| /* |
| * adis16400.c support Analog Devices ADIS16400/5 |
| * 3d 2g Linear Accelerometers, |
| * 3d Gyroscopes, |
| * 3d Magnetometers via SPI |
| * |
| * Copyright (c) 2009 Manuel Stahl <manuel.stahl@iis.fraunhofer.de> |
| * Copyright (c) 2007 Jonathan Cameron <jic23@kernel.org> |
| * Copyright (c) 2011 Analog Devices Inc. |
| * |
| * This program is free software; you can redistribute it and/or modify |
| * it under the terms of the GNU General Public License version 2 as |
| * published by the Free Software Foundation. |
| * |
| */ |
| |
| #include <linux/interrupt.h> |
| #include <linux/irq.h> |
| #include <linux/delay.h> |
| #include <linux/mutex.h> |
| #include <linux/device.h> |
| #include <linux/kernel.h> |
| #include <linux/spi/spi.h> |
| #include <linux/slab.h> |
| #include <linux/sysfs.h> |
| #include <linux/list.h> |
| #include <linux/module.h> |
| #include <linux/debugfs.h> |
| |
| #include <linux/iio/iio.h> |
| #include <linux/iio/sysfs.h> |
| #include <linux/iio/buffer.h> |
| |
| #include "adis16400.h" |
| |
| #ifdef CONFIG_DEBUG_FS |
| |
| static ssize_t adis16400_show_serial_number(struct file *file, |
| char __user *userbuf, size_t count, loff_t *ppos) |
| { |
| struct adis16400_state *st = file->private_data; |
| u16 lot1, lot2, serial_number; |
| char buf[16]; |
| size_t len; |
| int ret; |
| |
| ret = adis_read_reg_16(&st->adis, ADIS16334_LOT_ID1, &lot1); |
| if (ret < 0) |
| return ret; |
| |
| ret = adis_read_reg_16(&st->adis, ADIS16334_LOT_ID2, &lot2); |
| if (ret < 0) |
| return ret; |
| |
| ret = adis_read_reg_16(&st->adis, ADIS16334_SERIAL_NUMBER, |
| &serial_number); |
| if (ret < 0) |
| return ret; |
| |
| len = snprintf(buf, sizeof(buf), "%.4x-%.4x-%.4x\n", lot1, lot2, |
| serial_number); |
| |
| return simple_read_from_buffer(userbuf, count, ppos, buf, len); |
| } |
| |
| static const struct file_operations adis16400_serial_number_fops = { |
| .open = simple_open, |
| .read = adis16400_show_serial_number, |
| .llseek = default_llseek, |
| .owner = THIS_MODULE, |
| }; |
| |
| static int adis16400_show_product_id(void *arg, u64 *val) |
| { |
| struct adis16400_state *st = arg; |
| uint16_t prod_id; |
| int ret; |
| |
| ret = adis_read_reg_16(&st->adis, ADIS16400_PRODUCT_ID, &prod_id); |
| if (ret < 0) |
| return ret; |
| |
| *val = prod_id; |
| |
| return 0; |
| } |
| DEFINE_SIMPLE_ATTRIBUTE(adis16400_product_id_fops, |
| adis16400_show_product_id, NULL, "%lld\n"); |
| |
| static int adis16400_show_flash_count(void *arg, u64 *val) |
| { |
| struct adis16400_state *st = arg; |
| uint16_t flash_count; |
| int ret; |
| |
| ret = adis_read_reg_16(&st->adis, ADIS16400_FLASH_CNT, &flash_count); |
| if (ret < 0) |
| return ret; |
| |
| *val = flash_count; |
| |
| return 0; |
| } |
| DEFINE_SIMPLE_ATTRIBUTE(adis16400_flash_count_fops, |
| adis16400_show_flash_count, NULL, "%lld\n"); |
| |
| static int adis16400_debugfs_init(struct iio_dev *indio_dev) |
| { |
| struct adis16400_state *st = iio_priv(indio_dev); |
| |
| if (st->variant->flags & ADIS16400_HAS_SERIAL_NUMBER) |
| debugfs_create_file("serial_number", 0400, |
| indio_dev->debugfs_dentry, st, |
| &adis16400_serial_number_fops); |
| if (st->variant->flags & ADIS16400_HAS_PROD_ID) |
| debugfs_create_file("product_id", 0400, |
| indio_dev->debugfs_dentry, st, |
| &adis16400_product_id_fops); |
| debugfs_create_file("flash_count", 0400, indio_dev->debugfs_dentry, |
| st, &adis16400_flash_count_fops); |
| |
| return 0; |
| } |
| |
| #else |
| |
| static int adis16400_debugfs_init(struct iio_dev *indio_dev) |
| { |
| return 0; |
