1// SPDX-License-Identifier: GPL-2.0-only 2/* 3 * adis16400.c support Analog Devices ADIS16400/5 4 * 3d 2g Linear Accelerometers, 5 * 3d Gyroscopes, 6 * 3d Magnetometers via SPI 7 * 8 * Copyright (c) 2009 Manuel Stahl <manuel.stahl@iis.fraunhofer.de> 9 * Copyright (c) 2007 Jonathan Cameron <jic23@kernel.org> 10 * Copyright (c) 2011 Analog Devices Inc. 11 */ 12 13#include <linux/interrupt.h> 14#include <linux/irq.h> 15#include <linux/delay.h> 16#include <linux/mutex.h> 17#include <linux/device.h> 18#include <linux/kernel.h> 19#include <linux/spi/spi.h> 20#include <linux/slab.h> 21#include <linux/sysfs.h> 22#include <linux/list.h> 23#include <linux/module.h> 24#include <linux/debugfs.h> 25#include <linux/bitops.h> 26 27#include <linux/iio/iio.h> 28#include <linux/iio/sysfs.h> 29#include <linux/iio/buffer.h> 30#include <linux/iio/trigger_consumer.h> 31#include <linux/iio/imu/adis.h> 32 33#define ADIS16400_STARTUP_DELAY 290 /* ms */ 34#define ADIS16400_MTEST_DELAY 90 /* ms */ 35 36#define ADIS16400_FLASH_CNT 0x00 /* Flash memory write count */ 37#define ADIS16400_SUPPLY_OUT 0x02 /* Power supply measurement */ 38#define ADIS16400_XGYRO_OUT 0x04 /* X-axis gyroscope output */ 39#define ADIS16400_YGYRO_OUT 0x06 /* Y-axis gyroscope output */ 40#define ADIS16400_ZGYRO_OUT 0x08 /* Z-axis gyroscope output */ 41#define ADIS16400_XACCL_OUT 0x0A /* X-axis accelerometer output */ 42#define ADIS16400_YACCL_OUT 0x0C /* Y-axis accelerometer output */ 43#define ADIS16400_ZACCL_OUT 0x0E /* Z-axis accelerometer output */ 44#define ADIS16400_XMAGN_OUT 0x10 /* X-axis magnetometer measurement */ 45#define ADIS16400_YMAGN_OUT 0x12 /* Y-axis magnetometer measurement */ 46#define ADIS16400_ZMAGN_OUT 0x14 /* Z-axis magnetometer measurement */ 47#define ADIS16400_TEMP_OUT 0x16 /* Temperature output */ 48#define ADIS16400_AUX_ADC 0x18 /* Auxiliary ADC measurement */ 49 50#define ADIS16350_XTEMP_OUT 0x10 /* X-axis gyroscope temperature measurement */ 51#define ADIS16350_YTEMP_OUT 0x12 /* Y-axis gyroscope temperature measurement */ 52#define ADIS16350_ZTEMP_OUT 0x14 /* Z-axis gyroscope temperature measurement */ 53 54#define ADIS16300_PITCH_OUT 0x12 /* X axis inclinometer output measurement */ 55#define ADIS16300_ROLL_OUT 0x14 /* Y axis inclinometer output measurement */ 56#define ADIS16300_AUX_ADC 0x16 /* Auxiliary ADC measurement */ 57 58#define ADIS16448_BARO_OUT 0x16 /* Barometric pressure output */ 59#define ADIS16448_TEMP_OUT 0x18 /* Temperature output */ 60 61/* Calibration parameters */ 62#define ADIS16400_XGYRO_OFF 0x1A /* X-axis gyroscope bias offset factor */ 63#define ADIS16400_YGYRO_OFF 0x1C /* Y-axis gyroscope bias offset factor */ 64#define ADIS16400_ZGYRO_OFF 0x1E /* Z-axis gyroscope bias offset factor */ 65#define ADIS16400_XACCL_OFF 0x20 /* X-axis acceleration bias offset factor */ 66#define ADIS16400_YACCL_OFF 0x22 /* Y-axis acceleration bias offset factor */ 67#define ADIS16400_ZACCL_OFF 0x24 /* Z-axis acceleration bias offset factor */ 68#define ADIS16400_XMAGN_HIF 0x26 /* X-axis magnetometer, hard-iron factor */ 69#define ADIS16400_YMAGN_HIF 0x28 /* Y-axis magnetometer, hard-iron factor */ 70#define ADIS16400_ZMAGN_HIF 0x2A /* Z-axis magnetometer, hard-iron factor */ 71#define ADIS16400_XMAGN_SIF 0x2C /* X-axis magnetometer, soft-iron factor */ 72#define ADIS16400_YMAGN_SIF 0x2E /* Y-axis magnetometer, soft-iron factor */ 73#define ADIS16400_ZMAGN_SIF 0x30 /* Z-axis magnetometer, soft-iron factor */ 74 75#define ADIS16400_GPIO_CTRL 0x32 /* Auxiliary digital input/output control */ 76#define ADIS16400_MSC_CTRL 0x34 /* Miscellaneous control */ 77#define ADIS16400_SMPL_PRD 0x36 /* Internal sample period (rate) control */ 78#define ADIS16400_SENS_AVG 0x38 /* Dynamic range and digital filter control */ 79#define ADIS16400_SLP_CNT 0x3A /* Sleep mode control */ 80#define ADIS16400_DIAG_STAT 0x3C /* System status */ 81 82/* Alarm functions */ 83#define ADIS16400_GLOB_CMD 0x3E /* System command */ 84#define ADIS16400_ALM_MAG1 0x40 /* Alarm 1 amplitude threshold */ 85#define ADIS16400_ALM_MAG2 0x42 /* Alarm 2 amplitude threshold */ 86#define ADIS16400_ALM_SMPL1 0x44 /* Alarm 1 sample size */ 87#define ADIS16400_ALM_SMPL2 0x46 /* Alarm 2 sample size */ 88#define ADIS16400_ALM_CTRL 0x48 /* Alarm control */ 89#define ADIS16400_AUX_DAC 0x4A /* Auxiliary DAC data */ 90 91#define ADIS16334_LOT_ID1 0x52 /* Lot identification code 1 */ 92#define ADIS16334_LOT_ID2 0x54 /* Lot identification code 2 */ 93#define ADIS16400_PRODUCT_ID 0x56 /* Product identifier */ 94#define ADIS16334_SERIAL_NUMBER 0x58 /* Serial number, lot specific */ 95 96#define ADIS16400_ERROR_ACTIVE (1<<14) 97#define ADIS16400_NEW_DATA (1<<14) 98 99/* MSC_CTRL */ 100#define ADIS16400_MSC_CTRL_MEM_TEST (1<<11) 101#define ADIS16400_MSC_CTRL_INT_SELF_TEST (1<<10) 102#define ADIS16400_MSC_CTRL_NEG_SELF_TEST (1<<9) 103#define ADIS16400_MSC_CTRL_POS_SELF_TEST (1<<8) 104#define ADIS16400_MSC_CTRL_GYRO_BIAS (1<<7) 105#define ADIS16400_MSC_CTRL_ACCL_ALIGN (1<<6) 106#define ADIS16400_MSC_CTRL_DATA_RDY_EN (1<<2) 107#define ADIS16400_MSC_CTRL_DATA_RDY_POL_HIGH (1<<1) 108#define ADIS16400_MSC_CTRL_DATA_RDY_DIO2 (1<<0) 109 110/* SMPL_PRD */ 111#define ADIS16400_SMPL_PRD_TIME_BASE (1<<7) 112#define