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 **/ 177 struct adis16400_state { 178 struct adis16400_chip_info *variant; 179 int filt_int; 180 181 struct adis adis; 182 unsigned long avail_scan_mask[2]; 183 }; 184 185 /* At the moment triggers are only used for ring buffer 186 * filling. This may change! 187 */ 188 189 enum { 190 ADIS16400_SCAN_SUPPLY, 191 ADIS16400_SCAN_GYRO_X, 192 ADIS16400_SCAN_GYRO_Y, 193 ADIS16400_SCAN_GYRO_Z, 194 ADIS16400_SCAN_ACC_X, 195 ADIS16400_SCAN_ACC_Y, 196 ADIS16400_SCAN_ACC_Z, 197 ADIS16400_SCAN_MAGN_X, 198 ADIS16400_SCAN_MAGN_Y, 199 ADIS16400_SCAN_MAGN_Z, 200 ADIS16400_SCAN_BARO, 201 ADIS16350_SCAN_TEMP_X, 202 ADIS16350_SCAN_TEMP_Y, 203 ADIS16350_SCAN_TEMP_Z, 204 ADIS16300_SCAN_INCLI_X, 205 ADIS16300_SCAN_INCLI_Y, 206 ADIS16400_SCAN_ADC, 207 ADIS16400_SCAN_TIMESTAMP, 208 }; 209 210 #ifdef CONFIG_DEBUG_FS 211 212 static ssize_t adis16400_show_serial_number(struct file *file, 213 char __user *userbuf, size_t count, loff_t *ppos) 214 { 215 struct adis16400_state *st = file->private_data; 216 u16 lot1, lot2, serial_number; 217 char buf[16]; 218 size_t len; 219 int ret; 220 221 ret = adis_read_reg_16(&st->adis, ADIS16334_LOT_ID1, &lot1); 222 if (ret) 223 return ret; 224 225 ret = adis_read_reg_16(&st->adis, ADIS16334_LOT_ID2, &lot2); 226 if (ret) 227 return ret; 228 229 ret = adis_read_reg_16(&st->adis, ADIS16334_SERIAL_NUMBER, 230 &serial_number); 231 if (ret) 232 return ret; 233 234 len = snprintf(buf, sizeof(buf), "%.4x-%.4x-%.4x\n", lot1, lot2, 235 serial_number); 236 237 return simple_read_from_buffer(userbuf, count, ppos, buf, len); 238 } 239 240 static const struct file_operations adis16400_serial_number_fops = { 241 .open = simple_open, 242 .read = adis16400_show_serial_number, 243 .llseek = default_llseek, 244 .owner = THIS_MODULE, 245 }; 246 247 static int adis16400_show_product_id(void *arg, u64 *val) 248 { 249 struct adis16400_state *st = arg; 250 uint16_t prod_id; 251 int ret; 252 253 ret = adis_read_reg_16(&st->adis, ADIS16400_PRODUCT_ID, &prod_id); 254 if (ret) 255 return ret; 256 257 *val = prod_id; 258 259 return 0; 260 } 261 DEFINE_DEBUGFS_ATTRIBUTE(adis16400_product_id_fops, 262 adis16400_show_product_id, NULL, "%lld\n"); 263 264 static int adis16400_show_flash_count(void *arg, u64 *val) 265 { 266 struct adis16400_state *st = arg; 267 uint16_t flash_count; 268 int ret; 269 270 ret = adis_read_reg_16(&st->adis, ADIS16400_FLASH_CNT, &flash_count); 271 if (ret) 272 return ret; 273 274 *val = flash_count; 275 276 return 0; 277 } 278 DEFINE_DEBUGFS_ATTRIBUTE(adis16400_flash_count_fops, 279 adis16400_show_flash_count, NULL, "%lld\n"); 280 281 static int adis16400_debugfs_init(struct iio_dev *indio_dev) 282 { 283 struct adis16400_state *st = iio_priv(indio_dev); 284 struct dentry *d = iio_get_debugfs_dentry(indio_dev); 285 286 if (st->variant->flags & ADIS16400_HAS_SERIAL_NUMBER) 287 debugfs_create_file_unsafe("serial_number", 0400, 288 d, st, &adis16400_serial_number_fops); 289 if (st->variant->flags & ADIS16400_HAS_PROD_ID) 290 debugfs_create_file_unsafe("product_id", 0400, 291 d, st, &adis16400_product_id_fops); 292 debugfs_create_file_unsafe("flash_count", 0400, 293 d, st, &adis16400_flash_count_fops); 294 295 return 0; 296 } 297 298 #else 299 300 static int adis16400_debugfs_init(struct iio_dev *indio_dev) 301 { 302 return 0; 303 } 304 305 #endif 306 307 enum adis16400_chip_variant { 308 ADIS16300, 309 ADIS16334, 310 ADIS16350, 311 ADIS16360, 312 ADIS16362, 313 ADIS16364, 314 ADIS16367, 315 ADIS16400, 316 ADIS16445, 317 ADIS16448, 318 }; 319 320 static struct adis_burst adis16400_burst = { 321 .en = true, 322 .reg_cmd = ADIS16400_GLOB_CMD, 323 }; 324 325 static int adis16334_get_freq(struct adis16400_state *st) 326 { 327 int ret; 328 uint16_t t; 329 330 ret = __adis_read_reg_16(&st->adis, ADIS16400_SMPL_PRD, &t); 331 if (ret) 332 return ret; 333 334 t >>= ADIS16334_RATE_DIV_SHIFT; 335 336 return 819200 >> t; 337 } 338 339 static int adis16334_set_freq(struct adis16400_state *st, unsigned int freq) 340 { 341 unsigned int t; 342 343 if (freq < 819200) 344 t = ilog2(819200 / freq); 345 else 346 t = 0; 347 348 if (t > 0x31) 349 t = 0x31; 350 351 t <<= ADIS16334_RATE_DIV_SHIFT; 352 t |= ADIS16334_RATE_INT_CLK; 353 354 return __adis_write_reg_16(&st->adis, ADIS16400_SMPL_PRD, t); 355 } 356 357 static int adis16400_get_freq(struct adis16400_state *st) 358 { 359 int sps, ret; 360 uint16_t t; 361 362 ret = __adis_read_reg_16(&st->adis, ADIS16400_SMPL_PRD, &t); 363 if (ret) 364 return ret; 365 366 sps = (t & ADIS16400_SMPL_PRD_TIME_BASE) ? 