1 // SPDX-License-Identifier: GPL-2.0 2 /* 3 * ADIS16475 IMU driver 4 * 5 * Copyright 2019 Analog Devices Inc. 6 */ 7 #include <linux/bitfield.h> 8 #include <linux/bitops.h> 9 #include <linux/clk.h> 10 #include <linux/debugfs.h> 11 #include <linux/delay.h> 12 #include <linux/device.h> 13 #include <linux/kernel.h> 14 #include <linux/iio/buffer.h> 15 #include <linux/iio/iio.h> 16 #include <linux/iio/imu/adis.h> 17 #include <linux/iio/trigger_consumer.h> 18 #include <linux/irq.h> 19 #include <linux/lcm.h> 20 #include <linux/math.h> 21 #include <linux/module.h> 22 #include <linux/mod_devicetable.h> 23 #include <linux/property.h> 24 #include <linux/spi/spi.h> 25 26 #define ADIS16475_REG_DIAG_STAT 0x02 27 #define ADIS16475_REG_X_GYRO_L 0x04 28 #define ADIS16475_REG_Y_GYRO_L 0x08 29 #define ADIS16475_REG_Z_GYRO_L 0x0C 30 #define ADIS16475_REG_X_ACCEL_L 0x10 31 #define ADIS16475_REG_Y_ACCEL_L 0x14 32 #define ADIS16475_REG_Z_ACCEL_L 0x18 33 #define ADIS16475_REG_TEMP_OUT 0x1c 34 #define ADIS16475_REG_X_GYRO_BIAS_L 0x40 35 #define ADIS16475_REG_Y_GYRO_BIAS_L 0x44 36 #define ADIS16475_REG_Z_GYRO_BIAS_L 0x48 37 #define ADIS16475_REG_X_ACCEL_BIAS_L 0x4c 38 #define ADIS16475_REG_Y_ACCEL_BIAS_L 0x50 39 #define ADIS16475_REG_Z_ACCEL_BIAS_L 0x54 40 #define ADIS16475_REG_FILT_CTRL 0x5c 41 #define ADIS16475_FILT_CTRL_MASK GENMASK(2, 0) 42 #define ADIS16475_FILT_CTRL(x) FIELD_PREP(ADIS16475_FILT_CTRL_MASK, x) 43 #define ADIS16475_REG_MSG_CTRL 0x60 44 #define ADIS16475_MSG_CTRL_DR_POL_MASK BIT(0) 45 #define ADIS16475_MSG_CTRL_DR_POL(x) \ 46 FIELD_PREP(ADIS16475_MSG_CTRL_DR_POL_MASK, x) 47 #define ADIS16475_SYNC_MODE_MASK GENMASK(4, 2) 48 #define ADIS16475_SYNC_MODE(x) FIELD_PREP(ADIS16475_SYNC_MODE_MASK, x) 49 #define ADIS16475_REG_UP_SCALE 0x62 50 #define ADIS16475_REG_DEC_RATE 0x64 51 #define ADIS16475_REG_GLOB_CMD 0x68 52 #define ADIS16475_REG_FIRM_REV 0x6c 53 #define ADIS16475_REG_FIRM_DM 0x6e 54 #define ADIS16475_REG_FIRM_Y 0x70 55 #define ADIS16475_REG_PROD_ID 0x72 56 #define ADIS16475_REG_SERIAL_NUM 0x74 57 #define ADIS16475_REG_FLASH_CNT 0x7c 58 #define ADIS16500_BURST32_MASK BIT(9) 59 #define ADIS16500_BURST32(x) FIELD_PREP(ADIS16500_BURST32_MASK, x) 60 /* number of data elements in burst mode */ 61 #define ADIS16475_BURST32_MAX_DATA 32 62 #define ADIS16475_BURST_MAX_DATA 20 63 #define ADIS16475_MAX_SCAN_DATA 20 64 /* spi max speed in brust mode */ 65 #define ADIS16475_BURST_MAX_SPEED 1000000 66 #define ADIS16475_LSB_DEC_MASK 0 67 #define ADIS16475_LSB_FIR_MASK 1 68 69 enum { 70 ADIS16475_SYNC_DIRECT = 1, 71 ADIS16475_SYNC_SCALED, 72 ADIS16475_SYNC_OUTPUT, 73 ADIS16475_SYNC_PULSE = 5, 74 }; 75 76 struct adis16475_sync { 77 u16 sync_mode; 78 u16 min_rate; 79 u16 max_rate; 80 }; 81 82 struct adis16475_chip_info { 83 const struct iio_chan_spec *channels; 84 const struct adis16475_sync *sync; 85 const struct adis_data adis_data; 86 const char *name; 87 u32 num_channels; 88 u32 gyro_max_val; 89 u32 gyro_max_scale; 90 u32 accel_max_val; 91 u32 accel_max_scale; 92 u32 temp_scale; 93 u32 int_clk; 94 u16 max_dec; 95 u8 num_sync; 96 bool has_burst32; 97 }; 98 99 struct adis16475 { 100 const struct adis16475_chip_info *info; 101 struct adis adis; 102 u32 clk_freq; 103 bool burst32; 104 unsigned long lsb_flag; 105 u16 sync_mode; 106 /* Alignment needed for the timestamp */ 107 __be16 data[ADIS16475_MAX_SCAN_DATA] __aligned(8); 108 }; 109 110 enum { 111 ADIS16475_SCAN_GYRO_X, 112 ADIS16475_SCAN_GYRO_Y, 113 ADIS16475_SCAN_GYRO_Z, 114 ADIS16475_SCAN_ACCEL_X, 115 ADIS16475_SCAN_ACCEL_Y, 116 ADIS16475_SCAN_ACCEL_Z, 117 ADIS16475_SCAN_TEMP, 118 }; 119 120 static bool low_rate_allow; 121 module_param(low_rate_allow, bool, 0444); 122 MODULE_PARM_DESC(low_rate_allow, 123 "Allow IMU rates below the minimum advisable when external clk is used in SCALED mode (default: N)"); 124 125 #ifdef CONFIG_DEBUG_FS 126 static ssize_t adis16475_show_firmware_revision(struct file *file, 127 char __user *userbuf, 128 size_t count, loff_t *ppos) 129 { 130 struct adis16475 *st = file->private_data; 131 char buf[7]; 132 size_t len; 133 u16 rev; 134 int ret; 135 136 ret = adis_read_reg_16(&st->adis, ADIS16475_REG_FIRM_REV, &rev); 137 if (ret) 138 return ret; 139 140 len = scnprintf(buf, sizeof(buf), "%x.%x\n", rev >> 8, rev & 0xff); 141 142 return simple_read_from_buffer(userbuf, count, ppos, buf, len); 143 } 144 145 static const struct file_operations adis16475_firmware_revision_fops = { 146 .open = simple_open, 147 .read = adis16475_show_firmware_revision, 148 .llseek = default_llseek, 149 .owner = THIS_MODULE, 150 }; 151 152 static ssize_t adis16475_show_firmware_date(struct file *file, 153 char __user *userbuf, 154 size_t count, loff_t *ppos) 155 { 156 struct adis16475 *st = file->private_data; 157 u16 md, year; 158 char buf[12]; 159 size_t len; 160 int ret; 161 162 ret = adis_read_reg_16(&st->adis, ADIS16475_REG_FIRM_Y, &year); 163 if (ret) 164 return ret; 165 166 ret = adis_read_reg_16(&st->adis, ADIS16475_REG_FIRM_DM, &md); 167 if (ret) 168 return ret; 169 170 len = snprintf(buf, sizeof(buf), "%.2x-%.2x-%.4x\n", md >> 8, md & 0xff, 171 year); 172 173 return simple_read_from_buffer(userbuf, count, ppos, buf, len); 174 } 175 176 static const struct file_operations adis16475_firmware_date_fops = { 177 .open = simple_open, 178 .read = adis16475_show_firmware_date, 179 .llseek = default_llseek, 