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 213 214 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 }; 248 249 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"); 265 266 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"); 282 283 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 301 302 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 }; 321 322 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 } 335 336 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 } 353 354 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 } 368 369 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 }; 404 405 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 */ 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 } 439 440 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 }; 503 504 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 int ret, sps; 509 510 switch (info) { 511 case IIO_CHAN_INFO_CALIBBIAS: 512 ret = adis_write_reg_16(&st->adis, 513 adis16400_addresses[chan->scan_index], val); 514 return ret; 515 case IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY: 516 /* 517 * Need to cache values so we can update if the frequency 518 * changes. 519 */ 520 adis_dev_lock(&st->adis); 521 st->filt_int = val; 522 /* Work out update to current value */ 523 sps = st->variant->get_freq(st); 524 if (sps < 0) { 525 adis_dev_unlock(&st->adis); 526 return sps; 527 } 528 529 ret = __adis16400_set_filter(indio_dev, sps, 530 val * 1000 + val2 / 1000); 531 adis_dev_unlock(&st->adis); 532 return ret; 533 case IIO_CHAN_INFO_SAMP_FREQ: 534 sps = val * 1000 + val2 / 1000; 535 536 if (sps <= 0) 537 return -EINVAL; 538 539 adis_dev_lock(&st->adis); 540 ret = st->variant->set_freq(st, sps); 541 adis_dev_unlock(&st->adis); 542 return ret; 543 default: 544 return -EINVAL; 545 } 546 } 547 548 static int adis16400_read_raw(struct iio_dev *indio_dev, 549 struct iio_chan_spec const *chan, int *val, int *val2, long info) 550 { 551 struct adis16400_state *st = iio_priv(indio_dev); 552 int16_t val16; 553 int ret; 554 555 switch (info) { 556 case IIO_CHAN_INFO_RAW: 557 return adis_single_conversion(indio_dev, chan, 0, val); 558 case IIO_CHAN_INFO_SCALE: 559 switch (chan->type) { 560 case IIO_ANGL_VEL: 561 *val = 0; 562 *val2 = st->variant->gyro_scale_micro; 563 return IIO_VAL_INT_PLUS_MICRO; 564 case IIO_VOLTAGE: 565 *val = 0; 566 if (chan->channel == 0) { 567 *val = 2; 568 *val2 = 418000; /* 2.418 mV */ 569 } else { 570 *val = 0; 571 *val2 = 805800; /* 805.8 uV */ 572 } 573 return IIO_VAL_INT_PLUS_MICRO; 574 case IIO_ACCEL: 575 *val = 0; 576 *val2 = st->variant->accel_scale_micro; 577 return IIO_VAL_INT_PLUS_MICRO; 578 case IIO_MAGN: 579 *val = 0; 580 *val2 = 500; /* 0.5 mgauss */ 581 return IIO_VAL_INT_PLUS_MICRO; 582 case IIO_TEMP: 583 *val = st->variant->temp_scale_nano / 1000000; 584 *val2 = (st->variant->temp_scale_nano % 1000000); 585 return IIO_VAL_INT_PLUS_MICRO; 586 case IIO_PRESSURE: 587 /* 20 uBar = 0.002kPascal */ 588 *val = 0; 589 *val2 = 2000; 590 return IIO_VAL_INT_PLUS_MICRO; 591 default: 592 return -EINVAL; 593 } 594 case IIO_CHAN_INFO_CALIBBIAS: 595 ret = adis_read_reg_16(&st->adis, 596 adis16400_addresses[chan->scan_index], &val16); 597 if (ret) 598 return ret; 599 val16 = sign_extend32(val16, 11); 600 *val = val16; 601 return IIO_VAL_INT; 602 case