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dm writecache: add cond_resched to loop in persistent_memory_claim()
[linux/fpc-iii.git] / drivers / iio / imu / adis16400.c
blob05e70c1c48359d8e1d9af7ee19feb5648cda931d
1 // SPDX-License-Identifier: GPL-2.0-only
2 /*
3 * adis16400.c support Analog Devices ADIS16400/5
4 * 3d 2g Linear Accelerometers,
5 * 3d Gyroscopes,
6 * 3d Magnetometers via SPI
7 *
8 * Copyright (c) 2009 Manuel Stahl <manuel.stahl@iis.fraunhofer.de>
9 * Copyright (c) 2007 Jonathan Cameron <jic23@kernel.org>
10 * Copyright (c) 2011 Analog Devices Inc.
11 */
12
13 #include <linux/interrupt.h>
14 #include <linux/irq.h>
15 #include <linux/delay.h>
16 #include <linux/mutex.h>
17 #include <linux/device.h>
18 #include <linux/kernel.h>
19 #include <linux/spi/spi.h>
20 #include <linux/slab.h>
21 #include <linux/sysfs.h>
22 #include <linux/list.h>
23 #include <linux/module.h>
24 #include <linux/debugfs.h>
25 #include <linux/bitops.h>
26
27 #include <linux/iio/iio.h>
28 #include <linux/iio/sysfs.h>
29 #include <linux/iio/buffer.h>
30 #include <linux/iio/trigger_consumer.h>
31 #include <linux/iio/imu/adis.h>
32
33 #define ADIS16400_STARTUP_DELAY 290 /* ms */
34 #define ADIS16400_MTEST_DELAY 90 /* ms */
35
36 #define ADIS16400_FLASH_CNT 0x00 /* Flash memory write count */
37 #define ADIS16400_SUPPLY_OUT 0x02 /* Power supply measurement */
38 #define ADIS16400_XGYRO_OUT 0x04 /* X-axis gyroscope output */
39 #define ADIS16400_YGYRO_OUT 0x06 /* Y-axis gyroscope output */
40 #define ADIS16400_ZGYRO_OUT 0x08 /* Z-axis gyroscope output */
41 #define ADIS16400_XACCL_OUT 0x0A /* X-axis accelerometer output */
42 #define ADIS16400_YACCL_OUT 0x0C /* Y-axis accelerometer output */
43 #define ADIS16400_ZACCL_OUT 0x0E /* Z-axis accelerometer output */
44 #define ADIS16400_XMAGN_OUT 0x10 /* X-axis magnetometer measurement */
45 #define ADIS16400_YMAGN_OUT 0x12 /* Y-axis magnetometer measurement */
46 #define ADIS16400_ZMAGN_OUT 0x14 /* Z-axis magnetometer measurement */
47 #define ADIS16400_TEMP_OUT 0x16 /* Temperature output */
48 #define ADIS16400_AUX_ADC 0x18 /* Auxiliary ADC measurement */
49
50 #define ADIS16350_XTEMP_OUT 0x10 /* X-axis gyroscope temperature measurement */
51 #define ADIS16350_YTEMP_OUT 0x12 /* Y-axis gyroscope temperature measurement */
52 #define ADIS16350_ZTEMP_OUT 0x14 /* Z-axis gyroscope temperature measurement */
53
54 #define ADIS16300_PITCH_OUT 0x12 /* X axis inclinometer output measurement */
55 #define ADIS16300_ROLL_OUT 0x14 /* Y axis inclinometer output measurement */
56 #define ADIS16300_AUX_ADC 0x16 /* Auxiliary ADC measurement */
57
58 #define ADIS16448_BARO_OUT 0x16 /* Barometric pressure output */
59 #define ADIS16448_TEMP_OUT 0x18 /* Temperature output */
60
61 /* Calibration parameters */
62 #define ADIS16400_XGYRO_OFF 0x1A /* X-axis gyroscope bias offset factor */
63 #define ADIS16400_YGYRO_OFF 0x1C /* Y-axis gyroscope bias offset factor */
64 #define ADIS16400_ZGYRO_OFF 0x1E /* Z-axis gyroscope bias offset factor */
65 #define ADIS16400_XACCL_OFF 0x20 /* X-axis acceleration bias offset factor */
66 #define ADIS16400_YACCL_OFF 0x22 /* Y-axis acceleration bias offset factor */
67 #define ADIS16400_ZACCL_OFF 0x24 /* Z-axis acceleration bias offset factor */
68 #define ADIS16400_XMAGN_HIF 0x26 /* X-axis magnetometer, hard-iron factor */
69 #define ADIS16400_YMAGN_HIF 0x28 /* Y-axis magnetometer, hard-iron factor */
70 #define ADIS16400_ZMAGN_HIF 0x2A /* Z-axis magnetometer, hard-iron factor */
71 #define ADIS16400_XMAGN_SIF 0x2C /* X-axis magnetometer, soft-iron factor */
72 #define ADIS16400_YMAGN_SIF 0x2E /* Y-axis magnetometer, soft-iron factor */
73 #define ADIS16400_ZMAGN_SIF 0x30 /* Z-axis magnetometer, soft-iron factor */
74
75 #define ADIS16400_GPIO_CTRL 0x32 /* Auxiliary digital input/output control */
76 #define ADIS16400_MSC_CTRL 0x34 /* Miscellaneous control */
77 #define ADIS16400_SMPL_PRD 0x36 /* Internal sample period (rate) control */
78 #define ADIS16400_SENS_AVG 0x38 /* Dynamic range and digital filter control */
79 #define ADIS16400_SLP_CNT 0x3A /* Sleep mode control */
80 #define ADIS16400_DIAG_STAT 0x3C /* System status */
81
82 /* Alarm functions */
83 #define ADIS16400_GLOB_CMD 0x3E /* System command */
84 #define ADIS16400_ALM_MAG1 0x40 /* Alarm 1 amplitude threshold */
85 #define ADIS16400_ALM_MAG2 0x42 /* Alarm 2 amplitude threshold */
86 #define ADIS16400_ALM_SMPL1 0x44 /* Alarm 1 sample size */
87 #define ADIS16400_ALM_SMPL2 0x46 /* Alarm 2 sample size */
88 #define ADIS16400_ALM_CTRL 0x48 /* Alarm control */
89 #define ADIS16400_AUX_DAC 0x4A /* Auxiliary DAC data */
90
91 #define ADIS16334_LOT_ID1 0x52 /* Lot identification code 1 */
92 #define ADIS16334_LOT_ID2 0x54 /* Lot identification code 2 */
93 #define ADIS16400_PRODUCT_ID 0x56 /* Product identifier */
94 #define ADIS16334_SERIAL_NUMBER 0x58 /* Serial number, lot specific */
95
96 #define ADIS16400_ERROR_ACTIVE (1<<14)
97 #define ADIS16400_NEW_DATA (1<<14)
98
99 /* MSC_CTRL */
100 #define ADIS16400_MSC_CTRL_MEM_TEST (1<<11)
101 #define ADIS16400_MSC_CTRL_INT_SELF_TEST (1<<10)
102 #define ADIS16400_MSC_CTRL_NEG_SELF_TEST (1<<9)
103 #define ADIS16400_MSC_CTRL_POS_SELF_TEST (1<<8)
104 #define ADIS16400_MSC_CTRL_GYRO_BIAS (1<<7)
105 #define ADIS16400_MSC_CTRL_ACCL_ALIGN (1<<6)
106 #define ADIS16400_MSC_CTRL_DATA_RDY_EN (1<<2)
107 #define ADIS16400_MSC_CTRL_DATA_RDY_POL_HIGH (1<<1)
108 #define ADIS16400_MSC_CTRL_DATA_RDY_DIO2 (1<<0)
109
110 /* SMPL_PRD */
111 #define ADIS16400_SMPL_PRD_TIME_BASE (1<<7)
112 #define ADIS16400_SMPL_PRD_DIV_MASK 0x7F
