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module: Convert symbol namespace to string literal
[linux.git] / drivers / iio / imu / adis16400.c
blob3086dd53620382d25c5b0c35aa1b3aeea8cc722d
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
148 struct adis16400_state;
149
150 struct 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 **/
172 struct 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
184 enum {
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 static ssize_t adis16400_show_serial_number(struct file *file,
206 char __user *userbuf, size_t count, loff_t *ppos)
207 {
208 struct adis16400_state *st = file->private_data;
209 u16 lot1, lot2, serial_number;
210 char buf[16];
211 size_t len;
212 int ret;
213
214 ret = adis_read_reg_16(&st->adis, ADIS16334_LOT_ID1, &lot1);
215 if (ret)
216 return ret;
217
218 ret = adis_read_reg_16(&st->adis, ADIS16334_LOT_ID2, &lot2);
219 if (ret)
220 return ret;
221
222 ret = adis_read_reg_16(&st->adis, ADIS16334_SERIAL_NUMBER,
223 &serial_number);
224 if (ret)
225 return ret;
226
227 len = snprintf(buf, sizeof(buf), "%.4x-%.4x-%.4x\n", lot1, lot2,
228 serial_number);
229
230 return simple_read_from_buffer(userbuf, count, ppos, buf, len);
231 }
232
233 static const struct file_operations adis16400_serial_number_fops = {
234 .open = simple_open,
235 .read = adis16400_show_serial_number,
236 .llseek = default_llseek,
237 .owner = THIS_MODULE,
238 };
239
240 static int adis16400_show_product_id(void *arg, u64 *val)
241 {
242 struct adis16400_state *st = arg;
243 uint16_t prod_id;
244 int ret;
245
246 ret = adis_read_reg_16(&st->adis, ADIS16400_PRODUCT_ID, &prod_id);
247 if (ret)
248 return ret;
249
250 *val = prod_id;
251
252 return 0;
253 }
254 DEFINE_DEBUGFS_ATTRIBUTE(adis16400_product_id_fops,
255 adis16400_show_product_id, NULL, "%lld\n");
256
257 static int adis16400_show_flash_count(void *arg, u64 *val)
258 {
259 struct adis16400_state *st = arg;
260 uint16_t flash_count;
261 int ret;
262
263 ret = adis_read_reg_16(&st->adis, ADIS16400_FLASH_CNT, &flash_count);
264 if (ret)
265 return ret;
266
267 *val = flash_count;
268
269 return 0;
270 }
271 DEFINE_DEBUGFS_ATTRIBUTE(adis16400_flash_count_fops,
272 adis16400_show_flash_count, NULL, "%lld\n");
273
274 static void adis16400_debugfs_init(struct iio_dev *indio_dev)
275 {
276 struct adis16400_state *st = iio_priv(indio_dev);
277 struct dentry *d = iio_get_debugfs_dentry(indio_dev);
278
279 if (!IS_ENABLED(CONFIG_DEBUG_FS))
280 return;
281
282 if (st->variant->flags & ADIS16400_HAS_SERIAL_NUMBER)
283 debugfs_create_file_unsafe("serial_number", 0400,
284 d, st, &adis16400_serial_number_fops);
285 if (st->variant->flags & ADIS16400_HAS_PROD_ID)
286 debugfs_create_file_unsafe("product_id", 0400,
287 d, st, &adis16400_product_id_fops);
288 debugfs_create_file_unsafe("flash_count", 0400,
289 d, st, &adis16400_flash_count_fops);
290 }
291
292 enum adis16400_chip_variant {
293 ADIS16300,
294 ADIS16334,
295 ADIS16350,
296 ADIS16360,
297 ADIS16362,
298 ADIS16364,
299 ADIS16367,
300 ADIS16400,
301 ADIS16445,
302 ADIS16448,
303 };
304
305 static int adis16334_get_freq(struct adis16400_state *st)
306 {
307 int ret;
308 uint16_t t;
309
310 ret = __adis_read_reg_16(&st->adis, ADIS16400_SMPL_PRD, &t);
311 if (ret)
312 return ret;
313
314 t >>= ADIS16334_RATE_DIV_SHIFT;
315
316 return 819200 >> t;
317 }
318
319 static int adis16334_set_freq(struct adis16400_state *st, unsigned int freq)
320 {
321 unsigned int t;
322
323 if (freq < 819200)
324 t = ilog2(819200 / freq);
325 else
326 t = 0;
327
328 if (t > 0x31)
329 t = 0x31;
330
331 t <<= ADIS16334_RATE_DIV_SHIFT;
332 t |= ADIS16334_RATE_INT_CLK;
333
334 return __adis_write_reg_16(&st->adis, ADIS16400_SMPL_PRD, t);
335 }
336
337 static int adis16400_get_freq(struct adis16400_state *st)
338 {
339 int sps, ret;
340 uint16_t t;
341
342 ret = __adis_read_reg_16(&st->adis, ADIS16400_SMPL_PRD, &t);
343 if (ret)
344 return ret;
345
346 sps = (t & ADIS16400_SMPL_PRD_TIME_BASE) ? 52851 : 1638404;
347 sps /= (t & ADIS16400_SMPL_PRD_DIV_MASK) + 1;
348
349 return sps;
350 }
351
352 static int adis16400_set_freq(struct adis16400_state *st, unsigned int freq)
