[mirror_ubuntu-hirsute-kernel.git] / drivers / iio / imu / adis16460.c

// SPDX-License-Identifier: GPL-2.0+
/*
 * ADIS16460 IMU driver
 *
 * Copyright 2019 Analog Devices Inc.
 */

#include <linux/delay.h>
#include <linux/module.h>
#include <linux/spi/spi.h>

#include <linux/iio/iio.h>
#include <linux/iio/imu/adis.h>

#include <linux/debugfs.h>

#define ADIS16460_REG_FLASH_CNT		0x00
#define ADIS16460_REG_DIAG_STAT		0x02
#define ADIS16460_REG_X_GYRO_LOW	0x04
#define ADIS16460_REG_X_GYRO_OUT	0x06
#define ADIS16460_REG_Y_GYRO_LOW	0x08
#define ADIS16460_REG_Y_GYRO_OUT	0x0A
#define ADIS16460_REG_Z_GYRO_LOW	0x0C
#define ADIS16460_REG_Z_GYRO_OUT	0x0E
#define ADIS16460_REG_X_ACCL_LOW	0x10
#define ADIS16460_REG_X_ACCL_OUT	0x12
#define ADIS16460_REG_Y_ACCL_LOW	0x14
#define ADIS16460_REG_Y_ACCL_OUT	0x16
#define ADIS16460_REG_Z_ACCL_LOW	0x18
#define ADIS16460_REG_Z_ACCL_OUT	0x1A
#define ADIS16460_REG_SMPL_CNTR		0x1C
#define ADIS16460_REG_TEMP_OUT		0x1E
#define ADIS16460_REG_X_DELT_ANG	0x24
#define ADIS16460_REG_Y_DELT_ANG	0x26
#define ADIS16460_REG_Z_DELT_ANG	0x28
#define ADIS16460_REG_X_DELT_VEL	0x2A
#define ADIS16460_REG_Y_DELT_VEL	0x2C
#define ADIS16460_REG_Z_DELT_VEL	0x2E
#define ADIS16460_REG_MSC_CTRL		0x32
#define ADIS16460_REG_SYNC_SCAL		0x34
#define ADIS16460_REG_DEC_RATE		0x36
#define ADIS16460_REG_FLTR_CTRL		0x38
#define ADIS16460_REG_GLOB_CMD		0x3E
#define ADIS16460_REG_X_GYRO_OFF	0x40
#define ADIS16460_REG_Y_GYRO_OFF	0x42
#define ADIS16460_REG_Z_GYRO_OFF	0x44
#define ADIS16460_REG_X_ACCL_OFF	0x46
#define ADIS16460_REG_Y_ACCL_OFF	0x48
#define ADIS16460_REG_Z_ACCL_OFF	0x4A
#define ADIS16460_REG_LOT_ID1		0x52
#define ADIS16460_REG_LOT_ID2		0x54
#define ADIS16460_REG_PROD_ID		0x56
#define ADIS16460_REG_SERIAL_NUM	0x58
#define ADIS16460_REG_CAL_SGNTR		0x60
#define ADIS16460_REG_CAL_CRC		0x62
#define ADIS16460_REG_CODE_SGNTR	0x64
#define ADIS16460_REG_CODE_CRC		0x66

struct adis16460_chip_info {
	unsigned int num_channels;
	const struct iio_chan_spec *channels;
	unsigned int gyro_max_val;
	unsigned int gyro_max_scale;
	unsigned int accel_max_val;
	unsigned int accel_max_scale;
};

struct adis16460 {
	const struct adis16460_chip_info *chip_info;
	struct adis adis;
};

#ifdef CONFIG_DEBUG_FS

static int adis16460_show_serial_number(void *arg, u64 *val)
{
	struct adis16460 *adis16460 = arg;
	u16 serial;
	int ret;

	ret = adis_read_reg_16(&adis16460->adis, ADIS16460_REG_SERIAL_NUM,
		&serial);
	if (ret)
		return ret;

	*val = serial;

	return 0;
}
DEFINE_DEBUGFS_ATTRIBUTE(adis16460_serial_number_fops,
		adis16460_show_serial_number, NULL, "0x%.4llx\n");

static int adis16460_show_product_id(void *arg, u64 *val)
{
	struct adis16460 *adis16460 = arg;
	u16 prod_id;
	int ret;

	ret = adis_read_reg_16(&adis16460->adis, ADIS16460_REG_PROD_ID,
		&prod_id);
	if (ret)
		return ret;

