1 // SPDX-License-Identifier: GPL-2.0
67 #define ADIS16475_LSB_FIR_MASK		BIT(1)
70 	ADIS16475_SYNC_DIRECT = 1,
84 	const struct adis16475_sync *sync;  member
132 	struct adis16475 *st = file->private_data;  in adis16475_show_firmware_revision()
138 	ret = adis_read_reg_16(&st->adis, ADIS16475_REG_FIRM_REV, &rev);  in adis16475_show_firmware_revision()
158 	struct adis16475 *st = file->private_data;  in adis16475_show_firmware_date()
164 	ret = adis_read_reg_16(&st->adis, ADIS16475_REG_FIRM_Y, &year);  in adis16475_show_firmware_date()
168 	ret = adis_read_reg_16(&st->adis, ADIS16475_REG_FIRM_DM, &md);  in adis16475_show_firmware_date()
172 	len = snprintf(buf, sizeof(buf), "%.2x-%.2x-%.4x\n", md >> 8, md & 0xff,  in adis16475_show_firmware_date()
191 	ret = adis_read_reg_16(&st->adis, ADIS16475_REG_SERIAL_NUM, &serial);  in adis16475_show_serial_number()
208 	ret = adis_read_reg_16(&st->adis, ADIS16475_REG_PROD_ID, &prod_id);  in adis16475_show_product_id()
225 	ret = adis_read_reg_32(&st->adis, ADIS16475_REG_FLASH_CNT,  in adis16475_show_flash_count()
263 	u32 sample_rate = st->clk_freq;  in adis16475_get_freq()
265 	adis_dev_lock(&st->adis);  in adis16475_get_freq()
267 	if (st->sync_mode == ADIS16475_SYNC_SCALED) {  in adis16475_get_freq()
270 		ret = __adis_read_reg_16(&st->adis, ADIS16475_REG_UP_SCALE, &sync_scale);  in adis16475_get_freq()
274 		sample_rate = st->clk_freq * sync_scale;  in adis16475_get_freq()
277 	ret = __adis_read_reg_16(&st->adis, ADIS16475_REG_DEC_RATE, &dec);  in adis16475_get_freq()
281 	adis_dev_unlock(&st->adis);  in adis16475_get_freq()
283 	*freq = DIV_ROUND_CLOSEST(sample_rate, dec + 1);  in adis16475_get_freq()
287 	adis_dev_unlock(&st->adis);  in adis16475_get_freq()
295 	u32 sample_rate = st->clk_freq;  in adis16475_set_freq()
298 		return -EINVAL;  in adis16475_set_freq()
300 	adis_dev_lock(&st->adis);  in adis16475_set_freq()
302 	 * When using sync scaled mode, the input clock needs to be scaled so that we have  in adis16475_set_freq()
308 	 *	1. lcm of the input clock and the desired output rate.  in adis16475_set_freq()
313 	if (st->sync_mode == ADIS16475_SYNC_SCALED) {  in adis16475_set_freq()
314 		unsigned long scaled_rate = lcm(st->clk_freq, freq);  in adis16475_set_freq()
323 			scaled_rate = 2100000 / st->clk_freq * st->clk_freq;  in adis16475_set_freq()
338 			scaled_rate = roundup(1900000, st->clk_freq);  in adis16475_set_freq()
340 		sync_scale = scaled_rate / st->clk_freq;  in adis16475_set_freq()
341 		ret = __adis_write_reg_16(&st->adis, ADIS16475_REG_UP_SCALE, sync_scale);  in adis16475_set_freq()
351 		dec--;  in adis16475_set_freq()
353 	if (dec > st->info->max_dec)  in adis16475_set_freq()
354 		dec = st->info->max_dec;  in adis16475_set_freq()
356 	ret = __adis_write_reg_16(&st->adis, ADIS16475_REG_DEC_RATE, dec);  in adis16475_set_freq()
360 	adis_dev_unlock(&st->adis);  in adis16475_set_freq()