52851 : 1638404; 367 sps /= (t & ADIS16400_SMPL_PRD_DIV_MASK) + 1; 368 369 return sps; 370 } 371 372 static int adis16400_set_freq(struct adis16400_state *st, unsigned int freq) 373 { 374 unsigned int t; 375 uint8_t val = 0; 376 377 t = 1638404 / freq; 378 if (t >= 128) { 379 val |= ADIS16400_SMPL_PRD_TIME_BASE; 380 t = 52851 / freq; 381 if (t >= 128) 382 t = 127; 383 } else if (t != 0) { 384 t--; 385 } 386 387 val |= t; 388 389 if (t >= 0x0A || (val & ADIS16400_SMPL_PRD_TIME_BASE)) 390 st->adis.spi->max_speed_hz = ADIS16400_SPI_SLOW; 391 else 392 st->adis.spi->max_speed_hz = ADIS16400_SPI_FAST; 393 394 return __adis_write_reg_8(&st->adis, ADIS16400_SMPL_PRD, val); 395 } 396 397 static const unsigned int adis16400_3db_divisors[] = { 398 [0] = 2, /* Special case */ 399 [1] = 6, 400 [2] = 12, 401 [3] = 25, 402 [4] = 50, 403 [5] = 100, 404 [6] = 200, 405 [7] = 200, /* Not a valid setting */ 406 }; 407 408 static int __adis16400_set_filter(struct iio_dev *indio_dev, int sps, int val) 409 { 410 struct adis16400_state *st = iio_priv(indio_dev); 411 uint16_t val16; 412 int i, ret; 413 414 for (i = ARRAY_SIZE(adis16400_3db_divisors) - 1; i >= 1; i--) { 415 if (sps / adis16400_3db_divisors[i] >= val) 416 break; 417 } 418 419 ret = __adis_read_reg_16(&st->adis, ADIS16400_SENS_AVG, &val16); 420 if (ret) 421 return ret; 422 423 ret = __adis_write_reg_16(&st->adis, ADIS16400_SENS_AVG, 424 (val16 & ~0x07) | i); 425 return ret; 426 } 427 428 /* Power down the device */ 429 static int adis16400_stop_device(struct iio_dev *indio_dev) 430 { 431 struct adis16400_state *st = iio_priv(indio_dev); 432 int ret; 433 434 ret = adis_write_reg_16(&st->adis, ADIS16400_SLP_CNT, 435 ADIS16400_SLP_CNT_POWER_OFF); 436 if (ret) 437 dev_err(&indio_dev->dev, 438 "problem with turning device off: SLP_CNT"); 439 440 return ret; 441 } 442 443 static int adis16400_initial_setup(struct iio_dev *indio_dev) 444 { 445 struct adis16400_state *st = iio_priv(indio_dev); 446 uint16_t prod_id, smp_prd; 447 unsigned int device_id; 448 int ret; 449 450 /* use low spi speed for init if the device has a slow mode */ 451 if (st->variant->flags & ADIS16400_HAS_SLOW_MODE) 452 st->adis.spi->max_speed_hz = ADIS16400_SPI_SLOW; 453 else 454 st->adis.spi->max_speed_hz = ADIS16400_SPI_FAST; 455 st->adis.spi->mode = SPI_MODE_3; 456 spi_setup(st->adis.spi); 457 458 ret = adis_initial_startup(&st->adis); 459 if (ret) 460 return ret; 461 462 if (st->variant->flags & ADIS16400_HAS_PROD_ID) { 463 ret = adis_read_reg_16(&st->adis, 464 ADIS16400_PRODUCT_ID, &prod_id); 465 if (ret) 466 goto err_ret; 467 468 ret = sscanf(indio_dev->name, "adis%u\n", &device_id); 469 if (ret != 1) { 470 ret = -EINVAL; 471 goto err_ret; 472 } 473 474 if (prod_id != device_id) 475 dev_warn(&indio_dev->dev, "Device ID(%u) and product ID(%u) do not match.", 476 device_id, prod_id); 477 478 dev_info(&indio_dev->dev, "%s: prod_id 0x%04x at CS%d (irq %d)\n", 479 indio_dev->name, prod_id, 480 st->adis.spi->chip_select, st->adis.spi->irq); 481 } 482 /* use high spi speed if possible */ 483 if (st->variant->flags & ADIS16400_HAS_SLOW_MODE) { 484 ret = adis_read_reg_16(&st->adis, ADIS16400_SMPL_PRD, &smp_prd); 485 if (ret) 486 goto err_ret; 487 488 if ((smp_prd & ADIS16400_SMPL_PRD_DIV_MASK) < 0x0A) { 489 st->adis.spi->max_speed_hz = ADIS16400_SPI_FAST; 490 spi_setup(st->adis.spi); 491 } 492 } 493 494 err_ret: 495 return ret; 496 } 497 498 static const uint8_t adis16400_addresses[] = { 499 [ADIS16400_SCAN_GYRO_X] = ADIS16400_XGYRO_OFF, 500 [ADIS16400_SCAN_GYRO_Y] = ADIS16400_YGYRO_OFF, 501 [ADIS16400_SCAN_GYRO_Z] = ADIS16400_ZGYRO_OFF, 502 [ADIS16400_SCAN_ACC_X] = ADIS16400_XACCL_OFF, 503 [ADIS16400_SCAN_ACC_Y] = ADIS16400_YACCL_OFF, 504 [ADIS16400_SCAN_ACC_Z] = ADIS16400_ZACCL_OFF, 505 }; 506 507 static int adis16400_write_raw(struct iio_dev *indio_dev, 508 struct iio_chan_spec const *chan, int val, int val2, long info) 509 { 510 struct adis16400_state *st = iio_priv(indio_dev); 511 struct mutex *slock = &st->adis.state_lock; 512 int ret, sps; 513 514 switch (info) { 515 case IIO_CHAN_INFO_CALIBBIAS: 516 ret = adis_write_reg_16(&st->adis, 517 adis16400_addresses[chan->scan_index], val); 518 return ret; 519 case IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY: 520 /* 521 * Need to cache values so we can update if the frequency 522 * changes. 