	*val = prod_id;

	return 0;
}
DEFINE_DEBUGFS_ATTRIBUTE(adis16460_product_id_fops,
		adis16460_show_product_id, NULL, "%llu\n");

static int adis16460_show_flash_count(void *arg, u64 *val)
{
	struct adis16460 *adis16460 = arg;
	u32 flash_count;
	int ret;

	ret = adis_read_reg_32(&adis16460->adis, ADIS16460_REG_FLASH_CNT,
		&flash_count);
	if (ret)
		return ret;

	*val = flash_count;

	return 0;
}
DEFINE_DEBUGFS_ATTRIBUTE(adis16460_flash_count_fops,
		adis16460_show_flash_count, NULL, "%lld\n");

static int adis16460_debugfs_init(struct iio_dev *indio_dev)
{
	struct adis16460 *adis16460 = iio_priv(indio_dev);
	struct dentry *d = iio_get_debugfs_dentry(indio_dev);

	debugfs_create_file_unsafe("serial_number", 0400,
			d, adis16460, &adis16460_serial_number_fops);
	debugfs_create_file_unsafe("product_id", 0400,
			d, adis16460, &adis16460_product_id_fops);
	debugfs_create_file_unsafe("flash_count", 0400,
			d, adis16460, &adis16460_flash_count_fops);

	return 0;
}

#else

static int adis16460_debugfs_init(struct iio_dev *indio_dev)
{
	return 0;
}

#endif

static int adis16460_set_freq(struct iio_dev *indio_dev, int val, int val2)
{
	struct adis16460 *st = iio_priv(indio_dev);
	int t;

	t =  val * 1000 + val2 / 1000;
	if (t <= 0)
		return -EINVAL;

	t = 2048000 / t;
	if (t > 2048)
		t = 2048;

	if (t != 0)
		t--;

	return adis_write_reg_16(&st->adis, ADIS16460_REG_DEC_RATE, t);
}

static int adis16460_get_freq(struct iio_dev *indio_dev, int *val, int *val2)
{
	struct adis16460 *st = iio_priv(indio_dev);
	uint16_t t;
	int ret;
	unsigned int freq;

	ret = adis_read_reg_16(&st->adis, ADIS16460_REG_DEC_RATE, &t);
	if (ret)
		return ret;

	freq = 2048000 / (t + 1);
	*val = freq / 1000;
	*val2 = (freq % 1000) * 1000;

	return IIO_VAL_INT_PLUS_MICRO;
}

static int adis16460_read_raw(struct iio_dev *indio_dev,
	const struct iio_chan_spec *chan, int *val, int *val2, long info)
{
	struct adis16460 *st = iio_priv(indio_dev);

	switch (info) {
	case IIO_CHAN_INFO_RAW:
		return adis_single_conversion(indio_dev, chan, 0, val);
	case IIO_CHAN_INFO_SCALE:
		switch (chan->type) {
		case IIO_ANGL_VEL:
			*val = st->chip_info->gyro_max_scale;
			*val2 = st->chip_info->gyro_max_val;
			return IIO_VAL_FRACTIONAL;
		case IIO_ACCEL:
			*val = st->chip_info->accel_max_scale;
			*val2 = st->chip_info->accel_max_val;
			return IIO_VAL_FRACTIONAL;
		case IIO_TEMP:
			*val = 50; /* 50 milli degrees Celsius/LSB */
			return IIO_VAL_INT;
		default:
			return -EINVAL;
		}
	case IIO_CHAN_INFO_OFFSET:
		*val = 500; /* 25 degrees Celsius = 0x0000 */
		return IIO_VAL_INT;
	case IIO_CHAN_INFO_SAMP_FREQ:
		return adis16460_get_freq(indio_dev, val, val2);
	default:
		return -EINVAL;
	}
}

static int adis16460_write_raw(struct iio_dev *indio_dev,
	const struct iio_chan_spec *chan, int val, int val2, long info)
{
	switch (info) {
	case IIO_CHAN_INFO_SAMP_FREQ:
		return adis16460_set_freq(indio_dev, val, val2);
	default:
		return -EINVAL;
	}
}

enum {
	ADIS16460_SCAN_GYRO_X,
	ADIS16460_SCAN_GYRO_Y,
	ADIS16460_SCAN_GYRO_Z,
	ADIS16460_SCAN_ACCEL_X,
	ADIS16460_SCAN_ACCEL_Y,
	ADIS16460_SCAN_ACCEL_Z,
	ADIS16460_SCAN_TEMP,
};

#define ADIS16460_MOD_CHANNEL(_type, _mod, _address, _si, _bits) \
	{ \
		.type = (_type), \
		.modified = 1, \
		.channel2 = (_mod), \
		.info_mask_separate = BIT(IIO_CHAN_INFO_RAW), \
		.info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE), \
		.info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
		.address = (_address), \
		.scan_index = (_si), \
		.scan_type = { \
			.sign = 's', \
			.realbits = (_bits), \
			.storagebits = (_bits), \
			.endianness = IIO_BE, \
		}, \
	}

