#
# When adding new entries keep the list in alphabetical order
-adis16400-y := adis16400_core.o
obj-$(CONFIG_ADIS16400) += adis16400.o
obj-$(CONFIG_ADIS16480) += adis16480.o
--- /dev/null
+/*
+ * adis16400.c support Analog Devices ADIS16400/5
+ * 3d 2g Linear Accelerometers,
+ * 3d Gyroscopes,
+ * 3d Magnetometers via SPI
+ *
+ * Copyright (c) 2009 Manuel Stahl <manuel.stahl@iis.fraunhofer.de>
+ * Copyright (c) 2007 Jonathan Cameron <jic23@kernel.org>
+ * Copyright (c) 2011 Analog Devices Inc.
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
+ *
+ */
+
+#include <linux/interrupt.h>
+#include <linux/irq.h>
+#include <linux/delay.h>
+#include <linux/mutex.h>
+#include <linux/device.h>
+#include <linux/kernel.h>
+#include <linux/spi/spi.h>
+#include <linux/slab.h>
+#include <linux/sysfs.h>
+#include <linux/list.h>
+#include <linux/module.h>
+#include <linux/debugfs.h>
+#include <linux/bitops.h>
+
+#include <linux/iio/iio.h>
+#include <linux/iio/sysfs.h>
+#include <linux/iio/buffer.h>
+#include <linux/iio/trigger_consumer.h>
+
+#include "adis16400.h"
+
+#ifdef CONFIG_DEBUG_FS
+
+static ssize_t adis16400_show_serial_number(struct file *file,
+ char __user *userbuf, size_t count, loff_t *ppos)
+{
+ struct adis16400_state *st = file->private_data;
+ u16 lot1, lot2, serial_number;
+ char buf[16];
+ size_t len;
+ int ret;
+
+ ret = adis_read_reg_16(&st->adis, ADIS16334_LOT_ID1, &lot1);
+ if (ret < 0)
+ return ret;
+
+ ret = adis_read_reg_16(&st->adis, ADIS16334_LOT_ID2, &lot2);
+ if (ret < 0)
+ return ret;
+
+ ret = adis_read_reg_16(&st->adis, ADIS16334_SERIAL_NUMBER,
+ &serial_number);
+ if (ret < 0)
+ return ret;
+
+ len = snprintf(buf, sizeof(buf), "%.4x-%.4x-%.4x\n", lot1, lot2,
+ serial_number);
+
+ return simple_read_from_buffer(userbuf, count, ppos, buf, len);
+}
+
+static const struct file_operations adis16400_serial_number_fops = {
+ .open = simple_open,
+ .read = adis16400_show_serial_number,
+ .llseek = default_llseek,
+ .owner = THIS_MODULE,
+};
+
+static int adis16400_show_product_id(void *arg, u64 *val)
+{
+ struct adis16400_state *st = arg;
+ uint16_t prod_id;
+ int ret;
+
+ ret = adis_read_reg_16(&st->adis, ADIS16400_PRODUCT_ID, &prod_id);
+ if (ret < 0)
+ return ret;
+
+ *val = prod_id;
+
+ return 0;
+}
+DEFINE_SIMPLE_ATTRIBUTE(adis16400_product_id_fops,
+ adis16400_show_product_id, NULL, "%lld\n");
+
+static int adis16400_show_flash_count(void *arg, u64 *val)
+{
+ struct adis16400_state *st = arg;
+ uint16_t flash_count;
+ int ret;
+
+ ret = adis_read_reg_16(&st->adis, ADIS16400_FLASH_CNT, &flash_count);
+ if (ret < 0)
+ return ret;
+
+ *val = flash_count;
+
+ return 0;
+}
+DEFINE_SIMPLE_ATTRIBUTE(adis16400_flash_count_fops,
+ adis16400_show_flash_count, NULL, "%lld\n");
+
+static int adis16400_debugfs_init(struct iio_dev *indio_dev)
+{
+ struct adis16400_state *st = iio_priv(indio_dev);
+
+ if (st->variant->flags & ADIS16400_HAS_SERIAL_NUMBER)
+ debugfs_create_file("serial_number", 0400,
+ indio_dev->debugfs_dentry, st,
+ &adis16400_serial_number_fops);
+ if (st->variant->flags & ADIS16400_HAS_PROD_ID)
+ debugfs_create_file("product_id", 0400,
+ indio_dev->debugfs_dentry, st,
+ &adis16400_product_id_fops);
+ debugfs_create_file("flash_count", 0400, indio_dev->debugfs_dentry,
+ st, &adis16400_flash_count_fops);
+
+ return 0;
+}
+
+#else
+
+static int adis16400_debugfs_init(struct iio_dev *indio_dev)
+{
+ return 0;
+}
+
+#endif
+
+enum adis16400_chip_variant {
+ ADIS16300,
+ ADIS16334,
+ ADIS16350,
+ ADIS16360,
+ ADIS16362,
+ ADIS16364,
+ ADIS16367,
+ ADIS16400,
+ ADIS16445,
+ ADIS16448,
+};
+
+static struct adis_burst adis16400_burst = {
+ .en = true,
+ .reg_cmd = ADIS16400_GLOB_CMD,
+};
+
+static int adis16334_get_freq(struct adis16400_state *st)
+{
+ int ret;
+ uint16_t t;
+
+ ret = adis_read_reg_16(&st->adis, ADIS16400_SMPL_PRD, &t);
+ if (ret < 0)
+ return ret;
+
+ t >>= ADIS16334_RATE_DIV_SHIFT;
+
+ return 819200 >> t;
+}
+
+static int adis16334_set_freq(struct adis16400_state *st, unsigned int freq)
+{
+ unsigned int t;
+
+ if (freq < 819200)
+ t = ilog2(819200 / freq);
+ else
+ t = 0;
+
+ if (t > 0x31)
+ t = 0x31;
+
+ t <<= ADIS16334_RATE_DIV_SHIFT;
+ t |= ADIS16334_RATE_INT_CLK;
+
+ return adis_write_reg_16(&st->adis, ADIS16400_SMPL_PRD, t);
+}
+
+static int adis16400_get_freq(struct adis16400_state *st)
+{
+ int sps, ret;
+ uint16_t t;
+
+ ret = adis_read_reg_16(&st->adis, ADIS16400_SMPL_PRD, &t);
+ if (ret < 0)
+ return ret;
+
+ sps = (t & ADIS16400_SMPL_PRD_TIME_BASE) ? 52851 : 1638404;
+ sps /= (t & ADIS16400_SMPL_PRD_DIV_MASK) + 1;
+
+ return sps;
+}
+
+static int adis16400_set_freq(struct adis16400_state *st, unsigned int freq)
+{
+ unsigned int t;
+ uint8_t val = 0;
+
+ t = 1638404 / freq;
+ if (t >= 128) {
+ val |= ADIS16400_SMPL_PRD_TIME_BASE;
+ t = 52851 / freq;
+ if (t >= 128)
+ t = 127;
+ } else if (t != 0) {
+ t--;
+ }
+
+ val |= t;
+
+ if (t >= 0x0A || (val & ADIS16400_SMPL_PRD_TIME_BASE))
+ st->adis.spi->max_speed_hz = ADIS16400_SPI_SLOW;
+ else
+ st->adis.spi->max_speed_hz = ADIS16400_SPI_FAST;
+
+ return adis_write_reg_8(&st->adis, ADIS16400_SMPL_PRD, val);
+}
+
+static const unsigned int adis16400_3db_divisors[] = {
+ [0] = 2, /* Special case */
+ [1] = 6,
+ [2] = 12,
+ [3] = 25,
+ [4] = 50,
+ [5] = 100,
+ [6] = 200,
+ [7] = 200, /* Not a valid setting */
+};
+
+static int adis16400_set_filter(struct iio_dev *indio_dev, int sps, int val)
+{
+ struct adis16400_state *st = iio_priv(indio_dev);
+ uint16_t val16;
+ int i, ret;
+
+ for (i = ARRAY_SIZE(adis16400_3db_divisors) - 1; i >= 1; i--) {
+ if (sps / adis16400_3db_divisors[i] >= val)
+ break;
+ }
+
+ ret = adis_read_reg_16(&st->adis, ADIS16400_SENS_AVG, &val16);
+ if (ret < 0)
+ return ret;
+
+ ret = adis_write_reg_16(&st->adis, ADIS16400_SENS_AVG,
+ (val16 & ~0x07) | i);
+ return ret;
+}
+
+/* Power down the device */
+static int adis16400_stop_device(struct iio_dev *indio_dev)
+{
+ struct adis16400_state *st = iio_priv(indio_dev);
+ int ret;
+
+ ret = adis_write_reg_16(&st->adis, ADIS16400_SLP_CNT,
+ ADIS16400_SLP_CNT_POWER_OFF);
+ if (ret)
+ dev_err(&indio_dev->dev,
+ "problem with turning device off: SLP_CNT");
+
+ return ret;
+}
+
+static int adis16400_initial_setup(struct iio_dev *indio_dev)
+{
+ struct adis16400_state *st = iio_priv(indio_dev);
+ uint16_t prod_id, smp_prd;
+ unsigned int device_id;
+ int ret;
+
+ /* use low spi speed for init if the device has a slow mode */
+ if (st->variant->flags & ADIS16400_HAS_SLOW_MODE)
+ st->adis.spi->max_speed_hz = ADIS16400_SPI_SLOW;
+ else
+ st->adis.spi->max_speed_hz = ADIS16400_SPI_FAST;
+ st->adis.spi->mode = SPI_MODE_3;
+ spi_setup(st->adis.spi);
+
+ ret = adis_initial_startup(&st->adis);
+ if (ret)
+ return ret;
+
+ if (st->variant->flags & ADIS16400_HAS_PROD_ID) {
+ ret = adis_read_reg_16(&st->adis,
+ ADIS16400_PRODUCT_ID, &prod_id);
+ if (ret)
+ goto err_ret;
+
+ ret = sscanf(indio_dev->name, "adis%u\n", &device_id);
+ if (ret != 1) {
+ ret = -EINVAL;
+ goto err_ret;
+ }
+
+ if (prod_id != device_id)
+ dev_warn(&indio_dev->dev, "Device ID(%u) and product ID(%u) do not match.",
+ device_id, prod_id);
+
+ dev_info(&indio_dev->dev, "%s: prod_id 0x%04x at CS%d (irq %d)\n",
+ indio_dev->name, prod_id,
+ st->adis.spi->chip_select, st->adis.spi->irq);
+ }
+ /* use high spi speed if possible */
+ if (st->variant->flags & ADIS16400_HAS_SLOW_MODE) {
+ ret = adis_read_reg_16(&st->adis, ADIS16400_SMPL_PRD, &smp_prd);
+ if (ret)
+ goto err_ret;
+
+ if ((smp_prd & ADIS16400_SMPL_PRD_DIV_MASK) < 0x0A) {
+ st->adis.spi->max_speed_hz = ADIS16400_SPI_FAST;
+ spi_setup(st->adis.spi);
+ }
+ }
+
+err_ret:
+ return ret;
+}
+
+static const uint8_t adis16400_addresses[] = {
+ [ADIS16400_SCAN_GYRO_X] = ADIS16400_XGYRO_OFF,
+ [ADIS16400_SCAN_GYRO_Y] = ADIS16400_YGYRO_OFF,
+ [ADIS16400_SCAN_GYRO_Z] = ADIS16400_ZGYRO_OFF,
+ [ADIS16400_SCAN_ACC_X] = ADIS16400_XACCL_OFF,
+ [ADIS16400_SCAN_ACC_Y] = ADIS16400_YACCL_OFF,
+ [ADIS16400_SCAN_ACC_Z] = ADIS16400_ZACCL_OFF,
+};
+
+static int adis16400_write_raw(struct iio_dev *indio_dev,
+ struct iio_chan_spec const *chan, int val, int val2, long info)
+{
+ struct adis16400_state *st = iio_priv(indio_dev);
+ int ret, sps;
+
+ switch (info) {
+ case IIO_CHAN_INFO_CALIBBIAS:
+ mutex_lock(&indio_dev->mlock);
+ ret = adis_write_reg_16(&st->adis,
+ adis16400_addresses[chan->scan_index], val);
+ mutex_unlock(&indio_dev->mlock);
+ return ret;
+ case IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY:
+ /*
+ * Need to cache values so we can update if the frequency
+ * changes.
