diff options
Diffstat (limited to 'drivers/iio/imu/adis16400_core.c')
| -rw-r--r-- | drivers/iio/imu/adis16400_core.c | 1001 |
1 files changed, 0 insertions, 1001 deletions
diff --git a/drivers/iio/imu/adis16400_core.c b/drivers/iio/imu/adis16400_core.c deleted file mode 100644 index 46a569005a13..000000000000 --- a/drivers/iio/imu/adis16400_core.c +++ /dev/null @@ -1,1001 +0,0 @@ -/* - * adis16400.c support Analog Devices ADIS16400/5 - * 3d 2g Linear Accelerometers, - * 3d Gyroscopes, - * 3d Magnetometers via SPI - * - * Copyright (c) 2009 Manuel Stahl <manuel.stahl@iis.fraunhofer.de> - * Copyright (c) 2007 Jonathan Cameron <jic23@kernel.org> - * Copyright (c) 2011 Analog Devices Inc. - * - * This program is free software; you can redistribute it and/or modify - * it under the terms of the GNU General Public License version 2 as - * published by the Free Software Foundation. - * - */ - -#include <linux/interrupt.h> -#include <linux/irq.h> -#include <linux/delay.h> -#include <linux/mutex.h> -#include <linux/device.h> -#include <linux/kernel.h> -#include <linux/spi/spi.h> -#include <linux/slab.h> -#include <linux/sysfs.h> -#include <linux/list.h> -#include <linux/module.h> -#include <linux/debugfs.h> -#include <linux/bitops.h> - -#include <linux/iio/iio.h> -#include <linux/iio/sysfs.h> -#include <linux/iio/buffer.h> - -#include "adis16400.h" - -#ifdef CONFIG_DEBUG_FS - -static ssize_t adis16400_show_serial_number(struct file *file, - char __user *userbuf, size_t count, loff_t *ppos) -{ - struct adis16400_state *st = file->private_data; - u16 lot1, lot2, serial_number; - char buf[16]; - size_t len; - int ret; - - ret = adis_read_reg_16(&st->adis, ADIS16334_LOT_ID1, &lot1); - if (ret < 0) - return ret; - - ret = adis_read_reg_16(&st->adis, ADIS16334_LOT_ID2, &lot2); - if (ret < 0) - return ret; - - ret = adis_read_reg_16(&st->adis, ADIS16334_SERIAL_NUMBER, - &serial_number); - if (ret < 0) - return ret; - - len = snprintf(buf, sizeof(buf), "%.4x-%.4x-%.4x\n", lot1, lot2, - serial_number); - - return simple_read_from_buffer(userbuf, count, ppos, buf, len); -} - -static const struct file_operations adis16400_serial_number_fops = { - .open = simple_open, - .read = adis16400_show_serial_number, - .llseek = default_llseek, - .owner = THIS_MODULE, -}; - -static int adis16400_show_product_id(void *arg, u64 *val) -{ - struct adis16400_state *st = arg; - uint16_t prod_id; - int ret; - - ret = adis_read_reg_16(&st->adis, ADIS16400_PRODUCT_ID, &prod_id); - if (ret < 0) - return ret; - - *val = prod_id; - - return 0; -} -DEFINE_SIMPLE_ATTRIBUTE(adis16400_product_id_fops, - adis16400_show_product_id, NULL, "%lld\n"); - -static int adis16400_show_flash_count(void *arg, u64 *val) -{ - struct adis16400_state *st = arg; - uint16_t flash_count; - int ret; - - ret = adis_read_reg_16(&st->adis, ADIS16400_FLASH_CNT, &flash_count); - if (ret < 0) - return ret; - - *val = flash_count; - - return 0; -} -DEFINE_SIMPLE_ATTRIBUTE(adis16400_flash_count_fops, - adis16400_show_flash_count, NULL, "%lld\n"); - -static int adis16400_debugfs_init(struct iio_dev *indio_dev) -{ - struct adis16400_state *st = iio_priv(indio_dev); - - if (st->variant->flags & ADIS16400_HAS_SERIAL_NUMBER) - debugfs_create_file("serial_number", 0400, - indio_dev->debugfs_dentry, st, - &adis16400_serial_number_fops); - if (st->variant->flags & ADIS16400_HAS_PROD_ID) - debugfs_create_file("product_id", 0400, - indio_dev->debugfs_dentry, st, - &adis16400_product_id_fops); - debugfs_create_file("flash_count", 0400, indio_dev->debugfs_dentry, - st, &adis16400_flash_count_fops); - - return 0; -} - -#else - -static int adis16400_debugfs_init(struct iio_dev *indio_dev) -{ - return 0; -} - -#endif - -enum adis16400_chip_variant { - ADIS16300, - ADIS16334, - ADIS16350, - ADIS16360, - ADIS16362, - ADIS16364, - ADIS16367, - ADIS16400, - ADIS16445, - ADIS16448, -}; - -static int adis16334_get_freq(struct adis16400_state *st) -{ - int ret; - uint16_t t; - - ret = adis_read_reg_16(&st->adis, ADIS16400_SMPL_PRD, &t); - if (ret < 0) - return ret; - - t >>= ADIS16334_RATE_DIV_SHIFT; - - return 819200 >> t; -} - -static int adis16334_set_freq(struct adis16400_state *st, unsigned int freq) -{ - unsigned int t; - - if (freq < 819200) - t = ilog2(819200 / freq); - else - t = 0; - - if (t > 0x31) - t = 0x31; - - t <<= ADIS16334_RATE_DIV_SHIFT; - t |= ADIS16334_RATE_INT_CLK; - - return adis_write_reg_16(&st->adis, ADIS16400_SMPL_PRD, t); -} - -static int adis16400_get_freq(struct adis16400_state *st) -{ - int sps, ret; - uint16_t t; - - ret = adis_read_reg_16(&st->adis, ADIS16400_SMPL_PRD, &t); - if (ret < 0) - return ret; - - sps = (t & ADIS16400_SMPL_PRD_TIME_BASE) ? 52851 : 1638404; - sps /= (t & ADIS16400_SMPL_PRD_DIV_MASK) + 1; - - return sps; -} - -static int adis16400_set_freq(struct adis16400_state *st, unsigned int freq) -{ - unsigned int t; - uint8_t val = 0; - - t = 1638404 / freq; - if (t >= 128) { - val |= ADIS16400_SMPL_PRD_TIME_BASE; - t = 52851 / freq; - if (t >= 128) - t = 127; - } else if (t != 0) { - t--; - } - - val |= t; - - if (t >= 0x0A || (val & ADIS16400_SMPL_PRD_TIME_BASE)) - st->adis.spi->max_speed_hz = ADIS16400_SPI_SLOW; - else - st->adis.spi->max_speed_hz = ADIS16400_SPI_FAST; - - return adis_write_reg_8(&st->adis, ADIS16400_SMPL_PRD, val); -} - -static const unsigned int adis16400_3db_divisors[] = { - [0] = 2, /* Special case */ - [1] = 6, - [2] = 12, - [3] = 25, - [4] = 50, - [5] = 100, - [6] = 200, - [7] = 200, /* Not a valid setting */ -}; - -static int adis16400_set_filter(struct iio_dev *indio_dev, int sps, int val) -{ - struct adis16400_state *st = iio_priv(indio_dev); - uint16_t val16; - int i, ret; - - for (i = ARRAY_SIZE(adis16400_3db_divisors) - 1; i >= 1; i--) { - if (sps / adis16400_3db_divisors[i] >= val) - break; - } - - ret = adis_read_reg_16(&st->adis, ADIS16400_SENS_AVG, &val16); - if (ret < 0) - return ret; - - ret = adis_write_reg_16(&st->adis, ADIS16400_SENS_AVG, - (val16 & ~0x07) | i); - return ret; -} - -/* Power down the device */ -static int adis16400_stop_device(struct iio_dev *indio_dev) -{ - struct adis16400_state *st = iio_priv(indio_dev); - int ret; - - ret = adis_write_reg_16(&st->adis, ADIS16400_SLP_CNT, - ADIS16400_SLP_CNT_POWER_OFF); - if (ret) - dev_err(&indio_dev->dev, - "problem with turning device off: SLP_CNT"); - - return ret; -} - -static int adis16400_initial_setup(struct iio_dev *indio_dev) -{ - struct adis16400_state *st = iio_priv(indio_dev); - uint16_t prod_id, smp_prd; - unsigned int device_id; - int ret; - - /* use low spi speed for init if the device has a slow mode */ - if (st->variant->flags & ADIS16400_HAS_SLOW_MODE) - st->adis.spi->max_speed_hz = ADIS16400_SPI_SLOW; - else - st->adis.spi->max_speed_hz = ADIS16400_SPI_FAST; - st->adis.spi->mode = SPI_MODE_3; - spi_setup(st->adis.spi); - - ret = adis_initial_startup(&st->adis); - if (ret) - return ret; - - if (st->variant->flags & ADIS16400_HAS_PROD_ID) { - ret = adis_read_reg_16(&st->adis, - ADIS16400_PRODUCT_ID, &prod_id); - if (ret) - goto err_ret; - - ret = sscanf(indio_dev->name, "adis%u\n", &device_id); - if (ret != 1) { - ret = -EINVAL; - goto err_ret; - } - - if (prod_id != device_id) - dev_warn(&indio_dev->dev, "Device ID(%u) and product ID(%u) do not match.", - device_id, prod_id); - - dev_info(&indio_dev->dev, "%s: prod_id 0x%04x at CS%d (irq %d)\n", - indio_dev->name, prod_id, - st->adis.spi->chip_select, st->adis.spi->irq); - } - /* use high spi speed if possible */ - if (st->variant->flags & ADIS16400_HAS_SLOW_MODE) { - ret = adis_read_reg_16(&st->adis, ADIS16400_SMPL_PRD, &smp_prd); - if (ret) - goto err_ret; - - if ((smp_prd & ADIS16400_SMPL_PRD_DIV_MASK) < 0x0A) { - st->adis.spi->max_speed_hz = ADIS16400_SPI_FAST; - spi_setup(st->adis.spi); - } - } - -err_ret: - return ret; -} - -static const uint8_t adis16400_addresses[] = { - [ADIS16400_SCAN_GYRO_X] = ADIS16400_XGYRO_OFF, - [ADIS16400_SCAN_GYRO_Y] = ADIS16400_YGYRO_OFF, - [ADIS16400_SCAN_GYRO_Z] = ADIS16400_ZGYRO_OFF, - [ADIS16400_SCAN_ACC_X] = ADIS16400_XACCL_OFF, - [ADIS16400_SCAN_ACC_Y] = ADIS16400_YACCL_OFF, - [ADIS16400_SCAN_ACC_Z] = ADIS16400_ZACCL_OFF, -}; - -static int adis16400_write_raw(struct iio_dev *indio_dev, - struct iio_chan_spec const *chan, int val, int val2, long info) -{ - struct adis16400_state *st = iio_priv(indio_dev); - int ret, sps; - - switch (info) { - case IIO_CHAN_INFO_CALIBBIAS: - mutex_lock(&indio_dev->mlock); - ret = adis_write_reg_16(&st->adis, - adis16400_addresses[chan->scan_index], val); - mutex_unlock(&indio_dev->mlock); - return ret; - case IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY: - /* - * Need to cache values so we can update if the frequency - * changes. - */ - mutex_lock(&indio_dev->mlock); - st->filt_int = val; - /* Work out update to current value */ - sps = st->variant->get_freq(st); - if (sps < 0) { - mutex_unlock(&indio_dev->mlock); - return sps; - } - - ret = adis16400_set_filter(indio_dev, sps, - val * 1000 + val2 / 1000); - mutex_unlock(&indio_dev->mlock); - return ret; - case IIO_CHAN_INFO_SAMP_FREQ: - sps = val * 1000 + val2 / 1000; - - if (sps <= 0) - return -EINVAL; - - mutex_lock(&indio_dev->mlock); - ret = st->variant->set_freq(st, sps); - mutex_unlock(&indio_dev->mlock); - return ret; - default: - return -EINVAL; - } -} - -static int adis16400_read_raw(struct iio_dev *indio_dev, - struct iio_chan_spec const *chan, int *val, int *val2, long info) -{ - struct adis16400_state *st = iio_priv(indio_dev); - int16_t val16; - int ret; - - switch (info) { - case IIO_CHAN_INFO_RAW: - return adis_single_conversion(indio_dev, chan, 0, val); - case IIO_CHAN_INFO_SCALE: - switch (chan->type) { - case IIO_ANGL_VEL: - *val = 0; - *val2 = st->variant->gyro_scale_micro; - return IIO_VAL_INT_PLUS_MICRO; - case IIO_VOLTAGE: - *val = 0; - if (chan->channel == 0) { - *val = 2; - *val2 = 418000; /* 2.418 mV */ - } else { - *val = 0; - *val2 = 805800; /* 805.8 uV */ - } - return IIO_VAL_INT_PLUS_MICRO; - case IIO_ACCEL: - *val = 0; - *val2 = st->variant->accel_scale_micro; - return IIO_VAL_INT_PLUS_MICRO; - case IIO_MAGN: - *val = 0; - *val2 = 500; /* 0.5 mgauss */ - return IIO_VAL_INT_PLUS_MICRO; - case IIO_TEMP: - *val = st->variant->temp_scale_nano / 1000000; - *val2 = (st->variant->temp_scale_nano % 1000000); - return IIO_VAL_INT_PLUS_MICRO; - case IIO_PRESSURE: - /* 20 uBar = 0.002kPascal */ - *val = 0; - *val2 = 2000; - return IIO_VAL_INT_PLUS_MICRO; - default: - return -EINVAL; - } - case IIO_CHAN_INFO_CALIBBIAS: - mutex_lock(&indio_dev->mlock); - ret = adis_read_reg_16(&st->adis, - adis16400_addresses[chan->scan_index], &val16); - mutex_unlock(&indio_dev->mlock); - if (ret) - return ret; - val16 = sign_extend32(val16, 11); - *val = val16; - return IIO_VAL_INT; - case IIO_CHAN_INFO_OFFSET: - /* currently only temperature */ - *val = st->variant->temp_offset; - return IIO_VAL_INT; - case IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY: - mutex_lock(&indio_dev->mlock); - /* Need both the number of taps and the sampling frequency */ - ret = adis_read_reg_16(&st->adis, - ADIS16400_SENS_AVG, - &val16); - if (ret < 0) { - mutex_unlock(&indio_dev->mlock); - return ret; - } - ret = st->variant->get_freq(st); - if (ret >= 0) { - ret /= adis16400_3db_divisors[val16 & 0x07]; - *val = ret / 1000; - *val2 = (ret % 1000) * 1000; - } - mutex_unlock(&indio_dev->mlock); - if (ret < 0) - return ret; - return IIO_VAL_INT_PLUS_MICRO; - case IIO_CHAN_INFO_SAMP_FREQ: - ret = st->variant->get_freq(st); - if (ret < 0) - return ret; - *val = ret / 1000; - *val2 = (ret % 1000) * 1000; - return IIO_VAL_INT_PLUS_MICRO; - default: - return -EINVAL; - } -} - -#define ADIS16400_VOLTAGE_CHAN(addr, bits, name, si, chn) { \ - .type = IIO_VOLTAGE, \ - .indexed = 1, \ - .channel = chn, \ - .extend_name = name, \ - .