blob: afa9d26362da2bb6b5edbf1fed087c44ee8d8bc8 [file] [log] [blame]
b.liue9582032025-04-17 19:18:16 +08001// SPDX-License-Identifier: GPL-2.0-only
2/*
3 * adis16400.c support Analog Devices ADIS16400/5
4 * 3d 2g Linear Accelerometers,
5 * 3d Gyroscopes,
6 * 3d Magnetometers via SPI
7 *
8 * Copyright (c) 2009 Manuel Stahl <manuel.stahl@iis.fraunhofer.de>
9 * Copyright (c) 2007 Jonathan Cameron <jic23@kernel.org>
10 * Copyright (c) 2011 Analog Devices Inc.
11 */
12
13#include <linux/interrupt.h>
14#include <linux/irq.h>
15#include <linux/delay.h>
16#include <linux/mutex.h>
17#include <linux/device.h>
18#include <linux/kernel.h>
19#include <linux/spi/spi.h>
20#include <linux/slab.h>
21#include <linux/sysfs.h>
22#include <linux/list.h>
23#include <linux/module.h>
24#include <linux/debugfs.h>
25#include <linux/bitops.h>
26
27#include <linux/iio/iio.h>
28#include <linux/iio/sysfs.h>
29#include <linux/iio/buffer.h>
30#include <linux/iio/trigger_consumer.h>
31#include <linux/iio/imu/adis.h>
32
33#define ADIS16400_STARTUP_DELAY 290 /* ms */
34#define ADIS16400_MTEST_DELAY 90 /* ms */
35
36#define ADIS16400_FLASH_CNT 0x00 /* Flash memory write count */
37#define ADIS16400_SUPPLY_OUT 0x02 /* Power supply measurement */
38#define ADIS16400_XGYRO_OUT 0x04 /* X-axis gyroscope output */
39#define ADIS16400_YGYRO_OUT 0x06 /* Y-axis gyroscope output */
40#define ADIS16400_ZGYRO_OUT 0x08 /* Z-axis gyroscope output */
41#define ADIS16400_XACCL_OUT 0x0A /* X-axis accelerometer output */
42#define ADIS16400_YACCL_OUT 0x0C /* Y-axis accelerometer output */
43#define ADIS16400_ZACCL_OUT 0x0E /* Z-axis accelerometer output */
44#define ADIS16400_XMAGN_OUT 0x10 /* X-axis magnetometer measurement */
45#define ADIS16400_YMAGN_OUT 0x12 /* Y-axis magnetometer measurement */
46#define ADIS16400_ZMAGN_OUT 0x14 /* Z-axis magnetometer measurement */
47#define ADIS16400_TEMP_OUT 0x16 /* Temperature output */
48#define ADIS16400_AUX_ADC 0x18 /* Auxiliary ADC measurement */
49
50#define ADIS16350_XTEMP_OUT 0x10 /* X-axis gyroscope temperature measurement */
51#define ADIS16350_YTEMP_OUT 0x12 /* Y-axis gyroscope temperature measurement */
52#define ADIS16350_ZTEMP_OUT 0x14 /* Z-axis gyroscope temperature measurement */
53
54#define ADIS16300_PITCH_OUT 0x12 /* X axis inclinometer output measurement */
55#define ADIS16300_ROLL_OUT 0x14 /* Y axis inclinometer output measurement */
56#define ADIS16300_AUX_ADC 0x16 /* Auxiliary ADC measurement */
57
58#define ADIS16448_BARO_OUT 0x16 /* Barometric pressure output */
59#define ADIS16448_TEMP_OUT 0x18 /* Temperature output */
60
61/* Calibration parameters */
62#define ADIS16400_XGYRO_OFF 0x1A /* X-axis gyroscope bias offset factor */
63#define ADIS16400_YGYRO_OFF 0x1C /* Y-axis gyroscope bias offset factor */
64#define ADIS16400_ZGYRO_OFF 0x1E /* Z-axis gyroscope bias offset factor */
65#define ADIS16400_XACCL_OFF 0x20 /* X-axis acceleration bias offset factor */
66#define ADIS16400_YACCL_OFF 0x22 /* Y-axis acceleration bias offset factor */
67#define ADIS16400_ZACCL_OFF 0x24 /* Z-axis acceleration bias offset factor */
68#define ADIS16400_XMAGN_HIF 0x26 /* X-axis magnetometer, hard-iron factor */
69#define ADIS16400_YMAGN_HIF 0x28 /* Y-axis magnetometer, hard-iron factor */
70#define ADIS16400_ZMAGN_HIF 0x2A /* Z-axis magnetometer, hard-iron factor */
71#define ADIS16400_XMAGN_SIF 0x2C /* X-axis magnetometer, soft-iron factor */
72#define ADIS16400_YMAGN_SIF 0x2E /* Y-axis magnetometer, soft-iron factor */
73#define ADIS16400_ZMAGN_SIF 0x30 /* Z-axis magnetometer, soft-iron factor */
74
75#define ADIS16400_GPIO_CTRL 0x32 /* Auxiliary digital input/output control */
76#define ADIS16400_MSC_CTRL 0x34 /* Miscellaneous control */
77#define ADIS16400_SMPL_PRD 0x36 /* Internal sample period (rate) control */
78#define ADIS16400_SENS_AVG 0x38 /* Dynamic range and digital filter control */
79#define ADIS16400_SLP_CNT 0x3A /* Sleep mode control */
80#define ADIS16400_DIAG_STAT 0x3C /* System status */
81
82/* Alarm functions */
83#define ADIS16400_GLOB_CMD 0x3E /* System command */
84#define ADIS16400_ALM_MAG1 0x40 /* Alarm 1 amplitude threshold */
85#define ADIS16400_ALM_MAG2 0x42 /* Alarm 2 amplitude threshold */
86#define ADIS16400_ALM_SMPL1 0x44 /* Alarm 1 sample size */
87#define ADIS16400_ALM_SMPL2 0x46 /* Alarm 2 sample size */
88#define ADIS16400_ALM_CTRL 0x48 /* Alarm control */
89#define ADIS16400_AUX_DAC 0x4A /* Auxiliary DAC data */
90
91#define ADIS16334_LOT_ID1 0x52 /* Lot identification code 1 */
92#define ADIS16334_LOT_ID2 0x54 /* Lot identification code 2 */
93#define ADIS16400_PRODUCT_ID 0x56 /* Product identifier */
94#define ADIS16334_SERIAL_NUMBER 0x58 /* Serial number, lot specific */
95
96#define ADIS16400_ERROR_ACTIVE (1<<14)
97#define ADIS16400_NEW_DATA (1<<14)
98
99/* MSC_CTRL */
100#define ADIS16400_MSC_CTRL_MEM_TEST (1<<11)
101#define ADIS16400_MSC_CTRL_INT_SELF_TEST (1<<10)
102#define ADIS16400_MSC_CTRL_NEG_SELF_TEST (1<<9)
103#define ADIS16400_MSC_CTRL_POS_SELF_TEST (1<<8)
104#define ADIS16400_MSC_CTRL_GYRO_BIAS (1<<7)
105#define ADIS16400_MSC_CTRL_ACCL_ALIGN (1<<6)
106#define ADIS16400_MSC_CTRL_DATA_RDY_EN (1<<2)
107#define ADIS16400_MSC_CTRL_DATA_RDY_POL_HIGH (1<<1)
108#define ADIS16400_MSC_CTRL_DATA_RDY_DIO2 (1<<0)
109
110/* SMPL_PRD */
111#define ADIS16400_SMPL_PRD_TIME_BASE (1<<7)
112#define ADIS16400_SMPL_PRD_DIV_MASK 0x7F
113
114/* DIAG_STAT */
115#define ADIS16400_DIAG_STAT_ZACCL_FAIL 15
