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_timeout *timeouts; 160 const int num_channels; 161 const long flags; 162 unsigned int gyro_scale_micro; 163 unsigned int accel_scale_micro; 164 int temp_scale_nano; 165 int temp_offset; 166 /* set_freq() & get_freq() need to avoid using ADIS lib's state lock */ 167 int (*set_freq)(struct adis16400_state *st, unsigned int freq); 168 int (*get_freq)(struct adis16400_state *st); 169 }; 170 171 /** 172 * struct adis16400_state - device instance specific data 173 * @variant: chip variant info 174 * @filt_int: integer part of requested filter frequency 175 * @adis: adis device 176 **/ 177 struct adis16400_state { 178 struct adis16400_chip_info *variant; 179 int filt_int; 180 181 struct adis adis; 182 unsigned long avail_scan_mask[2]; 183 }; 184 185 /* At the moment triggers are only used for ring buffer 186 * filling. This may change! 187 */ 188 189 enum { 190 ADIS16400_SCAN_SUPPLY, 191 ADIS16400_SCAN_GYRO_X, 192 ADIS16400_SCAN_GYRO_Y, 193 ADIS16400_SCAN_GYRO_Z, 194 ADIS16400_SCAN_ACC_X, 195 ADIS16400_SCAN_ACC_Y, 196 ADIS16400_SCAN_ACC_Z, 197 ADIS16400_SCAN_MAGN_X, 198 ADIS16400_SCAN_MAGN_Y, 199 ADIS16400_SCAN_MAGN_Z, 200 ADIS16400_SCAN_BARO, 201 ADIS16350_SCAN_TEMP_X, 202 ADIS16350_SCAN_TEMP_Y, 203 ADIS16350_SCAN_TEMP_Z, 204 ADIS16300_SCAN_INCLI_X, 205 ADIS16300_SCAN_INCLI_Y, 206 ADIS16400_SCAN_ADC, 207 ADIS16400_SCAN_TIMESTAMP, 208 }; 209 210 #ifdef CONFIG_DEBUG_FS 211 212 static ssize_t adis16400_show_serial_number(struct file *file, 213 char __user *userbuf, size_t count, loff_t *ppos) 214 { 215 struct adis16400_state *st = file->private_data; 216 u16 lot1, lot2, serial_number; 217 char buf[16]; 218 size_t len; 219 int ret; 220 221 ret = adis_read_reg_16(&st->adis, ADIS16334_LOT_ID1, &lot1); 222 if (ret) 223 return ret; 224 225 ret = adis_read_reg_16(&st->adis, ADIS16334_LOT_ID2, &lot2); 226 if (ret) 227 return ret; 228 229 ret = adis_read_reg_16(&st->adis, ADIS16334_SERIAL_NUMBER, 230 &serial_number); 231 if (ret) 232 return ret; 233 234 len = snprintf(buf, sizeof(buf), "%.4x-%.4x-%.4x\n", lot1, lot2, 235 serial_number); 236 237 return simple_read_from_buffer(userbuf, count, ppos, buf, len); 238 } 239 240 static const struct file_operations adis16400_serial_number_fops = { 241 .open = simple_open, 242 .read = adis16400_show_serial_number, 243 .llseek = default_llseek, 244 .owner = THIS_MODULE, 245 }; 246 247 static int adis16400_show_product_id(void *arg, u64 *val) 248 { 249 struct adis16400_state *st = arg; 250 uint16_t prod_id; 251 int ret; 252 253 ret = adis_read_reg_16(&st->adis, ADIS16400_PRODUCT_ID, &prod_id); 254 if (ret) 255 return ret; 256 257 *val = prod_id; 258 259 return 0; 260 } 261 DEFINE_SIMPLE_ATTRIBUTE(adis16400_product_id_fops, 262 adis16400_show_product_id, NULL, "%lld\n"); 263 264 static int adis16400_show_flash_count(void *arg, u64 *val) 265 { 266 struct adis16400_state *st = arg; 267 uint16_t flash_count; 268 int ret; 269 270 ret = adis_read_reg_16(&st->adis, ADIS16400_FLASH_CNT, &flash_count); 271 if (ret) 272 return ret; 273 274 *val = flash_count; 275 276 return 0; 277 } 278 