Barry Song | a9d26f0 | 2010-05-04 14:43:15 +0100 | [diff] [blame] | 1 | /* |
| 2 | * adis16400.c support Analog Devices ADIS16400/5 |
| 3 | * 3d 2g Linear Accelerometers, |
| 4 | * 3d Gyroscopes, |
| 5 | * 3d Magnetometers via SPI |
| 6 | * |
| 7 | * Copyright (c) 2009 Manuel Stahl <manuel.stahl@iis.fraunhofer.de> |
Jonathan Cameron | 0f8c962 | 2012-09-02 21:34:59 +0100 | [diff] [blame] | 8 | * Copyright (c) 2007 Jonathan Cameron <jic23@kernel.org> |
Michael Hennerich | 6a6ec62 | 2011-03-21 16:44:40 +0100 | [diff] [blame] | 9 | * Copyright (c) 2011 Analog Devices Inc. |
Barry Song | a9d26f0 | 2010-05-04 14:43:15 +0100 | [diff] [blame] | 10 | * |
| 11 | * This program is free software; you can redistribute it and/or modify |
| 12 | * it under the terms of the GNU General Public License version 2 as |
| 13 | * published by the Free Software Foundation. |
| 14 | * |
| 15 | */ |
| 16 | |
| 17 | #include <linux/interrupt.h> |
| 18 | #include <linux/irq.h> |
Barry Song | a9d26f0 | 2010-05-04 14:43:15 +0100 | [diff] [blame] | 19 | #include <linux/delay.h> |
| 20 | #include <linux/mutex.h> |
| 21 | #include <linux/device.h> |
| 22 | #include <linux/kernel.h> |
| 23 | #include <linux/spi/spi.h> |
Mike Frysinger | 1cb6c1f | 2010-05-23 03:10:35 -0400 | [diff] [blame] | 24 | #include <linux/slab.h> |
Barry Song | a9d26f0 | 2010-05-04 14:43:15 +0100 | [diff] [blame] | 25 | #include <linux/sysfs.h> |
| 26 | #include <linux/list.h> |
Paul Gortmaker | 99c9785 | 2011-07-03 15:49:50 -0400 | [diff] [blame] | 27 | #include <linux/module.h> |
Lars-Peter Clausen | 1db18bb | 2013-01-16 12:48:00 +0000 | [diff] [blame] | 28 | #include <linux/debugfs.h> |
Rasmus Villemoes | 19e353f | 2015-01-23 00:34:02 +0100 | [diff] [blame] | 29 | #include <linux/bitops.h> |
Barry Song | a9d26f0 | 2010-05-04 14:43:15 +0100 | [diff] [blame] | 30 | |
Jonathan Cameron | 06458e2 | 2012-04-25 15:54:58 +0100 | [diff] [blame] | 31 | #include <linux/iio/iio.h> |
| 32 | #include <linux/iio/sysfs.h> |
| 33 | #include <linux/iio/buffer.h> |
Lars-Peter Clausen | cd888a17 | 2013-01-16 12:48:00 +0000 | [diff] [blame] | 34 | |
Barry Song | a9d26f0 | 2010-05-04 14:43:15 +0100 | [diff] [blame] | 35 | #include "adis16400.h" |
| 36 | |
Lars-Peter Clausen | 1db18bb | 2013-01-16 12:48:00 +0000 | [diff] [blame] | 37 | #ifdef CONFIG_DEBUG_FS |
| 38 | |
| 39 | static ssize_t adis16400_show_serial_number(struct file *file, |
| 40 | char __user *userbuf, size_t count, loff_t *ppos) |
| 41 | { |
| 42 | struct adis16400_state *st = file->private_data; |
| 43 | u16 lot1, lot2, serial_number; |
| 44 | char buf[16]; |
| 45 | size_t len; |
| 46 | int ret; |
| 47 | |
| 48 | ret = adis_read_reg_16(&st->adis, ADIS16334_LOT_ID1, &lot1); |
| 49 | if (ret < 0) |
| 50 | return ret; |
| 51 | |
| 52 | ret = adis_read_reg_16(&st->adis, ADIS16334_LOT_ID2, &lot2); |
| 53 | if (ret < 0) |
| 54 | return ret; |
| 55 | |
| 56 | ret = adis_read_reg_16(&st->adis, ADIS16334_SERIAL_NUMBER, |
| 57 | &serial_number); |
| 58 | if (ret < 0) |
| 59 | return ret; |
| 60 | |
| 61 | len = snprintf(buf, sizeof(buf), "%.4x-%.4x-%.4x\n", lot1, lot2, |
| 62 | serial_number); |
| 63 | |
| 64 | return simple_read_from_buffer(userbuf, count, ppos, buf, len); |
| 65 | } |
| 66 | |
| 67 | static const struct file_operations adis16400_serial_number_fops = { |
| 68 | .open = simple_open, |
| 69 | .read = adis16400_show_serial_number, |
| 70 | .llseek = default_llseek, |
| 71 | .owner = THIS_MODULE, |
| 72 | }; |
| 73 | |
| 74 | static int adis16400_show_product_id(void *arg, u64 *val) |
| 75 | { |
| 76 | struct adis16400_state *st = arg; |
| 77 | uint16_t prod_id; |
| 78 | int ret; |
| 79 | |
| 80 | ret = adis_read_reg_16(&st->adis, ADIS16400_PRODUCT_ID, &prod_id); |
| 81 | if (ret < 0) |
| 82 | return ret; |
| 83 | |
| 84 | *val = prod_id; |
| 85 | |
| 86 | return 0; |
| 87 | } |
| 88 | DEFINE_SIMPLE_ATTRIBUTE(adis16400_product_id_fops, |
| 89 | adis16400_show_product_id, NULL, "%lld\n"); |
| 90 | |
| 91 | static int adis16400_show_flash_count(void *arg, u64 *val) |
| 92 | { |
| 93 | struct adis16400_state *st = arg; |
| 94 | uint16_t flash_count; |
| 95 | int ret; |
| 96 | |
| 97 | ret = adis_read_reg_16(&st->adis, ADIS16400_FLASH_CNT, &flash_count); |
| 98 | if (ret < 0) |
| 99 | return ret; |
| 100 | |
| 101 | *val = flash_count; |
| 102 | |
| 103 | return 0; |
| 104 | } |
| 105 | DEFINE_SIMPLE_ATTRIBUTE(adis16400_flash_count_fops, |
| 106 | adis16400_show_flash_count, NULL, "%lld\n"); |
| 107 | |
| 108 | static int adis16400_debugfs_init(struct iio_dev *indio_dev) |
| 109 | { |
| 110 | struct adis16400_state *st = iio_priv(indio_dev); |
| 111 | |
| 112 | if (st->variant->flags & ADIS16400_HAS_SERIAL_NUMBER) |
| 113 | debugfs_create_file("serial_number", 0400, |
| 114 | indio_dev->debugfs_dentry, st, |
| 115 | &adis16400_serial_number_fops); |
| 116 | if (st->variant->flags & ADIS16400_HAS_PROD_ID) |
| 117 | debugfs_create_file("product_id", 0400, |
| 118 | indio_dev->debugfs_dentry, st, |
| 119 | &adis16400_product_id_fops); |
| 120 | debugfs_create_file("flash_count", 0400, indio_dev->debugfs_dentry, |
| 121 | st, &adis16400_flash_count_fops); |
| 122 | |
| 123 | return 0; |
| 124 | } |
| 125 | |
| 126 | #else |
| 127 | |
| 128 | static int adis16400_debugfs_init(struct iio_dev *indio_dev) |
| 129 | { |
| 130 | return 0; |
| 131 | } |
| 132 | |
| 133 | #endif |
| 134 | |
Jonathan Cameron | 2a29a90 | 2011-05-18 14:41:28 +0100 | [diff] [blame] | 135 | enum adis16400_chip_variant { |
Jonathan Cameron | 8e886e6 | 2011-05-18 14:41:30 +0100 | [diff] [blame] | 136 | ADIS16300, |
Jonathan Cameron | 85da505 | 2011-09-30 10:05:45 +0100 | [diff] [blame] | 137 | ADIS16334, |
Jonathan Cameron | 2a29a90 | 2011-05-18 14:41:28 +0100 | [diff] [blame] | 138 | ADIS16350, |
| 139 | ADIS16360, |
| 140 | ADIS16362, |
| 141 | ADIS16364, |
Lars-Peter Clausen | dc8615c | 2015-08-05 15:38:19 +0200 | [diff] [blame] | 142 | ADIS16367, |
Jonathan Cameron | 2a29a90 | 2011-05-18 14:41:28 +0100 | [diff] [blame] | 143 | ADIS16400, |
Lars-Peter Clausen | 72d9c98 | 2015-08-05 15:38:20 +0200 | [diff] [blame] | 144 | ADIS16445, |
Lars-Peter Clausen | 76ada52 | 2013-01-16 12:48:00 +0000 | [diff] [blame] | 145 | ADIS16448, |
Jonathan Cameron | 2a29a90 | 2011-05-18 14:41:28 +0100 | [diff] [blame] | 146 | }; |
| 147 | |
Lars-Peter Clausen | cd888a17 | 2013-01-16 12:48:00 +0000 | [diff] [blame] | 148 | static int adis16334_get_freq(struct adis16400_state *st) |
Lars-Peter Clausen | ea2ccb3 | 2012-10-30 10:26:00 +0000 | [diff] [blame] | 149 | { |
| 150 | int ret; |
Lars-Peter Clausen | f4c6d64 | 2013-01-16 12:48:00 +0000 | [diff] [blame] | 151 | uint16_t t; |
Lars-Peter Clausen | ea2ccb3 | 2012-10-30 10:26:00 +0000 | [diff] [blame] | 152 | |
Lars-Peter Clausen | cd888a17 | 2013-01-16 12:48:00 +0000 | [diff] [blame] | 153 | ret = adis_read_reg_16(&st->adis, ADIS16400_SMPL_PRD, &t); |
Lars-Peter Clausen | ea2ccb3 | 2012-10-30 10:26:00 +0000 | [diff] [blame] | 154 | if (ret < 0) |
| 155 | return ret; |
| 156 | |
| 157 | t >>= ADIS16334_RATE_DIV_SHIFT; |
| 158 | |
Lars-Peter Clausen | b24150e | 2013-01-16 12:48:00 +0000 | [diff] [blame] | 159 | return 819200 >> t; |
Lars-Peter Clausen | ea2ccb3 | 2012-10-30 10:26:00 +0000 | [diff] [blame] | 160 | } |
| 161 | |