#define ADIS16460_GYRO_CHANNEL(_mod) \
	ADIS16460_MOD_CHANNEL(IIO_ANGL_VEL, IIO_MOD_ ## _mod, \
	ADIS16460_REG_ ## _mod ## _GYRO_LOW, ADIS16460_SCAN_GYRO_ ## _mod, \
	32)

#define ADIS16460_ACCEL_CHANNEL(_mod) \
	ADIS16460_MOD_CHANNEL(IIO_ACCEL, IIO_MOD_ ## _mod, \
	ADIS16460_REG_ ## _mod ## _ACCL_LOW, ADIS16460_SCAN_ACCEL_ ## _mod, \
	32)

#define ADIS16460_TEMP_CHANNEL() { \
		.type = IIO_TEMP, \
		.indexed = 1, \
		.channel = 0, \
		.info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \
			BIT(IIO_CHAN_INFO_SCALE) | \
			BIT(IIO_CHAN_INFO_OFFSET), \
		.info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
		.address = ADIS16460_REG_TEMP_OUT, \
		.scan_index = ADIS16460_SCAN_TEMP, \
		.scan_type = { \
			.sign = 's', \
			.realbits = 16, \
			.storagebits = 16, \
			.endianness = IIO_BE, \
		}, \
	}

static const struct iio_chan_spec adis16460_channels[] = {
	ADIS16460_GYRO_CHANNEL(X),
	ADIS16460_GYRO_CHANNEL(Y),
	ADIS16460_GYRO_CHANNEL(Z),
	ADIS16460_ACCEL_CHANNEL(X),
	ADIS16460_ACCEL_CHANNEL(Y),
	ADIS16460_ACCEL_CHANNEL(Z),
	ADIS16460_TEMP_CHANNEL(),
	IIO_CHAN_SOFT_TIMESTAMP(7)
};

static const struct adis16460_chip_info adis16460_chip_info = {
	.channels = adis16460_channels,
	.num_channels = ARRAY_SIZE(adis16460_channels),
	/*
	 * storing the value in rad/degree and the scale in degree
	 * gives us the result in rad and better precession than
	 * storing the scale directly in rad.
	 */
	.gyro_max_val = IIO_RAD_TO_DEGREE(200 << 16),
	.gyro_max_scale = 1,
	.accel_max_val = IIO_M_S_2_TO_G(20000 << 16),
	.accel_max_scale = 5,
};

static const struct iio_info adis16460_info = {
	.read_raw = &adis16460_read_raw,
	.write_raw = &adis16460_write_raw,
	.update_scan_mode = adis_update_scan_mode,
	.debugfs_reg_access = adis_debugfs_reg_access,
};

static int adis16460_enable_irq(struct adis *adis, bool enable)
{
	/*
	 * There is no way to gate the data-ready signal internally inside the
	 * ADIS16460 :(
	 */
	if (enable)
		enable_irq(adis->spi->irq);
	else
		disable_irq(adis->spi->irq);

	return 0;
}

#define ADIS16460_DIAG_STAT_IN_CLK_OOS	7
#define ADIS16460_DIAG_STAT_FLASH_MEM	6
#define ADIS16460_DIAG_STAT_SELF_TEST	5
#define ADIS16460_DIAG_STAT_OVERRANGE	4
#define ADIS16460_DIAG_STAT_SPI_COMM	3
#define ADIS16460_DIAG_STAT_FLASH_UPT	2

static const char * const adis16460_status_error_msgs[] = {
	[ADIS16460_DIAG_STAT_IN_CLK_OOS] = "Input clock out of sync",
	[ADIS16460_DIAG_STAT_FLASH_MEM] = "Flash memory failure",
	[ADIS16460_DIAG_STAT_SELF_TEST] = "Self test diagnostic failure",
	[ADIS16460_DIAG_STAT_OVERRANGE] = "Sensor overrange",
	[ADIS16460_DIAG_STAT_SPI_COMM] = "SPI communication failure",
	[ADIS16460_DIAG_STAT_FLASH_UPT] = "Flash update failure",
};

static const struct adis_timeout adis16460_timeouts = {
	.reset_ms = 225,
	.sw_reset_ms = 225,
	.self_test_ms = 10,
};