DEFINE_SIMPLE_ATTRIBUTE(adis16400_flash_count_fops, 279 adis16400_show_flash_count, NULL, "%lld\n"); 280 281 static int adis16400_debugfs_init(struct iio_dev *indio_dev) 282 { 283 struct adis16400_state *st = iio_priv(indio_dev); 284 285 if (st->variant->flags & ADIS16400_HAS_SERIAL_NUMBER) 286 debugfs_create_file("serial_number", 0400, 287 indio_dev->debugfs_dentry, st, 288 &adis16400_serial_number_fops); 289 if (st->variant->flags & ADIS16400_HAS_PROD_ID) 290 debugfs_create_file("product_id", 0400, 291 indio_dev->debugfs_dentry, st, 292 &adis16400_product_id_fops); 293 debugfs_create_file("flash_count", 0400, indio_dev->debugfs_dentry, 294 st, &adis16400_flash_count_fops); 295 296 return 0; 297 } 298 299 #else 300 301 static int adis16400_debugfs_init(struct iio_dev *indio_dev) 302 { 303 return 0; 304 } 305 306 #endif 307 308 enum adis16400_chip_variant { 309 ADIS16300, 310 ADIS16334, 311 ADIS16350, 312 ADIS16360, 313 ADIS16362, 314 ADIS16364, 315 ADIS16367, 316 ADIS16400, 317 ADIS16445, 318 ADIS16448, 319 }; 320 321 static struct adis_burst adis16400_burst = { 322 .en = true, 323 .reg_cmd = ADIS16400_GLOB_CMD, 324 }; 325 326 static int adis16334_get_freq(struct adis16400_state *st) 327 { 328 int ret; 329 uint16_t t; 330 331 ret = __adis_read_reg_16(&st->adis, ADIS16400_SMPL_PRD, &t); 332 if (ret) 333 return ret; 334 335 t >>= ADIS16334_RATE_DIV_SHIFT; 336 337 return 819200 >> t; 338 } 339 340 static int adis16334_set_freq(struct adis16400_state *st, unsigned int freq) 341 { 342 unsigned int t; 343 344 if (freq < 819200) 345 t = ilog2(819200 / freq); 346 else 347 t = 0; 348 349 if (t > 0x31) 350 t = 0x31; 351 352 t <<= ADIS16334_RATE_DIV_SHIFT; 353 t |= ADIS16334_RATE_INT_CLK; 354 355 return __adis_write_reg_16(&st->adis, ADIS16400_SMPL_PRD, t); 356 } 357 358 static int adis16400_get_freq(struct adis16400_state *st) 359 { 360 int sps, ret; 361 uint16_t t; 362 363 ret = __adis_read_reg_16(&st->adis, ADIS16400_SMPL_PRD, &t); 364 if (ret) 365 return ret; 366 367 sps = (t & ADIS16400_SMPL_PRD_TIME_BASE) ? 52851 : 1638404; 368 sps /= (t & ADIS16400_SMPL_PRD_DIV_MASK) + 1; 369 370 return sps; 371 } 372 373 static int adis16400_set_freq(struct adis16400_state *st, unsigned int freq) 374 { 375 unsigned int t; 376 uint8_t val = 0; 377 378 t = 1638404 / freq; 379 if (t >= 128) { 380 val |= ADIS16400_SMPL_PRD_TIME_BASE; 381 t = 52851 / freq; 382 if (t >= 128) 383 t = 127; 384 } else if (t != 0) { 385 t--; 386 } 387 388 val |= t; 389 390 if (t >= 0x0A || (val & ADIS16400_SMPL_PRD_TIME_BASE)) 391 st->adis.spi->max_speed_hz = ADIS16400_SPI_SLOW; 392 else 393 st->adis.spi->max_speed_hz = ADIS16400_SPI_FAST; 394 395 return __adis_write_reg_8(&st->adis, ADIS16400_SMPL_PRD, val); 396 } 397 398 static const unsigned int adis16400_3db_divisors[] = { 399 [0] = 2, /* Special case */ 400 [1] = 6, 401 [2] = 12, 402 [3] = 25, 403 [4] = 50, 404 [5] = 100, 405 [6] = 200, 406 [7] = 200, /* Not a valid setting */ 407 }; 408 409 static int __adis16400_set_filter(struct iio_dev *indio_dev, int sps, int val) 410 { 411 struct adis16400_state *st = iio_priv(indio_dev); 412 uint16_t val16; 