Lars-Peter Clausen | cd888a17 | 2013-01-16 12:48:00 +0000 | [diff] [blame] | 162 | static int adis16334_set_freq(struct adis16400_state *st, unsigned int freq) |
Lars-Peter Clausen | ea2ccb3 | 2012-10-30 10:26:00 +0000 | [diff] [blame] | 163 | { |
| 164 | unsigned int t; |
| 165 | |
Lars-Peter Clausen | b24150e | 2013-01-16 12:48:00 +0000 | [diff] [blame] | 166 | if (freq < 819200) |
| 167 | t = ilog2(819200 / freq); |
Lars-Peter Clausen | 06220b8 | 2013-01-16 12:48:00 +0000 | [diff] [blame] | 168 | else |
| 169 | t = 0; |
Lars-Peter Clausen | ea2ccb3 | 2012-10-30 10:26:00 +0000 | [diff] [blame] | 170 | |
| 171 | if (t > 0x31) |
| 172 | t = 0x31; |
| 173 | |
| 174 | t <<= ADIS16334_RATE_DIV_SHIFT; |
| 175 | t |= ADIS16334_RATE_INT_CLK; |
| 176 | |
Lars-Peter Clausen | cd888a17 | 2013-01-16 12:48:00 +0000 | [diff] [blame] | 177 | return adis_write_reg_16(&st->adis, ADIS16400_SMPL_PRD, t); |
Lars-Peter Clausen | ea2ccb3 | 2012-10-30 10:26:00 +0000 | [diff] [blame] | 178 | } |
| 179 | |
Lars-Peter Clausen | cd888a17 | 2013-01-16 12:48:00 +0000 | [diff] [blame] | 180 | static int adis16400_get_freq(struct adis16400_state *st) |
Jonathan Cameron | 98c9373 | 2011-11-27 11:39:13 +0000 | [diff] [blame] | 181 | { |
Jonathan Cameron | 98c9373 | 2011-11-27 11:39:13 +0000 | [diff] [blame] | 182 | int sps, ret; |
Lars-Peter Clausen | f4c6d64 | 2013-01-16 12:48:00 +0000 | [diff] [blame] | 183 | uint16_t t; |
Jonathan Cameron | 98c9373 | 2011-11-27 11:39:13 +0000 | [diff] [blame] | 184 | |
Lars-Peter Clausen | cd888a17 | 2013-01-16 12:48:00 +0000 | [diff] [blame] | 185 | ret = adis_read_reg_16(&st->adis, ADIS16400_SMPL_PRD, &t); |
Jonathan Cameron | 98c9373 | 2011-11-27 11:39:13 +0000 | [diff] [blame] | 186 | if (ret < 0) |
| 187 | return ret; |
Lars-Peter Clausen | f4c6d64 | 2013-01-16 12:48:00 +0000 | [diff] [blame] | 188 | |
Lars-Peter Clausen | b24150e | 2013-01-16 12:48:00 +0000 | [diff] [blame] | 189 | sps = (t & ADIS16400_SMPL_PRD_TIME_BASE) ? 52851 : 1638404; |
Jonathan Cameron | 98c9373 | 2011-11-27 11:39:13 +0000 | [diff] [blame] | 190 | sps /= (t & ADIS16400_SMPL_PRD_DIV_MASK) + 1; |
| 191 | |
| 192 | return sps; |
| 193 | } |
| 194 | |
Lars-Peter Clausen | cd888a17 | 2013-01-16 12:48:00 +0000 | [diff] [blame] | 195 | static int adis16400_set_freq(struct adis16400_state *st, unsigned int freq) |
Lars-Peter Clausen | ea2ccb3 | 2012-10-30 10:26:00 +0000 | [diff] [blame] | 196 | { |
Lars-Peter Clausen | ea2ccb3 | 2012-10-30 10:26:00 +0000 | [diff] [blame] | 197 | unsigned int t; |
Lars-Peter Clausen | 7ba8a04 | 2013-01-16 12:48:00 +0000 | [diff] [blame] | 198 | uint8_t val = 0; |
Lars-Peter Clausen | ea2ccb3 | 2012-10-30 10:26:00 +0000 | [diff] [blame] | 199 | |
Lars-Peter Clausen | b24150e | 2013-01-16 12:48:00 +0000 | [diff] [blame] | 200 | t = 1638404 / freq; |
Lars-Peter Clausen | 7ba8a04 | 2013-01-16 12:48:00 +0000 | [diff] [blame] | 201 | if (t >= 128) { |
| 202 | val |= ADIS16400_SMPL_PRD_TIME_BASE; |
| 203 | t = 52851 / freq; |
| 204 | if (t >= 128) |
| 205 | t = 127; |
| 206 | } else if (t != 0) { |
Lars-Peter Clausen | ea2ccb3 | 2012-10-30 10:26:00 +0000 | [diff] [blame] | 207 | t--; |
Lars-Peter Clausen | 7ba8a04 | 2013-01-16 12:48:00 +0000 | [diff] [blame] | 208 | } |
Lars-Peter Clausen | f4c6d64 | 2013-01-16 12:48:00 +0000 | [diff] [blame] | 209 | |
Lars-Peter Clausen | 7ba8a04 | 2013-01-16 12:48:00 +0000 | [diff] [blame] | 210 | val |= t; |
| 211 | |
| 212 | if (t >= 0x0A || (val & ADIS16400_SMPL_PRD_TIME_BASE)) |
Lars-Peter Clausen | cd888a17 | 2013-01-16 12:48:00 +0000 | [diff] [blame] | 213 | st->adis.spi->max_speed_hz = ADIS16400_SPI_SLOW; |
Lars-Peter Clausen | ea2ccb3 | 2012-10-30 10:26:00 +0000 | [diff] [blame] | 214 | else |
Lars-Peter Clausen | cd888a17 | 2013-01-16 12:48:00 +0000 | [diff] [blame] | 215 | st->adis.spi->max_speed_hz = ADIS16400_SPI_FAST; |
Lars-Peter Clausen | ea2ccb3 | 2012-10-30 10:26:00 +0000 | [diff] [blame] | 216 | |
Lars-Peter Clausen | 7ba8a04 | 2013-01-16 12:48:00 +0000 | [diff] [blame] | 217 | return adis_write_reg_8(&st->adis, ADIS16400_SMPL_PRD, val); |
Lars-Peter Clausen | ea2ccb3 | 2012-10-30 10:26:00 +0000 | [diff] [blame] | 218 | } |
| 219 | |
Jonathan Cameron | 98c9373 | 2011-11-27 11:39:13 +0000 | [diff] [blame] | 220 | static const unsigned adis16400_3db_divisors[] = { |
| 221 | [0] = 2, /* Special case */ |
Lars-Peter Clausen | bdb20bd | 2013-01-16 12:48:00 +0000 | [diff] [blame] | 222 | [1] = 6, |
| 223 | [2] = 12, |
| 224 | [3] = 25, |
| 225 | [4] = 50, |
| 226 | [5] = 100, |
| 227 | [6] = 200, |
| 228 | [7] = 200, /* Not a valid setting */ |
Jonathan Cameron | 98c9373 | 2011-11-27 11:39:13 +0000 | [diff] [blame] | 229 | }; |
| 230 | |
| 231 | static int adis16400_set_filter(struct iio_dev *indio_dev, int sps, int val) |
| 232 | { |
Lars-Peter Clausen | cd888a17 | 2013-01-16 12:48:00 +0000 | [diff] [blame] | 233 | struct adis16400_state *st = iio_priv(indio_dev); |
Lars-Peter Clausen | f4c6d64 | 2013-01-16 12:48:00 +0000 | [diff] [blame] | 234 | uint16_t val16; |
Jonathan Cameron | 98c9373 | 2011-11-27 11:39:13 +0000 | [diff] [blame] | 235 | int i, ret; |
Jonathan Cameron | 98c9373 | 2011-11-27 11:39:13 +0000 | [diff] [blame] | 236 | |
Lars-Peter Clausen | bdb20bd | 2013-01-16 12:48:00 +0000 | [diff] [blame] | 237 | for (i = ARRAY_SIZE(adis16400_3db_divisors) - 1; i >= 1; i--) { |
| 238 | if (sps / adis16400_3db_divisors[i] >= val) |
| 239 | break; |
Jonathan Cameron | 98c9373 | 2011-11-27 11:39:13 +0000 | [diff] [blame] | 240 | } |
Lars-Peter Clausen | bdb20bd | 2013-01-16 12:48:00 +0000 | [diff] [blame] | 241 | |
Lars-Peter Clausen | cd888a17 | 2013-01-16 12:48:00 +0000 | [diff] [blame] | 242 | ret = adis_read_reg_16(&st->adis, ADIS16400_SENS_AVG, &val16); |
Lars-Peter Clausen | bdb20bd | 2013-01-16 12:48:00 +0000 | [diff] [blame] | 243 | if (ret < 0) |
| 244 | return ret; |
| 245 | |
Lars-Peter Clausen | cd888a17 | 2013-01-16 12:48:00 +0000 | [diff] [blame] | 246 | ret = adis_write_reg_16(&st->adis, ADIS16400_SENS_AVG, |
Lars-Peter Clausen | bdb20bd | 2013-01-16 12:48:00 +0000 | [diff] [blame] | 247 | (val16 & ~0x07) | i); |
Jonathan Cameron | 98c9373 | 2011-11-27 11:39:13 +0000 | [diff] [blame] | 248 | return ret; |
| 249 | } |
| 250 | |
Barry Song | a9d26f0 | 2010-05-04 14:43:15 +0100 | [diff] [blame] | 251 | /* Power down the device */ |
Jonathan Cameron | e785484 | 2011-05-18 14:41:27 +0100 | [diff] [blame] | 252 | static int adis16400_stop_device(struct iio_dev *indio_dev) |
Barry Song | a9d26f0 | 2010-05-04 14:43:15 +0100 | [diff] [blame] | 253 | { |
Lars-Peter Clausen | cd888a17 | 2013-01-16 12:48:00 +0000 | [diff] [blame] | 254 | struct adis16400_state *st = iio_priv(indio_dev); |
Barry Song | a9d26f0 | 2010-05-04 14:43:15 +0100 | [diff] [blame] | 255 | int ret; |
Barry Song | a9d26f0 | 2010-05-04 14:43:15 +0100 | [diff] [blame] | 256 | |
Lars-Peter Clausen | f4c6d64 | 2013-01-16 12:48:00 +0000 | [diff] [blame] | 257 | ret = adis_write_reg_16(&st->adis, ADIS16400_SLP_CNT, |
| 258 | ADIS16400_SLP_CNT_POWER_OFF); |
Barry Song | a9d26f0 | 2010-05-04 14:43:15 +0100 | [diff] [blame] | 259 | if (ret) |
Jonathan Cameron | e785484 | 2011-05-18 14:41:27 +0100 | [diff] [blame] | 260 | dev_err(&indio_dev->dev, |
| 261 | "problem with turning device off: SLP_CNT"); |
