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13#include <linux/irq.h>
14#include <linux/device.h>
15#include <linux/kernel.h>
16#include <linux/spi/spi.h>
17#include <linux/module.h>
18#include <linux/debugfs.h>
19#include <linux/bitops.h>
20
21#include <linux/iio/iio.h>
22#include <linux/iio/buffer.h>
23#include <linux/iio/trigger_consumer.h>
24#include <linux/iio/imu/adis.h>
25
26#define ADIS16400_STARTUP_DELAY 290
27#define ADIS16400_MTEST_DELAY 90
28
29#define ADIS16400_FLASH_CNT 0x00
30#define ADIS16400_SUPPLY_OUT 0x02
31#define ADIS16400_XGYRO_OUT 0x04
32#define ADIS16400_YGYRO_OUT 0x06
33#define ADIS16400_ZGYRO_OUT 0x08
34#define ADIS16400_XACCL_OUT 0x0A
35#define ADIS16400_YACCL_OUT 0x0C
36#define ADIS16400_ZACCL_OUT 0x0E
37#define ADIS16400_XMAGN_OUT 0x10
38#define ADIS16400_YMAGN_OUT 0x12
39#define ADIS16400_ZMAGN_OUT 0x14
40#define ADIS16400_TEMP_OUT 0x16
41#define ADIS16400_AUX_ADC 0x18
42
43#define ADIS16350_XTEMP_OUT 0x10
44#define ADIS16350_YTEMP_OUT 0x12
45#define ADIS16350_ZTEMP_OUT 0x14
46
47#define ADIS16300_PITCH_OUT 0x12
48#define ADIS16300_ROLL_OUT 0x14
49#define ADIS16300_AUX_ADC 0x16
50
51#define ADIS16448_BARO_OUT 0x16
52#define ADIS16448_TEMP_OUT 0x18
53
54
55#define ADIS16400_XGYRO_OFF 0x1A
56#define ADIS16400_YGYRO_OFF 0x1C
57#define ADIS16400_ZGYRO_OFF 0x1E
58#define ADIS16400_XACCL_OFF 0x20
59#define ADIS16400_YACCL_OFF 0x22
60#define ADIS16400_ZACCL_OFF 0x24
61#define ADIS16400_XMAGN_HIF 0x26
62#define ADIS16400_YMAGN_HIF 0x28
63#define ADIS16400_ZMAGN_HIF 0x2A
64#define ADIS16400_XMAGN_SIF 0x2C
65#define ADIS16400_YMAGN_SIF 0x2E
66#define ADIS16400_ZMAGN_SIF 0x30
67
68#define ADIS16400_GPIO_CTRL 0x32
69#define ADIS16400_MSC_CTRL 0x34
70#define ADIS16400_SMPL_PRD 0x36
71#define ADIS16400_SENS_AVG 0x38
72#define ADIS16400_SLP_CNT 0x3A
73#define ADIS16400_DIAG_STAT 0x3C
74
75
76#define ADIS16400_GLOB_CMD 0x3E
77#define ADIS16400_ALM_MAG1 0x40
78#define ADIS16400_ALM_MAG2 0x42
79#define ADIS16400_ALM_SMPL1 0x44
80#define ADIS16400_ALM_SMPL2 0x46
81#define ADIS16400_ALM_CTRL 0x48
82#define ADIS16400_AUX_DAC 0x4A
83
84#define ADIS16334_LOT_ID1 0x52
85#define ADIS16334_LOT_ID2 0x54
86#define ADIS16400_PRODUCT_ID 0x56
87#define ADIS16334_SERIAL_NUMBER 0x58
88
89#define ADIS16400_ERROR_ACTIVE (1<<14)
90#define ADIS16400_NEW_DATA (1<<14)
91
92
93#define ADIS16400_MSC_CTRL_MEM_TEST (1<<11)
94#define ADIS16400_MSC_CTRL_INT_SELF_TEST (1<<10)
95#define ADIS16400_MSC_CTRL_NEG_SELF_TEST (1<<9)
96#define ADIS16400_MSC_CTRL_POS_SELF_TEST (1<<8)
97#define ADIS16400_MSC_CTRL_GYRO_BIAS (1<<7)
98#define ADIS16400_MSC_CTRL_ACCL_ALIGN (1<<6)
99#define ADIS16400_MSC_CTRL_DATA_RDY_EN (1<<2)
100#define ADIS16400_MSC_CTRL_DATA_RDY_POL_HIGH (1<<1)
101#define ADIS16400_MSC_CTRL_DATA_RDY_DIO2 (1<<0)
102
103
104#define ADIS16400_SMPL_PRD_TIME_BASE (1<<7)
105#define ADIS16400_SMPL_PRD_DIV_MASK 0x7F
106
107
108#define ADIS16400_DIAG_STAT_ZACCL_FAIL 15
109#define ADIS16400_DIAG_STAT_YACCL_FAIL 14
110#define ADIS16400_DIAG_STAT_XACCL_FAIL 13
111#define ADIS16400_DIAG_STAT_XGYRO_FAIL 12
112#define ADIS16400_DIAG_STAT_YGYRO_FAIL 11
113#define ADIS16400_DIAG_STAT_ZGYRO_FAIL 10
114#define ADIS16400_DIAG_STAT_ALARM2 9
115#define ADIS16400_DIAG_STAT_ALARM1 8
116#define ADIS16400_DIAG_STAT_FLASH_CHK 6
117#define ADIS16400_DIAG_STAT_SELF_TEST 5
118#define ADIS16400_DIAG_STAT_OVERFLOW 4
119#define ADIS16400_DIAG_STAT_SPI_FAIL 3
120#define ADIS16400_DIAG_STAT_FLASH_UPT 2
121#define ADIS16400_DIAG_STAT_POWER_HIGH 1
122#define ADIS16400_DIAG_STAT_POWER_LOW 0
123
124
125#define ADIS16400_GLOB_CMD_SW_RESET (1<<7)
126#define ADIS16400_GLOB_CMD_P_AUTO_NULL (1<<4)
127#define ADIS16400_GLOB_CMD_FLASH_UPD (1<<3)
128#define ADIS16400_GLOB_CMD_DAC_LATCH (1<<2)
129#define ADIS16400_GLOB_CMD_FAC_CALIB (1<<1)
130#define ADIS16400_GLOB_CMD_AUTO_NULL (1<<0)
131
132
133#define ADIS16400_SLP_CNT_POWER_OFF (1<<8)
134
135#define ADIS16334_RATE_DIV_SHIFT 8
136#define ADIS16334_RATE_INT_CLK BIT(0)
137
138#define ADIS16400_SPI_SLOW (u32)(300 * 1000)
139#define ADIS16400_SPI_BURST (u32)(1000 * 1000)
140#define ADIS16400_SPI_FAST (u32)(2000 * 1000)
141
142#define ADIS16400_HAS_PROD_ID BIT(0)
143#define ADIS16400_NO_BURST BIT(1)
144#define ADIS16400_HAS_SLOW_MODE BIT(2)
145#define ADIS16400_HAS_SERIAL_NUMBER BIT(3)
146#define ADIS16400_BURST_DIAG_STAT BIT(4)
147
148struct adis16400_state;
149
150struct adis16400_chip_info {
151 const struct iio_chan_spec *channels;
152 const struct adis_data adis_data;
153 const int num_channels;
154 const long flags;
155 unsigned int gyro_scale_micro;
156 unsigned int accel_scale_micro;
157 int temp_scale_nano;
158 int temp_offset;
159