113
114 /* DIAG_STAT */
115 #define ADIS16400_DIAG_STAT_ZACCL_FAIL 15
116 #define ADIS16400_DIAG_STAT_YACCL_FAIL 14
117 #define ADIS16400_DIAG_STAT_XACCL_FAIL 13
118 #define ADIS16400_DIAG_STAT_XGYRO_FAIL 12
119 #define ADIS16400_DIAG_STAT_YGYRO_FAIL 11
120 #define ADIS16400_DIAG_STAT_ZGYRO_FAIL 10
121 #define ADIS16400_DIAG_STAT_ALARM2 9
122 #define ADIS16400_DIAG_STAT_ALARM1 8
123 #define ADIS16400_DIAG_STAT_FLASH_CHK 6
124 #define ADIS16400_DIAG_STAT_SELF_TEST 5
125 #define ADIS16400_DIAG_STAT_OVERFLOW 4
126 #define ADIS16400_DIAG_STAT_SPI_FAIL 3
127 #define ADIS16400_DIAG_STAT_FLASH_UPT 2
128 #define ADIS16400_DIAG_STAT_POWER_HIGH 1
129 #define ADIS16400_DIAG_STAT_POWER_LOW 0
130
131 /* GLOB_CMD */
132 #define ADIS16400_GLOB_CMD_SW_RESET (1<<7)
133 #define ADIS16400_GLOB_CMD_P_AUTO_NULL (1<<4)
134 #define ADIS16400_GLOB_CMD_FLASH_UPD (1<<3)
135 #define ADIS16400_GLOB_CMD_DAC_LATCH (1<<2)
136 #define ADIS16400_GLOB_CMD_FAC_CALIB (1<<1)
137 #define ADIS16400_GLOB_CMD_AUTO_NULL (1<<0)
138
139 /* SLP_CNT */
140 #define ADIS16400_SLP_CNT_POWER_OFF (1<<8)
141
142 #define ADIS16334_RATE_DIV_SHIFT 8
143 #define ADIS16334_RATE_INT_CLK BIT(0)
144
145 #define ADIS16400_SPI_SLOW (u32)(300 * 1000)
146 #define ADIS16400_SPI_BURST (u32)(1000 * 1000)
147 #define ADIS16400_SPI_FAST (u32)(2000 * 1000)
148
149 #define ADIS16400_HAS_PROD_ID BIT(0)
150 #define ADIS16400_NO_BURST BIT(1)
151 #define ADIS16400_HAS_SLOW_MODE BIT(2)
152 #define ADIS16400_HAS_SERIAL_NUMBER BIT(3)
153 #define ADIS16400_BURST_DIAG_STAT BIT(4)
154
155 struct adis16400_state;
156
157 struct adis16400_chip_info {
158 const struct iio_chan_spec *channels;
159 const struct adis_data adis_data;
160 const int num_channels;
161 const long flags;
162 unsigned int gyro_scale_micro;
163 unsigned int accel_scale_micro;
164 int temp_scale_nano;
165 int temp_offset;
166 /* set_freq() & get_freq() need to avoid using ADIS lib's state lock */
167 int (*set_freq)(struct adis16400_state *st, unsigned int freq);
168 int (*get_freq)(struct adis16400_state *st);
169 };
170
171 /**
172 * struct adis16400_state - device instance specific data
173 * @variant: chip variant info
174 * @filt_int: integer part of requested filter frequency
175 * @adis: adis device
176 **/
177 struct adis16400_state {
178 struct adis16400_chip_info *variant;
179 int filt_int;
180
181 struct adis adis;
182 unsigned long avail_scan_mask[2];
183 };
184
185 /* At the moment triggers are only used for ring buffer
186 * filling. This may change!
187 */
188
189 enum {
190 ADIS16400_SCAN_SUPPLY,
191 ADIS16400_SCAN_GYRO_X,
192 ADIS16400_SCAN_GYRO_Y,
193 ADIS16400_SCAN_GYRO_Z,
194 ADIS16400_SCAN_ACC_X,
195 ADIS16400_SCAN_ACC_Y,
196 ADIS16400_SCAN_ACC_Z,
197 ADIS16400_SCAN_MAGN_X,
198 ADIS16400_SCAN_MAGN_Y,
199 ADIS16400_SCAN_MAGN_Z,
200 ADIS16400_SCAN_BARO,
201 ADIS16350_SCAN_TEMP_X,
202 ADIS16350_SCAN_TEMP_Y,
203 ADIS16350_SCAN_TEMP_Z,
204 ADIS16300_SCAN_INCLI_X,
205 ADIS16300_SCAN_INCLI_Y,
206 ADIS16400_SCAN_ADC,
207 ADIS16400_SCAN_TIMESTAMP,
208 };
209
210 #ifdef CONFIG_DEBUG_FS
211
212 static ssize_t adis16400_show_serial_number(struct file *file,
213 char __user *userbuf, size_t count, loff_t *ppos)
214 {
215 struct adis16400_state *st = file->private_data;
216 u16 lot1, lot2, serial_number;
217 char buf[16];
218 size_t len;
219 int ret;
220
221 ret = adis_read_reg_16(&st->adis, ADIS16334_LOT_ID1, &lot1);
222 if (ret)
223 return ret;
224
225 ret = adis_read_reg_16(&st->adis, ADIS16334_LOT_ID2, &lot2);
226 if (ret)
227 return ret;
228
229 ret = adis_read_reg_16(&st->adis, ADIS16334_SERIAL_NUMBER,
230 &serial_number);
231 if (ret)
232 return ret;
233
234 len = snprintf(buf, sizeof(buf), "%.4x-%.4x-%.4x\n", lot1, lot2,
235 serial_number);
236
237 return simple_read_from_buffer(userbuf, count, ppos, buf, len);
238 }
239
240 static const struct file_operations adis16400_serial_number_fops = {
241 .open = simple_open,
242 .read = adis16400_show_serial_number,
243 .llseek = default_llseek,
244 .owner = THIS_MODULE,
245 };
246
247 static int adis16400_show_product_id(void *arg, u64 *val)
248 {
249 struct adis16400_state *st = arg;
250 uint16_t prod_id;
251 int ret;
252
253 ret = adis_read_reg_16(&st->adis, ADIS16400_PRODUCT_ID, &prod_id);
254 if (ret)
255 return ret;
256
257 *val = prod_id;
258
259 return 0;
260 }
261 DEFINE_SIMPLE_ATTRIBUTE(adis16400_product_id_fops,
262 adis16400_show_product_id, NULL, "%lld\n");
263
264 static int adis16400_show_flash_count(void *arg, u64 *val)
265 {
266 struct adis16400_state *st = arg;
267 uint16_t flash_count;
268 int ret;
269
270 ret = adis_read_reg_16(&st->adis, ADIS16400_FLASH_CNT, &flash_count);
271 if (ret)
272 return ret;
273
274 *val = flash_count;
275
276 return 0;
277 }
278 DEFINE_SIMPLE_ATTRIBUTE(adis16400_flash_count_fops,
279 adis16400_show_flash_count, NULL, "%lld\n");
280
281 static int adis16400_debugfs_init(struct iio_dev *indio_dev)
282 {
283 struct adis16400_state *st = iio_priv(indio_dev);
284
285 if (st->variant->flags & ADIS16400_HAS_SERIAL_NUMBER)
286 debugfs_create_file("serial_number", 0400,
287 indio_dev->debugfs_dentry, st,
288 &adis16400_serial_number_fops);
289 if (st->variant->flags & ADIS16400_HAS_PROD_ID)
290 debugfs_create_file("product_id", 0400,
291 indio_dev->debugfs_dentry, st,
292 &adis16400_product_id_fops);
293 debugfs_create_file("flash_count", 0400, indio_dev->debugfs_dentry,
294 st, &adis16400_flash_count_fops);
295
296 return 0;
297 }
298
299 #else
300
301 static int adis16400_debugfs_init(struct iio_dev *indio_dev)
302 {
303 return 0;
304 }
305
