1 // SPDX-License-Identifier: GPL-2.0-only
4  *		3d 2g Linear Accelerometers,
5  *		3d Gyroscopes,
6  *		3d Magnetometers via SPI
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 */
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 */
54 #define ADIS16300_PITCH_OUT 0x12 /* X axis inclinometer output measurement */
55 #define ADIS16300_ROLL_OUT  0x14 /* Y axis inclinometer output measurement */
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 */
126 #define ADIS16400_DIAG_STAT_SPI_FAIL	3
134 #define ADIS16400_GLOB_CMD_FLASH_UPD	(1<<3)
152 #define ADIS16400_HAS_SERIAL_NUMBER	BIT(3)
172  * struct adis16400_state - device instance specific data
217 	struct adis16400_state *st = file->private_data;  in adis16400_show_serial_number()
223 	ret = adis_read_reg_16(&st->adis, ADIS16334_LOT_ID1, &lot1);  in adis16400_show_serial_number()
227 	ret = adis_read_reg_16(&st->adis, ADIS16334_LOT_ID2, &lot2);  in adis16400_show_serial_number()
231 	ret = adis_read_reg_16(&st->adis, ADIS16334_SERIAL_NUMBER,  in adis16400_show_serial_number()
236 	len = snprintf(buf, sizeof(buf), "%.4x-%.4x-%.4x\n", lot1, lot2,  in adis16400_show_serial_number()
255 	ret = adis_read_reg_16(&st->adis, ADIS16400_PRODUCT_ID, &prod_id);  in adis16400_show_product_id()
272 	ret = adis_read_reg_16(&st->adis, ADIS16400_FLASH_CNT, &flash_count);  in adis16400_show_flash_count()
288 	if (st->variant->flags & ADIS16400_HAS_SERIAL_NUMBER)  in adis16400_debugfs_init()
291 	if (st->variant->flags & ADIS16400_HAS_PROD_ID)  in adis16400_debugfs_init()
327 	ret = __adis_read_reg_16(&st->adis, ADIS16400_SMPL_PRD, &t);  in adis16334_get_freq()
351 	return __adis_write_reg_16(&st->adis, ADIS16400_SMPL_PRD, t);  in adis16334_set_freq()
359 	ret = __adis_read_reg_16(&st->adis, ADIS16400_SMPL_PRD, &t);  in adis16400_get_freq()
381 		t--;  in adis16400_set_freq()
387 		st->adis.spi->max_speed_hz = ADIS16400_SPI_SLOW;  in adis16400_set_freq()
389 		st->adis.spi->max_speed_hz = ADIS16400_SPI_FAST;  in adis16400_set_freq()
391 	return __adis_write_reg_8(&st->adis, ADIS16400_SMPL_PRD, val);  in adis16400_set_freq()
398 	[3] = 25,
411 	for (i = ARRAY_SIZE(adis16400_3db_divisors) - 1; i >= 1; i--) {  in __adis16400_set_filter()
416 	ret = __adis_read_reg_16(&st->adis, ADIS16400_SENS_AVG, &val16);  in __adis16400_set_filter()
420 	ret = __adis_write_reg_16(&st->adis, ADIS16400_SENS_AVG,  in __adis16400_set_filter()
431 	ret = adis_write_reg_16(&st->adis, ADIS16400_SLP_CNT,  in adis16400_stop_device()
434 		dev_err(&indio_dev->dev,  in adis16400_stop_device()
448 	if (st->variant->flags & ADIS16400_HAS_SLOW_MODE)  in adis16400_initial_setup()
449 		st->adis.spi->max_speed_hz = ADIS16400_SPI_SLOW;  in adis16400_initial_setup()
451 		st->adis.spi->max_speed_hz = ADIS16400_SPI_FAST;  in adis16400_initial_setup()
452 	st->adis.spi->mode = SPI_MODE_3;  in adis16400_initial_setup()
453 	spi_setup(st->adis.spi);  in adis16400_initial_setup()
455 	ret = adis_initial_startup(&st->adis);  in adis16400_initial_setup()