ADIS16400_SMPL_PRD_DIV_MASK 0x7F 113 114/* DIAG_STAT */ 115#define ADIS16400_DIAG_STAT_ZACCL_FAIL 15 116#define ADIS16400_DIAG_STAT_YACCL_FAIL 14 117#define ADIS16400_DIAG_STAT_XACCL_FAIL 13 118#define ADIS16400_DIAG_STAT_XGYRO_FAIL 12 119#define ADIS16400_DIAG_STAT_YGYRO_FAIL 11 120#define ADIS16400_DIAG_STAT_ZGYRO_FAIL 10 121#define ADIS16400_DIAG_STAT_ALARM2 9 122#define ADIS16400_DIAG_STAT_ALARM1 8 123#define ADIS16400_DIAG_STAT_FLASH_CHK 6 124#define ADIS16400_DIAG_STAT_SELF_TEST 5 125#define ADIS16400_DIAG_STAT_OVERFLOW 4 126#define ADIS16400_DIAG_STAT_SPI_FAIL 3 127#define ADIS16400_DIAG_STAT_FLASH_UPT 2 128#define ADIS16400_DIAG_STAT_POWER_HIGH 1 129#define ADIS16400_DIAG_STAT_POWER_LOW 0 130 131/* GLOB_CMD */ 132#define ADIS16400_GLOB_CMD_SW_RESET (1<<7) 133#define ADIS16400_GLOB_CMD_P_AUTO_NULL (1<<4) 134#define ADIS16400_GLOB_CMD_FLASH_UPD (1<<3) 135#define ADIS16400_GLOB_CMD_DAC_LATCH (1<<2) 136#define ADIS16400_GLOB_CMD_FAC_CALIB (1<<1) 137#define ADIS16400_GLOB_CMD_AUTO_NULL (1<<0) 138 139/* SLP_CNT */ 140#define ADIS16400_SLP_CNT_POWER_OFF (1<<8) 141 142#define ADIS16334_RATE_DIV_SHIFT 8 143#define ADIS16334_RATE_INT_CLK BIT(0) 144 145#define ADIS16400_SPI_SLOW (u32)(300 * 1000) 146#define ADIS16400_SPI_BURST (u32)(1000 * 1000) 147#define ADIS16400_SPI_FAST (u32)(2000 * 1000) 148 149#define ADIS16400_HAS_PROD_ID BIT(0) 150#define ADIS16400_NO_BURST BIT(1) 151#define ADIS16400_HAS_SLOW_MODE BIT(2) 152#define ADIS16400_HAS_SERIAL_NUMBER BIT(3) 153#define ADIS16400_BURST_DIAG_STAT BIT(4) 154 155struct adis16400_state; 156 157struct adis16400_chip_info { 158 const struct iio_chan_spec *channels; 159 const struct adis_data adis_data; 160 const int num_channels; 161 const long flags; 162 unsigned int gyro_scale_micro; 163 unsigned int accel_scale_micro; 164 int temp_scale_nano; 165 int temp_offset; 166 /* set_freq() & get_freq() need to avoid using ADIS lib's state lock */ 167 int (*set_freq)(struct adis16400_state *st, unsigned int freq); 168 int (*get_freq)(struct adis16400_state *st); 169}; 170 171/** 172 * struct adis16400_state - device instance specific data 173 * @variant: chip variant info 174 * @filt_int: integer part of requested filter frequency 175 * @adis: adis device 176 * @avail_scan_mask: NULL terminated array of bitmaps of channels 177 * that must be enabled together 178 **/ 179struct adis16400_state { 180 struct adis16400_chip_info *variant; 181 int filt_int; 182 183 struct adis adis; 184 unsigned long avail_scan_mask[2]; 185}; 186 187/* At the moment triggers are only used for ring buffer 188 * filling. This may change! 189 */ 190 191enum { 192 ADIS16400_SCAN_SUPPLY, 193 ADIS16400_SCAN_GYRO_X, 194 ADIS16400_SCAN_GYRO_Y, 195 ADIS16400_SCAN_GYRO_Z, 196 ADIS16400_SCAN_ACC_X, 197 ADIS16400_SCAN_ACC_Y, 198 ADIS16400_SCAN_ACC_Z, 199 ADIS16400_SCAN_MAGN_X, 200 ADIS16400_SCAN_MAGN_Y, 201 ADIS16400_SCAN_MAGN_Z, 202 ADIS16400_SCAN_BARO, 203 ADIS16350_SCAN_TEMP_X, 204 ADIS16350_SCAN_TEMP_Y, 205 ADIS16350_SCAN_TEMP_Z, 206 ADIS16300_SCAN_INCLI_X, 207 ADIS16300_SCAN_INCLI_Y, 208 ADIS16400_SCAN_ADC, 209 ADIS16400_SCAN_TIMESTAMP, 210}; 211 212#ifdef CONFIG_DEBUG_FS 213 214static ssize_t adis16400_show_serial_number(struct file *file, 215 char __user *userbuf, size_t count, loff_t *ppos) 216{ 217 struct adis16400_state *st = file->private_data; 218 u16 lot1, lot2, serial_number; 219 char buf[16]; 220 size_t len; 221 int ret; 222 223 ret = adis_read_reg_16(&st->adis, ADIS16334_LOT_ID1, &lot1); 224 if (ret) 225 return ret; 226 227 ret = adis_read_reg_16(&st->adis, ADIS16334_LOT_ID2, &lot2); 228 if (ret) 229 return ret; 230 231 ret = adis_read_reg_16(&st->adis, ADIS16334_SERIAL_NUMBER, 232 &serial_number); 233 if (ret) 234 return ret; 235 236 len = snprintf(buf, sizeof(buf), "%.4x-%.4x-%.4x\n", lot1, lot2, 237 serial_number); 238 239 return simple_read_from_buffer(userbuf, count, ppos, buf, len); 240} 241 242static const struct file_operations adis16400_serial_number_fops = { 243 .open = simple_open, 244 .read = adis16400_show_serial_number, 245 .llseek = default_llseek, 246 .owner = THIS_MODULE, 247}; 248 249static int adis16400_show_product_id(void *arg, u64 *val) 250{ 251 struct adis16400_state *st = arg; 252 uint16_t prod_id; 253 int ret; 254 255 ret = adis_read_reg_16(&st->adis, ADIS16400_PRODUCT_ID, &prod_id); 256 if (ret) 257 return ret; 258 259 *val = prod_id; 260 261 return 0; 262} 263DEFINE_DEBUGFS_ATTRIBUTE(adis16400_product_id_fops, 264 adis16400_show_product_id, NULL, "%lld\n"); 265 266static int adis16400_show_flash_count(void *arg, u64 *val) 267{ 268 struct adis16400_state *st = arg; 269 uint16_t flash_count; 270 int ret; 271 272 ret = adis_read_reg_16(&st->adis, ADIS16400_FLASH_CNT, &flash_count); 273 if (ret) 274 return ret; 275 276 *val = flash_count; 277 278 return 0; 279} 280DEFINE_DEBUGFS_ATTRIBUTE(adis16400_flash_count_fops, 281 adis16400_show_flash_count, NULL, "%lld\n"); 282 283static int adis16400_debugfs_init(struct iio_dev *indio_dev) 284{ 285 struct adis16400_state *st = iio_priv(indio_dev); 286 struct dentry *d = iio_get_debugfs_dentry(indio_dev); 287 288 if (st->variant->flags & ADIS16400_HAS_SERIAL_NUMBER) 289 debugfs_create_file_unsafe("serial_number", 0400, 290 d, st, &adis16400_serial_number_fops); 