diff options
Diffstat (limited to 'drivers/staging/iio/imu/adis16400_core.c')
| -rw-r--r-- | drivers/staging/iio/imu/adis16400_core.c | 1320 |
1 files changed, 0 insertions, 1320 deletions
diff --git a/drivers/staging/iio/imu/adis16400_core.c b/drivers/staging/iio/imu/adis16400_core.c deleted file mode 100644 index 9c8f5ab7e13b..000000000000 --- a/drivers/staging/iio/imu/adis16400_core.c +++ /dev/null @@ -1,1320 +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/iio/iio.h> -#include <linux/iio/sysfs.h> -#include <linux/iio/buffer.h> -#include "adis16400.h" - -enum adis16400_chip_variant { - ADIS16300, - ADIS16334, - ADIS16350, - ADIS16360, - ADIS16362, - ADIS16364, - ADIS16400, -}; - -/** - * adis16400_spi_write_reg_8() - write single byte to a register - * @dev: device associated with child of actual device (iio_dev or iio_trig) - * @reg_address: the address of the register to be written - * @val: the value to write - */ -static int adis16400_spi_write_reg_8(struct iio_dev *indio_dev, - u8 reg_address, - u8 val) -{ - int ret; - struct adis16400_state *st = iio_priv(indio_dev); - - mutex_lock(&st->buf_lock); - st->tx[0] = ADIS16400_WRITE_REG(reg_address); - st->tx[1] = val; - - ret = spi_write(st->us, st->tx, 2); - mutex_unlock(&st->buf_lock); - - return ret; -} - -/** - * adis16400_spi_write_reg_16() - write 2 bytes to a pair of registers - * @dev: device associated with child of actual device (iio_dev or iio_trig) - * @reg_address: the address of the lower of the two registers. Second register - * is assumed to have address one greater. - * @val: value to be written - * - * At the moment the spi framework doesn't allow global setting of cs_change. - * This means that use cannot be made of spi_write. - */ -static int adis16400_spi_write_reg_16(struct iio_dev *indio_dev, - u8 lower_reg_address, - u16 value) -{ - int ret; - struct spi_message msg; - struct adis16400_state *st = iio_priv(indio_dev); - struct spi_transfer xfers[] = { - { - .tx_buf = st->tx, - .bits_per_word = 8, - .len = 2, - .cs_change = 1, - }, { - .tx_buf = st->tx + 2, - .bits_per_word = 8, - .len = 2, - }, - }; - - mutex_lock(&st->buf_lock); - st->tx[0] = ADIS16400_WRITE_REG(lower_reg_address); - st->tx[1] = value & 0xFF; - st->tx[2] = ADIS16400_WRITE_REG(lower_reg_address + 1); - st->tx[3] = (value >> 8) & 0xFF; - - spi_message_init(&msg); - spi_message_add_tail(&xfers[0], &msg); - spi_message_add_tail(&xfers[1], &msg); - ret = spi_sync(st->us, &msg); - mutex_unlock(&st->buf_lock); - - return ret; -} - -/** - * adis16400_spi_read_reg_16() - read 2 bytes from a 16-bit register - * @indio_dev: iio device - * @reg_address: the address of the lower of the two registers. Second register - * is assumed to have address one greater. - * @val: somewhere to pass back the value read - * - * At the moment the spi framework doesn't allow global setting of cs_change. - * This means that use cannot be made of spi_read. - **/ -static int adis16400_spi_read_reg_16(struct iio_dev *indio_dev, - u8 lower_reg_address, - u16 *val) -{ - struct spi_message msg; - struct adis16400_state *st = iio_priv(indio_dev); - int ret; - struct spi_transfer xfers[] = { - { - .tx_buf = st->tx, - .bits_per_word = 8, - .len = 2, - .cs_change = 1, - }, { - .rx_buf = st->rx, - .bits_per_word = 8, - .len = 2, - }, - }; - - mutex_lock(&st->buf_lock); - st->tx[0] = ADIS16400_READ_REG(lower_reg_address); - st->tx[1] = 0; - - spi_message_init(&msg); - spi_message_add_tail(&xfers[0], &msg); - spi_message_add_tail(&xfers[1], &msg); - ret = spi_sync(st->us, &msg); - if (ret) { - dev_err(&st->us->dev, - "problem when reading 16 bit register 0x%02X", - lower_reg_address); - goto error_ret; - } - *val = (st->rx[0] << 8) | st->rx[1]; - -error_ret: - mutex_unlock(&st->buf_lock); - return ret; -} - -static int adis16334_get_freq(struct iio_dev *indio_dev) -{ - int ret; - u16 t; - - ret = adis16400_spi_read_reg_16(indio_dev, ADIS16400_SMPL_PRD, &t); - if (ret < 0) - return ret; - - t >>= ADIS16334_RATE_DIV_SHIFT; - - return (8192 >> t) / 10; -} - -static int adis16334_set_freq(struct iio_dev *indio_dev, unsigned int freq) -{ - unsigned int t; - - t = ilog2(8192 / (freq * 10)); - - if (t > 0x31) - t = 0x31; - - t <<= ADIS16334_RATE_DIV_SHIFT; - t |= ADIS16334_RATE_INT_CLK; - - return adis16400_spi_write_reg_16(indio_dev, ADIS16400_SMPL_PRD, t); -} - -static int adis16400_get_freq(struct iio_dev *indio_dev) -{ - int sps, ret; - u16 t; - - ret = adis16400_spi_read_reg_16(indio_dev, ADIS16400_SMPL_PRD, &t); - if (ret < 0) - return ret; - sps = (t & ADIS16400_SMPL_PRD_TIME_BASE) ? 