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 int num_channels; 160 const long flags; 161 unsigned int gyro_scale_micro; 162 unsigned int accel_scale_micro; 163 int temp_scale_nano; 164 int temp_offset; 165 int (*set_freq)(struct adis16400_state *st, unsigned int freq); 166 int (*get_freq)(struct adis16400_state *st); 167 }; 168 169 /** 170 * struct adis16400_state - device instance specific data 171 * @variant: chip variant info 172 * @filt_int: integer part of requested filter frequency 173 * @adis: adis device 174 **/ 175 struct adis16400_state { 176 struct adis16400_chip_info *variant; 177 int filt_int; 178 179 struct adis adis; 180 unsigned long avail_scan_mask[2]; 181 }; 182 183 /* At the moment triggers are only used for ring buffer 184 * filling. This may change! 185 */ 186 187 enum { 188 ADIS16400_SCAN_SUPPLY, 189 ADIS16400_SCAN_GYRO_X, 190 ADIS16400_SCAN_GYRO_Y, 191 ADIS16400_SCAN_GYRO_Z, 192 ADIS16400_SCAN_ACC_X, 193 ADIS16400_SCAN_ACC_Y, 194 ADIS16400_SCAN_ACC_Z, 195 ADIS16400_SCAN_MAGN_X, 196 ADIS16400_SCAN_MAGN_Y, 197 ADIS16400_SCAN_MAGN_Z, 198 ADIS16400_SCAN_BARO, 199 ADIS16350_SCAN_TEMP_X, 200 ADIS16350_SCAN_TEMP_Y, 201 ADIS16350_SCAN_TEMP_Z, 202 ADIS16300_SCAN_INCLI_X, 203 ADIS16300_SCAN_INCLI_Y, 204 ADIS16400_SCAN_ADC, 205 ADIS16400_SCAN_TIMESTAMP, 206 }; 207 208 #ifdef CONFIG_DEBUG_FS 209 210 static ssize_t adis16400_show_serial_number(struct file *file, 211 char __user *userbuf, size_t count, loff_t *ppos) 212 { 213 struct adis16400_state *st = file->private_data; 214 u16 lot1, lot2, serial_number; 215 char buf[16]; 216 size_t len; 217 int ret; 218 219 ret = adis_read_reg_16(&st->adis, ADIS16334_LOT_ID1, &lot1); 220 if (ret < 0) 221 return ret; 222 223 ret = adis_read_reg_16(&st->adis, ADIS16334_LOT_ID2, &lot2); 224 if (ret < 0) 225 return ret; 226 227 ret = adis_read_reg_16(&st->adis, ADIS16334_SERIAL_NUMBER, 228 &serial_number); 229 if (ret < 0) 230 return ret; 231 232 len = snprintf(buf, sizeof(buf), "%.4x-%.4x-%.4x\n", lot1, lot2, 233 serial_number); 234 235 return simple_read_from_buffer(userbuf, count, ppos, buf, len); 236 } 237 238 static const struct file_operations adis16400_serial_number_fops = { 239 .open = simple_open, 240 .read = adis16400_show_serial_number, 241 .llseek = default_llseek, 242 .owner = THIS_MODULE, 243 }; 244 245 static int adis16400_show_product_id(void *arg, u64 *val) 246 { 247 struct adis16400_state *st = arg; 248 uint16_t prod_id; 249 int ret; 250 251 ret = adis_read_reg_16(&st->adis, ADIS16400_PRODUCT_ID, &prod_id); 252 if (ret < 0) 253 return ret; 254 255 *val = prod_id; 256 257 return 0; 258 } 259 DEFINE_SIMPLE_ATTRIBUTE(adis16400_product_id_fops, 260 adis16400_show_product_id, NULL, "%lld\n"); 261 262 static int adis16400_show_flash_count(void *arg, u64 *val) 263 { 264 struct adis16400_state *st = arg; 265 uint16_t flash_count; 266 int ret; 267 268 ret = adis_read_reg_16(&st->adis, ADIS16400_FLASH_CNT, &flash_count); 269 if (ret < 0) 270 return ret; 271 272 *val = flash_count; 273 274 return 0; 275 } 276 DEFINE_SIMPLE_ATTRIBUTE(adis16400_flash_count_fops, 277 adis16400_show_flash_count, NULL, "%lld\n"); 278 279 static int adis16400_debugfs_init(struct iio_dev *indio_dev) 280 { 281 struct adis16400_state *st = iio_priv(indio_dev); 282 283 if (st->variant->flags & ADIS16400_HAS_SERIAL_NUMBER) 284 debugfs_create_file("serial_number", 0400, 285 indio_dev->debugfs_dentry, st, 286 &adis16400_serial_number_fops); 287 if (st->variant->flags & ADIS16400_HAS_PROD_ID) 288 debugfs_create_file("product_id", 0400, 289 indio_dev->debugfs_dentry, st, 290 &adis16400_product_id_fops); 291 debugfs_create_file("flash_count", 0400, indio_dev->debugfs_dentry, 292 st, &adis16400_flash_count_fops); 293 294 return 0; 295 } 296 297 #else 298 299 static int adis16400_debugfs_init(struct iio_dev *indio_dev) 300 { 301 return 0; 302 } 303 304 #endif 305 306 enum adis16400_chip_variant { 307 ADIS16300, 308 ADIS16334, 309 ADIS16350, 310 ADIS16360, 311 ADIS16362, 312 ADIS16364, 313 ADIS16367, 314 ADIS16400, 315 ADIS16445, 316 ADIS16448, 317 }; 318 319 static struct adis_burst adis16400_burst = { 320 .en = true, 321 .reg_cmd = ADIS16400_GLOB_CMD, 322 }; 323 324 static