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
adis16400_show_serial_number(struct file * file,char __user * userbuf,size_t count,loff_t * ppos)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
adis16400_show_product_id(void * arg,u64 * val)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
adis16400_show_flash_count(void * arg,u64 * val)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
adis16400_debugfs_init(struct iio_dev * indio_dev)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
adis16400_debugfs_init(struct iio_dev * indio_dev)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 ADIS16367,
143 ADIS16400,
144 ADIS16445,
145 ADIS16448,
146 };
147
adis16334_get_freq(struct adis16400_state * st)148 static int adis16334_get_freq(struct adis16400_state *st)
149 {
150 int ret;
151 uint16_t t;
152
153 ret = adis_read_reg_16(&st->adis, ADIS16400_SMPL_PRD, &t);
154 if (ret < 0)
155 return ret;
156
157 t >>= ADIS16334_RATE_DIV_SHIFT;
158
159 return 819200 >> t;
160 }
161
adis16334_set_freq(struct adis16400_state * st,unsigned int freq)162 static int adis16334_set_freq(struct adis16400_state *st, unsigned int freq)
163 {
164 unsigned int t;
165
166 if (freq < 819200)
167 t = ilog2(819200 / freq);
168 else
169 t = 0;
170
171 if (t > 0x31)
172 t = 0x31;
173
174 t <<= ADIS16334_RATE_DIV_SHIFT;
175 t |= ADIS16334_RATE_INT_CLK;
176
177 return adis_write_reg_16(&st->adis, ADIS16400_SMPL_PRD, t);
178 }
179
adis16400_get_freq(struct adis16400_state * st)180 static int adis16400_get_freq(struct adis16400_state *st)
181 {
182 int sps, ret;
183 uint16_t t;
184
185 ret = adis_read_reg_16(&st->adis, ADIS16400_SMPL_PRD, &t);
186 if (ret < 0)
187 return ret;
188
189 sps = (t & ADIS16400_SMPL_PRD_TIME_BASE) ? 52851 : 1638404;
190 sps /= (t & ADIS16400_SMPL_PRD_DIV_MASK) + 1;
191
192 return sps;
193 }
194
adis16400_set_freq(struct adis16400_state * st,unsigned int freq)195 static int adis16400_set_freq(struct adis16400_state *st, unsigned int freq)
196 {
197 unsigned int t;
198 uint8_t val = 0;
199
200 t = 1638404 / freq;
201 if (t >= 128) {
202 val |= ADIS16400_SMPL_PRD_TIME_BASE;
203 t = 52851 / freq;
204 if (t >= 128)
205 t = 127;
206 } else if (t != 0) {
207 t--;
208 }
209
210 val |= t;
211
212 if (t >= 0x0A || (val & ADIS16400_SMPL_PRD_TIME_BASE))
213 st->adis.spi->max_speed_hz = ADIS16400_SPI_SLOW;
214 else
215 st->adis.spi->max_speed_hz = ADIS16400_SPI_FAST;
216
217 return adis_write_reg_8(&st->adis, ADIS16400_SMPL_PRD, val);
218 }
219
220 static const unsigned adis16400_3db_divisors[] = {
221 [0] = 2, /* Special case */
222 [1] = 6,
223 [2] = 12,
224 [3] = 25,
225 [4] = 50,
226 [5] = 100,
227 [6] = 200,
228 [7] = 200, /* Not a valid setting */
229 };
230
adis16400_set_filter(struct iio_dev * indio_dev,int sps,int val)231 static int adis16400_set_filter(struct iio_dev *indio_dev, int sps, int val)
232 {
233 struct adis16400_state *st = iio_priv(indio_dev);
234 uint16_t val16;
235 int i, ret;
236
237 for (i = ARRAY_SIZE(adis16400_3db_divisors) - 1; i >= 1; i--) {
238 if (sps / adis16400_3db_divisors[i] >= val)
239 break;
240 }
241
242 ret = adis_read_reg_16(&st->adis, ADIS16400_SENS_AVG, &val16);
243 if (ret < 0)