306 #endif
307
308 enum adis16400_chip_variant {
309 ADIS16300,
310 ADIS16334,
311 ADIS16350,
312 ADIS16360,
313 ADIS16362,
314 ADIS16364,
315 ADIS16367,
316 ADIS16400,
317 ADIS16445,
318 ADIS16448,
319 };
320
321 static struct adis_burst adis16400_burst = {
322 .en = true,
323 .reg_cmd = ADIS16400_GLOB_CMD,
324 };
325
326 static int adis16334_get_freq(struct adis16400_state *st)
327 {
328 int ret;
329 uint16_t t;
330
331 ret = __adis_read_reg_16(&st->adis, ADIS16400_SMPL_PRD, &t);
332 if (ret)
333 return ret;
334
335 t >>= ADIS16334_RATE_DIV_SHIFT;
336
337 return 819200 >> t;
338 }
339
340 static int adis16334_set_freq(struct adis16400_state *st, unsigned int freq)
341 {
342 unsigned int t;
343
344 if (freq < 819200)
345 t = ilog2(819200 / freq);
346 else
347 t = 0;
348
349 if (t > 0x31)
350 t = 0x31;
351
352 t <<= ADIS16334_RATE_DIV_SHIFT;
353 t |= ADIS16334_RATE_INT_CLK;
354
355 return __adis_write_reg_16(&st->adis, ADIS16400_SMPL_PRD, t);
356 }
357
358 static int adis16400_get_freq(struct adis16400_state *st)
359 {
360 int sps, ret;
361 uint16_t t;
362
363 ret = __adis_read_reg_16(&st->adis, ADIS16400_SMPL_PRD, &t);
364 if (ret)
365 return ret;
366
367 sps = (t & ADIS16400_SMPL_PRD_TIME_BASE) ? 52851 : 1638404;
368 sps /= (t & ADIS16400_SMPL_PRD_DIV_MASK) + 1;
369
370 return sps;
371 }
372
373 static int adis16400_set_freq(struct adis16400_state *st, unsigned int freq)
374 {
375 unsigned int t;
376 uint8_t val = 0;
377
378 t = 1638404 / freq;
379 if (t >= 128) {
380 val |= ADIS16400_SMPL_PRD_TIME_BASE;
381 t = 52851 / freq;
382 if (t >= 128)
383 t = 127;
384 } else if (t != 0) {
385 t--;
386 }
387
388 val |= t;
389
390 if (t >= 0x0A || (val & ADIS16400_SMPL_PRD_TIME_BASE))
391 st->adis.spi->max_speed_hz = ADIS16400_SPI_SLOW;
392 else
393 st->adis.spi->max_speed_hz = ADIS16400_SPI_FAST;
394
395 return __adis_write_reg_8(&st->adis, ADIS16400_SMPL_PRD, val);
396 }
397
398 static const unsigned int adis16400_3db_divisors[] = {
399 [0] = 2, /* Special case */
400 [1] = 6,
401 [2] = 12,
402 [3] = 25,
403 [4] = 50,
404 [5] = 100,
405 [6] = 200,
406 [7] = 200, /* Not a valid setting */
407 };
408
409 static int __adis16400_set_filter(struct iio_dev *indio_dev, int sps, int val)
410 {
411 struct adis16400_state *st = iio_priv(indio_dev);
412 uint16_t val16;
413 int i, ret;
414
415 for (i = ARRAY_SIZE(adis16400_3db_divisors) - 1; i >= 1; i--) {
416 if (sps / adis16400_3db_divisors[i] >= val)
417 break;
418 }
419
420 ret = __adis_read_reg_16(&st->adis, ADIS16400_SENS_AVG, &val16);
421 if (ret)
422 return ret;
423
424 ret = __adis_write_reg_16(&st->adis, ADIS16400_SENS_AVG,
425 (val16 & ~0x07) | i);
426 return ret;
427 }
428
429 /* Power down the device */
430 static int adis16400_stop_device(struct iio_dev *indio_dev)
431 {
432 struct adis16400_state *st = iio_priv(indio_dev);
433 int ret;
434
435 ret = adis_write_reg_16(&st->adis, ADIS16400_SLP_CNT,
436 ADIS16400_SLP_CNT_POWER_OFF);
437 if (ret)
438 dev_err(&indio_dev->dev,
439 "problem with turning device off: SLP_CNT");
440
441 return ret;
442 }
443
444 static int adis16400_initial_setup(struct iio_dev *indio_dev)
445 {
446 struct adis16400_state *st = iio_priv(indio_dev);
447 uint16_t prod_id, smp_prd;
448 unsigned int device_id;
449 int ret;
450
451 /* use low spi speed for init if the device has a slow mode */
452 if (st->variant->flags & ADIS16400_HAS_SLOW_MODE)
453 st->adis.spi->max_speed_hz = ADIS16400_SPI_SLOW;
454 else
455 st->adis.spi->max_speed_hz = ADIS16400_SPI_FAST;
456 st->adis.spi->mode = SPI_MODE_3;
457 spi_setup(st->adis.spi);
458
459 ret = adis_initial_startup(&st->adis);
460 if (ret)
461 return ret;
462
463 if (st->variant->flags & ADIS16400_HAS_PROD_ID) {
464 ret = adis_read_reg_16(&st->adis,
465 ADIS16400_PRODUCT_ID, &prod_id);
466 if (ret)
467 goto err_ret;
468
469 ret = sscanf(indio_dev->name, "adis%u\n", &device_id);
470 if (ret != 1) {
471 ret = -EINVAL;
472 goto err_ret;
473 }
474
475 if (prod_id != device_id)
476 dev_warn(&indio_dev->dev, "Device ID(%u) and product ID(%u) do not match.",
477 device_id, prod_id);
478
479 dev_info(&indio_dev->dev, "%s: prod_id 0x%04x at CS%d (irq %d)\n",
480 indio_dev->name, prod_id,
481 st->adis.spi->chip_select, st->adis.spi->irq);
482 }
483 /* use high spi speed if possible */
484 if (st->variant->flags & ADIS16400_HAS_SLOW_MODE) {
485 ret = adis_read_reg_16(&st->adis, ADIS16400_SMPL_PRD, &smp_prd);
486 if (ret)
487 goto err_ret;
488
489 if ((smp_prd & ADIS16400_SMPL_PRD_DIV_MASK) < 0x0A) {
490 st->adis.spi->max_speed_hz = ADIS16400_SPI_FAST;
491 spi_setup(st->adis.spi);
492 }
493 }
494
495 err_ret:
496 return ret;
497 }
498
499 static const uint8_t adis16400_addresses[] = {
500 [ADIS16400_SCAN_GYRO_X] = ADIS16400_XGYRO_OFF,
501 [ADIS16400_SCAN_GYRO_Y] = ADIS16400_YGYRO_OFF,
502 [ADIS16400_SCAN_GYRO_Z] = ADIS16400_ZGYRO_OFF,
503 [ADIS16400_SCAN_ACC_X] = ADIS16400_XACCL_OFF,
504 [ADIS16400_SCAN_ACC_Y] = ADIS16400_YACCL_OFF,
505 [ADIS16400_SCAN_ACC_Z] = ADIS16400_ZACCL_OFF,
506 };
507
508 static int adis16400_write_raw(struct iio_dev *indio_dev,
509 struct iio_chan_spec const *chan, int val, int val2, long info)
510 {
511 struct adis16400_state *st = iio_priv(indio_dev);
512 struct mutex *slock = &st->adis.state_lock;
513 int ret, sps;
514
515 switch (info) {
516 case IIO_CHAN_INFO_CALIBBIAS:
517 ret = adis_write_reg_16(&st->adis,
518 adis16400_addresses[chan->scan_index], val);
519 return ret;
520 case IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY:
521 /*
522 * Need to cache values so we can update if the frequency
523 * changes.