int adis16334_get_freq(struct adis16400_state *st) 325 { 326 int ret; 327 uint16_t t; 328 329 ret = adis_read_reg_16(&st->adis, ADIS16400_SMPL_PRD, &t); 330 if (ret < 0) 331 return ret; 332 333 t >>= ADIS16334_RATE_DIV_SHIFT; 334 335 return 819200 >> t; 336 } 337 338 static int adis16334_set_freq(struct adis16400_state *st, unsigned int freq) 339 { 340 unsigned int t; 341 342 if (freq < 819200) 343 t = ilog2(819200 / freq); 344 else 345 t = 0; 346 347 if (t > 0x31) 348 t = 0x31; 349 350 t <<= ADIS16334_RATE_DIV_SHIFT; 351 t |= ADIS16334_RATE_INT_CLK; 352 353 return adis_write_reg_16(&st->adis, ADIS16400_SMPL_PRD, t); 354 } 355 356 static int adis16400_get_freq(struct adis16400_state *st) 357 { 358 int sps, ret; 359 uint16_t t; 360 361 ret = adis_read_reg_16(&st->adis, ADIS16400_SMPL_PRD, &t); 362 if (ret < 0) 363 return ret; 364 365 sps = (t & ADIS16400_SMPL_PRD_TIME_BASE) ? 52851 : 1638404; 366 sps /= (t & ADIS16400_SMPL_PRD_DIV_MASK) + 1; 367 368 return sps; 369 } 370 371 static int adis16400_set_freq(struct adis16400_state *st, unsigned int freq) 372 { 373 unsigned int t; 374 uint8_t val = 0; 375 376 t = 1638404 / freq; 377 if (t >= 128) { 378 val |= ADIS16400_SMPL_PRD_TIME_BASE; 379 t = 52851 / freq; 380 if (t >= 128) 381 t = 127; 382 } else if (t != 0) { 383 t--; 384 } 385 386 val |= t; 387 388 if (t >= 0x0A || (val & ADIS16400_SMPL_PRD_TIME_BASE)) 389 st->adis.spi->max_speed_hz = ADIS16400_SPI_SLOW; 390 else 391 st->adis.spi->max_speed_hz = ADIS16400_SPI_FAST; 392 393 return adis_write_reg_8(&st->adis, ADIS16400_SMPL_PRD, val); 394 } 395 396 static const unsigned int adis16400_3db_divisors[] = { 397 [0] = 2, /* Special case */ 398 [1] = 6, 399 [2] = 12, 400 [3] = 25, 401 [4] = 50, 402 [5] = 100, 403 [6] = 200, 404 [7] = 200, /* Not a valid setting */ 405 }; 406 407 static int adis16400_set_filter(struct iio_dev *indio_dev, int sps, int val) 408 { 409 struct adis16400_state *st = iio_priv(indio_dev); 410 uint16_t val16; 411 int i, ret; 412 413 for (i = ARRAY_SIZE(adis16400_3db_divisors) - 1; i >= 1; i--) { 414 if (sps / adis16400_3db_divisors[i] >= val) 415 break; 416 } 417 418 ret = adis_read_reg_16(&st->adis, ADIS16400_SENS_AVG, &val16); 419 if (ret < 0) 420 return ret; 421 422 ret = adis_write_reg_16(&st->adis, ADIS16400_SENS_AVG, 423 (val16 & ~0x07) | i); 424 return ret; 425 } 426 427 /* Power down the device */ 428 static int adis16400_stop_device(struct iio_dev *indio_dev) 429 { 430 struct adis16400_state *st = iio_priv(indio_dev); 431 int ret; 432 433 ret = adis_write_reg_16(&st->adis, ADIS16400_SLP_CNT, 434 ADIS16400_SLP_CNT_POWER_OFF); 435 if (ret) 436 dev_err(&indio_dev->dev, 437 "problem with turning device off: SLP_CNT"); 438 439 return ret; 440 } 441 442 static int adis16400_initial_setup(struct iio_dev *indio_dev) 443 { 444 struct adis16400_state *st = iio_priv(indio_dev); 445 uint16_t prod_id, smp_prd; 446 unsigned int device_id; 447 int ret; 448 449 /* use low spi speed for init if the device has a slow mode */ 450 if (st->variant->flags & ADIS16400_HAS_SLOW_MODE) 451 st->adis.spi->max_speed_hz = ADIS16400_SPI_SLOW; 452 else 453 st->adis.spi->max_speed_hz = ADIS16400_SPI_FAST; 454 st->adis.spi->mode = SPI_MODE_3; 455 spi_setup(st->adis.spi); 456 457 ret = adis_initial_startup(&st->adis); 458 if (ret) 459 return ret; 460 461 if (st->variant->flags & ADIS16400_HAS_PROD_ID) { 462 ret = adis_read_reg_16(&st->adis, 463 ADIS16400_PRODUCT_ID, &prod_id); 464 if (ret) 465 goto err_ret; 466 467 ret = sscanf(indio_dev->name, "adis%u\n", &device_id); 468 if (ret != 1) { 469 ret = -EINVAL; 470 goto err_ret; 471 } 472 473 if (prod_id != device_id) 474 dev_warn(&indio_dev->dev, "Device ID(%u) and product ID(%u) do not match.", 475 device_id, prod_id); 476 477 dev_info(&indio_dev->dev, "%s: prod_id 0x%04x at CS%d (irq %d)\n", 478 indio_dev->name, prod_id, 479 st->adis.spi->chip_select, st->adis.spi->irq); 480 } 481 /* use high spi speed if possible */ 482 if (st->variant->flags & ADIS16400_HAS_SLOW_MODE) { 483 ret = adis_read_reg_16(&st->adis, ADIS16400_SMPL_PRD, &smp_prd); 484 if (ret) 485 goto err_ret; 486 487 if ((smp_prd & ADIS16400_SMPL_PRD_DIV_MASK) < 0x0A) { 488 st->adis.spi->max_speed_hz = ADIS16400_SPI_FAST; 489 spi_setup(st->adis.spi); 490 } 491 } 492 493 err_ret: 494 return ret; 495 } 496 497 static const uint8_t adis16400_addresses[] = { 498 [ADIS16400_SCAN_GYRO_X] = ADIS16400_XGYRO_OFF, 499 [ADIS16400_SCAN_GYRO_Y] = ADIS16400_YGYRO_OFF, 500 [ADIS16400_SCAN_GYRO_Z] = ADIS16400_ZGYRO_OFF, 501 [ADIS16400_SCAN_ACC_X] = ADIS16400_XACCL_OFF, 502 [ADIS16400_SCAN_ACC_Y] = ADIS16400_YACCL_OFF, 503 [ADIS16400_SCAN_ACC_Z] = ADIS16400_ZACCL_OFF, 504 }; 505 506 static int adis16400_write_raw(struct iio_dev *indio_dev, 507 struct iio_chan_spec const *chan, int val, int val2, long info) 508 { 509 struct adis16400_state *st = iio_priv(indio_dev); 510 int ret, sps; 511 512 switch (info) { 513 case IIO_CHAN_INFO_CALIBBIAS: 514 mutex_lock(&indio_dev->mlock); 515 ret = adis_write_reg_16(&st->adis, 516 adis16400_addresses[chan->scan_index], val); 517 mutex_unlock(&indio_dev->mlock); 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(&indio_dev->mlock); 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(&indio_dev->mlock); 530 return sps; 531 } 532 533 ret = adis16400_set_filter(indio_dev, sps, 534 val * 1000 + val2 / 1000); 535 mutex_unlock(&indio_dev->mlock); 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(&indio_dev->mlock); 544 ret = st->variant->set_freq(st, sps); 545 mutex_unlock(&indio_dev->mlock); 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 int16_t val16; 557 int ret; 558 559 switch (info) { 560 case IIO_CHAN_INFO_RAW: 561 return adis_single_conversion(indio_dev, chan, 0, val); 562 case IIO_CHAN_INFO_SCALE: 563 switch (chan->type) { 564 case IIO_ANGL_VEL: 565 *val = 0; 566 *val2 = st->variant->gyro_scale_micro; 567 return IIO_VAL_INT_PLUS_MICRO; 568 case IIO_VOLTAGE: 569 *val = 0; 570 if (chan->channel == 0) { 571 *val = 2; 572 *val2 = 418000; /* 2.418 mV */ 573 } else { 574 *val = 0; 575 *val2 = 805800; /* 805.8 uV */ 576 } 577 return IIO_VAL_INT_PLUS_MICRO; 578 case IIO_ACCEL: 579 *val = 0; 580 *val2 = st->variant->accel_scale_micro; 581 return IIO_VAL_INT_PLUS_MICRO; 582 case IIO_MAGN: 583 *val = 0; 584 *val2 = 500; /* 0.5 mgauss */ 585 return IIO_VAL_INT_PLUS_MICRO; 586 case IIO_TEMP: 587 *val = st->variant->temp_scale_nano / 1000000; 588 *val2 = (st->variant->temp_scale_nano % 1000000); 589 return IIO_VAL_INT_PLUS_MICRO; 590 case IIO_PRESSURE: 591 /* 20 uBar = 0.002kPascal */ 592 *val = 0; 593 *val2 = 2000; 594 return IIO_VAL_INT_PLUS_MICRO; 595 default: 596 return -EINVAL; 597 } 598 case IIO_CHAN_INFO_CALIBBIAS: 599 mutex_lock(&indio_dev->mlock); 600 ret = adis_read_reg_16(&st->adis, 601 adis16400_addresses[chan->scan_index], &val16); 602 mutex_unlock(&indio_dev->mlock); 603 if (ret) 604 return ret; 605 val16 = sign_extend32(val16, 11); 606 *val = val16; 607 return IIO_VAL_INT; 608 case IIO_CHAN_INFO_OFFSET: 609 /* currently only temperature */ 610 *val = st->variant->temp_offset; 611 return IIO_VAL_INT; 612 case IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY: 613 mutex_lock(&indio_dev->mlock); 614 /* Need both the number of taps and the sampling frequency */ 615 ret = adis_read_reg_16(&st->adis, 616 ADIS16400_SENS_AVG, 617 &val16); 618 if (ret < 0) { 619 mutex_unlock(&indio_dev->mlock); 620 return ret; 621 } 622 ret = st->variant->get_freq(st); 623 if (ret >= 0) { 624 ret /= adis16400_3db_divisors[val16 & 0x07]; 625 *val = ret / 1000; 626 *val2 = (ret % 1000) * 1000; 627 } 628 mutex_unlock(&indio_dev->mlock); 629 if (ret < 0) 630 return ret; 631 return IIO_VAL_INT_PLUS_MICRO; 632 case IIO_CHAN_INFO_SAMP_FREQ: 633 ret = st->variant->get_freq(st); 634 if (ret < 0) 635 return ret; 636 *val = ret / 1000; 637 *val2 = (ret % 1000) * 1000; 638 return IIO_VAL_INT_PLUS_MICRO; 639 default: 640 return -EINVAL; 641 } 642 } 643 644 #if IS_ENABLED(CONFIG_IIO_BUFFER) 645 static irqreturn_t adis16400_trigger_handler(int irq, void *p) 646 { 647 struct iio_poll_func *pf = p; 648 struct iio_dev *indio_dev = pf->indio_dev; 649 struct adis16400_state *st = iio_priv(indio_dev); 650 struct adis *adis = &st->adis; 651 u32 old_speed_hz = st->adis.spi->max_speed_hz; 652 void *buffer; 653 int ret; 654 655 if (!adis->buffer) 656 return -ENOMEM; 657 658 if (!