523 */ 524 mutex_lock(slock); 525 st->filt_int = val; 526 /* Work out update to current value */ 527 sps = st->variant->get_freq(st); 528 if (sps < 0) { 529 mutex_unlock(slock); 530 return sps; 531 } 532 533 ret = __adis16400_set_filter(indio_dev, sps, 534 val * 1000 + val2 / 1000); 535 mutex_unlock(slock); 536 return ret; 537 case IIO_CHAN_INFO_SAMP_FREQ: 538 sps = val * 1000 + val2 / 1000; 539 540 if (sps <= 0) 541 return -EINVAL; 542 543 mutex_lock(slock); 544 ret = st->variant->set_freq(st, sps); 545 mutex_unlock(slock); 546 return ret; 547 default: 548 return -EINVAL; 549 } 550 } 551 552 static int adis16400_read_raw(struct iio_dev *indio_dev, 553 struct iio_chan_spec const *chan, int *val, int *val2, long info) 554 { 555 struct adis16400_state *st = iio_priv(indio_dev); 556 struct mutex *slock = &st->adis.state_lock; 557 int16_t val16; 558 int ret; 559 560 switch (info) { 561 case IIO_CHAN_INFO_RAW: 562 return adis_single_conversion(indio_dev, chan, 0, val); 563 case IIO_CHAN_INFO_SCALE: 564 switch (chan->type) { 565 case IIO_ANGL_VEL: 566 *val = 0; 567 *val2 = st->variant->gyro_scale_micro; 568 return IIO_VAL_INT_PLUS_MICRO; 569 case IIO_VOLTAGE: 570 *val = 0; 571 if (chan->channel == 0) { 572 *val = 2; 573 *val2 = 418000; /* 2.418 mV */ 574 } else { 575 *val = 0; 576 *val2 = 805800; /* 805.8 uV */ 577 } 578 return IIO_VAL_INT_PLUS_MICRO; 579 case IIO_ACCEL: 580 *val = 0; 581 *val2 = st->variant->accel_scale_micro; 582 return IIO_VAL_INT_PLUS_MICRO; 583 case IIO_MAGN: 584 *val = 0; 585 *val2 = 500; /* 0.5 mgauss */ 586 return IIO_VAL_INT_PLUS_MICRO; 587 case IIO_TEMP: 588 *val = st->variant->temp_scale_nano / 1000000; 589 *val2 = (st->variant->temp_scale_nano % 1000000); 590 return IIO_VAL_INT_PLUS_MICRO; 591 case IIO_PRESSURE: 592 /* 20 uBar = 0.002kPascal */ 593 *val = 0; 594 *val2 = 2000; 595 return IIO_VAL_INT_PLUS_MICRO; 596 default: 597 return -EINVAL; 598 } 599 case IIO_CHAN_INFO_CALIBBIAS: 600 ret = adis_read_reg_16(&st->adis, 601 adis16400_addresses[chan->scan_index], &val16); 602 if (ret) 603 return ret; 604 val16 = sign_extend32(val16, 11); 605 *val = val16; 606 return IIO_VAL_INT; 607 case IIO_CHAN_INFO_OFFSET: 608 /* currently only temperature */ 609 *val = st->variant->temp_offset; 610 return IIO_VAL_INT; 611 case IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY: 612 mutex_lock(slock); 613 /* Need both the number of taps and the sampling frequency */ 614 ret = __adis_read_reg_16(&st->adis, 615 ADIS16400_SENS_AVG, 616 &val16); 617 if (ret) { 618 mutex_unlock(slock); 619 return ret; 620 } 621 ret = st->variant->get_freq(st); 622 mutex_unlock(slock); 623 if (ret) 624 return ret; 625 ret /= adis16400_3db_divisors[val16 & 0x07]; 626 *val = ret / 1000; 627 *val2 = (ret % 1000) * 1000; 628 return IIO_VAL_INT_PLUS_MICRO; 629 case IIO_CHAN_INFO_SAMP_FREQ: 630 mutex_lock(slock); 631 ret = st->variant->get_freq(st); 632 mutex_unlock(slock); 633 if (ret) 634 return ret; 635 *val = ret / 1000; 636 *val2 = (ret % 1000) * 1000; 637 return IIO_VAL_INT_PLUS_MICRO; 638 default: 639 return -EINVAL; 640 } 641 } 642 643 #if IS_ENABLED(CONFIG_IIO_BUFFER) 644 static irqreturn_t adis16400_trigger_handler(int irq, void *p) 645 { 646 struct iio_poll_func *pf = p; 647 struct iio_dev *indio_dev = pf->indio_dev; 648 struct adis16400_state *st = iio_priv(indio_dev); 649 struct adis *adis = &st->adis; 650 u32 old_speed_hz = st->adis.spi->max_speed_hz; 651 void *buffer; 652 int ret; 653 654 if (!adis->buffer) 655 return -ENOMEM; 656 657 if (!(st->variant->flags & ADIS16400_NO_BURST) && 658 st->adis.spi->max_speed_hz > ADIS16400_SPI_BURST) { 659 st->adis.spi->max_speed_hz = ADIS16400_SPI_BURST; 660 spi_setup(st->adis.spi); 661 } 662 663 ret = spi_sync(adis->spi, &adis->msg); 664 if (ret) 665 dev_err(&adis->spi->dev, "Failed to read data: %d\n", ret); 666 667 if (!