160 int (*set_freq)(struct adis16400_state *st, unsigned int freq);
161 int (*get_freq)(struct adis16400_state *st);
162};
163
164
165
166
167
168
169
170
171
172struct adis16400_state {
173 struct adis16400_chip_info *variant;
174 int filt_int;
175
176 struct adis adis;
177 unsigned long avail_scan_mask[2];
178};
179
180
181
182
183
184enum {
185 ADIS16400_SCAN_SUPPLY,
186 ADIS16400_SCAN_GYRO_X,
187 ADIS16400_SCAN_GYRO_Y,
188 ADIS16400_SCAN_GYRO_Z,
189 ADIS16400_SCAN_ACC_X,
190 ADIS16400_SCAN_ACC_Y,
191 ADIS16400_SCAN_ACC_Z,
192 ADIS16400_SCAN_MAGN_X,
193 ADIS16400_SCAN_MAGN_Y,
194 ADIS16400_SCAN_MAGN_Z,
195 ADIS16400_SCAN_BARO,
196 ADIS16350_SCAN_TEMP_X,
197 ADIS16350_SCAN_TEMP_Y,
198 ADIS16350_SCAN_TEMP_Z,
199 ADIS16300_SCAN_INCLI_X,
200 ADIS16300_SCAN_INCLI_Y,
201 ADIS16400_SCAN_ADC,
202 ADIS16400_SCAN_TIMESTAMP,
203};
204
205#ifdef CONFIG_DEBUG_FS
206
207static ssize_t adis16400_show_serial_number(struct file *file,
208 char __user *userbuf, size_t count, loff_t *ppos)
209{
210 struct adis16400_state *st = file->private_data;
211 u16 lot1, lot2, serial_number;
212 char buf[16];
213 size_t len;
214 int ret;
215
216 ret = adis_read_reg_16(&st->adis, ADIS16334_LOT_ID1, &lot1);
217 if (ret)
218 return ret;
219
220 ret = adis_read_reg_16(&st->adis, ADIS16334_LOT_ID2, &lot2);
221 if (ret)
222 return ret;
223
224 ret = adis_read_reg_16(&st->adis, ADIS16334_SERIAL_NUMBER,
225 &serial_number);
226 if (ret)
227 return ret;
228
229 len = snprintf(buf, sizeof(buf), "%.4x-%.4x-%.4x\n", lot1, lot2,
230 serial_number);
231
232 return simple_read_from_buffer(userbuf, count, ppos, buf, len);
233}
234
235static const struct file_operations adis16400_serial_number_fops = {
236 .open = simple_open,
237 .read = adis16400_show_serial_number,
238 .llseek = default_llseek,
239 .owner = THIS_MODULE,
240};
241
242static int adis16400_show_product_id(void *arg, u64 *val)
243{
244 struct adis16400_state *st = arg;
245 uint16_t prod_id;
246 int ret;
247
248 ret = adis_read_reg_16(&st->adis, ADIS16400_PRODUCT_ID, &prod_id);
249 if (ret)
250 return ret;
251
252 *val = prod_id;
253
254 return 0;
255}
256DEFINE_DEBUGFS_ATTRIBUTE(adis16400_product_id_fops,
257 adis16400_show_product_id, NULL, "%lld\n");
258
259static int adis16400_show_flash_count(void *arg, u64 *val)
260{
261 struct adis16400_state *st = arg;
262 uint16_t flash_count;
263 int ret;
264
265 ret = adis_read_reg_16(&st->adis, ADIS16400_FLASH_CNT, &flash_count);
266 if (ret)
267 return ret;
268
269 *val = flash_count;
270
271 return 0;
272}
273DEFINE_DEBUGFS_ATTRIBUTE(adis16400_flash_count_fops,
274 adis16400_show_flash_count, NULL, "%lld\n");
275
276static int adis16400_debugfs_init(struct iio_dev *indio_dev)
277{
278 struct adis16400_state *st = iio_priv(indio_dev);
279 struct dentry *d = iio_get_debugfs_dentry(indio_dev);
280
281 if (st->variant->flags & ADIS16400_HAS_SERIAL_NUMBER)
282 debugfs_create_file_unsafe("serial_number", 0400,
283 d, st, &adis16400_serial_number_fops);
284 if (st->variant->flags & ADIS16400_HAS_PROD_ID)
285 debugfs_create_file_unsafe("product_id", 0400,
286 d, st, &adis16400_product_id_fops);
287 debugfs_create_file_unsafe("flash_count", 0400,
288 d, st, &adis16400_flash_count_fops);
289
290 return 0;
291}
292
293#else
294
295static int adis16400_debugfs_init(struct iio_dev *indio_dev)
296{
297 return 0;
298}
299
300#endif
301
302enum adis16400_chip_variant {
303 ADIS16300,
304 ADIS16334,
305 ADIS16350,
306 ADIS16360,
307 ADIS16362,
308 ADIS16364,
309 ADIS16367,
310 ADIS16400,
311 ADIS16445,
312 ADIS16448,
313};
314
315static int adis16334_get_freq(struct adis16400_state *st)
316{
317 int ret;
318 uint16_t t;
319
320 ret = __adis_read_reg_16(&st->adis, ADIS16400_SMPL_PRD, &t);
321 if (ret)
322 return ret;
323
324 t >>= ADIS16334_RATE_DIV_SHIFT;
325
326 return 819200 >> t;
327}
328
329static int adis16334_set_freq(struct adis16400_state *st, unsigned int freq)
330{
331 unsigned int t;
332
333 if (freq < 819200)
334 t = ilog2(819200 / freq);
335 else
336 t = 0;
337
338 if (t > 0x31)
339 t = 0x31;
340
341 t <<= ADIS16334_RATE_DIV_SHIFT;
342 t |= ADIS16334_RATE_INT_CLK;
343
344 return __adis_write_reg_16(&st->adis, ADIS16400_SMPL_PRD, t);
345}
346
347static int adis16400_get_freq(struct adis16400_state *st)
348{
349 int sps, ret;
350 uint16_t t;
351
352 ret = __adis_read_reg_16(&st->adis, ADIS16400_SMPL_PRD, &t);
353 if (ret)
354 return ret;
355
356 sps = (t & ADIS16400_SMPL_PRD_TIME_BASE) ? 52851 : 1638404;
357 sps /= (t & ADIS16400_SMPL_PRD_DIV_MASK) + 1;
358
359 return sps;
360}
361
362static int adis16400_set_freq(struct adis16400_state *st, unsigned int freq)
363{
364 unsigned int t;
365 uint8_t val = 0;
366
367 t = 1638404 / freq;