365 	assign_bit(ADIS16475_LSB_DEC_MASK, &st->lsb_flag, dec);  in adis16475_set_freq()
369 	adis_dev_unlock(&st->adis);  in adis16475_set_freq()
376 	[1] = 360,
390 	ret = adis_read_reg_16(&st->adis, ADIS16475_REG_FILT_CTRL, &filter_sz);  in adis16475_get_filter()
404 	while (--i) {  in adis16475_set_filter()
409 	ret = adis_write_reg_16(&st->adis, ADIS16475_REG_FILT_CTRL,  in adis16475_set_filter()
418 	assign_bit(ADIS16475_LSB_FIR_MASK, &st->lsb_flag, i);  in adis16475_set_filter()
444 		switch (chan->type) {  in adis16475_read_raw()
446 			*val = st->info->gyro_max_val;  in adis16475_read_raw()
447 			*val2 = st->info->gyro_max_scale;  in adis16475_read_raw()
450 			*val = st->info->accel_max_val;  in adis16475_read_raw()
451 			*val2 = st->info->accel_max_scale;  in adis16475_read_raw()
454 			*val = st->info->temp_scale;  in adis16475_read_raw()
457 			return -EINVAL;  in adis16475_read_raw()
460 		ret = adis_read_reg_32(&st->adis,  in adis16475_read_raw()
461 				       adis16475_calib_regs[chan->scan_index],  in adis16475_read_raw()
482 		return -EINVAL;  in adis16475_read_raw()
500 		return adis_write_reg_32(&st->adis,  in adis16475_write_raw()
501 					 adis16475_calib_regs[chan->scan_index],  in adis16475_write_raw()
504 		return -EINVAL;  in adis16475_write_raw()
511 		.modified = 1, \
540 		.indexed = 1, \
591 	ADIS16475_DIAG_STAT_DATA_PATH = 1,
641 	{ ADIS16475_SYNC_SCALED, 1, 128 },
662 		.gyro_max_val = 1,
664 		.accel_max_val = 1,
669 		.sync = adis16475_sync_mode,
674 		.name = "adis16475-1",
677 		.gyro_max_val = 1,
679 		.accel_max_val = 1,
684 		.sync = adis16475_sync_mode,
689 		.name = "adis16475-2",
692 		.gyro_max_val = 1,
694 		.accel_max_val = 1,
699 		.sync = adis16475_sync_mode,
704 		.name = "adis16475-3",
707 		.gyro_max_val = 1,
709 		.accel_max_val = 1,
714 		.sync = adis16475_sync_mode,
719 		.name = "adis16477-1",
722 		.gyro_max_val = 1,
724 		.accel_max_val = 1,
729 		.sync = adis16475_sync_mode,
734 		.name = "adis16477-2",
737 		.gyro_max_val = 1,
739 		.accel_max_val = 1,
744 		.sync = adis16475_sync_mode,
749 		.name = "adis16477-3",
752 		.gyro_max_val = 1,
754 		.accel_max_val = 1,
759 		.sync = adis16475_sync_mode,
764 		.name = "adis16465-1",
767 		.gyro_max_val = 1,
769 		.accel_max_val = 1,
774 		.sync = adis16475_sync_mode,
779 		.name = "adis16465-2",
782 		.gyro_max_val = 1,
784 		.accel_max_val = 1,
789 		.sync = adis16475_sync_mode,
794 		.name = "adis16465-3",
797 		.gyro_max_val = 1,
799 		.accel_max_val = 1,
804 		.sync = adis16475_sync_mode,
809 		.name = "adis16467-1",
812 		.gyro_max_val = 1,
814 		.accel_max_val = 1,
819 		.sync = adis16475_sync_mode,
824 		.name = "adis16467-2",
827 		.gyro_max_val = 1,
829 		.accel_max_val = 1,
834 		.sync = adis16475_sync_mode,
839 		.name = "adis16467-3",
842 		.gyro_max_val = 1,
844 		.accel_max_val = 1,
849 		.sync = adis16475_sync_mode,