static const struct adis_data adis16460_data = {
	.diag_stat_reg = ADIS16460_REG_DIAG_STAT,
	.glob_cmd_reg = ADIS16460_REG_GLOB_CMD,
	.prod_id_reg = ADIS16460_REG_PROD_ID,
	.prod_id = 16460,
	.self_test_mask = BIT(2),
	.self_test_reg = ADIS16460_REG_GLOB_CMD,
	.has_paging = false,
	.read_delay = 5,
	.write_delay = 5,
	.cs_change_delay = 16,
	.status_error_msgs = adis16460_status_error_msgs,
	.status_error_mask = BIT(ADIS16460_DIAG_STAT_IN_CLK_OOS) |
		BIT(ADIS16460_DIAG_STAT_FLASH_MEM) |
		BIT(ADIS16460_DIAG_STAT_SELF_TEST) |
		BIT(ADIS16460_DIAG_STAT_OVERRANGE) |
		BIT(ADIS16460_DIAG_STAT_SPI_COMM) |
		BIT(ADIS16460_DIAG_STAT_FLASH_UPT),
	.enable_irq = adis16460_enable_irq,
	.timeouts = &adis16460_timeouts,
};

static int adis16460_probe(struct spi_device *spi)
{
	struct iio_dev *indio_dev;
	struct adis16460 *st;
	int ret;

	indio_dev = devm_iio_device_alloc(&spi->dev, sizeof(*st));
	if (indio_dev == NULL)
		return -ENOMEM;

	spi_set_drvdata(spi, indio_dev);

	st = iio_priv(indio_dev);

	st->chip_info = &adis16460_chip_info;
	indio_dev->name = spi_get_device_id(spi)->name;
	indio_dev->channels = st->chip_info->channels;
	indio_dev->num_channels = st->chip_info->num_channels;
	indio_dev->info = &adis16460_info;
	indio_dev->modes = INDIO_DIRECT_MODE;

	ret = adis_init(&st->adis, indio_dev, spi, &adis16460_data);
	if (ret)
		return ret;

	ret = devm_adis_setup_buffer_and_trigger(&st->adis, indio_dev, NULL);
	if (ret)
		return ret;

	adis16460_enable_irq(&st->adis, 0);

	ret = __adis_initial_startup(&st->adis);
	if (ret)
		return ret;

	ret = devm_iio_device_register(&spi->dev, indio_dev);
	if (ret)
		return ret;

	adis16460_debugfs_init(indio_dev);

	return 0;
}

static const struct spi_device_id adis16460_ids[] = {
	{ "adis16460", 0 },
	{}
};
MODULE_DEVICE_TABLE(spi, adis16460_ids);

static const struct of_device_id adis16460_of_match[] = {
	{ .compatible = "adi,adis16460" },
	{}
};
MODULE_DEVICE_TABLE(of, adis16460_of_match);

static struct spi_driver adis16460_driver = {
	.driver = {
		.name = "adis16460",
		.of_match_table = adis16460_of_match,
	},
	.id_table = adis16460_ids,
	.probe = adis16460_probe,
};
module_spi_driver(adis16460_driver);

