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1// SPDX-License-Identifier: GPL-2.0-only
2/*
3 * adis16400.c support Analog Devices ADIS16400/5
4 * 3d 2g Linear Accelerometers,
5 * 3d Gyroscopes,
6 * 3d Magnetometers via SPI
7 *
8 * Copyright (c) 2009 Manuel Stahl <manuel.stahl@iis.fraunhofer.de>
9 * Copyright (c) 2007 Jonathan Cameron <jic23@kernel.org>
10 * Copyright (c) 2011 Analog Devices Inc.
11 */
12
13#include <linux/irq.h>
14#include <linux/device.h>
15#include <linux/kernel.h>
16#include <linux/spi/spi.h>
17#include <linux/module.h>
18#include <linux/debugfs.h>
19#include <linux/bitops.h>
20
21#include <linux/iio/iio.h>
22#include <linux/iio/buffer.h>
23#include <linux/iio/trigger_consumer.h>
24#include <linux/iio/imu/adis.h>
25
26#define ADIS16400_STARTUP_DELAY 290 /* ms */
27#define ADIS16400_MTEST_DELAY 90 /* ms */
28
29#define ADIS16400_FLASH_CNT 0x00 /* Flash memory write count */
30#define ADIS16400_SUPPLY_OUT 0x02 /* Power supply measurement */
31#define ADIS16400_XGYRO_OUT 0x04 /* X-axis gyroscope output */
32#define ADIS16400_YGYRO_OUT 0x06 /* Y-axis gyroscope output */
33#define ADIS16400_ZGYRO_OUT 0x08 /* Z-axis gyroscope output */
34#define ADIS16400_XACCL_OUT 0x0A /* X-axis accelerometer output */
35#define ADIS16400_YACCL_OUT 0x0C /* Y-axis accelerometer output */
36#define ADIS16400_ZACCL_OUT 0x0E /* Z-axis accelerometer output */
37#define ADIS16400_XMAGN_OUT 0x10 /* X-axis magnetometer measurement */
38#define ADIS16400_YMAGN_OUT 0x12 /* Y-axis magnetometer measurement */
39#define ADIS16400_ZMAGN_OUT 0x14 /* Z-axis magnetometer measurement */
40#define ADIS16400_TEMP_OUT 0x16 /* Temperature output */
41#define ADIS16400_AUX_ADC 0x18 /* Auxiliary ADC measurement */
42
43#define ADIS16350_XTEMP_OUT 0x10 /* X-axis gyroscope temperature measurement */
44#define ADIS16350_YTEMP_OUT 0x12 /* Y-axis gyroscope temperature measurement */
45#define ADIS16350_ZTEMP_OUT 0x14 /* Z-axis gyroscope temperature measurement */
46
47#define ADIS16300_PITCH_OUT 0x12 /* X axis inclinometer output measurement */
48#define ADIS16300_ROLL_OUT 0x14 /* Y axis inclinometer output measurement */
49#define ADIS16300_AUX_ADC 0x16 /* Auxiliary ADC measurement */
50
51#define ADIS16448_BARO_OUT 0x16 /* Barometric pressure output */
52#define ADIS16448_TEMP_OUT 0x18 /* Temperature output */
53
54/* Calibration parameters */
55#define ADIS16400_XGYRO_OFF 0x1A /* X-axis gyroscope bias offset factor */
56#define ADIS16400_YGYRO_OFF 0x1C /* Y-axis gyroscope bias offset factor */
57#define ADIS16400_ZGYRO_OFF 0x1E /* Z-axis gyroscope bias offset factor */
58#define ADIS16400_XACCL_OFF 0x20 /* X-axis acceleration bias offset factor */
59#define ADIS16400_YACCL_OFF 0x22 /* Y-axis acceleration bias offset factor */
60#define ADIS16400_ZACCL_OFF 0x24 /* Z-axis acceleration bias offset factor */
61#define ADIS16400_XMAGN_HIF 0x26 /* X-axis magnetometer, hard-iron factor */
62#define ADIS16400_YMAGN_HIF 0x28 /* Y-axis magnetometer, hard-iron factor */
63#define ADIS16400_ZMAGN_HIF 0x2A /* Z-axis magnetometer, hard-iron factor */
64#define ADIS16400_XMAGN_SIF 0x2C /* X-axis magnetometer, soft-iron factor */
65#define ADIS16400_YMAGN_SIF 0x2E /* Y-axis magnetometer, soft-iron factor */
66#define ADIS16400_ZMAGN_SIF 0x30 /* Z-axis magnetometer, soft-iron factor */
67
68#define ADIS16400_GPIO_CTRL 0x32 /* Auxiliary digital input/output control */
69#define ADIS16400_MSC_CTRL 0x34 /* Miscellaneous control */
70#define ADIS16400_SMPL_PRD 0x36 /* Internal sample period (rate) control */
71#define ADIS16400_SENS_AVG 0x38 /* Dynamic range and digital filter control */
72#define ADIS16400_SLP_CNT 0x3A /* Sleep mode control */
73#define ADIS16400_DIAG_STAT 0x3C /* System status */
74
75/* Alarm functions */
76#define ADIS16400_GLOB_CMD 0x3E /* System command */
77#define ADIS16400_ALM_MAG1 0x40 /* Alarm 1 amplitude threshold */
78#define ADIS16400_ALM_MAG2 0x42 /* Alarm 2 amplitude threshold */
79#define ADIS16400_ALM_SMPL1 0x44 /* Alarm 1 sample size */
80#define ADIS16400_ALM_SMPL2 0x46 /* Alarm 2 sample size */
81#define ADIS16400_ALM_CTRL 0x48 /* Alarm control */
82#define ADIS16400_AUX_DAC 0x4A /* Auxiliary DAC data */
83
84#define ADIS16334_LOT_ID1 0x52 /* Lot identification code 1 */
85#define ADIS16334_LOT_ID2 0x54 /* Lot identification code 2 */
86#define ADIS16400_PRODUCT_ID 0x56 /* Product identifier */
87#define ADIS16334_SERIAL_NUMBER 0x58 /* Serial number, lot specific */
88
89#define ADIS16400_ERROR_ACTIVE (1<<14)
90#define ADIS16400_NEW_DATA (1<<14)
91
92/* MSC_CTRL */
93#define ADIS16400_MSC_CTRL_MEM_TEST (1<<11)
94#define ADIS16400_MSC_CTRL_INT_SELF_TEST (1<<10)
95#define ADIS16400_MSC_CTRL_NEG_SELF_TEST (1<<9)
96#define ADIS16400_MSC_CTRL_POS_SELF_TEST (1<<8)
97#define ADIS16400_MSC_CTRL_GYRO_BIAS (1<<7)
98#define ADIS16400_MSC_CTRL_ACCL_ALIGN (1<<6)
99#define ADIS16400_MSC_CTRL_DATA_RDY_EN (1<<2)
100#define ADIS16400_MSC_CTRL_DATA_RDY_POL_HIGH (1<<1)
101#define ADIS16400_MSC_CTRL_DATA_RDY_DIO2 (1<<0)
102
103/* SMPL_PRD */
104#define ADIS16400_SMPL_PRD_TIME_BASE (1<<7)
105#define ADIS16400_SMPL_PRD_DIV_MASK 0x7F
106
107/* DIAG_STAT */
108#define ADIS16400_DIAG_STAT_ZACCL_FAIL 15
109#define ADIS16400_DIAG_STAT_YACCL_FAIL 14
110#define ADIS16400_DIAG_STAT_XACCL_FAIL 13
111#define ADIS16400_DIAG_STAT_XGYRO_FAIL 12
112#define ADIS16400_DIAG_STAT_YGYRO_FAIL 11
