Re: [PATCH v2 1/2] iio: imu: adis16480: Add support for external clock

Jonathan Cameron
2019-03-16T16:03:17Z

On Mon, 11 Mar 2019 11:45:29 +0200
Stefan Popa <stefan.popa@analog.com> wrote:

> Inertial sensor data collection and processing can be controlled by
> configuring one of the DIOx lines as an external clock input. This
> option is available for all devices supported by this driver. However,
> only adis1649x devices support different modes for the external clock.
>
> Sync mode is supported by all devices. In this mode, the output data
> rate is equal with the clock frequency divided by DEC_RATE + 1. This
> mode of calculation is similar with the case when the internal clock is
> used.
>
> Pulse Per Second (PPS) Mode, is only supported by adis1649x devices. In
> this mode, the output data rate is equal to the product of the external
> clock frequency and the scale factor in the SYNC_SCALE register.
>
> This patch uses the "clock-names" property to enable the external clock
> in one of the two supported modes: "sync" or "pps". This property is
> optional. If it is not specified, the internal clock is used.
>
> This patch also offers the option to select the DIOx line to be used as
> an external clock input via the custom "adi,ext-clk-pin" property. If this
> field is left empty, DIO2 is assigned as default external clock input pin.
> Each DIOx pin supports only one function at a time (data ready line
> selection or external clock input).
>
> Signed-off-by: Stefan Popa <stefan.popa@analog.com>
Applied to the togreg branch of iio.git and pushed out as testing for
the autobuilders to play with it.

Thanks,

Jonathan

> ---
> Changes in v2:
> - used ADIS16480_DRDY_SEL() macro when checking for external clock
> input pin.
>
> drivers/iio/imu/adis16480.c | 186 ++++++++++++++++++++++++++++++++++++++++++--
> 1 file changed, 179 insertions(+), 7 deletions(-)
>
> diff --git a/drivers/iio/imu/adis16480.c b/drivers/iio/imu/adis16480.c
> index 28cece3..ab137c1 100644
> --- a/drivers/iio/imu/adis16480.c
> +++ b/drivers/iio/imu/adis16480.c
> @@ -9,6 +9,7 @@
> *
> */
>
> +#include <linux/clk.h>
> #include <linux/bitfield.h>
> #include <linux/of_irq.h>
> #include <linux/interrupt.h>
> @@ -99,6 +100,12 @@
> #define ADIS16480_REG_FIRM_DM ADIS16480_REG(0x03, 0x7A)
> #define ADIS16480_REG_FIRM_Y ADIS16480_REG(0x03, 0x7C)
>
> +/*
> + * External clock scaling in PPS mode.
> + * Available only for ADIS1649x devices
> + */
> +#define ADIS16495_REG_SYNC_SCALE ADIS16480_REG(0x03, 0x10)
> +
> #define ADIS16480_REG_SERIAL_NUM ADIS16480_REG(0x04, 0x20)
>
> /* Each filter coefficent bank spans two pages */
> @@ -116,6 +123,12 @@
> #define ADIS16480_DRDY_POL(x) FIELD_PREP(ADIS16480_DRDY_POL_MSK, x)
> #define ADIS16480_DRDY_EN_MSK BIT(3)
> #define ADIS16480_DRDY_EN(x) FIELD_PREP(ADIS16480_DRDY_EN_MSK, x)
> +#define ADIS16480_SYNC_SEL_MSK GENMASK(5, 4)
> +#define ADIS16480_SYNC_SEL(x) FIELD_PREP(ADIS16480_SYNC_SEL_MSK, x)