(st->variant->flags & ADIS16400_NO_BURST) && 659 st->adis.spi->max_speed_hz > ADIS16400_SPI_BURST) { 660 st->adis.spi->max_speed_hz = ADIS16400_SPI_BURST; 661 spi_setup(st->adis.spi); 662 } 663 664 ret = spi_sync(adis->spi, &adis->msg); 665 if (ret) 666 dev_err(&adis->spi->dev, "Failed to read data: %d\n", ret); 667 668 if (!(st->variant->flags & ADIS16400_NO_BURST)) { 669 st->adis.spi->max_speed_hz = old_speed_hz; 670 spi_setup(st->adis.spi); 671 } 672 673 if (st->variant->flags & ADIS16400_BURST_DIAG_STAT) 674 buffer = adis->buffer + sizeof(u16); 675 else 676 buffer = adis->buffer; 677 678 iio_push_to_buffers_with_timestamp(indio_dev, buffer, 679 pf->timestamp); 680 681 iio_trigger_notify_done(indio_dev->trig); 682 683 return IRQ_HANDLED; 684 } 685 #else 686 #define adis16400_trigger_handler NULL 687 #endif /* IS_ENABLED(CONFIG_IIO_BUFFER) */ 688 689 #define ADIS16400_VOLTAGE_CHAN(addr, bits, name, si, chn) { \ 690 .type = IIO_VOLTAGE, \ 691 .indexed = 1, \ 692 .channel = chn, \ 693 .extend_name = name, \ 694 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \ 695 BIT(IIO_CHAN_INFO_SCALE), \ 696 .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \ 697 .address = (addr), \ 698 .scan_index = (si), \ 699 .scan_type = { \ 700 .sign = 'u', \ 701 .realbits = (bits), \ 702 .storagebits = 16, \ 703 .shift = 0, \ 704 .endianness = IIO_BE, \ 705 }, \ 706 } 707 708 #define ADIS16400_SUPPLY_CHAN(addr, bits) \ 709 ADIS16400_VOLTAGE_CHAN(addr, bits, "supply", ADIS16400_SCAN_SUPPLY, 0) 710 711 #define ADIS16400_AUX_ADC_CHAN(addr, bits) \ 712 ADIS16400_VOLTAGE_CHAN(addr, bits, NULL, ADIS16400_SCAN_ADC, 1) 713 714 #define ADIS16400_GYRO_CHAN(mod, addr, bits) { \ 715 .type = IIO_ANGL_VEL, \ 716 .modified = 1, \ 717 .channel2 = IIO_MOD_ ## mod, \ 718 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \ 719 BIT(IIO_CHAN_INFO_CALIBBIAS), \ 720 .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE) | \ 721 BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY), \ 722 .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \ 723 .address = addr, \ 724 .scan_index = ADIS16400_SCAN_GYRO_ ## mod, \ 725 .scan_type = { \ 726 .sign = 's', \ 727 .realbits = (bits), \ 728 .storagebits = 16, \ 729 .shift = 0, \ 730 .endianness = IIO_BE, \ 731 }, \ 732 } 733 734 #define ADIS16400_ACCEL_CHAN(mod, addr, bits) { \ 735 .type = IIO_ACCEL, \ 736 .modified = 1, \ 737 .channel2 = IIO_MOD_ ## mod, \ 738 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \ 739 BIT(IIO_CHAN_INFO_CALIBBIAS), \ 740 .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE) | \ 741 BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY), \ 742 .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \ 743 .address = (addr), \ 744 .scan_index = ADIS16400_SCAN_ACC_ ## mod, \ 745 .scan_type = { \ 746 .sign = 's', \ 747 .realbits = (bits), \ 748 .storagebits = 16, \ 749 .shift = 0, \ 750 .endianness = IIO_BE, \ 751 }, \ 752 } 753 754 #define ADIS16400_MAGN_CHAN(mod, addr, bits) { \ 755 .type = IIO_MAGN, \ 756 .modified = 1, \ 757 .channel2 = IIO_MOD_ ## mod, \ 758 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW), \ 759 .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE) | \ 760 BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY), \ 761 .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \ 762 .address = (addr), \ 763 .scan_index = ADIS16400_SCAN_MAGN_ ## mod, \ 764 .scan_type = { \ 765 .sign = 's', \ 766 .realbits = (bits), \ 767 .storagebits = 16, \ 768 .shift = 0, \ 769 .endianness = IIO_BE, \ 770 }, \ 771 } 772 773 #define ADIS16400_MOD_TEMP_NAME_X "x" 774 #define ADIS16400_MOD_TEMP_NAME_Y "y" 775 #define ADIS16400_MOD_TEMP_NAME_Z "z" 776 777 #define ADIS16400_MOD_TEMP_CHAN(mod, addr, bits) { \ 778 .type = IIO_TEMP, \ 779 .indexed = 1, \ 780 .channel = 0, \ 781 .extend_name = ADIS16400_MOD_TEMP_NAME_ ## mod, \ 782 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \ 783 BIT(IIO_CHAN_INFO_OFFSET) | \ 784 BIT(IIO_CHAN_INFO_SCALE), \ 785 .info_mask_shared_by_type = \ 786 BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY), \ 787 .