353 {
354 unsigned int t;
355 uint8_t val = 0;
356
357 t = 1638404 / freq;
358 if (t >= 128) {
359 val |= ADIS16400_SMPL_PRD_TIME_BASE;
360 t = 52851 / freq;
361 if (t >= 128)
362 t = 127;
363 } else if (t != 0) {
364 t--;
365 }
366
367 val |= t;
368
369 if (t >= 0x0A || (val & ADIS16400_SMPL_PRD_TIME_BASE))
370 st->adis.spi->max_speed_hz = ADIS16400_SPI_SLOW;
371 else
372 st->adis.spi->max_speed_hz = ADIS16400_SPI_FAST;
373
374 return __adis_write_reg_8(&st->adis, ADIS16400_SMPL_PRD, val);
375 }
376
377 static const unsigned int adis16400_3db_divisors[] = {
378 [0] = 2, /* Special case */
379 [1] = 6,
380 [2] = 12,
381 [3] = 25,
382 [4] = 50,
383 [5] = 100,
384 [6] = 200,
385 [7] = 200, /* Not a valid setting */
386 };
387
388 static int __adis16400_set_filter(struct iio_dev *indio_dev, int sps, int val)
389 {
390 struct adis16400_state *st = iio_priv(indio_dev);
391 uint16_t val16;
392 int i, ret;
393
394 for (i = ARRAY_SIZE(adis16400_3db_divisors) - 1; i >= 1; i--) {
395 if (sps / adis16400_3db_divisors[i] >= val)
396 break;
397 }
398
399 ret = __adis_read_reg_16(&st->adis, ADIS16400_SENS_AVG, &val16);
400 if (ret)
401 return ret;
402
403 ret = __adis_write_reg_16(&st->adis, ADIS16400_SENS_AVG,
404 (val16 & ~0x07) | i);
405 return ret;
406 }
407
408 /* Power down the device */
409 static int adis16400_stop_device(struct iio_dev *indio_dev)
410 {
411 struct adis16400_state *st = iio_priv(indio_dev);
412 int ret;
413
414 ret = adis_write_reg_16(&st->adis, ADIS16400_SLP_CNT,
415 ADIS16400_SLP_CNT_POWER_OFF);
416 if (ret)
417 dev_err(&indio_dev->dev,
418 "problem with turning device off: SLP_CNT");
419
420 return ret;
421 }
422
423 static int adis16400_initial_setup(struct iio_dev *indio_dev)
424 {
425 struct adis16400_state *st = iio_priv(indio_dev);
426 uint16_t prod_id, smp_prd;
427 unsigned int device_id;
428 int ret;
429
430 /* use low spi speed for init if the device has a slow mode */
431 if (st->variant->flags & ADIS16400_HAS_SLOW_MODE)
432 st->adis.spi->max_speed_hz = ADIS16400_SPI_SLOW;
433 else
434 st->adis.spi->max_speed_hz = ADIS16400_SPI_FAST;
435 st->adis.spi->mode = SPI_MODE_3;
436 spi_setup(st->adis.spi);
437
438 ret = __adis_initial_startup(&st->adis);
439 if (ret)
440 return ret;
441
442 if (st->variant->flags & ADIS16400_HAS_PROD_ID) {
443 ret = adis_read_reg_16(&st->adis,
444 ADIS16400_PRODUCT_ID, &prod_id);
445 if (ret)
446 goto err_ret;
447
448 if (sscanf(indio_dev->name, "adis%u\n", &device_id) != 1) {
449 ret = -EINVAL;
450 goto err_ret;
451 }
452
453 if (prod_id != device_id)
454 dev_warn(&indio_dev->dev, "Device ID(%u) and product ID(%u) do not match.",
455 device_id, prod_id);
456
457 dev_info(&indio_dev->dev, "%s: prod_id 0x%04x at CS%d (irq %d)\n",
458 indio_dev->name, prod_id,
459 spi_get_chipselect(st->adis.spi, 0), st->adis.spi->irq);
460 }
461 /* use high spi speed if possible */
462 if (st->variant->flags & ADIS16400_HAS_SLOW_MODE) {
463 ret = adis_read_reg_16(&st->adis, ADIS16400_SMPL_PRD, &smp_prd);
464 if (ret)
465 goto err_ret;
466
467 if ((smp_prd & ADIS16400_SMPL_PRD_DIV_MASK) < 0x0A) {
468 st->adis.spi->max_speed_hz = ADIS16400_SPI_FAST;
469 spi_setup(st->adis.spi);
470 }
471 }
472
473 err_ret:
474 return ret;
475 }
476
477 static const uint8_t adis16400_addresses[] = {
478 [ADIS16400_SCAN_GYRO_X] = ADIS16400_XGYRO_OFF,
479 [ADIS16400_SCAN_GYRO_Y] = ADIS16400_YGYRO_OFF,
480 [ADIS16400_SCAN_GYRO_Z] = ADIS16400_ZGYRO_OFF,
481 [ADIS16400_SCAN_ACC_X] = ADIS16400_XACCL_OFF,
482 [ADIS16400_SCAN_ACC_Y] = ADIS16400_YACCL_OFF,
483 [ADIS16400_SCAN_ACC_Z] = ADIS16400_ZACCL_OFF,
484 };
485
486 static int adis16400_write_raw(struct iio_dev *indio_dev,
487 struct iio_chan_spec const *chan, int val, int val2, long info)
488 {
489 struct adis16400_state *st = iio_priv(indio_dev);
490 int sps;
491
492 switch (info) {
493 case IIO_CHAN_INFO_CALIBBIAS:
494 return adis_write_reg_16(&st->adis,
495 adis16400_addresses[chan->scan_index],
496 val);
497 case IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY:
498 /*
499 * Need to cache values so we can update if the frequency
500 * changes.