116#define ADIS16400_DIAG_STAT_YACCL_FAIL 14
117#define ADIS16400_DIAG_STAT_XACCL_FAIL 13
118#define ADIS16400_DIAG_STAT_XGYRO_FAIL 12
119#define ADIS16400_DIAG_STAT_YGYRO_FAIL 11
120#define ADIS16400_DIAG_STAT_ZGYRO_FAIL 10
121#define ADIS16400_DIAG_STAT_ALARM2 9
122#define ADIS16400_DIAG_STAT_ALARM1 8
123#define ADIS16400_DIAG_STAT_FLASH_CHK 6
124#define ADIS16400_DIAG_STAT_SELF_TEST 5
125#define ADIS16400_DIAG_STAT_OVERFLOW 4
126#define ADIS16400_DIAG_STAT_SPI_FAIL 3
127#define ADIS16400_DIAG_STAT_FLASH_UPT 2
128#define ADIS16400_DIAG_STAT_POWER_HIGH 1
129#define ADIS16400_DIAG_STAT_POWER_LOW 0
130
131/* GLOB_CMD */
132#define ADIS16400_GLOB_CMD_SW_RESET (1<<7)
133#define ADIS16400_GLOB_CMD_P_AUTO_NULL (1<<4)
134#define ADIS16400_GLOB_CMD_FLASH_UPD (1<<3)
135#define ADIS16400_GLOB_CMD_DAC_LATCH (1<<2)
136#define ADIS16400_GLOB_CMD_FAC_CALIB (1<<1)
137#define ADIS16400_GLOB_CMD_AUTO_NULL (1<<0)
138
139/* SLP_CNT */
140#define ADIS16400_SLP_CNT_POWER_OFF (1<<8)
141
142#define ADIS16334_RATE_DIV_SHIFT 8
143#define ADIS16334_RATE_INT_CLK BIT(0)
144
145#define ADIS16400_SPI_SLOW (u32)(300 * 1000)
146#define ADIS16400_SPI_BURST (u32)(1000 * 1000)
147#define ADIS16400_SPI_FAST (u32)(2000 * 1000)
148
149#define ADIS16400_HAS_PROD_ID BIT(0)
150#define ADIS16400_NO_BURST BIT(1)
151#define ADIS16400_HAS_SLOW_MODE BIT(2)
152#define ADIS16400_HAS_SERIAL_NUMBER BIT(3)
153#define ADIS16400_BURST_DIAG_STAT BIT(4)
154
155struct adis16400_state;
156
157struct adis16400_chip_info {
158 const struct iio_chan_spec *channels;
159 const int num_channels;
160 const long flags;
161 unsigned int gyro_scale_micro;
162 unsigned int accel_scale_micro;
163 int temp_scale_nano;
164 int temp_offset;
165 int (*set_freq)(struct adis16400_state *st, unsigned int freq);
166 int (*get_freq)(struct adis16400_state *st);
167};
168
169/**
170 * struct adis16400_state - device instance specific data
171 * @variant: chip variant info
172 * @filt_int: integer part of requested filter frequency
173 * @adis: adis device
174 **/
175struct adis16400_state {
176 struct adis16400_chip_info *variant;
177 int filt_int;
178
179 struct adis adis;
180 unsigned long avail_scan_mask[2];
181};
182
183/* At the moment triggers are only used for ring buffer
184 * filling. This may change!
185 */
186
187enum {
188 ADIS16400_SCAN_SUPPLY,
189 ADIS16400_SCAN_GYRO_X,
190 ADIS16400_SCAN_GYRO_Y,
191 ADIS16400_SCAN_GYRO_Z,
192 ADIS16400_SCAN_ACC_X,
193 ADIS16400_SCAN_ACC_Y,
194 ADIS16400_SCAN_ACC_Z,
195 ADIS16400_SCAN_MAGN_X,
196 ADIS16400_SCAN_MAGN_Y,
197 ADIS16400_SCAN_MAGN_Z,
198 ADIS16400_SCAN_BARO,
199 ADIS16350_SCAN_TEMP_X,
200 ADIS16350_SCAN_TEMP_Y,
201 ADIS16350_SCAN_TEMP_Z,
202 ADIS16300_SCAN_INCLI_X,
203 ADIS16300_SCAN_INCLI_Y,
204 ADIS16400_SCAN_ADC,
205 ADIS16400_SCAN_TIMESTAMP,
206};
207
208#ifdef CONFIG_DEBUG_FS
209
210static ssize_t adis16400_show_serial_number(struct file *file,
211 char __user *userbuf, size_t count, loff_t *ppos)
212{
213 struct adis16400_state *st = file->private_data;
214 u16 lot1, lot2, serial_number;
215 char buf[16];
216 size_t len;
217 int ret;
218
219 ret = adis_read_reg_16(&st->adis, ADIS16334_LOT_ID1, &lot1);
220 if (ret < 0)
221 return ret;
222
223 ret = adis_read_reg_16(&st->adis, ADIS16334_LOT_ID2, &lot2);
224 if (ret < 0)
225 return ret;
226
227 ret = adis_read_reg_16(&st->adis, ADIS16334_SERIAL_NUMBER,
228 &serial_number);
229 if (ret < 0)
230 return ret;
231
232 len = snprintf(buf, sizeof(buf), "%.4x-%.4x-%.4x\n", lot1, lot2,
233 serial_number);
234
235 return simple_read_from_buffer(userbuf, count, ppos, buf, len);
236}
237
238static const struct file_operations adis16400_serial_number_fops = {
239 .open = simple_open,
240 .read = adis16400_show_serial_number,
241 .llseek = default_llseek,
242 .owner = THIS_MODULE,
243};
244
245static int adis16400_show_product_id(void *arg, u64 *val)
246{
247 struct adis16400_state *st = arg;
248 uint16_t prod_id;
249 int ret;
250
251 ret = adis_read_reg_16(&st->adis, ADIS16400_PRODUCT_ID, &prod_id);
252 if (ret < 0)
253 return ret;
254
255 *val = prod_id;
256
257 return 0;
258}
259DEFINE_SIMPLE_ATTRIBUTE(adis16400_product_id_fops,
260 adis16400_show_product_id, NULL, "%lld\n");
261
262static int adis16400_show_flash_count(void *arg, u64 *val)
263{
264 struct adis16400_state *st = arg;
265 uint16_t flash_count;
266 int ret;
267
268 ret = adis_read_reg_16(&st->adis, ADIS16400_FLASH_CNT, &flash_count);
269 if (ret < 0)
270 return ret;
271
272 *val = flash_count;
273
274 return 0;
275}
276DEFINE_SIMPLE_ATTRIBUTE(adis16400_flash_count_fops,
277 adis16400_show_flash_count, NULL, "%lld\n");
278
279static int adis16400_debugfs_init(struct iio_dev *indio_dev)
280{
281 struct adis16400_state *st = iio_priv(indio_dev);
282
283 if (st->variant->flags & ADIS16400_HAS_SERIAL_NUMBER)
284 debugfs_create_file("serial_number", 0400,
285 indio_dev->debugfs_dentry, st,
286 &adis16400_serial_number_fops);
287 if (st->variant->flags & ADIS16400_HAS_PROD_ID)
288 debugfs_create_file("product_id", 0400,
289 indio_dev->debugfs_dentry, st,
290 &adis16400_product_id_fops);
291 debugfs_create_file("flash_count", 0400, indio_dev->debugfs_dentry,
292 st, &adis16400_flash_count_fops);
293
294 return 0;
295}
296
297#else
298
299static int adis16400_debugfs_init(struct iio_dev *indio_dev)
300{
301 return 0;
302}
303
304#endif
305
306enum adis16400_chip_variant {
307 ADIS16300,
308 ADIS16334,
309 ADIS16350,
310 ADIS16360,
