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 #include <linux/bitops.h>
  30
  31 #include <linux/iio/iio.h>
  32 #include <linux/iio/sysfs.h>
  33 #include <linux/iio/buffer.h>
  34
  35 #include "adis16400.h"
  36
  37 #ifdef CONFIG_DEBUG_FS
  38
  39 static ssize_t adis16400_show_serial_number(struct file *file,
  40                 char __user *userbuf, size_t count, loff_t *ppos)
  41 {
  42         struct adis16400_state *st = file->private_data;
  43         u16 lot1, lot2, serial_number;
  44         char buf[16];
  45         size_t len;
  46         int ret;
  47
  48         ret = adis_read_reg_16(&st->adis, ADIS16334_LOT_ID1, &lot1);
  49         if (ret < 0)
  50                 return ret;
  51
  52         ret = adis_read_reg_16(&st->adis, ADIS16334_LOT_ID2, &lot2);
  53         if (ret < 0)
  54                 return ret;
  55
  56         ret = adis_read_reg_16(&st->adis, ADIS16334_SERIAL_NUMBER,
  57                         &serial_number);
  58         if (ret < 0)
  59                 return ret;
  60
  61         len = snprintf(buf, sizeof(buf), "%.4x-%.4x-%.4x\n", lot1, lot2,
  62                         serial_number);
  63
  64         return simple_read_from_buffer(userbuf, count, ppos, buf, len);
  65 }
  66
  67 static const struct file_operations adis16400_serial_number_fops = {
  68         .open = simple_open,
  69         .read = adis16400_show_serial_number,
  70         .llseek = default_llseek,
  71         .owner = THIS_MODULE,
  72 };
  73
  74 static int adis16400_show_product_id(void *arg, u64 *val)
  75 {
  76         struct adis16400_state *st = arg;
  77         uint16_t prod_id;
  78         int ret;
  79
  80         ret = adis_read_reg_16(&st->adis, ADIS16400_PRODUCT_ID, &prod_id);
  81         if (ret < 0)
  82                 return ret;
  83
  84         *val = prod_id;
  85
  86         return 0;
  87 }
  88 DEFINE_SIMPLE_ATTRIBUTE(adis16400_product_id_fops,
  89         adis16400_show_product_id, NULL, "%lld\n");
  90
  91 static int adis16400_show_flash_count(void *arg, u64 *val)
  92 {
  93         struct adis16400_state *st = arg;
  94         uint16_t flash_count;
  95         int ret;
  96
  97         ret = adis_read_reg_16(&st->adis, ADIS16400_FLASH_CNT, &flash_count);
  98         if (ret < 0)
  99                 return ret;
 100
 101         *val = flash_count;
 102
 103         return 0;
 104 }
 105 DEFINE_SIMPLE_ATTRIBUTE(adis16400_flash_count_fops,
 106         adis16400_show_flash_count, NULL, "%lld\n");
 107
 108 static int adis16400_debugfs_init(struct iio_dev *indio_dev)
 109 {
 110         struct adis16400_state *st = iio_priv(indio_dev);
 111
 112         if (st->variant->flags & ADIS16400_HAS_SERIAL_NUMBER)
 113                 debugfs_create_file("serial_number", 0400,
 114                         indio_dev->debugfs_dentry, st,
 115                         &adis16400_serial_number_fops);
 116         if (st->variant->flags & ADIS16400_HAS_PROD_ID)
 117                 debugfs_create_file("product_id", 0400,
 118                         indio_dev->debugfs_dentry, st,
 119                         &adis16400_product_id_fops);
 120         debugfs_create_file("flash_count", 0400, indio_dev->debugfs_dentry,
 121                 st, &adis16400_flash_count_fops);
 122
 123         return 0;
 124 }
 125
 126 #else
 127
 128 static int adis16400_debugfs_init(struct iio_dev *indio_dev)
 129 {
 130         return 0;
 131 }
 132
 133 #endif
 134
 135 enum adis16400_chip_variant {
 136         ADIS16300,
 137         ADIS16334,
 138         ADIS16350,
 139         ADIS16360,
 140         ADIS16362,
 141         ADIS16364,
 142         ADIS16400,
 143         ADIS16448,
 144 };
 145
 146 static int adis16334_get_freq(struct adis16400_state *st)
 147 {
 148         int ret;
 149         uint16_t t;
 150
 151         ret = adis_read_reg_16(&st->adis, ADIS16400_SMPL_PRD, &t);
 152         if (ret < 0)
 153                 return ret;
 154
 155         t >>= ADIS16334_RATE_DIV_SHIFT;
 156
 157         return 819200 >> t;
 158 }
 159
 160 static int adis16334_set_freq(struct adis16400_state *st, unsigned int freq)
 161 {
 162         unsigned int t;
 163
 164         if (freq < 819200)
 165                 t = ilog2(819200 / freq);
 166         else
 167                 t = 0;
 168
 169         if (t > 0x31)
 170                 t = 0x31;
 171
 172         t <<= ADIS16334_RATE_DIV_SHIFT;
 173         t |= ADIS16334_RATE_INT_CLK;
 174
 175         return adis_write_reg_16(&st->adis, ADIS16400_SMPL_PRD, t);
 176 }
 177
 178 static int adis16400_get_freq(struct adis16400_state *st)
 179 {
 180         int sps, ret;
 181         uint16_t t;
 182
 183         ret = adis_read_reg_16(&st->adis, ADIS16400_SMPL_PRD, &t);
 184         if (ret < 0)
 185                 return ret;
 186
 187         sps = (t & ADIS16400_SMPL_PRD_TIME_BASE) ? 52851 : 1638404;
 188         sps /= (t & ADIS16400_SMPL_PRD_DIV_MASK) + 1;
