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
155 struct adis16400_state;
156
157 struct 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 **/
179 struct 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
191 enum {
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
adis16400_show_serial_number(struct file * file,char __user * userbuf,size_t count,loff_t * ppos)214 static 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
242 static 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
adis16400_show_product_id(void * arg,u64 * val)249 static 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 }
263 DEFINE_DEBUGFS_ATTRIBUTE(adis16400_product_id_fops,
264 adis16400_show_product_id, NULL, "%lld\n");
265
adis16400_show_flash_count(void * arg,u64 * val)266 static 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 }
280 DEFINE_DEBUGFS_ATTRIBUTE(adis16400_flash_count_fops,
281 adis16400_show_flash_count, NULL, "%lld\n");
282
adis16400_debugfs_init(struct iio_dev * indio_dev)283 static 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
adis16400_debugfs_init(struct iio_dev * indio_dev)302 static int adis16400_debugfs_init(struct iio_dev *indio_dev)
303 {
304 return 0;
305 }
306
307 #endif
308
309 enum 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
adis16334_get_freq(struct adis16400_state * st)322 static 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
adis16334_set_freq(struct adis16400_state * st,unsigned int freq)336 static 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
adis16400_get_freq(struct adis16400_state * st)354 static 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
adis16400_set_freq(struct adis16400_state * st,unsigned int freq)369 static 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
394 static 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
__adis16400_set_filter(struct iio_dev * indio_dev,int sps,int val)405 static 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 */
adis16400_stop_device(struct iio_dev * indio_dev)426 static 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
adis16400_initial_setup(struct iio_dev * indio_dev)440 static 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 ret = sscanf(indio_dev->name, "adis%u\n", &device_id);
466 if (ret != 1) {
467 ret = -EINVAL;
468 goto err_ret;
469 }
470
471 if (prod_id != device_id)
472 dev_warn(&indio_dev->dev, "Device ID(%u) and product ID(%u) do not match.",
473 device_id, prod_id);
474
475 dev_info(&indio_dev->dev, "%s: prod_id 0x%04x at CS%d (irq %d)\n",
476 indio_dev->name, prod_id,
477 st->adis.spi->chip_select, st->adis.spi->irq);
478 }
479 /* use high spi speed if possible */
480 if (st->variant->flags & ADIS16400_HAS_SLOW_MODE) {
481 ret = adis_read_reg_16(&st->adis, ADIS16400_SMPL_PRD, &smp_prd);
482 if (ret)
483 goto err_ret;
484
485 if ((smp_prd & ADIS16400_SMPL_PRD_DIV_MASK) < 0x0A) {
486 st->adis.spi->max_speed_hz = ADIS16400_SPI_FAST;
487 spi_setup(st->adis.spi);
488 }
489 }
490
491 err_ret:
492 return ret;
493 }
494
495 static const uint8_t adis16400_addresses[] = {
496 [ADIS16400_SCAN_GYRO_X] = ADIS16400_XGYRO_OFF,
497 [ADIS16400_SCAN_GYRO_Y] = ADIS16400_YGYRO_OFF,
498 [ADIS16400_SCAN_GYRO_Z] = ADIS16400_ZGYRO_OFF,
499 [ADIS16400_SCAN_ACC_X] = ADIS16400_XACCL_OFF,
500 [ADIS16400_SCAN_ACC_Y] = ADIS16400_YACCL_OFF,
501 [ADIS16400_SCAN_ACC_Z] = ADIS16400_ZACCL_OFF,
502 };
503
adis16400_write_raw(struct iio_dev * indio_dev,struct iio_chan_spec const * chan,int val,int val2,long info)504 static int adis16400_write_raw(struct iio_dev *indio_dev,
505 struct iio_chan_spec const *chan, int val, int val2, long info)
506 {
507 struct adis16400_state *st = iio_priv(indio_dev);
508 struct mutex *slock = &st->adis.state_lock;
509 int ret, sps;
510
511 switch (info) {
512 case IIO_CHAN_INFO_CALIBBIAS:
513 ret = adis_write_reg_16(&st->adis,
514 adis16400_addresses[chan->scan_index], val);
515 return ret;
516 case IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY:
517 /*
518 * Need to cache values so we can update if the frequency
519 * changes.