311 ADIS16362,
312 ADIS16364,
313 ADIS16367,
314 ADIS16400,
315 ADIS16445,
316 ADIS16448,
317};
318
319static struct adis_burst adis16400_burst = {
320 .en = true,
321 .reg_cmd = ADIS16400_GLOB_CMD,
322};
323
324static int adis16334_get_freq(struct adis16400_state *st)
325{
326 int ret;
327 uint16_t t;
328
329 ret = adis_read_reg_16(&st->adis, ADIS16400_SMPL_PRD, &t);
330 if (ret < 0)
331 return ret;
332
333 t >>= ADIS16334_RATE_DIV_SHIFT;
334
335 return 819200 >> t;
336}
337
338static int adis16334_set_freq(struct adis16400_state *st, unsigned int freq)
339{
340 unsigned int t;
341
342 if (freq < 819200)
343 t = ilog2(819200 / freq);
344 else
345 t = 0;
346
347 if (t > 0x31)
348 t = 0x31;
349
350 t <<= ADIS16334_RATE_DIV_SHIFT;
351 t |= ADIS16334_RATE_INT_CLK;
352
353 return adis_write_reg_16(&st->adis, ADIS16400_SMPL_PRD, t);
354}
355
356static int adis16400_get_freq(struct adis16400_state *st)
357{
358 int sps, ret;
359 uint16_t t;
360
361 ret = adis_read_reg_16(&st->adis, ADIS16400_SMPL_PRD, &t);
362 if (ret < 0)
363 return ret;
364
365 sps = (t & ADIS16400_SMPL_PRD_TIME_BASE) ? 52851 : 1638404;
366 sps /= (t & ADIS16400_SMPL_PRD_DIV_MASK) + 1;
367
368 return sps;
369}
370
371static int adis16400_set_freq(struct adis16400_state *st, unsigned int freq)
372{
373 unsigned int t;
374 uint8_t val = 0;
375
376 t = 1638404 / freq;
377 if (t >= 128) {
378 val |= ADIS16400_SMPL_PRD_TIME_BASE;
379 t = 52851 / freq;
380 if (t >= 128)
381 t = 127;
382 } else if (t != 0) {
383 t--;
384 }
385
386 val |= t;
387
388 if (t >= 0x0A || (val & ADIS16400_SMPL_PRD_TIME_BASE))
389 st->adis.spi->max_speed_hz = ADIS16400_SPI_SLOW;
390 else
391 st->adis.spi->max_speed_hz = ADIS16400_SPI_FAST;
392
393 return adis_write_reg_8(&st->adis, ADIS16400_SMPL_PRD, val);
394}
395
396static const unsigned int adis16400_3db_divisors[] = {
397 [0] = 2, /* Special case */
398 [1] = 6,
399 [2] = 12,
400 [3] = 25,
401 [4] = 50,
402 [5] = 100,
403 [6] = 200,
404 [7] = 200, /* Not a valid setting */
405};
406
407static int adis16400_set_filter(struct iio_dev *indio_dev, int sps, int val)
408{
409 struct adis16400_state *st = iio_priv(indio_dev);
410 uint16_t val16;
411 int i, ret;
412
413 for (i = ARRAY_SIZE(adis16400_3db_divisors) - 1; i >= 1; i--) {
414 if (sps / adis16400_3db_divisors[i] >= val)
415 break;
416 }
417
418 ret = adis_read_reg_16(&st->adis, ADIS16400_SENS_AVG, &val16);
419 if (ret < 0)
420 return ret;
421
422 ret = adis_write_reg_16(&st->adis, ADIS16400_SENS_AVG,
423 (val16 & ~0x07) | i);
424 return ret;
425}
426
427/* Power down the device */
428static int adis16400_stop_device(struct iio_dev *indio_dev)
429{
430 struct adis16400_state *st = iio_priv(indio_dev);
431 int ret;
432
433 ret = adis_write_reg_16(&st->adis, ADIS16400_SLP_CNT,
434 ADIS16400_SLP_CNT_POWER_OFF);
435 if (ret)
436 dev_err(&indio_dev->dev,
437 "problem with turning device off: SLP_CNT");
438
439 return ret;
440}
441
442static int adis16400_initial_setup(struct iio_dev *indio_dev)
443{
444 struct adis16400_state *st = iio_priv(indio_dev);
445 uint16_t prod_id, smp_prd;
446 unsigned int device_id;
447 int ret;
448
449 /* use low spi speed for init if the device has a slow mode */
450 if (st->variant->flags & ADIS16400_HAS_SLOW_MODE)
451 st->adis.spi->max_speed_hz = ADIS16400_SPI_SLOW;
452 else
453 st->adis.spi->max_speed_hz = ADIS16400_SPI_FAST;
454 st->adis.spi->mode = SPI_MODE_3;
455 spi_setup(st->adis.spi);
456
457 ret = adis_initial_startup(&st->adis);
458 if (ret)
459 return ret;
460
461 if (st->variant->flags & ADIS16400_HAS_PROD_ID) {
462 ret = adis_read_reg_16(&st->adis,
463 ADIS16400_PRODUCT_ID, &prod_id);
464 if (ret)
465 goto err_ret;
466
467 if (sscanf(indio_dev->name, "adis%u\n", &device_id) != 1) {
468 ret = -EINVAL;
469 goto err_ret;
470 }
471
472 if (prod_id != device_id)
473 dev_warn(&indio_dev->dev, "Device ID(%u) and product ID(%u) do not match.",
474 device_id, prod_id);
475
476 dev_info(&indio_dev->dev, "%s: prod_id 0x%04x at CS%d (irq %d)\n",
477 indio_dev->name, prod_id,
478 st->adis.spi->chip_select, st->adis.spi->irq);
479 }
480 /* use high spi speed if possible */
481 if (st->variant->flags & ADIS16400_HAS_SLOW_MODE) {
482 ret = adis_read_reg_16(&st->adis, ADIS16400_SMPL_PRD, &smp_prd);
483 if (ret)
484 goto err_ret;
485
486 if ((smp_prd & ADIS16400_SMPL_PRD_DIV_MASK) < 0x0A) {
487 st->adis.spi->max_speed_hz = ADIS16400_SPI_FAST;
488 spi_setup(st->adis.spi);
489 }
490 }
491
492err_ret:
493 return ret;
494}
495
496static const uint8_t adis16400_addresses[] = {
497 [ADIS16400_SCAN_GYRO_X] = ADIS16400_XGYRO_OFF,
498 [ADIS16400_SCAN_GYRO_Y] = ADIS16400_YGYRO_OFF,
499 [ADIS16400_SCAN_GYRO_Z] = ADIS16400_ZGYRO_OFF,
500 [ADIS16400_SCAN_ACC_X] = ADIS16400_XACCL_OFF,
501 [ADIS16400_SCAN_ACC_Y] = ADIS16400_YACCL_OFF,
502 [ADIS16400_SCAN_ACC_Z] = ADIS16400_ZACCL_OFF,
503};
504
505static int adis16400_write_raw(struct iio_dev *indio_dev,
506 struct iio_chan_spec const *chan, int val, int val2, long info)
507{
508 struct adis16400_state *st = iio_priv(indio_dev);
509 int ret, sps;
510
511 switch (info) {
512 case IIO_CHAN_INFO_CALIBBIAS:
513 mutex_lock(&indio_dev->mlock);
514 ret = adis_write_reg_16(&st->adis,
515 adis16400_addresses[chan->scan_index], val);
516 mutex_unlock(&indio_dev->mlock);
517 return ret;
518 case IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY:
519 /*
520 * Need to cache values so we can update if the frequency
521 * changes.