MODULE_AUTHOR("Dragos Bogdan <dragos.bogdan@analog.com>");
MODULE_DESCRIPTION("Analog Devices ADIS16460 IMU driver");
MODULE_LICENSE("GPL");
Commit	Line	Data
db6ed4d2 AA	1	// SPDX-License-Identifier: GPL-2.0+
	2	/*
	3	* ADIS16460 IMU driver
	4	*
	5	* Copyright 2019 Analog Devices Inc.
	6	*/
	7
	8	#include <linux/delay.h>
	9	#include <linux/module.h>
	10	#include <linux/spi/spi.h>
	11
	12	#include <linux/iio/iio.h>
	13	#include <linux/iio/imu/adis.h>
	14
	15	#include <linux/debugfs.h>
	16
	17	#define ADIS16460_REG_FLASH_CNT 0x00
	18	#define ADIS16460_REG_DIAG_STAT 0x02
	19	#define ADIS16460_REG_X_GYRO_LOW 0x04
	20	#define ADIS16460_REG_X_GYRO_OUT 0x06
	21	#define ADIS16460_REG_Y_GYRO_LOW 0x08
	22	#define ADIS16460_REG_Y_GYRO_OUT 0x0A
	23	#define ADIS16460_REG_Z_GYRO_LOW 0x0C
	24	#define ADIS16460_REG_Z_GYRO_OUT 0x0E
	25	#define ADIS16460_REG_X_ACCL_LOW 0x10
	26	#define ADIS16460_REG_X_ACCL_OUT 0x12
	27	#define ADIS16460_REG_Y_ACCL_LOW 0x14
	28	#define ADIS16460_REG_Y_ACCL_OUT 0x16
	29	#define ADIS16460_REG_Z_ACCL_LOW 0x18
	30	#define ADIS16460_REG_Z_ACCL_OUT 0x1A
	31	#define ADIS16460_REG_SMPL_CNTR 0x1C
	32	#define ADIS16460_REG_TEMP_OUT 0x1E
	33	#define ADIS16460_REG_X_DELT_ANG 0x24
	34	#define ADIS16460_REG_Y_DELT_ANG 0x26
	35	#define ADIS16460_REG_Z_DELT_ANG 0x28
	36	#define ADIS16460_REG_X_DELT_VEL 0x2A
	37	#define ADIS16460_REG_Y_DELT_VEL 0x2C
	38	#define ADIS16460_REG_Z_DELT_VEL 0x2E
	39	#define ADIS16460_REG_MSC_CTRL 0x32
	40	#define ADIS16460_REG_SYNC_SCAL 0x34
	41	#define ADIS16460_REG_DEC_RATE 0x36
	42	#define ADIS16460_REG_FLTR_CTRL 0x38
	43	#define ADIS16460_REG_GLOB_CMD 0x3E
	44	#define ADIS16460_REG_X_GYRO_OFF 0x40
	45	#define ADIS16460_REG_Y_GYRO_OFF 0x42
	46	#define ADIS16460_REG_Z_GYRO_OFF 0x44
	47	#define ADIS16460_REG_X_ACCL_OFF 0x46
	48	#define ADIS16460_REG_Y_ACCL_OFF 0x48
	49	#define ADIS16460_REG_Z_ACCL_OFF 0x4A
	50	#define ADIS16460_REG_LOT_ID1 0x52
	51	#define ADIS16460_REG_LOT_ID2 0x54
	52	#define ADIS16460_REG_PROD_ID 0x56
	53	#define ADIS16460_REG_SERIAL_NUM 0x58
	54	#define ADIS16460_REG_CAL_SGNTR 0x60
	55	#define ADIS16460_REG_CAL_CRC 0x62
	56	#define ADIS16460_REG_CODE_SGNTR 0x64
	57	#define ADIS16460_REG_CODE_CRC 0x66
	58
	59	struct adis16460_chip_info {
	60	unsigned int num_channels;
	61	const struct iio_chan_spec *channels;
	62	unsigned int gyro_max_val;
	63	unsigned int gyro_max_scale;
	64	unsigned int accel_max_val;
65	unsigned int accel_max_scale;
66	};
67
68	struct adis16460 {
69	const struct adis16460_chip_info *chip_info;
70	struct adis adis;
71	};
72
73	#ifdef CONFIG_DEBUG_FS
74
75	static int adis16460_show_serial_number(void arg, u64 val)
76	{
77	struct adis16460 *adis16460 = arg;
78	u16 serial;
79	int ret;
80
81	ret = adis_read_reg_16(&adis16460->adis, ADIS16460_REG_SERIAL_NUM,
82	&serial);
c754a454	83	if (ret)
db6ed4d2 AA	84	return ret;
	85
	86	*val = serial;
	87
	88	return 0;
	89	}
2ca73823 RS	90	DEFINE_DEBUGFS_ATTRIBUTE(adis16460_serial_number_fops,
2ca73823 RS	91	adis16460_show_serial_number, NULL, "0x%.4llx\n");
db6ed4d2 AA	92
	93	static int adis16460_show_product_id(void arg, u64 val)
	94	{
	95	struct adis16460 *adis16460 = arg;
	96	u16 prod_id;
	97	int ret;
	98
	99	ret = adis_read_reg_16(&adis16460->adis, ADIS16460_REG_PROD_ID,
	100	&prod_id);
c754a454	101	if (ret)
db6ed4d2 AA	102	return ret;
	103
	104	*val = prod_id;
	105
	106	return 0;
	107	}
2ca73823 RS	108	DEFINE_DEBUGFS_ATTRIBUTE(adis16460_product_id_fops,
