This source file includes following definitions.
- adis16400_show_serial_number
- adis16400_show_product_id
- adis16400_show_flash_count
- adis16400_debugfs_init
- adis16400_debugfs_init
- adis16334_get_freq
- adis16334_set_freq
- adis16400_get_freq
- adis16400_set_freq
- adis16400_set_filter
- adis16400_stop_device
- adis16400_initial_setup
- adis16400_write_raw
- adis16400_read_raw
- adis16400_trigger_handler
- adis16400_setup_chan_mask
- adis16400_probe
- adis16400_remove
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13 #include <linux/interrupt.h>
14 #include <linux/irq.h>
15 #include <linux/delay.h>
16 #include <linux/mutex.h>
17 #include <linux/device.h>
18 #include <linux/kernel.h>
19 #include <linux/spi/spi.h>
20 #include <linux/slab.h>
21 #include <linux/sysfs.h>
22 #include <linux/list.h>
23 #include <linux/module.h>
24 #include <linux/debugfs.h>
25 #include <linux/bitops.h>
26
27 #include <linux/iio/iio.h>
28 #include <linux/iio/sysfs.h>
29 #include <linux/iio/buffer.h>
30 #include <linux/iio/trigger_consumer.h>
31 #include <linux/iio/imu/adis.h>
32
33 #define ADIS16400_STARTUP_DELAY 290
34 #define ADIS16400_MTEST_DELAY 90
35
36 #define ADIS16400_FLASH_CNT 0x00
37 #define ADIS16400_SUPPLY_OUT 0x02
38 #define ADIS16400_XGYRO_OUT 0x04
39 #define ADIS16400_YGYRO_OUT 0x06
40 #define ADIS16400_ZGYRO_OUT 0x08
41 #define ADIS16400_XACCL_OUT 0x0A
42 #define ADIS16400_YACCL_OUT 0x0C
43 #define ADIS16400_ZACCL_OUT 0x0E
44 #define ADIS16400_XMAGN_OUT 0x10
45 #define ADIS16400_YMAGN_OUT 0x12
46 #define ADIS16400_ZMAGN_OUT 0x14
47 #define ADIS16400_TEMP_OUT 0x16
48 #define ADIS16400_AUX_ADC 0x18
49
50 #define ADIS16350_XTEMP_OUT 0x10
51 #define ADIS16350_YTEMP_OUT 0x12
52 #define ADIS16350_ZTEMP_OUT 0x14
53
54 #define ADIS16300_PITCH_OUT 0x12
55 #define ADIS16300_ROLL_OUT 0x14
56 #define ADIS16300_AUX_ADC 0x16
57
58 #define ADIS16448_BARO_OUT 0x16
59 #define ADIS16448_TEMP_OUT 0x18
60
61
62 #define ADIS16400_XGYRO_OFF 0x1A
63 #define ADIS16400_YGYRO_OFF 0x1C
64 #define ADIS16400_ZGYRO_OFF 0x1E
65 #define ADIS16400_XACCL_OFF 0x20
66 #define ADIS16400_YACCL_OFF 0x22
67 #define ADIS16400_ZACCL_OFF 0x24
68 #define ADIS16400_XMAGN_HIF 0x26
69 #define ADIS16400_YMAGN_HIF 0x28
70 #define ADIS16400_ZMAGN_HIF 0x2A
71 #define ADIS16400_XMAGN_SIF 0x2C
72 #define ADIS16400_YMAGN_SIF 0x2E
73 #define ADIS16400_ZMAGN_SIF 0x30
74
75 #define ADIS16400_GPIO_CTRL 0x32
76 #define ADIS16400_MSC_CTRL 0x34
77 #define ADIS16400_SMPL_PRD 0x36
78 #define ADIS16400_SENS_AVG 0x38
79 #define ADIS16400_SLP_CNT 0x3A
80 #define ADIS16400_DIAG_STAT 0x3C
81
82
83 #define ADIS16400_GLOB_CMD 0x3E
84 #define ADIS16400_ALM_MAG1 0x40
85 #define ADIS16400_ALM_MAG2 0x42
86 #define ADIS16400_ALM_SMPL1 0x44
87 #define ADIS16400_ALM_SMPL2 0x46
88 #define ADIS16400_ALM_CTRL 0x48
89 #define ADIS16400_AUX_DAC 0x4A
90
91 #define ADIS16334_LOT_ID1 0x52
92 #define ADIS16334_LOT_ID2 0x54
93 #define ADIS16400_PRODUCT_ID 0x56
94 #define ADIS16334_SERIAL_NUMBER 0x58
95
96 #define ADIS16400_ERROR_ACTIVE (1<<14)
97 #define ADIS16400_NEW_DATA (1<<14)
98
99
100 #define ADIS16400_MSC_CTRL_MEM_TEST (1<<11)
101 #define ADIS16400_MSC_CTRL_INT_SELF_TEST (1<<10)
102 #define ADIS16400_MSC_CTRL_NEG_SELF_TEST (1<<9)
103 #define ADIS16400_MSC_CTRL_POS_SELF_TEST (1<<8)
104 #define ADIS16400_MSC_CTRL_GYRO_BIAS (1<<7)
105 #define ADIS16400_MSC_CTRL_ACCL_ALIGN (1<<6)
106 #define ADIS16400_MSC_CTRL_DATA_RDY_EN (1<<2)
107 #define ADIS16400_MSC_CTRL_DATA_RDY_POL_HIGH (1<<1)
108 #define ADIS16400_MSC_CTRL_DATA_RDY_DIO2 (1<<0)
109
110
111 #define ADIS16400_SMPL_PRD_TIME_BASE (1<<7)
112 #define ADIS16400_SMPL_PRD_DIV_MASK 0x7F
113
114
115 #define ADIS16400_DIAG_STAT_ZACCL_FAIL 15
116 #define ADIS16400_DIAG_STAT_YACCL_FAIL 14
117 #define ADIS16400_DIAG_STAT_XACCL_FAIL 13
118 #define ADIS16400_DIAG_STAT_XGYRO_FAIL 12
119 #define ADIS16400_DIAG_STAT_YGYRO_FAIL 11
120 #define ADIS16400_DIAG_STAT_ZGYRO_FAIL 10
121 #define ADIS16400_DIAG_STAT_ALARM2 9
122 #define ADIS16400_DIAG_STAT_ALARM1 8
123 #define ADIS16400_DIAG_STAT_FLASH_CHK 6
124 #define ADIS16400_DIAG_STAT_SELF_TEST 5
125 #define ADIS16400_DIAG_STAT_OVERFLOW 4
126 #define ADIS16400_DIAG_STAT_SPI_FAIL 3
127 #define ADIS16400_DIAG_STAT_FLASH_UPT 2
128 #define ADIS16400_DIAG_STAT_POWER_HIGH 1
129 #define ADIS16400_DIAG_STAT_POWER_LOW 0
130
131
132 #define ADIS16400_GLOB_CMD_SW_RESET (1<<7)
133 #define ADIS16400_GLOB_CMD_P_AUTO_NULL (1<<4)
134 #define ADIS16400_GLOB_CMD_FLASH_UPD (1<<3)
135 #define ADIS16400_GLOB_CMD_DAC_LATCH (1<<2)
136 #define ADIS16400_GLOB_CMD_FAC_CALIB (1<<1)
137 #define ADIS16400_GLOB_CMD_AUTO_NULL (1<<0)
138
139
140 #define ADIS16400_SLP_CNT_POWER_OFF (1<<8)
141
142 #define ADIS16334_RATE_DIV_SHIFT 8
