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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
155struct adis16400_state;
156
157struct adis16400_chip_info {
158 const struct iio_chan_spec *channels;
159 const struct adis_data adis_data;
160 const int num_channels;
161 const long flags;
162 unsigned int gyro_scale_micro;
163 unsigned int accel_scale_micro;
164 int temp_scale_nano;
165 int temp_offset;
166
167 int (*set_freq)(struct adis16400_state *st, unsigned int freq);
168 int (*get_freq)(struct adis16400_state *st);
169};
170
171
172
173
174
175
176
177struct adis16400_state {
178 struct adis16400_chip_info *variant;
179 int filt_int;
180
181 struct adis adis;
182 unsigned long avail_scan_mask[2];
183};
184
185
186
187
188
189enum {
190 ADIS16400_SCAN_SUPPLY,
191 ADIS16400_SCAN_GYRO_X,
192 ADIS16400_SCAN_GYRO_Y,
193 ADIS16400_SCAN_GYRO_Z,
194 ADIS16400_SCAN_ACC_X,
195 ADIS16400_SCAN_ACC_Y,
196 ADIS16400_SCAN_ACC_Z,
197 ADIS16400_SCAN_MAGN_X,
198 ADIS16400_SCAN_MAGN_Y,
199 ADIS16400_SCAN_MAGN_Z,
200 ADIS16400_SCAN_BARO,
201 ADIS16350_SCAN_TEMP_X,
202 ADIS16350_SCAN_TEMP_Y,
203 ADIS16350_SCAN_TEMP_Z,
204 ADIS16300_SCAN_INCLI_X,
205 ADIS16300_SCAN_INCLI_Y,
206 ADIS16400_SCAN_ADC,
207 ADIS16400_SCAN_TIMESTAMP,
208};
209
210#ifdef CONFIG_DEBUG_FS
211
212static ssize_t adis16400_show_serial_number(struct file *file,
213 char __user *userbuf, size_t count, loff_t *ppos)
214{
215 struct adis16400_state *st = file->private_data;
216 u16 lot1, lot2, serial_number;
217 char buf[16];
218 size_t len;
219 int ret;
220
221 ret = adis_read_reg_16(&st->adis, ADIS16334_LOT_ID1, &lot1);
222 if (ret)
223 return ret;
224
225 ret = adis_read_reg_16(&st->adis, ADIS16334_LOT_ID2, &lot2);
226 if (ret)
227 return ret;
228
229 ret = adis_read_reg_16(&st->adis, ADIS16334_SERIAL_NUMBER,
230 &serial_number);
231 if (ret)
232 return ret;
233
234 len = snprintf(buf, sizeof(buf), "%.4x-%.4x-%.4x\n", lot1, lot2,
235 serial_number);
236
237 return simple_read_from_buffer(userbuf, count, ppos, buf, len);
238}
239
240static const struct file_operations adis16400_serial_number_fops = {
241 .open = simple_open,
242 .read = adis16400_show_serial_number,
243 .llseek = default_llseek,
244 .owner = THIS_MODULE,
245};
246
247static int adis16400_show_product_id(void *arg, u64 *val)
248{
249 struct adis16400_state *st = arg;
250 uint16_t prod_id;
251 int ret;
252
253 ret = adis_read_reg_16(&st->adis, ADIS16400_PRODUCT_ID, &prod_id);
254 if (ret)
255 return ret;
256
257 *val = prod_id;
258
259 return 0;
260}
261DEFINE_DEBUGFS_ATTRIBUTE(adis16400_product_id_fops,
262 adis16400_show_product_id, NULL, "%lld\n");
263
264static int adis16400_show_flash_count(void *arg, u64 *val)
265{
266 struct adis16400_state *st = arg;
267 uint16_t flash_count;
268 int ret;
269
270 ret = adis_read_reg_16(&st->adis, ADIS16400_FLASH_CNT, &flash_count);
271 if (ret)
272 return ret;
273
274 *val = flash_count;
275
276 return 0;
277}
278DEFINE_DEBUGFS_ATTRIBUTE(adis16400_flash_count_fops,
279 adis16400_show_flash_count, NULL, "%lld\n");
280
281static int adis16400_debugfs_init(struct iio_dev *indio_dev)
282{
283 struct adis16400_state *st = iio_priv(indio_dev);
284 struct dentry *d = iio_get_debugfs_dentry(indio_dev);
285
286 if (st->variant->flags & ADIS16400_HAS_SERIAL_NUMBER)
287 debugfs_create_file_unsafe("serial_number", 0400,
288 d, st, &adis16400_serial_number_fops);
289 if (st->variant->flags & ADIS16400_HAS_PROD_ID)
290 debugfs_create_file_unsafe("product_id", 0400,
291 d, st, &adis16400_product_id_fops);
292 debugfs_create_file_unsafe("flash_count", 0400,
293 d, st, &adis16400_flash_count_fops);
294
295 return 0;
296}
297
298#else
299
300static int adis16400_debugfs_init(struct iio_dev *indio_dev)
301{
302 return 0;
303}
304
305#endif
306
307enum adis16400_chip_variant {
308 ADIS16300,
309 ADIS16334,
310 ADIS16350,
311 ADIS16360,
312 ADIS16362,
313 ADIS16364,
314 ADIS16367,
315 ADIS16400,
316 ADIS16445,
317 ADIS16448,
318};
319
320static struct adis_burst adis16400_burst = {
321 .en = true,
322 .reg_cmd = ADIS16400_GLOB_CMD,
323};
324
325static int adis16334_get_freq(struct adis16400_state *st)
326{
327 int ret;
328 uint16_t t;
329
330 ret = __adis_read_reg_16(&st->adis, ADIS16400_SMPL_PRD, &t);