180 .owner = THIS_MODULE, 181 }; 182 183 static int adis16475_show_serial_number(void *arg, u64 *val) 184 { 185 struct adis16475 *st = arg; 186 u16 serial; 187 int ret; 188 189 ret = adis_read_reg_16(&st->adis, ADIS16475_REG_SERIAL_NUM, &serial); 190 if (ret) 191 return ret; 192 193 *val = serial; 194 195 return 0; 196 } 197 DEFINE_DEBUGFS_ATTRIBUTE(adis16475_serial_number_fops, 198 adis16475_show_serial_number, NULL, "0x%.4llx\n"); 199 200 static int adis16475_show_product_id(void *arg, u64 *val) 201 { 202 struct adis16475 *st = arg; 203 u16 prod_id; 204 int ret; 205 206 ret = adis_read_reg_16(&st->adis, ADIS16475_REG_PROD_ID, &prod_id); 207 if (ret) 208 return ret; 209 210 *val = prod_id; 211 212 return 0; 213 } 214 DEFINE_DEBUGFS_ATTRIBUTE(adis16475_product_id_fops, 215 adis16475_show_product_id, NULL, "%llu\n"); 216 217 static int adis16475_show_flash_count(void *arg, u64 *val) 218 { 219 struct adis16475 *st = arg; 220 u32 flash_count; 221 int ret; 222 223 ret = adis_read_reg_32(&st->adis, ADIS16475_REG_FLASH_CNT, 224 &flash_count); 225 if (ret) 226 return ret; 227 228 *val = flash_count; 229 230 return 0; 231 } 232 DEFINE_DEBUGFS_ATTRIBUTE(adis16475_flash_count_fops, 233 adis16475_show_flash_count, NULL, "%lld\n"); 234 235 static void adis16475_debugfs_init(struct iio_dev *indio_dev) 236 { 237 struct adis16475 *st = iio_priv(indio_dev); 238 struct dentry *d = iio_get_debugfs_dentry(indio_dev); 239 240 debugfs_create_file_unsafe("serial_number", 0400, 241 d, st, &adis16475_serial_number_fops); 242 debugfs_create_file_unsafe("product_id", 0400, 243 d, st, &adis16475_product_id_fops); 244 debugfs_create_file_unsafe("flash_count", 0400, 245 d, st, &adis16475_flash_count_fops); 246 debugfs_create_file("firmware_revision", 0400, 247 d, st, &adis16475_firmware_revision_fops); 248 debugfs_create_file("firmware_date", 0400, d, 249 st, &adis16475_firmware_date_fops); 250 } 251 #else 252 static void adis16475_debugfs_init(struct iio_dev *indio_dev) 253 { 254 } 255 #endif 256 257 static int adis16475_get_freq(struct adis16475 *st, u32 *freq) 258 { 259 int ret; 260 u16 dec; 261 u32 sample_rate = st->clk_freq; 262 263 adis_dev_lock(&st->adis); 264 265 if (st->sync_mode == ADIS16475_SYNC_SCALED) { 266 u16 sync_scale; 267 268 ret = __adis_read_reg_16(&st->adis, ADIS16475_REG_UP_SCALE, &sync_scale); 269 if (ret) 270 goto error; 271 272 sample_rate = st->clk_freq * sync_scale; 273 } 274 275 ret = __adis_read_reg_16(&st->adis, ADIS16475_REG_DEC_RATE, &dec); 276 if (ret) 277 goto error; 278 279 adis_dev_unlock(&st->adis); 280 281 *freq = DIV_ROUND_CLOSEST(sample_rate, dec + 1); 282 283 return 0; 284 error: 285 adis_dev_unlock(&st->adis); 286 return ret; 287 } 288 289 static int adis16475_set_freq(struct adis16475 *st, const u32 freq) 290 { 291 u16 dec; 292 int ret; 293 u32 sample_rate = st->clk_freq; 294 295 if (!freq) 296 return -EINVAL; 297 298 adis_dev_lock(&st->adis); 299 /* 300 * When using sync scaled mode, the input clock needs to be scaled so that we have 301 * an IMU sample rate between (optimally) 1900 and 2100. After this, we can use the 302 * decimation filter to lower the sampling rate in order to get what the user wants. 303 * Optimally, the user sample rate is a multiple of both the IMU sample rate and 304 * the input clock. Hence, calculating the sync_scale dynamically gives us better 305 * chances of achieving a perfect/integer value for DEC_RATE. The math here is: 306 * 1. lcm of the input clock and the desired output rate. 307 * 2. get the highest multiple of the previous result lower than the adis max rate. 308 * 3. The last result becomes the IMU sample rate. Use that to calculate SYNC_SCALE 309 * and DEC_RATE (to get the user output rate) 310 */ 311 if (st->sync_mode == ADIS16475_SYNC_SCALED) { 312 unsigned long scaled_rate = lcm(st->clk_freq, freq); 313 int sync_scale; 314 315 /* 316 * If lcm is bigger than the IMU maximum sampling rate there's no perfect 317 * solution. In this case, we get the highest multiple of the input clock 318 * lower than the IMU max sample rate. 319 */ 320 if (scaled_rate > 2100000) 321 scaled_rate = 2100000 / st->clk_freq * st->clk_freq; 322 else 323 scaled_rate = 2100000 / scaled_rate * scaled_rate; 324 325 /* 326 * This is not an hard requirement but it's not advised to run the IMU 327 * with a sample rate lower than 1900Hz due to possible undersampling 328 * issues. However, there are users that might really want to take the risk. 329 * Hence, we provide a module parameter for them. If set, we allow sample 330 * rates lower than 1.9KHz. By default, we won't allow this and we just roundup 331 * the rate to the next multiple of the input clock bigger than 1.9KHz. This 332 * is done like this as in some cases (when DEC_RATE is 0) might give 333 * us the closest value to the one desired by the user... 334 */ 335 if (scaled_rate < 1900000 && !low_rate_allow) 336 scaled_rate = roundup(1900000, st->clk_freq); 337 338 sync_scale = scaled_rate / st->clk_freq; 339 ret = __adis_write_reg_16(&st->adis, ADIS16475_REG_UP_SCALE, sync_scale); 340 if (ret) 341 goto error; 342 343 sample_rate = scaled_rate; 344 } 345 346 dec = DIV_ROUND_CLOSEST(sample_rate, freq); 347 348 if (dec) 349 dec--; 350 351 if (dec > st->info->max_dec) 352 dec = st->info->max_dec; 353 354 ret = __adis_write_reg_16(&st->adis, ADIS16475_REG_DEC_RATE, dec); 355 if (ret) 356 goto error; 357 358 adis_dev_unlock(&st->adis); 359 /* 360 * If decimation is used, then gyro and accel data will have meaningful 361 * bits on the LSB registers. This info is used on the trigger handler. 