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a9d26f00 BS |
1 | /* |
2 | * adis16400.c support Analog Devices ADIS16400/5 | |
3 | * 3d 2g Linear Accelerometers, | |
4 | * 3d Gyroscopes, | |
5 | * 3d Magnetometers via SPI | |
6 | * | |
7 | * Copyright (c) 2009 Manuel Stahl <manuel.stahl@iis.fraunhofer.de> | |
0f8c9620 | 8 | * Copyright (c) 2007 Jonathan Cameron <jic23@kernel.org> |
6a6ec623 | 9 | * Copyright (c) 2011 Analog Devices Inc. |
a9d26f00 BS |
10 | * |
11 | * This program is free software; you can redistribute it and/or modify | |
12 | * it under the terms of the GNU General Public License version 2 as | |
13 | * published by the Free Software Foundation. | |
14 | * | |
15 | */ | |
16 | ||
17 | #include <linux/interrupt.h> | |
18 | #include <linux/irq.h> | |
a9d26f00 BS |
19 | #include <linux/delay.h> |
20 | #include <linux/mutex.h> | |
21 | #include <linux/device.h> | |
22 | #include <linux/kernel.h> | |
23 | #include <linux/spi/spi.h> | |
1cb6c1f5 | 24 | #include <linux/slab.h> |
a9d26f00 BS |
25 | #include <linux/sysfs.h> |
26 | #include <linux/list.h> | |
99c97852 | 27 | #include <linux/module.h> |
1db18bb4 | 28 | #include <linux/debugfs.h> |
19e353f2 | 29 | #include <linux/bitops.h> |
a9d26f00 | 30 | |
06458e27 JC |
31 | #include <linux/iio/iio.h> |
32 | #include <linux/iio/sysfs.h> | |
33 | #include <linux/iio/buffer.h> | |
cd888a17 | 34 | |
a9d26f00 BS |
35 | #include "adis16400.h" |
36 | ||
1db18bb4 LPC |
37 | #ifdef CONFIG_DEBUG_FS |
38 | ||
39 | static ssize_t adis16400_show_serial_number(struct file *file, | |
40 | char __user *userbuf, size_t count, loff_t *ppos) | |
41 | { | |
42 | struct adis16400_state *st = file->private_data; | |
43 | u16 lot1, lot2, serial_number; | |
44 | char buf[16]; | |
45 | size_t len; | |
46 | int ret; | |
47 | ||
48 | ret = adis_read_reg_16(&st->adis, ADIS16334_LOT_ID1, &lot1); | |
49 | if (ret < 0) | |
50 | return ret; | |
51 | ||
52 | ret = adis_read_reg_16(&st->adis, ADIS16334_LOT_ID2, &lot2); | |
53 | if (ret < 0) | |
54 | return ret; | |
55 | ||
56 | ret = adis_read_reg_16(&st->adis, ADIS16334_SERIAL_NUMBER, | |
57 | &serial_number); | |
58 | if (ret < 0) | |
59 | return ret; | |
60 | ||
61 | len = snprintf(buf, sizeof(buf), "%.4x-%.4x-%.4x\n", lot1, lot2, | |
62 | serial_number); | |
63 | ||
64 | return simple_read_from_buffer(userbuf, count, ppos, buf, len); | |
65 | } | |
66 | ||
67 | static const struct file_operations adis16400_serial_number_fops = { | |
68 | .open = simple_open, | |
69 | .read = adis16400_show_serial_number, | |
70 | .llseek = default_llseek, | |
71 | .owner = THIS_MODULE, | |
72 | }; | |
73 | ||
74 | static int adis16400_show_product_id(void *arg, u64 *val) | |
75 | { | |
76 | struct adis16400_state *st = arg; | |
77 | uint16_t prod_id; | |
78 | int ret; | |
79 | ||
80 | ret = adis_read_reg_16(&st->adis, ADIS16400_PRODUCT_ID, &prod_id); | |
81 | if (ret < 0) | |
82 | return ret; | |
83 | ||
84 | *val = prod_id; | |
85 | ||
86 | return 0; | |
87 | } | |
88 | DEFINE_SIMPLE_ATTRIBUTE(adis16400_product_id_fops, | |
89 | adis16400_show_product_id, NULL, "%lld\n"); | |
90 | ||
91 | static int adis16400_show_flash_count(void *arg, u64 *val) | |
92 | { | |
93 | struct adis16400_state *st = arg; | |
94 | uint16_t flash_count; | |
95 | int ret; | |
96 | ||
97 | ret = adis_read_reg_16(&st->adis, ADIS16400_FLASH_CNT, &flash_count); | |
98 | if (ret < 0) | |
99 | return ret; | |
100 | ||
101 | *val = flash_count; | |
102 | ||
103 | return 0; | |
104 | } | |
105 | DEFINE_SIMPLE_ATTRIBUTE(adis16400_flash_count_fops, | |
106 | adis16400_show_flash_count, NULL, "%lld\n"); | |
107 | ||
108 | static int adis16400_debugfs_init(struct iio_dev *indio_dev) | |
109 | { | |
110 | struct adis16400_state *st = iio_priv(indio_dev); | |
111 | ||
112 | if (st->variant->flags & ADIS16400_HAS_SERIAL_NUMBER) | |
113 | debugfs_create_file("serial_number", 0400, | |
114 | indio_dev->debugfs_dentry, st, | |
115 | &adis16400_serial_number_fops); | |
116 | if (st->variant->flags & ADIS16400_HAS_PROD_ID) | |
117 | debugfs_create_file("product_id", 0400, | |
118 | indio_dev->debugfs_dentry, st, | |
119 | &adis16400_product_id_fops); | |
120 | debugfs_create_file("flash_count", 0400, indio_dev->debugfs_dentry, | |
121 | st, &adis16400_flash_count_fops); | |
122 | ||
123 | return 0; | |
124 | } | |
125 | ||
126 | #else | |
127 | ||
128 | static int adis16400_debugfs_init(struct iio_dev *indio_dev) | |
129 | { | |
130 | return 0; | |
131 | } | |
132 | ||
133 | #endif | |
134 | ||
2a29a90b | 135 | enum adis16400_chip_variant { |
8e886e65 | 136 | ADIS16300, |
85da5059 | 137 | ADIS16334, |
2a29a90b JC |
138 | ADIS16350, |
139 | ADIS16360, | |
140 | ADIS16362, | |
141 | ADIS16364, | |
2a29a90b | 142 | ADIS16400, |
76ada52f | 143 | ADIS16448, |
2a29a90b JC |
144 | }; |
145 | ||
cd888a17 | 146 | static int adis16334_get_freq(struct adis16400_state *st) |