> +#define ADIS16480_SYNC_EN_MSK BIT(7)
> +#define ADIS16480_SYNC_EN(x) FIELD_PREP(ADIS16480_SYNC_EN_MSK, x)
> +#define ADIS16480_SYNC_MODE_MSK BIT(8)
> +#define ADIS16480_SYNC_MODE(x) FIELD_PREP(ADIS16480_SYNC_MODE_MSK, x)
>
> struct adis16480_chip_info {
> unsigned int num_channels;
> @@ -128,6 +141,7 @@ struct adis16480_chip_info {
> unsigned int int_clk;
> unsigned int max_dec_rate;
> const unsigned int *filter_freqs;
> + bool has_pps_clk_mode;
> };
>
> enum adis16480_int_pin {
> @@ -137,10 +151,19 @@ enum adis16480_int_pin {
> ADIS16480_PIN_DIO4
> };
>
> +enum adis16480_clock_mode {
> + ADIS16480_CLK_SYNC,
> + ADIS16480_CLK_PPS,
> + ADIS16480_CLK_INT
> +};
> +
> struct adis16480 {
> const struct adis16480_chip_info *chip_info;
>
> struct adis adis;
> + struct clk *ext_clk;
> + enum adis16480_clock_mode clk_mode;
> + unsigned int clk_freq;
> };
>
> static const char * const adis16480_int_pin_names[4] = {
> @@ -296,20 +319,34 @@ static int adis16480_debugfs_init(struct iio_dev *indio_dev)
> static int adis16480_set_freq(struct iio_dev *indio_dev, int val, int val2)
> {
> struct adis16480 *st = iio_priv(indio_dev);
> - unsigned int t;
> + unsigned int t, reg;
>
> t = val * 1000 + val2 / 1000;
> if (t <= 0)
> return -EINVAL;
>
> - t = st->chip_info->int_clk / t;
> + /*
> + * When using PPS mode, the rate of data collection is equal to the
> + * product of the external clock frequency and the scale factor in the
> + * SYNC_SCALE register.
> + * When using sync mode, or internal clock, the output data rate is
> + * equal with the clock frequency divided by DEC_RATE + 1.
> + */
> + if (st->clk_mode == ADIS16480_CLK_PPS) {
> + t = t / st->clk_freq;
> + reg = ADIS16495_REG_SYNC_SCALE;
> + } else {
> + t = st->clk_freq / t;
> + reg = ADIS16480_REG_DEC_RATE;
> + }
> +
> if (t > st->chip_info->max_dec_rate)
> t = st->chip_info->max_dec_rate;
>
> - if (t != 0)
> + if ((t != 0) && (st->clk_mode != ADIS16480_CLK_PPS))
> t--;
>
> - return adis_write_reg_16(&st->adis, ADIS16480_REG_DEC_RATE, t);
> + return adis_write_reg_16(&st->adis, reg, t);
> }
>
> static int adis16480_get_freq(struct iio_dev *indio_dev, int *val, int *val2)
> @@ -318,12 +355,29 @@ static int adis16480_get_freq(struct iio_dev *indio_dev, int *val, int *val2)
> uint16_t t;
> int ret;
> unsigned freq;
> + unsigned int reg;
> +
> + if (st->clk_mode == ADIS16480_CLK_PPS)
> + reg = ADIS16495_REG_SYNC_SCALE;
> + else
> + reg = ADIS16480_REG_DEC_RATE;
>
> - ret = adis_read_reg_16(&st->adis, ADIS16480_REG_DEC_RATE, &t);
> + ret = adis_read_reg_16(&st->adis, reg, &t);
> if (ret < 0)
> return ret;
>
> - freq = st->chip_info->int_clk / (t + 1);
> + /*
> + * When using PPS mode, the rate of data collection is equal to the
> + * product of the external clock frequency and the scale factor in the
> + * SYNC_SCALE register.
> + * When using sync mode, or internal clock, the output data rate is
> + * equal with the clock frequency divided by DEC_RATE + 1.
