drivers/iio/imu/adis16480.c

   1 /*
   2  * ADIS16480 and similar IMUs driver
   3  *
   4  * Copyright 2012 Analog Devices Inc.
   5  *
   6  * This program is free software; you can redistribute it and/or modify
   7  * it under the terms of the GNU General Public License version 2 as
   8  * published by the Free Software Foundation.
   9  *
  10  */
  11
  12 #include <linux/interrupt.h>
  13 #include <linux/delay.h>
  14 #include <linux/mutex.h>
  15 #include <linux/device.h>
  16 #include <linux/kernel.h>
  17 #include <linux/spi/spi.h>
  18 #include <linux/slab.h>
  19 #include <linux/sysfs.h>
  20 #include <linux/module.h>
  21
  22 #include <linux/iio/iio.h>
  23 #include <linux/iio/sysfs.h>
  24 #include <linux/iio/buffer.h>
  25 #include <linux/iio/imu/adis.h>
  26
  27 #include <linux/debugfs.h>
  28
  29 #define ADIS16480_PAGE_SIZE 0x80
  30
  31 #define ADIS16480_REG(page, reg) ((page) * ADIS16480_PAGE_SIZE + (reg))
  32
  33 #define ADIS16480_REG_PAGE_ID 0x00 /* Same address on each page */
  34 #define ADIS16480_REG_SEQ_CNT                   ADIS16480_REG(0x00, 0x06)
  35 #define ADIS16480_REG_SYS_E_FLA                 ADIS16480_REG(0x00, 0x08)
  36 #define ADIS16480_REG_DIAG_STS                  ADIS16480_REG(0x00, 0x0A)
  37 #define ADIS16480_REG_ALM_STS                   ADIS16480_REG(0x00, 0x0C)
  38 #define ADIS16480_REG_TEMP_OUT                  ADIS16480_REG(0x00, 0x0E)
  39 #define ADIS16480_REG_X_GYRO_OUT                ADIS16480_REG(0x00, 0x10)
  40 #define ADIS16480_REG_Y_GYRO_OUT                ADIS16480_REG(0x00, 0x14)
  41 #define ADIS16480_REG_Z_GYRO_OUT                ADIS16480_REG(0x00, 0x18)
  42 #define ADIS16480_REG_X_ACCEL_OUT               ADIS16480_REG(0x00, 0x1C)
  43 #define ADIS16480_REG_Y_ACCEL_OUT               ADIS16480_REG(0x00, 0x20)
  44 #define ADIS16480_REG_Z_ACCEL_OUT               ADIS16480_REG(0x00, 0x24)
  45 #define ADIS16480_REG_X_MAGN_OUT                ADIS16480_REG(0x00, 0x28)
  46 #define ADIS16480_REG_Y_MAGN_OUT                ADIS16480_REG(0x00, 0x2A)
  47 #define ADIS16480_REG_Z_MAGN_OUT                ADIS16480_REG(0x00, 0x2C)
  48 #define ADIS16480_REG_BAROM_OUT                 ADIS16480_REG(0x00, 0x2E)
  49 #define ADIS16480_REG_X_DELTAANG_OUT            ADIS16480_REG(0x00, 0x40)
  50 #define ADIS16480_REG_Y_DELTAANG_OUT            ADIS16480_REG(0x00, 0x44)
  51 #define ADIS16480_REG_Z_DELTAANG_OUT            ADIS16480_REG(0x00, 0x48)
  52 #define ADIS16480_REG_X_DELTAVEL_OUT            ADIS16480_REG(0x00, 0x4C)
  53 #define ADIS16480_REG_Y_DELTAVEL_OUT            ADIS16480_REG(0x00, 0x50)
  54 #define ADIS16480_REG_Z_DELTAVEL_OUT            ADIS16480_REG(0x00, 0x54)
  55 #define ADIS16480_REG_PROD_ID                   ADIS16480_REG(0x00, 0x7E)
  56
  57 #define ADIS16480_REG_X_GYRO_SCALE              ADIS16480_REG(0x02, 0x04)
  58 #define ADIS16480_REG_Y_GYRO_SCALE              ADIS16480_REG(0x02, 0x06)
  59 #define ADIS16480_REG_Z_GYRO_SCALE              ADIS16480_REG(0x02, 0x08)
  60 #define ADIS16480_REG_X_ACCEL_SCALE             ADIS16480_REG(0x02, 0x0A)
  61 #define ADIS16480_REG_Y_ACCEL_SCALE             ADIS16480_REG(0x02, 0x0C)
  62 #define ADIS16480_REG_Z_ACCEL_SCALE             ADIS16480_REG(0x02, 0x0E)
  63 #define ADIS16480_REG_X_GYRO_BIAS               ADIS16480_REG(0x02, 0x10)
  64 #define ADIS16480_REG_Y_GYRO_BIAS               ADIS16480_REG(0x02, 0x14)
  65 #define ADIS16480_REG_Z_GYRO_BIAS               ADIS16480_REG(0x02, 0x18)
  66 #define ADIS16480_REG_X_ACCEL_BIAS              ADIS16480_REG(0x02, 0x1C)
  67 #define ADIS16480_REG_Y_ACCEL_BIAS              ADIS16480_REG(0x02, 0x20)
  68 #define ADIS16480_REG_Z_ACCEL_BIAS              ADIS16480_REG(0x02, 0x24)
  69 #define ADIS16480_REG_X_HARD_IRON               ADIS16480_REG(0x02, 0x28)
  70 #define ADIS16480_REG_Y_HARD_IRON               ADIS16480_REG(0x02, 0x2A)
  71 #define ADIS16480_REG_Z_HARD_IRON               ADIS16480_REG(0x02, 0x2C)
  72 #define ADIS16480_REG_BAROM_BIAS                ADIS16480_REG(0x02, 0x40)
  73 #define ADIS16480_REG_FLASH_CNT                 ADIS16480_REG(0x02, 0x7C)
  74
  75 #define ADIS16480_REG_GLOB_CMD                  ADIS16480_REG(0x03, 0x02)
  76 #define ADIS16480_REG_FNCTIO_CTRL               ADIS16480_REG(0x03, 0x06)
  77 #define ADIS16480_REG_GPIO_CTRL                 ADIS16480_REG(0x03, 0x08)
  78 #define ADIS16480_REG_CONFIG                    ADIS16480_REG(0x03, 0x0A)
  79 #define ADIS16480_REG_DEC_RATE                  ADIS16480_REG(0x03, 0x0C)
  80 #define ADIS16480_REG_SLP_CNT                   ADIS16480_REG(0x03, 0x10)
  81 #define ADIS16480_REG_FILTER_BNK0               ADIS16480_REG(0x03, 0x16)
  82 #define ADIS16480_REG_FILTER_BNK1               ADIS16480_REG(0x03, 0x18)
  83 #define ADIS16480_REG_ALM_CNFG0                 ADIS16480_REG(0x03, 0x20)