Barry Song | a9d26f0 | 2010-05-04 14:43:15 +0100 | [diff] [blame] | 262 | |
| 263 | return ret; |
| 264 | } |
| 265 | |
Jonathan Cameron | 38d15f0 | 2011-05-18 14:42:23 +0100 | [diff] [blame] | 266 | static int adis16400_initial_setup(struct iio_dev *indio_dev) |
Barry Song | a9d26f0 | 2010-05-04 14:43:15 +0100 | [diff] [blame] | 267 | { |
Jonathan Cameron | 38d15f0 | 2011-05-18 14:42:23 +0100 | [diff] [blame] | 268 | struct adis16400_state *st = iio_priv(indio_dev); |
Lars-Peter Clausen | f4c6d64 | 2013-01-16 12:48:00 +0000 | [diff] [blame] | 269 | uint16_t prod_id, smp_prd; |
| 270 | unsigned int device_id; |
| 271 | int ret; |
Barry Song | a9d26f0 | 2010-05-04 14:43:15 +0100 | [diff] [blame] | 272 | |
Lars-Peter Clausen | ea2ccb3 | 2012-10-30 10:26:00 +0000 | [diff] [blame] | 273 | /* use low spi speed for init if the device has a slow mode */ |
| 274 | if (st->variant->flags & ADIS16400_HAS_SLOW_MODE) |
Lars-Peter Clausen | cd888a17 | 2013-01-16 12:48:00 +0000 | [diff] [blame] | 275 | st->adis.spi->max_speed_hz = ADIS16400_SPI_SLOW; |
Lars-Peter Clausen | ea2ccb3 | 2012-10-30 10:26:00 +0000 | [diff] [blame] | 276 | else |
Lars-Peter Clausen | cd888a17 | 2013-01-16 12:48:00 +0000 | [diff] [blame] | 277 | st->adis.spi->max_speed_hz = ADIS16400_SPI_FAST; |
| 278 | st->adis.spi->mode = SPI_MODE_3; |
| 279 | spi_setup(st->adis.spi); |
Barry Song | a9d26f0 | 2010-05-04 14:43:15 +0100 | [diff] [blame] | 280 | |
Lars-Peter Clausen | cd888a17 | 2013-01-16 12:48:00 +0000 | [diff] [blame] | 281 | ret = adis_initial_startup(&st->adis); |
| 282 | if (ret) |
| 283 | return ret; |
Barry Song | a9d26f0 | 2010-05-04 14:43:15 +0100 | [diff] [blame] | 284 | |
Jonathan Cameron | 2a29a90 | 2011-05-18 14:41:28 +0100 | [diff] [blame] | 285 | if (st->variant->flags & ADIS16400_HAS_PROD_ID) { |
Lars-Peter Clausen | cd888a17 | 2013-01-16 12:48:00 +0000 | [diff] [blame] | 286 | ret = adis_read_reg_16(&st->adis, |
Jonathan Cameron | 2a29a90 | 2011-05-18 14:41:28 +0100 | [diff] [blame] | 287 | ADIS16400_PRODUCT_ID, &prod_id); |
| 288 | if (ret) |
| 289 | goto err_ret; |
Barry Song | a9d26f0 | 2010-05-04 14:43:15 +0100 | [diff] [blame] | 290 | |
Lars-Peter Clausen | fc8850c | 2012-10-30 10:26:00 +0000 | [diff] [blame] | 291 | sscanf(indio_dev->name, "adis%u\n", &device_id); |
| 292 | |
| 293 | if (prod_id != device_id) |
| 294 | dev_warn(&indio_dev->dev, "Device ID(%u) and product ID(%u) do not match.", |
| 295 | device_id, prod_id); |
Barry Song | a9d26f0 | 2010-05-04 14:43:15 +0100 | [diff] [blame] | 296 | |
Michael Hennerich | 69d80ba | 2011-09-02 17:25:34 +0100 | [diff] [blame] | 297 | dev_info(&indio_dev->dev, "%s: prod_id 0x%04x at CS%d (irq %d)\n", |
Lars-Peter Clausen | f4c6d64 | 2013-01-16 12:48:00 +0000 | [diff] [blame] | 298 | indio_dev->name, prod_id, |
| 299 | st->adis.spi->chip_select, st->adis.spi->irq); |
Jonathan Cameron | 2a29a90 | 2011-05-18 14:41:28 +0100 | [diff] [blame] | 300 | } |
Barry Song | a9d26f0 | 2010-05-04 14:43:15 +0100 | [diff] [blame] | 301 | /* use high spi speed if possible */ |
Lars-Peter Clausen | ea2ccb3 | 2012-10-30 10:26:00 +0000 | [diff] [blame] | 302 | if (st->variant->flags & ADIS16400_HAS_SLOW_MODE) { |
Lars-Peter Clausen | cd888a17 | 2013-01-16 12:48:00 +0000 | [diff] [blame] | 303 | ret = adis_read_reg_16(&st->adis, ADIS16400_SMPL_PRD, &smp_prd); |
Lars-Peter Clausen | ea2ccb3 | 2012-10-30 10:26:00 +0000 | [diff] [blame] | 304 | if (ret) |
| 305 | goto err_ret; |
| 306 | |
| 307 | if ((smp_prd & ADIS16400_SMPL_PRD_DIV_MASK) < 0x0A) { |
Lars-Peter Clausen | cd888a17 | 2013-01-16 12:48:00 +0000 | [diff] [blame] | 308 | st->adis.spi->max_speed_hz = ADIS16400_SPI_FAST; |
| 309 | spi_setup(st->adis.spi); |
Lars-Peter Clausen | ea2ccb3 | 2012-10-30 10:26:00 +0000 | [diff] [blame] | 310 | } |
Barry Song | a9d26f0 | 2010-05-04 14:43:15 +0100 | [diff] [blame] | 311 | } |
| 312 | |
Barry Song | a9d26f0 | 2010-05-04 14:43:15 +0100 | [diff] [blame] | 313 | err_ret: |
Barry Song | a9d26f0 | 2010-05-04 14:43:15 +0100 | [diff] [blame] | 314 | return ret; |
| 315 | } |
| 316 | |
Lars-Peter Clausen | f4c6d64 | 2013-01-16 12:48:00 +0000 | [diff] [blame] | 317 | static const uint8_t adis16400_addresses[] = { |
Lars-Peter Clausen | cd888a17 | 2013-01-16 12:48:00 +0000 | [diff] [blame] | 318 | [ADIS16400_SCAN_GYRO_X] = ADIS16400_XGYRO_OFF, |
| 319 | [ADIS16400_SCAN_GYRO_Y] = ADIS16400_YGYRO_OFF, |
| 320 | [ADIS16400_SCAN_GYRO_Z] = ADIS16400_ZGYRO_OFF, |
| 321 | [ADIS16400_SCAN_ACC_X] = ADIS16400_XACCL_OFF, |
| 322 | [ADIS16400_SCAN_ACC_Y] = ADIS16400_YACCL_OFF, |
| 323 | [ADIS16400_SCAN_ACC_Z] = ADIS16400_ZACCL_OFF, |
Jonathan Cameron | e785484 | 2011-05-18 14:41:27 +0100 | [diff] [blame] | 324 | }; |
| 325 | |
Jonathan Cameron | e785484 | 2011-05-18 14:41:27 +0100 | [diff] [blame] | 326 | static int adis16400_write_raw(struct iio_dev *indio_dev, |
Lars-Peter Clausen | f4c6d64 | 2013-01-16 12:48:00 +0000 | [diff] [blame] | 327 | struct iio_chan_spec const *chan, int val, int val2, long info) |
Jonathan Cameron | e785484 | 2011-05-18 14:41:27 +0100 | [diff] [blame] | 328 | { |
Jonathan Cameron | 98c9373 | 2011-11-27 11:39:13 +0000 | [diff] [blame] | 329 | struct adis16400_state *st = iio_priv(indio_dev); |
| 330 | int ret, sps; |
Jonathan Cameron | 521de51 | 2011-09-02 17:25:33 +0100 | [diff] [blame] | 331 | |
Lars-Peter Clausen | f4c6d64 | 2013-01-16 12:48:00 +0000 | [diff] [blame] | 332 | switch (info) { |
Jonathan Cameron | c8a9f80 | 2011-10-26 17:41:36 +0100 | [diff] [blame] | 333 | case IIO_CHAN_INFO_CALIBBIAS: |
Jonathan Cameron | e785484 | 2011-05-18 14:41:27 +0100 | [diff] [blame] | 334 | mutex_lock(&indio_dev->mlock); |
Lars-Peter Clausen | cd888a17 | 2013-01-16 12:48:00 +0000 | [diff] [blame] | 335 | ret = adis_write_reg_16(&st->adis, |
| 336 | adis16400_addresses[chan->scan_index], val); |
Jonathan Cameron | e785484 | 2011-05-18 14:41:27 +0100 | [diff] [blame] | 337 | mutex_unlock(&indio_dev->mlock); |
| 338 | return ret; |
Jonathan Cameron | 98c9373 | 2011-11-27 11:39:13 +0000 | [diff] [blame] | 339 | case IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY: |
Lars-Peter Clausen | f4c6d64 | 2013-01-16 12:48:00 +0000 | [diff] [blame] | 340 | /* |
| 341 | * Need to cache values so we can update if the frequency |
| 342 | * changes. |
| 343 | */ |
Jonathan Cameron | 98c9373 | 2011-11-27 11:39:13 +0000 | [diff] [blame] | 344 | mutex_lock(&indio_dev->mlock); |
| 345 | st->filt_int = val; |
| 346 | /* Work out update to current value */ |
Lars-Peter Clausen | cd888a17 | 2013-01-16 12:48:00 +0000 | [diff] [blame] | 347 | sps = st->variant->get_freq(st); |
Jonathan Cameron | 98c9373 | 2011-11-27 11:39:13 +0000 | [diff] [blame] | 348 | if (sps < 0) { |
| 349 | mutex_unlock(&indio_dev->mlock); |
| 350 | return sps; |
| 351 | } |
| 352 | |
Lars-Peter Clausen | b24150e | 2013-01-16 12:48:00 +0000 | [diff] [blame] | 353 | ret = adis16400_set_filter(indio_dev, sps, |
| 354 | val * 1000 + val2 / 1000); |
Jonathan Cameron | 98c9373 | 2011-11-27 11:39:13 +0000 | [diff] [blame] | 355 | mutex_unlock(&indio_dev->mlock); |
| 356 | return ret; |
Jonathan Cameron | a07a97d | 2014-06-22 20:59:00 +0100 | [diff] [blame] | 357 | case IIO_CHAN_INFO_SAMP_FREQ: |
| 358 | sps = val * 1000 + val2 / 1000; |
| 359 | |
| 360 | if (sps <= 0) |