331 if (ret)
332 return ret;
333
334 t >>= ADIS16334_RATE_DIV_SHIFT;
335
336 return 819200 >> t;
337}
338
339static int adis16334_set_freq(struct adis16400_state *st, unsigned int freq)
340{
341 unsigned int t;
342
343 if (freq < 819200)
344 t = ilog2(819200 / freq);
345 else
346 t = 0;
347
348 if (t > 0x31)
349 t = 0x31;
350
351 t <<= ADIS16334_RATE_DIV_SHIFT;
352 t |= ADIS16334_RATE_INT_CLK;
353
354 return __adis_write_reg_16(&st->adis, ADIS16400_SMPL_PRD, t);
355}
356
357static int adis16400_get_freq(struct adis16400_state *st)
358{
359 int sps, ret;
360 uint16_t t;
361
362 ret = __adis_read_reg_16(&st->adis, ADIS16400_SMPL_PRD, &t);
363 if (ret)
364 return ret;
365
366 sps = (t & ADIS16400_SMPL_PRD_TIME_BASE) ? 52851 : 1638404;
367 sps /= (t & ADIS16400_SMPL_PRD_DIV_MASK) + 1;
368
369 return sps;
370}
371
372static int adis16400_set_freq(struct adis16400_state *st, unsigned int freq)
373{
374 unsigned int t;
375 uint8_t val = 0;
376
377 t = 1638404 / freq;
378 if (t >= 128) {
379 val |= ADIS16400_SMPL_PRD_TIME_BASE;
380 t = 52851 / freq;
381 if (t >= 128)
382 t = 127;
383 } else if (t != 0) {
384 t--;
385 }
386
387 val |= t;
388
389 if (t >= 0x0A || (val & ADIS16400_SMPL_PRD_TIME_BASE))
390 st->adis.spi->max_speed_hz = ADIS16400_SPI_SLOW;
391 else
392 st->adis.spi->max_speed_hz = ADIS16400_SPI_FAST;
393
394 return __adis_write_reg_8(&st->adis, ADIS16400_SMPL_PRD, val);
395}
396
397static const unsigned int adis16400_3db_divisors[] = {
398 [0] = 2,
399 [1] = 6,
400 [2] = 12,
401 [3] = 25,
402 [4] = 50,
403 [5] = 100,
404 [6] = 200,
405 [7] = 200,
406};
407
408static int __adis16400_set_filter(struct iio_dev *indio_dev, int sps, int val)
409{
410 struct adis16400_state *st = iio_priv(indio_dev);
411 uint16_t val16;
412 int i, ret;
413
414 for (i = ARRAY_SIZE(adis16400_3db_divisors) - 1; i >= 1; i--) {
415 if (sps / adis16400_3db_divisors[i] >= val)
416 break;
417 }
418
419 ret = __adis_read_reg_16(&st->adis, ADIS16400_SENS_AVG, &val16);
420 if (ret)
421 return ret;
422
423 ret = __adis_write_reg_16(&st->adis, ADIS16400_SENS_AVG,
424 (val16 & ~0x07) | i);
425 return ret;
426}
427
428
429static int adis16400_stop_device(struct iio_dev *indio_dev)
430{
431 struct adis16400_state *st = iio_priv(indio_dev);
432 int ret;
433
434 ret = adis_write_reg_16(&st->adis, ADIS16400_SLP_CNT,
435 ADIS16400_SLP_CNT_POWER_OFF);
436 if (ret)
437 dev_err(&indio_dev->dev,
438 "problem with turning device off: SLP_CNT");
439
440 return ret;
441}
442
443static int adis16400_initial_setup(struct iio_dev *indio_dev)
444{
445 struct adis16400_state *st = iio_priv(indio_dev);
446 uint16_t prod_id, smp_prd;
447 unsigned int device_id;
448 int ret;
449
450
451 if (st->variant->flags & ADIS16400_HAS_SLOW_MODE)
452 st->adis.spi->max_speed_hz = ADIS16400_SPI_SLOW;
453 else
454 st->adis.spi->max_speed_hz = ADIS16400_SPI_FAST;
455 st->adis.spi->mode = SPI_MODE_3;
456 spi_setup(st->adis.spi);
457
458 ret = adis_initial_startup(&st->adis);
459 if (ret)
460 return ret;
461
462 if (st->variant->flags & ADIS16400_HAS_PROD_ID) {
463 ret = adis_read_reg_16(&st->adis,
464 ADIS16400_PRODUCT_ID, &prod_id);
465 if (ret)
466 goto err_ret;
467
468 ret = sscanf(indio_dev->name, "adis%u\n", &device_id);
469 if (ret != 1) {
470 ret = -EINVAL;
471 goto err_ret;
472 }
473
474 if (prod_id != device_id)
475 dev_warn(&indio_dev->dev, "Device ID(%u) and product ID(%u) do not match.",
476 device_id, prod_id);
477
478 dev_info(&indio_dev->dev, "%s: prod_id 0x%04x at CS%d (irq %d)\n",
479 indio_dev->name, prod_id,
480 st->adis.spi->chip_select, st->adis.spi->irq);
481 }
482
483 if (st->variant->flags & ADIS16400_HAS_SLOW_MODE) {
484 ret = adis_read_reg_16(&st->adis, ADIS16400_SMPL_PRD, &smp_prd);
485 if (ret)
486 goto err_ret;
487
488 if ((smp_prd & ADIS16400_SMPL_PRD_DIV_MASK) < 0x0A) {
489 st->adis.spi->max_speed_hz = ADIS16400_SPI_FAST;
490 spi_setup(st->adis.spi);
491 }
492 }
493
494err_ret:
495 return ret;
496}
497
498static const uint8_t adis16400_addresses[] = {
499 [ADIS16400_SCAN_GYRO_X] = ADIS16400_XGYRO_OFF,
500 [ADIS16400_SCAN_GYRO_Y] = ADIS16400_YGYRO_OFF,
501 [ADIS16400_SCAN_GYRO_Z] = ADIS16400_ZGYRO_OFF,
502 [ADIS16400_SCAN_ACC_X] = ADIS16400_XACCL_OFF,