2ca73823 RS	109	adis16460_show_product_id, NULL, "%llu\n");
db6ed4d2 AA	110
	111	static int adis16460_show_flash_count(void arg, u64 val)
	112	{
	113	struct adis16460 *adis16460 = arg;
	114	u32 flash_count;
	115	int ret;
	116
	117	ret = adis_read_reg_32(&adis16460->adis, ADIS16460_REG_FLASH_CNT,
	118	&flash_count);
c754a454	119	if (ret)
db6ed4d2 AA	120	return ret;
	121
	122	*val = flash_count;
	123
	124	return 0;
	125	}
2ca73823 RS	126	DEFINE_DEBUGFS_ATTRIBUTE(adis16460_flash_count_fops,
2ca73823 RS	127	adis16460_show_flash_count, NULL, "%lld\n");
db6ed4d2 AA	128
	129	static int adis16460_debugfs_init(struct iio_dev *indio_dev)
	130	{
	131	struct adis16460 *adis16460 = iio_priv(indio_dev);
b7190859	132	struct dentry *d = iio_get_debugfs_dentry(indio_dev);
db6ed4d2	133
2ca73823	134	debugfs_create_file_unsafe("serial_number", 0400,
b7190859	135	d, adis16460, &adis16460_serial_number_fops);
2ca73823	136	debugfs_create_file_unsafe("product_id", 0400,
b7190859	137	d, adis16460, &adis16460_product_id_fops);
2ca73823	138	debugfs_create_file_unsafe("flash_count", 0400,
b7190859	139	d, adis16460, &adis16460_flash_count_fops);
db6ed4d2 AA	140
	141	return 0;
	142	}
	143
	144	#else
	145
	146	static int adis16460_debugfs_init(struct iio_dev *indio_dev)
	147	{
	148	return 0;
	149	}
	150
	151	#endif
	152
	153	static int adis16460_set_freq(struct iio_dev *indio_dev, int val, int val2)
	154	{
	155	struct adis16460 *st = iio_priv(indio_dev);
51980842	156	int t;
db6ed4d2 AA	157
	158	t = val * 1000 + val2 / 1000;
	159	if (t <= 0)
	160	return -EINVAL;
	161
	162	t = 2048000 / t;
	163	if (t > 2048)
	164	t = 2048;
	165
	166	if (t != 0)
	167	t--;
	168
	169	return adis_write_reg_16(&st->adis, ADIS16460_REG_DEC_RATE, t);
	170	}
	171
	172	static int adis16460_get_freq(struct iio_dev indio_dev, int val, int *val2)
	173	{
	174	struct adis16460 *st = iio_priv(indio_dev);
	175	uint16_t t;
	176	int ret;
	177	unsigned int freq;
	178
	179	ret = adis_read_reg_16(&st->adis, ADIS16460_REG_DEC_RATE, &t);
c754a454	180	if (ret)
db6ed4d2 AA	181	return ret;
	182
	183	freq = 2048000 / (t + 1);
	184	*val = freq / 1000;
	185	val2 = (freq % 1000) 1000;
	186
	187	return IIO_VAL_INT_PLUS_MICRO;
	188	}
	189
	190	static int adis16460_read_raw(struct iio_dev *indio_dev,
	191	const struct iio_chan_spec chan, int val, int *val2, long info)
	192	{
	193	struct adis16460 *st = iio_priv(indio_dev);
	194
	195	switch (info) {
	196	case IIO_CHAN_INFO_RAW:
	197	return adis_single_conversion(indio_dev, chan, 0, val);
	198	case IIO_CHAN_INFO_SCALE:
	199	switch (chan->type) {
	200	case IIO_ANGL_VEL:
	201	*val = st->chip_info->gyro_max_scale;
	202	*val2 = st->chip_info->gyro_max_val;
	203	return IIO_VAL_FRACTIONAL;
	204	case IIO_ACCEL:
	205	*val = st->chip_info->accel_max_scale;
	206	*val2 = st->chip_info->accel_max_val;
	207	return IIO_VAL_FRACTIONAL;
	208	case IIO_TEMP:
	209	val = 50; / 50 milli degrees Celsius/LSB */
	210	return IIO_VAL_INT;
	211	default:
	212	return -EINVAL;
	213	}
	214	case IIO_CHAN_INFO_OFFSET:
	215	val = 500; / 25 degrees Celsius = 0x0000 */
	216	return IIO_VAL_INT;
	217	case IIO_CHAN_INFO_SAMP_FREQ:
	218	return adis16460_get_freq(indio_dev, val, val2);
	219	default:
	220	return -EINVAL;
	221	}
	222	}
	223
	224	static int adis16460_write_raw(struct iio_dev *indio_dev,
	225	const struct iio_chan_spec *chan, int val, int val2, long info)
	226	{
	227	switch (info) {
	228	case IIO_CHAN_INFO_SAMP_FREQ:
	229	return adis16460_set_freq(indio_dev, val, val2);