524 */
525 mutex_lock(slock);
526 st->filt_int = val;
527 /* Work out update to current value */
528 sps = st->variant->get_freq(st);
529 if (sps < 0) {
530 mutex_unlock(slock);
531 return sps;
532 }
533
534 ret = __adis16400_set_filter(indio_dev, sps,
535 val * 1000 + val2 / 1000);
536 mutex_unlock(slock);
537 return ret;
538 case IIO_CHAN_INFO_SAMP_FREQ:
539 sps = val * 1000 + val2 / 1000;
540
541 if (sps <= 0)
542 return -EINVAL;
543
544 mutex_lock(slock);
545 ret = st->variant->set_freq(st, sps);
546 mutex_unlock(slock);
547 return ret;
548 default:
549 return -EINVAL;
550 }
551 }
552
553 static int adis16400_read_raw(struct iio_dev *indio_dev,
554 struct iio_chan_spec const *chan, int *val, int *val2, long info)
555 {
556 struct adis16400_state *st = iio_priv(indio_dev);
557 struct mutex *slock = &st->adis.state_lock;
558 int16_t val16;
559 int ret;
560
561 switch (info) {
562 case IIO_CHAN_INFO_RAW:
563 return adis_single_conversion(indio_dev, chan, 0, val);
564 case IIO_CHAN_INFO_SCALE:
565 switch (chan->type) {
566 case IIO_ANGL_VEL:
567 *val = 0;
568 *val2 = st->variant->gyro_scale_micro;
569 return IIO_VAL_INT_PLUS_MICRO;
570 case IIO_VOLTAGE:
571 *val = 0;
572 if (chan->channel == 0) {
573 *val = 2;
574 *val2 = 418000; /* 2.418 mV */
575 } else {
576 *val = 0;
577 *val2 = 805800; /* 805.8 uV */
578 }
579 return IIO_VAL_INT_PLUS_MICRO;
580 case IIO_ACCEL:
581 *val = 0;
582 *val2 = st->variant->accel_scale_micro;
583 return IIO_VAL_INT_PLUS_MICRO;
584 case IIO_MAGN:
585 *val = 0;
586 *val2 = 500; /* 0.5 mgauss */
587 return IIO_VAL_INT_PLUS_MICRO;
588 case IIO_TEMP:
589 *val = st->variant->temp_scale_nano / 1000000;
590 *val2 = (st->variant->temp_scale_nano % 1000000);
591 return IIO_VAL_INT_PLUS_MICRO;
592 case IIO_PRESSURE:
593 /* 20 uBar = 0.002kPascal */
594 *val = 0;
595 *val2 = 2000;
596 return IIO_VAL_INT_PLUS_MICRO;
597 default:
598 return -EINVAL;
599 }
600 case IIO_CHAN_INFO_CALIBBIAS:
601 ret = adis_read_reg_16(&st->adis,
602 adis16400_addresses[chan->scan_index], &val16);
603 if (ret)
604 return ret;
605 val16 = sign_extend32(val16, 11);
606 *val = val16;
607 return IIO_VAL_INT;
608 case IIO_CHAN_INFO_OFFSET:
609 /* currently only temperature */
610 *val = st->variant->temp_offset;
611 return IIO_VAL_INT;
612 case IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY:
613 mutex_lock(slock);
614 /* Need both the number of taps and the sampling frequency */
615 ret = __adis_read_reg_16(&st->adis,
616 ADIS16400_SENS_AVG,
617 &val16);
618 if (ret) {
619 mutex_unlock(slock);
620 return ret;
621 }
622 ret = st->variant->get_freq(st);
623 mutex_unlock(slock);
624 if (ret)
625 return ret;
626 ret /= adis16400_3db_divisors[val16 & 0x07];
627 *val = ret / 1000;
628 *val2 = (ret % 1000) * 1000;
629 return IIO_VAL_INT_PLUS_MICRO;
630 case IIO_CHAN_INFO_SAMP_FREQ:
631 mutex_lock(slock);
632 ret = st->variant->get_freq(st);
633 mutex_unlock(slock);
634 if (ret)
635 return ret;
636 *val = ret / 1000;
637 *val2 = (ret % 1000) * 1000;
638 return IIO_VAL_INT_PLUS_MICRO;
639 default:
640 return -EINVAL;
641 }
642 }
643
644 #if IS_ENABLED(CONFIG_IIO_BUFFER)
645 static irqreturn_t adis16400_trigger_handler(int irq, void *p)
646 {
647 struct iio_poll_func *pf = p;
648 struct iio_dev *indio_dev = pf->indio_dev;
649 struct adis16400_state *st = iio_priv(indio_dev);
650 struct adis *adis = &st->adis;
651 u32 old_speed_hz = st->adis.spi->max_speed_hz;
652 void *buffer;
653 int ret;
654
655 if (!adis->buffer)
656 return -ENOMEM;
657
658 if (!(st->variant->flags & ADIS16400_NO_BURST) &&
659 st->adis.spi->max_speed_hz > ADIS16400_SPI_BURST) {
660 st->adis.spi->max_speed_hz = ADIS16400_SPI_BURST;
661 spi_setup(st->adis.spi);
662 }
663
664 ret = spi_sync(adis->spi, &adis->msg);
665 if (ret)
666 dev_err(&adis->spi->dev, "Failed to read data: %d\n", ret);
667
668 if (!(st->variant->flags & ADIS16400_NO_BURST)) {
669 st->adis.spi->max_speed_hz = old_speed_hz;
670 spi_setup(st->adis.spi);
671 }
672
673 if (st->variant->flags & ADIS16400_BURST_DIAG_STAT)
674 buffer = adis->buffer + sizeof(u16);
675 else
676 buffer = adis->buffer;
677
678 iio_push_to_buffers_with_timestamp(indio_dev, buffer,
679 pf->timestamp);
680
681 iio_trigger_notify_done(indio_dev->trig);
682
683 return IRQ_HANDLED;
684 }
685 #else
686 #define adis16400_trigger_handler NULL
687 #endif /* IS_ENABLED(CONFIG_IIO_BUFFER) */
688
689 #define ADIS16400_VOLTAGE_CHAN(addr, bits, name, si, chn) { \
690 .type = IIO_VOLTAGE, \
691 .indexed = 1, \
692 .channel = chn, \
693 .extend_name = name, \
694 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \
695 BIT(IIO_CHAN_INFO_SCALE), \
696 .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
697 .address = (addr), \
698 .scan_index = (si), \
699 .scan_type = { \
700 .sign = 'u', \
701 .realbits = (bits), \
702 .storagebits = 16, \
703 .shift = 0, \
704 .endianness = IIO_BE, \
705 }, \
706 }
707
708 #define ADIS16400_SUPPLY_CHAN(addr, bits) \
709 ADIS16400_VOLTAGE_CHAN(addr, bits, "supply", ADIS16400_SCAN_SUPPLY, 0)
710
711 #define ADIS16400_AUX_ADC_CHAN(addr, bits) \
712 ADIS16400_VOLTAGE_CHAN(addr, bits, NULL, ADIS16400_SCAN_ADC, 1)
713
714 #define ADIS16400_GYRO_CHAN(mod, addr, bits) { \
715 .type = IIO_ANGL_VEL, \