413 int i, ret; 414 415 for (i = ARRAY_SIZE(adis16400_3db_divisors) - 1; i >= 1; i--) { 416 if (sps / adis16400_3db_divisors[i] >= val) 417 break; 418 } 419 420 ret = __adis_read_reg_16(&st->adis, ADIS16400_SENS_AVG, &val16); 421 if (ret) 422 return ret; 423 424 ret = __adis_write_reg_16(&st->adis, ADIS16400_SENS_AVG, 425 (val16 & ~0x07) | i); 426 return ret; 427 } 428 429 /* Power down the device */ 430 static int adis16400_stop_device(struct iio_dev *indio_dev) 431 { 432 struct adis16400_state *st = iio_priv(indio_dev); 433 int ret; 434 435 ret = adis_write_reg_16(&st->adis, ADIS16400_SLP_CNT, 436 ADIS16400_SLP_CNT_POWER_OFF); 437 if (ret) 438 dev_err(&indio_dev->dev, 439 "problem with turning device off: SLP_CNT"); 440 441 return ret; 442 } 443 444 static int adis16400_initial_setup(struct iio_dev *indio_dev) 445 { 446 struct adis16400_state *st = iio_priv(indio_dev); 447 uint16_t prod_id, smp_prd; 448 unsigned int device_id; 449 int ret; 450 451 /* use low spi speed for init if the device has a slow mode */ 452 if (st->variant->flags & ADIS16400_HAS_SLOW_MODE) 453 st->adis.spi->max_speed_hz = ADIS16400_SPI_SLOW; 454 else 455 st->adis.spi->max_speed_hz = ADIS16400_SPI_FAST; 456 st->adis.spi->mode = SPI_MODE_3; 457 spi_setup(st->adis.spi); 458 459 ret = adis_initial_startup(&st->adis); 460 if (ret) 461 return ret; 462 463 if (st->variant->flags & ADIS16400_HAS_PROD_ID) { 464 ret = adis_read_reg_16(&st->adis, 465 ADIS16400_PRODUCT_ID, &prod_id); 466 if (ret) 467 goto err_ret; 468 469 ret = sscanf(indio_dev->name, "adis%u\n", &device_id); 470 if (ret != 1) { 471 ret = -EINVAL; 472 goto err_ret; 473 } 474 475 if (prod_id != device_id) 476 dev_warn(&indio_dev->dev, "Device ID(%u) and product ID(%u) do not match.", 477 device_id, prod_id); 478 479 dev_info(&indio_dev->dev, "%s: prod_id 0x%04x at CS%d (irq %d)\n", 480 indio_dev->name, prod_id, 481 st->adis.spi->chip_select, st->adis.spi->irq); 482 } 483 /* use high spi speed if possible */ 484 if (st->variant->flags & ADIS16400_HAS_SLOW_MODE) { 485 ret = adis_read_reg_16(&st->adis, ADIS16400_SMPL_PRD, &smp_prd); 486 if (ret) 487 goto err_ret; 488 489 if ((smp_prd & ADIS16400_SMPL_PRD_DIV_MASK) < 0x0A) { 490 st->adis.spi->max_speed_hz = ADIS16400_SPI_FAST; 491 spi_setup(st->adis.spi); 492 } 493 } 494 495 err_ret: 496 return ret; 497 } 498 499 static const uint8_t adis16400_addresses[] = { 500 [ADIS16400_SCAN_GYRO_X] = ADIS16400_XGYRO_OFF, 501 [ADIS16400_SCAN_GYRO_Y] = ADIS16400_YGYRO_OFF, 502 [ADIS16400_SCAN_GYRO_Z] = ADIS16400_ZGYRO_OFF, 503 [ADIS16400_SCAN_ACC_X] = ADIS16400_XACCL_OFF, 504 [ADIS16400_SCAN_ACC_Y] = ADIS16400_YACCL_OFF, 505 [ADIS16400_SCAN_ACC_Z] = ADIS16400_ZACCL_OFF, 506 }; 507 508 static int adis16400_write_raw(struct iio_dev *indio_dev, 509 struct iio_chan_spec const *chan, int val, int val2, long info) 510 { 511 struct adis16400_state *st = iio_priv(indio_dev); 512 struct mutex *slock = &st->adis.state_lock; 513 int ret, sps; 514 515 switch (info) { 516 case IIO_CHAN_INFO_CALIBBIAS: 517 ret = adis_write_reg_16(&st->adis, 518 adis16400_addresses[chan->scan_index], val); 519 return ret; 520 case IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY: 521 /* 522 * Need to cache values so we can update if the frequency 523 * changes. 