+ */
+ mutex_lock(&indio_dev->mlock);
+ st->filt_int = val;
+ /* Work out update to current value */
+ sps = st->variant->get_freq(st);
+ if (sps < 0) {
+ mutex_unlock(&indio_dev->mlock);
+ return sps;
+ }
+
+ ret = adis16400_set_filter(indio_dev, sps,
+ val * 1000 + val2 / 1000);
+ mutex_unlock(&indio_dev->mlock);
+ return ret;
+ case IIO_CHAN_INFO_SAMP_FREQ:
+ sps = val * 1000 + val2 / 1000;
+
+ if (sps <= 0)
+ return -EINVAL;
+
+ mutex_lock(&indio_dev->mlock);
+ ret = st->variant->set_freq(st, sps);
+ mutex_unlock(&indio_dev->mlock);
+ return ret;
+ default:
+ return -EINVAL;
+ }
+}
+
+static int adis16400_read_raw(struct iio_dev *indio_dev,
+ struct iio_chan_spec const *chan, int *val, int *val2, long info)
+{
+ struct adis16400_state *st = iio_priv(indio_dev);
+ int16_t val16;
+ int ret;
+
+ switch (info) {
+ case IIO_CHAN_INFO_RAW:
+ return adis_single_conversion(indio_dev, chan, 0, val);
+ case IIO_CHAN_INFO_SCALE:
+ switch (chan->type) {
+ case IIO_ANGL_VEL:
+ *val = 0;
+ *val2 = st->variant->gyro_scale_micro;
+ return IIO_VAL_INT_PLUS_MICRO;
+ case IIO_VOLTAGE:
+ *val = 0;
+ if (chan->channel == 0) {
+ *val = 2;
+ *val2 = 418000; /* 2.418 mV */
+ } else {
+ *val = 0;
+ *val2 = 805800; /* 805.8 uV */
+ }
+ return IIO_VAL_INT_PLUS_MICRO;
+ case IIO_ACCEL:
+ *val = 0;
+ *val2 = st->variant->accel_scale_micro;
+ return IIO_VAL_INT_PLUS_MICRO;
+ case IIO_MAGN:
+ *val = 0;
+ *val2 = 500; /* 0.5 mgauss */
+ return IIO_VAL_INT_PLUS_MICRO;
+ case IIO_TEMP:
+ *val = st->variant->temp_scale_nano / 1000000;
+ *val2 = (st->variant->temp_scale_nano % 1000000);
+ return IIO_VAL_INT_PLUS_MICRO;
+ case IIO_PRESSURE:
+ /* 20 uBar = 0.002kPascal */
+ *val = 0;
+ *val2 = 2000;
+ return IIO_VAL_INT_PLUS_MICRO;
+ default:
+ return -EINVAL;
+ }
+ case IIO_CHAN_INFO_CALIBBIAS:
+ mutex_lock(&indio_dev->mlock);
+ ret = adis_read_reg_16(&st->adis,
+ adis16400_addresses[chan->scan_index], &val16);
+ mutex_unlock(&indio_dev->mlock);
+ if (ret)
+ return ret;
+ val16 = sign_extend32(val16, 11);
+ *val = val16;
+ return IIO_VAL_INT;
+ case IIO_CHAN_INFO_OFFSET:
+ /* currently only temperature */
+ *val = st->variant->temp_offset;
+ return IIO_VAL_INT;
+ case IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY:
+ mutex_lock(&indio_dev->mlock);
+ /* Need both the number of taps and the sampling frequency */
+ ret = adis_read_reg_16(&st->adis,
+ ADIS16400_SENS_AVG,
+ &val16);
+ if (ret < 0) {
+ mutex_unlock(&indio_dev->mlock);
+ return ret;
+ }
+ ret = st->variant->get_freq(st);
+ if (ret >= 0) {
+ ret /= adis16400_3db_divisors[val16 & 0x07];
+ *val = ret / 1000;
+ *val2 = (ret % 1000) * 1000;
+ }
+ mutex_unlock(&indio_dev->mlock);
+ if (ret < 0)
+ return ret;
+ return IIO_VAL_INT_PLUS_MICRO;
+ case IIO_CHAN_INFO_SAMP_FREQ:
+ ret = st->variant->get_freq(st);
+ if (ret < 0)
+ return ret;
+ *val = ret / 1000;
+ *val2 = (ret % 1000) * 1000;
+ return IIO_VAL_INT_PLUS_MICRO;
+ default:
+ return -EINVAL;
+ }
+}
+
+#if IS_ENABLED(CONFIG_IIO_BUFFER)
+static irqreturn_t adis16400_trigger_handler(int irq, void *p)
+{
+ struct iio_poll_func *pf = p;
+ struct iio_dev *indio_dev = pf->indio_dev;
+ struct adis16400_state *st = iio_priv(indio_dev);
+ struct adis *adis = &st->adis;
+ u32 old_speed_hz = st->adis.spi->max_speed_hz;
+ void *buffer;
+ int ret;
+
+ if (!adis->buffer)
+ return -ENOMEM;
+
+ if (!(st->variant->flags & ADIS16400_NO_BURST) &&
+ st->adis.spi->max_speed_hz > ADIS16400_SPI_BURST) {
+ st->adis.spi->max_speed_hz = ADIS16400_SPI_BURST;
+ spi_setup(st->adis.spi);
+ }
+
+ ret = spi_sync(adis->spi, &adis->msg);
+ if (ret)
+ dev_err(&adis->spi->dev, "Failed to read data: %d\n", ret);
+
+ if (!(st->variant->flags & ADIS16400_NO_BURST)) {
+ st->adis.spi->max_speed_hz = old_speed_hz;
+ spi_setup(st->adis.spi);
+ }
+
+ if (st->variant->flags & ADIS16400_BURST_DIAG_STAT)
+ buffer = adis->buffer + sizeof(u16);
+ else
+ buffer = adis->buffer;
+
+ iio_push_to_buffers_with_timestamp(indio_dev, buffer,
+ pf->timestamp);
+
+ iio_trigger_notify_done(indio_dev->trig);
+
+ return IRQ_HANDLED;
+}
+#else
+#define adis16400_trigger_handler NULL
+#endif /* IS_ENABLED(CONFIG_IIO_BUFFER) */
+
+#define ADIS16400_VOLTAGE_CHAN(addr, bits, name, si, chn) { \
+ .type = IIO_VOLTAGE, \
+ .indexed = 1, \
+ .channel = chn, \
+ .extend_name = name, \
+ .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \
+ BIT(IIO_CHAN_INFO_SCALE), \
+ .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
+ .address = (addr), \
+ .scan_index = (si), \
+ .scan_type = { \
+ .sign = 'u', \
+ .realbits = (bits), \
+ .storagebits = 16, \
+ .shift = 0, \
+ .endianness = IIO_BE, \
+ }, \
+}
+
+#define ADIS16400_SUPPLY_CHAN(addr, bits) \
+ ADIS16400_VOLTAGE_CHAN(addr, bits, "supply", ADIS16400_SCAN_SUPPLY, 0)
+
+#define ADIS16400_AUX_ADC_CHAN(addr, bits) \
+ ADIS16400_VOLTAGE_CHAN(addr, bits, NULL, ADIS16400_SCAN_ADC, 1)
+
+#define ADIS16400_GYRO_CHAN(mod, addr, bits) { \
+ .type = IIO_ANGL_VEL, \
+ .modified = 1, \
+ .channel2 = IIO_MOD_ ## mod, \
+ .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \
+ BIT(IIO_CHAN_INFO_CALIBBIAS), \
+ .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE) | \
+ BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY), \
+ .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
+ .address = addr, \
+ .scan_index = ADIS16400_SCAN_GYRO_ ## mod, \
+ .scan_type = { \
+ .sign = 's', \
+ .realbits = (bits), \
+ .storagebits = 16, \
+ .shift = 0, \
+ .endianness = IIO_BE, \
+ }, \
+}
+
+#define ADIS16400_ACCEL_CHAN(mod, addr, bits) { \
+ .type = IIO_ACCEL, \
+ .modified = 1, \
+ .channel2 = IIO_MOD_ ## mod, \
+ .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \
+ BIT(IIO_CHAN_INFO_CALIBBIAS), \
+ .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE) | \
+ BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY), \
+ .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
+ .address = (addr), \
+ .scan_index = ADIS16400_SCAN_ACC_ ## mod, \
+ .scan_type = { \
+ .sign = 's', \
+ .realbits = (bits), \
+ .storagebits = 16, \
+ .shift = 0, \
+ .endianness = IIO_BE, \
+ }, \
+}
+
+#define ADIS16400_MAGN_CHAN(mod, addr, bits) { \
+ .type = IIO_MAGN, \
+ .modified = 1, \
+ .channel2 = IIO_MOD_ ## mod, \
+ .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), \
+ .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
+ .address = (addr), \
+ .scan_index = ADIS16400_SCAN_MAGN_ ## mod, \
+ .scan_type = { \
+ .sign = 's', \
+ .realbits = (bits), \
+ .storagebits = 16, \
+ .shift = 0, \
+ .endianness = IIO_BE, \
+ }, \
+}
+
+#define ADIS16400_MOD_TEMP_NAME_X "x"
+#define ADIS16400_MOD_TEMP_NAME_Y "y"
+#define ADIS16400_MOD_TEMP_NAME_Z "z"
+
+#define ADIS16400_MOD_TEMP_CHAN(mod, addr, bits) { \
+ .type = IIO_TEMP, \
+ .indexed = 1, \
+ .channel = 0, \
+ .extend_name = ADIS16400_MOD_TEMP_NAME_ ## mod, \
+ .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \
+ BIT(IIO_CHAN_INFO_OFFSET) | \
+ BIT(IIO_CHAN_INFO_SCALE), \
+ .info_mask_shared_by_type = \
+ BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY), \
+ .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
+ .address = (addr), \
+ .scan_index = ADIS16350_SCAN_TEMP_ ## mod, \
+ .scan_type = { \
+ .sign = 's', \
+ .realbits = (bits), \
+ .storagebits = 16, \
+ .shift = 0, \
+ .endianness = IIO_BE, \
+ }, \
+}
+
+#define ADIS16400_TEMP_CHAN(addr, bits) { \
+ .type = IIO_TEMP, \
+ .indexed = 1, \
+ .channel = 0, \
+ .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \
+ BIT(IIO_CHAN_INFO_OFFSET) | \
+ BIT(IIO_CHAN_INFO_SCALE), \
+ .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
+ .address = (addr), \
+ .scan_index = ADIS16350_SCAN_TEMP_X, \
+ .scan_type = { \
+ .sign = 's', \