716 .modified = 1, \
717 .channel2 = IIO_MOD_ ## mod, \
718 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \
719 BIT(IIO_CHAN_INFO_CALIBBIAS), \
720 .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE) | \
721 BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY), \
722 .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
723 .address = addr, \
724 .scan_index = ADIS16400_SCAN_GYRO_ ## mod, \
725 .scan_type = { \
726 .sign = 's', \
727 .realbits = (bits), \
728 .storagebits = 16, \
729 .shift = 0, \
730 .endianness = IIO_BE, \
731 }, \
732 }
733
734 #define ADIS16400_ACCEL_CHAN(mod, addr, bits) { \
735 .type = IIO_ACCEL, \
736 .modified = 1, \
737 .channel2 = IIO_MOD_ ## mod, \
738 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \
739 BIT(IIO_CHAN_INFO_CALIBBIAS), \
740 .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE) | \
741 BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY), \
742 .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
743 .address = (addr), \
744 .scan_index = ADIS16400_SCAN_ACC_ ## mod, \
745 .scan_type = { \
746 .sign = 's', \
747 .realbits = (bits), \
748 .storagebits = 16, \
749 .shift = 0, \
750 .endianness = IIO_BE, \
751 }, \
752 }
753
754 #define ADIS16400_MAGN_CHAN(mod, addr, bits) { \
755 .type = IIO_MAGN, \
756 .modified = 1, \
757 .channel2 = IIO_MOD_ ## mod, \
758 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW), \
759 .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE) | \
760 BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY), \
761 .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
762 .address = (addr), \
763 .scan_index = ADIS16400_SCAN_MAGN_ ## mod, \
764 .scan_type = { \
765 .sign = 's', \
766 .realbits = (bits), \
767 .storagebits = 16, \
768 .shift = 0, \
769 .endianness = IIO_BE, \
770 }, \
771 }
772
773 #define ADIS16400_MOD_TEMP_NAME_X "x"
774 #define ADIS16400_MOD_TEMP_NAME_Y "y"
775 #define ADIS16400_MOD_TEMP_NAME_Z "z"
776
777 #define ADIS16400_MOD_TEMP_CHAN(mod, addr, bits) { \
778 .type = IIO_TEMP, \
779 .indexed = 1, \
780 .channel = 0, \
781 .extend_name = ADIS16400_MOD_TEMP_NAME_ ## mod, \
782 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \
783 BIT(IIO_CHAN_INFO_OFFSET) | \
784 BIT(IIO_CHAN_INFO_SCALE), \
785 .info_mask_shared_by_type = \
786 BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY), \
787 .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
788 .address = (addr), \
789 .scan_index = ADIS16350_SCAN_TEMP_ ## mod, \
790 .scan_type = { \
791 .sign = 's', \
792 .realbits = (bits), \
793 .storagebits = 16, \
794 .shift = 0, \
795 .endianness = IIO_BE, \
796 }, \
797 }
798
799 #define ADIS16400_TEMP_CHAN(addr, bits) { \
800 .type = IIO_TEMP, \
801 .indexed = 1, \
802 .channel = 0, \
803 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \
804 BIT(IIO_CHAN_INFO_OFFSET) | \
805 BIT(IIO_CHAN_INFO_SCALE), \
806 .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
807 .address = (addr), \
808 .scan_index = ADIS16350_SCAN_TEMP_X, \
809 .scan_type = { \
810 .sign = 's', \
811 .realbits = (bits), \
812 .storagebits = 16, \
813 .shift = 0, \
814 .endianness = IIO_BE, \
815 }, \
816 }
817
818 #define ADIS16400_INCLI_CHAN(mod, addr, bits) { \
819 .type = IIO_INCLI, \
820 .modified = 1, \
821 .channel2 = IIO_MOD_ ## mod, \
822 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW), \
823 .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE), \
824 .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
825 .address = (addr), \
826 .scan_index = ADIS16300_SCAN_INCLI_ ## mod, \
827 .scan_type = { \
828 .sign = 's', \
829 .realbits = (bits), \
830 .storagebits = 16, \
831 .shift = 0, \
832 .endianness = IIO_BE, \
833 }, \
834 }
835
836 static const struct iio_chan_spec adis16400_channels[] = {
837 ADIS16400_SUPPLY_CHAN(ADIS16400_SUPPLY_OUT, 14),
838 ADIS16400_GYRO_CHAN(X, ADIS16400_XGYRO_OUT, 14),
839 ADIS16400_GYRO_CHAN(Y, ADIS16400_YGYRO_OUT, 14),
840 ADIS16400_GYRO_CHAN(Z, ADIS16400_ZGYRO_OUT, 14),
841 ADIS16400_ACCEL_CHAN(X, ADIS16400_XACCL_OUT, 14),
842 ADIS16400_ACCEL_CHAN(Y, ADIS16400_YACCL_OUT, 14),
843 ADIS16400_ACCEL_CHAN(Z, ADIS16400_ZACCL_OUT, 14),
844 ADIS16400_MAGN_CHAN(X, ADIS16400_XMAGN_OUT, 14),
845 ADIS16400_MAGN_CHAN(Y, ADIS16400_YMAGN_OUT, 14),
846 ADIS16400_MAGN_CHAN(Z, ADIS16400_ZMAGN_OUT, 14),
847 ADIS16400_TEMP_CHAN(ADIS16400_TEMP_OUT, 12),
848 ADIS16400_AUX_ADC_CHAN(ADIS16400_AUX_ADC, 12),
849 IIO_CHAN_SOFT_TIMESTAMP(ADIS16400_SCAN_TIMESTAMP),
850 };
851
852 static const struct iio_chan_spec adis16445_channels[] = {
853 ADIS16400_GYRO_CHAN(X, ADIS16400_XGYRO_OUT, 16),
854 ADIS16400_GYRO_CHAN(Y, ADIS16400_YGYRO_OUT, 16),
855 ADIS16400_GYRO_CHAN(Z, ADIS16400_ZGYRO_OUT, 16),
856 ADIS16400_ACCEL_CHAN(X, ADIS16400_XACCL_OUT, 16),
857 ADIS16400_ACCEL_CHAN(Y, ADIS16400_YACCL_OUT, 16),
858 ADIS16400_ACCEL_CHAN(Z, ADIS16400_ZACCL_OUT, 16),
859 ADIS16400_TEMP_CHAN(ADIS16448_TEMP_OUT, 12),
860 IIO_CHAN_SOFT_TIMESTAMP(ADIS16400_SCAN_TIMESTAMP),
861 };
862
863 static const struct iio_chan_spec adis16448_channels[] = {
864 ADIS16400_GYRO_CHAN(X, ADIS16400_XGYRO_OUT, 16),
865 ADIS16400_GYRO_CHAN(Y, ADIS16400_YGYRO_OUT, 16),
866 ADIS16400_GYRO_CHAN(Z, ADIS16400_ZGYRO_OUT, 16),