 189
 190         return sps;
 191 }
 192
 193 static int adis16400_set_freq(struct adis16400_state *st, unsigned int freq)
 194 {
 195         unsigned int t;
 196         uint8_t val = 0;
 197
 198         t = 1638404 / freq;
 199         if (t >= 128) {
 200                 val |= ADIS16400_SMPL_PRD_TIME_BASE;
 201                 t = 52851 / freq;
 202                 if (t >= 128)
 203                         t = 127;
 204         } else if (t != 0) {
 205                 t--;
 206         }
 207
 208         val |= t;
 209
 210         if (t >= 0x0A || (val & ADIS16400_SMPL_PRD_TIME_BASE))
 211                 st->adis.spi->max_speed_hz = ADIS16400_SPI_SLOW;
 212         else
 213                 st->adis.spi->max_speed_hz = ADIS16400_SPI_FAST;
 214
 215         return adis_write_reg_8(&st->adis, ADIS16400_SMPL_PRD, val);
 216 }
 217
 218 static ssize_t adis16400_read_frequency(struct device *dev,
 219                 struct device_attribute *attr,
 220                 char *buf)
 221 {
 222         struct iio_dev *indio_dev = dev_to_iio_dev(dev);
 223         struct adis16400_state *st = iio_priv(indio_dev);
 224         int ret;
 225
 226         ret = st->variant->get_freq(st);
 227         if (ret < 0)
 228                 return ret;
 229
 230         return sprintf(buf, "%d.%.3d\n", ret / 1000, ret % 1000);
 231 }
 232
 233 static const unsigned adis16400_3db_divisors[] = {
 234         [0] = 2, /* Special case */
 235         [1] = 6,
 236         [2] = 12,
 237         [3] = 25,
 238         [4] = 50,
 239         [5] = 100,
 240         [6] = 200,
 241         [7] = 200, /* Not a valid setting */
 242 };
 243
 244 static int adis16400_set_filter(struct iio_dev *indio_dev, int sps, int val)
 245 {
 246         struct adis16400_state *st = iio_priv(indio_dev);
 247         uint16_t val16;
 248         int i, ret;
 249
 250         for (i = ARRAY_SIZE(adis16400_3db_divisors) - 1; i >= 1; i--) {
 251                 if (sps / adis16400_3db_divisors[i] >= val)
 252                         break;
 253         }
 254
 255         ret = adis_read_reg_16(&st->adis, ADIS16400_SENS_AVG, &val16);
 256         if (ret < 0)
 257                 return ret;
 258
 259         ret = adis_write_reg_16(&st->adis, ADIS16400_SENS_AVG,
 260                                          (val16 & ~0x07) | i);
 261         return ret;
 262 }
 263
 264 static ssize_t adis16400_write_frequency(struct device *dev,
 265         struct device_attribute *attr, const char *buf, size_t len)
 266 {
 267         struct iio_dev *indio_dev = dev_to_iio_dev(dev);
 268         struct adis16400_state *st = iio_priv(indio_dev);
 269         int i, f, val;
 270         int ret;
 271
 272         ret = iio_str_to_fixpoint(buf, 100, &i, &f);
 273         if (ret)
 274                 return ret;
 275
 276         val = i * 1000 + f;
 277
 278         if (val <= 0)
 279                 return -EINVAL;
 280
 281         mutex_lock(&indio_dev->mlock);
 282         st->variant->set_freq(st, val);
 283         mutex_unlock(&indio_dev->mlock);
 284
 285         return ret ? ret : len;
 286 }
 287
 288 /* Power down the device */
 289 static int adis16400_stop_device(struct iio_dev *indio_dev)
 290 {
 291         struct adis16400_state *st = iio_priv(indio_dev);
 292         int ret;
 293
 294         ret = adis_write_reg_16(&st->adis, ADIS16400_SLP_CNT,
 295                         ADIS16400_SLP_CNT_POWER_OFF);
 296         if (ret)
 297                 dev_err(&indio_dev->dev,
 298                         "problem with turning device off: SLP_CNT");
 299
 300         return ret;
 301 }
 302
 303 static int adis16400_initial_setup(struct iio_dev *indio_dev)
 304 {
 305         struct adis16400_state *st = iio_priv(indio_dev);
 306         uint16_t prod_id, smp_prd;
 307         unsigned int device_id;
 308         int ret;
 309
 310         /* use low spi speed for init if the device has a slow mode */
 311         if (st->variant->flags & ADIS16400_HAS_SLOW_MODE)
 312                 st->adis.spi->max_speed_hz = ADIS16400_SPI_SLOW;
 313         else
 314                 st->adis.spi->max_speed_hz = ADIS16400_SPI_FAST;
 315         st->adis.spi->mode = SPI_MODE_3;
 316         spi_setup(st->adis.spi);
 317
 318         ret = adis_initial_startup(&st->adis);
 319         if (ret)
 320                 return ret;
 321
 322         if (st->variant->flags & ADIS16400_HAS_PROD_ID) {
 323                 ret = adis_read_reg_16(&st->adis,
 324                                                 ADIS16400_PRODUCT_ID, &prod_id);
 325                 if (ret)
 326                         goto err_ret;
 327
 328                 sscanf(indio_dev->name, "adis%u\n", &device_id);
 329
 330                 if (prod_id != device_id)
 331                         dev_warn(&indio_dev->dev, "Device ID(%u) and product ID(%u) do not match.",
 332                                         device_id, prod_id);
 333
