drivers/iio/imu/adis16400_core.c

   1 /*
   2  * adis16400.c  support Analog Devices ADIS16400/5
   3  *              3d 2g Linear Accelerometers,
   4  *              3d Gyroscopes,
   5  *              3d Magnetometers via SPI
   6  *
   7  * Copyright (c) 2009 Manuel Stahl <manuel.stahl@iis.fraunhofer.de>
   8  * Copyright (c) 2007 Jonathan Cameron <jic23@kernel.org>
   9  * Copyright (c) 2011 Analog Devices Inc.
  10  *
  11  * This program is free software; you can redistribute it and/or modify
  12  * it under the terms of the GNU General Public License version 2 as
  13  * published by the Free Software Foundation.
  14  *
  15  */
  16
  17 #include <linux/interrupt.h>
  18 #include <linux/irq.h>
  19 #include <linux/delay.h>
  20 #include <linux/mutex.h>
  21 #include <linux/device.h>
  22 #include <linux/kernel.h>
  23 #include <linux/spi/spi.h>
  24 #include <linux/slab.h>
  25 #include <linux/sysfs.h>
  26 #include <linux/list.h>
  27 #include <linux/module.h>
  28 #include <linux/debugfs.h>
  29
  30 #include <linux/iio/iio.h>
  31 #include <linux/iio/sysfs.h>
  32 #include <linux/iio/buffer.h>
  33
  34 #include "adis16400.h"
  35
  36 #ifdef CONFIG_DEBUG_FS
  37
  38 static ssize_t adis16400_show_serial_number(struct file *file,
  39                 char __user *userbuf, size_t count, loff_t *ppos)
  40 {
  41         struct adis16400_state *st = file->private_data;
  42         u16 lot1, lot2, serial_number;
  43         char buf[16];
  44         size_t len;
  45         int ret;
  46
  47         ret = adis_read_reg_16(&st->adis, ADIS16334_LOT_ID1, &lot1);
  48         if (ret < 0)
  49                 return ret;
  50
  51         ret = adis_read_reg_16(&st->adis, ADIS16334_LOT_ID2, &lot2);
  52         if (ret < 0)
  53                 return ret;
  54
  55         ret = adis_read_reg_16(&st->adis, ADIS16334_SERIAL_NUMBER,
  56                         &serial_number);
  57         if (ret < 0)
  58                 return ret;
  59
  60         len = snprintf(buf, sizeof(buf), "%.4x-%.4x-%.4x\n", lot1, lot2,
  61                         serial_number);
  62
  63         return simple_read_from_buffer(userbuf, count, ppos, buf, len);
  64 }
  65
  66 static const struct file_operations adis16400_serial_number_fops = {
  67         .open = simple_open,
  68         .read = adis16400_show_serial_number,
  69         .llseek = default_llseek,
  70         .owner = THIS_MODULE,
  71 };
  72
  73 static int adis16400_show_product_id(void *arg, u64 *val)
  74 {
  75         struct adis16400_state *st = arg;
  76         uint16_t prod_id;
  77         int ret;
  78
  79         ret = adis_read_reg_16(&st->adis, ADIS16400_PRODUCT_ID, &prod_id);
  80         if (ret < 0)
  81                 return ret;
  82
  83         *val = prod_id;
  84
  85         return 0;
  86 }
  87 DEFINE_SIMPLE_ATTRIBUTE(adis16400_product_id_fops,
  88         adis16400_show_product_id, NULL, "%lld\n");
  89
  90 static int adis16400_show_flash_count(void *arg, u64 *val)
  91 {
  92         struct adis16400_state *st = arg;
  93         uint16_t flash_count;
  94         int ret;
  95
  96         ret = adis_read_reg_16(&st->adis, ADIS16400_FLASH_CNT, &flash_count);
  97         if (ret < 0)
  98                 return ret;
  99
 100         *val = flash_count;
 101
 102         return 0;
 103 }
 104 DEFINE_SIMPLE_ATTRIBUTE(adis16400_flash_count_fops,
 105         adis16400_show_flash_count, NULL, "%lld\n");
 106
 107 static int adis16400_debugfs_init(struct iio_dev *indio_dev)
 108 {
 109         struct adis16400_state *st = iio_priv(indio_dev);
 110
 111         if (st->variant->flags & ADIS16400_HAS_SERIAL_NUMBER)
 112                 debugfs_create_file("serial_number", 0400,
 113                         indio_dev->debugfs_dentry, st,
 114                         &adis16400_serial_number_fops);
 115         if (st->variant->flags & ADIS16400_HAS_PROD_ID)
 116                 debugfs_create_file("product_id", 0400,
 117                         indio_dev->debugfs_dentry, st,
 118                         &adis16400_product_id_fops);
 119         debugfs_create_file("flash_count", 0400, indio_dev->debugfs_dentry,
 120                 st, &adis16400_flash_count_fops);
 121
 122         return 0;
 123 }
 124
 125 #else
 126
 127 static int adis16400_debugfs_init(struct iio_dev *indio_dev)
 128 {
 129         return 0;
 130 }
 131
 132 #endif
 133
 134 enum adis16400_chip_variant {
 135         ADIS16300,
 136         ADIS16334,
 137         ADIS16350,
 138         ADIS16360,
 139         ADIS16362,
 140         ADIS16364,
 141         ADIS16400,
 142         ADIS16448,
 143 };
 144
 145 static int adis16334_get_freq(struct adis16400_state *st)
 146 {
 147         int ret;
 148         uint16_t t;
 149
 150         ret = adis_read_reg_16(&st->adis, ADIS16400_SMPL_PRD, &t);
 151         if (ret < 0)
 152                 return ret;
 153
 154         t >>= ADIS16334_RATE_DIV_SHIFT;
 155