IIO_CHAN_INFO_OFFSET: 603 /* currently only temperature */ 604 *val = st->variant->temp_offset; 605 return IIO_VAL_INT; 606 case IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY: 607 adis_dev_lock(&st->adis); 608 /* Need both the number of taps and the sampling frequency */ 609 ret = __adis_read_reg_16(&st->adis, 610 ADIS16400_SENS_AVG, 611 &val16); 612 if (ret) { 613 adis_dev_unlock(&st->adis); 614 return ret; 615 } 616 ret = st->variant->get_freq(st); 617 adis_dev_unlock(&st->adis); 618 if (ret) 619 return ret; 620 ret /= adis16400_3db_divisors[val16 & 0x07]; 621 *val = ret / 1000; 622 *val2 = (ret % 1000) * 1000; 623 return IIO_VAL_INT_PLUS_MICRO; 624 case IIO_CHAN_INFO_SAMP_FREQ: 625 adis_dev_lock(&st->adis); 626 ret = st->variant->get_freq(st); 627 adis_dev_unlock(&st->adis); 628 if (ret) 629 return ret; 630 *val = ret / 1000; 631 *val2 = (ret % 1000) * 1000; 632 return IIO_VAL_INT_PLUS_MICRO; 633 default: 634 return -EINVAL; 635 } 636 } 637 638 #if IS_ENABLED(CONFIG_IIO_BUFFER) 639 static irqreturn_t adis16400_trigger_handler(int irq, void *p) 640 { 641 struct iio_poll_func *pf = p; 642 struct iio_dev *indio_dev = pf->indio_dev; 643 struct adis16400_state *st = iio_priv(indio_dev); 644 struct adis *adis = &st->adis; 645 u32 old_speed_hz = st->adis.spi->max_speed_hz; 646 void *buffer; 647 int ret; 648 649 if (!adis->buffer) 650 return -ENOMEM; 651 652 if (!(st->variant->flags & ADIS16400_NO_BURST) && 653 st->adis.spi->max_speed_hz > ADIS16400_SPI_BURST) { 654 st->adis.spi->max_speed_hz = ADIS16400_SPI_BURST; 655 spi_setup(st->adis.spi); 656 } 657 658 ret = spi_sync(adis->spi, &adis->msg); 659 if (ret) 660 dev_err(&adis->spi->dev, "Failed to read data: %d\n", ret); 661 662 if (!(st->variant->flags & ADIS16400_NO_BURST)) { 663 st->adis.spi->max_speed_hz = old_speed_hz; 664 spi_setup(st->adis.spi); 665 } 666 667 if (st->variant->flags & ADIS16400_BURST_DIAG_STAT) 668 buffer = adis->buffer + sizeof(u16); 669 else 670 buffer = adis->buffer; 671 672 iio_push_to_buffers_with_timestamp(indio_dev, buffer, 673 pf->timestamp); 674 675 iio_trigger_notify_done(indio_dev->trig); 676 677 return IRQ_HANDLED; 678 } 679 #else 680 #define adis16400_trigger_handler NULL 681 #endif /* IS_ENABLED(CONFIG_IIO_BUFFER) */ 682 683 #define ADIS16400_VOLTAGE_CHAN(addr, bits, name, si, chn) { \ 684 .type = IIO_VOLTAGE, \ 685 .indexed = 1, \ 686 .channel = chn, \ 687 .extend_name = name, \ 688 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \ 689 BIT(IIO_CHAN_INFO_SCALE), \ 690 .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \ 691 .address = (addr), \ 692 .scan_index = (si), \ 693 .scan_type = { \ 694 .sign = 'u', \ 695 .realbits = (bits), \ 696 .storagebits = 16, \ 697 .shift = 0, \ 698 .endianness = IIO_BE, \ 699 }, \ 700 } 701 702 #define ADIS16400_SUPPLY_CHAN(addr, bits) \ 703 ADIS16400_VOLTAGE_CHAN(addr, bits, "supply", ADIS16400_SCAN_SUPPLY, 0) 704 705 #define ADIS16400_AUX_ADC_CHAN(addr, bits) \ 706 ADIS16400_VOLTAGE_CHAN(addr, bits, NULL, ADIS16400_SCAN_ADC, 1) 707 708 #define ADIS16400_GYRO_CHAN(mod, addr, bits) { \ 709 .type = IIO_ANGL_VEL, \ 710 .modified = 1, \ 711 .channel2 = IIO_MOD_ ## mod, \ 712 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \ 713 BIT(IIO_CHAN_INFO_CALIBBIAS), \ 714 .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE) | \ 715 BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY), \ 716 .