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \ - BIT(IIO_CHAN_INFO_SCALE), \ - .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \ - .address = (addr), \ - .scan_index = (si), \ - .scan_type = { \ - .sign = 'u', \ - .realbits = (bits), \ - .storagebits = 16, \ - .shift = 0, \ - .endianness = IIO_BE, \ - }, \ -} - -#define ADIS16400_SUPPLY_CHAN(addr, bits) \ - ADIS16400_VOLTAGE_CHAN(addr, bits, "supply", ADIS16400_SCAN_SUPPLY, 0) - -#define ADIS16400_AUX_ADC_CHAN(addr, bits) \ - ADIS16400_VOLTAGE_CHAN(addr, bits, NULL, ADIS16400_SCAN_ADC, 1) - -#define ADIS16400_GYRO_CHAN(mod, addr, bits) { \ - .type = IIO_ANGL_VEL, \ - .modified = 1, \ - .channel2 = IIO_MOD_ ## mod, \ - .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \ - BIT(IIO_CHAN_INFO_CALIBBIAS), \ - .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE) | \ - BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY), \ - .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \ - .address = addr, \ - .scan_index = ADIS16400_SCAN_GYRO_ ## mod, \ - .scan_type = { \ - .sign = 's', \ - .realbits = (bits), \ - .storagebits = 16, \ - .shift = 0, \ - .endianness = IIO_BE, \ - }, \ -} - -#define ADIS16400_ACCEL_CHAN(mod, addr, bits) { \ - .type = IIO_ACCEL, \ - .modified = 1, \ - .channel2 = IIO_MOD_ ## mod, \ - .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \ - BIT(IIO_CHAN_INFO_CALIBBIAS), \ - .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE) | \ - BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY), \ - .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \ - .address = (addr), \ - .scan_index = ADIS16400_SCAN_ACC_ ## mod, \ - .scan_type = { \ - .sign = 's', \ - .realbits = (bits), \ - .storagebits = 16, \ - .shift = 0, \ - .endianness = IIO_BE, \ - }, \ -} - -#define ADIS16400_MAGN_CHAN(mod, addr, bits) { \ - .type = IIO_MAGN, \ - .modified = 1, \ - .channel2 = IIO_MOD_ ## mod, \ - .info_mask_separate = BIT(IIO_CHAN_INFO_RAW), \ - .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE) | \ - BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY), \ - .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \ - .address = (addr), \ - .scan_index = ADIS16400_SCAN_MAGN_ ## mod, \ - .scan_type = { \ - .sign = 's', \ - .realbits = (bits), \ - .storagebits = 16, \ - .shift = 0, \ - .endianness = IIO_BE, \ - }, \ -} - -#define ADIS16400_MOD_TEMP_NAME_X "x" -#define ADIS16400_MOD_TEMP_NAME_Y "y" -#define ADIS16400_MOD_TEMP_NAME_Z "z" - -#define ADIS16400_MOD_TEMP_CHAN(mod, addr, bits) { \ - .type = IIO_TEMP, \ - .indexed = 1, \ - .channel = 0, \ - .extend_name = ADIS16400_MOD_TEMP_NAME_ ## mod, \ - .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \ - BIT(IIO_CHAN_INFO_OFFSET) | \ - BIT(IIO_CHAN_INFO_SCALE), \ - .info_mask_shared_by_type = \ - BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY), \ - .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \ - .address = (addr), \ - .scan_index = ADIS16350_SCAN_TEMP_ ## mod, \ - .scan_type = { \ - .sign = 's', \ - .realbits = (bits), \ - .storagebits = 16, \ - .shift = 0, \ - .endianness = IIO_BE, \ - }, \ -} - -#define ADIS16400_TEMP_CHAN(addr, bits) { \ - .type = IIO_TEMP, \ - .indexed = 1, \ - .channel = 0, \ - .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \ - BIT(IIO_CHAN_INFO_OFFSET) | \ - BIT(IIO_CHAN_INFO_SCALE), \ - .