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_DEBUGFS_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_DEBUGFS_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_DEBUGFS_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_unsafe("firmware_revision", 0400,
 241                 indio_dev->debugfs_dentry, adis16480,
 242                 &adis16480_firmware_revision_fops);
 243         debugfs_create_file_unsafe("firmware_date", 0400,
 244                 indio_dev->debugfs_dentry, adis16480,
 245                 &adis16480_firmware_date_fops);
 246         debugfs_create_file_unsafe("serial_number", 0400,
 247                 indio_dev->debugfs_dentry, adis16480,
 248                 &adis16480_serial_number_fops);
 249         debugfs_create_file_unsafe("product_id", 0400,
 250                 indio_dev->debugfs_dentry, adis16480,
 251                 &adis16480_product_id_fops);
 252         debugfs_create_file_unsafe("flash_count", 0400,
 253                 indio_dev->debugfs_dentry, adis16480,
 254                 &adis16480_flash_count_fops);
 255
 256         return 0;
 257 }
 258
 259 #else
 260
 261 static int adis16480_debugfs_init(struct iio_dev *indio_dev)
 262 {
 263         return 0;
 264 }
 265
 266 #endif
 267
 268 static int adis16480_set_freq(struct iio_dev *indio_dev, int val, int val2)
 269 {
 270         struct adis16480 *st = iio_priv(indio_dev);
 271         unsigned int t;
 272
 273         t =  val * 1000 + val2 / 1000;
 274         if (t <= 0)
 275                 return -EINVAL;
 276
 277         t = 2460000 / t;
 278         if (t > 2048)
 279                 t = 2048;
 280
 281         if (t != 0)
 282                 t--;
 283
 284         return adis_write_reg_16(&st->adis, ADIS16480_REG_DEC_RATE, t);
 285 }
 286
 287 static int adis16480_get_freq(struct iio_dev *indio_dev, int *val, int *val2)
 288 {
 289         struct adis16480 *st = iio_priv(indio_dev);
 290         uint16_t t;
 291         int ret;
 292         unsigned freq;
 293
 294         ret = adis_read_reg_16(&st->adis, ADIS16480_REG_DEC_RATE, &t);
 295         if (ret < 0)
 296                 return ret;
 297
 298         freq = 2460000 / (t + 1);
 299         *val = freq / 1000;
 300         *val2 = (freq % 1000) * 1000;
 301
 302         return IIO_VAL_INT_PLUS_MICRO;
 303 }
 304
 305 enum {
 306         ADIS16480_SCAN_GYRO_X,
 307         ADIS16480_SCAN_GYRO_Y,
 308         ADIS16480_SCAN_GYRO_Z,
 309         ADIS16480_SCAN_ACCEL_X,
 310         ADIS16480_SCAN_ACCEL_Y,
 311         ADIS16480_SCAN_ACCEL_Z,
 312         ADIS16480_SCAN_MAGN_X,
 313         ADIS16480_SCAN_MAGN_Y,
 314         ADIS16480_SCAN_MAGN_Z,
 315         ADIS16480_SCAN_BARO,
 316         ADIS16480_SCAN_TEMP,
 317 };
 318
 319 static const unsigned int adis16480_calibbias_regs[] = {
 320         [ADIS16480_SCAN_GYRO_X] = ADIS16480_REG_X_GYRO_BIAS,
 321         [ADIS16480_SCAN_GYRO_Y] = ADIS16480_REG_Y_GYRO_BIAS,
 322         [ADIS16480_SCAN_GYRO_Z] = ADIS16480_REG_Z_GYRO_BIAS,
 323         [ADIS16480_SCAN_ACCEL_X] = ADIS16480_REG_X_ACCEL_BIAS,
 324         [ADIS16480_SCAN_ACCEL_Y] = ADIS16480_REG_Y_ACCEL_BIAS,
 325         [ADIS16480_SCAN_ACCEL_Z] = ADIS16480_REG_Z_ACCEL_BIAS,
 326         [ADIS16480_SCAN_MAGN_X] = ADIS16480_REG_X_HARD_IRON,
 327         [ADIS16480_SCAN_MAGN_Y] = ADIS16480_REG_Y_HARD_IRON,