  84 #define ADIS16480_REG_ALM_CNFG1                 ADIS16480_REG(0x03, 0x22)
  85 #define ADIS16480_REG_ALM_CNFG2                 ADIS16480_REG(0x03, 0x24)
  86 #define ADIS16480_REG_XG_ALM_MAGN               ADIS16480_REG(0x03, 0x28)
  87 #define ADIS16480_REG_YG_ALM_MAGN               ADIS16480_REG(0x03, 0x2A)
  88 #define ADIS16480_REG_ZG_ALM_MAGN               ADIS16480_REG(0x03, 0x2C)
  89 #define ADIS16480_REG_XA_ALM_MAGN               ADIS16480_REG(0x03, 0x2E)
  90 #define ADIS16480_REG_YA_ALM_MAGN               ADIS16480_REG(0x03, 0x30)
  91 #define ADIS16480_REG_ZA_ALM_MAGN               ADIS16480_REG(0x03, 0x32)
  92 #define ADIS16480_REG_XM_ALM_MAGN               ADIS16480_REG(0x03, 0x34)
  93 #define ADIS16480_REG_YM_ALM_MAGN               ADIS16480_REG(0x03, 0x36)
  94 #define ADIS16480_REG_ZM_ALM_MAGN               ADIS16480_REG(0x03, 0x38)
  95 #define ADIS16480_REG_BR_ALM_MAGN               ADIS16480_REG(0x03, 0x3A)
  96 #define ADIS16480_REG_FIRM_REV                  ADIS16480_REG(0x03, 0x78)
  97 #define ADIS16480_REG_FIRM_DM                   ADIS16480_REG(0x03, 0x7A)
  98 #define ADIS16480_REG_FIRM_Y                    ADIS16480_REG(0x03, 0x7C)
  99
 100 #define ADIS16480_REG_SERIAL_NUM                ADIS16480_REG(0x04, 0x20)
 101
 102 /* Each filter coefficent bank spans two pages */
 103 #define ADIS16480_FIR_COEF(page) (x < 60 ? ADIS16480_REG(page, (x) + 8) : \
 104                 ADIS16480_REG((page) + 1, (x) - 60 + 8))
 105 #define ADIS16480_FIR_COEF_A(x)                 ADIS16480_FIR_COEF(0x05, (x))
 106 #define ADIS16480_FIR_COEF_B(x)                 ADIS16480_FIR_COEF(0x07, (x))
 107 #define ADIS16480_FIR_COEF_C(x)                 ADIS16480_FIR_COEF(0x09, (x))
 108 #define ADIS16480_FIR_COEF_D(x)                 ADIS16480_FIR_COEF(0x0B, (x))
 109
 110 struct adis16480_chip_info {
 111         unsigned int num_channels;
 112         const struct iio_chan_spec *channels;
 113         unsigned int gyro_max_val;
 114         unsigned int gyro_max_scale;
 115         unsigned int accel_max_val;
 116         unsigned int accel_max_scale;
 117 };
 118
 119 struct adis16480 {
 120         const struct adis16480_chip_info *chip_info;
 121
 122         struct adis adis;
 123 };
 124
 125 #ifdef CONFIG_DEBUG_FS
 126
 127 static ssize_t adis16480_show_firmware_revision(struct file *file,
 128                 char __user *userbuf, size_t count, loff_t *ppos)
 129 {
 130         struct adis16480 *adis16480 = file->private_data;
 131         char buf[7];
 132         size_t len;
 133         u16 rev;
 134         int ret;
 135
 136         ret = adis_read_reg_16(&adis16480->adis, ADIS16480_REG_FIRM_REV, &rev);
 137         if (ret < 0)
 138                 return ret;
 139
 140         len = scnprintf(buf, sizeof(buf), "%x.%x\n", rev >> 8, rev & 0xff);
 141
 142         return simple_read_from_buffer(userbuf, count, ppos, buf, len);
 143 }
 144
 145 static const struct file_operations adis16480_firmware_revision_fops = {
 146         .open = simple_open,
 147         .read = adis16480_show_firmware_revision,
 148         .llseek = default_llseek,
 149         .owner = THIS_MODULE,
 150 };
 151
 152 static ssize_t adis16480_show_firmware_date(struct file *file,
 153                 char __user *userbuf, size_t count, loff_t *ppos)
 154 {
 155         struct adis16480 *adis16480 = file->private_data;
 156         u16 md, year;
 157         char buf[12];
 158         size_t len;
 159         int ret;
 160
 161         ret = adis_read_reg_16(&adis16480->adis, ADIS16480_REG_FIRM_Y, &year);
 162         if (ret < 0)
 163                 return ret;
 164
 165         ret = adis_read_reg_16(&adis16480->adis, ADIS16480_REG_FIRM_DM, &md);
 166         if (ret < 0)
 167                 return ret;
 168
 169         len = snprintf(buf, sizeof(buf), "%.2x-%.2x-%.4x\n",
 170                         md >> 8, md & 0xff, year);
 171
 172         return simple_read_from_buffer(userbuf, count, ppos, buf, len);
 173 }
 174
 175 static const struct file_operations adis16480_firmware_date_fops = {
 176         .open = simple_open,
 177         .read = adis16480_show_firmware_date,
 178         .llseek = default_llseek,
 179         .owner = THIS_MODULE,
 180 };
 181
 182 static int adis16480_show_serial_number(void *arg, u64 *val)
 183 {
 184         struct adis16480 *adis16480 = arg;
 185         u16 serial;
 186         int ret;
 187
 188         ret = adis_read_reg_16(&adis16480->adis, ADIS16480_REG_SERIAL_NUM,
 189                 &serial);
 190         if (ret < 0)
 191                 return ret;
 192
 193         *val = serial;
 194
 195         return 0;
 196 }
 197 DEFINE_SIMPLE_ATTRIBUTE(adis16480_serial_number_fops,
 198         adis16480_show_serial_number, NULL, "0x%.4llx\n");
 199