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \ - .address = (addr), \ - .scan_index = ADIS16350_SCAN_TEMP_X, \ - .scan_type = { \ - .sign = 's', \ - .realbits = (bits), \ - .storagebits = 16, \ - .shift = 0, \ - .endianness = IIO_BE, \ - }, \ -} - -#define ADIS16400_INCLI_CHAN(mod, addr, bits) { \ - .type = IIO_INCLI, \ - .modified = 1, \ - .channel2 = IIO_MOD_ ## mod, \ - .info_mask_separate = BIT(IIO_CHAN_INFO_RAW), \ - .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE), \ - .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \ - .address = (addr), \ - .scan_index = ADIS16300_SCAN_INCLI_ ## mod, \ - .scan_type = { \ - .sign = 's', \ - .realbits = (bits), \ - .storagebits = 16, \ - .shift = 0, \ - .endianness = IIO_BE, \ - }, \ -} - -static const struct iio_chan_spec adis16400_channels[] = { - ADIS16400_SUPPLY_CHAN(ADIS16400_SUPPLY_OUT, 14), - ADIS16400_GYRO_CHAN(X, ADIS16400_XGYRO_OUT, 14), - ADIS16400_GYRO_CHAN(Y, ADIS16400_YGYRO_OUT, 14), - ADIS16400_GYRO_CHAN(Z, ADIS16400_ZGYRO_OUT, 14), - ADIS16400_ACCEL_CHAN(X, ADIS16400_XACCL_OUT, 14), - ADIS16400_ACCEL_CHAN(Y, ADIS16400_YACCL_OUT, 14), - ADIS16400_ACCEL_CHAN(Z, ADIS16400_ZACCL_OUT, 14), - ADIS16400_MAGN_CHAN(X, ADIS16400_XMAGN_OUT, 14), - ADIS16400_MAGN_CHAN(Y, ADIS16400_YMAGN_OUT, 14), - ADIS16400_MAGN_CHAN(Z, ADIS16400_ZMAGN_OUT, 14), - ADIS16400_TEMP_CHAN(ADIS16400_TEMP_OUT, 12), - ADIS16400_AUX_ADC_CHAN(ADIS16400_AUX_ADC, 12), - IIO_CHAN_SOFT_TIMESTAMP(ADIS16400_SCAN_TIMESTAMP), -}; - -static const struct iio_chan_spec adis16445_channels[] = { - ADIS16400_GYRO_CHAN(X, ADIS16400_XGYRO_OUT, 16), - ADIS16400_GYRO_CHAN(Y, ADIS16400_YGYRO_OUT, 16), - ADIS16400_GYRO_CHAN(Z, ADIS16400_ZGYRO_OUT, 16), - ADIS16400_ACCEL_CHAN(X, ADIS16400_XACCL_OUT, 16), - ADIS16400_ACCEL_CHAN(Y, ADIS16400_YACCL_OUT, 16), - ADIS16400_ACCEL_CHAN(Z, ADIS16400_ZACCL_OUT, 16), - ADIS16400_TEMP_CHAN(ADIS16448_TEMP_OUT, 12), - IIO_CHAN_SOFT_TIMESTAMP(ADIS16400_SCAN_TIMESTAMP), -}; - -static const struct iio_chan_spec adis16448_channels[] = { - ADIS16400_GYRO_CHAN(X, ADIS16400_XGYRO_OUT, 16), - ADIS16400_GYRO_CHAN(Y, ADIS16400_YGYRO_OUT, 16), - ADIS16400_GYRO_CHAN(Z, ADIS16400_ZGYRO_OUT, 16), - ADIS16400_ACCEL_CHAN(X, ADIS16400_XACCL_OUT, 16), - ADIS16400_ACCEL_CHAN(Y, ADIS16400_YACCL_OUT, 16), - ADIS16400_ACCEL_CHAN(Z, ADIS16400_ZACCL_OUT, 16), - ADIS16400_MAGN_CHAN(X, ADIS16400_XMAGN_OUT, 16), - ADIS16400_MAGN_CHAN(Y, ADIS16400_YMAGN_OUT, 16), - ADIS16400_MAGN_CHAN(Z, ADIS16400_ZMAGN_OUT, 16), - { - .type = IIO_PRESSURE, - .info_mask_separate = BIT(IIO_CHAN_INFO_RAW), - .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE), - .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), - .address = ADIS16448_BARO_OUT, - .scan_index = ADIS16400_SCAN_BARO, - .scan_type = { - .sign = 's', - .realbits = 16, - .storagebits = 16, - .endianness = IIO_BE, - }, - }, - ADIS16400_TEMP_CHAN(ADIS16448_TEMP_OUT, 12), - IIO_CHAN_SOFT_TIMESTAMP(ADIS16400_SCAN_TIMESTAMP), -}; - -static const struct iio_chan_spec adis16350_channels[] = { - ADIS16400_SUPPLY_CHAN(ADIS16400_SUPPLY_OUT, 12), - ADIS16400_GYRO_CHAN(X, ADIS16400_XGYRO_OUT, 14), - ADIS16400_GYRO_CHAN(Y, ADIS16400_YGYRO_OUT, 14), - ADIS16400_GYRO_CHAN(Z, ADIS16400_ZGYRO_OUT, 14), - ADIS16400_ACCEL_CHAN(X, ADIS16400_XACCL_OUT, 14), - ADIS16400_ACCEL_CHAN(Y, ADIS16400_YACCL_OUT, 14), - ADIS16400_ACCEL_CHAN(Z, ADIS16400_ZACCL_OUT, 14), - ADIS16400_MAGN_CHAN(X, ADIS16400_XMAGN_OUT, 14), - ADIS16400_MAGN_CHAN(Y, ADIS16400_YMAGN_OUT, 14), - ADIS16400_MAGN_CHAN(Z, ADIS16400_ZMAGN_OUT, 14), - ADIS16400_AUX_ADC_CHAN(ADIS16300_AUX_ADC, 12), - ADIS16400_MOD_TEMP_CHAN(X, ADIS16350_XTEMP_OUT, 12), - ADIS16400_MOD_TEMP_CHAN(Y, ADIS16350_YTEMP_OUT, 12), - ADIS16400_MOD_TEMP_CHAN(Z, ADIS16350_ZTEMP_OUT, 