| } |
| |
| #endif |
| |
| enum adis16400_chip_variant { |
| ADIS16300, |
| ADIS16334, |
| ADIS16350, |
| ADIS16360, |
| ADIS16362, |
| ADIS16364, |
| ADIS16400, |
| }; |
| |
| static int adis16334_get_freq(struct adis16400_state *st) |
| { |
| int ret; |
| uint16_t t; |
| |
| ret = adis_read_reg_16(&st->adis, ADIS16400_SMPL_PRD, &t); |
| if (ret < 0) |
| return ret; |
| |
| t >>= ADIS16334_RATE_DIV_SHIFT; |
| |
| return 819200 >> t; |
| } |
| |
| static int adis16334_set_freq(struct adis16400_state *st, unsigned int freq) |
| { |
| unsigned int t; |
| |
| if (freq < 819200) |
| t = ilog2(819200 / freq); |
| else |
| t = 0; |
| |
| if (t > 0x31) |
| t = 0x31; |
| |
| t <<= ADIS16334_RATE_DIV_SHIFT; |
| t |= ADIS16334_RATE_INT_CLK; |
| |
| return adis_write_reg_16(&st->adis, ADIS16400_SMPL_PRD, t); |
| } |
| |
| static int adis16400_get_freq(struct adis16400_state *st) |
| { |
| int sps, ret; |
| uint16_t t; |
| |
| ret = adis_read_reg_16(&st->adis, ADIS16400_SMPL_PRD, &t); |
| if (ret < 0) |
| return ret; |
| |
| sps = (t & ADIS16400_SMPL_PRD_TIME_BASE) ? 52851 : 1638404; |
| sps /= (t & ADIS16400_SMPL_PRD_DIV_MASK) + 1; |
| |
| return sps; |
| } |
| |
| static int adis16400_set_freq(struct adis16400_state *st, unsigned int freq) |
| { |
| unsigned int t; |
| uint8_t val = 0; |
| |
| t = 1638404 / freq; |
| if (t >= 128) { |
| val |= ADIS16400_SMPL_PRD_TIME_BASE; |
| t = 52851 / freq; |
| if (t >= 128) |
| t = 127; |
| } else if (t != 0) { |
| t--; |
| } |
| |
| val |= t; |
| |
| if (t >= 0x0A || (val & ADIS16400_SMPL_PRD_TIME_BASE)) |
| st->adis.spi->max_speed_hz = ADIS16400_SPI_SLOW; |
| else |
| st->adis.spi->max_speed_hz = ADIS16400_SPI_FAST; |
| |
| return adis_write_reg_8(&st->adis, ADIS16400_SMPL_PRD, val); |
| } |
| |
| static ssize_t adis16400_read_frequency(struct device *dev, |
| struct device_attribute *attr, |
| char *buf) |
| { |
| struct iio_dev *indio_dev = dev_to_iio_dev(dev); |
| struct adis16400_state *st = iio_priv(indio_dev); |
| int ret; |
| |
| ret = st->variant->get_freq(st); |
| if (ret < 0) |
| return ret; |
| |
| return sprintf(buf, "%d.%.3d\n", ret / 1000, ret % 1000); |
| } |
| |
| static const unsigned adis16400_3db_divisors[] = { |
| [0] = 2, /* Special case */ |
| [1] = 6, |
| [2] = 12, |
| [3] = 25, |
| [4] = 50, |
| [5] = 100, |
| [6] = 200, |
| [7] = 200, /* Not a valid setting */ |
| }; |
| |
| static int adis16400_set_filter(struct iio_dev *indio_dev, int sps, int val) |
| { |
| struct adis16400_state *st = iio_priv(indio_dev); |
| uint16_t val16; |
| int i, ret; |
| |
| for (i = ARRAY_SIZE(adis16400_3db_divisors) - 1; i >= 1; i--) { |
| if (sps / adis16400_3db_divisors[i] >= val) |
| break; |
| } |
| |
| ret = adis_read_reg_16(&st->adis, ADIS16400_SENS_AVG, &val16); |
| if (ret < 0) |
| return ret; |
| |
| ret = adis_write_reg_16(&st->adis, ADIS16400_SENS_AVG, |
| (val16 & ~0x07) | i); |
| return ret; |
| } |
| |
| static ssize_t adis16400_write_frequency(struct device *dev, |
| struct device_attribute *attr, const char *buf, size_t len) |
| { |
| struct iio_dev *indio_dev = dev_to_iio_dev(dev); |
| struct adis16400_state *st = iio_priv(indio_dev); |
| int i, f, val; |
| int ret; |
| |
| ret = iio_str_to_fixpoint(buf, 100, &i, &f); |
| if (ret) |
| return ret; |
| |
| val = i * 1000 + f; |
| |
| if (val <= 0) |
| return -EINVAL; |
| |
| mutex_lock(&indio_dev->mlock); |
| st->variant->set_freq(st, val); |
| mutex_unlock(&indio_dev->mlock); |
| |
| return ret ? ret : len; |
| } |
| |
| /* Power down the device */ |
| static int adis16400_stop_device(struct iio_dev *indio_dev) |