 334                 dev_info(&indio_dev->dev, "%s: prod_id 0x%04x at CS%d (irq %d)\n",
 335                         indio_dev->name, prod_id,
 336                         st->adis.spi->chip_select, st->adis.spi->irq);
 337         }
 338         /* use high spi speed if possible */
 339         if (st->variant->flags & ADIS16400_HAS_SLOW_MODE) {
 340                 ret = adis_read_reg_16(&st->adis, ADIS16400_SMPL_PRD, &smp_prd);
 341                 if (ret)
 342                         goto err_ret;
 343
 344                 if ((smp_prd & ADIS16400_SMPL_PRD_DIV_MASK) < 0x0A) {
 345                         st->adis.spi->max_speed_hz = ADIS16400_SPI_FAST;
 346                         spi_setup(st->adis.spi);
 347                 }
 348         }
 349
 350 err_ret:
 351         return ret;
 352 }
 353
 354 static IIO_DEV_ATTR_SAMP_FREQ(S_IWUSR | S_IRUGO,
 355                               adis16400_read_frequency,
 356                               adis16400_write_frequency);
 357
 358 static const uint8_t adis16400_addresses[] = {
 359         [ADIS16400_SCAN_GYRO_X] = ADIS16400_XGYRO_OFF,
 360         [ADIS16400_SCAN_GYRO_Y] = ADIS16400_YGYRO_OFF,
 361         [ADIS16400_SCAN_GYRO_Z] = ADIS16400_ZGYRO_OFF,
 362         [ADIS16400_SCAN_ACC_X] = ADIS16400_XACCL_OFF,
 363         [ADIS16400_SCAN_ACC_Y] = ADIS16400_YACCL_OFF,
 364         [ADIS16400_SCAN_ACC_Z] = ADIS16400_ZACCL_OFF,
 365 };
 366
 367 static int adis16400_write_raw(struct iio_dev *indio_dev,
 368         struct iio_chan_spec const *chan, int val, int val2, long info)
 369 {
 370         struct adis16400_state *st = iio_priv(indio_dev);
 371         int ret, sps;
 372
 373         switch (info) {
 374         case IIO_CHAN_INFO_CALIBBIAS:
 375                 mutex_lock(&indio_dev->mlock);
 376                 ret = adis_write_reg_16(&st->adis,
 377                                 adis16400_addresses[chan->scan_index], val);
 378                 mutex_unlock(&indio_dev->mlock);
 379                 return ret;
 380         case IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY:
 381                 /*
 382                  * Need to cache values so we can update if the frequency
 383                  * changes.
 384                  */
 385                 mutex_lock(&indio_dev->mlock);
 386                 st->filt_int = val;
 387                 /* Work out update to current value */
 388                 sps = st->variant->get_freq(st);
 389                 if (sps < 0) {
 390                         mutex_unlock(&indio_dev->mlock);
 391                         return sps;
 392                 }
 393
 394                 ret = adis16400_set_filter(indio_dev, sps,
 395                         val * 1000 + val2 / 1000);
 396                 mutex_unlock(&indio_dev->mlock);
 397                 return ret;
 398         default:
 399                 return -EINVAL;
 400         }
 401 }
 402
 403 static int adis16400_read_raw(struct iio_dev *indio_dev,
 404         struct iio_chan_spec const *chan, int *val, int *val2, long info)
 405 {
 406         struct adis16400_state *st = iio_priv(indio_dev);
 407         int16_t val16;
 408         int ret;
 409
 410         switch (info) {
 411         case IIO_CHAN_INFO_RAW:
 412                 return adis_single_conversion(indio_dev, chan, 0, val);
 413         case IIO_CHAN_INFO_SCALE:
 414                 switch (chan->type) {
 415                 case IIO_ANGL_VEL:
 416                         *val = 0;
 417                         *val2 = st->variant->gyro_scale_micro;
 418                         return IIO_VAL_INT_PLUS_MICRO;
 419                 case IIO_VOLTAGE:
 420                         *val = 0;
 421                         if (chan->channel == 0) {
 422                                 *val = 2;
 423                                 *val2 = 418000; /* 2.418 mV */
 424                         } else {
 425                                 *val = 0;
 426                                 *val2 = 805800; /* 805.8 uV */
 427                         }
 428                         return IIO_VAL_INT_PLUS_MICRO;
 429                 case IIO_ACCEL:
 430                         *val = 0;
 431                         *val2 = st->variant->accel_scale_micro;
 432                         return IIO_VAL_INT_PLUS_MICRO;
 433                 case IIO_MAGN:
 434                         *val = 0;
 435                         *val2 = 500; /* 0.5 mgauss */
 436                         return IIO_VAL_INT_PLUS_MICRO;
 437                 case IIO_TEMP:
 438                         *val = st->variant->temp_scale_nano / 1000000;
 439                         *val2 = (st->variant->temp_scale_nano % 1000000);
 440                         return IIO_VAL_INT_PLUS_MICRO;
 441                 case IIO_PRESSURE:
 442                         /* 20 uBar = 0.002kPascal */
 443                         *val = 0;
 444                         *val2 = 2000;
 445                         return IIO_VAL_INT_PLUS_MICRO;