244 return ret;
245
246 ret = adis_write_reg_16(&st->adis, ADIS16400_SENS_AVG,
247 (val16 & ~0x07) | i);
248 return ret;
249 }
250
251 /* Power down the device */
adis16400_stop_device(struct iio_dev * indio_dev)252 static int adis16400_stop_device(struct iio_dev *indio_dev)
253 {
254 struct adis16400_state *st = iio_priv(indio_dev);
255 int ret;
256
257 ret = adis_write_reg_16(&st->adis, ADIS16400_SLP_CNT,
258 ADIS16400_SLP_CNT_POWER_OFF);
259 if (ret)
260 dev_err(&indio_dev->dev,
261 "problem with turning device off: SLP_CNT");
262
263 return ret;
264 }
265
adis16400_initial_setup(struct iio_dev * indio_dev)266 static int adis16400_initial_setup(struct iio_dev *indio_dev)
267 {
268 struct adis16400_state *st = iio_priv(indio_dev);
269 uint16_t prod_id, smp_prd;
270 unsigned int device_id;
271 int ret;
272
273 /* use low spi speed for init if the device has a slow mode */
274 if (st->variant->flags & ADIS16400_HAS_SLOW_MODE)
275 st->adis.spi->max_speed_hz = ADIS16400_SPI_SLOW;
276 else
277 st->adis.spi->max_speed_hz = ADIS16400_SPI_FAST;
278 st->adis.spi->mode = SPI_MODE_3;
279 spi_setup(st->adis.spi);
280
281 ret = adis_initial_startup(&st->adis);
282 if (ret)
283 return ret;
284
285 if (st->variant->flags & ADIS16400_HAS_PROD_ID) {
286 ret = adis_read_reg_16(&st->adis,
287 ADIS16400_PRODUCT_ID, &prod_id);
288 if (ret)
289 goto err_ret;
290
291 sscanf(indio_dev->name, "adis%u\n", &device_id);
292
293 if (prod_id != device_id)
294 dev_warn(&indio_dev->dev, "Device ID(%u) and product ID(%u) do not match.",
295 device_id, prod_id);
296
297 dev_info(&indio_dev->dev, "%s: prod_id 0x%04x at CS%d (irq %d)\n",
298 indio_dev->name, prod_id,
299 st->adis.spi->chip_select, st->adis.spi->irq);
300 }
301 /* use high spi speed if possible */
302 if (st->variant->flags & ADIS16400_HAS_SLOW_MODE) {
303 ret = adis_read_reg_16(&st->adis, ADIS16400_SMPL_PRD, &smp_prd);
304 if (ret)
305 goto err_ret;
306
307 if ((smp_prd & ADIS16400_SMPL_PRD_DIV_MASK) < 0x0A) {
308 st->adis.spi->max_speed_hz = ADIS16400_SPI_FAST;
309 spi_setup(st->adis.spi);
310 }
311 }
312
313 err_ret:
314 return ret;
315 }
316
317 static const uint8_t adis16400_addresses[] = {
318 [ADIS16400_SCAN_GYRO_X] = ADIS16400_XGYRO_OFF,
319 [ADIS16400_SCAN_GYRO_Y] = ADIS16400_YGYRO_OFF,
320 [ADIS16400_SCAN_GYRO_Z] = ADIS16400_ZGYRO_OFF,
321 [ADIS16400_SCAN_ACC_X] = ADIS16400_XACCL_OFF,
322 [ADIS16400_SCAN_ACC_Y] = ADIS16400_YACCL_OFF,
323 [ADIS16400_SCAN_ACC_Z] = ADIS16400_ZACCL_OFF,
324 };
325
adis16400_write_raw(struct iio_dev * indio_dev,struct iio_chan_spec const * chan,int val,int val2,long info)326 static int adis16400_write_raw(struct iio_dev *indio_dev,
327 struct iio_chan_spec const *chan, int val, int val2, long info)
328 {
329 struct adis16400_state *st = iio_priv(indio_dev);
330 int ret, sps;
331
332 switch (info) {
333 case IIO_CHAN_INFO_CALIBBIAS:
334 mutex_lock(&indio_dev->mlock);
335 ret = adis_write_reg_16(&st->adis,
336 adis16400_addresses[chan->scan_index], val);
337 mutex_unlock(&indio_dev->mlock);
338 return ret;
339 case IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY:
340 /*
341 * Need to cache values so we can update if the frequency
342 * changes.