143 #define ADIS16334_RATE_INT_CLK BIT(0)
144
145 #define ADIS16400_SPI_SLOW (u32)(300 * 1000)
146 #define ADIS16400_SPI_BURST (u32)(1000 * 1000)
147 #define ADIS16400_SPI_FAST (u32)(2000 * 1000)
148
149 #define ADIS16400_HAS_PROD_ID BIT(0)
150 #define ADIS16400_NO_BURST BIT(1)
151 #define ADIS16400_HAS_SLOW_MODE BIT(2)
152 #define ADIS16400_HAS_SERIAL_NUMBER BIT(3)
153 #define ADIS16400_BURST_DIAG_STAT BIT(4)
154
155 struct adis16400_state;
156
157 struct adis16400_chip_info {
158 const struct iio_chan_spec *channels;
159 const int num_channels;
160 const long flags;
161 unsigned int gyro_scale_micro;
162 unsigned int accel_scale_micro;
163 int temp_scale_nano;
164 int temp_offset;
165 int (*set_freq)(struct adis16400_state *st, unsigned int freq);
166 int (*get_freq)(struct adis16400_state *st);
167 };
168
169
170
171
172
173
174
175 struct adis16400_state {
176 struct adis16400_chip_info *variant;
177 int filt_int;
178
179 struct adis adis;
180 unsigned long avail_scan_mask[2];
181 };
182
183
184
185
186
187 enum {
188 ADIS16400_SCAN_SUPPLY,
189 ADIS16400_SCAN_GYRO_X,
190 ADIS16400_SCAN_GYRO_Y,
191 ADIS16400_SCAN_GYRO_Z,
192 ADIS16400_SCAN_ACC_X,
193 ADIS16400_SCAN_ACC_Y,
194 ADIS16400_SCAN_ACC_Z,
195 ADIS16400_SCAN_MAGN_X,
196 ADIS16400_SCAN_MAGN_Y,
197 ADIS16400_SCAN_MAGN_Z,
198 ADIS16400_SCAN_BARO,
199 ADIS16350_SCAN_TEMP_X,
200 ADIS16350_SCAN_TEMP_Y,
201 ADIS16350_SCAN_TEMP_Z,
202 ADIS16300_SCAN_INCLI_X,
203 ADIS16300_SCAN_INCLI_Y,
204 ADIS16400_SCAN_ADC,
205 ADIS16400_SCAN_TIMESTAMP,
206 };
207
208 #ifdef CONFIG_DEBUG_FS
209
210 static ssize_t adis16400_show_serial_number(struct file *file,
211 char __user *userbuf, size_t count, loff_t *ppos)
212 {
213 struct adis16400_state *st = file->private_data;
214 u16 lot1, lot2, serial_number;
215 char buf[16];
216 size_t len;
217 int ret;
218
219 ret = adis_read_reg_16(&st->adis, ADIS16334_LOT_ID1, &lot1);
220 if (ret < 0)
221 return ret;
222
223 ret = adis_read_reg_16(&st->adis, ADIS16334_LOT_ID2, &lot2);
224 if (ret < 0)
225 return ret;
226
227 ret = adis_read_reg_16(&st->adis, ADIS16334_SERIAL_NUMBER,
228 &serial_number);
229 if (ret < 0)
230 return ret;
231
232 len = snprintf(buf, sizeof(buf), "%.4x-%.4x-%.4x\n", lot1, lot2,
233 serial_number);
234
235 return simple_read_from_buffer(userbuf, count, ppos, buf, len);
236 }
237
238 static const struct file_operations adis16400_serial_number_fops = {
239 .open = simple_open,
240 .read = adis16400_show_serial_number,
241 .llseek = default_llseek,
242 .owner = THIS_MODULE,
243 };
244
245 static int adis16400_show_product_id(void *arg, u64 *val)
246 {
247 struct adis16400_state *st = arg;
248 uint16_t prod_id;
249 int ret;
250
251 ret = adis_read_reg_16(&st->adis, ADIS16400_PRODUCT_ID, &prod_id);
252 if (ret < 0)
253 return ret;
254
255 *val = prod_id;
256
257 return 0;
258 }
259 DEFINE_SIMPLE_ATTRIBUTE(adis16400_product_id_fops,
260 adis16400_show_product_id, NULL, "%lld\n");
261
262 static int adis16400_show_flash_count(void *arg, u64 *val)
263 {
264 struct adis16400_state *st = arg;
265 uint16_t flash_count;
266 int ret;
267
268 ret = adis_read_reg_16(&st->adis, ADIS16400_FLASH_CNT, &flash_count);
269 if (ret < 0)
270 return ret;
271
272 *val = flash_count;
273
274 return 0;
275 }
276 DEFINE_SIMPLE_ATTRIBUTE(adis16400_flash_count_fops,
277 adis16400_show_flash_count, NULL, "%lld\n");
278
279 static int adis16400_debugfs_init(struct iio_dev *indio_dev)
280 {
281 struct adis16400_state *st = iio_priv(indio_dev);
282
283 if (st->variant->flags & ADIS16400_HAS_SERIAL_NUMBER)
284 debugfs_create_file("serial_number", 0400,
285 indio_dev->debugfs_dentry, st,
286 &adis16400_serial_number_fops);
287 if (st->variant->flags & ADIS16400_HAS_PROD_ID)
288 debugfs_create_file("product_id", 0400,
289 indio_dev->debugfs_dentry, st,
290 &adis16400_product_id_fops);
291 debugfs_create_file("flash_count", 0400, indio_dev->debugfs_dentry,
292 st, &adis16400_flash_count_fops);
293
294 return 0;
295 }
296
297 #else
298
299 static int adis16400_debugfs_init(struct iio_dev *indio_dev)
300 {
301 return 0;
302 }
303
304 #endif
305
306 enum adis16400_chip_variant {
307 ADIS16300,
308 ADIS16334,
309 ADIS16350,
310 ADIS16360,
311 ADIS16362,
312 ADIS16364,
313 ADIS16367,
314 ADIS16400,
315 ADIS16445,
316 ADIS16448,
317 };
318
319 static struct adis_burst adis16400_burst = {
320 .en = true,
321 .reg_cmd = ADIS16400_GLOB_CMD,
322 };
323
324 static int adis16334_get_freq(struct adis16400_state *st)
325 {
326 int ret;
327 uint16_t t;
328
329 ret = adis_read_reg_16(&st->adis, ADIS16400_SMPL_PRD, &t);
330 if (ret < 0)
331 return ret;
332
333 t >>= ADIS16334_RATE_DIV_SHIFT;
334
335 return 819200 >> t;
336 }
337