362 */ 363 assign_bit(ADIS16475_LSB_DEC_MASK, &st->lsb_flag, dec); 364 365 return 0; 366 error: 367 adis_dev_unlock(&st->adis); 368 return ret; 369 } 370 371 /* The values are approximated. */ 372 static const u32 adis16475_3db_freqs[] = { 373 [0] = 720, /* Filter disabled, full BW (~720Hz) */ 374 [1] = 360, 375 [2] = 164, 376 [3] = 80, 377 [4] = 40, 378 [5] = 20, 379 [6] = 10, 380 }; 381 382 static int adis16475_get_filter(struct adis16475 *st, u32 *filter) 383 { 384 u16 filter_sz; 385 int ret; 386 const int mask = ADIS16475_FILT_CTRL_MASK; 387 388 ret = adis_read_reg_16(&st->adis, ADIS16475_REG_FILT_CTRL, &filter_sz); 389 if (ret) 390 return ret; 391 392 *filter = adis16475_3db_freqs[filter_sz & mask]; 393 394 return 0; 395 } 396 397 static int adis16475_set_filter(struct adis16475 *st, const u32 filter) 398 { 399 int i = ARRAY_SIZE(adis16475_3db_freqs); 400 int ret; 401 402 while (--i) { 403 if (adis16475_3db_freqs[i] >= filter) 404 break; 405 } 406 407 ret = adis_write_reg_16(&st->adis, ADIS16475_REG_FILT_CTRL, 408 ADIS16475_FILT_CTRL(i)); 409 if (ret) 410 return ret; 411 412 /* 413 * If FIR is used, then gyro and accel data will have meaningful 414 * bits on the LSB registers. This info is used on the trigger handler. 415 */ 416 assign_bit(ADIS16475_LSB_FIR_MASK, &st->lsb_flag, i); 417 418 return 0; 419 } 420 421 static const u32 adis16475_calib_regs[] = { 422 [ADIS16475_SCAN_GYRO_X] = ADIS16475_REG_X_GYRO_BIAS_L, 423 [ADIS16475_SCAN_GYRO_Y] = ADIS16475_REG_Y_GYRO_BIAS_L, 424 [ADIS16475_SCAN_GYRO_Z] = ADIS16475_REG_Z_GYRO_BIAS_L, 425 [ADIS16475_SCAN_ACCEL_X] = ADIS16475_REG_X_ACCEL_BIAS_L, 426 [ADIS16475_SCAN_ACCEL_Y] = ADIS16475_REG_Y_ACCEL_BIAS_L, 427 [ADIS16475_SCAN_ACCEL_Z] = ADIS16475_REG_Z_ACCEL_BIAS_L, 428 }; 429 430 static int adis16475_read_raw(struct iio_dev *indio_dev, 431 const struct iio_chan_spec *chan, 432 int *val, int *val2, long info) 433 { 434 struct adis16475 *st = iio_priv(indio_dev); 435 int ret; 436 u32 tmp; 437 438 switch (info) { 439 case IIO_CHAN_INFO_RAW: 440 return adis_single_conversion(indio_dev, chan, 0, val); 441 case IIO_CHAN_INFO_SCALE: 442 switch (chan->type) { 443 case IIO_ANGL_VEL: 444 *val = st->info->gyro_max_val; 445 *val2 = st->info->gyro_max_scale; 446 return IIO_VAL_FRACTIONAL; 447 case IIO_ACCEL: 448 *val = st->info->accel_max_val; 449 *val2 = st->info->accel_max_scale; 450 return IIO_VAL_FRACTIONAL; 451 case IIO_TEMP: 452 *val = st->info->temp_scale; 453 return IIO_VAL_INT; 454 default: 455 return -EINVAL; 456 } 457 case IIO_CHAN_INFO_CALIBBIAS: 458 ret = adis_read_reg_32(&st->adis, 459 adis16475_calib_regs[chan->scan_index], 460 val); 461 if (ret) 462 return ret; 463 464 return IIO_VAL_INT; 465 case IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY: 466 ret = adis16475_get_filter(st, val); 467 if (ret) 468 return ret; 469 470 return IIO_VAL_INT; 471 case IIO_CHAN_INFO_SAMP_FREQ: 472 ret = adis16475_get_freq(st, &tmp); 473 if (ret) 474 return ret; 475 476 *val = tmp / 1000; 477 *val2 = (tmp % 1000) * 1000; 478 return IIO_VAL_INT_PLUS_MICRO; 479 default: 480 return -EINVAL; 481 } 482 } 483 484 static int adis16475_write_raw(struct iio_dev *indio_dev, 485 const struct iio_chan_spec *chan, 486 int val, int val2, long info) 487 { 488 struct adis16475 *st = iio_priv(indio_dev); 489 u32 tmp; 490 491 switch (info) { 492 case IIO_CHAN_INFO_SAMP_FREQ: 493 tmp = val * 1000 + val2 / 1000; 494 return adis16475_set_freq(st, tmp); 495 case IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY: 496 return adis16475_set_filter(st, val); 497 case IIO_CHAN_INFO_CALIBBIAS: 498 return adis_write_reg_32(&st->adis, 499 adis16475_calib_regs[chan->scan_index], 500 val); 501 default: 502 return -EINVAL; 503 } 504 } 505 506 #define ADIS16475_MOD_CHAN(_type, _mod, _address, _si, _r_bits, _s_bits) \ 507 { \ 508 .type = (_type), \ 509 .modified = 1, \ 510 .channel2 = (_mod), \ 511 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \ 512 BIT(IIO_CHAN_INFO_CALIBBIAS), \ 513 .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE), \ 514 .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ) | \ 515 BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY), \ 516 .address = (_address), \ 517 .scan_index = (_si), \ 518 .scan_type = { \ 519 .sign = 's', \ 520 .realbits = (_r_bits), \ 521 .storagebits = (_s_bits), \ 522 .endianness = IIO_BE, \ 523 }, \ 524 } 525 526 #define ADIS16475_GYRO_CHANNEL(_mod) \ 527 ADIS16475_MOD_CHAN(IIO_ANGL_VEL, IIO_MOD_ ## _mod, \ 528 ADIS16475_REG_ ## _mod ## _GYRO_L, \ 529 ADIS16475_SCAN_GYRO_ ## _mod, 32, 32) 530 531 #define ADIS16475_ACCEL_CHANNEL(_mod) \ 532 ADIS16475_MOD_CHAN(IIO_ACCEL, IIO_MOD_ ## _mod, \ 533 ADIS16475_REG_ ## _mod ## _ACCEL_L, \ 534 ADIS16475_SCAN_ACCEL_ ## _mod, 32, 32) 535 536 #define ADIS16475_TEMP_CHANNEL() { \ 537 .type = IIO_TEMP, \ 538 .indexed = 1, \ 539 .channel = 0, \ 540 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \ 541 BIT(IIO_CHAN_INFO_SCALE), \ 542 .