343 */
344 mutex_lock(&indio_dev->mlock);
345 st->filt_int = val;
346 /* Work out update to current value */
347 sps = st->variant->get_freq(st);
348 if (sps < 0) {
349 mutex_unlock(&indio_dev->mlock);
350 return sps;
351 }
352
353 ret = adis16400_set_filter(indio_dev, sps,
354 val * 1000 + val2 / 1000);
355 mutex_unlock(&indio_dev->mlock);
356 return ret;
357 case IIO_CHAN_INFO_SAMP_FREQ:
358 sps = val * 1000 + val2 / 1000;
359
360 if (sps <= 0)
361 return -EINVAL;
362
363 mutex_lock(&indio_dev->mlock);
364 ret = st->variant->set_freq(st, sps);
365 mutex_unlock(&indio_dev->mlock);
366 return ret;
367 default:
368 return -EINVAL;
369 }
370 }
371
adis16400_read_raw(struct iio_dev * indio_dev,struct iio_chan_spec const * chan,int * val,int * val2,long info)372 static int adis16400_read_raw(struct iio_dev *indio_dev,
373 struct iio_chan_spec const *chan, int *val, int *val2, long info)
374 {
375 struct adis16400_state *st = iio_priv(indio_dev);
376 int16_t val16;
377 int ret;
378
379 switch (info) {
380 case IIO_CHAN_INFO_RAW:
381 return adis_single_conversion(indio_dev, chan, 0, val);
382 case IIO_CHAN_INFO_SCALE:
383 switch (chan->type) {
384 case IIO_ANGL_VEL:
385 *val = 0;
386 *val2 = st->variant->gyro_scale_micro;
387 return IIO_VAL_INT_PLUS_MICRO;
388 case IIO_VOLTAGE:
389 *val = 0;
390 if (chan->channel == 0) {
391 *val = 2;
392 *val2 = 418000; /* 2.418 mV */
393 } else {
394 *val = 0;
395 *val2 = 805800; /* 805.8 uV */
396 }
397 return IIO_VAL_INT_PLUS_MICRO;
398 case IIO_ACCEL:
399 *val = 0;
400 *val2 = st->variant->accel_scale_micro;
401 return IIO_VAL_INT_PLUS_MICRO;
402 case IIO_MAGN:
403 *val = 0;
404 *val2 = 500; /* 0.5 mgauss */
405 return IIO_VAL_INT_PLUS_MICRO;
406 case IIO_TEMP:
407 *val = st->variant->temp_scale_nano / 1000000;
408 *val2 = (st->variant->temp_scale_nano % 1000000);
409 return IIO_VAL_INT_PLUS_MICRO;
410 case IIO_PRESSURE:
411 /* 20 uBar = 0.002kPascal */
412 *val = 0;
413 *val2 = 2000;
414 return IIO_VAL_INT_PLUS_MICRO;
415 default:
416 return -EINVAL;
417 }
418 case IIO_CHAN_INFO_CALIBBIAS:
419 mutex_lock(&indio_dev->mlock);
420 ret = adis_read_reg_16(&st->adis,
421 adis16400_addresses[chan->scan_index], &val16);
422 mutex_unlock(&indio_dev->mlock);
423 if (ret)
424 return ret;
425 val16 = sign_extend32(val16, 11);
426 *val = val16;
427 return IIO_VAL_INT;
428 case IIO_CHAN_INFO_OFFSET:
429 /* currently only temperature */
430 *val = st->variant->temp_offset;
431 return IIO_VAL_INT;
432 case IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY:
433 mutex_lock(&indio_dev->mlock);
434 /* Need both the number of taps and the sampling frequency */
435 ret = adis_read_reg_16(&st->adis,
436 ADIS16400_SENS_AVG,
437 &val16);
438 if (ret < 0) {
439 mutex_unlock(&indio_dev->mlock);
440 return ret;
441 }
442 ret = st->variant->get_freq(st);
443 if (ret >= 0) {
444 ret /= adis16400_3db_divisors[val16 & 0x07];
445 *val = ret / 1000;
446 *val2 = (ret % 1000) * 1000;
447 }
448 mutex_unlock(&indio_dev->mlock);
449 if (ret < 0)
450 return ret;
451 return IIO_VAL_INT_PLUS_MICRO;
452 case IIO_CHAN_INFO_SAMP_FREQ:
453 ret = st->variant->get_freq(st);
454 if (ret < 0)
455 return ret;
456 *val = ret / 1000;
457 *val2 = (ret % 1000) * 1000;
458 return IIO_VAL_INT_PLUS_MICRO;
459 default:
460 return -EINVAL;
461 }
462 }
463
464 #define ADIS16400_VOLTAGE_CHAN(addr, bits, name, si, chn) { \
465 .type = IIO_VOLTAGE, \
466 .indexed = 1, \
467 .channel = chn, \
468 .extend_name = name, \
469 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \
470 BIT(IIO_CHAN_INFO_SCALE), \
471 .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
472 .address = (addr), \
473 .scan_index = (si), \
474 .scan_type = { \
475 .sign = 'u', \