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \ 717 .address = addr, \ 718 .scan_index = ADIS16400_SCAN_GYRO_ ## mod, \ 719 .scan_type = { \ 720 .sign = 's', \ 721 .realbits = (bits), \ 722 .storagebits = 16, \ 723 .shift = 0, \ 724 .endianness = IIO_BE, \ 725 }, \ 726 } 727 728 #define ADIS16400_ACCEL_CHAN(mod, addr, bits) { \ 729 .type = IIO_ACCEL, \ 730 .modified = 1, \ 731 .channel2 = IIO_MOD_ ## mod, \ 732 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \ 733 BIT(IIO_CHAN_INFO_CALIBBIAS), \ 734 .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE) | \ 735 BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY), \ 736 .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \ 737 .address = (addr), \ 738 .scan_index = ADIS16400_SCAN_ACC_ ## mod, \ 739 .scan_type = { \ 740 .sign = 's', \ 741 .realbits = (bits), \ 742 .storagebits = 16, \ 743 .shift = 0, \ 744 .endianness = IIO_BE, \ 745 }, \ 746 } 747 748 #define ADIS16400_MAGN_CHAN(mod, addr, bits) { \ 749 .type = IIO_MAGN, \ 750 .modified = 1, \ 751 .channel2 = IIO_MOD_ ## mod, \ 752 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW), \ 753 .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE) | \ 754 BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY), \ 755 .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \ 756 .address = (addr), \ 757 .scan_index = ADIS16400_SCAN_MAGN_ ## mod, \ 758 .scan_type = { \ 759 .sign = 's', \ 760 .realbits = (bits), \ 761 .storagebits = 16, \ 762 .shift = 0, \ 763 .endianness = IIO_BE, \ 764 }, \ 765 } 766 767 #define ADIS16400_MOD_TEMP_NAME_X "x" 768 #define ADIS16400_MOD_TEMP_NAME_Y "y" 769 #define ADIS16400_MOD_TEMP_NAME_Z "z" 770 771 #define ADIS16400_MOD_TEMP_CHAN(mod, addr, bits) { \ 772 .type = IIO_TEMP, \ 773 .indexed = 1, \ 774 .channel = 0, \ 775 .extend_name = ADIS16400_MOD_TEMP_NAME_ ## mod, \ 776 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \ 777 BIT(IIO_CHAN_INFO_OFFSET) | \ 778 BIT(IIO_CHAN_INFO_SCALE), \ 779 .info_mask_shared_by_type = \ 780 BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY), \ 781 .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \ 782 .address = (addr), \ 783 .scan_index = ADIS16350_SCAN_TEMP_ ## mod, \ 784 .scan_type = { \ 785 .sign = 's', \ 786 .realbits = (bits), \ 787 .storagebits = 16, \ 788 .shift = 0, \ 789 .endianness = IIO_BE, \ 790 }, \ 791 } 792 793 #define ADIS16400_TEMP_CHAN(addr, bits) { \ 794 .type = IIO_TEMP, \ 795 .indexed = 1, \ 796 .channel = 0, \ 797 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \ 798 BIT(IIO_CHAN_INFO_OFFSET) | \ 799 BIT(IIO_CHAN_INFO_SCALE), \ 800 .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \ 801 .address = (addr), \ 802 .scan_index = ADIS16350_SCAN_TEMP_X, \ 803 .scan_type = { \ 804 .sign = 's', \ 805 .realbits = (bits), \ 806 .storagebits = 16, \ 807 .shift = 0, \ 808 .endianness = IIO_BE, \ 809 }, \ 810 } 811 812 #define ADIS16400_INCLI_CHAN(mod, addr, bits) { \ 813 .type = IIO_INCLI, \ 814 .modified = 1, \ 815 .channel2 = IIO_MOD_ ## mod, \ 816 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW), \ 817 .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE), \ 818 .