 446                 default:
 447                         return -EINVAL;
 448                 }
 449         case IIO_CHAN_INFO_CALIBBIAS:
 450                 mutex_lock(&indio_dev->mlock);
 451                 ret = adis_read_reg_16(&st->adis,
 452                                 adis16400_addresses[chan->scan_index], &val16);
 453                 mutex_unlock(&indio_dev->mlock);
 454                 if (ret)
 455                         return ret;
 456                 val16 = sign_extend32(val16, 11);
 457                 *val = val16;
 458                 return IIO_VAL_INT;
 459         case IIO_CHAN_INFO_OFFSET:
 460                 /* currently only temperature */
 461                 *val = st->variant->temp_offset;
 462                 return IIO_VAL_INT;
 463         case IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY:
 464                 mutex_lock(&indio_dev->mlock);
 465                 /* Need both the number of taps and the sampling frequency */
 466                 ret = adis_read_reg_16(&st->adis,
 467                                                 ADIS16400_SENS_AVG,
 468                                                 &val16);
 469                 if (ret < 0) {
 470                         mutex_unlock(&indio_dev->mlock);
 471                         return ret;
 472                 }
 473                 ret = st->variant->get_freq(st);
 474                 if (ret >= 0) {
 475                         ret /= adis16400_3db_divisors[val16 & 0x07];
 476                         *val = ret / 1000;
 477                         *val2 = (ret % 1000) * 1000;
 478                 }
 479                 mutex_unlock(&indio_dev->mlock);
 480                 if (ret < 0)
 481                         return ret;
 482                 return IIO_VAL_INT_PLUS_MICRO;
 483         default:
 484                 return -EINVAL;
 485         }
 486 }
 487
 488 #define ADIS16400_VOLTAGE_CHAN(addr, bits, name, si, chn) { \
 489         .type = IIO_VOLTAGE, \
 490         .indexed = 1, \
 491         .channel = chn, \
 492         .extend_name = name, \
 493         .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \
 494                 BIT(IIO_CHAN_INFO_SCALE), \
 495         .address = (addr), \
 496         .scan_index = (si), \
 497         .scan_type = { \
 498                 .sign = 'u', \
 499                 .realbits = (bits), \
 500                 .storagebits = 16, \
 501                 .shift = 0, \
 502                 .endianness = IIO_BE, \
 503         }, \
 504 }
 505
 506 #define ADIS16400_SUPPLY_CHAN(addr, bits) \
 507         ADIS16400_VOLTAGE_CHAN(addr, bits, "supply", ADIS16400_SCAN_SUPPLY, 0)
 508
 509 #define ADIS16400_AUX_ADC_CHAN(addr, bits) \
 510         ADIS16400_VOLTAGE_CHAN(addr, bits, NULL, ADIS16400_SCAN_ADC, 1)
 511
 512 #define ADIS16400_GYRO_CHAN(mod, addr, bits) { \
 513         .type = IIO_ANGL_VEL, \
 514         .modified = 1, \
 515         .channel2 = IIO_MOD_ ## mod, \
 516         .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \
 517                 BIT(IIO_CHAN_INFO_CALIBBIAS),             \
 518         .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE) | \
 519                 BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY), \
 520         .address = addr, \
 521         .scan_index = ADIS16400_SCAN_GYRO_ ## mod, \
 522         .scan_type = { \
 523                 .sign = 's', \
 524                 .realbits = (bits), \
 525                 .storagebits = 16, \
 526                 .shift = 0, \
 527                 .endianness = IIO_BE, \
 528         }, \
 529 }
 530
 531 #define ADIS16400_ACCEL_CHAN(mod, addr, bits) { \
 532         .type = IIO_ACCEL, \
 533         .modified = 1, \
 534         .channel2 = IIO_MOD_ ## mod, \
 535         .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \
 536                 BIT(IIO_CHAN_INFO_CALIBBIAS), \
 537         .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE) | \
 538                 BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY), \
 539         .address = (addr), \
 540         .scan_index = ADIS16400_SCAN_ACC_ ## mod, \
 541         .scan_type = { \
 542                 .sign = 's', \
 543                 .realbits = (bits), \
 544                 .storagebits = 16, \
 545                 .shift = 0, \
 546                 .endianness = IIO_BE, \
 547         }, \
 548 }
 549
 550 #define ADIS16400_MAGN_CHAN(mod, addr, bits) { \
 551         .type = IIO_MAGN, \
 552         .modified = 1, \
 553         .channel2 = IIO_MOD_ ## mod, \
 554         .info_mask_separate = BIT(IIO_CHAN_INFO_RAW), \
 555         .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE) | \
 556                 BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY), \
 557         .address = (addr), \
 558         .scan_index = ADIS16400_SCAN_MAGN_ ## mod, \
 559         .scan_type = { \
 560                 .sign = 's', \