291 if (st->variant->flags & ADIS16400_HAS_PROD_ID) 292 debugfs_create_file_unsafe("product_id", 0400, 293 d, st, &adis16400_product_id_fops); 294 debugfs_create_file_unsafe("flash_count", 0400, 295 d, st, &adis16400_flash_count_fops); 296 297 return 0; 298} 299 300#else 301 302static int adis16400_debugfs_init(struct iio_dev *indio_dev) 303{ 304 return 0; 305} 306 307#endif 308 309enum adis16400_chip_variant { 310 ADIS16300, 311 ADIS16334, 312 ADIS16350, 313 ADIS16360, 314 ADIS16362, 315 ADIS16364, 316 ADIS16367, 317 ADIS16400, 318 ADIS16445, 319 ADIS16448, 320}; 321 322static int adis16334_get_freq(struct adis16400_state *st) 323{ 324 int ret; 325 uint16_t t; 326 327 ret = __adis_read_reg_16(&st->adis, ADIS16400_SMPL_PRD, &t); 328 if (ret) 329 return ret; 330 331 t >>= ADIS16334_RATE_DIV_SHIFT; 332 333 return 819200 >> t; 334} 335 336static int adis16334_set_freq(struct adis16400_state *st, unsigned int freq) 337{ 338 unsigned int t; 339 340 if (freq < 819200) 341 t = ilog2(819200 / freq); 342 else 343 t = 0; 344 345 if (t > 0x31) 346 t = 0x31; 347 348 t <<= ADIS16334_RATE_DIV_SHIFT; 349 t |= ADIS16334_RATE_INT_CLK; 350 351 return __adis_write_reg_16(&st->adis, ADIS16400_SMPL_PRD, t); 352} 353 354static int adis16400_get_freq(struct adis16400_state *st) 355{ 356 int sps, ret; 357 uint16_t t; 358 359 ret = __adis_read_reg_16(&st->adis, ADIS16400_SMPL_PRD, &t); 360 if (ret) 361 return ret; 362 363 sps = (t & ADIS16400_SMPL_PRD_TIME_BASE) ? 52851 : 1638404; 364 sps /= (t & ADIS16400_SMPL_PRD_DIV_MASK) + 1; 365 366 return sps; 367} 368 369static int adis16400_set_freq(struct adis16400_state *st, unsigned int freq) 370{ 371 unsigned int t; 372 uint8_t val = 0; 373 374 t = 1638404 / freq; 375 if (t >= 128) { 376 val |= ADIS16400_SMPL_PRD_TIME_BASE; 377 t = 52851 / freq; 378 if (t >= 128) 379 t = 127; 380 } else if (t != 0) { 381 t--; 382 } 383 384 val |= t; 385 386 if (t >= 0x0A || (val & ADIS16400_SMPL_PRD_TIME_BASE)) 387 st->adis.spi->max_speed_hz = ADIS16400_SPI_SLOW; 388 else 389 st->adis.spi->max_speed_hz = ADIS16400_SPI_FAST; 390 391 return __adis_write_reg_8(&st->adis, ADIS16400_SMPL_PRD, val); 392} 393 394static const unsigned int adis16400_3db_divisors[] = { 395 [0] = 2, /* Special case */ 396 [1] = 6, 397 [2] = 12, 398 [3] = 25, 399 [4] = 50, 400 [5] = 100, 401 [6] = 200, 402 [7] = 200, /* Not a valid setting */ 403}; 404 405static int __adis16400_set_filter(struct iio_dev *indio_dev, int sps, int val) 406{ 407 struct adis16400_state *st = iio_priv(indio_dev); 408 uint16_t val16; 409 int i, ret; 410 411 for (i = ARRAY_SIZE(adis16400_3db_divisors) - 1; i >= 1; i--) { 412 if (sps / adis16400_3db_divisors[i] >= val) 413 break; 414 } 415 416 ret = __adis_read_reg_16(&st->adis, ADIS16400_SENS_AVG, &val16); 417 if (ret) 418 return ret; 419 420 ret = __adis_write_reg_16(&st->adis, ADIS16400_SENS_AVG, 421 (val16 & ~0x07) | i); 422 return ret; 423} 424 425/* Power down the device */ 426static int adis16400_stop_device(struct iio_dev *indio_dev) 427{ 428 struct adis16400_state *st = iio_priv(indio_dev); 429 int ret; 430 431 ret = adis_write_reg_16(&st->adis, ADIS16400_SLP_CNT, 432 ADIS16400_SLP_CNT_POWER_OFF); 433 if (ret) 434 dev_err(&indio_dev->dev, 435 "problem with turning device off: SLP_CNT"); 436 437 return ret; 438} 439 440static int adis16400_initial_setup(struct iio_dev *indio_dev) 441{ 442 struct adis16400_state *st = iio_priv(indio_dev); 443 uint16_t prod_id, smp_prd; 444 unsigned int device_id; 445 int ret; 446 447 /* use low spi speed for init if the device has a slow mode */ 448 if (st->variant->flags & ADIS16400_HAS_SLOW_MODE) 449 st->adis.spi->max_speed_hz = ADIS16400_SPI_SLOW; 450 else 451 st->adis.spi->max_speed_hz = ADIS16400_SPI_FAST; 452 st->adis.spi->mode = SPI_MODE_3; 453 spi_setup(st->adis.spi); 454 455 ret = adis_initial_startup(&st->adis); 456 if (ret) 457 return ret; 458 459 if (st->variant->flags & ADIS16400_HAS_PROD_ID) { 460 ret = adis_read_reg_16(&st->adis, 461 ADIS16400_PRODUCT_ID, &prod_id); 462 if (ret) 463 goto err_ret; 464 465 if (sscanf(indio_dev->name, "adis%u\n", &device_id) != 1) { 466 ret = -EINVAL; 467 goto err_ret; 468 } 469 470 if (prod_id != device_id) 471 dev_warn(&indio_dev->dev, "Device ID(%u) and product ID(%u) do not match.", 472 device_id, prod_id); 473 474 dev_info(&indio_dev->dev, "%s: prod_id 0x%04x at CS%d (irq %d)\n", 475 indio_dev->name, prod_id, 476 st->adis.spi->chip_select, st->adis.spi->irq); 477 } 478 /* use high spi speed if possible */ 479 if (st->variant->flags & ADIS16400_HAS_SLOW_MODE) { 480 ret = adis_read_reg_16(&st->adis, ADIS16400_SMPL_PRD, &smp_prd); 481 if (ret) 482 goto err_ret; 483 484 if ((smp_prd & ADIS16400_SMPL_PRD_DIV_MASK) < 0x0A) { 485 st->adis.spi->max_speed_hz = ADIS16400_SPI_FAST; 486 spi_setup(st->adis.spi); 487 } 488 } 489 490err_ret: 491 return ret; 492} 493 494static const uint8_t adis16400_addresses[] = { 495 [ADIS16400_SCAN_GYRO_X] = ADIS16400_XGYRO_OFF, 496 [ADIS16400_SCAN_GYRO_Y] = ADIS16400_YGYRO_OFF, 497 [ADIS16400_SCAN_GYRO_Z] = ADIS16400_ZGYRO_OFF, 498 [ADIS16400_SCAN_ACC_X] = ADIS16400_XACCL_OFF, 499 [ADIS16400_SCAN_ACC_Y] = ADIS16400_YACCL_OFF, 500 [ADIS16400_SCAN_ACC_Z] = ADIS16400_ZACCL_OFF, 501}; 502 503static int adis16400_write_raw(struct iio_dev *indio_dev, 504 struct iio_chan_spec const *chan, int val, int val2, long info) 505{ 506 struct adis16400_state *st = iio_priv(indio_dev); 507 struct mutex *slock = &st->adis.state_lock; 508 int ret, sps; 509 510 switch (info) { 511 case IIO_CHAN_INFO_CALIBBIAS: 512 ret = adis_write_reg_16(&st->adis, 513 adis16400_addresses[chan->scan_index], val); 514 return ret; 515 case IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY: 516 /* 517 * Need to cache values so we can update if the frequency 518 * changes. 