867 ADIS16400_ACCEL_CHAN(X, ADIS16400_XACCL_OUT, 16),
868 ADIS16400_ACCEL_CHAN(Y, ADIS16400_YACCL_OUT, 16),
869 ADIS16400_ACCEL_CHAN(Z, ADIS16400_ZACCL_OUT, 16),
870 ADIS16400_MAGN_CHAN(X, ADIS16400_XMAGN_OUT, 16),
871 ADIS16400_MAGN_CHAN(Y, ADIS16400_YMAGN_OUT, 16),
872 ADIS16400_MAGN_CHAN(Z, ADIS16400_ZMAGN_OUT, 16),
873 {
874 .type = IIO_PRESSURE,
875 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW),
876 .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE),
877 .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ),
878 .address = ADIS16448_BARO_OUT,
879 .scan_index = ADIS16400_SCAN_BARO,
880 .scan_type = {
881 .sign = 's',
882 .realbits = 16,
883 .storagebits = 16,
884 .endianness = IIO_BE,
885 },
886 },
887 ADIS16400_TEMP_CHAN(ADIS16448_TEMP_OUT, 12),
888 IIO_CHAN_SOFT_TIMESTAMP(ADIS16400_SCAN_TIMESTAMP),
889 };
890
891 static const struct iio_chan_spec adis16350_channels[] = {
892 ADIS16400_SUPPLY_CHAN(ADIS16400_SUPPLY_OUT, 12),
893 ADIS16400_GYRO_CHAN(X, ADIS16400_XGYRO_OUT, 14),
894 ADIS16400_GYRO_CHAN(Y, ADIS16400_YGYRO_OUT, 14),
895 ADIS16400_GYRO_CHAN(Z, ADIS16400_ZGYRO_OUT, 14),
896 ADIS16400_ACCEL_CHAN(X, ADIS16400_XACCL_OUT, 14),
897 ADIS16400_ACCEL_CHAN(Y, ADIS16400_YACCL_OUT, 14),
898 ADIS16400_ACCEL_CHAN(Z, ADIS16400_ZACCL_OUT, 14),
899 ADIS16400_MAGN_CHAN(X, ADIS16400_XMAGN_OUT, 14),
900 ADIS16400_MAGN_CHAN(Y, ADIS16400_YMAGN_OUT, 14),
901 ADIS16400_MAGN_CHAN(Z, ADIS16400_ZMAGN_OUT, 14),
902 ADIS16400_AUX_ADC_CHAN(ADIS16300_AUX_ADC, 12),
903 ADIS16400_MOD_TEMP_CHAN(X, ADIS16350_XTEMP_OUT, 12),
904 ADIS16400_MOD_TEMP_CHAN(Y, ADIS16350_YTEMP_OUT, 12),
905 ADIS16400_MOD_TEMP_CHAN(Z, ADIS16350_ZTEMP_OUT, 12),
906 IIO_CHAN_SOFT_TIMESTAMP(ADIS16400_SCAN_TIMESTAMP),
907 };
908
909 static const struct iio_chan_spec adis16300_channels[] = {
910 ADIS16400_SUPPLY_CHAN(ADIS16400_SUPPLY_OUT, 12),
911 ADIS16400_GYRO_CHAN(X, ADIS16400_XGYRO_OUT, 14),
912 ADIS16400_ACCEL_CHAN(X, ADIS16400_XACCL_OUT, 14),
913 ADIS16400_ACCEL_CHAN(Y, ADIS16400_YACCL_OUT, 14),
914 ADIS16400_ACCEL_CHAN(Z, ADIS16400_ZACCL_OUT, 14),
915 ADIS16400_TEMP_CHAN(ADIS16350_XTEMP_OUT, 12),
916 ADIS16400_AUX_ADC_CHAN(ADIS16300_AUX_ADC, 12),
917 ADIS16400_INCLI_CHAN(X, ADIS16300_PITCH_OUT, 13),
918 ADIS16400_INCLI_CHAN(Y, ADIS16300_ROLL_OUT, 13),
919 IIO_CHAN_SOFT_TIMESTAMP(ADIS16400_SCAN_TIMESTAMP),
920 };
921
922 static const struct iio_chan_spec adis16334_channels[] = {
923 ADIS16400_GYRO_CHAN(X, ADIS16400_XGYRO_OUT, 14),
924 ADIS16400_GYRO_CHAN(Y, ADIS16400_YGYRO_OUT, 14),
925 ADIS16400_GYRO_CHAN(Z, ADIS16400_ZGYRO_OUT, 14),
926 ADIS16400_ACCEL_CHAN(X, ADIS16400_XACCL_OUT, 14),
927 ADIS16400_ACCEL_CHAN(Y, ADIS16400_YACCL_OUT, 14),
928 ADIS16400_ACCEL_CHAN(Z, ADIS16400_ZACCL_OUT, 14),
929 ADIS16400_TEMP_CHAN(ADIS16350_XTEMP_OUT, 12),
930 IIO_CHAN_SOFT_TIMESTAMP(ADIS16400_SCAN_TIMESTAMP),
931 };
932
933 static const char * const adis16400_status_error_msgs[] = {
934 [ADIS16400_DIAG_STAT_ZACCL_FAIL] = "Z-axis accelerometer self-test failure",
935 [ADIS16400_DIAG_STAT_YACCL_FAIL] = "Y-axis accelerometer self-test failure",
936 [ADIS16400_DIAG_STAT_XACCL_FAIL] = "X-axis accelerometer self-test failure",
937 [ADIS16400_DIAG_STAT_XGYRO_FAIL] = "X-axis gyroscope self-test failure",
938 [ADIS16400_DIAG_STAT_YGYRO_FAIL] = "Y-axis gyroscope self-test failure",
939 [ADIS16400_DIAG_STAT_ZGYRO_FAIL] = "Z-axis gyroscope self-test failure",
940 [ADIS16400_DIAG_STAT_ALARM2] = "Alarm 2 active",
941 [ADIS16400_DIAG_STAT_ALARM1] = "Alarm 1 active",
942 [ADIS16400_DIAG_STAT_FLASH_CHK] = "Flash checksum error",
943 [ADIS16400_DIAG_STAT_SELF_TEST] = "Self test error",
944 [ADIS16400_DIAG_STAT_OVERFLOW] = "Sensor overrange",
945 [ADIS16400_DIAG_STAT_SPI_FAIL] = "SPI failure",
946 [ADIS16400_DIAG_STAT_FLASH_UPT] = "Flash update failed",
947 [ADIS16400_DIAG_STAT_POWER_HIGH] = "Power supply above 5.25V",
948 [ADIS16400_DIAG_STAT_POWER_LOW] = "Power supply below 4.75V",
949 };
950
951 #define ADIS16400_DATA(_timeouts) \
952 { \
953 .msc_ctrl_reg = ADIS16400_MSC_CTRL, \
954 .glob_cmd_reg = ADIS16400_GLOB_CMD, \
955 .diag_stat_reg = ADIS16400_DIAG_STAT, \
956 .read_delay = 50, \
957 .write_delay = 50, \
958 .self_test_mask = ADIS16400_MSC_CTRL_MEM_TEST, \
959 .self_test_reg = ADIS16400_MSC_CTRL, \
960 .status_error_msgs = adis16400_status_error_msgs, \
961 .status_error_mask = BIT(ADIS16400_DIAG_STAT_ZACCL_FAIL) | \
962 BIT(ADIS16400_DIAG_STAT_YACCL_FAIL) | \
963 BIT(ADIS16400_DIAG_STAT_XACCL_FAIL) | \
964 BIT(ADIS16400_DIAG_STAT_XGYRO_FAIL) | \
965 BIT(ADIS16400_DIAG_STAT_YGYRO_FAIL) | \
966 BIT(ADIS16400_DIAG_STAT_ZGYRO_FAIL) | \
967 BIT(ADIS16400_DIAG_STAT_ALARM2) | \
968 BIT(ADIS16400_DIAG_STAT_ALARM1) | \
969 BIT(ADIS16400_DIAG_STAT_FLASH_CHK) | \
970 BIT(ADIS16400_DIAG_STAT_SELF_TEST) | \
971 BIT(ADIS16400_DIAG_STAT_OVERFLOW) | \
972 BIT(ADIS16400_DIAG_STAT_SPI_FAIL) | \
973 BIT(ADIS16400_DIAG_STAT_FLASH_UPT) | \
974 BIT(ADIS16400_DIAG_STAT_POWER_HIGH) | \
975 BIT(ADIS16400_DIAG_STAT_POWER_LOW), \
976 .timeouts = (_timeouts), \
977 }
978
979 static const struct adis_timeout adis16300_timeouts = {
980 .reset_ms = ADIS16400_STARTUP_DELAY,
981 .sw_reset_ms = ADIS16400_STARTUP_DELAY,
982 .self_test_ms = ADIS16400_STARTUP_DELAY,
983 };
984
