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path: root/drivers/iio/imu/adis16480.c
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Diffstat (limited to 'drivers/iio/imu/adis16480.c')
-rw-r--r--drivers/iio/imu/adis16480.c121
1 files changed, 66 insertions, 55 deletions
diff --git a/drivers/iio/imu/adis16480.c b/drivers/iio/imu/adis16480.c
index b99d73887c9f..748f8bbf184d 100644
--- a/drivers/iio/imu/adis16480.c
+++ b/drivers/iio/imu/adis16480.c
@@ -181,7 +181,7 @@ static ssize_t adis16480_show_firmware_revision(struct file *file,
int ret;
ret = adis_read_reg_16(&adis16480->adis, ADIS16480_REG_FIRM_REV, &rev);
- if (ret < 0)
+ if (ret)
return ret;
len = scnprintf(buf, sizeof(buf), "%x.%x\n", rev >> 8, rev & 0xff);
@@ -206,11 +206,11 @@ static ssize_t adis16480_show_firmware_date(struct file *file,
int ret;
ret = adis_read_reg_16(&adis16480->adis, ADIS16480_REG_FIRM_Y, &year);
- if (ret < 0)
+ if (ret)
return ret;
ret = adis_read_reg_16(&adis16480->adis, ADIS16480_REG_FIRM_DM, &md);
- if (ret < 0)
+ if (ret)
return ret;
len = snprintf(buf, sizeof(buf), "%.2x-%.2x-%.4x\n",
@@ -234,7 +234,7 @@ static int adis16480_show_serial_number(void *arg, u64 *val)
ret = adis_read_reg_16(&adis16480->adis, ADIS16480_REG_SERIAL_NUM,
&serial);
- if (ret < 0)
+ if (ret)
return ret;
*val = serial;
@@ -252,7 +252,7 @@ static int adis16480_show_product_id(void *arg, u64 *val)
ret = adis_read_reg_16(&adis16480->adis, ADIS16480_REG_PROD_ID,
&prod_id);
- if (ret < 0)
+ if (ret)
return ret;
*val = prod_id;
@@ -270,7 +270,7 @@ static int adis16480_show_flash_count(void *arg, u64 *val)
ret = adis_read_reg_32(&adis16480->adis, ADIS16480_REG_FLASH_CNT,
&flash_count);
- if (ret < 0)
+ if (ret)
return ret;
*val = flash_count;
@@ -317,8 +317,11 @@ static int adis16480_set_freq(struct iio_dev *indio_dev, int val, int val2)
struct adis16480 *st = iio_priv(indio_dev);
unsigned int t, reg;
+ if (val < 0 || val2 < 0)
+ return -EINVAL;
+
t = val * 1000 + val2 / 1000;
- if (t <= 0)
+ if (t == 0)
return -EINVAL;
/*
@@ -350,7 +353,7 @@ static int adis16480_get_freq(struct iio_dev *indio_dev, int *val, int *val2)
struct adis16480 *st = iio_priv(indio_dev);
uint16_t t;
int ret;
- unsigned freq;
+ unsigned int freq;
unsigned int reg;
if (st->clk_mode == ADIS16480_CLK_PPS)
@@ -359,7 +362,7 @@ static int adis16480_get_freq(struct iio_dev *indio_dev, int *val, int *val2)
reg = ADIS16480_REG_DEC_RATE;
ret = adis_read_reg_16(&st->adis, reg, &t);
- if (ret < 0)
+ if (ret)
return ret;
/*
@@ -451,18 +454,20 @@ static int adis16480_get_calibbias(struct iio_dev *indio_dev,
case IIO_MAGN:
case IIO_PRESSURE:
ret = adis_read_reg_16(&st->adis, reg, &val16);
- *bias = sign_extend32(val16, 15);