519 */ 520 mutex_lock(slock); 521 st->filt_int = val; 522 /* Work out update to current value */ 523 sps = st->variant->get_freq(st); 524 if (sps < 0) { 525 mutex_unlock(slock); 526 return sps; 527 } 528 529 ret = __adis16400_set_filter(indio_dev, sps, 530 val * 1000 + val2 / 1000); 531 mutex_unlock(slock); 532 return ret; 533 case IIO_CHAN_INFO_SAMP_FREQ: 534 sps = val * 1000 + val2 / 1000; 535 536 if (sps <= 0) 537 return -EINVAL; 538 539 mutex_lock(slock); 540 ret = st->variant->set_freq(st, sps); 541 mutex_unlock(slock); 542 return ret; 543 default: 544 return -EINVAL; 545 } 546} 547 548static int adis16400_read_raw(struct iio_dev *indio_dev, 549 struct iio_chan_spec const *chan, int *val, int *val2, long info) 550{ 551 struct adis16400_state *st = iio_priv(indio_dev); 552 struct mutex *slock = &st->adis.state_lock; 553 int16_t val16; 554 int ret; 555 556 switch (info) { 557 case IIO_CHAN_INFO_RAW: 558 return adis_single_conversion(indio_dev, chan, 0, val); 559 case IIO_CHAN_INFO_SCALE: 560 switch (chan->type) { 561 case IIO_ANGL_VEL: 562 *val = 0; 563 *val2 = st->variant->gyro_scale_micro; 564 return IIO_VAL_INT_PLUS_MICRO; 565 case IIO_VOLTAGE: 566 *val = 0; 567 if (chan->channel == 0) { 568 *val = 2; 569 *val2 = 418000; /* 2.418 mV */ 570 } else { 571 *val = 0; 572 *val2 = 805800; /* 805.8 uV */ 573 } 574 return IIO_VAL_INT_PLUS_MICRO; 575 case IIO_ACCEL: 576 *val = 0; 577 *val2 = st->variant->accel_scale_micro; 578 return IIO_VAL_INT_PLUS_MICRO; 579 case IIO_MAGN: 580 *val = 0; 581 *val2 = 500; /* 0.5 mgauss */ 582 return IIO_VAL_INT_PLUS_MICRO; 583 case IIO_TEMP: 584 *val = st->variant->temp_scale_nano / 1000000; 585 *val2 = (st->variant->temp_scale_nano % 1000000); 586 return IIO_VAL_INT_PLUS_MICRO; 587 case IIO_PRESSURE: 588 /* 20 uBar = 0.002kPascal */ 589 *val = 0; 590 *val2 = 2000; 591 return IIO_VAL_INT_PLUS_MICRO; 592 default: 593 return -EINVAL; 594 } 595 case IIO_CHAN_INFO_CALIBBIAS: 596 ret = adis_read_reg_16(&st->adis, 597 adis16400_addresses[chan->scan_index], &val16); 598 if (ret) 599 return ret; 600 val16 = sign_extend32(val16, 11); 601 *val = val16; 602 return IIO_VAL_INT; 603 case IIO_CHAN_INFO_OFFSET: 604 /* currently only temperature */ 605 *val = st->variant->temp_offset; 606 return IIO_VAL_INT; 607 case IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY: 608 mutex_lock(slock); 609 /* Need both the number of taps and the sampling frequency */ 610 ret = __adis_read_reg_16(&st->adis, 611 ADIS16400_SENS_AVG, 612 &val16); 613 if (ret) { 614 mutex_unlock(slock); 615 return ret; 616 } 617 ret = st->variant->get_freq(st); 618 mutex_unlock(slock); 619 if (ret) 620 return ret; 621 ret /= adis16400_3db_divisors[val16 & 0x07]; 622 *val = ret / 1000; 623 *val2 = (ret % 1000) * 1000; 624 return IIO_VAL_INT_PLUS_MICRO; 625 case IIO_CHAN_INFO_SAMP_FREQ: 626 mutex_lock(slock); 627 ret = st->variant->get_freq(st); 628 mutex_unlock(slock); 629 if (ret) 630 return ret; 631 *val = ret / 1000; 632 *val2 = (ret % 1000) * 1000; 633 return IIO_VAL_INT_PLUS_MICRO; 634 default: 635 return -EINVAL; 636 } 637} 638 639#if IS_ENABLED(CONFIG_IIO_BUFFER) 640static irqreturn_t adis16400_trigger_handler(int irq, void *p) 641{ 642 struct iio_poll_func *pf = p; 643 struct iio_dev *indio_dev = pf->indio_dev; 644 struct adis16400_state *st = iio_priv(indio_dev); 645 struct adis *adis = &st->adis; 646 u32 old_speed_hz = st->adis.spi->max_speed_hz; 647 void *buffer; 648 int ret; 649 650 if (!(st->variant->flags & ADIS16400_NO_BURST) && 651 st->adis.spi->max_speed_hz > ADIS16400_SPI_BURST) { 652 st->adis.spi->max_speed_hz = ADIS16400_SPI_BURST; 653 spi_setup(st->adis.spi); 654 } 655 656 ret = spi_sync(adis->spi, &adis->msg); 657 if (ret) 658 dev_err(&adis->spi->dev, "Failed to read data: %d\n", ret); 659 660 if (!(st->variant->flags & ADIS16400_NO_BURST)) { 661 st->adis.spi->max_speed_hz = old_speed_hz; 662 spi_setup(st->adis.spi); 663 } 664 665 if (st->variant->flags & ADIS16400_BURST_DIAG_STAT) 666 buffer = adis->buffer + sizeof(u16); 667 else 668 buffer = adis->buffer; 669 670 iio_push_to_buffers_with_timestamp(indio_dev, buffer, 671 pf->timestamp); 672 673 iio_trigger_notify_done(indio_dev->trig); 674 675 return IRQ_HANDLED; 676} 677#else 678#define adis16400_trigger_handler NULL 679#endif /* IS_ENABLED(CONFIG_IIO_BUFFER) */ 680 681#define ADIS16400_VOLTAGE_CHAN(addr, bits, name, si, chn) { \ 682 .type = IIO_VOLTAGE, \ 683 .indexed = 1, \ 684 .channel = chn, \ 685 .extend_name = name, \ 686 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \ 687 BIT(IIO_CHAN_INFO_SCALE), \ 688 .