522 */
523 mutex_lock(&indio_dev->mlock);
524 st->filt_int = val;
525 /* Work out update to current value */
526 sps = st->variant->get_freq(st);
527 if (sps < 0) {
528 mutex_unlock(&indio_dev->mlock);
529 return sps;
530 }
531
532 ret = adis16400_set_filter(indio_dev, sps,
533 val * 1000 + val2 / 1000);
534 mutex_unlock(&indio_dev->mlock);
535 return ret;
536 case IIO_CHAN_INFO_SAMP_FREQ:
537 sps = val * 1000 + val2 / 1000;
538
539 if (sps <= 0)
540 return -EINVAL;
541
542 mutex_lock(&indio_dev->mlock);
543 ret = st->variant->set_freq(st, sps);
544 mutex_unlock(&indio_dev->mlock);
545 return ret;
546 default:
547 return -EINVAL;
548 }
549}
550
551static int adis16400_read_raw(struct iio_dev *indio_dev,
552 struct iio_chan_spec const *chan, int *val, int *val2, long info)
553{
554 struct adis16400_state *st = iio_priv(indio_dev);
555 int16_t val16;
556 int ret;
557
558 switch (info) {
559 case IIO_CHAN_INFO_RAW:
560 return adis_single_conversion(indio_dev, chan, 0, val);
561 case IIO_CHAN_INFO_SCALE:
562 switch (chan->type) {
563 case IIO_ANGL_VEL:
564 *val = 0;
565 *val2 = st->variant->gyro_scale_micro;
566 return IIO_VAL_INT_PLUS_MICRO;
567 case IIO_VOLTAGE:
568 *val = 0;
569 if (chan->channel == 0) {
570 *val = 2;
571 *val2 = 418000; /* 2.418 mV */
572 } else {
573 *val = 0;
574 *val2 = 805800; /* 805.8 uV */
575 }
576 return IIO_VAL_INT_PLUS_MICRO;
577 case IIO_ACCEL:
578 *val = 0;
579 *val2 = st->variant->accel_scale_micro;
580 return IIO_VAL_INT_PLUS_MICRO;
581 case IIO_MAGN:
582 *val = 0;
583 *val2 = 500; /* 0.5 mgauss */
584 return IIO_VAL_INT_PLUS_MICRO;
585 case IIO_TEMP:
586 *val = st->variant->temp_scale_nano / 1000000;
587 *val2 = (st->variant->temp_scale_nano % 1000000);
588 return IIO_VAL_INT_PLUS_MICRO;
589 case IIO_PRESSURE:
590 /* 20 uBar = 0.002kPascal */
591 *val = 0;
592 *val2 = 2000;
593 return IIO_VAL_INT_PLUS_MICRO;
594 default:
595 return -EINVAL;
596 }
597 case IIO_CHAN_INFO_CALIBBIAS:
598 mutex_lock(&indio_dev->mlock);
599 ret = adis_read_reg_16(&st->adis,
600 adis16400_addresses[chan->scan_index], &val16);
601 mutex_unlock(&indio_dev->mlock);
602 if (ret)
603 return ret;
604 val16 = sign_extend32(val16, 11);
605 *val = val16;
606 return IIO_VAL_INT;
607 case IIO_CHAN_INFO_OFFSET:
608 /* currently only temperature */
609 *val = st->variant->temp_offset;
610 return IIO_VAL_INT;
611 case IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY:
612 mutex_lock(&indio_dev->mlock);
613 /* Need both the number of taps and the sampling frequency */
614 ret = adis_read_reg_16(&st->adis,
615 ADIS16400_SENS_AVG,
616 &val16);
617 if (ret < 0) {
618 mutex_unlock(&indio_dev->mlock);
619 return ret;
620 }
621 ret = st->variant->get_freq(st);
622 if (ret >= 0) {
623 ret /= adis16400_3db_divisors[val16 & 0x07];
624 *val = ret / 1000;
625 *val2 = (ret % 1000) * 1000;
626 }
627 mutex_unlock(&indio_dev->mlock);
628 if (ret < 0)
629 return ret;
630 return IIO_VAL_INT_PLUS_MICRO;
631 case IIO_CHAN_INFO_SAMP_FREQ:
632 ret = st->variant->get_freq(st);
633 if (ret < 0)
634 return ret;
635 *val = ret / 1000;
636 *val2 = (ret % 1000) * 1000;
637 return IIO_VAL_INT_PLUS_MICRO;
638 default:
639 return -EINVAL;
640 }
641}
642
643#if IS_ENABLED(CONFIG_IIO_BUFFER)
644static irqreturn_t adis16400_trigger_handler(int irq, void *p)
645{
646 struct iio_poll_func *pf = p;
647 struct iio_dev *indio_dev = pf->indio_dev;
648 struct adis16400_state *st = iio_priv(indio_dev);
649 struct adis *adis = &st->adis;
650 u32 old_speed_hz = st->adis.spi->max_speed_hz;
651 void *buffer;
652 int ret;
653
654 if (!(st->variant->flags & ADIS16400_NO_BURST) &&
655 st->adis.spi->max_speed_hz > ADIS16400_SPI_BURST) {
656 st->adis.spi->max_speed_hz = ADIS16400_SPI_BURST;
657 spi_setup(st->adis.spi);
658 }
659
660 ret = spi_sync(adis->spi, &adis->msg);
661 if (ret)
662 dev_err(&adis->spi->dev, "Failed to read data: %d\n", ret);
663
664 if (!(st->variant->flags & ADIS16400_NO_BURST)) {
665 st->adis.spi->max_speed_hz = old_speed_hz;
666 spi_setup(st->adis.spi);
667 }
668
669 if (st->variant->flags & ADIS16400_BURST_DIAG_STAT)
670 buffer = adis->buffer + sizeof(u16);
671 else
672 buffer = adis->buffer;
673
674 iio_push_to_buffers_with_timestamp(indio_dev, buffer,
675 pf->timestamp);
676
677 iio_trigger_notify_done(indio_dev->trig);
678
679 return IRQ_HANDLED;
680}
681#else
682#define adis16400_trigger_handler NULL
683#endif /* IS_ENABLED(CONFIG_IIO_BUFFER) */
684
685#define ADIS16400_VOLTAGE_CHAN(addr, bits, name, si, chn) { \
686 .type = IIO_VOLTAGE, \
687 .indexed = 1, \
688 .channel = chn, \
689 .extend_name = name, \
690 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \
691 BIT(IIO_CHAN_INFO_SCALE), \
692 .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
693 .address = (addr), \
694 .scan_index = (si), \
695 .scan_type = { \
696 .sign = 'u', \
697 .realbits = (bits), \
698 .storagebits = 16, \