| { |
| struct adis16400_state *st = iio_priv(indio_dev); |
| int ret; |
| |
| ret = adis_write_reg_16(&st->adis, ADIS16400_SLP_CNT, |
| ADIS16400_SLP_CNT_POWER_OFF); |
| if (ret) |
| dev_err(&indio_dev->dev, |
| "problem with turning device off: SLP_CNT"); |
| |
| return ret; |
| } |
| |
| static int adis16400_initial_setup(struct iio_dev *indio_dev) |
| { |
| struct adis16400_state *st = iio_priv(indio_dev); |
| uint16_t prod_id, smp_prd; |
| unsigned int device_id; |
| int ret; |
| |
| /* use low spi speed for init if the device has a slow mode */ |
| if (st->variant->flags & ADIS16400_HAS_SLOW_MODE) |
| st->adis.spi->max_speed_hz = ADIS16400_SPI_SLOW; |
| else |
| st->adis.spi->max_speed_hz = ADIS16400_SPI_FAST; |
| st->adis.spi->mode = SPI_MODE_3; |
| spi_setup(st->adis.spi); |
| |
| ret = adis_initial_startup(&st->adis); |
| if (ret) |
| return ret; |
| |
| if (st->variant->flags & ADIS16400_HAS_PROD_ID) { |
| ret = adis_read_reg_16(&st->adis, |
| ADIS16400_PRODUCT_ID, &prod_id); |
| if (ret) |
| goto err_ret; |
| |
| sscanf(indio_dev->name, "adis%u\n", &device_id); |
| |
| if (prod_id != device_id) |
| dev_warn(&indio_dev->dev, "Device ID(%u) and product ID(%u) do not match.", |
| device_id, prod_id); |
| |
| dev_info(&indio_dev->dev, "%s: prod_id 0x%04x at CS%d (irq %d)\n", |
| indio_dev->name, prod_id, |
| st->adis.spi->chip_select, st->adis.spi->irq); |
| } |
| /* use high spi speed if possible */ |
| if (st->variant->flags & ADIS16400_HAS_SLOW_MODE) { |
| ret = adis_read_reg_16(&st->adis, ADIS16400_SMPL_PRD, &smp_prd); |
| if (ret) |
| goto err_ret; |
| |
| if ((smp_prd & ADIS16400_SMPL_PRD_DIV_MASK) < 0x0A) { |
| st->adis.spi->max_speed_hz = ADIS16400_SPI_FAST; |
| spi_setup(st->adis.spi); |
| } |
| } |
| |
| err_ret: |
| return ret; |
| } |
| |
| static IIO_DEV_ATTR_SAMP_FREQ(S_IWUSR | S_IRUGO, |
| adis16400_read_frequency, |
| adis16400_write_frequency); |
| |
| static const uint8_t adis16400_addresses[] = { |
| [ADIS16400_SCAN_GYRO_X] = ADIS16400_XGYRO_OFF, |
| [ADIS16400_SCAN_GYRO_Y] = ADIS16400_YGYRO_OFF, |
| [ADIS16400_SCAN_GYRO_Z] = ADIS16400_ZGYRO_OFF, |
| [ADIS16400_SCAN_ACC_X] = ADIS16400_XACCL_OFF, |
| [ADIS16400_SCAN_ACC_Y] = ADIS16400_YACCL_OFF, |
| [ADIS16400_SCAN_ACC_Z] = ADIS16400_ZACCL_OFF, |
| }; |
| |
| static int adis16400_write_raw(struct iio_dev *indio_dev, |
| struct iio_chan_spec const *chan, int val, int val2, long info) |
| { |
| struct adis16400_state *st = iio_priv(indio_dev); |
| int ret, sps; |
| |
| switch (info) { |
| case IIO_CHAN_INFO_CALIBBIAS: |
| mutex_lock(&indio_dev->mlock); |
| ret = adis_write_reg_16(&st->adis, |
| adis16400_addresses[chan->scan_index], val); |
| mutex_unlock(&indio_dev->mlock); |
| return ret; |
| case IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY: |
| /* |
| * Need to cache values so we can update if the frequency |
| * changes. |
| */ |
| mutex_lock(&indio_dev->mlock); |
| st->filt_int = val; |
| /* Work out update to current value */ |
| sps = st->variant->get_freq(st); |
| if (sps < 0) { |
| mutex_unlock(&indio_dev->mlock); |
| return sps; |
| } |
| |
| ret = adis16400_set_filter(indio_dev, sps, |
| val * 1000 + val2 / 1000); |
| mutex_unlock(&indio_dev->mlock); |
| return ret; |
| default: |
| return -EINVAL; |
| } |
| } |
| |
| static int adis16400_read_raw(struct iio_dev *indio_dev, |
| struct iio_chan_spec const *chan, int *val, int *val2, long info) |
| { |
| struct adis16400_state *st = iio_priv(indio_dev); |
| int16_t val16; |
| int ret; |
| |
| switch (info) { |
| case IIO_CHAN_INFO_RAW: |