53 : 1638; - sps /= (t & ADIS16400_SMPL_PRD_DIV_MASK) + 1; - - return sps; -} - -static int adis16400_set_freq(struct iio_dev *indio_dev, unsigned int freq) -{ - struct adis16400_state *st = iio_priv(indio_dev); - unsigned int t; - - t = 1638 / freq; - if (t > 0) - t--; - t &= ADIS16400_SMPL_PRD_DIV_MASK; - if ((t & ADIS16400_SMPL_PRD_DIV_MASK) >= 0x0A) - st->us->max_speed_hz = ADIS16400_SPI_SLOW; - else - st->us->max_speed_hz = ADIS16400_SPI_FAST; - - return adis16400_spi_write_reg_8(indio_dev, - ADIS16400_SMPL_PRD, t); -} - -static ssize_t adis16400_read_frequency(struct device *dev, - struct device_attribute *attr, - char *buf) -{ - struct iio_dev *indio_dev = dev_to_iio_dev(dev); - struct adis16400_state *st = iio_priv(indio_dev); - int ret, len = 0; - - ret = st->variant->get_freq(indio_dev); - if (ret < 0) - return ret; - len = sprintf(buf, "%d SPS\n", ret); - return len; -} - -static const unsigned adis16400_3db_divisors[] = { - [0] = 2, /* Special case */ - [1] = 5, - [2] = 10, - [3] = 50, - [4] = 200, -}; - -static int adis16400_set_filter(struct iio_dev *indio_dev, int sps, int val) -{ - int i, ret; - u16 val16; - for (i = ARRAY_SIZE(adis16400_3db_divisors) - 1; i >= 0; i--) - if (sps/adis16400_3db_divisors[i] > val) - break; - if (i == -1) - ret = -EINVAL; - else { - ret = adis16400_spi_read_reg_16(indio_dev, - ADIS16400_SENS_AVG, - &val16); - if (ret < 0) - goto error_ret; - - ret = adis16400_spi_write_reg_16(indio_dev, - ADIS16400_SENS_AVG, - (val16 & ~0x03) | i); - } -error_ret: - return ret; -} - -static ssize_t adis16400_write_frequency(struct device *dev, - struct device_attribute *attr, - const char *buf, - size_t len) -{ - struct iio_dev *indio_dev = dev_to_iio_dev(dev); - struct adis16400_state *st = iio_priv(indio_dev); - long val; - int ret; - - ret = strict_strtol(buf, 10, &val); - if (ret) - return ret; - if (val == 0) - return -EINVAL; - - mutex_lock(&indio_dev->mlock); - - st->variant->set_freq(indio_dev, val); - - /* Also update the filter */ - mutex_unlock(&indio_dev->mlock); - - return ret ? ret : len; -} - -static int adis16400_reset(struct iio_dev *indio_dev) -{ - int ret; - ret = adis16400_spi_write_reg_8(indio_dev, - ADIS16400_GLOB_CMD, - ADIS16400_GLOB_CMD_SW_RESET); - if (ret) - dev_err(&indio_dev->dev, "problem resetting device"); - - return ret; -} - -int adis16400_set_irq(struct iio_dev *indio_dev, bool enable) -{ - int ret; - u16 msc; - - ret = adis16400_spi_read_reg_16(indio_dev, ADIS16400_MSC_CTRL, &msc); - if (ret) - goto error_ret; - - msc |= ADIS16400_MSC_CTRL_DATA_RDY_POL_HIGH; - if (enable) - msc |= ADIS16400_MSC_CTRL_DATA_RDY_EN; - else - msc &= ~ADIS16400_MSC_CTRL_DATA_RDY_EN; - - ret = adis16400_spi_write_reg_16(indio_dev, ADIS16400_MSC_CTRL, msc); - if (ret) - goto error_ret; - -error_ret: - return ret; -} - -/* Power down the device */ -static int adis16400_stop_device(struct iio_dev *indio_dev) -{ - int ret; - u16 val = ADIS16400_SLP_CNT_POWER_OFF; - - ret = adis16400_spi_write_reg_16(indio_dev, ADIS16400_SLP_CNT, val); - if (ret) - dev_err(&indio_dev->dev, - "problem with turning device off: SLP_CNT"); - - return ret; -} - -static int adis16400_check_status(struct iio_dev *indio_dev) -{ - u16 status; - int ret; - struct device *dev = &indio_dev->dev; - - ret = adis16400_spi_read_reg_16(indio_dev, - ADIS16400_DIAG_STAT, &status); - - if (ret < 0) { - dev_err(dev, "Reading status failed\n"); - goto error_ret; - } - ret = status; - if (status & ADIS16400_DIAG_STAT_ZACCL_FAIL) - dev_err(dev, "Z-axis accelerometer self-test failure\n"); - if (status & ADIS16400_DIAG_STAT_YACCL_FAIL) - dev_err(dev, "Y-axis accelerometer self-test failure\n"); - if (status & ADIS16400_DIAG_STAT_XACCL_FAIL) - dev_err(dev, "X-axis accelerometer self-test failure\n"); - if (status & ADIS16400_DIAG_STAT_XGYRO_FAIL) - dev_err(dev, "X-axis gyroscope self-test failure\n"); - if (status & ADIS16400_DIAG_STAT_YGYRO_FAIL) - dev_err(dev, "Y-axis gyroscope self-test failure\n"); - if (status & ADIS16400_DIAG_STAT_ZGYRO_FAIL) - dev_err(dev, "Z-axis gyroscope self-test failure\n"); - if (status & ADIS16400_DIAG_STAT_ALARM2) - dev_err(dev, "Alarm 2 active\n"); - if (status & ADIS16400_DIAG_STAT_ALARM1) - dev_err(dev, "Alarm 1 active\n"); - if (status & ADIS16400_DIAG_STAT_FLASH_CHK) - dev_err(dev, "Flash checksum error\n"); - if (status & ADIS16400_DIAG_STAT_SELF_TEST) - dev_err(dev, "Self test error\n"); - if (status & ADIS16400_DIAG_STAT_OVERFLOW) - dev_err(dev, "Sensor overrange\n"); - if (status & ADIS16400_DIAG_STAT_SPI_FAIL) - dev_err(dev, "SPI failure\n"); - if (status & ADIS16400_DIAG_STAT_FLASH_UPT) - dev_err(dev, "Flash update failed\n"); - if (status & ADIS16400_DIAG_STAT_POWER_HIGH) - dev_err(dev, "Power supply above 5.25V\n"); - if (status & ADIS16400_DIAG_STAT_POWER_LOW) - dev_err(dev, "Power supply below 4.75V\n"); - -error_ret: - return ret; -} - -static int adis16400_self_test(struct iio_dev *indio_dev) -{ - int ret; - ret = adis16400_spi_write_reg_16(indio_dev, - ADIS16400_MSC_CTRL, - ADIS16400_MSC_CTRL_MEM_TEST); - if (ret) { - dev_err(&indio_dev->dev, "problem starting self test"); - goto err_ret; - } - - msleep(ADIS16400_MTEST_DELAY); - adis16400_check_status(indio_dev); - -err_ret: - return ret; -} - -static int adis16400_initial_setup(struct iio_dev *indio_dev) -{ - int ret; - u16 prod_id, smp_prd; - unsigned int device_id; - struct adis16400_state *st = iio_priv(indio_dev); - - /* use low spi speed for init if the device has a slow mode */ - if (st->variant->flags & ADIS16400_HAS_SLOW_MODE) - st->us->max_speed_hz = ADIS16400_SPI_SLOW; - else - st->us->max_speed_hz = ADIS16400_SPI_FAST; - st->us->mode = SPI_MODE_3; - spi_setup(st->us); - - ret = adis16400_set_irq(indio_dev, false); - if (ret) { - dev_err(&indio_dev->dev, "disable irq failed"); - goto err_ret; - } - - ret = adis16400_self_test(indio_dev); - if (ret) { - dev_err(&indio_dev->dev, "self test failure"); - goto err_ret; - } - - ret = adis16400_check_status(indio_dev); - if (ret) { - adis16400_reset(indio_dev); - dev_err(&indio_dev->dev, "device not playing ball -> reset"); - msleep(ADIS16400_STARTUP_DELAY); - ret = adis16400_check_status(indio_dev); - if (ret) { - dev_err(&indio_dev->dev, "giving up"); - goto err_ret; - } - } - if (st->variant->flags & ADIS16400_HAS_PROD_ID) { - ret = adis16400_spi_read_reg_16(indio_dev, - ADIS16400_PRODUCT_ID, &prod_id); - if (ret) - goto err_ret; - - sscanf(indio_dev->name, "adis%u\n", &device_id); - - 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->us->chip_select, st->us->irq); - } - /* use high spi speed if possible */ - if (st->variant->flags & ADIS16400_HAS_SLOW_MODE) { - ret = adis16400_spi_read_reg_16(indio_dev, - ADIS16400_SMPL_PRD, &smp_prd); - if (ret) - goto err_ret; - - if ((smp_prd & ADIS16400_SMPL_PRD_DIV_MASK) < 0x0A) { - st->us->max_speed_hz = ADIS16400_SPI_FAST; - spi_setup(st->us); - } - } - -err_ret: - return ret; -} - -static IIO_DEV_ATTR_SAMP_FREQ(S_IWUSR | S_IRUGO, - adis16400_read_frequency, - adis16400_write_frequency); - -static IIO_CONST_ATTR_SAMP_FREQ_AVAIL("409 546 819 1638"); - -enum adis16400_chan { - in_supply, - gyro_x, - gyro_y, - gyro_z, - accel_x, - accel_y, - accel_z, - magn_x, - magn_y, - magn_z, - temp, - temp0, temp1, temp2, - in1, - in2, - incli_x, - incli_y, -}; - -static u8 adis16400_addresses[18][2] = { - [in_supply] = { ADIS16400_SUPPLY_OUT }, - [gyro_x] = { ADIS16400_XGYRO_OUT, ADIS16400_XGYRO_OFF }, - [gyro_y] = { ADIS16400_YGYRO_OUT, ADIS16400_YGYRO_OFF }, - [gyro_z] = { ADIS16400_ZGYRO_OUT, ADIS16400_ZGYRO_OFF }, - [accel_x] = { ADIS16400_XACCL_OUT, ADIS16400_XACCL_OFF }, - [accel_y] = { ADIS16400_YACCL_OUT, ADIS16400_YACCL_OFF }, - [accel_z] = { ADIS16400_ZACCL_OUT, ADIS16400_ZACCL_OFF }, - [magn_x] = { ADIS16400_XMAGN_OUT }, - [magn_y] = { ADIS16400_YMAGN_OUT }, - [magn_z] = { ADIS16400_ZMAGN_OUT }, - [temp] = { ADIS16400_TEMP_OUT }, - [temp0] = { ADIS16350_XTEMP_OUT }, - [temp1] = { ADIS16350_YTEMP_OUT }, - [temp2] = { ADIS16350_ZTEMP_OUT }, - [in1] = { ADIS16300_AUX_ADC }, - [in2] = { ADIS16400_AUX_ADC }, - [incli_x] = { ADIS16300_PITCH_OUT }, - [incli_y] = { ADIS16300_ROLL_OUT } -}; - - -static int adis16400_write_raw(struct iio_dev *indio_dev, - struct iio_chan_spec const *chan, - int val, - int val2, - long mask) -{ - struct adis16400_state *st = iio_priv(indio_dev); - int ret, sps; - - switch (mask) { - case IIO_CHAN_INFO_CALIBBIAS: - mutex_lock(&indio_dev->mlock); - ret = adis16400_spi_write_reg_16(indio_dev, - adis16400_addresses[chan->address][1], - 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(indio_dev); - if (sps < 0) { - mutex_unlock(&indio_dev->mlock); - return sps; - } - - ret = adis16400_set_filter(indio_dev, sps, val); - 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 mask) -{ - struct adis16400_state *st = iio_priv(indio_dev); - int ret, shift; - s16 val16; - - switch (mask) { - case IIO_CHAN_INFO_RAW: - mutex_lock(&indio_dev->mlock); - ret = adis16400_spi_read_reg_16(indio_dev, - adis16400_addresses[chan->address][0], - &val16); - if (ret) { - mutex_unlock(&indio_dev->mlock); - return ret; - } - val16 &= (1 << chan->scan_type.realbits) - 1; - if (chan->scan_type.sign == 's') { - shift = 16 - chan->scan_type.realbits; - val16 = (s16)(val16 << shift) >> shift; - } - *val = val16; - mutex_unlock(&indio_dev->mlock); - return IIO_VAL_INT; - 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; - default: - return -EINVAL; - } - case IIO_CHAN_INFO_CALIBBIAS: - mutex_lock(&indio_dev->mlock); - ret = adis16400_spi_read_reg_16(indio_dev, - adis16400_addresses[chan->address][1], - &val16); - mutex_unlock(&indio_dev->mlock); - if (ret) - return ret; - val16 = ((val16 & 0xFFF) << 4) >> 4; - *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 = adis16400_spi_read_reg_16(indio_dev, - ADIS16400_SENS_AVG, - &val16); - if (ret < 0) { - mutex_unlock(&indio_dev->mlock); - return ret; - } - val16 = st->variant->get_freq(indio_dev); - if (ret > 0) - *val = ret/adis16400_3db_divisors[val16 & 0x03]; - *val2 = 0; - mutex_unlock(&indio_dev->mlock); - if (ret < 0) - return ret; - return IIO_VAL_INT_PLUS_MICRO; - default: - return -EINVAL; - } -} - -static const struct iio_chan_spec adis16400_channels[] = { - { - .type = IIO_VOLTAGE, - .indexed = 1, - .channel = 0, - .extend_name = "supply", - .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT | - IIO_CHAN_INFO_SCALE_SEPARATE_BIT, - .address = in_supply, - .scan_index = ADIS16400_SCAN_SUPPLY, - .scan_type = IIO_ST('u', 14, 16, 0), - }, { - .type = IIO_ANGL_VEL, - .modified = 1, - .channel2 = IIO_MOD_X, - .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT | - IIO_CHAN_INFO_CALIBBIAS_SEPARATE_BIT | - IIO_CHAN_INFO_SCALE_SHARED_BIT | - IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY_SHARED_BIT, - .address = gyro_x, - .scan_index = ADIS16400_SCAN_GYRO_X, - .scan_type = IIO_ST('s', 14, 16, 0), - }, { - .type = IIO_ANGL_VEL, - .modified = 1, - .channel2 = IIO_MOD_Y, - .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT | - IIO_CHAN_INFO_CALIBBIAS_SEPARATE_BIT | - IIO_CHAN_INFO_SCALE_SHARED_BIT | - IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY_SHARED_BIT, - .address = gyro_y, - .scan_index = ADIS16400_SCAN_GYRO_Y, - .scan_type = IIO_ST('s', 14, 16, 0), - }, { - .type = IIO_ANGL_VEL, - .modified = 1, - .channel2 = IIO_MOD_Z, - .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT | - IIO_CHAN_INFO_CALIBBIAS_SEPARATE_BIT | - IIO_CHAN_INFO_SCALE_SHARED_BIT | - IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY_SHARED_BIT, - .address = gyro_z, - .scan_index = ADIS16400_SCAN_GYRO_Z, - .scan_type = IIO_ST('s', 14, 16, 0), - }, { - .type = IIO_ACCEL, - .modified = 1, - .channel2 = IIO_MOD_X, - .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT | - IIO_CHAN_INFO_CALIBBIAS_SEPARATE_BIT | - IIO_CHAN_INFO_SCALE_SHARED_BIT | - IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY_SHARED_BIT, - .address = accel_x, - .scan_index = ADIS16400_SCAN_ACC_X, - .scan_type = IIO_ST('s', 14, 16, 0), - }, { - .type = IIO_ACCEL, - .modified = 1, - .channel2 = IIO_MOD_Y, - .