| 361 | return -EINVAL; |
| 362 | |
| 363 | mutex_lock(&indio_dev->mlock); |
| 364 | ret = st->variant->set_freq(st, sps); |
| 365 | mutex_unlock(&indio_dev->mlock); |
| 366 | return ret; |
Jonathan Cameron | e785484 | 2011-05-18 14:41:27 +0100 | [diff] [blame] | 367 | default: |
| 368 | return -EINVAL; |
| 369 | } |
| 370 | } |
| 371 | |
| 372 | static int adis16400_read_raw(struct iio_dev *indio_dev, |
Lars-Peter Clausen | f4c6d64 | 2013-01-16 12:48:00 +0000 | [diff] [blame] | 373 | struct iio_chan_spec const *chan, int *val, int *val2, long info) |
Jonathan Cameron | e785484 | 2011-05-18 14:41:27 +0100 | [diff] [blame] | 374 | { |
Jonathan Cameron | 38d15f0 | 2011-05-18 14:42:23 +0100 | [diff] [blame] | 375 | struct adis16400_state *st = iio_priv(indio_dev); |
Lars-Peter Clausen | f4c6d64 | 2013-01-16 12:48:00 +0000 | [diff] [blame] | 376 | int16_t val16; |
Lars-Peter Clausen | cd888a17 | 2013-01-16 12:48:00 +0000 | [diff] [blame] | 377 | int ret; |
Jonathan Cameron | e785484 | 2011-05-18 14:41:27 +0100 | [diff] [blame] | 378 | |
Lars-Peter Clausen | f4c6d64 | 2013-01-16 12:48:00 +0000 | [diff] [blame] | 379 | switch (info) { |
Jonathan Cameron | a5d016d | 2012-04-15 17:41:21 +0100 | [diff] [blame] | 380 | case IIO_CHAN_INFO_RAW: |
Lars-Peter Clausen | cd888a17 | 2013-01-16 12:48:00 +0000 | [diff] [blame] | 381 | return adis_single_conversion(indio_dev, chan, 0, val); |
Jonathan Cameron | c8a9f80 | 2011-10-26 17:41:36 +0100 | [diff] [blame] | 382 | case IIO_CHAN_INFO_SCALE: |
Jonathan Cameron | e785484 | 2011-05-18 14:41:27 +0100 | [diff] [blame] | 383 | switch (chan->type) { |
Jonathan Cameron | 41ea040 | 2011-10-05 15:27:59 +0100 | [diff] [blame] | 384 | case IIO_ANGL_VEL: |
Jonathan Cameron | e785484 | 2011-05-18 14:41:27 +0100 | [diff] [blame] | 385 | *val = 0; |
Jonathan Cameron | 2a29a90 | 2011-05-18 14:41:28 +0100 | [diff] [blame] | 386 | *val2 = st->variant->gyro_scale_micro; |
Jonathan Cameron | e785484 | 2011-05-18 14:41:27 +0100 | [diff] [blame] | 387 | return IIO_VAL_INT_PLUS_MICRO; |
Jonathan Cameron | 6835cb6 | 2011-09-27 09:56:41 +0100 | [diff] [blame] | 388 | case IIO_VOLTAGE: |
Jonathan Cameron | e785484 | 2011-05-18 14:41:27 +0100 | [diff] [blame] | 389 | *val = 0; |
Lars-Peter Clausen | 1cf8c97 | 2012-10-15 10:35:00 +0100 | [diff] [blame] | 390 | if (chan->channel == 0) { |
| 391 | *val = 2; |
| 392 | *val2 = 418000; /* 2.418 mV */ |
| 393 | } else { |
| 394 | *val = 0; |
| 395 | *val2 = 805800; /* 805.8 uV */ |
| 396 | } |
Jonathan Cameron | e785484 | 2011-05-18 14:41:27 +0100 | [diff] [blame] | 397 | return IIO_VAL_INT_PLUS_MICRO; |
| 398 | case IIO_ACCEL: |
| 399 | *val = 0; |
Jonathan Cameron | 2a29a90 | 2011-05-18 14:41:28 +0100 | [diff] [blame] | 400 | *val2 = st->variant->accel_scale_micro; |
Jonathan Cameron | e785484 | 2011-05-18 14:41:27 +0100 | [diff] [blame] | 401 | return IIO_VAL_INT_PLUS_MICRO; |
| 402 | case IIO_MAGN: |
| 403 | *val = 0; |
Lars-Peter Clausen | 1cf8c97 | 2012-10-15 10:35:00 +0100 | [diff] [blame] | 404 | *val2 = 500; /* 0.5 mgauss */ |
Jonathan Cameron | e785484 | 2011-05-18 14:41:27 +0100 | [diff] [blame] | 405 | return IIO_VAL_INT_PLUS_MICRO; |
| 406 | case IIO_TEMP: |
Lars-Peter Clausen | 760ebc0 | 2012-10-15 10:35:00 +0100 | [diff] [blame] | 407 | *val = st->variant->temp_scale_nano / 1000000; |
| 408 | *val2 = (st->variant->temp_scale_nano % 1000000); |
Jonathan Cameron | e785484 | 2011-05-18 14:41:27 +0100 | [diff] [blame] | 409 | return IIO_VAL_INT_PLUS_MICRO; |
Lars-Peter Clausen | 69ca2d7 | 2015-05-15 17:18:34 +0200 | [diff] [blame] | 410 | case IIO_PRESSURE: |
| 411 | /* 20 uBar = 0.002kPascal */ |
| 412 | *val = 0; |
| 413 | *val2 = 2000; |
| 414 | return IIO_VAL_INT_PLUS_MICRO; |
Jonathan Cameron | e785484 | 2011-05-18 14:41:27 +0100 | [diff] [blame] | 415 | default: |
| 416 | return -EINVAL; |
| 417 | } |
Jonathan Cameron | c8a9f80 | 2011-10-26 17:41:36 +0100 | [diff] [blame] | 418 | case IIO_CHAN_INFO_CALIBBIAS: |
Jonathan Cameron | e785484 | 2011-05-18 14:41:27 +0100 | [diff] [blame] | 419 | mutex_lock(&indio_dev->mlock); |
Lars-Peter Clausen | cd888a17 | 2013-01-16 12:48:00 +0000 | [diff] [blame] | 420 | ret = adis_read_reg_16(&st->adis, |
| 421 | adis16400_addresses[chan->scan_index], &val16); |
Jonathan Cameron | 2a29a90 | 2011-05-18 14:41:28 +0100 | [diff] [blame] | 422 | mutex_unlock(&indio_dev->mlock); |
| 423 | if (ret) |
Jonathan Cameron | e785484 | 2011-05-18 14:41:27 +0100 | [diff] [blame] | 424 | return ret; |
Rasmus Villemoes | 19e353f | 2015-01-23 00:34:02 +0100 | [diff] [blame] | 425 | val16 = sign_extend32(val16, 11); |
Jonathan Cameron | e785484 | 2011-05-18 14:41:27 +0100 | [diff] [blame] | 426 | *val = val16; |
| 427 | return IIO_VAL_INT; |
Jonathan Cameron | c8a9f80 | 2011-10-26 17:41:36 +0100 | [diff] [blame] | 428 | case IIO_CHAN_INFO_OFFSET: |
Jonathan Cameron | e785484 | 2011-05-18 14:41:27 +0100 | [diff] [blame] | 429 | /* currently only temperature */ |
Lars-Peter Clausen | 760ebc0 | 2012-10-15 10:35:00 +0100 | [diff] [blame] | 430 | *val = st->variant->temp_offset; |
Lars-Peter Clausen | 1cf8c97 | 2012-10-15 10:35:00 +0100 | [diff] [blame] | 431 | return IIO_VAL_INT; |
Jonathan Cameron | 98c9373 | 2011-11-27 11:39:13 +0000 | [diff] [blame] | 432 | case IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY: |
| 433 | mutex_lock(&indio_dev->mlock); |
| 434 | /* Need both the number of taps and the sampling frequency */ |
Lars-Peter Clausen | cd888a17 | 2013-01-16 12:48:00 +0000 | [diff] [blame] | 435 | ret = adis_read_reg_16(&st->adis, |
Jonathan Cameron | 98c9373 | 2011-11-27 11:39:13 +0000 | [diff] [blame] | 436 | ADIS16400_SENS_AVG, |
| 437 | &val16); |
| 438 | if (ret < 0) { |
| 439 | mutex_unlock(&indio_dev->mlock); |
| 440 | return ret; |
| 441 | } |
Lars-Peter Clausen | cd888a17 | 2013-01-16 12:48:00 +0000 | [diff] [blame] | 442 | ret = st->variant->get_freq(st); |
Lars-Peter Clausen | b24150e | 2013-01-16 12:48:00 +0000 | [diff] [blame] | 443 | if (ret >= 0) { |
| 444 | ret /= adis16400_3db_divisors[val16 & 0x07]; |
| 445 | *val = ret / 1000; |
| 446 | *val2 = (ret % 1000) * 1000; |
| 447 | } |
Jonathan Cameron | 98c9373 | 2011-11-27 11:39:13 +0000 | [diff] [blame] | 448 | mutex_unlock(&indio_dev->mlock); |
| 449 | if (ret < 0) |
| 450 | return ret; |
| 451 | return IIO_VAL_INT_PLUS_MICRO; |
Jonathan Cameron | a07a97d | 2014-06-22 20:59:00 +0100 | [diff] [blame] | 452 | case IIO_CHAN_INFO_SAMP_FREQ: |
| 453 | ret = st->variant->get_freq(st); |
| 454 | if (ret < 0) |
| 455 | return ret; |
| 456 | *val = ret / 1000; |
| 457 | *val2 = (ret % 1000) * 1000; |
| 458 | return IIO_VAL_INT_PLUS_MICRO; |
Jonathan Cameron | e785484 | 2011-05-18 14:41:27 +0100 | [diff] [blame] | 459 | default: |
| 460 | return -EINVAL; |
| 461 | } |
| 462 | } |
| 463 | |
Paul Cercueil | 7323d59 | 2015-05-15 17:18:35 +0200 | [diff] [blame] | 464 | #define ADIS16400_VOLTAGE_CHAN(addr, bits, name, si, chn) { \ |
Lars-Peter Clausen | 599acfb | 2013-01-16 12:48:00 +0000 | [diff] [blame] | 465 | .type = IIO_VOLTAGE, \ |
| 466 | .indexed = 1, \ |
Paul Cercueil | 7323d59 | 2015-05-15 17:18:35 +0200 | [diff] [blame] | 467 | .channel = chn, \ |
Lars-Peter Clausen | 599acfb | 2013-01-16 12:48:00 +0000 | [diff] [blame] | 468 | .extend_name = name, \ |