368 if (t >= 128) {
369 val |= ADIS16400_SMPL_PRD_TIME_BASE;
370 t = 52851 / freq;
371 if (t >= 128)
372 t = 127;
373 } else if (t != 0) {
374 t--;
375 }
376
377 val |= t;
378
379 if (t >= 0x0A || (val & ADIS16400_SMPL_PRD_TIME_BASE))
380 st->adis.spi->max_speed_hz = ADIS16400_SPI_SLOW;
381 else
382 st->adis.spi->max_speed_hz = ADIS16400_SPI_FAST;
383
384 return __adis_write_reg_8(&st->adis, ADIS16400_SMPL_PRD, val);
385}
386
387static const unsigned int adis16400_3db_divisors[] = {
388 [0] = 2,
389 [1] = 6,
390 [2] = 12,
391 [3] = 25,
392 [4] = 50,
393 [5] = 100,
394 [6] = 200,
395 [7] = 200,
396};
397
398static int __adis16400_set_filter(struct iio_dev *indio_dev, int sps, int val)
399{
400 struct adis16400_state *st = iio_priv(indio_dev);
401 uint16_t val16;
402 int i, ret;
403
404 for (i = ARRAY_SIZE(adis16400_3db_divisors) - 1; i >= 1; i--) {
405 if (sps / adis16400_3db_divisors[i] >= val)
406 break;
407 }
408
409 ret = __adis_read_reg_16(&st->adis, ADIS16400_SENS_AVG, &val16);
410 if (ret)
411 return ret;
412
413 ret = __adis_write_reg_16(&st->adis, ADIS16400_SENS_AVG,
414 (val16 & ~0x07) | i);
415 return ret;
416}
417
418
419static int adis16400_stop_device(struct iio_dev *indio_dev)
420{
421 struct adis16400_state *st = iio_priv(indio_dev);
422 int ret;
423
424 ret = adis_write_reg_16(&st->adis, ADIS16400_SLP_CNT,
425 ADIS16400_SLP_CNT_POWER_OFF);
426 if (ret)
427 dev_err(&indio_dev->dev,
428 "problem with turning device off: SLP_CNT");
429
430 return ret;
431}
432
433static int adis16400_initial_setup(struct iio_dev *indio_dev)
434{
435 struct adis16400_state *st = iio_priv(indio_dev);
436 uint16_t prod_id, smp_prd;
437 unsigned int device_id;
438 int ret;
439
440
441 if (st->variant->flags & ADIS16400_HAS_SLOW_MODE)
442 st->adis.spi->max_speed_hz = ADIS16400_SPI_SLOW;
443 else
444 st->adis.spi->max_speed_hz = ADIS16400_SPI_FAST;
445 st->adis.spi->mode = SPI_MODE_3;
446 spi_setup(st->adis.spi);
447
448 ret = adis_initial_startup(&st->adis);
449 if (ret)
450 return ret;
451
452 if (st->variant->flags & ADIS16400_HAS_PROD_ID) {
453 ret = adis_read_reg_16(&st->adis,
454 ADIS16400_PRODUCT_ID, &prod_id);
455 if (ret)
456 goto err_ret;
457
458 if (sscanf(indio_dev->name, "adis%u\n", &device_id) != 1) {
459 ret = -EINVAL;
460 goto err_ret;
461 }
462
463 if (prod_id != device_id)
464 dev_warn(&indio_dev->dev, "Device ID(%u) and product ID(%u) do not match.",
465 device_id, prod_id);
466
467 dev_info(&indio_dev->dev, "%s: prod_id 0x%04x at CS%d (irq %d)\n",
468 indio_dev->name, prod_id,
469 st->adis.spi->chip_select, st->adis.spi->irq);
470 }
471
472 if (st->variant->flags & ADIS16400_HAS_SLOW_MODE) {
473 ret = adis_read_reg_16(&st->adis, ADIS16400_SMPL_PRD, &smp_prd);
474 if (ret)
475 goto err_ret;
476
477 if ((smp_prd & ADIS16400_SMPL_PRD_DIV_MASK) < 0x0A) {
478 st->adis.spi->max_speed_hz = ADIS16400_SPI_FAST;
479 spi_setup(st->adis.spi);
480 }
481 }
482
483err_ret:
484 return ret;
485}
486
487static const uint8_t adis16400_addresses[] = {
488 [ADIS16400_SCAN_GYRO_X] = ADIS16400_XGYRO_OFF,
489 [ADIS16400_SCAN_GYRO_Y] = ADIS16400_YGYRO_OFF,
490 [ADIS16400_SCAN_GYRO_Z] = ADIS16400_ZGYRO_OFF,
491 [ADIS16400_SCAN_ACC_X] = ADIS16400_XACCL_OFF,
492 [ADIS16400_SCAN_ACC_Y] = ADIS16400_YACCL_OFF,
493 [ADIS16400_SCAN_ACC_Z] = ADIS16400_ZACCL_OFF,
494};
495
496static int adis16400_write_raw(struct iio_dev *indio_dev,
497 struct iio_chan_spec const *chan, int val, int val2, long info)
498{
499 struct adis16400_state *st = iio_priv(indio_dev);
500 int ret, sps;
501
502 switch (info) {
503 case IIO_CHAN_INFO_CALIBBIAS:
504 ret = adis_write_reg_16(&st->adis,
505 adis16400_addresses[chan->scan_index], val);
506 return ret;
507 case IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY:
508
509
510
511
512 adis_dev_lock(&st->adis);
513 st->filt_int = val;
514
515 sps = st->variant->get_freq(st);
516 if (sps < 0) {
517 adis_dev_unlock(&st->adis);
518 return sps;
519 }
520
521 ret = __adis16400_set_filter(indio_dev, sps,
522 val * 1000 + val2 / 1000);
523 adis_dev_unlock(&st->adis);
524 return ret;
525 case IIO_CHAN_INFO_SAMP_FREQ:
526 sps = val * 1000 + val2 / 1000;
527
528 if (sps <= 0)
529 return -EINVAL;
530
531 adis_dev_lock(&st->adis);
532 ret = st->variant->set_freq(st, sps);
533 adis_dev_unlock(&st->adis);
534 return ret;
535 default:
536 return -EINVAL;
537 }
538}
539
540static int adis16400_read_raw(struct iio_dev *indio_dev,
541 struct iio_chan_spec const *chan, int *val, int *val2, long info)
542{
543 struct adis16400_state *st = iio_priv(indio_dev);
544 int16_t val16;
545 int ret;
546
547 switch (info) {
548 case IIO_CHAN_INFO_RAW:
549 return adis_single_conversion(indio_dev, chan, 0, val);
550 case IIO_CHAN_INFO_SCALE:
551 switch (chan->type) {
552 case IIO_ANGL_VEL:
553 *val = 0;
554 *val2 = st->variant->gyro_scale_micro;
555 return IIO_VAL_INT_PLUS_MICRO;
556 case IIO_VOLTAGE:
557 *val = 0;
558 if (chan->channel == 0) {
559 *val = 2;
560 *val2 = 418000;
561 } else {
562 *val = 0;
563 *val2 = 805800;
564 }
565 return IIO_VAL_INT_PLUS_MICRO;
566 case IIO_ACCEL:
567 *val = 0;
568 *val2 = st->variant->accel_scale_micro;
569 return IIO_VAL_INT_PLUS_MICRO;
570 case IIO_MAGN:
571 *val = 0;
572 *val2 = 500;
573 return IIO_VAL_INT_PLUS_MICRO;
574 case IIO_TEMP:
575 *val = st->variant->temp_scale_nano / 1000000;
576 *val2 = (st->variant->temp_scale_nano % 1000000);
577 return IIO_VAL_INT_PLUS_MICRO;
578 case IIO_PRESSURE:
579
580 *val = 0;
581 *val2 = 2000;
582 return IIO_VAL_INT_PLUS_MICRO;
583 default:
584 return -EINVAL;
585 }
586 case IIO_CHAN_INFO_CALIBBIAS:
587 ret = adis_read_reg_16(&st->adis,
588 adis16400_addresses[chan->scan_index], &val16);
589 if (ret)
590 return ret;
591 val16 = sign_extend32(val16, 11);
592 *val = val16;
593 return IIO_VAL_INT;
594 case IIO_CHAN_INFO_OFFSET:
595
596 *val = st->variant->temp_offset;
597 return IIO_VAL_INT;
598 case IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY:
599 adis_dev_lock(&st->adis);
600
601 ret = __adis_read_reg_16(&st->adis,
602 ADIS16400_SENS_AVG,
603 &val16);
604 if (ret) {
605 adis_dev_unlock(&st->adis);
606 return ret;
607 }
608 ret = st->variant->get_freq(st);
609 adis_dev_unlock(&st->adis);
610 if (ret)
611 return ret;
612 ret /= adis16400_3db_divisors[val16 & 0x07];
613 *val = ret / 1000;
614 *val2 = (ret % 1000) * 1000;
615 return IIO_VAL_INT_PLUS_MICRO;
616 case IIO_CHAN_INFO_SAMP_FREQ:
617 adis_dev_lock(&st->adis);
618 ret = st->variant->get_freq(st);
619 adis_dev_unlock(&st->adis);
620 if (ret)
621 return ret;
622 *val = ret / 1000;
623 *val2 = (ret % 1000) * 1000;
624 return IIO_VAL_INT_PLUS_MICRO;
625 default:
626 return -EINVAL;
627 }
628}
629
630#if IS_ENABLED(CONFIG_IIO_BUFFER)
631static irqreturn_t adis16400_trigger_handler(int irq, void *p)
632{
633 struct iio_poll_func *pf = p;
634 struct iio_dev *indio_dev = pf->indio_dev;
635 struct adis16400_state *st = iio_priv(indio_dev);
636 struct adis *adis = &st->adis;
637 void *buffer;
638 int ret;
639
640 ret = spi_sync(adis->spi, &adis->msg);
641 if (ret)
642 dev_err(&adis->spi->dev, "Failed to read data: %d\n", ret);
643
644 if (st->variant->flags & ADIS16400_BURST_DIAG_STAT)
645 buffer = adis->buffer + sizeof(u16);
646 else
647 buffer = adis->buffer;
648
649 iio_push_to_buffers_with_timestamp(indio_dev, buffer,
650 pf->timestamp);
651
652 iio_trigger_notify_done(indio_dev->trig);
653
654 return IRQ_HANDLED;
655}
656#else
657#define adis16400_trigger_handler NULL
658#endif
659
660#define ADIS16400_VOLTAGE_CHAN(addr, bits, name, si, chn) { \
661 .type = IIO_VOLTAGE, \
662 .indexed = 1, \
663 .channel = chn, \
664 .extend_name = name, \
665 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \
666 BIT(IIO_CHAN_INFO_SCALE), \
667 .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
668 .address = (addr), \
669 .scan_index = (si), \
670 .scan_type = { \
671 .sign = 'u', \
672 .realbits = (bits), \
673 .storagebits = 16, \
674 .shift = 0, \
675 .endianness = IIO_BE, \
676 }, \
677}
678
679#define ADIS16400_SUPPLY_CHAN(addr, bits) \
680 ADIS16400_VOLTAGE_CHAN(addr, bits, "supply", ADIS16400_SCAN_SUPPLY, 0)
681
682#define ADIS16400_AUX_ADC_CHAN(addr, bits) \
683 ADIS16400_VOLTAGE_CHAN(addr, bits, NULL, ADIS16400_SCAN_ADC, 1)
684
685#define ADIS16400_GYRO_CHAN(mod, addr, bits) { \
686 .type = IIO_ANGL_VEL, \
687 .modified = 1, \
688 .channel2 = IIO_MOD_ ## mod, \
689 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \
690 BIT(IIO_CHAN_INFO_CALIBBIAS), \
691 .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE) | \
692 BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY), \
693 .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
694 .address = addr, \
695 .scan_index = ADIS16400_SCAN_GYRO_ ## mod, \
696 .scan_type = { \
697 .sign = 's', \
698 .realbits = (bits), \
699 .storagebits = 16, \
700 .shift = 0, \
701 .endianness = IIO_BE, \
702 }, \
703}
704
705#define ADIS16400_ACCEL_CHAN(mod, addr, bits) { \
706 .type = IIO_ACCEL, \
707 .modified = 1, \
708 .channel2 = IIO_MOD_ ## mod, \
709 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \
710 BIT(IIO_CHAN_INFO_CALIBBIAS), \
711 .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE) | \
712 BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY), \
713 .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
714 .address = (addr), \