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \ 689 .address = (addr), \ 690 .scan_index = (si), \ 691 .scan_type = { \ 692 .sign = 'u', \ 693 .realbits = (bits), \ 694 .storagebits = 16, \ 695 .shift = 0, \ 696 .endianness = IIO_BE, \ 697 }, \ 698} 699 700#define ADIS16400_SUPPLY_CHAN(addr, bits) \ 701 ADIS16400_VOLTAGE_CHAN(addr, bits, "supply", ADIS16400_SCAN_SUPPLY, 0) 702 703#define ADIS16400_AUX_ADC_CHAN(addr, bits) \ 704 ADIS16400_VOLTAGE_CHAN(addr, bits, NULL, ADIS16400_SCAN_ADC, 1) 705 706#define ADIS16400_GYRO_CHAN(mod, addr, bits) { \ 707 .type = IIO_ANGL_VEL, \ 708 .modified = 1, \ 709 .channel2 = IIO_MOD_ ## mod, \ 710 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \ 711 BIT(IIO_CHAN_INFO_CALIBBIAS), \ 712 .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE) | \ 713 BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY), \ 714 .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \ 715 .address = addr, \ 716 .scan_index = ADIS16400_SCAN_GYRO_ ## mod, \ 717 .scan_type = { \ 718 .sign = 's', \ 719 .realbits = (bits), \ 720 .storagebits = 16, \ 721 .shift = 0, \ 722 .endianness = IIO_BE, \ 723 }, \ 724} 725 726#define ADIS16400_ACCEL_CHAN(mod, addr, bits) { \ 727 .type = IIO_ACCEL, \ 728 .modified = 1, \ 729 .channel2 = IIO_MOD_ ## mod, \ 730 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \ 731 BIT(IIO_CHAN_INFO_CALIBBIAS), \ 732 .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE) | \ 733 BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY), \ 734 .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \ 735 .address = (addr), \ 736 .scan_index = ADIS16400_SCAN_ACC_ ## mod, \ 737 .scan_type = { \ 738 .sign = 's', \ 739 .realbits = (bits), \ 740 .storagebits = 16, \ 741 .shift = 0, \ 742 .endianness = IIO_BE, \ 743 }, \ 744} 745 746#define ADIS16400_MAGN_CHAN(mod, addr, bits) { \ 747 .type = IIO_MAGN, \ 748 .modified = 1, \ 749 .channel2 = IIO_MOD_ ## mod, \ 750 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW), \ 751 .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE) | \ 752 BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY), \ 753 .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \ 754 .address = (addr), \ 755 .scan_index = ADIS16400_SCAN_MAGN_ ## mod, \ 756 .scan_type = { \ 757 .sign = 's', \ 758 .realbits = (bits), \ 759 .storagebits = 16, \ 760 .shift = 0, \ 761 .endianness = IIO_BE, \ 762 }, \ 763} 764 765#define ADIS16400_MOD_TEMP_NAME_X "x" 766#define ADIS16400_MOD_TEMP_NAME_Y "y" 767#define ADIS16400_MOD_TEMP_NAME_Z "z" 768 769#define ADIS16400_MOD_TEMP_CHAN(mod, addr, bits) { \ 770 .type = IIO_TEMP, \ 771 .indexed = 1, \ 772 .channel = 0, \ 773 .extend_name = ADIS16400_MOD_TEMP_NAME_ ## mod, \ 774 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \ 775 BIT(IIO_CHAN_INFO_OFFSET) | \ 776 BIT(IIO_CHAN_INFO_SCALE), \ 777 .info_mask_shared_by_type = \ 778 BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY), \ 779 .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \ 780 .address = (addr), \ 781 .scan_index = ADIS16350_SCAN_TEMP_ ## mod, \ 782 .scan_type = { \ 783 .sign = 's', \ 784 .realbits = (bits), \ 785 .storagebits = 16, \ 786 .shift = 0, \ 787 .endianness = IIO_BE, \ 788 }, \ 789} 790 791#define ADIS16400_TEMP_CHAN(addr, bits) { \ 792 .type = IIO_TEMP, \ 793 .indexed = 1, \ 794 .channel = 0, \ 795 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \ 796 BIT(IIO_CHAN_INFO_OFFSET) | \ 797 BIT(IIO_CHAN_INFO_SCALE), \ 798 .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \ 799 .address = (addr), \ 800 .scan_index = ADIS16350_SCAN_TEMP_X, \ 801 .scan_type = { \ 802 .sign = 's', \ 803 .realbits = (bits), \ 804 .storagebits = 16, \ 805 .shift = 0, \ 806 .endianness = IIO_BE, \ 807 }, \ 808} 809 810#define ADIS16400_INCLI_CHAN(mod, addr, bits) { \ 811 .type = IIO_INCLI, \ 812 .modified = 1, \ 813 .channel2 = IIO_MOD_ ## mod, \ 814 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW), \ 815 .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE), \ 816 .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \ 817 .address = (addr), \ 818 .scan_index = ADIS16300_SCAN_INCLI_ ## mod, \ 819 .scan_type = { \ 820 .sign = 's', \ 821 .realbits = (bits), \ 822 .storagebits = 16, \ 823 .shift = 0, \ 824 .endianness = IIO_BE, \ 825 }, \ 826} 827 828static const struct iio_chan_spec adis16400_channels[] = { 829 ADIS16400_SUPPLY_CHAN(ADIS16400_SUPPLY_OUT, 14), 830 ADIS16400_GYRO_CHAN(X, ADIS16400_XGYRO_OUT, 14), 831 ADIS16400_GYRO_CHAN(Y, ADIS16400_YGYRO_OUT, 14), 832 ADIS16400_GYRO_CHAN(Z, ADIS16400_ZGYRO_OUT, 14), 833 ADIS16400_ACCEL_CHAN(X, ADIS16400_XACCL_OUT, 14), 834 ADIS16400_ACCEL_CHAN(Y, ADIS16400_YACCL_OUT, 14), 835 ADIS16400_ACCEL_CHAN(Z, ADIS16400_ZACCL_OUT, 14), 836 ADIS16400_MAGN_CHAN(X, ADIS16400_XMAGN_OUT, 14), 837 ADIS16400_MAGN_CHAN(Y, ADIS16400_YMAGN_OUT, 14), 838 ADIS16400_MAGN_CHAN(Z, ADIS16400_ZMAGN_OUT, 14), 839 ADIS16400_TEMP_CHAN(ADIS16400_TEMP_OUT, 12), 840 ADIS16400_AUX_ADC_CHAN(ADIS16400_AUX_ADC, 12), 841 IIO_CHAN_SOFT_TIMESTAMP(ADIS16400_SCAN_TIMESTAMP), 842}; 843 844static const struct iio_chan_spec adis16445_channels[] = { 845 ADIS16400_GYRO_CHAN(X, ADIS16400_XGYRO_OUT, 16), 846 ADIS16400_GYRO_CHAN(Y, ADIS16400_YGYRO_OUT, 16), 847 ADIS16400_GYRO_CHAN(Z, ADIS16400_ZGYRO_OUT, 16), 848 ADIS16400_ACCEL_CHAN(X, ADIS16400_XACCL_OUT, 16), 