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \ 819 .address = (addr), \ 820 .scan_index = ADIS16300_SCAN_INCLI_ ## mod, \ 821 .scan_type = { \ 822 .sign = 's', \ 823 .realbits = (bits), \ 824 .storagebits = 16, \ 825 .shift = 0, \ 826 .endianness = IIO_BE, \ 827 }, \ 828 } 829 830 static const struct iio_chan_spec adis16400_channels[] = { 831 ADIS16400_SUPPLY_CHAN(ADIS16400_SUPPLY_OUT, 14), 832 ADIS16400_GYRO_CHAN(X, ADIS16400_XGYRO_OUT, 14), 833 ADIS16400_GYRO_CHAN(Y, ADIS16400_YGYRO_OUT, 14), 834 ADIS16400_GYRO_CHAN(Z, ADIS16400_ZGYRO_OUT, 14), 835 ADIS16400_ACCEL_CHAN(X, ADIS16400_XACCL_OUT, 14), 836 ADIS16400_ACCEL_CHAN(Y, ADIS16400_YACCL_OUT, 14), 837 ADIS16400_ACCEL_CHAN(Z, ADIS16400_ZACCL_OUT, 14), 838 ADIS16400_MAGN_CHAN(X, ADIS16400_XMAGN_OUT, 14), 839 ADIS16400_MAGN_CHAN(Y, ADIS16400_YMAGN_OUT, 14), 840 ADIS16400_MAGN_CHAN(Z, ADIS16400_ZMAGN_OUT, 14), 841 ADIS16400_TEMP_CHAN(ADIS16400_TEMP_OUT, 12), 842 ADIS16400_AUX_ADC_CHAN(ADIS16400_AUX_ADC, 12), 843 IIO_CHAN_SOFT_TIMESTAMP(ADIS16400_SCAN_TIMESTAMP), 844 }; 845 846 static const struct iio_chan_spec adis16445_channels[] = { 847 ADIS16400_GYRO_CHAN(X, ADIS16400_XGYRO_OUT, 16), 848 ADIS16400_GYRO_CHAN(Y, ADIS16400_YGYRO_OUT, 16), 849 ADIS16400_GYRO_CHAN(Z, ADIS16400_ZGYRO_OUT, 16), 850 ADIS16400_ACCEL_CHAN(X, ADIS16400_XACCL_OUT, 16), 851 ADIS16400_ACCEL_CHAN(Y, ADIS16400_YACCL_OUT, 16), 852 ADIS16400_ACCEL_CHAN(Z, ADIS16400_ZACCL_OUT, 16), 853 ADIS16400_TEMP_CHAN(ADIS16448_TEMP_OUT, 12), 854 IIO_CHAN_SOFT_TIMESTAMP(ADIS16400_SCAN_TIMESTAMP), 855 }; 856 857 static const struct iio_chan_spec adis16448_channels[] = { 858 ADIS16400_GYRO_CHAN(X, ADIS16400_XGYRO_OUT, 16), 859 ADIS16400_GYRO_CHAN(Y, ADIS16400_YGYRO_OUT, 16), 860 ADIS16400_GYRO_CHAN(Z, ADIS16400_ZGYRO_OUT, 16), 861 ADIS16400_ACCEL_CHAN(X, ADIS16400_XACCL_OUT, 16), 862 ADIS16400_ACCEL_CHAN(Y, ADIS16400_YACCL_OUT, 16), 863 ADIS16400_ACCEL_CHAN(Z, ADIS16400_ZACCL_OUT, 16), 864 ADIS16400_MAGN_CHAN(X, ADIS16400_XMAGN_OUT, 16), 865 ADIS16400_MAGN_CHAN(Y, ADIS16400_YMAGN_OUT, 16), 866 ADIS16400_MAGN_CHAN(Z, ADIS16400_ZMAGN_OUT, 16), 867 { 868 .type = IIO_PRESSURE, 869 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW), 870 .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE), 871 .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), 872 .address = ADIS16448_BARO_OUT, 873 .scan_index = ADIS16400_SCAN_BARO, 874 .scan_type = { 875 .sign = 's', 876 .realbits = 16, 877 .storagebits = 16, 878 .endianness = IIO_BE, 879 }, 880 }, 881 ADIS16400_TEMP_CHAN(ADIS16448_TEMP_OUT, 12), 882 IIO_CHAN_SOFT_TIMESTAMP(ADIS16400_SCAN_TIMESTAMP), 883 }; 884 885 static const struct iio_chan_spec adis16350_channels[] = { 886 ADIS16400_SUPPLY_CHAN(ADIS16400_SUPPLY_OUT, 12), 887 ADIS16400_GYRO_CHAN(X, ADIS16400_XGYRO_OUT, 14), 888 ADIS16400_GYRO_CHAN(Y, ADIS16400_YGYRO_OUT, 14), 889 ADIS16400_GYRO_CHAN(Z, ADIS16400_ZGYRO_OUT, 14), 890 ADIS16400_ACCEL_CHAN(X, ADIS16400_XACCL_OUT, 14), 891 ADIS16400_ACCEL_CHAN(Y, ADIS16400_YACCL_OUT, 14), 892 ADIS16400_ACCEL_CHAN(Z, ADIS16400_ZACCL_OUT, 14), 893 ADIS16400_MAGN_CHAN(X, ADIS16400_XMAGN_OUT, 14), 894 ADIS16400_MAGN_CHAN(Y, ADIS16400_YMAGN_OUT, 14), 895 ADIS16400_MAGN_CHAN(Z, ADIS16400_ZMAGN_OUT, 14), 896 ADIS16400_AUX_ADC_CHAN(ADIS16300_AUX_ADC, 12), 897 ADIS16400_MOD_TEMP_CHAN(X, ADIS16350_XTEMP_OUT, 12), 898 ADIS16400_MOD_TEMP_CHAN(Y, ADIS16350_YTEMP_OUT, 12), 899 ADIS16400_MOD_TEMP_CHAN(Z, ADIS16350_ZTEMP_OUT, 12), 900 IIO_CHAN_SOFT_TIMESTAMP(ADIS16400_SCAN_TIMESTAMP), 901 }; 902 903 