715 .scan_index = ADIS16400_SCAN_ACC_ ## mod, \
716 .scan_type = { \
717 .sign = 's', \
718 .realbits = (bits), \
719 .storagebits = 16, \
720 .shift = 0, \
721 .endianness = IIO_BE, \
722 }, \
723}
724
725#define ADIS16400_MAGN_CHAN(mod, addr, bits) { \
726 .type = IIO_MAGN, \
727 .modified = 1, \
728 .channel2 = IIO_MOD_ ## mod, \
729 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW), \
730 .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE) | \
731 BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY), \
732 .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
733 .address = (addr), \
734 .scan_index = ADIS16400_SCAN_MAGN_ ## mod, \
735 .scan_type = { \
736 .sign = 's', \
737 .realbits = (bits), \
738 .storagebits = 16, \
739 .shift = 0, \
740 .endianness = IIO_BE, \
741 }, \
742}
743
744#define ADIS16400_MOD_TEMP_NAME_X "x"
745#define ADIS16400_MOD_TEMP_NAME_Y "y"
746#define ADIS16400_MOD_TEMP_NAME_Z "z"
747
748#define ADIS16400_MOD_TEMP_CHAN(mod, addr, bits) { \
749 .type = IIO_TEMP, \
750 .indexed = 1, \
751 .channel = 0, \
752 .extend_name = ADIS16400_MOD_TEMP_NAME_ ## mod, \
753 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \
754 BIT(IIO_CHAN_INFO_OFFSET) | \
755 BIT(IIO_CHAN_INFO_SCALE), \
756 .info_mask_shared_by_type = \
757 BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY), \
758 .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
759 .address = (addr), \
760 .scan_index = ADIS16350_SCAN_TEMP_ ## mod, \
761 .scan_type = { \
762 .sign = 's', \
763 .realbits = (bits), \
764 .storagebits = 16, \
765 .shift = 0, \
766 .endianness = IIO_BE, \
767 }, \
768}
769
770#define ADIS16400_TEMP_CHAN(addr, bits) { \
771 .type = IIO_TEMP, \
772 .indexed = 1, \
773 .channel = 0, \
774 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \
775 BIT(IIO_CHAN_INFO_OFFSET) | \
776 BIT(IIO_CHAN_INFO_SCALE), \
777 .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
778 .address = (addr), \
779 .scan_index = ADIS16350_SCAN_TEMP_X, \
780 .scan_type = { \
781 .sign = 's', \
782 .realbits = (bits), \
783 .storagebits = 16, \
784 .shift = 0, \
785 .endianness = IIO_BE, \
786 }, \
787}
788
789#define ADIS16400_INCLI_CHAN(mod, addr, bits) { \
790 .type = IIO_INCLI, \
791 .modified = 1, \
792 .channel2 = IIO_MOD_ ## mod, \
793 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW), \
794 .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE), \
795 .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
796 .address = (addr), \
797 .scan_index = ADIS16300_SCAN_INCLI_ ## mod, \
798 .scan_type = { \
799 .sign = 's', \
800 .realbits = (bits), \
801 .storagebits = 16, \
802 .shift = 0, \
803 .endianness = IIO_BE, \
804 }, \
805}
806
807static const struct iio_chan_spec adis16400_channels[] = {
808 ADIS16400_SUPPLY_CHAN(ADIS16400_SUPPLY_OUT, 14),
809 ADIS16400_GYRO_CHAN(X, ADIS16400_XGYRO_OUT, 14),
810 ADIS16400_GYRO_CHAN(Y, ADIS16400_YGYRO_OUT, 14),
811 ADIS16400_GYRO_CHAN(Z, ADIS16400_ZGYRO_OUT, 14),
812 ADIS16400_ACCEL_CHAN(X, ADIS16400_XACCL_OUT, 14),
813 ADIS16400_ACCEL_CHAN(Y, ADIS16400_YACCL_OUT, 14),
814 ADIS16400_ACCEL_CHAN(Z, ADIS16400_ZACCL_OUT, 14),
815 ADIS16400_MAGN_CHAN(X, ADIS16400_XMAGN_OUT, 14),
816 ADIS16400_MAGN_CHAN(Y, ADIS16400_YMAGN_OUT, 14),
817 ADIS16400_MAGN_CHAN(Z, ADIS16400_ZMAGN_OUT, 14),
818 ADIS16400_TEMP_CHAN(ADIS16400_TEMP_OUT, 12),
819 ADIS16400_AUX_ADC_CHAN(ADIS16400_AUX_ADC, 12),
820 IIO_CHAN_SOFT_TIMESTAMP(ADIS16400_SCAN_TIMESTAMP),
821};
822
823static const struct iio_chan_spec adis16445_channels[] = {
824 ADIS16400_GYRO_CHAN(X, ADIS16400_XGYRO_OUT, 16),
825 ADIS16400_GYRO_CHAN(Y, ADIS16400_YGYRO_OUT, 16),
826 ADIS16400_GYRO_CHAN(Z, ADIS16400_ZGYRO_OUT, 16),
827 ADIS16400_ACCEL_CHAN(X, ADIS16400_XACCL_OUT, 16),
828 ADIS16400_ACCEL_CHAN(Y, ADIS16400_YACCL_OUT, 16),
829 ADIS16400_ACCEL_CHAN(Z, ADIS16400_ZACCL_OUT, 16),
830 ADIS16400_TEMP_CHAN(ADIS16448_TEMP_OUT, 12),
831 IIO_CHAN_SOFT_TIMESTAMP(ADIS16400_SCAN_TIMESTAMP),
832};
833
834static const struct iio_chan_spec adis16448_channels[] = {
835 ADIS16400_GYRO_CHAN(X, ADIS16400_XGYRO_OUT, 16),
836 ADIS16400_GYRO_CHAN(Y, ADIS16400_YGYRO_OUT, 16),
837 ADIS16400_GYRO_CHAN(Z, ADIS16400_ZGYRO_OUT, 16),
838 ADIS16400_ACCEL_CHAN(X, ADIS16400_XACCL_OUT, 16),
839 ADIS16400_ACCEL_CHAN(Y, ADIS16400_YACCL_OUT, 16),
840 ADIS16400_ACCEL_CHAN(Z, ADIS16400_ZACCL_OUT, 16),
841 ADIS16400_MAGN_CHAN(X, ADIS16400_XMAGN_OUT, 16),
842 ADIS16400_MAGN_CHAN(Y, ADIS16400_YMAGN_OUT, 16),
843 ADIS16400_MAGN_CHAN(Z, ADIS16400_ZMAGN_OUT, 16),
844 {
845 .type = IIO_PRESSURE,
846 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW),
847 .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE),