| return adis_single_conversion(indio_dev, chan, 0, val); |
| case IIO_CHAN_INFO_SCALE: |
| switch (chan->type) { |
| case IIO_ANGL_VEL: |
| *val = 0; |
| *val2 = st->variant->gyro_scale_micro; |
| return IIO_VAL_INT_PLUS_MICRO; |
| case IIO_VOLTAGE: |
| *val = 0; |
| if (chan->channel == 0) { |
| *val = 2; |
| *val2 = 418000; /* 2.418 mV */ |
| } else { |
| *val = 0; |
| *val2 = 805800; /* 805.8 uV */ |
| } |
| return IIO_VAL_INT_PLUS_MICRO; |
| case IIO_ACCEL: |
| *val = 0; |
| *val2 = st->variant->accel_scale_micro; |
| return IIO_VAL_INT_PLUS_MICRO; |
| case IIO_MAGN: |
| *val = 0; |
| *val2 = 500; /* 0.5 mgauss */ |
| return IIO_VAL_INT_PLUS_MICRO; |
| case IIO_TEMP: |
| *val = st->variant->temp_scale_nano / 1000000; |
| *val2 = (st->variant->temp_scale_nano % 1000000); |
| return IIO_VAL_INT_PLUS_MICRO; |
| default: |
| return -EINVAL; |
| } |
| case IIO_CHAN_INFO_CALIBBIAS: |
| mutex_lock(&indio_dev->mlock); |
| ret = adis_read_reg_16(&st->adis, |
| adis16400_addresses[chan->scan_index], &val16); |
| mutex_unlock(&indio_dev->mlock); |
| if (ret) |
| return ret; |
| val16 = ((val16 & 0xFFF) << 4) >> 4; |
| *val = val16; |
| return IIO_VAL_INT; |
| case IIO_CHAN_INFO_OFFSET: |
| /* currently only temperature */ |
| *val = st->variant->temp_offset; |
| return IIO_VAL_INT; |
| case IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY: |
| mutex_lock(&indio_dev->mlock); |
| /* Need both the number of taps and the sampling frequency */ |
| ret = adis_read_reg_16(&st->adis, |
| ADIS16400_SENS_AVG, |
| &val16); |
| if (ret < 0) { |
| mutex_unlock(&indio_dev->mlock); |
| return ret; |
| } |
| ret = st->variant->get_freq(st); |
| if (ret >= 0) { |
| ret /= adis16400_3db_divisors[val16 & 0x07]; |
| *val = ret / 1000; |
| *val2 = (ret % 1000) * 1000; |
| } |
| mutex_unlock(&indio_dev->mlock); |
| if (ret < 0) |
| return ret; |
| return IIO_VAL_INT_PLUS_MICRO; |
| default: |
| return -EINVAL; |
| } |
| } |
| |
| #define ADIS16400_VOLTAGE_CHAN(addr, bits, name, si) { \ |
| .type = IIO_VOLTAGE, \ |
| .indexed = 1, \ |
| .channel = 0, \ |
| .extend_name = name, \ |
| .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT | \ |
| IIO_CHAN_INFO_SCALE_SEPARATE_BIT, \ |
| .address = (addr), \ |
| .scan_index = (si), \ |
| .scan_type = { \ |
| .sign = 'u', \ |
| .realbits = (bits), \ |
| .storagebits = 16, \ |
| .shift = 0, \ |
| .endianness = IIO_BE, \ |
| }, \ |
| } |
| |
| #define ADIS16400_SUPPLY_CHAN(addr, bits) \ |
| ADIS16400_VOLTAGE_CHAN(addr, bits, "supply", ADIS16400_SCAN_SUPPLY) |
| |
| #define ADIS16400_AUX_ADC_CHAN(addr, bits) \ |
| ADIS16400_VOLTAGE_CHAN(addr, bits, NULL, ADIS16400_SCAN_ADC) |
| |
| #define ADIS16400_GYRO_CHAN(mod, addr, bits) { \ |
| .type = IIO_ANGL_VEL, \ |
| .modified = 1, \ |
| .channel2 = IIO_MOD_ ## mod, \ |
| .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT | \ |
| IIO_CHAN_INFO_CALIBBIAS_SEPARATE_BIT | \ |
| IIO_CHAN_INFO_SCALE_SHARED_BIT | \ |
| IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY_SHARED_BIT, \ |
| .address = addr, \ |
| .scan_index = ADIS16400_SCAN_GYRO_ ## mod, \ |
| .scan_type = { \ |
| .sign = 's', \ |
| .realbits = (bits), \ |
| .storagebits = 16, \ |
| .shift = 0, \ |
| .endianness = IIO_BE, \ |
| }, \ |
| } |
| |
| #define ADIS16400_ACCEL_CHAN(mod, addr, bits) { \ |
| .type = IIO_ACCEL, \ |
| .modified = 1, \ |
| .channel2 = IIO_MOD_ ## mod, \ |
| .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT | \ |
| IIO_CHAN_INFO_CALIBBIAS_SEPARATE_BIT | \ |
| IIO_CHAN_INFO_SCALE_SHARED_BIT | \ |
| IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY_SHARED_BIT, \ |