+ if (ret == 0)
+ *bias = sign_extend32(val16, 15);
break;
case IIO_ANGL_VEL:
case IIO_ACCEL:
ret = adis_read_reg_32(&st->adis, reg, &val32);
- *bias = sign_extend32(val32, 31);
+ if (ret == 0)
+ *bias = sign_extend32(val32, 31);
break;
default:
- ret = -EINVAL;
+ ret = -EINVAL;
}
- if (ret < 0)
+ if (ret)
return ret;
return IIO_VAL_INT;
@@ -489,7 +494,7 @@ static int adis16480_get_calibscale(struct iio_dev *indio_dev,
int ret;
ret = adis_read_reg_16(&st->adis, reg, &val16);
- if (ret < 0)
+ if (ret)
return ret;
*scale = sign_extend32(val16, 15);
@@ -535,7 +540,7 @@ static int adis16480_get_filter_freq(struct iio_dev *indio_dev,
enable_mask = BIT(offset + 2);
ret = adis_read_reg_16(&st->adis, reg, &val);
- if (ret < 0)
+ if (ret)
return ret;
if (!(val & enable_mask))
@@ -561,7 +566,7 @@ static int adis16480_set_filter_freq(struct iio_dev *indio_dev,
enable_mask = BIT(offset + 2);
ret = adis_read_reg_16(&st->adis, reg, &val);
- if (ret < 0)
+ if (ret)
return ret;
if (freq == 0) {
@@ -620,9 +625,13 @@ static int adis16480_read_raw(struct iio_dev *indio_dev,
*val2 = (st->chip_info->temp_scale % 1000) * 1000;
return IIO_VAL_INT_PLUS_MICRO;
case IIO_PRESSURE:
- *val = 0;
- *val2 = 4000; /* 40ubar = 0.004 kPa */
- return IIO_VAL_INT_PLUS_MICRO;
+ /*
+ * max scale is 1310 mbar
+ * max raw value is 32767 shifted for 32bits
+ */
+ *val = 131; /* 1310mbar = 131 kPa */
+ *val2 = 32767 << 16;
+ return IIO_VAL_FRACTIONAL;
default:
return -EINVAL;
}
@@ -783,13 +792,14 @@ static const struct adis16480_chip_info adis16480_chip_info[] = {
.channels = adis16485_channels,
.num_channels = ARRAY_SIZE(adis16485_channels),
/*
- * storing the value in rad/degree and the scale in degree
- * gives us the result in rad and better precession than
- * storing the scale directly in rad.
+ * Typically we do IIO_RAD_TO_DEGREE in the denominator, which
+ * is exactly the same as IIO_DEGREE_TO_RAD in numerator, since
+ * it gives better approximation. However, in this case we
+ * cannot do it since it would not fit in a 32bit variable.
*/
- .gyro_max_val = IIO_RAD_TO_DEGREE(22887),
- .gyro_max_scale = 300,
- .accel_max_val = IIO_M_S_2_TO_G(21973),
+ .gyro_max_val = 22887 << 16,
+ .gyro_max_scale = IIO_DEGREE_TO_RAD(300),
+ .accel_max_val = IIO_M_S_2_TO_G(21973 << 16),
.accel_max_scale = 18,
.temp_scale = 5650, /* 5.65 milli degree Celsius */
.int_clk = 2460000,
@@ -799,9 +809,9 @@ static const struct adis16480_chip_info adis16480_chip_info[] = {
[ADIS16480] = {
.channels = adis16480_channels,
.num_channels = ARRAY_SIZE(adis16480_channels),
- .gyro_max_val = IIO_RAD_TO_DEGREE(22500),
- .gyro_max_scale = 450,
- .accel_max_val = IIO_M_S_2_TO_G(12500),
+ .gyro_max_val = 22500 << 16,