459 	if (st->variant->flags & ADIS16400_HAS_PROD_ID) {  in adis16400_initial_setup()
460 		ret = adis_read_reg_16(&st->adis,  in adis16400_initial_setup()
465 		ret = sscanf(indio_dev->name, "adis%u\n", &device_id);  in adis16400_initial_setup()
467 			ret = -EINVAL;  in adis16400_initial_setup()
472 			dev_warn(&indio_dev->dev, "Device ID(%u) and product ID(%u) do not match.",  in adis16400_initial_setup()
475 		dev_info(&indio_dev->dev, "%s: prod_id 0x%04x at CS%d (irq %d)\n",  in adis16400_initial_setup()
476 			indio_dev->name, prod_id,  in adis16400_initial_setup()
477 			st->adis.spi->chip_select, st->adis.spi->irq);  in adis16400_initial_setup()
480 	if (st->variant->flags & ADIS16400_HAS_SLOW_MODE) {  in adis16400_initial_setup()
481 		ret = adis_read_reg_16(&st->adis, ADIS16400_SMPL_PRD, &smp_prd);  in adis16400_initial_setup()
486 			st->adis.spi->max_speed_hz = ADIS16400_SPI_FAST;  in adis16400_initial_setup()
487 			spi_setup(st->adis.spi);  in adis16400_initial_setup()
508 	struct mutex *slock = &st->adis.state_lock;  in adis16400_write_raw()
513 		ret = adis_write_reg_16(&st->adis,  in adis16400_write_raw()
514 				adis16400_addresses[chan->scan_index], val);  in adis16400_write_raw()
522 		st->filt_int = val;  in adis16400_write_raw()
524 		sps = st->variant->get_freq(st);  in adis16400_write_raw()
538 			return -EINVAL;  in adis16400_write_raw()
541 		ret = st->variant->set_freq(st, sps);  in adis16400_write_raw()
545 		return -EINVAL;  in adis16400_write_raw()
553 	struct mutex *slock = &st->adis.state_lock;  in adis16400_read_raw()
561 		switch (chan->type) {  in adis16400_read_raw()
564 			*val2 = st->variant->gyro_scale_micro;  in adis16400_read_raw()
568 			if (chan->channel == 0) {  in adis16400_read_raw()
578 			*val2 = st->variant->accel_scale_micro;  in adis16400_read_raw()
585 			*val = st->variant->temp_scale_nano / 1000000;  in adis16400_read_raw()
586 			*val2 = (st->variant->temp_scale_nano % 1000000);  in adis16400_read_raw()
594 			return -EINVAL;  in adis16400_read_raw()
597 		ret = adis_read_reg_16(&st->adis,  in adis16400_read_raw()
598 				adis16400_addresses[chan->scan_index], &val16);  in adis16400_read_raw()
606 		*val = st->variant->temp_offset;  in adis16400_read_raw()
611 		ret = __adis_read_reg_16(&st->adis,  in adis16400_read_raw()
618 		ret = st->variant->get_freq(st);  in adis16400_read_raw()
628 		ret = st->variant->get_freq(st);  in adis16400_read_raw()
636 		return -EINVAL;  in adis16400_read_raw()
644 	struct iio_dev *indio_dev = pf->indio_dev;  in adis16400_trigger_handler()
646 	struct adis *adis = &st->adis;  in adis16400_trigger_handler()
647 	u32 old_speed_hz = st->adis.spi->max_speed_hz;  in adis16400_trigger_handler()
651 	if (!adis->buffer)  in adis16400_trigger_handler()
652 		return -ENOMEM;  in adis16400_trigger_handler()
654 	if (!(st->variant->flags & ADIS16400_NO_BURST) &&  in adis16400_trigger_handler()
655 		st->adis.spi->max_speed_hz > ADIS16400_SPI_BURST) {  in adis16400_trigger_handler()
656 		st->adis.spi->max_speed_hz = ADIS16400_SPI_BURST;  in adis16400_trigger_handler()