501 */
502 adis_dev_auto_scoped_lock(&st->adis) {
503 st->filt_int = val;
504 /* Work out update to current value */
505 sps = st->variant->get_freq(st);
506 if (sps < 0)
507 return sps;
508
509 return __adis16400_set_filter(indio_dev, sps,
510 val * 1000 + val2 / 1000);
511 }
512 unreachable();
513 case IIO_CHAN_INFO_SAMP_FREQ:
514 sps = val * 1000 + val2 / 1000;
515
516 if (sps <= 0)
517 return -EINVAL;
518
519 adis_dev_auto_scoped_lock(&st->adis)
520 return st->variant->set_freq(st, sps);
521 unreachable();
522 default:
523 return -EINVAL;
524 }
525 }
526
527 static int adis16400_read_raw(struct iio_dev *indio_dev,
528 struct iio_chan_spec const *chan, int *val, int *val2, long info)
529 {
530 struct adis16400_state *st = iio_priv(indio_dev);
531 int16_t val16;
532 int ret;
533
534 switch (info) {
535 case IIO_CHAN_INFO_RAW:
536 return adis_single_conversion(indio_dev, chan, 0, val);
537 case IIO_CHAN_INFO_SCALE:
538 switch (chan->type) {
539 case IIO_ANGL_VEL:
540 *val = 0;
541 *val2 = st->variant->gyro_scale_micro;
542 return IIO_VAL_INT_PLUS_MICRO;
543 case IIO_VOLTAGE:
544 *val = 0;
545 if (chan->channel == 0) {
546 *val = 2;
547 *val2 = 418000; /* 2.418 mV */
548 } else {
549 *val = 0;
550 *val2 = 805800; /* 805.8 uV */
551 }
552 return IIO_VAL_INT_PLUS_MICRO;
553 case IIO_ACCEL:
554 *val = 0;
555 *val2 = st->variant->accel_scale_micro;
556 return IIO_VAL_INT_PLUS_MICRO;
557 case IIO_MAGN:
558 *val = 0;
559 *val2 = 500; /* 0.5 mgauss */
560 return IIO_VAL_INT_PLUS_MICRO;
561 case IIO_TEMP:
562 *val = st->variant->temp_scale_nano / 1000000;
563 *val2 = (st->variant->temp_scale_nano % 1000000);
564 return IIO_VAL_INT_PLUS_MICRO;
565 case IIO_PRESSURE:
566 /* 20 uBar = 0.002kPascal */
567 *val = 0;
568 *val2 = 2000;
569 return IIO_VAL_INT_PLUS_MICRO;
570 default:
571 return -EINVAL;
572 }
573 case IIO_CHAN_INFO_CALIBBIAS:
574 ret = adis_read_reg_16(&st->adis,
575 adis16400_addresses[chan->scan_index], &val16);
576 if (ret)
577 return ret;
578 val16 = sign_extend32(val16, 11);
579 *val = val16;
580 return IIO_VAL_INT;
581 case IIO_CHAN_INFO_OFFSET:
582 /* currently only temperature */
583 *val = st->variant->temp_offset;
584 return IIO_VAL_INT;
585 case IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY:
586 adis_dev_auto_scoped_lock(&st->adis) {
587 /*
588 * Need both the number of taps and the sampling
589 * frequency
590 */
591 ret = __adis_read_reg_16(&st->adis, ADIS16400_SENS_AVG,
592 &val16);
593 if (ret)
594 return ret;
595
596 ret = st->variant->get_freq(st);
597 if (ret)
598 return ret;
599 }
600 ret /= adis16400_3db_divisors[val16 & 0x07];
601 *val = ret / 1000;
602 *val2 = (ret % 1000) * 1000;
603 return IIO_VAL_INT_PLUS_MICRO;
604 case IIO_CHAN_INFO_SAMP_FREQ:
605 adis_dev_auto_scoped_lock(&st->adis) {
606 ret = st->variant->get_freq(st);
607 if (ret)
608 return ret;
609 }
610 *val = ret / 1000;
611 *val2 = (ret % 1000) * 1000;
612 return IIO_VAL_INT_PLUS_MICRO;
613 default:
614 return -EINVAL;
615 }
616 }
617
618 #if IS_ENABLED(CONFIG_IIO_BUFFER)
619 static irqreturn_t adis16400_trigger_handler(int irq, void *p)
620 {
621 struct iio_poll_func *pf = p;
622 struct iio_dev *indio_dev = pf->indio_dev;
623 struct adis16400_state *st = iio_priv(indio_dev);
624 struct adis *adis = &st->adis;
625 void *buffer;
626 int ret;
627
628 ret = spi_sync(adis->spi, &adis->msg);
629 if (ret)
630 dev_err(&adis->spi->dev, "Failed to read data: %d\n", ret);
631
632 if (st->variant->flags & ADIS16400_BURST_DIAG_STAT) {
633 buffer = adis->buffer + sizeof(u16);
634 /*
635 * The size here is always larger than, or equal to the true
636 * size of the channel data. This may result in a larger copy
637 * than necessary, but as the target buffer will be
638 * buffer->scan_bytes this will be safe.