699 .shift = 0, \
700 .endianness = IIO_BE, \
701 }, \
702}
703
704#define ADIS16400_SUPPLY_CHAN(addr, bits) \
705 ADIS16400_VOLTAGE_CHAN(addr, bits, "supply", ADIS16400_SCAN_SUPPLY, 0)
706
707#define ADIS16400_AUX_ADC_CHAN(addr, bits) \
708 ADIS16400_VOLTAGE_CHAN(addr, bits, NULL, ADIS16400_SCAN_ADC, 1)
709
710#define ADIS16400_GYRO_CHAN(mod, addr, bits) { \
711 .type = IIO_ANGL_VEL, \
712 .modified = 1, \
713 .channel2 = IIO_MOD_ ## mod, \
714 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \
715 BIT(IIO_CHAN_INFO_CALIBBIAS), \
716 .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE) | \
717 BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY), \
718 .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
719 .address = addr, \
720 .scan_index = ADIS16400_SCAN_GYRO_ ## mod, \
721 .scan_type = { \
722 .sign = 's', \
723 .realbits = (bits), \
724 .storagebits = 16, \
725 .shift = 0, \
726 .endianness = IIO_BE, \
727 }, \
728}
729
730#define ADIS16400_ACCEL_CHAN(mod, addr, bits) { \
731 .type = IIO_ACCEL, \
732 .modified = 1, \
733 .channel2 = IIO_MOD_ ## mod, \
734 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \
735 BIT(IIO_CHAN_INFO_CALIBBIAS), \
736 .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE) | \
737 BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY), \
738 .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
739 .address = (addr), \
740 .scan_index = ADIS16400_SCAN_ACC_ ## mod, \
741 .scan_type = { \
742 .sign = 's', \
743 .realbits = (bits), \
744 .storagebits = 16, \
745 .shift = 0, \
746 .endianness = IIO_BE, \
747 }, \
748}
749
750#define ADIS16400_MAGN_CHAN(mod, addr, bits) { \
751 .type = IIO_MAGN, \
752 .modified = 1, \
753 .channel2 = IIO_MOD_ ## mod, \
754 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW), \
755 .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE) | \
756 BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY), \
757 .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
758 .address = (addr), \
759 .scan_index = ADIS16400_SCAN_MAGN_ ## mod, \
760 .scan_type = { \
761 .sign = 's', \
762 .realbits = (bits), \
763 .storagebits = 16, \
764 .shift = 0, \
765 .endianness = IIO_BE, \
766 }, \
767}
768
769#define ADIS16400_MOD_TEMP_NAME_X "x"
770#define ADIS16400_MOD_TEMP_NAME_Y "y"
771#define ADIS16400_MOD_TEMP_NAME_Z "z"
772
773#define ADIS16400_MOD_TEMP_CHAN(mod, addr, bits) { \
774 .type = IIO_TEMP, \
775 .indexed = 1, \
776 .channel = 0, \
777 .extend_name = ADIS16400_MOD_TEMP_NAME_ ## mod, \
778 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \
779 BIT(IIO_CHAN_INFO_OFFSET) | \
780 BIT(IIO_CHAN_INFO_SCALE), \
781 .info_mask_shared_by_type = \
782 BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY), \
783 .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
784 .address = (addr), \
785 .scan_index = ADIS16350_SCAN_TEMP_ ## mod, \
786 .scan_type = { \
787 .sign = 's', \
788 .realbits = (bits), \
789 .storagebits = 16, \
790 .shift = 0, \
791 .endianness = IIO_BE, \
792 }, \
793}
794
795#define ADIS16400_TEMP_CHAN(addr, bits) { \
796 .type = IIO_TEMP, \
797 .indexed = 1, \
798 .channel = 0, \
799 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \
800 BIT(IIO_CHAN_INFO_OFFSET) | \
801 BIT(IIO_CHAN_INFO_SCALE), \
802 .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
803 .address = (addr), \
804 .scan_index = ADIS16350_SCAN_TEMP_X, \
805 .scan_type = { \
806 .sign = 's', \
807 .realbits = (bits), \
808 .storagebits = 16, \
809 .shift = 0, \
810 .endianness = IIO_BE, \
811 }, \
812}
813
814#define ADIS16400_INCLI_CHAN(mod, addr, bits) { \
815 .type = IIO_INCLI, \
816 .modified = 1, \
817 .channel2 = IIO_MOD_ ## mod, \
818 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW), \
819 .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE), \
820 .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
821 .address = (addr), \
822 .scan_index = ADIS16300_SCAN_INCLI_ ## mod, \
823 .scan_type = { \
824 .sign = 's', \
825 .realbits = (bits), \
826 .storagebits = 16, \
827 .shift = 0, \
828 .endianness = IIO_BE, \
829 }, \
830}
831
832static const struct iio_chan_spec adis16400_channels[] = {
833 ADIS16400_SUPPLY_CHAN(ADIS16400_SUPPLY_OUT, 14),
834 ADIS16400_GYRO_CHAN(X, ADIS16400_XGYRO_OUT, 14),
835 ADIS16400_GYRO_CHAN(Y, ADIS16400_YGYRO_OUT, 14),
836 ADIS16400_GYRO_CHAN(Z, ADIS16400_ZGYRO_OUT, 14),
837 ADIS16400_ACCEL_CHAN(X, ADIS16400_XACCL_OUT, 14),
838 ADIS16400_ACCEL_CHAN(Y, ADIS16400_YACCL_OUT, 14),
839 ADIS16400_ACCEL_CHAN(Z, ADIS16400_ZACCL_OUT, 14),
840 ADIS16400_MAGN_CHAN(X, ADIS16400_XMAGN_OUT, 14),
841 ADIS16400_MAGN_CHAN(Y, ADIS16400_YMAGN_OUT, 14),
842 ADIS16400_MAGN_CHAN(Z, ADIS16400_ZMAGN_OUT, 14),
843 ADIS16400_TEMP_CHAN(ADIS16400_TEMP_OUT, 12),
844 ADIS16400_AUX_ADC_CHAN(ADIS16400_AUX_ADC, 12),
845 IIO_CHAN_SOFT_TIMESTAMP(ADIS16400_SCAN_TIMESTAMP),
846};
847
