1 /* 2 * adis16400.c support Analog Devices ADIS16400/5 3 * 3d 2g Linear Accelerometers, 4 * 3d Gyroscopes, 5 * 3d Magnetometers via SPI 6 * 7 * Copyright (c) 2009 Manuel Stahl <manuel.stahl@iis.fraunhofer.de> 8 * Copyright (c) 2007 Jonathan Cameron <jic23@kernel.org> 9 * Copyright (c) 2011 Analog Devices Inc. 10 * 11 * This program is free software; you can redistribute it and/or modify 12 * it under the terms of the GNU General Public License version 2 as 13 * published by the Free Software Foundation. 14 * 15 */ 16 17 #include <linux/interrupt.h> 18 #include <linux/irq.h> 19 #include <linux/delay.h> 20 #include <linux/mutex.h> 21 #include <linux/device.h> 22 #include <linux/kernel.h> 23 #include <linux/spi/spi.h> 24 #include <linux/slab.h> 25 #include <linux/sysfs.h> 26 #include <linux/list.h> 27 #include <linux/module.h> 28 #include <linux/debugfs.h> 29 #include <linux/bitops.h> 30 31 #include <linux/iio/iio.h> 32 #include <linux/iio/sysfs.h> 33 #include <linux/iio/buffer.h> 34 #include <linux/iio/trigger_consumer.h> 35 #include <linux/iio/imu/adis.h> 36 37 #define ADIS16400_STARTUP_DELAY 290 /* ms */ 38 #define ADIS16400_MTEST_DELAY 90 /* ms */ 39 40 #define ADIS16400_FLASH_CNT 0x00 /* Flash memory write count */ 41 #define ADIS16400_SUPPLY_OUT 0x02 /* Power supply measurement */ 42 #define ADIS16400_XGYRO_OUT 0x04 /* X-axis gyroscope output */ 43 #define ADIS16400_YGYRO_OUT 0x06 /* Y-axis gyroscope output */ 44 #define ADIS16400_ZGYRO_OUT 0x08 /* Z-axis gyroscope output */ 45 #define ADIS16400_XACCL_OUT 0x0A /* X-axis accelerometer output */ 46 #define ADIS16400_YACCL_OUT 0x0C /* Y-axis accelerometer output */ 47 #define ADIS16400_ZACCL_OUT 0x0E /* Z-axis accelerometer output */ 48 #define ADIS16400_XMAGN_OUT 0x10 /* X-axis magnetometer measurement */ 49 #define ADIS16400_YMAGN_OUT 0x12 /* Y-axis magnetometer measurement */ 50 #define ADIS16400_ZMAGN_OUT 0x14 /* Z-axis magnetometer measurement */ 51 #define ADIS16400_TEMP_OUT 0x16 /* Temperature output */ 52 #define ADIS16400_AUX_ADC 0x18 /* Auxiliary ADC measurement */ 53 54 #define ADIS16350_XTEMP_OUT 0x10 /* X-axis gyroscope temperature measurement */ 55 #define ADIS16350_YTEMP_OUT 0x12 /* Y-axis gyroscope temperature measurement */ 56 #define ADIS16350_ZTEMP_OUT 0x14 /* Z-axis gyroscope temperature measurement */ 57 58 #define ADIS16300_PITCH_OUT 0x12 /* X axis inclinometer output measurement */ 59 #define ADIS16300_ROLL_OUT 0x14 /* Y axis inclinometer output measurement */ 60 #define ADIS16300_AUX_ADC 0x16 /* Auxiliary ADC measurement */ 61 62 #define ADIS16448_BARO_OUT 0x16 /* Barometric pressure output */ 63 #define ADIS16448_TEMP_OUT 0x18 /* Temperature output */ 64 65 /* Calibration parameters */ 66 #define ADIS16400_XGYRO_OFF 0x1A /* X-axis gyroscope bias offset factor */ 67 #define ADIS16400_YGYRO_OFF 0x1C /* Y-axis gyroscope bias offset factor */ 68 #define ADIS16400_ZGYRO_OFF 0x1E /* Z-axis gyroscope bias offset factor */ 69 #define ADIS16400_XACCL_OFF 0x20 /* X-axis acceleration bias offset factor */ 70 #define ADIS16400_YACCL_OFF 0x22 /* Y-axis acceleration bias offset factor */ 71 #define ADIS16400_ZACCL_OFF 0x24 /* Z-axis acceleration bias offset factor */ 72 #define ADIS16400_XMAGN_HIF 0x26 /* X-axis magnetometer, hard-iron factor */ 73 #define ADIS16400_YMAGN_HIF 0x28 /* Y-axis magnetometer, hard-iron factor */ 74 #define ADIS16400_ZMAGN_HIF 0x2A /* Z-axis magnetometer, hard-iron factor */ 75 #define ADIS16400_XMAGN_SIF 0x2C /* X-axis magnetometer, soft-iron factor */ 76 #define ADIS16400_YMAGN_SIF 0x2E /* Y-axis magnetometer, soft-iron factor */ 77 #define ADIS16400_ZMAGN_SIF 0x30 /* Z-axis magnetometer, soft-iron factor */ 78 79 #define ADIS16400_GPIO_CTRL 0x32 /* Auxiliary digital input/output control */ 80 #define ADIS16400_MSC_CTRL 0x34 /* Miscellaneous control */ 81 #define ADIS16400_SMPL_PRD 0x36 /* Internal sample period (rate) control */ 82 #define ADIS16400_SENS_AVG 0x38 /* Dynamic range and digital filter control */ 83 #define ADIS16400_SLP_CNT 0x3A /* Sleep mode control */ 84 #define ADIS16400_DIAG_STAT 0x3C /* System status */ 85 86 /* Alarm functions */ 87 #define ADIS16400_GLOB_CMD 0x3E /* System command */ 88 #define ADIS16400_ALM_MAG1 0x40 /* Alarm 1 amplitude threshold */ 89 #define ADIS16400_ALM_MAG2 0x42 /* Alarm 2 amplitude threshold */ 90 #define ADIS16400_ALM_SMPL1 0x44 /* Alarm 1 sample size */ 91 #define ADIS16400_ALM_SMPL2 0x46 /* Alarm 2 sample size */ 92 #define ADIS16400_ALM_CTRL 0x48 /* Alarm control */ 93 #define ADIS16400_AUX_DAC 0x4A /* Auxiliary DAC data */ 94 95 #define ADIS16334_LOT_ID1 0x52 /* Lot identification code 1 */ 96 #define ADIS16334_LOT_ID2 0x54 /* Lot identification code 2 */ 97 #define ADIS16400_PRODUCT_ID 0x56 /* Product identifier */ 98 #define ADIS16334_SERIAL_NUMBER 0x58 /* Serial number, lot specific */ 99 100 #define ADIS16400_ERROR_ACTIVE (1<<14) 