503 [ADIS16400_SCAN_ACC_Y] = ADIS16400_YACCL_OFF,
504 [ADIS16400_SCAN_ACC_Z] = ADIS16400_ZACCL_OFF,
505};
506
507static int adis16400_write_raw(struct iio_dev *indio_dev,
508 struct iio_chan_spec const *chan, int val, int val2, long info)
509{
510 struct adis16400_state *st = iio_priv(indio_dev);
511 struct mutex *slock = &st->adis.state_lock;
512 int ret, sps;
513
514 switch (info) {
515 case IIO_CHAN_INFO_CALIBBIAS:
516 ret = adis_write_reg_16(&st->adis,
517 adis16400_addresses[chan->scan_index], val);
518 return ret;
519 case IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY:
520
521
522
523
524 mutex_lock(slock);
525 st->filt_int = val;
526
527 sps = st->variant->get_freq(st);
528 if (sps < 0) {
529 mutex_unlock(slock);
530 return sps;
531 }
532
533 ret = __adis16400_set_filter(indio_dev, sps,
534 val * 1000 + val2 / 1000);
535 mutex_unlock(slock);
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(slock);
544 ret = st->variant->set_freq(st, sps);
545 mutex_unlock(slock);
546 return ret;
547 default:
548 return -EINVAL;
549 }
550}
551
552static 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 struct mutex *slock = &st->adis.state_lock;
557 int16_t val16;
558 int ret;
559
560 switch (info) {
561 case IIO_CHAN_INFO_RAW:
562 return adis_single_conversion(indio_dev, chan, 0, val);
563 case IIO_CHAN_INFO_SCALE:
564 switch (chan->type) {
565 case IIO_ANGL_VEL:
566 *val = 0;
567 *val2 = st->variant->gyro_scale_micro;
568 return IIO_VAL_INT_PLUS_MICRO;
569 case IIO_VOLTAGE:
570 *val = 0;
571 if (chan->channel == 0) {
572 *val = 2;
573 *val2 = 418000;
574 } else {
575 *val = 0;
576 *val2 = 805800;
577 }
578 return IIO_VAL_INT_PLUS_MICRO;
579 case IIO_ACCEL:
580 *val = 0;
581 *val2 = st->variant->accel_scale_micro;
582 return IIO_VAL_INT_PLUS_MICRO;
583 case IIO_MAGN:
584 *val = 0;
585 *val2 = 500;
586 return IIO_VAL_INT_PLUS_MICRO;
587 case IIO_TEMP:
588 *val = st->variant->temp_scale_nano / 1000000;
589 *val2 = (st->variant->temp_scale_nano % 1000000);
590 return IIO_VAL_INT_PLUS_MICRO;
591 case IIO_PRESSURE:
592
593 *val = 0;
594 *val2 = 2000;
595 return IIO_VAL_INT_PLUS_MICRO;
596 default:
597 return -EINVAL;
598 }
599 case IIO_CHAN_INFO_CALIBBIAS:
600 ret = adis_read_reg_16(&st->adis,
601 adis16400_addresses[chan->scan_index], &val16);
602 if (ret)
603 return ret;
604 val16 = sign_extend32(val16, 11);
605 *val = val16;
606 return IIO_VAL_INT;
607 case IIO_CHAN_INFO_OFFSET:
608
609 *val = st->variant->temp_offset;
610 return IIO_VAL_INT;
611 case IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY:
612 mutex_lock(slock);
613
614 ret = __adis_read_reg_16(&st->adis,
615 ADIS16400_SENS_AVG,
616 &val16);
617 if (ret) {
618 mutex_unlock(slock);
619 return ret;
620 }
621 ret = st->variant->get_freq(st);
622 mutex_unlock(slock);
623 if (ret)
624 return ret;
625 ret /= adis16400_3db_divisors[val16 & 0x07];
626 *val = ret / 1000;
627 *val2 = (ret % 1000) * 1000;
628 return IIO_VAL_INT_PLUS_MICRO;
629 case IIO_CHAN_INFO_SAMP_FREQ:
630 mutex_lock(slock);
631 ret = st->variant->get_freq(st);
632 mutex_unlock(slock);
633 if (ret)
634 return ret;
635 *val = ret / 1000;
636 *val2 = (ret % 1000) * 1000;
637 return IIO_VAL_INT_PLUS_MICRO;
638 default:
639 return -EINVAL;
640 }
641}
642
643#if IS_ENABLED(CONFIG_IIO_BUFFER)
644static irqreturn_t adis16400_trigger_handler(int irq, void *p)
645{
646 struct iio_poll_func *pf = p;
647 struct iio_dev *indio_dev = pf->indio_dev;
648 struct adis16400_state *st = iio_priv(indio_dev);
649 struct adis *adis = &st->adis;
650 u32 old_speed_hz = st->adis.spi->max_speed_hz;
651 void *buffer;
652 int ret;
653
654 if (!adis->buffer)
655 return -ENOMEM;
656
657 if (!(st->variant->flags & ADIS16400_NO_BURST) &&
658 st->adis.spi->max_speed_hz > ADIS16400_SPI_BURST) {
659 st->adis.spi->max_speed_hz = ADIS16400_SPI_BURST;
660 spi_setup(st->adis.spi);
661 }
662
663 ret = spi_sync(adis->spi, &adis->msg);
664 if (ret)
665 dev_err(&adis->spi->dev, "Failed to read data: %d\n", ret);
666
667 if (!(st->variant->flags & ADIS16400_NO_BURST)) {
668 st->adis.spi->max_speed_hz = old_speed_hz;
669 spi_setup(st->adis.spi);
670 }
671
672 if (st->variant->flags & ADIS16400_BURST_DIAG_STAT)
673 buffer = adis->buffer + sizeof(u16);