Jonathan Cameron | 19a7c88 | 2013-02-27 19:31:17 +0000 | [diff] [blame] | 469 | .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \ |
| 470 | BIT(IIO_CHAN_INFO_SCALE), \ |
Jonathan Cameron | a07a97d | 2014-06-22 20:59:00 +0100 | [diff] [blame] | 471 | .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \ |
Lars-Peter Clausen | 599acfb | 2013-01-16 12:48:00 +0000 | [diff] [blame] | 472 | .address = (addr), \ |
| 473 | .scan_index = (si), \ |
Lars-Peter Clausen | 5eda355 | 2013-01-16 12:48:00 +0000 | [diff] [blame] | 474 | .scan_type = { \ |
| 475 | .sign = 'u', \ |
| 476 | .realbits = (bits), \ |
| 477 | .storagebits = 16, \ |
| 478 | .shift = 0, \ |
| 479 | .endianness = IIO_BE, \ |
| 480 | }, \ |
Lars-Peter Clausen | 599acfb | 2013-01-16 12:48:00 +0000 | [diff] [blame] | 481 | } |
| 482 | |
| 483 | #define ADIS16400_SUPPLY_CHAN(addr, bits) \ |
Paul Cercueil | 7323d59 | 2015-05-15 17:18:35 +0200 | [diff] [blame] | 484 | ADIS16400_VOLTAGE_CHAN(addr, bits, "supply", ADIS16400_SCAN_SUPPLY, 0) |
Lars-Peter Clausen | 599acfb | 2013-01-16 12:48:00 +0000 | [diff] [blame] | 485 | |
| 486 | #define ADIS16400_AUX_ADC_CHAN(addr, bits) \ |
Paul Cercueil | 7323d59 | 2015-05-15 17:18:35 +0200 | [diff] [blame] | 487 | ADIS16400_VOLTAGE_CHAN(addr, bits, NULL, ADIS16400_SCAN_ADC, 1) |
Lars-Peter Clausen | 599acfb | 2013-01-16 12:48:00 +0000 | [diff] [blame] | 488 | |
| 489 | #define ADIS16400_GYRO_CHAN(mod, addr, bits) { \ |
| 490 | .type = IIO_ANGL_VEL, \ |
| 491 | .modified = 1, \ |
| 492 | .channel2 = IIO_MOD_ ## mod, \ |
Jonathan Cameron | 19a7c88 | 2013-02-27 19:31:17 +0000 | [diff] [blame] | 493 | .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \ |
| 494 | BIT(IIO_CHAN_INFO_CALIBBIAS), \ |
| 495 | .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE) | \ |
| 496 | BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY), \ |
Jonathan Cameron | a07a97d | 2014-06-22 20:59:00 +0100 | [diff] [blame] | 497 | .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \ |
Lars-Peter Clausen | 599acfb | 2013-01-16 12:48:00 +0000 | [diff] [blame] | 498 | .address = addr, \ |
| 499 | .scan_index = ADIS16400_SCAN_GYRO_ ## mod, \ |
Lars-Peter Clausen | 5eda355 | 2013-01-16 12:48:00 +0000 | [diff] [blame] | 500 | .scan_type = { \ |
| 501 | .sign = 's', \ |
| 502 | .realbits = (bits), \ |
| 503 | .storagebits = 16, \ |
| 504 | .shift = 0, \ |
| 505 | .endianness = IIO_BE, \ |
| 506 | }, \ |
Lars-Peter Clausen | 599acfb | 2013-01-16 12:48:00 +0000 | [diff] [blame] | 507 | } |
| 508 | |
| 509 | #define ADIS16400_ACCEL_CHAN(mod, addr, bits) { \ |
| 510 | .type = IIO_ACCEL, \ |
| 511 | .modified = 1, \ |
| 512 | .channel2 = IIO_MOD_ ## mod, \ |
Jonathan Cameron | 19a7c88 | 2013-02-27 19:31:17 +0000 | [diff] [blame] | 513 | .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \ |
| 514 | BIT(IIO_CHAN_INFO_CALIBBIAS), \ |
| 515 | .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE) | \ |
| 516 | BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY), \ |
Jonathan Cameron | a07a97d | 2014-06-22 20:59:00 +0100 | [diff] [blame] | 517 | .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \ |
Lars-Peter Clausen | 599acfb | 2013-01-16 12:48:00 +0000 | [diff] [blame] | 518 | .address = (addr), \ |
| 519 | .scan_index = ADIS16400_SCAN_ACC_ ## mod, \ |
Lars-Peter Clausen | 5eda355 | 2013-01-16 12:48:00 +0000 | [diff] [blame] | 520 | .scan_type = { \ |
| 521 | .sign = 's', \ |
| 522 | .realbits = (bits), \ |
| 523 | .storagebits = 16, \ |
| 524 | .shift = 0, \ |
| 525 | .endianness = IIO_BE, \ |
| 526 | }, \ |
Lars-Peter Clausen | 599acfb | 2013-01-16 12:48:00 +0000 | [diff] [blame] | 527 | } |
| 528 | |
| 529 | #define ADIS16400_MAGN_CHAN(mod, addr, bits) { \ |
| 530 | .type = IIO_MAGN, \ |
| 531 | .modified = 1, \ |
| 532 | .channel2 = IIO_MOD_ ## mod, \ |
Jonathan Cameron | 19a7c88 | 2013-02-27 19:31:17 +0000 | [diff] [blame] | 533 | .info_mask_separate = BIT(IIO_CHAN_INFO_RAW), \ |
| 534 | .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE) | \ |
| 535 | BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY), \ |
Jonathan Cameron | a07a97d | 2014-06-22 20:59:00 +0100 | [diff] [blame] | 536 | .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \ |
Lars-Peter Clausen | 599acfb | 2013-01-16 12:48:00 +0000 | [diff] [blame] | 537 | .address = (addr), \ |
| 538 | .scan_index = ADIS16400_SCAN_MAGN_ ## mod, \ |
Lars-Peter Clausen | 5eda355 | 2013-01-16 12:48:00 +0000 | [diff] [blame] | 539 | .scan_type = { \ |
| 540 | .sign = 's', \ |
| 541 | .realbits = (bits), \ |
| 542 | .storagebits = 16, \ |
| 543 | .shift = 0, \ |
| 544 | .endianness = IIO_BE, \ |
| 545 | }, \ |
Lars-Peter Clausen | 599acfb | 2013-01-16 12:48:00 +0000 | [diff] [blame] | 546 | } |
| 547 | |
| 548 | #define ADIS16400_MOD_TEMP_NAME_X "x" |
| 549 | #define ADIS16400_MOD_TEMP_NAME_Y "y" |
| 550 | #define ADIS16400_MOD_TEMP_NAME_Z "z" |
| 551 | |
| 552 | #define ADIS16400_MOD_TEMP_CHAN(mod, addr, bits) { \ |
| 553 | .type = IIO_TEMP, \ |
| 554 | .indexed = 1, \ |
| 555 | .channel = 0, \ |
| 556 | .extend_name = ADIS16400_MOD_TEMP_NAME_ ## mod, \ |
Jonathan Cameron | 19a7c88 | 2013-02-27 19:31:17 +0000 | [diff] [blame] | 557 | .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \ |
| 558 | BIT(IIO_CHAN_INFO_OFFSET) | \ |
| 559 | BIT(IIO_CHAN_INFO_SCALE), \ |
| 560 | .info_mask_shared_by_type = \ |
| 561 | BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY), \ |
Jonathan Cameron | a07a97d | 2014-06-22 20:59:00 +0100 | [diff] [blame] | 562 | .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \ |
Lars-Peter Clausen | 599acfb | 2013-01-16 12:48:00 +0000 | [diff] [blame] | 563 | .address = (addr), \ |
| 564 | .scan_index = ADIS16350_SCAN_TEMP_ ## mod, \ |
Lars-Peter Clausen | 5eda355 | 2013-01-16 12:48:00 +0000 | [diff] [blame] | 565 | .scan_type = { \ |
| 566 | .sign = 's', \ |
| 567 | .realbits = (bits), \ |
| 568 | .storagebits = 16, \ |
| 569 | .shift = 0, \ |
| 570 | .endianness = IIO_BE, \ |
| 571 | }, \ |
Lars-Peter Clausen | 599acfb | 2013-01-16 12:48:00 +0000 | [diff] [blame] | 572 | } |
| 573 | |
| 574 | #define ADIS16400_TEMP_CHAN(addr, bits) { \ |
| 575 | .type = IIO_TEMP, \ |
| 576 | .indexed = 1, \ |
| 577 | .channel = 0, \ |
Jonathan Cameron | 19a7c88 | 2013-02-27 19:31:17 +0000 | [diff] [blame] | 578 | .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \ |
| 579 | BIT(IIO_CHAN_INFO_OFFSET) | \ |
| 580 | BIT(IIO_CHAN_INFO_SCALE), \ |
Jonathan Cameron | a07a97d | 2014-06-22 20:59:00 +0100 | [diff] [blame] | 581 | .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \ |
Lars-Peter Clausen | 599acfb | 2013-01-16 12:48:00 +0000 | [diff] [blame] | 582 | .address = (addr), \ |
| 583 | .scan_index = ADIS16350_SCAN_TEMP_X, \ |
Lars-Peter Clausen | 5eda355 | 2013-01-16 12:48:00 +0000 | [diff] [blame] | 584 | .scan_type = { \ |
| 585 | .sign = 's', \ |
| 586 | .realbits = (bits), \ |
| 587 | .storagebits = 16, \ |
| 588 | .shift = 0, \ |
| 589 | .endianness = IIO_BE, \ |
| 590 | }, \ |
Lars-Peter Clausen | 599acfb | 2013-01-16 12:48:00 +0000 | [diff] [blame] | 591 | } |
| 592 | |
| 593 | #define ADIS16400_INCLI_CHAN(mod, addr, bits) { \ |
| 594 | .type = IIO_INCLI, \ |
| 595 | .modified = 1, \ |
| 596 | .channel2 = IIO_MOD_ ## mod, \ |