101 #define ADIS16400_NEW_DATA (1<<14) 102 103 /* MSC_CTRL */ 104 #define ADIS16400_MSC_CTRL_MEM_TEST (1<<11) 105 #define ADIS16400_MSC_CTRL_INT_SELF_TEST (1<<10) 106 #define ADIS16400_MSC_CTRL_NEG_SELF_TEST (1<<9) 107 #define ADIS16400_MSC_CTRL_POS_SELF_TEST (1<<8) 108 #define ADIS16400_MSC_CTRL_GYRO_BIAS (1<<7) 109 #define ADIS16400_MSC_CTRL_ACCL_ALIGN (1<<6) 110 #define ADIS16400_MSC_CTRL_DATA_RDY_EN (1<<2) 111 #define ADIS16400_MSC_CTRL_DATA_RDY_POL_HIGH (1<<1) 112 #define ADIS16400_MSC_CTRL_DATA_RDY_DIO2 (1<<0) 113 114 /* SMPL_PRD */ 115 #define ADIS16400_SMPL_PRD_TIME_BASE (1<<7) 116 #define ADIS16400_SMPL_PRD_DIV_MASK 0x7F 117 118 /* DIAG_STAT */ 119 #define ADIS16400_DIAG_STAT_ZACCL_FAIL 15 120 #define ADIS16400_DIAG_STAT_YACCL_FAIL 14 121 #define ADIS16400_DIAG_STAT_XACCL_FAIL 13 122 #define ADIS16400_DIAG_STAT_XGYRO_FAIL 12 123 #define ADIS16400_DIAG_STAT_YGYRO_FAIL 11 124 #define ADIS16400_DIAG_STAT_ZGYRO_FAIL 10 125 #define ADIS16400_DIAG_STAT_ALARM2 9 126 #define ADIS16400_DIAG_STAT_ALARM1 8 127 #define ADIS16400_DIAG_STAT_FLASH_CHK 6 128 #define ADIS16400_DIAG_STAT_SELF_TEST 5 129 #define ADIS16400_DIAG_STAT_OVERFLOW 4 130 #define ADIS16400_DIAG_STAT_SPI_FAIL 3 131 #define ADIS16400_DIAG_STAT_FLASH_UPT 2 132 #define ADIS16400_DIAG_STAT_POWER_HIGH 1 133 #define ADIS16400_DIAG_STAT_POWER_LOW 0 134 135 /* GLOB_CMD */ 136 #define ADIS16400_GLOB_CMD_SW_RESET (1<<7) 137 #define ADIS16400_GLOB_CMD_P_AUTO_NULL (1<<4) 138 #define ADIS16400_GLOB_CMD_FLASH_UPD (1<<3) 139 #define ADIS16400_GLOB_CMD_DAC_LATCH (1<<2) 140 #define ADIS16400_GLOB_CMD_FAC_CALIB (1<<1) 141 #define ADIS16400_GLOB_CMD_AUTO_NULL (1<<0) 142 143 /* SLP_CNT */ 144 #define ADIS16400_SLP_CNT_POWER_OFF (1<<8) 145 146 #define ADIS16334_RATE_DIV_SHIFT 8 147 #define ADIS16334_RATE_INT_CLK BIT(0) 148 149 #define ADIS16400_SPI_SLOW (u32)(300 * 1000) 150 #define ADIS16400_SPI_BURST (u32)(1000 * 1000) 151 #define ADIS16400_SPI_FAST (u32)(2000 * 1000) 152 153 #define ADIS16400_HAS_PROD_ID BIT(0) 154 #define ADIS16400_NO_BURST BIT(1) 155 #define ADIS16400_HAS_SLOW_MODE BIT(2) 156 #define ADIS16400_HAS_SERIAL_NUMBER BIT(3) 157 #define ADIS16400_BURST_DIAG_STAT BIT(4) 158 159 struct adis16400_state; 160 161 struct adis16400_chip_info { 162 const struct iio_chan_spec *channels; 163 const int num_channels; 164 const long flags; 165 unsigned int gyro_scale_micro; 166 unsigned int accel_scale_micro; 167 int temp_scale_nano; 168 int temp_offset; 169 int (*set_freq)(struct adis16400_state *st, unsigned int freq); 170 int (*get_freq)(struct adis16400_state *st); 171 }; 172 173 /** 174 * struct adis16400_state - device instance specific data 175 * @variant: chip variant info 176 * @filt_int: integer part of requested filter frequency 177 * @adis: adis device 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 < 0) 225 return ret; 226 227 ret = adis_read_reg_16(&st->adis, ADIS16334_LOT_ID2, &lot2); 228 if (ret < 0) 229 return ret; 230 231 ret = adis_read_reg_16(&st->adis, ADIS16334_SERIAL_NUMBER, 232 &serial_number); 233 if (ret < 0) 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 < 0) 257 return ret; 258 259 *val = prod_id; 260 261 return 0; 262 } 263 DEFINE_SIMPLE_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 < 0) 274 return ret; 275 276 *val = flash_count; 277 278 return 0; 279 } 280 DEFINE_SIMPLE_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); 286 287 if (st->variant->flags & ADIS16400_HAS_SERIAL_NUMBER) 288 debugfs_create_file("serial_number", 0400, 289 indio_dev->debugfs_dentry, st, 290 &adis16400_serial_number_fops); 291 if (st->variant->flags & ADIS16400_HAS_PROD_ID) 292 debugfs_create_file("product_id", 0400, 293 indio_dev->debugfs_dentry, st, 294 &adis16400_product_id_fops); 295 debugfs_create_file("flash_count", 0400, indio_dev->debugfs_dentry, 296 st, &adis16400_flash_count_fops); 297 298 return 0; 299 } 300 301 #else 302 303 static int adis16400_debugfs_init(struct iio_dev *indio_dev) 304 { 305 return 0; 306 } 307 308 #endif 309 310 enum adis16400_chip_variant { 311 ADIS16300, 312 ADIS16334, 313 ADIS16350, 314 ADIS16360, 315 ADIS16362, 316 ADIS16364, 317 ADIS16367, 318 ADIS16400, 319 ADIS16445, 320 ADIS16448, 321 }; 322 323 static struct adis_burst adis16400_burst = { 324 .en = true, 325 .reg_cmd = ADIS16400_GLOB_CMD, 326 }; 327 328 static int adis16334_get_freq(struct adis16400_state *st) 329 { 330 int ret; 331 uint16_t t; 332 333 ret = adis_read_reg_16(&st->adis, ADIS16400_SMPL_PRD, &t); 334 if (ret < 0) 335 return ret; 336 337 t >>= ADIS16334_RATE_DIV_SHIFT; 338 339 return 819200 >> t; 340 } 341 342 static int adis16334_set_freq(struct adis16400_state *st, unsigned int freq) 343 { 344 unsigned int t; 345 346 if (freq < 819200) 347 t = ilog2(819200 / freq); 348 else 349 t = 0; 350 351 if (t > 0x31) 352 t = 0x31; 353 354 t <<= ADIS16334_RATE_DIV_SHIFT; 355 t |= ADIS16334_RATE_INT_CLK; 356 357 return adis_write_reg_16(&st->adis, ADIS16400_SMPL_PRD, t); 358 } 359 360 static int adis16400_get_freq(struct adis16400_state *st) 361 { 362 int sps, ret; 363 uint16_t t; 364 365 ret = adis_read_reg_16(&st->adis, ADIS16400_SMPL_PRD, &t); 366 if (ret < 0) 367 return ret; 368 369 sps = (t & ADIS16400_SMPL_PRD_TIME_BASE) ? 