338 static int adis16334_set_freq(struct adis16400_state *st, unsigned int freq)
339 {
340 unsigned int t;
341
342 if (freq < 819200)
343 t = ilog2(819200 / freq);
344 else
345 t = 0;
346
347 if (t > 0x31)
348 t = 0x31;
349
350 t <<= ADIS16334_RATE_DIV_SHIFT;
351 t |= ADIS16334_RATE_INT_CLK;
352
353 return adis_write_reg_16(&st->adis, ADIS16400_SMPL_PRD, t);
354 }
355
356 static int adis16400_get_freq(struct adis16400_state *st)
357 {
358 int sps, ret;
359 uint16_t t;
360
361 ret = adis_read_reg_16(&st->adis, ADIS16400_SMPL_PRD, &t);
362 if (ret < 0)
363 return ret;
364
365 sps = (t & ADIS16400_SMPL_PRD_TIME_BASE) ? 52851 : 1638404;
366 sps /= (t & ADIS16400_SMPL_PRD_DIV_MASK) + 1;
367
368 return sps;
369 }
370
371 static int adis16400_set_freq(struct adis16400_state *st, unsigned int freq)
372 {
373 unsigned int t;
374 uint8_t val = 0;
375
376 t = 1638404 / freq;
377 if (t >= 128) {
378 val |= ADIS16400_SMPL_PRD_TIME_BASE;
379 t = 52851 / freq;
380 if (t >= 128)
381 t = 127;
382 } else if (t != 0) {
383 t--;
384 }
385
386 val |= t;
387
388 if (t >= 0x0A || (val & ADIS16400_SMPL_PRD_TIME_BASE))
389 st->adis.spi->max_speed_hz = ADIS16400_SPI_SLOW;
390 else
391 st->adis.spi->max_speed_hz = ADIS16400_SPI_FAST;
392
393 return adis_write_reg_8(&st->adis, ADIS16400_SMPL_PRD, val);
394 }
395
396 static const unsigned int adis16400_3db_divisors[] = {
397 [0] = 2,
398 [1] = 6,
399 [2] = 12,
400 [3] = 25,
401 [4] = 50,
402 [5] = 100,
403 [6] = 200,
404 [7] = 200,
405 };
406
407 static int adis16400_set_filter(struct iio_dev *indio_dev, int sps, int val)
408 {
409 struct adis16400_state *st = iio_priv(indio_dev);
410 uint16_t val16;
411 int i, ret;
412
413 for (i = ARRAY_SIZE(adis16400_3db_divisors) - 1; i >= 1; i--) {
414 if (sps / adis16400_3db_divisors[i] >= val)
415 break;
416 }
417
418 ret = adis_read_reg_16(&st->adis, ADIS16400_SENS_AVG, &val16);
419 if (ret < 0)
420 return ret;
421
422 ret = adis_write_reg_16(&st->adis, ADIS16400_SENS_AVG,
423 (val16 & ~0x07) | i);
424 return ret;
425 }
426
427
428 static int adis16400_stop_device(struct iio_dev *indio_dev)
429 {
430 struct adis16400_state *st = iio_priv(indio_dev);
431 int ret;
432
433 ret = adis_write_reg_16(&st->adis, ADIS16400_SLP_CNT,
434 ADIS16400_SLP_CNT_POWER_OFF);
435 if (ret)
436 dev_err(&indio_dev->dev,
437 "problem with turning device off: SLP_CNT");
438
439 return ret;
440 }
441
442 static int adis16400_initial_setup(struct iio_dev *indio_dev)
443 {
444 struct adis16400_state *st = iio_priv(indio_dev);
445 uint16_t prod_id, smp_prd;
446 unsigned int device_id;
447 int ret;
448
449
450 if (st->variant->flags & ADIS16400_HAS_SLOW_MODE)
451 st->adis.spi->max_speed_hz = ADIS16400_SPI_SLOW;
452 else
453 st->adis.spi->max_speed_hz = ADIS16400_SPI_FAST;
454 st->adis.spi->mode = SPI_MODE_3;
455 spi_setup(st->adis.spi);
456
457 ret = adis_initial_startup(&st->adis);
458 if (ret)
459 return ret;
460
461 if (st->variant->flags & ADIS16400_HAS_PROD_ID) {
462 ret = adis_read_reg_16(&st->adis,
463 ADIS16400_PRODUCT_ID, &prod_id);
464 if (ret)
465 goto err_ret;
466
467 ret = sscanf(indio_dev->name, "adis%u\n", &device_id);
468 if (ret != 1) {
469 ret = -EINVAL;
470 goto err_ret;
471 }
472
473 if (prod_id != device_id)
474 dev_warn(&indio_dev->dev, "Device ID(%u) and product ID(%u) do not match.",
475 device_id, prod_id);
476
477 dev_info(&indio_dev->dev, "%s: prod_id 0x%04x at CS%d (irq %d)\n",
478 indio_dev->name, prod_id,
479 st->adis.spi->chip_select, st->adis.spi->irq);
480 }
481
482 if (st->variant->flags & ADIS16400_HAS_SLOW_MODE) {
483 ret = adis_read_reg_16(&st->adis, ADIS16400_SMPL_PRD, &smp_prd);
484 if (ret)
485 goto err_ret;
486
487 if ((smp_prd & ADIS16400_SMPL_PRD_DIV_MASK) < 0x0A) {
488 st->adis.spi->max_speed_hz = ADIS16400_SPI_FAST;
489 spi_setup(st->adis.spi);
490 }
491 }
492
493 err_ret:
494 return ret;
495 }
496
497 static const uint8_t adis16400_addresses[] = {
498 [ADIS16400_SCAN_GYRO_X] = ADIS16400_XGYRO_OFF,
499 [ADIS16400_SCAN_GYRO_Y] = ADIS16400_YGYRO_OFF,
500 [ADIS16400_SCAN_GYRO_Z] = ADIS16400_ZGYRO_OFF,
501 [ADIS16400_SCAN_ACC_X] = ADIS16400_XACCL_OFF,
502 [ADIS16400_SCAN_ACC_Y] = ADIS16400_YACCL_OFF,
503 [ADIS16400_SCAN_ACC_Z] = ADIS16400_ZACCL_OFF,
504 };
505
506 static int adis16400_write_raw(struct iio_dev *indio_dev,
507 struct iio_chan_spec const *chan, int val, int val2, long info)
508 {
509 struct adis16400_state *st = iio_priv(indio_dev);
510 int ret, sps;
511
512 switch (info) {
513 case IIO_CHAN_INFO_CALIBBIAS:
514 mutex_lock(&indio_dev->mlock);
515 ret = adis_write_reg_16(&st->adis,
516 adis16400_addresses[chan->scan_index], val);
517 mutex_unlock(&indio_dev->mlock);
518 return ret;
519 case IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY:
520
521
522
523