+ .gyro_max_scale = IIO_DEGREE_TO_RAD(450),
+ .accel_max_val = IIO_M_S_2_TO_G(12500 << 16),
.accel_max_scale = 10,
.temp_scale = 5650, /* 5.65 milli degree Celsius */
.int_clk = 2460000,
@@ -811,9 +821,9 @@ static const struct adis16480_chip_info adis16480_chip_info[] = {
[ADIS16485] = {
.channels = adis16485_channels,
.num_channels = ARRAY_SIZE(adis16485_channels),
- .gyro_max_val = IIO_RAD_TO_DEGREE(22500),
- .gyro_max_scale = 450,
- .accel_max_val = IIO_M_S_2_TO_G(20000),
+ .gyro_max_val = 22500 << 16,
+ .gyro_max_scale = IIO_DEGREE_TO_RAD(450),
+ .accel_max_val = IIO_M_S_2_TO_G(20000 << 16),
.accel_max_scale = 5,
.temp_scale = 5650, /* 5.65 milli degree Celsius */
.int_clk = 2460000,
@@ -823,9 +833,9 @@ static const struct adis16480_chip_info adis16480_chip_info[] = {
[ADIS16488] = {
.channels = adis16480_channels,
.num_channels = ARRAY_SIZE(adis16480_channels),
- .gyro_max_val = IIO_RAD_TO_DEGREE(22500),
- .gyro_max_scale = 450,
- .accel_max_val = IIO_M_S_2_TO_G(22500),
+ .gyro_max_val = 22500 << 16,
+ .gyro_max_scale = IIO_DEGREE_TO_RAD(450),
+ .accel_max_val = IIO_M_S_2_TO_G(22500 << 16),
.accel_max_scale = 18,
.temp_scale = 5650, /* 5.65 milli degree Celsius */
.int_clk = 2460000,
@@ -835,9 +845,9 @@ static const struct adis16480_chip_info adis16480_chip_info[] = {
[ADIS16495_1] = {
.channels = adis16485_channels,
.num_channels = ARRAY_SIZE(adis16485_channels),
- .gyro_max_val = IIO_RAD_TO_DEGREE(20000),
- .gyro_max_scale = 125,
- .accel_max_val = IIO_M_S_2_TO_G(32000),
+ .gyro_max_val = 20000 << 16,
+ .gyro_max_scale = IIO_DEGREE_TO_RAD(125),
+ .accel_max_val = IIO_M_S_2_TO_G(32000 << 16),
.accel_max_scale = 8,
.temp_scale = 12500, /* 12.5 milli degree Celsius */
.int_clk = 4250000,
@@ -848,9 +858,9 @@ static const struct adis16480_chip_info adis16480_chip_info[] = {
[ADIS16495_2] = {
.channels = adis16485_channels,
.num_channels = ARRAY_SIZE(adis16485_channels),
- .gyro_max_val = IIO_RAD_TO_DEGREE(18000),
- .gyro_max_scale = 450,
- .accel_max_val = IIO_M_S_2_TO_G(32000),
+ .gyro_max_val = 18000 << 16,
+ .gyro_max_scale = IIO_DEGREE_TO_RAD(450),
+ .accel_max_val = IIO_M_S_2_TO_G(32000 << 16),
.accel_max_scale = 8,
.temp_scale = 12500, /* 12.5 milli degree Celsius */
.int_clk = 4250000,
@@ -861,9 +871,9 @@ static const struct adis16480_chip_info adis16480_chip_info[] = {
[ADIS16495_3] = {
.channels = adis16485_channels,
.num_channels = ARRAY_SIZE(adis16485_channels),
- .gyro_max_val = IIO_RAD_TO_DEGREE(20000),
- .gyro_max_scale = 2000,
- .accel_max_val = IIO_M_S_2_TO_G(32000),
+ .gyro_max_val = 20000 << 16,
+ .gyro_max_scale = IIO_DEGREE_TO_RAD(2000),
+ .accel_max_val = IIO_M_S_2_TO_G(32000 << 16),
.accel_max_scale = 8,