 200 static int adis16480_show_product_id(void *arg, u64 *val)
 201 {
 202         struct adis16480 *adis16480 = arg;
 203         u16 prod_id;
 204         int ret;
 205
 206         ret = adis_read_reg_16(&adis16480->adis, ADIS16480_REG_PROD_ID,
 207                 &prod_id);
 208         if (ret < 0)
 209                 return ret;
 210
 211         *val = prod_id;
 212
 213         return 0;
 214 }
 215 DEFINE_SIMPLE_ATTRIBUTE(adis16480_product_id_fops,
 216         adis16480_show_product_id, NULL, "%llu\n");
 217
 218 static int adis16480_show_flash_count(void *arg, u64 *val)
 219 {
 220         struct adis16480 *adis16480 = arg;
 221         u32 flash_count;
 222         int ret;
 223
 224         ret = adis_read_reg_32(&adis16480->adis, ADIS16480_REG_FLASH_CNT,
 225                 &flash_count);
 226         if (ret < 0)
 227                 return ret;
 228
 229         *val = flash_count;
 230
 231         return 0;
 232 }
 233 DEFINE_SIMPLE_ATTRIBUTE(adis16480_flash_count_fops,
 234         adis16480_show_flash_count, NULL, "%lld\n");
 235
 236 static int adis16480_debugfs_init(struct iio_dev *indio_dev)
 237 {
 238         struct adis16480 *adis16480 = iio_priv(indio_dev);
 239
 240         debugfs_create_file("firmware_revision", 0400,
 241                 indio_dev->debugfs_dentry, adis16480,
 242                 &adis16480_firmware_revision_fops);
 243         debugfs_create_file("firmware_date", 0400, indio_dev->debugfs_dentry,
 244                 adis16480, &adis16480_firmware_date_fops);
 245         debugfs_create_file("serial_number", 0400, indio_dev->debugfs_dentry,
 246                 adis16480, &adis16480_serial_number_fops);
 247         debugfs_create_file("product_id", 0400, indio_dev->debugfs_dentry,
 248                 adis16480, &adis16480_product_id_fops);
 249         debugfs_create_file("flash_count", 0400, indio_dev->debugfs_dentry,
 250                 adis16480, &adis16480_flash_count_fops);
 251
 252         return 0;
 253 }
 254
 255 #else
 256
 257 static int adis16480_debugfs_init(struct iio_dev *indio_dev)
 258 {
 259         return 0;
 260 }
 261
 262 #endif
 263
 264 static int adis16480_set_freq(struct iio_dev *indio_dev, int val, int val2)
 265 {
 266         struct adis16480 *st = iio_priv(indio_dev);
 267         unsigned int t;
 268
 269         t =  val * 1000 + val2 / 1000;
 270         if (t <= 0)
 271                 return -EINVAL;
 272
 273         t = 2460000 / t;
 274         if (t > 2048)
 275                 t = 2048;
 276
 277         if (t != 0)
 278                 t--;
 279
 280         return adis_write_reg_16(&st->adis, ADIS16480_REG_DEC_RATE, t);
 281 }
 282
 283 static int adis16480_get_freq(struct iio_dev *indio_dev, int *val, int *val2)
 284 {
 285         struct adis16480 *st = iio_priv(indio_dev);
 286         uint16_t t;
 287         int ret;
 288         unsigned freq;
 289
 290         ret = adis_read_reg_16(&st->adis, ADIS16480_REG_DEC_RATE, &t);
 291         if (ret < 0)
 292                 return ret;
 293
 294         freq = 2460000 / (t + 1);
 295         *val = freq / 1000;
 296         *val2 = (freq % 1000) * 1000;
 297
 298         return IIO_VAL_INT_PLUS_MICRO;
 299 }
 300
 301 enum {
 302         ADIS16480_SCAN_GYRO_X,
 303         ADIS16480_SCAN_GYRO_Y,
 304         ADIS16480_SCAN_GYRO_Z,
 305         ADIS16480_SCAN_ACCEL_X,
 306         ADIS16480_SCAN_ACCEL_Y,
 307         ADIS16480_SCAN_ACCEL_Z,
 308         ADIS16480_SCAN_MAGN_X,
 309         ADIS16480_SCAN_MAGN_Y,
 310         ADIS16480_SCAN_MAGN_Z,
 311         ADIS16480_SCAN_BARO,
 312         ADIS16480_SCAN_TEMP,
 313 };
 314
 315 static const unsigned int adis16480_calibbias_regs[] = {
 316         [ADIS16480_SCAN_GYRO_X] = ADIS16480_REG_X_GYRO_BIAS,
 317         [ADIS16480_SCAN_GYRO_Y] = ADIS16480_REG_Y_GYRO_BIAS,
 318         [ADIS16480_SCAN_GYRO_Z] = ADIS16480_REG_Z_GYRO_BIAS,
 319         [ADIS16480_SCAN_ACCEL_X] = ADIS16480_REG_X_ACCEL_BIAS,
 320         [ADIS16480_SCAN_ACCEL_Y] = ADIS16480_REG_Y_ACCEL_BIAS,
 321         [ADIS16480_SCAN_ACCEL_Z] = ADIS16480_REG_Z_ACCEL_BIAS,
 322         [ADIS16480_SCAN_MAGN_X] = ADIS16480_REG_X_HARD_IRON,
 323         [ADIS16480_SCAN_MAGN_Y] = ADIS16480_REG_Y_HARD_IRON,
 324         [ADIS16480_SCAN_MAGN_Z] = ADIS16480_REG_Z_HARD_IRON,
 325         [ADIS16480_SCAN_BARO] = ADIS16480_REG_BAROM_BIAS,
 326 };
 327
 328 static const unsigned int adis16480_calibscale_regs[] = {
 329         [ADIS16480_SCAN_GYRO_X] = ADIS16480_REG_X_GYRO_SCALE,
 330         [ADIS16480_SCAN_GYRO_Y] = ADIS16480_REG_Y_GYRO_SCALE,
 331         [ADIS16480_SCAN_GYRO_Z] = ADIS16480_REG_Z_GYRO_SCALE,
 332         [ADIS16480_SCAN_ACCEL_X] = ADIS16480_REG_X_ACCEL_SCALE,
 333         [ADIS16480_SCAN_ACCEL_Y] = ADIS16480_REG_Y_ACCEL_SCALE,
 334         [ADIS16480_SCAN_ACCEL_Z] = ADIS16480_REG_Z_ACCEL_SCALE,