848static const struct iio_chan_spec adis16445_channels[] = {
849 ADIS16400_GYRO_CHAN(X, ADIS16400_XGYRO_OUT, 16),
850 ADIS16400_GYRO_CHAN(Y, ADIS16400_YGYRO_OUT, 16),
851 ADIS16400_GYRO_CHAN(Z, ADIS16400_ZGYRO_OUT, 16),
852 ADIS16400_ACCEL_CHAN(X, ADIS16400_XACCL_OUT, 16),
853 ADIS16400_ACCEL_CHAN(Y, ADIS16400_YACCL_OUT, 16),
854 ADIS16400_ACCEL_CHAN(Z, ADIS16400_ZACCL_OUT, 16),
855 ADIS16400_TEMP_CHAN(ADIS16448_TEMP_OUT, 12),
856 IIO_CHAN_SOFT_TIMESTAMP(ADIS16400_SCAN_TIMESTAMP),
857};
858
859static const struct iio_chan_spec adis16448_channels[] = {
860 ADIS16400_GYRO_CHAN(X, ADIS16400_XGYRO_OUT, 16),
861 ADIS16400_GYRO_CHAN(Y, ADIS16400_YGYRO_OUT, 16),
862 ADIS16400_GYRO_CHAN(Z, ADIS16400_ZGYRO_OUT, 16),
863 ADIS16400_ACCEL_CHAN(X, ADIS16400_XACCL_OUT, 16),
864 ADIS16400_ACCEL_CHAN(Y, ADIS16400_YACCL_OUT, 16),
865 ADIS16400_ACCEL_CHAN(Z, ADIS16400_ZACCL_OUT, 16),
866 ADIS16400_MAGN_CHAN(X, ADIS16400_XMAGN_OUT, 16),
867 ADIS16400_MAGN_CHAN(Y, ADIS16400_YMAGN_OUT, 16),
868 ADIS16400_MAGN_CHAN(Z, ADIS16400_ZMAGN_OUT, 16),
869 {
870 .type = IIO_PRESSURE,
871 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW),
872 .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE),
873 .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ),
874 .address = ADIS16448_BARO_OUT,
875 .scan_index = ADIS16400_SCAN_BARO,
876 .scan_type = {
877 .sign = 's',
878 .realbits = 16,
879 .storagebits = 16,
880 .endianness = IIO_BE,
881 },
882 },
883 ADIS16400_TEMP_CHAN(ADIS16448_TEMP_OUT, 12),
884 IIO_CHAN_SOFT_TIMESTAMP(ADIS16400_SCAN_TIMESTAMP),
885};
886
887static const struct iio_chan_spec adis16350_channels[] = {
888 ADIS16400_SUPPLY_CHAN(ADIS16400_SUPPLY_OUT, 12),
889 ADIS16400_GYRO_CHAN(X, ADIS16400_XGYRO_OUT, 14),
890 ADIS16400_GYRO_CHAN(Y, ADIS16400_YGYRO_OUT, 14),
891 ADIS16400_GYRO_CHAN(Z, ADIS16400_ZGYRO_OUT, 14),
892 ADIS16400_ACCEL_CHAN(X, ADIS16400_XACCL_OUT, 14),
893 ADIS16400_ACCEL_CHAN(Y, ADIS16400_YACCL_OUT, 14),
894 ADIS16400_ACCEL_CHAN(Z, ADIS16400_ZACCL_OUT, 14),
895 ADIS16400_MAGN_CHAN(X, ADIS16400_XMAGN_OUT, 14),
896 ADIS16400_MAGN_CHAN(Y, ADIS16400_YMAGN_OUT, 14),
897 ADIS16400_MAGN_CHAN(Z, ADIS16400_ZMAGN_OUT, 14),
898 ADIS16400_AUX_ADC_CHAN(ADIS16300_AUX_ADC, 12),
899 ADIS16400_MOD_TEMP_CHAN(X, ADIS16350_XTEMP_OUT, 12),
900 ADIS16400_MOD_TEMP_CHAN(Y, ADIS16350_YTEMP_OUT, 12),
901 ADIS16400_MOD_TEMP_CHAN(Z, ADIS16350_ZTEMP_OUT, 12),
902 IIO_CHAN_SOFT_TIMESTAMP(ADIS16400_SCAN_TIMESTAMP),
903};
904
905static const struct iio_chan_spec adis16300_channels[] = {
906 ADIS16400_SUPPLY_CHAN(ADIS16400_SUPPLY_OUT, 12),
907 ADIS16400_GYRO_CHAN(X, ADIS16400_XGYRO_OUT, 14),
908 ADIS16400_ACCEL_CHAN(X, ADIS16400_XACCL_OUT, 14),
909 ADIS16400_ACCEL_CHAN(Y, ADIS16400_YACCL_OUT, 14),
910 ADIS16400_ACCEL_CHAN(Z, ADIS16400_ZACCL_OUT, 14),
911 ADIS16400_TEMP_CHAN(ADIS16350_XTEMP_OUT, 12),
912 ADIS16400_AUX_ADC_CHAN(ADIS16300_AUX_ADC, 12),
913 ADIS16400_INCLI_CHAN(X, ADIS16300_PITCH_OUT, 13),
914 ADIS16400_INCLI_CHAN(Y, ADIS16300_ROLL_OUT, 13),
915 IIO_CHAN_SOFT_TIMESTAMP(ADIS16400_SCAN_TIMESTAMP),
916};
917
918static const struct iio_chan_spec adis16334_channels[] = {
919 ADIS16400_GYRO_CHAN(X, ADIS16400_XGYRO_OUT, 14),
920 ADIS16400_GYRO_CHAN(Y, ADIS16400_YGYRO_OUT, 14),
921 ADIS16400_GYRO_CHAN(Z, ADIS16400_ZGYRO_OUT, 14),
922 ADIS16400_ACCEL_CHAN(X, ADIS16400_XACCL_OUT, 14),
923 ADIS16400_ACCEL_CHAN(Y, ADIS16400_YACCL_OUT, 14),
924 ADIS16400_ACCEL_CHAN(Z, ADIS16400_ZACCL_OUT, 14),
925 ADIS16400_TEMP_CHAN(ADIS16350_XTEMP_OUT, 12),
926 IIO_CHAN_SOFT_TIMESTAMP(ADIS16400_SCAN_TIMESTAMP),
927};
928
929static struct adis16400_chip_info adis16400_chips[] = {
930 [ADIS16300] = {
931 .channels = adis16300_channels,
932 .num_channels = ARRAY_SIZE(adis16300_channels),
933 .flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE |
934 ADIS16400_HAS_SERIAL_NUMBER,
935 .gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */
936 .accel_scale_micro = 5884,
937 .temp_scale_nano = 140000000, /* 0.14 C */
938 .temp_offset = 25000000 / 140000, /* 25 C = 0x00 */
939 .set_freq = adis16400_set_freq,
940 .get_freq = adis16400_get_freq,
941 },
942 [ADIS16334] = {
943 .channels = adis16334_channels,
944 .num_channels = ARRAY_SIZE(adis16334_channels),
945 .flags = ADIS16400_HAS_PROD_ID | ADIS16400_NO_BURST |
946 ADIS16400_HAS_SERIAL_NUMBER,
947 .gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */
948 .accel_scale_micro = IIO_G_TO_M_S_2(1000), /* 1 mg */
949 .temp_scale_nano = 67850000, /* 0.06785 C */
950 .temp_offset = 25000000 / 67850, /* 25 C = 0x00 */
951 .set_freq = adis16334_set_freq,
952 .get_freq = adis16334_get_freq,
953 },
954 [ADIS16350] = {
955 .channels = adis16350_channels,
956 .num_channels = ARRAY_SIZE(adis16350_channels),
957 .gyro_scale_micro = IIO_DEGREE_TO_RAD(73260), /* 0.07326 deg/s */
958 .accel_scale_micro = IIO_G_TO_M_S_2(2522), /* 0.002522 g */
959 .temp_scale_nano = 145300000, /* 0.1453 C */