 156         return 819200 >> t;
 157 }
 158
 159 static int adis16334_set_freq(struct adis16400_state *st, unsigned int freq)
 160 {
 161         unsigned int t;
 162
 163         if (freq < 819200)
 164                 t = ilog2(819200 / freq);
 165         else
 166                 t = 0;
 167
 168         if (t > 0x31)
 169                 t = 0x31;
 170
 171         t <<= ADIS16334_RATE_DIV_SHIFT;
 172         t |= ADIS16334_RATE_INT_CLK;
 173
 174         return adis_write_reg_16(&st->adis, ADIS16400_SMPL_PRD, t);
 175 }
 176
 177 static int adis16400_get_freq(struct adis16400_state *st)
 178 {
 179         int sps, ret;
 180         uint16_t t;
 181
 182         ret = adis_read_reg_16(&st->adis, ADIS16400_SMPL_PRD, &t);
 183         if (ret < 0)
 184                 return ret;
 185
 186         sps = (t & ADIS16400_SMPL_PRD_TIME_BASE) ? 52851 : 1638404;
 187         sps /= (t & ADIS16400_SMPL_PRD_DIV_MASK) + 1;
 188
 189         return sps;
 190 }
 191
 192 static int adis16400_set_freq(struct adis16400_state *st, unsigned int freq)
 193 {
 194         unsigned int t;
 195         uint8_t val = 0;
 196
 197         t = 1638404 / freq;
 198         if (t >= 128) {
 199                 val |= ADIS16400_SMPL_PRD_TIME_BASE;
 200                 t = 52851 / freq;
 201                 if (t >= 128)
 202                         t = 127;
 203         } else if (t != 0) {
 204                 t--;
 205         }
 206
 207         val |= t;
 208
 209         if (t >= 0x0A || (val & ADIS16400_SMPL_PRD_TIME_BASE))
 210                 st->adis.spi->max_speed_hz = ADIS16400_SPI_SLOW;
 211         else
 212                 st->adis.spi->max_speed_hz = ADIS16400_SPI_FAST;
 213
 214         return adis_write_reg_8(&st->adis, ADIS16400_SMPL_PRD, val);
 215 }
 216
 217 static ssize_t adis16400_read_frequency(struct device *dev,
 218                 struct device_attribute *attr,
 219                 char *buf)
 220 {
 221         struct iio_dev *indio_dev = dev_to_iio_dev(dev);
 222         struct adis16400_state *st = iio_priv(indio_dev);
 223         int ret;
 224
 225         ret = st->variant->get_freq(st);
 226         if (ret < 0)
 227                 return ret;
 228
 229         return sprintf(buf, "%d.%.3d\n", ret / 1000, ret % 1000);
 230 }
 231
 232 static const unsigned adis16400_3db_divisors[] = {
 233         [0] = 2, /* Special case */
 234         [1] = 6,
 235         [2] = 12,
 236         [3] = 25,
 237         [4] = 50,
 238         [5] = 100,
 239         [6] = 200,
 240         [7] = 200, /* Not a valid setting */
 241 };
 242
 243 static int adis16400_set_filter(struct iio_dev *indio_dev, int sps, int val)
 244 {
 245         struct adis16400_state *st = iio_priv(indio_dev);
 246         uint16_t val16;
 247         int i, ret;
 248
 249         for (i = ARRAY_SIZE(adis16400_3db_divisors) - 1; i >= 1; i--) {
 250                 if (sps / adis16400_3db_divisors[i] >= val)
 251                         break;
 252         }
 253
 254         ret = adis_read_reg_16(&st->adis, ADIS16400_SENS_AVG, &val16);
 255         if (ret < 0)
 256                 return ret;
 257
 258         ret = adis_write_reg_16(&st->adis, ADIS16400_SENS_AVG,
 259                                          (val16 & ~0x07) | i);
 260         return ret;
 261 }
 262
 263 static ssize_t adis16400_write_frequency(struct device *dev,
 264         struct device_attribute *attr, const char *buf, size_t len)
 265 {
 266         struct iio_dev *indio_dev = dev_to_iio_dev(dev);
 267         struct adis16400_state *st = iio_priv(indio_dev);
 268         int i, f, val;
 269         int ret;
 270
 271         ret = iio_str_to_fixpoint(buf, 100, &i, &f);
 272         if (ret)
 273                 return ret;
 274
 275         val = i * 1000 + f;
 276
 277         if (val <= 0)
 278                 return -EINVAL;
 279
 280         mutex_lock(&indio_dev->mlock);
 281         st->variant->set_freq(st, val);
 282         mutex_unlock(&indio_dev->mlock);
 283
 284         return ret ? ret : len;
 285 }
 286
 287 /* Power down the device */
 288 static int adis16400_stop_device(struct iio_dev *indio_dev)
 289 {
 290         struct adis16400_state *st = iio_priv(indio_dev);
 291         int ret;
 292
 293         ret = adis_write_reg_16(&st->adis, ADIS16400_SLP_CNT,
 294                         ADIS16400_SLP_CNT_POWER_OFF);
 295         if (ret)
 296                 dev_err(&indio_dev->dev,
 297                         "problem with turning device off: SLP_CNT");
 298
 299         return ret;
 300 }
 301
 302 static int adis16400_initial_setup(struct iio_dev *indio_dev)
 303 {
 304         struct adis16400_state *st = iio_priv(indio_dev);
 305         uint16_t prod_id, smp_prd;
 306         unsigned int device_id;
 307         int ret;
 308
 309         /* use low spi speed for init if the device has a slow mode */
 310         if (st->variant->flags & ADIS16400_HAS_SLOW_MODE)
 311                 st->adis.spi->max_speed_hz = ADIS16400_SPI_SLOW;