 335 };
 336
 337 static int adis16480_set_calibbias(struct iio_dev *indio_dev,
 338         const struct iio_chan_spec *chan, int bias)
 339 {
 340         unsigned int reg = adis16480_calibbias_regs[chan->scan_index];
 341         struct adis16480 *st = iio_priv(indio_dev);
 342
 343         switch (chan->type) {
 344         case IIO_MAGN:
 345         case IIO_PRESSURE:
 346                 if (bias < -0x8000 || bias >= 0x8000)
 347                         return -EINVAL;
 348                 return adis_write_reg_16(&st->adis, reg, bias);
 349         case IIO_ANGL_VEL:
 350         case IIO_ACCEL:
 351                 return adis_write_reg_32(&st->adis, reg, bias);
 352         default:
 353                 break;
 354         }
 355
 356         return -EINVAL;
 357 }
 358
 359 static int adis16480_get_calibbias(struct iio_dev *indio_dev,
 360         const struct iio_chan_spec *chan, int *bias)
 361 {
 362         unsigned int reg = adis16480_calibbias_regs[chan->scan_index];
 363         struct adis16480 *st = iio_priv(indio_dev);
 364         uint16_t val16;
 365         uint32_t val32;
 366         int ret;
 367
 368         switch (chan->type) {
 369         case IIO_MAGN:
 370         case IIO_PRESSURE:
 371                 ret = adis_read_reg_16(&st->adis, reg, &val16);
 372                 *bias = sign_extend32(val16, 15);
 373                 break;
 374         case IIO_ANGL_VEL:
 375         case IIO_ACCEL:
 376                 ret = adis_read_reg_32(&st->adis, reg, &val32);
 377                 *bias = sign_extend32(val32, 31);
 378                 break;
 379         default:
 380                         ret = -EINVAL;
 381         }
 382
 383         if (ret < 0)
 384                 return ret;
 385
 386         return IIO_VAL_INT;
 387 }
 388
 389 static int adis16480_set_calibscale(struct iio_dev *indio_dev,
 390         const struct iio_chan_spec *chan, int scale)
 391 {
 392         unsigned int reg = adis16480_calibscale_regs[chan->scan_index];
 393         struct adis16480 *st = iio_priv(indio_dev);
 394
 395         if (scale < -0x8000 || scale >= 0x8000)
 396                 return -EINVAL;
 397
 398         return adis_write_reg_16(&st->adis, reg, scale);
 399 }
 400
 401 static int adis16480_get_calibscale(struct iio_dev *indio_dev,
 402         const struct iio_chan_spec *chan, int *scale)
 403 {
 404         unsigned int reg = adis16480_calibscale_regs[chan->scan_index];
 405         struct adis16480 *st = iio_priv(indio_dev);
 406         uint16_t val16;
 407         int ret;
 408
 409         ret = adis_read_reg_16(&st->adis, reg, &val16);
 410         if (ret < 0)
 411                 return ret;
 412
 413         *scale = sign_extend32(val16, 15);
 414         return IIO_VAL_INT;
 415 }
 416
 417 static const unsigned int adis16480_def_filter_freqs[] = {
 418         310,
 419         55,
 420         275,
 421         63,
 422 };
 423
 424 static const unsigned int ad16480_filter_data[][2] = {
 425         [ADIS16480_SCAN_GYRO_X]         = { ADIS16480_REG_FILTER_BNK0, 0 },
 426         [ADIS16480_SCAN_GYRO_Y]         = { ADIS16480_REG_FILTER_BNK0, 3 },
 427         [ADIS16480_SCAN_GYRO_Z]         = { ADIS16480_REG_FILTER_BNK0, 6 },
 428         [ADIS16480_SCAN_ACCEL_X]        = { ADIS16480_REG_FILTER_BNK0, 9 },
 429         [ADIS16480_SCAN_ACCEL_Y]        = { ADIS16480_REG_FILTER_BNK0, 12 },
 430         [ADIS16480_SCAN_ACCEL_Z]        = { ADIS16480_REG_FILTER_BNK1, 0 },
 431         [ADIS16480_SCAN_MAGN_X]         = { ADIS16480_REG_FILTER_BNK1, 3 },
 432         [ADIS16480_SCAN_MAGN_Y]         = { ADIS16480_REG_FILTER_BNK1, 6 },
 433         [ADIS16480_SCAN_MAGN_Z]         = { ADIS16480_REG_FILTER_BNK1, 9 },
 434 };
 435
 436 static int adis16480_get_filter_freq(struct iio_dev *indio_dev,
 437         const struct iio_chan_spec *chan, int *freq)
 438 {
 439         struct adis16480 *st = iio_priv(indio_dev);
 440         unsigned int enable_mask, offset, reg;
 441         uint16_t val;
 442         int ret;
 443
 444         reg = ad16480_filter_data[chan->scan_index][0];
 445         offset = ad16480_filter_data[chan->scan_index][1];
 446         enable_mask = BIT(offset + 2);
 447
 448         ret = adis_read_reg_16(&st->adis, reg, &val);
 449         if (ret < 0)
 450                 return ret;
 451
 452         if (!(val & enable_mask))
 453                 *freq = 0;
 454         else
 455                 *freq = adis16480_def_filter_freqs[(val >> offset) & 0x3];
 456
 457         return IIO_VAL_INT;
 458 }
 459
 460 static int adis16480_set_filter_freq(struct iio_dev *indio_dev,
 461         const struct iio_chan_spec *chan, unsigned int freq)
 462 {
 463         struct adis16480 *st = iio_priv(indio_dev);
 464         unsigned int enable_mask, offset, reg;
 465         unsigned int diff, best_diff;