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \ 788 .address = (addr), \ 789 .scan_index = ADIS16350_SCAN_TEMP_ ## mod, \ 790 .scan_type = { \ 791 .sign = 's', \ 792 .realbits = (bits), \ 793 .storagebits = 16, \ 794 .shift = 0, \ 795 .endianness = IIO_BE, \ 796 }, \ 797 } 798 799 #define ADIS16400_TEMP_CHAN(addr, bits) { \ 800 .type = IIO_TEMP, \ 801 .indexed = 1, \ 802 .channel = 0, \ 803 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \ 804 BIT(IIO_CHAN_INFO_OFFSET) | \ 805 BIT(IIO_CHAN_INFO_SCALE), \ 806 .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \ 807 .address = (addr), \ 808 .scan_index = ADIS16350_SCAN_TEMP_X, \ 809 .scan_type = { \ 810 .sign = 's', \ 811 .realbits = (bits), \ 812 .storagebits = 16, \ 813 .shift = 0, \ 814 .endianness = IIO_BE, \ 815 }, \ 816 } 817 818 #define ADIS16400_INCLI_CHAN(mod, addr, bits) { \ 819 .type = IIO_INCLI, \ 820 .modified = 1, \ 821 .channel2 = IIO_MOD_ ## mod, \ 822 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW), \ 823 .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE), \ 824 .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \ 825 .address = (addr), \ 826 .scan_index = ADIS16300_SCAN_INCLI_ ## mod, \ 827 .scan_type = { \ 828 .sign = 's', \ 829 .realbits = (bits), \ 830 .storagebits = 16, \ 831 .shift = 0, \ 832 .endianness = IIO_BE, \ 833 }, \ 834 } 835 836 static const struct iio_chan_spec adis16400_channels[] = { 837 ADIS16400_SUPPLY_CHAN(ADIS16400_SUPPLY_OUT, 14), 838 ADIS16400_GYRO_CHAN(X, ADIS16400_XGYRO_OUT, 14), 839 ADIS16400_GYRO_CHAN(Y, ADIS16400_YGYRO_OUT, 14), 840 ADIS16400_GYRO_CHAN(Z, ADIS16400_ZGYRO_OUT, 14), 841 ADIS16400_ACCEL_CHAN(X, ADIS16400_XACCL_OUT, 14), 842 ADIS16400_ACCEL_CHAN(Y, ADIS16400_YACCL_OUT, 14), 843 ADIS16400_ACCEL_CHAN(Z, ADIS16400_ZACCL_OUT, 14), 844 ADIS16400_MAGN_CHAN(X, ADIS16400_XMAGN_OUT, 14), 845 ADIS16400_MAGN_CHAN(Y, ADIS16400_YMAGN_OUT, 14), 846 ADIS16400_MAGN_CHAN(Z, ADIS16400_ZMAGN_OUT, 14), 847 ADIS16400_TEMP_CHAN(ADIS16400_TEMP_OUT, 12), 848 ADIS16400_AUX_ADC_CHAN(ADIS16400_AUX_ADC, 12), 849 IIO_CHAN_SOFT_TIMESTAMP(ADIS16400_SCAN_TIMESTAMP), 850 }; 851 852 static const struct iio_chan_spec adis16445_channels[] = { 853 ADIS16400_GYRO_CHAN(X, ADIS16400_XGYRO_OUT, 16), 854 ADIS16400_GYRO_CHAN(Y, ADIS16400_YGYRO_OUT, 16), 855 ADIS16400_GYRO_CHAN(Z, ADIS16400_ZGYRO_OUT, 16), 856 ADIS16400_ACCEL_CHAN(X, ADIS16400_XACCL_OUT, 16), 857 ADIS16400_ACCEL_CHAN(Y, ADIS16400_YACCL_OUT, 16), 858 ADIS16400_ACCEL_CHAN(Z, ADIS16400_ZACCL_OUT, 16), 859 ADIS16400_TEMP_CHAN(ADIS16448_TEMP_OUT, 12), 860 IIO_CHAN_SOFT_TIMESTAMP(ADIS16400_SCAN_TIMESTAMP), 861 }; 862 863 static const struct iio_chan_spec adis16448_channels[] = { 864 ADIS16400_GYRO_CHAN(X, ADIS16400_XGYRO_OUT, 16), 865 ADIS16400_GYRO_CHAN(Y, ADIS16400_YGYRO_OUT, 16), 866 ADIS16400_GYRO_CHAN(Z, ADIS16400_ZGYRO_OUT, 16), 867 ADIS16400_ACCEL_CHAN(X, ADIS16400_XACCL_OUT, 16), 868 ADIS16400_ACCEL_CHAN(Y, ADIS16400_YACCL_OUT, 16), 869 ADIS16400_ACCEL_CHAN(Z, ADIS16400_ZACCL_OUT, 16), 870 ADIS16400_MAGN_CHAN(X, ADIS16400_XMAGN_OUT, 16), 871 ADIS16400_MAGN_CHAN(Y, ADIS16400_YMAGN_OUT, 16), 872 ADIS16400_MAGN_CHAN(Z, ADIS16400_ZMAGN_OUT, 16), 873 { 874 .type = IIO_PRESSURE, 875 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW), 876 .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE), 877 .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), 878 .address = ADIS16448_BARO_OUT, 879 .scan_index = ADIS16400_SCAN_BARO, 880 .scan_type = { 881 .sign = 's', 882 .realbits = 16, 883 .storagebits = 16, 884 .endianness = IIO_BE, 885 }, 886 }, 887 ADIS16400_TEMP_CHAN(ADIS16448_TEMP_OUT, 12), 888 IIO_CHAN_SOFT_TIMESTAMP(ADIS16400_SCAN_TIMESTAMP), 889 }; 890 891 static const struct iio_chan_spec adis16350_channels[] = { 892 ADIS16400_SUPPLY_CHAN(ADIS16400_SUPPLY_OUT, 12), 893 ADIS16400_GYRO_CHAN(X, ADIS16400_XGYRO_OUT, 14), 894 ADIS16400_GYRO_CHAN(Y, ADIS16400_YGYRO_OUT, 14), 895 ADIS16400_GYRO_CHAN(Z, ADIS16400_ZGYRO_OUT, 14), 896 ADIS16400_ACCEL_CHAN(X, ADIS16400_XACCL_OUT, 14), 897 ADIS16400_ACCEL_CHAN(Y, ADIS16400_YACCL_OUT, 14), 898 ADIS16400_ACCEL_CHAN(Z, ADIS16400_ZACCL_OUT, 14), 899 ADIS16400_MAGN_CHAN(X, ADIS16400_XMAGN_OUT, 14), 900 ADIS16400_MAGN_CHAN(Y, ADIS16400_YMAGN_OUT, 14), 901 ADIS16400_MAGN_CHAN(Z, ADIS16400_ZMAGN_OUT, 14), 902 