985 static const struct adis_timeout adis16334_timeouts = {
986 .reset_ms = 60,
987 .sw_reset_ms = 60,
988 .self_test_ms = 14,
989 };
990
991 static const struct adis_timeout adis16362_timeouts = {
992 .reset_ms = 130,
993 .sw_reset_ms = 130,
994 .self_test_ms = 12,
995 };
996
997 static const struct adis_timeout adis16400_timeouts = {
998 .reset_ms = 170,
999 .sw_reset_ms = 170,
1000 .self_test_ms = 12,
1001 };
1002
1003 static const struct adis_timeout adis16445_timeouts = {
1004 .reset_ms = 55,
1005 .sw_reset_ms = 55,
1006 .self_test_ms = 16,
1007 };
1008
1009 static const struct adis_timeout adis16448_timeouts = {
1010 .reset_ms = 90,
1011 .sw_reset_ms = 90,
1012 .self_test_ms = 45,
1013 };
1014
1015 static struct adis16400_chip_info adis16400_chips[] = {
1016 [ADIS16300] = {
1017 .channels = adis16300_channels,
1018 .num_channels = ARRAY_SIZE(adis16300_channels),
1019 .flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE |
1020 ADIS16400_HAS_SERIAL_NUMBER,
1021 .gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */
1022 .accel_scale_micro = 5884,
1023 .temp_scale_nano = 140000000, /* 0.14 C */
1024 .temp_offset = 25000000 / 140000, /* 25 C = 0x00 */
1025 .set_freq = adis16400_set_freq,
1026 .get_freq = adis16400_get_freq,
1027 .adis_data = ADIS16400_DATA(&adis16300_timeouts),
1028 },
1029 [ADIS16334] = {
1030 .channels = adis16334_channels,
1031 .num_channels = ARRAY_SIZE(adis16334_channels),
1032 .flags = ADIS16400_HAS_PROD_ID | ADIS16400_NO_BURST |
1033 ADIS16400_HAS_SERIAL_NUMBER,
1034 .gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */
1035 .accel_scale_micro = IIO_G_TO_M_S_2(1000), /* 1 mg */
1036 .temp_scale_nano = 67850000, /* 0.06785 C */
1037 .temp_offset = 25000000 / 67850, /* 25 C = 0x00 */
1038 .set_freq = adis16334_set_freq,
1039 .get_freq = adis16334_get_freq,
1040 .adis_data = ADIS16400_DATA(&adis16334_timeouts),
1041 },
1042 [ADIS16350] = {
1043 .channels = adis16350_channels,
1044 .num_channels = ARRAY_SIZE(adis16350_channels),
1045 .gyro_scale_micro = IIO_DEGREE_TO_RAD(73260), /* 0.07326 deg/s */
1046 .accel_scale_micro = IIO_G_TO_M_S_2(2522), /* 0.002522 g */
1047 .temp_scale_nano = 145300000, /* 0.1453 C */
1048 .temp_offset = 25000000 / 145300, /* 25 C = 0x00 */
1049 .flags = ADIS16400_NO_BURST | ADIS16400_HAS_SLOW_MODE,
1050 .set_freq = adis16400_set_freq,
1051 .get_freq = adis16400_get_freq,
1052 .adis_data = ADIS16400_DATA(&adis16300_timeouts),
1053 },
1054 [ADIS16360] = {
1055 .channels = adis16350_channels,
1056 .num_channels = ARRAY_SIZE(adis16350_channels),
1057 .flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE |
1058 ADIS16400_HAS_SERIAL_NUMBER,
1059 .gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */
1060 .accel_scale_micro = IIO_G_TO_M_S_2(3333), /* 3.333 mg */
1061 .temp_scale_nano = 136000000, /* 0.136 C */
1062 .temp_offset = 25000000 / 136000, /* 25 C = 0x00 */
1063 .set_freq = adis16400_set_freq,
1064 .get_freq = adis16400_get_freq,
1065 .adis_data = ADIS16400_DATA(&adis16300_timeouts),
1066 },
1067 [ADIS16362] = {
1068 .channels = adis16350_channels,
1069 .num_channels = ARRAY_SIZE(adis16350_channels),
1070 .flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE |
1071 ADIS16400_HAS_SERIAL_NUMBER,
1072 .gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */
1073 .accel_scale_micro = IIO_G_TO_M_S_2(333), /* 0.333 mg */
1074 .temp_scale_nano = 136000000, /* 0.136 C */
1075 .temp_offset = 25000000 / 136000, /* 25 C = 0x00 */
1076 .set_freq = adis16400_set_freq,
1077 .get_freq = adis16400_get_freq,
1078 .adis_data = ADIS16400_DATA(&adis16362_timeouts),
1079 },
1080 [ADIS16364] = {
1081 .channels = adis16350_channels,
1082 .num_channels = ARRAY_SIZE(adis16350_channels),
1083 .flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE |
1084 ADIS16400_HAS_SERIAL_NUMBER,
1085 .gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */
1086 .accel_scale_micro = IIO_G_TO_M_S_2(1000), /* 1 mg */
1087 .temp_scale_nano = 136000000, /* 0.136 C */
1088 .temp_offset = 25000000 / 136000, /* 25 C = 0x00 */
1089 .set_freq = adis16400_set_freq,
1090 .get_freq = adis16400_get_freq,
1091 .adis_data = ADIS16400_DATA(&adis16362_timeouts),
1092 },
1093 [ADIS16367] = {
1094 .channels = adis16350_channels,
1095 .num_channels = ARRAY_SIZE(adis16350_channels),
1096 .flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE |
1097 ADIS16400_HAS_SERIAL_NUMBER,
1098 .gyro_scale_micro = IIO_DEGREE_TO_RAD(2000), /* 0.2 deg/s */
1099 .accel_scale_micro = IIO_G_TO_M_S_2(3333), /* 3.333 mg */
1100 .temp_scale_nano = 136000000, /* 0.136 C */
1101 .temp_offset = 25000000 / 136000, /* 25 C = 0x00 */
1102 .set_freq = adis16400_set_freq,
1103 .get_freq = adis16400_get_freq,
1104 .adis_data = ADIS16400_DATA(&adis16300_timeouts),
1105 },
1106 [ADIS16400] = {
1107 .channels = adis16400_channels,
1108 .num_channels = ARRAY_SIZE(adis16400_channels),
1109 .flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE,
1110 .gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */
1111 .accel_scale_micro = IIO_G_TO_M_S_2(3333), /* 3.333 mg */
1112 .temp_scale_nano = 140000000, /* 0.14 C */
1113 .temp_offset = 25000000 / 140000, /* 25 C = 0x00 */
1114 .set_freq = adis16400_set_freq,
1115 .get_freq = adis16400_get_freq,
