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/irq.h>
14 #include <linux/device.h>
15 #include <linux/kernel.h>
16 #include <linux/spi/spi.h>
17 #include <linux/module.h>
18 #include <linux/debugfs.h>
19 #include <linux/bitops.h>
20
21 #include <linux/iio/iio.h>
22 #include <linux/iio/buffer.h>
23 #include <linux/iio/trigger_consumer.h>
24 #include <linux/iio/imu/adis.h>
25
26 #define ADIS16400_STARTUP_DELAY 290 /* ms */
27 #define ADIS16400_MTEST_DELAY 90 /* ms */
28
29 #define ADIS16400_FLASH_CNT 0x00 /* Flash memory write count */
30 #define ADIS16400_SUPPLY_OUT 0x02 /* Power supply measurement */
31 #define ADIS16400_XGYRO_OUT 0x04 /* X-axis gyroscope output */
32 #define ADIS16400_YGYRO_OUT 0x06 /* Y-axis gyroscope output */
33 #define ADIS16400_ZGYRO_OUT 0x08 /* Z-axis gyroscope output */
34 #define ADIS16400_XACCL_OUT 0x0A /* X-axis accelerometer output */
35 #define ADIS16400_YACCL_OUT 0x0C /* Y-axis accelerometer output */
36 #define ADIS16400_ZACCL_OUT 0x0E /* Z-axis accelerometer output */
37 #define ADIS16400_XMAGN_OUT 0x10 /* X-axis magnetometer measurement */
38 #define ADIS16400_YMAGN_OUT 0x12 /* Y-axis magnetometer measurement */
39 #define ADIS16400_ZMAGN_OUT 0x14 /* Z-axis magnetometer measurement */
40 #define ADIS16400_TEMP_OUT 0x16 /* Temperature output */
41 #define ADIS16400_AUX_ADC 0x18 /* Auxiliary ADC measurement */
42
43 #define ADIS16350_XTEMP_OUT 0x10 /* X-axis gyroscope temperature measurement */
44 #define ADIS16350_YTEMP_OUT 0x12 /* Y-axis gyroscope temperature measurement */
45 #define ADIS16350_ZTEMP_OUT 0x14 /* Z-axis gyroscope temperature measurement */
46
47 #define ADIS16300_PITCH_OUT 0x12 /* X axis inclinometer output measurement */
48 #define ADIS16300_ROLL_OUT 0x14 /* Y axis inclinometer output measurement */
49 #define ADIS16300_AUX_ADC 0x16 /* Auxiliary ADC measurement */
50
51 #define ADIS16448_BARO_OUT 0x16 /* Barometric pressure output */
52 #define ADIS16448_TEMP_OUT 0x18 /* Temperature output */
53
54 /* Calibration parameters */
55 #define ADIS16400_XGYRO_OFF 0x1A /* X-axis gyroscope bias offset factor */
56 #define ADIS16400_YGYRO_OFF 0x1C /* Y-axis gyroscope bias offset factor */
57 #define ADIS16400_ZGYRO_OFF 0x1E /* Z-axis gyroscope bias offset factor */
58 #define ADIS16400_XACCL_OFF 0x20 /* X-axis acceleration bias offset factor */
59 #define ADIS16400_YACCL_OFF 0x22 /* Y-axis acceleration bias offset factor */
60 #define ADIS16400_ZACCL_OFF 0x24 /* Z-axis acceleration bias offset factor */
61 #define ADIS16400_XMAGN_HIF 0x26 /* X-axis magnetometer, hard-iron factor */
62 #define ADIS16400_YMAGN_HIF 0x28 /* Y-axis magnetometer, hard-iron factor */
63 #define ADIS16400_ZMAGN_HIF 0x2A /* Z-axis magnetometer, hard-iron factor */
64 #define ADIS16400_XMAGN_SIF 0x2C /* X-axis magnetometer, soft-iron factor */
65 #define ADIS16400_YMAGN_SIF 0x2E /* Y-axis magnetometer, soft-iron factor */
66 #define ADIS16400_ZMAGN_SIF 0x30 /* Z-axis magnetometer, soft-iron factor */
67
68 #define ADIS16400_GPIO_CTRL 0x32 /* Auxiliary digital input/output control */
69 #define ADIS16400_MSC_CTRL 0x34 /* Miscellaneous control */
70 #define ADIS16400_SMPL_PRD 0x36 /* Internal sample period (rate) control */
71 #define ADIS16400_SENS_AVG 0x38 /* Dynamic range and digital filter control */
72 #define ADIS16400_SLP_CNT 0x3A /* Sleep mode control */
73 #define ADIS16400_DIAG_STAT 0x3C /* System status */
74
75 /* Alarm functions */
76 #define ADIS16400_GLOB_CMD 0x3E /* System command */
77 #define ADIS16400_ALM_MAG1 0x40 /* Alarm 1 amplitude threshold */
78 #define ADIS16400_ALM_MAG2 0x42 /* Alarm 2 amplitude threshold */
79 #define ADIS16400_ALM_SMPL1 0x44 /* Alarm 1 sample size */
80 #define ADIS16400_ALM_SMPL2 0x46 /* Alarm 2 sample size */
81 #define ADIS16400_ALM_CTRL 0x48 /* Alarm control */
82 #define ADIS16400_AUX_DAC 0x4A /* Auxiliary DAC data */
83
84 #define ADIS16334_LOT_ID1 0x52 /* Lot identification code 1 */
85 #define ADIS16334_LOT_ID2 0x54 /* Lot identification code 2 */
86 #define ADIS16400_PRODUCT_ID 0x56 /* Product identifier */
87 #define ADIS16334_SERIAL_NUMBER 0x58 /* Serial number, lot specific */
88
89 #define ADIS16400_ERROR_ACTIVE (1<<14)
90 #define ADIS16400_NEW_DATA (1<<14)
91
92 /* MSC_CTRL */
93 #define ADIS16400_MSC_CTRL_MEM_TEST (1<<11)
94 #define ADIS16400_MSC_CTRL_INT_SELF_TEST (1<<10)
95 #define ADIS16400_MSC_CTRL_NEG_SELF_TEST (1<<9)
96 #define ADIS16400_MSC_CTRL_POS_SELF_TEST (1<<8)
97 #define ADIS16400_MSC_CTRL_GYRO_BIAS (1<<7)
98 #define ADIS16400_MSC_CTRL_ACCL_ALIGN (1<<6)
99 #define ADIS16400_MSC_CTRL_DATA_RDY_EN (1<<2)
100 #define ADIS16400_MSC_CTRL_DATA_RDY_POL_HIGH (1<<1)
101 #define ADIS16400_MSC_CTRL_DATA_RDY_DIO2 (1<<0)
102
103 /* SMPL_PRD */
104 #define ADIS16400_SMPL_PRD_TIME_BASE (1<<7)
105 #define ADIS16400_SMPL_PRD_DIV_MASK 0x7F
106
107 /* DIAG_STAT */
108 #define ADIS16400_DIAG_STAT_ZACCL_FAIL 15
109 #define ADIS16400_DIAG_STAT_YACCL_FAIL 14
110 #define ADIS16400_DIAG_STAT_XACCL_FAIL 13
111 #define ADIS16400_DIAG_STAT_XGYRO_FAIL 12
112 #define ADIS16400_DIAG_STAT_YGYRO_FAIL 11
113 #define ADIS16400_DIAG_STAT_ZGYRO_FAIL 10
114 #define ADIS16400_DIAG_STAT_ALARM2 9
115 #define ADIS16400_DIAG_STAT_ALARM1 8
116 #define ADIS16400_DIAG_STAT_FLASH_CHK 6
117 #define ADIS16400_DIAG_STAT_SELF_TEST 5
118 #define ADIS16400_DIAG_STAT_OVERFLOW 4
119 #define ADIS16400_DIAG_STAT_SPI_FAIL 3
120 #define ADIS16400_DIAG_STAT_FLASH_UPT 2