524 */ 525 mutex_lock(slock); 526 st->filt_int = val; 527 /* Work out update to current value */ 528 sps = st->variant->get_freq(st); 529 if (sps < 0) { 530 mutex_unlock(slock); 531 return sps; 532 } 533 534 ret = __adis16400_set_filter(indio_dev, sps, 535 val * 1000 + val2 / 1000); 536 mutex_unlock(slock); 537 return ret; 538 case IIO_CHAN_INFO_SAMP_FREQ: 539 sps = val * 1000 + val2 / 1000; 540 541 if (sps <= 0) 542 return -EINVAL; 543 544 mutex_lock(slock); 545 ret = st->variant->set_freq(st, sps); 546 mutex_unlock(slock); 547 return ret; 548 default: 549 return -EINVAL; 550 } 551 } 552 553 static int adis16400_read_raw(struct iio_dev *indio_dev, 554 struct iio_chan_spec const *chan, int *val, int *val2, long info) 555 { 556 struct adis16400_state *st = iio_priv(indio_dev); 557 struct mutex *slock = &st->adis.state_lock; 558 int16_t val16; 559 int ret; 560 561 switch (info) { 562 case IIO_CHAN_INFO_RAW: 563 return adis_single_conversion(indio_dev, chan, 0, val); 564 case IIO_CHAN_INFO_SCALE: 565 switch (chan->type) { 566 case IIO_ANGL_VEL: 567 *val = 0; 568 *val2 = st->variant->gyro_scale_micro; 569 return IIO_VAL_INT_PLUS_MICRO; 570 case IIO_VOLTAGE: 571 *val = 0; 572 if (chan->channel == 0) { 573 *val = 2; 574 *val2 = 418000; /* 2.418 mV */ 575 } else { 576 *val = 0; 577 *val2 = 805800; /* 805.8 uV */ 578 } 579 return IIO_VAL_INT_PLUS_MICRO; 580 case IIO_ACCEL: 581 *val = 0; 582 *val2 = st->variant->accel_scale_micro; 583 return IIO_VAL_INT_PLUS_MICRO; 584 case IIO_MAGN: 585 *val = 0; 586 *val2 = 500; /* 0.5 mgauss */ 587 return IIO_VAL_INT_PLUS_MICRO; 588 case IIO_TEMP: 589 *val = st->variant->temp_scale_nano / 1000000; 590 *val2 = (st->variant->temp_scale_nano % 1000000); 591 return IIO_VAL_INT_PLUS_MICRO; 592 case IIO_PRESSURE: 593 /* 20 uBar = 0.002kPascal */ 594 *val = 0; 595 *val2 = 2000; 596 return IIO_VAL_INT_PLUS_MICRO; 597 default: 598 return -EINVAL; 599 } 600 case IIO_CHAN_INFO_CALIBBIAS: 601 ret = adis_read_reg_16(&st->adis, 602 adis16400_addresses[chan->scan_index], &val16); 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(slock); 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) { 619 mutex_unlock(slock); 620 return ret; 621 } 622 ret = st->variant->get_freq(st); 623 mutex_unlock(slock); 624 if (ret) 625 return ret; 626 ret /= adis16400_3db_divisors[val16 & 0x07]; 627 *val = ret / 1000; 628 *val2 = (ret % 1000) * 1000; 629 return IIO_VAL_INT_PLUS_MICRO; 630 case IIO_CHAN_INFO_SAMP_FREQ: 631 mutex_lock(slock); 632 ret = st->variant->get_freq(st); 633 mutex_unlock(slock); 634 if (ret) 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 const struct adis_timeout adis16300_timeouts = { 934 .reset_ms = ADIS16400_STARTUP_DELAY, 935 .sw_reset_ms = ADIS16400_STARTUP_DELAY, 936 .self_test_ms = ADIS16400_STARTUP_DELAY, 937 }; 938 939 static const struct adis_timeout adis16362_timeouts = { 940 .reset_ms = 130, 941 .sw_reset_ms = 130, 942 .self_test_ms = 12, 943 }; 944 945 static const