520 */
521 mutex_lock(slock);
522 st->filt_int = val;
523 /* Work out update to current value */
524 sps = st->variant->get_freq(st);
525 if (sps < 0) {
526 mutex_unlock(slock);
527 return sps;
528 }
529
530 ret = __adis16400_set_filter(indio_dev, sps,
531 val * 1000 + val2 / 1000);
532 mutex_unlock(slock);
533 return ret;
534 case IIO_CHAN_INFO_SAMP_FREQ:
535 sps = val * 1000 + val2 / 1000;
536
537 if (sps <= 0)
538 return -EINVAL;
539
540 mutex_lock(slock);
541 ret = st->variant->set_freq(st, sps);
542 mutex_unlock(slock);
543 return ret;
544 default:
545 return -EINVAL;
546 }
547 }
548
adis16400_read_raw(struct iio_dev * indio_dev,struct iio_chan_spec const * chan,int * val,int * val2,long info)549 static int adis16400_read_raw(struct iio_dev *indio_dev,
550 struct iio_chan_spec const *chan, int *val, int *val2, long info)
551 {
552 struct adis16400_state *st = iio_priv(indio_dev);
553 struct mutex *slock = &st->adis.state_lock;
554 int16_t val16;
555 int ret;
556
557 switch (info) {
558 case IIO_CHAN_INFO_RAW:
559 return adis_single_conversion(indio_dev, chan, 0, val);
560 case IIO_CHAN_INFO_SCALE:
561 switch (chan->type) {
562 case IIO_ANGL_VEL:
563 *val = 0;
564 *val2 = st->variant->gyro_scale_micro;
565 return IIO_VAL_INT_PLUS_MICRO;
566 case IIO_VOLTAGE:
567 *val = 0;
568 if (chan->channel == 0) {
569 *val = 2;
570 *val2 = 418000; /* 2.418 mV */
571 } else {
572 *val = 0;
573 *val2 = 805800; /* 805.8 uV */
574 }
575 return IIO_VAL_INT_PLUS_MICRO;
576 case IIO_ACCEL:
577 *val = 0;
578 *val2 = st->variant->accel_scale_micro;
579 return IIO_VAL_INT_PLUS_MICRO;
580 case IIO_MAGN:
581 *val = 0;
582 *val2 = 500; /* 0.5 mgauss */
583 return IIO_VAL_INT_PLUS_MICRO;
584 case IIO_TEMP:
585 *val = st->variant->temp_scale_nano / 1000000;
586 *val2 = (st->variant->temp_scale_nano % 1000000);
587 return IIO_VAL_INT_PLUS_MICRO;
588 case IIO_PRESSURE:
589 /* 20 uBar = 0.002kPascal */
590 *val = 0;
591 *val2 = 2000;
592 return IIO_VAL_INT_PLUS_MICRO;
593 default:
594 return -EINVAL;
595 }
596 case IIO_CHAN_INFO_CALIBBIAS:
597 ret = adis_read_reg_16(&st->adis,
598 adis16400_addresses[chan->scan_index], &val16);
599 if (ret)
600 return ret;
601 val16 = sign_extend32(val16, 11);
602 *val = val16;
603 return IIO_VAL_INT;
604 case IIO_CHAN_INFO_OFFSET:
605 /* currently only temperature */
606 *val = st->variant->temp_offset;
607 return IIO_VAL_INT;
608 case IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY:
609 mutex_lock(slock);
610 /* Need both the number of taps and the sampling frequency */
611 ret = __adis_read_reg_16(&st->adis,
612 ADIS16400_SENS_AVG,
613 &val16);
614 if (ret) {
615 mutex_unlock(slock);
616 return ret;
617 }
618 ret = st->variant->get_freq(st);
619 mutex_unlock(slock);
620 if (ret)
621 return ret;
622 ret /= adis16400_3db_divisors[val16 & 0x07];
623 *val = ret / 1000;
624 *val2 = (ret % 1000) * 1000;
625 return IIO_VAL_INT_PLUS_MICRO;
626 case IIO_CHAN_INFO_SAMP_FREQ:
627 mutex_lock(slock);
628 ret = st->variant->get_freq(st);
629 mutex_unlock(slock);
630 if (ret)
631 return ret;
632 *val = ret / 1000;
633 *val2 = (ret % 1000) * 1000;
634 return IIO_VAL_INT_PLUS_MICRO;
635 default:
636 return -EINVAL;
637 }
638 }
639
640 #if IS_ENABLED(CONFIG_IIO_BUFFER)
adis16400_trigger_handler(int irq,void * p)641 static irqreturn_t adis16400_trigger_handler(int irq, void *p)
642 {
643 struct iio_poll_func *pf = p;
644 struct iio_dev *indio_dev = pf->indio_dev;
645 struct adis16400_state *st = iio_priv(indio_dev);
646 struct adis *adis = &st->adis;
647 u32 old_speed_hz = st->adis.spi->max_speed_hz;
648 void *buffer;
649 int ret;
650
651 if (!adis->buffer)
652 return -ENOMEM;