Jonathan Cameron | 19a7c88 | 2013-02-27 19:31:17 +0000 | [diff] [blame] | 597 | .info_mask_separate = BIT(IIO_CHAN_INFO_RAW), \ |
| 598 | .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE), \ |
Jonathan Cameron | a07a97d | 2014-06-22 20:59:00 +0100 | [diff] [blame] | 599 | .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \ |
Lars-Peter Clausen | 599acfb | 2013-01-16 12:48:00 +0000 | [diff] [blame] | 600 | .address = (addr), \ |
| 601 | .scan_index = ADIS16300_SCAN_INCLI_ ## mod, \ |
Lars-Peter Clausen | 5eda355 | 2013-01-16 12:48:00 +0000 | [diff] [blame] | 602 | .scan_type = { \ |
| 603 | .sign = 's', \ |
| 604 | .realbits = (bits), \ |
| 605 | .storagebits = 16, \ |
| 606 | .shift = 0, \ |
| 607 | .endianness = IIO_BE, \ |
| 608 | }, \ |
Lars-Peter Clausen | 599acfb | 2013-01-16 12:48:00 +0000 | [diff] [blame] | 609 | } |
| 610 | |
Lars-Peter Clausen | f4e4b95 | 2012-08-09 08:51:00 +0100 | [diff] [blame] | 611 | static const struct iio_chan_spec adis16400_channels[] = { |
Lars-Peter Clausen | 599acfb | 2013-01-16 12:48:00 +0000 | [diff] [blame] | 612 | ADIS16400_SUPPLY_CHAN(ADIS16400_SUPPLY_OUT, 14), |
| 613 | ADIS16400_GYRO_CHAN(X, ADIS16400_XGYRO_OUT, 14), |
| 614 | ADIS16400_GYRO_CHAN(Y, ADIS16400_YGYRO_OUT, 14), |
| 615 | ADIS16400_GYRO_CHAN(Z, ADIS16400_ZGYRO_OUT, 14), |
| 616 | ADIS16400_ACCEL_CHAN(X, ADIS16400_XACCL_OUT, 14), |
| 617 | ADIS16400_ACCEL_CHAN(Y, ADIS16400_YACCL_OUT, 14), |
| 618 | ADIS16400_ACCEL_CHAN(Z, ADIS16400_ZACCL_OUT, 14), |
| 619 | ADIS16400_MAGN_CHAN(X, ADIS16400_XMAGN_OUT, 14), |
| 620 | ADIS16400_MAGN_CHAN(Y, ADIS16400_YMAGN_OUT, 14), |
| 621 | ADIS16400_MAGN_CHAN(Z, ADIS16400_ZMAGN_OUT, 14), |
| 622 | ADIS16400_TEMP_CHAN(ADIS16400_TEMP_OUT, 12), |
| 623 | ADIS16400_AUX_ADC_CHAN(ADIS16400_AUX_ADC, 12), |
Marcus Folkesson | c76782d | 2014-01-24 11:24:00 +0000 | [diff] [blame] | 624 | IIO_CHAN_SOFT_TIMESTAMP(ADIS16400_SCAN_TIMESTAMP), |
Jonathan Cameron | e785484 | 2011-05-18 14:41:27 +0100 | [diff] [blame] | 625 | }; |
| 626 | |
Lars-Peter Clausen | 72d9c98 | 2015-08-05 15:38:20 +0200 | [diff] [blame] | 627 | static const struct iio_chan_spec adis16445_channels[] = { |
| 628 | ADIS16400_GYRO_CHAN(X, ADIS16400_XGYRO_OUT, 16), |
| 629 | ADIS16400_GYRO_CHAN(Y, ADIS16400_YGYRO_OUT, 16), |
| 630 | ADIS16400_GYRO_CHAN(Z, ADIS16400_ZGYRO_OUT, 16), |
| 631 | ADIS16400_ACCEL_CHAN(X, ADIS16400_XACCL_OUT, 16), |
| 632 | ADIS16400_ACCEL_CHAN(Y, ADIS16400_YACCL_OUT, 16), |
| 633 | ADIS16400_ACCEL_CHAN(Z, ADIS16400_ZACCL_OUT, 16), |
| 634 | ADIS16400_TEMP_CHAN(ADIS16448_TEMP_OUT, 12), |
| 635 | IIO_CHAN_SOFT_TIMESTAMP(ADIS16400_SCAN_TIMESTAMP), |
| 636 | }; |
| 637 | |
Lars-Peter Clausen | 76ada52 | 2013-01-16 12:48:00 +0000 | [diff] [blame] | 638 | static const struct iio_chan_spec adis16448_channels[] = { |
| 639 | ADIS16400_GYRO_CHAN(X, ADIS16400_XGYRO_OUT, 16), |
| 640 | ADIS16400_GYRO_CHAN(Y, ADIS16400_YGYRO_OUT, 16), |
| 641 | ADIS16400_GYRO_CHAN(Z, ADIS16400_ZGYRO_OUT, 16), |
| 642 | ADIS16400_ACCEL_CHAN(X, ADIS16400_XACCL_OUT, 16), |
| 643 | ADIS16400_ACCEL_CHAN(Y, ADIS16400_YACCL_OUT, 16), |
| 644 | ADIS16400_ACCEL_CHAN(Z, ADIS16400_ZACCL_OUT, 16), |
| 645 | ADIS16400_MAGN_CHAN(X, ADIS16400_XMAGN_OUT, 16), |
| 646 | ADIS16400_MAGN_CHAN(Y, ADIS16400_YMAGN_OUT, 16), |
| 647 | ADIS16400_MAGN_CHAN(Z, ADIS16400_ZMAGN_OUT, 16), |
| 648 | { |
| 649 | .type = IIO_PRESSURE, |
Jonathan Cameron | 19a7c88 | 2013-02-27 19:31:17 +0000 | [diff] [blame] | 650 | .info_mask_separate = BIT(IIO_CHAN_INFO_RAW), |
| 651 | .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE), |
Jonathan Cameron | a07a97d | 2014-06-22 20:59:00 +0100 | [diff] [blame] | 652 | .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), |
Lars-Peter Clausen | 76ada52 | 2013-01-16 12:48:00 +0000 | [diff] [blame] | 653 | .address = ADIS16448_BARO_OUT, |
| 654 | .scan_index = ADIS16400_SCAN_BARO, |
Jonathan Cameron | 3425c0f | 2013-12-11 18:45:00 +0000 | [diff] [blame] | 655 | .scan_type = { |
| 656 | .sign = 's', |
| 657 | .realbits = 16, |
| 658 | .storagebits = 16, |
| 659 | .endianness = IIO_BE, |
| 660 | }, |
Lars-Peter Clausen | 76ada52 | 2013-01-16 12:48:00 +0000 | [diff] [blame] | 661 | }, |
| 662 | ADIS16400_TEMP_CHAN(ADIS16448_TEMP_OUT, 12), |
Marcus Folkesson | c76782d | 2014-01-24 11:24:00 +0000 | [diff] [blame] | 663 | IIO_CHAN_SOFT_TIMESTAMP(ADIS16400_SCAN_TIMESTAMP), |
Lars-Peter Clausen | 76ada52 | 2013-01-16 12:48:00 +0000 | [diff] [blame] | 664 | }; |
| 665 | |
Lars-Peter Clausen | f4e4b95 | 2012-08-09 08:51:00 +0100 | [diff] [blame] | 666 | static const struct iio_chan_spec adis16350_channels[] = { |
Lars-Peter Clausen | 599acfb | 2013-01-16 12:48:00 +0000 | [diff] [blame] | 667 | ADIS16400_SUPPLY_CHAN(ADIS16400_SUPPLY_OUT, 12), |
| 668 | ADIS16400_GYRO_CHAN(X, ADIS16400_XGYRO_OUT, 14), |
| 669 | ADIS16400_GYRO_CHAN(Y, ADIS16400_YGYRO_OUT, 14), |
| 670 | ADIS16400_GYRO_CHAN(Z, ADIS16400_ZGYRO_OUT, 14), |
| 671 | ADIS16400_ACCEL_CHAN(X, ADIS16400_XACCL_OUT, 14), |
| 672 | ADIS16400_ACCEL_CHAN(Y, ADIS16400_YACCL_OUT, 14), |
| 673 | ADIS16400_ACCEL_CHAN(Z, ADIS16400_ZACCL_OUT, 14), |
| 674 | ADIS16400_MAGN_CHAN(X, ADIS16400_XMAGN_OUT, 14), |
| 675 | ADIS16400_MAGN_CHAN(Y, ADIS16400_YMAGN_OUT, 14), |
| 676 | ADIS16400_MAGN_CHAN(Z, ADIS16400_ZMAGN_OUT, 14), |
| 677 | ADIS16400_AUX_ADC_CHAN(ADIS16300_AUX_ADC, 12), |
| 678 | ADIS16400_MOD_TEMP_CHAN(X, ADIS16350_XTEMP_OUT, 12), |
| 679 | ADIS16400_MOD_TEMP_CHAN(Y, ADIS16350_YTEMP_OUT, 12), |
| 680 | ADIS16400_MOD_TEMP_CHAN(Z, ADIS16350_ZTEMP_OUT, 12), |
Marcus Folkesson | c76782d | 2014-01-24 11:24:00 +0000 | [diff] [blame] | 681 | IIO_CHAN_SOFT_TIMESTAMP(ADIS16400_SCAN_TIMESTAMP), |
Jonathan Cameron | 2a29a90 | 2011-05-18 14:41:28 +0100 | [diff] [blame] | 682 | }; |
| 683 | |
Lars-Peter Clausen | f4e4b95 | 2012-08-09 08:51:00 +0100 | [diff] [blame] | 684 | static const struct iio_chan_spec adis16300_channels[] = { |
Lars-Peter Clausen | 599acfb | 2013-01-16 12:48:00 +0000 | [diff] [blame] | 685 | ADIS16400_SUPPLY_CHAN(ADIS16400_SUPPLY_OUT, 12), |
| 686 | ADIS16400_GYRO_CHAN(X, ADIS16400_XGYRO_OUT, 14), |
| 687 | ADIS16400_ACCEL_CHAN(X, ADIS16400_XACCL_OUT, 14), |
| 688 | ADIS16400_ACCEL_CHAN(Y, ADIS16400_YACCL_OUT, 14), |
| 689 | ADIS16400_ACCEL_CHAN(Z, ADIS16400_ZACCL_OUT, 14), |
| 690 | ADIS16400_TEMP_CHAN(ADIS16350_XTEMP_OUT, 12), |
| 691 | ADIS16400_AUX_ADC_CHAN(ADIS16300_AUX_ADC, 12), |
| 692 | ADIS16400_INCLI_CHAN(X, ADIS16300_PITCH_OUT, 13), |
| 693 | ADIS16400_INCLI_CHAN(Y, ADIS16300_ROLL_OUT, 13), |
Marcus Folkesson | c76782d | 2014-01-24 11:24:00 +0000 | [diff] [blame] | 694 | IIO_CHAN_SOFT_TIMESTAMP(ADIS16400_SCAN_TIMESTAMP), |
Jonathan Cameron | 8e886e6 | 2011-05-18 14:41:30 +0100 | [diff] [blame] | 695 | }; |
| 696 | |
Jonathan Cameron | 85da505 | 2011-09-30 10:05:45 +0100 | [diff] [blame] | 697 | static const struct iio_chan_spec adis16334_channels[] = { |
Lars-Peter Clausen | 599acfb | 2013-01-16 12:48:00 +0000 | [diff] [blame] | 698 | ADIS16400_GYRO_CHAN(X, ADIS16400_XGYRO_OUT, 14), |
| 699 | ADIS16400_GYRO_CHAN(Y, ADIS16400_YGYRO_OUT, 14), |
| 700 | ADIS16400_GYRO_CHAN(Z, ADIS16400_ZGYRO_OUT, 14), |
| 701 | ADIS16400_ACCEL_CHAN(X, ADIS16400_XACCL_OUT, 14), |
| 702 | ADIS16400_ACCEL_CHAN(Y, ADIS16400_YACCL_OUT, 14), |
| 703 | ADIS16400_ACCEL_CHAN(Z, ADIS16400_ZACCL_OUT, 14), |