(st->variant->flags & ADIS16400_NO_BURST)) { 668 st->adis.spi->max_speed_hz = old_speed_hz; 669 spi_setup(st->adis.spi); 670 } 671 672 if (st->variant->flags & ADIS16400_BURST_DIAG_STAT) 673 buffer = adis->buffer + sizeof(u16); 674 else 675 buffer = adis->buffer; 676 677 iio_push_to_buffers_with_timestamp(indio_dev, buffer, 678 pf->timestamp); 679 680 iio_trigger_notify_done(indio_dev->trig); 681 682 return IRQ_HANDLED; 683 } 684 #else 685 #define adis16400_trigger_handler NULL 686 #endif /* IS_ENABLED(CONFIG_IIO_BUFFER) */ 687 688 #define ADIS16400_VOLTAGE_CHAN(addr, bits, name, si, chn) { \ 689 .type = IIO_VOLTAGE, \ 690 .indexed = 1, \ 691 .channel = chn, \ 692 .extend_name = name, \ 693 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \ 694 BIT(IIO_CHAN_INFO_SCALE), \ 695 .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \ 696 .address = (addr), \ 697 .scan_index = (si), \ 698 .scan_type = { \ 699 .sign = 'u', \ 700 .realbits = (bits), \ 701 .storagebits = 16, \ 702 .shift = 0, \ 703 .endianness = IIO_BE, \ 704 }, \ 705 } 706 707 #define ADIS16400_SUPPLY_CHAN(addr, bits) \ 708 ADIS16400_VOLTAGE_CHAN(addr, bits, "supply", ADIS16400_SCAN_SUPPLY, 0) 709 710 #define ADIS16400_AUX_ADC_CHAN(addr, bits) \ 711 ADIS16400_VOLTAGE_CHAN(addr, bits, NULL, ADIS16400_SCAN_ADC, 1) 712 713 #define ADIS16400_GYRO_CHAN(mod, addr, bits) { \ 714 .type = IIO_ANGL_VEL, \ 715 .modified = 1, \ 716 .channel2 = IIO_MOD_ ## mod, \ 717 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \ 718 BIT(IIO_CHAN_INFO_CALIBBIAS), \ 719 .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE) | \ 720 BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY), \ 721 .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \ 722 .address = addr, \ 723 .scan_index = ADIS16400_SCAN_GYRO_ ## mod, \ 724 .scan_type = { \ 725 .sign = 's', \ 726 .realbits = (bits), \ 727 .storagebits = 16, \ 728 .shift = 0, \ 729 .endianness = IIO_BE, \ 730 }, \ 731 } 732 733 #define ADIS16400_ACCEL_CHAN(mod, addr, bits) { \ 734 .type = IIO_ACCEL, \ 735 .modified = 1, \ 736 .channel2 = IIO_MOD_ ## mod, \ 737 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \ 738 BIT(IIO_CHAN_INFO_CALIBBIAS), \ 739 .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE) | \ 740 BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY), \ 741 .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \ 742 .address = (addr), \ 743 .scan_index = ADIS16400_SCAN_ACC_ ## mod, \ 744 .scan_type = { \ 745 .sign = 's', \ 746 .realbits = (bits), \ 747 .storagebits = 16, \ 748 .shift = 0, \ 749 .endianness = IIO_BE, \ 750 }, \ 751 } 752 753 #define ADIS16400_MAGN_CHAN(mod, addr, bits) { \ 754 .type = IIO_MAGN, \ 755 .modified = 1, \ 756 .channel2 = IIO_MOD_ ## mod, \ 757 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW), \ 758 .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE) | \ 759 BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY), \ 760 .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \ 761 .address = (addr), \ 762 .scan_index = ADIS16400_SCAN_MAGN_ ## mod, \ 763 .scan_type = { \ 764 .sign = 's', \ 765 .realbits = (bits), \ 766 .storagebits = 16, \ 767 .shift = 0, \ 768 .endianness = IIO_BE, \ 769 }, \ 770 } 771 772 #define ADIS16400_MOD_TEMP_NAME_X "x" 773 #define ADIS16400_MOD_TEMP_NAME_Y "y" 774 #define ADIS16400_MOD_TEMP_NAME_Z "z" 775 776 #define ADIS16400_MOD_TEMP_CHAN(mod, addr, bits) { \ 777 .type = IIO_TEMP, \ 778 .indexed = 1, \ 779 .channel = 0, \ 780 .extend_name = ADIS16400_MOD_TEMP_NAME_ ## mod, \ 781 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \ 782 BIT(IIO_CHAN_INFO_OFFSET) | \ 783 BIT(IIO_CHAN_INFO_SCALE), \ 784 .info_mask_shared_by_type = \ 785 BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY), \ 786 .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \ 787 .address = (addr), \ 788 .scan_index = ADIS16350_SCAN_TEMP_ ## mod, \ 789 .scan_type = { \ 790 .sign = 's', \ 791 .realbits = (bits), \ 792 .storagebits = 16, \ 793 .shift = 0, \ 794 .endianness = IIO_BE, \ 795 }, \ 796 } 797 798 #define ADIS16400_TEMP_CHAN(addr, bits) { \ 799 .type = IIO_TEMP, \ 800 .indexed = 1, \ 801 .channel = 0, \ 802 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \ 803 BIT(IIO_CHAN_INFO_OFFSET) | \ 804 BIT(IIO_CHAN_INFO_SCALE), \ 805 .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \ 806 .address = (addr), \ 807 .scan_index = ADIS16350_SCAN_TEMP_X, \ 808 .scan_type = { \ 809 .sign = 's', \ 810 .realbits = (bits), \ 811 .storagebits = 16, \ 812 .shift = 0, \ 813 .endianness = IIO_BE, \ 814 }, \ 815 } 816 817 #define ADIS16400_INCLI_CHAN(mod, addr, bits) { \ 818 .type = IIO_INCLI, \ 819 .modified = 1, \ 820 .channel2 = IIO_MOD_ ## mod, \ 821 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW), \ 822 .