 328         [ADIS16480_SCAN_MAGN_Z] = ADIS16480_REG_Z_HARD_IRON,
 329         [ADIS16480_SCAN_BARO] = ADIS16480_REG_BAROM_BIAS,
 330 };
 331
 332 static const unsigned int adis16480_calibscale_regs[] = {
 333         [ADIS16480_SCAN_GYRO_X] = ADIS16480_REG_X_GYRO_SCALE,
 334         [ADIS16480_SCAN_GYRO_Y] = ADIS16480_REG_Y_GYRO_SCALE,
 335         [ADIS16480_SCAN_GYRO_Z] = ADIS16480_REG_Z_GYRO_SCALE,
 336         [ADIS16480_SCAN_ACCEL_X] = ADIS16480_REG_X_ACCEL_SCALE,
 337         [ADIS16480_SCAN_ACCEL_Y] = ADIS16480_REG_Y_ACCEL_SCALE,
 338         [ADIS16480_SCAN_ACCEL_Z] = ADIS16480_REG_Z_ACCEL_SCALE,
 339 };
 340
 341 static int adis16480_set_calibbias(struct iio_dev *indio_dev,
 342         const struct iio_chan_spec *chan, int bias)
 343 {
 344         unsigned int reg = adis16480_calibbias_regs[chan->scan_index];
 345         struct adis16480 *st = iio_priv(indio_dev);
 346
 347         switch (chan->type) {
 348         case IIO_MAGN:
 349         case IIO_PRESSURE:
 350                 if (bias < -0x8000 || bias >= 0x8000)
 351                         return -EINVAL;
 352                 return adis_write_reg_16(&st->adis, reg, bias);
 353         case IIO_ANGL_VEL:
 354         case IIO_ACCEL:
 355                 return adis_write_reg_32(&st->adis, reg, bias);
 356         default:
 357                 break;
 358         }
 359
 360         return -EINVAL;
 361 }
 362
 363 static int adis16480_get_calibbias(struct iio_dev *indio_dev,
 364         const struct iio_chan_spec *chan, int *bias)
 365 {
 366         unsigned int reg = adis16480_calibbias_regs[chan->scan_index];
 367         struct adis16480 *st = iio_priv(indio_dev);
 368         uint16_t val16;
 369         uint32_t val32;
 370         int ret;
 371
 372         switch (chan->type) {
 373         case IIO_MAGN:
 374         case IIO_PRESSURE:
 375                 ret = adis_read_reg_16(&st->adis, reg, &val16);
 376                 *bias = sign_extend32(val16, 15);
 377                 break;
 378         case IIO_ANGL_VEL:
 379         case IIO_ACCEL:
 380                 ret = adis_read_reg_32(&st->adis, reg, &val32);
 381                 *bias = sign_extend32(val32, 31);
 382                 break;
 383         default:
 384                         ret = -EINVAL;
 385         }
 386
 387         if (ret < 0)
 388                 return ret;
 389
 390         return IIO_VAL_INT;
 391 }
 392
 393 static int adis16480_set_calibscale(struct iio_dev *indio_dev,
 394         const struct iio_chan_spec *chan, int scale)
 395 {
 396         unsigned int reg = adis16480_calibscale_regs[chan->scan_index];
 397         struct adis16480 *st = iio_priv(indio_dev);
 398
 399         if (scale < -0x8000 || scale >= 0x8000)
 400                 return -EINVAL;
 401
 402         return adis_write_reg_16(&st->adis, reg, scale);
 403 }
 404
 405 static int adis16480_get_calibscale(struct iio_dev *indio_dev,
 406         const struct iio_chan_spec *chan, int *scale)
 407 {
 408         unsigned int reg = adis16480_calibscale_regs[chan->scan_index];
 409         struct adis16480 *st = iio_priv(indio_dev);
 410         uint16_t val16;
 411         int ret;
 412
 413         ret = adis_read_reg_16(&st->adis, reg, &val16);
 414         if (ret < 0)
 415                 return ret;
 416
 417         *scale = sign_extend32(val16, 15);
 418         return IIO_VAL_INT;
 419 }
 420