960 .temp_offset = 25000000 / 145300, /* 25 C = 0x00 */
961 .flags = ADIS16400_NO_BURST | ADIS16400_HAS_SLOW_MODE,
962 .set_freq = adis16400_set_freq,
963 .get_freq = adis16400_get_freq,
964 },
965 [ADIS16360] = {
966 .channels = adis16350_channels,
967 .num_channels = ARRAY_SIZE(adis16350_channels),
968 .flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE |
969 ADIS16400_HAS_SERIAL_NUMBER,
970 .gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */
971 .accel_scale_micro = IIO_G_TO_M_S_2(3333), /* 3.333 mg */
972 .temp_scale_nano = 136000000, /* 0.136 C */
973 .temp_offset = 25000000 / 136000, /* 25 C = 0x00 */
974 .set_freq = adis16400_set_freq,
975 .get_freq = adis16400_get_freq,
976 },
977 [ADIS16362] = {
978 .channels = adis16350_channels,
979 .num_channels = ARRAY_SIZE(adis16350_channels),
980 .flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE |
981 ADIS16400_HAS_SERIAL_NUMBER,
982 .gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */
983 .accel_scale_micro = IIO_G_TO_M_S_2(333), /* 0.333 mg */
984 .temp_scale_nano = 136000000, /* 0.136 C */
985 .temp_offset = 25000000 / 136000, /* 25 C = 0x00 */
986 .set_freq = adis16400_set_freq,
987 .get_freq = adis16400_get_freq,
988 },
989 [ADIS16364] = {
990 .channels = adis16350_channels,
991 .num_channels = ARRAY_SIZE(adis16350_channels),
992 .flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE |
993 ADIS16400_HAS_SERIAL_NUMBER,
994 .gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */
995 .accel_scale_micro = IIO_G_TO_M_S_2(1000), /* 1 mg */
996 .temp_scale_nano = 136000000, /* 0.136 C */
997 .temp_offset = 25000000 / 136000, /* 25 C = 0x00 */
998 .set_freq = adis16400_set_freq,
999 .get_freq = adis16400_get_freq,
1000 },
1001 [ADIS16367] = {
1002 .channels = adis16350_channels,
1003 .num_channels = ARRAY_SIZE(adis16350_channels),
1004 .flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE |
1005 ADIS16400_HAS_SERIAL_NUMBER,
1006 .gyro_scale_micro = IIO_DEGREE_TO_RAD(2000), /* 0.2 deg/s */
1007 .accel_scale_micro = IIO_G_TO_M_S_2(3333), /* 3.333 mg */
1008 .temp_scale_nano = 136000000, /* 0.136 C */
1009 .temp_offset = 25000000 / 136000, /* 25 C = 0x00 */
1010 .set_freq = adis16400_set_freq,
1011 .get_freq = adis16400_get_freq,
1012 },
1013 [ADIS16400] = {
1014 .channels = adis16400_channels,
1015 .num_channels = ARRAY_SIZE(adis16400_channels),
1016 .flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE,
1017 .gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */
1018 .accel_scale_micro = IIO_G_TO_M_S_2(3333), /* 3.333 mg */
1019 .temp_scale_nano = 140000000, /* 0.14 C */
1020 .temp_offset = 25000000 / 140000, /* 25 C = 0x00 */
1021 .set_freq = adis16400_set_freq,
1022 .get_freq = adis16400_get_freq,
1023 },
1024 [ADIS16445] = {
1025 .channels = adis16445_channels,
1026 .num_channels = ARRAY_SIZE(adis16445_channels),
1027 .flags = ADIS16400_HAS_PROD_ID |
1028 ADIS16400_HAS_SERIAL_NUMBER |
1029 ADIS16400_BURST_DIAG_STAT,
1030 .gyro_scale_micro = IIO_DEGREE_TO_RAD(10000), /* 0.01 deg/s */
1031 .accel_scale_micro = IIO_G_TO_M_S_2(250), /* 1/4000 g */
1032 .temp_scale_nano = 73860000, /* 0.07386 C */
1033 .temp_offset = 31000000 / 73860, /* 31 C = 0x00 */
1034 .set_freq = adis16334_set_freq,
1035 .get_freq = adis16334_get_freq,
1036 },
1037 [ADIS16448] = {
1038 .channels = adis16448_channels,
1039 .num_channels = ARRAY_SIZE(adis16448_channels),
1040 .flags = ADIS16400_HAS_PROD_ID |
1041 ADIS16400_HAS_SERIAL_NUMBER |
1042 ADIS16400_BURST_DIAG_STAT,
1043 .gyro_scale_micro = IIO_DEGREE_TO_RAD(40000), /* 0.04 deg/s */
1044 .accel_scale_micro = IIO_G_TO_M_S_2(833), /* 1/1200 g */
1045 .temp_scale_nano = 73860000, /* 0.07386 C */
1046 .temp_offset = 31000000 / 73860, /* 31 C = 0x00 */
1047 .set_freq = adis16334_set_freq,
1048 .get_freq = adis16334_get_freq,
1049 }
1050};
1051
1052static const struct iio_info adis16400_info = {
1053 .read_raw = &adis16400_read_raw,
1054 .write_raw = &adis16400_write_raw,
1055 .update_scan_mode = adis_update_scan_mode,
1056 .debugfs_reg_access = adis_debugfs_reg_access,
1057};
1058
1059static const char * const adis16400_status_error_msgs[] = {
1060 [ADIS16400_DIAG_STAT_ZACCL_FAIL] = "Z-axis accelerometer self-test failure",
1061 [ADIS16400_DIAG_STAT_YACCL_FAIL] = "Y-axis accelerometer self-test failure",
1062 [ADIS16400_DIAG_STAT_XACCL_FAIL] = "X-axis accelerometer self-test failure",
1063 [ADIS16400_DIAG_STAT_XGYRO_FAIL] = "X-axis gyroscope self-test failure",
1064 [ADIS16400_DIAG_STAT_YGYRO_FAIL] = "Y-axis gyroscope self-test failure",
1065 [ADIS16400_DIAG_STAT_ZGYRO_FAIL] = "Z-axis gyroscope self-test failure",
1066 [ADIS16400_DIAG_STAT_ALARM2] = "Alarm 2 active",
1067 [ADIS16400_DIAG_STAT_ALARM1] = "Alarm 1 active",
1068 [ADIS16400_DIAG_STAT_FLASH_CHK] = "Flash checksum error",
1069 [ADIS16400_DIAG_STAT_SELF_TEST] = "Self test error",
1070 [ADIS16400_DIAG_STAT_OVERFLOW] = "Sensor overrange",