 561                 .realbits = (bits), \
 562                 .storagebits = 16, \
 563                 .shift = 0, \
 564                 .endianness = IIO_BE, \
 565         }, \
 566 }
 567
 568 #define ADIS16400_MOD_TEMP_NAME_X "x"
 569 #define ADIS16400_MOD_TEMP_NAME_Y "y"
 570 #define ADIS16400_MOD_TEMP_NAME_Z "z"
 571
 572 #define ADIS16400_MOD_TEMP_CHAN(mod, addr, bits) { \
 573         .type = IIO_TEMP, \
 574         .indexed = 1, \
 575         .channel = 0, \
 576         .extend_name = ADIS16400_MOD_TEMP_NAME_ ## mod, \
 577         .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \
 578                 BIT(IIO_CHAN_INFO_OFFSET) | \
 579                 BIT(IIO_CHAN_INFO_SCALE), \
 580         .info_mask_shared_by_type = \
 581                 BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY), \
 582         .address = (addr), \
 583         .scan_index = ADIS16350_SCAN_TEMP_ ## mod, \
 584         .scan_type = { \
 585                 .sign = 's', \
 586                 .realbits = (bits), \
 587                 .storagebits = 16, \
 588                 .shift = 0, \
 589                 .endianness = IIO_BE, \
 590         }, \
 591 }
 592
 593 #define ADIS16400_TEMP_CHAN(addr, bits) { \
 594         .type = IIO_TEMP, \
 595         .indexed = 1, \
 596         .channel = 0, \
 597         .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \
 598                 BIT(IIO_CHAN_INFO_OFFSET) | \
 599                 BIT(IIO_CHAN_INFO_SCALE), \
 600         .address = (addr), \
 601         .scan_index = ADIS16350_SCAN_TEMP_X, \
 602         .scan_type = { \
 603                 .sign = 's', \
 604                 .realbits = (bits), \
 605                 .storagebits = 16, \
 606                 .shift = 0, \
 607                 .endianness = IIO_BE, \
 608         }, \
 609 }
 610
 611 #define ADIS16400_INCLI_CHAN(mod, addr, bits) { \
 612         .type = IIO_INCLI, \
 613         .modified = 1, \
 614         .channel2 = IIO_MOD_ ## mod, \
 615         .info_mask_separate = BIT(IIO_CHAN_INFO_RAW), \
 616         .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE), \
 617         .address = (addr), \
 618         .scan_index = ADIS16300_SCAN_INCLI_ ## mod, \
 619         .scan_type = { \
 620                 .sign = 's', \
 621                 .realbits = (bits), \
 622                 .storagebits = 16, \
 623                 .shift = 0, \
 624                 .endianness = IIO_BE, \
 625         }, \
 626 }
 627
 628 static const struct iio_chan_spec adis16400_channels[] = {
 629         ADIS16400_SUPPLY_CHAN(ADIS16400_SUPPLY_OUT, 14),
 630         ADIS16400_GYRO_CHAN(X, ADIS16400_XGYRO_OUT, 14),
 631         ADIS16400_GYRO_CHAN(Y, ADIS16400_YGYRO_OUT, 14),
 632         ADIS16400_GYRO_CHAN(Z, ADIS16400_ZGYRO_OUT, 14),
 633         ADIS16400_ACCEL_CHAN(X, ADIS16400_XACCL_OUT, 14),
 634         ADIS16400_ACCEL_CHAN(Y, ADIS16400_YACCL_OUT, 14),
 635         ADIS16400_ACCEL_CHAN(Z, ADIS16400_ZACCL_OUT, 14),
 636         ADIS16400_MAGN_CHAN(X, ADIS16400_XMAGN_OUT, 14),
 637         ADIS16400_MAGN_CHAN(Y, ADIS16400_YMAGN_OUT, 14),
 638         ADIS16400_MAGN_CHAN(Z, ADIS16400_ZMAGN_OUT, 14),
 639         ADIS16400_TEMP_CHAN(ADIS16400_TEMP_OUT, 12),
 640         ADIS16400_AUX_ADC_CHAN(ADIS16400_AUX_ADC, 12),
 641         IIO_CHAN_SOFT_TIMESTAMP(ADIS16400_SCAN_TIMESTAMP),
 642 };
 643
 644 static const struct iio_chan_spec adis16448_channels[] = {
 645         ADIS16400_GYRO_CHAN(X, ADIS16400_XGYRO_OUT, 16),
 646         ADIS16400_GYRO_CHAN(Y, ADIS16400_YGYRO_OUT, 16),
 647         ADIS16400_GYRO_CHAN(Z, ADIS16400_ZGYRO_OUT, 16),
 648         ADIS16400_ACCEL_CHAN(X, ADIS16400_XACCL_OUT, 16),
 649         ADIS16400_ACCEL_CHAN(Y, ADIS16400_YACCL_OUT, 16),
 650         ADIS16400_ACCEL_CHAN(Z, ADIS16400_ZACCL_OUT, 16),
 651         ADIS16400_MAGN_CHAN(X, ADIS16400_XMAGN_OUT, 16),
 652         ADIS16400_MAGN_CHAN(Y, ADIS16400_YMAGN_OUT, 16),
 653         ADIS16400_MAGN_CHAN(Z, ADIS16400_ZMAGN_OUT, 16),
 654         {
 655                 .type = IIO_PRESSURE,
 656                 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW),
 657                 .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE),
 658                 .address = ADIS16448_BARO_OUT,
 659                 .scan_index = ADIS16400_SCAN_BARO,
 660                 .scan_type = {
 661                         .sign = 's',
 662                         .realbits = 16,
 663                         .storagebits = 16,
 664                         .endianness = IIO_BE,
 665                 },
 666         },
 667         ADIS16400_TEMP_CHAN(ADIS16448_TEMP_OUT, 12),
 668         IIO_CHAN_SOFT_TIMESTAMP(ADIS16400_SCAN_TIMESTAMP),
 669 };
 670
 671 static const struct iio_chan_spec adis16350_channels[] = {
 672         ADIS16400_SUPPLY_CHAN(ADIS16400_SUPPLY_OUT, 12),
 673         ADIS16400_GYRO_CHAN(X, ADIS16400_XGYRO_OUT, 14),
 674         ADIS16400_GYRO_CHAN(Y, ADIS16400_YGYRO_OUT, 14),