849 ADIS16400_ACCEL_CHAN(Y, ADIS16400_YACCL_OUT, 16), 850 ADIS16400_ACCEL_CHAN(Z, ADIS16400_ZACCL_OUT, 16), 851 ADIS16400_TEMP_CHAN(ADIS16448_TEMP_OUT, 12), 852 IIO_CHAN_SOFT_TIMESTAMP(ADIS16400_SCAN_TIMESTAMP), 853}; 854 855static const struct iio_chan_spec adis16448_channels[] = { 856 ADIS16400_GYRO_CHAN(X, ADIS16400_XGYRO_OUT, 16), 857 ADIS16400_GYRO_CHAN(Y, ADIS16400_YGYRO_OUT, 16), 858 ADIS16400_GYRO_CHAN(Z, ADIS16400_ZGYRO_OUT, 16), 859 ADIS16400_ACCEL_CHAN(X, ADIS16400_XACCL_OUT, 16), 860 ADIS16400_ACCEL_CHAN(Y, ADIS16400_YACCL_OUT, 16), 861 ADIS16400_ACCEL_CHAN(Z, ADIS16400_ZACCL_OUT, 16), 862 ADIS16400_MAGN_CHAN(X, ADIS16400_XMAGN_OUT, 16), 863 ADIS16400_MAGN_CHAN(Y, ADIS16400_YMAGN_OUT, 16), 864 ADIS16400_MAGN_CHAN(Z, ADIS16400_ZMAGN_OUT, 16), 865 { 866 .type = IIO_PRESSURE, 867 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW), 868 .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE), 869 .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), 870 .address = ADIS16448_BARO_OUT, 871 .scan_index = ADIS16400_SCAN_BARO, 872 .scan_type = { 873 .sign = 's', 874 .realbits = 16, 875 .storagebits = 16, 876 .endianness = IIO_BE, 877 }, 878 }, 879 ADIS16400_TEMP_CHAN(ADIS16448_TEMP_OUT, 12), 880 IIO_CHAN_SOFT_TIMESTAMP(ADIS16400_SCAN_TIMESTAMP), 881}; 882 883static const struct iio_chan_spec adis16350_channels[] = { 884 ADIS16400_SUPPLY_CHAN(ADIS16400_SUPPLY_OUT, 12), 885 ADIS16400_GYRO_CHAN(X, ADIS16400_XGYRO_OUT, 14), 886 ADIS16400_GYRO_CHAN(Y, ADIS16400_YGYRO_OUT, 14), 887 ADIS16400_GYRO_CHAN(Z, ADIS16400_ZGYRO_OUT, 14), 888 ADIS16400_ACCEL_CHAN(X, ADIS16400_XACCL_OUT, 14), 889 ADIS16400_ACCEL_CHAN(Y, ADIS16400_YACCL_OUT, 14), 890 ADIS16400_ACCEL_CHAN(Z, ADIS16400_ZACCL_OUT, 14), 891 ADIS16400_MAGN_CHAN(X, ADIS16400_XMAGN_OUT, 14), 892 ADIS16400_MAGN_CHAN(Y, ADIS16400_YMAGN_OUT, 14), 893 ADIS16400_MAGN_CHAN(Z, ADIS16400_ZMAGN_OUT, 14), 894 ADIS16400_AUX_ADC_CHAN(ADIS16300_AUX_ADC, 12), 895 ADIS16400_MOD_TEMP_CHAN(X, ADIS16350_XTEMP_OUT, 12), 896 ADIS16400_MOD_TEMP_CHAN(Y, ADIS16350_YTEMP_OUT, 12), 897 ADIS16400_MOD_TEMP_CHAN(Z, ADIS16350_ZTEMP_OUT, 12), 898 IIO_CHAN_SOFT_TIMESTAMP(ADIS16400_SCAN_TIMESTAMP), 899}; 900 901static const struct iio_chan_spec adis16300_channels[] = { 902 ADIS16400_SUPPLY_CHAN(ADIS16400_SUPPLY_OUT, 12), 903 ADIS16400_GYRO_CHAN(X, ADIS16400_XGYRO_OUT, 14), 904 ADIS16400_ACCEL_CHAN(X, ADIS16400_XACCL_OUT, 14), 905 ADIS16400_ACCEL_CHAN(Y, ADIS16400_YACCL_OUT, 14), 906 ADIS16400_ACCEL_CHAN(Z, ADIS16400_ZACCL_OUT, 14), 907 ADIS16400_TEMP_CHAN(ADIS16350_XTEMP_OUT, 12), 908 ADIS16400_AUX_ADC_CHAN(ADIS16300_AUX_ADC, 12), 909 ADIS16400_INCLI_CHAN(X, ADIS16300_PITCH_OUT, 13), 910 ADIS16400_INCLI_CHAN(Y, ADIS16300_ROLL_OUT, 13), 911 IIO_CHAN_SOFT_TIMESTAMP(ADIS16400_SCAN_TIMESTAMP), 912}; 913 914static const struct iio_chan_spec adis16334_channels[] = { 915 ADIS16400_GYRO_CHAN(X, ADIS16400_XGYRO_OUT, 14), 916 ADIS16400_GYRO_CHAN(Y, ADIS16400_YGYRO_OUT, 14), 917 ADIS16400_GYRO_CHAN(Z, ADIS16400_ZGYRO_OUT, 14), 918 ADIS16400_ACCEL_CHAN(X, ADIS16400_XACCL_OUT, 14), 919 ADIS16400_ACCEL_CHAN(Y, ADIS16400_YACCL_OUT, 14), 920 ADIS16400_ACCEL_CHAN(Z, ADIS16400_ZACCL_OUT, 14), 921 ADIS16400_TEMP_CHAN(ADIS16350_XTEMP_OUT, 12), 922 IIO_CHAN_SOFT_TIMESTAMP(ADIS16400_SCAN_TIMESTAMP), 923}; 924 925static const char * const adis16400_status_error_msgs[] = { 926 [ADIS16400_DIAG_STAT_ZACCL_FAIL] = "Z-axis accelerometer self-test failure", 927 [ADIS16400_DIAG_STAT_YACCL_FAIL] = "Y-axis accelerometer self-test failure", 928 [ADIS16400_DIAG_STAT_XACCL_FAIL] = "X-axis accelerometer self-test failure", 929 [ADIS16400_DIAG_STAT_XGYRO_FAIL] = "X-axis gyroscope self-test failure", 930 [ADIS16400_DIAG_STAT_YGYRO_FAIL] = "Y-axis gyroscope self-test failure", 931 [ADIS16400_DIAG_STAT_ZGYRO_FAIL] = "Z-axis gyroscope self-test failure", 932 [ADIS16400_DIAG_STAT_ALARM2] = "Alarm 2 active", 933 [ADIS16400_DIAG_STAT_ALARM1] = "Alarm 1 active", 934 [ADIS16400_DIAG_STAT_FLASH_CHK] = "Flash checksum error", 935 [ADIS16400_DIAG_STAT_SELF_TEST] = "Self test error", 936 [ADIS16400_DIAG_STAT_OVERFLOW] = "Sensor overrange", 937 [ADIS16400_DIAG_STAT_SPI_FAIL] = "SPI failure", 938 [ADIS16400_DIAG_STAT_FLASH_UPT] = "Flash update failed", 939 [ADIS16400_DIAG_STAT_POWER_HIGH] = "Power supply above 5.25V", 940 [ADIS16400_DIAG_STAT_POWER_LOW] = "Power supply below 4.75V", 941}; 942 943#define ADIS16400_DATA(_timeouts, _burst_len) \ 944{ \ 945 .msc_ctrl_reg = ADIS16400_MSC_CTRL, \ 946 .glob_cmd_reg = ADIS16400_GLOB_CMD, \ 947 .diag_stat_reg = ADIS16400_DIAG_STAT, \ 948 .read_delay = 50, \ 949 .write_delay = 50, \ 950 .self_test_mask = ADIS16400_MSC_CTRL_MEM_TEST, \ 951 .self_test_reg = ADIS16400_MSC_CTRL, \ 952 .status_error_msgs = adis16400_status_error_msgs, \ 953 .status_error_mask = BIT(ADIS16400_DIAG_STAT_ZACCL_FAIL) | \ 954 BIT(ADIS16400_DIAG_STAT_YACCL_FAIL) | \ 955 BIT(ADIS16400_DIAG_STAT_XACCL_FAIL) | \ 956 BIT(ADIS16400_DIAG_STAT_XGYRO_FAIL) | \ 957 BIT(ADIS16400_DIAG_STAT_YGYRO_FAIL) | \ 958 BIT(ADIS16400_DIAG_STAT_ZGYRO_FAIL) | \ 959 BIT(ADIS16400_DIAG_STAT_ALARM2) | \ 960 BIT(ADIS16400_DIAG_STAT_ALARM1) | \ 961 BIT(ADIS16400_DIAG_STAT_FLASH_CHK) | \ 962 BIT(ADIS16400_DIAG_STAT_SELF_TEST) | \ 963 BIT(ADIS16400_DIAG_STAT_OVERFLOW) | \ 