+ .realbits = (bits), \
+ .storagebits = 16, \
+ .shift = 0, \
+ .endianness = IIO_BE, \
+ }, \
+}
+
+#define ADIS16400_INCLI_CHAN(mod, addr, bits) { \
+ .type = IIO_INCLI, \
+ .modified = 1, \
+ .channel2 = IIO_MOD_ ## mod, \
+ .info_mask_separate = BIT(IIO_CHAN_INFO_RAW), \
+ .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE), \
+ .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
+ .address = (addr), \
+ .scan_index = ADIS16300_SCAN_INCLI_ ## mod, \
+ .scan_type = { \
+ .sign = 's', \
+ .realbits = (bits), \
+ .storagebits = 16, \
+ .shift = 0, \
+ .endianness = IIO_BE, \
+ }, \
+}
+
+static const struct iio_chan_spec adis16400_channels[] = {
+ ADIS16400_SUPPLY_CHAN(ADIS16400_SUPPLY_OUT, 14),
+ ADIS16400_GYRO_CHAN(X, ADIS16400_XGYRO_OUT, 14),
+ ADIS16400_GYRO_CHAN(Y, ADIS16400_YGYRO_OUT, 14),
+ ADIS16400_GYRO_CHAN(Z, ADIS16400_ZGYRO_OUT, 14),
+ ADIS16400_ACCEL_CHAN(X, ADIS16400_XACCL_OUT, 14),
+ ADIS16400_ACCEL_CHAN(Y, ADIS16400_YACCL_OUT, 14),
+ ADIS16400_ACCEL_CHAN(Z, ADIS16400_ZACCL_OUT, 14),
+ ADIS16400_MAGN_CHAN(X, ADIS16400_XMAGN_OUT, 14),
+ ADIS16400_MAGN_CHAN(Y, ADIS16400_YMAGN_OUT, 14),
+ ADIS16400_MAGN_CHAN(Z, ADIS16400_ZMAGN_OUT, 14),
+ ADIS16400_TEMP_CHAN(ADIS16400_TEMP_OUT, 12),
+ ADIS16400_AUX_ADC_CHAN(ADIS16400_AUX_ADC, 12),
+ IIO_CHAN_SOFT_TIMESTAMP(ADIS16400_SCAN_TIMESTAMP),
+};
+
+static const struct iio_chan_spec adis16445_channels[] = {
+ ADIS16400_GYRO_CHAN(X, ADIS16400_XGYRO_OUT, 16),
+ ADIS16400_GYRO_CHAN(Y, ADIS16400_YGYRO_OUT, 16),
+ ADIS16400_GYRO_CHAN(Z, ADIS16400_ZGYRO_OUT, 16),
+ ADIS16400_ACCEL_CHAN(X, ADIS16400_XACCL_OUT, 16),
+ ADIS16400_ACCEL_CHAN(Y, ADIS16400_YACCL_OUT, 16),
+ ADIS16400_ACCEL_CHAN(Z, ADIS16400_ZACCL_OUT, 16),
+ ADIS16400_TEMP_CHAN(ADIS16448_TEMP_OUT, 12),
+ IIO_CHAN_SOFT_TIMESTAMP(ADIS16400_SCAN_TIMESTAMP),
+};
+
+static const struct iio_chan_spec adis16448_channels[] = {
+ ADIS16400_GYRO_CHAN(X, ADIS16400_XGYRO_OUT, 16),
+ ADIS16400_GYRO_CHAN(Y, ADIS16400_YGYRO_OUT, 16),
+ ADIS16400_GYRO_CHAN(Z, ADIS16400_ZGYRO_OUT, 16),
+ ADIS16400_ACCEL_CHAN(X, ADIS16400_XACCL_OUT, 16),
+ ADIS16400_ACCEL_CHAN(Y, ADIS16400_YACCL_OUT, 16),
+ ADIS16400_ACCEL_CHAN(Z, ADIS16400_ZACCL_OUT, 16),
+ ADIS16400_MAGN_CHAN(X, ADIS16400_XMAGN_OUT, 16),
+ ADIS16400_MAGN_CHAN(Y, ADIS16400_YMAGN_OUT, 16),
+ ADIS16400_MAGN_CHAN(Z, ADIS16400_ZMAGN_OUT, 16),
+ {
+ .type = IIO_PRESSURE,
+ .info_mask_separate = BIT(IIO_CHAN_INFO_RAW),
+ .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE),
+ .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ),
+ .address = ADIS16448_BARO_OUT,
+ .scan_index = ADIS16400_SCAN_BARO,
+ .scan_type = {
+ .sign = 's',
+ .realbits = 16,
+ .storagebits = 16,
+ .endianness = IIO_BE,
+ },
+ },
+ ADIS16400_TEMP_CHAN(ADIS16448_TEMP_OUT, 12),
+ IIO_CHAN_SOFT_TIMESTAMP(ADIS16400_SCAN_TIMESTAMP),
+};
+
+static const struct iio_chan_spec adis16350_channels[] = {
+ ADIS16400_SUPPLY_CHAN(ADIS16400_SUPPLY_OUT, 12),
+ ADIS16400_GYRO_CHAN(X, ADIS16400_XGYRO_OUT, 14),
+ ADIS16400_GYRO_CHAN(Y, ADIS16400_YGYRO_OUT, 14),
+ ADIS16400_GYRO_CHAN(Z, ADIS16400_ZGYRO_OUT, 14),
+ ADIS16400_ACCEL_CHAN(X, ADIS16400_XACCL_OUT, 14),
+ ADIS16400_ACCEL_CHAN(Y, ADIS16400_YACCL_OUT, 14),
+ ADIS16400_ACCEL_CHAN(Z, ADIS16400_ZACCL_OUT, 14),
+ ADIS16400_MAGN_CHAN(X, ADIS16400_XMAGN_OUT, 14),
+ ADIS16400_MAGN_CHAN(Y, ADIS16400_YMAGN_OUT, 14),
+ ADIS16400_MAGN_CHAN(Z, ADIS16400_ZMAGN_OUT, 14),
+ ADIS16400_AUX_ADC_CHAN(ADIS16300_AUX_ADC, 12),
+ ADIS16400_MOD_TEMP_CHAN(X, ADIS16350_XTEMP_OUT, 12),
+ ADIS16400_MOD_TEMP_CHAN(Y, ADIS16350_YTEMP_OUT, 12),
+ ADIS16400_MOD_TEMP_CHAN(Z, ADIS16350_ZTEMP_OUT, 12),
+ IIO_CHAN_SOFT_TIMESTAMP(ADIS16400_SCAN_TIMESTAMP),
+};
+
+static const struct iio_chan_spec adis16300_channels[] = {
+ ADIS16400_SUPPLY_CHAN(ADIS16400_SUPPLY_OUT, 12),
+ ADIS16400_GYRO_CHAN(X, ADIS16400_XGYRO_OUT, 14),
+ ADIS16400_ACCEL_CHAN(X, ADIS16400_XACCL_OUT, 14),
+ ADIS16400_ACCEL_CHAN(Y, ADIS16400_YACCL_OUT, 14),
+ ADIS16400_ACCEL_CHAN(Z, ADIS16400_ZACCL_OUT, 14),
+ ADIS16400_TEMP_CHAN(ADIS16350_XTEMP_OUT, 12),
+ ADIS16400_AUX_ADC_CHAN(ADIS16300_AUX_ADC, 12),
+ ADIS16400_INCLI_CHAN(X, ADIS16300_PITCH_OUT, 13),
+ ADIS16400_INCLI_CHAN(Y, ADIS16300_ROLL_OUT, 13),
+ IIO_CHAN_SOFT_TIMESTAMP(ADIS16400_SCAN_TIMESTAMP),
+};
+
+static const struct iio_chan_spec adis16334_channels[] = {
+ ADIS16400_GYRO_CHAN(X, ADIS16400_XGYRO_OUT, 14),
+ ADIS16400_GYRO_CHAN(Y, ADIS16400_YGYRO_OUT, 14),
+ ADIS16400_GYRO_CHAN(Z, ADIS16400_ZGYRO_OUT, 14),
+ ADIS16400_ACCEL_CHAN(X, ADIS16400_XACCL_OUT, 14),
+ ADIS16400_ACCEL_CHAN(Y, ADIS16400_YACCL_OUT, 14),
+ ADIS16400_ACCEL_CHAN(Z, ADIS16400_ZACCL_OUT, 14),
+ ADIS16400_TEMP_CHAN(ADIS16350_XTEMP_OUT, 12),
+ IIO_CHAN_SOFT_TIMESTAMP(ADIS16400_SCAN_TIMESTAMP),
+};
+
+static struct adis16400_chip_info adis16400_chips[] = {
+ [ADIS16300] = {
+ .channels = adis16300_channels,
+ .num_channels = ARRAY_SIZE(adis16300_channels),
+ .flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE |
+ ADIS16400_HAS_SERIAL_NUMBER,
+ .gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */
+ .accel_scale_micro = 5884,
+ .temp_scale_nano = 140000000, /* 0.14 C */
+ .temp_offset = 25000000 / 140000, /* 25 C = 0x00 */
+ .set_freq = adis16400_set_freq,
+ .get_freq = adis16400_get_freq,
+ },
+ [ADIS16334] = {
+ .channels = adis16334_channels,
+ .num_channels = ARRAY_SIZE(adis16334_channels),
+ .flags = ADIS16400_HAS_PROD_ID | ADIS16400_NO_BURST |
+ ADIS16400_HAS_SERIAL_NUMBER,
+ .gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */
+ .accel_scale_micro = IIO_G_TO_M_S_2(1000), /* 1 mg */
+ .temp_scale_nano = 67850000, /* 0.06785 C */
+ .temp_offset = 25000000 / 67850, /* 25 C = 0x00 */
+ .set_freq = adis16334_set_freq,
+ .get_freq = adis16334_get_freq,
+ },
+ [ADIS16350] = {
+ .channels = adis16350_channels,
+ .num_channels = ARRAY_SIZE(adis16350_channels),
+ .gyro_scale_micro = IIO_DEGREE_TO_RAD(73260), /* 0.07326 deg/s */
+ .accel_scale_micro = IIO_G_TO_M_S_2(2522), /* 0.002522 g */
+ .temp_scale_nano = 145300000, /* 0.1453 C */
+ .temp_offset = 25000000 / 145300, /* 25 C = 0x00 */
+ .flags = ADIS16400_NO_BURST | ADIS16400_HAS_SLOW_MODE,
+ .set_freq = adis16400_set_freq,
+ .get_freq = adis16400_get_freq,
+ },
+ [ADIS16360] = {
+ .channels = adis16350_channels,
+ .num_channels = ARRAY_SIZE(adis16350_channels),
+ .flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE |
+ ADIS16400_HAS_SERIAL_NUMBER,
+ .gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */
+ .accel_scale_micro = IIO_G_TO_M_S_2(3333), /* 3.333 mg */
+ .temp_scale_nano = 136000000, /* 0.136 C */
+ .temp_offset = 25000000 / 136000, /* 25 C = 0x00 */
+ .set_freq = adis16400_set_freq,
+ .get_freq = adis16400_get_freq,
+ },
+ [ADIS16362] = {
+ .channels = adis16350_channels,
+ .num_channels = ARRAY_SIZE(adis16350_channels),
+ .flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE |
+ ADIS16400_HAS_SERIAL_NUMBER,
+ .gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */
+ .accel_scale_micro = IIO_G_TO_M_S_2(333), /* 0.333 mg */
+ .temp_scale_nano = 136000000, /* 0.136 C */
+ .temp_offset = 25000000 / 136000, /* 25 C = 0x00 */
+ .set_freq = adis16400_set_freq,
+ .get_freq = adis16400_get_freq,
+ },
+ [ADIS16364] = {
+ .channels = adis16350_channels,
+ .num_channels = ARRAY_SIZE(adis16350_channels),
+ .flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE |
+ ADIS16400_HAS_SERIAL_NUMBER,
+ .gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */
+ .accel_scale_micro = IIO_G_TO_M_S_2(1000), /* 1 mg */
+ .temp_scale_nano = 136000000, /* 0.136 C */
+ .temp_offset = 25000000 / 136000, /* 25 C = 0x00 */
+ .set_freq = adis16400_set_freq,
+ .get_freq = adis16400_get_freq,
+ },
+ [ADIS16367] = {
+ .channels = adis16350_channels,