 675         ADIS16400_GYRO_CHAN(Z, ADIS16400_ZGYRO_OUT, 14),
 676         ADIS16400_ACCEL_CHAN(X, ADIS16400_XACCL_OUT, 14),
 677         ADIS16400_ACCEL_CHAN(Y, ADIS16400_YACCL_OUT, 14),
 678         ADIS16400_ACCEL_CHAN(Z, ADIS16400_ZACCL_OUT, 14),
 679         ADIS16400_MAGN_CHAN(X, ADIS16400_XMAGN_OUT, 14),
 680         ADIS16400_MAGN_CHAN(Y, ADIS16400_YMAGN_OUT, 14),
 681         ADIS16400_MAGN_CHAN(Z, ADIS16400_ZMAGN_OUT, 14),
 682         ADIS16400_AUX_ADC_CHAN(ADIS16300_AUX_ADC, 12),
 683         ADIS16400_MOD_TEMP_CHAN(X, ADIS16350_XTEMP_OUT, 12),
 684         ADIS16400_MOD_TEMP_CHAN(Y, ADIS16350_YTEMP_OUT, 12),
 685         ADIS16400_MOD_TEMP_CHAN(Z, ADIS16350_ZTEMP_OUT, 12),
 686         IIO_CHAN_SOFT_TIMESTAMP(ADIS16400_SCAN_TIMESTAMP),
 687 };
 688
 689 static const struct iio_chan_spec adis16300_channels[] = {
 690         ADIS16400_SUPPLY_CHAN(ADIS16400_SUPPLY_OUT, 12),
 691         ADIS16400_GYRO_CHAN(X, ADIS16400_XGYRO_OUT, 14),
 692         ADIS16400_ACCEL_CHAN(X, ADIS16400_XACCL_OUT, 14),
 693         ADIS16400_ACCEL_CHAN(Y, ADIS16400_YACCL_OUT, 14),
 694         ADIS16400_ACCEL_CHAN(Z, ADIS16400_ZACCL_OUT, 14),
 695         ADIS16400_TEMP_CHAN(ADIS16350_XTEMP_OUT, 12),
 696         ADIS16400_AUX_ADC_CHAN(ADIS16300_AUX_ADC, 12),
 697         ADIS16400_INCLI_CHAN(X, ADIS16300_PITCH_OUT, 13),
 698         ADIS16400_INCLI_CHAN(Y, ADIS16300_ROLL_OUT, 13),
 699         IIO_CHAN_SOFT_TIMESTAMP(ADIS16400_SCAN_TIMESTAMP),
 700 };
 701
 702 static const struct iio_chan_spec adis16334_channels[] = {
 703         ADIS16400_GYRO_CHAN(X, ADIS16400_XGYRO_OUT, 14),
 704         ADIS16400_GYRO_CHAN(Y, ADIS16400_YGYRO_OUT, 14),
 705         ADIS16400_GYRO_CHAN(Z, ADIS16400_ZGYRO_OUT, 14),
 706         ADIS16400_ACCEL_CHAN(X, ADIS16400_XACCL_OUT, 14),
 707         ADIS16400_ACCEL_CHAN(Y, ADIS16400_YACCL_OUT, 14),
 708         ADIS16400_ACCEL_CHAN(Z, ADIS16400_ZACCL_OUT, 14),
 709         ADIS16400_TEMP_CHAN(ADIS16350_XTEMP_OUT, 12),
 710         IIO_CHAN_SOFT_TIMESTAMP(ADIS16400_SCAN_TIMESTAMP),
 711 };
 712
 713 static struct attribute *adis16400_attributes[] = {
 714         &iio_dev_attr_sampling_frequency.dev_attr.attr,
 715         NULL
 716 };
 717
 718 static const struct attribute_group adis16400_attribute_group = {
 719         .attrs = adis16400_attributes,
 720 };
 721
 722 static struct adis16400_chip_info adis16400_chips[] = {
 723         [ADIS16300] = {
 724                 .channels = adis16300_channels,
 725                 .num_channels = ARRAY_SIZE(adis16300_channels),
 726                 .flags = ADIS16400_HAS_SLOW_MODE,
 727                 .gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */
 728                 .accel_scale_micro = 5884,
 729                 .temp_scale_nano = 140000000, /* 0.14 C */
 730                 .temp_offset = 25000000 / 140000, /* 25 C = 0x00 */
 731                 .set_freq = adis16400_set_freq,
 732                 .get_freq = adis16400_get_freq,
 733         },
 734         [ADIS16334] = {
 735                 .channels = adis16334_channels,
 736                 .num_channels = ARRAY_SIZE(adis16334_channels),
 737                 .flags = ADIS16400_HAS_PROD_ID | ADIS16400_NO_BURST |
 738                                 ADIS16400_HAS_SERIAL_NUMBER,
 739                 .gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */
 740                 .accel_scale_micro = IIO_G_TO_M_S_2(1000), /* 1 mg */
 741                 .temp_scale_nano = 67850000, /* 0.06785 C */
 742                 .temp_offset = 25000000 / 67850, /* 25 C = 0x00 */
 743                 .set_freq = adis16334_set_freq,
 744                 .get_freq = adis16334_get_freq,
 745         },
 746         [ADIS16350] = {
 747                 .channels = adis16350_channels,
 748                 .num_channels = ARRAY_SIZE(adis16350_channels),
 749                 .gyro_scale_micro = IIO_DEGREE_TO_RAD(73260), /* 0.07326 deg/s */
 750                 .accel_scale_micro = IIO_G_TO_M_S_2(2522), /* 0.002522 g */
 751                 .temp_scale_nano = 145300000, /* 0.1453 C */
 752                 .temp_offset = 25000000 / 145300, /* 25 C = 0x00 */
 753                 .flags = ADIS16400_NO_BURST | ADIS16400_HAS_SLOW_MODE,
 754                 .set_freq = adis16400_set_freq,
 755                 .get_freq = adis16400_get_freq,
 756         },
 757         [ADIS16360] = {
 758                 .channels = adis16350_channels,
 759                 .num_channels = ARRAY_SIZE(adis16350_channels),
 760                 .flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE |
 761                                 ADIS16400_HAS_SERIAL_NUMBER,
 762                 .gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */
 763                 .accel_scale_micro = IIO_G_TO_M_S_2(3333), /* 3.333 mg */
 764                 .temp_scale_nano = 136000000, /* 0.136 C */
 765                 .temp_offset = 25000000 / 136000, /* 25 C = 0x00 */