639 */
640 iio_push_to_buffers_with_ts_unaligned(indio_dev, buffer,
641 indio_dev->scan_bytes - sizeof(pf->timestamp),
642 pf->timestamp);
643 } else {
644 iio_push_to_buffers_with_timestamp(indio_dev,
645 adis->buffer,
646 pf->timestamp);
647 }
648
649
650 iio_trigger_notify_done(indio_dev->trig);
651
652 return IRQ_HANDLED;
653 }
654 #else
655 #define adis16400_trigger_handler NULL
656 #endif /* IS_ENABLED(CONFIG_IIO_BUFFER) */
657
658 #define ADIS16400_VOLTAGE_CHAN(addr, bits, name, si, chn) { \
659 .type = IIO_VOLTAGE, \
660 .indexed = 1, \
661 .channel = chn, \
662 .extend_name = name, \
663 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \
664 BIT(IIO_CHAN_INFO_SCALE), \
665 .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
666 .address = (addr), \
667 .scan_index = (si), \
668 .scan_type = { \
669 .sign = 'u', \
670 .realbits = (bits), \
671 .storagebits = 16, \
672 .shift = 0, \
673 .endianness = IIO_BE, \
674 }, \
675 }
676
677 #define ADIS16400_SUPPLY_CHAN(addr, bits) \
678 ADIS16400_VOLTAGE_CHAN(addr, bits, "supply", ADIS16400_SCAN_SUPPLY, 0)
679
680 #define ADIS16400_AUX_ADC_CHAN(addr, bits) \
681 ADIS16400_VOLTAGE_CHAN(addr, bits, NULL, ADIS16400_SCAN_ADC, 1)
682
683 #define ADIS16400_GYRO_CHAN(mod, addr, bits) { \
684 .type = IIO_ANGL_VEL, \
685 .modified = 1, \
686 .channel2 = IIO_MOD_ ## mod, \
687 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \
688 BIT(IIO_CHAN_INFO_CALIBBIAS), \
689 .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE) | \
690 BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY), \
691 .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
692 .address = addr, \
693 .scan_index = ADIS16400_SCAN_GYRO_ ## mod, \
694 .scan_type = { \
695 .sign = 's', \
696 .realbits = (bits), \
697 .storagebits = 16, \
698 .shift = 0, \
699 .endianness = IIO_BE, \
700 }, \
701 }
702
703 #define ADIS16400_ACCEL_CHAN(mod, addr, bits) { \
704 .type = IIO_ACCEL, \
705 .modified = 1, \
706 .channel2 = IIO_MOD_ ## mod, \
707 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \
708 BIT(IIO_CHAN_INFO_CALIBBIAS), \
709 .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE) | \
710 BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY), \
711 .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
712 .address = (addr), \
713 .scan_index = ADIS16400_SCAN_ACC_ ## mod, \
714 .scan_type = { \
715 .sign = 's', \
716 .realbits = (bits), \
717 .storagebits = 16, \
718 .shift = 0, \
719 .endianness = IIO_BE, \
720 }, \
721 }
722
723 #define ADIS16400_MAGN_CHAN(mod, addr, bits) { \
724 .type = IIO_MAGN, \
725 .modified = 1, \
726 .channel2 = IIO_MOD_ ## mod, \
727 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW), \
728 .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE) | \
729 BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY), \
730 .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
731 .address = (addr), \
732 .scan_index = ADIS16400_SCAN_MAGN_ ## mod, \
733 .scan_type = { \
734 .sign = 's', \
735 .realbits = (bits), \
736 .storagebits = 16, \
737 .shift = 0, \
738 .endianness = IIO_BE, \
739 }, \
740 }
741
742 #define ADIS16400_MOD_TEMP_NAME_X "x"
743 #define ADIS16400_MOD_TEMP_NAME_Y "y"
744 #define ADIS16400_MOD_TEMP_NAME_Z "z"
745
746 #define ADIS16400_MOD_TEMP_CHAN(mod, addr, bits) { \
747 .type = IIO_TEMP, \
748 .indexed = 1, \
749 .channel = 0, \
750 .extend_name = ADIS16400_MOD_TEMP_NAME_ ## mod, \
751 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \
752 BIT(IIO_CHAN_INFO_OFFSET) | \
753 BIT(IIO_CHAN_INFO_SCALE), \
754 .info_mask_shared_by_type = \
755 BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY), \
756 .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
757 .address = (addr), \
758 .scan_index = ADIS16350_SCAN_TEMP_ ## mod, \
759 .scan_type = { \
760 .sign = 's', \
761 .realbits = (bits), \
762 .storagebits = 16, \
763 .shift = 0, \
764 .endianness = IIO_BE, \
765 }, \
766 }
767
768 #define ADIS16400_TEMP_CHAN(addr, bits) { \
769 .type = IIO_TEMP, \
770 .indexed = 1, \
771 .channel = 0, \
772 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \
773 BIT(IIO_CHAN_INFO_OFFSET) | \
774 BIT(IIO_CHAN_INFO_SCALE), \
775 .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
776 .address = (addr), \
777 .scan_index = ADIS16350_SCAN_TEMP_X, \
778 .scan_type = { \
779 .sign = 's', \