52851 : 1638404; 370 sps /= (t & ADIS16400_SMPL_PRD_DIV_MASK) + 1; 371 372 return sps; 373 } 374 375 static int adis16400_set_freq(struct adis16400_state *st, unsigned int freq) 376 { 377 unsigned int t; 378 uint8_t val = 0; 379 380 t = 1638404 / freq; 381 if (t >= 128) { 382 val |= ADIS16400_SMPL_PRD_TIME_BASE; 383 t = 52851 / freq; 384 if (t >= 128) 385 t = 127; 386 } else if (t != 0) { 387 t--; 388 } 389 390 val |= t; 391 392 if (t >= 0x0A || (val & ADIS16400_SMPL_PRD_TIME_BASE)) 393 st->adis.spi->max_speed_hz = ADIS16400_SPI_SLOW; 394 else 395 st->adis.spi->max_speed_hz = ADIS16400_SPI_FAST; 396 397 return adis_write_reg_8(&st->adis, ADIS16400_SMPL_PRD, val); 398 } 399 400 static const unsigned int adis16400_3db_divisors[] = { 401 [0] = 2, /* Special case */ 402 [1] = 6, 403 [2] = 12, 404 [3] = 25, 405 [4] = 50, 406 [5] = 100, 407 [6] = 200, 408 [7] = 200, /* Not a valid setting */ 409 }; 410 411 static int adis16400_set_filter(struct iio_dev *indio_dev, int sps, int val) 412 { 413 struct adis16400_state *st = iio_priv(indio_dev); 414 uint16_t val16; 415 int i, ret; 416 417 for (i = ARRAY_SIZE(adis16400_3db_divisors) - 1; i >= 1; i--) { 418 if (sps / adis16400_3db_divisors[i] >= val) 419 break; 420 } 421 422 ret = adis_read_reg_16(&st->adis, ADIS16400_SENS_AVG, &val16); 423 if (ret < 0) 424 return ret; 425 426 ret = adis_write_reg_16(&st->adis, ADIS16400_SENS_AVG, 427 (val16 & ~0x07) | i); 428 return ret; 429 } 430 431 /* Power down the device */ 432 static int adis16400_stop_device(struct iio_dev *indio_dev) 433 { 434 struct adis16400_state *st = iio_priv(indio_dev); 435 int ret; 436 437 ret = adis_write_reg_16(&st->adis, ADIS16400_SLP_CNT, 438 ADIS16400_SLP_CNT_POWER_OFF); 439 if (ret) 440 dev_err(&indio_dev->dev, 441 "problem with turning device off: SLP_CNT"); 442 443 return ret; 444 } 445 446 static int adis16400_initial_setup(struct iio_dev *indio_dev) 447 { 448 struct adis16400_state *st = iio_priv(indio_dev); 449 uint16_t prod_id, smp_prd; 450 unsigned int device_id; 451 int ret; 452 453 /* use low spi speed for init if the device has a slow mode */ 454 if (st->variant->flags & ADIS16400_HAS_SLOW_MODE) 455 st->adis.spi->max_speed_hz = ADIS16400_SPI_SLOW; 456 else 457 st->adis.spi->max_speed_hz = ADIS16400_SPI_FAST; 458 st->adis.spi->mode = SPI_MODE_3; 459 spi_setup(st->adis.spi); 460 461 ret = adis_initial_startup(&st->adis); 462 if (ret) 463 return ret; 464 465 if (st->variant->flags & ADIS16400_HAS_PROD_ID) { 466 ret = adis_read_reg_16(&st->adis, 467 ADIS16400_PRODUCT_ID, &prod_id); 468 if (ret) 469 goto err_ret; 470 471 ret = sscanf(indio_dev->name, "adis%u\n", &device_id); 472 if (ret != 1) { 473 ret = -EINVAL; 474 goto err_ret; 475 } 476 477 if (prod_id != device_id) 478 dev_warn(&indio_dev->dev, "Device ID(%u) and product ID(%u) do not match.", 479 device_id, prod_id); 480 481 dev_info(&indio_dev->dev, "%s: prod_id 0x%04x at CS%d (irq %d)\n", 482 indio_dev->name, prod_id, 483 st->adis.spi->chip_select, st->adis.spi->irq); 484 } 485 /* use high spi speed if possible */ 486 if (st->variant->flags & ADIS16400_HAS_SLOW_MODE) { 487 ret = adis_read_reg_16(&st->adis, ADIS16400_SMPL_PRD, &smp_prd); 488 if (ret) 489 goto err_ret; 490 491 if ((smp_prd & ADIS16400_SMPL_PRD_DIV_MASK) < 0x0A) { 492 st->adis.spi->max_speed_hz = ADIS16400_SPI_FAST; 493 spi_setup(st->adis.spi); 494 } 495 } 496 497 err_ret: 498 return ret; 499 } 500 501 static const uint8_t adis16400_addresses[] = { 502 [ADIS16400_SCAN_GYRO_X] = ADIS16400_XGYRO_OFF, 503 [ADIS16400_SCAN_GYRO_Y] = ADIS16400_YGYRO_OFF, 504 [ADIS16400_SCAN_GYRO_Z] = ADIS16400_ZGYRO_OFF, 505 [ADIS16400_SCAN_ACC_X] = ADIS16400_XACCL_OFF, 506 [ADIS16400_SCAN_ACC_Y] = ADIS16400_YACCL_OFF, 507 [ADIS16400_SCAN_ACC_Z] = ADIS16400_ZACCL_OFF, 508 }; 509 510 static int adis16400_write_raw(struct iio_dev *indio_dev, 511 struct iio_chan_spec const *chan, int val, int val2, long info) 512 { 513 struct adis16400_state *st = iio_priv(indio_dev); 514 int ret, sps; 515 516 switch (info) { 517 case IIO_CHAN_INFO_CALIBBIAS: 518 mutex_lock(&indio_dev->mlock); 519 ret = adis_write_reg_16(&st->adis, 520 adis16400_addresses[chan->scan_index], val); 521 mutex_unlock(&indio_dev->mlock); 522 return ret; 523 case IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY: 524 /* 525 * Need to cache values so we can update if the frequency 526 * changes. 