 466         unsigned int i, best_freq;
 467         uint16_t val;
 468         int ret;
 469
 470         reg = ad16480_filter_data[chan->scan_index][0];
 471         offset = ad16480_filter_data[chan->scan_index][1];
 472         enable_mask = BIT(offset + 2);
 473
 474         ret = adis_read_reg_16(&st->adis, reg, &val);
 475         if (ret < 0)
 476                 return ret;
 477
 478         if (freq == 0) {
 479                 val &= ~enable_mask;
 480         } else {
 481                 best_freq = 0;
 482                 best_diff = 310;
 483                 for (i = 0; i < ARRAY_SIZE(adis16480_def_filter_freqs); i++) {
 484                         if (adis16480_def_filter_freqs[i] >= freq) {
 485                                 diff = adis16480_def_filter_freqs[i] - freq;
 486                                 if (diff < best_diff) {
 487                                         best_diff = diff;
 488                                         best_freq = i;
 489                                 }
 490                         }
 491                 }
 492
 493                 val &= ~(0x3 << offset);
 494                 val |= best_freq << offset;
 495                 val |= enable_mask;
 496         }
 497
 498         return adis_write_reg_16(&st->adis, reg, val);
 499 }
 500
 501 static int adis16480_read_raw(struct iio_dev *indio_dev,
 502         const struct iio_chan_spec *chan, int *val, int *val2, long info)
 503 {
 504         struct adis16480 *st = iio_priv(indio_dev);
 505
 506         switch (info) {
 507         case IIO_CHAN_INFO_RAW:
 508                 return adis_single_conversion(indio_dev, chan, 0, val);
 509         case IIO_CHAN_INFO_SCALE:
 510                 switch (chan->type) {
 511                 case IIO_ANGL_VEL:
 512                         *val = st->chip_info->gyro_max_scale;
 513                         *val2 = st->chip_info->gyro_max_val;
 514                         return IIO_VAL_FRACTIONAL;
 515                 case IIO_ACCEL:
 516                         *val = st->chip_info->accel_max_scale;
 517                         *val2 = st->chip_info->accel_max_val;
 518                         return IIO_VAL_FRACTIONAL;
 519                 case IIO_MAGN:
 520                         *val = 0;
 521                         *val2 = 100; /* 0.0001 gauss */
 522                         return IIO_VAL_INT_PLUS_MICRO;
 523                 case IIO_TEMP:
 524                         *val = 5;
 525                         *val2 = 650000; /* 5.65 milli degree Celsius */
 526                         return IIO_VAL_INT_PLUS_MICRO;
 527                 case IIO_PRESSURE:
 528                         *val = 0;
 529                         *val2 = 4000; /* 40ubar = 0.004 kPa */
 530                         return IIO_VAL_INT_PLUS_MICRO;
 531                 default:
 532                         return -EINVAL;
 533                 }
 534         case IIO_CHAN_INFO_OFFSET:
 535                 /* Only the temperature channel has a offset */
 536                 *val = 4425; /* 25 degree Celsius = 0x0000 */
 537                 return IIO_VAL_INT;
 538         case IIO_CHAN_INFO_CALIBBIAS:
 539                 return adis16480_get_calibbias(indio_dev, chan, val);
 540         case IIO_CHAN_INFO_CALIBSCALE:
 541                 return adis16480_get_calibscale(indio_dev, chan, val);
 542         case IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY:
 543                 return adis16480_get_filter_freq(indio_dev, chan, val);
 544         case IIO_CHAN_INFO_SAMP_FREQ:
 545                 return adis16480_get_freq(indio_dev, val, val2);
 546         default:
 547                 return -EINVAL;
 548         }
 549 }
 550
 551 static int adis16480_write_raw(struct iio_dev *indio_dev,
 552         const struct iio_chan_spec *chan, int val, int val2, long info)
 553 {
 554         switch (info) {
 555         case IIO_CHAN_INFO_CALIBBIAS:
 556                 return adis16480_set_calibbias(indio_dev, chan, val);
 557         case IIO_CHAN_INFO_CALIBSCALE:
 558                 return adis16480_set_calibscale(indio_dev, chan, val);
 559         case IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY:
 560                 return adis16480_set_filter_freq(indio_dev, chan, val);
 561         case IIO_CHAN_INFO_SAMP_FREQ:
 562                 return adis16480_set_freq(indio_dev, val, val2);
 563
 564         default:
 565                 return -EINVAL;
 566         }
 567 }
 568
 569 #define ADIS16480_MOD_CHANNEL(_type, _mod, _address, _si, _info_sep, _bits) \
 570         { \
 571                 .type = (_type), \
 572                 .modified = 1, \
 573                 .channel2 = (_mod), \
 574                 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \
 575                         BIT(IIO_CHAN_INFO_CALIBBIAS) | \
 576                         _info_sep, \
 577                 .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE), \
 578                 .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
 579                 .address = (_address), \
 580                 .scan_index = (_si), \
 581                 .scan_type = { \
 582                         .sign = 's', \
 583                         .realbits = (_bits), \
 584                         .storagebits = (_bits), \
 585                         .endianness = IIO_BE, \
 586                 }, \
 587         }
 588
 589 #define ADIS16480_GYRO_CHANNEL(_mod) \
 590         ADIS16480_MOD_CHANNEL(IIO_ANGL_VEL, IIO_MOD_ ## _mod, \
 591         ADIS16480_REG_ ## _mod ## _GYRO_OUT, ADIS16480_SCAN_GYRO_ ## _mod, \
 592         BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY) | \
 593         BIT(IIO_CHAN_INFO_CALIBSCALE), \
 594         32)
 595
 596 #define ADIS16480_ACCEL_CHANNEL(_mod) \
 597         ADIS16480_MOD_CHANNEL(IIO_ACCEL, IIO_MOD_ ## _mod, \
 598         ADIS16480_REG_ ## _mod ## _ACCEL_OUT, ADIS16480_SCAN_ACCEL_ ## _mod, \
 599         BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY) | \
 600         BIT(IIO_CHAN_INFO_CALIBSCALE), \
 601         32)
 602
 603 #define ADIS16480_MAGN_CHANNEL(_mod) \
 604         ADIS16480_MOD_CHANNEL(IIO_MAGN, IIO_MOD_ ## _mod, \
 605         ADIS16480_REG_ ## _mod ## _MAGN_OUT, ADIS16480_SCAN_MAGN_ ## _mod, \
 606         BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY), \
 607         16)
 608
 609 #define ADIS16480_PRESSURE_CHANNEL() \
 610         { \
 611                 .type = IIO_PRESSURE, \
 612                 .indexed = 1, \
 613                 .channel = 0, \
 614                 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \
 615                         BIT(IIO_CHAN_INFO_CALIBBIAS) | \
 616                         BIT(IIO_CHAN_INFO_SCALE), \
 617                 .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
 618                 .address = ADIS16480_REG_BAROM_OUT, \
 619                 .scan_index = ADIS16480_SCAN_BARO, \
 620                 .scan_type = { \
 621                         .sign = 's', \
 622                         .realbits = 32, \
 623                         .storagebits = 32, \
 624                         .endianness = IIO_BE, \
 625                 }, \
 626         }
 627
 628 #define ADIS16480_TEMP_CHANNEL() { \
 629                 .type = IIO_TEMP, \
 630                 .indexed = 1, \
 631                 .channel = 0, \
 632                 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \
 633                         BIT(IIO_CHAN_INFO_SCALE) | \
 634                         BIT(IIO_CHAN_INFO_OFFSET), \
 635                 .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
 636                 .address = ADIS16480_REG_TEMP_OUT, \
 637                 .scan_index = ADIS16480_SCAN_TEMP, \
 638                 .scan_type = { \
 639                         .sign = 's', \
 640                         .realbits = 16, \
 641                         .storagebits = 16, \
 642                         .endianness = IIO_BE, \
 643                 }, \
 644         }
 645
 646 static const struct iio_chan_spec adis16480_channels[] = {
 647         ADIS16480_GYRO_CHANNEL(X),
 648         ADIS16480_GYRO_CHANNEL(Y),
 649         ADIS16480_GYRO_CHANNEL(Z),
 650         ADIS16480_ACCEL_CHANNEL(X),
 651         ADIS16480_ACCEL_CHANNEL(Y),
 652         ADIS16480_ACCEL_CHANNEL(Z),
 653         ADIS16480_MAGN_CHANNEL(X),
 654         ADIS16480_MAGN_CHANNEL(Y),
 655         ADIS16480_MAGN_CHANNEL(Z),
 656         ADIS16480_PRESSURE_CHANNEL(),
 657         ADIS16480_TEMP_CHANNEL(),
 658         IIO_CHAN_SOFT_TIMESTAMP(11)
 659 };
 660
 661 static const struct iio_chan_spec adis16485_channels[] = {
 662         ADIS16480_GYRO_CHANNEL(X),
 663         ADIS16480_GYRO_CHANNEL(Y),
 664         ADIS16480_GYRO_CHANNEL(Z),
 665         ADIS16480_ACCEL_CHANNEL(X),
 666         ADIS16480_ACCEL_CHANNEL(Y),
 667         ADIS16480_ACCEL_CHANNEL(Z),
 668         ADIS16480_TEMP_CHANNEL(),
 669         IIO_CHAN_SOFT_TIMESTAMP(7)
 670 };
 671
 672 enum adis16480_variant {
 673         ADIS16375,
 674         ADIS16480,
 675         ADIS16485,
 676         ADIS16488,
 677 };
 678
 679 static const struct adis16480_chip_info adis16480_chip_info[] = {
 680         [ADIS16375] = {
 681                 .channels = adis16485_channels,
 682                 .num_channels = ARRAY_SIZE(adis16485_channels),
 683                 /*
 684                  * storing the value in rad/degree and the scale in degree
 685                  * gives us the result in rad and better precession than
 686                  * storing the scale directly in rad.