ADIS16400_AUX_ADC_CHAN(ADIS16300_AUX_ADC, 12), 903 ADIS16400_MOD_TEMP_CHAN(X, ADIS16350_XTEMP_OUT, 12), 904 ADIS16400_MOD_TEMP_CHAN(Y, ADIS16350_YTEMP_OUT, 12), 905 ADIS16400_MOD_TEMP_CHAN(Z, ADIS16350_ZTEMP_OUT, 12), 906 IIO_CHAN_SOFT_TIMESTAMP(ADIS16400_SCAN_TIMESTAMP), 907 }; 908 909 static const struct iio_chan_spec adis16300_channels[] = { 910 ADIS16400_SUPPLY_CHAN(ADIS16400_SUPPLY_OUT, 12), 911 ADIS16400_GYRO_CHAN(X, ADIS16400_XGYRO_OUT, 14), 912 ADIS16400_ACCEL_CHAN(X, ADIS16400_XACCL_OUT, 14), 913 ADIS16400_ACCEL_CHAN(Y, ADIS16400_YACCL_OUT, 14), 914 ADIS16400_ACCEL_CHAN(Z, ADIS16400_ZACCL_OUT, 14), 915 ADIS16400_TEMP_CHAN(ADIS16350_XTEMP_OUT, 12), 916 ADIS16400_AUX_ADC_CHAN(ADIS16300_AUX_ADC, 12), 917 ADIS16400_INCLI_CHAN(X, ADIS16300_PITCH_OUT, 13), 918 ADIS16400_INCLI_CHAN(Y, ADIS16300_ROLL_OUT, 13), 919 IIO_CHAN_SOFT_TIMESTAMP(ADIS16400_SCAN_TIMESTAMP), 920 }; 921 922 static const struct iio_chan_spec adis16334_channels[] = { 923 ADIS16400_GYRO_CHAN(X, ADIS16400_XGYRO_OUT, 14), 924 ADIS16400_GYRO_CHAN(Y, ADIS16400_YGYRO_OUT, 14), 925 ADIS16400_GYRO_CHAN(Z, ADIS16400_ZGYRO_OUT, 14), 926 ADIS16400_ACCEL_CHAN(X, ADIS16400_XACCL_OUT, 14), 927 ADIS16400_ACCEL_CHAN(Y, ADIS16400_YACCL_OUT, 14), 928 ADIS16400_ACCEL_CHAN(Z, ADIS16400_ZACCL_OUT, 14), 929 ADIS16400_TEMP_CHAN(ADIS16350_XTEMP_OUT, 12), 930 IIO_CHAN_SOFT_TIMESTAMP(ADIS16400_SCAN_TIMESTAMP), 931 }; 932 933 static struct adis16400_chip_info adis16400_chips[] = { 934 [ADIS16300] = { 935 .channels = adis16300_channels, 936 .num_channels = ARRAY_SIZE(adis16300_channels), 937 .flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE | 938 ADIS16400_HAS_SERIAL_NUMBER, 939 .gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */ 940 .accel_scale_micro = 5884, 941 .temp_scale_nano = 140000000, /* 0.14 C */ 942 .temp_offset = 25000000 / 140000, /* 25 C = 0x00 */ 943 .set_freq = adis16400_set_freq, 944 .get_freq = adis16400_get_freq, 945 }, 946 [ADIS16334] = { 947 .channels = adis16334_channels, 948 .num_channels = ARRAY_SIZE(adis16334_channels), 949 .flags = ADIS16400_HAS_PROD_ID | ADIS16400_NO_BURST | 950 ADIS16400_HAS_SERIAL_NUMBER, 951 .gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */ 952 .accel_scale_micro = IIO_G_TO_M_S_2(1000), /* 1 mg */ 953 .temp_scale_nano = 67850000, /* 0.06785 C */ 954 .temp_offset = 25000000 / 67850, /* 25 C = 0x00 */ 955 .set_freq = adis16334_set_freq, 956 .get_freq = adis16334_get_freq, 957 }, 958 [ADIS16350] = { 959 .channels = adis16350_channels, 960 .num_channels = ARRAY_SIZE(adis16350_channels), 961 .gyro_scale_micro = IIO_DEGREE_TO_RAD(73260), /* 0.07326 deg/s */ 962 .accel_scale_micro = IIO_G_TO_M_S_2(2522), /* 0.002522 g */ 963 .temp_scale_nano = 145300000, /* 0.1453 C */ 964 .temp_offset = 25000000 / 145300, /* 25 C = 0x00 */ 965 .flags = ADIS16400_NO_BURST | ADIS16400_HAS_SLOW_MODE, 966 .set_freq = adis16400_set_freq, 967 .get_freq = adis16400_get_freq, 968 }, 969 [ADIS16360] = { 970 .channels = adis16350_channels, 971 .num_channels = ARRAY_SIZE(adis16350_channels), 972 .flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE | 973 ADIS16400_HAS_SERIAL_NUMBER, 974 .gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */ 975 .accel_scale_micro = IIO_G_TO_M_S_2(3333), /* 3.333 mg */ 976 .temp_scale_nano = 136000000, /* 0.136 C */ 977 .temp_offset = 25000000 / 136000, /* 25 C = 0x00 */ 978 .set_freq = adis16400_set_freq, 979 .get_freq = adis16400_get_freq, 980 }, 981 [ADIS16362] = { 982 .channels = adis16350_channels, 983 .num_channels = ARRAY_SIZE(adis16350_channels), 984 .flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE | 985 ADIS16400_HAS_SERIAL_NUMBER, 986 .gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */ 987 .accel_scale_micro = IIO_G_TO_M_S_2(333), /* 0.333 mg */ 988 .temp_scale_nano = 136000000, /* 0.136 C */ 989 .temp_offset = 25000000 / 136000, /* 25 C = 0x00 */ 990 .set_freq = adis16400_set_freq, 991 .get_freq = adis16400_get_freq, 992 }, 993 [ADIS16364] = { 994 .channels = adis16350_channels, 995 .num_channels = ARRAY_SIZE(adis16350_channels), 996 .flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE | 997 ADIS16400_HAS_SERIAL_NUMBER, 998 .gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */ 999 .accel_scale_micro = IIO_G_TO_M_S_2(1000), /* 1 mg */ 1000 .temp_scale_nano = 136000000, /* 0.136 C */ 1001 .temp_offset = 25000000 / 136000, /* 25 C = 0x00 */ 1002 .set_freq = adis16400_set_freq, 1003 .get_freq = adis16400_get_freq, 1004 }, 1005 [ADIS16367] = { 1006 .channels = adis16350_channels, 1007 .num_channels = ARRAY_SIZE(adis16350_channels), 1008 .flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE | 1009 ADIS16400_HAS_SERIAL_NUMBER, 1010 .gyro_scale_micro = IIO_DEGREE_TO_RAD(2000), /* 0.2 deg/s */ 1011 .accel_scale_micro = IIO_G_TO_M_S_2(3333), /* 3.333 mg */ 1012 .temp_scale_nano = 136000000, /* 0.136 C */ 1013 .temp_offset = 25000000 / 136000, /* 25 C = 0x00 */ 1014 .set_freq = adis16400_set_freq, 1015 .get_freq = adis16400_get_freq, 1016 }, 1017 [ADIS16400] = { 1018 .channels = adis16400_channels, 1019 .num_channels = ARRAY_SIZE(adis16400_channels), 1020 .flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE, 1021 .gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */ 1022 .accel_scale_micro = IIO_G_TO_M_S_2(3333), /* 3.333 mg */ 1023 .temp_scale_nano = 140000000, /* 0.14 C */ 1024 .temp_offset = 25000000 / 140000, /* 25 C = 0x00 */ 1025 .set_freq = adis16400_set_freq, 1026 .get_freq = adis16400_get_freq, 1027 }, 1028 [ADIS16445] = { 1029 .channels = adis16445_channels, 1030 .num_channels = ARRAY_SIZE(adis16445_channels), 1031 .flags = ADIS16400_HAS_PROD_ID | 1032 ADIS16400_HAS_SERIAL_NUMBER | 1033 ADIS16400_BURST_DIAG_STAT, 1034 .gyro_scale_micro = IIO_DEGREE_TO_RAD(10000), /* 0.01 deg/s */ 1035 .accel_scale_micro = IIO_G_TO_M_S_2(250), /* 1/4000 g */ 1036 .temp_scale_nano = 73860000, /* 0.07386 C */ 1037 .temp_offset = 31000000 / 73860, /* 31 C = 0x00 */ 1038 .set_freq = adis16334_set_freq, 1039 .get_freq = adis16334_get_freq, 1040 }, 1041 [ADIS16448] = { 1042 .channels = adis16448_channels, 1043 .num_channels = ARRAY_SIZE(adis16448_channels), 1044 .flags = ADIS16400_HAS_PROD_ID | 1045 ADIS16400_HAS_SERIAL_NUMBER | 1046 ADIS16400_BURST_DIAG_STAT, 1047 .gyro_scale_micro = IIO_DEGREE_TO_RAD(40000), /* 0.04 deg/s */ 1048 .accel_scale_micro = IIO_G_TO_M_S_2(833), /* 1/1200 g */ 1049 .temp_scale_nano = 73860000, /* 0.07386 C */ 1050 .temp_offset = 31000000 / 73860, /* 31 C = 0x00 */ 1051 .set_freq = adis16334_set_freq, 1052 .get_freq = adis16334_get_freq, 1053 } 1054 }; 1055 1056 static const struct iio_info adis16400_info = { 1057 .read_raw = &adis16400_read_raw, 1058 .write_raw = &adis16400_write_raw, 1059 .update_scan_mode = adis_update_scan_mode, 1060 .debugfs_reg_access = adis_debugfs_reg_access, 1061 }; 1062 1063 static const char * const adis16400_status_error_msgs[] = { 1064 [ADIS16400_DIAG_STAT_ZACCL_FAIL] = "Z-axis accelerometer self-test failure", 1065 [ADIS16400_DIAG_STAT_YACCL_FAIL] = "Y-axis accelerometer self-test failure", 1066 [ADIS16400_DIAG_STAT_XACCL_FAIL] = "X-axis accelerometer self-test failure", 1067 [ADIS16400_DIAG_STAT_XGYRO_FAIL] = "X-axis gyroscope self-test failure", 1068 [ADIS16400_DIAG_STAT_YGYRO_FAIL] = "Y-axis gyroscope self-test failure", 1069 [ADIS16400_DIAG_STAT_ZGYRO_FAIL] = "Z-axis gyroscope self-test failure", 1070 [ADIS16400_DIAG_STAT_ALARM2] = "Alarm 2 active", 1071 [ADIS16400_DIAG_STAT_ALARM1] = "Alarm 1 active", 1072 [ADIS16400_DIAG_STAT_FLASH_CHK] = "Flash checksum error", 1073 [ADIS16400_DIAG_STAT_SELF_TEST] = "Self test error", 1074 [ADIS16400_DIAG_STAT_OVERFLOW] = "Sensor overrange", 1075 [ADIS16400_DIAG_STAT_SPI_FAIL] = "SPI failure", 1076 [ADIS16400_DIAG_STAT_FLASH_UPT] = "Flash update failed", 1077 [ADIS16400_DIAG_STAT_POWER_HIGH] = "Power supply above 5.25V", 1078 [ADIS16400_DIAG_STAT_POWER_LOW] = "Power supply below 4.75V", 1079 }; 1080 1081 static const struct adis_data adis16400_data = { 1082 .msc_ctrl_reg = ADIS16400_MSC_CTRL, 1083 .glob_cmd_reg = ADIS16400_GLOB_CMD, 1084 .diag_stat_reg = ADIS16400_DIAG_STAT, 1085 1086 .read_delay = 50, 1087 .write_delay = 50, 1088 1089 .self_test_mask = ADIS16400_MSC_CTRL_MEM_TEST, 1090 .startup_delay = ADIS16400_STARTUP_DELAY, 1091 1092 .status_error_msgs = adis16400_status_error_msgs, 1093 .status_error_mask = BIT(ADIS16400_DIAG_STAT_ZACCL_FAIL) | 