121 #define ADIS16400_DIAG_STAT_POWER_HIGH 1
122 #define ADIS16400_DIAG_STAT_POWER_LOW 0
123
124 /* GLOB_CMD */
125 #define ADIS16400_GLOB_CMD_SW_RESET (1<<7)
126 #define ADIS16400_GLOB_CMD_P_AUTO_NULL (1<<4)
127 #define ADIS16400_GLOB_CMD_FLASH_UPD (1<<3)
128 #define ADIS16400_GLOB_CMD_DAC_LATCH (1<<2)
129 #define ADIS16400_GLOB_CMD_FAC_CALIB (1<<1)
130 #define ADIS16400_GLOB_CMD_AUTO_NULL (1<<0)
131
132 /* SLP_CNT */
133 #define ADIS16400_SLP_CNT_POWER_OFF (1<<8)
134
135 #define ADIS16334_RATE_DIV_SHIFT 8
136 #define ADIS16334_RATE_INT_CLK BIT(0)
137
138 #define ADIS16400_SPI_SLOW (u32)(300 * 1000)
139 #define ADIS16400_SPI_BURST (u32)(1000 * 1000)
140 #define ADIS16400_SPI_FAST (u32)(2000 * 1000)
141
142 #define ADIS16400_HAS_PROD_ID BIT(0)
143 #define ADIS16400_NO_BURST BIT(1)
144 #define ADIS16400_HAS_SLOW_MODE BIT(2)
145 #define ADIS16400_HAS_SERIAL_NUMBER BIT(3)
146 #define ADIS16400_BURST_DIAG_STAT BIT(4)
147
148 struct adis16400_state;
149
150 struct adis16400_chip_info {
151 const struct iio_chan_spec *channels;
152 const struct adis_data adis_data;
153 const int num_channels;
154 const long flags;
155 unsigned int gyro_scale_micro;
156 unsigned int accel_scale_micro;
157 int temp_scale_nano;
158 int temp_offset;
159 /* set_freq() & get_freq() need to avoid using ADIS lib's state lock */
160 int (*set_freq)(struct adis16400_state *st, unsigned int freq);
161 int (*get_freq)(struct adis16400_state *st);
162 };
163
164 /**
165 * struct adis16400_state - device instance specific data
166 * @variant: chip variant info
167 * @filt_int: integer part of requested filter frequency
168 * @adis: adis device
169 * @avail_scan_mask: NULL terminated array of bitmaps of channels
170 * that must be enabled together
171 **/
172 struct adis16400_state {
173 const struct adis16400_chip_info *variant;
174 int filt_int;
175
176 struct adis adis;
177 unsigned long avail_scan_mask[2];
178 };
179
180 /* At the moment triggers are only used for ring buffer
181 * filling. This may change!
182 */
183
184 enum {
185 ADIS16400_SCAN_SUPPLY,
186 ADIS16400_SCAN_GYRO_X,
187 ADIS16400_SCAN_GYRO_Y,
188 ADIS16400_SCAN_GYRO_Z,
189 ADIS16400_SCAN_ACC_X,
190 ADIS16400_SCAN_ACC_Y,
191 ADIS16400_SCAN_ACC_Z,
192 ADIS16400_SCAN_MAGN_X,
193 ADIS16400_SCAN_MAGN_Y,
194 ADIS16400_SCAN_MAGN_Z,
195 ADIS16400_SCAN_BARO,
196 ADIS16350_SCAN_TEMP_X,
197 ADIS16350_SCAN_TEMP_Y,
198 ADIS16350_SCAN_TEMP_Z,
199 ADIS16300_SCAN_INCLI_X,
200 ADIS16300_SCAN_INCLI_Y,
201 ADIS16400_SCAN_ADC,
202 ADIS16400_SCAN_TIMESTAMP,
203 };
204
adis16400_show_serial_number(struct file * file,char __user * userbuf,size_t count,loff_t * ppos)205 static ssize_t adis16400_show_serial_number(struct file *file,
206 char __user *userbuf, size_t count, loff_t *ppos)
207 {
208 struct adis16400_state *st = file->private_data;
209 u16 lot1, lot2, serial_number;
210 char buf[16];
211 size_t len;
212 int ret;
213
214 ret = adis_read_reg_16(&st->adis, ADIS16334_LOT_ID1, &lot1);
215 if (ret)
216 return ret;
217
218 ret = adis_read_reg_16(&st->adis, ADIS16334_LOT_ID2, &lot2);
219 if (ret)
220 return ret;
221
222 ret = adis_read_reg_16(&st->adis, ADIS16334_SERIAL_NUMBER,
223 &serial_number);
224 if (ret)
225 return ret;
226
227 len = snprintf(buf, sizeof(buf), "%.4x-%.4x-%.4x\n", lot1, lot2,
228 serial_number);
229
230 return simple_read_from_buffer(userbuf, count, ppos, buf, len);
231 }
232
233 static const struct file_operations adis16400_serial_number_fops = {
234 .open = simple_open,
235 .read = adis16400_show_serial_number,
236 .llseek = default_llseek,
237 .owner = THIS_MODULE,
238 };
239
adis16400_show_product_id(void * arg,u64 * val)240 static int adis16400_show_product_id(void *arg, u64 *val)
241 {
242 struct adis16400_state *st = arg;
243 uint16_t prod_id;
244 int ret;
245
246 ret = adis_read_reg_16(&st->adis, ADIS16400_PRODUCT_ID, &prod_id);
247 if (ret)
248 return ret;
249
250 *val = prod_id;
251
252 return 0;
253 }
254 DEFINE_DEBUGFS_ATTRIBUTE(adis16400_product_id_fops,
255 adis16400_show_product_id, NULL, "%lld\n");
256
adis16400_show_flash_count(void * arg,u64 * val)257 static int adis16400_show_flash_count(void *arg, u64 *val)
258 {
259 struct adis16400_state *st = arg;
260 uint16_t flash_count;
261 int ret;
262
263 ret = adis_read_reg_16(&st->adis, ADIS16400_FLASH_CNT, &flash_count);
264 if (ret)
265 return ret;
266
267 *val = flash_count;
268
269 return 0;
270 }
271 DEFINE_DEBUGFS_ATTRIBUTE(adis16400_flash_count_fops,
272 adis16400_show_flash_count, NULL, "%lld\n");
273
adis16400_debugfs_init(struct iio_dev * indio_dev)274 static void adis16400_debugfs_init(struct iio_dev *indio_dev)
275 {
276 struct adis16400_state *st = iio_priv(indio_dev);
277 struct dentry *d = iio_get_debugfs_dentry(indio_dev);
278
279 if (!IS_ENABLED(CONFIG_DEBUG_FS))
280 return;
281
282 if (st->variant->flags & ADIS16400_HAS_SERIAL_NUMBER)
283 debugfs_create_file_unsafe("serial_number", 0400,
284 d, st, &adis16400_serial_number_fops);
285 if (st->variant->flags & ADIS16400_HAS_PROD_ID)
286 debugfs_create_file_unsafe("product_id", 0400,
287 d, st, &adis16400_product_id_fops);
288 debugfs_create_file_unsafe("flash_count", 0400,
289 d, st, &adis16400_flash_count_fops);
290 }
291
adis16334_get_freq(struct adis16400_state * st)292 static int adis16334_get_freq(struct adis16400_state *st)
293 {
294 int ret;
295 uint16_t t;
296
297 ret = __adis_read_reg_16(&st->adis, ADIS16400_SMPL_PRD, &t);
298 if (ret)
299 return ret;
300