527 */ 528 mutex_lock(&indio_dev->mlock); 529 st->filt_int = val; 530 /* Work out update to current value */ 531 sps = st->variant->get_freq(st); 532 if (sps < 0) { 533 mutex_unlock(&indio_dev->mlock); 534 return sps; 535 } 536 537 ret = adis16400_set_filter(indio_dev, sps, 538 val * 1000 + val2 / 1000); 539 mutex_unlock(&indio_dev->mlock); 540 return ret; 541 case IIO_CHAN_INFO_SAMP_FREQ: 542 sps = val * 1000 + val2 / 1000; 543 544 if (sps <= 0) 545 return -EINVAL; 546 547 mutex_lock(&indio_dev->mlock); 548 ret = st->variant->set_freq(st, sps); 549 mutex_unlock(&indio_dev->mlock); 550 return ret; 551 default: 552 return -EINVAL; 553 } 554 } 555 556 static int adis16400_read_raw(struct iio_dev *indio_dev, 557 struct iio_chan_spec const *chan, int *val, int *val2, long info) 558 { 559 struct adis16400_state *st = iio_priv(indio_dev); 560 int16_t val16; 561 int ret; 562 563 switch (info) { 564 case IIO_CHAN_INFO_RAW: 565 return adis_single_conversion(indio_dev, chan, 0, val); 566 case IIO_CHAN_INFO_SCALE: 567 switch (chan->type) { 568 case IIO_ANGL_VEL: 569 *val = 0; 570 *val2 = st->variant->gyro_scale_micro; 571 return IIO_VAL_INT_PLUS_MICRO; 572 case IIO_VOLTAGE: 573 *val = 0; 574 if (chan->channel == 0) { 575 *val = 2; 576 *val2 = 418000; /* 2.418 mV */ 577 } else { 578 *val = 0; 579 *val2 = 805800; /* 805.8 uV */ 580 } 581 return IIO_VAL_INT_PLUS_MICRO; 582 case IIO_ACCEL: 583 *val = 0; 584 *val2 = st->variant->accel_scale_micro; 585 return IIO_VAL_INT_PLUS_MICRO; 586 case IIO_MAGN: 587 *val = 0; 588 *val2 = 500; /* 0.5 mgauss */ 589 return IIO_VAL_INT_PLUS_MICRO; 590 case IIO_TEMP: 591 *val = st->variant->temp_scale_nano / 1000000; 592 *val2 = (st->variant->temp_scale_nano % 1000000); 593 return IIO_VAL_INT_PLUS_MICRO; 594 case IIO_PRESSURE: 595 /* 20 uBar = 0.002kPascal */ 596 *val = 0; 597 *val2 = 2000; 598 return IIO_VAL_INT_PLUS_MICRO; 599 default: 600 return -EINVAL; 601 } 602 case IIO_CHAN_INFO_CALIBBIAS: 603 mutex_lock(&indio_dev->mlock); 604 ret = adis_read_reg_16(&st->adis, 605 adis16400_addresses[chan->scan_index], &val16); 606 mutex_unlock(&indio_dev->mlock); 607 if (ret) 608 return ret; 609 val16 = sign_extend32(val16, 11); 610 *val = val16; 611 return IIO_VAL_INT; 612 case IIO_CHAN_INFO_OFFSET: 613 /* currently only temperature */ 614 *val = st->variant->temp_offset; 615 return IIO_VAL_INT; 616 case IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY: 617 mutex_lock(&indio_dev->mlock); 618 /* Need both the number of taps and the sampling frequency */ 619 ret = adis_read_reg_16(&st->adis, 620 ADIS16400_SENS_AVG, 621 &val16); 622 if (ret < 0) { 623 mutex_unlock(&indio_dev->mlock); 624 return ret; 625 } 626 ret = st->variant->get_freq(st); 627 if (ret >= 0) { 628 ret /= adis16400_3db_divisors[val16 & 0x07]; 629 *val = ret / 1000; 630 *val2 = (ret % 1000) * 1000; 631 } 632 mutex_unlock(&indio_dev->mlock); 633 if (ret < 0) 634 return ret; 635 return IIO_VAL_INT_PLUS_MICRO; 636 case IIO_CHAN_INFO_SAMP_FREQ: 637 ret = st->variant->get_freq(st); 638 if (ret < 0) 639 return ret; 640 *val = ret / 1000; 641 *val2 = (ret % 1000) * 1000; 642 return IIO_VAL_INT_PLUS_MICRO; 643 default: 644 return -EINVAL; 645 } 646 } 647 648 #if IS_ENABLED(CONFIG_IIO_BUFFER) 649 static irqreturn_t adis16400_trigger_handler(int irq, void *p) 650 { 651 struct iio_poll_func *pf = p; 652 struct iio_dev *indio_dev = pf->indio_dev; 653 struct adis16400_state *st = iio_priv(indio_dev); 654 struct adis *adis = &st->adis; 655 u32 old_speed_hz = st->adis.spi->max_speed_hz; 656 void *buffer; 657 int ret; 658 659 if (!adis->buffer) 660 return -ENOMEM; 661 662 if (!(st->variant->flags & ADIS16400_NO_BURST) && 663 st->adis.spi->max_speed_hz > ADIS16400_SPI_BURST) { 664 st->adis.spi->max_speed_hz = ADIS16400_SPI_BURST; 665 spi_setup(st->adis.spi); 666 } 667 668 ret = spi_sync(adis->spi, &adis->msg); 669 if (ret) 670 dev_err(&adis->spi->dev, "Failed to read data: %d\n", ret); 671 672 if (!(st->variant->flags & ADIS16400_NO_BURST)) { 673 st->adis.spi->max_speed_hz = old_speed_hz; 674 spi_setup(st->adis.spi); 675 } 676 677 if (st->variant->flags & ADIS16400_BURST_DIAG_STAT) 678 buffer = adis->buffer + sizeof(u16); 679 else 680 buffer = adis->buffer; 681 682 iio_push_to_buffers_with_timestamp(indio_dev, buffer, 683 pf->timestamp); 684 685 iio_trigger_notify_done(indio_dev->trig); 686 687 return IRQ_HANDLED; 688 } 689 #else 690 #define adis16400_trigger_handler NULL 691 #endif /* IS_ENABLED(CONFIG_IIO_BUFFER) */ 692 693 #define ADIS16400_VOLTAGE_CHAN(addr, bits, name, si, chn) { \ 694 .type = IIO_VOLTAGE, \ 695 .indexed = 1, \ 696 .channel = chn, \ 697 .extend_name = name, \ 698 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \ 699 BIT(IIO_CHAN_INFO_SCALE), \ 700 .