struct adis_timeout adis16400_timeouts = { 946 .reset_ms = 170, 947 .sw_reset_ms = 170, 948 .self_test_ms = 12, 949 }; 950 951 static const struct adis_timeout adis16445_timeouts = { 952 .reset_ms = 55, 953 .sw_reset_ms = 55, 954 .self_test_ms = 16, 955 }; 956 957 static const struct adis_timeout adis16448_timeouts = { 958 .reset_ms = 90, 959 .sw_reset_ms = 90, 960 .self_test_ms = 45, 961 }; 962 963 static struct adis16400_chip_info adis16400_chips[] = { 964 [ADIS16300] = { 965 .channels = adis16300_channels, 966 .num_channels = ARRAY_SIZE(adis16300_channels), 967 .flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE | 968 ADIS16400_HAS_SERIAL_NUMBER, 969 .gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */ 970 .accel_scale_micro = 5884, 971 .temp_scale_nano = 140000000, /* 0.14 C */ 972 .temp_offset = 25000000 / 140000, /* 25 C = 0x00 */ 973 .set_freq = adis16400_set_freq, 974 .get_freq = adis16400_get_freq, 975 .timeouts = &adis16300_timeouts, 976 }, 977 [ADIS16334] = { 978 .channels = adis16334_channels, 979 .num_channels = ARRAY_SIZE(adis16334_channels), 980 .flags = ADIS16400_HAS_PROD_ID | ADIS16400_NO_BURST | 981 ADIS16400_HAS_SERIAL_NUMBER, 982 .gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */ 983 .accel_scale_micro = IIO_G_TO_M_S_2(1000), /* 1 mg */ 984 .temp_scale_nano = 67850000, /* 0.06785 C */ 985 .temp_offset = 25000000 / 67850, /* 25 C = 0x00 */ 986 .set_freq = adis16334_set_freq, 987 .get_freq = adis16334_get_freq, 988 }, 989 [ADIS16350] = { 990 .channels = adis16350_channels, 991 .num_channels = ARRAY_SIZE(adis16350_channels), 992 .gyro_scale_micro = IIO_DEGREE_TO_RAD(73260), /* 0.07326 deg/s */ 993 .accel_scale_micro = IIO_G_TO_M_S_2(2522), /* 0.002522 g */ 994 .temp_scale_nano = 145300000, /* 0.1453 C */ 995 .temp_offset = 25000000 / 145300, /* 25 C = 0x00 */ 996 .flags = ADIS16400_NO_BURST | ADIS16400_HAS_SLOW_MODE, 997 .set_freq = adis16400_set_freq, 998 .get_freq = adis16400_get_freq, 999 .timeouts = &adis16300_timeouts, 1000 }, 1001 [ADIS16360] = { 1002 .channels = adis16350_channels, 1003 .num_channels = ARRAY_SIZE(adis16350_channels), 1004 .flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE | 1005 ADIS16400_HAS_SERIAL_NUMBER, 1006 .gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */ 1007 .accel_scale_micro = IIO_G_TO_M_S_2(3333), /* 3.333 mg */ 1008 .temp_scale_nano = 136000000, /* 0.136 C */ 1009 .temp_offset = 25000000 / 136000, /* 25 C = 0x00 */ 1010 .set_freq = adis16400_set_freq, 1011 .get_freq = adis16400_get_freq, 1012 .timeouts = &adis16300_timeouts, 1013 }, 1014 [ADIS16362] = { 1015 .channels = adis16350_channels, 1016 .num_channels = ARRAY_SIZE(adis16350_channels), 1017 .flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE | 1018 ADIS16400_HAS_SERIAL_NUMBER, 1019 .gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */ 1020 .accel_scale_micro = IIO_G_TO_M_S_2(333), /* 0.333 mg */ 1021 .temp_scale_nano = 136000000, /* 0.136 C */ 1022 .temp_offset = 25000000 / 136000, /* 25 C = 0x00 */ 1023 .set_freq = adis16400_set_freq, 1024 .get_freq = adis16400_get_freq, 1025 .timeouts = &adis16362_timeouts, 