| .address = (addr), \ |
| .scan_index = ADIS16400_SCAN_ACC_ ## mod, \ |
| .scan_type = { \ |
| .sign = 's', \ |
| .realbits = (bits), \ |
| .storagebits = 16, \ |
| .shift = 0, \ |
| .endianness = IIO_BE, \ |
| }, \ |
| } |
| |
| #define ADIS16400_MAGN_CHAN(mod, addr, bits) { \ |
| .type = IIO_MAGN, \ |
| .modified = 1, \ |
| .channel2 = IIO_MOD_ ## mod, \ |
| .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT | \ |
| IIO_CHAN_INFO_SCALE_SHARED_BIT | \ |
| IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY_SHARED_BIT, \ |
| .address = (addr), \ |
| .scan_index = ADIS16400_SCAN_MAGN_ ## mod, \ |
| .scan_type = { \ |
| .sign = 's', \ |
| .realbits = (bits), \ |
| .storagebits = 16, \ |
| .shift = 0, \ |
| .endianness = IIO_BE, \ |
| }, \ |
| } |
| |
| #define ADIS16400_MOD_TEMP_NAME_X "x" |
| #define ADIS16400_MOD_TEMP_NAME_Y "y" |
| #define ADIS16400_MOD_TEMP_NAME_Z "z" |
| |
| #define ADIS16400_MOD_TEMP_CHAN(mod, addr, bits) { \ |
| .type = IIO_TEMP, \ |
| .indexed = 1, \ |
| .channel = 0, \ |
| .extend_name = ADIS16400_MOD_TEMP_NAME_ ## mod, \ |
| .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT | \ |
| IIO_CHAN_INFO_OFFSET_SEPARATE_BIT | \ |
| IIO_CHAN_INFO_SCALE_SEPARATE_BIT | \ |
| IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY_SHARED_BIT, \ |
| .address = (addr), \ |
| .scan_index = ADIS16350_SCAN_TEMP_ ## mod, \ |
| .scan_type = { \ |
| .sign = 's', \ |
| .realbits = (bits), \ |
| .storagebits = 16, \ |
| .shift = 0, \ |
| .endianness = IIO_BE, \ |
| }, \ |
| } |
| |
| #define ADIS16400_TEMP_CHAN(addr, bits) { \ |
| .type = IIO_TEMP, \ |
| .indexed = 1, \ |
| .channel = 0, \ |
| .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT | \ |
| IIO_CHAN_INFO_OFFSET_SEPARATE_BIT | \ |
| IIO_CHAN_INFO_SCALE_SEPARATE_BIT, \ |
| .address = (addr), \ |
| .scan_index = ADIS16350_SCAN_TEMP_X, \ |
| .scan_type = { \ |
| .sign = 's', \ |
| .realbits = (bits), \ |
| .storagebits = 16, \ |
| .shift = 0, \ |
| .endianness = IIO_BE, \ |
| }, \ |
| } |
| |
| #define ADIS16400_INCLI_CHAN(mod, addr, bits) { \ |
| .type = IIO_INCLI, \ |
| .modified = 1, \ |
| .channel2 = IIO_MOD_ ## mod, \ |
| .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT | \ |
| IIO_CHAN_INFO_SCALE_SHARED_BIT, \ |
| .address = (addr), \ |
| .scan_index = ADIS16300_SCAN_INCLI_ ## mod, \ |
| .scan_type = { \ |
| .sign = 's', \ |
| .realbits = (bits), \ |
| .storagebits = 16, \ |
| .shift = 0, \ |
| .endianness = IIO_BE, \ |
| }, \ |
| } |
| |
| static const struct iio_chan_spec adis16400_channels[] = { |
| ADIS16400_SUPPLY_CHAN(ADIS16400_SUPPLY_OUT, 14), |
| ADIS16400_GYRO_CHAN(X, ADIS16400_XGYRO_OUT, 14), |
| ADIS16400_GYRO_CHAN(Y, ADIS16400_YGYRO_OUT, 14), |
| ADIS16400_GYRO_CHAN(Z, ADIS16400_ZGYRO_OUT, 14), |
| ADIS16400_ACCEL_CHAN(X, ADIS16400_XACCL_OUT, 14), |
| ADIS16400_ACCEL_CHAN(Y, ADIS16400_YACCL_OUT, 14), |
| ADIS16400_ACCEL_CHAN(Z, ADIS16400_ZACCL_OUT, 14), |
| ADIS16400_MAGN_CHAN(X, ADIS16400_XMAGN_OUT, 14), |
| ADIS16400_MAGN_CHAN(Y, ADIS16400_YMAGN_OUT, 14), |
| ADIS16400_MAGN_CHAN(Z, ADIS16400_ZMAGN_OUT, 14), |
| ADIS16400_TEMP_CHAN(ADIS16400_TEMP_OUT, 12), |
| ADIS16400_AUX_ADC_CHAN(ADIS16400_AUX_ADC, 12), |
| IIO_CHAN_SOFT_TIMESTAMP(12) |
| }; |
| |
| static const struct iio_chan_spec adis16350_channels[] = { |
| ADIS16400_SUPPLY_CHAN(ADIS16400_SUPPLY_OUT, 12), |
| ADIS16400_GYRO_CHAN(X, ADIS16400_XGYRO_OUT, 14), |
| ADIS16400_GYRO_CHAN(Y, ADIS16400_YGYRO_OUT, 14), |
| ADIS16400_GYRO_CHAN(Z, ADIS16400_ZGYRO_OUT, 14), |
| ADIS16400_ACCEL_CHAN(X, ADIS16400_XACCL_OUT, 14), |