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE), \ 823 .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \ 824 .address = (addr), \ 825 .scan_index = ADIS16300_SCAN_INCLI_ ## mod, \ 826 .scan_type = { \ 827 .sign = 's', \ 828 .realbits = (bits), \ 829 .storagebits = 16, \ 830 .shift = 0, \ 831 .endianness = IIO_BE, \ 832 }, \ 833 } 834 835 static const struct iio_chan_spec adis16400_channels[] = { 836 ADIS16400_SUPPLY_CHAN(ADIS16400_SUPPLY_OUT, 14), 837 ADIS16400_GYRO_CHAN(X, ADIS16400_XGYRO_OUT, 14), 838 ADIS16400_GYRO_CHAN(Y, ADIS16400_YGYRO_OUT, 14), 839 ADIS16400_GYRO_CHAN(Z, ADIS16400_ZGYRO_OUT, 14), 840 ADIS16400_ACCEL_CHAN(X, ADIS16400_XACCL_OUT, 14), 841 ADIS16400_ACCEL_CHAN(Y, ADIS16400_YACCL_OUT, 14), 842 ADIS16400_ACCEL_CHAN(Z, ADIS16400_ZACCL_OUT, 14), 843 ADIS16400_MAGN_CHAN(X, ADIS16400_XMAGN_OUT, 14), 844 ADIS16400_MAGN_CHAN(Y, ADIS16400_YMAGN_OUT, 14), 845 ADIS16400_MAGN_CHAN(Z, ADIS16400_ZMAGN_OUT, 14), 846 ADIS16400_TEMP_CHAN(ADIS16400_TEMP_OUT, 12), 847 ADIS16400_AUX_ADC_CHAN(ADIS16400_AUX_ADC, 12), 848 IIO_CHAN_SOFT_TIMESTAMP(ADIS16400_SCAN_TIMESTAMP), 849 }; 850 851 static const struct iio_chan_spec adis16445_channels[] = { 852 ADIS16400_GYRO_CHAN(X, ADIS16400_XGYRO_OUT, 16), 853 ADIS16400_GYRO_CHAN(Y, ADIS16400_YGYRO_OUT, 16), 854 ADIS16400_GYRO_CHAN(Z, ADIS16400_ZGYRO_OUT, 16), 855 ADIS16400_ACCEL_CHAN(X, ADIS16400_XACCL_OUT, 16), 856 ADIS16400_ACCEL_CHAN(Y, ADIS16400_YACCL_OUT, 16), 857 ADIS16400_ACCEL_CHAN(Z, ADIS16400_ZACCL_OUT, 16), 858 ADIS16400_TEMP_CHAN(ADIS16448_TEMP_OUT, 12), 859 IIO_CHAN_SOFT_TIMESTAMP(ADIS16400_SCAN_TIMESTAMP), 860 }; 861 862 static const struct iio_chan_spec adis16448_channels[] = { 863 ADIS16400_GYRO_CHAN(X, ADIS16400_XGYRO_OUT, 16), 864 ADIS16400_GYRO_CHAN(Y, ADIS16400_YGYRO_OUT, 16), 865 ADIS16400_GYRO_CHAN(Z, ADIS16400_ZGYRO_OUT, 16), 866 ADIS16400_ACCEL_CHAN(X, ADIS16400_XACCL_OUT, 16), 867 ADIS16400_ACCEL_CHAN(Y, ADIS16400_YACCL_OUT, 16), 868 ADIS16400_ACCEL_CHAN(Z, ADIS16400_ZACCL_OUT, 16), 869 ADIS16400_MAGN_CHAN(X, ADIS16400_XMAGN_OUT, 16), 870 ADIS16400_MAGN_CHAN(Y, ADIS16400_YMAGN_OUT, 16), 871 ADIS16400_MAGN_CHAN(Z, ADIS16400_ZMAGN_OUT, 16), 872 { 873 .type = IIO_PRESSURE, 874 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW), 875 .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE), 876 .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), 877 .address = ADIS16448_BARO_OUT, 878 .scan_index = ADIS16400_SCAN_BARO, 879 .scan_type = { 880 .sign = 's', 881 .realbits = 16, 882 .storagebits = 16, 883 .endianness = IIO_BE, 884 }, 885 }, 886 ADIS16400_TEMP_CHAN(ADIS16448_TEMP_OUT, 12), 887 IIO_CHAN_SOFT_TIMESTAMP(ADIS16400_SCAN_TIMESTAMP), 888 }; 889 890 static const struct iio_chan_spec adis16350_channels[] = { 891 ADIS16400_SUPPLY_CHAN(ADIS16400_SUPPLY_OUT, 12), 892 ADIS16400_GYRO_CHAN(X, ADIS16400_XGYRO_OUT, 14), 893 ADIS16400_GYRO_CHAN(Y, ADIS16400_YGYRO_OUT, 14), 894 ADIS16400_GYRO_CHAN(Z, ADIS16400_ZGYRO_OUT, 14), 895 ADIS16400_ACCEL_CHAN(X, ADIS16400_XACCL_OUT, 14), 896 ADIS16400_ACCEL_CHAN(Y, ADIS16400_YACCL_OUT, 14), 897 ADIS16400_ACCEL_CHAN(Z, ADIS16400_ZACCL_OUT, 14), 898 ADIS16400_MAGN_CHAN(X, ADIS16400_XMAGN_OUT, 14), 899 ADIS16400_MAGN_CHAN(Y, ADIS16400_YMAGN_OUT, 14), 900 ADIS16400_MAGN_CHAN(Z, ADIS16400_ZMAGN_OUT, 14), 901 ADIS16400_AUX_ADC_CHAN(ADIS16300_AUX_ADC, 12), 902 ADIS16400_MOD_TEMP_CHAN(X, ADIS16350_XTEMP_OUT, 12), 903 ADIS16400_MOD_TEMP_CHAN(Y, ADIS16350_YTEMP_OUT, 12), 904 ADIS16400_MOD_TEMP_CHAN(Z, ADIS16350_ZTEMP_OUT, 12), 905 IIO_CHAN_SOFT_TIMESTAMP(ADIS16400_SCAN_TIMESTAMP), 906 }; 907 908 static const struct iio_chan_spec adis16300_channels[] = { 909 ADIS16400_SUPPLY_CHAN(ADIS16400_SUPPLY_OUT, 12), 910 ADIS16400_GYRO_CHAN(X, ADIS16400_XGYRO_OUT, 14), 911 ADIS16400_ACCEL_CHAN(X, ADIS16400_XACCL_OUT, 14), 912 ADIS16400_ACCEL_CHAN(Y, ADIS16400_YACCL_OUT, 14), 913 ADIS16400_ACCEL_CHAN(Z, ADIS16400_ZACCL_OUT, 14), 914 ADIS16400_TEMP_CHAN(ADIS16350_XTEMP_OUT, 12), 915 ADIS16400_AUX_ADC_CHAN(ADIS16300_AUX_ADC, 12), 916 ADIS16400_INCLI_CHAN(X, ADIS16300_PITCH_OUT, 13), 917 ADIS16400_INCLI_CHAN(Y, ADIS16300_ROLL_OUT, 13), 918 IIO_CHAN_SOFT_TIMESTAMP(ADIS16400_SCAN_TIMESTAMP), 919 }; 920 921 static const struct iio_chan_spec adis16334_channels[] = { 922 ADIS16400_GYRO_CHAN(X, ADIS16400_XGYRO_OUT, 14), 923 