857 		.gyro_max_val = 1,
864 		.sync = adis16475_sync_mode,
865 		/* pulse sync not supported */
866 		.num_sync = ARRAY_SIZE(adis16475_sync_mode) - 1,
871 		.name = "adis16505-1",
874 		.gyro_max_val = 1,
881 		.sync = adis16475_sync_mode,
882 		/* pulse sync not supported */
883 		.num_sync = ARRAY_SIZE(adis16475_sync_mode) - 1,
888 		.name = "adis16505-2",
891 		.gyro_max_val = 1,
898 		.sync = adis16475_sync_mode,
899 		/* pulse sync not supported */
900 		.num_sync = ARRAY_SIZE(adis16475_sync_mode) - 1,
905 		.name = "adis16505-3",
908 		.gyro_max_val = 1,
915 		.sync = adis16475_sync_mode,
916 		/* pulse sync not supported */
917 		.num_sync = ARRAY_SIZE(adis16475_sync_mode) - 1,
922 		.name = "adis16507-1",
925 		.gyro_max_val = 1,
932 		.sync = adis16475_sync_mode,
933 		/* pulse sync not supported */
934 		.num_sync = ARRAY_SIZE(adis16475_sync_mode) - 1,
939 		.name = "adis16507-2",
942 		.gyro_max_val = 1,
949 		.sync = adis16475_sync_mode,
950 		/* pulse sync not supported */
951 		.num_sync = ARRAY_SIZE(adis16475_sync_mode) - 1,
956 		.name = "adis16507-3",
959 		.gyro_max_val = 1,
966 		.sync = adis16475_sync_mode,
967 		/* pulse sync not supported */
968 		.num_sync = ARRAY_SIZE(adis16475_sync_mode) - 1,
989 	for (i = 0; i < sz - 2; i++)  in adis16475_validate_crc()
990 		crc -= buffer[i];  in adis16475_validate_crc()
998 	struct adis *adis = &st->adis;  in adis16475_burst32_check()
1000 	if (!st->info->has_burst32)  in adis16475_burst32_check()
1003 	if (st->lsb_flag && !st->burst32) {  in adis16475_burst32_check()
1004 		const u16 en = ADIS16500_BURST32(1);  in adis16475_burst32_check()
1006 		ret = __adis_update_bits(&st->adis, ADIS16475_REG_MSG_CTRL,  in adis16475_burst32_check()
1011 		st->burst32 = true;  in adis16475_burst32_check()
1014 		 * In 32-bit mode we need extra 2 bytes for all gyro  in adis16475_burst32_check()
1017 		adis->burst_extra_len = 6 * sizeof(u16);  in adis16475_burst32_check()
1018 		adis->xfer[1].len += 6 * sizeof(u16);  in adis16475_burst32_check()
1019 		dev_dbg(&adis->spi->dev, "Enable burst32 mode, xfer:%d",  in adis16475_burst32_check()
1020 			adis->xfer[1].len);  in adis16475_burst32_check()
1022 	} else if (!st->lsb_flag && st->burst32) {  in adis16475_burst32_check()
1025 		ret = __adis_update_bits(&st->adis, ADIS16475_REG_MSG_CTRL,  in adis16475_burst32_check()
1030 		st->burst32 = false;  in adis16475_burst32_check()
1033 		adis->burst_extra_len = 0;  in adis16475_burst32_check()
1034 		adis->xfer[1].len -= 6 * sizeof(u16);  in adis16475_burst32_check()
1035 		dev_dbg(&adis->spi->dev, "Disable burst32 mode, xfer:%d\n",  in adis16475_burst32_check()
1036 			adis->xfer[1].len);  in adis16475_burst32_check()
1043 	struct iio_dev *indio_dev = pf->indio_dev;  in adis16475_trigger_handler()
1045 	struct adis *adis = &st->adis;  in adis16475_trigger_handler()