653
654 if (!(st->variant->flags & ADIS16400_NO_BURST) &&
655 st->adis.spi->max_speed_hz > ADIS16400_SPI_BURST) {
656 st->adis.spi->max_speed_hz = ADIS16400_SPI_BURST;
657 spi_setup(st->adis.spi);
658 }
659
660 ret = spi_sync(adis->spi, &adis->msg);
661 if (ret)
662 dev_err(&adis->spi->dev, "Failed to read data: %d\n", ret);
663
664 if (!(st->variant->flags & ADIS16400_NO_BURST)) {
665 st->adis.spi->max_speed_hz = old_speed_hz;
666 spi_setup(st->adis.spi);
667 }
668
669 if (st->variant->flags & ADIS16400_BURST_DIAG_STAT)
670 buffer = adis->buffer + sizeof(u16);
671 else
672 buffer = adis->buffer;
673
674 iio_push_to_buffers_with_timestamp(indio_dev, buffer,
675 pf->timestamp);
676
677 iio_trigger_notify_done(indio_dev->trig);
678
679 return IRQ_HANDLED;
680 }
681 #else
682 #define adis16400_trigger_handler NULL
683 #endif /* IS_ENABLED(CONFIG_IIO_BUFFER) */
684
685 #define ADIS16400_VOLTAGE_CHAN(addr, bits, name, si, chn) { \
686 .type = IIO_VOLTAGE, \
687 .indexed = 1, \
688 .channel = chn, \
689 .extend_name = name, \
690 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \
691 BIT(IIO_CHAN_INFO_SCALE), \
692 .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
693 .address = (addr), \
694 .scan_index = (si), \
695 .scan_type = { \
696 .sign = 'u', \
697 .realbits = (bits), \
698 .storagebits = 16, \
699 .shift = 0, \
700 .endianness = IIO_BE, \
701 }, \
702 }
703
704 #define ADIS16400_SUPPLY_CHAN(addr, bits) \
705 ADIS16400_VOLTAGE_CHAN(addr, bits, "supply", ADIS16400_SCAN_SUPPLY, 0)
706
707 #define ADIS16400_AUX_ADC_CHAN(addr, bits) \
708 ADIS16400_VOLTAGE_CHAN(addr, bits, NULL, ADIS16400_SCAN_ADC, 1)
709
710 #define ADIS16400_GYRO_CHAN(mod, addr, bits) { \
711 .type = IIO_ANGL_VEL, \
712 .modified = 1, \
713 .channel2 = IIO_MOD_ ## mod, \
714 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \
715 BIT(IIO_CHAN_INFO_CALIBBIAS), \
716 .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE) | \
717 BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY), \
718 .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
719 .address = addr, \
720 .scan_index = ADIS16400_SCAN_GYRO_ ## mod, \
721 .scan_type = { \
722 .sign = 's', \
723 .realbits = (bits), \
724 .storagebits = 16, \
725 .shift = 0, \
726 .endianness = IIO_BE, \
727 }, \
728 }
729
730 #define ADIS16400_ACCEL_CHAN(mod, addr, bits) { \
731 .type = IIO_ACCEL, \
732 .modified = 1, \
733 .channel2 = IIO_MOD_ ## mod, \
734 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \
735 BIT(IIO_CHAN_INFO_CALIBBIAS), \
736 .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE) | \
737 BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY), \
738 .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
739 .address = (addr), \
740 .scan_index = ADIS16400_SCAN_ACC_ ## mod, \
741 .scan_type = { \
742 .sign = 's', \
743 .realbits = (bits), \
744 .storagebits = 16, \
745 .shift = 0, \
746 .endianness = IIO_BE, \
747 }, \
748 }
749
750 #define ADIS16400_MAGN_CHAN(mod, addr, bits) { \
751 .type = IIO_MAGN, \
752 .modified = 1, \
753 .channel2 = IIO_MOD_ ## mod, \
754 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW), \
755 .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE) | \
756 BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY), \
757 .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
758 .address = (addr), \
759 .scan_index = ADIS16400_SCAN_MAGN_ ## mod, \
760 .scan_type = { \
761 .sign = 's', \
762 .realbits = (bits), \
763 .storagebits = 16, \
764 .shift = 0, \
765 .endianness = IIO_BE, \
766 }, \
767 }
768
769 #define ADIS16400_MOD_TEMP_NAME_X "x"
770 #define ADIS16400_MOD_TEMP_NAME_Y "y"