1026 }, 1027 [ADIS16364] = { 1028 .channels = adis16350_channels, 1029 .num_channels = ARRAY_SIZE(adis16350_channels), 1030 .flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE | 1031 ADIS16400_HAS_SERIAL_NUMBER, 1032 .gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */ 1033 .accel_scale_micro = IIO_G_TO_M_S_2(1000), /* 1 mg */ 1034 .temp_scale_nano = 136000000, /* 0.136 C */ 1035 .temp_offset = 25000000 / 136000, /* 25 C = 0x00 */ 1036 .set_freq = adis16400_set_freq, 1037 .get_freq = adis16400_get_freq, 1038 .timeouts = &adis16362_timeouts, 1039 }, 1040 [ADIS16367] = { 1041 .channels = adis16350_channels, 1042 .num_channels = ARRAY_SIZE(adis16350_channels), 1043 .flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE | 1044 ADIS16400_HAS_SERIAL_NUMBER, 1045 .gyro_scale_micro = IIO_DEGREE_TO_RAD(2000), /* 0.2 deg/s */ 1046 .accel_scale_micro = IIO_G_TO_M_S_2(3333), /* 3.333 mg */ 1047 .temp_scale_nano = 136000000, /* 0.136 C */ 1048 .temp_offset = 25000000 / 136000, /* 25 C = 0x00 */ 1049 .set_freq = adis16400_set_freq, 1050 .get_freq = adis16400_get_freq, 1051 .timeouts = &adis16300_timeouts, 1052 }, 1053 [ADIS16400] = { 1054 .channels = adis16400_channels, 1055 .num_channels = ARRAY_SIZE(adis16400_channels), 1056 .flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE, 1057 .gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */ 1058 .accel_scale_micro = IIO_G_TO_M_S_2(3333), /* 3.333 mg */ 1059 .temp_scale_nano = 140000000, /* 0.14 C */ 1060 .temp_offset = 25000000 / 140000, /* 25 C = 0x00 */ 1061 .set_freq = adis16400_set_freq, 1062 .get_freq = adis16400_get_freq, 1063 .timeouts = &adis16400_timeouts, 1064 }, 1065 [ADIS16445] = { 1066 .channels = adis16445_channels, 1067 .num_channels = ARRAY_SIZE(adis16445_channels), 1068 .flags = ADIS16400_HAS_PROD_ID | 1069 ADIS16400_HAS_SERIAL_NUMBER | 1070 ADIS16400_BURST_DIAG_STAT, 1071 .gyro_scale_micro = IIO_DEGREE_TO_RAD(10000), /* 0.01 deg/s */ 1072 .accel_scale_micro = IIO_G_TO_M_S_2(250), /* 1/4000 g */ 1073 .temp_scale_nano = 73860000, /* 0.07386 C */ 1074 .temp_offset = 31000000 / 73860, /* 31 C = 0x00 */ 1075 .set_freq = adis16334_set_freq, 1076 .get_freq = adis16334_get_freq, 1077 .timeouts = &adis16445_timeouts, 1078 }, 1079 [ADIS16448] = { 1080 .channels = adis16448_channels, 1081 .num_channels = ARRAY_SIZE(adis16448_channels), 1082 .flags = ADIS16400_HAS_PROD_ID | 1083 ADIS16400_HAS_SERIAL_NUMBER | 1084 ADIS16400_BURST_DIAG_STAT, 1085 .gyro_scale_micro = IIO_DEGREE_TO_RAD(40000), /* 0.04 deg/s */ 1086 .accel_scale_micro = IIO_G_TO_M_S_2(833), /* 1/1200 g */ 1087 .temp_scale_nano = 73860000, /* 0.07386 C */ 1088 .temp_offset = 31000000 / 73860, /* 31 C = 0x00 */ 1089 .set_freq = adis16334_set_freq, 1090 .get_freq = adis16334_get_freq, 1091 .timeouts = &adis16448_timeouts, 1092 } 1093 }; 1094 1095 static const struct iio_info adis16400_info = { 1096 .read_raw = &adis16400_read_raw, 1097 .write_raw = &adis16400_write_raw, 1098 .update_scan_mode = adis_update_scan_mode, 1099 .debugfs_reg_access = adis_debugfs_reg_access, 1100 }; 1101 1102 static const char * const adis16400_status_error_msgs[] = { 