 312         else
 313                 st->adis.spi->max_speed_hz = ADIS16400_SPI_FAST;
 314         st->adis.spi->mode = SPI_MODE_3;
 315         spi_setup(st->adis.spi);
 316
 317         ret = adis_initial_startup(&st->adis);
 318         if (ret)
 319                 return ret;
 320
 321         if (st->variant->flags & ADIS16400_HAS_PROD_ID) {
 322                 ret = adis_read_reg_16(&st->adis,
 323                                                 ADIS16400_PRODUCT_ID, &prod_id);
 324                 if (ret)
 325                         goto err_ret;
 326
 327                 sscanf(indio_dev->name, "adis%u\n", &device_id);
 328
 329                 if (prod_id != device_id)
 330                         dev_warn(&indio_dev->dev, "Device ID(%u) and product ID(%u) do not match.",
 331                                         device_id, prod_id);
 332
 333                 dev_info(&indio_dev->dev, "%s: prod_id 0x%04x at CS%d (irq %d)\n",
 334                         indio_dev->name, prod_id,
 335                         st->adis.spi->chip_select, st->adis.spi->irq);
 336         }
 337         /* use high spi speed if possible */
 338         if (st->variant->flags & ADIS16400_HAS_SLOW_MODE) {
 339                 ret = adis_read_reg_16(&st->adis, ADIS16400_SMPL_PRD, &smp_prd);
 340                 if (ret)
 341                         goto err_ret;
 342
 343                 if ((smp_prd & ADIS16400_SMPL_PRD_DIV_MASK) < 0x0A) {
 344                         st->adis.spi->max_speed_hz = ADIS16400_SPI_FAST;
 345                         spi_setup(st->adis.spi);
 346                 }
 347         }
 348
 349 err_ret:
 350         return ret;
 351 }
 352
 353 static IIO_DEV_ATTR_SAMP_FREQ(S_IWUSR | S_IRUGO,
 354                               adis16400_read_frequency,
 355                               adis16400_write_frequency);
 356
 357 static const uint8_t adis16400_addresses[] = {
 358         [ADIS16400_SCAN_GYRO_X] = ADIS16400_XGYRO_OFF,
 359         [ADIS16400_SCAN_GYRO_Y] = ADIS16400_YGYRO_OFF,
 360         [ADIS16400_SCAN_GYRO_Z] = ADIS16400_ZGYRO_OFF,
 361         [ADIS16400_SCAN_ACC_X] = ADIS16400_XACCL_OFF,
 362         [ADIS16400_SCAN_ACC_Y] = ADIS16400_YACCL_OFF,
 363         [ADIS16400_SCAN_ACC_Z] = ADIS16400_ZACCL_OFF,
 364 };
 365
 366 static int adis16400_write_raw(struct iio_dev *indio_dev,
 367         struct iio_chan_spec const *chan, int val, int val2, long info)
 368 {
 369         struct adis16400_state *st = iio_priv(indio_dev);
 370         int ret, sps;
 371
 372         switch (info) {
 373         case IIO_CHAN_INFO_CALIBBIAS:
 374                 mutex_lock(&indio_dev->mlock);
 375                 ret = adis_write_reg_16(&st->adis,
 376                                 adis16400_addresses[chan->scan_index], val);
 377                 mutex_unlock(&indio_dev->mlock);
 378                 return ret;
 379         case IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY:
 380                 /*
 381                  * Need to cache values so we can update if the frequency
 382                  * changes.
 383                  */
 384                 mutex_lock(&indio_dev->mlock);
 385                 st->filt_int = val;
 386                 /* Work out update to current value */
 387                 sps = st->variant->get_freq(st);
 388                 if (sps < 0) {
 389                         mutex_unlock(&indio_dev->mlock);
 390                         return sps;
 391                 }
 392
 393                 ret = adis16400_set_filter(indio_dev, sps,
 394                         val * 1000 + val2 / 1000);
 395                 mutex_unlock(&indio_dev->mlock);
 396                 return ret;
 397         default:
 398                 return -EINVAL;
 399         }
 400 }
 401
 402 static int adis16400_read_raw(struct iio_dev *indio_dev,
 403         struct iio_chan_spec const *chan, int *val, int *val2, long info)
 404 {
 405         struct adis16400_state *st = iio_priv(indio_dev);
 406         int16_t val16;
 407         int ret;
 408
 409         switch (info) {
 410         case IIO_CHAN_INFO_RAW:
 411                 return adis_single_conversion(indio_dev, chan, 0, val);
 412         case IIO_CHAN_INFO_SCALE:
 413                 switch (chan->type) {
 414                 case IIO_ANGL_VEL:
 415                         *val = 0;
 416                         *val2 = st->variant->gyro_scale_micro;
 417                         return IIO_VAL_INT_PLUS_MICRO;
 418                 case IIO_VOLTAGE:
 419                         *val = 0;
 420                         if (chan->channel == 0) {
 421                                 *val = 2;
 422                                 *val2 = 418000; /* 2.418 mV */
 423                         } else {
 424                                 *val = 0;
 425                                 *val2 = 805800; /* 805.8 uV */
 426                         }