476 .realbits = (bits), \
477 .storagebits = 16, \
478 .shift = 0, \
479 .endianness = IIO_BE, \
480 }, \
481 }
482
483 #define ADIS16400_SUPPLY_CHAN(addr, bits) \
484 ADIS16400_VOLTAGE_CHAN(addr, bits, "supply", ADIS16400_SCAN_SUPPLY, 0)
485
486 #define ADIS16400_AUX_ADC_CHAN(addr, bits) \
487 ADIS16400_VOLTAGE_CHAN(addr, bits, NULL, ADIS16400_SCAN_ADC, 1)
488
489 #define ADIS16400_GYRO_CHAN(mod, addr, bits) { \
490 .type = IIO_ANGL_VEL, \
491 .modified = 1, \
492 .channel2 = IIO_MOD_ ## mod, \
493 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \
494 BIT(IIO_CHAN_INFO_CALIBBIAS), \
495 .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE) | \
496 BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY), \
497 .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
498 .address = addr, \
499 .scan_index = ADIS16400_SCAN_GYRO_ ## mod, \
500 .scan_type = { \
501 .sign = 's', \
502 .realbits = (bits), \
503 .storagebits = 16, \
504 .shift = 0, \
505 .endianness = IIO_BE, \
506 }, \
507 }
508
509 #define ADIS16400_ACCEL_CHAN(mod, addr, bits) { \
510 .type = IIO_ACCEL, \
511 .modified = 1, \
512 .channel2 = IIO_MOD_ ## mod, \
513 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \
514 BIT(IIO_CHAN_INFO_CALIBBIAS), \
515 .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE) | \
516 BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY), \
517 .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
518 .address = (addr), \
519 .scan_index = ADIS16400_SCAN_ACC_ ## mod, \
520 .scan_type = { \
521 .sign = 's', \
522 .realbits = (bits), \
523 .storagebits = 16, \
524 .shift = 0, \
525 .endianness = IIO_BE, \
526 }, \
527 }
528
529 #define ADIS16400_MAGN_CHAN(mod, addr, bits) { \
530 .type = IIO_MAGN, \
531 .modified = 1, \
532 .channel2 = IIO_MOD_ ## mod, \
533 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW), \
534 .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE) | \
535 BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY), \
536 .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
537 .address = (addr), \
538 .scan_index = ADIS16400_SCAN_MAGN_ ## mod, \
539 .scan_type = { \
540 .sign = 's', \
541 .realbits = (bits), \
542 .storagebits = 16, \
543 .shift = 0, \
544 .endianness = IIO_BE, \
545 }, \
546 }
547
548 #define ADIS16400_MOD_TEMP_NAME_X "x"
549 #define ADIS16400_MOD_TEMP_NAME_Y "y"
550 #define ADIS16400_MOD_TEMP_NAME_Z "z"
551
552 #define ADIS16400_MOD_TEMP_CHAN(mod, addr, bits) { \
553 .type = IIO_TEMP, \
554 .indexed = 1, \
555 .channel = 0, \
556 .extend_name = ADIS16400_MOD_TEMP_NAME_ ## mod, \
557 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \
558 BIT(IIO_CHAN_INFO_OFFSET) | \
559 BIT(IIO_CHAN_INFO_SCALE), \
560 .info_mask_shared_by_type = \
561 BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY), \
562 .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
563 .address = (addr), \
564 .scan_index = ADIS16350_SCAN_TEMP_ ## mod, \
565 .scan_type = { \
566 .sign = 's', \
567 .realbits = (bits), \
568 .storagebits = 16, \
569 .shift = 0, \
570 .endianness = IIO_BE, \
571 }, \
572 }
573
574 #define ADIS16400_TEMP_CHAN(addr, bits) { \
575 .type = IIO_TEMP, \
576 .indexed = 1, \
577 .channel = 0, \
578 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \
579 BIT(IIO_CHAN_INFO_OFFSET) | \
580 BIT(IIO_CHAN_INFO_SCALE), \
581 .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
582 .address = (addr), \
583 .scan_index = ADIS16350_SCAN_TEMP_X, \
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_INCLI_CHAN(mod, addr, bits) { \
594 .type = IIO_INCLI, \
595 .modified = 1, \
596 .channel2 = IIO_MOD_ ## mod, \
597 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW), \