1051 	const u8 offset = st->burst32 ? 13 : 7;  in adis16475_trigger_handler()
1053 	ret = spi_sync(adis->spi, &adis->msg);  in adis16475_trigger_handler()
1057 	buffer = adis->buffer;  in adis16475_trigger_handler()
1060 	valid = adis16475_validate_crc(adis->buffer, crc, st->burst32);  in adis16475_trigger_handler()
1062 		dev_err(&adis->spi->dev, "Invalid crc\n");  in adis16475_trigger_handler()
1066 	for_each_set_bit(bit, indio_dev->active_scan_mask,  in adis16475_trigger_handler()
1067 			 indio_dev->masklength) {  in adis16475_trigger_handler()
1074 			st->data[i++] = buffer[offset];  in adis16475_trigger_handler()
1079 			 * DIAG_STAT reg, hence the +1 offset here...  in adis16475_trigger_handler()
1081 			if (st->burst32) {  in adis16475_trigger_handler()
1083 				st->data[i++] = buffer[bit * 2 + 2];  in adis16475_trigger_handler()
1085 				st->data[i++] = buffer[bit * 2 + 1];  in adis16475_trigger_handler()
1087 				st->data[i++] = buffer[bit + 1];  in adis16475_trigger_handler()
1094 				if (st->lsb_flag && !st->info->has_burst32) {  in adis16475_trigger_handler()
1100 					st->data[i++] = cpu_to_be16(val);  in adis16475_trigger_handler()
1103 					st->data[i++] = 0;  in adis16475_trigger_handler()
1110 	iio_push_to_buffers_with_timestamp(indio_dev, st->data, pf->timestamp);  in adis16475_trigger_handler()
1118 	iio_trigger_notify_done(indio_dev->trig);  in adis16475_trigger_handler()
1126 	struct device *dev = &st->adis.spi->dev;  in adis16475_config_sync_mode()
1127 	const struct adis16475_sync *sync;  in adis16475_config_sync_mode()  local
1131 	st->clk_freq = st->info->int_clk * 1000;  in adis16475_config_sync_mode()
1133 	ret = device_property_read_u32(dev, "adi,sync-mode", &sync_mode);  in adis16475_config_sync_mode()
1137 	if (sync_mode >= st->info->num_sync) {  in adis16475_config_sync_mode()
1138 		dev_err(dev, "Invalid sync mode: %u for %s\n", sync_mode,  in adis16475_config_sync_mode()
1139 			st->info->name);  in adis16475_config_sync_mode()
1140 		return -EINVAL;  in adis16475_config_sync_mode()
1143 	sync = &st->info->sync[sync_mode];  in adis16475_config_sync_mode()
1144 	st->sync_mode = sync->sync_mode;  in adis16475_config_sync_mode()
1147 	if (sync->sync_mode != ADIS16475_SYNC_OUTPUT) {  in adis16475_config_sync_mode()
1153 		st->clk_freq = clk_get_rate(clk);  in adis16475_config_sync_mode()
1154 		if (st->clk_freq < sync->min_rate ||  in adis16475_config_sync_mode()
1155 		    st->clk_freq > sync->max_rate) {  in adis16475_config_sync_mode()
1158 				st->clk_freq, sync->min_rate, sync->max_rate);  in adis16475_config_sync_mode()
1159 			return -EINVAL;  in adis16475_config_sync_mode()
1162 		if (sync->sync_mode == ADIS16475_SYNC_SCALED) {  in adis16475_config_sync_mode()
1166 			 * In sync scaled mode, the IMU sample rate is the clk_freq * sync_scale.  in adis16475_config_sync_mode()
1169 			 * 1900-2100 sps...  in adis16475_config_sync_mode()