 427                         return IIO_VAL_INT_PLUS_MICRO;
 428                 case IIO_ACCEL:
 429                         *val = 0;
 430                         *val2 = st->variant->accel_scale_micro;
 431                         return IIO_VAL_INT_PLUS_MICRO;
 432                 case IIO_MAGN:
 433                         *val = 0;
 434                         *val2 = 500; /* 0.5 mgauss */
 435                         return IIO_VAL_INT_PLUS_MICRO;
 436                 case IIO_TEMP:
 437                         *val = st->variant->temp_scale_nano / 1000000;
 438                         *val2 = (st->variant->temp_scale_nano % 1000000);
 439                         return IIO_VAL_INT_PLUS_MICRO;
 440                 default:
 441                         return -EINVAL;
 442                 }
 443         case IIO_CHAN_INFO_CALIBBIAS:
 444                 mutex_lock(&indio_dev->mlock);
 445                 ret = adis_read_reg_16(&st->adis,
 446                                 adis16400_addresses[chan->scan_index], &val16);
 447                 mutex_unlock(&indio_dev->mlock);
 448                 if (ret)
 449                         return ret;
 450                 val16 = ((val16 & 0xFFF) << 4) >> 4;
 451                 *val = val16;
 452                 return IIO_VAL_INT;
 453         case IIO_CHAN_INFO_OFFSET:
 454                 /* currently only temperature */
 455                 *val = st->variant->temp_offset;
 456                 return IIO_VAL_INT;
 457         case IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY:
 458                 mutex_lock(&indio_dev->mlock);
 459                 /* Need both the number of taps and the sampling frequency */
 460                 ret = adis_read_reg_16(&st->adis,
 461                                                 ADIS16400_SENS_AVG,
 462                                                 &val16);
 463                 if (ret < 0) {
 464                         mutex_unlock(&indio_dev->mlock);
 465                         return ret;
 466                 }
 467                 ret = st->variant->get_freq(st);
 468                 if (ret >= 0) {
 469                         ret /= adis16400_3db_divisors[val16 & 0x07];
 470                         *val = ret / 1000;
 471                         *val2 = (ret % 1000) * 1000;
 472                 }
 473                 mutex_unlock(&indio_dev->mlock);
 474                 if (ret < 0)
 475                         return ret;
 476                 return IIO_VAL_INT_PLUS_MICRO;
 477         default:
 478                 return -EINVAL;
 479         }
 480 }
 481
 482 #define ADIS16400_VOLTAGE_CHAN(addr, bits, name, si) { \
 483         .type = IIO_VOLTAGE, \
 484         .indexed = 1, \
 485         .channel = 0, \
 486         .extend_name = name, \
 487         .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \
 488                 BIT(IIO_CHAN_INFO_SCALE), \
 489         .address = (addr), \
 490         .scan_index = (si), \
 491         .scan_type = { \
 492                 .sign = 'u', \
 493                 .realbits = (bits), \
 494                 .storagebits = 16, \
 495                 .shift = 0, \
 496                 .endianness = IIO_BE, \
 497         }, \
 498 }
 499
 500 #define ADIS16400_SUPPLY_CHAN(addr, bits) \
 501         ADIS16400_VOLTAGE_CHAN(addr, bits, "supply", ADIS16400_SCAN_SUPPLY)
 502
 503 #define ADIS16400_AUX_ADC_CHAN(addr, bits) \
 504         ADIS16400_VOLTAGE_CHAN(addr, bits, NULL, ADIS16400_SCAN_ADC)
 505
 506 #define ADIS16400_GYRO_CHAN(mod, addr, bits) { \
 507         .type = IIO_ANGL_VEL, \
 508         .modified = 1, \
 509         .channel2 = IIO_MOD_ ## mod, \
 510         .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \
 511                 BIT(IIO_CHAN_INFO_CALIBBIAS),             \
 512         .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE) | \
 513                 BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY), \
 514         .address = addr, \
 515         .scan_index = ADIS16400_SCAN_GYRO_ ## mod, \
 516         .scan_type = { \
 517                 .sign = 's', \
 518                 .realbits = (bits), \
 519                 .storagebits = 16, \
 520                 .shift = 0, \
 521                 .endianness = IIO_BE, \
 522         }, \
 523 }
 524
 525 #define ADIS16400_ACCEL_CHAN(mod, addr, bits) { \
 526         .type = IIO_ACCEL, \
 527         .modified = 1, \
 528         .channel2 = IIO_MOD_ ## mod, \
 529         .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \
 530                 BIT(IIO_CHAN_INFO_CALIBBIAS), \
 531         .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE) | \
 532                 BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY), \
 533         .address = (addr), \
 534         .scan_index = ADIS16400_SCAN_ACC_ ## mod, \
 535         .scan_type = { \
 536                 .sign = 's', \
 537                 .realbits = (bits), \
 538                 .storagebits = 16, \