771 #define ADIS16400_MOD_TEMP_NAME_Z "z"
772
773 #define ADIS16400_MOD_TEMP_CHAN(mod, addr, bits) { \
774 .type = IIO_TEMP, \
775 .indexed = 1, \
776 .channel = 0, \
777 .extend_name = ADIS16400_MOD_TEMP_NAME_ ## mod, \
778 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \
779 BIT(IIO_CHAN_INFO_OFFSET) | \
780 BIT(IIO_CHAN_INFO_SCALE), \
781 .info_mask_shared_by_type = \
782 BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY), \
783 .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
784 .address = (addr), \
785 .scan_index = ADIS16350_SCAN_TEMP_ ## mod, \
786 .scan_type = { \
787 .sign = 's', \
788 .realbits = (bits), \
789 .storagebits = 16, \
790 .shift = 0, \
791 .endianness = IIO_BE, \
792 }, \
793 }
794
795 #define ADIS16400_TEMP_CHAN(addr, bits) { \
796 .type = IIO_TEMP, \
797 .indexed = 1, \
798 .channel = 0, \
799 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \
800 BIT(IIO_CHAN_INFO_OFFSET) | \
801 BIT(IIO_CHAN_INFO_SCALE), \
802 .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
803 .address = (addr), \
804 .scan_index = ADIS16350_SCAN_TEMP_X, \
805 .scan_type = { \
806 .sign = 's', \
807 .realbits = (bits), \
808 .storagebits = 16, \
809 .shift = 0, \
810 .endianness = IIO_BE, \
811 }, \
812 }
813
814 #define ADIS16400_INCLI_CHAN(mod, addr, bits) { \
815 .type = IIO_INCLI, \
816 .modified = 1, \
817 .channel2 = IIO_MOD_ ## mod, \
818 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW), \
819 .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE), \
820 .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
821 .address = (addr), \
822 .scan_index = ADIS16300_SCAN_INCLI_ ## mod, \
823 .scan_type = { \
824 .sign = 's', \
825 .realbits = (bits), \
826 .storagebits = 16, \
827 .shift = 0, \
828 .endianness = IIO_BE, \
829 }, \
830 }
831
832 static const struct iio_chan_spec adis16400_channels[] = {
833 ADIS16400_SUPPLY_CHAN(ADIS16400_SUPPLY_OUT, 14),
834 ADIS16400_GYRO_CHAN(X, ADIS16400_XGYRO_OUT, 14),
835 ADIS16400_GYRO_CHAN(Y, ADIS16400_YGYRO_OUT, 14),
836 ADIS16400_GYRO_CHAN(Z, ADIS16400_ZGYRO_OUT, 14),
837 ADIS16400_ACCEL_CHAN(X, ADIS16400_XACCL_OUT, 14),
838 ADIS16400_ACCEL_CHAN(Y, ADIS16400_YACCL_OUT, 14),
839 ADIS16400_ACCEL_CHAN(Z, ADIS16400_ZACCL_OUT, 14),
840 ADIS16400_MAGN_CHAN(X, ADIS16400_XMAGN_OUT, 14),
841 ADIS16400_MAGN_CHAN(Y, ADIS16400_YMAGN_OUT, 14),
842 ADIS16400_MAGN_CHAN(Z, ADIS16400_ZMAGN_OUT, 14),
843 ADIS16400_TEMP_CHAN(ADIS16400_TEMP_OUT, 12),
844 ADIS16400_AUX_ADC_CHAN(ADIS16400_AUX_ADC, 12),
845 IIO_CHAN_SOFT_TIMESTAMP(ADIS16400_SCAN_TIMESTAMP),
846 };
847
848 static const struct iio_chan_spec adis16445_channels[] = {
849 ADIS16400_GYRO_CHAN(X, ADIS16400_XGYRO_OUT, 16),
850 ADIS16400_GYRO_CHAN(Y, ADIS16400_YGYRO_OUT, 16),
851 ADIS16400_GYRO_CHAN(Z, ADIS16400_ZGYRO_OUT, 16),
852 ADIS16400_ACCEL_CHAN(X, ADIS16400_XACCL_OUT, 16),
853 ADIS16400_ACCEL_CHAN(Y, ADIS16400_YACCL_OUT, 16),
854 ADIS16400_ACCEL_CHAN(Z, ADIS16400_ZACCL_OUT, 16),
855 ADIS16400_TEMP_CHAN(ADIS16448_TEMP_OUT, 12),
856 IIO_CHAN_SOFT_TIMESTAMP(ADIS16400_SCAN_TIMESTAMP),
857 };
858
859 static const struct iio_chan_spec adis16448_channels[] = {
860 ADIS16400_GYRO_CHAN(X, ADIS16400_XGYRO_OUT, 16),
861 ADIS16400_GYRO_CHAN(Y, ADIS16400_YGYRO_OUT, 16),
862 ADIS16400_GYRO_CHAN(Z, ADIS16400_ZGYRO_OUT, 16),
863 ADIS16400_ACCEL_CHAN(X, ADIS16400_XACCL_OUT, 16),
864 ADIS16400_ACCEL_CHAN(Y, ADIS16400_YACCL_OUT, 16),
865 ADIS16400_ACCEL_CHAN(Z, ADIS16400_ZACCL_OUT, 16),
866 ADIS16400_MAGN_CHAN(X, ADIS16400_XMAGN_OUT, 16),
867 ADIS16400_MAGN_CHAN(Y, ADIS16400_YMAGN_OUT, 16),
868 ADIS16400_MAGN_CHAN(Z, ADIS16400_ZMAGN_OUT, 16),
869 {
870 .type = IIO_PRESSURE,