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \ 701 .address = (addr), \ 702 .scan_index = (si), \ 703 .scan_type = { \ 704 .sign = 'u', \ 705 .realbits = (bits), \ 706 .storagebits = 16, \ 707 .shift = 0, \ 708 .endianness = IIO_BE, \ 709 }, \ 710 } 711 712 #define ADIS16400_SUPPLY_CHAN(addr, bits) \ 713 ADIS16400_VOLTAGE_CHAN(addr, bits, "supply", ADIS16400_SCAN_SUPPLY, 0) 714 715 #define ADIS16400_AUX_ADC_CHAN(addr, bits) \ 716 ADIS16400_VOLTAGE_CHAN(addr, bits, NULL, ADIS16400_SCAN_ADC, 1) 717 718 #define ADIS16400_GYRO_CHAN(mod, addr, bits) { \ 719 .type = IIO_ANGL_VEL, \ 720 .modified = 1, \ 721 .channel2 = IIO_MOD_ ## mod, \ 722 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \ 723 BIT(IIO_CHAN_INFO_CALIBBIAS), \ 724 .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE) | \ 725 BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY), \ 726 .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \ 727 .address = addr, \ 728 .scan_index = ADIS16400_SCAN_GYRO_ ## mod, \ 729 .scan_type = { \ 730 .sign = 's', \ 731 .realbits = (bits), \ 732 .storagebits = 16, \ 733 .shift = 0, \ 734 .endianness = IIO_BE, \ 735 }, \ 736 } 737 738 #define ADIS16400_ACCEL_CHAN(mod, addr, bits) { \ 739 .type = IIO_ACCEL, \ 740 .modified = 1, \ 741 .channel2 = IIO_MOD_ ## mod, \ 742 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \ 743 BIT(IIO_CHAN_INFO_CALIBBIAS), \ 744 .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE) | \ 745 BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY), \ 746 .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \ 747 .address = (addr), \ 748 .scan_index = ADIS16400_SCAN_ACC_ ## mod, \ 749 .scan_type = { \ 750 .sign = 's', \ 751 .realbits = (bits), \ 752 .storagebits = 16, \ 753 .shift = 0, \ 754 .endianness = IIO_BE, \ 755 }, \ 756 } 757 758 #define ADIS16400_MAGN_CHAN(mod, addr, bits) { \ 759 .type = IIO_MAGN, \ 760 .modified = 1, \ 761 .channel2 = IIO_MOD_ ## mod, \ 762 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW), \ 763 .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE) | \ 764 BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY), \ 765 .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \ 766 .address = (addr), \ 767 .scan_index = ADIS16400_SCAN_MAGN_ ## mod, \ 768 .scan_type = { \ 769 .sign = 's', \ 770 .realbits = (bits), \ 771 .storagebits = 16, \ 772 .shift = 0, \ 773 .endianness = IIO_BE, \ 774 }, \ 775 } 776 777 #define ADIS16400_MOD_TEMP_NAME_X "x" 778 #define ADIS16400_MOD_TEMP_NAME_Y "y" 779 #define ADIS16400_MOD_TEMP_NAME_Z "z" 780 781 #define ADIS16400_MOD_TEMP_CHAN(mod, addr, bits) { \ 782 .type = IIO_TEMP, \ 783 .indexed = 1, \ 784 .channel = 0, \ 785 .extend_name = ADIS16400_MOD_TEMP_NAME_ ## mod, \ 786 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \ 787 BIT(IIO_CHAN_INFO_OFFSET) | \ 788 BIT(IIO_CHAN_INFO_SCALE), \ 789 .info_mask_shared_by_type = \ 790 BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY), \ 791 .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \ 792 .address = (addr), \ 793 .scan_index = ADIS16350_SCAN_TEMP_ ## mod, \ 794 .scan_type = { \ 795 .sign = 's', \ 796 .realbits = (bits), \ 797 .storagebits = 16, \ 798 .shift = 0, \ 799 .endianness = IIO_BE, \ 800 }, \ 801 } 802 803 #define ADIS16400_TEMP_CHAN(addr, bits) { \ 804 .type = IIO_TEMP, \ 805 .indexed = 1, \ 806 .channel = 0, \ 807 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \ 808 BIT(IIO_CHAN_INFO_OFFSET) | \ 809 BIT(IIO_CHAN_INFO_SCALE), \ 810 .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \ 811 .address = (addr), \ 812 .scan_index = ADIS16350_SCAN_TEMP_X, \ 813 .scan_type = { \ 814 .sign = 's', \ 815 .realbits = (bits), \ 816 .storagebits = 16, \ 817 .shift = 0, \ 818 .endianness = IIO_BE, \ 819 }, \ 820 } 821 822 #define ADIS16400_INCLI_CHAN(mod, addr, bits) { \ 823 .type = IIO_INCLI, \ 824 .modified = 1, \ 825 .channel2 = IIO_MOD_ ## mod, \ 826 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW), \ 827 .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE), \ 828 .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \ 829 .address = (addr), \ 830 .scan_index = ADIS16300_SCAN_INCLI_ ## mod, \ 831 .scan_type = { \ 832 .sign = 's', \ 833 .realbits = (bits), \ 834 .storagebits = 16, \ 835 .shift = 0, \ 836 .endianness = IIO_BE, \ 837 }, \ 838 } 839 840 static const struct iio_chan_spec adis16400_channels[] = { 841 ADIS16400_SUPPLY_CHAN(ADIS16400_SUPPLY_OUT, 14), 842 ADIS16400_GYRO_CHAN(X, ADIS16400_XGYRO_OUT, 14), 843 ADIS16400_GYRO_CHAN(Y, ADIS16400_YGYRO_OUT, 14), 844 ADIS16400_GYRO_CHAN(Z, ADIS16400_ZGYRO_OUT, 14), 845 ADIS16400_ACCEL_CHAN(X, ADIS16400_XACCL_OUT, 14), 846 ADIS16400_ACCEL_CHAN(Y, ADIS16400_YACCL_OUT, 14), 847 ADIS16400_ACCEL_CHAN(Z, ADIS16400_ZACCL_OUT, 14), 848 ADIS16400_MAGN_CHAN(X, ADIS16400_XMAGN_OUT, 14), 849 ADIS16400_MAGN_CHAN(Y, ADIS16400_YMAGN_OUT, 14), 850 ADIS16400_MAGN_CHAN(Z, ADIS16400_ZMAGN_OUT, 14), 851 ADIS16400_TEMP_CHAN(ADIS16400_TEMP_OUT, 12), 852 ADIS16400_AUX_ADC_CHAN(ADIS16400_AUX_ADC, 12), 853 IIO_CHAN_SOFT_TIMESTAMP(ADIS16400_SCAN_TIMESTAMP), 854 }; 855 856 static const struct iio_chan_spec adis16445_channels[] = { 857 ADIS16400_GYRO_CHAN(X, ADIS16400_XGYRO_OUT, 