113#define ADIS16400_DIAG_STAT_ZGYRO_FAIL 10
114#define ADIS16400_DIAG_STAT_ALARM2 9
115#define ADIS16400_DIAG_STAT_ALARM1 8
116#define ADIS16400_DIAG_STAT_FLASH_CHK 6
117#define ADIS16400_DIAG_STAT_SELF_TEST 5
118#define ADIS16400_DIAG_STAT_OVERFLOW 4
119#define ADIS16400_DIAG_STAT_SPI_FAIL 3
120#define ADIS16400_DIAG_STAT_FLASH_UPT 2
121#define ADIS16400_DIAG_STAT_POWER_HIGH 1
122#define ADIS16400_DIAG_STAT_POWER_LOW 0
123
124/* GLOB_CMD */
125#define ADIS16400_GLOB_CMD_SW_RESET (1<<7)
126#define ADIS16400_GLOB_CMD_P_AUTO_NULL (1<<4)
127#define ADIS16400_GLOB_CMD_FLASH_UPD (1<<3)
128#define ADIS16400_GLOB_CMD_DAC_LATCH (1<<2)
129#define ADIS16400_GLOB_CMD_FAC_CALIB (1<<1)
130#define ADIS16400_GLOB_CMD_AUTO_NULL (1<<0)
131
132/* SLP_CNT */
133#define ADIS16400_SLP_CNT_POWER_OFF (1<<8)
134
135#define ADIS16334_RATE_DIV_SHIFT 8
136#define ADIS16334_RATE_INT_CLK BIT(0)
137
138#define ADIS16400_SPI_SLOW (u32)(300 * 1000)
139#define ADIS16400_SPI_BURST (u32)(1000 * 1000)
140#define ADIS16400_SPI_FAST (u32)(2000 * 1000)
141
142#define ADIS16400_HAS_PROD_ID BIT(0)
143#define ADIS16400_NO_BURST BIT(1)
144#define ADIS16400_HAS_SLOW_MODE BIT(2)
145#define ADIS16400_HAS_SERIAL_NUMBER BIT(3)
146#define ADIS16400_BURST_DIAG_STAT BIT(4)
147
148struct adis16400_state;
149
150struct adis16400_chip_info {
151 const struct iio_chan_spec *channels;
152 const struct adis_data adis_data;
153 const int num_channels;
154 const long flags;
155 unsigned int gyro_scale_micro;
156 unsigned int accel_scale_micro;
157 int temp_scale_nano;
158 int temp_offset;
159 /* set_freq() & get_freq() need to avoid using ADIS lib's state lock */
160 int (*set_freq)(struct adis16400_state *st, unsigned int freq);
161 int (*get_freq)(struct adis16400_state *st);
162};
163
164/**
165 * struct adis16400_state - device instance specific data
166 * @variant: chip variant info
167 * @filt_int: integer part of requested filter frequency
168 * @adis: adis device
169 * @avail_scan_mask: NULL terminated array of bitmaps of channels
170 * that must be enabled together
171 **/
172struct adis16400_state {
173 struct adis16400_chip_info *variant;
174 int filt_int;
175
176 struct adis adis;
177 unsigned long avail_scan_mask[2];
178};
179
180/* At the moment triggers are only used for ring buffer
181 * filling. This may change!
182 */
183
184enum {
185 ADIS16400_SCAN_SUPPLY,
186 ADIS16400_SCAN_GYRO_X,
187 ADIS16400_SCAN_GYRO_Y,
188 ADIS16400_SCAN_GYRO_Z,
189 ADIS16400_SCAN_ACC_X,
190 ADIS16400_SCAN_ACC_Y,
191 ADIS16400_SCAN_ACC_Z,
192 ADIS16400_SCAN_MAGN_X,
193 ADIS16400_SCAN_MAGN_Y,
194 ADIS16400_SCAN_MAGN_Z,
195 ADIS16400_SCAN_BARO,
196 ADIS16350_SCAN_TEMP_X,
197 ADIS16350_SCAN_TEMP_Y,
198 ADIS16350_SCAN_TEMP_Z,
199 ADIS16300_SCAN_INCLI_X,
200 ADIS16300_SCAN_INCLI_Y,
201 ADIS16400_SCAN_ADC,
202 ADIS16400_SCAN_TIMESTAMP,
203};
204
205#ifdef CONFIG_DEBUG_FS
206
207static ssize_t adis16400_show_serial_number(struct file *file,
208 char __user *userbuf, size_t count, loff_t *ppos)
209{
210 struct adis16400_state *st = file->private_data;
211 u16 lot1, lot2, serial_number;
212 char buf[16];
213 size_t len;
214 int ret;
215
216 ret = adis_read_reg_16(&st->adis, ADIS16334_LOT_ID1, &lot1);
217 if (ret)
218 return ret;
219
220 ret = adis_read_reg_16(&st->adis, ADIS16334_LOT_ID2, &lot2);
221 if (ret)
222 return ret;
223
224 ret = adis_read_reg_16(&st->adis, ADIS16334_SERIAL_NUMBER,
225 &serial_number);
226 if (ret)
227 return ret;
228
229 len = snprintf(buf, sizeof(buf), "%.4x-%.4x-%.4x\n", lot1, lot2,
230 serial_number);
231
232 return simple_read_from_buffer(userbuf, count, ppos, buf, len);
233}
234
235static const struct file_operations adis16400_serial_number_fops = {
236 .open = simple_open,
237 .read = adis16400_show_serial_number,
238 .llseek = default_llseek,
239 .owner = THIS_MODULE,
240};
241
242static int adis16400_show_product_id(void *arg, u64 *val)
243{
244 struct adis16400_state *st = arg;
245 uint16_t prod_id;
246 int ret;
247
248 ret = adis_read_reg_16(&st->adis, ADIS16400_PRODUCT_ID, &prod_id);
249 if (ret)
250 return ret;
251
252 *val = prod_id;
253
254 return 0;
255}
256DEFINE_DEBUGFS_ATTRIBUTE(adis16400_product_id_fops,
257 adis16400_show_product_id, NULL, "%lld\n");
258
259static int adis16400_show_flash_count(void *arg, u64 *val)
260{
261 struct adis16400_state *st = arg;
262 uint16_t flash_count;
263 int ret;
264
265 ret = adis_read_reg_16(&st->adis, ADIS16400_FLASH_CNT, &flash_count);
266 if (ret)
267 return ret;
268
269 *val = flash_count;
270
271 return 0;
272}
273DEFINE_DEBUGFS_ATTRIBUTE(adis16400_flash_count_fops,
274 adis16400_show_flash_count, NULL, "%lld\n");
275
276static int adis16400_debugfs_init(struct iio_dev *indio_dev)
277{
278 struct adis16400_state *st = iio_priv(indio_dev);
279 struct dentry *d = iio_get_debugfs_dentry(indio_dev);
280
281 if (st->variant->flags & ADIS16400_HAS_SERIAL_NUMBER)
282 debugfs_create_file_unsafe("serial_number", 0400,
283 d, st, &adis16400_serial_number_fops);
284 if (st->variant->flags & ADIS16400_HAS_PROD_ID)
285 debugfs_create_file_unsafe("product_id", 0400,
286 d, st, &adis16400_product_id_fops);
287 debugfs_create_file_unsafe("flash_count", 0400,
288 d, st, &adis16400_flash_count_fops);
289
290 return 0;
291}
292
293#else
294
295static int adis16400_debugfs_init(struct iio_dev *indio_dev)
296{
297 return 0;
298}
299
300#endif