 766                 .set_freq = adis16400_set_freq,
 767                 .get_freq = adis16400_get_freq,
 768         },
 769         [ADIS16362] = {
 770                 .channels = adis16350_channels,
 771                 .num_channels = ARRAY_SIZE(adis16350_channels),
 772                 .flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE |
 773                                 ADIS16400_HAS_SERIAL_NUMBER,
 774                 .gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */
 775                 .accel_scale_micro = IIO_G_TO_M_S_2(333), /* 0.333 mg */
 776                 .temp_scale_nano = 136000000, /* 0.136 C */
 777                 .temp_offset = 25000000 / 136000, /* 25 C = 0x00 */
 778                 .set_freq = adis16400_set_freq,
 779                 .get_freq = adis16400_get_freq,
 780         },
 781         [ADIS16364] = {
 782                 .channels = adis16350_channels,
 783                 .num_channels = ARRAY_SIZE(adis16350_channels),
 784                 .flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE |
 785                                 ADIS16400_HAS_SERIAL_NUMBER,
 786                 .gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */
 787                 .accel_scale_micro = IIO_G_TO_M_S_2(1000), /* 1 mg */
 788                 .temp_scale_nano = 136000000, /* 0.136 C */
 789                 .temp_offset = 25000000 / 136000, /* 25 C = 0x00 */
 790                 .set_freq = adis16400_set_freq,
 791                 .get_freq = adis16400_get_freq,
 792         },
 793         [ADIS16400] = {
 794                 .channels = adis16400_channels,
 795                 .num_channels = ARRAY_SIZE(adis16400_channels),
 796                 .flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE,
 797                 .gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */
 798                 .accel_scale_micro = IIO_G_TO_M_S_2(3333), /* 3.333 mg */
 799                 .temp_scale_nano = 140000000, /* 0.14 C */
 800                 .temp_offset = 25000000 / 140000, /* 25 C = 0x00 */
 801                 .set_freq = adis16400_set_freq,
 802                 .get_freq = adis16400_get_freq,
 803         },
 804         [ADIS16448] = {
 805                 .channels = adis16448_channels,
 806                 .num_channels = ARRAY_SIZE(adis16448_channels),
 807                 .flags = ADIS16400_HAS_PROD_ID |
 808                                 ADIS16400_HAS_SERIAL_NUMBER,
 809                 .gyro_scale_micro = IIO_DEGREE_TO_RAD(10000), /* 0.01 deg/s */
 810                 .accel_scale_micro = IIO_G_TO_M_S_2(833), /* 1/1200 g */
 811                 .temp_scale_nano = 73860000, /* 0.07386 C */
 812                 .temp_offset = 31000000 / 73860, /* 31 C = 0x00 */
 813                 .set_freq = adis16334_set_freq,
 814                 .get_freq = adis16334_get_freq,
 815         }
 816 };
 817
 818 static const struct iio_info adis16400_info = {
 819         .driver_module = THIS_MODULE,
 820         .read_raw = &adis16400_read_raw,
 821         .write_raw = &adis16400_write_raw,
 822         .attrs = &adis16400_attribute_group,
 823         .update_scan_mode = adis16400_update_scan_mode,
 824         .debugfs_reg_access = adis_debugfs_reg_access,
 825 };
 826
 827 static const char * const adis16400_status_error_msgs[] = {
 828         [ADIS16400_DIAG_STAT_ZACCL_FAIL] = "Z-axis accelerometer self-test failure",
 829         [ADIS16400_DIAG_STAT_YACCL_FAIL] = "Y-axis accelerometer self-test failure",
 830         [ADIS16400_DIAG_STAT_XACCL_FAIL] = "X-axis accelerometer self-test failure",
 831         [ADIS16400_DIAG_STAT_XGYRO_FAIL] = "X-axis gyroscope self-test failure",
 832         [ADIS16400_DIAG_STAT_YGYRO_FAIL] = "Y-axis gyroscope self-test failure",
 833         [ADIS16400_DIAG_STAT_ZGYRO_FAIL] = "Z-axis gyroscope self-test failure",
 834         [ADIS16400_DIAG_STAT_ALARM2] = "Alarm 2 active",
 835         [ADIS16400_DIAG_STAT_ALARM1] = "Alarm 1 active",
 836         [ADIS16400_DIAG_STAT_FLASH_CHK] = "Flash checksum error",
 837         [ADIS16400_DIAG_STAT_SELF_TEST] = "Self test error",
 838         [ADIS16400_DIAG_STAT_OVERFLOW] = "Sensor overrange",
 839         [ADIS16400_DIAG_STAT_SPI_FAIL] = "SPI failure",
 840         [ADIS16400_DIAG_STAT_FLASH_UPT] = "Flash update failed",
 841         [ADIS16400_DIAG_STAT_POWER_HIGH] = "Power supply above 5.25V",
 842         [ADIS16400_DIAG_STAT_POWER_LOW] = "Power supply below 4.75V",
 843 };
 844
 845 static const struct adis_data adis16400_data = {
 846         .msc_ctrl_reg = ADIS16400_MSC_CTRL,
 847         .glob_cmd_reg = ADIS16400_GLOB_CMD,
 848         .diag_stat_reg = ADIS16400_DIAG_STAT,
 849
 850         .read_delay = 50,
 851         .write_delay = 50,
 852
 853         .self_test_mask = ADIS16400_MSC_CTRL_MEM_TEST,
 854         .startup_delay = ADIS16400_STARTUP_DELAY,
 855
 856         .status_error_msgs = adis16400_status_error_msgs,