| 704 | ADIS16400_TEMP_CHAN(ADIS16350_XTEMP_OUT, 12), |
Marcus Folkesson | c76782d | 2014-01-24 11:24:00 +0000 | [diff] [blame] | 705 | IIO_CHAN_SOFT_TIMESTAMP(ADIS16400_SCAN_TIMESTAMP), |
Jonathan Cameron | 88b42f3 | 2011-08-12 18:04:37 +0100 | [diff] [blame] | 706 | }; |
| 707 | |
Jonathan Cameron | 2a29a90 | 2011-05-18 14:41:28 +0100 | [diff] [blame] | 708 | static struct adis16400_chip_info adis16400_chips[] = { |
Jonathan Cameron | 8e886e6 | 2011-05-18 14:41:30 +0100 | [diff] [blame] | 709 | [ADIS16300] = { |
| 710 | .channels = adis16300_channels, |
| 711 | .num_channels = ARRAY_SIZE(adis16300_channels), |
Lars-Peter Clausen | bd95a89 | 2015-08-05 15:38:16 +0200 | [diff] [blame] | 712 | .flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE | |
| 713 | ADIS16400_HAS_SERIAL_NUMBER, |
Lars-Peter Clausen | 1cf8c97 | 2012-10-15 10:35:00 +0100 | [diff] [blame] | 714 | .gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */ |
Jonathan Cameron | 8e886e6 | 2011-05-18 14:41:30 +0100 | [diff] [blame] | 715 | .accel_scale_micro = 5884, |
Lars-Peter Clausen | 760ebc0 | 2012-10-15 10:35:00 +0100 | [diff] [blame] | 716 | .temp_scale_nano = 140000000, /* 0.14 C */ |
| 717 | .temp_offset = 25000000 / 140000, /* 25 C = 0x00 */ |
Lars-Peter Clausen | ea2ccb3 | 2012-10-30 10:26:00 +0000 | [diff] [blame] | 718 | .set_freq = adis16400_set_freq, |
| 719 | .get_freq = adis16400_get_freq, |
Jonathan Cameron | 8e886e6 | 2011-05-18 14:41:30 +0100 | [diff] [blame] | 720 | }, |
Jonathan Cameron | 85da505 | 2011-09-30 10:05:45 +0100 | [diff] [blame] | 721 | [ADIS16334] = { |
| 722 | .channels = adis16334_channels, |
| 723 | .num_channels = ARRAY_SIZE(adis16334_channels), |
Lars-Peter Clausen | 1db18bb | 2013-01-16 12:48:00 +0000 | [diff] [blame] | 724 | .flags = ADIS16400_HAS_PROD_ID | ADIS16400_NO_BURST | |
| 725 | ADIS16400_HAS_SERIAL_NUMBER, |
Lars-Peter Clausen | 1cf8c97 | 2012-10-15 10:35:00 +0100 | [diff] [blame] | 726 | .gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */ |
| 727 | .accel_scale_micro = IIO_G_TO_M_S_2(1000), /* 1 mg */ |
Lars-Peter Clausen | 760ebc0 | 2012-10-15 10:35:00 +0100 | [diff] [blame] | 728 | .temp_scale_nano = 67850000, /* 0.06785 C */ |
| 729 | .temp_offset = 25000000 / 67850, /* 25 C = 0x00 */ |
Lars-Peter Clausen | ea2ccb3 | 2012-10-30 10:26:00 +0000 | [diff] [blame] | 730 | .set_freq = adis16334_set_freq, |
| 731 | .get_freq = adis16334_get_freq, |
Jonathan Cameron | 88b42f3 | 2011-08-12 18:04:37 +0100 | [diff] [blame] | 732 | }, |
Jonathan Cameron | 2a29a90 | 2011-05-18 14:41:28 +0100 | [diff] [blame] | 733 | [ADIS16350] = { |
| 734 | .channels = adis16350_channels, |
| 735 | .num_channels = ARRAY_SIZE(adis16350_channels), |
Lars-Peter Clausen | 1cf8c97 | 2012-10-15 10:35:00 +0100 | [diff] [blame] | 736 | .gyro_scale_micro = IIO_DEGREE_TO_RAD(73260), /* 0.07326 deg/s */ |
| 737 | .accel_scale_micro = IIO_G_TO_M_S_2(2522), /* 0.002522 g */ |
Lars-Peter Clausen | 760ebc0 | 2012-10-15 10:35:00 +0100 | [diff] [blame] | 738 | .temp_scale_nano = 145300000, /* 0.1453 C */ |
| 739 | .temp_offset = 25000000 / 145300, /* 25 C = 0x00 */ |
Lars-Peter Clausen | ea2ccb3 | 2012-10-30 10:26:00 +0000 | [diff] [blame] | 740 | .flags = ADIS16400_NO_BURST | ADIS16400_HAS_SLOW_MODE, |
| 741 | .set_freq = adis16400_set_freq, |
| 742 | .get_freq = adis16400_get_freq, |
Jonathan Cameron | 2a29a90 | 2011-05-18 14:41:28 +0100 | [diff] [blame] | 743 | }, |
| 744 | [ADIS16360] = { |
| 745 | .channels = adis16350_channels, |
| 746 | .num_channels = ARRAY_SIZE(adis16350_channels), |
Lars-Peter Clausen | 1db18bb | 2013-01-16 12:48:00 +0000 | [diff] [blame] | 747 | .flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE | |
| 748 | ADIS16400_HAS_SERIAL_NUMBER, |
Lars-Peter Clausen | 1cf8c97 | 2012-10-15 10:35:00 +0100 | [diff] [blame] | 749 | .gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */ |
| 750 | .accel_scale_micro = IIO_G_TO_M_S_2(3333), /* 3.333 mg */ |
Lars-Peter Clausen | 760ebc0 | 2012-10-15 10:35:00 +0100 | [diff] [blame] | 751 | .temp_scale_nano = 136000000, /* 0.136 C */ |
| 752 | .temp_offset = 25000000 / 136000, /* 25 C = 0x00 */ |
Lars-Peter Clausen | ea2ccb3 | 2012-10-30 10:26:00 +0000 | [diff] [blame] | 753 | .set_freq = adis16400_set_freq, |
| 754 | .get_freq = adis16400_get_freq, |
Jonathan Cameron | 2a29a90 | 2011-05-18 14:41:28 +0100 | [diff] [blame] | 755 | }, |
| 756 | [ADIS16362] = { |
| 757 | .channels = adis16350_channels, |
| 758 | .num_channels = ARRAY_SIZE(adis16350_channels), |
Lars-Peter Clausen | 1db18bb | 2013-01-16 12:48:00 +0000 | [diff] [blame] | 759 | .flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE | |
| 760 | ADIS16400_HAS_SERIAL_NUMBER, |
Lars-Peter Clausen | 1cf8c97 | 2012-10-15 10:35:00 +0100 | [diff] [blame] | 761 | .gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */ |
| 762 | .accel_scale_micro = IIO_G_TO_M_S_2(333), /* 0.333 mg */ |
Lars-Peter Clausen | 760ebc0 | 2012-10-15 10:35:00 +0100 | [diff] [blame] | 763 | .temp_scale_nano = 136000000, /* 0.136 C */ |
| 764 | .temp_offset = 25000000 / 136000, /* 25 C = 0x00 */ |
Lars-Peter Clausen | ea2ccb3 | 2012-10-30 10:26:00 +0000 | [diff] [blame] | 765 | .set_freq = adis16400_set_freq, |
| 766 | .get_freq = adis16400_get_freq, |
Jonathan Cameron | 2a29a90 | 2011-05-18 14:41:28 +0100 | [diff] [blame] | 767 | }, |
| 768 | [ADIS16364] = { |
| 769 | .channels = adis16350_channels, |
| 770 | .num_channels = ARRAY_SIZE(adis16350_channels), |
Lars-Peter Clausen | 1db18bb | 2013-01-16 12:48:00 +0000 | [diff] [blame] | 771 | .flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE | |
| 772 | ADIS16400_HAS_SERIAL_NUMBER, |
Lars-Peter Clausen | 1cf8c97 | 2012-10-15 10:35:00 +0100 | [diff] [blame] | 773 | .gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */ |
| 774 | .accel_scale_micro = IIO_G_TO_M_S_2(1000), /* 1 mg */ |
Lars-Peter Clausen | 760ebc0 | 2012-10-15 10:35:00 +0100 | [diff] [blame] | 775 | .temp_scale_nano = 136000000, /* 0.136 C */ |
| 776 | .temp_offset = 25000000 / 136000, /* 25 C = 0x00 */ |
Lars-Peter Clausen | ea2ccb3 | 2012-10-30 10:26:00 +0000 | [diff] [blame] | 777 | .set_freq = adis16400_set_freq, |
| 778 | .get_freq = adis16400_get_freq, |
Jonathan Cameron | 2a29a90 | 2011-05-18 14:41:28 +0100 | [diff] [blame] | 779 | }, |
Lars-Peter Clausen | dc8615c | 2015-08-05 15:38:19 +0200 | [diff] [blame] | 780 | [ADIS16367] = { |
| 781 | .channels = adis16350_channels, |
| 782 | .num_channels = ARRAY_SIZE(adis16350_channels), |
| 783 | .flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE | |
| 784 | ADIS16400_HAS_SERIAL_NUMBER, |
| 785 | .gyro_scale_micro = IIO_DEGREE_TO_RAD(2000), /* 0.2 deg/s */ |
| 786 | .accel_scale_micro = IIO_G_TO_M_S_2(3333), /* 3.333 mg */ |
| 787 | .temp_scale_nano = 136000000, /* 0.136 C */ |
| 788 | .temp_offset = 25000000 / 136000, /* 25 C = 0x00 */ |
| 789 | .set_freq = adis16400_set_freq, |
| 790 | .get_freq = adis16400_get_freq, |
| 791 | }, |
Jonathan Cameron | 2a29a90 | 2011-05-18 14:41:28 +0100 | [diff] [blame] | 792 | [ADIS16400] = { |
| 793 | .channels = adis16400_channels, |
| 794 | .num_channels = ARRAY_SIZE(adis16400_channels), |
Lars-Peter Clausen | ea2ccb3 | 2012-10-30 10:26:00 +0000 | [diff] [blame] | 795 | .flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE, |