301
302enum adis16400_chip_variant {
303 ADIS16300,
304 ADIS16334,
305 ADIS16350,
306 ADIS16360,
307 ADIS16362,
308 ADIS16364,
309 ADIS16367,
310 ADIS16400,
311 ADIS16445,
312 ADIS16448,
313};
314
315static int adis16334_get_freq(struct adis16400_state *st)
316{
317 int ret;
318 uint16_t t;
319
320 ret = __adis_read_reg_16(&st->adis, ADIS16400_SMPL_PRD, &t);
321 if (ret)
322 return ret;
323
324 t >>= ADIS16334_RATE_DIV_SHIFT;
325
326 return 819200 >> t;
327}
328
329static int adis16334_set_freq(struct adis16400_state *st, unsigned int freq)
330{
331 unsigned int t;
332
333 if (freq < 819200)
334 t = ilog2(819200 / freq);
335 else
336 t = 0;
337
338 if (t > 0x31)
339 t = 0x31;
340
341 t <<= ADIS16334_RATE_DIV_SHIFT;
342 t |= ADIS16334_RATE_INT_CLK;
343
344 return __adis_write_reg_16(&st->adis, ADIS16400_SMPL_PRD, t);
345}
346
347static int adis16400_get_freq(struct adis16400_state *st)
348{
349 int sps, ret;
350 uint16_t t;
351
352 ret = __adis_read_reg_16(&st->adis, ADIS16400_SMPL_PRD, &t);
353 if (ret)
354 return ret;
355
356 sps = (t & ADIS16400_SMPL_PRD_TIME_BASE) ? 52851 : 1638404;
357 sps /= (t & ADIS16400_SMPL_PRD_DIV_MASK) + 1;
358
359 return sps;
360}
361
362static int adis16400_set_freq(struct adis16400_state *st, unsigned int freq)
363{
364 unsigned int t;
365 uint8_t val = 0;
366
367 t = 1638404 / freq;
368 if (t >= 128) {
369 val |= ADIS16400_SMPL_PRD_TIME_BASE;
370 t = 52851 / freq;
371 if (t >= 128)
372 t = 127;
373 } else if (t != 0) {
374 t--;
375 }
376
377 val |= t;
378
379 if (t >= 0x0A || (val & ADIS16400_SMPL_PRD_TIME_BASE))
380 st->adis.spi->max_speed_hz = ADIS16400_SPI_SLOW;
381 else
382 st->adis.spi->max_speed_hz = ADIS16400_SPI_FAST;
383
384 return __adis_write_reg_8(&st->adis, ADIS16400_SMPL_PRD, val);
385}
386
387static const unsigned int adis16400_3db_divisors[] = {
388 [0] = 2, /* Special case */
389 [1] = 6,
390 [2] = 12,
391 [3] = 25,
392 [4] = 50,
393 [5] = 100,
394 [6] = 200,
395 [7] = 200, /* Not a valid setting */
396};
397
398static int __adis16400_set_filter(struct iio_dev *indio_dev, int sps, int val)
399{
400 struct adis16400_state *st = iio_priv(indio_dev);
401 uint16_t val16;
402 int i, ret;
403
404 for (i = ARRAY_SIZE(adis16400_3db_divisors) - 1; i >= 1; i--) {
405 if (sps / adis16400_3db_divisors[i] >= val)
406 break;
407 }
408
409 ret = __adis_read_reg_16(&st->adis, ADIS16400_SENS_AVG, &val16);
410 if (ret)
411 return ret;
412
413 ret = __adis_write_reg_16(&st->adis, ADIS16400_SENS_AVG,
414 (val16 & ~0x07) | i);
415 return ret;
416}
417
418/* Power down the device */
419static int adis16400_stop_device(struct iio_dev *indio_dev)
420{
421 struct adis16400_state *st = iio_priv(indio_dev);
422 int ret;
423
424 ret = adis_write_reg_16(&st->adis, ADIS16400_SLP_CNT,
425 ADIS16400_SLP_CNT_POWER_OFF);
426 if (ret)
427 dev_err(&indio_dev->dev,
428 "problem with turning device off: SLP_CNT");
429
430 return ret;
431}
432
433static int adis16400_initial_setup(struct iio_dev *indio_dev)
434{
435 struct adis16400_state *st = iio_priv(indio_dev);
436 uint16_t prod_id, smp_prd;
437 unsigned int device_id;
438 int ret;
439
440 /* use low spi speed for init if the device has a slow mode */
441 if (st->variant->flags & ADIS16400_HAS_SLOW_MODE)
442 st->adis.spi->max_speed_hz = ADIS16400_SPI_SLOW;
443 else
444 st->adis.spi->max_speed_hz = ADIS16400_SPI_FAST;
445 st->adis.spi->mode = SPI_MODE_3;
446 spi_setup(st->adis.spi);
447
448 ret = __adis_initial_startup(&st->adis);
449 if (ret)
450 return ret;
451
452 if (st->variant->flags & ADIS16400_HAS_PROD_ID) {
453 ret = adis_read_reg_16(&st->adis,
454 ADIS16400_PRODUCT_ID, &prod_id);
455 if (ret)
456 goto err_ret;
457
458 if (sscanf(indio_dev->name, "adis%u\n", &device_id) != 1) {
459 ret = -EINVAL;
460 goto err_ret;
461 }
462
463 if (prod_id != device_id)
464 dev_warn(&indio_dev->dev, "Device ID(%u) and product ID(%u) do not match.",
465 device_id, prod_id);
466
467 dev_info(&indio_dev->dev, "%s: prod_id 0x%04x at CS%d (irq %d)\n",
468 indio_dev->name, prod_id,
469 spi_get_chipselect(st->adis.spi, 0), st->adis.spi->irq);
470 }
471 /* use high spi speed if possible */
472 if (st->variant->flags & ADIS16400_HAS_SLOW_MODE) {
473 ret = adis_read_reg_16(&st->adis, ADIS16400_SMPL_PRD, &smp_prd);
474 if (ret)
475 goto err_ret;
476
477 if ((smp_prd & ADIS16400_SMPL_PRD_DIV_MASK) < 0x0A) {
478 st->adis.spi->max_speed_hz = ADIS16400_SPI_FAST;
479 spi_setup(st->adis.spi);
480 }
481 }
482
483err_ret:
484 return ret;
485}
486
487static const uint8_t adis16400_addresses[] = {
488 [ADIS16400_SCAN_GYRO_X] = ADIS16400_XGYRO_OFF,
489 [ADIS16400_SCAN_GYRO_Y] = ADIS16400_YGYRO_OFF,
490 [ADIS16400_SCAN_GYRO_Z] = ADIS16400_ZGYRO_OFF,
491 [ADIS16400_SCAN_ACC_X] = ADIS16400_XACCL_OFF,
492 [ADIS16400_SCAN_ACC_Y] = ADIS16400_YACCL_OFF,
493 [ADIS16400_SCAN_ACC_Z] = ADIS16400_ZACCL_OFF,
494};
495
496static int adis16400_write_raw(struct iio_dev *indio_dev,
497 struct iio_chan_spec const *chan, int val, int val2, long info)
498{
499 struct adis16400_state *st = iio_priv(indio_dev);
500 int ret, sps;
501
502 switch (info) {
503 case IIO_CHAN_INFO_CALIBBIAS:
504 ret = adis_write_reg_16(&st->adis,
505 adis16400_addresses[chan->scan_index], val);
506 return ret;
507 case IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY:
508 /*
509 * Need to cache values so we can update if the frequency
510 * changes.