98c9373d | 147 | { |
ea2ccb3e | 148 | int ret; |
f4c6d64b | 149 | uint16_t t; |
ea2ccb3e | 150 | |
cd888a17 | 151 | ret = adis_read_reg_16(&st->adis, ADIS16400_SMPL_PRD, &t); |
ea2ccb3e LPC |
152 | if (ret < 0) |
153 | return ret; | |
154 | ||
155 | t >>= ADIS16334_RATE_DIV_SHIFT; | |
156 | ||
b24150e3 | 157 | return 819200 >> t; |
ea2ccb3e LPC |
158 | } |
159 | ||
cd888a17 | 160 | static int adis16334_set_freq(struct adis16400_state *st, unsigned int freq) |
ea2ccb3e LPC |
161 | { |
162 | unsigned int t; | |
163 | ||
b24150e3 LPC |
164 | if (freq < 819200) |
165 | t = ilog2(819200 / freq); | |
06220b89 LPC |
166 | else |
167 | t = 0; | |
ea2ccb3e LPC |
168 | |
169 | if (t > 0x31) | |
170 | t = 0x31; | |
171 | ||
172 | t <<= ADIS16334_RATE_DIV_SHIFT; | |
173 | t |= ADIS16334_RATE_INT_CLK; | |
174 | ||
cd888a17 | 175 | return adis_write_reg_16(&st->adis, ADIS16400_SMPL_PRD, t); |
ea2ccb3e LPC |
176 | } |
177 | ||
cd888a17 | 178 | static int adis16400_get_freq(struct adis16400_state *st) |
ea2ccb3e | 179 | { |
98c9373d | 180 | int sps, ret; |
f4c6d64b | 181 | uint16_t t; |
98c9373d | 182 | |
cd888a17 | 183 | ret = adis_read_reg_16(&st->adis, ADIS16400_SMPL_PRD, &t); |
98c9373d JC |
184 | if (ret < 0) |
185 | return ret; | |
f4c6d64b | 186 | |
b24150e3 | 187 | sps = (t & ADIS16400_SMPL_PRD_TIME_BASE) ? 52851 : 1638404; |
98c9373d JC |
188 | sps /= (t & ADIS16400_SMPL_PRD_DIV_MASK) + 1; |
189 | ||
190 | return sps; | |
191 | } | |
192 | ||
cd888a17 | 193 | static int adis16400_set_freq(struct adis16400_state *st, unsigned int freq) |
ea2ccb3e | 194 | { |
ea2ccb3e | 195 | unsigned int t; |
7ba8a04d | 196 | uint8_t val = 0; |
ea2ccb3e | 197 | |
b24150e3 | 198 | t = 1638404 / freq; |
7ba8a04d LPC |
199 | if (t >= 128) { |
200 | val |= ADIS16400_SMPL_PRD_TIME_BASE; | |
201 | t = 52851 / freq; | |
202 | if (t >= 128) | |
203 | t = 127; | |
204 | } else if (t != 0) { | |
ea2ccb3e | 205 | t--; |
7ba8a04d | 206 | } |
f4c6d64b | 207 | |
7ba8a04d LPC |
208 | val |= t; |
209 | ||
210 | if (t >= 0x0A || (val & ADIS16400_SMPL_PRD_TIME_BASE)) | |
cd888a17 | 211 | st->adis.spi->max_speed_hz = ADIS16400_SPI_SLOW; |
ea2ccb3e | 212 | else |
cd888a17 | 213 | st->adis.spi->max_speed_hz = ADIS16400_SPI_FAST; |
ea2ccb3e | 214 | |
7ba8a04d | 215 | return adis_write_reg_8(&st->adis, ADIS16400_SMPL_PRD, val); |
ea2ccb3e LPC |
216 | } |
217 | ||
98c9373d JC |
218 | static const unsigned adis16400_3db_divisors[] = { |
219 | [0] = 2, /* Special case */ | |
bdb20bdb LPC |
220 | [1] = 6, |
221 | [2] = 12, | |
222 | [3] = 25, | |
223 | [4] = 50, | |
224 | [5] = 100, | |
225 | [6] = 200, | |
226 | [7] = 200, /* Not a valid setting */ | |
98c9373d JC |
227 | }; |
228 | ||
229 | static int adis16400_set_filter(struct iio_dev *indio_dev, int sps, int val) | |
230 | { | |
cd888a17 | 231 | struct adis16400_state *st = iio_priv(indio_dev); |
f4c6d64b | 232 | uint16_t val16; |
98c9373d | 233 | int i, ret; |
bdb20bdb LPC |
234 | |
235 | for (i = ARRAY_SIZE(adis16400_3db_divisors) - 1; i >= 1; i--) { | |
236 | if (sps / adis16400_3db_divisors[i] >= val) | |
98c9373d | 237 | break; |
bdb20bdb LPC |
238 | } |
239 | ||
cd888a17 | 240 | ret = adis_read_reg_16(&st->adis, ADIS16400_SENS_AVG, &val16); |
bdb20bdb LPC |
241 | if (ret < 0) |
242 | return ret; | |
98c9373d | 243 | |
cd888a17 | 244 | ret = adis_write_reg_16(&st->adis, ADIS16400_SENS_AVG, |
bdb20bdb | 245 | (val16 & ~0x07) | i); |
98c9373d JC |
246 | return ret; |
247 | } | |
248 | ||
a9d26f00 | 249 | /* Power down the device */ |
e7854845 | 250 | static int adis16400_stop_device(struct iio_dev *indio_dev) |
a9d26f00 | 251 | { |
cd888a17 | 252 | struct adis16400_state *st = iio_priv(indio_dev); |
a9d26f00 | 253 | int ret; |
a9d26f00 | 254 | |
f4c6d64b LPC |
255 | ret = adis_write_reg_16(&st->adis, ADIS16400_SLP_CNT, |
256 | ADIS16400_SLP_CNT_POWER_OFF); | |
a9d26f00 | 257 | if (ret) |
e7854845 JC |
258 | dev_err(&indio_dev->dev, |
259 | "problem with turning device off: SLP_CNT"); | |
a9d26f00 BS |
260 | |
261 | return ret; | |
262 | } | |
263 | ||
38d15f06 | 264 | static int adis16400_initial_setup(struct iio_dev *indio_dev) |
a9d26f00 | 265 | { |
38d15f06 | 266 | struct adis16400_state *st = iio_priv(indio_dev); |
f4c6d64b LPC |
267 | uint16_t prod_id, smp_prd; |
268 | unsigned int device_id; | |
269 | int ret; | |
a9d26f00 | 270 | |
ea2ccb3e LPC |
271 | /* use low spi speed for init if the device has a slow mode */ |
272 | if (st->variant->flags & ADIS16400_HAS_SLOW_MODE) | |
cd888a17 | 273 | st->adis.spi->max_speed_hz = ADIS16400_SPI_SLOW; |
ea2ccb3e | 274 | else |
cd888a17 LPC |
275 | st->adis.spi->max_speed_hz = ADIS16400_SPI_FAST; |
276 | st->adis.spi->mode = SPI_MODE_3; | |
277 | spi_setup(st->adis.spi); | |
a9d26f00 | 278 | |
cd888a17 LPC |
279 | ret = adis_initial_startup(&st->adis); |
280 | if (ret) | |
281 | return ret; | |
a9d26f00 | 282 | |