524 mutex_lock(&indio_dev->mlock);
525 st->filt_int = val;
526
527 sps = st->variant->get_freq(st);
528 if (sps < 0) {
529 mutex_unlock(&indio_dev->mlock);
530 return sps;
531 }
532
533 ret = adis16400_set_filter(indio_dev, sps,
534 val * 1000 + val2 / 1000);
535 mutex_unlock(&indio_dev->mlock);
536 return ret;
537 case IIO_CHAN_INFO_SAMP_FREQ:
538 sps = val * 1000 + val2 / 1000;
539
540 if (sps <= 0)
541 return -EINVAL;
542
543 mutex_lock(&indio_dev->mlock);
544 ret = st->variant->set_freq(st, sps);
545 mutex_unlock(&indio_dev->mlock);
546 return ret;
547 default:
548 return -EINVAL;
549 }
550 }
551
552 static int adis16400_read_raw(struct iio_dev *indio_dev,
553 struct iio_chan_spec const *chan, int *val, int *val2, long info)
554 {
555 struct adis16400_state *st = iio_priv(indio_dev);
556 int16_t val16;
557 int ret;
558
559 switch (info) {
560 case IIO_CHAN_INFO_RAW:
561 return adis_single_conversion(indio_dev, chan, 0, val);
562 case IIO_CHAN_INFO_SCALE:
563 switch (chan->type) {
564 case IIO_ANGL_VEL:
565 *val = 0;
566 *val2 = st->variant->gyro_scale_micro;
567 return IIO_VAL_INT_PLUS_MICRO;
568 case IIO_VOLTAGE:
569 *val = 0;
570 if (chan->channel == 0) {
571 *val = 2;
572 *val2 = 418000;
573 } else {
574 *val = 0;
575 *val2 = 805800;
576 }
577 return IIO_VAL_INT_PLUS_MICRO;
578 case IIO_ACCEL:
579 *val = 0;
580 *val2 = st->variant->accel_scale_micro;
581 return IIO_VAL_INT_PLUS_MICRO;
582 case IIO_MAGN:
583 *val = 0;
584 *val2 = 500;
585 return IIO_VAL_INT_PLUS_MICRO;
586 case IIO_TEMP:
587 *val = st->variant->temp_scale_nano / 1000000;
588 *val2 = (st->variant->temp_scale_nano % 1000000);
589 return IIO_VAL_INT_PLUS_MICRO;
590 case IIO_PRESSURE:
591
592 *val = 0;
593 *val2 = 2000;
594 return IIO_VAL_INT_PLUS_MICRO;
595 default:
596 return -EINVAL;
597 }
598 case IIO_CHAN_INFO_CALIBBIAS:
599 mutex_lock(&indio_dev->mlock);
600 ret = adis_read_reg_16(&st->adis,
601 adis16400_addresses[chan->scan_index], &val16);
602 mutex_unlock(&indio_dev->mlock);
603 if (ret)
604 return ret;
605 val16 = sign_extend32(val16, 11);
606 *val = val16;
607 return IIO_VAL_INT;
608 case IIO_CHAN_INFO_OFFSET:
609
610 *val = st->variant->temp_offset;
611 return IIO_VAL_INT;
612 case IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY:
613 mutex_lock(&indio_dev->mlock);
614
615 ret = adis_read_reg_16(&st->adis,
616 ADIS16400_SENS_AVG,
617 &val16);
618 if (ret < 0) {
619 mutex_unlock(&indio_dev->mlock);
620 return ret;
621 }
622 ret = st->variant->get_freq(st);
623 if (ret >= 0) {
624 ret /= adis16400_3db_divisors[val16 & 0x07];
625 *val = ret / 1000;
626 *val2 = (ret % 1000) * 1000;
627 }
628 mutex_unlock(&indio_dev->mlock);
629 if (ret < 0)
630 return ret;
631 return IIO_VAL_INT_PLUS_MICRO;
632 case IIO_CHAN_INFO_SAMP_FREQ:
633 ret = st->variant->get_freq(st);
634 if (ret < 0)
635 return ret;
636 *val = ret / 1000;
637 *val2 = (ret % 1000) * 1000;
638 return IIO_VAL_INT_PLUS_MICRO;
639 default:
640 return -EINVAL;
641 }
642 }
643
644 #if IS_ENABLED(CONFIG_IIO_BUFFER)
645 static irqreturn_t adis16400_trigger_handler(int irq, void *p)
646 {
647 struct iio_poll_func *pf = p;
648 struct iio_dev *indio_dev = pf->indio_dev;
649 struct adis16400_state *st = iio_priv(indio_dev);
650 struct adis *adis = &st->adis;
651 u32 old_speed_hz = st->adis.spi->max_speed_hz;
652 void *buffer;
653 int ret;
654
655 if (!adis->buffer)
656 return -ENOMEM;
657
658 if (!(st->variant->flags & ADIS16400_NO_BURST) &&
659 st->adis.spi->max_speed_hz > ADIS16400_SPI_BURST) {
660 st->adis.spi->max_speed_hz = ADIS16400_SPI_BURST;
661 spi_setup(st->adis.spi);
662 }
663
664 ret = spi_sync(adis->spi, &adis->msg);
665 if (ret)
666 dev_err(&adis->spi->dev, "Failed to read data: %d\n", ret);
667
668 if (!(st->variant->flags & ADIS16400_NO_BURST)) {
669 st->adis.spi->max_speed_hz = old_speed_hz;
670 spi_setup(st->adis.spi);
671 }
672
673 if (st->variant->flags & ADIS16400_BURST_DIAG_STAT)
674 buffer = adis->buffer + sizeof(u16);
675 else
676 buffer = adis->buffer;
677
678 iio_push_to_buffers_with_timestamp(indio_dev, buffer,
679 pf->timestamp);
680
681 iio_trigger_notify_done(indio_dev->trig);
682
683 return IRQ_HANDLED;
684 }
685 #else
686 #define adis16400_trigger_handler NULL
687 #endif
688
689 #define ADIS16400_VOLTAGE_CHAN(addr, bits, name, si, chn) { \
690 .type = IIO_VOLTAGE, \
691 .indexed = 1, \
692 .channel = chn, \
693 .extend_name = name, \
694 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \
695 BIT(IIO_CHAN_INFO_SCALE), \
696 .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
697 .address = (addr), \
698 .scan_index = (si), \
699 .scan_type = { \
700 .sign = 'u', \
701 .realbits = (bits), \
702 .storagebits = 16, \
703 .shift = 0, \