1116 .adis_data = ADIS16400_DATA(&adis16400_timeouts),
1117 },
1118 [ADIS16445] = {
1119 .channels = adis16445_channels,
1120 .num_channels = ARRAY_SIZE(adis16445_channels),
1121 .flags = ADIS16400_HAS_PROD_ID |
1122 ADIS16400_HAS_SERIAL_NUMBER |
1123 ADIS16400_BURST_DIAG_STAT,
1124 .gyro_scale_micro = IIO_DEGREE_TO_RAD(10000), /* 0.01 deg/s */
1125 .accel_scale_micro = IIO_G_TO_M_S_2(250), /* 1/4000 g */
1126 .temp_scale_nano = 73860000, /* 0.07386 C */
1127 .temp_offset = 31000000 / 73860, /* 31 C = 0x00 */
1128 .set_freq = adis16334_set_freq,
1129 .get_freq = adis16334_get_freq,
1130 .adis_data = ADIS16400_DATA(&adis16445_timeouts),
1131 },
1132 [ADIS16448] = {
1133 .channels = adis16448_channels,
1134 .num_channels = ARRAY_SIZE(adis16448_channels),
1135 .flags = ADIS16400_HAS_PROD_ID |
1136 ADIS16400_HAS_SERIAL_NUMBER |
1137 ADIS16400_BURST_DIAG_STAT,
1138 .gyro_scale_micro = IIO_DEGREE_TO_RAD(40000), /* 0.04 deg/s */
1139 .accel_scale_micro = IIO_G_TO_M_S_2(833), /* 1/1200 g */
1140 .temp_scale_nano = 73860000, /* 0.07386 C */
1141 .temp_offset = 31000000 / 73860, /* 31 C = 0x00 */
1142 .set_freq = adis16334_set_freq,
1143 .get_freq = adis16334_get_freq,
1144 .adis_data = ADIS16400_DATA(&adis16448_timeouts),
1145 }
1146 };
1147
1148 static const struct iio_info adis16400_info = {
1149 .read_raw = &adis16400_read_raw,
1150 .write_raw = &adis16400_write_raw,
1151 .update_scan_mode = adis_update_scan_mode,
1152 .debugfs_reg_access = adis_debugfs_reg_access,
1153 };
1154
1155 static void adis16400_setup_chan_mask(struct adis16400_state *st)
1156 {
1157 const struct adis16400_chip_info *chip_info = st->variant;
1158 unsigned int i;
1159
1160 for (i = 0; i < chip_info->num_channels; i++) {
1161 const struct iio_chan_spec *ch = &chip_info->channels[i];
1162
1163 if (ch->scan_index >= 0 &&
1164 ch->scan_index != ADIS16400_SCAN_TIMESTAMP)
1165 st->avail_scan_mask[0] |= BIT(ch->scan_index);
1166 }
1167 }
1168 static int adis16400_probe(struct spi_device *spi)
1169 {
1170 struct adis16400_state *st;
1171 struct iio_dev *indio_dev;
1172 int ret;
1173 const struct adis_data *adis16400_data;
1174
1175 indio_dev = devm_iio_device_alloc(&spi->dev, sizeof(*st));
1176 if (indio_dev == NULL)
1177 return -ENOMEM;
1178
1179 st = iio_priv(indio_dev);
1180 /* this is only used for removal purposes */
1181 spi_set_drvdata(spi, indio_dev);
1182
1183 /* setup the industrialio driver allocated elements */
1184 st->variant = &adis16400_chips[spi_get_device_id(spi)->driver_data];
1185 indio_dev->dev.parent = &spi->dev;
1186 indio_dev->name = spi_get_device_id(spi)->name;
1187 indio_dev->channels = st->variant->channels;
1188 indio_dev->num_channels = st->variant->num_channels;
1189 indio_dev->info = &adis16400_info;
1190 indio_dev->modes = INDIO_DIRECT_MODE;
1191
1192 if (!(st->variant->flags & ADIS16400_NO_BURST)) {
1193 adis16400_setup_chan_mask(st);
1194 indio_dev->available_scan_masks = st->avail_scan_mask;
1195 st->adis.burst = &adis16400_burst;
1196 if (st->variant->flags & ADIS16400_BURST_DIAG_STAT)
1197 st->adis.burst->extra_len = sizeof(u16);
1198 }
1199
1200 adis16400_data = &st->variant->adis_data;
1201
1202 ret = adis_init(&st->adis, indio_dev, spi, adis16400_data);
1203 if (ret)
1204 return ret;
1205
1206 ret = adis_setup_buffer_and_trigger(&st->adis, indio_dev,
1207 adis16400_trigger_handler);
1208 if (ret)
1209 return ret;
1210
1211 /* Get the device into a sane initial state */
1212 ret = adis16400_initial_setup(indio_dev);
1213 if (ret)
1214 goto error_cleanup_buffer;
1215 ret = iio_device_register(indio_dev);
1216 if (ret)
1217 goto error_cleanup_buffer;
1218
1219 adis16400_debugfs_init(indio_dev);
1220 return 0;
1221
1222 error_cleanup_buffer:
1223 adis_cleanup_buffer_and_trigger(&st->adis, indio_dev);
1224 return ret;
1225 }
1226
1227 static int adis16400_remove(struct spi_device *spi)
1228 {
1229 struct iio_dev *indio_dev = spi_get_drvdata(spi);
1230 struct adis16400_state *st = iio_priv(indio_dev);
1231
1232 iio_device_unregister(indio_dev);
1233 adis16400_stop_device(indio_dev);
1234
1235 adis_cleanup_buffer_and_trigger(&st->adis, indio_dev);
1236
1237 return 0;
1238 }
1239
1240 static const struct spi_device_id adis16400_id[] = {
1241 {"adis16300", ADIS16300},
1242 {"adis16305", ADIS16300},
1243 {"adis16334", ADIS16334},
1244 {"adis16350", ADIS16350},
1245 {"adis16354", ADIS16350},
1246 {"adis16355", ADIS16350},
1247 {"adis16360", ADIS16360},
1248 {"adis16362", ADIS16362},
1249 {"adis16364", ADIS16364},
1250 {"adis16365", ADIS16360},
1251 {"adis16367", ADIS16367},
1252 {"adis16400", ADIS16400},
1253 {"adis16405", ADIS16400},
1254 {"adis16445", ADIS16445},
1255 {"adis16448", ADIS16448},
1256 {}
1257 };
1258 MODULE_DEVICE_TABLE(spi, adis16400_id);
1259
1260 static struct spi_driver adis16400_driver = {
1261 .driver = {
1262 .name = "adis16400",
1263 },
1264 .id_table = adis16400_id,
1265 .probe = adis16400_probe,
1266 .remove = adis16400_remove,
1267 };
1268 module_spi_driver(adis16400_driver);
1269
1270 MODULE_AUTHOR("Manuel Stahl <manuel.stahl@iis.fraunhofer.de>");
1271 MODULE_DESCRIPTION("Analog Devices ADIS16400/5 IMU SPI driver");
1272 MODULE_LICENSE("GPL v2");
Linux with added FPC-III support