 539                 .shift = 0, \
 540                 .endianness = IIO_BE, \
 541         }, \
 542 }
 543
 544 #define ADIS16400_MAGN_CHAN(mod, addr, bits) { \
 545         .type = IIO_MAGN, \
 546         .modified = 1, \
 547         .channel2 = IIO_MOD_ ## mod, \
 548         .info_mask_separate = BIT(IIO_CHAN_INFO_RAW), \
 549         .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE) | \
 550                 BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY), \
 551         .address = (addr), \
 552         .scan_index = ADIS16400_SCAN_MAGN_ ## mod, \
 553         .scan_type = { \
 554                 .sign = 's', \
 555                 .realbits = (bits), \
 556                 .storagebits = 16, \
 557                 .shift = 0, \
 558                 .endianness = IIO_BE, \
 559         }, \
 560 }
 561
 562 #define ADIS16400_MOD_TEMP_NAME_X "x"
 563 #define ADIS16400_MOD_TEMP_NAME_Y "y"
 564 #define ADIS16400_MOD_TEMP_NAME_Z "z"
 565
 566 #define ADIS16400_MOD_TEMP_CHAN(mod, addr, bits) { \
 567         .type = IIO_TEMP, \
 568         .indexed = 1, \
 569         .channel = 0, \
 570         .extend_name = ADIS16400_MOD_TEMP_NAME_ ## mod, \
 571         .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \
 572                 BIT(IIO_CHAN_INFO_OFFSET) | \
 573                 BIT(IIO_CHAN_INFO_SCALE), \
 574         .info_mask_shared_by_type = \
 575                 BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY), \
 576         .address = (addr), \
 577         .scan_index = ADIS16350_SCAN_TEMP_ ## mod, \
 578         .scan_type = { \
 579                 .sign = 's', \
 580                 .realbits = (bits), \
 581                 .storagebits = 16, \
 582                 .shift = 0, \
 583                 .endianness = IIO_BE, \
 584         }, \
 585 }
 586
 587 #define ADIS16400_TEMP_CHAN(addr, bits) { \
 588         .type = IIO_TEMP, \
 589         .indexed = 1, \
 590         .channel = 0, \
 591         .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \
 592                 BIT(IIO_CHAN_INFO_OFFSET) | \
 593                 BIT(IIO_CHAN_INFO_SCALE), \
 594         .address = (addr), \
 595         .scan_index = ADIS16350_SCAN_TEMP_X, \
 596         .scan_type = { \
 597                 .sign = 's', \
 598                 .realbits = (bits), \
 599                 .storagebits = 16, \
 600                 .shift = 0, \
 601                 .endianness = IIO_BE, \
 602         }, \
 603 }
 604
 605 #define ADIS16400_INCLI_CHAN(mod, addr, bits) { \
 606         .type = IIO_INCLI, \
 607         .modified = 1, \
 608         .channel2 = IIO_MOD_ ## mod, \
 609         .info_mask_separate = BIT(IIO_CHAN_INFO_RAW), \
 610         .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE), \
 611         .address = (addr), \
 612         .scan_index = ADIS16300_SCAN_INCLI_ ## mod, \
 613         .scan_type = { \
 614                 .sign = 's', \
 615                 .realbits = (bits), \
 616                 .storagebits = 16, \
 617                 .shift = 0, \
 618                 .endianness = IIO_BE, \
 619         }, \
 620 }
 621
 622 static const struct iio_chan_spec adis16400_channels[] = {
 623         ADIS16400_SUPPLY_CHAN(ADIS16400_SUPPLY_OUT, 14),
 624         ADIS16400_GYRO_CHAN(X, ADIS16400_XGYRO_OUT, 14),
 625         ADIS16400_GYRO_CHAN(Y, ADIS16400_YGYRO_OUT, 14),
 626         ADIS16400_GYRO_CHAN(Z, ADIS16400_ZGYRO_OUT, 14),
 627         ADIS16400_ACCEL_CHAN(X, ADIS16400_XACCL_OUT, 14),
 628         ADIS16400_ACCEL_CHAN(Y, ADIS16400_YACCL_OUT, 14),
 629         ADIS16400_ACCEL_CHAN(Z, ADIS16400_ZACCL_OUT, 14),
 630         ADIS16400_MAGN_CHAN(X, ADIS16400_XMAGN_OUT, 14),
 631         ADIS16400_MAGN_CHAN(Y, ADIS16400_YMAGN_OUT, 14),
 632         ADIS16400_MAGN_CHAN(Z, ADIS16400_ZMAGN_OUT, 14),
 633         ADIS16400_TEMP_CHAN(ADIS16400_TEMP_OUT, 12),
 634         ADIS16400_AUX_ADC_CHAN(ADIS16400_AUX_ADC, 12),
 635         IIO_CHAN_SOFT_TIMESTAMP(12)
 636 };
 637
 638 static const struct iio_chan_spec adis16448_channels[] = {
 639         ADIS16400_GYRO_CHAN(X, ADIS16400_XGYRO_OUT, 16),
 640         ADIS16400_GYRO_CHAN(Y, ADIS16400_YGYRO_OUT, 16),
 641         ADIS16400_GYRO_CHAN(Z, ADIS16400_ZGYRO_OUT, 16),
 642         ADIS16400_ACCEL_CHAN(X, ADIS16400_XACCL_OUT, 16),
 643         ADIS16400_ACCEL_CHAN(Y, ADIS16400_YACCL_OUT, 16),
 644         ADIS16400_ACCEL_CHAN(Z, ADIS16400_ZACCL_OUT, 16),
 645         ADIS16400_MAGN_CHAN(X, ADIS16400_XMAGN_OUT, 16),
 646         ADIS16400_MAGN_CHAN(Y, ADIS16400_YMAGN_OUT, 16),
 647         ADIS16400_MAGN_CHAN(Z, ADIS16400_ZMAGN_OUT, 16),
 648         {
 649                 .type = IIO_PRESSURE,
 650                 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW),
 651                 .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE),
 652                 .address = ADIS16448_BARO_OUT,
 653                 .scan_index = ADIS16400_SCAN_BARO,