301 t >>= ADIS16334_RATE_DIV_SHIFT;
302
303 return 819200 >> t;
304 }
305
adis16334_set_freq(struct adis16400_state * st,unsigned int freq)306 static int adis16334_set_freq(struct adis16400_state *st, unsigned int freq)
307 {
308 unsigned int t;
309
310 if (freq < 819200)
311 t = ilog2(819200 / freq);
312 else
313 t = 0;
314
315 if (t > 0x31)
316 t = 0x31;
317
318 t <<= ADIS16334_RATE_DIV_SHIFT;
319 t |= ADIS16334_RATE_INT_CLK;
320
321 return __adis_write_reg_16(&st->adis, ADIS16400_SMPL_PRD, t);
322 }
323
adis16400_get_freq(struct adis16400_state * st)324 static int adis16400_get_freq(struct adis16400_state *st)
325 {
326 int sps, ret;
327 uint16_t t;
328
329 ret = __adis_read_reg_16(&st->adis, ADIS16400_SMPL_PRD, &t);
330 if (ret)
331 return ret;
332
333 sps = (t & ADIS16400_SMPL_PRD_TIME_BASE) ? 52851 : 1638404;
334 sps /= (t & ADIS16400_SMPL_PRD_DIV_MASK) + 1;
335
336 return sps;
337 }
338
adis16400_set_freq(struct adis16400_state * st,unsigned int freq)339 static int adis16400_set_freq(struct adis16400_state *st, unsigned int freq)
340 {
341 unsigned int t;
342 uint8_t val = 0;
343
344 t = 1638404 / freq;
345 if (t >= 128) {
346 val |= ADIS16400_SMPL_PRD_TIME_BASE;
347 t = 52851 / freq;
348 if (t >= 128)
349 t = 127;
350 } else if (t != 0) {
351 t--;
352 }
353
354 val |= t;
355
356 if (t >= 0x0A || (val & ADIS16400_SMPL_PRD_TIME_BASE))
357 st->adis.spi->max_speed_hz = ADIS16400_SPI_SLOW;
358 else
359 st->adis.spi->max_speed_hz = ADIS16400_SPI_FAST;
360
361 return __adis_write_reg_8(&st->adis, ADIS16400_SMPL_PRD, val);
362 }
363
364 static const unsigned int adis16400_3db_divisors[] = {
365 [0] = 2, /* Special case */
366 [1] = 6,
367 [2] = 12,
368 [3] = 25,
369 [4] = 50,
370 [5] = 100,
371 [6] = 200,
372 [7] = 200, /* Not a valid setting */
373 };
374
__adis16400_set_filter(struct iio_dev * indio_dev,int sps,int val)375 static int __adis16400_set_filter(struct iio_dev *indio_dev, int sps, int val)
376 {
377 struct adis16400_state *st = iio_priv(indio_dev);
378 uint16_t val16;
379 int i, ret;
380
381 for (i = ARRAY_SIZE(adis16400_3db_divisors) - 1; i >= 1; i--) {
382 if (sps / adis16400_3db_divisors[i] >= val)
383 break;
384 }
385
386 ret = __adis_read_reg_16(&st->adis, ADIS16400_SENS_AVG, &val16);
387 if (ret)
388 return ret;
389
390 ret = __adis_write_reg_16(&st->adis, ADIS16400_SENS_AVG,
391 (val16 & ~0x07) | i);
392 return ret;
393 }
394
395 /* Power down the device */
adis16400_stop_device(struct iio_dev * indio_dev)396 static int adis16400_stop_device(struct iio_dev *indio_dev)
397 {
398 struct adis16400_state *st = iio_priv(indio_dev);
399 int ret;
400
401 ret = adis_write_reg_16(&st->adis, ADIS16400_SLP_CNT,
402 ADIS16400_SLP_CNT_POWER_OFF);
403 if (ret)
404 dev_err(&indio_dev->dev,
405 "problem with turning device off: SLP_CNT");
406
407 return ret;
408 }
409
adis16400_initial_setup(struct iio_dev * indio_dev)410 static int adis16400_initial_setup(struct iio_dev *indio_dev)
411 {
412 struct adis16400_state *st = iio_priv(indio_dev);
413 uint16_t prod_id, smp_prd;
414 unsigned int device_id;
415 int ret;
416
417 /* use low spi speed for init if the device has a slow mode */
418 if (st->variant->flags & ADIS16400_HAS_SLOW_MODE)
419 st->adis.spi->max_speed_hz = ADIS16400_SPI_SLOW;
420 else
421 st->adis.spi->max_speed_hz = ADIS16400_SPI_FAST;
422 st->adis.spi->mode = SPI_MODE_3;
423 spi_setup(st->adis.spi);
424
425 ret = __adis_initial_startup(&st->adis);
426 if (ret)
427 return ret;
428
429 if (st->variant->flags & ADIS16400_HAS_PROD_ID) {
430 ret = adis_read_reg_16(&st->adis,
431 ADIS16400_PRODUCT_ID, &prod_id);
432 if (ret)
433 goto err_ret;
434
435 if (sscanf(indio_dev->name, "adis%u\n", &device_id) != 1) {
436 ret = -EINVAL;
437 goto err_ret;
438 }
439
440 if (prod_id != device_id)
441 dev_warn(&indio_dev->dev, "Device ID(%u) and product ID(%u) do not match.",
442 device_id, prod_id);
443
444 dev_info(&indio_dev->dev, "%s: prod_id 0x%04x at CS%d (irq %d)\n",
445 indio_dev->name, prod_id,
446 spi_get_chipselect(st->adis.spi, 0), st->adis.spi->irq);
447 }
448 /* use high spi speed if possible */
449 if (st->variant->flags & ADIS16400_HAS_SLOW_MODE) {
450 ret = adis_read_reg_16(&st->adis, ADIS16400_SMPL_PRD, &smp_prd);
451 if (ret)
452 goto err_ret;
453
454 if ((smp_prd & ADIS16400_SMPL_PRD_DIV_MASK) < 0x0A) {
455 st->adis.spi->max_speed_hz = ADIS16400_SPI_FAST;
456 spi_setup(st->adis.spi);
457 }
458 }
459
460 err_ret:
461 return ret;
462 }
463
464 static const uint8_t adis16400_addresses[] = {
465 [ADIS16400_SCAN_GYRO_X] = ADIS16400_XGYRO_OFF,
466 [ADIS16400_SCAN_GYRO_Y] = ADIS16400_YGYRO_OFF,
467 [ADIS16400_SCAN_GYRO_Z] = ADIS16400_ZGYRO_OFF,
468 [ADIS16400_SCAN_ACC_X] = ADIS16400_XACCL_OFF,
469 [ADIS16400_SCAN_ACC_Y] = ADIS16400_YACCL_OFF,
470 [ADIS16400_SCAN_ACC_Z] = ADIS16400_ZACCL_OFF,
471 };
472
adis16400_write_raw(struct iio_dev * indio_dev,struct iio_chan_spec const * chan,int val,int val2,long info)473 static int adis16400_write_raw(struct iio_dev *indio_dev,
474 struct iio_chan_spec const *chan, int val, int val2, long info)
475 {
476 struct adis16400_state *st = iio_priv(indio_dev);
477 int sps;
478
479 switch (info) {
480 case IIO_CHAN_INFO_CALIBBIAS:
481 return adis_write_reg_16(&st->adis,
482 adis16400_addresses[chan->scan_index],
483 val);
484 case IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY:
485 /*
486 * Need to cache values so we can update if the frequency
487 * changes.