511 */
512 adis_dev_lock(&st->adis);
513 st->filt_int = val;
514 /* Work out update to current value */
515 sps = st->variant->get_freq(st);
516 if (sps < 0) {
517 adis_dev_unlock(&st->adis);
518 return sps;
519 }
520
521 ret = __adis16400_set_filter(indio_dev, sps,
522 val * 1000 + val2 / 1000);
523 adis_dev_unlock(&st->adis);
524 return ret;
525 case IIO_CHAN_INFO_SAMP_FREQ:
526 sps = val * 1000 + val2 / 1000;
527
528 if (sps <= 0)
529 return -EINVAL;
530
531 adis_dev_lock(&st->adis);
532 ret = st->variant->set_freq(st, sps);
533 adis_dev_unlock(&st->adis);
534 return ret;
535 default:
536 return -EINVAL;
537 }
538}
539
540static int adis16400_read_raw(struct iio_dev *indio_dev,
541 struct iio_chan_spec const *chan, int *val, int *val2, long info)
542{
543 struct adis16400_state *st = iio_priv(indio_dev);
544 int16_t val16;
545 int ret;
546
547 switch (info) {
548 case IIO_CHAN_INFO_RAW:
549 return adis_single_conversion(indio_dev, chan, 0, val);
550 case IIO_CHAN_INFO_SCALE:
551 switch (chan->type) {
552 case IIO_ANGL_VEL:
553 *val = 0;
554 *val2 = st->variant->gyro_scale_micro;
555 return IIO_VAL_INT_PLUS_MICRO;
556 case IIO_VOLTAGE:
557 *val = 0;
558 if (chan->channel == 0) {
559 *val = 2;
560 *val2 = 418000; /* 2.418 mV */
561 } else {
562 *val = 0;
563 *val2 = 805800; /* 805.8 uV */
564 }
565 return IIO_VAL_INT_PLUS_MICRO;
566 case IIO_ACCEL:
567 *val = 0;
568 *val2 = st->variant->accel_scale_micro;
569 return IIO_VAL_INT_PLUS_MICRO;
570 case IIO_MAGN:
571 *val = 0;
572 *val2 = 500; /* 0.5 mgauss */
573 return IIO_VAL_INT_PLUS_MICRO;
574 case IIO_TEMP:
575 *val = st->variant->temp_scale_nano / 1000000;
576 *val2 = (st->variant->temp_scale_nano % 1000000);
577 return IIO_VAL_INT_PLUS_MICRO;
578 case IIO_PRESSURE:
579 /* 20 uBar = 0.002kPascal */
580 *val = 0;
581 *val2 = 2000;
582 return IIO_VAL_INT_PLUS_MICRO;
583 default:
584 return -EINVAL;
585 }
586 case IIO_CHAN_INFO_CALIBBIAS:
587 ret = adis_read_reg_16(&st->adis,
588 adis16400_addresses[chan->scan_index], &val16);
589 if (ret)
590 return ret;
591 val16 = sign_extend32(val16, 11);
592 *val = val16;
593 return IIO_VAL_INT;
594 case IIO_CHAN_INFO_OFFSET:
595 /* currently only temperature */
596 *val = st->variant->temp_offset;
597 return IIO_VAL_INT;
598 case IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY:
599 adis_dev_lock(&st->adis);
600 /* Need both the number of taps and the sampling frequency */
601 ret = __adis_read_reg_16(&st->adis,
602 ADIS16400_SENS_AVG,
603 &val16);
604 if (ret) {
605 adis_dev_unlock(&st->adis);
606 return ret;
607 }
608 ret = st->variant->get_freq(st);
609 adis_dev_unlock(&st->adis);
610 if (ret)
611 return ret;
612 ret /= adis16400_3db_divisors[val16 & 0x07];
613 *val = ret / 1000;
614 *val2 = (ret % 1000) * 1000;
615 return IIO_VAL_INT_PLUS_MICRO;
616 case IIO_CHAN_INFO_SAMP_FREQ:
617 adis_dev_lock(&st->adis);
618 ret = st->variant->get_freq(st);
619 adis_dev_unlock(&st->adis);
620 if (ret)
621 return ret;
622 *val = ret / 1000;
623 *val2 = (ret % 1000) * 1000;
624 return IIO_VAL_INT_PLUS_MICRO;
625 default:
626 return -EINVAL;
627 }
628}
629
630#if IS_ENABLED(CONFIG_IIO_BUFFER)
631static irqreturn_t adis16400_trigger_handler(int irq, void *p)
632{
633 struct iio_poll_func *pf = p;
634 struct iio_dev *indio_dev = pf->indio_dev;
635 struct adis16400_state *st = iio_priv(indio_dev);
636 struct adis *adis = &st->adis;
637 void *buffer;
638 int ret;
639
640 ret = spi_sync(adis->spi, &adis->msg);
641 if (ret)
642 dev_err(&adis->spi->dev, "Failed to read data: %d\n", ret);
643
644 if (st->variant->flags & ADIS16400_BURST_DIAG_STAT) {
645 buffer = adis->buffer + sizeof(u16);
646 /*
647 * The size here is always larger than, or equal to the true
648 * size of the channel data. This may result in a larger copy
649 * than necessary, but as the target buffer will be
650 * buffer->scan_bytes this will be safe.