1171 			up_scale = 2100 / st->clk_freq;  in adis16475_config_sync_mode()
1173 			ret = __adis_write_reg_16(&st->adis,  in adis16475_config_sync_mode()
1180 		st->clk_freq *= 1000;  in adis16475_config_sync_mode()
1190 	ret = __adis_update_bits(&st->adis, ADIS16475_REG_MSG_CTRL,  in adis16475_config_sync_mode()
1191 				 ADIS16475_SYNC_MODE_MASK, sync->sync_mode);  in adis16475_config_sync_mode()
1207 	struct spi_device *spi = st->adis.spi;  in adis16475_config_irq_pin()
1209 	desc = irq_get_irq_data(spi->irq);  in adis16475_config_irq_pin()
1211 		dev_err(&spi->dev, "Could not find IRQ %d\n", spi->irq);  in adis16475_config_irq_pin()
1212 		return -EINVAL;  in adis16475_config_irq_pin()
1220 		polarity = 1;  in adis16475_config_irq_pin()
1221 		st->adis.irq_flag = IRQF_TRIGGER_RISING;  in adis16475_config_irq_pin()
1224 		st->adis.irq_flag = IRQF_TRIGGER_FALLING;  in adis16475_config_irq_pin()
1226 		dev_err(&spi->dev, "Invalid interrupt type 0x%x specified\n",  in adis16475_config_irq_pin()
1228 		return -EINVAL;  in adis16475_config_irq_pin()
1232 	ret = __adis_update_bits(&st->adis, ADIS16475_REG_MSG_CTRL,  in adis16475_config_irq_pin()
1249 	{ .compatible = "adi,adis16475-1",
1251 	{ .compatible = "adi,adis16475-2",
1253 	{ .compatible = "adi,adis16475-3",
1255 	{ .compatible = "adi,adis16477-1",
1257 	{ .compatible = "adi,adis16477-2",
1259 	{ .compatible = "adi,adis16477-3",
1261 	{ .compatible = "adi,adis16465-1",
1263 	{ .compatible = "adi,adis16465-2",
1265 	{ .compatible = "adi,adis16465-3",
1267 	{ .compatible = "adi,adis16467-1",
1269 	{ .compatible = "adi,adis16467-2",
1271 	{ .compatible = "adi,adis16467-3",
1275 	{ .compatible = "adi,adis16505-1",
1277 	{ .compatible = "adi,adis16505-2",
1279 	{ .compatible = "adi,adis16505-3",
1281 	{ .compatible = "adi,adis16507-1",
1283 	{ .compatible = "adi,adis16507-2",
1285 	{ .compatible = "adi,adis16507-3",
1297 	indio_dev = devm_iio_device_alloc(&spi->dev, sizeof(*st));  in adis16475_probe()
1299 		return -ENOMEM;  in adis16475_probe()
1303 	st->info = device_get_match_data(&spi->dev);  in adis16475_probe()
1304 	if (!st->info)  in adis16475_probe()
1305 		return -EINVAL;  in adis16475_probe()
1307 	ret = adis_init(&st->adis, indio_dev, spi, &st->info->adis_data);  in adis16475_probe()
1311 	indio_dev->name = st->info->name;  in adis16475_probe()
1312 	indio_dev->channels = st->info->channels;  in adis16475_probe()
1313 	indio_dev->num_channels = st->info->num_channels;  in adis16475_probe()
1314 	indio_dev->info = &adis16475_info;  in adis16475_probe()
1315 	indio_dev->modes = INDIO_DIRECT_MODE;  in adis16475_probe()
1317 	ret = __adis_initial_startup(&st->adis);  in adis16475_probe()
1329 	ret = devm_adis_setup_buffer_and_trigger(&st->adis, indio_dev,  in adis16475_probe()
1334 	ret = devm_iio_device_register(&spi->dev, indio_dev);  in adis16475_probe()