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT | - IIO_CHAN_INFO_CALIBBIAS_SEPARATE_BIT | - IIO_CHAN_INFO_SCALE_SHARED_BIT | - IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY_SHARED_BIT, - .address = accel_y, - .scan_index = ADIS16400_SCAN_ACC_Y, - .scan_type = IIO_ST('s', 14, 16, 0), - }, { - .type = IIO_ACCEL, - .modified = 1, - .channel2 = IIO_MOD_Z, - .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT | - IIO_CHAN_INFO_CALIBBIAS_SEPARATE_BIT | - IIO_CHAN_INFO_SCALE_SHARED_BIT | - IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY_SHARED_BIT, - .address = accel_z, - .scan_index = ADIS16400_SCAN_ACC_Z, - .scan_type = IIO_ST('s', 14, 16, 0), - }, { - .type = IIO_MAGN, - .modified = 1, - .channel2 = IIO_MOD_X, - .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT | - IIO_CHAN_INFO_SCALE_SHARED_BIT | - IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY_SHARED_BIT, - .address = magn_x, - .scan_index = ADIS16400_SCAN_MAGN_X, - .scan_type = IIO_ST('s', 14, 16, 0), - }, { - .type = IIO_MAGN, - .modified = 1, - .channel2 = IIO_MOD_Y, - .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT | - IIO_CHAN_INFO_SCALE_SHARED_BIT | - IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY_SHARED_BIT, - .address = magn_y, - .scan_index = ADIS16400_SCAN_MAGN_Y, - .scan_type = IIO_ST('s', 14, 16, 0), - }, { - .type = IIO_MAGN, - .modified = 1, - .channel2 = IIO_MOD_Z, - .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT | - IIO_CHAN_INFO_SCALE_SHARED_BIT | - IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY_SHARED_BIT, - .address = magn_z, - .scan_index = ADIS16400_SCAN_MAGN_Z, - .scan_type = IIO_ST('s', 14, 16, 0), - }, { - .type = IIO_TEMP, - .indexed = 1, - .channel = 0, - .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT | - IIO_CHAN_INFO_OFFSET_SEPARATE_BIT | - IIO_CHAN_INFO_SCALE_SEPARATE_BIT, - .address = temp, - .scan_index = ADIS16400_SCAN_TEMP, - .scan_type = IIO_ST('s', 12, 16, 0), - }, { - .type = IIO_VOLTAGE, - .indexed = 1, - .channel = 1, - .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT | - IIO_CHAN_INFO_SCALE_SEPARATE_BIT, - .address = in2, - .scan_index = ADIS16400_SCAN_ADC_0, - .scan_type = IIO_ST('s', 12, 16, 0), - }, - IIO_CHAN_SOFT_TIMESTAMP(12) -}; - -static const struct iio_chan_spec adis16350_channels[] = { - { - .type = IIO_VOLTAGE, - .indexed = 1, - .channel = 0, - .extend_name = "supply", - .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT | - IIO_CHAN_INFO_SCALE_SEPARATE_BIT, - .address = in_supply, - .scan_index = ADIS16400_SCAN_SUPPLY, - .scan_type = IIO_ST('u', 12, 16, 0), - }, { - .type = IIO_ANGL_VEL, - .modified = 1, - .channel2 = IIO_MOD_X, - .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT | - IIO_CHAN_INFO_CALIBBIAS_SEPARATE_BIT | - IIO_CHAN_INFO_SCALE_SHARED_BIT | - IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY_SHARED_BIT, - .address = gyro_x, - .scan_index = ADIS16400_SCAN_GYRO_X, - .scan_type = IIO_ST('s', 14, 16, 0), - }, { - .type = IIO_ANGL_VEL, - .modified = 1, - .channel2 = IIO_MOD_Y, - .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT | - IIO_CHAN_INFO_CALIBBIAS_SEPARATE_BIT | - IIO_CHAN_INFO_SCALE_SHARED_BIT | - IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY_SHARED_BIT, - .address = gyro_y, - .scan_index = ADIS16400_SCAN_GYRO_Y, - .scan_type = IIO_ST('s', 14, 16, 0), - }, { - .type = IIO_ANGL_VEL, - .modified = 1, - .channel2 = IIO_MOD_Z, - .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT | - IIO_CHAN_INFO_CALIBBIAS_SEPARATE_BIT | - IIO_CHAN_INFO_SCALE_SHARED_BIT | - IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY_SHARED_BIT, - .address = gyro_z, - .scan_index = ADIS16400_SCAN_GYRO_Z, - .scan_type = IIO_ST('s', 14, 16, 0), - }, { - .type = IIO_ACCEL, - .modified = 1, - .channel2 = IIO_MOD_X, - .