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adis16400.c
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linux-6.19.14/drivers/iio/imu/adis16400.c
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 148struct adis16400_state; 149 150struct 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 **/ 172struct 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 184enum { 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 205static 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 233static 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 240static 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} 254DEFINE_DEBUGFS_ATTRIBUTE(adis16400_product_id_fops, 255 adis16400_show_product_id, NULL, "%lld\n"); 256 257static 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} 271DEFINE_DEBUGFS_ATTRIBUTE(adis16400_flash_count_fops, 272 adis16400_show_flash_count, NULL, "%lld\n"); 273 274static 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 292static 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 306static 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 324static 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 339static 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 364static 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 375static 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 */ 396static 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 410static 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 460err_ret: 461 return ret; 462} 463 464static 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 473static 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 514static 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) 606static 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 792static 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 808static 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 819static 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 847static 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 865static 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 878static 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 889static 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 938static 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 944static const struct adis_timeout adis16334_timeouts = { 945 .reset_ms = 60, 946 .sw_reset_ms = 60, 947 .self_test_ms = 14, 948}; 949 950static const struct adis_timeout adis16362_timeouts = { 951 .reset_ms = 130, 952 .sw_reset_ms = 130, 953 .self_test_ms = 12, 954}; 955 956static const struct adis_timeout adis16400_timeouts = { 957 .reset_ms = 170, 958 .sw_reset_ms = 170, 959 .self_test_ms = 12, 960}; 961 962static const struct adis_timeout adis16445_timeouts = { 963 .reset_ms = 55, 964 .sw_reset_ms = 55, 965 .self_test_ms = 16, 966}; 967 968static const struct adis_timeout adis16448_timeouts = { 969 .reset_ms = 90, 970 .sw_reset_ms = 90, 971 .self_test_ms = 45, 972}; 973 974static 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 988static 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 1002static 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 1015static 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 1029static 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 1043static 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 1057static 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 1071static 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 1084static 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 1098static 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 1112static 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 1119static 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 1133static void adis16400_stop(void *data) 1134{ 1135 adis16400_stop_device(data); 1136} 1137 1138static 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 1191static 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}; 1209MODULE_DEVICE_TABLE(spi, adis16400_id); 1210 1211static struct spi_driver adis16400_driver = { 1212 .driver = { 1213 .name = "adis16400", 1214 }, 1215 .id_table = adis16400_id, 1216 .probe = adis16400_probe, 1217}; 1218module_spi_driver(adis16400_driver); 1219 1220MODULE_AUTHOR("Manuel Stahl <manuel.stahl@iis.fraunhofer.de>"); 1221MODULE_DESCRIPTION("Analog Devices ADIS16400/5 IMU SPI driver"); 1222MODULE_LICENSE("GPL v2"); 1223MODULE_IMPORT_NS("IIO_ADISLIB");
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