598 .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE), \
599 .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
600 .address = (addr), \
601 .scan_index = ADIS16300_SCAN_INCLI_ ## mod, \
602 .scan_type = { \
603 .sign = 's', \
604 .realbits = (bits), \
605 .storagebits = 16, \
606 .shift = 0, \
607 .endianness = IIO_BE, \
608 }, \
609 }
610
611 static const struct iio_chan_spec adis16400_channels[] = {
612 ADIS16400_SUPPLY_CHAN(ADIS16400_SUPPLY_OUT, 14),
613 ADIS16400_GYRO_CHAN(X, ADIS16400_XGYRO_OUT, 14),
614 ADIS16400_GYRO_CHAN(Y, ADIS16400_YGYRO_OUT, 14),
615 ADIS16400_GYRO_CHAN(Z, ADIS16400_ZGYRO_OUT, 14),
616 ADIS16400_ACCEL_CHAN(X, ADIS16400_XACCL_OUT, 14),
617 ADIS16400_ACCEL_CHAN(Y, ADIS16400_YACCL_OUT, 14),
618 ADIS16400_ACCEL_CHAN(Z, ADIS16400_ZACCL_OUT, 14),
619 ADIS16400_MAGN_CHAN(X, ADIS16400_XMAGN_OUT, 14),
620 ADIS16400_MAGN_CHAN(Y, ADIS16400_YMAGN_OUT, 14),
621 ADIS16400_MAGN_CHAN(Z, ADIS16400_ZMAGN_OUT, 14),
622 ADIS16400_TEMP_CHAN(ADIS16400_TEMP_OUT, 12),
623 ADIS16400_AUX_ADC_CHAN(ADIS16400_AUX_ADC, 12),
624 IIO_CHAN_SOFT_TIMESTAMP(ADIS16400_SCAN_TIMESTAMP),
625 };
626
627 static const struct iio_chan_spec adis16445_channels[] = {
628 ADIS16400_GYRO_CHAN(X, ADIS16400_XGYRO_OUT, 16),
629 ADIS16400_GYRO_CHAN(Y, ADIS16400_YGYRO_OUT, 16),
630 ADIS16400_GYRO_CHAN(Z, ADIS16400_ZGYRO_OUT, 16),
631 ADIS16400_ACCEL_CHAN(X, ADIS16400_XACCL_OUT, 16),
632 ADIS16400_ACCEL_CHAN(Y, ADIS16400_YACCL_OUT, 16),
633 ADIS16400_ACCEL_CHAN(Z, ADIS16400_ZACCL_OUT, 16),
634 ADIS16400_TEMP_CHAN(ADIS16448_TEMP_OUT, 12),
635 IIO_CHAN_SOFT_TIMESTAMP(ADIS16400_SCAN_TIMESTAMP),
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 .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ),
653 .address = ADIS16448_BARO_OUT,
654 .scan_index = ADIS16400_SCAN_BARO,
655 .scan_type = {
656 .sign = 's',
657 .realbits = 16,
658 .storagebits = 16,
659 .endianness = IIO_BE,
660 },
661 },
662 ADIS16400_TEMP_CHAN(ADIS16448_TEMP_OUT, 12),
663 IIO_CHAN_SOFT_TIMESTAMP(ADIS16400_SCAN_TIMESTAMP),
664 };
665
666 static const struct iio_chan_spec adis16350_channels[] = {
667 ADIS16400_SUPPLY_CHAN(ADIS16400_SUPPLY_OUT, 12),
668 ADIS16400_GYRO_CHAN(X, ADIS16400_XGYRO_OUT, 14),
669 ADIS16400_GYRO_CHAN(Y, ADIS16400_YGYRO_OUT, 14),
670 ADIS16400_GYRO_CHAN(Z, ADIS16400_ZGYRO_OUT, 14),
671 ADIS16400_ACCEL_CHAN(X, ADIS16400_XACCL_OUT, 14),
672 ADIS16400_ACCEL_CHAN(Y, ADIS16400_YACCL_OUT, 14),
673 ADIS16400_ACCEL_CHAN(Z, ADIS16400_ZACCL_OUT, 14),
674 ADIS16400_MAGN_CHAN(X, ADIS16400_XMAGN_OUT, 14),
675 ADIS16400_MAGN_CHAN(Y, ADIS16400_YMAGN_OUT, 14),
676 ADIS16400_MAGN_CHAN(Z, ADIS16400_ZMAGN_OUT, 14),
677 ADIS16400_AUX_ADC_CHAN(ADIS16300_AUX_ADC, 12),
678 ADIS16400_MOD_TEMP_CHAN(X, ADIS16350_XTEMP_OUT, 12),
679 ADIS16400_MOD_TEMP_CHAN(Y, ADIS16350_YTEMP_OUT, 12),
680 ADIS16400_MOD_TEMP_CHAN(Z, ADIS16350_ZTEMP_OUT, 12),
681 IIO_CHAN_SOFT_TIMESTAMP(ADIS16400_SCAN_TIMESTAMP),
682 };
683
684 static const struct iio_chan_spec adis16300_channels[] = {
685 ADIS16400_SUPPLY_CHAN(ADIS16400_SUPPLY_OUT, 12),
686 ADIS16400_GYRO_CHAN(X, ADIS16400_XGYRO_OUT, 14),
687 ADIS16400_ACCEL_CHAN(X, ADIS16400_XACCL_OUT, 14),
688 ADIS16400_ACCEL_CHAN(Y, ADIS16400_YACCL_OUT, 14),
689 ADIS16400_ACCEL_CHAN(Z, ADIS16400_ZACCL_OUT, 14),
690 ADIS16400_TEMP_CHAN(ADIS16350_XTEMP_OUT, 12),
691 ADIS16400_AUX_ADC_CHAN(ADIS16300_AUX_ADC, 12),
692 ADIS16400_INCLI_CHAN(X, ADIS16300_PITCH_OUT, 13),
693 ADIS16400_INCLI_CHAN(Y, ADIS16300_ROLL_OUT, 13),
694 IIO_CHAN_SOFT_TIMESTAMP(ADIS16400_SCAN_TIMESTAMP),
695 };
696
697 static const struct iio_chan_spec adis16334_channels[] = {
698 ADIS16400_GYRO_CHAN(X, ADIS16400_XGYRO_OUT, 14),
699 ADIS16400_GYRO_CHAN(Y, ADIS16400_YGYRO_OUT, 14),
700 ADIS16400_GYRO_CHAN(Z, ADIS16400_ZGYRO_OUT, 14),