 421 static const unsigned int adis16480_def_filter_freqs[] = {
 422         310,
 423         55,
 424         275,
 425         63,
 426 };
 427
 428 static const unsigned int ad16480_filter_data[][2] = {
 429         [ADIS16480_SCAN_GYRO_X]         = { ADIS16480_REG_FILTER_BNK0, 0 },
 430         [ADIS16480_SCAN_GYRO_Y]         = { ADIS16480_REG_FILTER_BNK0, 3 },
 431         [ADIS16480_SCAN_GYRO_Z]         = { ADIS16480_REG_FILTER_BNK0, 6 },
 432         [ADIS16480_SCAN_ACCEL_X]        = { ADIS16480_REG_FILTER_BNK0, 9 },
 433         [ADIS16480_SCAN_ACCEL_Y]        = { ADIS16480_REG_FILTER_BNK0, 12 },
 434         [ADIS16480_SCAN_ACCEL_Z]        = { ADIS16480_REG_FILTER_BNK1, 0 },
 435         [ADIS16480_SCAN_MAGN_X]         = { ADIS16480_REG_FILTER_BNK1, 3 },
 436         [ADIS16480_SCAN_MAGN_Y]         = { ADIS16480_REG_FILTER_BNK1, 6 },
 437         [ADIS16480_SCAN_MAGN_Z]         = { ADIS16480_REG_FILTER_BNK1, 9 },
 438 };
 439
 440 static int adis16480_get_filter_freq(struct iio_dev *indio_dev,
 441         const struct iio_chan_spec *chan, int *freq)
 442 {
 443         struct adis16480 *st = iio_priv(indio_dev);
 444         unsigned int enable_mask, offset, reg;
 445         uint16_t val;
 446         int ret;
 447
 448         reg = ad16480_filter_data[chan->scan_index][0];
 449         offset = ad16480_filter_data[chan->scan_index][1];
 450         enable_mask = BIT(offset + 2);
 451
 452         ret = adis_read_reg_16(&st->adis, reg, &val);
 453         if (ret < 0)
 454                 return ret;
 455
 456         if (!(val & enable_mask))
 457                 *freq = 0;
 458         else
 459                 *freq = adis16480_def_filter_freqs[(val >> offset) & 0x3];
 460
 461         return IIO_VAL_INT;
 462 }
 463
 464 static int adis16480_set_filter_freq(struct iio_dev *indio_dev,
 465         const struct iio_chan_spec *chan, unsigned int freq)
 466 {
 467         struct adis16480 *st = iio_priv(indio_dev);
 468         unsigned int enable_mask, offset, reg;
 469         unsigned int diff, best_diff;
 470         unsigned int i, best_freq;
 471         uint16_t val;
 472         int ret;
 473
 474         reg = ad16480_filter_data[chan->scan_index][0];
 475         offset = ad16480_filter_data[chan->scan_index][1];
 476         enable_mask = BIT(offset + 2);
 477
 478         ret = adis_read_reg_16(&st->adis, reg, &val);
 479         if (ret < 0)
 480                 return ret;
 481
 482         if (freq == 0) {
 483                 val &= ~enable_mask;
 484         } else {
 485                 best_freq = 0;
 486                 best_diff = 310;
 487                 for (i = 0; i < ARRAY_SIZE(adis16480_def_filter_freqs); i++) {
 488                         if (adis16480_def_filter_freqs[i] >= freq) {
 489                                 diff = adis16480_def_filter_freqs[i] - freq;
 490                                 if (diff < best_diff) {
 491                                         best_diff = diff;
 492                                         best_freq = i;
 493                                 }
 494                         }
 495                 }
 496
 497                 val &= ~(0x3 << offset);
 498                 val |= best_freq << offset;
 499                 val |= enable_mask;
 500         }
 501
 502         return adis_write_reg_16(&st->adis, reg, val);
 503 }
 504