780 .realbits = (bits), \
781 .storagebits = 16, \
782 .shift = 0, \
783 .endianness = IIO_BE, \
784 }, \
785 }
786
787 #define ADIS16400_INCLI_CHAN(mod, addr, bits) { \
788 .type = IIO_INCLI, \
789 .modified = 1, \
790 .channel2 = IIO_MOD_ ## mod, \
791 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW), \
792 .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE), \
793 .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
794 .address = (addr), \
795 .scan_index = ADIS16300_SCAN_INCLI_ ## mod, \
796 .scan_type = { \
797 .sign = 's', \
798 .realbits = (bits), \
799 .storagebits = 16, \
800 .shift = 0, \
801 .endianness = IIO_BE, \
802 }, \
803 }
804
805 static const struct iio_chan_spec adis16400_channels[] = {
806 ADIS16400_SUPPLY_CHAN(ADIS16400_SUPPLY_OUT, 14),
807 ADIS16400_GYRO_CHAN(X, ADIS16400_XGYRO_OUT, 14),
808 ADIS16400_GYRO_CHAN(Y, ADIS16400_YGYRO_OUT, 14),
809 ADIS16400_GYRO_CHAN(Z, ADIS16400_ZGYRO_OUT, 14),
810 ADIS16400_ACCEL_CHAN(X, ADIS16400_XACCL_OUT, 14),
811 ADIS16400_ACCEL_CHAN(Y, ADIS16400_YACCL_OUT, 14),
812 ADIS16400_ACCEL_CHAN(Z, ADIS16400_ZACCL_OUT, 14),
813 ADIS16400_MAGN_CHAN(X, ADIS16400_XMAGN_OUT, 14),
814 ADIS16400_MAGN_CHAN(Y, ADIS16400_YMAGN_OUT, 14),
815 ADIS16400_MAGN_CHAN(Z, ADIS16400_ZMAGN_OUT, 14),
816 ADIS16400_TEMP_CHAN(ADIS16400_TEMP_OUT, 12),
817 ADIS16400_AUX_ADC_CHAN(ADIS16400_AUX_ADC, 12),
818 IIO_CHAN_SOFT_TIMESTAMP(ADIS16400_SCAN_TIMESTAMP),
819 };
820
821 static const struct iio_chan_spec adis16445_channels[] = {
822 ADIS16400_GYRO_CHAN(X, ADIS16400_XGYRO_OUT, 16),
823 ADIS16400_GYRO_CHAN(Y, ADIS16400_YGYRO_OUT, 16),
824 ADIS16400_GYRO_CHAN(Z, ADIS16400_ZGYRO_OUT, 16),
825 ADIS16400_ACCEL_CHAN(X, ADIS16400_XACCL_OUT, 16),
826 ADIS16400_ACCEL_CHAN(Y, ADIS16400_YACCL_OUT, 16),
827 ADIS16400_ACCEL_CHAN(Z, ADIS16400_ZACCL_OUT, 16),
828 ADIS16400_TEMP_CHAN(ADIS16448_TEMP_OUT, 12),
829 IIO_CHAN_SOFT_TIMESTAMP(ADIS16400_SCAN_TIMESTAMP),
830 };
831
832 static const struct iio_chan_spec adis16448_channels[] = {
833 ADIS16400_GYRO_CHAN(X, ADIS16400_XGYRO_OUT, 16),
834 ADIS16400_GYRO_CHAN(Y, ADIS16400_YGYRO_OUT, 16),
835 ADIS16400_GYRO_CHAN(Z, ADIS16400_ZGYRO_OUT, 16),
836 ADIS16400_ACCEL_CHAN(X, ADIS16400_XACCL_OUT, 16),
837 ADIS16400_ACCEL_CHAN(Y, ADIS16400_YACCL_OUT, 16),
838 ADIS16400_ACCEL_CHAN(Z, ADIS16400_ZACCL_OUT, 16),
839 ADIS16400_MAGN_CHAN(X, ADIS16400_XMAGN_OUT, 16),
840 ADIS16400_MAGN_CHAN(Y, ADIS16400_YMAGN_OUT, 16),
841 ADIS16400_MAGN_CHAN(Z, ADIS16400_ZMAGN_OUT, 16),
842 {
843 .type = IIO_PRESSURE,
844 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW),
845 .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE),
846 .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ),
847 .address = ADIS16448_BARO_OUT,
848 .scan_index = ADIS16400_SCAN_BARO,
849 .scan_type = {
850 .sign = 's',
851 .realbits = 16,
852 .storagebits = 16,
853 .endianness = IIO_BE,
854 },
855 },
856 ADIS16400_TEMP_CHAN(ADIS16448_TEMP_OUT, 12),
857 IIO_CHAN_SOFT_TIMESTAMP(ADIS16400_SCAN_TIMESTAMP),
858 };
859
860 static const struct iio_chan_spec adis16350_channels[] = {
861 ADIS16400_SUPPLY_CHAN(ADIS16400_SUPPLY_OUT, 12),
862 ADIS16400_GYRO_CHAN(X, ADIS16400_XGYRO_OUT, 14),
863 ADIS16400_GYRO_CHAN(Y, ADIS16400_YGYRO_OUT, 14),
864 ADIS16400_GYRO_CHAN(Z, ADIS16400_ZGYRO_OUT, 14),
865 ADIS16400_ACCEL_CHAN(X, ADIS16400_XACCL_OUT, 14),
866 ADIS16400_ACCEL_CHAN(Y, ADIS16400_YACCL_OUT, 14),
867 ADIS16400_ACCEL_CHAN(Z, ADIS16400_ZACCL_OUT, 14),
868 ADIS16400_MAGN_CHAN(X, ADIS16400_XMAGN_OUT, 14),
869 ADIS16400_MAGN_CHAN(Y, ADIS16400_YMAGN_OUT, 14),
870 ADIS16400_MAGN_CHAN(Z, ADIS16400_ZMAGN_OUT, 14),
871 ADIS16400_AUX_ADC_CHAN(ADIS16300_AUX_ADC, 12),
872 ADIS16400_MOD_TEMP_CHAN(X, ADIS16350_XTEMP_OUT, 12),
873 ADIS16400_MOD_TEMP_CHAN(Y, ADIS16350_YTEMP_OUT, 12),
874 ADIS16400_MOD_TEMP_CHAN(Z, ADIS16350_ZTEMP_OUT, 12),
875 IIO_CHAN_SOFT_TIMESTAMP(ADIS16400_SCAN_TIMESTAMP),
876 };
877
878 static const struct iio_chan_spec adis16300_channels[] = {
879 ADIS16400_SUPPLY_CHAN(ADIS16400_SUPPLY_OUT, 12),
880 ADIS16400_GYRO_CHAN(X, ADIS16400_XGYRO_OUT, 14),
881 ADIS16400_ACCEL_CHAN(X, ADIS16400_XACCL_OUT, 14),
882 ADIS16400_ACCEL_CHAN(Y, ADIS16400_YACCL_OUT, 14),
883 ADIS16400_ACCEL_CHAN(Z, ADIS16400_ZACCL_OUT, 14),
884 ADIS16400_TEMP_CHAN(ADIS16350_XTEMP_OUT, 12),
885 ADIS16400_AUX_ADC_CHAN(ADIS16300_AUX_ADC, 12),
886 ADIS16400_INCLI_CHAN(X, ADIS16300_PITCH_OUT, 13),