704 .endianness = IIO_BE, \
705 }, \
706 }
707
708 #define ADIS16400_SUPPLY_CHAN(addr, bits) \
709 ADIS16400_VOLTAGE_CHAN(addr, bits, "supply", ADIS16400_SCAN_SUPPLY, 0)
710
711 #define ADIS16400_AUX_ADC_CHAN(addr, bits) \
712 ADIS16400_VOLTAGE_CHAN(addr, bits, NULL, ADIS16400_SCAN_ADC, 1)
713
714 #define ADIS16400_GYRO_CHAN(mod, addr, bits) { \
715 .type = IIO_ANGL_VEL, \
716 .modified = 1, \
717 .channel2 = IIO_MOD_ ## mod, \
718 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \
719 BIT(IIO_CHAN_INFO_CALIBBIAS), \
720 .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE) | \
721 BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY), \
722 .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
723 .address = addr, \
724 .scan_index = ADIS16400_SCAN_GYRO_ ## mod, \
725 .scan_type = { \
726 .sign = 's', \
727 .realbits = (bits), \
728 .storagebits = 16, \
729 .shift = 0, \
730 .endianness = IIO_BE, \
731 }, \
732 }
733
734 #define ADIS16400_ACCEL_CHAN(mod, addr, bits) { \
735 .type = IIO_ACCEL, \
736 .modified = 1, \
737 .channel2 = IIO_MOD_ ## mod, \
738 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \
739 BIT(IIO_CHAN_INFO_CALIBBIAS), \
740 .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE) | \
741 BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY), \
742 .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
743 .address = (addr), \
744 .scan_index = ADIS16400_SCAN_ACC_ ## mod, \
745 .scan_type = { \
746 .sign = 's', \
747 .realbits = (bits), \
748 .storagebits = 16, \
749 .shift = 0, \
750 .endianness = IIO_BE, \
751 }, \
752 }
753
754 #define ADIS16400_MAGN_CHAN(mod, addr, bits) { \
755 .type = IIO_MAGN, \
756 .modified = 1, \
757 .channel2 = IIO_MOD_ ## mod, \
758 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW), \
759 .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE) | \
760 BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY), \
761 .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
762 .address = (addr), \
763 .scan_index = ADIS16400_SCAN_MAGN_ ## mod, \
764 .scan_type = { \
765 .sign = 's', \
766 .realbits = (bits), \
767 .storagebits = 16, \
768 .shift = 0, \
769 .endianness = IIO_BE, \
770 }, \
771 }
772
773 #define ADIS16400_MOD_TEMP_NAME_X "x"
774 #define ADIS16400_MOD_TEMP_NAME_Y "y"
775 #define ADIS16400_MOD_TEMP_NAME_Z "z"
776
777 #define ADIS16400_MOD_TEMP_CHAN(mod, addr, bits) { \
778 .type = IIO_TEMP, \
779 .indexed = 1, \
780 .channel = 0, \
781 .extend_name = ADIS16400_MOD_TEMP_NAME_ ## mod, \
782 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \
783 BIT(IIO_CHAN_INFO_OFFSET) | \
784 BIT(IIO_CHAN_INFO_SCALE), \
785 .info_mask_shared_by_type = \
786 BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY), \
787 .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
788 .address = (addr), \
789 .scan_index = ADIS16350_SCAN_TEMP_ ## mod, \
790 .scan_type = { \
791 .sign = 's', \
792 .realbits = (bits), \
793 .storagebits = 16, \
794 .shift = 0, \
795 .endianness = IIO_BE, \
796 }, \
797 }
798
799 #define ADIS16400_TEMP_CHAN(addr, bits) { \
800 .type = IIO_TEMP, \
801 .indexed = 1, \
802 .channel = 0, \
803 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \
804 BIT(IIO_CHAN_INFO_OFFSET) | \
805 BIT(IIO_CHAN_INFO_SCALE), \
806 .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
807 .address = (addr), \
808 .scan_index = ADIS16350_SCAN_TEMP_X, \
809 .scan_type = { \
810 .sign = 's', \
811 .realbits = (bits), \
812 .storagebits = 16, \
813 .shift = 0, \
814 .endianness = IIO_BE, \
815 }, \
816 }
817
818 #define ADIS16400_INCLI_CHAN(mod, addr, bits) { \
819 .type = IIO_INCLI, \
820 .modified = 1, \
821 .channel2 = IIO_MOD_ ## mod, \
822 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW), \
823 .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE), \
824 .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
825 .address = (addr), \
826 .scan_index = ADIS16300_SCAN_INCLI_ ## mod, \
827 .scan_type = { \
828 .sign = 's', \
829 .realbits = (bits), \
830 .storagebits = 16, \
831 .shift = 0, \
832 .endianness = IIO_BE, \
833 }, \
834 }
835
836 static const struct iio_chan_spec adis16400_channels[] = {
837 ADIS16400_SUPPLY_CHAN(ADIS16400_SUPPLY_OUT, 14),
838 ADIS16400_GYRO_CHAN(X, ADIS16400_XGYRO_OUT, 14),
839 ADIS16400_GYRO_CHAN(Y, ADIS16400_YGYRO_OUT, 14),
840 ADIS16400_GYRO_CHAN(Z, ADIS16400_ZGYRO_OUT, 14),
841 ADIS16400_ACCEL_CHAN(X, ADIS16400_XACCL_OUT, 14),
842 ADIS16400_ACCEL_CHAN(Y, ADIS16400_YACCL_OUT, 14),
843 ADIS16400_ACCEL_CHAN(Z, ADIS16400_ZACCL_OUT, 14),
844 ADIS16400_MAGN_CHAN(X, ADIS16400_XMAGN_OUT, 14),
845 ADIS16400_MAGN_CHAN(Y, ADIS16400_YMAGN_OUT, 14),
846 ADIS16400_MAGN_CHAN(Z, ADIS16400_ZMAGN_OUT, 14),