488 */
489 adis_dev_auto_scoped_lock(&st->adis) {
490 st->filt_int = val;
491 /* Work out update to current value */
492 sps = st->variant->get_freq(st);
493 if (sps < 0)
494 return sps;
495
496 return __adis16400_set_filter(indio_dev, sps,
497 val * 1000 + val2 / 1000);
498 }
499 unreachable();
500 case IIO_CHAN_INFO_SAMP_FREQ:
501 sps = val * 1000 + val2 / 1000;
502
503 if (sps <= 0)
504 return -EINVAL;
505
506 adis_dev_auto_scoped_lock(&st->adis)
507 return st->variant->set_freq(st, sps);
508 unreachable();
509 default:
510 return -EINVAL;
511 }
512 }
513
adis16400_read_raw(struct iio_dev * indio_dev,struct iio_chan_spec const * chan,int * val,int * val2,long info)514 static int adis16400_read_raw(struct iio_dev *indio_dev,
515 struct iio_chan_spec const *chan, int *val, int *val2, long info)
516 {
517 struct adis16400_state *st = iio_priv(indio_dev);
518 int16_t val16;
519 int ret;
520
521 switch (info) {
522 case IIO_CHAN_INFO_RAW:
523 return adis_single_conversion(indio_dev, chan, 0, val);
524 case IIO_CHAN_INFO_SCALE:
525 switch (chan->type) {
526 case IIO_ANGL_VEL:
527 *val = 0;
528 *val2 = st->variant->gyro_scale_micro;
529 return IIO_VAL_INT_PLUS_MICRO;
530 case IIO_VOLTAGE:
531 *val = 0;
532 if (chan->channel == 0) {
533 *val = 2;
534 *val2 = 418000; /* 2.418 mV */
535 } else {
536 *val = 0;
537 *val2 = 805800; /* 805.8 uV */
538 }
539 return IIO_VAL_INT_PLUS_MICRO;
540 case IIO_ACCEL:
541 *val = 0;
542 *val2 = st->variant->accel_scale_micro;
543 return IIO_VAL_INT_PLUS_MICRO;
544 case IIO_MAGN:
545 *val = 0;
546 *val2 = 500; /* 0.5 mgauss */
547 return IIO_VAL_INT_PLUS_MICRO;
548 case IIO_TEMP:
549 *val = st->variant->temp_scale_nano / 1000000;
550 *val2 = (st->variant->temp_scale_nano % 1000000);
551 return IIO_VAL_INT_PLUS_MICRO;
552 case IIO_PRESSURE:
553 /* 20 uBar = 0.002kPascal */
554 *val = 0;
555 *val2 = 2000;
556 return IIO_VAL_INT_PLUS_MICRO;
557 default:
558 return -EINVAL;
559 }
560 case IIO_CHAN_INFO_CALIBBIAS:
561 ret = adis_read_reg_16(&st->adis,
562 adis16400_addresses[chan->scan_index], &val16);
563 if (ret)
564 return ret;
565 val16 = sign_extend32(val16, 11);
566 *val = val16;
567 return IIO_VAL_INT;
568 case IIO_CHAN_INFO_OFFSET:
569 /* currently only temperature */
570 *val = st->variant->temp_offset;
571 return IIO_VAL_INT;
572 case IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY:
573 adis_dev_auto_scoped_lock(&st->adis) {
574 /*
575 * Need both the number of taps and the sampling
576 * frequency
577 */
578 ret = __adis_read_reg_16(&st->adis, ADIS16400_SENS_AVG,
579 &val16);
580 if (ret)
581 return ret;
582
583 ret = st->variant->get_freq(st);
584 if (ret)
585 return ret;
586 }
587 ret /= adis16400_3db_divisors[val16 & 0x07];
588 *val = ret / 1000;
589 *val2 = (ret % 1000) * 1000;
590 return IIO_VAL_INT_PLUS_MICRO;
591 case IIO_CHAN_INFO_SAMP_FREQ:
592 adis_dev_auto_scoped_lock(&st->adis) {
593 ret = st->variant->get_freq(st);
594 if (ret)
595 return ret;
596 }
597 *val = ret / 1000;
598 *val2 = (ret % 1000) * 1000;
599 return IIO_VAL_INT_PLUS_MICRO;
600 default:
601 return -EINVAL;
602 }
603 }
604
605 #if IS_ENABLED(CONFIG_IIO_BUFFER)
adis16400_trigger_handler(int irq,void * p)606 static irqreturn_t adis16400_trigger_handler(int irq, void *p)
607 {
608 struct iio_poll_func *pf = p;
609 struct iio_dev *indio_dev = pf->indio_dev;
610 struct adis16400_state *st = iio_priv(indio_dev);
611 struct adis *adis = &st->adis;
612 void *buffer;
613 int ret;
614
615 ret = spi_sync(adis->spi, &adis->msg);
616 if (ret)
617 dev_err(&adis->spi->dev, "Failed to read data: %d\n", ret);
618
619 if (st->variant->flags & ADIS16400_BURST_DIAG_STAT) {
620 buffer = adis->buffer + sizeof(u16);
621 /*
622 * The size here is always larger than, or equal to the true
623 * size of the channel data. This may result in a larger copy
624 * than necessary, but as the target buffer will be
625 * buffer->scan_bytes this will be safe.