	230	default:
	231	return -EINVAL;
	232	}
	233	}
	234
	235	enum {
	236	ADIS16460_SCAN_GYRO_X,
	237	ADIS16460_SCAN_GYRO_Y,
	238	ADIS16460_SCAN_GYRO_Z,
	239	ADIS16460_SCAN_ACCEL_X,
	240	ADIS16460_SCAN_ACCEL_Y,
	241	ADIS16460_SCAN_ACCEL_Z,
	242	ADIS16460_SCAN_TEMP,
	243	};
	244
245	#define ADIS16460_MOD_CHANNEL(_type, _mod, _address, _si, _bits) \
246	{ \
247	.type = (_type), \
248	.modified = 1, \
249	.channel2 = (_mod), \
250	.info_mask_separate = BIT(IIO_CHAN_INFO_RAW), \
251	.info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE), \
252	.info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
253	.address = (_address), \
254	.scan_index = (_si), \
255	.scan_type = { \
256	.sign = 's', \
257	.realbits = (_bits), \
258	.storagebits = (_bits), \
259	.endianness = IIO_BE, \
260	}, \
261	}
262
263	#define ADIS16460_GYRO_CHANNEL(_mod) \
264	ADIS16460_MOD_CHANNEL(IIO_ANGL_VEL, IIO_MOD_ ## _mod, \
265	ADIS16460_REG_ ## _mod ## _GYRO_LOW, ADIS16460_SCAN_GYRO_ ## _mod, \
266	32)
267
268	#define ADIS16460_ACCEL_CHANNEL(_mod) \
269	ADIS16460_MOD_CHANNEL(IIO_ACCEL, IIO_MOD_ ## _mod, \
270	ADIS16460_REG_ ## _mod ## _ACCL_LOW, ADIS16460_SCAN_ACCEL_ ## _mod, \
271	32)
272
273	#define ADIS16460_TEMP_CHANNEL() { \
274	.type = IIO_TEMP, \
275	.indexed = 1, \
276	.channel = 0, \
277	.info_mask_separate = BIT(IIO_CHAN_INFO_RAW) \| \
278	BIT(IIO_CHAN_INFO_SCALE) \| \
279	BIT(IIO_CHAN_INFO_OFFSET), \
280	.info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
281	.address = ADIS16460_REG_TEMP_OUT, \
282	.scan_index = ADIS16460_SCAN_TEMP, \
283	.scan_type = { \
284	.sign = 's', \
285	.realbits = 16, \
286	.storagebits = 16, \
287	.endianness = IIO_BE, \
288	}, \
289	}
290
291	static const struct iio_chan_spec adis16460_channels[] = {
292	ADIS16460_GYRO_CHANNEL(X),
293	ADIS16460_GYRO_CHANNEL(Y),
294	ADIS16460_GYRO_CHANNEL(Z),
295	ADIS16460_ACCEL_CHANNEL(X),
296	ADIS16460_ACCEL_CHANNEL(Y),
297	ADIS16460_ACCEL_CHANNEL(Z),
298	ADIS16460_TEMP_CHANNEL(),
299	IIO_CHAN_SOFT_TIMESTAMP(7)
300	};
301
302	static const struct adis16460_chip_info adis16460_chip_info = {
303	.channels = adis16460_channels,
304	.num_channels = ARRAY_SIZE(adis16460_channels),
305	/*
306	* storing the value in rad/degree and the scale in degree
307	* gives us the result in rad and better precession than
308	* storing the scale directly in rad.
309	*/
310	.gyro_max_val = IIO_RAD_TO_DEGREE(200 << 16),
311	.gyro_max_scale = 1,
312	.accel_max_val = IIO_M_S_2_TO_G(20000 << 16),
313	.accel_max_scale = 5,
314	};
315
316	static const struct iio_info adis16460_info = {
317	.read_raw = &adis16460_read_raw,
318	.write_raw = &adis16460_write_raw,
319	.update_scan_mode = adis_update_scan_mode,
320	.debugfs_reg_access = adis_debugfs_reg_access,
321	};
322
323	static int adis16460_enable_irq(struct adis *adis, bool enable)
324	{
325	/*
326	* There is no way to gate the data-ready signal internally inside the
327	* ADIS16460 :(
328	*/
329	if (enable)
330	enable_irq(adis->spi->irq);
331	else
332	disable_irq(adis->spi->irq);
333
334	return 0;
335	}
336
db6ed4d2 AA	337	#define ADIS16460_DIAG_STAT_IN_CLK_OOS 7
	338	#define ADIS16460_DIAG_STAT_FLASH_MEM 6
	339	#define ADIS16460_DIAG_STAT_SELF_TEST 5
	340	#define ADIS16460_DIAG_STAT_OVERRANGE 4
	341	#define ADIS16460_DIAG_STAT_SPI_COMM 3
	342	#define ADIS16460_DIAG_STAT_FLASH_UPT 2
	343
	344	static const char * const adis16460_status_error_msgs[] = {