 654                 .scan_type = {
 655                         .sign = 's',
 656                         .realbits = 16,
 657                         .storagebits = 16,
 658                         .endianness = IIO_BE,
 659                 },
 660         },
 661         ADIS16400_TEMP_CHAN(ADIS16448_TEMP_OUT, 12),
 662         IIO_CHAN_SOFT_TIMESTAMP(11)
 663 };
 664
 665 static const struct iio_chan_spec adis16350_channels[] = {
 666         ADIS16400_SUPPLY_CHAN(ADIS16400_SUPPLY_OUT, 12),
 667         ADIS16400_GYRO_CHAN(X, ADIS16400_XGYRO_OUT, 14),
 668         ADIS16400_GYRO_CHAN(Y, ADIS16400_YGYRO_OUT, 14),
 669         ADIS16400_GYRO_CHAN(Z, ADIS16400_ZGYRO_OUT, 14),
 670         ADIS16400_ACCEL_CHAN(X, ADIS16400_XACCL_OUT, 14),
 671         ADIS16400_ACCEL_CHAN(Y, ADIS16400_YACCL_OUT, 14),
 672         ADIS16400_ACCEL_CHAN(Z, ADIS16400_ZACCL_OUT, 14),
 673         ADIS16400_MAGN_CHAN(X, ADIS16400_XMAGN_OUT, 14),
 674         ADIS16400_MAGN_CHAN(Y, ADIS16400_YMAGN_OUT, 14),
 675         ADIS16400_MAGN_CHAN(Z, ADIS16400_ZMAGN_OUT, 14),
 676         ADIS16400_AUX_ADC_CHAN(ADIS16300_AUX_ADC, 12),
 677         ADIS16400_MOD_TEMP_CHAN(X, ADIS16350_XTEMP_OUT, 12),
 678         ADIS16400_MOD_TEMP_CHAN(Y, ADIS16350_YTEMP_OUT, 12),
 679         ADIS16400_MOD_TEMP_CHAN(Z, ADIS16350_ZTEMP_OUT, 12),
 680         IIO_CHAN_SOFT_TIMESTAMP(11)
 681 };
 682
 683 static const struct iio_chan_spec adis16300_channels[] = {
 684         ADIS16400_SUPPLY_CHAN(ADIS16400_SUPPLY_OUT, 12),
 685         ADIS16400_GYRO_CHAN(X, ADIS16400_XGYRO_OUT, 14),
 686         ADIS16400_ACCEL_CHAN(X, ADIS16400_XACCL_OUT, 14),
 687         ADIS16400_ACCEL_CHAN(Y, ADIS16400_YACCL_OUT, 14),
 688         ADIS16400_ACCEL_CHAN(Z, ADIS16400_ZACCL_OUT, 14),
 689         ADIS16400_TEMP_CHAN(ADIS16350_XTEMP_OUT, 12),
 690         ADIS16400_AUX_ADC_CHAN(ADIS16300_AUX_ADC, 12),
 691         ADIS16400_INCLI_CHAN(X, ADIS16300_PITCH_OUT, 13),
 692         ADIS16400_INCLI_CHAN(Y, ADIS16300_ROLL_OUT, 13),
 693         IIO_CHAN_SOFT_TIMESTAMP(14)
 694 };
 695
 696 static const struct iio_chan_spec adis16334_channels[] = {
 697         ADIS16400_GYRO_CHAN(X, ADIS16400_XGYRO_OUT, 14),
 698         ADIS16400_GYRO_CHAN(Y, ADIS16400_YGYRO_OUT, 14),
 699         ADIS16400_GYRO_CHAN(Z, ADIS16400_ZGYRO_OUT, 14),
 700         ADIS16400_ACCEL_CHAN(X, ADIS16400_XACCL_OUT, 14),
 701         ADIS16400_ACCEL_CHAN(Y, ADIS16400_YACCL_OUT, 14),
 702         ADIS16400_ACCEL_CHAN(Z, ADIS16400_ZACCL_OUT, 14),
 703         ADIS16400_TEMP_CHAN(ADIS16350_XTEMP_OUT, 12),
 704         IIO_CHAN_SOFT_TIMESTAMP(8)
 705 };
 706
 707 static struct attribute *adis16400_attributes[] = {
 708         &iio_dev_attr_sampling_frequency.dev_attr.attr,
 709         NULL
 710 };
 711
 712 static const struct attribute_group adis16400_attribute_group = {
 713         .attrs = adis16400_attributes,
 714 };
 715
 716 static struct adis16400_chip_info adis16400_chips[] = {
 717         [ADIS16300] = {
 718                 .channels = adis16300_channels,
 719                 .num_channels = ARRAY_SIZE(adis16300_channels),
 720                 .flags = ADIS16400_HAS_SLOW_MODE,
 721                 .gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */
 722                 .accel_scale_micro = 5884,
 723                 .temp_scale_nano = 140000000, /* 0.14 C */
 724                 .temp_offset = 25000000 / 140000, /* 25 C = 0x00 */
 725                 .set_freq = adis16400_set_freq,
 726                 .get_freq = adis16400_get_freq,
 727         },
 728         [ADIS16334] = {
 729                 .channels = adis16334_channels,
 730                 .num_channels = ARRAY_SIZE(adis16334_channels),
 731                 .flags = ADIS16400_HAS_PROD_ID | ADIS16400_NO_BURST |
 732                                 ADIS16400_HAS_SERIAL_NUMBER,
 733                 .gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */
 734                 .accel_scale_micro = IIO_G_TO_M_S_2(1000), /* 1 mg */
 735                 .temp_scale_nano = 67850000, /* 0.06785 C */
 736                 .temp_offset = 25000000 / 67850, /* 25 C = 0x00 */
 737                 .set_freq = adis16334_set_freq,
 738                 .get_freq = adis16334_get_freq,
 739         },
 740         [ADIS16350] = {
 741                 .channels = adis16350_channels,
 742                 .num_channels = ARRAY_SIZE(adis16350_channels),
 743                 .gyro_scale_micro = IIO_DEGREE_TO_RAD(73260), /* 0.07326 deg/s */
 744                 .accel_scale_micro = IIO_G_TO_M_S_2(2522), /* 0.002522 g */
 745                 .temp_scale_nano = 145300000, /* 0.1453 C */
 746                 .temp_offset = 25000000 / 145300, /* 25 C = 0x00 */
 747                 .flags = ADIS16400_NO_BURST | ADIS16400_HAS_SLOW_MODE,
 748                 .set_freq = adis16400_set_freq,
 749                 .get_freq = adis16400_get_freq,
 750         },
 751         [ADIS16360] = {
 752                 .channels = adis16350_channels,