+ .num_channels = ARRAY_SIZE(adis16350_channels),
+ .flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE |
+ ADIS16400_HAS_SERIAL_NUMBER,
+ .gyro_scale_micro = IIO_DEGREE_TO_RAD(2000), /* 0.2 deg/s */
+ .accel_scale_micro = IIO_G_TO_M_S_2(3333), /* 3.333 mg */
+ .temp_scale_nano = 136000000, /* 0.136 C */
+ .temp_offset = 25000000 / 136000, /* 25 C = 0x00 */
+ .set_freq = adis16400_set_freq,
+ .get_freq = adis16400_get_freq,
+ },
+ [ADIS16400] = {
+ .channels = adis16400_channels,
+ .num_channels = ARRAY_SIZE(adis16400_channels),
+ .flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE,
+ .gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */
+ .accel_scale_micro = IIO_G_TO_M_S_2(3333), /* 3.333 mg */
+ .temp_scale_nano = 140000000, /* 0.14 C */
+ .temp_offset = 25000000 / 140000, /* 25 C = 0x00 */
+ .set_freq = adis16400_set_freq,
+ .get_freq = adis16400_get_freq,
+ },
+ [ADIS16445] = {
+ .channels = adis16445_channels,
+ .num_channels = ARRAY_SIZE(adis16445_channels),
+ .flags = ADIS16400_HAS_PROD_ID |
+ ADIS16400_HAS_SERIAL_NUMBER |
+ ADIS16400_BURST_DIAG_STAT,
+ .gyro_scale_micro = IIO_DEGREE_TO_RAD(10000), /* 0.01 deg/s */
+ .accel_scale_micro = IIO_G_TO_M_S_2(250), /* 1/4000 g */
+ .temp_scale_nano = 73860000, /* 0.07386 C */
+ .temp_offset = 31000000 / 73860, /* 31 C = 0x00 */
+ .set_freq = adis16334_set_freq,
+ .get_freq = adis16334_get_freq,
+ },
+ [ADIS16448] = {
+ .channels = adis16448_channels,
+ .num_channels = ARRAY_SIZE(adis16448_channels),
+ .flags = ADIS16400_HAS_PROD_ID |
+ ADIS16400_HAS_SERIAL_NUMBER |
+ ADIS16400_BURST_DIAG_STAT,
+ .gyro_scale_micro = IIO_DEGREE_TO_RAD(40000), /* 0.04 deg/s */
+ .accel_scale_micro = IIO_G_TO_M_S_2(833), /* 1/1200 g */
+ .temp_scale_nano = 73860000, /* 0.07386 C */
+ .temp_offset = 31000000 / 73860, /* 31 C = 0x00 */
+ .set_freq = adis16334_set_freq,
+ .get_freq = adis16334_get_freq,
+ }
+};
+
+static const struct iio_info adis16400_info = {
+ .read_raw = &adis16400_read_raw,
+ .write_raw = &adis16400_write_raw,
+ .update_scan_mode = adis_update_scan_mode,
+ .debugfs_reg_access = adis_debugfs_reg_access,
+};
+
+static const char * const adis16400_status_error_msgs[] = {
+ [ADIS16400_DIAG_STAT_ZACCL_FAIL] = "Z-axis accelerometer self-test failure",
+ [ADIS16400_DIAG_STAT_YACCL_FAIL] = "Y-axis accelerometer self-test failure",
+ [ADIS16400_DIAG_STAT_XACCL_FAIL] = "X-axis accelerometer self-test failure",
+ [ADIS16400_DIAG_STAT_XGYRO_FAIL] = "X-axis gyroscope self-test failure",
+ [ADIS16400_DIAG_STAT_YGYRO_FAIL] = "Y-axis gyroscope self-test failure",
+ [ADIS16400_DIAG_STAT_ZGYRO_FAIL] = "Z-axis gyroscope self-test failure",
+ [ADIS16400_DIAG_STAT_ALARM2] = "Alarm 2 active",
+ [ADIS16400_DIAG_STAT_ALARM1] = "Alarm 1 active",
+ [ADIS16400_DIAG_STAT_FLASH_CHK] = "Flash checksum error",
+ [ADIS16400_DIAG_STAT_SELF_TEST] = "Self test error",
+ [ADIS16400_DIAG_STAT_OVERFLOW] = "Sensor overrange",
+ [ADIS16400_DIAG_STAT_SPI_FAIL] = "SPI failure",
+ [ADIS16400_DIAG_STAT_FLASH_UPT] = "Flash update failed",
+ [ADIS16400_DIAG_STAT_POWER_HIGH] = "Power supply above 5.25V",
+ [ADIS16400_DIAG_STAT_POWER_LOW] = "Power supply below 4.75V",
+};
+
+static const struct adis_data adis16400_data = {
+ .msc_ctrl_reg = ADIS16400_MSC_CTRL,
+ .glob_cmd_reg = ADIS16400_GLOB_CMD,
+ .diag_stat_reg = ADIS16400_DIAG_STAT,
+
+ .read_delay = 50,
+ .write_delay = 50,
+
+ .self_test_mask = ADIS16400_MSC_CTRL_MEM_TEST,
+ .startup_delay = ADIS16400_STARTUP_DELAY,
+
+ .status_error_msgs = adis16400_status_error_msgs,
+ .status_error_mask = BIT(ADIS16400_DIAG_STAT_ZACCL_FAIL) |
+ BIT(ADIS16400_DIAG_STAT_YACCL_FAIL) |
+ BIT(ADIS16400_DIAG_STAT_XACCL_FAIL) |
+ BIT(ADIS16400_DIAG_STAT_XGYRO_FAIL) |
+ BIT(ADIS16400_DIAG_STAT_YGYRO_FAIL) |
+ BIT(ADIS16400_DIAG_STAT_ZGYRO_FAIL) |
+ BIT(ADIS16400_DIAG_STAT_ALARM2) |
+ BIT(ADIS16400_DIAG_STAT_ALARM1) |
+ BIT(ADIS16400_DIAG_STAT_FLASH_CHK) |
+ BIT(ADIS16400_DIAG_STAT_SELF_TEST) |
+ BIT(ADIS16400_DIAG_STAT_OVERFLOW) |
+ BIT(ADIS16400_DIAG_STAT_SPI_FAIL) |
+ BIT(ADIS16400_DIAG_STAT_FLASH_UPT) |
+ BIT(ADIS16400_DIAG_STAT_POWER_HIGH) |
+ BIT(ADIS16400_DIAG_STAT_POWER_LOW),
+};
+
+static void adis16400_setup_chan_mask(struct adis16400_state *st)
+{
+ const struct adis16400_chip_info *chip_info = st->variant;
+ unsigned int i;
+
+ for (i = 0; i < chip_info->num_channels; i++) {
+ const struct iio_chan_spec *ch = &chip_info->channels[i];
+
+ if (ch->scan_index >= 0 &&
+ ch->scan_index != ADIS16400_SCAN_TIMESTAMP)
+ st->avail_scan_mask[0] |= BIT(ch->scan_index);
+ }
+}
+
+static int adis16400_probe(struct spi_device *spi)
+{
+ struct adis16400_state *st;
+ struct iio_dev *indio_dev;
+ int ret;
+
+ indio_dev = devm_iio_device_alloc(&spi->dev, sizeof(*st));
+ if (indio_dev == NULL)
+ return -ENOMEM;
+
+ st = iio_priv(indio_dev);
+ /* this is only used for removal purposes */
+ spi_set_drvdata(spi, indio_dev);
+
+ /* setup the industrialio driver allocated elements */
+ st->variant = &adis16400_chips[spi_get_device_id(spi)->driver_data];
+ indio_dev->dev.parent = &spi->dev;
+ indio_dev->name = spi_get_device_id(spi)->name;
+ indio_dev->channels = st->variant->channels;
+ indio_dev->num_channels = st->variant->num_channels;
+ indio_dev->info = &adis16400_info;
+ indio_dev->modes = INDIO_DIRECT_MODE;
+
+ if (!(st->variant->flags & ADIS16400_NO_BURST)) {
+ adis16400_setup_chan_mask(st);
+ indio_dev->available_scan_masks = st->avail_scan_mask;
+ st->adis.burst = &adis16400_burst;
+ if (st->variant->flags & ADIS16400_BURST_DIAG_STAT)
+ st->adis.burst->extra_len = sizeof(u16);
+ }
+
+ ret = adis_init(&st->adis, indio_dev, spi, &adis16400_data);
+ if (ret)
+ return ret;
+
+ ret = adis_setup_buffer_and_trigger(&st->adis, indio_dev,
+ adis16400_trigger_handler);
+ if (ret)
+ return ret;
+
+ /* Get the device into a sane initial state */
+ ret = adis16400_initial_setup(indio_dev);
+ if (ret)
+ goto error_cleanup_buffer;
+ ret = iio_device_register(indio_dev);
+ if (ret)
+ goto error_cleanup_buffer;
+
+ adis16400_debugfs_init(indio_dev);
+ return 0;
+
+error_cleanup_buffer:
+ adis_cleanup_buffer_and_trigger(&st->adis, indio_dev);
+ return ret;
+}
+
+static int adis16400_remove(struct spi_device *spi)
+{
+ struct iio_dev *indio_dev = spi_get_drvdata(spi);
+ struct adis16400_state *st = iio_priv(indio_dev);
+
+ iio_device_unregister(indio_dev);
+ adis16400_stop_device(indio_dev);
+
+ adis_cleanup_buffer_and_trigger(&st->adis, indio_dev);
+
+ return 0;
+}
+
+static const struct spi_device_id adis16400_id[] = {
+ {"adis16300", ADIS16300},
+ {"adis16305", ADIS16300},
+ {"adis16334", ADIS16334},
+ {"adis16350", ADIS16350},
+ {"adis16354", ADIS16350},
+ {"adis16355", ADIS16350},
+ {"adis16360", ADIS16360},
+ {"adis16362", ADIS16362},
+ {"adis16364", ADIS16364},
+ {"adis16365", ADIS16360},
+ {"adis16367", ADIS16367},
+ {"adis16400", ADIS16400},
+ {"adis16405", ADIS16400},
+ {"adis16445", ADIS16445},
+ {"adis16448", ADIS16448},
+ {}
+};
+MODULE_DEVICE_TABLE(spi, adis16400_id);
+
+static struct spi_driver adis16400_driver = {
+ .driver = {
+ .name = "adis16400",
+ },
+ .id_table = adis16400_id,
+ .probe = adis16400_probe,
+ .remove = adis16400_remove,
+};
+module_spi_driver(adis16400_driver);
+
+MODULE_AUTHOR("Manuel Stahl <manuel.stahl@iis.fraunhofer.de>");
+MODULE_DESCRIPTION("Analog Devices ADIS16400/5 IMU SPI driver");
+MODULE_LICENSE("GPL v2");
+++ /dev/null
-/*
- * adis16400.c support Analog Devices ADIS16400/5
- * 3d 2g Linear Accelerometers,
- * 3d Gyroscopes,
- * 3d Magnetometers via SPI
- *
- * Copyright (c) 2009 Manuel Stahl <manuel.stahl@iis.fraunhofer.de>
- * Copyright (c) 2007 Jonathan Cameron <jic23@kernel.org>
- * Copyright (c) 2011 Analog Devices Inc.