 505 static int adis16480_read_raw(struct iio_dev *indio_dev,
 506         const struct iio_chan_spec *chan, int *val, int *val2, long info)
 507 {
 508         struct adis16480 *st = iio_priv(indio_dev);
 509
 510         switch (info) {
 511         case IIO_CHAN_INFO_RAW:
 512                 return adis_single_conversion(indio_dev, chan, 0, val);
 513         case IIO_CHAN_INFO_SCALE:
 514                 switch (chan->type) {
 515                 case IIO_ANGL_VEL:
 516                         *val = st->chip_info->gyro_max_scale;
 517                         *val2 = st->chip_info->gyro_max_val;
 518                         return IIO_VAL_FRACTIONAL;
 519                 case IIO_ACCEL:
 520                         *val = st->chip_info->accel_max_scale;
 521                         *val2 = st->chip_info->accel_max_val;
 522                         return IIO_VAL_FRACTIONAL;
 523                 case IIO_MAGN:
 524                         *val = 0;
 525                         *val2 = 100; /* 0.0001 gauss */
 526                         return IIO_VAL_INT_PLUS_MICRO;
 527                 case IIO_TEMP:
 528                         *val = 5;
 529                         *val2 = 650000; /* 5.65 milli degree Celsius */
 530                         return IIO_VAL_INT_PLUS_MICRO;
 531                 case IIO_PRESSURE:
 532                         *val = 0;
 533                         *val2 = 4000; /* 40ubar = 0.004 kPa */
 534                         return IIO_VAL_INT_PLUS_MICRO;
 535                 default:
 536                         return -EINVAL;
 537                 }
 538         case IIO_CHAN_INFO_OFFSET:
 539                 /* Only the temperature channel has a offset */
 540                 *val = 4425; /* 25 degree Celsius = 0x0000 */
 541                 return IIO_VAL_INT;
 542         case IIO_CHAN_INFO_CALIBBIAS:
 543                 return adis16480_get_calibbias(indio_dev, chan, val);
 544         case IIO_CHAN_INFO_CALIBSCALE:
 545                 return adis16480_get_calibscale(indio_dev, chan, val);
 546         case IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY:
 547                 return adis16480_get_filter_freq(indio_dev, chan, val);
 548         case IIO_CHAN_INFO_SAMP_FREQ:
 549                 return adis16480_get_freq(indio_dev, val, val2);
 550         default:
 551                 return -EINVAL;
 552         }
 553 }
 554
 555 static int adis16480_write_raw(struct iio_dev *indio_dev,
 556         const struct iio_chan_spec *chan, int val, int val2, long info)
 557 {
 558         switch (info) {
 559         case IIO_CHAN_INFO_CALIBBIAS:
 560                 return adis16480_set_calibbias(indio_dev, chan, val);
 561         case IIO_CHAN_INFO_CALIBSCALE:
 562                 return adis16480_set_calibscale(indio_dev, chan, val);
 563         case IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY:
 564                 return adis16480_set_filter_freq(indio_dev, chan, val);
 565         case IIO_CHAN_INFO_SAMP_FREQ:
 566                 return adis16480_set_freq(indio_dev, val, val2);
 567
 568         default:
 569                 return -EINVAL;
 570         }
 571 }
 572
 573 #define ADIS16480_MOD_CHANNEL(_type, _mod, _address, _si, _info_sep, _bits) \
 574         { \
 575                 .type = (_type), \
 576                 .modified = 1, \
 577                 .channel2 = (_mod), \