626 */
627 iio_push_to_buffers_with_ts_unaligned(indio_dev, buffer,
628 indio_dev->scan_bytes - sizeof(pf->timestamp),
629 pf->timestamp);
630 } else {
631 iio_push_to_buffers_with_timestamp(indio_dev,
632 adis->buffer,
633 pf->timestamp);
634 }
635
636
637 iio_trigger_notify_done(indio_dev->trig);
638
639 return IRQ_HANDLED;
640 }
641 #else
642 #define adis16400_trigger_handler NULL
643 #endif /* IS_ENABLED(CONFIG_IIO_BUFFER) */
644
645 #define ADIS16400_VOLTAGE_CHAN(addr, bits, name, si, chn) { \
646 .type = IIO_VOLTAGE, \
647 .indexed = 1, \
648 .channel = chn, \
649 .extend_name = name, \
650 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \
651 BIT(IIO_CHAN_INFO_SCALE), \
652 .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
653 .address = (addr), \
654 .scan_index = (si), \
655 .scan_type = { \
656 .sign = 'u', \
657 .realbits = (bits), \
658 .storagebits = 16, \
659 .shift = 0, \
660 .endianness = IIO_BE, \
661 }, \
662 }
663
664 #define ADIS16400_SUPPLY_CHAN(addr, bits) \
665 ADIS16400_VOLTAGE_CHAN(addr, bits, "supply", ADIS16400_SCAN_SUPPLY, 0)
666
667 #define ADIS16400_AUX_ADC_CHAN(addr, bits) \
668 ADIS16400_VOLTAGE_CHAN(addr, bits, NULL, ADIS16400_SCAN_ADC, 1)
669
670 #define ADIS16400_GYRO_CHAN(mod, addr, bits) { \
671 .type = IIO_ANGL_VEL, \
672 .modified = 1, \
673 .channel2 = IIO_MOD_ ## mod, \
674 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \
675 BIT(IIO_CHAN_INFO_CALIBBIAS), \
676 .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE) | \
677 BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY), \
678 .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
679 .address = addr, \
680 .scan_index = ADIS16400_SCAN_GYRO_ ## mod, \
681 .scan_type = { \
682 .sign = 's', \
683 .realbits = (bits), \
684 .storagebits = 16, \
685 .shift = 0, \
686 .endianness = IIO_BE, \
687 }, \
688 }
689
690 #define ADIS16400_ACCEL_CHAN(mod, addr, bits) { \
691 .type = IIO_ACCEL, \
692 .modified = 1, \
693 .channel2 = IIO_MOD_ ## mod, \
694 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \
695 BIT(IIO_CHAN_INFO_CALIBBIAS), \
696 .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE) | \
697 BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY), \
698 .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
699 .address = (addr), \
700 .scan_index = ADIS16400_SCAN_ACC_ ## mod, \
701 .scan_type = { \
702 .sign = 's', \
703 .realbits = (bits), \
704 .storagebits = 16, \
705 .shift = 0, \
706 .endianness = IIO_BE, \
707 }, \
708 }
709
710 #define ADIS16400_MAGN_CHAN(mod, addr, bits) { \
711 .type = IIO_MAGN, \
712 .modified = 1, \
713 .channel2 = IIO_MOD_ ## mod, \
714 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW), \
715 .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE) | \
716 BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY), \
717 .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
718 .address = (addr), \
719 .scan_index = ADIS16400_SCAN_MAGN_ ## mod, \
720 .scan_type = { \
721 .sign = 's', \
722 .realbits = (bits), \
723 .storagebits = 16, \
724 .shift = 0, \
725 .endianness = IIO_BE, \
726 }, \
727 }
728
729 #define ADIS16400_MOD_TEMP_NAME_X "x"
730 #define ADIS16400_MOD_TEMP_NAME_Y "y"
731 #define ADIS16400_MOD_TEMP_NAME_Z "z"
732
733 #define ADIS16400_MOD_TEMP_CHAN(mod, addr, bits) { \
734 .type = IIO_TEMP, \
735 .indexed = 1, \
736 .channel = 0, \
737 .extend_name = ADIS16400_MOD_TEMP_NAME_ ## mod, \
738 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \
739 BIT(IIO_CHAN_INFO_OFFSET) | \
740 BIT(IIO_CHAN_INFO_SCALE), \
741 .info_mask_shared_by_type = \
742 BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY), \
743 .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
744 .address = (addr), \
745 .scan_index = ADIS16350_SCAN_TEMP_ ## mod, \
746 .scan_type = { \
747 .sign = 's', \
748 .realbits = (bits), \
749 .storagebits = 16, \
750 .shift = 0, \
751 .endianness = IIO_BE, \
752 }, \
753 }
754
755 #define ADIS16400_TEMP_CHAN(addr, bits) { \
756 .type = IIO_TEMP, \
757 .indexed = 1, \
758 .channel = 0, \
759 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \
760 BIT(IIO_CHAN_INFO_OFFSET) | \
761 BIT(IIO_CHAN_INFO_SCALE), \
762 .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
763 .address = (addr), \
764 .scan_index = ADIS16350_SCAN_TEMP_X, \
765 .scan_type = { \
766 .sign = 's', \
767 .realbits = (bits), \
768 .storagebits = 16, \
769 .shift = 0, \
770 .endianness = IIO_BE, \
771 }, \
772 }
773
774 #define ADIS16400_INCLI_CHAN(mod, addr, bits) { \
775 .type = IIO_INCLI, \
776 .modified = 1, \
777 .channel2 = IIO_MOD_ ## mod, \
778 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW), \
779 .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE), \
780 .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
781 .address = (addr), \
782 .scan_index = ADIS16300_SCAN_INCLI_ ## mod, \
783 .scan_type = { \
784 .sign = 's', \
785 .realbits = (bits), \
786 .storagebits = 16, \
787 .shift = 0, \
788 .endianness = IIO_BE, \
789 }, \
790 }
791
792 static const struct iio_chan_spec adis16400_channels[] = {
793 ADIS16400_SUPPLY_CHAN(ADIS16400_SUPPLY_OUT, 14),
794 ADIS16400_GYRO_CHAN(X, ADIS16400_XGYRO_OUT, 14),
795 ADIS16400_GYRO_CHAN(Y, ADIS16400_YGYRO_OUT, 14),
796 ADIS16400_GYRO_CHAN(Z, ADIS16400_ZGYRO_OUT, 14),
797 ADIS16400_ACCEL_CHAN(X, ADIS16400_XACCL_OUT, 14),
798 ADIS16400_ACCEL_CHAN(Y, ADIS16400_YACCL_OUT, 14),
799 ADIS16400_ACCEL_CHAN(Z, ADIS16400_ZACCL_OUT, 14),
800 ADIS16400_MAGN_CHAN(X, ADIS16400_XMAGN_OUT, 14),
801 ADIS16400_MAGN_CHAN(Y, ADIS16400_YMAGN_OUT, 14),
802 ADIS16400_MAGN_CHAN(Z, ADIS16400_ZMAGN_OUT, 14),
803 ADIS16400_TEMP_CHAN(ADIS16400_TEMP_OUT, 12),