 687                  */
 688                 .gyro_max_val = IIO_RAD_TO_DEGREE(22887),
 689                 .gyro_max_scale = 300,
 690                 .accel_max_val = IIO_M_S_2_TO_G(21973),
 691                 .accel_max_scale = 18,
 692         },
 693         [ADIS16480] = {
 694                 .channels = adis16480_channels,
 695                 .num_channels = ARRAY_SIZE(adis16480_channels),
 696                 .gyro_max_val = IIO_RAD_TO_DEGREE(22500),
 697                 .gyro_max_scale = 450,
 698                 .accel_max_val = IIO_M_S_2_TO_G(12500),
 699                 .accel_max_scale = 10,
 700         },
 701         [ADIS16485] = {
 702                 .channels = adis16485_channels,
 703                 .num_channels = ARRAY_SIZE(adis16485_channels),
 704                 .gyro_max_val = IIO_RAD_TO_DEGREE(22500),
 705                 .gyro_max_scale = 450,
 706                 .accel_max_val = IIO_M_S_2_TO_G(20000),
 707                 .accel_max_scale = 5,
 708         },
 709         [ADIS16488] = {
 710                 .channels = adis16480_channels,
 711                 .num_channels = ARRAY_SIZE(adis16480_channels),
 712                 .gyro_max_val = IIO_RAD_TO_DEGREE(22500),
 713                 .gyro_max_scale = 450,
 714                 .accel_max_val = IIO_M_S_2_TO_G(22500),
 715                 .accel_max_scale = 18,
 716         },
 717 };
 718
 719 static const struct iio_info adis16480_info = {
 720         .read_raw = &adis16480_read_raw,
 721         .write_raw = &adis16480_write_raw,
 722         .update_scan_mode = adis_update_scan_mode,
 723         .driver_module = THIS_MODULE,
 724 };
 725
 726 static int adis16480_stop_device(struct iio_dev *indio_dev)
 727 {
 728         struct adis16480 *st = iio_priv(indio_dev);
 729         int ret;
 730
 731         ret = adis_write_reg_16(&st->adis, ADIS16480_REG_SLP_CNT, BIT(9));
 732         if (ret)
 733                 dev_err(&indio_dev->dev,
 734                         "Could not power down device: %d\n", ret);
 735
 736         return ret;
 737 }
 738
 739 static int adis16480_enable_irq(struct adis *adis, bool enable)
 740 {
 741         return adis_write_reg_16(adis, ADIS16480_REG_FNCTIO_CTRL,
 742                 enable ? BIT(3) : 0);
 743 }
 744
 745 static int adis16480_initial_setup(struct iio_dev *indio_dev)
 746 {
 747         struct adis16480 *st = iio_priv(indio_dev);
 748         uint16_t prod_id;
 749         unsigned int device_id;
 750         int ret;
 751
 752         adis_reset(&st->adis);
 753         msleep(70);
 754
 755         ret = adis_write_reg_16(&st->adis, ADIS16480_REG_GLOB_CMD, BIT(1));
 756         if (ret)
 757                 return ret;
 758         msleep(30);
 759
 760         ret = adis_check_status(&st->adis);
 761         if (ret)
 762                 return ret;
 763
 764         ret = adis_read_reg_16(&st->adis, ADIS16480_REG_PROD_ID, &prod_id);
 765         if (ret)
 766                 return ret;
 767
 768         ret = sscanf(indio_dev->name, "adis%u\n", &device_id);
 769         if (ret != 1)
 770                 return -EINVAL;
 771
 772         if (prod_id != device_id)
 773                 dev_warn(&indio_dev->dev, "Device ID(%u) and product ID(%u) do not match.",
 774                                 device_id, prod_id);
 775
 776         return 0;
 777 }
 778
 779 #define ADIS16480_DIAG_STAT_XGYRO_FAIL 0
 780 #define ADIS16480_DIAG_STAT_YGYRO_FAIL 1
 781 #define ADIS16480_DIAG_STAT_ZGYRO_FAIL 2
 782 #define ADIS16480_DIAG_STAT_XACCL_FAIL 3
 783 #define ADIS16480_DIAG_STAT_YACCL_FAIL 4
 784 #define ADIS16480_DIAG_STAT_ZACCL_FAIL 5
 785 #define ADIS16480_DIAG_STAT_XMAGN_FAIL 8
 786 #define ADIS16480_DIAG_STAT_YMAGN_FAIL 9
 787 #define ADIS16480_DIAG_STAT_ZMAGN_FAIL 10
 788 #define ADIS16480_DIAG_STAT_BARO_FAIL 11
 789
 790 static const char * const adis16480_status_error_msgs[] = {
 791         [ADIS16480_DIAG_STAT_XGYRO_FAIL] = "X-axis gyroscope self-test failure",
 792         [ADIS16480_DIAG_STAT_YGYRO_FAIL] = "Y-axis gyroscope self-test failure",
 793         [ADIS16480_DIAG_STAT_ZGYRO_FAIL] = "Z-axis gyroscope self-test failure",
 794         [ADIS16480_DIAG_STAT_XACCL_FAIL] = "X-axis accelerometer self-test failure",
 795         [ADIS16480_DIAG_STAT_YACCL_FAIL] = "Y-axis accelerometer self-test failure",