964 BIT(ADIS16400_DIAG_STAT_SPI_FAIL) | \ 965 BIT(ADIS16400_DIAG_STAT_FLASH_UPT) | \ 966 BIT(ADIS16400_DIAG_STAT_POWER_HIGH) | \ 967 BIT(ADIS16400_DIAG_STAT_POWER_LOW), \ 968 .timeouts = (_timeouts), \ 969 .burst_reg_cmd = ADIS16400_GLOB_CMD, \ 970 .burst_len = (_burst_len) \ 971} 972 973static const struct adis_timeout adis16300_timeouts = { 974 .reset_ms = ADIS16400_STARTUP_DELAY, 975 .sw_reset_ms = ADIS16400_STARTUP_DELAY, 976 .self_test_ms = ADIS16400_STARTUP_DELAY, 977}; 978 979static const struct adis_timeout adis16334_timeouts = { 980 .reset_ms = 60, 981 .sw_reset_ms = 60, 982 .self_test_ms = 14, 983}; 984 985static const struct adis_timeout adis16362_timeouts = { 986 .reset_ms = 130, 987 .sw_reset_ms = 130, 988 .self_test_ms = 12, 989}; 990 991static const struct adis_timeout adis16400_timeouts = { 992 .reset_ms = 170, 993 .sw_reset_ms = 170, 994 .self_test_ms = 12, 995}; 996 997static const struct adis_timeout adis16445_timeouts = { 998 .reset_ms = 55, 999 .sw_reset_ms = 55, 1000 .self_test_ms = 16, 1001}; 1002 1003static const struct adis_timeout adis16448_timeouts = { 1004 .reset_ms = 90, 1005 .sw_reset_ms = 90, 1006 .self_test_ms = 45, 1007}; 1008 1009static struct adis16400_chip_info adis16400_chips[] = { 1010 [ADIS16300] = { 1011 .channels = adis16300_channels, 1012 .num_channels = ARRAY_SIZE(adis16300_channels), 1013 .flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE | 1014 ADIS16400_HAS_SERIAL_NUMBER, 1015 .gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */ 1016 .accel_scale_micro = 5884, 1017 .temp_scale_nano = 140000000, /* 0.14 C */ 1018 .temp_offset = 25000000 / 140000, /* 25 C = 0x00 */ 1019 .set_freq = adis16400_set_freq, 1020 .get_freq = adis16400_get_freq, 1021 .adis_data = ADIS16400_DATA(&adis16300_timeouts, 18), 1022 }, 1023 [ADIS16334] = { 1024 .channels = adis16334_channels, 1025 .num_channels = ARRAY_SIZE(adis16334_channels), 1026 .flags = ADIS16400_HAS_PROD_ID | ADIS16400_NO_BURST | 1027 ADIS16400_HAS_SERIAL_NUMBER, 1028 .gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */ 1029 .accel_scale_micro = IIO_G_TO_M_S_2(1000), /* 1 mg */ 1030 .temp_scale_nano = 67850000, /* 0.06785 C */ 1031 .temp_offset = 25000000 / 67850, /* 25 C = 0x00 */ 1032 .set_freq = adis16334_set_freq, 1033 .get_freq = adis16334_get_freq, 1034 .adis_data = ADIS16400_DATA(&adis16334_timeouts, 0), 1035 }, 1036 [ADIS16350] = { 1037 .channels = adis16350_channels, 1038 .num_channels = ARRAY_SIZE(adis16350_channels), 1039 .gyro_scale_micro = IIO_DEGREE_TO_RAD(73260), /* 0.07326 deg/s */ 1040 .accel_scale_micro = IIO_G_TO_M_S_2(2522), /* 0.002522 g */ 1041 .temp_scale_nano = 145300000, /* 0.1453 C */ 1042 .temp_offset = 25000000 / 145300, /* 25 C = 0x00 */ 1043 .flags = ADIS16400_NO_BURST | ADIS16400_HAS_SLOW_MODE, 1044 .set_freq = adis16400_set_freq, 1045 .get_freq = adis16400_get_freq, 1046 .adis_data = ADIS16400_DATA(&adis16300_timeouts, 0), 1047 }, 1048 [ADIS16360] = { 1049 .channels = adis16350_channels, 1050 .num_channels = ARRAY_SIZE(adis16350_channels), 1051 .flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE | 1052 ADIS16400_HAS_SERIAL_NUMBER, 1053 .gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */ 1054 .accel_scale_micro = IIO_G_TO_M_S_2(3333), /* 3.333 mg */ 1055 .temp_scale_nano = 136000000, /* 0.136 C */ 1056 .temp_offset = 25000000 / 136000, /* 25 C = 0x00 */ 1057 .set_freq = adis16400_set_freq, 1058 .get_freq = adis16400_get_freq, 1059 .adis_data = ADIS16400_DATA(&adis16300_timeouts, 28), 1060 }, 1061 [ADIS16362] = { 1062 .channels = adis16350_channels, 1063 .num_channels = ARRAY_SIZE(adis16350_channels), 1064 .flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE | 1065 ADIS16400_HAS_SERIAL_NUMBER, 1066 .gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */ 1067 .accel_scale_micro = IIO_G_TO_M_S_2(333), /* 0.333 mg */ 1068 .temp_scale_nano = 136000000, /* 0.136 C */ 1069 .temp_offset = 25000000 / 136000, /* 25 C = 0x00 */ 1070 .set_freq = adis16400_set_freq, 1071 .get_freq = adis16400_get_freq, 1072 .adis_data = ADIS16400_DATA(&adis16362_timeouts, 28), 1073 }, 1074 [ADIS16364] = { 1075 .channels = adis16350_channels, 1076 .num_channels = ARRAY_SIZE(adis16350_channels), 1077 .flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE | 1078 ADIS16400_HAS_SERIAL_NUMBER, 1079 .gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */ 1080 .accel_scale_micro = IIO_G_TO_M_S_2(1000), /* 1 mg */ 1081 .temp_scale_nano = 136000000, /* 0.136 C */ 1082 .temp_offset = 25000000 / 136000, /* 25 C = 0x00 */ 1083 .set_freq = adis16400_set_freq, 1084 .get_freq = adis16400_get_freq, 1085 .adis_data = ADIS16400_DATA(&adis16362_timeouts, 28), 1086 }, 1087 [ADIS16367] = { 1088 .channels = adis16350_channels, 1089 .num_channels = ARRAY_SIZE(adis16350_channels), 1090 .flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE | 1091 ADIS16400_HAS_SERIAL_NUMBER, 1092 .gyro_scale_micro = IIO_DEGREE_TO_RAD(2000), /* 0.2 deg/s */ 1093 .accel_scale_micro = IIO_G_TO_M_S_2(3333), /* 3.333 mg */ 1094 .temp_scale_nano = 136000000, /* 0.136 C */ 1095 .temp_offset = 25000000 / 136000, /* 25 C = 0x00 */ 1096 .set_freq = adis16400_set_freq, 1097 .get_freq = adis16400_get_freq, 1098 .adis_data = ADIS16400_DATA(&adis16300_timeouts, 