 857         .status_error_mask = BIT(ADIS16400_DIAG_STAT_ZACCL_FAIL) |
 858                 BIT(ADIS16400_DIAG_STAT_YACCL_FAIL) |
 859                 BIT(ADIS16400_DIAG_STAT_XACCL_FAIL) |
 860                 BIT(ADIS16400_DIAG_STAT_XGYRO_FAIL) |
 861                 BIT(ADIS16400_DIAG_STAT_YGYRO_FAIL) |
 862                 BIT(ADIS16400_DIAG_STAT_ZGYRO_FAIL) |
 863                 BIT(ADIS16400_DIAG_STAT_ALARM2) |
 864                 BIT(ADIS16400_DIAG_STAT_ALARM1) |
 865                 BIT(ADIS16400_DIAG_STAT_FLASH_CHK) |
 866                 BIT(ADIS16400_DIAG_STAT_SELF_TEST) |
 867                 BIT(ADIS16400_DIAG_STAT_OVERFLOW) |
 868                 BIT(ADIS16400_DIAG_STAT_SPI_FAIL) |
 869                 BIT(ADIS16400_DIAG_STAT_FLASH_UPT) |
 870                 BIT(ADIS16400_DIAG_STAT_POWER_HIGH) |
 871                 BIT(ADIS16400_DIAG_STAT_POWER_LOW),
 872 };
 873
 874 static void adis16400_setup_chan_mask(struct adis16400_state *st)
 875 {
 876         const struct adis16400_chip_info *chip_info = st->variant;
 877         unsigned i;
 878
 879         for (i = 0; i < chip_info->num_channels; i++) {
 880                 const struct iio_chan_spec *ch = &chip_info->channels[i];
 881
 882                 if (ch->scan_index >= 0 &&
 883                     ch->scan_index != ADIS16400_SCAN_TIMESTAMP)
 884                         st->avail_scan_mask[0] |= BIT(ch->scan_index);
 885         }
 886 }
 887
 888 static int adis16400_probe(struct spi_device *spi)
 889 {
 890         struct adis16400_state *st;
 891         struct iio_dev *indio_dev;
 892         int ret;
 893
 894         indio_dev = devm_iio_device_alloc(&spi->dev, sizeof(*st));
 895         if (indio_dev == NULL)
 896                 return -ENOMEM;
 897
 898         st = iio_priv(indio_dev);
 899         /* this is only used for removal purposes */
 900         spi_set_drvdata(spi, indio_dev);
 901
 902         /* setup the industrialio driver allocated elements */
 903         st->variant = &adis16400_chips[spi_get_device_id(spi)->driver_data];
 904         indio_dev->dev.parent = &spi->dev;
 905         indio_dev->name = spi_get_device_id(spi)->name;
 906         indio_dev->channels = st->variant->channels;
 907         indio_dev->num_channels = st->variant->num_channels;
 908         indio_dev->info = &adis16400_info;
 909         indio_dev->modes = INDIO_DIRECT_MODE;
 910
 911         if (!(st->variant->flags & ADIS16400_NO_BURST)) {
 912                 adis16400_setup_chan_mask(st);
 913                 indio_dev->available_scan_masks = st->avail_scan_mask;
 914         }
 915
 916         ret = adis_init(&st->adis, indio_dev, spi, &adis16400_data);
 917         if (ret)
 918                 return ret;
 919
 920         ret = adis_setup_buffer_and_trigger(&st->adis, indio_dev,
 921                         adis16400_trigger_handler);
 922         if (ret)
 923                 return ret;
 924
 925         /* Get the device into a sane initial state */
 926         ret = adis16400_initial_setup(indio_dev);
 927         if (ret)
 928                 goto error_cleanup_buffer;
 929         ret = iio_device_register(indio_dev);
 930         if (ret)
 931                 goto error_cleanup_buffer;
 932
 933         adis16400_debugfs_init(indio_dev);
 934         return 0;
 935
 936 error_cleanup_buffer:
 937         adis_cleanup_buffer_and_trigger(&st->adis, indio_dev);
 938         return ret;
 939 }
 940
 941 static int adis16400_remove(struct spi_device *spi)
 942 {
 943         struct iio_dev *indio_dev = spi_get_drvdata(spi);
 944         struct adis16400_state *st = iio_priv(indio_dev);
 945
 946         iio_device_unregister(indio_dev);
 947         adis16400_stop_device(indio_dev);
 948
 949         adis_cleanup_buffer_and_trigger(&st->adis, indio_dev);
 950
 951         return 0;
 952 }
 953
 954 static const struct spi_device_id adis16400_id[] = {
 955         {"adis16300", ADIS16300},
 956         {"adis16334", ADIS16334},
 957         {"adis16350", ADIS16350},
 958         {"adis16354", ADIS16350},
 959         {"adis16355", ADIS16350},
 960         {"adis16360", ADIS16360},
 961         {"adis16362", ADIS16362},
 962         {"adis16364", ADIS16364},
 963         {"adis16365", ADIS16360},
 964         {"adis16400", ADIS16400},
 965         {"adis16405", ADIS16400},
 966         {"adis16448", ADIS16448},
 967         {}
 968 };
 969 MODULE_DEVICE_TABLE(spi, adis16400_id);
 970
 971 static struct spi_driver adis16400_driver = {
 972         .driver = {
 973                 .name = "adis16400",
 974                 .owner = THIS_MODULE,
 975         },
 976         .id_table = adis16400_id,
 977         .probe = adis16400_probe,
 978         .remove = adis16400_remove,
 979 };
 980 module_spi_driver(adis16400_driver);
 981
 982 MODULE_AUTHOR("Manuel Stahl <manuel.stahl@iis.fraunhofer.de>");
 983 MODULE_DESCRIPTION("Analog Devices ADIS16400/5 IMU SPI driver");
 984 MODULE_LICENSE("GPL v2");