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT | - IIO_CHAN_INFO_CALIBBIAS_SEPARATE_BIT | - IIO_CHAN_INFO_SCALE_SHARED_BIT | - IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY_SHARED_BIT, - .address = accel_x, - .scan_index = ADIS16400_SCAN_ACC_X, - .scan_type = IIO_ST('s', 14, 16, 0), - }, { - .type = IIO_ACCEL, - .modified = 1, - .channel2 = IIO_MOD_Y, - .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT | - IIO_CHAN_INFO_CALIBBIAS_SEPARATE_BIT | - IIO_CHAN_INFO_SCALE_SHARED_BIT | - IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY_SHARED_BIT, - .address = accel_y, - .scan_index = ADIS16400_SCAN_ACC_Y, - .scan_type = IIO_ST('s', 14, 16, 0), - }, { - .type = IIO_ACCEL, - .modified = 1, - .channel2 = IIO_MOD_Z, - .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT | - IIO_CHAN_INFO_CALIBBIAS_SEPARATE_BIT | - IIO_CHAN_INFO_SCALE_SHARED_BIT | - IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY_SHARED_BIT, - .address = accel_z, - .scan_index = ADIS16400_SCAN_ACC_Z, - .scan_type = IIO_ST('s', 14, 16, 0), - }, { - .type = IIO_TEMP, - .indexed = 1, - .channel = 0, - .extend_name = "x", - .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT | - IIO_CHAN_INFO_OFFSET_SEPARATE_BIT | - IIO_CHAN_INFO_SCALE_SEPARATE_BIT | - IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY_SHARED_BIT, - .address = temp0, - .scan_index = ADIS16350_SCAN_TEMP_X, - .scan_type = IIO_ST('s', 12, 16, 0), - }, { - .type = IIO_TEMP, - .indexed = 1, - .channel = 1, - .extend_name = "y", - .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT | - IIO_CHAN_INFO_OFFSET_SEPARATE_BIT | - IIO_CHAN_INFO_SCALE_SEPARATE_BIT | - IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY_SHARED_BIT, - .address = temp1, - .scan_index = ADIS16350_SCAN_TEMP_Y, - .scan_type = IIO_ST('s', 12, 16, 0), - }, { - .type = IIO_TEMP, - .indexed = 1, - .channel = 2, - .extend_name = "z", - .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT | - IIO_CHAN_INFO_OFFSET_SEPARATE_BIT | - IIO_CHAN_INFO_SCALE_SEPARATE_BIT, - .address = temp2, - .scan_index = ADIS16350_SCAN_TEMP_Z, - .scan_type = IIO_ST('s', 12, 16, 0), - }, { - .type = IIO_VOLTAGE, - .indexed = 1, - .channel = 1, - .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT | - IIO_CHAN_INFO_SCALE_SEPARATE_BIT, - .address = in1, - .scan_index = ADIS16350_SCAN_ADC_0, - .scan_type = IIO_ST('s', 12, 16, 0), - }, - IIO_CHAN_SOFT_TIMESTAMP(11) -}; - -static const struct iio_chan_spec adis16300_channels[] = { - { - .type = IIO_VOLTAGE, - .indexed = 1, - .channel = 0, - .extend_name = "supply", - .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT | - IIO_CHAN_INFO_SCALE_SEPARATE_BIT, - .address = in_supply, - .scan_index = ADIS16400_SCAN_SUPPLY, - .scan_type = IIO_ST('u', 12, 16, 0), - }, { - .type = IIO_ANGL_VEL, - .modified = 1, - .channel2 = IIO_MOD_X, - .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT | - IIO_CHAN_INFO_CALIBBIAS_SEPARATE_BIT | - IIO_CHAN_INFO_SCALE_SHARED_BIT | - IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY_SHARED_BIT, - .address = gyro_x, - .scan_index = ADIS16400_SCAN_GYRO_X, - .scan_type = IIO_ST('s', 14, 16, 0), - }, { - .type = IIO_ACCEL, - .modified = 1, - .channel2 = IIO_MOD_X, - .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT | - IIO_CHAN_INFO_CALIBBIAS_SEPARATE_BIT | - IIO_CHAN_INFO_SCALE_SHARED_BIT | - IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY_SHARED_BIT, - .address = accel_x, - .scan_index = ADIS16400_SCAN_ACC_X, - .scan_type = IIO_ST('s', 14, 16, 0), - }, { - .type = IIO_ACCEL, - .modified = 1, - .channel2 = IIO_MOD_Y, - .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT | - IIO_CHAN_INFO_CALIBBIAS_SEPARATE_BIT | - IIO_CHAN_INFO_SCALE_SHARED_BIT | - IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY_SHARED_BIT, - .address = accel_y, - .scan_index = ADIS16400_SCAN_ACC_Y, - .scan_type = IIO_ST('s', 14, 16, 0), - }, { - .type = IIO_ACCEL, - .modified = 1, - .channel2 = IIO_MOD_Z, - .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT | - IIO_CHAN_INFO_CALIBBIAS_SEPARATE_BIT | - IIO_CHAN_INFO_SCALE_SHARED_BIT | - IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY_SHARED_BIT, - .address = accel_z, - .scan_index = ADIS16400_SCAN_ACC_Z, - .scan_type = IIO_ST('s', 14, 16, 0), - }, { - .type = IIO_TEMP, - .indexed = 1, - .channel = 0, - .