2a29a90b | 283 | if (st->variant->flags & ADIS16400_HAS_PROD_ID) { |
cd888a17 | 284 | ret = adis_read_reg_16(&st->adis, |
2a29a90b JC |
285 | ADIS16400_PRODUCT_ID, &prod_id); |
286 | if (ret) | |
287 | goto err_ret; | |
a9d26f00 | 288 | |
fc8850c0 LPC |
289 | sscanf(indio_dev->name, "adis%u\n", &device_id); |
290 | ||
291 | if (prod_id != device_id) | |
292 | dev_warn(&indio_dev->dev, "Device ID(%u) and product ID(%u) do not match.", | |
293 | device_id, prod_id); | |
a9d26f00 | 294 | |
69d80bae | 295 | dev_info(&indio_dev->dev, "%s: prod_id 0x%04x at CS%d (irq %d)\n", |
f4c6d64b LPC |
296 | indio_dev->name, prod_id, |
297 | st->adis.spi->chip_select, st->adis.spi->irq); | |
2a29a90b | 298 | } |
a9d26f00 | 299 | /* use high spi speed if possible */ |
ea2ccb3e | 300 | if (st->variant->flags & ADIS16400_HAS_SLOW_MODE) { |
cd888a17 | 301 | ret = adis_read_reg_16(&st->adis, ADIS16400_SMPL_PRD, &smp_prd); |
ea2ccb3e LPC |
302 | if (ret) |
303 | goto err_ret; | |
304 | ||
305 | if ((smp_prd & ADIS16400_SMPL_PRD_DIV_MASK) < 0x0A) { | |
cd888a17 LPC |
306 | st->adis.spi->max_speed_hz = ADIS16400_SPI_FAST; |
307 | spi_setup(st->adis.spi); | |
ea2ccb3e | 308 | } |
a9d26f00 BS |
309 | } |
310 | ||
a9d26f00 | 311 | err_ret: |
a9d26f00 BS |
312 | return ret; |
313 | } | |
314 | ||
f4c6d64b | 315 | static const uint8_t adis16400_addresses[] = { |
cd888a17 LPC |
316 | [ADIS16400_SCAN_GYRO_X] = ADIS16400_XGYRO_OFF, |
317 | [ADIS16400_SCAN_GYRO_Y] = ADIS16400_YGYRO_OFF, | |
318 | [ADIS16400_SCAN_GYRO_Z] = ADIS16400_ZGYRO_OFF, | |
319 | [ADIS16400_SCAN_ACC_X] = ADIS16400_XACCL_OFF, | |
320 | [ADIS16400_SCAN_ACC_Y] = ADIS16400_YACCL_OFF, | |
321 | [ADIS16400_SCAN_ACC_Z] = ADIS16400_ZACCL_OFF, | |
e7854845 JC |
322 | }; |
323 | ||
324 | static int adis16400_write_raw(struct iio_dev *indio_dev, | |
f4c6d64b | 325 | struct iio_chan_spec const *chan, int val, int val2, long info) |
e7854845 | 326 | { |
98c9373d JC |
327 | struct adis16400_state *st = iio_priv(indio_dev); |
328 | int ret, sps; | |
521de518 | 329 | |
f4c6d64b | 330 | switch (info) { |
c8a9f805 | 331 | case IIO_CHAN_INFO_CALIBBIAS: |
e7854845 | 332 | mutex_lock(&indio_dev->mlock); |
cd888a17 LPC |
333 | ret = adis_write_reg_16(&st->adis, |
334 | adis16400_addresses[chan->scan_index], val); | |
e7854845 JC |
335 | mutex_unlock(&indio_dev->mlock); |
336 | return ret; | |
98c9373d | 337 | case IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY: |
f4c6d64b LPC |
338 | /* |
339 | * Need to cache values so we can update if the frequency | |
340 | * changes. | |
341 | */ | |
98c9373d JC |
342 | mutex_lock(&indio_dev->mlock); |
343 | st->filt_int = val; | |
344 | /* Work out update to current value */ | |
cd888a17 | 345 | sps = st->variant->get_freq(st); |
98c9373d JC |
346 | if (sps < 0) { |
347 | mutex_unlock(&indio_dev->mlock); | |
348 | return sps; | |
349 | } | |
350 | ||
b24150e3 LPC |
351 | ret = adis16400_set_filter(indio_dev, sps, |
352 | val * 1000 + val2 / 1000); | |
98c9373d JC |
353 | mutex_unlock(&indio_dev->mlock); |
354 | return ret; | |
a07a97d0 JC |
355 | case IIO_CHAN_INFO_SAMP_FREQ: |
356 | sps = val * 1000 + val2 / 1000; | |
357 | ||
358 | if (sps <= 0) | |
359 | return -EINVAL; | |
360 | ||
361 | mutex_lock(&indio_dev->mlock); | |
362 | ret = st->variant->set_freq(st, sps); | |
363 | mutex_unlock(&indio_dev->mlock); | |
364 | return ret; | |
e7854845 JC |
365 | default: |
366 | return -EINVAL; | |
367 | } | |
368 | } | |
369 | ||
370 | static int adis16400_read_raw(struct iio_dev *indio_dev, | |
f4c6d64b | 371 | struct iio_chan_spec const *chan, int *val, int *val2, long info) |
e7854845 | 372 | { |
38d15f06 | 373 | struct adis16400_state *st = iio_priv(indio_dev); |
f4c6d64b | 374 | int16_t val16; |
cd888a17 | 375 | int ret; |
e7854845 | 376 | |
f4c6d64b | 377 | switch (info) { |
a5d016d4 | 378 | case IIO_CHAN_INFO_RAW: |
cd888a17 | 379 | return adis_single_conversion(indio_dev, chan, 0, val); |
c8a9f805 | 380 | case IIO_CHAN_INFO_SCALE: |
e7854845 | 381 | switch (chan->type) { |
41ea040c | 382 | case IIO_ANGL_VEL: |
e7854845 | 383 | *val = 0; |
2a29a90b | 384 | *val2 = st->variant->gyro_scale_micro; |
e7854845 | 385 | return IIO_VAL_INT_PLUS_MICRO; |
6835cb6b | 386 | case IIO_VOLTAGE: |
e7854845 | 387 | *val = 0; |
1cf8c97f LPC |
388 | if (chan->channel == 0) { |
389 | *val = 2; | |
390 | *val2 = 418000; /* 2.418 mV */ | |
391 | } else { | |
392 | *val = 0; | |
393 | *val2 = 805800; /* 805.8 uV */ | |
394 | } | |
e7854845 JC |
395 | return IIO_VAL_INT_PLUS_MICRO; |
396 | case IIO_ACCEL: | |
397 | *val = 0; | |
2a29a90b | 398 | *val2 = st->variant->accel_scale_micro; |
e7854845 JC |
399 | return IIO_VAL_INT_PLUS_MICRO; |
400 | case IIO_MAGN: | |
401 | *val = 0; | |
1cf8c97f | 402 | *val2 = 500; /* 0.5 mgauss */ |
e7854845 JC |
403 | return IIO_VAL_INT_PLUS_MICRO; |
404 | case IIO_TEMP: | |
760ebc0d LPC |