 753                 .num_channels = ARRAY_SIZE(adis16350_channels),
 754                 .flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE |
 755                                 ADIS16400_HAS_SERIAL_NUMBER,
 756                 .gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */
 757                 .accel_scale_micro = IIO_G_TO_M_S_2(3333), /* 3.333 mg */
 758                 .temp_scale_nano = 136000000, /* 0.136 C */
 759                 .temp_offset = 25000000 / 136000, /* 25 C = 0x00 */
 760                 .set_freq = adis16400_set_freq,
 761                 .get_freq = adis16400_get_freq,
 762         },
 763         [ADIS16362] = {
 764                 .channels = adis16350_channels,
 765                 .num_channels = ARRAY_SIZE(adis16350_channels),
 766                 .flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE |
 767                                 ADIS16400_HAS_SERIAL_NUMBER,
 768                 .gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */
 769                 .accel_scale_micro = IIO_G_TO_M_S_2(333), /* 0.333 mg */
 770                 .temp_scale_nano = 136000000, /* 0.136 C */
 771                 .temp_offset = 25000000 / 136000, /* 25 C = 0x00 */
 772                 .set_freq = adis16400_set_freq,
 773                 .get_freq = adis16400_get_freq,
 774         },
 775         [ADIS16364] = {
 776                 .channels = adis16350_channels,
 777                 .num_channels = ARRAY_SIZE(adis16350_channels),
 778                 .flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE |
 779                                 ADIS16400_HAS_SERIAL_NUMBER,
 780                 .gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */
 781                 .accel_scale_micro = IIO_G_TO_M_S_2(1000), /* 1 mg */
 782                 .temp_scale_nano = 136000000, /* 0.136 C */
 783                 .temp_offset = 25000000 / 136000, /* 25 C = 0x00 */
 784                 .set_freq = adis16400_set_freq,
 785                 .get_freq = adis16400_get_freq,
 786         },
 787         [ADIS16400] = {
 788                 .channels = adis16400_channels,
 789                 .num_channels = ARRAY_SIZE(adis16400_channels),
 790                 .flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE,
 791                 .gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */
 792                 .accel_scale_micro = IIO_G_TO_M_S_2(3333), /* 3.333 mg */
 793                 .temp_scale_nano = 140000000, /* 0.14 C */
 794                 .temp_offset = 25000000 / 140000, /* 25 C = 0x00 */
 795                 .set_freq = adis16400_set_freq,
 796                 .get_freq = adis16400_get_freq,
 797         },
 798         [ADIS16448] = {
 799                 .channels = adis16448_channels,
 800                 .num_channels = ARRAY_SIZE(adis16448_channels),
 801                 .flags = ADIS16400_HAS_PROD_ID |
 802                                 ADIS16400_HAS_SERIAL_NUMBER,
 803                 .gyro_scale_micro = IIO_DEGREE_TO_RAD(10000), /* 0.01 deg/s */
 804                 .accel_scale_micro = IIO_G_TO_M_S_2(833), /* 1/1200 g */
 805                 .temp_scale_nano = 73860000, /* 0.07386 C */
 806                 .temp_offset = 31000000 / 73860, /* 31 C = 0x00 */
 807                 .set_freq = adis16334_set_freq,
 808                 .get_freq = adis16334_get_freq,
 809         }
 810 };
 811
 812 static const struct iio_info adis16400_info = {
 813         .driver_module = THIS_MODULE,
 814         .read_raw = &adis16400_read_raw,
 815         .write_raw = &adis16400_write_raw,
 816         .attrs = &adis16400_attribute_group,
 817         .update_scan_mode = adis16400_update_scan_mode,
 818         .debugfs_reg_access = adis_debugfs_reg_access,
 819 };
 820
 821 static const unsigned long adis16400_burst_scan_mask[] = {
 822         ~0UL,
 823         0,
 824 };
 825
 826 static const char * const adis16400_status_error_msgs[] = {
 827         [ADIS16400_DIAG_STAT_ZACCL_FAIL] = "Z-axis accelerometer self-test failure",
 828         [ADIS16400_DIAG_STAT_YACCL_FAIL] = "Y-axis accelerometer self-test failure",
 829         [ADIS16400_DIAG_STAT_XACCL_FAIL] = "X-axis accelerometer self-test failure",
 830         [ADIS16400_DIAG_STAT_XGYRO_FAIL] = "X-axis gyroscope self-test failure",
 831         [ADIS16400_DIAG_STAT_YGYRO_FAIL] = "Y-axis gyroscope self-test failure",
 832         [ADIS16400_DIAG_STAT_ZGYRO_FAIL] = "Z-axis gyroscope self-test failure",
 833         [ADIS16400_DIAG_STAT_ALARM2] = "Alarm 2 active",
 834         [ADIS16400_DIAG_STAT_ALARM1] = "Alarm 1 active",
 835         [ADIS16400_DIAG_STAT_FLASH_CHK] = "Flash checksum error",
 836         [ADIS16400_DIAG_STAT_SELF_TEST] = "Self test error",
 837         [ADIS16400_DIAG_STAT_OVERFLOW] = "Sensor overrange",
 838         [ADIS16400_DIAG_STAT_SPI_FAIL] = "SPI failure",
 839         [ADIS16400_DIAG_STAT_FLASH_UPT] = "Flash update failed",