674 else
675 buffer = adis->buffer;
676
677 iio_push_to_buffers_with_timestamp(indio_dev, buffer,
678 pf->timestamp);
679
680 iio_trigger_notify_done(indio_dev->trig);
681
682 return IRQ_HANDLED;
683}
684#else
685#define adis16400_trigger_handler NULL
686#endif
687
688#define ADIS16400_VOLTAGE_CHAN(addr, bits, name, si, chn) { \
689 .type = IIO_VOLTAGE, \
690 .indexed = 1, \
691 .channel = chn, \
692 .extend_name = name, \
693 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \
694 BIT(IIO_CHAN_INFO_SCALE), \
695 .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
696 .address = (addr), \
697 .scan_index = (si), \
698 .scan_type = { \
699 .sign = 'u', \
700 .realbits = (bits), \
701 .storagebits = 16, \
702 .shift = 0, \
703 .endianness = IIO_BE, \
704 }, \
705}
706
707#define ADIS16400_SUPPLY_CHAN(addr, bits) \
708 ADIS16400_VOLTAGE_CHAN(addr, bits, "supply", ADIS16400_SCAN_SUPPLY, 0)
709
710#define ADIS16400_AUX_ADC_CHAN(addr, bits) \
711 ADIS16400_VOLTAGE_CHAN(addr, bits, NULL, ADIS16400_SCAN_ADC, 1)
712
713#define ADIS16400_GYRO_CHAN(mod, addr, bits) { \
714 .type = IIO_ANGL_VEL, \
715 .modified = 1, \
716 .channel2 = IIO_MOD_ ## mod, \
717 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \
718 BIT(IIO_CHAN_INFO_CALIBBIAS), \
719 .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE) | \
720 BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY), \
721 .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
722 .address = addr, \
723 .scan_index = ADIS16400_SCAN_GYRO_ ## mod, \
724 .scan_type = { \
725 .sign = 's', \
726 .realbits = (bits), \
727 .storagebits = 16, \
728 .shift = 0, \
729 .endianness = IIO_BE, \
730 }, \
731}
732
733#define ADIS16400_ACCEL_CHAN(mod, addr, bits) { \
734 .type = IIO_ACCEL, \
735 .modified = 1, \
736 .channel2 = IIO_MOD_ ## mod, \
737 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \
738 BIT(IIO_CHAN_INFO_CALIBBIAS), \
739 .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE) | \
740 BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY), \
741 .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
742 .address = (addr), \
743 .scan_index = ADIS16400_SCAN_ACC_ ## mod, \
744 .scan_type = { \
745 .sign = 's', \
746 .realbits = (bits), \
747 .storagebits = 16, \
748 .shift = 0, \
749 .endianness = IIO_BE, \
750 }, \
751}
752
753#define ADIS16400_MAGN_CHAN(mod, addr, bits) { \
754 .type = IIO_MAGN, \
755 .modified = 1, \
756 .channel2 = IIO_MOD_ ## mod, \
757 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW), \
758 .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE) | \
759 BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY), \
760 .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
761 .address = (addr), \
762 .scan_index = ADIS16400_SCAN_MAGN_ ## mod, \
763 .scan_type = { \
764 .sign = 's', \
765 .realbits = (bits), \
766 .storagebits = 16, \
767 .shift = 0, \
768 .endianness = IIO_BE, \
769 }, \
770}
771
772#define ADIS16400_MOD_TEMP_NAME_X "x"
773#define ADIS16400_MOD_TEMP_NAME_Y "y"
774#define ADIS16400_MOD_TEMP_NAME_Z "z"
775
776#define ADIS16400_MOD_TEMP_CHAN(mod, addr, bits) { \
777 .type = IIO_TEMP, \
778 .indexed = 1, \
779 .channel = 0, \
780 .extend_name = ADIS16400_MOD_TEMP_NAME_ ## mod, \
781 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \
782 BIT(IIO_CHAN_INFO_OFFSET) | \
783 BIT(IIO_CHAN_INFO_SCALE), \
784 .info_mask_shared_by_type = \
785 BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY), \
786 .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
787 .address = (addr), \
788 .scan_index = ADIS16350_SCAN_TEMP_ ## mod, \
789 .scan_type = { \
790 .sign = 's', \
791 .realbits = (bits), \
792 .storagebits = 16, \
793 .shift = 0, \
794 .endianness = IIO_BE, \
795 }, \
796}
797
798#define ADIS16400_TEMP_CHAN(addr, bits) { \
799 .type = IIO_TEMP, \
800 .indexed = 1, \
801 .channel = 0, \
802 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \
803 BIT(IIO_CHAN_INFO_OFFSET) | \
804 BIT(IIO_CHAN_INFO_SCALE), \
805 .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
806 .address = (addr), \
807 .scan_index = ADIS16350_SCAN_TEMP_X, \
808 .scan_type = { \
809 .sign = 's', \
810 .realbits = (bits), \
811 .storagebits = 16, \