 578                 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \
 579                         BIT(IIO_CHAN_INFO_CALIBBIAS) | \
 580                         _info_sep, \
 581                 .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE), \
 582                 .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
 583                 .address = (_address), \
 584                 .scan_index = (_si), \
 585                 .scan_type = { \
 586                         .sign = 's', \
 587                         .realbits = (_bits), \
 588                         .storagebits = (_bits), \
 589                         .endianness = IIO_BE, \
 590                 }, \
 591         }
 592
 593 #define ADIS16480_GYRO_CHANNEL(_mod) \
 594         ADIS16480_MOD_CHANNEL(IIO_ANGL_VEL, IIO_MOD_ ## _mod, \
 595         ADIS16480_REG_ ## _mod ## _GYRO_OUT, ADIS16480_SCAN_GYRO_ ## _mod, \
 596         BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY) | \
 597         BIT(IIO_CHAN_INFO_CALIBSCALE), \
 598         32)
 599
 600 #define ADIS16480_ACCEL_CHANNEL(_mod) \
 601         ADIS16480_MOD_CHANNEL(IIO_ACCEL, IIO_MOD_ ## _mod, \
 602         ADIS16480_REG_ ## _mod ## _ACCEL_OUT, ADIS16480_SCAN_ACCEL_ ## _mod, \
 603         BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY) | \
 604         BIT(IIO_CHAN_INFO_CALIBSCALE), \
 605         32)
 606
 607 #define ADIS16480_MAGN_CHANNEL(_mod) \
 608         ADIS16480_MOD_CHANNEL(IIO_MAGN, IIO_MOD_ ## _mod, \
 609         ADIS16480_REG_ ## _mod ## _MAGN_OUT, ADIS16480_SCAN_MAGN_ ## _mod, \
 610         BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY), \
 611         16)
 612
 613 #define ADIS16480_PRESSURE_CHANNEL() \
 614         { \
 615                 .type = IIO_PRESSURE, \
 616                 .indexed = 1, \
 617                 .channel = 0, \
 618                 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \
 619                         BIT(IIO_CHAN_INFO_CALIBBIAS) | \
 620                         BIT(IIO_CHAN_INFO_SCALE), \
 621                 .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
 622                 .address = ADIS16480_REG_BAROM_OUT, \
 623                 .scan_index = ADIS16480_SCAN_BARO, \
 624                 .scan_type = { \
 625                         .sign = 's', \
 626                         .realbits = 32, \
 627                         .storagebits = 32, \
 628                         .endianness = IIO_BE, \
 629                 }, \
 630         }
 631
 632 #define ADIS16480_TEMP_CHANNEL() { \
 633                 .type = IIO_TEMP, \
 634                 .indexed = 1, \
 635                 .channel = 0, \
 636                 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \
 637                         BIT(IIO_CHAN_INFO_SCALE) | \
 638                         BIT(IIO_CHAN_INFO_OFFSET), \
 639                 .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
 640                 .address = ADIS16480_REG_TEMP_OUT, \
 641                 .scan_index = ADIS16480_SCAN_TEMP, \
 642                 .scan_type = { \
 643                         .sign = 's', \
 644                         .realbits = 16, \
 645                         .storagebits = 16, \
 646                         .endianness = IIO_BE, \
 647                 }, \
 648         }
 649