651 */
652 iio_push_to_buffers_with_ts_unaligned(indio_dev, buffer,
653 indio_dev->scan_bytes - sizeof(pf->timestamp),
654 pf->timestamp);
655 } else {
656 iio_push_to_buffers_with_timestamp(indio_dev,
657 adis->buffer,
658 pf->timestamp);
659 }
660
661
662 iio_trigger_notify_done(indio_dev->trig);
663
664 return IRQ_HANDLED;
665}
666#else
667#define adis16400_trigger_handler NULL
668#endif /* IS_ENABLED(CONFIG_IIO_BUFFER) */
669
670#define ADIS16400_VOLTAGE_CHAN(addr, bits, name, si, chn) { \
671 .type = IIO_VOLTAGE, \
672 .indexed = 1, \
673 .channel = chn, \
674 .extend_name = name, \
675 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \
676 BIT(IIO_CHAN_INFO_SCALE), \
677 .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
678 .address = (addr), \
679 .scan_index = (si), \
680 .scan_type = { \
681 .sign = 'u', \
682 .realbits = (bits), \
683 .storagebits = 16, \
684 .shift = 0, \
685 .endianness = IIO_BE, \
686 }, \
687}
688
689#define ADIS16400_SUPPLY_CHAN(addr, bits) \
690 ADIS16400_VOLTAGE_CHAN(addr, bits, "supply", ADIS16400_SCAN_SUPPLY, 0)
691
692#define ADIS16400_AUX_ADC_CHAN(addr, bits) \
693 ADIS16400_VOLTAGE_CHAN(addr, bits, NULL, ADIS16400_SCAN_ADC, 1)
694
695#define ADIS16400_GYRO_CHAN(mod, addr, bits) { \
696 .type = IIO_ANGL_VEL, \
697 .modified = 1, \
698 .channel2 = IIO_MOD_ ## mod, \
699 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \
700 BIT(IIO_CHAN_INFO_CALIBBIAS), \
701 .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE) | \
702 BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY), \
703 .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
704 .address = addr, \
705 .scan_index = ADIS16400_SCAN_GYRO_ ## mod, \
706 .scan_type = { \
707 .sign = 's', \
708 .realbits = (bits), \
709 .storagebits = 16, \
710 .shift = 0, \
711 .endianness = IIO_BE, \
712 }, \
713}
714
715#define ADIS16400_ACCEL_CHAN(mod, addr, bits) { \
716 .type = IIO_ACCEL, \
717 .modified = 1, \
718 .channel2 = IIO_MOD_ ## mod, \
719 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \
720 BIT(IIO_CHAN_INFO_CALIBBIAS), \
721 .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE) | \
722 BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY), \
723 .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
724 .address = (addr), \
725 .scan_index = ADIS16400_SCAN_ACC_ ## mod, \
726 .scan_type = { \
727 .sign = 's', \
728 .realbits = (bits), \
729 .storagebits = 16, \
730 .shift = 0, \
731 .endianness = IIO_BE, \
732 }, \
733}
734
735#define ADIS16400_MAGN_CHAN(mod, addr, bits) { \
736 .type = IIO_MAGN, \
737 .modified = 1, \
738 .channel2 = IIO_MOD_ ## mod, \
739 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW), \
740 .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE) | \
741 BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY), \
742 .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
743 .address = (addr), \
744 .scan_index = ADIS16400_SCAN_MAGN_ ## mod, \
745 .scan_type = { \
746 .sign = 's', \
747 .realbits = (bits), \
748 .storagebits = 16, \
749 .shift = 0, \
750 .endianness = IIO_BE, \
751 }, \
752}
753
754#define ADIS16400_MOD_TEMP_NAME_X "x"
755#define ADIS16400_MOD_TEMP_NAME_Y "y"
756#define ADIS16400_MOD_TEMP_NAME_Z "z"
757
758#define ADIS16400_MOD_TEMP_CHAN(mod, addr, bits) { \
759 .type = IIO_TEMP, \
760 .indexed = 1, \
761 .channel = 0, \
762 .extend_name = ADIS16400_MOD_TEMP_NAME_ ## mod, \
763 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \
764 BIT(IIO_CHAN_INFO_OFFSET) | \
765 BIT(IIO_CHAN_INFO_SCALE), \
766 .info_mask_shared_by_type = \
767 BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY), \
768 .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
769 .address = (addr), \
770 .scan_index = ADIS16350_SCAN_TEMP_ ## mod, \
771 .scan_type = { \
772 .sign = 's', \
773 .realbits = (bits), \
774 .storagebits = 16, \
775 .shift = 0, \
776 .endianness = IIO_BE, \
777 }, \
778}
779
780#define ADIS16400_TEMP_CHAN(addr, bits) { \
781 .type = IIO_TEMP, \
782 .indexed = 1, \
783 .channel = 0, \
784 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \
785 BIT(IIO_CHAN_INFO_OFFSET) | \
786 BIT(IIO_CHAN_INFO_SCALE), \
787 .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
788 .address = (addr), \
789 .scan_index = ADIS16350_SCAN_TEMP_X, \
790 .scan_type = { \
791 .sign = 's', \
792 .realbits = (bits), \
793 .storagebits = 16, \
794 .shift = 0, \
795 .endianness = IIO_BE, \
796 }, \
797}
798
799#define ADIS16400_INCLI_CHAN(mod, addr, bits) { \
800 .type = IIO_INCLI, \
801 .modified = 1, \
802 .channel2 = IIO_MOD_ ## mod, \
803 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW), \
804 .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE), \
805 .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
806 .address = (addr), \
807 .scan_index = ADIS16300_SCAN_INCLI_ ## mod, \
808 .scan_type = { \
809 .sign = 's', \
810 .realbits = (bits), \
811 .storagebits = 16, \
812 .shift = 0, \
813 .endianness = IIO_BE, \
814 }, \
815}
816
817static const struct iio_chan_spec adis16400_channels[] = {
818 ADIS16400_SUPPLY_CHAN(ADIS16400_SUPPLY_OUT, 14),
819 ADIS16400_GYRO_CHAN(X, ADIS16400_XGYRO_OUT, 14),
820 ADIS16400_GYRO_CHAN(Y, ADIS16400_YGYRO_OUT, 14),
821 ADIS16400_GYRO_CHAN(Z, ADIS16400_ZGYRO_OUT, 14),
822 ADIS16400_ACCEL_CHAN(X, ADIS16400_XACCL_OUT, 14),
823 ADIS16400_ACCEL_CHAN(Y, ADIS16400_YACCL_OUT, 14),
824 ADIS16400_ACCEL_CHAN(Z, ADIS16400_ZACCL_OUT, 14),