1103 [ADIS16400_DIAG_STAT_ZACCL_FAIL] = "Z-axis accelerometer self-test failure", 1104 [ADIS16400_DIAG_STAT_YACCL_FAIL] = "Y-axis accelerometer self-test failure", 1105 [ADIS16400_DIAG_STAT_XACCL_FAIL] = "X-axis accelerometer self-test failure", 1106 [ADIS16400_DIAG_STAT_XGYRO_FAIL] = "X-axis gyroscope self-test failure", 1107 [ADIS16400_DIAG_STAT_YGYRO_FAIL] = "Y-axis gyroscope self-test failure", 1108 [ADIS16400_DIAG_STAT_ZGYRO_FAIL] = "Z-axis gyroscope self-test failure", 1109 [ADIS16400_DIAG_STAT_ALARM2] = "Alarm 2 active", 1110 [ADIS16400_DIAG_STAT_ALARM1] = "Alarm 1 active", 1111 [ADIS16400_DIAG_STAT_FLASH_CHK] = "Flash checksum error", 1112 [ADIS16400_DIAG_STAT_SELF_TEST] = "Self test error", 1113 [ADIS16400_DIAG_STAT_OVERFLOW] = "Sensor overrange", 1114 [ADIS16400_DIAG_STAT_SPI_FAIL] = "SPI failure", 1115 [ADIS16400_DIAG_STAT_FLASH_UPT] = "Flash update failed", 1116 [ADIS16400_DIAG_STAT_POWER_HIGH] = "Power supply above 5.25V", 1117 [ADIS16400_DIAG_STAT_POWER_LOW] = "Power supply below 4.75V", 1118 }; 1119 1120 static const struct adis_data adis16400_data = { 1121 .msc_ctrl_reg = ADIS16400_MSC_CTRL, 1122 .glob_cmd_reg = ADIS16400_GLOB_CMD, 1123 .diag_stat_reg = ADIS16400_DIAG_STAT, 1124 1125 .read_delay = 50, 1126 .write_delay = 50, 1127 1128 .self_test_mask = ADIS16400_MSC_CTRL_MEM_TEST, 1129 1130 .status_error_msgs = adis16400_status_error_msgs, 1131 .status_error_mask = BIT(ADIS16400_DIAG_STAT_ZACCL_FAIL) | 1132 BIT(ADIS16400_DIAG_STAT_YACCL_FAIL) | 1133 BIT(ADIS16400_DIAG_STAT_XACCL_FAIL) | 1134 BIT(ADIS16400_DIAG_STAT_XGYRO_FAIL) | 1135 BIT(ADIS16400_DIAG_STAT_YGYRO_FAIL) | 1136 BIT(ADIS16400_DIAG_STAT_ZGYRO_FAIL) | 1137 BIT(ADIS16400_DIAG_STAT_ALARM2) | 1138 BIT(ADIS16400_DIAG_STAT_ALARM1) | 1139 BIT(ADIS16400_DIAG_STAT_FLASH_CHK) | 1140 BIT(ADIS16400_DIAG_STAT_SELF_TEST) | 1141 BIT(ADIS16400_DIAG_STAT_OVERFLOW) | 1142 BIT(ADIS16400_DIAG_STAT_SPI_FAIL) | 1143 BIT(ADIS16400_DIAG_STAT_FLASH_UPT) | 1144 BIT(ADIS16400_DIAG_STAT_POWER_HIGH) | 1145 BIT(ADIS16400_DIAG_STAT_POWER_LOW), 1146 }; 1147 1148 static void adis16400_setup_chan_mask(struct adis16400_state *st) 1149 { 1150 const struct adis16400_chip_info *chip_info = st->variant; 1151 unsigned int i; 1152 1153 for (i = 0; i < chip_info->num_channels; i++) { 1154 const struct iio_chan_spec *ch = &chip_info->channels[i]; 1155 1156 if (ch->scan_index >= 0 && 1157 ch->scan_index != ADIS16400_SCAN_TIMESTAMP) 1158 st->avail_scan_mask[0] |= BIT(ch->scan_index); 1159 } 1160 } 1161 1162 static struct adis_data *adis16400_adis_data_alloc(struct adis16400_state *st, 1163 struct device *dev) 1164 { 1165 struct adis_data *data; 1166 1167 data = devm_kmalloc(dev, sizeof(struct adis_data), GFP_KERNEL); 1168 if (!data) 1169 return ERR_PTR(-ENOMEM); 1170 1171 memcpy(data, &adis16400_data, sizeof(*data)); 1172 1173 data->timeouts = st->variant->timeouts; 1174 1175 return data; 1176 } 1177 1178 static int adis16400_probe(struct spi_device *spi) 1179 { 1180 struct adis16400_state *st; 1181 struct iio_dev *indio_dev; 1182 int ret; 1183 const struct adis_data *adis16400_data; 1184 1185 indio_dev = devm_iio_device_alloc(&spi->dev, sizeof(*st)); 1186 if (indio_dev == NULL) 1187 return -ENOMEM; 1188 1189 st = iio_priv(indio_dev); 1190 /* this is only used for removal purposes */ 1191 spi_set_drvdata(spi, indio_dev); 1192 1193 /* setup the industrialio driver allocated elements */ 1194 st->variant = &adis16400_chips[spi_get_device_id(spi)->driver_data]; 1195 indio_dev->dev.parent = &spi->dev; 1196 indio_dev->name = spi_get_device_id(spi)->name; 1197 indio_dev->channels = st->variant->channels; 1198 indio_dev->num_channels = st->variant->num_channels; 1199 indio_dev->info = &adis16400_info; 1200 indio_dev->modes = INDIO_DIRECT_MODE; 1201 1202 if (!(st->variant->flags & ADIS16400_NO_BURST)) { 1203 adis16400_setup_chan_mask(st); 1204 indio_dev->available_scan_masks = st->avail_scan_mask; 1205 st->adis.burst = &adis16400_burst; 1206 if (st->variant->flags & ADIS16400_BURST_DIAG_STAT) 1207 st->adis.burst->extra_len = sizeof(u16); 1208 } 1209 1210 adis16400_data = adis16400_adis_data_alloc(st, &spi->dev); 1211 if (IS_ERR(adis16400_data)) 1212 return PTR_ERR(adis16400_data); 1213 1214 ret = adis_init(&st->adis, indio_dev, spi, adis16400_data); 1215 if (ret) 1216 return ret; 1217 1218 ret = adis_setup_buffer_and_trigger(&st->adis, indio_dev, 1219 adis16400_trigger_handler); 1220 if (ret) 1221 return ret; 1222 1223 /* Get the device into a sane initial state */ 1224 ret = adis16400_initial_setup(indio_dev); 1225 if (ret) 1226 goto error_cleanup_buffer; 1227 ret = iio_device_register(indio_dev); 1228 if (ret) 1229 goto error_cleanup_buffer; 1230 1231 adis16400_debugfs_init(indio_dev); 1232 return 0; 1233 1234 error_cleanup_buffer: 1235 adis_cleanup_buffer_and_trigger(&st->adis, indio_dev); 1236 return ret; 1237 } 1238 1239 static int adis16400_remove(struct spi_device *spi) 1240 { 1241 struct iio_dev *indio_dev = spi_get_drvdata(spi); 1242 struct adis16400_state *st = iio_priv(indio_dev); 1243 1244 iio_device_unregister(indio_dev); 1245 adis16400_stop_device(indio_dev); 1246 1247 adis_cleanup_buffer_and_trigger(&st->adis, indio_dev); 1248 1249 return 0; 1250 } 1251 1252 static const struct spi_device_id adis16400_id[] = { 1253 {"adis16300", ADIS16300}, 1254 {"adis16305", ADIS16300}, 1255 {"adis16334", ADIS16334}, 1256 {"adis16350", ADIS16350}, 1257 {"adis16354", ADIS16350}, 1258 {"adis16355", ADIS16350}, 1259 {"adis16360", ADIS16360}, 1260 {"adis16362", ADIS16362}, 1261 {"adis16364", ADIS16364}, 1262 {"adis16365", ADIS16360}, 1263 {"adis16367", ADIS16367}, 1264 {"adis16400", ADIS16400}, 1265 {"adis16405", ADIS16400}, 1266 {"adis16445", ADIS16445}, 1267 {"adis16448", ADIS16448}, 1268 {} 1269 }; 1270 MODULE_DEVICE_TABLE(spi, adis16400_id); 1271 1272 static struct spi_driver adis16400_driver = { 1273 .driver = { 1274 .name = "adis16400", 1275 }, 1276 .id_table = adis16400_id, 1277 .probe = adis16400_probe, 1278 .remove = adis16400_remove, 1279 }; 1280 module_spi_driver(adis16400_driver); 1281 1282 MODULE_AUTHOR("Manuel Stahl <manuel.stahl@iis.fraunhofer.de>"); 1283 MODULE_DESCRIPTION("Analog Devices ADIS16400/5 IMU SPI driver"); 1284 MODULE_LICENSE("GPL v2"); 1285