871 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW),
872 .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE),
873 .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ),
874 .address = ADIS16448_BARO_OUT,
875 .scan_index = ADIS16400_SCAN_BARO,
876 .scan_type = {
877 .sign = 's',
878 .realbits = 16,
879 .storagebits = 16,
880 .endianness = IIO_BE,
881 },
882 },
883 ADIS16400_TEMP_CHAN(ADIS16448_TEMP_OUT, 12),
884 IIO_CHAN_SOFT_TIMESTAMP(ADIS16400_SCAN_TIMESTAMP),
885 };
886
887 static const struct iio_chan_spec adis16350_channels[] = {
888 ADIS16400_SUPPLY_CHAN(ADIS16400_SUPPLY_OUT, 12),
889 ADIS16400_GYRO_CHAN(X, ADIS16400_XGYRO_OUT, 14),
890 ADIS16400_GYRO_CHAN(Y, ADIS16400_YGYRO_OUT, 14),
891 ADIS16400_GYRO_CHAN(Z, ADIS16400_ZGYRO_OUT, 14),
892 ADIS16400_ACCEL_CHAN(X, ADIS16400_XACCL_OUT, 14),
893 ADIS16400_ACCEL_CHAN(Y, ADIS16400_YACCL_OUT, 14),
894 ADIS16400_ACCEL_CHAN(Z, ADIS16400_ZACCL_OUT, 14),
895 ADIS16400_MAGN_CHAN(X, ADIS16400_XMAGN_OUT, 14),
896 ADIS16400_MAGN_CHAN(Y, ADIS16400_YMAGN_OUT, 14),
897 ADIS16400_MAGN_CHAN(Z, ADIS16400_ZMAGN_OUT, 14),
898 ADIS16400_AUX_ADC_CHAN(ADIS16300_AUX_ADC, 12),
899 ADIS16400_MOD_TEMP_CHAN(X, ADIS16350_XTEMP_OUT, 12),
900 ADIS16400_MOD_TEMP_CHAN(Y, ADIS16350_YTEMP_OUT, 12),
901 ADIS16400_MOD_TEMP_CHAN(Z, ADIS16350_ZTEMP_OUT, 12),
902 IIO_CHAN_SOFT_TIMESTAMP(ADIS16400_SCAN_TIMESTAMP),
903 };
904
905 static const struct iio_chan_spec adis16300_channels[] = {
906 ADIS16400_SUPPLY_CHAN(ADIS16400_SUPPLY_OUT, 12),
907 ADIS16400_GYRO_CHAN(X, ADIS16400_XGYRO_OUT, 14),
908 ADIS16400_ACCEL_CHAN(X, ADIS16400_XACCL_OUT, 14),
909 ADIS16400_ACCEL_CHAN(Y, ADIS16400_YACCL_OUT, 14),
910 ADIS16400_ACCEL_CHAN(Z, ADIS16400_ZACCL_OUT, 14),
911 ADIS16400_TEMP_CHAN(ADIS16350_XTEMP_OUT, 12),
912 ADIS16400_AUX_ADC_CHAN(ADIS16300_AUX_ADC, 12),
913 ADIS16400_INCLI_CHAN(X, ADIS16300_PITCH_OUT, 13),
914 ADIS16400_INCLI_CHAN(Y, ADIS16300_ROLL_OUT, 13),
915 IIO_CHAN_SOFT_TIMESTAMP(ADIS16400_SCAN_TIMESTAMP),
916 };
917
918 static const struct iio_chan_spec adis16334_channels[] = {
919 ADIS16400_GYRO_CHAN(X, ADIS16400_XGYRO_OUT, 14),
920 ADIS16400_GYRO_CHAN(Y, ADIS16400_YGYRO_OUT, 14),
921 ADIS16400_GYRO_CHAN(Z, ADIS16400_ZGYRO_OUT, 14),
922 ADIS16400_ACCEL_CHAN(X, ADIS16400_XACCL_OUT, 14),
923 ADIS16400_ACCEL_CHAN(Y, ADIS16400_YACCL_OUT, 14),
924 ADIS16400_ACCEL_CHAN(Z, ADIS16400_ZACCL_OUT, 14),
925 ADIS16400_TEMP_CHAN(ADIS16350_XTEMP_OUT, 12),
926 IIO_CHAN_SOFT_TIMESTAMP(ADIS16400_SCAN_TIMESTAMP),
927 };
928
929 static const char * const adis16400_status_error_msgs[] = {
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",
936 [ADIS16400_DIAG_STAT_ALARM2] = "Alarm 2 active",
937 [ADIS16400_DIAG_STAT_ALARM1] = "Alarm 1 active",
938 [ADIS16400_DIAG_STAT_FLASH_CHK] = "Flash checksum error",
939 [ADIS16400_DIAG_STAT_SELF_TEST] = "Self test error",
940 [ADIS16400_DIAG_STAT_OVERFLOW] = "Sensor overrange",
941 [ADIS16400_DIAG_STAT_SPI_FAIL] = "SPI failure",
942 [ADIS16400_DIAG_STAT_FLASH_UPT] = "Flash update failed",
943 [ADIS16400_DIAG_STAT_POWER_HIGH] = "Power supply above 5.25V",
944 [ADIS16400_DIAG_STAT_POWER_LOW] = "Power supply below 4.75V",
945 };
946
947 #define ADIS16400_DATA(_timeouts, _burst_len) \
948 { \
949 .msc_ctrl_reg = ADIS16400_MSC_CTRL, \
950 .glob_cmd_reg = ADIS16400_GLOB_CMD, \
951 .diag_stat_reg = ADIS16400_DIAG_STAT, \
952 .read_delay = 50, \
953 .write_delay = 50, \
954 .self_test_mask = ADIS16400_MSC_CTRL_MEM_TEST, \
955 .self_test_reg = ADIS16400_MSC_CTRL, \
956 .status_error_msgs = adis16400_status_error_msgs, \
957 .status_error_mask = BIT(ADIS16400_DIAG_STAT_ZACCL_FAIL) | \
958 BIT(ADIS16400_DIAG_STAT_YACCL_FAIL) | \