701 ADIS16400_ACCEL_CHAN(X, ADIS16400_XACCL_OUT, 14),
702 ADIS16400_ACCEL_CHAN(Y, ADIS16400_YACCL_OUT, 14),
703 ADIS16400_ACCEL_CHAN(Z, ADIS16400_ZACCL_OUT, 14),
704 ADIS16400_TEMP_CHAN(ADIS16350_XTEMP_OUT, 12),
705 IIO_CHAN_SOFT_TIMESTAMP(ADIS16400_SCAN_TIMESTAMP),
706 };
707
708 static struct adis16400_chip_info adis16400_chips[] = {
709 [ADIS16300] = {
710 .channels = adis16300_channels,
711 .num_channels = ARRAY_SIZE(adis16300_channels),
712 .flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE |
713 ADIS16400_HAS_SERIAL_NUMBER,
714 .gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */
715 .accel_scale_micro = 5884,
716 .temp_scale_nano = 140000000, /* 0.14 C */
717 .temp_offset = 25000000 / 140000, /* 25 C = 0x00 */
718 .set_freq = adis16400_set_freq,
719 .get_freq = adis16400_get_freq,
720 },
721 [ADIS16334] = {
722 .channels = adis16334_channels,
723 .num_channels = ARRAY_SIZE(adis16334_channels),
724 .flags = ADIS16400_HAS_PROD_ID | ADIS16400_NO_BURST |
725 ADIS16400_HAS_SERIAL_NUMBER,
726 .gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */
727 .accel_scale_micro = IIO_G_TO_M_S_2(1000), /* 1 mg */
728 .temp_scale_nano = 67850000, /* 0.06785 C */
729 .temp_offset = 25000000 / 67850, /* 25 C = 0x00 */
730 .set_freq = adis16334_set_freq,
731 .get_freq = adis16334_get_freq,
732 },
733 [ADIS16350] = {
734 .channels = adis16350_channels,
735 .num_channels = ARRAY_SIZE(adis16350_channels),
736 .gyro_scale_micro = IIO_DEGREE_TO_RAD(73260), /* 0.07326 deg/s */
737 .accel_scale_micro = IIO_G_TO_M_S_2(2522), /* 0.002522 g */
738 .temp_scale_nano = 145300000, /* 0.1453 C */
739 .temp_offset = 25000000 / 145300, /* 25 C = 0x00 */
740 .flags = ADIS16400_NO_BURST | ADIS16400_HAS_SLOW_MODE,
741 .set_freq = adis16400_set_freq,
742 .get_freq = adis16400_get_freq,
743 },
744 [ADIS16360] = {
745 .channels = adis16350_channels,
746 .num_channels = ARRAY_SIZE(adis16350_channels),
747 .flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE |
748 ADIS16400_HAS_SERIAL_NUMBER,
749 .gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */
750 .accel_scale_micro = IIO_G_TO_M_S_2(3333), /* 3.333 mg */
751 .temp_scale_nano = 136000000, /* 0.136 C */
752 .temp_offset = 25000000 / 136000, /* 25 C = 0x00 */
753 .set_freq = adis16400_set_freq,
754 .get_freq = adis16400_get_freq,
755 },
756 [ADIS16362] = {
757 .channels = adis16350_channels,
758 .num_channels = ARRAY_SIZE(adis16350_channels),
759 .flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE |
760 ADIS16400_HAS_SERIAL_NUMBER,
761 .gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */
762 .accel_scale_micro = IIO_G_TO_M_S_2(333), /* 0.333 mg */
763 .temp_scale_nano = 136000000, /* 0.136 C */
764 .temp_offset = 25000000 / 136000, /* 25 C = 0x00 */
765 .set_freq = adis16400_set_freq,
766 .get_freq = adis16400_get_freq,
767 },
768 [ADIS16364] = {
769 .channels = adis16350_channels,
770 .num_channels = ARRAY_SIZE(adis16350_channels),
771 .flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE |
772 ADIS16400_HAS_SERIAL_NUMBER,
773 .gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */
774 .accel_scale_micro = IIO_G_TO_M_S_2(1000), /* 1 mg */
775 .temp_scale_nano = 136000000, /* 0.136 C */
776 .temp_offset = 25000000 / 136000, /* 25 C = 0x00 */
777 .set_freq = adis16400_set_freq,
778 .get_freq = adis16400_get_freq,
779 },
780 [ADIS16367] = {
781 .channels = adis16350_channels,
782 .num_channels = ARRAY_SIZE(adis16350_channels),
783 .flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE |
784 ADIS16400_HAS_SERIAL_NUMBER,
785 .gyro_scale_micro = IIO_DEGREE_TO_RAD(2000), /* 0.2 deg/s */
786 .accel_scale_micro = IIO_G_TO_M_S_2(3333), /* 3.333 mg */