887 ADIS16400_INCLI_CHAN(Y, ADIS16300_ROLL_OUT, 13),
888 IIO_CHAN_SOFT_TIMESTAMP(ADIS16400_SCAN_TIMESTAMP),
889 };
890
891 static const struct iio_chan_spec adis16334_channels[] = {
892 ADIS16400_GYRO_CHAN(X, ADIS16400_XGYRO_OUT, 14),
893 ADIS16400_GYRO_CHAN(Y, ADIS16400_YGYRO_OUT, 14),
894 ADIS16400_GYRO_CHAN(Z, ADIS16400_ZGYRO_OUT, 14),
895 ADIS16400_ACCEL_CHAN(X, ADIS16400_XACCL_OUT, 14),
896 ADIS16400_ACCEL_CHAN(Y, ADIS16400_YACCL_OUT, 14),
897 ADIS16400_ACCEL_CHAN(Z, ADIS16400_ZACCL_OUT, 14),
898 ADIS16400_TEMP_CHAN(ADIS16350_XTEMP_OUT, 12),
899 IIO_CHAN_SOFT_TIMESTAMP(ADIS16400_SCAN_TIMESTAMP),
900 };
901
902 static const char * const adis16400_status_error_msgs[] = {
903 [ADIS16400_DIAG_STAT_ZACCL_FAIL] = "Z-axis accelerometer self-test failure",
904 [ADIS16400_DIAG_STAT_YACCL_FAIL] = "Y-axis accelerometer self-test failure",
905 [ADIS16400_DIAG_STAT_XACCL_FAIL] = "X-axis accelerometer self-test failure",
906 [ADIS16400_DIAG_STAT_XGYRO_FAIL] = "X-axis gyroscope self-test failure",
907 [ADIS16400_DIAG_STAT_YGYRO_FAIL] = "Y-axis gyroscope self-test failure",
908 [ADIS16400_DIAG_STAT_ZGYRO_FAIL] = "Z-axis gyroscope self-test failure",
909 [ADIS16400_DIAG_STAT_ALARM2] = "Alarm 2 active",
910 [ADIS16400_DIAG_STAT_ALARM1] = "Alarm 1 active",
911 [ADIS16400_DIAG_STAT_FLASH_CHK] = "Flash checksum error",
912 [ADIS16400_DIAG_STAT_SELF_TEST] = "Self test error",
913 [ADIS16400_DIAG_STAT_OVERFLOW] = "Sensor overrange",
914 [ADIS16400_DIAG_STAT_SPI_FAIL] = "SPI failure",
915 [ADIS16400_DIAG_STAT_FLASH_UPT] = "Flash update failed",
916 [ADIS16400_DIAG_STAT_POWER_HIGH] = "Power supply above 5.25V",
917 [ADIS16400_DIAG_STAT_POWER_LOW] = "Power supply below 4.75V",
918 };
919
920 #define ADIS16400_DATA(_timeouts, _burst_len) \
921 { \
922 .msc_ctrl_reg = ADIS16400_MSC_CTRL, \
923 .glob_cmd_reg = ADIS16400_GLOB_CMD, \
924 .diag_stat_reg = ADIS16400_DIAG_STAT, \
925 .read_delay = 50, \
926 .write_delay = 50, \
927 .self_test_mask = ADIS16400_MSC_CTRL_MEM_TEST, \
928 .self_test_reg = ADIS16400_MSC_CTRL, \
929 .status_error_msgs = adis16400_status_error_msgs, \
930 .status_error_mask = BIT(ADIS16400_DIAG_STAT_ZACCL_FAIL) | \
931 BIT(ADIS16400_DIAG_STAT_YACCL_FAIL) | \
932 BIT(ADIS16400_DIAG_STAT_XACCL_FAIL) | \
933 BIT(ADIS16400_DIAG_STAT_XGYRO_FAIL) | \
934 BIT(ADIS16400_DIAG_STAT_YGYRO_FAIL) | \
935 BIT(ADIS16400_DIAG_STAT_ZGYRO_FAIL) | \
936 BIT(ADIS16400_DIAG_STAT_ALARM2) | \
937 BIT(ADIS16400_DIAG_STAT_ALARM1) | \
938 BIT(ADIS16400_DIAG_STAT_FLASH_CHK) | \
939 BIT(ADIS16400_DIAG_STAT_SELF_TEST) | \
940 BIT(ADIS16400_DIAG_STAT_OVERFLOW) | \
941 BIT(ADIS16400_DIAG_STAT_SPI_FAIL) | \
942 BIT(ADIS16400_DIAG_STAT_FLASH_UPT) | \
943 BIT(ADIS16400_DIAG_STAT_POWER_HIGH) | \
944 BIT(ADIS16400_DIAG_STAT_POWER_LOW), \
945 .timeouts = (_timeouts), \
946 .burst_reg_cmd = ADIS16400_GLOB_CMD, \
947 .burst_len = (_burst_len), \
948 .burst_max_speed_hz = ADIS16400_SPI_BURST \
949 }
950
951 static const struct adis_timeout adis16300_timeouts = {
952 .reset_ms = ADIS16400_STARTUP_DELAY,
953 .sw_reset_ms = ADIS16400_STARTUP_DELAY,
954 .self_test_ms = ADIS16400_STARTUP_DELAY,
955 };
956
957 static const struct adis_timeout adis16334_timeouts = {
958 .reset_ms = 60,
959 .sw_reset_ms = 60,
960 .self_test_ms = 14,
961 };
962
963 static const struct adis_timeout adis16362_timeouts = {
964 .reset_ms = 130,
965 .sw_reset_ms = 130,
966 .self_test_ms = 12,
967 };
968
969 static const struct adis_timeout adis16400_timeouts = {
970 .reset_ms = 170,
971 .sw_reset_ms = 170,
972 .self_test_ms = 12,
973 };
974
975 static const struct adis_timeout adis16445_timeouts = {
976 .reset_ms = 55,
977 .sw_reset_ms = 55,
978 .self_test_ms = 16,
979 };
980
981 static const struct adis_timeout adis16448_timeouts = {
982 .reset_ms = 90,
983 .sw_reset_ms = 90,
984 .self_test_ms = 45,
985 };
986
987 static struct adis16400_chip_info adis16400_chips[] = {
988 [ADIS16300] = {
989 .channels = adis16300_channels,
990 .num_channels = ARRAY_SIZE(adis16300_channels),
991 .flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE |
992 ADIS16400_HAS_SERIAL_NUMBER,
993 .gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */
994 .accel_scale_micro = 5884,
995 .temp_scale_nano = 140000000, /* 0.14 C */
996 .temp_offset = 25000000 / 140000, /* 25 C = 0x00 */
997 .set_freq = adis16400_set_freq,