848 .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ),
849 .address = ADIS16448_BARO_OUT,
850 .scan_index = ADIS16400_SCAN_BARO,
851 .scan_type = {
852 .sign = 's',
853 .realbits = 16,
854 .storagebits = 16,
855 .endianness = IIO_BE,
856 },
857 },
858 ADIS16400_TEMP_CHAN(ADIS16448_TEMP_OUT, 12),
859 IIO_CHAN_SOFT_TIMESTAMP(ADIS16400_SCAN_TIMESTAMP),
860};
861
862static const struct iio_chan_spec adis16350_channels[] = {
863 ADIS16400_SUPPLY_CHAN(ADIS16400_SUPPLY_OUT, 12),
864 ADIS16400_GYRO_CHAN(X, ADIS16400_XGYRO_OUT, 14),
865 ADIS16400_GYRO_CHAN(Y, ADIS16400_YGYRO_OUT, 14),
866 ADIS16400_GYRO_CHAN(Z, ADIS16400_ZGYRO_OUT, 14),
867 ADIS16400_ACCEL_CHAN(X, ADIS16400_XACCL_OUT, 14),
868 ADIS16400_ACCEL_CHAN(Y, ADIS16400_YACCL_OUT, 14),
869 ADIS16400_ACCEL_CHAN(Z, ADIS16400_ZACCL_OUT, 14),
870 ADIS16400_MAGN_CHAN(X, ADIS16400_XMAGN_OUT, 14),
871 ADIS16400_MAGN_CHAN(Y, ADIS16400_YMAGN_OUT, 14),
872 ADIS16400_MAGN_CHAN(Z, ADIS16400_ZMAGN_OUT, 14),
873 ADIS16400_AUX_ADC_CHAN(ADIS16300_AUX_ADC, 12),
874 ADIS16400_MOD_TEMP_CHAN(X, ADIS16350_XTEMP_OUT, 12),
875 ADIS16400_MOD_TEMP_CHAN(Y, ADIS16350_YTEMP_OUT, 12),
876 ADIS16400_MOD_TEMP_CHAN(Z, ADIS16350_ZTEMP_OUT, 12),
877 IIO_CHAN_SOFT_TIMESTAMP(ADIS16400_SCAN_TIMESTAMP),
878};
879
880static const struct iio_chan_spec adis16300_channels[] = {
881 ADIS16400_SUPPLY_CHAN(ADIS16400_SUPPLY_OUT, 12),
882 ADIS16400_GYRO_CHAN(X, ADIS16400_XGYRO_OUT, 14),
883 ADIS16400_ACCEL_CHAN(X, ADIS16400_XACCL_OUT, 14),
884 ADIS16400_ACCEL_CHAN(Y, ADIS16400_YACCL_OUT, 14),
885 ADIS16400_ACCEL_CHAN(Z, ADIS16400_ZACCL_OUT, 14),
886 ADIS16400_TEMP_CHAN(ADIS16350_XTEMP_OUT, 12),
887 ADIS16400_AUX_ADC_CHAN(ADIS16300_AUX_ADC, 12),
888 ADIS16400_INCLI_CHAN(X, ADIS16300_PITCH_OUT, 13),
889 ADIS16400_INCLI_CHAN(Y, ADIS16300_ROLL_OUT, 13),
890 IIO_CHAN_SOFT_TIMESTAMP(ADIS16400_SCAN_TIMESTAMP),
891};
892
893static const struct iio_chan_spec adis16334_channels[] = {
894 ADIS16400_GYRO_CHAN(X, ADIS16400_XGYRO_OUT, 14),
895 ADIS16400_GYRO_CHAN(Y, ADIS16400_YGYRO_OUT, 14),
896 ADIS16400_GYRO_CHAN(Z, ADIS16400_ZGYRO_OUT, 14),
897 ADIS16400_ACCEL_CHAN(X, ADIS16400_XACCL_OUT, 14),
898 ADIS16400_ACCEL_CHAN(Y, ADIS16400_YACCL_OUT, 14),
899 ADIS16400_ACCEL_CHAN(Z, ADIS16400_ZACCL_OUT, 14),
900 ADIS16400_TEMP_CHAN(ADIS16350_XTEMP_OUT, 12),
901 IIO_CHAN_SOFT_TIMESTAMP(ADIS16400_SCAN_TIMESTAMP),
902};
903
904static const char * const adis16400_status_error_msgs[] = {
905 [ADIS16400_DIAG_STAT_ZACCL_FAIL] = "Z-axis accelerometer self-test failure",
906 [ADIS16400_DIAG_STAT_YACCL_FAIL] = "Y-axis accelerometer self-test failure",
907 [ADIS16400_DIAG_STAT_XACCL_FAIL] = "X-axis accelerometer self-test failure",
908 [ADIS16400_DIAG_STAT_XGYRO_FAIL] = "X-axis gyroscope self-test failure",
909 [ADIS16400_DIAG_STAT_YGYRO_FAIL] = "Y-axis gyroscope self-test failure",
910 [ADIS16400_DIAG_STAT_ZGYRO_FAIL] = "Z-axis gyroscope self-test failure",
911 [ADIS16400_DIAG_STAT_ALARM2] = "Alarm 2 active",
912 [ADIS16400_DIAG_STAT_ALARM1] = "Alarm 1 active",
913 [ADIS16400_DIAG_STAT_FLASH_CHK] = "Flash checksum error",
914 [ADIS16400_DIAG_STAT_SELF_TEST] = "Self test error",
915 [ADIS16400_DIAG_STAT_OVERFLOW] = "Sensor overrange",
916 [ADIS16400_DIAG_STAT_SPI_FAIL] = "SPI failure",
917 [ADIS16400_DIAG_STAT_FLASH_UPT] = "Flash update failed",
918 [ADIS16400_DIAG_STAT_POWER_HIGH] = "Power supply above 5.25V",
919 [ADIS16400_DIAG_STAT_POWER_LOW] = "Power supply below 4.75V",
920};
921
922#define ADIS16400_DATA(_timeouts, _burst_len) \
923{ \
924 .msc_ctrl_reg = ADIS16400_MSC_CTRL, \
925 .glob_cmd_reg = ADIS16400_GLOB_CMD, \
926 .diag_stat_reg = ADIS16400_DIAG_STAT, \
927 .read_delay = 50, \
928 .write_delay = 50, \
929 .self_test_mask = ADIS16400_MSC_CTRL_MEM_TEST, \
930 .self_test_reg = ADIS16400_MSC_CTRL, \
931 .status_error_msgs = adis16400_status_error_msgs, \
932 .status_error_mask = BIT(ADIS16400_DIAG_STAT_ZACCL_FAIL) | \
933 BIT(ADIS16400_DIAG_STAT_YACCL_FAIL) | \
934 BIT(ADIS16400_DIAG_STAT_XACCL_FAIL) | \
935 BIT(ADIS16400_DIAG_STAT_XGYRO_FAIL) | \
936 BIT(ADIS16400_DIAG_STAT_YGYRO_FAIL) | \
937 BIT(ADIS16400_DIAG_STAT_ZGYRO_FAIL) | \
938 BIT(ADIS16400_DIAG_STAT_ALARM2) | \
939 BIT(ADIS16400_DIAG_STAT_ALARM1) | \
940 BIT(ADIS16400_DIAG_STAT_FLASH_CHK) | \
941 BIT(ADIS16400_DIAG_STAT_SELF_TEST) | \
942 BIT(ADIS16400_DIAG_STAT_OVERFLOW) | \
943 BIT(ADIS16400_DIAG_STAT_SPI_FAIL) | \
944 BIT(ADIS16400_DIAG_STAT_FLASH_UPT) | \
945 BIT(ADIS16400_DIAG_STAT_POWER_HIGH) | \
946 BIT(ADIS16400_DIAG_STAT_POWER_LOW), \
947 .timeouts = (_timeouts), \
948 .burst_reg_cmd = ADIS16400_GLOB_CMD, \
949 .burst_len = (_burst_len), \
950 .burst_max_speed_hz = ADIS16400_SPI_BURST \
951}
952