405 | *val = st->variant->temp_scale_nano / 1000000; |
406 | *val2 = (st->variant->temp_scale_nano % 1000000); | |
e7854845 JC |
407 | return IIO_VAL_INT_PLUS_MICRO; |
408 | default: | |
409 | return -EINVAL; | |
410 | } | |
c8a9f805 | 411 | case IIO_CHAN_INFO_CALIBBIAS: |
e7854845 | 412 | mutex_lock(&indio_dev->mlock); |
cd888a17 LPC |
413 | ret = adis_read_reg_16(&st->adis, |
414 | adis16400_addresses[chan->scan_index], &val16); | |
2a29a90b JC |
415 | mutex_unlock(&indio_dev->mlock); |
416 | if (ret) | |
e7854845 | 417 | return ret; |
19e353f2 | 418 | val16 = sign_extend32(val16, 11); |
e7854845 JC |
419 | *val = val16; |
420 | return IIO_VAL_INT; | |
c8a9f805 | 421 | case IIO_CHAN_INFO_OFFSET: |
e7854845 | 422 | /* currently only temperature */ |
760ebc0d | 423 | *val = st->variant->temp_offset; |
1cf8c97f | 424 | return IIO_VAL_INT; |
98c9373d JC |
425 | case IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY: |
426 | mutex_lock(&indio_dev->mlock); | |
427 | /* Need both the number of taps and the sampling frequency */ | |
cd888a17 | 428 | ret = adis_read_reg_16(&st->adis, |
98c9373d JC |
429 | ADIS16400_SENS_AVG, |
430 | &val16); | |
431 | if (ret < 0) { | |
432 | mutex_unlock(&indio_dev->mlock); | |
433 | return ret; | |
434 | } | |
cd888a17 | 435 | ret = st->variant->get_freq(st); |
b24150e3 LPC |
436 | if (ret >= 0) { |
437 | ret /= adis16400_3db_divisors[val16 & 0x07]; | |
438 | *val = ret / 1000; | |
439 | *val2 = (ret % 1000) * 1000; | |
440 | } | |
98c9373d JC |
441 | mutex_unlock(&indio_dev->mlock); |
442 | if (ret < 0) | |
443 | return ret; | |
444 | return IIO_VAL_INT_PLUS_MICRO; | |
a07a97d0 JC |
445 | case IIO_CHAN_INFO_SAMP_FREQ: |
446 | ret = st->variant->get_freq(st); | |
447 | if (ret < 0) | |
448 | return ret; | |
449 | *val = ret / 1000; | |
450 | *val2 = (ret % 1000) * 1000; | |
451 | return IIO_VAL_INT_PLUS_MICRO; | |
e7854845 JC |
452 | default: |
453 | return -EINVAL; | |
454 | } | |
455 | } | |
456 | ||
599acfbb LPC |
457 | #define ADIS16400_VOLTAGE_CHAN(addr, bits, name, si) { \ |
458 | .type = IIO_VOLTAGE, \ | |
459 | .indexed = 1, \ | |
460 | .channel = 0, \ | |
461 | .extend_name = name, \ | |
19a7c88d JC |
462 | .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \ |
463 | BIT(IIO_CHAN_INFO_SCALE), \ | |
a07a97d0 | 464 | .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \ |
599acfbb LPC |
465 | .address = (addr), \ |
466 | .scan_index = (si), \ | |
5eda3550 LPC |
467 | .scan_type = { \ |
468 | .sign = 'u', \ | |
469 | .realbits = (bits), \ | |
470 | .storagebits = 16, \ | |
471 | .shift = 0, \ | |
472 | .endianness = IIO_BE, \ | |
473 | }, \ | |
599acfbb LPC |
474 | } |
475 | ||
476 | #define ADIS16400_SUPPLY_CHAN(addr, bits) \ | |
477 | ADIS16400_VOLTAGE_CHAN(addr, bits, "supply", ADIS16400_SCAN_SUPPLY) | |
478 | ||
479 | #define ADIS16400_AUX_ADC_CHAN(addr, bits) \ | |
480 | ADIS16400_VOLTAGE_CHAN(addr, bits, NULL, ADIS16400_SCAN_ADC) | |
481 | ||
482 | #define ADIS16400_GYRO_CHAN(mod, addr, bits) { \ | |
483 | .type = IIO_ANGL_VEL, \ | |
484 | .modified = 1, \ | |
485 | .channel2 = IIO_MOD_ ## mod, \ | |
19a7c88d JC |
486 | .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \ |
487 | BIT(IIO_CHAN_INFO_CALIBBIAS), \ | |
488 | .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE) | \ | |
489 | BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY), \ | |
a07a97d0 | 490 | .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \ |
599acfbb LPC |
491 | .address = addr, \ |
492 | .scan_index = ADIS16400_SCAN_GYRO_ ## mod, \ | |
5eda3550 LPC |
493 | .scan_type = { \ |
494 | .sign = 's', \ | |
495 | .realbits = (bits), \ | |
496 | .storagebits = 16, \ | |
497 | .shift = 0, \ | |
498 | .endianness = IIO_BE, \ | |
499 | }, \ | |
599acfbb LPC |
500 | } |
501 | ||
502 | #define ADIS16400_ACCEL_CHAN(mod, addr, bits) { \ | |
503 | .type = IIO_ACCEL, \ | |
504 | .modified = 1, \ | |
505 | .channel2 = IIO_MOD_ ## mod, \ | |
19a7c88d JC |
506 | .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \ |
507 | BIT(IIO_CHAN_INFO_CALIBBIAS), \ | |
508 | .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE) | \ | |
509 | BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY), \ | |
a07a97d0 | 510 | .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \ |
599acfbb LPC |
511 | .address = (addr), \ |
512 | .scan_index = ADIS16400_SCAN_ACC_ ## mod, \ | |
5eda3550 LPC |
513 | .scan_type = { \ |
514 | .sign = 's', \ | |
515 | .realbits = (bits), \ | |
516 | .storagebits = 16, \ | |
517 | .shift = 0, \ | |
518 | .endianness = IIO_BE, \ | |
519 | }, \ | |
599acfbb LPC |
520 | } |
521 | ||
522 | #define ADIS16400_MAGN_CHAN(mod, addr, bits) { \ | |
523 | .type = IIO_MAGN, \ | |
524 | .modified = 1, \ | |
525 | .channel2 = IIO_MOD_ ## mod, \ | |
19a7c88d JC |
526 | .info_mask_separate = BIT(IIO_CHAN_INFO_RAW), \ |
527 | .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE) | \ | |