825 ADIS16400_MAGN_CHAN(X, ADIS16400_XMAGN_OUT, 14),
826 ADIS16400_MAGN_CHAN(Y, ADIS16400_YMAGN_OUT, 14),
827 ADIS16400_MAGN_CHAN(Z, ADIS16400_ZMAGN_OUT, 14),
828 ADIS16400_TEMP_CHAN(ADIS16400_TEMP_OUT, 12),
829 ADIS16400_AUX_ADC_CHAN(ADIS16400_AUX_ADC, 12),
830 IIO_CHAN_SOFT_TIMESTAMP(ADIS16400_SCAN_TIMESTAMP),
831};
832
833static const struct iio_chan_spec adis16445_channels[] = {
834 ADIS16400_GYRO_CHAN(X, ADIS16400_XGYRO_OUT, 16),
835 ADIS16400_GYRO_CHAN(Y, ADIS16400_YGYRO_OUT, 16),
836 ADIS16400_GYRO_CHAN(Z, ADIS16400_ZGYRO_OUT, 16),
837 ADIS16400_ACCEL_CHAN(X, ADIS16400_XACCL_OUT, 16),
838 ADIS16400_ACCEL_CHAN(Y, ADIS16400_YACCL_OUT, 16),
839 ADIS16400_ACCEL_CHAN(Z, ADIS16400_ZACCL_OUT, 16),
840 ADIS16400_TEMP_CHAN(ADIS16448_TEMP_OUT, 12),
841 IIO_CHAN_SOFT_TIMESTAMP(ADIS16400_SCAN_TIMESTAMP),
842};
843
844static const struct iio_chan_spec adis16448_channels[] = {
845 ADIS16400_GYRO_CHAN(X, ADIS16400_XGYRO_OUT, 16),
846 ADIS16400_GYRO_CHAN(Y, ADIS16400_YGYRO_OUT, 16),
847 ADIS16400_GYRO_CHAN(Z, ADIS16400_ZGYRO_OUT, 16),
848 ADIS16400_ACCEL_CHAN(X, ADIS16400_XACCL_OUT, 16),
849 ADIS16400_ACCEL_CHAN(Y, ADIS16400_YACCL_OUT, 16),
850 ADIS16400_ACCEL_CHAN(Z, ADIS16400_ZACCL_OUT, 16),
851 ADIS16400_MAGN_CHAN(X, ADIS16400_XMAGN_OUT, 16),
852 ADIS16400_MAGN_CHAN(Y, ADIS16400_YMAGN_OUT, 16),
853 ADIS16400_MAGN_CHAN(Z, ADIS16400_ZMAGN_OUT, 16),
854 {
855 .type = IIO_PRESSURE,
856 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW),
857 .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE),
858 .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ),
859 .address = ADIS16448_BARO_OUT,
860 .scan_index = ADIS16400_SCAN_BARO,
861 .scan_type = {
862 .sign = 's',
863 .realbits = 16,
864 .storagebits = 16,
865 .endianness = IIO_BE,
866 },
867 },
868 ADIS16400_TEMP_CHAN(ADIS16448_TEMP_OUT, 12),
869 IIO_CHAN_SOFT_TIMESTAMP(ADIS16400_SCAN_TIMESTAMP),
870};
871
872static const struct iio_chan_spec adis16350_channels[] = {
873 ADIS16400_SUPPLY_CHAN(ADIS16400_SUPPLY_OUT, 12),
874 ADIS16400_GYRO_CHAN(X, ADIS16400_XGYRO_OUT, 14),
875 ADIS16400_GYRO_CHAN(Y, ADIS16400_YGYRO_OUT, 14),
876 ADIS16400_GYRO_CHAN(Z, ADIS16400_ZGYRO_OUT, 14),
877 ADIS16400_ACCEL_CHAN(X, ADIS16400_XACCL_OUT, 14),
878 ADIS16400_ACCEL_CHAN(Y, ADIS16400_YACCL_OUT, 14),
879 ADIS16400_ACCEL_CHAN(Z, ADIS16400_ZACCL_OUT, 14),
880 ADIS16400_MAGN_CHAN(X, ADIS16400_XMAGN_OUT, 14),
881 ADIS16400_MAGN_CHAN(Y, ADIS16400_YMAGN_OUT, 14),
882 ADIS16400_MAGN_CHAN(Z, ADIS16400_ZMAGN_OUT, 14),
883 ADIS16400_AUX_ADC_CHAN(ADIS16300_AUX_ADC, 12),
884 ADIS16400_MOD_TEMP_CHAN(X, ADIS16350_XTEMP_OUT, 12),
885 ADIS16400_MOD_TEMP_CHAN(Y, ADIS16350_YTEMP_OUT, 12),
886 ADIS16400_MOD_TEMP_CHAN(Z, ADIS16350_ZTEMP_OUT, 12),
887 IIO_CHAN_SOFT_TIMESTAMP(ADIS16400_SCAN_TIMESTAMP),
888};
889
890static const struct iio_chan_spec adis16300_channels[] = {
891 ADIS16400_SUPPLY_CHAN(ADIS16400_SUPPLY_OUT, 12),
892 ADIS16400_GYRO_CHAN(X, ADIS16400_XGYRO_OUT, 14),
893 ADIS16400_ACCEL_CHAN(X, ADIS16400_XACCL_OUT, 14),
894 ADIS16400_ACCEL_CHAN(Y, ADIS16400_YACCL_OUT, 14),
895 ADIS16400_ACCEL_CHAN(Z, ADIS16400_ZACCL_OUT, 14),
896 ADIS16400_TEMP_CHAN(ADIS16350_XTEMP_OUT, 12),
897 ADIS16400_AUX_ADC_CHAN(ADIS16300_AUX_ADC, 12),
898 ADIS16400_INCLI_CHAN(X, ADIS16300_PITCH_OUT, 13),
899 ADIS16400_INCLI_CHAN(Y, ADIS16300_ROLL_OUT, 13),
900 IIO_CHAN_SOFT_TIMESTAMP(ADIS16400_SCAN_TIMESTAMP),
901};
902
903static const struct iio_chan_spec adis16334_channels[] = {
904 ADIS16400_GYRO_CHAN(X, ADIS16400_XGYRO_OUT, 14),
905 ADIS16400_GYRO_CHAN(Y, ADIS16400_YGYRO_OUT, 14),
906 ADIS16400_GYRO_CHAN(Z, ADIS16400_ZGYRO_OUT, 14),
907 ADIS16400_ACCEL_CHAN(X, ADIS16400_XACCL_OUT, 14),
908 ADIS16400_ACCEL_CHAN(Y, ADIS16400_YACCL_OUT, 14),
909 ADIS16400_ACCEL_CHAN(Z, ADIS16400_ZACCL_OUT, 14),
910 ADIS16400_TEMP_CHAN(ADIS16350_XTEMP_OUT, 12),
911 IIO_CHAN_SOFT_TIMESTAMP(ADIS16400_SCAN_TIMESTAMP),
912};
913
914static const char * const adis16400_status_error_msgs[] = {
915 [ADIS16400_DIAG_STAT_ZACCL_FAIL] = "Z-axis accelerometer self-test failure",
916 [ADIS16400_DIAG_STAT_YACCL_FAIL] = "Y-axis accelerometer self-test failure",
917 [ADIS16400_DIAG_STAT_XACCL_FAIL] = "X-axis accelerometer self-test failure",
918 [ADIS16400_DIAG_STAT_XGYRO_FAIL] = "X-axis gyroscope self-test failure",
919 [ADIS16400_DIAG_STAT_YGYRO_FAIL] = "Y-axis gyroscope self-test failure",
920 [ADIS16400_DIAG_STAT_ZGYRO_FAIL] = "Z-axis gyroscope self-test failure",
921 [ADIS16400_DIAG_STAT_ALARM2] = "Alarm 2 active",
922 [ADIS16400_DIAG_STAT_ALARM1] = "Alarm 1 active",
923 [ADIS16400_DIAG_STAT_FLASH_CHK] = "Flash checksum error",
924 [ADIS16400_DIAG_STAT_SELF_TEST] = "Self test error",
925 [ADIS16400_DIAG_STAT_OVERFLOW] = "Sensor overrange",
926 [ADIS16400_DIAG_STAT_SPI_FAIL] = "SPI failure",
927 [ADIS16400_DIAG_STAT_FLASH_UPT] = "Flash update failed",
928 [ADIS16400_DIAG_STAT_POWER_HIGH] = "Power supply above 5.25V",
929 [ADIS16400_DIAG_STAT_POWER_LOW] = "Power supply below 4.75V",
930};
931
932#define ADIS16400_DATA(_timeouts, _burst_len) \
933{ \
934 .msc_ctrl_reg = ADIS16400_MSC_CTRL, \
935 .glob_cmd_reg = ADIS16400_GLOB_CMD, \
936 .diag_stat_reg = ADIS16400_DIAG_STAT, \
937 .read_delay = 50, \
938 .write_delay = 50, \
939 .self_test_mask = ADIS16400_MSC_CTRL_MEM_TEST, \
940 .self_test_reg = ADIS16400_MSC_CTRL, \
941 .status_error_msgs = adis16400_status_error_msgs, \
942 .status_error_mask = BIT(ADIS16400_DIAG_STAT_ZACCL_FAIL) | \