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ) | \ 543 BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY), \ 544 .address = ADIS16475_REG_TEMP_OUT, \ 545 .scan_index = ADIS16475_SCAN_TEMP, \ 546 .scan_type = { \ 547 .sign = 's', \ 548 .realbits = 16, \ 549 .storagebits = 16, \ 550 .endianness = IIO_BE, \ 551 }, \ 552 } 553 554 static const struct iio_chan_spec adis16475_channels[] = { 555 ADIS16475_GYRO_CHANNEL(X), 556 ADIS16475_GYRO_CHANNEL(Y), 557 ADIS16475_GYRO_CHANNEL(Z), 558 ADIS16475_ACCEL_CHANNEL(X), 559 ADIS16475_ACCEL_CHANNEL(Y), 560 ADIS16475_ACCEL_CHANNEL(Z), 561 ADIS16475_TEMP_CHANNEL(), 562 IIO_CHAN_SOFT_TIMESTAMP(7) 563 }; 564 565 enum adis16475_variant { 566 ADIS16470, 567 ADIS16475_1, 568 ADIS16475_2, 569 ADIS16475_3, 570 ADIS16477_1, 571 ADIS16477_2, 572 ADIS16477_3, 573 ADIS16465_1, 574 ADIS16465_2, 575 ADIS16465_3, 576 ADIS16467_1, 577 ADIS16467_2, 578 ADIS16467_3, 579 ADIS16500, 580 ADIS16505_1, 581 ADIS16505_2, 582 ADIS16505_3, 583 ADIS16507_1, 584 ADIS16507_2, 585 ADIS16507_3, 586 }; 587 588 enum { 589 ADIS16475_DIAG_STAT_DATA_PATH = 1, 590 ADIS16475_DIAG_STAT_FLASH_MEM, 591 ADIS16475_DIAG_STAT_SPI, 592 ADIS16475_DIAG_STAT_STANDBY, 593 ADIS16475_DIAG_STAT_SENSOR, 594 ADIS16475_DIAG_STAT_MEMORY, 595 ADIS16475_DIAG_STAT_CLK, 596 }; 597 598 static const char * const adis16475_status_error_msgs[] = { 599 [ADIS16475_DIAG_STAT_DATA_PATH] = "Data Path Overrun", 600 [ADIS16475_DIAG_STAT_FLASH_MEM] = "Flash memory update failure", 601 [ADIS16475_DIAG_STAT_SPI] = "SPI communication error", 602 [ADIS16475_DIAG_STAT_STANDBY] = "Standby mode", 603 [ADIS16475_DIAG_STAT_SENSOR] = "Sensor failure", 604 [ADIS16475_DIAG_STAT_MEMORY] = "Memory failure", 605 [ADIS16475_DIAG_STAT_CLK] = "Clock error", 606 }; 607 608 #define ADIS16475_DATA(_prod_id, _timeouts) \ 609 { \ 610 .msc_ctrl_reg = ADIS16475_REG_MSG_CTRL, \ 611 .glob_cmd_reg = ADIS16475_REG_GLOB_CMD, \ 612 .diag_stat_reg = ADIS16475_REG_DIAG_STAT, \ 613 .prod_id_reg = ADIS16475_REG_PROD_ID, \ 614 .prod_id = (_prod_id), \ 615 .self_test_mask = BIT(2), \ 616 .self_test_reg = ADIS16475_REG_GLOB_CMD, \ 617 .cs_change_delay = 16, \ 618 .read_delay = 5, \ 619 .write_delay = 5, \ 620 .status_error_msgs = adis16475_status_error_msgs, \ 621 .status_error_mask = BIT(ADIS16475_DIAG_STAT_DATA_PATH) | \ 622 BIT(ADIS16475_DIAG_STAT_FLASH_MEM) | \ 623 BIT(ADIS16475_DIAG_STAT_SPI) | \ 624 BIT(ADIS16475_DIAG_STAT_STANDBY) | \ 625 BIT(ADIS16475_DIAG_STAT_SENSOR) | \ 626 BIT(ADIS16475_DIAG_STAT_MEMORY) | \ 627 BIT(ADIS16475_DIAG_STAT_CLK), \ 628 .unmasked_drdy = true, \ 629 .timeouts = (_timeouts), \ 630 .burst_reg_cmd = ADIS16475_REG_GLOB_CMD, \ 631 .burst_len = ADIS16475_BURST_MAX_DATA, \ 632 .burst_max_len = ADIS16475_BURST32_MAX_DATA, \ 633 .burst_max_speed_hz = ADIS16475_BURST_MAX_SPEED \ 634 } 635 636 static const struct adis16475_sync adis16475_sync_mode[] = { 637 { ADIS16475_SYNC_OUTPUT }, 638 { ADIS16475_SYNC_DIRECT, 1900, 2100 }, 639 { ADIS16475_SYNC_SCALED, 1, 128 }, 640 { ADIS16475_SYNC_PULSE, 1000, 2100 }, 641 }; 642 643 static const struct adis_timeout adis16475_timeouts = { 644 .reset_ms = 200, 645 .sw_reset_ms = 200, 646 .self_test_ms = 20, 647 }; 648 649 static const struct adis_timeout adis1650x_timeouts = { 650 .reset_ms = 260, 651 .sw_reset_ms = 260, 652 .self_test_ms = 30, 653 }; 654 655 static const struct adis16475_chip_info adis16475_chip_info[] = { 656 [ADIS16470] = { 657 .name = "adis16470", 658 .num_channels = ARRAY_SIZE(adis16475_channels), 659 .channels = adis16475_channels, 660 .gyro_max_val = 1, 661 .gyro_max_scale = IIO_RAD_TO_DEGREE(10 << 16), 662 .accel_max_val = 1, 663 .accel_max_scale = IIO_M_S_2_TO_G(800 << 16), 664 .temp_scale = 100, 665 .int_clk = 2000, 666 .max_dec = 1999, 667 .sync = adis16475_sync_mode, 668 .num_sync = ARRAY_SIZE(adis16475_sync_mode), 669 .adis_data = ADIS16475_DATA(16470, &adis16475_timeouts), 670 }, 671 [ADIS16475_1] = { 672 .name = "adis16475-1", 673 .num_channels = ARRAY_SIZE(adis16475_channels), 674 .channels = adis16475_channels, 675 .gyro_max_val = 1, 676 .gyro_max_scale = IIO_RAD_TO_DEGREE(160 << 16), 677 .accel_max_val = 1, 678 .accel_max_scale = IIO_M_S_2_TO_G(4000 << 16), 679 .temp_scale = 100, 680 .int_clk = 2000, 681 .max_dec = 1999, 682 .sync = adis16475_sync_mode, 683 .num_sync = ARRAY_SIZE(adis16475_sync_mode), 684 .adis_data = ADIS16475_DATA(16475, &adis16475_timeouts), 685 }, 686 [ADIS16475_2] = { 687 .name = "adis16475-2", 688 .num_channels = ARRAY_SIZE(adis16475_channels), 689 .channels = adis16475_channels, 690 .gyro_max_val = 1, 691 .gyro_max_scale = IIO_RAD_TO_DEGREE(40 << 16), 692 .accel_max_val = 1, 693 .accel_max_scale = IIO_M_S_2_TO_G(4000 << 16), 694 .temp_scale = 100, 695 .int_clk = 2000, 696 .max_dec = 1999, 697 .sync = adis16475_sync_mode, 698 .num_sync = ARRAY_SIZE(adis16475_sync_mode), 699 .adis_data = ADIS16475_DATA(16475, &adis16475_timeouts), 700 }, 701 [ADIS16475_3] = { 702 .name = "adis16475-3", 703 .num_channels = ARRAY_SIZE(adis16475_channels), 704 .channels = adis16475_channels, 705 .gyro_max_val = 1, 706 .gyro_max_scale = IIO_RAD_TO_DEGREE(10 << 16), 707 .accel_max_val = 1, 708 .accel_max_scale = IIO_M_S_2_TO_G(4000 << 16), 709 .temp_scale = 100, 710 .int_clk = 2000, 711 .max_dec = 1999, 712 .sync = adis16475_sync_mode, 713 .num_sync = ARRAY_SIZE(adis16475_sync_mode), 714 .adis_data = ADIS16475_DATA(16475, &adis16475_timeouts), 715 }, 716 [ADIS16477_1] = { 717 .name = "adis16477-1", 718 .num_channels = ARRAY_SIZE(adis16475_channels), 719 .channels = adis16475_channels, 