953static const struct adis_timeout adis16300_timeouts = {
954 .reset_ms = ADIS16400_STARTUP_DELAY,
955 .sw_reset_ms = ADIS16400_STARTUP_DELAY,
956 .self_test_ms = ADIS16400_STARTUP_DELAY,
957};
958
959static const struct adis_timeout adis16334_timeouts = {
960 .reset_ms = 60,
961 .sw_reset_ms = 60,
962 .self_test_ms = 14,
963};
964
965static const struct adis_timeout adis16362_timeouts = {
966 .reset_ms = 130,
967 .sw_reset_ms = 130,
968 .self_test_ms = 12,
969};
970
971static const struct adis_timeout adis16400_timeouts = {
972 .reset_ms = 170,
973 .sw_reset_ms = 170,
974 .self_test_ms = 12,
975};
976
977static const struct adis_timeout adis16445_timeouts = {
978 .reset_ms = 55,
979 .sw_reset_ms = 55,
980 .self_test_ms = 16,
981};
982
983static const struct adis_timeout adis16448_timeouts = {
984 .reset_ms = 90,
985 .sw_reset_ms = 90,
986 .self_test_ms = 45,
987};
988
989static struct adis16400_chip_info adis16400_chips[] = {
990 [ADIS16300] = {
991 .channels = adis16300_channels,
992 .num_channels = ARRAY_SIZE(adis16300_channels),
993 .flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE |
994 ADIS16400_HAS_SERIAL_NUMBER,
995 .gyro_scale_micro = IIO_DEGREE_TO_RAD(50000),
996 .accel_scale_micro = 5884,
997 .temp_scale_nano = 140000000,
998 .temp_offset = 25000000 / 140000,
999 .set_freq = adis16400_set_freq,
1000 .get_freq = adis16400_get_freq,
1001 .adis_data = ADIS16400_DATA(&adis16300_timeouts, 18),
1002 },
1003 [ADIS16334] = {
1004 .channels = adis16334_channels,
1005 .num_channels = ARRAY_SIZE(adis16334_channels),
1006 .flags = ADIS16400_HAS_PROD_ID | ADIS16400_NO_BURST |
1007 ADIS16400_HAS_SERIAL_NUMBER,
1008 .gyro_scale_micro = IIO_DEGREE_TO_RAD(50000),
1009 .accel_scale_micro = IIO_G_TO_M_S_2(1000),
1010 .temp_scale_nano = 67850000,
1011 .temp_offset = 25000000 / 67850,
1012 .set_freq = adis16334_set_freq,
1013 .get_freq = adis16334_get_freq,
1014 .adis_data = ADIS16400_DATA(&adis16334_timeouts, 0),
1015 },
1016 [ADIS16350] = {
1017 .channels = adis16350_channels,
1018 .num_channels = ARRAY_SIZE(adis16350_channels),
1019 .gyro_scale_micro = IIO_DEGREE_TO_RAD(73260),
1020 .accel_scale_micro = IIO_G_TO_M_S_2(2522),
1021 .temp_scale_nano = 145300000,
1022 .temp_offset = 25000000 / 145300,
1023 .flags = ADIS16400_NO_BURST | ADIS16400_HAS_SLOW_MODE,
1024 .set_freq = adis16400_set_freq,
1025 .get_freq = adis16400_get_freq,
1026 .adis_data = ADIS16400_DATA(&adis16300_timeouts, 0),
1027 },
1028 [ADIS16360] = {
1029 .channels = adis16350_channels,
1030 .num_channels = ARRAY_SIZE(adis16350_channels),
1031 .flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE |
1032 ADIS16400_HAS_SERIAL_NUMBER,
1033 .gyro_scale_micro = IIO_DEGREE_TO_RAD(50000),
1034 .accel_scale_micro = IIO_G_TO_M_S_2(3333),
1035 .temp_scale_nano = 136000000,
1036 .temp_offset = 25000000 / 136000,
1037 .set_freq = adis16400_set_freq,
1038 .get_freq = adis16400_get_freq,
1039 .adis_data = ADIS16400_DATA(&adis16300_timeouts, 28),
1040 },
1041 [ADIS16362] = {
1042 .channels = adis16350_channels,
1043 .num_channels = ARRAY_SIZE(adis16350_channels),
1044 .flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE |
1045 ADIS16400_HAS_SERIAL_NUMBER,
1046 .gyro_scale_micro = IIO_DEGREE_TO_RAD(50000),
1047 .accel_scale_micro = IIO_G_TO_M_S_2(333),
1048 .temp_scale_nano = 136000000,
1049 .temp_offset = 25000000 / 136000,
1050 .set_freq = adis16400_set_freq,
1051 .get_freq = adis16400_get_freq,
1052 .adis_data = ADIS16400_DATA(&adis16362_timeouts, 28),
1053 },
1054 [ADIS16364] = {
1055 .channels = adis16350_channels,
1056 .num_channels = ARRAY_SIZE(adis16350_channels),
1057 .flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE |
1058 ADIS16400_HAS_SERIAL_NUMBER,
1059 .gyro_scale_micro = IIO_DEGREE_TO_RAD(50000),
1060 .accel_scale_micro = IIO_G_TO_M_S_2(1000),
1061 .temp_scale_nano = 136000000,
1062 .temp_offset = 25000000 / 136000,
1063 .set_freq = adis16400_set_freq,
1064 .get_freq = adis16400_get_freq,
1065 .adis_data = ADIS16400_DATA(&adis16362_timeouts, 28),
1066 },
1067 [ADIS16367] = {
1068 .channels = adis16350_channels,
1069 .num_channels = ARRAY_SIZE(adis16350_channels),
1070 .flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE |
1071 ADIS16400_HAS_SERIAL_NUMBER,
1072 .gyro_scale_micro = IIO_DEGREE_TO_RAD(2000),
1073 .accel_scale_micro = IIO_G_TO_M_S_2(3333),
1074 .temp_scale_nano = 136000000,
1075 .temp_offset = 25000000 / 136000,
1076 .set_freq = adis16400_set_freq,
1077 .get_freq = adis16400_get_freq,
1078 .adis_data = ADIS16400_DATA(&adis16300_timeouts, 28),
1079 },
1080 [ADIS16400] = {
1081 .channels = adis16400_channels,
1082 .num_channels = ARRAY_SIZE(adis16400_channels),