804 ADIS16400_AUX_ADC_CHAN(ADIS16400_AUX_ADC, 12),
805 IIO_CHAN_SOFT_TIMESTAMP(ADIS16400_SCAN_TIMESTAMP),
806 };
807
808 static const struct iio_chan_spec adis16445_channels[] = {
809 ADIS16400_GYRO_CHAN(X, ADIS16400_XGYRO_OUT, 16),
810 ADIS16400_GYRO_CHAN(Y, ADIS16400_YGYRO_OUT, 16),
811 ADIS16400_GYRO_CHAN(Z, ADIS16400_ZGYRO_OUT, 16),
812 ADIS16400_ACCEL_CHAN(X, ADIS16400_XACCL_OUT, 16),
813 ADIS16400_ACCEL_CHAN(Y, ADIS16400_YACCL_OUT, 16),
814 ADIS16400_ACCEL_CHAN(Z, ADIS16400_ZACCL_OUT, 16),
815 ADIS16400_TEMP_CHAN(ADIS16448_TEMP_OUT, 12),
816 IIO_CHAN_SOFT_TIMESTAMP(ADIS16400_SCAN_TIMESTAMP),
817 };
818
819 static const struct iio_chan_spec adis16448_channels[] = {
820 ADIS16400_GYRO_CHAN(X, ADIS16400_XGYRO_OUT, 16),
821 ADIS16400_GYRO_CHAN(Y, ADIS16400_YGYRO_OUT, 16),
822 ADIS16400_GYRO_CHAN(Z, ADIS16400_ZGYRO_OUT, 16),
823 ADIS16400_ACCEL_CHAN(X, ADIS16400_XACCL_OUT, 16),
824 ADIS16400_ACCEL_CHAN(Y, ADIS16400_YACCL_OUT, 16),
825 ADIS16400_ACCEL_CHAN(Z, ADIS16400_ZACCL_OUT, 16),
826 ADIS16400_MAGN_CHAN(X, ADIS16400_XMAGN_OUT, 16),
827 ADIS16400_MAGN_CHAN(Y, ADIS16400_YMAGN_OUT, 16),
828 ADIS16400_MAGN_CHAN(Z, ADIS16400_ZMAGN_OUT, 16),
829 {
830 .type = IIO_PRESSURE,
831 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW),
832 .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE),
833 .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ),
834 .address = ADIS16448_BARO_OUT,
835 .scan_index = ADIS16400_SCAN_BARO,
836 .scan_type = {
837 .sign = 's',
838 .realbits = 16,
839 .storagebits = 16,
840 .endianness = IIO_BE,
841 },
842 },
843 ADIS16400_TEMP_CHAN(ADIS16448_TEMP_OUT, 12),
844 IIO_CHAN_SOFT_TIMESTAMP(ADIS16400_SCAN_TIMESTAMP),
845 };
846
847 static const struct iio_chan_spec adis16350_channels[] = {
848 ADIS16400_SUPPLY_CHAN(ADIS16400_SUPPLY_OUT, 12),
849 ADIS16400_GYRO_CHAN(X, ADIS16400_XGYRO_OUT, 14),
850 ADIS16400_GYRO_CHAN(Y, ADIS16400_YGYRO_OUT, 14),
851 ADIS16400_GYRO_CHAN(Z, ADIS16400_ZGYRO_OUT, 14),
852 ADIS16400_ACCEL_CHAN(X, ADIS16400_XACCL_OUT, 14),
853 ADIS16400_ACCEL_CHAN(Y, ADIS16400_YACCL_OUT, 14),
854 ADIS16400_ACCEL_CHAN(Z, ADIS16400_ZACCL_OUT, 14),
855 ADIS16400_MAGN_CHAN(X, ADIS16400_XMAGN_OUT, 14),
856 ADIS16400_MAGN_CHAN(Y, ADIS16400_YMAGN_OUT, 14),
857 ADIS16400_MAGN_CHAN(Z, ADIS16400_ZMAGN_OUT, 14),
858 ADIS16400_AUX_ADC_CHAN(ADIS16300_AUX_ADC, 12),
859 ADIS16400_MOD_TEMP_CHAN(X, ADIS16350_XTEMP_OUT, 12),
860 ADIS16400_MOD_TEMP_CHAN(Y, ADIS16350_YTEMP_OUT, 12),
861 ADIS16400_MOD_TEMP_CHAN(Z, ADIS16350_ZTEMP_OUT, 12),
862 IIO_CHAN_SOFT_TIMESTAMP(ADIS16400_SCAN_TIMESTAMP),
863 };
864
865 static const struct iio_chan_spec adis16300_channels[] = {
866 ADIS16400_SUPPLY_CHAN(ADIS16400_SUPPLY_OUT, 12),
867 ADIS16400_GYRO_CHAN(X, ADIS16400_XGYRO_OUT, 14),
868 ADIS16400_ACCEL_CHAN(X, ADIS16400_XACCL_OUT, 14),
869 ADIS16400_ACCEL_CHAN(Y, ADIS16400_YACCL_OUT, 14),
870 ADIS16400_ACCEL_CHAN(Z, ADIS16400_ZACCL_OUT, 14),
871 ADIS16400_TEMP_CHAN(ADIS16350_XTEMP_OUT, 12),
872 ADIS16400_AUX_ADC_CHAN(ADIS16300_AUX_ADC, 12),
873 ADIS16400_INCLI_CHAN(X, ADIS16300_PITCH_OUT, 13),
874 ADIS16400_INCLI_CHAN(Y, ADIS16300_ROLL_OUT, 13),
875 IIO_CHAN_SOFT_TIMESTAMP(ADIS16400_SCAN_TIMESTAMP),
876 };
877
878 static const struct iio_chan_spec adis16334_channels[] = {
879 ADIS16400_GYRO_CHAN(X, ADIS16400_XGYRO_OUT, 14),
880 ADIS16400_GYRO_CHAN(Y, ADIS16400_YGYRO_OUT, 14),
881 ADIS16400_GYRO_CHAN(Z, ADIS16400_ZGYRO_OUT, 14),
882 ADIS16400_ACCEL_CHAN(X, ADIS16400_XACCL_OUT, 14),
883 ADIS16400_ACCEL_CHAN(Y, ADIS16400_YACCL_OUT, 14),
884 ADIS16400_ACCEL_CHAN(Z, ADIS16400_ZACCL_OUT, 14),
885 ADIS16400_TEMP_CHAN(ADIS16350_XTEMP_OUT, 12),
886 IIO_CHAN_SOFT_TIMESTAMP(ADIS16400_SCAN_TIMESTAMP),
887 };
888
889 static const char * const adis16400_status_error_msgs[] = {
890 [ADIS16400_DIAG_STAT_ZACCL_FAIL] = "Z-axis accelerometer self-test failure",
891 [ADIS16400_DIAG_STAT_YACCL_FAIL] = "Y-axis accelerometer self-test failure",
892 [ADIS16400_DIAG_STAT_XACCL_FAIL] = "X-axis accelerometer self-test failure",
893 [ADIS16400_DIAG_STAT_XGYRO_FAIL] = "X-axis gyroscope self-test failure",
894 [ADIS16400_DIAG_STAT_YGYRO_FAIL] = "Y-axis gyroscope self-test failure",
895 [ADIS16400_DIAG_STAT_ZGYRO_FAIL] = "Z-axis gyroscope self-test failure",
896 [ADIS16400_DIAG_STAT_ALARM2] = "Alarm 2 active",
897 [ADIS16400_DIAG_STAT_ALARM1] = "Alarm 1 active",
898 [ADIS16400_DIAG_STAT_FLASH_CHK] = "Flash checksum error",
899 [ADIS16400_DIAG_STAT_SELF_TEST] = "Self test error",
900 [ADIS16400_DIAG_STAT_OVERFLOW] = "Sensor overrange",
901 [ADIS16400_DIAG_STAT_SPI_FAIL] = "SPI failure",
902 [ADIS16400_DIAG_STAT_FLASH_UPT] = "Flash update failed",
903 [ADIS16400_DIAG_STAT_POWER_HIGH] = "Power supply above 5.25V",
904 [ADIS16400_DIAG_STAT_POWER_LOW] = "Power supply below 4.75V",
905 };
906
907 #define ADIS16400_DATA(_timeouts, _burst_len) \
908 { \
909 .msc_ctrl_reg = ADIS16400_MSC_CTRL, \
910 .glob_cmd_reg = ADIS16400_GLOB_CMD, \
911 .diag_stat_reg = ADIS16400_DIAG_STAT, \
912 .read_delay = 50, \
913 .write_delay = 50, \
914 .self_test_mask = ADIS16400_MSC_CTRL_MEM_TEST, \
915 .self_test_reg = ADIS16400_MSC_CTRL, \
916 .status_error_msgs = adis16400_status_error_msgs, \
917 .status_error_mask = BIT(ADIS16400_DIAG_STAT_ZACCL_FAIL) | \
918 BIT(ADIS16400_DIAG_STAT_YACCL_FAIL) | \
919 BIT(ADIS16400_DIAG_STAT_XACCL_FAIL) | \
920 BIT(ADIS16400_DIAG_STAT_XGYRO_FAIL) | \
921 BIT(ADIS16400_DIAG_STAT_YGYRO_FAIL) | \
922 BIT(ADIS16400_DIAG_STAT_ZGYRO_FAIL) | \
923 BIT(ADIS16400_DIAG_STAT_ALARM2) | \
924 BIT(ADIS16400_DIAG_STAT_ALARM1) | \
925 BIT(ADIS16400_DIAG_STAT_FLASH_CHK) | \
926 BIT(ADIS16400_DIAG_STAT_SELF_TEST) | \
927 BIT(ADIS16400_DIAG_STAT_OVERFLOW) | \
928 BIT(ADIS16400_DIAG_STAT_SPI_FAIL) | \