528 | BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY), \ | |
a07a97d0 | 529 | .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \ |
599acfbb LPC |
530 | .address = (addr), \ |
531 | .scan_index = ADIS16400_SCAN_MAGN_ ## mod, \ | |
5eda3550 LPC |
532 | .scan_type = { \ |
533 | .sign = 's', \ | |
534 | .realbits = (bits), \ | |
535 | .storagebits = 16, \ | |
536 | .shift = 0, \ | |
537 | .endianness = IIO_BE, \ | |
538 | }, \ | |
599acfbb LPC |
539 | } |
540 | ||
541 | #define ADIS16400_MOD_TEMP_NAME_X "x" | |
542 | #define ADIS16400_MOD_TEMP_NAME_Y "y" | |
543 | #define ADIS16400_MOD_TEMP_NAME_Z "z" | |
544 | ||
545 | #define ADIS16400_MOD_TEMP_CHAN(mod, addr, bits) { \ | |
546 | .type = IIO_TEMP, \ | |
547 | .indexed = 1, \ | |
548 | .channel = 0, \ | |
549 | .extend_name = ADIS16400_MOD_TEMP_NAME_ ## mod, \ | |
19a7c88d JC |
550 | .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \ |
551 | BIT(IIO_CHAN_INFO_OFFSET) | \ | |
552 | BIT(IIO_CHAN_INFO_SCALE), \ | |
553 | .info_mask_shared_by_type = \ | |
554 | BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY), \ | |
a07a97d0 | 555 | .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \ |
599acfbb LPC |
556 | .address = (addr), \ |
557 | .scan_index = ADIS16350_SCAN_TEMP_ ## mod, \ | |
5eda3550 LPC |
558 | .scan_type = { \ |
559 | .sign = 's', \ | |
560 | .realbits = (bits), \ | |
561 | .storagebits = 16, \ | |
562 | .shift = 0, \ | |
563 | .endianness = IIO_BE, \ | |
564 | }, \ | |
599acfbb LPC |
565 | } |
566 | ||
567 | #define ADIS16400_TEMP_CHAN(addr, bits) { \ | |
568 | .type = IIO_TEMP, \ | |
569 | .indexed = 1, \ | |
570 | .channel = 0, \ | |
19a7c88d JC |
571 | .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \ |
572 | BIT(IIO_CHAN_INFO_OFFSET) | \ | |
573 | BIT(IIO_CHAN_INFO_SCALE), \ | |
a07a97d0 | 574 | .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \ |
599acfbb LPC |
575 | .address = (addr), \ |
576 | .scan_index = ADIS16350_SCAN_TEMP_X, \ | |
5eda3550 LPC |
577 | .scan_type = { \ |
578 | .sign = 's', \ | |
579 | .realbits = (bits), \ | |
580 | .storagebits = 16, \ | |
581 | .shift = 0, \ | |
582 | .endianness = IIO_BE, \ | |
583 | }, \ | |
599acfbb LPC |
584 | } |
585 | ||
586 | #define ADIS16400_INCLI_CHAN(mod, addr, bits) { \ | |
587 | .type = IIO_INCLI, \ | |
588 | .modified = 1, \ | |
589 | .channel2 = IIO_MOD_ ## mod, \ | |
19a7c88d JC |
590 | .info_mask_separate = BIT(IIO_CHAN_INFO_RAW), \ |
591 | .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE), \ | |
a07a97d0 | 592 | .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \ |
599acfbb LPC |
593 | .address = (addr), \ |
594 | .scan_index = ADIS16300_SCAN_INCLI_ ## mod, \ | |
5eda3550 LPC |
595 | .scan_type = { \ |
596 | .sign = 's', \ | |
597 | .realbits = (bits), \ | |
598 | .storagebits = 16, \ | |
599 | .shift = 0, \ | |
600 | .endianness = IIO_BE, \ | |
601 | }, \ | |
599acfbb LPC |
602 | } |
603 | ||
f4e4b955 | 604 | static const struct iio_chan_spec adis16400_channels[] = { |
599acfbb LPC |
605 | ADIS16400_SUPPLY_CHAN(ADIS16400_SUPPLY_OUT, 14), |
606 | ADIS16400_GYRO_CHAN(X, ADIS16400_XGYRO_OUT, 14), | |
607 | ADIS16400_GYRO_CHAN(Y, ADIS16400_YGYRO_OUT, 14), | |
608 | ADIS16400_GYRO_CHAN(Z, ADIS16400_ZGYRO_OUT, 14), | |
609 | ADIS16400_ACCEL_CHAN(X, ADIS16400_XACCL_OUT, 14), | |
610 | ADIS16400_ACCEL_CHAN(Y, ADIS16400_YACCL_OUT, 14), | |
611 | ADIS16400_ACCEL_CHAN(Z, ADIS16400_ZACCL_OUT, 14), | |
612 | ADIS16400_MAGN_CHAN(X, ADIS16400_XMAGN_OUT, 14), | |
613 | ADIS16400_MAGN_CHAN(Y, ADIS16400_YMAGN_OUT, 14), | |
614 | ADIS16400_MAGN_CHAN(Z, ADIS16400_ZMAGN_OUT, 14), | |
615 | ADIS16400_TEMP_CHAN(ADIS16400_TEMP_OUT, 12), | |
616 | ADIS16400_AUX_ADC_CHAN(ADIS16400_AUX_ADC, 12), | |
c76782d1 | 617 | IIO_CHAN_SOFT_TIMESTAMP(ADIS16400_SCAN_TIMESTAMP), |
e7854845 JC |
618 | }; |
619 | ||
76ada52f LPC |
620 | static const struct iio_chan_spec adis16448_channels[] = { |
621 | ADIS16400_GYRO_CHAN(X, ADIS16400_XGYRO_OUT, 16), | |
622 | ADIS16400_GYRO_CHAN(Y, ADIS16400_YGYRO_OUT, 16), | |
623 | ADIS16400_GYRO_CHAN(Z, ADIS16400_ZGYRO_OUT, 16), | |
624 | ADIS16400_ACCEL_CHAN(X, ADIS16400_XACCL_OUT, 16), | |
625 | ADIS16400_ACCEL_CHAN(Y, ADIS16400_YACCL_OUT, 16), | |
626 | ADIS16400_ACCEL_CHAN(Z, ADIS16400_ZACCL_OUT, 16), | |
627 | ADIS16400_MAGN_CHAN(X, ADIS16400_XMAGN_OUT, 16), | |
628 | ADIS16400_MAGN_CHAN(Y, ADIS16400_YMAGN_OUT, 16), | |
629 | ADIS16400_MAGN_CHAN(Z, ADIS16400_ZMAGN_OUT, 16), | |
630 | { | |
631 | .type = IIO_PRESSURE, | |
19a7c88d JC |
632 | .info_mask_separate = BIT(IIO_CHAN_INFO_RAW), |
633 | .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE), | |
a07a97d0 | 634 | .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), |
76ada52f LPC |
635 | .address = ADIS16448_BARO_OUT, |
636 | .scan_index = ADIS16400_SCAN_BARO, | |
3425c0f7 JC |
637 | .scan_type = { |