959 BIT(ADIS16400_DIAG_STAT_XACCL_FAIL) | \
960 BIT(ADIS16400_DIAG_STAT_XGYRO_FAIL) | \
961 BIT(ADIS16400_DIAG_STAT_YGYRO_FAIL) | \
962 BIT(ADIS16400_DIAG_STAT_ZGYRO_FAIL) | \
963 BIT(ADIS16400_DIAG_STAT_ALARM2) | \
964 BIT(ADIS16400_DIAG_STAT_ALARM1) | \
965 BIT(ADIS16400_DIAG_STAT_FLASH_CHK) | \
966 BIT(ADIS16400_DIAG_STAT_SELF_TEST) | \
967 BIT(ADIS16400_DIAG_STAT_OVERFLOW) | \
968 BIT(ADIS16400_DIAG_STAT_SPI_FAIL) | \
969 BIT(ADIS16400_DIAG_STAT_FLASH_UPT) | \
970 BIT(ADIS16400_DIAG_STAT_POWER_HIGH) | \
971 BIT(ADIS16400_DIAG_STAT_POWER_LOW), \
972 .timeouts = (_timeouts), \
973 .burst_reg_cmd = ADIS16400_GLOB_CMD, \
974 .burst_len = (_burst_len) \
975 }
976
977 static const struct adis_timeout adis16300_timeouts = {
978 .reset_ms = ADIS16400_STARTUP_DELAY,
979 .sw_reset_ms = ADIS16400_STARTUP_DELAY,
980 .self_test_ms = ADIS16400_STARTUP_DELAY,
981 };
982
983 static const struct adis_timeout adis16334_timeouts = {
984 .reset_ms = 60,
985 .sw_reset_ms = 60,
986 .self_test_ms = 14,
987 };
988
989 static const struct adis_timeout adis16362_timeouts = {
990 .reset_ms = 130,
991 .sw_reset_ms = 130,
992 .self_test_ms = 12,
993 };
994
995 static const struct adis_timeout adis16400_timeouts = {
996 .reset_ms = 170,
997 .sw_reset_ms = 170,
998 .self_test_ms = 12,
999 };
1000
1001 static const struct adis_timeout adis16445_timeouts = {
1002 .reset_ms = 55,
1003 .sw_reset_ms = 55,
1004 .self_test_ms = 16,
1005 };
1006
1007 static const struct adis_timeout adis16448_timeouts = {
1008 .reset_ms = 90,
1009 .sw_reset_ms = 90,
1010 .self_test_ms = 45,
1011 };
1012
1013 static struct adis16400_chip_info adis16400_chips[] = {
1014 [ADIS16300] = {
1015 .channels = adis16300_channels,
1016 .num_channels = ARRAY_SIZE(adis16300_channels),
1017 .flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE |
1018 ADIS16400_HAS_SERIAL_NUMBER,
1019 .gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */
1020 .accel_scale_micro = 5884,
1021 .temp_scale_nano = 140000000, /* 0.14 C */
1022 .temp_offset = 25000000 / 140000, /* 25 C = 0x00 */
1023 .set_freq = adis16400_set_freq,
1024 .get_freq = adis16400_get_freq,
1025 .adis_data = ADIS16400_DATA(&adis16300_timeouts, 18),
1026 },
1027 [ADIS16334] = {
1028 .channels = adis16334_channels,
1029 .num_channels = ARRAY_SIZE(adis16334_channels),
1030 .flags = ADIS16400_HAS_PROD_ID | ADIS16400_NO_BURST |
1031 ADIS16400_HAS_SERIAL_NUMBER,
1032 .gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */
1033 .accel_scale_micro = IIO_G_TO_M_S_2(1000), /* 1 mg */
1034 .temp_scale_nano = 67850000, /* 0.06785 C */
1035 .temp_offset = 25000000 / 67850, /* 25 C = 0x00 */
1036 .set_freq = adis16334_set_freq,
1037 .get_freq = adis16334_get_freq,
1038 .adis_data = ADIS16400_DATA(&adis16334_timeouts, 0),
1039 },
1040 [ADIS16350] = {
1041 .channels = adis16350_channels,
1042 .num_channels = ARRAY_SIZE(adis16350_channels),
1043 .gyro_scale_micro = IIO_DEGREE_TO_RAD(73260), /* 0.07326 deg/s */
1044 .accel_scale_micro = IIO_G_TO_M_S_2(2522), /* 0.002522 g */
1045 .temp_scale_nano = 145300000, /* 0.1453 C */
1046 .temp_offset = 25000000 / 145300, /* 25 C = 0x00 */
1047 .flags = ADIS16400_NO_BURST | ADIS16400_HAS_SLOW_MODE,
1048 .set_freq = adis16400_set_freq,
1049 .get_freq = adis16400_get_freq,
1050 .adis_data = ADIS16400_DATA(&adis16300_timeouts, 0),
1051 },
1052 [ADIS16360] = {
1053 .channels = adis16350_channels,
1054 .num_channels = ARRAY_SIZE(adis16350_channels),
1055 .flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE |
1056 ADIS16400_HAS_SERIAL_NUMBER,
1057 .gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */
1058 .accel_scale_micro = IIO_G_TO_M_S_2(3333), /* 3.333 mg */