929 BIT(ADIS16400_DIAG_STAT_FLASH_UPT) | \
930 BIT(ADIS16400_DIAG_STAT_POWER_HIGH) | \
931 BIT(ADIS16400_DIAG_STAT_POWER_LOW), \
932 .timeouts = (_timeouts), \
933 .burst_reg_cmd = ADIS16400_GLOB_CMD, \
934 .burst_len = (_burst_len), \
935 .burst_max_speed_hz = ADIS16400_SPI_BURST \
936 }
937
938 static const struct adis_timeout adis16300_timeouts = {
939 .reset_ms = ADIS16400_STARTUP_DELAY,
940 .sw_reset_ms = ADIS16400_STARTUP_DELAY,
941 .self_test_ms = ADIS16400_STARTUP_DELAY,
942 };
943
944 static const struct adis_timeout adis16334_timeouts = {
945 .reset_ms = 60,
946 .sw_reset_ms = 60,
947 .self_test_ms = 14,
948 };
949
950 static const struct adis_timeout adis16362_timeouts = {
951 .reset_ms = 130,
952 .sw_reset_ms = 130,
953 .self_test_ms = 12,
954 };
955
956 static const struct adis_timeout adis16400_timeouts = {
957 .reset_ms = 170,
958 .sw_reset_ms = 170,
959 .self_test_ms = 12,
960 };
961
962 static const struct adis_timeout adis16445_timeouts = {
963 .reset_ms = 55,
964 .sw_reset_ms = 55,
965 .self_test_ms = 16,
966 };
967
968 static const struct adis_timeout adis16448_timeouts = {
969 .reset_ms = 90,
970 .sw_reset_ms = 90,
971 .self_test_ms = 45,
972 };
973
974 static const struct adis16400_chip_info adis16300_chip_info = {
975 .channels = adis16300_channels,
976 .num_channels = ARRAY_SIZE(adis16300_channels),
977 .flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE |
978 ADIS16400_HAS_SERIAL_NUMBER,
979 .gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */
980 .accel_scale_micro = 5884,
981 .temp_scale_nano = 140000000, /* 0.14 C */
982 .temp_offset = 25000000 / 140000, /* 25 C = 0x00 */
983 .set_freq = adis16400_set_freq,
984 .get_freq = adis16400_get_freq,
985 .adis_data = ADIS16400_DATA(&adis16300_timeouts, 18),
986 };
987
988 static const struct adis16400_chip_info adis16334_chip_info = {
989 .channels = adis16334_channels,
990 .num_channels = ARRAY_SIZE(adis16334_channels),
991 .flags = ADIS16400_HAS_PROD_ID | ADIS16400_NO_BURST |
992 ADIS16400_HAS_SERIAL_NUMBER,
993 .gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */
994 .accel_scale_micro = IIO_G_TO_M_S_2(1000), /* 1 mg */
995 .temp_scale_nano = 67850000, /* 0.06785 C */
996 .temp_offset = 25000000 / 67850, /* 25 C = 0x00 */
997 .set_freq = adis16334_set_freq,
998 .get_freq = adis16334_get_freq,
999 .adis_data = ADIS16400_DATA(&adis16334_timeouts, 0),
1000 };
1001
1002 static const struct adis16400_chip_info adis16350_chip_info = {
1003 .channels = adis16350_channels,
1004 .num_channels = ARRAY_SIZE(adis16350_channels),
1005 .gyro_scale_micro = IIO_DEGREE_TO_RAD(73260), /* 0.07326 deg/s */
1006 .accel_scale_micro = IIO_G_TO_M_S_2(2522), /* 0.002522 g */
1007 .temp_scale_nano = 145300000, /* 0.1453 C */
1008 .temp_offset = 25000000 / 145300, /* 25 C = 0x00 */
1009 .flags = ADIS16400_NO_BURST | ADIS16400_HAS_SLOW_MODE,
1010 .set_freq = adis16400_set_freq,
1011 .get_freq = adis16400_get_freq,
1012 .adis_data = ADIS16400_DATA(&adis16300_timeouts, 0),
1013 };
1014
1015 static const struct adis16400_chip_info adis16360_chip_info = {
1016 .channels = adis16350_channels,
1017 .num_channels = ARRAY_SIZE(adis16350_channels),
1018 .flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE |
1019 ADIS16400_HAS_SERIAL_NUMBER,
1020 .gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */
1021 .accel_scale_micro = IIO_G_TO_M_S_2(3333), /* 3.333 mg */
1022 .temp_scale_nano = 136000000, /* 0.136 C */
1023 .temp_offset = 25000000 / 136000, /* 25 C = 0x00 */
1024 .set_freq = adis16400_set_freq,
1025 .get_freq = adis16400_get_freq,
1026 .adis_data = ADIS16400_DATA(&adis16300_timeouts, 28),
1027 };
1028
1029 static const struct adis16400_chip_info adis16362_chip_info = {
1030 .channels = adis16350_channels,
1031 .num_channels = ARRAY_SIZE(adis16350_channels),
1032 .flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE |
1033 ADIS16400_HAS_SERIAL_NUMBER,
1034 .gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */
1035 .accel_scale_micro = IIO_G_TO_M_S_2(333), /* 0.333 mg */
1036 .temp_scale_nano = 136000000, /* 0.136 C */
1037 .temp_offset = 25000000 / 136000, /* 25 C = 0x00 */
1038 .set_freq = adis16400_set_freq,
1039 .get_freq = adis16400_get_freq,
1040 .adis_data = ADIS16400_DATA(&adis16362_timeouts, 28),
1041 };
1042
1043 static const struct adis16400_chip_info adis16364_chip_info = {
1044 .channels = adis16350_channels,
1045 .num_channels = ARRAY_SIZE(adis16350_channels),
1046 .flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE |
1047 ADIS16400_HAS_SERIAL_NUMBER,
1048 .gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */
1049 .accel_scale_micro = IIO_G_TO_M_S_2(1000), /* 1 mg */
1050 .temp_scale_nano = 136000000, /* 0.136 C */
1051 .temp_offset = 25000000 / 136000, /* 25 C = 0x00 */
1052 .set_freq = adis16400_set_freq,
1053 .get_freq = adis16400_get_freq,
1054 .adis_data = ADIS16400_DATA(&adis16362_timeouts, 28),
1055 };
1056
1057 static const struct adis16400_chip_info adis16367_chip_info = {
1058 .channels = adis16350_channels,
1059 .num_channels = ARRAY_SIZE(adis16350_channels),
1060 .flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE |
1061 ADIS16400_HAS_SERIAL_NUMBER,
1062 .gyro_scale_micro = IIO_DEGREE_TO_RAD(2000), /* 0.2 deg/s */
1063 .accel_scale_micro = IIO_G_TO_M_S_2(3333), /* 3.333 mg */
1064 .temp_scale_nano = 136000000, /* 0.136 C */
1065 .temp_offset = 25000000 / 136000, /* 25 C = 0x00 */
1066 .set_freq = adis16400_set_freq,
1067 .get_freq = adis16400_get_freq,
1068 .adis_data = ADIS16400_DATA(&adis16300_timeouts, 28),
1069 };
1070
1071 static const struct adis16400_chip_info adis16400_chip_info = {
1072 .channels = adis16400_channels,
1073 .num_channels = ARRAY_SIZE(adis16400_channels),