static const struct iio_chan_spec adis16300_channels[] = { 904 ADIS16400_SUPPLY_CHAN(ADIS16400_SUPPLY_OUT, 12), 905 ADIS16400_GYRO_CHAN(X, ADIS16400_XGYRO_OUT, 14), 906 ADIS16400_ACCEL_CHAN(X, ADIS16400_XACCL_OUT, 14), 907 ADIS16400_ACCEL_CHAN(Y, ADIS16400_YACCL_OUT, 14), 908 ADIS16400_ACCEL_CHAN(Z, ADIS16400_ZACCL_OUT, 14), 909 ADIS16400_TEMP_CHAN(ADIS16350_XTEMP_OUT, 12), 910 ADIS16400_AUX_ADC_CHAN(ADIS16300_AUX_ADC, 12), 911 ADIS16400_INCLI_CHAN(X, ADIS16300_PITCH_OUT, 13), 912 ADIS16400_INCLI_CHAN(Y, ADIS16300_ROLL_OUT, 13), 913 IIO_CHAN_SOFT_TIMESTAMP(ADIS16400_SCAN_TIMESTAMP), 914 }; 915 916 static const struct iio_chan_spec adis16334_channels[] = { 917 ADIS16400_GYRO_CHAN(X, ADIS16400_XGYRO_OUT, 14), 918 ADIS16400_GYRO_CHAN(Y, ADIS16400_YGYRO_OUT, 14), 919 ADIS16400_GYRO_CHAN(Z, ADIS16400_ZGYRO_OUT, 14), 920 ADIS16400_ACCEL_CHAN(X, ADIS16400_XACCL_OUT, 14), 921 ADIS16400_ACCEL_CHAN(Y, ADIS16400_YACCL_OUT, 14), 922 ADIS16400_ACCEL_CHAN(Z, ADIS16400_ZACCL_OUT, 14), 923 ADIS16400_TEMP_CHAN(ADIS16350_XTEMP_OUT, 12), 924 IIO_CHAN_SOFT_TIMESTAMP(ADIS16400_SCAN_TIMESTAMP), 925 }; 926 927 static const char * const adis16400_status_error_msgs[] = { 928 [ADIS16400_DIAG_STAT_ZACCL_FAIL] = "Z-axis accelerometer self-test failure", 929 [ADIS16400_DIAG_STAT_YACCL_FAIL] = "Y-axis accelerometer self-test failure", 930 [ADIS16400_DIAG_STAT_XACCL_FAIL] = "X-axis accelerometer self-test failure", 931 [ADIS16400_DIAG_STAT_XGYRO_FAIL] = "X-axis gyroscope self-test failure", 932 [ADIS16400_DIAG_STAT_YGYRO_FAIL] = "Y-axis gyroscope self-test failure", 933 [ADIS16400_DIAG_STAT_ZGYRO_FAIL] = "Z-axis gyroscope self-test failure", 934 [ADIS16400_DIAG_STAT_ALARM2] = "Alarm 2 active", 935 [ADIS16400_DIAG_STAT_ALARM1] = "Alarm 1 active", 936 [ADIS16400_DIAG_STAT_FLASH_CHK] = "Flash checksum error", 937 [ADIS16400_DIAG_STAT_SELF_TEST] = "Self test error", 938 [ADIS16400_DIAG_STAT_OVERFLOW] = "Sensor overrange", 939 [ADIS16400_DIAG_STAT_SPI_FAIL] = "SPI failure", 940 [ADIS16400_DIAG_STAT_FLASH_UPT] = "Flash update failed", 941 [ADIS16400_DIAG_STAT_POWER_HIGH] = "Power supply above 5.25V", 942 [ADIS16400_DIAG_STAT_POWER_LOW] = "Power supply below 4.75V", 943 }; 944 945 #define ADIS16400_DATA(_timeouts, _burst_len) \ 946 { \ 947 .msc_ctrl_reg = ADIS16400_MSC_CTRL, \ 948 .glob_cmd_reg = ADIS16400_GLOB_CMD, \ 949 .diag_stat_reg = ADIS16400_DIAG_STAT, \ 950 .read_delay = 50, \ 951 .write_delay = 50, \ 952 .self_test_mask = ADIS16400_MSC_CTRL_MEM_TEST, \ 953 .self_test_reg = ADIS16400_MSC_CTRL, \ 954 .status_error_msgs = adis16400_status_error_msgs, \ 955 .status_error_mask = BIT(ADIS16400_DIAG_STAT_ZACCL_FAIL) | \ 956 BIT(ADIS16400_DIAG_STAT_YACCL_FAIL) | \ 957 BIT(ADIS16400_DIAG_STAT_XACCL_FAIL) | \ 958 BIT(ADIS16400_DIAG_STAT_XGYRO_FAIL) | \ 959 BIT(ADIS16400_DIAG_STAT_YGYRO_FAIL) | \ 960 BIT(ADIS16400_DIAG_STAT_ZGYRO_FAIL) | \ 961 BIT(ADIS16400_DIAG_STAT_ALARM2) | \ 962 BIT(ADIS16400_DIAG_STAT_ALARM1) | \ 963 BIT(ADIS16400_DIAG_STAT_FLASH_CHK) | \ 964 BIT(ADIS16400_DIAG_STAT_SELF_TEST) | \ 965 BIT(ADIS16400_DIAG_STAT_OVERFLOW) | \ 966 BIT(ADIS16400_DIAG_STAT_SPI_FAIL) | \ 967 BIT(ADIS16400_DIAG_STAT_FLASH_UPT) | \ 968 BIT(ADIS16400_DIAG_STAT_POWER_HIGH) | \ 969 BIT(ADIS16400_DIAG_STAT_POWER_LOW), \ 970 .timeouts = (_timeouts), \ 971 .burst_reg_cmd = ADIS16400_GLOB_CMD, \ 972 .burst_len = (_burst_len) \ 973 } 974 