| ADIS16400_ACCEL_CHAN(Y, ADIS16400_YACCL_OUT, 14), |
| ADIS16400_ACCEL_CHAN(Z, ADIS16400_ZACCL_OUT, 14), |
| ADIS16400_MAGN_CHAN(X, ADIS16400_XMAGN_OUT, 14), |
| ADIS16400_MAGN_CHAN(Y, ADIS16400_YMAGN_OUT, 14), |
| ADIS16400_MAGN_CHAN(Z, ADIS16400_ZMAGN_OUT, 14), |
| ADIS16400_AUX_ADC_CHAN(ADIS16300_AUX_ADC, 12), |
| ADIS16400_MOD_TEMP_CHAN(X, ADIS16350_XTEMP_OUT, 12), |
| ADIS16400_MOD_TEMP_CHAN(Y, ADIS16350_YTEMP_OUT, 12), |
| ADIS16400_MOD_TEMP_CHAN(Z, ADIS16350_ZTEMP_OUT, 12), |
| IIO_CHAN_SOFT_TIMESTAMP(11) |
| }; |
| |
| static const struct iio_chan_spec adis16300_channels[] = { |
| ADIS16400_SUPPLY_CHAN(ADIS16400_SUPPLY_OUT, 12), |
| ADIS16400_GYRO_CHAN(X, ADIS16400_XGYRO_OUT, 14), |
| ADIS16400_ACCEL_CHAN(X, ADIS16400_XACCL_OUT, 14), |
| ADIS16400_ACCEL_CHAN(Y, ADIS16400_YACCL_OUT, 14), |
| ADIS16400_ACCEL_CHAN(Z, ADIS16400_ZACCL_OUT, 14), |
| ADIS16400_TEMP_CHAN(ADIS16350_XTEMP_OUT, 12), |
| ADIS16400_AUX_ADC_CHAN(ADIS16300_AUX_ADC, 12), |
| ADIS16400_INCLI_CHAN(X, ADIS16300_PITCH_OUT, 13), |
| ADIS16400_INCLI_CHAN(Y, ADIS16300_ROLL_OUT, 13), |
| IIO_CHAN_SOFT_TIMESTAMP(14) |
| }; |
| |
| static const struct iio_chan_spec adis16334_channels[] = { |
| ADIS16400_GYRO_CHAN(X, ADIS16400_XGYRO_OUT, 14), |
| ADIS16400_GYRO_CHAN(Y, ADIS16400_YGYRO_OUT, 14), |
| ADIS16400_GYRO_CHAN(Z, ADIS16400_ZGYRO_OUT, 14), |
| ADIS16400_ACCEL_CHAN(X, ADIS16400_XACCL_OUT, 14), |
| ADIS16400_ACCEL_CHAN(Y, ADIS16400_YACCL_OUT, 14), |
| ADIS16400_ACCEL_CHAN(Z, ADIS16400_ZACCL_OUT, 14), |
| ADIS16400_TEMP_CHAN(ADIS16350_XTEMP_OUT, 12), |
| IIO_CHAN_SOFT_TIMESTAMP(8) |
| }; |
| |
| static struct attribute *adis16400_attributes[] = { |
| &iio_dev_attr_sampling_frequency.dev_attr.attr, |
| NULL |
| }; |
| |
| static const struct attribute_group adis16400_attribute_group = { |
| .attrs = adis16400_attributes, |
| }; |
| |
| static struct adis16400_chip_info adis16400_chips[] = { |
| [ADIS16300] = { |
| .channels = adis16300_channels, |
| .num_channels = ARRAY_SIZE(adis16300_channels), |
| .flags = ADIS16400_HAS_SLOW_MODE, |
| .gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */ |
| .accel_scale_micro = 5884, |
| .temp_scale_nano = 140000000, /* 0.14 C */ |
| .temp_offset = 25000000 / 140000, /* 25 C = 0x00 */ |
| .set_freq = adis16400_set_freq, |
| .get_freq = adis16400_get_freq, |
| }, |
| [ADIS16334] = { |
| .channels = adis16334_channels, |
| .num_channels = ARRAY_SIZE(adis16334_channels), |
| .flags = ADIS16400_HAS_PROD_ID | ADIS16400_NO_BURST | |
| ADIS16400_HAS_SERIAL_NUMBER, |
| .gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */ |
| .accel_scale_micro = IIO_G_TO_M_S_2(1000), /* 1 mg */ |
| .temp_scale_nano = 67850000, /* 0.06785 C */ |
| .temp_offset = 25000000 / 67850, /* 25 C = 0x00 */ |
| .set_freq = adis16334_set_freq, |
| .get_freq = adis16334_get_freq, |
| }, |
| [ADIS16350] = { |
| .channels = adis16350_channels, |
| .num_channels = ARRAY_SIZE(adis16350_channels), |
| .gyro_scale_micro = IIO_DEGREE_TO_RAD(73260), /* 0.07326 deg/s */ |
| .accel_scale_micro = IIO_G_TO_M_S_2(2522), /* 0.002522 g */ |
| .temp_scale_nano = 145300000, /* 0.1453 C */ |
| .temp_offset = 25000000 / 145300, /* 25 C = 0x00 */ |
| .flags = ADIS16400_NO_BURST | ADIS16400_HAS_SLOW_MODE, |
| .set_freq = adis16400_set_freq, |
| .get_freq = adis16400_get_freq, |
| }, |
| [ADIS16360] = { |
| .channels = adis16350_channels, |
| .num_channels = ARRAY_SIZE(adis16350_channels), |
| .flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE | |
| ADIS16400_HAS_SERIAL_NUMBER, |
| .gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */ |
| .accel_scale_micro = IIO_G_TO_M_S_2(3333), /* 3.333 mg */ |
| .temp_scale_nano = 136000000, /* 0.136 C */ |
| .temp_offset = 25000000 / 136000, /* 25 C = 0x00 */ |
| .set_freq = adis16400_set_freq, |
| .get_freq = adis16400_get_freq, |
| }, |
| [ADIS16362] = { |
| .channels = adis16350_channels, |
| .num_channels = ARRAY_SIZE(adis16350_channels), |
| .flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE | |
| ADIS16400_HAS_SERIAL_NUMBER, |
| .gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */ |
| .accel_scale_micro = IIO_G_TO_M_S_2(333), /* 0.333 mg */ |
| .temp_scale_nano = 136000000, /* 0.136 C */ |
| .temp_offset = 25000000 / 136000, /* 25 C = 0x00 */ |
| .set_freq = adis16400_set_freq, |
| .get_freq = adis16400_get_freq, |
| }, |
| [ADIS16364] = { |
| .channels = adis16350_channels, |
| .num_channels = ARRAY_SIZE(adis16350_channels), |
| .flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE | |
| ADIS16400_HAS_SERIAL_NUMBER, |
| .gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */ |
| .accel_scale_micro = IIO_G_TO_M_S_2(1000), /* 1 mg */ |
| .temp_scale_nano = 136000000, /* 0.136 C */ |
| .temp_offset = 25000000 / 136000, /* 25 C = 0x00 */ |
| .set_freq = adis16400_set_freq, |
| .get_freq = adis16400_get_freq, |
| }, |
| [ADIS16400] = { |
| .channels = adis16400_channels, |
| .num_channels = ARRAY_SIZE(adis16400_channels), |
| .flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE, |
| .gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */ |
| .accel_scale_micro = IIO_G_TO_M_S_2(3333), /* 3.333 mg */ |
| .temp_scale_nano = 140000000, /* 0.14 C */ |
| .temp_offset = 25000000 / 140000, /* 25 C = 0x00 */ |
| .set_freq = adis16400_set_freq, |
| .get_freq = adis16400_get_freq, |
| } |
| }; |
| |
| static const struct iio_info adis16400_info = { |
| .driver_module = THIS_MODULE, |
| .read_raw = &adis16400_read_raw, |
| .write_raw = &adis16400_write_raw, |
| .attrs = &adis16400_attribute_group, |
| .update_scan_mode = adis16400_update_scan_mode, |
| .debugfs_reg_access = adis_debugfs_reg_access, |
| }; |
| |
| static const unsigned long adis16400_burst_scan_mask[] = { |
| ~0UL, |
| 0, |
| }; |
| |
| static const char * const adis16400_status_error_msgs[] = { |
| [ADIS16400_DIAG_STAT_ZACCL_FAIL] = "Z-axis accelerometer self-test failure", |
| [ADIS16400_DIAG_STAT_YACCL_FAIL] = "Y-axis accelerometer self-test failure", |
| [ADIS16400_DIAG_STAT_XACCL_FAIL] = "X-axis accelerometer self-test failure", |
| [ADIS16400_DIAG_STAT_XGYRO_FAIL] = "X-axis gyroscope self-test failure", |
| [ADIS16400_DIAG_STAT_YGYRO_FAIL] = "Y-axis gyroscope self-test failure", |
| [ADIS16400_DIAG_STAT_ZGYRO_FAIL] = "Z-axis gyroscope self-test failure", |
| [ADIS16400_DIAG_STAT_ALARM2] = "Alarm 2 active", |
| [ADIS16400_DIAG_STAT_ALARM1] = "Alarm 1 active", |
| [ADIS16400_DIAG_STAT_FLASH_CHK] = "Flash checksum error", |
| [ADIS16400_DIAG_STAT_SELF_TEST] = "Self test error", |
| [ADIS16400_DIAG_STAT_OVERFLOW] = "Sensor overrange", |
| [ADIS16400_DIAG_STAT_SPI_FAIL] = "SPI failure", |
| [ADIS16400_DIAG_STAT_FLASH_UPT] = "Flash update failed", |
| [ADIS16400_DIAG_STAT_POWER_HIGH] = "Power supply above 5.25V", |
| [ADIS16400_DIAG_STAT_POWER_LOW] = "Power supply below 4.75V", |
| }; |
| |
| static const struct adis_data adis16400_data = { |
| .msc_ctrl_reg = ADIS16400_MSC_CTRL, |
| .glob_cmd_reg = ADIS16400_GLOB_CMD, |
| .diag_stat_reg = ADIS16400_DIAG_STAT, |
| |
| .read_delay = 50, |
| .write_delay = 50, |
| |
| .self_test_mask = ADIS16400_MSC_CTRL_MEM_TEST, |
| .startup_delay = ADIS16400_STARTUP_DELAY, |