943 BIT(ADIS16400_DIAG_STAT_YACCL_FAIL) | \
944 BIT(ADIS16400_DIAG_STAT_XACCL_FAIL) | \
945 BIT(ADIS16400_DIAG_STAT_XGYRO_FAIL) | \
946 BIT(ADIS16400_DIAG_STAT_YGYRO_FAIL) | \
947 BIT(ADIS16400_DIAG_STAT_ZGYRO_FAIL) | \
948 BIT(ADIS16400_DIAG_STAT_ALARM2) | \
949 BIT(ADIS16400_DIAG_STAT_ALARM1) | \
950 BIT(ADIS16400_DIAG_STAT_FLASH_CHK) | \
951 BIT(ADIS16400_DIAG_STAT_SELF_TEST) | \
952 BIT(ADIS16400_DIAG_STAT_OVERFLOW) | \
953 BIT(ADIS16400_DIAG_STAT_SPI_FAIL) | \
954 BIT(ADIS16400_DIAG_STAT_FLASH_UPT) | \
955 BIT(ADIS16400_DIAG_STAT_POWER_HIGH) | \
956 BIT(ADIS16400_DIAG_STAT_POWER_LOW), \
957 .timeouts = (_timeouts), \
958 .burst_reg_cmd = ADIS16400_GLOB_CMD, \
959 .burst_len = (_burst_len), \
960 .burst_max_speed_hz = ADIS16400_SPI_BURST \
961}
962
963static const struct adis_timeout adis16300_timeouts = {
964 .reset_ms = ADIS16400_STARTUP_DELAY,
965 .sw_reset_ms = ADIS16400_STARTUP_DELAY,
966 .self_test_ms = ADIS16400_STARTUP_DELAY,
967};
968
969static const struct adis_timeout adis16334_timeouts = {
970 .reset_ms = 60,
971 .sw_reset_ms = 60,
972 .self_test_ms = 14,
973};
974
975static const struct adis_timeout adis16362_timeouts = {
976 .reset_ms = 130,
977 .sw_reset_ms = 130,
978 .self_test_ms = 12,
979};
980
981static const struct adis_timeout adis16400_timeouts = {
982 .reset_ms = 170,
983 .sw_reset_ms = 170,
984 .self_test_ms = 12,
985};
986
987static const struct adis_timeout adis16445_timeouts = {
988 .reset_ms = 55,
989 .sw_reset_ms = 55,
990 .self_test_ms = 16,
991};
992
993static const struct adis_timeout adis16448_timeouts = {
994 .reset_ms = 90,
995 .sw_reset_ms = 90,
996 .self_test_ms = 45,
997};
998
999static struct adis16400_chip_info adis16400_chips[] = {
1000 [ADIS16300] = {
1001 .channels = adis16300_channels,
1002 .num_channels = ARRAY_SIZE(adis16300_channels),
1003 .flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE |
1004 ADIS16400_HAS_SERIAL_NUMBER,
1005 .gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */
1006 .accel_scale_micro = 5884,
1007 .temp_scale_nano = 140000000, /* 0.14 C */
1008 .temp_offset = 25000000 / 140000, /* 25 C = 0x00 */
1009 .set_freq = adis16400_set_freq,
1010 .get_freq = adis16400_get_freq,
1011 .adis_data = ADIS16400_DATA(&adis16300_timeouts, 18),
1012 },
1013 [ADIS16334] = {
1014 .channels = adis16334_channels,
1015 .num_channels = ARRAY_SIZE(adis16334_channels),
1016 .flags = ADIS16400_HAS_PROD_ID | ADIS16400_NO_BURST |
1017 ADIS16400_HAS_SERIAL_NUMBER,
1018 .gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */
1019 .accel_scale_micro = IIO_G_TO_M_S_2(1000), /* 1 mg */
1020 .temp_scale_nano = 67850000, /* 0.06785 C */
1021 .temp_offset = 25000000 / 67850, /* 25 C = 0x00 */
1022 .set_freq = adis16334_set_freq,
1023 .get_freq = adis16334_get_freq,
1024 .adis_data = ADIS16400_DATA(&adis16334_timeouts, 0),
1025 },
1026 [ADIS16350] = {
1027 .channels = adis16350_channels,
1028 .num_channels = ARRAY_SIZE(adis16350_channels),
1029 .gyro_scale_micro = IIO_DEGREE_TO_RAD(73260), /* 0.07326 deg/s */
1030 .accel_scale_micro = IIO_G_TO_M_S_2(2522), /* 0.002522 g */
1031 .temp_scale_nano = 145300000, /* 0.1453 C */
1032 .temp_offset = 25000000 / 145300, /* 25 C = 0x00 */
1033 .flags = ADIS16400_NO_BURST | ADIS16400_HAS_SLOW_MODE,
1034 .set_freq = adis16400_set_freq,
1035 .get_freq = adis16400_get_freq,
1036 .adis_data = ADIS16400_DATA(&adis16300_timeouts, 0),
1037 },
1038 [ADIS16360] = {
1039 .channels = adis16350_channels,
1040 .num_channels = ARRAY_SIZE(adis16350_channels),
1041 .flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE |
1042 ADIS16400_HAS_SERIAL_NUMBER,
1043 .gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */
1044 .accel_scale_micro = IIO_G_TO_M_S_2(3333), /* 3.333 mg */
1045 .temp_scale_nano = 136000000, /* 0.136 C */
1046 .temp_offset = 25000000 / 136000, /* 25 C = 0x00 */
1047 .set_freq = adis16400_set_freq,
1048 .get_freq = adis16400_get_freq,
1049 .adis_data = ADIS16400_DATA(&adis16300_timeouts, 28),
1050 },
1051 [ADIS16362] = {
1052 .channels = adis16350_channels,
1053 .num_channels = ARRAY_SIZE(adis16350_channels),
1054 .flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE |
1055 ADIS16400_HAS_SERIAL_NUMBER,
1056 .gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */
1057 .accel_scale_micro = IIO_G_TO_M_S_2(333), /* 0.333 mg */
1058 .temp_scale_nano = 136000000, /* 0.136 C */
1059 .temp_offset = 25000000 / 136000, /* 25 C = 0x00 */
1060 .set_freq = adis16400_set_freq,
1061 .get_freq = adis16400_get_freq,
1062 .adis_data = ADIS16400_DATA(&adis16362_timeouts, 28),
1063 },
1064 [ADIS16364] = {
1065 .channels = adis16350_channels,
1066 .num_channels = ARRAY_SIZE(adis16350_channels),
1067 .flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE |
1068 ADIS16400_HAS_SERIAL_NUMBER,
1069 .gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */
1070 .accel_scale_micro = IIO_G_TO_M_S_2(1000), /* 1 mg */
1071 .temp_scale_nano = 136000000, /* 0.136 C */
1072 .temp_offset = 25000000 / 136000, /* 25 C = 0x00 */
1073 .set_freq = adis16400_set_freq,
1074 .get_freq = adis16400_get_freq,
1075 .adis_data = ADIS16400_DATA(&adis16362_timeouts, 28),
1076 },
1077 [ADIS16367] = {
1078 .channels = adis16350_channels,
1079 .num_channels = ARRAY_SIZE(adis16350_channels),
1080 .flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE |
1081 ADIS16400_HAS_SERIAL_NUMBER,
1082 .gyro_scale_micro = IIO_DEGREE_TO_RAD(2000), /* 0.2 deg/s */