975 static const struct adis_timeout adis16300_timeouts = { 976 .reset_ms = ADIS16400_STARTUP_DELAY, 977 .sw_reset_ms = ADIS16400_STARTUP_DELAY, 978 .self_test_ms = ADIS16400_STARTUP_DELAY, 979 }; 980 981 static const struct adis_timeout adis16334_timeouts = { 982 .reset_ms = 60, 983 .sw_reset_ms = 60, 984 .self_test_ms = 14, 985 }; 986 987 static const struct adis_timeout adis16362_timeouts = { 988 .reset_ms = 130, 989 .sw_reset_ms = 130, 990 .self_test_ms = 12, 991 }; 992 993 static const struct adis_timeout adis16400_timeouts = { 994 .reset_ms = 170, 995 .sw_reset_ms = 170, 996 .self_test_ms = 12, 997 }; 998 999 static const struct adis_timeout adis16445_timeouts = { 1000 .reset_ms = 55, 1001 .sw_reset_ms = 55, 1002 .self_test_ms = 16, 1003 }; 1004 1005 static const struct adis_timeout adis16448_timeouts = { 1006 .reset_ms = 90, 1007 .sw_reset_ms = 90, 1008 .self_test_ms = 45, 1009 }; 1010 1011 static struct adis16400_chip_info adis16400_chips[] = { 1012 [ADIS16300] = { 1013 .channels = adis16300_channels, 1014 .num_channels = ARRAY_SIZE(adis16300_channels), 1015 .flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE | 1016 ADIS16400_HAS_SERIAL_NUMBER, 1017 .gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */ 1018 .accel_scale_micro = 5884, 1019 .temp_scale_nano = 140000000, /* 0.14 C */ 1020 .temp_offset = 25000000 / 140000, /* 25 C = 0x00 */ 1021 .set_freq = adis16400_set_freq, 1022 .get_freq = adis16400_get_freq, 1023 .adis_data = ADIS16400_DATA(&adis16300_timeouts, 18), 1024 }, 1025 [ADIS16334] = { 1026 .channels = adis16334_channels, 1027 .num_channels = ARRAY_SIZE(adis16334_channels), 1028 .flags = ADIS16400_HAS_PROD_ID | ADIS16400_NO_BURST | 1029 ADIS16400_HAS_SERIAL_NUMBER, 1030 .gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */ 1031 .accel_scale_micro = IIO_G_TO_M_S_2(1000), /* 1 mg */ 1032 .temp_scale_nano = 67850000, /* 0.06785 C */ 1033 .temp_offset = 25000000 / 67850, /* 25 C = 0x00 */ 1034 .set_freq = adis16334_set_freq, 1035 .get_freq = adis16334_get_freq, 1036 .adis_data = ADIS16400_DATA(&adis16334_timeouts, 0), 1037 }, 1038 [ADIS16350] = { 1039 .channels = adis16350_channels, 1040 .num_channels = ARRAY_SIZE(adis16350_channels), 1041 .gyro_scale_micro = IIO_DEGREE_TO_RAD(73260), /* 0.07326 deg/s */ 1042 .accel_scale_micro = IIO_G_TO_M_S_2(2522), /* 0.002522 g */ 1043 .temp_scale_nano = 145300000, /* 0.1453 C */ 1044 .temp_offset = 25000000 / 145300, /* 25 C = 0x00 */ 1045 .flags = ADIS16400_NO_BURST | ADIS16400_HAS_SLOW_MODE, 1046 .set_freq = adis16400_set_freq, 1047 .get_freq = adis16400_get_freq, 1048 .adis_data = ADIS16400_DATA(&adis16300_timeouts, 0), 1049 }, 1050 [ADIS16360] = { 1051 .channels = adis16350_channels, 1052 .num_channels = ARRAY_SIZE(adis16350_channels), 1053 .flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE | 1054 ADIS16400_HAS_SERIAL_NUMBER, 1055 .gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */ 1056 .accel_scale_micro = IIO_G_TO_M_S_2(3333), /* 3.333 mg */ 1057 .temp_scale_nano = 136000000, /* 0.136 C */ 1058 .temp_offset = 25000000 / 136000, /* 25 C = 0x00 */ 1059 .set_freq = adis16400_set_freq, 1060 .get_freq = adis16400_get_freq, 1061 .adis_data = ADIS16400_DATA(&adis16300_timeouts, 28), 1062 }, 1063 [ADIS16362] = { 1064 .channels = adis16350_channels, 1065 .num_channels = ARRAY_SIZE(adis16350_channels), 1066 .flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE | 1067 ADIS16400_HAS_SERIAL_NUMBER, 1068 .gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */ 1069 .accel_scale_micro = IIO_G_TO_M_S_2(333), /* 0.333 mg */ 1070 .temp_scale_nano = 136000000, /* 0.136 C */ 1071 .temp_offset = 25000000 / 136000, /* 25 C = 0x00 */ 1072 .set_freq = adis16400_set_freq, 1073 .get_freq = adis16400_get_freq, 1074 .adis_data = ADIS16400_DATA(&adis16362_timeouts, 28), 1075 }, 1076 [ADIS16364] = { 1077 .channels = adis16350_channels, 1078 .num_channels = ARRAY_SIZE(adis16350_channels), 1079 .flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE | 1080 ADIS16400_HAS_SERIAL_NUMBER, 1081 .gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */ 1082 .accel_scale_micro = IIO_G_TO_M_S_2(1000), /* 1 mg */ 1083 .temp_scale_nano = 136000000, /* 0.136 C */ 1084 .temp_offset = 25000000 / 136000, /* 25 C = 0x00 */ 1085 .set_freq = adis16400_set_freq, 1086 .get_freq = adis16400_get_freq, 1087 .adis_data = ADIS16400_DATA(&adis16362_timeouts, 28), 1088 }, 1089 [ADIS16367] = { 1090 .channels = adis16350_channels, 1091 .num_channels = ARRAY_SIZE(adis16350_channels), 1092 .flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE | 1093 ADIS16400_HAS_SERIAL_NUMBER, 1094 .gyro_scale_micro = IIO_DEGREE_TO_RAD(2000), /* 0.2 deg/s */ 1095 .accel_scale_micro = IIO_G_TO_M_S_2(3333), /* 3.333 mg */ 1096 .temp_scale_nano = 136000000, /* 0.136 C */ 1097 .temp_offset = 25000000 / 136000, /* 25 C = 0x00 */ 1098 .set_freq = adis16400_set_freq, 1099 .get_freq = adis16400_get_freq, 1100 .adis_data = ADIS16400_DATA(&adis16300_timeouts, 28), 1101 }, 1102 [ADIS16400] = { 1103 .channels = adis16400_channels, 1104 .num_channels = ARRAY_SIZE(adis16400_channels), 1105 .flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE, 1106 .gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */ 1107 .accel_scale_micro = IIO_G_TO_M_S_2(3333), /* 3.333 mg */ 1108 .temp_scale_nano = 140000000, /* 0.14 C */ 1109 .temp_offset = 25000000 / 140000, /* 25 C = 0x00 */ 1110 .set_freq = adis16400_set_freq, 1111 .get_freq = adis16400_get_freq, 1112 .adis_data = ADIS16400_DATA(&adis16400_timeouts, 24), 1113 }, 1114 [ADIS16445] = { 1115 .channels = adis16445_channels, 1116 .num_channels = ARRAY_SIZE(adis16445_channels), 1117 .flags = ADIS16400_HAS_PROD_ID | 1118 ADIS16400_HAS_SERIAL_NUMBER | 1119 ADIS16400_BURST_DIAG_STAT, 1120 .gyro_scale_micro = IIO_DEGREE_TO_RAD(10000), /* 0.01 deg/s */ 1121 .accel_scale_micro = IIO_G_TO_M_S_2(250), /* 1/4000 g */ 1122 .temp_scale_nano = 73860000, /* 0.07386 C */ 1123 .temp_offset = 31000000 / 73860, /* 31 C = 0x00 */ 1124 .set_freq = adis16334_set_freq, 1125 .get_freq = adis16334_get_freq, 1126 .adis_data = ADIS16400_DATA(&adis16445_timeouts, 16), 1127 }, 1128 [ADIS16448] = { 1129 .channels = adis16448_channels, 1130 .num_channels = ARRAY_SIZE(adis16448_channels), 1131 .flags = ADIS16400_HAS_PROD_ID | 1132 ADIS16400_HAS_SERIAL_NUMBER | 1133 ADIS16400_BURST_DIAG_STAT, 1134 .gyro_scale_micro = IIO_DEGREE_TO_RAD(40000), /* 0.04 deg/s */ 1135 .accel_scale_micro = IIO_G_TO_M_S_2(833), /* 1/1200 g */ 1136 .temp_scale_nano = 73860000, /* 0.07386 C */ 1137 .temp_offset = 31000000 / 73860, /* 31 C = 0x00 */ 1138 .set_freq = adis16334_set_freq, 1139 .get_freq = adis16334_get_freq, 1140 .adis_data = ADIS16400_DATA(&adis16448_timeouts, 