787 .temp_scale_nano = 136000000, /* 0.136 C */
788 .temp_offset = 25000000 / 136000, /* 25 C = 0x00 */
789 .set_freq = adis16400_set_freq,
790 .get_freq = adis16400_get_freq,
791 },
792 [ADIS16400] = {
793 .channels = adis16400_channels,
794 .num_channels = ARRAY_SIZE(adis16400_channels),
795 .flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE,
796 .gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */
797 .accel_scale_micro = IIO_G_TO_M_S_2(3333), /* 3.333 mg */
798 .temp_scale_nano = 140000000, /* 0.14 C */
799 .temp_offset = 25000000 / 140000, /* 25 C = 0x00 */
800 .set_freq = adis16400_set_freq,
801 .get_freq = adis16400_get_freq,
802 },
803 [ADIS16445] = {
804 .channels = adis16445_channels,
805 .num_channels = ARRAY_SIZE(adis16445_channels),
806 .flags = ADIS16400_HAS_PROD_ID |
807 ADIS16400_HAS_SERIAL_NUMBER |
808 ADIS16400_BURST_DIAG_STAT,
809 .gyro_scale_micro = IIO_DEGREE_TO_RAD(10000), /* 0.01 deg/s */
810 .accel_scale_micro = IIO_G_TO_M_S_2(250), /* 1/4000 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 [ADIS16448] = {
817 .channels = adis16448_channels,
818 .num_channels = ARRAY_SIZE(adis16448_channels),
819 .flags = ADIS16400_HAS_PROD_ID |
820 ADIS16400_HAS_SERIAL_NUMBER |
821 ADIS16400_BURST_DIAG_STAT,
822 .gyro_scale_micro = IIO_DEGREE_TO_RAD(40000), /* 0.04 deg/s */
823 .accel_scale_micro = IIO_G_TO_M_S_2(833), /* 1/1200 g */
824 .temp_scale_nano = 73860000, /* 0.07386 C */
825 .temp_offset = 31000000 / 73860, /* 31 C = 0x00 */
826 .set_freq = adis16334_set_freq,
827 .get_freq = adis16334_get_freq,
828 }
829 };
830
831 static const struct iio_info adis16400_info = {
832 .driver_module = THIS_MODULE,
833 .read_raw = &adis16400_read_raw,
834 .write_raw = &adis16400_write_raw,
835 .update_scan_mode = adis16400_update_scan_mode,
836 .debugfs_reg_access = adis_debugfs_reg_access,
837 };
838
839 static const char * const adis16400_status_error_msgs[] = {
840 [ADIS16400_DIAG_STAT_ZACCL_FAIL] = "Z-axis accelerometer self-test failure",
841 [ADIS16400_DIAG_STAT_YACCL_FAIL] = "Y-axis accelerometer self-test failure",
842 [ADIS16400_DIAG_STAT_XACCL_FAIL] = "X-axis accelerometer self-test failure",
843 [ADIS16400_DIAG_STAT_XGYRO_FAIL] = "X-axis gyroscope self-test failure",
844 [ADIS16400_DIAG_STAT_YGYRO_FAIL] = "Y-axis gyroscope self-test failure",
845 [ADIS16400_DIAG_STAT_ZGYRO_FAIL] = "Z-axis gyroscope self-test failure",
846 [ADIS16400_DIAG_STAT_ALARM2] = "Alarm 2 active",
847 [ADIS16400_DIAG_STAT_ALARM1] = "Alarm 1 active",
848 [ADIS16400_DIAG_STAT_FLASH_CHK] = "Flash checksum error",
849 [ADIS16400_DIAG_STAT_SELF_TEST] = "Self test error",
850 [ADIS16400_DIAG_STAT_OVERFLOW] = "Sensor overrange",
851 [ADIS16400_DIAG_STAT_SPI_FAIL] = "SPI failure",
852 [ADIS16400_DIAG_STAT_FLASH_UPT] = "Flash update failed",
853 [ADIS16400_DIAG_STAT_POWER_HIGH] = "Power supply above 5.25V",
854 [ADIS16400_DIAG_STAT_POWER_LOW] = "Power supply below 4.75V",
855 };
856
857 static const struct adis_data adis16400_data = {
858 .msc_ctrl_reg = ADIS16400_MSC_CTRL,
859 .glob_cmd_reg = ADIS16400_GLOB_CMD,
860 .diag_stat_reg = ADIS16400_DIAG_STAT,
861
862 .read_delay = 50,
863 .write_delay = 50,
864
865 .self_test_mask = ADIS16400_MSC_CTRL_MEM_TEST,
866 .startup_delay = ADIS16400_STARTUP_DELAY,
867
868 .status_error_msgs = adis16400_status_error_msgs,
869 .status_error_mask = BIT(ADIS16400_DIAG_STAT_ZACCL_FAIL) |
870 BIT(ADIS16400_DIAG_STAT_YACCL_FAIL) |
871 BIT(ADIS16400_DIAG_STAT_XACCL_FAIL) |
872 BIT(ADIS16400_DIAG_STAT_XGYRO_FAIL) |
873 BIT(ADIS16400_DIAG_STAT_YGYRO_FAIL) |
874 BIT(ADIS16400_DIAG_STAT_ZGYRO_FAIL) |
875 BIT(ADIS16400_DIAG_STAT_ALARM2) |
876 BIT(ADIS16400_DIAG_STAT_ALARM1) |
877 BIT(ADIS16400_DIAG_STAT_FLASH_CHK) |