1059 .temp_scale_nano = 136000000, /* 0.136 C */
1060 .temp_offset = 25000000 / 136000, /* 25 C = 0x00 */
1061 .set_freq = adis16400_set_freq,
1062 .get_freq = adis16400_get_freq,
1063 .adis_data = ADIS16400_DATA(&adis16300_timeouts, 28),
1064 },
1065 [ADIS16362] = {
1066 .channels = adis16350_channels,
1067 .num_channels = ARRAY_SIZE(adis16350_channels),
1068 .flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE |
1069 ADIS16400_HAS_SERIAL_NUMBER,
1070 .gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */
1071 .accel_scale_micro = IIO_G_TO_M_S_2(333), /* 0.333 mg */
1072 .temp_scale_nano = 136000000, /* 0.136 C */
1073 .temp_offset = 25000000 / 136000, /* 25 C = 0x00 */
1074 .set_freq = adis16400_set_freq,
1075 .get_freq = adis16400_get_freq,
1076 .adis_data = ADIS16400_DATA(&adis16362_timeouts, 28),
1077 },
1078 [ADIS16364] = {
1079 .channels = adis16350_channels,
1080 .num_channels = ARRAY_SIZE(adis16350_channels),
1081 .flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE |
1082 ADIS16400_HAS_SERIAL_NUMBER,
1083 .gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */
1084 .accel_scale_micro = IIO_G_TO_M_S_2(1000), /* 1 mg */
1085 .temp_scale_nano = 136000000, /* 0.136 C */
1086 .temp_offset = 25000000 / 136000, /* 25 C = 0x00 */
1087 .set_freq = adis16400_set_freq,
1088 .get_freq = adis16400_get_freq,
1089 .adis_data = ADIS16400_DATA(&adis16362_timeouts, 28),
1090 },
1091 [ADIS16367] = {
1092 .channels = adis16350_channels,
1093 .num_channels = ARRAY_SIZE(adis16350_channels),
1094 .flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE |
1095 ADIS16400_HAS_SERIAL_NUMBER,
1096 .gyro_scale_micro = IIO_DEGREE_TO_RAD(2000), /* 0.2 deg/s */
1097 .accel_scale_micro = IIO_G_TO_M_S_2(3333), /* 3.333 mg */
1098 .temp_scale_nano = 136000000, /* 0.136 C */
1099 .temp_offset = 25000000 / 136000, /* 25 C = 0x00 */
1100 .set_freq = adis16400_set_freq,
1101 .get_freq = adis16400_get_freq,
1102 .adis_data = ADIS16400_DATA(&adis16300_timeouts, 28),
1103 },
1104 [ADIS16400] = {
1105 .channels = adis16400_channels,
1106 .num_channels = ARRAY_SIZE(adis16400_channels),
1107 .flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE,
1108 .gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */
1109 .accel_scale_micro = IIO_G_TO_M_S_2(3333), /* 3.333 mg */
1110 .temp_scale_nano = 140000000, /* 0.14 C */
1111 .temp_offset = 25000000 / 140000, /* 25 C = 0x00 */
1112 .set_freq = adis16400_set_freq,
1113 .get_freq = adis16400_get_freq,
1114 .adis_data = ADIS16400_DATA(&adis16400_timeouts, 24),
1115 },
1116 [ADIS16445] = {
1117 .channels = adis16445_channels,
1118 .num_channels = ARRAY_SIZE(adis16445_channels),
1119 .flags = ADIS16400_HAS_PROD_ID |
1120 ADIS16400_HAS_SERIAL_NUMBER |
1121 ADIS16400_BURST_DIAG_STAT,
1122 .gyro_scale_micro = IIO_DEGREE_TO_RAD(10000), /* 0.01 deg/s */
1123 .accel_scale_micro = IIO_G_TO_M_S_2(250), /* 1/4000 g */
1124 .temp_scale_nano = 73860000, /* 0.07386 C */
1125 .temp_offset = 31000000 / 73860, /* 31 C = 0x00 */
1126 .set_freq = adis16334_set_freq,
1127 .get_freq = adis16334_get_freq,
1128 .adis_data = ADIS16400_DATA(&adis16445_timeouts, 16),
1129 },
1130 [ADIS16448] = {
1131 .channels = adis16448_channels,
1132 .num_channels = ARRAY_SIZE(adis16448_channels),
1133 .flags = ADIS16400_HAS_PROD_ID |
1134 ADIS16400_HAS_SERIAL_NUMBER |
1135 ADIS16400_BURST_DIAG_STAT,
1136 .gyro_scale_micro = IIO_DEGREE_TO_RAD(40000), /* 0.04 deg/s */
1137 .accel_scale_micro = IIO_G_TO_M_S_2(833), /* 1/1200 g */
1138 .temp_scale_nano = 73860000, /* 0.07386 C */
1139 .temp_offset = 31000000 / 73860, /* 31 C = 0x00 */
1140 .set_freq = adis16334_set_freq,
1141 .get_freq = adis16334_get_freq,