812 .shift = 0, \
813 .endianness = IIO_BE, \
814 }, \
815}
816
817#define ADIS16400_INCLI_CHAN(mod, addr, bits) { \
818 .type = IIO_INCLI, \
819 .modified = 1, \
820 .channel2 = IIO_MOD_ ## mod, \
821 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW), \
822 .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE), \
823 .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
824 .address = (addr), \
825 .scan_index = ADIS16300_SCAN_INCLI_ ## mod, \
826 .scan_type = { \
827 .sign = 's', \
828 .realbits = (bits), \
829 .storagebits = 16, \
830 .shift = 0, \
831 .endianness = IIO_BE, \
832 }, \
833}
834
835static const struct iio_chan_spec adis16400_channels[] = {
836 ADIS16400_SUPPLY_CHAN(ADIS16400_SUPPLY_OUT, 14),
837 ADIS16400_GYRO_CHAN(X, ADIS16400_XGYRO_OUT, 14),
838 ADIS16400_GYRO_CHAN(Y, ADIS16400_YGYRO_OUT, 14),
839 ADIS16400_GYRO_CHAN(Z, ADIS16400_ZGYRO_OUT, 14),
840 ADIS16400_ACCEL_CHAN(X, ADIS16400_XACCL_OUT, 14),
841 ADIS16400_ACCEL_CHAN(Y, ADIS16400_YACCL_OUT, 14),
842 ADIS16400_ACCEL_CHAN(Z, ADIS16400_ZACCL_OUT, 14),
843 ADIS16400_MAGN_CHAN(X, ADIS16400_XMAGN_OUT, 14),
844 ADIS16400_MAGN_CHAN(Y, ADIS16400_YMAGN_OUT, 14),
845 ADIS16400_MAGN_CHAN(Z, ADIS16400_ZMAGN_OUT, 14),
846 ADIS16400_TEMP_CHAN(ADIS16400_TEMP_OUT, 12),
847 ADIS16400_AUX_ADC_CHAN(ADIS16400_AUX_ADC, 12),
848 IIO_CHAN_SOFT_TIMESTAMP(ADIS16400_SCAN_TIMESTAMP),
849};
850
851static const struct iio_chan_spec adis16445_channels[] = {
852 ADIS16400_GYRO_CHAN(X, ADIS16400_XGYRO_OUT, 16),
853 ADIS16400_GYRO_CHAN(Y, ADIS16400_YGYRO_OUT, 16),
854 ADIS16400_GYRO_CHAN(Z, ADIS16400_ZGYRO_OUT, 16),
855 ADIS16400_ACCEL_CHAN(X, ADIS16400_XACCL_OUT, 16),
856 ADIS16400_ACCEL_CHAN(Y, ADIS16400_YACCL_OUT, 16),
857 ADIS16400_ACCEL_CHAN(Z, ADIS16400_ZACCL_OUT, 16),
858 ADIS16400_TEMP_CHAN(ADIS16448_TEMP_OUT, 12),
859 IIO_CHAN_SOFT_TIMESTAMP(ADIS16400_SCAN_TIMESTAMP),
860};
861
862static const struct iio_chan_spec adis16448_channels[] = {
863 ADIS16400_GYRO_CHAN(X, ADIS16400_XGYRO_OUT, 16),
864 ADIS16400_GYRO_CHAN(Y, ADIS16400_YGYRO_OUT, 16),
865 ADIS16400_GYRO_CHAN(Z, ADIS16400_ZGYRO_OUT, 16),
866 ADIS16400_ACCEL_CHAN(X, ADIS16400_XACCL_OUT, 16),
867 ADIS16400_ACCEL_CHAN(Y, ADIS16400_YACCL_OUT, 16),
868 ADIS16400_ACCEL_CHAN(Z, ADIS16400_ZACCL_OUT, 16),
869 ADIS16400_MAGN_CHAN(X, ADIS16400_XMAGN_OUT, 16),
870 ADIS16400_MAGN_CHAN(Y, ADIS16400_YMAGN_OUT, 16),
871 ADIS16400_MAGN_CHAN(Z, ADIS16400_ZMAGN_OUT, 16),
872 {
873 .type = IIO_PRESSURE,
874 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW),
875 .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE),
876 .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ),
877 .address = ADIS16448_BARO_OUT,
878 .scan_index = ADIS16400_SCAN_BARO,
879 .scan_type = {
880 .sign = 's',
881 .realbits = 16,
882 .storagebits = 16,
883 .endianness = IIO_BE,
884 },
885 },
886 ADIS16400_TEMP_CHAN(ADIS16448_TEMP_OUT, 12),
887 IIO_CHAN_SOFT_TIMESTAMP(ADIS16400_SCAN_TIMESTAMP),
888};
889
890static const struct iio_chan_spec adis16350_channels[] = {
891 ADIS16400_SUPPLY_CHAN(ADIS16400_SUPPLY_OUT, 12),
892 ADIS16400_GYRO_CHAN(X, ADIS16400_XGYRO_OUT, 14),
893 ADIS16400_GYRO_CHAN(Y, ADIS16400_YGYRO_OUT, 14),
894 ADIS16400_GYRO_CHAN(Z, ADIS16400_ZGYRO_OUT, 14),
895 ADIS16400_ACCEL_CHAN(X, ADIS16400_XACCL_OUT, 14),
896 ADIS16400_ACCEL_CHAN(Y, ADIS16400_YACCL_OUT, 14),
897 ADIS16400_ACCEL_CHAN(Z, ADIS16400_ZACCL_OUT, 14),
898 ADIS16400_MAGN_CHAN(X, ADIS16400_XMAGN_OUT, 14),
899 ADIS16400_MAGN_CHAN(Y, ADIS16400_YMAGN_OUT, 14),
900 ADIS16400_MAGN_CHAN(Z, ADIS16400_ZMAGN_OUT, 14),
901 ADIS16400_AUX_ADC_CHAN(ADIS16300_AUX_ADC, 12),
902 ADIS16400_MOD_TEMP_CHAN(X, ADIS16350_XTEMP_OUT, 12),
903 ADIS16400_MOD_TEMP_CHAN(Y, ADIS16350_YTEMP_OUT, 12),
904 ADIS16400_MOD_TEMP_CHAN(Z, ADIS16350_ZTEMP_OUT, 12),
905 IIO_CHAN_SOFT_TIMESTAMP(ADIS16400_SCAN_TIMESTAMP),
906};
907
908static const struct iio_chan_spec adis16300_channels[] = {
909 ADIS16400_SUPPLY_CHAN(ADIS16400_SUPPLY_OUT, 12),
910 ADIS16400_GYRO_CHAN(X, ADIS16400_XGYRO_OUT, 14),
911 ADIS16400_ACCEL_CHAN(X, ADIS16400_XACCL_OUT, 14),
912 ADIS16400_ACCEL_CHAN(Y, ADIS16400_YACCL_OUT, 14),
913 ADIS16400_ACCEL_CHAN(Z, ADIS16400_ZACCL_OUT, 14),
914 ADIS16400_TEMP_CHAN(ADIS16350_XTEMP_OUT, 12),