| |
| .status_error_msgs = adis16400_status_error_msgs, |
| .status_error_mask = BIT(ADIS16400_DIAG_STAT_ZACCL_FAIL) | |
| BIT(ADIS16400_DIAG_STAT_YACCL_FAIL) | |
| BIT(ADIS16400_DIAG_STAT_XACCL_FAIL) | |
| BIT(ADIS16400_DIAG_STAT_XGYRO_FAIL) | |
| BIT(ADIS16400_DIAG_STAT_YGYRO_FAIL) | |
| BIT(ADIS16400_DIAG_STAT_ZGYRO_FAIL) | |
| BIT(ADIS16400_DIAG_STAT_ALARM2) | |
| BIT(ADIS16400_DIAG_STAT_ALARM1) | |
| BIT(ADIS16400_DIAG_STAT_FLASH_CHK) | |
| BIT(ADIS16400_DIAG_STAT_SELF_TEST) | |
| BIT(ADIS16400_DIAG_STAT_OVERFLOW) | |
| BIT(ADIS16400_DIAG_STAT_SPI_FAIL) | |
| BIT(ADIS16400_DIAG_STAT_FLASH_UPT) | |
| BIT(ADIS16400_DIAG_STAT_POWER_HIGH) | |
| BIT(ADIS16400_DIAG_STAT_POWER_LOW), |
| }; |
| |
| static int adis16400_probe(struct spi_device *spi) |
| { |
| struct adis16400_state *st; |
| struct iio_dev *indio_dev; |
| int ret; |
| |
| indio_dev = iio_device_alloc(sizeof(*st)); |
| if (indio_dev == NULL) |
| return -ENOMEM; |
| |
| st = iio_priv(indio_dev); |
| /* this is only used for removal purposes */ |
| spi_set_drvdata(spi, indio_dev); |
| |
| /* setup the industrialio driver allocated elements */ |
| st->variant = &adis16400_chips[spi_get_device_id(spi)->driver_data]; |
| indio_dev->dev.parent = &spi->dev; |
| indio_dev->name = spi_get_device_id(spi)->name; |
| indio_dev->channels = st->variant->channels; |
| indio_dev->num_channels = st->variant->num_channels; |
| indio_dev->info = &adis16400_info; |
| indio_dev->modes = INDIO_DIRECT_MODE; |
| |
| if (!(st->variant->flags & ADIS16400_NO_BURST)) |
| indio_dev->available_scan_masks = adis16400_burst_scan_mask; |
| |
| ret = adis_init(&st->adis, indio_dev, spi, &adis16400_data); |
| if (ret) |
| goto error_free_dev; |
| |
| ret = adis_setup_buffer_and_trigger(&st->adis, indio_dev, |
| adis16400_trigger_handler); |
| if (ret) |
| goto error_free_dev; |
| |
| /* Get the device into a sane initial state */ |
| ret = adis16400_initial_setup(indio_dev); |
| if (ret) |
| goto error_cleanup_buffer; |
| ret = iio_device_register(indio_dev); |
| if (ret) |
| goto error_cleanup_buffer; |
| |
| adis16400_debugfs_init(indio_dev); |
| return 0; |
| |
| error_cleanup_buffer: |
| adis_cleanup_buffer_and_trigger(&st->adis, indio_dev); |
| error_free_dev: |
| iio_device_free(indio_dev); |
| return ret; |
| } |
| |
| static int adis16400_remove(struct spi_device *spi) |
| { |
| struct iio_dev *indio_dev = spi_get_drvdata(spi); |
| struct adis16400_state *st = iio_priv(indio_dev); |
| |
| iio_device_unregister(indio_dev); |
| adis16400_stop_device(indio_dev); |
| |
| adis_cleanup_buffer_and_trigger(&st->adis, indio_dev); |
| |
| iio_device_free(indio_dev); |
| |
| return 0; |
| } |
| |
| static const struct spi_device_id adis16400_id[] = { |
| {"adis16300", ADIS16300}, |
| {"adis16334", ADIS16334}, |
| {"adis16350", ADIS16350}, |
| {"adis16354", ADIS16350}, |
| {"adis16355", ADIS16350}, |
| {"adis16360", ADIS16360}, |
| {"adis16362", ADIS16362}, |
| {"adis16364", ADIS16364}, |
| {"adis16365", ADIS16360}, |
| {"adis16400", ADIS16400}, |
| {"adis16405", ADIS16400}, |
| {} |
| }; |
| MODULE_DEVICE_TABLE(spi, adis16400_id); |
| |
| static struct spi_driver adis16400_driver = { |
| .driver = { |
| .name = "adis16400", |
| .owner = THIS_MODULE, |
| }, |
| .id_table = adis16400_id, |
| .probe = adis16400_probe, |
| .remove = adis16400_remove, |
| }; |
| module_spi_driver(adis16400_driver); |
| |
| MODULE_AUTHOR("Manuel Stahl <manuel.stahl@iis.fraunhofer.de>"); |
| MODULE_DESCRIPTION("Analog Devices ADIS16400/5 IMU SPI driver"); |
| MODULE_LICENSE("GPL v2"); |