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT | - IIO_CHAN_INFO_OFFSET_SEPARATE_BIT | - IIO_CHAN_INFO_SCALE_SEPARATE_BIT, - .address = temp0, - .scan_index = ADIS16400_SCAN_TEMP, - .scan_type = IIO_ST('s', 12, 16, 0), - }, { - .type = IIO_VOLTAGE, - .indexed = 1, - .channel = 1, - .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT | - IIO_CHAN_INFO_SCALE_SEPARATE_BIT, - .address = in1, - .scan_index = ADIS16350_SCAN_ADC_0, - .scan_type = IIO_ST('s', 12, 16, 0), - }, { - .type = IIO_INCLI, - .modified = 1, - .channel2 = IIO_MOD_X, - .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT | - IIO_CHAN_INFO_SCALE_SHARED_BIT, - .address = incli_x, - .scan_index = ADIS16300_SCAN_INCLI_X, - .scan_type = IIO_ST('s', 13, 16, 0), - }, { - .type = IIO_INCLI, - .modified = 1, - .channel2 = IIO_MOD_Y, - .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT | - IIO_CHAN_INFO_SCALE_SHARED_BIT, - .address = incli_y, - .scan_index = ADIS16300_SCAN_INCLI_Y, - .scan_type = IIO_ST('s', 13, 16, 0), - }, - IIO_CHAN_SOFT_TIMESTAMP(14) -}; - -static const struct iio_chan_spec adis16334_channels[] = { - { - .type = IIO_ANGL_VEL, - .modified = 1, - .channel2 = IIO_MOD_X, - .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT | - IIO_CHAN_INFO_CALIBBIAS_SEPARATE_BIT | - IIO_CHAN_INFO_SCALE_SHARED_BIT | - IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY_SHARED_BIT, - .address = gyro_x, - .scan_index = ADIS16400_SCAN_GYRO_X, - .scan_type = IIO_ST('s', 14, 16, 0), - }, { - .type = IIO_ANGL_VEL, - .modified = 1, - .channel2 = IIO_MOD_Y, - .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT | - IIO_CHAN_INFO_CALIBBIAS_SEPARATE_BIT | - IIO_CHAN_INFO_SCALE_SHARED_BIT | - IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY_SHARED_BIT, - .address = gyro_y, - .scan_index = ADIS16400_SCAN_GYRO_Y, - .scan_type = IIO_ST('s', 14, 16, 0), - }, { - .type = IIO_ANGL_VEL, - .modified = 1, - .channel2 = IIO_MOD_Z, - .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT | - IIO_CHAN_INFO_CALIBBIAS_SEPARATE_BIT | - IIO_CHAN_INFO_SCALE_SHARED_BIT | - IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY_SHARED_BIT, - .address = gyro_z, - .scan_index = ADIS16400_SCAN_GYRO_Z, - .scan_type = IIO_ST('s', 14, 16, 0), - }, { - .type = IIO_ACCEL, - .modified = 1, - .channel2 = IIO_MOD_X, - .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT | - IIO_CHAN_INFO_CALIBBIAS_SEPARATE_BIT | - IIO_CHAN_INFO_SCALE_SHARED_BIT | - IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY_SHARED_BIT, - .address = accel_x, - .scan_index = ADIS16400_SCAN_ACC_X, - .scan_type = IIO_ST('s', 14, 16, 0), - }, { - .type = IIO_ACCEL, - .modified = 1, - .channel2 = IIO_MOD_Y, - .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT | - IIO_CHAN_INFO_CALIBBIAS_SEPARATE_BIT | - IIO_CHAN_INFO_SCALE_SHARED_BIT | - IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY_SHARED_BIT, - .address = accel_y, - .scan_index = ADIS16400_SCAN_ACC_Y, - .scan_type = IIO_ST('s', 14, 16, 0), - }, { - .type = IIO_ACCEL, - .modified = 1, - .channel2 = IIO_MOD_Z, - .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT | - IIO_CHAN_INFO_CALIBBIAS_SEPARATE_BIT | - IIO_CHAN_INFO_SCALE_SHARED_BIT | - IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY_SHARED_BIT, - .address = accel_z, - .scan_index = ADIS16400_SCAN_ACC_Z, - .scan_type = IIO_ST('s', 14, 16, 0), - }, { - .type = IIO_TEMP, - .indexed = 1, - .channel = 0, - .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT | - IIO_CHAN_INFO_OFFSET_SEPARATE_BIT | - IIO_CHAN_INFO_SCALE_SHARED_BIT, - .address = temp0, - .scan_index = ADIS16400_SCAN_TEMP, - .scan_type = IIO_ST('s', 14, 16, 0), - }, - IIO_CHAN_SOFT_TIMESTAMP(12) -}; - -static struct attribute *adis16400_attributes[] = { - &iio_dev_attr_sampling_frequency.dev_attr.attr, - &iio_const_attr_sampling_frequency_available.dev_attr.attr, - NULL -}; - -static const struct attribute_group adis16400_attribute_group = { - .attrs = adis16400_attributes, -}; - -static struct adis16400_chip_info adis16400_chips[] = { - [ADIS16300] = { - .channels = adis16300_channels, - .num_channels = ARRAY_SIZE(adis16300_channels), - .flags = ADIS16400_HAS_SLOW_MODE, - .