878 BIT(ADIS16400_DIAG_STAT_SELF_TEST) |
879 BIT(ADIS16400_DIAG_STAT_OVERFLOW) |
880 BIT(ADIS16400_DIAG_STAT_SPI_FAIL) |
881 BIT(ADIS16400_DIAG_STAT_FLASH_UPT) |
882 BIT(ADIS16400_DIAG_STAT_POWER_HIGH) |
883 BIT(ADIS16400_DIAG_STAT_POWER_LOW),
884 };
885
adis16400_setup_chan_mask(struct adis16400_state * st)886 static void adis16400_setup_chan_mask(struct adis16400_state *st)
887 {
888 const struct adis16400_chip_info *chip_info = st->variant;
889 unsigned i;
890
891 for (i = 0; i < chip_info->num_channels; i++) {
892 const struct iio_chan_spec *ch = &chip_info->channels[i];
893
894 if (ch->scan_index >= 0 &&
895 ch->scan_index != ADIS16400_SCAN_TIMESTAMP)
896 st->avail_scan_mask[0] |= BIT(ch->scan_index);
897 }
898 }
899
adis16400_probe(struct spi_device * spi)900 static int adis16400_probe(struct spi_device *spi)
901 {
902 struct adis16400_state *st;
903 struct iio_dev *indio_dev;
904 int ret;
905
906 indio_dev = devm_iio_device_alloc(&spi->dev, sizeof(*st));
907 if (indio_dev == NULL)
908 return -ENOMEM;
909
910 st = iio_priv(indio_dev);
911 /* this is only used for removal purposes */
912 spi_set_drvdata(spi, indio_dev);
913
914 /* setup the industrialio driver allocated elements */
915 st->variant = &adis16400_chips[spi_get_device_id(spi)->driver_data];
916 indio_dev->dev.parent = &spi->dev;
917 indio_dev->name = spi_get_device_id(spi)->name;
918 indio_dev->channels = st->variant->channels;
919 indio_dev->num_channels = st->variant->num_channels;
920 indio_dev->info = &adis16400_info;
921 indio_dev->modes = INDIO_DIRECT_MODE;
922
923 if (!(st->variant->flags & ADIS16400_NO_BURST)) {
924 adis16400_setup_chan_mask(st);
925 indio_dev->available_scan_masks = st->avail_scan_mask;
926 }
927
928 ret = adis_init(&st->adis, indio_dev, spi, &adis16400_data);
929 if (ret)
930 return ret;
931
932 ret = adis_setup_buffer_and_trigger(&st->adis, indio_dev,
933 adis16400_trigger_handler);
934 if (ret)
935 return ret;
936
937 /* Get the device into a sane initial state */
938 ret = adis16400_initial_setup(indio_dev);
939 if (ret)
940 goto error_cleanup_buffer;
941 ret = iio_device_register(indio_dev);
942 if (ret)
943 goto error_cleanup_buffer;
944
945 adis16400_debugfs_init(indio_dev);
946 return 0;
947
948 error_cleanup_buffer:
949 adis_cleanup_buffer_and_trigger(&st->adis, indio_dev);
950 return ret;
951 }
952
adis16400_remove(struct spi_device * spi)953 static int adis16400_remove(struct spi_device *spi)
954 {
955 struct iio_dev *indio_dev = spi_get_drvdata(spi);
956 struct adis16400_state *st = iio_priv(indio_dev);
957
958 iio_device_unregister(indio_dev);
959 adis16400_stop_device(indio_dev);
960
961 adis_cleanup_buffer_and_trigger(&st->adis, indio_dev);
962
963 return 0;
964 }
965
966 static const struct spi_device_id adis16400_id[] = {
967 {"adis16300", ADIS16300},
968 {"adis16305", ADIS16300},
969 {"adis16334", ADIS16334},
970 {"adis16350", ADIS16350},
971 {"adis16354", ADIS16350},
972 {"adis16355", ADIS16350},
973 {"adis16360", ADIS16360},
974 {"adis16362", ADIS16362},
975 {"adis16364", ADIS16364},
976 {"adis16365", ADIS16360},
977 {"adis16367", ADIS16367},
978 {"adis16400", ADIS16400},
979 {"adis16405", ADIS16400},
980 {"adis16445", ADIS16445},
981 {"adis16448", ADIS16448},
982 {}
983 };
984 MODULE_DEVICE_TABLE(spi, adis16400_id);
985
986 static struct spi_driver adis16400_driver = {
987 .driver = {
988 .name = "adis16400",
989 },
990 .id_table = adis16400_id,
991 .probe = adis16400_probe,
992 .remove = adis16400_remove,
993 };
994 module_spi_driver(adis16400_driver);
995
996 MODULE_AUTHOR("Manuel Stahl <manuel.stahl@iis.fraunhofer.de>");
997 MODULE_DESCRIPTION("Analog Devices ADIS16400/5 IMU SPI driver");
998 MODULE_LICENSE("GPL v2");
999