- *
- * This program is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License version 2 as
- * published by the Free Software Foundation.
- *
- */
-
-#include <linux/interrupt.h>
-#include <linux/irq.h>
-#include <linux/delay.h>
-#include <linux/mutex.h>
-#include <linux/device.h>
-#include <linux/kernel.h>
-#include <linux/spi/spi.h>
-#include <linux/slab.h>
-#include <linux/sysfs.h>
-#include <linux/list.h>
-#include <linux/module.h>
-#include <linux/debugfs.h>
-#include <linux/bitops.h>
-
-#include <linux/iio/iio.h>
-#include <linux/iio/sysfs.h>
-#include <linux/iio/buffer.h>
-#include <linux/iio/trigger_consumer.h>
-
-#include "adis16400.h"
-
-#ifdef CONFIG_DEBUG_FS
-
-static ssize_t adis16400_show_serial_number(struct file *file,
- char __user *userbuf, size_t count, loff_t *ppos)
-{
- struct adis16400_state *st = file->private_data;
- u16 lot1, lot2, serial_number;
- char buf[16];
- size_t len;
- int ret;
-
- ret = adis_read_reg_16(&st->adis, ADIS16334_LOT_ID1, &lot1);
- if (ret < 0)
- return ret;
-
- ret = adis_read_reg_16(&st->adis, ADIS16334_LOT_ID2, &lot2);
- if (ret < 0)
- return ret;
-
- ret = adis_read_reg_16(&st->adis, ADIS16334_SERIAL_NUMBER,
- &serial_number);
- if (ret < 0)
- return ret;
-
- len = snprintf(buf, sizeof(buf), "%.4x-%.4x-%.4x\n", lot1, lot2,
- serial_number);
-
- return simple_read_from_buffer(userbuf, count, ppos, buf, len);
-}
-
-static const struct file_operations adis16400_serial_number_fops = {
- .open = simple_open,
- .read = adis16400_show_serial_number,
- .llseek = default_llseek,
- .owner = THIS_MODULE,
-};
-
-static int adis16400_show_product_id(void *arg, u64 *val)
-{
- struct adis16400_state *st = arg;
- uint16_t prod_id;
- int ret;
-
- ret = adis_read_reg_16(&st->adis, ADIS16400_PRODUCT_ID, &prod_id);
- if (ret < 0)
- return ret;
-
- *val = prod_id;
-
- return 0;
-}
-DEFINE_SIMPLE_ATTRIBUTE(adis16400_product_id_fops,
- adis16400_show_product_id, NULL, "%lld\n");
-
-static int adis16400_show_flash_count(void *arg, u64 *val)
-{
- struct adis16400_state *st = arg;
- uint16_t flash_count;
- int ret;
-
- ret = adis_read_reg_16(&st->adis, ADIS16400_FLASH_CNT, &flash_count);
- if (ret < 0)
- return ret;
-
- *val = flash_count;
-
- return 0;
-}
-DEFINE_SIMPLE_ATTRIBUTE(adis16400_flash_count_fops,
- adis16400_show_flash_count, NULL, "%lld\n");
-
-static int adis16400_debugfs_init(struct iio_dev *indio_dev)
-{
- struct adis16400_state *st = iio_priv(indio_dev);
-
- if (st->variant->flags & ADIS16400_HAS_SERIAL_NUMBER)
- debugfs_create_file("serial_number", 0400,
- indio_dev->debugfs_dentry, st,
- &adis16400_serial_number_fops);
- if (st->variant->flags & ADIS16400_HAS_PROD_ID)
- debugfs_create_file("product_id", 0400,
- indio_dev->debugfs_dentry, st,
- &adis16400_product_id_fops);
- debugfs_create_file("flash_count", 0400, indio_dev->debugfs_dentry,
- st, &adis16400_flash_count_fops);
-
- return 0;
-}
-
-#else
-
-static int adis16400_debugfs_init(struct iio_dev *indio_dev)
-{
- return 0;
-}
-
-#endif
-
-enum adis16400_chip_variant {
- ADIS16300,
- ADIS16334,
- ADIS16350,
- ADIS16360,
- ADIS16362,
- ADIS16364,
- ADIS16367,
- ADIS16400,
- ADIS16445,
- ADIS16448,
-};
-
-static struct adis_burst adis16400_burst = {
- .en = true,
- .reg_cmd = ADIS16400_GLOB_CMD,
-};
-
-static int adis16334_get_freq(struct adis16400_state *st)
-{
- int ret;
- uint16_t t;
-
- ret = adis_read_reg_16(&st->adis, ADIS16400_SMPL_PRD, &t);
- if (ret < 0)
- return ret;
-
- t >>= ADIS16334_RATE_DIV_SHIFT;
-
- return 819200 >> t;
-}
-
-static int adis16334_set_freq(struct adis16400_state *st, unsigned int freq)
-{
- unsigned int t;
-
- if (freq < 819200)
- t = ilog2(819200 / freq);
- else
- t = 0;
-
- if (t > 0x31)
- t = 0x31;
-
- t <<= ADIS16334_RATE_DIV_SHIFT;
- t |= ADIS16334_RATE_INT_CLK;
-
- return adis_write_reg_16(&st->adis, ADIS16400_SMPL_PRD, t);
-}
-
-static int adis16400_get_freq(struct adis16400_state *st)
-{
- int sps, ret;
- uint16_t t;
-
- ret = adis_read_reg_16(&st->adis, ADIS16400_SMPL_PRD, &t);
- if (ret < 0)
- return ret;
-
- sps = (t & ADIS16400_SMPL_PRD_TIME_BASE) ? 52851 : 1638404;
- sps /= (t & ADIS16400_SMPL_PRD_DIV_MASK) + 1;
-
- return sps;
-}
-
-static int adis16400_set_freq(struct adis16400_state *st, unsigned int freq)
-{
- unsigned int t;
- uint8_t val = 0;
-
- t = 1638404 / freq;
- if (t >= 128) {
- val |= ADIS16400_SMPL_PRD_TIME_BASE;
- t = 52851 / freq;
- if (t >= 128)
- t = 127;
- } else if (t != 0) {
- t--;
- }
-
- val |= t;
-
- if (t >= 0x0A || (val & ADIS16400_SMPL_PRD_TIME_BASE))
- st->adis.spi->max_speed_hz = ADIS16400_SPI_SLOW;
- else
- st->adis.spi->max_speed_hz = ADIS16400_SPI_FAST;
-
- return adis_write_reg_8(&st->adis, ADIS16400_SMPL_PRD, val);
-}
-
-static const unsigned int adis16400_3db_divisors[] = {
- [0] = 2, /* Special case */
- [1] = 6,
- [2] = 12,
- [3] = 25,
- [4] = 50,
- [5] = 100,
- [6] = 200,
- [7] = 200, /* Not a valid setting */
-};
-
-static int adis16400_set_filter(struct iio_dev *indio_dev, int sps, int val)
-{
- struct adis16400_state *st = iio_priv(indio_dev);
- uint16_t val16;
- int i, ret;
-
- for (i = ARRAY_SIZE(adis16400_3db_divisors) - 1; i >= 1; i--) {
- if (sps / adis16400_3db_divisors[i] >= val)
- break;
- }
-
- ret = adis_read_reg_16(&st->adis, ADIS16400_SENS_AVG, &val16);
- if (ret < 0)
- return ret;
-
- ret = adis_write_reg_16(&st->adis, ADIS16400_SENS_AVG,
- (val16 & ~0x07) | i);
- return ret;
-}
-
-/* Power down the device */
-static int adis16400_stop_device(struct iio_dev *indio_dev)
-{
- struct adis16400_state *st = iio_priv(indio_dev);
- int ret;
-
- ret = adis_write_reg_16(&st->adis, ADIS16400_SLP_CNT,
- ADIS16400_SLP_CNT_POWER_OFF);
- if (ret)
- dev_err(&indio_dev->dev,
- "problem with turning device off: SLP_CNT");
-
- return ret;
-}
-
-static int adis16400_initial_setup(struct iio_dev *indio_dev)
-{
- struct adis16400_state *st = iio_priv(indio_dev);
- uint16_t prod_id, smp_prd;
- unsigned int device_id;
- int ret;
-
- /* use low spi speed for init if the device has a slow mode */
- if (st->variant->flags & ADIS16400_HAS_SLOW_MODE)
- st->adis.spi->max_speed_hz = ADIS16400_SPI_SLOW;
- else
- st->adis.spi->max_speed_hz = ADIS16400_SPI_FAST;
- st->adis.spi->mode = SPI_MODE_3;
- spi_setup(st->adis.spi);
-
- ret = adis_initial_startup(&st->adis);
- if (ret)
- return ret;
-
- if (st->variant->flags & ADIS16400_HAS_PROD_ID) {
- ret = adis_read_reg_16(&st->adis,
- ADIS16400_PRODUCT_ID, &prod_id);
- if (ret)
- goto err_ret;
-
- ret = sscanf(indio_dev->name, "adis%u\n", &device_id);
- if (ret != 1) {
- ret = -EINVAL;
- goto err_ret;
- }
-
- if (prod_id != device_id)
- dev_warn(&indio_dev->dev, "Device ID(%u) and product ID(%u) do not match.",
- device_id, prod_id);
-
- dev_info(&indio_dev->dev, "%s: prod_id 0x%04x at CS%d (irq %d)\n",
- indio_dev->name, prod_id,
- st->adis.spi->chip_select, st->adis.spi->irq);
- }
- /* use high spi speed if possible */
- if (st->variant->flags & ADIS16400_HAS_SLOW_MODE) {
- ret = adis_read_reg_16(&st->adis, ADIS16400_SMPL_PRD, &smp_prd);
- if (ret)
- goto err_ret;
-
- if ((smp_prd & ADIS16400_SMPL_PRD_DIV_MASK) < 0x0A) {
- st->adis.spi->max_speed_hz = ADIS16400_SPI_FAST;
- spi_setup(st->adis.spi);
- }
- }
-
-err_ret:
- return ret;
-}
-
-static const uint8_t adis16400_addresses[] = {
- [ADIS16400_SCAN_GYRO_X] = ADIS16400_XGYRO_OFF,
- [ADIS16400_SCAN_GYRO_Y] = ADIS16400_YGYRO_OFF,
- [ADIS16400_SCAN_GYRO_Z] = ADIS16400_ZGYRO_OFF,
- [ADIS16400_SCAN_ACC_X] = ADIS16400_XACCL_OFF,
- [ADIS16400_SCAN_ACC_Y] = ADIS16400_YACCL_OFF,
- [ADIS16400_SCAN_ACC_Z] = ADIS16400_ZACCL_OFF,
-};
-
-static int adis16400_write_raw(struct iio_dev *indio_dev,
- struct iio_chan_spec const *chan, int val, int val2, long info)
-{
- struct adis16400_state *st = iio_priv(indio_dev);
- int ret, sps;
-
- switch (info) {
- case IIO_CHAN_INFO_CALIBBIAS:
- mutex_lock(&indio_dev->mlock);
- ret = adis_write_reg_16(&st->adis,
- adis16400_addresses[chan->scan_index], val);
- mutex_unlock(&indio_dev->mlock);
- return ret;
- case IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY:
- /*
- * Need to cache values so we can update if the frequency
- * changes.