 650 static const struct iio_chan_spec adis16480_channels[] = {
 651         ADIS16480_GYRO_CHANNEL(X),
 652         ADIS16480_GYRO_CHANNEL(Y),
 653         ADIS16480_GYRO_CHANNEL(Z),
 654         ADIS16480_ACCEL_CHANNEL(X),
 655         ADIS16480_ACCEL_CHANNEL(Y),
 656         ADIS16480_ACCEL_CHANNEL(Z),
 657         ADIS16480_MAGN_CHANNEL(X),
 658         ADIS16480_MAGN_CHANNEL(Y),
 659         ADIS16480_MAGN_CHANNEL(Z),
 660         ADIS16480_PRESSURE_CHANNEL(),
 661         ADIS16480_TEMP_CHANNEL(),
 662         IIO_CHAN_SOFT_TIMESTAMP(11)
 663 };
 664
 665 static const struct iio_chan_spec adis16485_channels[] = {
 666         ADIS16480_GYRO_CHANNEL(X),
 667         ADIS16480_GYRO_CHANNEL(Y),
 668         ADIS16480_GYRO_CHANNEL(Z),
 669         ADIS16480_ACCEL_CHANNEL(X),
 670         ADIS16480_ACCEL_CHANNEL(Y),
 671         ADIS16480_ACCEL_CHANNEL(Z),
 672         ADIS16480_TEMP_CHANNEL(),
 673         IIO_CHAN_SOFT_TIMESTAMP(7)
 674 };
 675
 676 enum adis16480_variant {
 677         ADIS16375,
 678         ADIS16480,
 679         ADIS16485,
 680         ADIS16488,
 681 };
 682
 683 static const struct adis16480_chip_info adis16480_chip_info[] = {
 684         [ADIS16375] = {
 685                 .channels = adis16485_channels,
 686                 .num_channels = ARRAY_SIZE(adis16485_channels),
 687                 /*
 688                  * storing the value in rad/degree and the scale in degree
 689                  * gives us the result in rad and better precession than
 690                  * storing the scale directly in rad.
 691                  */
 692                 .gyro_max_val = IIO_RAD_TO_DEGREE(22887),
 693                 .gyro_max_scale = 300,
 694                 .accel_max_val = IIO_M_S_2_TO_G(21973),
 695                 .accel_max_scale = 18,
 696         },
 697         [ADIS16480] = {
 698                 .channels = adis16480_channels,
 699                 .num_channels = ARRAY_SIZE(adis16480_channels),
 700                 .gyro_max_val = IIO_RAD_TO_DEGREE(22500),
 701                 .gyro_max_scale = 450,
 702                 .accel_max_val = IIO_M_S_2_TO_G(12500),
 703                 .accel_max_scale = 10,
 704         },
 705         [ADIS16485] = {
 706                 .channels = adis16485_channels,
 707                 .num_channels = ARRAY_SIZE(adis16485_channels),
 708                 .gyro_max_val = IIO_RAD_TO_DEGREE(22500),
 709                 .gyro_max_scale = 450,
 710                 .accel_max_val = IIO_M_S_2_TO_G(20000),
 711                 .accel_max_scale = 5,
 712         },
 713         [ADIS16488] = {
 714                 .channels = adis16480_channels,
 715                 .num_channels = ARRAY_SIZE(adis16480_channels),
 716                 .gyro_max_val = IIO_RAD_TO_DEGREE(22500),
 717                 .gyro_max_scale = 450,
 718                 .accel_max_val = IIO_M_S_2_TO_G(22500),
 719                 .accel_max_scale = 18,
 720         },
 721 };
 722
 723 static const struct iio_info adis16480_info = {
 724         .read_raw = &adis16480_read_raw,
 725         .write_raw = &adis16480_write_raw,
 726         .update_scan_mode = adis_update_scan_mode,
 727 };
 728
 729 static int adis16480_stop_device(struct iio_dev *indio_dev)
 730 {
 731         struct adis16480 *st = iio_priv(indio_dev);
 732         int ret;
 733
 734         ret = adis_write_reg_16(&st->adis, ADIS16480_REG_SLP_CNT, BIT(9));