998 .get_freq = adis16400_get_freq,
999 .adis_data = ADIS16400_DATA(&adis16300_timeouts, 18),
1000 },
1001 [ADIS16334] = {
1002 .channels = adis16334_channels,
1003 .num_channels = ARRAY_SIZE(adis16334_channels),
1004 .flags = ADIS16400_HAS_PROD_ID | ADIS16400_NO_BURST |
1005 ADIS16400_HAS_SERIAL_NUMBER,
1006 .gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */
1007 .accel_scale_micro = IIO_G_TO_M_S_2(1000), /* 1 mg */
1008 .temp_scale_nano = 67850000, /* 0.06785 C */
1009 .temp_offset = 25000000 / 67850, /* 25 C = 0x00 */
1010 .set_freq = adis16334_set_freq,
1011 .get_freq = adis16334_get_freq,
1012 .adis_data = ADIS16400_DATA(&adis16334_timeouts, 0),
1013 },
1014 [ADIS16350] = {
1015 .channels = adis16350_channels,
1016 .num_channels = ARRAY_SIZE(adis16350_channels),
1017 .gyro_scale_micro = IIO_DEGREE_TO_RAD(73260), /* 0.07326 deg/s */
1018 .accel_scale_micro = IIO_G_TO_M_S_2(2522), /* 0.002522 g */
1019 .temp_scale_nano = 145300000, /* 0.1453 C */
1020 .temp_offset = 25000000 / 145300, /* 25 C = 0x00 */
1021 .flags = ADIS16400_NO_BURST | ADIS16400_HAS_SLOW_MODE,
1022 .set_freq = adis16400_set_freq,
1023 .get_freq = adis16400_get_freq,
1024 .adis_data = ADIS16400_DATA(&adis16300_timeouts, 0),
1025 },
1026 [ADIS16360] = {
1027 .channels = adis16350_channels,
1028 .num_channels = ARRAY_SIZE(adis16350_channels),
1029 .flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE |
1030 ADIS16400_HAS_SERIAL_NUMBER,
1031 .gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */
1032 .accel_scale_micro = IIO_G_TO_M_S_2(3333), /* 3.333 mg */
1033 .temp_scale_nano = 136000000, /* 0.136 C */
1034 .temp_offset = 25000000 / 136000, /* 25 C = 0x00 */
1035 .set_freq = adis16400_set_freq,
1036 .get_freq = adis16400_get_freq,
1037 .adis_data = ADIS16400_DATA(&adis16300_timeouts, 28),
1038 },
1039 [ADIS16362] = {
1040 .channels = adis16350_channels,
1041 .num_channels = ARRAY_SIZE(adis16350_channels),
1042 .flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE |
1043 ADIS16400_HAS_SERIAL_NUMBER,
1044 .gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */
1045 .accel_scale_micro = IIO_G_TO_M_S_2(333), /* 0.333 mg */
1046 .temp_scale_nano = 136000000, /* 0.136 C */
1047 .temp_offset = 25000000 / 136000, /* 25 C = 0x00 */
1048 .set_freq = adis16400_set_freq,
1049 .get_freq = adis16400_get_freq,
1050 .adis_data = ADIS16400_DATA(&adis16362_timeouts, 28),
1051 },
1052 [ADIS16364] = {
1053 .channels = adis16350_channels,
1054 .num_channels = ARRAY_SIZE(adis16350_channels),
1055 .flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE |
1056 ADIS16400_HAS_SERIAL_NUMBER,
1057 .gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */
1058 .accel_scale_micro = IIO_G_TO_M_S_2(1000), /* 1 mg */
1059 .temp_scale_nano = 136000000, /* 0.136 C */
1060 .temp_offset = 25000000 / 136000, /* 25 C = 0x00 */
1061 .set_freq = adis16400_set_freq,
1062 .get_freq = adis16400_get_freq,
1063 .adis_data = ADIS16400_DATA(&adis16362_timeouts, 28),
1064 },
1065 [ADIS16367] = {
1066 .channels = adis16350_channels,
1067 .num_channels = ARRAY_SIZE(adis16350_channels),
1068 .flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE |
1069 ADIS16400_HAS_SERIAL_NUMBER,
1070 .gyro_scale_micro = IIO_DEGREE_TO_RAD(2000), /* 0.2 deg/s */
1071 .accel_scale_micro = IIO_G_TO_M_S_2(3333), /* 3.333 mg */
1072 .temp_scale_nano = 136000000, /* 0.136 C */
1073 .temp_offset = 25000000 / 136000, /* 25 C = 0x00 */
1074 .set_freq = adis16400_set_freq,
1075 .get_freq = adis16400_get_freq,
1076 .adis_data = ADIS16400_DATA(&adis16300_timeouts, 28),
1077 },
1078 [ADIS16400] = {
1079 .channels = adis16400_channels,
1080 .num_channels = ARRAY_SIZE(adis16400_channels),
1081 .flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE,
1082 .gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */
1083 .accel_scale_micro = IIO_G_TO_M_S_2(3333), /* 3.333 mg */
1084 .temp_scale_nano = 140000000, /* 0.14 C */
1085 .temp_offset = 25000000 / 140000, /* 25 C = 0x00 */
1086 .set_freq = adis16400_set_freq,
1087 .get_freq = adis16400_get_freq,
1088 .adis_data = ADIS16400_DATA(&adis16400_timeouts, 24),
1089 },
1090 [ADIS16445] = {
1091 .channels = adis16445_channels,
1092 .num_channels = ARRAY_SIZE(adis16445_channels),
1093 .flags = ADIS16400_HAS_PROD_ID |
1094 ADIS16400_HAS_SERIAL_NUMBER |
1095 ADIS16400_BURST_DIAG_STAT,
1096 .gyro_scale_micro = IIO_DEGREE_TO_RAD(10000), /* 0.01 deg/s */