- */
- mutex_lock(&indio_dev->mlock);
- st->filt_int = val;
- /* Work out update to current value */
- sps = st->variant->get_freq(st);
- if (sps < 0) {
- mutex_unlock(&indio_dev->mlock);
- return sps;
- }
-
- ret = adis16400_set_filter(indio_dev, sps,
- val * 1000 + val2 / 1000);
- mutex_unlock(&indio_dev->mlock);
- return ret;
- case IIO_CHAN_INFO_SAMP_FREQ:
- sps = val * 1000 + val2 / 1000;
-
- if (sps <= 0)
- return -EINVAL;
-
- mutex_lock(&indio_dev->mlock);
- ret = st->variant->set_freq(st, sps);
- mutex_unlock(&indio_dev->mlock);
- return ret;
- default:
- return -EINVAL;
- }
-}
-
-static int adis16400_read_raw(struct iio_dev *indio_dev,
- struct iio_chan_spec const *chan, int *val, int *val2, long info)
-{
- struct adis16400_state *st = iio_priv(indio_dev);
- int16_t val16;
- int ret;
-
- switch (info) {
- case IIO_CHAN_INFO_RAW:
- return adis_single_conversion(indio_dev, chan, 0, val);
- case IIO_CHAN_INFO_SCALE:
- switch (chan->type) {
- case IIO_ANGL_VEL:
- *val = 0;
- *val2 = st->variant->gyro_scale_micro;
- return IIO_VAL_INT_PLUS_MICRO;
- case IIO_VOLTAGE:
- *val = 0;
- if (chan->channel == 0) {
- *val = 2;
- *val2 = 418000; /* 2.418 mV */
- } else {
- *val = 0;
- *val2 = 805800; /* 805.8 uV */
- }
- return IIO_VAL_INT_PLUS_MICRO;
- case IIO_ACCEL:
- *val = 0;
- *val2 = st->variant->accel_scale_micro;
- return IIO_VAL_INT_PLUS_MICRO;
- case IIO_MAGN:
- *val = 0;
- *val2 = 500; /* 0.5 mgauss */
- return IIO_VAL_INT_PLUS_MICRO;
- case IIO_TEMP:
- *val = st->variant->temp_scale_nano / 1000000;
- *val2 = (st->variant->temp_scale_nano % 1000000);
- return IIO_VAL_INT_PLUS_MICRO;
- case IIO_PRESSURE:
- /* 20 uBar = 0.002kPascal */
- *val = 0;
- *val2 = 2000;
- return IIO_VAL_INT_PLUS_MICRO;
- default:
- return -EINVAL;
- }
- case IIO_CHAN_INFO_CALIBBIAS:
- mutex_lock(&indio_dev->mlock);
- ret = adis_read_reg_16(&st->adis,
- adis16400_addresses[chan->scan_index], &val16);
- mutex_unlock(&indio_dev->mlock);
- if (ret)
- return ret;
- val16 = sign_extend32(val16, 11);
- *val = val16;
- return IIO_VAL_INT;
- case IIO_CHAN_INFO_OFFSET:
- /* currently only temperature */
- *val = st->variant->temp_offset;
- return IIO_VAL_INT;
- case IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY:
- mutex_lock(&indio_dev->mlock);
- /* Need both the number of taps and the sampling frequency */
- ret = adis_read_reg_16(&st->adis,
- ADIS16400_SENS_AVG,
- &val16);
- if (ret < 0) {
- mutex_unlock(&indio_dev->mlock);
- return ret;
- }
- ret = st->variant->get_freq(st);
- if (ret >= 0) {
- ret /= adis16400_3db_divisors[val16 & 0x07];
- *val = ret / 1000;
- *val2 = (ret % 1000) * 1000;
- }
- mutex_unlock(&indio_dev->mlock);
- if (ret < 0)
- return ret;
- return IIO_VAL_INT_PLUS_MICRO;
- case IIO_CHAN_INFO_SAMP_FREQ:
- ret = st->variant->get_freq(st);
- if (ret < 0)
- return ret;
- *val = ret / 1000;
- *val2 = (ret % 1000) * 1000;
- return IIO_VAL_INT_PLUS_MICRO;
- default:
- return -EINVAL;
- }
-}
-
-#if IS_ENABLED(CONFIG_IIO_BUFFER)
-static irqreturn_t adis16400_trigger_handler(int irq, void *p)
-{
- struct iio_poll_func *pf = p;
- struct iio_dev *indio_dev = pf->indio_dev;
- struct adis16400_state *st = iio_priv(indio_dev);
- struct adis *adis = &st->adis;
- u32 old_speed_hz = st->adis.spi->max_speed_hz;
- void *buffer;
- int ret;
-
- if (!adis->buffer)
- return -ENOMEM;
-
- if (!(st->variant->flags & ADIS16400_NO_BURST) &&
- st->adis.spi->max_speed_hz > ADIS16400_SPI_BURST) {
- st->adis.spi->max_speed_hz = ADIS16400_SPI_BURST;
- spi_setup(st->adis.spi);
- }
-
- ret = spi_sync(adis->spi, &adis->msg);
- if (ret)
- dev_err(&adis->spi->dev, "Failed to read data: %d\n", ret);
-
- if (!(st->variant->flags & ADIS16400_NO_BURST)) {
- st->adis.spi->max_speed_hz = old_speed_hz;
- spi_setup(st->adis.spi);
- }
-
- if (st->variant->flags & ADIS16400_BURST_DIAG_STAT)
- buffer = adis->buffer + sizeof(u16);
- else
- buffer = adis->buffer;
-
- iio_push_to_buffers_with_timestamp(indio_dev, buffer,
- pf->timestamp);
-
- iio_trigger_notify_done(indio_dev->trig);
-
- return IRQ_HANDLED;
-}
-#else
-#define adis16400_trigger_handler NULL
-#endif /* IS_ENABLED(CONFIG_IIO_BUFFER) */
-
-#define ADIS16400_VOLTAGE_CHAN(addr, bits, name, si, chn) { \
- .type = IIO_VOLTAGE, \
- .indexed = 1, \
- .channel = chn, \
- .extend_name = name, \
- .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \
- BIT(IIO_CHAN_INFO_SCALE), \
- .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
- .address = (addr), \
- .scan_index = (si), \
- .scan_type = { \
- .sign = 'u', \
- .realbits = (bits), \
- .storagebits = 16, \
- .shift = 0, \
- .endianness = IIO_BE, \
- }, \
-}
-
-#define ADIS16400_SUPPLY_CHAN(addr, bits) \
- ADIS16400_VOLTAGE_CHAN(addr, bits, "supply", ADIS16400_SCAN_SUPPLY, 0)
-
-#define ADIS16400_AUX_ADC_CHAN(addr, bits) \
- ADIS16400_VOLTAGE_CHAN(addr, bits, NULL, ADIS16400_SCAN_ADC, 1)
-
-#define ADIS16400_GYRO_CHAN(mod, addr, bits) { \
- .type = IIO_ANGL_VEL, \
- .modified = 1, \
- .channel2 = IIO_MOD_ ## mod, \
- .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \
- BIT(IIO_CHAN_INFO_CALIBBIAS), \
- .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE) | \
- BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY), \
- .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
- .address = addr, \
- .scan_index = ADIS16400_SCAN_GYRO_ ## mod, \
- .scan_type = { \
- .sign = 's', \
- .realbits = (bits), \
- .storagebits = 16, \
- .shift = 0, \
- .endianness = IIO_BE, \
- }, \
-}
-
-#define ADIS16400_ACCEL_CHAN(mod, addr, bits) { \
- .type = IIO_ACCEL, \
- .modified = 1, \
- .channel2 = IIO_MOD_ ## mod, \
- .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \
- BIT(IIO_CHAN_INFO_CALIBBIAS), \
- .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE) | \
- BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY), \
- .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
- .address = (addr), \
- .scan_index = ADIS16400_SCAN_ACC_ ## mod, \
- .scan_type = { \
- .sign = 's', \
- .realbits = (bits), \
- .storagebits = 16, \
- .shift = 0, \
- .endianness = IIO_BE, \
- }, \
-}
-
-#define ADIS16400_MAGN_CHAN(mod, addr, bits) { \
- .type = IIO_MAGN, \
- .modified = 1, \
- .channel2 = IIO_MOD_ ## mod, \
- .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), \
- .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
- .address = (addr), \
- .scan_index = ADIS16400_SCAN_MAGN_ ## mod, \
- .scan_type = { \
- .sign = 's', \
- .realbits = (bits), \
- .storagebits = 16, \
- .shift = 0, \
- .endianness = IIO_BE, \
- }, \
-}
-
-#define ADIS16400_MOD_TEMP_NAME_X "x"
-#define ADIS16400_MOD_TEMP_NAME_Y "y"
-#define ADIS16400_MOD_TEMP_NAME_Z "z"
-
-#define ADIS16400_MOD_TEMP_CHAN(mod, addr, bits) { \
- .type = IIO_TEMP, \
- .indexed = 1, \
- .channel = 0, \
- .extend_name = ADIS16400_MOD_TEMP_NAME_ ## mod, \
- .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \
- BIT(IIO_CHAN_INFO_OFFSET) | \
- BIT(IIO_CHAN_INFO_SCALE), \
- .info_mask_shared_by_type = \
- BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY), \
- .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
- .address = (addr), \
- .scan_index = ADIS16350_SCAN_TEMP_ ## mod, \
- .scan_type = { \
- .sign = 's', \
- .realbits = (bits), \
- .storagebits = 16, \
- .shift = 0, \
- .endianness = IIO_BE, \
- }, \
-}
-
-#define ADIS16400_TEMP_CHAN(addr, bits) { \
- .type = IIO_TEMP, \
- .indexed = 1, \
- .channel = 0, \
- .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \
- BIT(IIO_CHAN_INFO_OFFSET) | \
- BIT(IIO_CHAN_INFO_SCALE), \
- .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
- .address = (addr), \