	345	[ADIS16460_DIAG_STAT_IN_CLK_OOS] = "Input clock out of sync",
	346	[ADIS16460_DIAG_STAT_FLASH_MEM] = "Flash memory failure",
	347	[ADIS16460_DIAG_STAT_SELF_TEST] = "Self test diagnostic failure",
	348	[ADIS16460_DIAG_STAT_OVERRANGE] = "Sensor overrange",
	349	[ADIS16460_DIAG_STAT_SPI_COMM] = "SPI communication failure",
	350	[ADIS16460_DIAG_STAT_FLASH_UPT] = "Flash update failure",
	351	};
	352
380b107b NS	353	static const struct adis_timeout adis16460_timeouts = {
	354	.reset_ms = 225,
	355	.sw_reset_ms = 225,
	356	.self_test_ms = 10,
	357	};
	358
db6ed4d2 AA	359	static const struct adis_data adis16460_data = {
	360	.diag_stat_reg = ADIS16460_REG_DIAG_STAT,
	361	.glob_cmd_reg = ADIS16460_REG_GLOB_CMD,
62504d1b NS	362	.prod_id_reg = ADIS16460_REG_PROD_ID,
62504d1b NS	363	.prod_id = 16460,
fdcf6bbb NS	364	.self_test_mask = BIT(2),
fdcf6bbb NS	365	.self_test_reg = ADIS16460_REG_GLOB_CMD,
db6ed4d2 AA	366	.has_paging = false,
	367	.read_delay = 5,
	368	.write_delay = 5,
	369	.cs_change_delay = 16,
	370	.status_error_msgs = adis16460_status_error_msgs,
	371	.status_error_mask = BIT(ADIS16460_DIAG_STAT_IN_CLK_OOS) \|
	372	BIT(ADIS16460_DIAG_STAT_FLASH_MEM) \|
	373	BIT(ADIS16460_DIAG_STAT_SELF_TEST) \|
	374	BIT(ADIS16460_DIAG_STAT_OVERRANGE) \|
	375	BIT(ADIS16460_DIAG_STAT_SPI_COMM) \|
	376	BIT(ADIS16460_DIAG_STAT_FLASH_UPT),
	377	.enable_irq = adis16460_enable_irq,
380b107b	378	.timeouts = &adis16460_timeouts,
db6ed4d2 AA	379	};
	380
	381	static int adis16460_probe(struct spi_device *spi)
	382	{
	383	struct iio_dev *indio_dev;
	384	struct adis16460 *st;
	385	int ret;
	386
	387	indio_dev = devm_iio_device_alloc(&spi->dev, sizeof(*st));
	388	if (indio_dev == NULL)
	389	return -ENOMEM;
	390
	391	spi_set_drvdata(spi, indio_dev);
	392
	393	st = iio_priv(indio_dev);
	394
	395	st->chip_info = &adis16460_chip_info;
db6ed4d2 AA	396	indio_dev->name = spi_get_device_id(spi)->name;
	397	indio_dev->channels = st->chip_info->channels;
	398	indio_dev->num_channels = st->chip_info->num_channels;
	399	indio_dev->info = &adis16460_info;
	400	indio_dev->modes = INDIO_DIRECT_MODE;
	401
	402	ret = adis_init(&st->adis, indio_dev, spi, &adis16460_data);
	403	if (ret)
	404	return ret;
	405
fa623cdd	406	ret = devm_adis_setup_buffer_and_trigger(&st->adis, indio_dev, NULL);
db6ed4d2 AA	407	if (ret)
	408	return ret;
	409
	410	adis16460_enable_irq(&st->adis, 0);
	411
62504d1b	412	ret = __adis_initial_startup(&st->adis);
db6ed4d2	413	if (ret)
fa623cdd	414	return ret;
db6ed4d2	415
fa623cdd	416	ret = devm_iio_device_register(&spi->dev, indio_dev);
db6ed4d2	417	if (ret)
fa623cdd	418	return ret;
db6ed4d2 AA	419
	420	adis16460_debugfs_init(indio_dev);
	421
db6ed4d2 AA	422	return 0;
	423	}
	424
	425	static const struct spi_device_id adis16460_ids[] = {
	426	{ "adis16460", 0 },
	427	{}
	428	};
	429	MODULE_DEVICE_TABLE(spi, adis16460_ids);
	430
	431	static const struct of_device_id adis16460_of_match[] = {
	432	{ .compatible = "adi,adis16460" },
	433	{}
	434	};
	435	MODULE_DEVICE_TABLE(of, adis16460_of_match);
	436
	437	static struct spi_driver adis16460_driver = {
	438	.driver = {
	439	.name = "adis16460",
	440	.of_match_table = adis16460_of_match,
	441	},
	442	.id_table = adis16460_ids,
	443	.probe = adis16460_probe,
db6ed4d2 AA	444	};
	445	module_spi_driver(adis16460_driver);
	446
	447	MODULE_AUTHOR("Dragos Bogdan <dragos.bogdan@analog.com>");
	448	MODULE_DESCRIPTION("Analog Devices ADIS16460 IMU driver");
	449	MODULE_LICENSE("GPL");