24), 1141 } 1142 }; 1143 1144 static const struct iio_info adis16400_info = { 1145 .read_raw = &adis16400_read_raw, 1146 .write_raw = &adis16400_write_raw, 1147 .update_scan_mode = adis_update_scan_mode, 1148 .debugfs_reg_access = adis_debugfs_reg_access, 1149 }; 1150 1151 static void adis16400_setup_chan_mask(struct adis16400_state *st) 1152 { 1153 const struct adis16400_chip_info *chip_info = st->variant; 1154 unsigned int i; 1155 1156 for (i = 0; i < chip_info->num_channels; i++) { 1157 const struct iio_chan_spec *ch = &chip_info->channels[i]; 1158 1159 if (ch->scan_index >= 0 && 1160 ch->scan_index != ADIS16400_SCAN_TIMESTAMP) 1161 st->avail_scan_mask[0] |= BIT(ch->scan_index); 1162 } 1163 } 1164 1165 static void adis16400_stop(void *data) 1166 { 1167 adis16400_stop_device(data); 1168 } 1169 1170 static int adis16400_probe(struct spi_device *spi) 1171 { 1172 struct adis16400_state *st; 1173 struct iio_dev *indio_dev; 1174 int ret; 1175 const struct adis_data *adis16400_data; 1176 1177 indio_dev = devm_iio_device_alloc(&spi->dev, sizeof(*st)); 1178 if (indio_dev == NULL) 1179 return -ENOMEM; 1180 1181 st = iio_priv(indio_dev); 1182 /* this is only used for removal purposes */ 1183 spi_set_drvdata(spi, indio_dev); 1184 1185 /* setup the industrialio driver allocated elements */ 1186 st->variant = &adis16400_chips[spi_get_device_id(spi)->driver_data]; 1187 indio_dev->name = spi_get_device_id(spi)->name; 1188 indio_dev->channels = st->variant->channels; 1189 indio_dev->num_channels = st->variant->num_channels; 1190 indio_dev->info = &adis16400_info; 1191 indio_dev->modes = INDIO_DIRECT_MODE; 1192 1193 if (!(st->variant->flags & ADIS16400_NO_BURST)) { 1194 adis16400_setup_chan_mask(st); 1195 indio_dev->available_scan_masks = st->avail_scan_mask; 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 = devm_adis_setup_buffer_and_trigger(&st->adis, indio_dev, adis16400_trigger_handler); 1205 if (ret) 1206 return ret; 1207 1208 /* Get the device into a sane initial state */ 1209 ret = adis16400_initial_setup(indio_dev); 1210 if (ret) 1211 return ret; 1212 1213 ret = devm_add_action_or_reset(&spi->dev, adis16400_stop, indio_dev); 1214 if (ret) 1215 return ret; 1216 1217 ret = devm_iio_device_register(&spi->dev, indio_dev); 1218 if (ret) 1219 return ret; 1220 1221 adis16400_debugfs_init(indio_dev); 1222 return 0; 1223 } 1224 1225 static const struct spi_device_id adis16400_id[] = { 1226 {"adis16300", ADIS16300}, 1227 {"adis16305", ADIS16300}, 1228 {"adis16334", ADIS16334}, 1229 {"adis16350", ADIS16350}, 1230 {"adis16354", ADIS16350}, 1231 {"adis16355", ADIS16350}, 1232 {"adis16360", ADIS16360}, 1233 {"adis16362", ADIS16362}, 1234 {"adis16364", ADIS16364}, 1235 {"adis16365", ADIS16360}, 1236 {"adis16367", ADIS16367}, 1237 {"adis16400", ADIS16400}, 1238 {"adis16405", ADIS16400}, 1239 {"adis16445", ADIS16445}, 1240 {"adis16448", ADIS16448}, 1241 {} 1242 }; 1243 MODULE_DEVICE_TABLE(spi, adis16400_id); 1244 1245 static struct spi_driver adis16400_driver = { 1246 .driver = { 1247 .name = "adis16400", 1248 }, 1249 .id_table = adis16400_id, 1250 .probe = adis16400_probe, 1251 }; 1252 module_spi_driver(adis16400_driver); 1253 1254 MODULE_AUTHOR("Manuel Stahl <manuel.stahl@iis.fraunhofer.de>"); 1255 MODULE_DESCRIPTION("Analog Devices ADIS16400/5 IMU SPI driver"); 1256 MODULE_LICENSE("GPL v2"); 1257