12), - IIO_CHAN_SOFT_TIMESTAMP(ADIS16400_SCAN_TIMESTAMP), -}; - -static const struct iio_chan_spec adis16300_channels[] = { - ADIS16400_SUPPLY_CHAN(ADIS16400_SUPPLY_OUT, 12), - ADIS16400_GYRO_CHAN(X, ADIS16400_XGYRO_OUT, 14), - ADIS16400_ACCEL_CHAN(X, ADIS16400_XACCL_OUT, 14), - ADIS16400_ACCEL_CHAN(Y, ADIS16400_YACCL_OUT, 14), - ADIS16400_ACCEL_CHAN(Z, ADIS16400_ZACCL_OUT, 14), - ADIS16400_TEMP_CHAN(ADIS16350_XTEMP_OUT, 12), - ADIS16400_AUX_ADC_CHAN(ADIS16300_AUX_ADC, 12), - ADIS16400_INCLI_CHAN(X, ADIS16300_PITCH_OUT, 13), - ADIS16400_INCLI_CHAN(Y, ADIS16300_ROLL_OUT, 13), - IIO_CHAN_SOFT_TIMESTAMP(ADIS16400_SCAN_TIMESTAMP), -}; - -static const struct iio_chan_spec adis16334_channels[] = { - ADIS16400_GYRO_CHAN(X, ADIS16400_XGYRO_OUT, 14), - ADIS16400_GYRO_CHAN(Y, ADIS16400_YGYRO_OUT, 14), - ADIS16400_GYRO_CHAN(Z, ADIS16400_ZGYRO_OUT, 14), - ADIS16400_ACCEL_CHAN(X, ADIS16400_XACCL_OUT, 14), - ADIS16400_ACCEL_CHAN(Y, ADIS16400_YACCL_OUT, 14), - ADIS16400_ACCEL_CHAN(Z, ADIS16400_ZACCL_OUT, 14), - ADIS16400_TEMP_CHAN(ADIS16350_XTEMP_OUT, 12), - IIO_CHAN_SOFT_TIMESTAMP(ADIS16400_SCAN_TIMESTAMP), -}; - -static struct adis16400_chip_info adis16400_chips[] = { - [ADIS16300] = { - .channels = adis16300_channels, - .num_channels = ARRAY_SIZE(adis16300_channels), - .flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE | - ADIS16400_HAS_SERIAL_NUMBER, - .gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */ - .accel_scale_micro = 5884, - .temp_scale_nano = 140000000, /* 0.14 C */ - .temp_offset = 25000000 / 140000, /* 25 C = 0x00 */ - .set_freq = adis16400_set_freq, - .get_freq = adis16400_get_freq, - }, - [ADIS16334] = { - .channels = adis16334_channels, - .num_channels = ARRAY_SIZE(adis16334_channels), - .flags = ADIS16400_HAS_PROD_ID | ADIS16400_NO_BURST | - ADIS16400_HAS_SERIAL_NUMBER, - .gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */ - .accel_scale_micro = IIO_G_TO_M_S_2(1000), /* 1 mg */ - .temp_scale_nano = 67850000, /* 0.06785 C */ - .temp_offset = 25000000 / 67850, /* 25 C = 0x00 */ - .set_freq = adis16334_set_freq, - .get_freq = adis16334_get_freq, - }, - [ADIS16350] = { - .channels = adis16350_channels, - .num_channels = ARRAY_SIZE(adis16350_channels), - .gyro_scale_micro = IIO_DEGREE_TO_RAD(73260), /* 0.07326 deg/s */ - .accel_scale_micro = IIO_G_TO_M_S_2(2522), /* 0.002522 g */ - .temp_scale_nano = 145300000, /* 0.1453 C */ - .temp_offset = 25000000 / 145300, /* 25 C = 0x00 */ - .flags = ADIS16400_NO_BURST | ADIS16400_HAS_SLOW_MODE, - .set_freq = adis16400_set_freq, - .get_freq = adis16400_get_freq, - }, - [ADIS16360] = { - .channels = adis16350_channels, - .num_channels = ARRAY_SIZE(adis16350_channels), - .flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE | - ADIS16400_HAS_SERIAL_NUMBER, - .gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */ - .accel_scale_micro = IIO_G_TO_M_S_2(3333), /* 3.333 mg */ - .temp_scale_nano = 136000000, /* 0.136 C */ - .temp_offset = 25000000 / 136000, /* 25 C = 0x00 */ - .set_freq = adis16400_set_freq, - .get_freq = adis16400_get_freq, - }, - [ADIS16362] = { - .channels = adis16350_channels, - .num_channels = ARRAY_SIZE(adis16350_channels), - .flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE | - ADIS16400_HAS_SERIAL_NUMBER, - .gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */ - .accel_scale_micro = IIO_G_TO_M_S_2(333), /* 0.333 mg */ - .temp_scale_nano = 136000000, /* 0.136 C */ - .temp_offset = 25000000 / 136000, /* 25 C = 0x00 */ - .set_freq = adis16400_set_freq, - .get_freq = adis16400_get_freq, - }, - [ADIS16364] = { - .channels = adis16350_channels, - .num_channels = ARRAY_SIZE(adis16350_channels), - .flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE | - ADIS16400_HAS_SERIAL_NUMBER, - .gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */ - .accel_scale_micro = IIO_G_TO_M_S_2(1000), /* 1 mg */ - .temp_scale_nano = 136000000, /* 0.136 C */ - .temp_offset = 25000000 / 136000, /* 25 C = 0x00 */ - .set_freq = adis16400_set_freq, - .get_freq = adis16400_get_freq, - }, - [ADIS16367] = { - .channels = adis16350_channels, - .num_channels = ARRAY_SIZE(adis16350_channels), - .flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE | - ADIS16400_HAS_SERIAL_NUMBER, - .gyro_scale_micro = IIO_DEGREE_TO_RAD(2000), /* 0.2 deg/s */ - .accel_scale_micro = IIO_G_TO_M_S_2(3333), /* 3.333 mg */ - .temp_scale_nano = 136000000, /* 0.136 C */ - .temp_offset = 25000000 / 136000, /* 25 C = 0x00 */ - .set_freq = adis16400_set_freq, - .get_freq = adis16400_get_freq, - }, - [ADIS16400] = { - .channels = adis16400_channels, - .num_channels = ARRAY_SIZE(adis16400_channels), - .flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE, - .gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */ - .accel_scale_micro = IIO_G_TO_M_S_2(3333), /* 3.333 mg */ - .temp_scale_nano = 140000000, /* 0.14 C */ - .temp_offset = 25000000 / 140000, /* 25 C = 0x00 */ - .set_freq = adis16400_set_freq, - .get_freq = adis16400_get_freq, - }, - [ADIS16445] = { - .channels = adis16445_channels, - .num_channels = ARRAY_SIZE(adis16445_channels), - .flags = ADIS16400_HAS_PROD_ID | - ADIS16400_HAS_SERIAL_NUMBER | - ADIS16400_BURST_DIAG_STAT, - .gyro_scale_micro = IIO_DEGREE_TO_RAD(10000), /* 0.01 deg/s */ - .accel_scale_micro = IIO_G_TO_M_S_2(250), /* 1/4000 g */ - .temp_scale_nano = 73860000, /* 0.07386 C */ - .temp_offset = 31000000 / 73860, /* 31 C = 0x00 */ - .set_freq = adis16334_set_freq, - .get_freq = adis16334_get_freq, - }, - [ADIS16448] = { - .channels = adis16448_channels, - .num_channels = ARRAY_SIZE(adis16448_channels), - .flags = ADIS16400_HAS_PROD_ID | - ADIS16400_HAS_SERIAL_NUMBER | - ADIS16400_BURST_DIAG_STAT, - .gyro_scale_micro = IIO_DEGREE_TO_RAD(40000), /* 0.04 deg/s */ - .accel_scale_micro = IIO_G_TO_M_S_2(833), /* 1/1200 g */ - .temp_scale_nano = 73860000, /* 0.07386 C */ - .temp_offset = 31000000 / 73860, /* 31 C = 0x00 */ - .set_freq = adis16334_set_freq, - .get_freq = adis16334_get_freq, - } -}; - -static const struct iio_info adis16400_info = { - .read_raw = &adis16400_read_raw, - .write_raw = &adis16400_write_raw, - .update_scan_mode = adis16400_update_scan_mode, - .debugfs_reg_access = adis_debugfs_reg_access, -}; - -static const char * const adis16400_status_error_msgs[] = { - [ADIS16400_DIAG_STAT_ZACCL_FAIL] = "Z-axis accelerometer self-test failure", - [ADIS16400_DIAG_STAT_YACCL_FAIL] = "Y-axis accelerometer self-test failure", - [ADIS16400_DIAG_STAT_XACCL_FAIL] = "X-axis accelerometer self-test failure", - [ADIS16400_DIAG_STAT_XGYRO_FAIL] = "X-axis gyroscope self-test failure", - [ADIS16400_DIAG_STAT_YGYRO_FAIL] = "Y-axis gyroscope self-test failure", - [ADIS16400_DIAG_STAT_ZGYRO_FAIL] = "Z-axis gyroscope self-test failure", - [ADIS16400_DIAG_STAT_ALARM2] = "Alarm 2 active", - [ADIS16400_DIAG_STAT_ALARM1] = "Alarm 1 active", - [ADIS16400_DIAG_STAT_FLASH_CHK] = "Flash checksum error", - [ADIS16400_DIAG_STAT_SELF_TEST] = "Self test error", - [ADIS16400_DIAG_STAT_OVERFLOW] = "Sensor overrange", - [ADIS16400_DIAG_STAT_SPI_FAIL] = "SPI failure", - [ADIS16400_DIAG_STAT_FLASH_UPT] = "Flash update failed", - [ADIS16400_DIAG_STAT_POWER_HIGH] = "Power supply above 5.25V", - [ADIS16400_DIAG_STAT_POWER_LOW] = "Power supply below 4.75V", -}; - -static const struct adis_data adis16400_data = { - .msc_ctrl_reg = ADIS16400_MSC_CTRL, - .glob_cmd_reg = ADIS16400_GLOB_CMD, - .diag_stat_reg = ADIS16400_DIAG_STAT, - - .read_delay = 50, - .write_delay = 50, - - .self_test_mask = ADIS16400_MSC_CTRL_MEM_TEST, - .startup_delay = ADIS16400_STARTUP_DELAY, - - .status_error_msgs = adis16400_status_error_msgs, - .status_error_mask = BIT(ADIS16400_DIAG_STAT_ZACCL_FAIL) | - BIT(ADIS16400_DIAG_STAT_YACCL_FAIL) | - BIT(ADIS16400_DIAG_STAT_XACCL_FAIL) | - BIT(ADIS16400_DIAG_STAT_XGYRO_FAIL) | - BIT(ADIS16400_DIAG_STAT_YGYRO_FAIL) | - BIT(ADIS16400_DIAG_STAT_ZGYRO_FAIL) | - BIT(ADIS16400_DIAG_STAT_ALARM2) | - BIT(ADIS16400_DIAG_STAT_ALARM1) | - BIT(ADIS16400_DIAG_STAT_FLASH_CHK) | - BIT(ADIS16400_DIAG_STAT_SELF_TEST) | - BIT(ADIS16400_DIAG_STAT_OVERFLOW) | - BIT(ADIS16400_DIAG_STAT_SPI_FAIL) | - BIT(ADIS16400_DIAG_STAT_FLASH_UPT) | - BIT(ADIS16400_DIAG_STAT_POWER_HIGH) | - BIT(ADIS16400_DIAG_STAT_POWER_LOW), -}; - -static void adis16400_setup_chan_mask(struct adis16400_state *st) -{ - const struct adis16400_chip_info *chip_info = st->variant; - unsigned int i; - - for (i = 0; i < chip_info->num_channels; i++) { - const struct iio_chan_spec *ch = &chip_info->channels[i]; - - if (ch->scan_index >= 0 && - ch->scan_index != ADIS16400_SCAN_TIMESTAMP) - st->avail_scan_mask[0] |= BIT(ch->scan_index); - } -} - -static int adis16400_probe(struct spi_device *spi) -{ - struct adis16400_state *st; - struct iio_dev *indio_dev; - int ret; - - indio_dev = devm_iio_device_alloc(&spi->dev, sizeof(*st)); - if (indio_dev == NULL) - return -ENOMEM; - - st = iio_priv(indio_dev); - /* this is only used for removal purposes */ - spi_set_drvdata(spi, indio_dev); - - /* setup the industrialio driver allocated elements */ - st->variant = &adis16400_chips[spi_get_device_id(spi)->driver_data]; - indio_dev->dev.parent = &spi->dev; - indio_dev->name = spi_get_device_id(spi)->name; - indio_dev->channels = st->variant->channels; - indio_dev->num_channels = st->variant->num_channels; - indio_dev->info = &adis16400_info; - indio_dev->modes = INDIO_DIRECT_MODE; - - if (!(st->variant->flags & ADIS16400_NO_BURST)) { - adis16400_setup_chan_mask(st); - indio_dev->available_scan_masks = st->avail_scan_mask; - } - - ret = adis_init(&st->adis, indio_dev, spi, &adis16400_data); - if (ret) - return ret; - - ret = adis_setup_buffer_and_trigger(&st->adis, indio_dev, - adis16400_trigger_handler); - if (ret) - return ret; - - /* Get the device into a sane initial state */ - ret = adis16400_initial_setup(indio_dev); - if (ret) - goto error_cleanup_buffer; - ret = iio_device_register(indio_dev); - if (ret) - goto error_cleanup_buffer; - - adis16400_debugfs_init(indio_dev); - return 0; - -error_cleanup_buffer: - adis_cleanup_buffer_and_trigger(&st->adis, indio_dev); - return ret; -} - -static int adis16400_remove(struct spi_device *spi) -{ - struct iio_dev *indio_dev = spi_get_drvdata(spi); - struct adis16400_state *st = iio_priv(indio_dev); - - iio_device_unregister(indio_dev); - adis16400_stop_device(indio_dev); - - adis_cleanup_buffer_and_trigger(&st->adis, indio_dev); - - return 0; -} - -static const struct spi_device_id adis16400_id[] = { - {"adis16300", ADIS16300}, - {"adis16305", ADIS16300}, - {"adis16334", ADIS16334}, - {"adis16350", ADIS16350}, - {"adis16354", ADIS16350}, - {"adis16355", ADIS16350}, - {"adis16360", ADIS16360}, - {"adis16362", ADIS16362}, - {"adis16364", ADIS16364}, - {"adis16365", ADIS16360}, - {"adis16367", ADIS16367}, - {"adis16400", ADIS16400}, - {"adis16405", ADIS16400}, - {"adis16445", ADIS16445}, - {"adis16448", ADIS16448}, - {} -}; -MODULE_DEVICE_TABLE(spi, adis16400_id); - -static struct spi_driver adis16400_driver = { - .driver = { - .name = "adis16400", - }, - .id_table = adis16400_id, - .probe = adis16400_probe, - .remove = adis16400_remove, -}; -module_spi_driver(adis16400_driver); - -MODULE_AUTHOR("Manuel Stahl <manuel.stahl@iis.fraunhofer.de>"); -MODULE_DESCRIPTION("Analog Devices ADIS16400/5 IMU SPI driver"); -MODULE_LICENSE("GPL v2"); |