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 */ - .default_scan_mask = (1 << ADIS16400_SCAN_SUPPLY) | - (1 << ADIS16400_SCAN_GYRO_X) | (1 << ADIS16400_SCAN_ACC_X) | - (1 << ADIS16400_SCAN_ACC_Y) | (1 << ADIS16400_SCAN_ACC_Z) | - (1 << ADIS16400_SCAN_TEMP) | (1 << ADIS16400_SCAN_ADC_0) | - (1 << ADIS16300_SCAN_INCLI_X) | (1 << ADIS16300_SCAN_INCLI_Y) | - (1 << 14), - .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, - .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 */ - .default_scan_mask = (1 << ADIS16400_SCAN_GYRO_X) | - (1 << ADIS16400_SCAN_GYRO_Y) | (1 << ADIS16400_SCAN_GYRO_Z) | - (1 << ADIS16400_SCAN_ACC_X) | (1 << ADIS16400_SCAN_ACC_Y) | - (1 << ADIS16400_SCAN_ACC_Z), - .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 */ - .default_scan_mask = 0x7FF, - .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, - .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 */ - .default_scan_mask = 0x7FF, - .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, - .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 */ - .default_scan_mask = 0x7FF, - .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, - .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 */ - .default_scan_mask = 0x7FF, - .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 */ - .default_scan_mask = 0xFFF, - .temp_scale_nano = 140000000, /* 0.14 C */ - .temp_offset = 25000000 / 140000, /* 25 C = 0x00 */ - .set_freq = adis16400_set_freq, - .get_freq = adis16400_get_freq, - } -}; - -static const struct iio_info adis16400_info = { - .driver_module = THIS_MODULE, - .read_raw = &adis16400_read_raw, - .write_raw = &adis16400_write_raw, - .attrs = &adis16400_attribute_group, -}; - -static int adis16400_probe(struct spi_device *spi) -{ - int ret; - struct adis16400_state *st; - struct iio_dev *indio_dev = iio_device_alloc(sizeof(*st)); - if (indio_dev == NULL) { - ret = -ENOMEM; - goto error_ret; - } - st = iio_priv(indio_dev); - /* this is only used for removal purposes */ - spi_set_drvdata(spi, indio_dev); - - st->us = spi; - mutex_init(&st->buf_lock); - - /* 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; - - ret = adis16400_configure_ring(indio_dev); - if (ret) - goto error_free_dev; - - ret = iio_buffer_register(indio_dev, - st->variant->channels, - st->variant->num_channels); - if (ret) { - dev_err(&spi->dev, "failed to initialize the ring\n"); - goto error_unreg_ring_funcs; - } - - if (spi->irq) { - ret = adis16400_probe_trigger(indio_dev); - if (ret) - goto error_uninitialize_ring; - } - - /* Get the device into a sane initial state */ - ret = adis16400_initial_setup(indio_dev); - if (ret) - goto error_remove_trigger; - ret = iio_device_register(indio_dev); - if (ret) - goto error_remove_trigger; - - return 0; - -error_remove_trigger: - if (spi->irq) - adis16400_remove_trigger(indio_dev); -error_uninitialize_ring: - iio_buffer_unregister(indio_dev); -error_unreg_ring_funcs: - adis16400_unconfigure_ring(indio_dev); -error_free_dev: - iio_device_free(indio_dev); -error_ret: - return ret; -} - -/* fixme, confirm ordering in this function */ -static int adis16400_remove(struct spi_device *spi) -{ - struct iio_dev *indio_dev = spi_get_drvdata(spi); - - iio_device_unregister(indio_dev); - adis16400_stop_device(indio_dev); - - adis16400_remove_trigger(indio_dev); - iio_buffer_unregister(indio_dev); - adis16400_unconfigure_ring(indio_dev); - iio_device_free(indio_dev); - - return 0; -} - -static const struct spi_device_id adis16400_id[] = { - {"adis16300", ADIS16300}, - {"adis16334", ADIS16334}, - {"adis16350", ADIS16350}, - {"adis16354", ADIS16350}, - {"adis16355", ADIS16350}, - {"adis16360", ADIS16360}, - {"adis16362", ADIS16362}, - {"adis16364", ADIS16364}, - {"adis16365", ADIS16360}, - {"adis16400", ADIS16400}, - {"adis16405", ADIS16400}, - {} -}; -MODULE_DEVICE_TABLE(spi, adis16400_id); - -static struct spi_driver adis16400_driver = { - .driver = { - .name = "adis16400", - .owner = THIS_MODULE, - }, - .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"); |