915 ADIS16400_AUX_ADC_CHAN(ADIS16300_AUX_ADC, 12),
916 ADIS16400_INCLI_CHAN(X, ADIS16300_PITCH_OUT, 13),
917 ADIS16400_INCLI_CHAN(Y, ADIS16300_ROLL_OUT, 13),
918 IIO_CHAN_SOFT_TIMESTAMP(ADIS16400_SCAN_TIMESTAMP),
919};
920
921static const struct iio_chan_spec adis16334_channels[] = {
922 ADIS16400_GYRO_CHAN(X, ADIS16400_XGYRO_OUT, 14),
923 ADIS16400_GYRO_CHAN(Y, ADIS16400_YGYRO_OUT, 14),
924 ADIS16400_GYRO_CHAN(Z, ADIS16400_ZGYRO_OUT, 14),
925 ADIS16400_ACCEL_CHAN(X, ADIS16400_XACCL_OUT, 14),
926 ADIS16400_ACCEL_CHAN(Y, ADIS16400_YACCL_OUT, 14),
927 ADIS16400_ACCEL_CHAN(Z, ADIS16400_ZACCL_OUT, 14),
928 ADIS16400_TEMP_CHAN(ADIS16350_XTEMP_OUT, 12),
929 IIO_CHAN_SOFT_TIMESTAMP(ADIS16400_SCAN_TIMESTAMP),
930};
931
932static const char * const adis16400_status_error_msgs[] = {
933 [ADIS16400_DIAG_STAT_ZACCL_FAIL] = "Z-axis accelerometer self-test failure",
934 [ADIS16400_DIAG_STAT_YACCL_FAIL] = "Y-axis accelerometer self-test failure",
935 [ADIS16400_DIAG_STAT_XACCL_FAIL] = "X-axis accelerometer self-test failure",
936 [ADIS16400_DIAG_STAT_XGYRO_FAIL] = "X-axis gyroscope self-test failure",
937 [ADIS16400_DIAG_STAT_YGYRO_FAIL] = "Y-axis gyroscope self-test failure",
938 [ADIS16400_DIAG_STAT_ZGYRO_FAIL] = "Z-axis gyroscope self-test failure",
939 [ADIS16400_DIAG_STAT_ALARM2] = "Alarm 2 active",
940 [ADIS16400_DIAG_STAT_ALARM1] = "Alarm 1 active",
941 [ADIS16400_DIAG_STAT_FLASH_CHK] = "Flash checksum error",
942 [ADIS16400_DIAG_STAT_SELF_TEST] = "Self test error",
943 [ADIS16400_DIAG_STAT_OVERFLOW] = "Sensor overrange",
944 [ADIS16400_DIAG_STAT_SPI_FAIL] = "SPI failure",
945 [ADIS16400_DIAG_STAT_FLASH_UPT] = "Flash update failed",
946 [ADIS16400_DIAG_STAT_POWER_HIGH] = "Power supply above 5.25V",
947 [ADIS16400_DIAG_STAT_POWER_LOW] = "Power supply below 4.75V",
948};
949
950#define ADIS16400_DATA(_timeouts) \
951{ \
952 .msc_ctrl_reg = ADIS16400_MSC_CTRL, \
953 .glob_cmd_reg = ADIS16400_GLOB_CMD, \
954 .diag_stat_reg = ADIS16400_DIAG_STAT, \
955 .read_delay = 50, \
956 .write_delay = 50, \
957 .self_test_mask = ADIS16400_MSC_CTRL_MEM_TEST, \
958 .self_test_reg = ADIS16400_MSC_CTRL, \
959 .status_error_msgs = adis16400_status_error_msgs, \
960 .status_error_mask = BIT(ADIS16400_DIAG_STAT_ZACCL_FAIL) | \
961 BIT(ADIS16400_DIAG_STAT_YACCL_FAIL) | \
962 BIT(ADIS16400_DIAG_STAT_XACCL_FAIL) | \
963 BIT(ADIS16400_DIAG_STAT_XGYRO_FAIL) | \
964 BIT(ADIS16400_DIAG_STAT_YGYRO_FAIL) | \
965 BIT(ADIS16400_DIAG_STAT_ZGYRO_FAIL) | \
966 BIT(ADIS16400_DIAG_STAT_ALARM2) | \
967 BIT(ADIS16400_DIAG_STAT_ALARM1) | \
968 BIT(ADIS16400_DIAG_STAT_FLASH_CHK) | \
969 BIT(ADIS16400_DIAG_STAT_SELF_TEST) | \
970 BIT(ADIS16400_DIAG_STAT_OVERFLOW) | \
971 BIT(ADIS16400_DIAG_STAT_SPI_FAIL) | \
972 BIT(ADIS16400_DIAG_STAT_FLASH_UPT) | \
973 BIT(ADIS16400_DIAG_STAT_POWER_HIGH) | \
974 BIT(ADIS16400_DIAG_STAT_POWER_LOW), \
975 .timeouts = (_timeouts), \
976}
977
978static const struct adis_timeout adis16300_timeouts = {
979 .reset_ms = ADIS16400_STARTUP_DELAY,
980 .sw_reset_ms = ADIS16400_STARTUP_DELAY,
981 .self_test_ms = ADIS16400_STARTUP_DELAY,
982};
983
984static const struct adis_timeout adis16334_timeouts = {
985 .reset_ms = 60,
986 .sw_reset_ms = 60,
987 .self_test_ms = 14,
988};
989
990static const struct adis_timeout adis16362_timeouts = {
991 .reset_ms = 130,
992 .sw_reset_ms = 130,
993 .self_test_ms = 12,
994};
995
996static const struct adis_timeout adis16400_timeouts = {
997 .reset_ms = 170,
998 .sw_reset_ms = 170,
999 .self_test_ms = 12,
1000};
1001
1002static const struct adis_timeout adis16445_timeouts = {
1003 .reset_ms = 55,
1004 .sw_reset_ms = 55,
1005 .self_test_ms = 16,
1006};
1007
1008static const struct adis_timeout adis16448_timeouts = {
1009 .reset_ms = 90,
1010 .sw_reset_ms = 90,
1011 .self_test_ms = 45,
1012};
1013
1014static struct adis16400_chip_info adis16400_chips[] = {
1015 [ADIS16300] = {
1016 .channels = adis16300_channels,
1017 .num_channels = ARRAY_SIZE(adis16300_channels),
1018 .flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE |
1019 ADIS16400_HAS_SERIAL_NUMBER,
1020 .gyro_scale_micro = IIO_DEGREE_TO_RAD(50000),
1021 .accel_scale_micro = 5884,
1022 .temp_scale_nano = 140000000,
1023 .temp_offset = 25000000 / 140000,
1024 .set_freq = adis16400_set_freq,