 735         if (ret)
 736                 dev_err(&indio_dev->dev,
 737                         "Could not power down device: %d\n", ret);
 738
 739         return ret;
 740 }
 741
 742 static int adis16480_enable_irq(struct adis *adis, bool enable)
 743 {
 744         return adis_write_reg_16(adis, ADIS16480_REG_FNCTIO_CTRL,
 745                 enable ? BIT(3) : 0);
 746 }
 747
 748 static int adis16480_initial_setup(struct iio_dev *indio_dev)
 749 {
 750         struct adis16480 *st = iio_priv(indio_dev);
 751         uint16_t prod_id;
 752         unsigned int device_id;
 753         int ret;
 754
 755         adis_reset(&st->adis);
 756         msleep(70);
 757
 758         ret = adis_write_reg_16(&st->adis, ADIS16480_REG_GLOB_CMD, BIT(1));
 759         if (ret)
 760                 return ret;
 761         msleep(30);
 762
 763         ret = adis_check_status(&st->adis);
 764         if (ret)
 765                 return ret;
 766
 767         ret = adis_read_reg_16(&st->adis, ADIS16480_REG_PROD_ID, &prod_id);
 768         if (ret)
 769                 return ret;
 770
 771         ret = sscanf(indio_dev->name, "adis%u\n", &device_id);
 772         if (ret != 1)
 773                 return -EINVAL;
 774
 775         if (prod_id != device_id)
 776                 dev_warn(&indio_dev->dev, "Device ID(%u) and product ID(%u) do not match.",
 777                                 device_id, prod_id);
 778
 779         return 0;
 780 }
 781
 782 #define ADIS16480_DIAG_STAT_XGYRO_FAIL 0
 783 #define ADIS16480_DIAG_STAT_YGYRO_FAIL 1
 784 #define ADIS16480_DIAG_STAT_ZGYRO_FAIL 2
 785 #define ADIS16480_DIAG_STAT_XACCL_FAIL 3
 786 #define ADIS16480_DIAG_STAT_YACCL_FAIL 4
 787 #define ADIS16480_DIAG_STAT_ZACCL_FAIL 5
 788 #define ADIS16480_DIAG_STAT_XMAGN_FAIL 8
 789 #define ADIS16480_DIAG_STAT_YMAGN_FAIL 9
 790 #define ADIS16480_DIAG_STAT_ZMAGN_FAIL 10
 791 #define ADIS16480_DIAG_STAT_BARO_FAIL 11
 792
 793 static const char * const adis16480_status_error_msgs[] = {
 794         [ADIS16480_DIAG_STAT_XGYRO_FAIL] = "X-axis gyroscope self-test failure",
 795         [ADIS16480_DIAG_STAT_YGYRO_FAIL] = "Y-axis gyroscope self-test failure",
 796         [ADIS16480_DIAG_STAT_ZGYRO_FAIL] = "Z-axis gyroscope self-test failure",
 797         [ADIS16480_DIAG_STAT_XACCL_FAIL] = "X-axis accelerometer self-test failure",
 798         [ADIS16480_DIAG_STAT_YACCL_FAIL] = "Y-axis accelerometer self-test failure",
 799         [ADIS16480_DIAG_STAT_ZACCL_FAIL] = "Z-axis accelerometer self-test failure",
 800         [ADIS16480_DIAG_STAT_XMAGN_FAIL] = "X-axis magnetometer self-test failure",
 801         [ADIS16480_DIAG_STAT_YMAGN_FAIL] = "Y-axis magnetometer self-test failure",
 802         [ADIS16480_DIAG_STAT_ZMAGN_FAIL] = "Z-axis magnetometer self-test failure",
 803         [ADIS16480_DIAG_STAT_BARO_FAIL] = "Barometer self-test failure",
 804 };
 805
 806 static const struct adis_data adis16480_data = {
 807         .diag_stat_reg = ADIS16480_REG_DIAG_STS,
 808         .glob_cmd_reg = ADIS16480_REG_GLOB_CMD,
 809         .has_paging = true,
 810
 811         .read_delay = 5,
 812         .write_delay = 5,
 813
 814         .status_error_msgs = adis16480_status_error_msgs,
 815         .status_error_mask = BIT(ADIS16480_DIAG_STAT_XGYRO_FAIL) |
 816                 BIT(ADIS16480_DIAG_STAT_YGYRO_FAIL) |