847 ADIS16400_TEMP_CHAN(ADIS16400_TEMP_OUT, 12),
848 ADIS16400_AUX_ADC_CHAN(ADIS16400_AUX_ADC, 12),
849 IIO_CHAN_SOFT_TIMESTAMP(ADIS16400_SCAN_TIMESTAMP),
850 };
851
852 static const struct iio_chan_spec adis16445_channels[] = {
853 ADIS16400_GYRO_CHAN(X, ADIS16400_XGYRO_OUT, 16),
854 ADIS16400_GYRO_CHAN(Y, ADIS16400_YGYRO_OUT, 16),
855 ADIS16400_GYRO_CHAN(Z, ADIS16400_ZGYRO_OUT, 16),
856 ADIS16400_ACCEL_CHAN(X, ADIS16400_XACCL_OUT, 16),
857 ADIS16400_ACCEL_CHAN(Y, ADIS16400_YACCL_OUT, 16),
858 ADIS16400_ACCEL_CHAN(Z, ADIS16400_ZACCL_OUT, 16),
859 ADIS16400_TEMP_CHAN(ADIS16448_TEMP_OUT, 12),
860 IIO_CHAN_SOFT_TIMESTAMP(ADIS16400_SCAN_TIMESTAMP),
861 };
862
863 static const struct iio_chan_spec adis16448_channels[] = {
864 ADIS16400_GYRO_CHAN(X, ADIS16400_XGYRO_OUT, 16),
865 ADIS16400_GYRO_CHAN(Y, ADIS16400_YGYRO_OUT, 16),
866 ADIS16400_GYRO_CHAN(Z, ADIS16400_ZGYRO_OUT, 16),
867 ADIS16400_ACCEL_CHAN(X, ADIS16400_XACCL_OUT, 16),
868 ADIS16400_ACCEL_CHAN(Y, ADIS16400_YACCL_OUT, 16),
869 ADIS16400_ACCEL_CHAN(Z, ADIS16400_ZACCL_OUT, 16),
870 ADIS16400_MAGN_CHAN(X, ADIS16400_XMAGN_OUT, 16),
871 ADIS16400_MAGN_CHAN(Y, ADIS16400_YMAGN_OUT, 16),
872 ADIS16400_MAGN_CHAN(Z, ADIS16400_ZMAGN_OUT, 16),
873 {
874 .type = IIO_PRESSURE,
875 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW),
876 .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE),
877 .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ),
878 .address = ADIS16448_BARO_OUT,
879 .scan_index = ADIS16400_SCAN_BARO,
880 .scan_type = {
881 .sign = 's',
882 .realbits = 16,
883 .storagebits = 16,
884 .endianness = IIO_BE,
885 },
886 },
887 ADIS16400_TEMP_CHAN(ADIS16448_TEMP_OUT, 12),
888 IIO_CHAN_SOFT_TIMESTAMP(ADIS16400_SCAN_TIMESTAMP),
889 };
890
891 static const struct iio_chan_spec adis16350_channels[] = {
892 ADIS16400_SUPPLY_CHAN(ADIS16400_SUPPLY_OUT, 12),
893 ADIS16400_GYRO_CHAN(X, ADIS16400_XGYRO_OUT, 14),
894 ADIS16400_GYRO_CHAN(Y, ADIS16400_YGYRO_OUT, 14),
895 ADIS16400_GYRO_CHAN(Z, ADIS16400_ZGYRO_OUT, 14),
896 ADIS16400_ACCEL_CHAN(X, ADIS16400_XACCL_OUT, 14),
897 ADIS16400_ACCEL_CHAN(Y, ADIS16400_YACCL_OUT, 14),
898 ADIS16400_ACCEL_CHAN(Z, ADIS16400_ZACCL_OUT, 14),
899 ADIS16400_MAGN_CHAN(X, ADIS16400_XMAGN_OUT, 14),
900 ADIS16400_MAGN_CHAN(Y, ADIS16400_YMAGN_OUT, 14),
901 ADIS16400_MAGN_CHAN(Z, ADIS16400_ZMAGN_OUT, 14),
902 ADIS16400_AUX_ADC_CHAN(ADIS16300_AUX_ADC, 12),
903 ADIS16400_MOD_TEMP_CHAN(X, ADIS16350_XTEMP_OUT, 12),
904 ADIS16400_MOD_TEMP_CHAN(Y, ADIS16350_YTEMP_OUT, 12),
905 ADIS16400_MOD_TEMP_CHAN(Z, ADIS16350_ZTEMP_OUT, 12),
906 IIO_CHAN_SOFT_TIMESTAMP(ADIS16400_SCAN_TIMESTAMP),
907 };
908
909 static const struct iio_chan_spec adis16300_channels[] = {
910 ADIS16400_SUPPLY_CHAN(ADIS16400_SUPPLY_OUT, 12),
911 ADIS16400_GYRO_CHAN(X, ADIS16400_XGYRO_OUT, 14),
912 ADIS16400_ACCEL_CHAN(X, ADIS16400_XACCL_OUT, 14),
913 ADIS16400_ACCEL_CHAN(Y, ADIS16400_YACCL_OUT, 14),
914 ADIS16400_ACCEL_CHAN(Z, ADIS16400_ZACCL_OUT, 14),
915 ADIS16400_TEMP_CHAN(ADIS16350_XTEMP_OUT, 12),
916 ADIS16400_AUX_ADC_CHAN(ADIS16300_AUX_ADC, 12),
917 ADIS16400_INCLI_CHAN(X, ADIS16300_PITCH_OUT, 13),
918 ADIS16400_INCLI_CHAN(Y, ADIS16300_ROLL_OUT, 13),
919 IIO_CHAN_SOFT_TIMESTAMP(ADIS16400_SCAN_TIMESTAMP),
920 };
921
922 static const struct iio_chan_spec adis16334_channels[] = {
923 ADIS16400_GYRO_CHAN(X, ADIS16400_XGYRO_OUT, 14),
924 ADIS16400_GYRO_CHAN(Y, ADIS16400_YGYRO_OUT, 14),
925 ADIS16400_GYRO_CHAN(Z, ADIS16400_ZGYRO_OUT, 14),
926 ADIS16400_ACCEL_CHAN(X, ADIS16400_XACCL_OUT, 14),
927 ADIS16400_ACCEL_CHAN(Y, ADIS16400_YACCL_OUT, 14),
928 ADIS16400_ACCEL_CHAN(Z, ADIS16400_ZACCL_OUT, 14),
929 ADIS16400_TEMP_CHAN(ADIS16350_XTEMP_OUT, 12),
930 IIO_CHAN_SOFT_TIMESTAMP(ADIS16400_SCAN_TIMESTAMP),
931 };
932
933 static struct adis16400_chip_info adis16400_chips[] = {
934 [ADIS16300] = {
935 .channels = adis16300_channels,
936 .num_channels = ARRAY_SIZE(adis16300_channels),
937 .flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE |
938 ADIS16400_HAS_SERIAL_NUMBER,
939 .gyro_scale_micro = IIO_DEGREE_TO_RAD(50000),
940 .accel_scale_micro = 5884,
941 .temp_scale_nano = 140000000,
942 .temp_offset = 25000000 / 140000,
943 .set_freq = adis16400_set_freq,
944 .get_freq = adis16400_get_freq,
945 },
946 [ADIS16334] = {
947 .channels = adis16334_channels,
948 .num_channels = ARRAY_SIZE(adis16334_channels),
949 .flags = ADIS16400_HAS_PROD_ID | ADIS16400_NO_BURST |
950 ADIS16400_HAS_SERIAL_NUMBER,
951 .gyro_scale_micro = IIO_DEGREE_TO_RAD(50000),
952 .accel_scale_micro = IIO_G_TO_M_S_2(1000),
953 .temp_scale_nano = 67850000,
954 .temp_offset = 25000000 / 67850,
955 .set_freq = adis16334_set_freq,
956 .get_freq = adis16334_get_freq,
957 },
958 [ADIS16350] = {
959 .channels = adis16350_channels,