1025 .get_freq = adis16400_get_freq,
1026 .adis_data = ADIS16400_DATA(&adis16300_timeouts),
1027 },
1028 [ADIS16334] = {
1029 .channels = adis16334_channels,
1030 .num_channels = ARRAY_SIZE(adis16334_channels),
1031 .flags = ADIS16400_HAS_PROD_ID | ADIS16400_NO_BURST |
1032 ADIS16400_HAS_SERIAL_NUMBER,
1033 .gyro_scale_micro = IIO_DEGREE_TO_RAD(50000),
1034 .accel_scale_micro = IIO_G_TO_M_S_2(1000),
1035 .temp_scale_nano = 67850000,
1036 .temp_offset = 25000000 / 67850,
1037 .set_freq = adis16334_set_freq,
1038 .get_freq = adis16334_get_freq,
1039 .adis_data = ADIS16400_DATA(&adis16334_timeouts),
1040 },
1041 [ADIS16350] = {
1042 .channels = adis16350_channels,
1043 .num_channels = ARRAY_SIZE(adis16350_channels),
1044 .gyro_scale_micro = IIO_DEGREE_TO_RAD(73260),
1045 .accel_scale_micro = IIO_G_TO_M_S_2(2522),
1046 .temp_scale_nano = 145300000,
1047 .temp_offset = 25000000 / 145300,
1048 .flags = ADIS16400_NO_BURST | ADIS16400_HAS_SLOW_MODE,
1049 .set_freq = adis16400_set_freq,
1050 .get_freq = adis16400_get_freq,
1051 .adis_data = ADIS16400_DATA(&adis16300_timeouts),
1052 },
1053 [ADIS16360] = {
1054 .channels = adis16350_channels,
1055 .num_channels = ARRAY_SIZE(adis16350_channels),
1056 .flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE |
1057 ADIS16400_HAS_SERIAL_NUMBER,
1058 .gyro_scale_micro = IIO_DEGREE_TO_RAD(50000),
1059 .accel_scale_micro = IIO_G_TO_M_S_2(3333),
1060 .temp_scale_nano = 136000000,
1061 .temp_offset = 25000000 / 136000,
1062 .set_freq = adis16400_set_freq,
1063 .get_freq = adis16400_get_freq,
1064 .adis_data = ADIS16400_DATA(&adis16300_timeouts),
1065 },
1066 [ADIS16362] = {
1067 .channels = adis16350_channels,
1068 .num_channels = ARRAY_SIZE(adis16350_channels),
1069 .flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE |
1070 ADIS16400_HAS_SERIAL_NUMBER,
1071 .gyro_scale_micro = IIO_DEGREE_TO_RAD(50000),
1072 .accel_scale_micro = IIO_G_TO_M_S_2(333),
1073 .temp_scale_nano = 136000000,
1074 .temp_offset = 25000000 / 136000,
1075 .set_freq = adis16400_set_freq,
1076 .get_freq = adis16400_get_freq,
1077 .adis_data = ADIS16400_DATA(&adis16362_timeouts),
1078 },
1079 [ADIS16364] = {
1080 .channels = adis16350_channels,
1081 .num_channels = ARRAY_SIZE(adis16350_channels),
1082 .flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE |
1083 ADIS16400_HAS_SERIAL_NUMBER,
1084 .gyro_scale_micro = IIO_DEGREE_TO_RAD(50000),
1085 .accel_scale_micro = IIO_G_TO_M_S_2(1000),
1086 .temp_scale_nano = 136000000,
1087 .temp_offset = 25000000 / 136000,
1088 .set_freq = adis16400_set_freq,
1089 .get_freq = adis16400_get_freq,
1090 .adis_data = ADIS16400_DATA(&adis16362_timeouts),
1091 },
1092 [ADIS16367] = {
1093 .channels = adis16350_channels,
1094 .num_channels = ARRAY_SIZE(adis16350_channels),
1095 .flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE |
1096 ADIS16400_HAS_SERIAL_NUMBER,
1097 .gyro_scale_micro = IIO_DEGREE_TO_RAD(2000),
1098 .accel_scale_micro = IIO_G_TO_M_S_2(3333),
1099 .temp_scale_nano = 136000000,
1100 .temp_offset = 25000000 / 136000,
1101 .set_freq = adis16400_set_freq,
1102 .get_freq = adis16400_get_freq,
1103 .adis_data = ADIS16400_DATA(&adis16300_timeouts),
1104 },
1105 [ADIS16400] = {
1106 .channels = adis16400_channels,
1107 .num_channels = ARRAY_SIZE(adis16400_channels),
1108 .flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE,
1109 .gyro_scale_micro = IIO_DEGREE_TO_RAD(50000),
1110 .accel_scale_micro = IIO_G_TO_M_S_2(3333),
1111 .temp_scale_nano = 140000000,
1112 .temp_offset = 25000000 / 140000,
1113 .set_freq = adis16400_set_freq,
1114 .get_freq = adis16400_get_freq,
1115 .adis_data = ADIS16400_DATA(&adis16400_timeouts),
1116 },
1117 [ADIS16445] = {
1118 .channels = adis16445_channels,
1119 .num_channels = ARRAY_SIZE(adis16445_channels),
1120 .flags = ADIS16400_HAS_PROD_ID |
1121 ADIS16400_HAS_SERIAL_NUMBER |
1122 ADIS16400_BURST_DIAG_STAT,
1123 .gyro_scale_micro = IIO_DEGREE_TO_RAD(10000),
1124 .accel_scale_micro = IIO_G_TO_M_S_2(250),
1125 .temp_scale_nano = 73860000,
1126 .temp_offset = 31000000 / 73860,
1127 .set_freq = adis16334_set_freq,
1128 .get_freq = adis16334_get_freq,
1129 .adis_data = ADIS16400_DATA(&adis16445_timeouts),
1130 },
1131 [ADIS16448] = {