1142 .adis_data = ADIS16400_DATA(&adis16448_timeouts, 24),
1143 }
1144 };
1145
1146 static const struct iio_info adis16400_info = {
1147 .read_raw = &adis16400_read_raw,
1148 .write_raw = &adis16400_write_raw,
1149 .update_scan_mode = adis_update_scan_mode,
1150 .debugfs_reg_access = adis_debugfs_reg_access,
1151 };
1152
adis16400_setup_chan_mask(struct adis16400_state * st)1153 static void adis16400_setup_chan_mask(struct adis16400_state *st)
1154 {
1155 const struct adis16400_chip_info *chip_info = st->variant;
1156 unsigned int i;
1157
1158 for (i = 0; i < chip_info->num_channels; i++) {
1159 const struct iio_chan_spec *ch = &chip_info->channels[i];
1160
1161 if (ch->scan_index >= 0 &&
1162 ch->scan_index != ADIS16400_SCAN_TIMESTAMP)
1163 st->avail_scan_mask[0] |= BIT(ch->scan_index);
1164 }
1165 }
1166
adis16400_stop(void * data)1167 static void adis16400_stop(void *data)
1168 {
1169 adis16400_stop_device(data);
1170 }
1171
adis16400_probe(struct spi_device * spi)1172 static int adis16400_probe(struct spi_device *spi)
1173 {
1174 struct adis16400_state *st;
1175 struct iio_dev *indio_dev;
1176 int ret;
1177 const struct adis_data *adis16400_data;
1178
1179 indio_dev = devm_iio_device_alloc(&spi->dev, sizeof(*st));
1180 if (indio_dev == NULL)
1181 return -ENOMEM;
1182
1183 st = iio_priv(indio_dev);
1184 /* this is only used for removal purposes */
1185 spi_set_drvdata(spi, indio_dev);
1186
1187 /* setup the industrialio driver allocated elements */
1188 st->variant = &adis16400_chips[spi_get_device_id(spi)->driver_data];
1189 indio_dev->name = spi_get_device_id(spi)->name;
1190 indio_dev->channels = st->variant->channels;
1191 indio_dev->num_channels = st->variant->num_channels;
1192 indio_dev->info = &adis16400_info;
1193 indio_dev->modes = INDIO_DIRECT_MODE;
1194
1195 if (!(st->variant->flags & ADIS16400_NO_BURST)) {
1196 adis16400_setup_chan_mask(st);
1197 indio_dev->available_scan_masks = st->avail_scan_mask;
1198 }
1199
1200 adis16400_data = &st->variant->adis_data;
1201
1202 ret = adis_init(&st->adis, indio_dev, spi, adis16400_data);
1203 if (ret)
1204 return ret;
1205
1206 ret = devm_adis_setup_buffer_and_trigger(&st->adis, indio_dev, adis16400_trigger_handler);
1207 if (ret)
1208 return ret;
1209
1210 /* Get the device into a sane initial state */
1211 ret = adis16400_initial_setup(indio_dev);
1212 if (ret)
1213 return ret;
1214
1215 ret = devm_add_action_or_reset(&spi->dev, adis16400_stop, indio_dev);
1216 if (ret)
1217 return ret;
1218
1219 ret = devm_iio_device_register(&spi->dev, indio_dev);
1220 if (ret)
1221 return ret;
1222
1223 adis16400_debugfs_init(indio_dev);
1224 return 0;
1225 }
1226
1227 static const struct spi_device_id adis16400_id[] = {
1228 {"adis16300", ADIS16300},
1229 {"adis16305", ADIS16300},
1230 {"adis16334", ADIS16334},
1231 {"adis16350", ADIS16350},
1232 {"adis16354", ADIS16350},
1233 {"adis16355", ADIS16350},
1234 {"adis16360", ADIS16360},
1235 {"adis16362", ADIS16362},
1236 {"adis16364", ADIS16364},
1237 {"adis16365", ADIS16360},
1238 {"adis16367", ADIS16367},
1239 {"adis16400", ADIS16400},
1240 {"adis16405", ADIS16400},
1241 {"adis16445", ADIS16445},
1242 {"adis16448", ADIS16448},
1243 {}
1244 };
1245 MODULE_DEVICE_TABLE(spi, adis16400_id);
1246
1247 static struct spi_driver adis16400_driver = {
1248 .driver = {
1249 .name = "adis16400",
1250 },
1251 .id_table = adis16400_id,
1252 .probe = adis16400_probe,
1253 };
1254 module_spi_driver(adis16400_driver);
1255
1256 MODULE_AUTHOR("Manuel Stahl <manuel.stahl@iis.fraunhofer.de>");
1257 MODULE_DESCRIPTION("Analog Devices ADIS16400/5 IMU SPI driver");
1258 MODULE_LICENSE("GPL v2");
1259