720 .gyro_max_val = 1, 721 .gyro_max_scale = IIO_RAD_TO_DEGREE(160 << 16), 722 .accel_max_val = 1, 723 .accel_max_scale = IIO_M_S_2_TO_G(800 << 16), 724 .temp_scale = 100, 725 .int_clk = 2000, 726 .max_dec = 1999, 727 .sync = adis16475_sync_mode, 728 .num_sync = ARRAY_SIZE(adis16475_sync_mode), 729 .has_burst32 = true, 730 .adis_data = ADIS16475_DATA(16477, &adis16475_timeouts), 731 }, 732 [ADIS16477_2] = { 733 .name = "adis16477-2", 734 .num_channels = ARRAY_SIZE(adis16475_channels), 735 .channels = adis16475_channels, 736 .gyro_max_val = 1, 737 .gyro_max_scale = IIO_RAD_TO_DEGREE(40 << 16), 738 .accel_max_val = 1, 739 .accel_max_scale = IIO_M_S_2_TO_G(800 << 16), 740 .temp_scale = 100, 741 .int_clk = 2000, 742 .max_dec = 1999, 743 .sync = adis16475_sync_mode, 744 .num_sync = ARRAY_SIZE(adis16475_sync_mode), 745 .has_burst32 = true, 746 .adis_data = ADIS16475_DATA(16477, &adis16475_timeouts), 747 }, 748 [ADIS16477_3] = { 749 .name = "adis16477-3", 750 .num_channels = ARRAY_SIZE(adis16475_channels), 751 .channels = adis16475_channels, 752 .gyro_max_val = 1, 753 .gyro_max_scale = IIO_RAD_TO_DEGREE(10 << 16), 754 .accel_max_val = 1, 755 .accel_max_scale = IIO_M_S_2_TO_G(800 << 16), 756 .temp_scale = 100, 757 .int_clk = 2000, 758 .max_dec = 1999, 759 .sync = adis16475_sync_mode, 760 .num_sync = ARRAY_SIZE(adis16475_sync_mode), 761 .has_burst32 = true, 762 .adis_data = ADIS16475_DATA(16477, &adis16475_timeouts), 763 }, 764 [ADIS16465_1] = { 765 .name = "adis16465-1", 766 .num_channels = ARRAY_SIZE(adis16475_channels), 767 .channels = adis16475_channels, 768 .gyro_max_val = 1, 769 .gyro_max_scale = IIO_RAD_TO_DEGREE(160 << 16), 770 .accel_max_val = 1, 771 .accel_max_scale = IIO_M_S_2_TO_G(4000 << 16), 772 .temp_scale = 100, 773 .int_clk = 2000, 774 .max_dec = 1999, 775 .sync = adis16475_sync_mode, 776 .num_sync = ARRAY_SIZE(adis16475_sync_mode), 777 .adis_data = ADIS16475_DATA(16465, &adis16475_timeouts), 778 }, 779 [ADIS16465_2] = { 780 .name = "adis16465-2", 781 .num_channels = ARRAY_SIZE(adis16475_channels), 782 .channels = adis16475_channels, 783 .gyro_max_val = 1, 784 .gyro_max_scale = IIO_RAD_TO_DEGREE(40 << 16), 785 .accel_max_val = 1, 786 .accel_max_scale = IIO_M_S_2_TO_G(4000 << 16), 787 .temp_scale = 100, 788 .int_clk = 2000, 789 .max_dec = 1999, 790 .sync = adis16475_sync_mode, 791 .num_sync = ARRAY_SIZE(adis16475_sync_mode), 792 .adis_data = ADIS16475_DATA(16465, &adis16475_timeouts), 793 }, 794 [ADIS16465_3] = { 795 .name = "adis16465-3", 796 .num_channels = ARRAY_SIZE(adis16475_channels), 797 .channels = adis16475_channels, 798 .gyro_max_val = 1, 799 .gyro_max_scale = IIO_RAD_TO_DEGREE(10 << 16), 800 .accel_max_val = 1, 801 .accel_max_scale = IIO_M_S_2_TO_G(4000 << 16), 802 .temp_scale = 100, 803 .int_clk = 2000, 804 .max_dec = 1999, 805 .sync = adis16475_sync_mode, 806 .num_sync = ARRAY_SIZE(adis16475_sync_mode), 807 .adis_data = ADIS16475_DATA(16465, &adis16475_timeouts), 808 }, 809 [ADIS16467_1] = { 810 .name = "adis16467-1", 811 .num_channels = ARRAY_SIZE(adis16475_channels), 812 .channels = adis16475_channels, 813 .gyro_max_val = 1, 814 .gyro_max_scale = IIO_RAD_TO_DEGREE(160 << 16), 815 .accel_max_val = 1, 816 .accel_max_scale = IIO_M_S_2_TO_G(800 << 16), 817 .temp_scale = 100, 818 .int_clk = 2000, 819 .max_dec = 1999, 820 .sync = adis16475_sync_mode, 821 .num_sync = ARRAY_SIZE(adis16475_sync_mode), 822 .adis_data = ADIS16475_DATA(16467, &adis16475_timeouts), 823 }, 824 [ADIS16467_2] = { 825 .name = "adis16467-2", 826 .num_channels = ARRAY_SIZE(adis16475_channels), 827 .channels = adis16475_channels, 828 .gyro_max_val = 1, 829 .gyro_max_scale = IIO_RAD_TO_DEGREE(40 << 16), 830 .accel_max_val = 1, 831 .accel_max_scale = IIO_M_S_2_TO_G(800 << 16), 832 .temp_scale = 100, 833 .int_clk = 2000, 834 .max_dec = 1999, 835 .sync = adis16475_sync_mode, 836 .num_sync = ARRAY_SIZE(adis16475_sync_mode), 837 .adis_data = ADIS16475_DATA(16467, &adis16475_timeouts), 838 }, 839 [ADIS16467_3] = { 840 .name = "adis16467-3", 841 .num_channels = ARRAY_SIZE(adis16475_channels), 842 .channels = adis16475_channels, 843 .gyro_max_val = 1, 844 .gyro_max_scale = IIO_RAD_TO_DEGREE(10 << 16), 845 .accel_max_val = 1, 846 .accel_max_scale = IIO_M_S_2_TO_G(800 << 16), 847 .temp_scale = 100, 848 .int_clk = 2000, 849 .max_dec = 1999, 850 .sync = adis16475_sync_mode, 851 .num_sync = ARRAY_SIZE(adis16475_sync_mode), 852 .adis_data = ADIS16475_DATA(16467, &adis16475_timeouts), 853 }, 854 [ADIS16500] = { 855 .name = "adis16500", 856 .num_channels = ARRAY_SIZE(adis16475_channels), 857 .channels = adis16475_channels, 858 .gyro_max_val = 1, 859 .gyro_max_scale = IIO_RAD_TO_DEGREE(10 << 16), 860 .accel_max_val = 392, 861 .accel_max_scale = 32000 << 16, 862 .temp_scale = 100, 863 .int_clk = 2000, 864 .max_dec = 1999, 865 .sync = adis16475_sync_mode, 866 /* pulse sync not supported */ 867 .num_sync = ARRAY_SIZE(adis16475_sync_mode) - 1, 868 .has_burst32 = true, 869 .adis_data = ADIS16475_DATA(16500, &adis1650x_timeouts), 870 }, 871 [ADIS16505_1] = { 872 .name = "adis16505-1", 873 .num_channels = ARRAY_SIZE(adis16475_channels), 874 .channels = adis16475_channels, 875 .gyro_max_val = 1, 876 .gyro_max_scale = IIO_RAD_TO_DEGREE(160 << 16), 877 .accel_max_val = 78, 878 .accel_max_scale = 32000 << 16, 879 .temp_scale = 100, 880 .int_clk = 2000, 881 .max_dec = 1999, 882 .sync = adis16475_sync_mode, 883 /* pulse sync not supported */ 884 .num_sync = ARRAY_SIZE(adis16475_sync_mode) - 1, 885 .has_burst32 = true, 886 .adis_data = ADIS16475_DATA(16505, &adis1650x_timeouts), 887 }, 888 [ADIS16505_2] = { 889 .name = "adis16505-2", 890 .num_channels = ARRAY_SIZE(adis16475_channels), 891 .channels = adis16475_channels, 892 .gyro_max_val = 1, 893 .gyro_max_scale = IIO_RAD_TO_DEGREE(40 << 16), 894 .accel_max_val = 78, 895 .accel_max_scale = 32000 << 16, 896 .temp_scale = 100, 897 .int_clk = 2000, 898 .max_dec = 1999, 899 .sync = adis16475_sync_mode, 900 /* pulse sync not supported */ 901 .num_sync = ARRAY_SIZE(adis16475_sync_mode) - 1, 902 .has_burst32 = true, 903 .adis_data = ADIS16475_DATA(16505, &adis1650x_timeouts), 904 }, 905 [ADIS16505_3] = { 906 .name = "adis16505-3", 907 .num_channels = ARRAY_SIZE(adis16475_channels), 908 .channels = adis16475_channels, 909 .gyro_max_val = 1, 910 .gyro_max_scale = IIO_RAD_TO_DEGREE(10 << 16), 911 .accel_max_val = 78, 912 .accel_max_scale = 32000 << 16, 913 .temp_scale = 100, 914 .int_clk = 2000, 915 .max_dec = 1999, 916 .sync = adis16475_sync_mode, 917 /* pulse sync not supported */ 918 .num_sync = ARRAY_SIZE(adis16475_sync_mode) - 1, 919 .has_burst32 = true, 920 .adis_data = ADIS16475_DATA(16505, &adis1650x_timeouts), 921 }, 922 [ADIS16507_1] = { 923 .name = "adis16507-1", 924 .num_channels = ARRAY_SIZE(adis16475_channels), 925 .channels = adis16475_channels, 926 .gyro_max_val = 1, 927 .gyro_max_scale = IIO_RAD_TO_DEGREE(160 << 16), 928 .accel_max_val = 392, 929 .accel_max_scale = 32000 << 16, 930 .temp_scale = 100, 931 .int_clk = 2000, 932 .max_dec = 1999, 933 .sync = adis16475_sync_mode, 934 /* pulse sync not supported */ 935 .num_sync = ARRAY_SIZE(adis16475_sync_mode) - 1, 936 .has_burst32 = true, 937 .adis_data = ADIS16475_DATA(16507, &adis1650x_timeouts), 938 }, 939 [ADIS16507_2] = { 940 .name = "adis16507-2", 941 .num_channels = ARRAY_SIZE(adis16475_channels), 942 .channels = adis16475_channels, 943 .gyro_max_val = 1, 944 .gyro_max_scale = IIO_RAD_TO_DEGREE(40 << 16), 945 .accel_max_val = 392, 946 .accel_max_scale = 32000 << 16, 947 .temp_scale = 100, 948 .int_clk = 2000, 949 .max_dec = 1999, 950 .sync = adis16475_sync_mode, 951 /* pulse sync not supported */ 952 .num_sync = ARRAY_SIZE(adis16475_sync_mode) - 1, 953 .has_burst32 = true, 954 .adis_data = ADIS16475_DATA(16507, &adis1650x_timeouts), 955 }, 956 [ADIS16507_3] = { 957 .name = "adis16507-3", 958 .num_channels = ARRAY_SIZE(adis16475_channels), 959 .channels = adis16475_channels, 960 .gyro_max_val = 1, 961 .gyro_max_scale = IIO_RAD_TO_DEGREE(10 << 16), 962 .accel_max_val = 392, 963 .accel_max_scale = 32000 << 16, 964 .temp_scale = 100, 965 .int_clk = 2000, 966 .max_dec = 1999, 967 .sync = adis16475_sync_mode, 968 /* pulse sync not supported */ 969 .num_sync = ARRAY_SIZE(adis16475_sync_mode) - 1, 970 .has_burst32 = true, 971 .adis_data = ADIS16475_DATA(16507, &adis1650x_timeouts), 972 }, 973 }; 974 975 static const struct iio_info adis16475_info = { 976 .read_raw = &adis16475_read_raw, 977 .write_raw = &adis16475_write_raw, 978 .update_scan_mode = adis_update_scan_mode, 979 .debugfs_reg_access = adis_debugfs_reg_access, 980 }; 981 982 static bool adis16475_validate_crc(const u8 *buffer, u16 crc, 983 const bool burst32) 984 { 985 int i; 986 /* extra 6 elements for low gyro and accel */ 987 const u16 sz = burst32 ? ADIS16475_BURST32_MAX_DATA : 988 ADIS16475_BURST_MAX_DATA; 989 990 for (i = 0; i < sz - 2; i++) 991 crc -= buffer[i]; 992 993 return crc == 0; 994 } 995 996 static void adis16475_burst32_check(struct adis16475 *st) 997 { 998 int ret; 999 struct adis *adis = &st->adis; 1000 1001 if (!st->info->has_burst32) 1002 return; 1003 1004 if (st->lsb_flag && !st->burst32) { 1005 const u16 en = ADIS16500_BURST32(1); 1006 1007 ret = __adis_update_bits(&st->adis, ADIS16475_REG_MSG_CTRL, 1008 ADIS16500_BURST32_MASK, en); 1009 if (ret) 1010 return; 1011 1012 st->burst32 = true; 1013 1014 /* 1015 * In 32-bit mode we need extra 2 bytes for all gyro 1016 * and accel channels. 1017 */ 1018 adis->burst_extra_len = 6 * sizeof(u16); 1019 adis->xfer[1].len += 6 * sizeof(u16); 1020 dev_dbg(&adis->spi->dev, "Enable burst32 mode, xfer:%d", 1021 adis->xfer[1].len); 1022 1023 } else if (!st->lsb_flag && st->burst32) { 1024 const u16 en = ADIS16500_BURST32(0); 1025 1026 ret = __adis_update_bits(&st->adis, ADIS16475_REG_MSG_CTRL, 1027 ADIS16500_BURST32_MASK, en); 1028 if (ret) 1029 return; 1030 1031 st->burst32 = false; 1032 1033 /* Remove the extra bits */ 1034 adis->burst_extra_len = 0; 1035 adis->xfer[1].len -= 6 * sizeof(u16); 1036 dev_dbg(&adis->spi->dev, "Disable burst32 mode, xfer:%d\n", 1037 adis->xfer[1].len); 1038 } 1039 } 1040 1041 static irqreturn_t adis16475_trigger_handler(int irq, void *p) 1042 { 1043 struct iio_poll_func *pf = p; 1044 struct iio_dev *indio_dev = pf->indio_dev; 1045 struct adis16475 *st = iio_priv(indio_dev); 1046 struct adis *adis = &st->adis; 1047 int ret, bit, i = 0; 1048 __be16 *buffer; 1049 u16 crc; 1050 bool valid; 1051 /* offset until the first element after gyro and accel */ 1052 const u8 offset = st->burst32 ? 