1083 .flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE,
1084 .gyro_scale_micro = IIO_DEGREE_TO_RAD(50000),
1085 .accel_scale_micro = IIO_G_TO_M_S_2(3333),
1086 .temp_scale_nano = 140000000,
1087 .temp_offset = 25000000 / 140000,
1088 .set_freq = adis16400_set_freq,
1089 .get_freq = adis16400_get_freq,
1090 .adis_data = ADIS16400_DATA(&adis16400_timeouts, 24),
1091 },
1092 [ADIS16445] = {
1093 .channels = adis16445_channels,
1094 .num_channels = ARRAY_SIZE(adis16445_channels),
1095 .flags = ADIS16400_HAS_PROD_ID |
1096 ADIS16400_HAS_SERIAL_NUMBER |
1097 ADIS16400_BURST_DIAG_STAT,
1098 .gyro_scale_micro = IIO_DEGREE_TO_RAD(10000),
1099 .accel_scale_micro = IIO_G_TO_M_S_2(250),
1100 .temp_scale_nano = 73860000,
1101 .temp_offset = 31000000 / 73860,
1102 .set_freq = adis16334_set_freq,
1103 .get_freq = adis16334_get_freq,
1104 .adis_data = ADIS16400_DATA(&adis16445_timeouts, 16),
1105 },
1106 [ADIS16448] = {
1107 .channels = adis16448_channels,
1108 .num_channels = ARRAY_SIZE(adis16448_channels),
1109 .flags = ADIS16400_HAS_PROD_ID |
1110 ADIS16400_HAS_SERIAL_NUMBER |
1111 ADIS16400_BURST_DIAG_STAT,
1112 .gyro_scale_micro = IIO_DEGREE_TO_RAD(40000),
1113 .accel_scale_micro = IIO_G_TO_M_S_2(833),
1114 .temp_scale_nano = 73860000,
1115 .temp_offset = 31000000 / 73860,
1116 .set_freq = adis16334_set_freq,
1117 .get_freq = adis16334_get_freq,
1118 .adis_data = ADIS16400_DATA(&adis16448_timeouts, 24),
1119 }
1120};
1121
1122static const struct iio_info adis16400_info = {
1123 .read_raw = &adis16400_read_raw,
1124 .write_raw = &adis16400_write_raw,
1125 .update_scan_mode = adis_update_scan_mode,
1126 .debugfs_reg_access = adis_debugfs_reg_access,
1127};
1128
1129static void adis16400_setup_chan_mask(struct adis16400_state *st)
1130{
1131 const struct adis16400_chip_info *chip_info = st->variant;
1132 unsigned int i;
1133
1134 for (i = 0; i < chip_info->num_channels; i++) {
1135 const struct iio_chan_spec *ch = &chip_info->channels[i];
1136
1137 if (ch->scan_index >= 0 &&
1138 ch->scan_index != ADIS16400_SCAN_TIMESTAMP)
1139 st->avail_scan_mask[0] |= BIT(ch->scan_index);
1140 }
1141}
1142
1143static void adis16400_stop(void *data)
1144{
1145 adis16400_stop_device(data);
1146}
1147
1148static int adis16400_probe(struct spi_device *spi)
1149{
1150 struct adis16400_state *st;
1151 struct iio_dev *indio_dev;
1152 int ret;
1153 const struct adis_data *adis16400_data;
1154
1155 indio_dev = devm_iio_device_alloc(&spi->dev, sizeof(*st));
1156 if (indio_dev == NULL)
1157 return -ENOMEM;
1158
1159 st = iio_priv(indio_dev);
1160
1161
1162 st->variant = &adis16400_chips[spi_get_device_id(spi)->driver_data];
1163 indio_dev->name = spi_get_device_id(spi)->name;
1164 indio_dev->channels = st->variant->channels;
1165 indio_dev->num_channels = st->variant->num_channels;
1166 indio_dev->info = &adis16400_info;
1167 indio_dev->modes = INDIO_DIRECT_MODE;
1168
1169 if (!(st->variant->flags & ADIS16400_NO_BURST)) {
1170 adis16400_setup_chan_mask(st);
1171 indio_dev->available_scan_masks = st->avail_scan_mask;
1172 }
1173
1174 adis16400_data = &st->variant->adis_data;
1175
1176 ret = adis_init(&st->adis, indio_dev, spi, adis16400_data);
1177 if (ret)
1178 return ret;
1179
1180 ret = devm_adis_setup_buffer_and_trigger(&st->adis, indio_dev, adis16400_trigger_handler);
1181 if (ret)
1182 return ret;
1183
1184
1185 ret = adis16400_initial_setup(indio_dev);
1186 if (ret)
1187 return ret;
1188
1189 ret = devm_add_action_or_reset(&spi->dev, adis16400_stop, indio_dev);
1190 if (ret)
1191 return ret;
1192
1193 ret = devm_iio_device_register(&spi->dev, indio_dev);
1194 if (ret)
1195 return ret;
1196
1197 adis16400_debugfs_init(indio_dev);
1198 return 0;
1199}
1200
1201static const struct spi_device_id adis16400_id[] = {
1202 {"adis16300", ADIS16300},
1203 {"adis16305", ADIS16300},
1204 {"adis16334", ADIS16334},
1205 {"adis16350", ADIS16350},
1206 {"adis16354", ADIS16350},
1207 {"adis16355", ADIS16350},
1208 {"adis16360", ADIS16360},
1209 {"adis16362", ADIS16362},
1210 {"adis16364", ADIS16364},
1211 {"adis16365", ADIS16360},
1212 {"adis16367", ADIS16367},
1213 {"adis16400", ADIS16400},
1214 {"adis16405", ADIS16400},
1215 {"adis16445", ADIS16445},
1216 {"adis16448", ADIS16448},
1217 {}
1218};
1219MODULE_DEVICE_TABLE(spi, adis16400_id);
1220
1221static struct spi_driver adis16400_driver = {
1222 .driver = {
1223 .name = "adis16400",
1224 },
1225 .id_table = adis16400_id,
1226 .probe = adis16400_probe,
1227};
1228module_spi_driver(adis16400_driver);
1229
1230MODULE_AUTHOR("Manuel Stahl <manuel.stahl@iis.fraunhofer.de>");
1231MODULE_DESCRIPTION("Analog Devices ADIS16400/5 IMU SPI driver");
1232MODULE_LICENSE("GPL v2");
1233