638 | .sign = 's', | |
639 | .realbits = 16, | |
640 | .storagebits = 16, | |
641 | .endianness = IIO_BE, | |
642 | }, | |
76ada52f LPC |
643 | }, |
644 | ADIS16400_TEMP_CHAN(ADIS16448_TEMP_OUT, 12), | |
c76782d1 | 645 | IIO_CHAN_SOFT_TIMESTAMP(ADIS16400_SCAN_TIMESTAMP), |
76ada52f LPC |
646 | }; |
647 | ||
f4e4b955 | 648 | static const struct iio_chan_spec adis16350_channels[] = { |
599acfbb LPC |
649 | ADIS16400_SUPPLY_CHAN(ADIS16400_SUPPLY_OUT, 12), |
650 | ADIS16400_GYRO_CHAN(X, ADIS16400_XGYRO_OUT, 14), | |
651 | ADIS16400_GYRO_CHAN(Y, ADIS16400_YGYRO_OUT, 14), | |
652 | ADIS16400_GYRO_CHAN(Z, ADIS16400_ZGYRO_OUT, 14), | |
653 | ADIS16400_ACCEL_CHAN(X, ADIS16400_XACCL_OUT, 14), | |
654 | ADIS16400_ACCEL_CHAN(Y, ADIS16400_YACCL_OUT, 14), | |
655 | ADIS16400_ACCEL_CHAN(Z, ADIS16400_ZACCL_OUT, 14), | |
656 | ADIS16400_MAGN_CHAN(X, ADIS16400_XMAGN_OUT, 14), | |
657 | ADIS16400_MAGN_CHAN(Y, ADIS16400_YMAGN_OUT, 14), | |
658 | ADIS16400_MAGN_CHAN(Z, ADIS16400_ZMAGN_OUT, 14), | |
659 | ADIS16400_AUX_ADC_CHAN(ADIS16300_AUX_ADC, 12), | |
660 | ADIS16400_MOD_TEMP_CHAN(X, ADIS16350_XTEMP_OUT, 12), | |
661 | ADIS16400_MOD_TEMP_CHAN(Y, ADIS16350_YTEMP_OUT, 12), | |
662 | ADIS16400_MOD_TEMP_CHAN(Z, ADIS16350_ZTEMP_OUT, 12), | |
c76782d1 | 663 | IIO_CHAN_SOFT_TIMESTAMP(ADIS16400_SCAN_TIMESTAMP), |
2a29a90b JC |
664 | }; |
665 | ||
f4e4b955 | 666 | static const struct iio_chan_spec adis16300_channels[] = { |
599acfbb LPC |
667 | ADIS16400_SUPPLY_CHAN(ADIS16400_SUPPLY_OUT, 12), |
668 | ADIS16400_GYRO_CHAN(X, ADIS16400_XGYRO_OUT, 14), | |
669 | ADIS16400_ACCEL_CHAN(X, ADIS16400_XACCL_OUT, 14), | |
670 | ADIS16400_ACCEL_CHAN(Y, ADIS16400_YACCL_OUT, 14), | |
671 | ADIS16400_ACCEL_CHAN(Z, ADIS16400_ZACCL_OUT, 14), | |
672 | ADIS16400_TEMP_CHAN(ADIS16350_XTEMP_OUT, 12), | |
673 | ADIS16400_AUX_ADC_CHAN(ADIS16300_AUX_ADC, 12), | |
674 | ADIS16400_INCLI_CHAN(X, ADIS16300_PITCH_OUT, 13), | |
675 | ADIS16400_INCLI_CHAN(Y, ADIS16300_ROLL_OUT, 13), | |
c76782d1 | 676 | IIO_CHAN_SOFT_TIMESTAMP(ADIS16400_SCAN_TIMESTAMP), |
8e886e65 JC |
677 | }; |
678 | ||
85da5059 | 679 | static const struct iio_chan_spec adis16334_channels[] = { |
599acfbb LPC |
680 | ADIS16400_GYRO_CHAN(X, ADIS16400_XGYRO_OUT, 14), |
681 | ADIS16400_GYRO_CHAN(Y, ADIS16400_YGYRO_OUT, 14), | |
682 | ADIS16400_GYRO_CHAN(Z, ADIS16400_ZGYRO_OUT, 14), | |
683 | ADIS16400_ACCEL_CHAN(X, ADIS16400_XACCL_OUT, 14), | |
684 | ADIS16400_ACCEL_CHAN(Y, ADIS16400_YACCL_OUT, 14), | |
685 | ADIS16400_ACCEL_CHAN(Z, ADIS16400_ZACCL_OUT, 14), | |
686 | ADIS16400_TEMP_CHAN(ADIS16350_XTEMP_OUT, 12), | |
c76782d1 | 687 | IIO_CHAN_SOFT_TIMESTAMP(ADIS16400_SCAN_TIMESTAMP), |
88b42f3a JC |
688 | }; |
689 | ||
2a29a90b | 690 | static struct adis16400_chip_info adis16400_chips[] = { |
8e886e65 JC |
691 | [ADIS16300] = { |
692 | .channels = adis16300_channels, | |
693 | .num_channels = ARRAY_SIZE(adis16300_channels), | |
ea2ccb3e | 694 | .flags = ADIS16400_HAS_SLOW_MODE, |
1cf8c97f | 695 | .gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */ |
8e886e65 | 696 | .accel_scale_micro = 5884, |
760ebc0d LPC |
697 | .temp_scale_nano = 140000000, /* 0.14 C */ |
698 | .temp_offset = 25000000 / 140000, /* 25 C = 0x00 */ | |
ea2ccb3e LPC |
699 | .set_freq = adis16400_set_freq, |
700 | .get_freq = adis16400_get_freq, | |
8e886e65 | 701 | }, |
85da5059 JC |
702 | [ADIS16334] = { |
703 | .channels = adis16334_channels, | |
704 | .num_channels = ARRAY_SIZE(adis16334_channels), | |
1db18bb4 LPC |
705 | .flags = ADIS16400_HAS_PROD_ID | ADIS16400_NO_BURST | |
706 | ADIS16400_HAS_SERIAL_NUMBER, | |
1cf8c97f LPC |
707 | .gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */ |
708 | .accel_scale_micro = IIO_G_TO_M_S_2(1000), /* 1 mg */ | |
760ebc0d LPC |
709 | .temp_scale_nano = 67850000, /* 0.06785 C */ |
710 | .temp_offset = 25000000 / 67850, /* 25 C = 0x00 */ | |
ea2ccb3e LPC |
711 | .set_freq = adis16334_set_freq, |
712 | .get_freq = adis16334_get_freq, | |
88b42f3a | 713 | }, |
2a29a90b JC |
714 | [ADIS16350] = { |
715 | .channels = adis16350_channels, | |
716 | .num_channels = ARRAY_SIZE(adis16350_channels), | |
1cf8c97f LPC |
717 | .gyro_scale_micro = IIO_DEGREE_TO_RAD(73260), /* 0.07326 deg/s */ |
718 | .accel_scale_micro = IIO_G_TO_M_S_2(2522), /* 0.002522 g */ | |
760ebc0d LPC |
719 | .temp_scale_nano = 145300000, /* 0.1453 C */ |
720 | .temp_offset = 25000000 / 145300, /* 25 C = 0x00 */ | |
ea2ccb3e LPC |
721 | .flags = ADIS16400_NO_BURST | ADIS16400_HAS_SLOW_MODE, |
722 | .set_freq = adis16400_set_freq, | |
723 | .get_freq = adis16400_get_freq, | |
2a29a90b JC |
724 | }, |
725 | [ADIS16360] = { | |
726 | .channels = adis16350_channels, | |
727 | .num_channels = ARRAY_SIZE(adis16350_channels), | |
1db18bb4 LPC |
728 | .flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE | |
729 | ADIS16400_HAS_SERIAL_NUMBER, | |
1cf8c97f LPC |
730 | .gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */ |
731 | .accel_scale_micro = IIO_G_TO_M_S_2(3333), /* 3.333 mg */ | |
760ebc0d LPC |
732 | .temp_scale_nano = 136000000, /* 0.136 C */ |
733 | .temp_offset = 25000000 / 136000, /* 25 C = 0x00 */ | |
ea2ccb3e LPC |
734 | .set_freq = adis16400_set_freq, |
735 | .get_freq = adis16400_get_freq, | |
2a29a90b JC |
736 | }, |
737 | [ADIS16362] = { | |
738 | .channels = adis16350_channels, | |
739 | .num_channels = ARRAY_SIZE(adis16350_channels), | |
1db18bb4 LPC |
740 | .flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE | |
741 | ADIS16400_HAS_SERIAL_NUMBER, | |
1cf8c97f LPC |
742 | .gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */ |
743 | .accel_scale_micro = IIO_G_TO_M_S_2(333), /* 0.333 mg */ | |
760ebc0d LPC |
744 | .temp_scale_nano = 136000000, /* 0.136 C */ |
745 | .temp_offset = 25000000 / 136000, /* 25 C = 0x00 */ | |
ea2ccb3e LPC |
746 | .set_freq = adis16400_set_freq, |
747 | .get_freq = adis16400_get_freq, | |
2a29a90b JC |
748 | }, |
749 | [ADIS16364] = { | |
750 | .channels = adis16350_channels, | |
751 | .num_channels = ARRAY_SIZE(adis16350_channels), | |
1db18bb4 LPC |
752 | .flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE | |
753 | ADIS16400_HAS_SERIAL_NUMBER, | |
1cf8c97f LPC |
754 | .gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */ |
755 | .accel_scale_micro = IIO_G_TO_M_S_2(1000), /* 1 mg */ | |
760ebc0d LPC |
756 | .temp_scale_nano = 136000000, /* 0.136 C */ |
757 | .temp_offset = 25000000 / 136000, /* 25 C = 0x00 */ | |
ea2ccb3e LPC |
758 | .set_freq = adis16400_set_freq, |
759 | .get_freq = adis16400_get_freq, | |
2a29a90b | 760 | }, |
2a29a90b JC |
761 | [ADIS16400] = { |
762 | .channels = adis16400_channels, | |
763 | .num_channels = ARRAY_SIZE(adis16400_channels), | |
ea2ccb3e | 764 | .flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE, |
1cf8c97f LPC |
765 | .gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */ |
766 | .accel_scale_micro = IIO_G_TO_M_S_2(3333), /* 3.333 mg */ | |
760ebc0d LPC |
767 | .temp_scale_nano = 140000000, /* 0.14 C */ |
768 | .temp_offset = 25000000 / 140000, /* 25 C = 0x00 */ | |
ea2ccb3e LPC |
769 | .set_freq = adis16400_set_freq, |
770 | .get_freq = adis16400_get_freq, | |
76ada52f LPC |
771 | }, |
772 | [ADIS16448] = { | |
773 | .channels = adis16448_channels, | |
774 | .num_channels = ARRAY_SIZE(adis16448_channels), | |
775 | .flags = ADIS16400_HAS_PROD_ID | | |
776 | ADIS16400_HAS_SERIAL_NUMBER, | |
777 | .gyro_scale_micro = IIO_DEGREE_TO_RAD(10000), /* 0.01 deg/s */ | |
778 | .accel_scale_micro = IIO_G_TO_M_S_2(833), /* 1/1200 g */ | |
779 | .temp_scale_nano = 73860000, /* 0.07386 C */ | |
780 | .temp_offset = 31000000 / 73860, /* 31 C = 0x00 */ | |
781 | .set_freq = adis16334_set_freq, | |
782 | .get_freq = adis16334_get_freq, | |
2a29a90b JC |
783 | } |
784 | }; | |
785 | ||
6fe8135f JC |
786 | static const struct iio_info adis16400_info = { |
787 | .driver_module = THIS_MODULE, | |
788 | .read_raw = &adis16400_read_raw, | |
789 | .write_raw = &adis16400_write_raw, | |
5eda3550 | 790 | .update_scan_mode = adis16400_update_scan_mode, |
1db18bb4 | 791 | .debugfs_reg_access = adis_debugfs_reg_access, |
5eda3550 LPC |
792 | }; |
793 | ||
794 | static const unsigned long adis16400_burst_scan_mask[] = { | |
795 | ~0UL, | |
796 | 0, | |
6fe8135f | 797 | }; |
2a29a90b | 798 | |
cd888a17 LPC |
799 | static const char * const adis16400_status_error_msgs[] = { |
800 | [ADIS16400_DIAG_STAT_ZACCL_FAIL] = "Z-axis accelerometer self-test failure", | |
801 | [ADIS16400_DIAG_STAT_YACCL_FAIL] = "Y-axis accelerometer self-test failure", | |
802 | [ADIS16400_DIAG_STAT_XACCL_FAIL] = "X-axis accelerometer self-test failure", | |
803 | [ADIS16400_DIAG_STAT_XGYRO_FAIL] = "X-axis gyroscope self-test failure", | |
804 | [ADIS16400_DIAG_STAT_YGYRO_FAIL] = "Y-axis gyroscope self-test failure", | |
805 | [ADIS16400_DIAG_STAT_ZGYRO_FAIL] = "Z-axis gyroscope self-test failure", | |
806 | [ADIS16400_DIAG_STAT_ALARM2] = "Alarm 2 active", | |
807 | [ADIS16400_DIAG_STAT_ALARM1] = "Alarm 1 active", | |
808 | [ADIS16400_DIAG_STAT_FLASH_CHK] = "Flash checksum error", | |
809 | [ADIS16400_DIAG_STAT_SELF_TEST] = "Self test error", | |
810 | [ADIS16400_DIAG_STAT_OVERFLOW] = "Sensor overrange", | |
811 | [ADIS16400_DIAG_STAT_SPI_FAIL] = "SPI failure", | |
812 | [ADIS16400_DIAG_STAT_FLASH_UPT] = "Flash update failed", | |
813 | [ADIS16400_DIAG_STAT_POWER_HIGH] = "Power supply above 5.25V", | |
814 | [ADIS16400_DIAG_STAT_POWER_LOW] = "Power supply below 4.75V", | |
815 | }; | |
816 | ||
817 | static const struct adis_data adis16400_data = { | |
818 | .msc_ctrl_reg = ADIS16400_MSC_CTRL, | |
819 | .glob_cmd_reg = ADIS16400_GLOB_CMD, | |
820 | .diag_stat_reg = ADIS16400_DIAG_STAT, | |
821 | ||
822 | .read_delay = 50, | |
823 | .write_delay = 50, | |
824 | ||
825 | .self_test_mask = ADIS16400_MSC_CTRL_MEM_TEST, | |