960 .num_channels = ARRAY_SIZE(adis16350_channels),
961 .gyro_scale_micro = IIO_DEGREE_TO_RAD(73260),
962 .accel_scale_micro = IIO_G_TO_M_S_2(2522),
963 .temp_scale_nano = 145300000,
964 .temp_offset = 25000000 / 145300,
965 .flags = ADIS16400_NO_BURST | ADIS16400_HAS_SLOW_MODE,
966 .set_freq = adis16400_set_freq,
967 .get_freq = adis16400_get_freq,
968 },
969 [ADIS16360] = {
970 .channels = adis16350_channels,
971 .num_channels = ARRAY_SIZE(adis16350_channels),
972 .flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE |
973 ADIS16400_HAS_SERIAL_NUMBER,
974 .gyro_scale_micro = IIO_DEGREE_TO_RAD(50000),
975 .accel_scale_micro = IIO_G_TO_M_S_2(3333),
976 .temp_scale_nano = 136000000,
977 .temp_offset = 25000000 / 136000,
978 .set_freq = adis16400_set_freq,
979 .get_freq = adis16400_get_freq,
980 },
981 [ADIS16362] = {
982 .channels = adis16350_channels,
983 .num_channels = ARRAY_SIZE(adis16350_channels),
984 .flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE |
985 ADIS16400_HAS_SERIAL_NUMBER,
986 .gyro_scale_micro = IIO_DEGREE_TO_RAD(50000),
987 .accel_scale_micro = IIO_G_TO_M_S_2(333),
988 .temp_scale_nano = 136000000,
989 .temp_offset = 25000000 / 136000,
990 .set_freq = adis16400_set_freq,
991 .get_freq = adis16400_get_freq,
992 },
993 [ADIS16364] = {
994 .channels = adis16350_channels,
995 .num_channels = ARRAY_SIZE(adis16350_channels),
996 .flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE |
997 ADIS16400_HAS_SERIAL_NUMBER,
998 .gyro_scale_micro = IIO_DEGREE_TO_RAD(50000),
999 .accel_scale_micro = IIO_G_TO_M_S_2(1000),
1000 .temp_scale_nano = 136000000,
1001 .temp_offset = 25000000 / 136000,
1002 .set_freq = adis16400_set_freq,
1003 .get_freq = adis16400_get_freq,
1004 },
1005 [ADIS16367] = {
1006 .channels = adis16350_channels,
1007 .num_channels = ARRAY_SIZE(adis16350_channels),
1008 .flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE |
1009 ADIS16400_HAS_SERIAL_NUMBER,
1010 .gyro_scale_micro = IIO_DEGREE_TO_RAD(2000),
1011 .accel_scale_micro = IIO_G_TO_M_S_2(3333),
1012 .temp_scale_nano = 136000000,
1013 .temp_offset = 25000000 / 136000,
1014 .set_freq = adis16400_set_freq,
1015 .get_freq = adis16400_get_freq,
1016 },
1017 [ADIS16400] = {
1018 .channels = adis16400_channels,
1019 .num_channels = ARRAY_SIZE(adis16400_channels),
1020 .flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE,
1021 .gyro_scale_micro = IIO_DEGREE_TO_RAD(50000),
1022 .accel_scale_micro = IIO_G_TO_M_S_2(3333),
1023 .temp_scale_nano = 140000000,
1024 .temp_offset = 25000000 / 140000,
1025 .set_freq = adis16400_set_freq,
1026 .get_freq = adis16400_get_freq,
1027 },
1028 [ADIS16445] = {
1029 .channels = adis16445_channels,
1030 .num_channels = ARRAY_SIZE(adis16445_channels),
1031 .flags = ADIS16400_HAS_PROD_ID |
1032 ADIS16400_HAS_SERIAL_NUMBER |
1033 ADIS16400_BURST_DIAG_STAT,
1034 .gyro_scale_micro = IIO_DEGREE_TO_RAD(10000),
1035 .accel_scale_micro = IIO_G_TO_M_S_2(250),
1036 .temp_scale_nano = 73860000,
1037 .temp_offset = 31000000 / 73860,
1038 .set_freq = adis16334_set_freq,
1039 .get_freq = adis16334_get_freq,
1040 },
1041 [ADIS16448] = {
1042 .channels = adis16448_channels,
1043 .num_channels = ARRAY_SIZE(adis16448_channels),
1044 .flags = ADIS16400_HAS_PROD_ID |
1045 ADIS16400_HAS_SERIAL_NUMBER |
1046 ADIS16400_BURST_DIAG_STAT,
1047 .gyro_scale_micro = IIO_DEGREE_TO_RAD(40000),
1048 .accel_scale_micro = IIO_G_TO_M_S_2(833),
1049 .temp_scale_nano = 73860000,
1050 .temp_offset = 31000000 / 73860,
1051 .set_freq = adis16334_set_freq,
1052 .get_freq = adis16334_get_freq,
1053 }
1054 };
1055
1056 static const struct iio_info adis16400_info = {
1057 .read_raw = &adis16400_read_raw,
1058 .write_raw = &adis16400_write_raw,
1059 .update_scan_mode = adis_update_scan_mode,
1060 .debugfs_reg_access = adis_debugfs_reg_access,
1061 };
1062
1063 static const char * const adis16400_status_error_msgs[] = {
1064 [ADIS16400_DIAG_STAT_ZACCL_FAIL] = "Z-axis accelerometer self-test failure",
1065 [ADIS16400_DIAG_STAT_YACCL_FAIL] = "Y-axis accelerometer self-test failure",
1066 [ADIS16400_DIAG_STAT_XACCL_FAIL] = "X-axis accelerometer self-test failure",
1067 [ADIS16400_DIAG_STAT_XGYRO_FAIL] = "X-axis gyroscope self-test failure",
1068 [ADIS16400_DIAG_STAT_YGYRO_FAIL] = "Y-axis gyroscope self-test failure",
1069 [ADIS16400_DIAG_STAT_ZGYRO_FAIL] = "Z-axis gyroscope self-test failure",
1070 [ADIS16400_DIAG_STAT_ALARM2] = "Alarm 2 active",
1071 [ADIS16400_DIAG_STAT_ALARM1] = "Alarm 1 active",
1072 [ADIS16400_DIAG_STAT_FLASH_CHK] = "Flash checksum error",
1073 [ADIS16400_DIAG_STAT_SELF_TEST] = "Self test error",
1074 [ADIS16400_DIAG_STAT_OVERFLOW] = "Sensor overrange",
1075 [ADIS16400_DIAG_STAT_SPI_FAIL] = "SPI failure",