1094 BIT(ADIS16400_DIAG_STAT_YACCL_FAIL) | 1095 BIT(ADIS16400_DIAG_STAT_XACCL_FAIL) | 1096 BIT(ADIS16400_DIAG_STAT_XGYRO_FAIL) | 1097 BIT(ADIS16400_DIAG_STAT_YGYRO_FAIL) | 1098 BIT(ADIS16400_DIAG_STAT_ZGYRO_FAIL) | 1099 BIT(ADIS16400_DIAG_STAT_ALARM2) | 1100 BIT(ADIS16400_DIAG_STAT_ALARM1) | 1101 BIT(ADIS16400_DIAG_STAT_FLASH_CHK) | 1102 BIT(ADIS16400_DIAG_STAT_SELF_TEST) | 1103 BIT(ADIS16400_DIAG_STAT_OVERFLOW) | 1104 BIT(ADIS16400_DIAG_STAT_SPI_FAIL) | 1105 BIT(ADIS16400_DIAG_STAT_FLASH_UPT) | 1106 BIT(ADIS16400_DIAG_STAT_POWER_HIGH) | 1107 BIT(ADIS16400_DIAG_STAT_POWER_LOW), 1108 }; 1109 1110 static void adis16400_setup_chan_mask(struct adis16400_state *st) 1111 { 1112 const struct adis16400_chip_info *chip_info = st->variant; 1113 unsigned int i; 1114 1115 for (i = 0; i < chip_info->num_channels; i++) { 1116 const struct iio_chan_spec *ch = &chip_info->channels[i]; 1117 1118 if (ch->scan_index >= 0 && 1119 ch->scan_index != ADIS16400_SCAN_TIMESTAMP) 1120 st->avail_scan_mask[0] |= BIT(ch->scan_index); 1121 } 1122 } 1123 1124 static int adis16400_probe(struct spi_device *spi) 1125 { 1126 struct adis16400_state *st; 1127 struct iio_dev *indio_dev; 1128 int ret; 1129 1130 indio_dev = devm_iio_device_alloc(&spi->dev, sizeof(*st)); 1131 if (indio_dev == NULL) 1132 return -ENOMEM; 1133 1134 st = iio_priv(indio_dev); 1135 /* this is only used for removal purposes */ 1136 spi_set_drvdata(spi, indio_dev); 1137 1138 /* setup the industrialio driver allocated elements */ 1139 st->variant = &adis16400_chips[spi_get_device_id(spi)->driver_data]; 1140 indio_dev->dev.parent = &spi->dev; 1141 indio_dev->name = spi_get_device_id(spi)->name; 1142 indio_dev->channels = st->variant->channels; 1143 indio_dev->num_channels = st->variant->num_channels; 1144 indio_dev->info = &adis16400_info; 1145 indio_dev->modes = INDIO_DIRECT_MODE; 1146 1147 if (!(st->variant->flags & ADIS16400_NO_BURST)) { 1148 adis16400_setup_chan_mask(st); 1149 indio_dev->available_scan_masks = st->avail_scan_mask; 1150 st->adis.burst = &adis16400_burst; 1151 if (st->variant->flags & ADIS16400_BURST_DIAG_STAT) 1152 st->adis.burst->extra_len = sizeof(u16); 1153 } 1154 1155 ret = adis_init(&st->adis, indio_dev, spi, &adis16400_data); 1156 if (ret) 1157 return ret; 1158 1159 ret = adis_setup_buffer_and_trigger(&st->adis, indio_dev, 1160 adis16400_trigger_handler); 1161 if (ret) 1162 return ret; 1163 1164 /* Get the device into a sane initial state */ 1165 ret = adis16400_initial_setup(indio_dev); 1166 if (ret) 1167 goto error_cleanup_buffer; 1168 ret = iio_device_register(indio_dev); 1169 if (ret) 1170 goto error_cleanup_buffer; 1171 1172 adis16400_debugfs_init(indio_dev); 1173 return 0; 1174 1175 error_cleanup_buffer: 1176 adis_cleanup_buffer_and_trigger(&st->adis, indio_dev); 1177 return ret; 1178 } 1179 1180 static int adis16400_remove(struct spi_device *spi) 1181 { 1182 struct iio_dev *indio_dev = spi_get_drvdata(spi); 1183 struct adis16400_state *st = iio_priv(indio_dev); 1184 1185 iio_device_unregister(indio_dev); 1186 adis16400_stop_device(indio_dev); 1187 1188 adis_cleanup_buffer_and_trigger(&st->adis, indio_dev); 1189 1190 return 0; 1191 } 1192 1193 static const struct spi_device_id adis16400_id[] = { 1194 {"adis16300", ADIS16300}, 1195 {"adis16305", ADIS16300}, 1196 {"adis16334", ADIS16334}, 1197 {"adis16350", ADIS16350}, 1198 {"adis16354", ADIS16350}, 1199 {"adis16355", ADIS16350}, 1200 {"adis16360", ADIS16360}, 1201 {"adis16362", ADIS16362}, 1202 {"adis16364", ADIS16364}, 1203 {"adis16365", ADIS16360}, 1204 {"adis16367", ADIS16367}, 1205 {"adis16400", ADIS16400}, 1206 {"adis16405", ADIS16400}, 1207 {"adis16445", ADIS16445}, 1208 {"adis16448", ADIS16448}, 1209 {} 1210 }; 1211 MODULE_DEVICE_TABLE(spi, adis16400_id); 1212 1213 static struct spi_driver adis16400_driver = { 1214 .driver = { 1215 .name = "adis16400", 1216 }, 1217 .id_table = adis16400_id, 1218 .probe = adis16400_probe, 1219 .remove = adis16400_remove, 1220 }; 1221 module_spi_driver(adis16400_driver); 1222 1223 MODULE_AUTHOR("Manuel Stahl <manuel.stahl@iis.fraunhofer.de>"); 1224 MODULE_DESCRIPTION("Analog Devices ADIS16400/5 IMU SPI driver"); 1225 MODULE_LICENSE("GPL v2"); 1226