 796         [ADIS16480_DIAG_STAT_ZACCL_FAIL] = "Z-axis accelerometer self-test failure",
 797         [ADIS16480_DIAG_STAT_XMAGN_FAIL] = "X-axis magnetometer self-test failure",
 798         [ADIS16480_DIAG_STAT_YMAGN_FAIL] = "Y-axis magnetometer self-test failure",
 799         [ADIS16480_DIAG_STAT_ZMAGN_FAIL] = "Z-axis magnetometer self-test failure",
 800         [ADIS16480_DIAG_STAT_BARO_FAIL] = "Barometer self-test failure",
 801 };
 802
 803 static const struct adis_data adis16480_data = {
 804         .diag_stat_reg = ADIS16480_REG_DIAG_STS,
 805         .glob_cmd_reg = ADIS16480_REG_GLOB_CMD,
 806         .has_paging = true,
 807
 808         .read_delay = 5,
 809         .write_delay = 5,
 810
 811         .status_error_msgs = adis16480_status_error_msgs,
 812         .status_error_mask = BIT(ADIS16480_DIAG_STAT_XGYRO_FAIL) |
 813                 BIT(ADIS16480_DIAG_STAT_YGYRO_FAIL) |
 814                 BIT(ADIS16480_DIAG_STAT_ZGYRO_FAIL) |
 815                 BIT(ADIS16480_DIAG_STAT_XACCL_FAIL) |
 816                 BIT(ADIS16480_DIAG_STAT_YACCL_FAIL) |
 817                 BIT(ADIS16480_DIAG_STAT_ZACCL_FAIL) |
 818                 BIT(ADIS16480_DIAG_STAT_XMAGN_FAIL) |
 819                 BIT(ADIS16480_DIAG_STAT_YMAGN_FAIL) |
 820                 BIT(ADIS16480_DIAG_STAT_ZMAGN_FAIL) |
 821                 BIT(ADIS16480_DIAG_STAT_BARO_FAIL),
 822
 823         .enable_irq = adis16480_enable_irq,
 824 };
 825
 826 static int adis16480_probe(struct spi_device *spi)
 827 {
 828         const struct spi_device_id *id = spi_get_device_id(spi);
 829         struct iio_dev *indio_dev;
 830         struct adis16480 *st;
 831         int ret;
 832
 833         indio_dev = devm_iio_device_alloc(&spi->dev, sizeof(*st));
 834         if (indio_dev == NULL)
 835                 return -ENOMEM;
 836
 837         spi_set_drvdata(spi, indio_dev);
 838
 839         st = iio_priv(indio_dev);
 840
 841         st->chip_info = &adis16480_chip_info[id->driver_data];
 842         indio_dev->dev.parent = &spi->dev;
 843         indio_dev->name = spi_get_device_id(spi)->name;
 844         indio_dev->channels = st->chip_info->channels;
 845         indio_dev->num_channels = st->chip_info->num_channels;
 846         indio_dev->info = &adis16480_info;
 847         indio_dev->modes = INDIO_DIRECT_MODE;
 848
 849         ret = adis_init(&st->adis, indio_dev, spi, &adis16480_data);
 850         if (ret)
 851                 return ret;
 852
 853         ret = adis_setup_buffer_and_trigger(&st->adis, indio_dev, NULL);
 854         if (ret)
 855                 return ret;
 856
 857         ret = adis16480_initial_setup(indio_dev);
 858         if (ret)
 859                 goto error_cleanup_buffer;
 860
 861         ret = iio_device_register(indio_dev);
 862         if (ret)
 863                 goto error_stop_device;
 864
 865         adis16480_debugfs_init(indio_dev);
 866
 867         return 0;
 868
 869 error_stop_device:
 870         adis16480_stop_device(indio_dev);
 871 error_cleanup_buffer:
 872         adis_cleanup_buffer_and_trigger(&st->adis, indio_dev);
 873         return ret;
 874 }
 875
 876 static int adis16480_remove(struct spi_device *spi)
 877 {
 878         struct iio_dev *indio_dev = spi_get_drvdata(spi);
 879         struct adis16480 *st = iio_priv(indio_dev);
 880
 881         iio_device_unregister(indio_dev);
 882         adis16480_stop_device(indio_dev);
 883
 884         adis_cleanup_buffer_and_trigger(&st->adis, indio_dev);
 885
 886         return 0;
 887 }
 888
 889 static const struct spi_device_id adis16480_ids[] = {
 890         { "adis16375", ADIS16375 },
 891         { "adis16480", ADIS16480 },
 892         { "adis16485", ADIS16485 },
 893         { "adis16488", ADIS16488 },
 894         { }
 895 };
 896 MODULE_DEVICE_TABLE(spi, adis16480_ids);
 897
 898 static struct spi_driver adis16480_driver = {
 899         .driver = {
 900                 .name = "adis16480",
 901         },
 902         .id_table = adis16480_ids,
 903         .probe = adis16480_probe,
 904         .remove = adis16480_remove,
 905 };
 906 module_spi_driver(adis16480_driver);
 907
 908 MODULE_AUTHOR("Lars-Peter Clausen <lars@metafoo.de>");
 909 MODULE_DESCRIPTION("Analog Devices ADIS16480 IMU driver");
 910 MODULE_LICENSE("GPL v2");