> + */
> + if (st->clk_mode == ADIS16480_CLK_PPS)
> + freq = st->clk_freq * t;
> + else
> + freq = st->clk_freq / (t + 1);
> +
> *val = freq / 1000;
> *val2 = (freq % 1000) * 1000;
>
> @@ -793,6 +847,7 @@ static const struct adis16480_chip_info adis16480_chip_info[] = {
> .int_clk = 4250000,
> .max_dec_rate = 4250,
> .filter_freqs = adis16495_def_filter_freqs,
> + .has_pps_clk_mode = true,
> },
> [ADIS16495_2] = {
> .channels = adis16485_channels,
> @@ -805,6 +860,7 @@ static const struct adis16480_chip_info adis16480_chip_info[] = {
> .int_clk = 4250000,
> .max_dec_rate = 4250,
> .filter_freqs = adis16495_def_filter_freqs,
> + .has_pps_clk_mode = true,
> },
> [ADIS16495_3] = {
> .channels = adis16485_channels,
> @@ -817,6 +873,7 @@ static const struct adis16480_chip_info adis16480_chip_info[] = {
> .int_clk = 4250000,
> .max_dec_rate = 4250,
> .filter_freqs = adis16495_def_filter_freqs,
> + .has_pps_clk_mode = true,
> },
> [ADIS16497_1] = {
> .channels = adis16485_channels,
> @@ -829,6 +886,7 @@ static const struct adis16480_chip_info adis16480_chip_info[] = {
> .int_clk = 4250000,
> .max_dec_rate = 4250,
> .filter_freqs = adis16495_def_filter_freqs,
> + .has_pps_clk_mode = true,
> },
> [ADIS16497_2] = {
> .channels = adis16485_channels,
> @@ -841,6 +899,7 @@ static const struct adis16480_chip_info adis16480_chip_info[] = {
> .int_clk = 4250000,
> .max_dec_rate = 4250,
> .filter_freqs = adis16495_def_filter_freqs,
> + .has_pps_clk_mode = true,
> },
> [ADIS16497_3] = {
> .channels = adis16485_channels,
> @@ -853,6 +912,7 @@ static const struct adis16480_chip_info adis16480_chip_info[] = {
> .int_clk = 4250000,
> .max_dec_rate = 4250,
> .filter_freqs = adis16495_def_filter_freqs,
> + .has_pps_clk_mode = true,
> },
> };
>
> @@ -1027,6 +1087,100 @@ static int adis16480_config_irq_pin(struct device_node *of_node,
> return adis_write_reg_16(&st->adis, ADIS16480_REG_FNCTIO_CTRL, val);
> }
>
> +static int adis16480_of_get_ext_clk_pin(struct adis16480 *st,
> + struct device_node *of_node)
> +{
> + const char *ext_clk_pin;
> + enum adis16480_int_pin pin;
> + int i;
> +
> + pin = ADIS16480_PIN_DIO2;
> + if (of_property_read_string(of_node, "adi,ext-clk-pin", &ext_clk_pin))
> + goto clk_input_not_found;
> +
> + for (i = 0; i < ARRAY_SIZE(adis16480_int_pin_names); i++) {
> + if (strcasecmp(ext_clk_pin, adis16480_int_pin_names[i]) == 0)
> + return i;
> + }
> +
> +clk_input_not_found:
> + dev_info(&st->adis.spi->dev,
> + "clk input line not specified, using DIO2\n");
> + return pin;
> +}
> +
> +static int adis16480_ext_clk_config(struct adis16480 *st,
> + struct device_node *of_node,
> + bool enable)
> +{
> + unsigned int mode, mask;
> + enum adis16480_int_pin pin;
> + uint16_t val;
> + int ret;
> +
> + ret = adis_read_reg_16(&st->adis, ADIS16480_REG_FNCTIO_CTRL, &val);
> + if (ret < 0)
> + return ret;
> +
> + pin = adis16480_of_get_ext_clk_pin(st, of_node);
> + /*
> + * Each DIOx pin supports only one function at a time. When a single pin
> + * has two assignments, the enable bit for a lower priority function
> + * automatically resets to zero (disabling the lower priority function).