.temp_scale = 12500, /* 12.5 milli degree Celsius */
.int_clk = 4250000,
@@ -874,9 +884,9 @@ static const struct adis16480_chip_info adis16480_chip_info[] = {
[ADIS16497_1] = {
.channels = adis16485_channels,
.num_channels = ARRAY_SIZE(adis16485_channels),
- .gyro_max_val = IIO_RAD_TO_DEGREE(20000),
- .gyro_max_scale = 125,
- .accel_max_val = IIO_M_S_2_TO_G(32000),
+ .gyro_max_val = 20000 << 16,
+ .gyro_max_scale = IIO_DEGREE_TO_RAD(125),
+ .accel_max_val = IIO_M_S_2_TO_G(32000 << 16),
.accel_max_scale = 40,
.temp_scale = 12500, /* 12.5 milli degree Celsius */
.int_clk = 4250000,
@@ -887,9 +897,9 @@ static const struct adis16480_chip_info adis16480_chip_info[] = {
[ADIS16497_2] = {
.channels = adis16485_channels,
.num_channels = ARRAY_SIZE(adis16485_channels),
- .gyro_max_val = IIO_RAD_TO_DEGREE(18000),
- .gyro_max_scale = 450,
- .accel_max_val = IIO_M_S_2_TO_G(32000),
+ .gyro_max_val = 18000 << 16,
+ .gyro_max_scale = IIO_DEGREE_TO_RAD(450),
+ .accel_max_val = IIO_M_S_2_TO_G(32000 << 16),
.accel_max_scale = 40,
.temp_scale = 12500, /* 12.5 milli degree Celsius */
.int_clk = 4250000,
@@ -900,9 +910,9 @@ static const struct adis16480_chip_info adis16480_chip_info[] = {
[ADIS16497_3] = {
.channels = adis16485_channels,
.num_channels = ARRAY_SIZE(adis16485_channels),
- .gyro_max_val = IIO_RAD_TO_DEGREE(20000),
- .gyro_max_scale = 2000,
- .accel_max_val = IIO_M_S_2_TO_G(32000),
+ .gyro_max_val = 20000 << 16,
+ .gyro_max_scale = IIO_DEGREE_TO_RAD(2000),
+ .accel_max_val = IIO_M_S_2_TO_G(32000 << 16),
.accel_max_scale = 40,
.temp_scale = 12500, /* 12.5 milli degree Celsius */
.int_clk = 4250000,
@@ -916,6 +926,7 @@ static const struct iio_info adis16480_info = {
.read_raw = &adis16480_read_raw,
.write_raw = &adis16480_write_raw,
.update_scan_mode = adis_update_scan_mode,
+ .debugfs_reg_access = adis_debugfs_reg_access,
};
static int adis16480_stop_device(struct iio_dev *indio_dev)
@@ -937,7 +948,7 @@ static int adis16480_enable_irq(struct adis *adis, bool enable)
int ret;
ret = adis_read_reg_16(adis, ADIS16480_REG_FNCTIO_CTRL, &val);
- if (ret < 0)
+ if (ret)
return ret;
val &= ~ADIS16480_DRDY_EN_MSK;
@@ -1115,7 +1126,7 @@ static int adis16480_ext_clk_config(struct adis16480 *st,
int ret;
ret = adis_read_reg_16(&st->adis, ADIS16480_REG_FNCTIO_CTRL, &val);
- if (ret < 0)
+ if (ret)
return ret;
pin = adis16480_of_get_ext_clk_pin(st, of_node);
@@ -1141,7 +1152,7 @@ static int adis16480_ext_clk_config(struct adis16480 *st,
val |= mode;
ret = adis_write_reg_16(&st->adis, ADIS16480_REG_FNCTIO_CTRL, val);
- if (ret < 0)
+ if (ret)
return ret;
return clk_prepare_enable(st->ext_clk);
Copyright © 1996 – 2023 Jason A. Donenfeld. All Rights Reverse Engineered.