1083 .accel_scale_micro = IIO_G_TO_M_S_2(3333), /* 3.333 mg */
1084 .temp_scale_nano = 136000000, /* 0.136 C */
1085 .temp_offset = 25000000 / 136000, /* 25 C = 0x00 */
1086 .set_freq = adis16400_set_freq,
1087 .get_freq = adis16400_get_freq,
1088 .adis_data = ADIS16400_DATA(&adis16300_timeouts, 28),
1089 },
1090 [ADIS16400] = {
1091 .channels = adis16400_channels,
1092 .num_channels = ARRAY_SIZE(adis16400_channels),
1093 .flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE,
1094 .gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */
1095 .accel_scale_micro = IIO_G_TO_M_S_2(3333), /* 3.333 mg */
1096 .temp_scale_nano = 140000000, /* 0.14 C */
1097 .temp_offset = 25000000 / 140000, /* 25 C = 0x00 */
1098 .set_freq = adis16400_set_freq,
1099 .get_freq = adis16400_get_freq,
1100 .adis_data = ADIS16400_DATA(&adis16400_timeouts, 24),
1101 },
1102 [ADIS16445] = {
1103 .channels = adis16445_channels,
1104 .num_channels = ARRAY_SIZE(adis16445_channels),
1105 .flags = ADIS16400_HAS_PROD_ID |
1106 ADIS16400_HAS_SERIAL_NUMBER |
1107 ADIS16400_BURST_DIAG_STAT,
1108 .gyro_scale_micro = IIO_DEGREE_TO_RAD(10000), /* 0.01 deg/s */
1109 .accel_scale_micro = IIO_G_TO_M_S_2(250), /* 1/4000 g */
1110 .temp_scale_nano = 73860000, /* 0.07386 C */
1111 .temp_offset = 31000000 / 73860, /* 31 C = 0x00 */
1112 .set_freq = adis16334_set_freq,
1113 .get_freq = adis16334_get_freq,
1114 .adis_data = ADIS16400_DATA(&adis16445_timeouts, 16),
1115 },
1116 [ADIS16448] = {
1117 .channels = adis16448_channels,
1118 .num_channels = ARRAY_SIZE(adis16448_channels),
1119 .flags = ADIS16400_HAS_PROD_ID |
1120 ADIS16400_HAS_SERIAL_NUMBER |
1121 ADIS16400_BURST_DIAG_STAT,
1122 .gyro_scale_micro = IIO_DEGREE_TO_RAD(40000), /* 0.04 deg/s */
1123 .accel_scale_micro = IIO_G_TO_M_S_2(833), /* 1/1200 g */
1124 .temp_scale_nano = 73860000, /* 0.07386 C */
1125 .temp_offset = 31000000 / 73860, /* 31 C = 0x00 */
1126 .set_freq = adis16334_set_freq,
1127 .get_freq = adis16334_get_freq,
1128 .adis_data = ADIS16400_DATA(&adis16448_timeouts, 24),
1129 }
1130};
1131
1132static const struct iio_info adis16400_info = {
1133 .read_raw = &adis16400_read_raw,
1134 .write_raw = &adis16400_write_raw,
1135 .update_scan_mode = adis_update_scan_mode,
1136 .debugfs_reg_access = adis_debugfs_reg_access,
1137};
1138
1139static void adis16400_setup_chan_mask(struct adis16400_state *st)
1140{
1141 const struct adis16400_chip_info *chip_info = st->variant;
1142 unsigned int i;
1143
1144 for (i = 0; i < chip_info->num_channels; i++) {
1145 const struct iio_chan_spec *ch = &chip_info->channels[i];
1146
1147 if (ch->scan_index >= 0 &&
1148 ch->scan_index != ADIS16400_SCAN_TIMESTAMP)
1149 st->avail_scan_mask[0] |= BIT(ch->scan_index);
1150 }
1151}
1152
1153static void adis16400_stop(void *data)
1154{
1155 adis16400_stop_device(data);
1156}
1157
1158static int adis16400_probe(struct spi_device *spi)
1159{
1160 struct adis16400_state *st;
1161 struct iio_dev *indio_dev;
1162 int ret;
1163 const struct adis_data *adis16400_data;
1164
1165 indio_dev = devm_iio_device_alloc(&spi->dev, sizeof(*st));
1166 if (indio_dev == NULL)
1167 return -ENOMEM;
1168
1169 st = iio_priv(indio_dev);
1170
1171 /* setup the industrialio driver allocated elements */
1172 st->variant = &adis16400_chips[spi_get_device_id(spi)->driver_data];
1173 indio_dev->name = spi_get_device_id(spi)->name;
1174 indio_dev->channels = st->variant->channels;
1175 indio_dev->num_channels = st->variant->num_channels;
1176 indio_dev->info = &adis16400_info;
1177 indio_dev->modes = INDIO_DIRECT_MODE;
1178
1179 if (!(st->variant->flags & ADIS16400_NO_BURST)) {
1180 adis16400_setup_chan_mask(st);
1181 indio_dev->available_scan_masks = st->avail_scan_mask;
1182 }
1183
1184 adis16400_data = &st->variant->adis_data;
1185
1186 ret = adis_init(&st->adis, indio_dev, spi, adis16400_data);
1187 if (ret)
1188 return ret;
1189
1190 ret = devm_adis_setup_buffer_and_trigger(&st->adis, indio_dev, adis16400_trigger_handler);
1191 if (ret)
1192 return ret;
1193
1194 /* Get the device into a sane initial state */
1195 ret = adis16400_initial_setup(indio_dev);
1196 if (ret)
1197 return ret;
1198
1199 ret = devm_add_action_or_reset(&spi->dev, adis16400_stop, indio_dev);
1200 if (ret)
1201 return ret;
1202
1203 ret = devm_iio_device_register(&spi->dev, indio_dev);
1204 if (ret)
1205 return ret;
1206
1207 adis16400_debugfs_init(indio_dev);
1208 return 0;
1209}
1210
1211static const struct spi_device_id adis16400_id[] = {
1212 {"adis16300", ADIS16300},
1213 {"adis16305", ADIS16300},
1214 {"adis16334", ADIS16334},
1215 {"adis16350", ADIS16350},
1216 {"adis16354", ADIS16350},
1217 {"adis16355", ADIS16350},
1218 {"adis16360", ADIS16360},
1219 {"adis16362", ADIS16362},
1220 {"adis16364", ADIS16364},
1221 {"adis16365", ADIS16360},
1222 {"adis16367", ADIS16367},
1223 {"adis16400", ADIS16400},
1224 {"adis16405", ADIS16400},
1225 {"adis16445", ADIS16445},
1226 {"adis16448", ADIS16448},
1227 {}
1228};
1229MODULE_DEVICE_TABLE(spi, adis16400_id);
1230
1231static struct spi_driver adis16400_driver = {
1232 .driver = {
1233 .name = "adis16400",
1234 },
1235 .id_table = adis16400_id,
1236 .probe = adis16400_probe,
1237};
1238module_spi_driver(adis16400_driver);
1239
1240MODULE_AUTHOR("Manuel Stahl <manuel.stahl@iis.fraunhofer.de>");
1241MODULE_DESCRIPTION("Analog Devices ADIS16400/5 IMU SPI driver");
1242MODULE_LICENSE("GPL v2");
1243MODULE_IMPORT_NS(IIO_ADISLIB);