> + */
> + if (pin == ADIS16480_DRDY_SEL(val))
> + dev_warn(&st->adis.spi->dev,
> + "DIO%x pin supports only one function at a time\n",
> + pin + 1);
> +
> + mode = ADIS16480_SYNC_EN(enable) | ADIS16480_SYNC_SEL(pin);
> + mask = ADIS16480_SYNC_EN_MSK | ADIS16480_SYNC_SEL_MSK;
> + /* Only ADIS1649x devices support pps ext clock mode */
> + if (st->chip_info->has_pps_clk_mode) {
> + mode |= ADIS16480_SYNC_MODE(st->clk_mode);
> + mask |= ADIS16480_SYNC_MODE_MSK;
> + }
> +
> + val &= ~mask;
> + val |= mode;
> +
> + ret = adis_write_reg_16(&st->adis, ADIS16480_REG_FNCTIO_CTRL, val);
> + if (ret < 0)
> + return ret;
> +
> + return clk_prepare_enable(st->ext_clk);
> +}
> +
> +static int adis16480_get_ext_clocks(struct adis16480 *st)
> +{
> + st->clk_mode = ADIS16480_CLK_INT;
> + st->ext_clk = devm_clk_get(&st->adis.spi->dev, "sync");
> + if (!IS_ERR_OR_NULL(st->ext_clk)) {
> + st->clk_mode = ADIS16480_CLK_SYNC;
> + return 0;
> + }
> +
> + if (PTR_ERR(st->ext_clk) != -ENOENT) {
> + dev_err(&st->adis.spi->dev, "failed to get ext clk\n");
> + return PTR_ERR(st->ext_clk);
> + }
> +
> + if (st->chip_info->has_pps_clk_mode) {
> + st->ext_clk = devm_clk_get(&st->adis.spi->dev, "pps");
> + if (!IS_ERR_OR_NULL(st->ext_clk)) {
> + st->clk_mode = ADIS16480_CLK_PPS;
> + return 0;
> + }
> +
> + if (PTR_ERR(st->ext_clk) != -ENOENT) {
> + dev_err(&st->adis.spi->dev, "failed to get ext clk\n");
> + return PTR_ERR(st->ext_clk);
> + }
> + }
> +
> + return 0;
> +}
> +
> static int adis16480_probe(struct spi_device *spi)
> {
> const struct spi_device_id *id = spi_get_device_id(spi);
> @@ -1058,10 +1212,25 @@ static int adis16480_probe(struct spi_device *spi)
> if (ret)
> return ret;
>
> - ret = adis_setup_buffer_and_trigger(&st->adis, indio_dev, NULL);
> + ret = adis16480_get_ext_clocks(st);
> if (ret)
> return ret;
>
> + if (!IS_ERR_OR_NULL(st->ext_clk)) {
> + ret = adis16480_ext_clk_config(st, spi->dev.of_node, true);
> + if (ret)
> + return ret;
> +
> + st->clk_freq = clk_get_rate(st->ext_clk);
> + st->clk_freq *= 1000; /* micro */
> + } else {
> + st->clk_freq = st->chip_info->int_clk;
> + }
> +
> + ret = adis_setup_buffer_and_trigger(&st->adis, indio_dev, NULL);
> + if (ret)
> + goto error_clk_disable_unprepare;
> +
> ret = adis16480_initial_setup(indio_dev);
> if (ret)
> goto error_cleanup_buffer;
> @@ -1078,6 +1247,8 @@ static int adis16480_probe(struct spi_device *spi)
> adis16480_stop_device(indio_dev);
> error_cleanup_buffer:
> adis_cleanup_buffer_and_trigger(&st->adis, indio_dev);
> +error_clk_disable_unprepare:
> + clk_disable_unprepare(st->ext_clk);
> return ret;
> }
>
> @@ -1090,6 +1261,7 @@ static int adis16480_remove(struct spi_device *spi)
> adis16480_stop_device(indio_dev);
>
> adis_cleanup_buffer_and_trigger(&st->adis, indio_dev);
> + clk_disable_unprepare(st->ext_clk);
>
> return 0;
> }