1074 .flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE,
1075 .gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */
1076 .accel_scale_micro = IIO_G_TO_M_S_2(3333), /* 3.333 mg */
1077 .temp_scale_nano = 140000000, /* 0.14 C */
1078 .temp_offset = 25000000 / 140000, /* 25 C = 0x00 */
1079 .set_freq = adis16400_set_freq,
1080 .get_freq = adis16400_get_freq,
1081 .adis_data = ADIS16400_DATA(&adis16400_timeouts, 24),
1082 };
1083
1084 static const struct adis16400_chip_info adis16445_chip_info = {
1085 .channels = adis16445_channels,
1086 .num_channels = ARRAY_SIZE(adis16445_channels),
1087 .flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SERIAL_NUMBER |
1088 ADIS16400_BURST_DIAG_STAT,
1089 .gyro_scale_micro = IIO_DEGREE_TO_RAD(10000), /* 0.01 deg/s */
1090 .accel_scale_micro = IIO_G_TO_M_S_2(250), /* 1/4000 g */
1091 .temp_scale_nano = 73860000, /* 0.07386 C */
1092 .temp_offset = 31000000 / 73860, /* 31 C = 0x00 */
1093 .set_freq = adis16334_set_freq,
1094 .get_freq = adis16334_get_freq,
1095 .adis_data = ADIS16400_DATA(&adis16445_timeouts, 16),
1096 };
1097
1098 static const struct adis16400_chip_info adis16448_chip_info = {
1099 .channels = adis16448_channels,
1100 .num_channels = ARRAY_SIZE(adis16448_channels),
1101 .flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SERIAL_NUMBER |
1102 ADIS16400_BURST_DIAG_STAT,
1103 .gyro_scale_micro = IIO_DEGREE_TO_RAD(40000), /* 0.04 deg/s */
1104 .accel_scale_micro = IIO_G_TO_M_S_2(833), /* 1/1200 g */
1105 .temp_scale_nano = 73860000, /* 0.07386 C */
1106 .temp_offset = 31000000 / 73860, /* 31 C = 0x00 */
1107 .set_freq = adis16334_set_freq,
1108 .get_freq = adis16334_get_freq,
1109 .adis_data = ADIS16400_DATA(&adis16448_timeouts, 24),
1110 };
1111
1112 static const struct iio_info adis16400_info = {
1113 .read_raw = &adis16400_read_raw,
1114 .write_raw = &adis16400_write_raw,
1115 .update_scan_mode = adis_update_scan_mode,
1116 .debugfs_reg_access = adis_debugfs_reg_access,
1117 };
1118
adis16400_setup_chan_mask(struct adis16400_state * st)1119 static void adis16400_setup_chan_mask(struct adis16400_state *st)
1120 {
1121 const struct adis16400_chip_info *chip_info = st->variant;
1122 unsigned int i;
1123
1124 for (i = 0; i < chip_info->num_channels; i++) {
1125 const struct iio_chan_spec *ch = &chip_info->channels[i];
1126
1127 if (ch->scan_index >= 0 &&
1128 ch->scan_index != ADIS16400_SCAN_TIMESTAMP)
1129 st->avail_scan_mask[0] |= BIT(ch->scan_index);
1130 }
1131 }
1132
adis16400_stop(void * data)1133 static void adis16400_stop(void *data)
1134 {
1135 adis16400_stop_device(data);
1136 }
1137
adis16400_probe(struct spi_device * spi)1138 static int adis16400_probe(struct spi_device *spi)
1139 {
1140 struct adis16400_state *st;
1141 struct iio_dev *indio_dev;
1142 int ret;
1143 const struct adis_data *adis16400_data;
1144
1145 indio_dev = devm_iio_device_alloc(&spi->dev, sizeof(*st));
1146 if (indio_dev == NULL)
1147 return -ENOMEM;
1148
1149 st = iio_priv(indio_dev);
1150
1151 /* setup the industrialio driver allocated elements */
1152 st->variant = spi_get_device_match_data(spi);
1153 indio_dev->name = spi_get_device_id(spi)->name;
1154 indio_dev->channels = st->variant->channels;
1155 indio_dev->num_channels = st->variant->num_channels;
1156 indio_dev->info = &adis16400_info;
1157 indio_dev->modes = INDIO_DIRECT_MODE;
1158
1159 if (!(st->variant->flags & ADIS16400_NO_BURST)) {
1160 adis16400_setup_chan_mask(st);
1161 indio_dev->available_scan_masks = st->avail_scan_mask;
1162 }
1163
1164 adis16400_data = &st->variant->adis_data;
1165
1166 ret = adis_init(&st->adis, indio_dev, spi, adis16400_data);
1167 if (ret)
1168 return ret;
1169
1170 ret = devm_adis_setup_buffer_and_trigger(&st->adis, indio_dev, adis16400_trigger_handler);
1171 if (ret)
1172 return ret;
1173
1174 /* Get the device into a sane initial state */
1175 ret = adis16400_initial_setup(indio_dev);
1176 if (ret)
1177 return ret;
1178
1179 ret = devm_add_action_or_reset(&spi->dev, adis16400_stop, indio_dev);
1180 if (ret)
1181 return ret;
1182
1183 ret = devm_iio_device_register(&spi->dev, indio_dev);
1184 if (ret)
1185 return ret;
1186
1187 adis16400_debugfs_init(indio_dev);
1188 return 0;
1189 }
1190
1191 static const struct spi_device_id adis16400_id[] = {
1192 { "adis16300", (kernel_ulong_t)&adis16300_chip_info },
1193 { "adis16305", (kernel_ulong_t)&adis16300_chip_info },
1194 { "adis16334", (kernel_ulong_t)&adis16334_chip_info },
1195 { "adis16350", (kernel_ulong_t)&adis16350_chip_info },
1196 { "adis16354", (kernel_ulong_t)&adis16350_chip_info },
1197 { "adis16355", (kernel_ulong_t)&adis16350_chip_info },
1198 { "adis16360", (kernel_ulong_t)&adis16360_chip_info },
1199 { "adis16362", (kernel_ulong_t)&adis16362_chip_info },
1200 { "adis16364", (kernel_ulong_t)&adis16364_chip_info },
1201 { "adis16365", (kernel_ulong_t)&adis16360_chip_info },
1202 { "adis16367", (kernel_ulong_t)&adis16367_chip_info },
1203 { "adis16400", (kernel_ulong_t)&adis16400_chip_info },
1204 { "adis16405", (kernel_ulong_t)&adis16400_chip_info },
1205 { "adis16445", (kernel_ulong_t)&adis16445_chip_info },
1206 { "adis16448", (kernel_ulong_t)&adis16448_chip_info },
1207 { }
1208 };
1209 MODULE_DEVICE_TABLE(spi, adis16400_id);
1210
1211 static struct spi_driver adis16400_driver = {
1212 .driver = {
1213 .name = "adis16400",
1214 },
1215 .id_table = adis16400_id,
1216 .probe = adis16400_probe,
1217 };
1218 module_spi_driver(adis16400_driver);
1219
1220 MODULE_AUTHOR("Manuel Stahl <manuel.stahl@iis.fraunhofer.de>");
1221 MODULE_DESCRIPTION("Analog Devices ADIS16400/5 IMU SPI driver");
1222 MODULE_LICENSE("GPL v2");
1223 MODULE_IMPORT_NS("IIO_ADISLIB");
1224