826 | .startup_delay = ADIS16400_STARTUP_DELAY, | |
827 | ||
828 | .status_error_msgs = adis16400_status_error_msgs, | |
829 | .status_error_mask = BIT(ADIS16400_DIAG_STAT_ZACCL_FAIL) | | |
830 | BIT(ADIS16400_DIAG_STAT_YACCL_FAIL) | | |
831 | BIT(ADIS16400_DIAG_STAT_XACCL_FAIL) | | |
832 | BIT(ADIS16400_DIAG_STAT_XGYRO_FAIL) | | |
833 | BIT(ADIS16400_DIAG_STAT_YGYRO_FAIL) | | |
834 | BIT(ADIS16400_DIAG_STAT_ZGYRO_FAIL) | | |
835 | BIT(ADIS16400_DIAG_STAT_ALARM2) | | |
836 | BIT(ADIS16400_DIAG_STAT_ALARM1) | | |
837 | BIT(ADIS16400_DIAG_STAT_FLASH_CHK) | | |
838 | BIT(ADIS16400_DIAG_STAT_SELF_TEST) | | |
839 | BIT(ADIS16400_DIAG_STAT_OVERFLOW) | | |
840 | BIT(ADIS16400_DIAG_STAT_SPI_FAIL) | | |
841 | BIT(ADIS16400_DIAG_STAT_FLASH_UPT) | | |
842 | BIT(ADIS16400_DIAG_STAT_POWER_HIGH) | | |
843 | BIT(ADIS16400_DIAG_STAT_POWER_LOW), | |
844 | }; | |
845 | ||
4ae1c61f | 846 | static int adis16400_probe(struct spi_device *spi) |
a9d26f00 | 847 | { |
38d15f06 | 848 | struct adis16400_state *st; |
f4c6d64b LPC |
849 | struct iio_dev *indio_dev; |
850 | int ret; | |
851 | ||
5b778b97 | 852 | indio_dev = devm_iio_device_alloc(&spi->dev, sizeof(*st)); |
f4c6d64b LPC |
853 | if (indio_dev == NULL) |
854 | return -ENOMEM; | |
855 | ||
38d15f06 | 856 | st = iio_priv(indio_dev); |
a9d26f00 | 857 | /* this is only used for removal purposes */ |
38d15f06 | 858 | spi_set_drvdata(spi, indio_dev); |
a9d26f00 | 859 | |
a9d26f00 | 860 | /* setup the industrialio driver allocated elements */ |
2a29a90b | 861 | st->variant = &adis16400_chips[spi_get_device_id(spi)->driver_data]; |
38d15f06 JC |
862 | indio_dev->dev.parent = &spi->dev; |
863 | indio_dev->name = spi_get_device_id(spi)->name; | |
38d15f06 JC |
864 | indio_dev->channels = st->variant->channels; |
865 | indio_dev->num_channels = st->variant->num_channels; | |
6fe8135f | 866 | indio_dev->info = &adis16400_info; |
38d15f06 JC |
867 | indio_dev->modes = INDIO_DIRECT_MODE; |
868 | ||
5eda3550 LPC |
869 | if (!(st->variant->flags & ADIS16400_NO_BURST)) |
870 | indio_dev->available_scan_masks = adis16400_burst_scan_mask; | |
871 | ||
cd888a17 LPC |
872 | ret = adis_init(&st->adis, indio_dev, spi, &adis16400_data); |
873 | if (ret) | |
5b778b97 | 874 | return ret; |
cd888a17 | 875 | |
5eda3550 LPC |
876 | ret = adis_setup_buffer_and_trigger(&st->adis, indio_dev, |
877 | adis16400_trigger_handler); | |
a9d26f00 | 878 | if (ret) |
5b778b97 | 879 | return ret; |
a9d26f00 | 880 | |
a9d26f00 | 881 | /* Get the device into a sane initial state */ |
38d15f06 | 882 | ret = adis16400_initial_setup(indio_dev); |
a9d26f00 | 883 | if (ret) |
5eda3550 | 884 | goto error_cleanup_buffer; |
26d25ae3 JC |
885 | ret = iio_device_register(indio_dev); |
886 | if (ret) | |
5eda3550 | 887 | goto error_cleanup_buffer; |
26d25ae3 | 888 | |
1db18bb4 | 889 | adis16400_debugfs_init(indio_dev); |
a9d26f00 BS |
890 | return 0; |
891 | ||
5eda3550 LPC |
892 | error_cleanup_buffer: |
893 | adis_cleanup_buffer_and_trigger(&st->adis, indio_dev); | |
a9d26f00 BS |
894 | return ret; |
895 | } | |
896 | ||
447d4f29 | 897 | static int adis16400_remove(struct spi_device *spi) |
a9d26f00 | 898 | { |
f4c6d64b | 899 | struct iio_dev *indio_dev = spi_get_drvdata(spi); |
cd888a17 | 900 | struct adis16400_state *st = iio_priv(indio_dev); |
a9d26f00 | 901 | |
d2fffd6c | 902 | iio_device_unregister(indio_dev); |
0b4ac3dc | 903 | adis16400_stop_device(indio_dev); |
a9d26f00 | 904 | |
5eda3550 | 905 | adis_cleanup_buffer_and_trigger(&st->adis, indio_dev); |
cd888a17 | 906 | |
a9d26f00 | 907 | return 0; |
a9d26f00 BS |
908 | } |
909 | ||
2a29a90b | 910 | static const struct spi_device_id adis16400_id[] = { |
8e886e65 | 911 | {"adis16300", ADIS16300}, |
85da5059 | 912 | {"adis16334", ADIS16334}, |
2a29a90b JC |
913 | {"adis16350", ADIS16350}, |
914 | {"adis16354", ADIS16350}, | |
915 | {"adis16355", ADIS16350}, | |
916 | {"adis16360", ADIS16360}, | |
917 | {"adis16362", ADIS16362}, | |
918 | {"adis16364", ADIS16364}, | |
a7462e64 | 919 | {"adis16365", ADIS16360}, |
2a29a90b JC |
920 | {"adis16400", ADIS16400}, |
921 | {"adis16405", ADIS16400}, | |
76ada52f | 922 | {"adis16448", ADIS16448}, |
2a29a90b JC |
923 | {} |
924 | }; | |
55e4390c | 925 | MODULE_DEVICE_TABLE(spi, adis16400_id); |
2a29a90b | 926 | |
a9d26f00 BS |
927 | static struct spi_driver adis16400_driver = { |
928 | .driver = { | |
929 | .name = "adis16400", | |
930 | .owner = THIS_MODULE, | |
931 | }, | |
2a29a90b | 932 | .id_table = adis16400_id, |
a9d26f00 | 933 | .probe = adis16400_probe, |
e543acf0 | 934 | .remove = adis16400_remove, |
a9d26f00 | 935 | }; |
ae6ae6fe | 936 | module_spi_driver(adis16400_driver); |
a9d26f00 BS |
937 | |
938 | MODULE_AUTHOR("Manuel Stahl <manuel.stahl@iis.fraunhofer.de>"); | |
939 | MODULE_DESCRIPTION("Analog Devices ADIS16400/5 IMU SPI driver"); | |
940 | MODULE_LICENSE("GPL v2"); |