 817                 BIT(ADIS16480_DIAG_STAT_ZGYRO_FAIL) |
 818                 BIT(ADIS16480_DIAG_STAT_XACCL_FAIL) |
 819                 BIT(ADIS16480_DIAG_STAT_YACCL_FAIL) |
 820                 BIT(ADIS16480_DIAG_STAT_ZACCL_FAIL) |
 821                 BIT(ADIS16480_DIAG_STAT_XMAGN_FAIL) |
 822                 BIT(ADIS16480_DIAG_STAT_YMAGN_FAIL) |
 823                 BIT(ADIS16480_DIAG_STAT_ZMAGN_FAIL) |
 824                 BIT(ADIS16480_DIAG_STAT_BARO_FAIL),
 825
 826         .enable_irq = adis16480_enable_irq,
 827 };
 828
 829 static int adis16480_probe(struct spi_device *spi)
 830 {
 831         const struct spi_device_id *id = spi_get_device_id(spi);
 832         struct iio_dev *indio_dev;
 833         struct adis16480 *st;
 834         int ret;
 835
 836         indio_dev = devm_iio_device_alloc(&spi->dev, sizeof(*st));
 837         if (indio_dev == NULL)
 838                 return -ENOMEM;
 839
 840         spi_set_drvdata(spi, indio_dev);
 841
 842         st = iio_priv(indio_dev);
 843
 844         st->chip_info = &adis16480_chip_info[id->driver_data];
 845         indio_dev->dev.parent = &spi->dev;
 846         indio_dev->name = spi_get_device_id(spi)->name;
 847         indio_dev->channels = st->chip_info->channels;
 848         indio_dev->num_channels = st->chip_info->num_channels;
 849         indio_dev->info = &adis16480_info;
 850         indio_dev->modes = INDIO_DIRECT_MODE;
 851
 852         ret = adis_init(&st->adis, indio_dev, spi, &adis16480_data);
 853         if (ret)
 854                 return ret;
 855
 856         ret = adis_setup_buffer_and_trigger(&st->adis, indio_dev, NULL);
 857         if (ret)
 858                 return ret;
 859
 860         ret = adis16480_initial_setup(indio_dev);
 861         if (ret)
 862                 goto error_cleanup_buffer;
 863
 864         ret = iio_device_register(indio_dev);
 865         if (ret)
 866                 goto error_stop_device;
 867
 868         adis16480_debugfs_init(indio_dev);
 869
 870         return 0;
 871
 872 error_stop_device:
 873         adis16480_stop_device(indio_dev);
 874 error_cleanup_buffer:
 875         adis_cleanup_buffer_and_trigger(&st->adis, indio_dev);
 876         return ret;
 877 }
 878
 879 static int adis16480_remove(struct spi_device *spi)
 880 {
 881         struct iio_dev *indio_dev = spi_get_drvdata(spi);
 882         struct adis16480 *st = iio_priv(indio_dev);
 883
 884         iio_device_unregister(indio_dev);
 885         adis16480_stop_device(indio_dev);
 886
 887         adis_cleanup_buffer_and_trigger(&st->adis, indio_dev);
 888
 889         return 0;
 890 }
 891
 892 static const struct spi_device_id adis16480_ids[] = {
 893         { "adis16375", ADIS16375 },
 894         { "adis16480", ADIS16480 },
 895         { "adis16485", ADIS16485 },
 896         { "adis16488", ADIS16488 },
 897         { }
 898 };
 899 MODULE_DEVICE_TABLE(spi, adis16480_ids);
 900
 901 static struct spi_driver adis16480_driver = {
 902         .driver = {
 903                 .name = "adis16480",
 904         },
 905         .id_table = adis16480_ids,
 906         .probe = adis16480_probe,
 907         .remove = adis16480_remove,
 908 };
 909 module_spi_driver(adis16480_driver);
 910
 911 MODULE_AUTHOR("Lars-Peter Clausen <lars@metafoo.de>");
 912 MODULE_DESCRIPTION("Analog Devices ADIS16480 IMU driver");
 913 MODULE_LICENSE("GPL v2");