1097 .accel_scale_micro = IIO_G_TO_M_S_2(250), /* 1/4000 g */
1098 .temp_scale_nano = 73860000, /* 0.07386 C */
1099 .temp_offset = 31000000 / 73860, /* 31 C = 0x00 */
1100 .set_freq = adis16334_set_freq,
1101 .get_freq = adis16334_get_freq,
1102 .adis_data = ADIS16400_DATA(&adis16445_timeouts, 16),
1103 },
1104 [ADIS16448] = {
1105 .channels = adis16448_channels,
1106 .num_channels = ARRAY_SIZE(adis16448_channels),
1107 .flags = ADIS16400_HAS_PROD_ID |
1108 ADIS16400_HAS_SERIAL_NUMBER |
1109 ADIS16400_BURST_DIAG_STAT,
1110 .gyro_scale_micro = IIO_DEGREE_TO_RAD(40000), /* 0.04 deg/s */
1111 .accel_scale_micro = IIO_G_TO_M_S_2(833), /* 1/1200 g */
1112 .temp_scale_nano = 73860000, /* 0.07386 C */
1113 .temp_offset = 31000000 / 73860, /* 31 C = 0x00 */
1114 .set_freq = adis16334_set_freq,
1115 .get_freq = adis16334_get_freq,
1116 .adis_data = ADIS16400_DATA(&adis16448_timeouts, 24),
1117 }
1118 };
1119
1120 static const struct iio_info adis16400_info = {
1121 .read_raw = &adis16400_read_raw,
1122 .write_raw = &adis16400_write_raw,
1123 .update_scan_mode = adis_update_scan_mode,
1124 .debugfs_reg_access = adis_debugfs_reg_access,
1125 };
1126
1127 static void adis16400_setup_chan_mask(struct adis16400_state *st)
1128 {
1129 const struct adis16400_chip_info *chip_info = st->variant;
1130 unsigned int i;
1131
1132 for (i = 0; i < chip_info->num_channels; i++) {
1133 const struct iio_chan_spec *ch = &chip_info->channels[i];
1134
1135 if (ch->scan_index >= 0 &&
1136 ch->scan_index != ADIS16400_SCAN_TIMESTAMP)
1137 st->avail_scan_mask[0] |= BIT(ch->scan_index);
1138 }
1139 }
1140
1141 static void adis16400_stop(void *data)
1142 {
1143 adis16400_stop_device(data);
1144 }
1145
1146 static int adis16400_probe(struct spi_device *spi)
1147 {
1148 struct adis16400_state *st;
1149 struct iio_dev *indio_dev;
1150 int ret;
1151 const struct adis_data *adis16400_data;
1152
1153 indio_dev = devm_iio_device_alloc(&spi->dev, sizeof(*st));
1154 if (indio_dev == NULL)
1155 return -ENOMEM;
1156
1157 st = iio_priv(indio_dev);
1158
1159 /* setup the industrialio driver allocated elements */
1160 st->variant = &adis16400_chips[spi_get_device_id(spi)->driver_data];
1161 indio_dev->name = spi_get_device_id(spi)->name;
1162 indio_dev->channels = st->variant->channels;
1163 indio_dev->num_channels = st->variant->num_channels;
1164 indio_dev->info = &adis16400_info;
1165 indio_dev->modes = INDIO_DIRECT_MODE;
1166
1167 if (!(st->variant->flags & ADIS16400_NO_BURST)) {
1168 adis16400_setup_chan_mask(st);
1169 indio_dev->available_scan_masks = st->avail_scan_mask;
1170 }
1171
1172 adis16400_data = &st->variant->adis_data;
1173
1174 ret = adis_init(&st->adis, indio_dev, spi, adis16400_data);
1175 if (ret)
1176 return ret;
1177
1178 ret = devm_adis_setup_buffer_and_trigger(&st->adis, indio_dev, adis16400_trigger_handler);
1179 if (ret)
1180 return ret;
1181
1182 /* Get the device into a sane initial state */
1183 ret = adis16400_initial_setup(indio_dev);
1184 if (ret)
1185 return ret;
1186
1187 ret = devm_add_action_or_reset(&spi->dev, adis16400_stop, indio_dev);
1188 if (ret)
1189 return ret;
1190
1191 ret = devm_iio_device_register(&spi->dev, indio_dev);
1192 if (ret)
1193 return ret;
1194
1195 adis16400_debugfs_init(indio_dev);
1196 return 0;
1197 }
1198
1199 static const struct spi_device_id adis16400_id[] = {
1200 {"adis16300", ADIS16300},
1201 {"adis16305", ADIS16300},
1202 {"adis16334", ADIS16334},
1203 {"adis16350", ADIS16350},
1204 {"adis16354", ADIS16350},
1205 {"adis16355", ADIS16350},
1206 {"adis16360", ADIS16360},
1207 {"adis16362", ADIS16362},
1208 {"adis16364", ADIS16364},
1209 {"adis16365", ADIS16360},
1210 {"adis16367", ADIS16367},
1211 {"adis16400", ADIS16400},
1212 {"adis16405", ADIS16400},
1213 {"adis16445", ADIS16445},
1214 {"adis16448", ADIS16448},
1215 {}
1216 };
1217 MODULE_DEVICE_TABLE(spi, adis16400_id);
1218
1219 static struct spi_driver adis16400_driver = {
1220 .driver = {
1221 .name = "adis16400",
1222 },
1223 .id_table = adis16400_id,
1224 .probe = adis16400_probe,
1225 };
1226 module_spi_driver(adis16400_driver);
1227
1228 MODULE_AUTHOR("Manuel Stahl <manuel.stahl@iis.fraunhofer.de>");
1229 MODULE_DESCRIPTION("Analog Devices ADIS16400/5 IMU SPI driver");
1230 MODULE_LICENSE("GPL v2");
1231 MODULE_IMPORT_NS("IIO_ADISLIB");
Linux Kernel