw, > +}; > + > +static int adxrs290_probe(struct spi_device *spi) > +{ > + struct iio_dev *indio_dev; > + struct adxrs290_state *st; > + int ret; > + u8 val, val2; > + > + 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->dev.parent = &spi->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_interruptible(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 "); > +MODULE_DESCRIPTION("Analog Devices ADXRS290 Gyroscope SPI driver"); > +MODULE_LICENSE("GPL"); >