13 : 7; 1053 1054 ret = spi_sync(adis->spi, &adis->msg); 1055 if (ret) 1056 goto check_burst32; 1057 1058 buffer = adis->buffer; 1059 1060 crc = be16_to_cpu(buffer[offset + 2]); 1061 valid = adis16475_validate_crc(adis->buffer, crc, st->burst32); 1062 if (!valid) { 1063 dev_err(&adis->spi->dev, "Invalid crc\n"); 1064 goto check_burst32; 1065 } 1066 1067 for_each_set_bit(bit, indio_dev->active_scan_mask, 1068 indio_dev->masklength) { 1069 /* 1070 * When burst mode is used, system flags is the first data 1071 * channel in the sequence, but the scan index is 7. 1072 */ 1073 switch (bit) { 1074 case ADIS16475_SCAN_TEMP: 1075 st->data[i++] = buffer[offset]; 1076 break; 1077 case ADIS16475_SCAN_GYRO_X ... ADIS16475_SCAN_ACCEL_Z: 1078 /* 1079 * The first 2 bytes on the received data are the 1080 * DIAG_STAT reg, hence the +1 offset here... 1081 */ 1082 if (st->burst32) { 1083 /* upper 16 */ 1084 st->data[i++] = buffer[bit * 2 + 2]; 1085 /* lower 16 */ 1086 st->data[i++] = buffer[bit * 2 + 1]; 1087 } else { 1088 st->data[i++] = buffer[bit + 1]; 1089 /* 1090 * Don't bother in doing the manual read if the 1091 * device supports burst32. burst32 will be 1092 * enabled in the next call to 1093 * adis16475_burst32_check()... 1094 */ 1095 if (st->lsb_flag && !st->info->has_burst32) { 1096 u16 val = 0; 1097 const u32 reg = ADIS16475_REG_X_GYRO_L + 1098 bit * 4; 1099 1100 adis_read_reg_16(adis, reg, &val); 1101 st->data[i++] = cpu_to_be16(val); 1102 } else { 1103 /* lower not used */ 1104 st->data[i++] = 0; 1105 } 1106 } 1107 break; 1108 } 1109 } 1110 1111 iio_push_to_buffers_with_timestamp(indio_dev, st->data, pf->timestamp); 1112 check_burst32: 1113 /* 1114 * We only check the burst mode at the end of the current capture since 1115 * it takes a full data ready cycle for the device to update the burst 1116 * array. 1117 */ 1118 adis16475_burst32_check(st); 1119 iio_trigger_notify_done(indio_dev->trig); 1120 1121 return IRQ_HANDLED; 1122 } 1123 1124 static int adis16475_config_sync_mode(struct adis16475 *st) 1125 { 1126 int ret; 1127 struct device *dev = &st->adis.spi->dev; 1128 const struct adis16475_sync *sync; 1129 u32 sync_mode; 1130 u16 val; 1131 1132 /* default to internal clk */ 1133 st->clk_freq = st->info->int_clk * 1000; 1134 1135 ret = device_property_read_u32(dev, "adi,sync-mode", &sync_mode); 1136 if (ret) 1137 return 0; 1138 1139 if (sync_mode >= st->info->num_sync) { 1140 dev_err(dev, "Invalid sync mode: %u for %s\n", sync_mode, 1141 st->info->name); 1142 return -EINVAL; 1143 } 1144 1145 sync = &st->info->sync[sync_mode]; 1146 st->sync_mode = sync->sync_mode; 1147 1148 /* All the other modes require external input signal */ 1149 if (sync->sync_mode != ADIS16475_SYNC_OUTPUT) { 1150 struct clk *clk = devm_clk_get_enabled(dev, NULL); 1151 1152 if (IS_ERR(clk)) 1153 return PTR_ERR(clk); 1154 1155 st->clk_freq = clk_get_rate(clk); 1156 if (st->clk_freq < sync->min_rate || 1157 st->clk_freq > sync->max_rate) { 1158 dev_err(dev, 1159 "Clk rate:%u not in a valid range:[%u %u]\n", 1160 st->clk_freq, sync->min_rate, sync->max_rate); 1161 return -EINVAL; 1162 } 1163 1164 if (sync->sync_mode == ADIS16475_SYNC_SCALED) { 1165 u16 up_scale; 1166 1167 /* 1168 * In sync scaled mode, the IMU sample rate is the clk_freq * sync_scale. 1169 * Hence, default the IMU sample rate to the highest multiple of the input 1170 * clock lower than the IMU max sample rate. The optimal range is 1171 * 1900-2100 sps... 1172 */ 1173 up_scale = 2100 / st->clk_freq; 1174 1175 ret = __adis_write_reg_16(&st->adis, 1176 ADIS16475_REG_UP_SCALE, 1177 up_scale); 1178 if (ret) 1179 return ret; 1180 } 1181 1182 st->clk_freq *= 1000; 1183 } 1184 /* 1185 * Keep in mind that the mask for the clk modes in adis1650* 1186 * chips is different (1100 instead of 11100). However, we 1187 * are not configuring BIT(4) in these chips and the default 1188 * value is 0, so we are fine in doing the below operations. 1189 * I'm keeping this for simplicity and avoiding extra variables 1190 * in chip_info. 1191 */ 1192 val = ADIS16475_SYNC_MODE(sync->sync_mode); 1193 ret = __adis_update_bits(&st->adis, ADIS16475_REG_MSG_CTRL, 1194 ADIS16475_SYNC_MODE_MASK, val); 1195 if (ret) 1196 return ret; 1197 1198 usleep_range(250, 260); 1199 1200 return 0; 1201 } 1202 1203 static int adis16475_config_irq_pin(struct adis16475 *st) 1204 { 1205 int ret; 1206 struct irq_data *desc; 1207 u32 irq_type; 1208 u16 val = 0; 1209 u8 polarity; 1210 struct spi_device *spi = st->adis.spi; 1211 1212 desc = irq_get_irq_data(spi->irq); 1213 if (!desc) { 1214 dev_err(&spi->dev, "Could not find IRQ %d\n", spi->irq); 1215 return -EINVAL; 1216 } 1217 /* 1218 * It is possible to configure the data ready polarity. Furthermore, we 1219 * need to update the adis struct if we want data ready as active low. 1220 */ 1221 irq_type = irqd_get_trigger_type(desc); 1222 if (irq_type == IRQ_TYPE_EDGE_RISING) { 1223 polarity = 1; 1224 st->adis.irq_flag = IRQF_TRIGGER_RISING; 1225 } else if (irq_type == IRQ_TYPE_EDGE_FALLING) { 1226 polarity = 0; 1227 st->adis.irq_flag = IRQF_TRIGGER_FALLING; 1228 } else { 1229 dev_err(&spi->dev, "Invalid interrupt type 0x%x specified\n", 1230 irq_type); 1231 return -EINVAL; 1232 } 1233 1234 val = ADIS16475_MSG_CTRL_DR_POL(polarity); 1235 ret = __adis_update_bits(&st->adis, ADIS16475_REG_MSG_CTRL, 1236 ADIS16475_MSG_CTRL_DR_POL_MASK, val); 1237 if (ret) 1238 return ret; 1239 /* 1240 * There is a delay writing to any bits written to the MSC_CTRL 1241 * register. It should not be bigger than 200us, so 250 should be more 1242 * than enough! 