1076 [ADIS16400_DIAG_STAT_FLASH_UPT] = "Flash update failed",
1077 [ADIS16400_DIAG_STAT_POWER_HIGH] = "Power supply above 5.25V",
1078 [ADIS16400_DIAG_STAT_POWER_LOW] = "Power supply below 4.75V",
1079 };
1080
1081 static const struct adis_data adis16400_data = {
1082 .msc_ctrl_reg = ADIS16400_MSC_CTRL,
1083 .glob_cmd_reg = ADIS16400_GLOB_CMD,
1084 .diag_stat_reg = ADIS16400_DIAG_STAT,
1085
1086 .read_delay = 50,
1087 .write_delay = 50,
1088
1089 .self_test_mask = ADIS16400_MSC_CTRL_MEM_TEST,
1090 .startup_delay = ADIS16400_STARTUP_DELAY,
1091
1092 .status_error_msgs = adis16400_status_error_msgs,
1093 .status_error_mask = BIT(ADIS16400_DIAG_STAT_ZACCL_FAIL) |
1094 BIT(ADIS16400_DIAG_STAT_YACCL_FAIL) |
1095 BIT(ADIS16400_DIAG_STAT_XACCL_FAIL) |
1096 BIT(ADIS16400_DIAG_STAT_XGYRO_FAIL) |
1097 BIT(ADIS16400_DIAG_STAT_YGYRO_FAIL) |
1098 BIT(ADIS16400_DIAG_STAT_ZGYRO_FAIL) |
1099 BIT(ADIS16400_DIAG_STAT_ALARM2) |
1100 BIT(ADIS16400_DIAG_STAT_ALARM1) |
1101 BIT(ADIS16400_DIAG_STAT_FLASH_CHK) |
1102 BIT(ADIS16400_DIAG_STAT_SELF_TEST) |
1103 BIT(ADIS16400_DIAG_STAT_OVERFLOW) |
1104 BIT(ADIS16400_DIAG_STAT_SPI_FAIL) |
1105 BIT(ADIS16400_DIAG_STAT_FLASH_UPT) |
1106 BIT(ADIS16400_DIAG_STAT_POWER_HIGH) |
1107 BIT(ADIS16400_DIAG_STAT_POWER_LOW),
1108 };
1109
1110 static void adis16400_setup_chan_mask(struct adis16400_state *st)
1111 {
1112 const struct adis16400_chip_info *chip_info = st->variant;
1113 unsigned int i;
1114
1115 for (i = 0; i < chip_info->num_channels; i++) {
1116 const struct iio_chan_spec *ch = &chip_info->channels[i];
1117
1118 if (ch->scan_index >= 0 &&
1119 ch->scan_index != ADIS16400_SCAN_TIMESTAMP)
1120 st->avail_scan_mask[0] |= BIT(ch->scan_index);
1121 }
1122 }
1123
1124 static int adis16400_probe(struct spi_device *spi)
1125 {
1126 struct adis16400_state *st;
1127 struct iio_dev *indio_dev;
1128 int ret;
1129
1130 indio_dev = devm_iio_device_alloc(&spi->dev, sizeof(*st));
1131 if (indio_dev == NULL)
1132 return -ENOMEM;
1133
1134 st = iio_priv(indio_dev);
1135
1136 spi_set_drvdata(spi, indio_dev);
1137
1138
1139 st->variant = &adis16400_chips[spi_get_device_id(spi)->driver_data];
1140 indio_dev->dev.parent = &spi->dev;
1141 indio_dev->name = spi_get_device_id(spi)->name;
1142 indio_dev->channels = st->variant->channels;
1143 indio_dev->num_channels = st->variant->num_channels;
1144 indio_dev->info = &adis16400_info;
1145 indio_dev->modes = INDIO_DIRECT_MODE;
1146
1147 if (!(st->variant->flags & ADIS16400_NO_BURST)) {
1148 adis16400_setup_chan_mask(st);
1149 indio_dev->available_scan_masks = st->avail_scan_mask;
1150 st->adis.burst = &adis16400_burst;
1151 if (st->variant->flags & ADIS16400_BURST_DIAG_STAT)
1152 st->adis.burst->extra_len = sizeof(u16);
1153 }
1154
1155 ret = adis_init(&st->adis, indio_dev, spi, &adis16400_data);
1156 if (ret)
1157 return ret;
1158
1159 ret = adis_setup_buffer_and_trigger(&st->adis, indio_dev,
1160 adis16400_trigger_handler);
1161 if (ret)
1162 return ret;
1163
1164
1165 ret = adis16400_initial_setup(indio_dev);
1166 if (ret)
1167 goto error_cleanup_buffer;
1168 ret = iio_device_register(indio_dev);
1169 if (ret)
1170 goto error_cleanup_buffer;
1171
1172 adis16400_debugfs_init(indio_dev);
1173 return 0;
1174
1175 error_cleanup_buffer:
1176 adis_cleanup_buffer_and_trigger(&st->adis, indio_dev);
1177 return ret;
1178 }
1179
1180 static int adis16400_remove(struct spi_device *spi)
1181 {
1182 struct iio_dev *indio_dev = spi_get_drvdata(spi);
1183 struct adis16400_state *st = iio_priv(indio_dev);
1184
1185 iio_device_unregister(indio_dev);
1186 adis16400_stop_device(indio_dev);
1187
1188 adis_cleanup_buffer_and_trigger(&st->adis, indio_dev);
1189
1190 return 0;
1191 }
1192
1193 static const struct spi_device_id adis16400_id[] = {
1194 {"adis16300", ADIS16300},
1195 {"adis16305", ADIS16300},
1196 {"adis16334", ADIS16334},
1197 {"adis16350", ADIS16350},
1198 {"adis16354", ADIS16350},
1199 {"adis16355", ADIS16350},
1200 {"adis16360", ADIS16360},
1201 {"adis16362", ADIS16362},
1202 {"adis16364", ADIS16364},
1203 {"adis16365", ADIS16360},
1204 {"adis16367", ADIS16367},
1205 {"adis16400", ADIS16400},
1206 {"adis16405", ADIS16400},
1207 {"adis16445", ADIS16445},
1208 {"adis16448", ADIS16448},
1209 {}
1210 };
1211 MODULE_DEVICE_TABLE(spi, adis16400_id);
1212
1213 static struct spi_driver adis16400_driver = {
1214 .driver = {
1215 .name = "adis16400",
1216 },
1217 .id_table = adis16400_id,
1218 .probe = adis16400_probe,
1219 .remove = adis16400_remove,
1220 };
1221 module_spi_driver(adis16400_driver);
1222
1223 MODULE_AUTHOR("Manuel Stahl <manuel.stahl@iis.fraunhofer.de>");
1224 MODULE_DESCRIPTION("Analog Devices ADIS16400/5 IMU SPI driver");
1225 MODULE_LICENSE("GPL v2");