ADIS16400_GYRO_CHAN(Y, ADIS16400_YGYRO_OUT, 14), 924 ADIS16400_GYRO_CHAN(Z, ADIS16400_ZGYRO_OUT, 14), 925 ADIS16400_ACCEL_CHAN(X, ADIS16400_XACCL_OUT, 14), 926 ADIS16400_ACCEL_CHAN(Y, ADIS16400_YACCL_OUT, 14), 927 ADIS16400_ACCEL_CHAN(Z, ADIS16400_ZACCL_OUT, 14), 928 ADIS16400_TEMP_CHAN(ADIS16350_XTEMP_OUT, 12), 929 IIO_CHAN_SOFT_TIMESTAMP(ADIS16400_SCAN_TIMESTAMP), 930 }; 931 932 static const char * const adis16400_status_error_msgs[] = { 933 [ADIS16400_DIAG_STAT_ZACCL_FAIL] = "Z-axis accelerometer self-test failure", 934 [ADIS16400_DIAG_STAT_YACCL_FAIL] = "Y-axis accelerometer self-test failure", 935 [ADIS16400_DIAG_STAT_XACCL_FAIL] = "X-axis accelerometer self-test failure", 936 [ADIS16400_DIAG_STAT_XGYRO_FAIL] = "X-axis gyroscope self-test failure", 937 [ADIS16400_DIAG_STAT_YGYRO_FAIL] = "Y-axis gyroscope self-test failure", 938 [ADIS16400_DIAG_STAT_ZGYRO_FAIL] = "Z-axis gyroscope self-test failure", 939 [ADIS16400_DIAG_STAT_ALARM2] = "Alarm 2 active", 940 [ADIS16400_DIAG_STAT_ALARM1] = "Alarm 1 active", 941 [ADIS16400_DIAG_STAT_FLASH_CHK] = "Flash checksum error", 942 [ADIS16400_DIAG_STAT_SELF_TEST] = "Self test error", 943 [ADIS16400_DIAG_STAT_OVERFLOW] = "Sensor overrange", 944 [ADIS16400_DIAG_STAT_SPI_FAIL] = "SPI failure", 945 [ADIS16400_DIAG_STAT_FLASH_UPT] = "Flash update failed", 946 [ADIS16400_DIAG_STAT_POWER_HIGH] = "Power supply above 5.25V", 947 [ADIS16400_DIAG_STAT_POWER_LOW] = "Power supply below 4.75V", 948 }; 949 950 #define ADIS16400_DATA(_timeouts) \ 951 { \ 952 .msc_ctrl_reg = ADIS16400_MSC_CTRL, \ 953 .glob_cmd_reg = ADIS16400_GLOB_CMD, \ 954 .diag_stat_reg = ADIS16400_DIAG_STAT, \ 955 .read_delay = 50, \ 956 .write_delay = 50, \ 957 .self_test_mask = ADIS16400_MSC_CTRL_MEM_TEST, \ 958 .self_test_reg = ADIS16400_MSC_CTRL, \ 959 .status_error_msgs = adis16400_status_error_msgs, \ 960 .status_error_mask = BIT(ADIS16400_DIAG_STAT_ZACCL_FAIL) | \ 961 BIT(ADIS16400_DIAG_STAT_YACCL_FAIL) | \ 962 BIT(ADIS16400_DIAG_STAT_XACCL_FAIL) | \ 963 BIT(ADIS16400_DIAG_STAT_XGYRO_FAIL) | \ 964 BIT(ADIS16400_DIAG_STAT_YGYRO_FAIL) | \ 965 BIT(ADIS16400_DIAG_STAT_ZGYRO_FAIL) | \ 966 BIT(ADIS16400_DIAG_STAT_ALARM2) | \ 967 BIT(ADIS16400_DIAG_STAT_ALARM1) | \ 968 BIT(ADIS16400_DIAG_STAT_FLASH_CHK) | \ 969 BIT(ADIS16400_DIAG_STAT_SELF_TEST) | \ 970 BIT(ADIS16400_DIAG_STAT_OVERFLOW) | \ 971 BIT(ADIS16400_DIAG_STAT_SPI_FAIL) | \ 972 BIT(ADIS16400_DIAG_STAT_FLASH_UPT) | \ 973 BIT(ADIS16400_DIAG_STAT_POWER_HIGH) | \ 974 BIT(ADIS16400_DIAG_STAT_POWER_LOW), \ 975 .timeouts = (_timeouts), \ 976 } 977 978 static const struct adis_timeout adis16300_timeouts = { 979 .reset_ms = ADIS16400_STARTUP_DELAY, 980 .sw_reset_ms = ADIS16400_STARTUP_DELAY, 981 .self_test_ms = ADIS16400_STARTUP_DELAY, 982 }; 983 984 static const struct adis_timeout adis16334_timeouts = { 985 .reset_ms = 60, 986 .sw_reset_ms = 60, 987 .self_test_ms = 14, 988 }; 989 990 static const struct adis_timeout adis16362_timeouts = { 991 .reset_ms = 130, 992 .sw_reset_ms = 130, 993 .self_test_ms = 12, 994 }; 995 996 static const struct adis_timeout adis16400_timeouts = { 997 .reset_ms = 170, 998 .sw_reset_ms = 170, 999 .self_test_ms = 12, 1000 }; 1001 1002 static const struct adis_timeout adis16445_timeouts = { 1003 .reset_ms = 55, 1004 .sw_reset_ms = 55, 1005 .self_test_ms = 16, 1006 }; 1007 1008 static const struct adis_timeout adis16448_timeouts = { 1009 .reset_ms = 90, 1010 .sw_reset_ms = 90, 1011 .self_test_ms = 45, 1012 }; 1013 1014 static struct adis16400_chip_info adis16400_chips[] = { 1015 [ADIS16300] = { 1016 .channels = adis16300_channels, 1017 .num_channels = ARRAY_SIZE(adis16300_channels), 1018 .flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE | 1019 ADIS16400_HAS_SERIAL_NUMBER, 1020 .gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */ 1021 .accel_scale_micro = 5884, 1022 .temp_scale_nano = 140000000, /* 0.14 C */ 1023 .temp_offset = 25000000 / 140000, /* 25 C = 0x00 */ 1024 .set_freq = adis16400_set_freq, 1025 .get_freq = adis16400_get_freq, 1026 .adis_data = ADIS16400_DATA(&adis16300_timeouts), 1027 }, 1028 [ADIS16334] = { 1029 .channels = adis16334_channels, 1030 .num_channels = ARRAY_SIZE(adis16334_channels), 1031 .flags = ADIS16400_HAS_PROD_ID | ADIS16400_NO_BURST | 1032 ADIS16400_HAS_SERIAL_NUMBER, 1033 .gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */ 1034 .accel_scale_micro = IIO_G_TO_M_S_2(1000), /* 1 mg */ 1035 .temp_scale_nano = 67850000, /* 0.06785 C */ 1036 .temp_offset = 25000000 / 67850, /* 25 C = 0x00 */ 1037 .set_freq = adis16334_set_freq, 1038 .get_freq = adis16334_get_freq, 1039 .adis_data = ADIS16400_DATA(&adis16334_timeouts), 1040 }, 1041 [ADIS16350] = { 1042 .channels = adis16350_channels, 1043 .num_channels = ARRAY_SIZE(adis16350_channels), 1044 .gyro_scale_micro = IIO_DEGREE_TO_RAD(73260), /* 0.07326 deg/s */ 1045 .accel_scale_micro = IIO_G_TO_M_S_2(2522), /* 0.002522 g */ 1046 .temp_scale_nano = 145300000, /* 0.1453 C */ 1047 .temp_offset = 25000000 / 145300, /* 25 C = 0x00 */ 1048 .flags = ADIS16400_NO_BURST | ADIS16400_HAS_SLOW_MODE, 1049 .set_freq = adis16400_set_freq, 1050 .get_freq = adis16400_get_freq, 1051 .adis_data = ADIS16400_DATA(&adis16300_timeouts), 1052 }, 1053 [ADIS16360] = { 1054 .channels = adis16350_channels, 1055 .num_channels = ARRAY_SIZE(adis16350_channels), 1056 .flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE | 1057 ADIS16400_HAS_SERIAL_NUMBER, 1058 .gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */ 1059 .accel_scale_micro = IIO_G_TO_M_S_2(3333), /* 3.333 mg */ 1060 .temp_scale_nano = 136000000, /* 0.136 C */ 1061 .temp_offset = 25000000 / 136000, /* 25 C = 0x00 */ 1062 .set_freq = adis16400_set_freq, 1063 .get_freq = adis16400_get_freq, 1064 .adis_data = ADIS16400_DATA(&adis16300_timeouts), 1065 }, 1066 [ADIS16362] = { 1067 .channels = adis16350_channels, 1068 .num_channels = ARRAY_SIZE(adis16350_channels), 1069 .flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE | 1070 ADIS16400_HAS_SERIAL_NUMBER, 1071 .gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */ 1072 .accel_scale_micro = IIO_G_TO_M_S_2(333), /* 0.333 mg */ 1073 .temp_scale_nano = 136000000, /* 0.136 C */ 1074 .temp_offset = 25000000 / 136000, /* 25 C = 0x00 */ 1075 .set_freq = adis16400_set_freq, 1076 .get_freq = adis16400_get_freq, 1077 .adis_data = ADIS16400_DATA(&adis16362_timeouts), 1078 }, 1079 [ADIS16364] = { 1080 .channels = adis16350_channels, 1081 .num_channels = ARRAY_SIZE(adis16350_channels), 1082 .flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE | 1083 ADIS16400_HAS_SERIAL_NUMBER, 1084 .gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */ 1085 .accel_scale_micro = IIO_G_TO_M_S_2(1000), /* 1 mg */ 1086 .temp_scale_nano = 136000000, /* 0.136 C */ 1087 .temp_offset = 25000000 / 136000, /* 25 C = 0x00 */ 1088 .set_freq = adis16400_set_freq, 1089 .get_freq = adis16400_get_freq, 1090 .adis_data = ADIS16400_DATA(&adis16362_timeouts), 1091 }, 1092 [ADIS16367] = { 1093 .channels = adis16350_channels, 1094 .num_channels = ARRAY_SIZE(adis16350_channels), 1095 .flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE | 1096 ADIS16400_HAS_SERIAL_NUMBER, 1097 .gyro_scale_micro = IIO_DEGREE_TO_RAD(2000), /* 0.2 deg/s */ 1098 .accel_scale_micro = IIO_G_TO_M_S_2(3333), /* 3.333 mg */ 1099 .temp_scale_nano = 136000000, /* 0.136 C */ 1100 .temp_offset = 25000000 / 136000, /* 25 C = 0x00 */ 1101 .set_freq = adis16400_set_freq, 1102 .get_freq = adis16400_get_freq, 1103 .adis_data = ADIS16400_DATA(&adis16300_timeouts), 1104 }, 1105 [ADIS16400] = { 1106 .channels = adis16400_channels, 1107 .num_channels = ARRAY_SIZE(adis16400_channels), 1108 .flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE, 1109 .gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */ 1110 .accel_scale_micro = IIO_G_TO_M_S_2(3333), /* 3.333 mg */ 1111 .temp_scale_nano = 140000000, /* 0.14 C */ 1112 .temp_offset = 25000000 / 140000, /* 25 C = 0x00 */ 1113 .set_freq = adis16400_set_freq, 1114 .get_freq = adis16400_get_freq, 1115 .adis_data = ADIS16400_DATA(&adis16400_timeouts), 1116 }, 1117 [ADIS16445] = { 1118 .channels = adis16445_channels, 1119 .num_channels = ARRAY_SIZE(adis16445_channels), 1120 .flags = ADIS16400_HAS_PROD_ID | 1121 ADIS16400_HAS_SERIAL_NUMBER | 1122 ADIS16400_BURST_DIAG_STAT, 1123 .gyro_scale_micro = IIO_DEGREE_TO_RAD(10000), /* 0.01 deg/s */ 1124 .accel_scale_micro = IIO_G_TO_M_S_2(250), /* 1/4000 g */ 1125 .temp_scale_nano = 73860000, /* 0.07386 C */ 1126 .temp_offset = 31000000 / 73860, /* 31 C = 0x00 */ 1127 .set_freq = adis16334_set_freq, 1128 .get_freq = adis16334_get_freq, 1129 .adis_data = ADIS16400_DATA(&adis16445_timeouts), 1130 }, 1131 [ADIS16448] = { 1132 .channels = adis16448_channels, 1133 .num_channels = ARRAY_SIZE(adis16448_channels), 1134 .flags = ADIS16400_HAS_PROD_ID | 1135 ADIS16400_HAS_SERIAL_NUMBER | 1136 ADIS16400_BURST_DIAG_STAT, 1137 .gyro_scale_micro = IIO_DEGREE_TO_RAD(40000), /* 0.04 deg/s */ 1138 .accel_scale_micro = IIO_G_TO_M_S_2(833), /* 1/1200 g */ 1139 .temp_scale_nano = 73860000, /* 0.07386 C */ 1140 .temp_offset = 31000000 / 73860, /* 31 C = 0x00 */ 1141 .set_freq = adis16334_set_freq, 1142 .get_freq = adis16334_get_freq, 1143 .adis_data = ADIS16400_DATA(&adis16448_timeouts), 1144 } 1145 }; 1146 1147 static const struct iio_info adis16400_info = { 1148 .read_raw = &adis16400_read_raw, 1149 .write_raw = &adis16400_write_raw, 1150 .update_scan_mode = adis_update_scan_mode, 1151 .debugfs_reg_access = adis_debugfs_reg_access, 1152 }; 1153 1154 static void adis16400_setup_chan_mask(struct adis16400_state *st) 1155 { 1156 const struct adis16400_chip_info *chip_info = st->variant; 1157 unsigned int i; 1158 1159 for (i = 0; i < chip_info->num_channels; i++) { 1160 const struct iio_chan_spec *ch = &chip_info->channels[i]; 1161 1162 if (ch->scan_index >= 0 && 1163 ch->scan_index != ADIS16400_SCAN_TIMESTAMP) 1164 st->avail_scan_mask[0] |= BIT(ch->scan_index); 1165 } 1166 } 1167 static int adis16400_probe(struct spi_device *spi) 1168 { 1169 struct adis16400_state *st; 1170 struct iio_dev *indio_dev; 1171 int ret; 1172 const struct adis_data *adis16400_data; 1173 1174 indio_dev = devm_iio_device_alloc(&spi->dev, sizeof(*st)); 1175 if (indio_dev == NULL) 1176 return -ENOMEM; 1177 1178 st = iio_priv(indio_dev); 1179 /* this is only used for removal purposes */ 1180 spi_set_drvdata(spi, indio_dev); 1181 1182 /* setup the industrialio driver allocated elements */ 1183 st->variant = &adis16400_chips[spi_get_device_id(spi)->driver_data]; 1184 indio_dev->name = spi_get_device_id(spi)->name; 1185 indio_dev->channels = st->variant->channels; 1186 indio_dev->num_channels = st->variant->num_channels; 1187 indio_dev->info = &adis16400_info; 1188 indio_dev->modes = INDIO_DIRECT_MODE; 1189 1190 if (!(st->variant->flags & ADIS16400_NO_BURST)) { 1191 adis16400_setup_chan_mask(st); 1192 indio_dev->available_scan_masks = st->avail_scan_mask; 1193 st->adis.burst = &adis16400_burst; 1194 if (st->variant->flags & ADIS16400_BURST_DIAG_STAT) 1195 st->adis.burst_extra_len = sizeof(u16); 1196 } 1197 1198 adis16400_data = &st->variant->adis_data; 1199 1200 ret = adis_init(&st->adis, indio_dev, spi, adis16400_data); 1201 if (ret) 1202 return ret; 1203 1204 ret = adis_setup_buffer_and_trigger(&st->adis, indio_dev, 1205 adis16400_trigger_handler); 1206 if (ret) 1207 return ret; 1208 1209 /* Get the device into a sane initial state */ 1210 ret = adis16400_initial_setup(indio_dev); 1211 if (ret) 1212 goto error_cleanup_buffer; 1213 ret = iio_device_register(indio_dev); 1214 if (ret) 1215 goto error_cleanup_buffer; 1216 1217 adis16400_debugfs_init(indio_dev); 1218 return 0; 1219 1220 error_cleanup_buffer: 1221 adis_cleanup_buffer_and_trigger(&st->adis, indio_dev); 1222 return ret; 1223 } 1224 1225 static int adis16400_remove(struct spi_device *spi) 1226 { 1227 struct iio_dev *indio_dev = spi_get_drvdata(spi); 1228 struct adis16400_state *st = iio_priv(indio_dev); 1229 1230 iio_device_unregister(indio_dev); 1231 adis16400_stop_device(indio_dev); 1232 1233 adis_cleanup_buffer_and_trigger(&st->adis, indio_dev); 1234 1235 return 0; 1236 } 1237 1238 static const struct spi_device_id adis16400_id[] = { 1239 {"adis16300", ADIS16300}, 1240 {"adis16305", ADIS16300}, 1241 {"adis16334", ADIS16334}, 1242 {"adis16350", ADIS16350}, 1243 {"adis16354", ADIS16350}, 1244 {"adis16355", ADIS16350}, 1245 {"adis16360", ADIS16360}, 1246 {"adis16362", ADIS16362}, 1247 {"adis16364", ADIS16364}, 1248 {"adis16365", ADIS16360}, 1249 {"adis16367", ADIS16367}, 1250 {"adis16400", ADIS16400}, 1251 {"adis16405", ADIS16400}, 1252 {"adis16445", ADIS16445}, 1253 {"adis16448", ADIS16448}, 1254 {} 1255 }; 1256 MODULE_DEVICE_TABLE(spi, adis16400_id); 1257 1258 static struct spi_driver adis16400_driver = { 1259 .driver = { 1260 .name = "adis16400", 1261 }, 1262 .id_table = adis16400_id, 1263 .probe = adis16400_probe, 1264 .remove = adis16400_remove, 1265 }; 1266 module_spi_driver(adis16400_driver); 1267 1268 MODULE_AUTHOR("Manuel Stahl <manuel.stahl@iis.fraunhofer.de>"); 1269 MODULE_DESCRIPTION("Analog Devices ADIS16400/5 IMU SPI driver"); 1270 MODULE_LICENSE("GPL v2"); 1271