1071 [ADIS16400_DIAG_STAT_SPI_FAIL] = "SPI failure",
1072 [ADIS16400_DIAG_STAT_FLASH_UPT] = "Flash update failed",
1073 [ADIS16400_DIAG_STAT_POWER_HIGH] = "Power supply above 5.25V",
1074 [ADIS16400_DIAG_STAT_POWER_LOW] = "Power supply below 4.75V",
1075};
1076
1077static const struct adis_data adis16400_data = {
1078 .msc_ctrl_reg = ADIS16400_MSC_CTRL,
1079 .glob_cmd_reg = ADIS16400_GLOB_CMD,
1080 .diag_stat_reg = ADIS16400_DIAG_STAT,
1081
1082 .read_delay = 50,
1083 .write_delay = 50,
1084
1085 .self_test_mask = ADIS16400_MSC_CTRL_MEM_TEST,
1086 .startup_delay = ADIS16400_STARTUP_DELAY,
1087
1088 .status_error_msgs = adis16400_status_error_msgs,
1089 .status_error_mask = BIT(ADIS16400_DIAG_STAT_ZACCL_FAIL) |
1090 BIT(ADIS16400_DIAG_STAT_YACCL_FAIL) |
1091 BIT(ADIS16400_DIAG_STAT_XACCL_FAIL) |
1092 BIT(ADIS16400_DIAG_STAT_XGYRO_FAIL) |
1093 BIT(ADIS16400_DIAG_STAT_YGYRO_FAIL) |
1094 BIT(ADIS16400_DIAG_STAT_ZGYRO_FAIL) |
1095 BIT(ADIS16400_DIAG_STAT_ALARM2) |
1096 BIT(ADIS16400_DIAG_STAT_ALARM1) |
1097 BIT(ADIS16400_DIAG_STAT_FLASH_CHK) |
1098 BIT(ADIS16400_DIAG_STAT_SELF_TEST) |
1099 BIT(ADIS16400_DIAG_STAT_OVERFLOW) |
1100 BIT(ADIS16400_DIAG_STAT_SPI_FAIL) |
1101 BIT(ADIS16400_DIAG_STAT_FLASH_UPT) |
1102 BIT(ADIS16400_DIAG_STAT_POWER_HIGH) |
1103 BIT(ADIS16400_DIAG_STAT_POWER_LOW),
1104};
1105
1106static void adis16400_setup_chan_mask(struct adis16400_state *st)
1107{
1108 const struct adis16400_chip_info *chip_info = st->variant;
1109 unsigned int i;
1110
1111 for (i = 0; i < chip_info->num_channels; i++) {
1112 const struct iio_chan_spec *ch = &chip_info->channels[i];
1113
1114 if (ch->scan_index >= 0 &&
1115 ch->scan_index != ADIS16400_SCAN_TIMESTAMP)
1116 st->avail_scan_mask[0] |= BIT(ch->scan_index);
1117 }
1118}
1119
1120static int adis16400_probe(struct spi_device *spi)
1121{
1122 struct adis16400_state *st;
1123 struct iio_dev *indio_dev;
1124 int ret;
1125
1126 indio_dev = devm_iio_device_alloc(&spi->dev, sizeof(*st));
1127 if (indio_dev == NULL)
1128 return -ENOMEM;
1129
1130 st = iio_priv(indio_dev);
1131 /* this is only used for removal purposes */
1132 spi_set_drvdata(spi, indio_dev);
1133
1134 /* setup the industrialio driver allocated elements */
1135 st->variant = &adis16400_chips[spi_get_device_id(spi)->driver_data];
1136 indio_dev->dev.parent = &spi->dev;
1137 indio_dev->name = spi_get_device_id(spi)->name;
1138 indio_dev->channels = st->variant->channels;
1139 indio_dev->num_channels = st->variant->num_channels;
1140 indio_dev->info = &adis16400_info;
1141 indio_dev->modes = INDIO_DIRECT_MODE;
1142
1143 if (!(st->variant->flags & ADIS16400_NO_BURST)) {
1144 adis16400_setup_chan_mask(st);
1145 indio_dev->available_scan_masks = st->avail_scan_mask;
1146 st->adis.burst = &adis16400_burst;
1147 if (st->variant->flags & ADIS16400_BURST_DIAG_STAT)
1148 st->adis.burst->extra_len = sizeof(u16);
1149 }
1150
1151 ret = adis_init(&st->adis, indio_dev, spi, &adis16400_data);
1152 if (ret)
1153 return ret;
1154
1155 ret = adis_setup_buffer_and_trigger(&st->adis, indio_dev,
1156 adis16400_trigger_handler);
1157 if (ret)
1158 return ret;
1159
1160 /* Get the device into a sane initial state */
1161 ret = adis16400_initial_setup(indio_dev);
1162 if (ret)
1163 goto error_cleanup_buffer;
1164 ret = iio_device_register(indio_dev);
1165 if (ret)
1166 goto error_cleanup_buffer;
1167
1168 adis16400_debugfs_init(indio_dev);
1169 return 0;
1170
1171error_cleanup_buffer:
1172 adis_cleanup_buffer_and_trigger(&st->adis, indio_dev);
1173 return ret;
1174}
1175
1176static int adis16400_remove(struct spi_device *spi)
1177{
1178 struct iio_dev *indio_dev = spi_get_drvdata(spi);
1179 struct adis16400_state *st = iio_priv(indio_dev);
1180
1181 iio_device_unregister(indio_dev);
1182 adis16400_stop_device(indio_dev);
1183
1184 adis_cleanup_buffer_and_trigger(&st->adis, indio_dev);
1185
1186 return 0;
1187}
1188
1189static const struct spi_device_id adis16400_id[] = {
1190 {"adis16300", ADIS16300},
1191 {"adis16305", ADIS16300},
1192 {"adis16334", ADIS16334},
1193 {"adis16350", ADIS16350},
1194 {"adis16354", ADIS16350},
1195 {"adis16355", ADIS16350},
1196 {"adis16360", ADIS16360},
1197 {"adis16362", ADIS16362},
1198 {"adis16364", ADIS16364},
1199 {"adis16365", ADIS16360},
1200 {"adis16367", ADIS16367},
1201 {"adis16400", ADIS16400},
1202 {"adis16405", ADIS16400},
1203 {"adis16445", ADIS16445},
1204 {"adis16448", ADIS16448},
1205 {}
1206};
1207MODULE_DEVICE_TABLE(spi, adis16400_id);
1208
1209static struct spi_driver adis16400_driver = {
1210 .driver = {
1211 .name = "adis16400",
1212 },
1213 .id_table = adis16400_id,
1214 .probe = adis16400_probe,
1215 .remove = adis16400_remove,
1216};
1217module_spi_driver(adis16400_driver);
1218
1219MODULE_AUTHOR("Manuel Stahl <manuel.stahl@iis.fraunhofer.de>");
1220MODULE_DESCRIPTION("Analog Devices ADIS16400/5 IMU SPI driver");
1221MODULE_LICENSE("GPL v2");