 840         [ADIS16400_DIAG_STAT_POWER_HIGH] = "Power supply above 5.25V",
 841         [ADIS16400_DIAG_STAT_POWER_LOW] = "Power supply below 4.75V",
 842 };
 843
 844 static const struct adis_data adis16400_data = {
 845         .msc_ctrl_reg = ADIS16400_MSC_CTRL,
 846         .glob_cmd_reg = ADIS16400_GLOB_CMD,
 847         .diag_stat_reg = ADIS16400_DIAG_STAT,
 848
 849         .read_delay = 50,
 850         .write_delay = 50,
 851
 852         .self_test_mask = ADIS16400_MSC_CTRL_MEM_TEST,
 853         .startup_delay = ADIS16400_STARTUP_DELAY,
 854
 855         .status_error_msgs = adis16400_status_error_msgs,
 856         .status_error_mask = BIT(ADIS16400_DIAG_STAT_ZACCL_FAIL) |
 857                 BIT(ADIS16400_DIAG_STAT_YACCL_FAIL) |
 858                 BIT(ADIS16400_DIAG_STAT_XACCL_FAIL) |
 859                 BIT(ADIS16400_DIAG_STAT_XGYRO_FAIL) |
 860                 BIT(ADIS16400_DIAG_STAT_YGYRO_FAIL) |
 861                 BIT(ADIS16400_DIAG_STAT_ZGYRO_FAIL) |
 862                 BIT(ADIS16400_DIAG_STAT_ALARM2) |
 863                 BIT(ADIS16400_DIAG_STAT_ALARM1) |
 864                 BIT(ADIS16400_DIAG_STAT_FLASH_CHK) |
 865                 BIT(ADIS16400_DIAG_STAT_SELF_TEST) |
 866                 BIT(ADIS16400_DIAG_STAT_OVERFLOW) |
 867                 BIT(ADIS16400_DIAG_STAT_SPI_FAIL) |
 868                 BIT(ADIS16400_DIAG_STAT_FLASH_UPT) |
 869                 BIT(ADIS16400_DIAG_STAT_POWER_HIGH) |
 870                 BIT(ADIS16400_DIAG_STAT_POWER_LOW),
 871 };
 872
 873 static int adis16400_probe(struct spi_device *spi)
 874 {
 875         struct adis16400_state *st;
 876         struct iio_dev *indio_dev;
 877         int ret;
 878
 879         indio_dev = devm_iio_device_alloc(&spi->dev, sizeof(*st));
 880         if (indio_dev == NULL)
 881                 return -ENOMEM;
 882
 883         st = iio_priv(indio_dev);
 884         /* this is only used for removal purposes */
 885         spi_set_drvdata(spi, indio_dev);
 886
 887         /* setup the industrialio driver allocated elements */
 888         st->variant = &adis16400_chips[spi_get_device_id(spi)->driver_data];
 889         indio_dev->dev.parent = &spi->dev;
 890         indio_dev->name = spi_get_device_id(spi)->name;
 891         indio_dev->channels = st->variant->channels;
 892         indio_dev->num_channels = st->variant->num_channels;
 893         indio_dev->info = &adis16400_info;
 894         indio_dev->modes = INDIO_DIRECT_MODE;
 895
 896         if (!(st->variant->flags & ADIS16400_NO_BURST))
 897                 indio_dev->available_scan_masks = adis16400_burst_scan_mask;
 898
 899         ret = adis_init(&st->adis, indio_dev, spi, &adis16400_data);
 900         if (ret)
 901                 return ret;
 902
 903         ret = adis_setup_buffer_and_trigger(&st->adis, indio_dev,
 904                         adis16400_trigger_handler);
 905         if (ret)
 906                 return ret;
 907
 908         /* Get the device into a sane initial state */
 909         ret = adis16400_initial_setup(indio_dev);
 910         if (ret)
 911                 goto error_cleanup_buffer;
 912         ret = iio_device_register(indio_dev);
 913         if (ret)
 914                 goto error_cleanup_buffer;
 915
 916         adis16400_debugfs_init(indio_dev);
 917         return 0;
 918
 919 error_cleanup_buffer:
 920         adis_cleanup_buffer_and_trigger(&st->adis, indio_dev);
 921         return ret;
 922 }
 923
 924 static int adis16400_remove(struct spi_device *spi)
 925 {
 926         struct iio_dev *indio_dev = spi_get_drvdata(spi);
 927         struct adis16400_state *st = iio_priv(indio_dev);
 928
 929         iio_device_unregister(indio_dev);
 930         adis16400_stop_device(indio_dev);
 931
 932         adis_cleanup_buffer_and_trigger(&st->adis, indio_dev);
 933
 934         return 0;
 935 }
 936
 937 static const struct spi_device_id adis16400_id[] = {
 938         {"adis16300", ADIS16300},
 939         {"adis16334", ADIS16334},
 940         {"adis16350", ADIS16350},
 941         {"adis16354", ADIS16350},
 942         {"adis16355", ADIS16350},
 943         {"adis16360", ADIS16360},
 944         {"adis16362", ADIS16362},
 945         {"adis16364", ADIS16364},
 946         {"adis16365", ADIS16360},
 947         {"adis16400", ADIS16400},
 948         {"adis16405", ADIS16400},
 949         {"adis16448", ADIS16448},
 950         {}
 951 };
 952 MODULE_DEVICE_TABLE(spi, adis16400_id);
 953
 954 static struct spi_driver adis16400_driver = {
 955         .driver = {
 956                 .name = "adis16400",
 957                 .owner = THIS_MODULE,
 958         },
 959         .id_table = adis16400_id,
 960         .probe = adis16400_probe,
 961         .remove = adis16400_remove,
 962 };
 963 module_spi_driver(adis16400_driver);
 964
 965 MODULE_AUTHOR("Manuel Stahl <manuel.stahl@iis.fraunhofer.de>");
 966 MODULE_DESCRIPTION("Analog Devices ADIS16400/5 IMU SPI driver");
 967 MODULE_LICENSE("GPL v2");