1132 .channels = adis16448_channels,
1133 .num_channels = ARRAY_SIZE(adis16448_channels),
1134 .flags = ADIS16400_HAS_PROD_ID |
1135 ADIS16400_HAS_SERIAL_NUMBER |
1136 ADIS16400_BURST_DIAG_STAT,
1137 .gyro_scale_micro = IIO_DEGREE_TO_RAD(40000),
1138 .accel_scale_micro = IIO_G_TO_M_S_2(833),
1139 .temp_scale_nano = 73860000,
1140 .temp_offset = 31000000 / 73860,
1141 .set_freq = adis16334_set_freq,
1142 .get_freq = adis16334_get_freq,
1143 .adis_data = ADIS16400_DATA(&adis16448_timeouts),
1144 }
1145};
1146
1147static const struct iio_info adis16400_info = {
1148 .read_raw = &adis16400_read_raw,
1149 .write_raw = &adis16400_write_raw,
1150 .update_scan_mode = adis_update_scan_mode,
1151 .debugfs_reg_access = adis_debugfs_reg_access,
1152};
1153
1154static void adis16400_setup_chan_mask(struct adis16400_state *st)
1155{
1156 const struct adis16400_chip_info *chip_info = st->variant;
1157 unsigned int i;
1158
1159 for (i = 0; i < chip_info->num_channels; i++) {
1160 const struct iio_chan_spec *ch = &chip_info->channels[i];
1161
1162 if (ch->scan_index >= 0 &&
1163 ch->scan_index != ADIS16400_SCAN_TIMESTAMP)
1164 st->avail_scan_mask[0] |= BIT(ch->scan_index);
1165 }
1166}
1167static int adis16400_probe(struct spi_device *spi)
1168{
1169 struct adis16400_state *st;
1170 struct iio_dev *indio_dev;
1171 int ret;
1172 const struct adis_data *adis16400_data;
1173
1174 indio_dev = devm_iio_device_alloc(&spi->dev, sizeof(*st));
1175 if (indio_dev == NULL)
1176 return -ENOMEM;
1177
1178 st = iio_priv(indio_dev);
1179
1180 spi_set_drvdata(spi, indio_dev);
1181
1182
1183 st->variant = &adis16400_chips[spi_get_device_id(spi)->driver_data];
1184 indio_dev->name = spi_get_device_id(spi)->name;
1185 indio_dev->channels = st->variant->channels;
1186 indio_dev->num_channels = st->variant->num_channels;
1187 indio_dev->info = &adis16400_info;
1188 indio_dev->modes = INDIO_DIRECT_MODE;
1189
1190 if (!(st->variant->flags & ADIS16400_NO_BURST)) {
1191 adis16400_setup_chan_mask(st);
1192 indio_dev->available_scan_masks = st->avail_scan_mask;
1193 st->adis.burst = &adis16400_burst;
1194 if (st->variant->flags & ADIS16400_BURST_DIAG_STAT)
1195 st->adis.burst_extra_len = sizeof(u16);
1196 }
1197
1198 adis16400_data = &st->variant->adis_data;
1199
1200 ret = adis_init(&st->adis, indio_dev, spi, adis16400_data);
1201 if (ret)
1202 return ret;
1203
1204 ret = adis_setup_buffer_and_trigger(&st->adis, indio_dev,
1205 adis16400_trigger_handler);
1206 if (ret)
1207 return ret;
1208
1209
1210 ret = adis16400_initial_setup(indio_dev);
1211 if (ret)
1212 goto error_cleanup_buffer;
1213 ret = iio_device_register(indio_dev);
1214 if (ret)
1215 goto error_cleanup_buffer;
1216
1217 adis16400_debugfs_init(indio_dev);
1218 return 0;
1219
1220error_cleanup_buffer:
1221 adis_cleanup_buffer_and_trigger(&st->adis, indio_dev);
1222 return ret;
1223}
1224
1225static int adis16400_remove(struct spi_device *spi)
1226{
1227 struct iio_dev *indio_dev = spi_get_drvdata(spi);
1228 struct adis16400_state *st = iio_priv(indio_dev);
1229
1230 iio_device_unregister(indio_dev);
1231 adis16400_stop_device(indio_dev);
1232
1233 adis_cleanup_buffer_and_trigger(&st->adis, indio_dev);
1234
1235 return 0;
1236}
1237
1238static const struct spi_device_id adis16400_id[] = {
1239 {"adis16300", ADIS16300},
1240 {"adis16305", ADIS16300},
1241 {"adis16334", ADIS16334},
1242 {"adis16350", ADIS16350},
1243 {"adis16354", ADIS16350},
1244 {"adis16355", ADIS16350},
1245 {"adis16360", ADIS16360},
1246 {"adis16362", ADIS16362},
1247 {"adis16364", ADIS16364},
1248 {"adis16365", ADIS16360},
1249 {"adis16367", ADIS16367},
1250 {"adis16400", ADIS16400},
1251 {"adis16405", ADIS16400},
1252 {"adis16445", ADIS16445},
1253 {"adis16448", ADIS16448},
1254 {}
1255};
1256MODULE_DEVICE_TABLE(spi, adis16400_id);
1257
1258static struct spi_driver adis16400_driver = {
1259 .driver = {
1260 .name = "adis16400",
1261 },
1262 .id_table = adis16400_id,
1263 .probe = adis16400_probe,
1264 .remove = adis16400_remove,
1265};
1266module_spi_driver(adis16400_driver);
1267
1268MODULE_AUTHOR("Manuel Stahl <manuel.stahl@iis.fraunhofer.de>");
1269MODULE_DESCRIPTION("Analog Devices ADIS16400/5 IMU SPI driver");
1270MODULE_LICENSE("GPL v2");
1271