1243 */ 1244 usleep_range(250, 260); 1245 1246 return 0; 1247 } 1248 1249 1250 static int adis16475_probe(struct spi_device *spi) 1251 { 1252 struct iio_dev *indio_dev; 1253 struct adis16475 *st; 1254 int ret; 1255 1256 indio_dev = devm_iio_device_alloc(&spi->dev, sizeof(*st)); 1257 if (!indio_dev) 1258 return -ENOMEM; 1259 1260 st = iio_priv(indio_dev); 1261 1262 st->info = spi_get_device_match_data(spi); 1263 if (!st->info) 1264 return -EINVAL; 1265 1266 ret = adis_init(&st->adis, indio_dev, spi, &st->info->adis_data); 1267 if (ret) 1268 return ret; 1269 1270 indio_dev->name = st->info->name; 1271 indio_dev->channels = st->info->channels; 1272 indio_dev->num_channels = st->info->num_channels; 1273 indio_dev->info = &adis16475_info; 1274 indio_dev->modes = INDIO_DIRECT_MODE; 1275 1276 ret = __adis_initial_startup(&st->adis); 1277 if (ret) 1278 return ret; 1279 1280 ret = adis16475_config_irq_pin(st); 1281 if (ret) 1282 return ret; 1283 1284 ret = adis16475_config_sync_mode(st); 1285 if (ret) 1286 return ret; 1287 1288 ret = devm_adis_setup_buffer_and_trigger(&st->adis, indio_dev, 1289 adis16475_trigger_handler); 1290 if (ret) 1291 return ret; 1292 1293 ret = devm_iio_device_register(&spi->dev, indio_dev); 1294 if (ret) 1295 return ret; 1296 1297 adis16475_debugfs_init(indio_dev); 1298 1299 return 0; 1300 } 1301 1302 static const struct of_device_id adis16475_of_match[] = { 1303 { .compatible = "adi,adis16470", 1304 .data = &adis16475_chip_info[ADIS16470] }, 1305 { .compatible = "adi,adis16475-1", 1306 .data = &adis16475_chip_info[ADIS16475_1] }, 1307 { .compatible = "adi,adis16475-2", 1308 .data = &adis16475_chip_info[ADIS16475_2] }, 1309 { .compatible = "adi,adis16475-3", 1310 .data = &adis16475_chip_info[ADIS16475_3] }, 1311 { .compatible = "adi,adis16477-1", 1312 .data = &adis16475_chip_info[ADIS16477_1] }, 1313 { .compatible = "adi,adis16477-2", 1314 .data = &adis16475_chip_info[ADIS16477_2] }, 1315 { .compatible = "adi,adis16477-3", 1316 .data = &adis16475_chip_info[ADIS16477_3] }, 1317 { .compatible = "adi,adis16465-1", 1318 .data = &adis16475_chip_info[ADIS16465_1] }, 1319 { .compatible = "adi,adis16465-2", 1320 .data = &adis16475_chip_info[ADIS16465_2] }, 1321 { .compatible = "adi,adis16465-3", 1322 .data = &adis16475_chip_info[ADIS16465_3] }, 1323 { .compatible = "adi,adis16467-1", 1324 .data = &adis16475_chip_info[ADIS16467_1] }, 1325 { .compatible = "adi,adis16467-2", 1326 .data = &adis16475_chip_info[ADIS16467_2] }, 1327 { .compatible = "adi,adis16467-3", 1328 .data = &adis16475_chip_info[ADIS16467_3] }, 1329 { .compatible = "adi,adis16500", 1330 .data = &adis16475_chip_info[ADIS16500] }, 1331 { .compatible = "adi,adis16505-1", 1332 .data = &adis16475_chip_info[ADIS16505_1] }, 1333 { .compatible = "adi,adis16505-2", 1334 .data = &adis16475_chip_info[ADIS16505_2] }, 1335 { .compatible = "adi,adis16505-3", 1336 .data = &adis16475_chip_info[ADIS16505_3] }, 1337 { .compatible = "adi,adis16507-1", 1338 .data = &adis16475_chip_info[ADIS16507_1] }, 1339 { .compatible = "adi,adis16507-2", 1340 .data = &adis16475_chip_info[ADIS16507_2] }, 1341 { .compatible = "adi,adis16507-3", 1342 .data = &adis16475_chip_info[ADIS16507_3] }, 1343 { }, 1344 }; 1345 MODULE_DEVICE_TABLE(of, adis16475_of_match); 1346 1347 static const struct spi_device_id adis16475_ids[] = { 1348 { "adis16470", (kernel_ulong_t)&adis16475_chip_info[ADIS16470] }, 1349 { "adis16475-1", (kernel_ulong_t)&adis16475_chip_info[ADIS16475_1] }, 1350 { "adis16475-2", (kernel_ulong_t)&adis16475_chip_info[ADIS16475_2] }, 1351 { "adis16475-3", (kernel_ulong_t)&adis16475_chip_info[ADIS16475_3] }, 1352 { "adis16477-1", (kernel_ulong_t)&adis16475_chip_info[ADIS16477_1] }, 1353 { "adis16477-2", (kernel_ulong_t)&adis16475_chip_info[ADIS16477_2] }, 1354 { "adis16477-3", (kernel_ulong_t)&adis16475_chip_info[ADIS16477_3] }, 1355 { "adis16465-1", (kernel_ulong_t)&adis16475_chip_info[ADIS16465_1] }, 1356 { "adis16465-2", (kernel_ulong_t)&adis16475_chip_info[ADIS16465_2] }, 1357 { "adis16465-3", (kernel_ulong_t)&adis16475_chip_info[ADIS16465_3] }, 1358 { "adis16467-1", (kernel_ulong_t)&adis16475_chip_info[ADIS16467_1] }, 1359 { "adis16467-2", (kernel_ulong_t)&adis16475_chip_info[ADIS16467_2] }, 1360 { "adis16467-3", (kernel_ulong_t)&adis16475_chip_info[ADIS16467_3] }, 1361 { "adis16500", (kernel_ulong_t)&adis16475_chip_info[ADIS16500] }, 1362 { "adis16505-1", (kernel_ulong_t)&adis16475_chip_info[ADIS16505_1] }, 1363 { "adis16505-2", (kernel_ulong_t)&adis16475_chip_info[ADIS16505_2] }, 1364 { "adis16505-3", (kernel_ulong_t)&adis16475_chip_info[ADIS16505_3] }, 1365 { "adis16507-1", (kernel_ulong_t)&adis16475_chip_info[ADIS16507_1] }, 1366 { "adis16507-2", (kernel_ulong_t)&adis16475_chip_info[ADIS16507_2] }, 1367 { "adis16507-3", (kernel_ulong_t)&adis16475_chip_info[ADIS16507_3] }, 1368 { } 1369 }; 1370 MODULE_DEVICE_TABLE(spi, adis16475_ids); 1371 1372 static struct spi_driver adis16475_driver = { 1373 .driver = { 1374 .name = "adis16475", 1375 .of_match_table = adis16475_of_match, 1376 }, 1377 .probe = adis16475_probe, 1378 .id_table = adis16475_ids, 1379 }; 1380 module_spi_driver(adis16475_driver); 1381 1382 MODULE_AUTHOR("Nuno Sa <nuno.sa@analog.com>"); 1383 MODULE_DESCRIPTION("Analog Devices ADIS16475 IMU driver"); 1384 MODULE_LICENSE("GPL"); 1385 MODULE_IMPORT_NS(IIO_ADISLIB); 1386