657 		spi_setup(st->adis.spi);  in adis16400_trigger_handler()
660 	ret = spi_sync(adis->spi, &adis->msg);  in adis16400_trigger_handler()
662 		dev_err(&adis->spi->dev, "Failed to read data: %d\n", ret);  in adis16400_trigger_handler()
664 	if (!(st->variant->flags & ADIS16400_NO_BURST)) {  in adis16400_trigger_handler()
665 		st->adis.spi->max_speed_hz = old_speed_hz;  in adis16400_trigger_handler()
666 		spi_setup(st->adis.spi);  in adis16400_trigger_handler()
669 	if (st->variant->flags & ADIS16400_BURST_DIAG_STAT)  in adis16400_trigger_handler()
670 		buffer = adis->buffer + sizeof(u16);  in adis16400_trigger_handler()
672 		buffer = adis->buffer;  in adis16400_trigger_handler()
675 		pf->timestamp);  in adis16400_trigger_handler()
677 	iio_trigger_notify_done(indio_dev->trig);  in adis16400_trigger_handler()
930 	[ADIS16400_DIAG_STAT_ZACCL_FAIL] = "Z-axis accelerometer self-test failure",
931 	[ADIS16400_DIAG_STAT_YACCL_FAIL] = "Y-axis accelerometer self-test failure",
932 	[ADIS16400_DIAG_STAT_XACCL_FAIL] = "X-axis accelerometer self-test failure",
933 	[ADIS16400_DIAG_STAT_XGYRO_FAIL] = "X-axis gyroscope self-test failure",
934 	[ADIS16400_DIAG_STAT_YGYRO_FAIL] = "Y-axis gyroscope self-test failure",
935 	[ADIS16400_DIAG_STAT_ZGYRO_FAIL] = "Z-axis gyroscope self-test failure",
1155 	const struct adis16400_chip_info *chip_info = st->variant;  in adis16400_setup_chan_mask()
1158 	for (i = 0; i < chip_info->num_channels; i++) {  in adis16400_setup_chan_mask()
1159 		const struct iio_chan_spec *ch = &chip_info->channels[i];  in adis16400_setup_chan_mask()
1161 		if (ch->scan_index >= 0 &&  in adis16400_setup_chan_mask()
1162 		    ch->scan_index != ADIS16400_SCAN_TIMESTAMP)  in adis16400_setup_chan_mask()
1163 			st->avail_scan_mask[0] |= BIT(ch->scan_index);  in adis16400_setup_chan_mask()
1179 	indio_dev = devm_iio_device_alloc(&spi->dev, sizeof(*st));  in adis16400_probe()
1181 		return -ENOMEM;  in adis16400_probe()
1188 	st->variant = &adis16400_chips[spi_get_device_id(spi)->driver_data];  in adis16400_probe()
1189 	indio_dev->name = spi_get_device_id(spi)->name;  in adis16400_probe()
1190 	indio_dev->channels = st->variant->channels;  in adis16400_probe()
1191 	indio_dev->num_channels = st->variant->num_channels;  in adis16400_probe()
1192 	indio_dev->info = &adis16400_info;  in adis16400_probe()
1193 	indio_dev->modes = INDIO_DIRECT_MODE;  in adis16400_probe()
1195 	if (!(st->variant->flags & ADIS16400_NO_BURST)) {  in adis16400_probe()
1197 		indio_dev->available_scan_masks = st->avail_scan_mask;  in adis16400_probe()
1200 	adis16400_data = &st->variant->adis_data;  in adis16400_probe()
1202 	ret = adis_init(&st->adis, indio_dev, spi, adis16400_data);  in adis16400_probe()
1206 	ret = devm_adis_setup_buffer_and_trigger(&st->adis, indio_dev, adis16400_trigger_handler);  in adis16400_probe()
1215 	ret = devm_add_action_or_reset(&spi->dev, adis16400_stop, indio_dev);  in adis16400_probe()
1219 	ret = devm_iio_device_register(&spi->dev, indio_dev);  in adis16400_probe()