- .scan_index = ADIS16350_SCAN_TEMP_X, \
- .scan_type = { \
- .sign = 's', \
- .realbits = (bits), \
- .storagebits = 16, \
- .shift = 0, \
- .endianness = IIO_BE, \
- }, \
-}
-
-#define ADIS16400_INCLI_CHAN(mod, addr, bits) { \
- .type = IIO_INCLI, \
- .modified = 1, \
- .channel2 = IIO_MOD_ ## mod, \
- .info_mask_separate = BIT(IIO_CHAN_INFO_RAW), \
- .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE), \
- .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
- .address = (addr), \
- .scan_index = ADIS16300_SCAN_INCLI_ ## mod, \
- .scan_type = { \
- .sign = 's', \
- .realbits = (bits), \
- .storagebits = 16, \
- .shift = 0, \
- .endianness = IIO_BE, \
- }, \
-}
-
-static const struct iio_chan_spec adis16400_channels[] = {
- ADIS16400_SUPPLY_CHAN(ADIS16400_SUPPLY_OUT, 14),
- ADIS16400_GYRO_CHAN(X, ADIS16400_XGYRO_OUT, 14),
- ADIS16400_GYRO_CHAN(Y, ADIS16400_YGYRO_OUT, 14),
- ADIS16400_GYRO_CHAN(Z, ADIS16400_ZGYRO_OUT, 14),
- ADIS16400_ACCEL_CHAN(X, ADIS16400_XACCL_OUT, 14),
- ADIS16400_ACCEL_CHAN(Y, ADIS16400_YACCL_OUT, 14),
- ADIS16400_ACCEL_CHAN(Z, ADIS16400_ZACCL_OUT, 14),
- ADIS16400_MAGN_CHAN(X, ADIS16400_XMAGN_OUT, 14),
- ADIS16400_MAGN_CHAN(Y, ADIS16400_YMAGN_OUT, 14),
- ADIS16400_MAGN_CHAN(Z, ADIS16400_ZMAGN_OUT, 14),
- ADIS16400_TEMP_CHAN(ADIS16400_TEMP_OUT, 12),
- ADIS16400_AUX_ADC_CHAN(ADIS16400_AUX_ADC, 12),
- IIO_CHAN_SOFT_TIMESTAMP(ADIS16400_SCAN_TIMESTAMP),
-};
-
-static const struct iio_chan_spec adis16445_channels[] = {
- ADIS16400_GYRO_CHAN(X, ADIS16400_XGYRO_OUT, 16),
- ADIS16400_GYRO_CHAN(Y, ADIS16400_YGYRO_OUT, 16),
- ADIS16400_GYRO_CHAN(Z, ADIS16400_ZGYRO_OUT, 16),
- ADIS16400_ACCEL_CHAN(X, ADIS16400_XACCL_OUT, 16),
- ADIS16400_ACCEL_CHAN(Y, ADIS16400_YACCL_OUT, 16),
- ADIS16400_ACCEL_CHAN(Z, ADIS16400_ZACCL_OUT, 16),
- ADIS16400_TEMP_CHAN(ADIS16448_TEMP_OUT, 12),
- IIO_CHAN_SOFT_TIMESTAMP(ADIS16400_SCAN_TIMESTAMP),
-};
-
-static const struct iio_chan_spec adis16448_channels[] = {
- ADIS16400_GYRO_CHAN(X, ADIS16400_XGYRO_OUT, 16),
- ADIS16400_GYRO_CHAN(Y, ADIS16400_YGYRO_OUT, 16),
- ADIS16400_GYRO_CHAN(Z, ADIS16400_ZGYRO_OUT, 16),
- ADIS16400_ACCEL_CHAN(X, ADIS16400_XACCL_OUT, 16),
- ADIS16400_ACCEL_CHAN(Y, ADIS16400_YACCL_OUT, 16),
- ADIS16400_ACCEL_CHAN(Z, ADIS16400_ZACCL_OUT, 16),
- ADIS16400_MAGN_CHAN(X, ADIS16400_XMAGN_OUT, 16),
- ADIS16400_MAGN_CHAN(Y, ADIS16400_YMAGN_OUT, 16),
- ADIS16400_MAGN_CHAN(Z, ADIS16400_ZMAGN_OUT, 16),
- {
- .type = IIO_PRESSURE,
- .info_mask_separate = BIT(IIO_CHAN_INFO_RAW),
- .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE),
- .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ),
- .address = ADIS16448_BARO_OUT,
- .scan_index = ADIS16400_SCAN_BARO,
- .scan_type = {
- .sign = 's',
- .realbits = 16,
- .storagebits = 16,
- .endianness = IIO_BE,
- },
- },
- ADIS16400_TEMP_CHAN(ADIS16448_TEMP_OUT, 12),
- IIO_CHAN_SOFT_TIMESTAMP(ADIS16400_SCAN_TIMESTAMP),
-};
-
-static const struct iio_chan_spec adis16350_channels[] = {
- ADIS16400_SUPPLY_CHAN(ADIS16400_SUPPLY_OUT, 12),
- ADIS16400_GYRO_CHAN(X, ADIS16400_XGYRO_OUT, 14),
- ADIS16400_GYRO_CHAN(Y, ADIS16400_YGYRO_OUT, 14),
- ADIS16400_GYRO_CHAN(Z, ADIS16400_ZGYRO_OUT, 14),
- ADIS16400_ACCEL_CHAN(X, ADIS16400_XACCL_OUT, 14),
- ADIS16400_ACCEL_CHAN(Y, ADIS16400_YACCL_OUT, 14),
- ADIS16400_ACCEL_CHAN(Z, ADIS16400_ZACCL_OUT, 14),
- ADIS16400_MAGN_CHAN(X, ADIS16400_XMAGN_OUT, 14),
- ADIS16400_MAGN_CHAN(Y, ADIS16400_YMAGN_OUT, 14),
- ADIS16400_MAGN_CHAN(Z, ADIS16400_ZMAGN_OUT, 14),
- ADIS16400_AUX_ADC_CHAN(ADIS16300_AUX_ADC, 12),
- ADIS16400_MOD_TEMP_CHAN(X, ADIS16350_XTEMP_OUT, 12),
- ADIS16400_MOD_TEMP_CHAN(Y, ADIS16350_YTEMP_OUT, 12),
- ADIS16400_MOD_TEMP_CHAN(Z, ADIS16350_ZTEMP_OUT, 12),
- IIO_CHAN_SOFT_TIMESTAMP(ADIS16400_SCAN_TIMESTAMP),
-};
-
-static const struct iio_chan_spec adis16300_channels[] = {
- ADIS16400_SUPPLY_CHAN(ADIS16400_SUPPLY_OUT, 12),
- ADIS16400_GYRO_CHAN(X, ADIS16400_XGYRO_OUT, 14),
- ADIS16400_ACCEL_CHAN(X, ADIS16400_XACCL_OUT, 14),
- ADIS16400_ACCEL_CHAN(Y, ADIS16400_YACCL_OUT, 14),
- ADIS16400_ACCEL_CHAN(Z, ADIS16400_ZACCL_OUT, 14),
- ADIS16400_TEMP_CHAN(ADIS16350_XTEMP_OUT, 12),
- ADIS16400_AUX_ADC_CHAN(ADIS16300_AUX_ADC, 12),
- ADIS16400_INCLI_CHAN(X, ADIS16300_PITCH_OUT, 13),
- ADIS16400_INCLI_CHAN(Y, ADIS16300_ROLL_OUT, 13),
- IIO_CHAN_SOFT_TIMESTAMP(ADIS16400_SCAN_TIMESTAMP),
-};
-
-static const struct iio_chan_spec adis16334_channels[] = {
- ADIS16400_GYRO_CHAN(X, ADIS16400_XGYRO_OUT, 14),
- ADIS16400_GYRO_CHAN(Y, ADIS16400_YGYRO_OUT, 14),
- ADIS16400_GYRO_CHAN(Z, ADIS16400_ZGYRO_OUT, 14),
- ADIS16400_ACCEL_CHAN(X, ADIS16400_XACCL_OUT, 14),
- ADIS16400_ACCEL_CHAN(Y, ADIS16400_YACCL_OUT, 14),
- ADIS16400_ACCEL_CHAN(Z, ADIS16400_ZACCL_OUT, 14),
- ADIS16400_TEMP_CHAN(ADIS16350_XTEMP_OUT, 12),
- IIO_CHAN_SOFT_TIMESTAMP(ADIS16400_SCAN_TIMESTAMP),
-};
-
-static struct adis16400_chip_info adis16400_chips[] = {
- [ADIS16300] = {
- .channels = adis16300_channels,
- .num_channels = ARRAY_SIZE(adis16300_channels),
- .flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE |
- ADIS16400_HAS_SERIAL_NUMBER,
- .gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */
- .accel_scale_micro = 5884,
- .temp_scale_nano = 140000000, /* 0.14 C */
- .temp_offset = 25000000 / 140000, /* 25 C = 0x00 */
- .set_freq = adis16400_set_freq,
- .get_freq = adis16400_get_freq,
- },
- [ADIS16334] = {
- .channels = adis16334_channels,
- .num_channels = ARRAY_SIZE(adis16334_channels),
- .flags = ADIS16400_HAS_PROD_ID | ADIS16400_NO_BURST |
- ADIS16400_HAS_SERIAL_NUMBER,
- .gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */
- .accel_scale_micro = IIO_G_TO_M_S_2(1000), /* 1 mg */
- .temp_scale_nano = 67850000, /* 0.06785 C */
- .temp_offset = 25000000 / 67850, /* 25 C = 0x00 */
- .set_freq = adis16334_set_freq,
- .get_freq = adis16334_get_freq,
- },
- [ADIS16350] = {
- .channels = adis16350_channels,
- .num_channels = ARRAY_SIZE(adis16350_channels),
- .gyro_scale_micro = IIO_DEGREE_TO_RAD(73260), /* 0.07326 deg/s */
- .accel_scale_micro = IIO_G_TO_M_S_2(2522), /* 0.002522 g */
- .temp_scale_nano = 145300000, /* 0.1453 C */
- .temp_offset = 25000000 / 145300, /* 25 C = 0x00 */
- .flags = ADIS16400_NO_BURST | ADIS16400_HAS_SLOW_MODE,
- .set_freq = adis16400_set_freq,
- .get_freq = adis16400_get_freq,
- },
- [ADIS16360] = {
- .channels = adis16350_channels,
- .num_channels = ARRAY_SIZE(adis16350_channels),
- .flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE |
- ADIS16400_HAS_SERIAL_NUMBER,
- .gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */
- .accel_scale_micro = IIO_G_TO_M_S_2(3333), /* 3.333 mg */
- .temp_scale_nano = 136000000, /* 0.136 C */
- .temp_offset = 25000000 / 136000, /* 25 C = 0x00 */
- .set_freq = adis16400_set_freq,
- .get_freq = adis16400_get_freq,
- },
- [ADIS16362] = {
- .channels = adis16350_channels,
- .num_channels = ARRAY_SIZE(adis16350_channels),
- .flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE |
- ADIS16400_HAS_SERIAL_NUMBER,
- .gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */
- .accel_scale_micro = IIO_G_TO_M_S_2(333), /* 0.333 mg */
- .temp_scale_nano = 136000000, /* 0.136 C */
- .temp_offset = 25000000 / 136000, /* 25 C = 0x00 */
- .set_freq = adis16400_set_freq,
- .get_freq = adis16400_get_freq,
- },
- [ADIS16364] = {
- .channels = adis16350_channels,
- .num_channels = ARRAY_SIZE(adis16350_channels),
- .flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE |
- ADIS16400_HAS_SERIAL_NUMBER,
- .gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */
- .accel_scale_micro = IIO_G_TO_M_S_2(1000), /* 1 mg */
- .temp_scale_nano = 136000000, /* 0.136 C */