16), 858 ADIS16400_GYRO_CHAN(Y, ADIS16400_YGYRO_OUT, 16), 859 ADIS16400_GYRO_CHAN(Z, ADIS16400_ZGYRO_OUT, 16), 860 ADIS16400_ACCEL_CHAN(X, ADIS16400_XACCL_OUT, 16), 861 ADIS16400_ACCEL_CHAN(Y, ADIS16400_YACCL_OUT, 16), 862 ADIS16400_ACCEL_CHAN(Z, ADIS16400_ZACCL_OUT, 16), 863 ADIS16400_TEMP_CHAN(ADIS16448_TEMP_OUT, 12), 864 IIO_CHAN_SOFT_TIMESTAMP(ADIS16400_SCAN_TIMESTAMP), 865 }; 866 867 static const struct iio_chan_spec adis16448_channels[] = { 868 ADIS16400_GYRO_CHAN(X, ADIS16400_XGYRO_OUT, 16), 869 ADIS16400_GYRO_CHAN(Y, ADIS16400_YGYRO_OUT, 16), 870 ADIS16400_GYRO_CHAN(Z, ADIS16400_ZGYRO_OUT, 16), 871 ADIS16400_ACCEL_CHAN(X, ADIS16400_XACCL_OUT, 16), 872 ADIS16400_ACCEL_CHAN(Y, ADIS16400_YACCL_OUT, 16), 873 ADIS16400_ACCEL_CHAN(Z, ADIS16400_ZACCL_OUT, 16), 874 ADIS16400_MAGN_CHAN(X, ADIS16400_XMAGN_OUT, 16), 875 ADIS16400_MAGN_CHAN(Y, ADIS16400_YMAGN_OUT, 16), 876 ADIS16400_MAGN_CHAN(Z, ADIS16400_ZMAGN_OUT, 16), 877 { 878 .type = IIO_PRESSURE, 879 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW), 880 .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE), 881 .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), 882 .address = ADIS16448_BARO_OUT, 883 .scan_index = ADIS16400_SCAN_BARO, 884 .scan_type = { 885 .sign = 's', 886 .realbits = 16, 887 .storagebits = 16, 888 .endianness = IIO_BE, 889 }, 890 }, 891 ADIS16400_TEMP_CHAN(ADIS16448_TEMP_OUT, 12), 892 IIO_CHAN_SOFT_TIMESTAMP(ADIS16400_SCAN_TIMESTAMP), 893 }; 894 895 static const struct iio_chan_spec adis16350_channels[] = { 896 ADIS16400_SUPPLY_CHAN(ADIS16400_SUPPLY_OUT, 12), 897 ADIS16400_GYRO_CHAN(X, ADIS16400_XGYRO_OUT, 14), 898 ADIS16400_GYRO_CHAN(Y, ADIS16400_YGYRO_OUT, 14), 899 ADIS16400_GYRO_CHAN(Z, ADIS16400_ZGYRO_OUT, 14), 900 ADIS16400_ACCEL_CHAN(X, ADIS16400_XACCL_OUT, 14), 901 ADIS16400_ACCEL_CHAN(Y, ADIS16400_YACCL_OUT, 14), 902 ADIS16400_ACCEL_CHAN(Z, ADIS16400_ZACCL_OUT, 14), 903 ADIS16400_MAGN_CHAN(X, ADIS16400_XMAGN_OUT, 14), 904 ADIS16400_MAGN_CHAN(Y, ADIS16400_YMAGN_OUT, 14), 905 ADIS16400_MAGN_CHAN(Z, ADIS16400_ZMAGN_OUT, 14), 906 ADIS16400_AUX_ADC_CHAN(ADIS16300_AUX_ADC, 12), 907 ADIS16400_MOD_TEMP_CHAN(X, ADIS16350_XTEMP_OUT, 12), 908 ADIS16400_MOD_TEMP_CHAN(Y, ADIS16350_YTEMP_OUT, 12), 909 ADIS16400_MOD_TEMP_CHAN(Z, ADIS16350_ZTEMP_OUT, 12), 910 IIO_CHAN_SOFT_TIMESTAMP(ADIS16400_SCAN_TIMESTAMP), 911 }; 912 913 static const struct iio_chan_spec adis16300_channels[] = { 914 ADIS16400_SUPPLY_CHAN(ADIS16400_SUPPLY_OUT, 12), 915 ADIS16400_GYRO_CHAN(X, ADIS16400_XGYRO_OUT, 14), 916 ADIS16400_ACCEL_CHAN(X, ADIS16400_XACCL_OUT, 14), 917 ADIS16400_ACCEL_CHAN(Y, ADIS16400_YACCL_OUT, 14), 918 ADIS16400_ACCEL_CHAN(Z, ADIS16400_ZACCL_OUT, 14), 919 ADIS16400_TEMP_CHAN(ADIS16350_XTEMP_OUT, 12), 920 ADIS16400_AUX_ADC_CHAN(ADIS16300_AUX_ADC, 12), 921 ADIS16400_INCLI_CHAN(X, ADIS16300_PITCH_OUT, 13), 922 ADIS16400_INCLI_CHAN(Y, ADIS16300_ROLL_OUT, 13), 923 IIO_CHAN_SOFT_TIMESTAMP(ADIS16400_SCAN_TIMESTAMP), 924 }; 925 926 static const struct iio_chan_spec adis16334_channels[] = { 927 ADIS16400_GYRO_CHAN(X, ADIS16400_XGYRO_OUT, 14), 928 ADIS16400_GYRO_CHAN(Y, ADIS16400_YGYRO_OUT, 14), 929 ADIS16400_GYRO_CHAN(Z, ADIS16400_ZGYRO_OUT, 14), 930 ADIS16400_ACCEL_CHAN(X, ADIS16400_XACCL_OUT, 14), 931 ADIS16400_ACCEL_CHAN(Y, ADIS16400_YACCL_OUT, 14), 932 ADIS16400_ACCEL_CHAN(Z, ADIS16400_ZACCL_OUT, 14), 933 ADIS16400_TEMP_CHAN(ADIS16350_XTEMP_OUT, 12), 934 IIO_CHAN_SOFT_TIMESTAMP(ADIS16400_SCAN_TIMESTAMP), 935 }; 936 937 static struct adis16400_chip_info adis16400_chips[] = { 938 [ADIS16300] = { 939 .channels = adis16300_channels, 940 .num_channels = ARRAY_SIZE(adis16300_channels), 941 .flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE | 942 ADIS16400_HAS_SERIAL_NUMBER, 943 .gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */ 944 .accel_scale_micro = 5884, 945 .temp_scale_nano = 140000000, /* 0.14 C */ 946 .temp_offset = 25000000 / 140000, /* 25 C = 0x00 */ 947 .set_freq = adis16400_set_freq, 948 .get_freq = adis16400_get_freq, 949 }, 950 [ADIS16334] = { 951 .channels = adis16334_channels, 952 .num_channels = ARRAY_SIZE(adis16334_channels), 953 .flags = ADIS16400_HAS_PROD_ID | ADIS16400_NO_BURST | 954 ADIS16400_HAS_SERIAL_NUMBER, 955 .gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */ 956 .accel_scale_micro = IIO_G_TO_M_S_2(1000), /* 1 mg */ 957 .temp_scale_nano = 67850000, /* 0.06785 C */ 958 .temp_offset = 25000000 / 67850, /* 25 C = 0x00 */ 959 .set_freq = adis16334_set_freq, 960 .get_freq = adis16334_get_freq, 961 }, 962 [ADIS16350] = { 963 .channels = adis16350_channels, 964 .num_channels = ARRAY_SIZE(adis16350_channels), 965 .gyro_scale_micro = IIO_DEGREE_TO_RAD(73260), /* 0.07326 deg/s */ 966 .accel_scale_micro = IIO_G_TO_M_S_2(2522), /* 0.002522 g */ 967 .temp_scale_nano = 145300000, /* 0.1453 C */ 968 .temp_offset = 25000000 / 145300, /* 25 C = 0x00 */ 969 .flags = ADIS16400_NO_BURST | ADIS16400_HAS_SLOW_MODE, 970 .set_freq = adis16400_set_freq, 971 .get_freq = adis16400_get_freq, 972 }, 973 [ADIS16360] = { 974 .channels = adis16350_channels, 975 .num_channels = ARRAY_SIZE(adis16350_channels), 976 .flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE | 977 ADIS16400_HAS_SERIAL_NUMBER, 978 .gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */ 979 .accel_scale_micro = IIO_G_TO_M_S_2(3333), /* 3.333 mg */ 980 .temp_scale_nano = 136000000, /* 0.136 C */ 981 .temp_offset = 25000000 / 136000, /* 25 C = 0x00 */ 982 .set_freq = adis16400_set_freq, 983 .get_freq = adis16400_get_freq, 984 }, 985 [ADIS16362] = { 986 .channels = adis16350_channels, 987 .num_channels = ARRAY_SIZE(adis16350_channels), 988 .flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE | 989 ADIS16400_HAS_SERIAL_NUMBER, 990 .gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */ 991 .accel_scale_micro = IIO_G_TO_M_S_2(333), /* 0.333 mg */ 992 .temp_scale_nano = 136000000, /* 0.136 C */ 993 .temp_offset = 25000000 / 136000, /* 25 C = 0x00 */ 994 .set_freq = adis16400_set_freq, 995 .get_freq = adis16400_get_freq, 996 }, 997 [ADIS16364] = { 998 .channels = adis16350_channels, 999 .num_channels = ARRAY_SIZE(adis16350_channels), 1000 .flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE | 1001 ADIS16400_HAS_SERIAL_NUMBER, 1002 .gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */ 1003 .accel_scale_micro = IIO_G_TO_M_S_2(1000), /* 1 mg */ 1004 .temp_scale_nano = 136000000, /* 0.136 C */ 1005 .temp_offset = 25000000 / 136000, /* 25 C = 0x00 */ 1006 .set_freq = adis16400_set_freq, 1007 .get_freq = adis16400_get_freq, 1008 }, 1009 [ADIS16367] = { 1010 .channels = adis16350_channels, 1011 .num_channels = ARRAY_SIZE(adis16350_channels), 1012 .flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE | 1013 ADIS16400_HAS_SERIAL_NUMBER, 1014 .gyro_scale_micro = IIO_DEGREE_TO_RAD(2000), /* 0.2 deg/s */ 1015 .accel_scale_micro = IIO_G_TO_M_S_2(3333), /* 3.333 mg */ 1016 .temp_scale_nano = 136000000, /* 0.136 C */ 1017 .temp_offset = 25000000 / 136000, /* 25 C = 0x00 */ 1018 .set_freq = adis16400_set_freq, 1019 .get_freq = adis16400_get_freq, 1020 }, 1021 [ADIS16400] = { 1022 .channels = adis16400_channels, 1023 .num_channels = ARRAY_SIZE(adis16400_channels), 1024 .flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE, 1025 .gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */ 1026 .accel_scale_micro = IIO_G_TO_M_S_2(3333), /* 3.333 mg */ 1027 .temp_scale_nano = 140000000, /* 0.14 C */ 1028 .temp_offset = 25000000 / 140000, /* 25 C = 0x00 */ 1029 .set_freq = adis16400_set_freq, 1030 .get_freq = adis16400_get_freq, 1031 }, 1032 [ADIS16445] = { 1033 .channels = adis16445_channels, 1034 .num_channels = ARRAY_SIZE(adis16445_channels), 1035 .flags = ADIS16400_HAS_PROD_ID | 1036 ADIS16400_HAS_SERIAL_NUMBER | 1037 ADIS16400_BURST_DIAG_STAT, 1038 .gyro_scale_micro = IIO_DEGREE_TO_RAD(10000), /* 0.01 deg/s */ 1039 .accel_scale_micro = IIO_G_TO_M_S_2(250), /* 1/4000 g */ 1040 .temp_scale_nano = 73860000, /* 0.07386 C */ 1041 .temp_offset = 31000000 / 73860, /* 31 C = 0x00 */ 1042 .set_freq = adis16334_set_freq, 1043 .get_freq = adis16334_get_freq, 1044 }, 1045 [ADIS16448] = { 1046 .channels = adis16448_channels, 1047 .num_channels = ARRAY_SIZE(adis16448_channels), 1048 .flags = ADIS16400_HAS_PROD_ID | 1049 ADIS16400_HAS_SERIAL_NUMBER | 1050 ADIS16400_BURST_DIAG_STAT, 1051 .gyro_scale_micro = IIO_DEGREE_TO_RAD(40000), /* 0.04 deg/s */ 1052 .accel_scale_micro = IIO_G_TO_M_S_2(833), /* 1/1200 g */ 1053 .temp_scale_nano = 73860000, /* 0.07386 C */ 1054 .temp_offset = 31000000 / 73860, /* 31 C = 0x00 */ 1055 .set_freq = adis16334_set_freq, 1056 .get_freq = adis16334_get_freq, 1057 } 1058 }; 1059 1060 static const struct iio_info adis16400_info = { 1061 .read_raw = &adis16400_read_raw, 1062 .write_raw = &adis16400_write_raw, 1063 .update_scan_mode = adis_update_scan_mode, 1064 .debugfs_reg_access = adis_debugfs_reg_access, 1065 }; 1066 1067 static const char * const adis16400_status_error_msgs[] = { 1068 [ADIS16400_DIAG_STAT_ZACCL_FAIL] = "Z-axis accelerometer self-test failure", 1069 [ADIS16400_DIAG_STAT_YACCL_FAIL] = "Y-axis accelerometer self-test failure", 1070 [ADIS16400_DIAG_STAT_XACCL_FAIL] = "X-axis accelerometer self-test failure", 1071 [ADIS16400_DIAG_STAT_XGYRO_FAIL] = "X-axis gyroscope self-test failure", 1072 [ADIS16400_DIAG_STAT_YGYRO_FAIL] = "Y-axis gyroscope self-test failure", 1073 [ADIS16400_DIAG_STAT_ZGYRO_FAIL] = "Z-axis gyroscope self-test failure", 1074 [ADIS16400_DIAG_STAT_ALARM2] = "Alarm 2 active", 1075 [ADIS16400_DIAG_STAT_ALARM1] = "Alarm 1 active", 1076 [ADIS16400_DIAG_STAT_FLASH_CHK] = "Flash checksum error", 1077 [ADIS16400_DIAG_STAT_SELF_TEST] = "Self test error", 1078 [ADIS16400_DIAG_STAT_OVERFLOW] = "Sensor overrange", 1079 [ADIS16400_DIAG_STAT_SPI_FAIL] = "SPI