28), 1099 }, 1100 [ADIS16400] = { 1101 .channels = adis16400_channels, 1102 .num_channels = ARRAY_SIZE(adis16400_channels), 1103 .flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE, 1104 .gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */ 1105 .accel_scale_micro = IIO_G_TO_M_S_2(3333), /* 3.333 mg */ 1106 .temp_scale_nano = 140000000, /* 0.14 C */ 1107 .temp_offset = 25000000 / 140000, /* 25 C = 0x00 */ 1108 .set_freq = adis16400_set_freq, 1109 .get_freq = adis16400_get_freq, 1110 .adis_data = ADIS16400_DATA(&adis16400_timeouts, 24), 1111 }, 1112 [ADIS16445] = { 1113 .channels = adis16445_channels, 1114 .num_channels = ARRAY_SIZE(adis16445_channels), 1115 .flags = ADIS16400_HAS_PROD_ID | 1116 ADIS16400_HAS_SERIAL_NUMBER | 1117 ADIS16400_BURST_DIAG_STAT, 1118 .gyro_scale_micro = IIO_DEGREE_TO_RAD(10000), /* 0.01 deg/s */ 1119 .accel_scale_micro = IIO_G_TO_M_S_2(250), /* 1/4000 g */ 1120 .temp_scale_nano = 73860000, /* 0.07386 C */ 1121 .temp_offset = 31000000 / 73860, /* 31 C = 0x00 */ 1122 .set_freq = adis16334_set_freq, 1123 .get_freq = adis16334_get_freq, 1124 .adis_data = ADIS16400_DATA(&adis16445_timeouts, 16), 1125 }, 1126 [ADIS16448] = { 1127 .channels = adis16448_channels, 1128 .num_channels = ARRAY_SIZE(adis16448_channels), 1129 .flags = ADIS16400_HAS_PROD_ID | 1130 ADIS16400_HAS_SERIAL_NUMBER | 1131 ADIS16400_BURST_DIAG_STAT, 1132 .gyro_scale_micro = IIO_DEGREE_TO_RAD(40000), /* 0.04 deg/s */ 1133 .accel_scale_micro = IIO_G_TO_M_S_2(833), /* 1/1200 g */ 1134 .temp_scale_nano = 73860000, /* 0.07386 C */ 1135 .temp_offset = 31000000 / 73860, /* 31 C = 0x00 */ 1136 .set_freq = adis16334_set_freq, 1137 .get_freq = adis16334_get_freq, 1138 .adis_data = ADIS16400_DATA(&adis16448_timeouts, 24), 1139 } 1140}; 1141 1142static const struct iio_info adis16400_info = { 1143 .read_raw = &adis16400_read_raw, 1144 .write_raw = &adis16400_write_raw, 1145 .update_scan_mode = adis_update_scan_mode, 1146 .debugfs_reg_access = adis_debugfs_reg_access, 1147}; 1148 1149static void adis16400_setup_chan_mask(struct adis16400_state *st) 1150{ 1151 const struct adis16400_chip_info *chip_info = st->variant; 1152 unsigned int i; 1153 1154 for (i = 0; i < chip_info->num_channels; i++) { 1155 const struct iio_chan_spec *ch = &chip_info->channels[i]; 1156 1157 if (ch->scan_index >= 0 && 1158 ch->scan_index != ADIS16400_SCAN_TIMESTAMP) 1159 st->avail_scan_mask[0] |= BIT(ch->scan_index); 1160 } 1161} 1162 1163static void adis16400_stop(void *data) 1164{ 1165 adis16400_stop_device(data); 1166} 1167 1168static int adis16400_probe(struct spi_device *spi) 1169{ 1170 struct adis16400_state *st; 1171 struct iio_dev *indio_dev; 1172 int ret; 1173 const struct adis_data *adis16400_data; 1174 1175 indio_dev = devm_iio_device_alloc(&spi->dev, sizeof(*st)); 1176 if (indio_dev == NULL) 1177 return -ENOMEM; 1178 1179 st = iio_priv(indio_dev); 1180 /* this is only used for removal purposes */ 1181 spi_set_drvdata(spi, indio_dev); 1182 1183 /* setup the industrialio driver allocated elements */ 1184 st->variant = &adis16400_chips[spi_get_device_id(spi)->driver_data]; 1185 indio_dev->name = spi_get_device_id(spi)->name; 1186 indio_dev->channels = st->variant->channels; 1187 indio_dev->num_channels = st->variant->num_channels; 1188 indio_dev->info = &adis16400_info; 1189 indio_dev->modes = INDIO_DIRECT_MODE; 1190 1191 if (!(st->variant->flags & ADIS16400_NO_BURST)) { 1192 adis16400_setup_chan_mask(st); 1193 indio_dev->available_scan_masks = st->avail_scan_mask; 1194 } 1195 1196 adis16400_data = &st->variant->adis_data; 1197 1198 ret = adis_init(&st->adis, indio_dev, spi, adis16400_data); 1199 if (ret) 1200 return ret; 1201 1202 ret = devm_adis_setup_buffer_and_trigger(&st->adis, indio_dev, adis16400_trigger_handler); 1203 if (ret) 1204 return ret; 1205 1206 /* Get the device into a sane initial state */ 1207 ret = adis16400_initial_setup(indio_dev); 1208 if (ret) 1209 return ret; 1210 1211 ret = devm_add_action_or_reset(&spi->dev, adis16400_stop, indio_dev); 1212 if (ret) 1213 return ret; 1214 1215 ret = devm_iio_device_register(&spi->dev, indio_dev); 1216 if (ret) 1217 return ret; 1218 1219 adis16400_debugfs_init(indio_dev); 1220 return 0; 1221} 1222 1223static const struct spi_device_id adis16400_id[] = { 1224 {"adis16300", ADIS16300}, 1225 {"adis16305", ADIS16300}, 1226 {"adis16334", ADIS16334}, 1227 {"adis16350", ADIS16350}, 1228 {"adis16354", ADIS16350}, 1229 {"adis16355", ADIS16350}, 1230 {"adis16360", ADIS16360}, 1231 {"adis16362", ADIS16362}, 1232 {"adis16364", ADIS16364}, 1233 {"adis16365", ADIS16360}, 1234 {"adis16367", ADIS16367}, 1235 {"adis16400", ADIS16400}, 1236 {"adis16405", ADIS16400}, 1237 {"adis16445", ADIS16445}, 1238 {"adis16448", ADIS16448}, 1239 {} 1240}; 1241MODULE_DEVICE_TABLE(spi, adis16400_id); 1242 1243static struct spi_driver adis16400_driver = { 1244 .driver = { 1245 .name = "adis16400", 1246 }, 1247 .id_table = adis16400_id, 1248 .probe = adis16400_probe, 1249}; 1250module_spi_driver(adis16400_driver); 1251 1252MODULE_AUTHOR("Manuel Stahl <manuel.stahl@iis.fraunhofer.de>"); 1253MODULE_DESCRIPTION("Analog Devices ADIS16400/5 IMU SPI driver"); 1254MODULE_LICENSE("GPL v2"); 1255MODULE_IMPORT_NS(IIO_ADISLIB); 1256