- .temp_offset = 25000000 / 136000, /* 25 C = 0x00 */
- .set_freq = adis16400_set_freq,
- .get_freq = adis16400_get_freq,
- },
- [ADIS16367] = {
- .channels = adis16350_channels,
- .num_channels = ARRAY_SIZE(adis16350_channels),
- .flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE |
- ADIS16400_HAS_SERIAL_NUMBER,
- .gyro_scale_micro = IIO_DEGREE_TO_RAD(2000), /* 0.2 deg/s */
- .accel_scale_micro = IIO_G_TO_M_S_2(3333), /* 3.333 mg */
- .temp_scale_nano = 136000000, /* 0.136 C */
- .temp_offset = 25000000 / 136000, /* 25 C = 0x00 */
- .set_freq = adis16400_set_freq,
- .get_freq = adis16400_get_freq,
- },
- [ADIS16400] = {
- .channels = adis16400_channels,
- .num_channels = ARRAY_SIZE(adis16400_channels),
- .flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE,
- .gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */
- .accel_scale_micro = IIO_G_TO_M_S_2(3333), /* 3.333 mg */
- .temp_scale_nano = 140000000, /* 0.14 C */
- .temp_offset = 25000000 / 140000, /* 25 C = 0x00 */
- .set_freq = adis16400_set_freq,
- .get_freq = adis16400_get_freq,
- },
- [ADIS16445] = {
- .channels = adis16445_channels,
- .num_channels = ARRAY_SIZE(adis16445_channels),
- .flags = ADIS16400_HAS_PROD_ID |
- ADIS16400_HAS_SERIAL_NUMBER |
- ADIS16400_BURST_DIAG_STAT,
- .gyro_scale_micro = IIO_DEGREE_TO_RAD(10000), /* 0.01 deg/s */
- .accel_scale_micro = IIO_G_TO_M_S_2(250), /* 1/4000 g */
- .temp_scale_nano = 73860000, /* 0.07386 C */
- .temp_offset = 31000000 / 73860, /* 31 C = 0x00 */
- .set_freq = adis16334_set_freq,
- .get_freq = adis16334_get_freq,
- },
- [ADIS16448] = {
- .channels = adis16448_channels,
- .num_channels = ARRAY_SIZE(adis16448_channels),
- .flags = ADIS16400_HAS_PROD_ID |
- ADIS16400_HAS_SERIAL_NUMBER |
- ADIS16400_BURST_DIAG_STAT,
- .gyro_scale_micro = IIO_DEGREE_TO_RAD(40000), /* 0.04 deg/s */
- .accel_scale_micro = IIO_G_TO_M_S_2(833), /* 1/1200 g */
- .temp_scale_nano = 73860000, /* 0.07386 C */
- .temp_offset = 31000000 / 73860, /* 31 C = 0x00 */
- .set_freq = adis16334_set_freq,
- .get_freq = adis16334_get_freq,
- }
-};
-
-static const struct iio_info adis16400_info = {
- .read_raw = &adis16400_read_raw,
- .write_raw = &adis16400_write_raw,
- .update_scan_mode = adis_update_scan_mode,
- .debugfs_reg_access = adis_debugfs_reg_access,
-};
-
-static const char * const adis16400_status_error_msgs[] = {
- [ADIS16400_DIAG_STAT_ZACCL_FAIL] = "Z-axis accelerometer self-test failure",
- [ADIS16400_DIAG_STAT_YACCL_FAIL] = "Y-axis accelerometer self-test failure",
- [ADIS16400_DIAG_STAT_XACCL_FAIL] = "X-axis accelerometer self-test failure",
- [ADIS16400_DIAG_STAT_XGYRO_FAIL] = "X-axis gyroscope self-test failure",
- [ADIS16400_DIAG_STAT_YGYRO_FAIL] = "Y-axis gyroscope self-test failure",
- [ADIS16400_DIAG_STAT_ZGYRO_FAIL] = "Z-axis gyroscope self-test failure",
- [ADIS16400_DIAG_STAT_ALARM2] = "Alarm 2 active",
- [ADIS16400_DIAG_STAT_ALARM1] = "Alarm 1 active",
- [ADIS16400_DIAG_STAT_FLASH_CHK] = "Flash checksum error",
- [ADIS16400_DIAG_STAT_SELF_TEST] = "Self test error",
- [ADIS16400_DIAG_STAT_OVERFLOW] = "Sensor overrange",
- [ADIS16400_DIAG_STAT_SPI_FAIL] = "SPI failure",
- [ADIS16400_DIAG_STAT_FLASH_UPT] = "Flash update failed",
- [ADIS16400_DIAG_STAT_POWER_HIGH] = "Power supply above 5.25V",
- [ADIS16400_DIAG_STAT_POWER_LOW] = "Power supply below 4.75V",
-};
-
-static const struct adis_data adis16400_data = {
- .msc_ctrl_reg = ADIS16400_MSC_CTRL,
- .glob_cmd_reg = ADIS16400_GLOB_CMD,
- .diag_stat_reg = ADIS16400_DIAG_STAT,
-
- .read_delay = 50,
- .write_delay = 50,
-
- .self_test_mask = ADIS16400_MSC_CTRL_MEM_TEST,
- .startup_delay = ADIS16400_STARTUP_DELAY,
-
- .status_error_msgs = adis16400_status_error_msgs,
- .status_error_mask = BIT(ADIS16400_DIAG_STAT_ZACCL_FAIL) |
- BIT(ADIS16400_DIAG_STAT_YACCL_FAIL) |
- BIT(ADIS16400_DIAG_STAT_XACCL_FAIL) |
- BIT(ADIS16400_DIAG_STAT_XGYRO_FAIL) |
- BIT(ADIS16400_DIAG_STAT_YGYRO_FAIL) |
- BIT(ADIS16400_DIAG_STAT_ZGYRO_FAIL) |
- BIT(ADIS16400_DIAG_STAT_ALARM2) |
- BIT(ADIS16400_DIAG_STAT_ALARM1) |
- BIT(ADIS16400_DIAG_STAT_FLASH_CHK) |
- BIT(ADIS16400_DIAG_STAT_SELF_TEST) |
- BIT(ADIS16400_DIAG_STAT_OVERFLOW) |
- BIT(ADIS16400_DIAG_STAT_SPI_FAIL) |
- BIT(ADIS16400_DIAG_STAT_FLASH_UPT) |
- BIT(ADIS16400_DIAG_STAT_POWER_HIGH) |
- BIT(ADIS16400_DIAG_STAT_POWER_LOW),
-};
-
-static void adis16400_setup_chan_mask(struct adis16400_state *st)
-{
- const struct adis16400_chip_info *chip_info = st->variant;
- unsigned int i;
-
- for (i = 0; i < chip_info->num_channels; i++) {
- const struct iio_chan_spec *ch = &chip_info->channels[i];
-
- if (ch->scan_index >= 0 &&
- ch->scan_index != ADIS16400_SCAN_TIMESTAMP)
- st->avail_scan_mask[0] |= BIT(ch->scan_index);
- }
-}
-
-static int adis16400_probe(struct spi_device *spi)
-{
- struct adis16400_state *st;
- struct iio_dev *indio_dev;
- int ret;
-
- indio_dev = devm_iio_device_alloc(&spi->dev, sizeof(*st));
- if (indio_dev == NULL)
- return -ENOMEM;
-
- st = iio_priv(indio_dev);
- /* this is only used for removal purposes */
- spi_set_drvdata(spi, indio_dev);
-
- /* setup the industrialio driver allocated elements */
- st->variant = &adis16400_chips[spi_get_device_id(spi)->driver_data];
- indio_dev->dev.parent = &spi->dev;
- indio_dev->name = spi_get_device_id(spi)->name;
- indio_dev->channels = st->variant->channels;
- indio_dev->num_channels = st->variant->num_channels;
- indio_dev->info = &adis16400_info;
- indio_dev->modes = INDIO_DIRECT_MODE;
-
- if (!(st->variant->flags & ADIS16400_NO_BURST)) {
- adis16400_setup_chan_mask(st);
- indio_dev->available_scan_masks = st->avail_scan_mask;
- st->adis.burst = &adis16400_burst;
- if (st->variant->flags & ADIS16400_BURST_DIAG_STAT)
- st->adis.burst->extra_len = sizeof(u16);
- }
-
- ret = adis_init(&st->adis, indio_dev, spi, &adis16400_data);
- if (ret)
- return ret;
-
- ret = adis_setup_buffer_and_trigger(&st->adis, indio_dev,
- adis16400_trigger_handler);
- if (ret)
- return ret;
-
- /* Get the device into a sane initial state */
- ret = adis16400_initial_setup(indio_dev);
- if (ret)
- goto error_cleanup_buffer;
- ret = iio_device_register(indio_dev);
- if (ret)
- goto error_cleanup_buffer;
-
- adis16400_debugfs_init(indio_dev);
- return 0;
-
-error_cleanup_buffer:
- adis_cleanup_buffer_and_trigger(&st->adis, indio_dev);
- return ret;
-}
-
-static int adis16400_remove(struct spi_device *spi)
-{
- struct iio_dev *indio_dev = spi_get_drvdata(spi);
- struct adis16400_state *st = iio_priv(indio_dev);
-
- iio_device_unregister(indio_dev);
- adis16400_stop_device(indio_dev);
-
- adis_cleanup_buffer_and_trigger(&st->adis, indio_dev);
-
- return 0;
-}
-
-static const struct spi_device_id adis16400_id[] = {
- {"adis16300", ADIS16300},
- {"adis16305", ADIS16300},
- {"adis16334", ADIS16334},
- {"adis16350", ADIS16350},
- {"adis16354", ADIS16350},
- {"adis16355", ADIS16350},
- {"adis16360", ADIS16360},
- {"adis16362", ADIS16362},
- {"adis16364", ADIS16364},
- {"adis16365", ADIS16360},
- {"adis16367", ADIS16367},
- {"adis16400", ADIS16400},
- {"adis16405", ADIS16400},
- {"adis16445", ADIS16445},
- {"adis16448", ADIS16448},
- {}
-};
-MODULE_DEVICE_TABLE(spi, adis16400_id);
-
-static struct spi_driver adis16400_driver = {
- .driver = {
- .name = "adis16400",
- },
- .id_table = adis16400_id,
- .probe = adis16400_probe,
- .remove = adis16400_remove,
-};
-module_spi_driver(adis16400_driver);
-
-MODULE_AUTHOR("Manuel Stahl <manuel.stahl@iis.fraunhofer.de>");
-MODULE_DESCRIPTION("Analog Devices ADIS16400/5 IMU SPI driver");
-MODULE_LICENSE("GPL v2");
projects / openwrt / staging / blogic.git / commitdiff