failure", 1080 [ADIS16400_DIAG_STAT_FLASH_UPT] = "Flash update failed", 1081 [ADIS16400_DIAG_STAT_POWER_HIGH] = "Power supply above 5.25V", 1082 [ADIS16400_DIAG_STAT_POWER_LOW] = "Power supply below 4.75V", 1083 }; 1084 1085 static const struct adis_data adis16400_data = { 1086 .msc_ctrl_reg = ADIS16400_MSC_CTRL, 1087 .glob_cmd_reg = ADIS16400_GLOB_CMD, 1088 .diag_stat_reg = ADIS16400_DIAG_STAT, 1089 1090 .read_delay = 50, 1091 .write_delay = 50, 1092 1093 .self_test_mask = ADIS16400_MSC_CTRL_MEM_TEST, 1094 .startup_delay = ADIS16400_STARTUP_DELAY, 1095 1096 .status_error_msgs = adis16400_status_error_msgs, 1097 .status_error_mask = BIT(ADIS16400_DIAG_STAT_ZACCL_FAIL) | 1098 BIT(ADIS16400_DIAG_STAT_YACCL_FAIL) | 1099 BIT(ADIS16400_DIAG_STAT_XACCL_FAIL) | 1100 BIT(ADIS16400_DIAG_STAT_XGYRO_FAIL) | 1101 BIT(ADIS16400_DIAG_STAT_YGYRO_FAIL) | 1102 BIT(ADIS16400_DIAG_STAT_ZGYRO_FAIL) | 1103 BIT(ADIS16400_DIAG_STAT_ALARM2) | 1104 BIT(ADIS16400_DIAG_STAT_ALARM1) | 1105 BIT(ADIS16400_DIAG_STAT_FLASH_CHK) | 1106 BIT(ADIS16400_DIAG_STAT_SELF_TEST) | 1107 BIT(ADIS16400_DIAG_STAT_OVERFLOW) | 1108 BIT(ADIS16400_DIAG_STAT_SPI_FAIL) | 1109 BIT(ADIS16400_DIAG_STAT_FLASH_UPT) | 1110 BIT(ADIS16400_DIAG_STAT_POWER_HIGH) | 1111 BIT(ADIS16400_DIAG_STAT_POWER_LOW), 1112 }; 1113 1114 static void adis16400_setup_chan_mask(struct adis16400_state *st) 1115 { 1116 const struct adis16400_chip_info *chip_info = st->variant; 1117 unsigned int i; 1118 1119 for (i = 0; i < chip_info->num_channels; i++) { 1120 const struct iio_chan_spec *ch = &chip_info->channels[i]; 1121 1122 if (ch->scan_index >= 0 && 1123 ch->scan_index != ADIS16400_SCAN_TIMESTAMP) 1124 st->avail_scan_mask[0] |= BIT(ch->scan_index); 1125 } 1126 } 1127 1128 static int adis16400_probe(struct spi_device *spi) 1129 { 1130 struct adis16400_state *st; 1131 struct iio_dev *indio_dev; 1132 int ret; 1133 1134 indio_dev = devm_iio_device_alloc(&spi->dev, sizeof(*st)); 1135 if (indio_dev == NULL) 1136 return -ENOMEM; 1137 1138 st = iio_priv(indio_dev); 1139 /* this is only used for removal purposes */ 1140 spi_set_drvdata(spi, indio_dev); 1141 1142 /* setup the industrialio driver allocated elements */ 1143 st->variant = &adis16400_chips[spi_get_device_id(spi)->driver_data]; 1144 indio_dev->dev.parent = &spi->dev; 1145 indio_dev->name = spi_get_device_id(spi)->name; 1146 indio_dev->channels = st->variant->channels; 1147 indio_dev->num_channels = st->variant->num_channels; 1148 indio_dev->info = &adis16400_info; 1149 indio_dev->modes = INDIO_DIRECT_MODE; 1150 1151 if (!(st->variant->flags & ADIS16400_NO_BURST)) { 1152 adis16400_setup_chan_mask(st); 1153 indio_dev->available_scan_masks = st->avail_scan_mask; 1154 st->adis.burst = &adis16400_burst; 1155 if (st->variant->flags & ADIS16400_BURST_DIAG_STAT) 1156 st->adis.burst->extra_len = sizeof(u16); 1157 } 1158 1159 ret = adis_init(&st->adis, indio_dev, spi, &adis16400_data); 1160 if (ret) 1161 return ret; 1162 1163 ret = adis_setup_buffer_and_trigger(&st->adis, indio_dev, 1164 adis16400_trigger_handler); 1165 if (ret) 1166 return ret; 1167 1168 /* Get the device into a sane initial state */ 1169 ret = adis16400_initial_setup(indio_dev); 1170 if (ret) 1171 goto error_cleanup_buffer; 1172 ret = iio_device_register(indio_dev); 1173 if (ret) 1174 goto error_cleanup_buffer; 1175 1176 adis16400_debugfs_init(indio_dev); 1177 return 0; 1178 1179 error_cleanup_buffer: 1180 adis_cleanup_buffer_and_trigger(&st->adis, indio_dev); 1181 return ret; 1182 } 1183 1184 static int adis16400_remove(struct spi_device *spi) 1185 { 1186 struct iio_dev *indio_dev = spi_get_drvdata(spi); 1187 struct adis16400_state *st = iio_priv(indio_dev); 1188 1189 iio_device_unregister(indio_dev); 1190 adis16400_stop_device(indio_dev); 1191 1192 adis_cleanup_buffer_and_trigger(&st->adis, indio_dev); 1193 1194 return 0; 1195 } 1196 1197 static const struct spi_device_id adis16400_id[] = { 1198 {"adis16300", ADIS16300}, 1199 {"adis16305", ADIS16300}, 1200 {"adis16334", ADIS16334}, 1201 {"adis16350", ADIS16350}, 1202 {"adis16354", ADIS16350}, 1203 {"adis16355", ADIS16350}, 1204 {"adis16360", ADIS16360}, 1205 {"adis16362", ADIS16362}, 1206 {"adis16364", ADIS16364}, 1207 {"adis16365", ADIS16360}, 1208 {"adis16367", ADIS16367}, 1209 {"adis16400", ADIS16400}, 1210 {"adis16405", ADIS16400}, 1211 {"adis16445", ADIS16445}, 1212 {"adis16448", ADIS16448}, 1213 {} 1214 }; 1215 MODULE_DEVICE_TABLE(spi, adis16400_id); 1216 1217 static struct spi_driver adis16400_driver = { 1218 .driver = { 1219 .name = "adis16400", 1220 }, 1221 .id_table = adis16400_id, 1222 .probe = adis16400_probe, 1223 .remove = adis16400_remove, 1224 }; 1225 module_spi_driver(adis16400_driver); 1226 1227 MODULE_AUTHOR("Manuel Stahl <manuel.stahl@iis.fraunhofer.de>"); 1228 MODULE_DESCRIPTION("Analog Devices ADIS16400/5 IMU SPI driver"); 1229 MODULE_LICENSE("GPL v2"); 1230