Lars-Peter Clausen | 1cf8c97 | 2012-10-15 10:35:00 +0100 | [diff] [blame] | 796 | .gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */ |
| 797 | .accel_scale_micro = IIO_G_TO_M_S_2(3333), /* 3.333 mg */ |
Lars-Peter Clausen | 760ebc0 | 2012-10-15 10:35:00 +0100 | [diff] [blame] | 798 | .temp_scale_nano = 140000000, /* 0.14 C */ |
| 799 | .temp_offset = 25000000 / 140000, /* 25 C = 0x00 */ |
Lars-Peter Clausen | ea2ccb3 | 2012-10-30 10:26:00 +0000 | [diff] [blame] | 800 | .set_freq = adis16400_set_freq, |
| 801 | .get_freq = adis16400_get_freq, |
Lars-Peter Clausen | 76ada52 | 2013-01-16 12:48:00 +0000 | [diff] [blame] | 802 | }, |
Lars-Peter Clausen | 72d9c98 | 2015-08-05 15:38:20 +0200 | [diff] [blame] | 803 | [ADIS16445] = { |
| 804 | .channels = adis16445_channels, |
| 805 | .num_channels = ARRAY_SIZE(adis16445_channels), |
| 806 | .flags = ADIS16400_HAS_PROD_ID | |
| 807 | ADIS16400_HAS_SERIAL_NUMBER | |
| 808 | ADIS16400_BURST_DIAG_STAT, |
| 809 | .gyro_scale_micro = IIO_DEGREE_TO_RAD(10000), /* 0.01 deg/s */ |
| 810 | .accel_scale_micro = IIO_G_TO_M_S_2(250), /* 1/4000 g */ |
| 811 | .temp_scale_nano = 73860000, /* 0.07386 C */ |
| 812 | .temp_offset = 31000000 / 73860, /* 31 C = 0x00 */ |
| 813 | .set_freq = adis16334_set_freq, |
| 814 | .get_freq = adis16334_get_freq, |
| 815 | }, |
Lars-Peter Clausen | 76ada52 | 2013-01-16 12:48:00 +0000 | [diff] [blame] | 816 | [ADIS16448] = { |
| 817 | .channels = adis16448_channels, |
| 818 | .num_channels = ARRAY_SIZE(adis16448_channels), |
| 819 | .flags = ADIS16400_HAS_PROD_ID | |
Lars-Peter Clausen | d046ba2 | 2015-05-15 17:18:38 +0200 | [diff] [blame] | 820 | ADIS16400_HAS_SERIAL_NUMBER | |
| 821 | ADIS16400_BURST_DIAG_STAT, |
Lars-Peter Clausen | 8166537 | 2015-08-05 15:38:13 +0200 | [diff] [blame] | 822 | .gyro_scale_micro = IIO_DEGREE_TO_RAD(40000), /* 0.04 deg/s */ |
Lars-Peter Clausen | 76ada52 | 2013-01-16 12:48:00 +0000 | [diff] [blame] | 823 | .accel_scale_micro = IIO_G_TO_M_S_2(833), /* 1/1200 g */ |
| 824 | .temp_scale_nano = 73860000, /* 0.07386 C */ |
| 825 | .temp_offset = 31000000 / 73860, /* 31 C = 0x00 */ |
| 826 | .set_freq = adis16334_set_freq, |
| 827 | .get_freq = adis16334_get_freq, |
Jonathan Cameron | 2a29a90 | 2011-05-18 14:41:28 +0100 | [diff] [blame] | 828 | } |
| 829 | }; |
| 830 | |
Jonathan Cameron | 6fe8135 | 2011-05-18 14:42:37 +0100 | [diff] [blame] | 831 | static const struct iio_info adis16400_info = { |
| 832 | .driver_module = THIS_MODULE, |
| 833 | .read_raw = &adis16400_read_raw, |
| 834 | .write_raw = &adis16400_write_raw, |
Lars-Peter Clausen | 5eda355 | 2013-01-16 12:48:00 +0000 | [diff] [blame] | 835 | .update_scan_mode = adis16400_update_scan_mode, |
Lars-Peter Clausen | 1db18bb | 2013-01-16 12:48:00 +0000 | [diff] [blame] | 836 | .debugfs_reg_access = adis_debugfs_reg_access, |
Lars-Peter Clausen | 5eda355 | 2013-01-16 12:48:00 +0000 | [diff] [blame] | 837 | }; |
| 838 | |
Lars-Peter Clausen | cd888a17 | 2013-01-16 12:48:00 +0000 | [diff] [blame] | 839 | static const char * const adis16400_status_error_msgs[] = { |
| 840 | [ADIS16400_DIAG_STAT_ZACCL_FAIL] = "Z-axis accelerometer self-test failure", |
| 841 | [ADIS16400_DIAG_STAT_YACCL_FAIL] = "Y-axis accelerometer self-test failure", |
| 842 | [ADIS16400_DIAG_STAT_XACCL_FAIL] = "X-axis accelerometer self-test failure", |
| 843 | [ADIS16400_DIAG_STAT_XGYRO_FAIL] = "X-axis gyroscope self-test failure", |
| 844 | [ADIS16400_DIAG_STAT_YGYRO_FAIL] = "Y-axis gyroscope self-test failure", |
| 845 | [ADIS16400_DIAG_STAT_ZGYRO_FAIL] = "Z-axis gyroscope self-test failure", |
| 846 | [ADIS16400_DIAG_STAT_ALARM2] = "Alarm 2 active", |
| 847 | [ADIS16400_DIAG_STAT_ALARM1] = "Alarm 1 active", |
| 848 | [ADIS16400_DIAG_STAT_FLASH_CHK] = "Flash checksum error", |
| 849 | [ADIS16400_DIAG_STAT_SELF_TEST] = "Self test error", |
| 850 | [ADIS16400_DIAG_STAT_OVERFLOW] = "Sensor overrange", |
| 851 | [ADIS16400_DIAG_STAT_SPI_FAIL] = "SPI failure", |
| 852 | [ADIS16400_DIAG_STAT_FLASH_UPT] = "Flash update failed", |
| 853 | [ADIS16400_DIAG_STAT_POWER_HIGH] = "Power supply above 5.25V", |
| 854 | [ADIS16400_DIAG_STAT_POWER_LOW] = "Power supply below 4.75V", |
| 855 | }; |
| 856 | |
| 857 | static const struct adis_data adis16400_data = { |
| 858 | .msc_ctrl_reg = ADIS16400_MSC_CTRL, |
| 859 | .glob_cmd_reg = ADIS16400_GLOB_CMD, |
| 860 | .diag_stat_reg = ADIS16400_DIAG_STAT, |
| 861 | |
| 862 | .read_delay = 50, |
| 863 | .write_delay = 50, |
| 864 | |
| 865 | .self_test_mask = ADIS16400_MSC_CTRL_MEM_TEST, |
| 866 | .startup_delay = ADIS16400_STARTUP_DELAY, |
| 867 | |
| 868 | .status_error_msgs = adis16400_status_error_msgs, |
| 869 | .status_error_mask = BIT(ADIS16400_DIAG_STAT_ZACCL_FAIL) | |
| 870 | BIT(ADIS16400_DIAG_STAT_YACCL_FAIL) | |
| 871 | BIT(ADIS16400_DIAG_STAT_XACCL_FAIL) | |
| 872 | BIT(ADIS16400_DIAG_STAT_XGYRO_FAIL) | |
| 873 | BIT(ADIS16400_DIAG_STAT_YGYRO_FAIL) | |
| 874 | BIT(ADIS16400_DIAG_STAT_ZGYRO_FAIL) | |
| 875 | BIT(ADIS16400_DIAG_STAT_ALARM2) | |
| 876 | BIT(ADIS16400_DIAG_STAT_ALARM1) | |
| 877 | BIT(ADIS16400_DIAG_STAT_FLASH_CHK) | |
| 878 | BIT(ADIS16400_DIAG_STAT_SELF_TEST) | |
| 879 | BIT(ADIS16400_DIAG_STAT_OVERFLOW) | |
| 880 | BIT(ADIS16400_DIAG_STAT_SPI_FAIL) | |
| 881 | BIT(ADIS16400_DIAG_STAT_FLASH_UPT) | |
| 882 | BIT(ADIS16400_DIAG_STAT_POWER_HIGH) | |
| 883 | BIT(ADIS16400_DIAG_STAT_POWER_LOW), |
| 884 | }; |
| 885 | |
Paul Cercueil | c2a8b62 | 2015-05-15 17:18:36 +0200 | [diff] [blame] | 886 | static void adis16400_setup_chan_mask(struct adis16400_state *st) |
| 887 | { |
| 888 | const struct adis16400_chip_info *chip_info = st->variant; |
| 889 | unsigned i; |
| 890 | |
| 891 | for (i = 0; i < chip_info->num_channels; i++) { |
| 892 | const struct iio_chan_spec *ch = &chip_info->channels[i]; |
| 893 | |
| 894 | if (ch->scan_index >= 0 && |
| 895 | ch->scan_index != ADIS16400_SCAN_TIMESTAMP) |
| 896 | st->avail_scan_mask[0] |= BIT(ch->scan_index); |
| 897 | } |
| 898 | } |
| 899 | |
Bill Pemberton | 4ae1c61 | 2012-11-19 13:21:57 -0500 | [diff] [blame] | 900 | static int adis16400_probe(struct spi_device *spi) |
Barry Song | a9d26f0 | 2010-05-04 14:43:15 +0100 | [diff] [blame] | 901 | { |
Jonathan Cameron | 38d15f0 | 2011-05-18 14:42:23 +0100 | [diff] [blame] | 902 | struct adis16400_state *st; |
Lars-Peter Clausen | f4c6d64 | 2013-01-16 12:48:00 +0000 | [diff] [blame] | 903 | struct iio_dev *indio_dev; |
| 904 | int ret; |
| 905 | |
Sachin Kamat | 5b778b9 | 2013-07-30 09:44:00 +0100 | [diff] [blame] | 906 | indio_dev = devm_iio_device_alloc(&spi->dev, sizeof(*st)); |
Lars-Peter Clausen | f4c6d64 | 2013-01-16 12:48:00 +0000 | [diff] [blame] | 907 | if (indio_dev == NULL) |
| 908 | return -ENOMEM; |
| 909 | |
Jonathan Cameron | 38d15f0 | 2011-05-18 14:42:23 +0100 | [diff] [blame] | 910 | st = iio_priv(indio_dev); |
Barry Song | a9d26f0 | 2010-05-04 14:43:15 +0100 | [diff] [blame] | 911 | /* this is only used for removal purposes */ |
Jonathan Cameron | 38d15f0 | 2011-05-18 14:42:23 +0100 | [diff] [blame] | 912 | spi_set_drvdata(spi, indio_dev); |
Barry Song | a9d26f0 | 2010-05-04 14:43:15 +0100 | [diff] [blame] | 913 | |
Jonathan Cameron | 38d15f0 | 2011-05-18 14:42:23 +0100 | [diff] [blame] | 914 | /* setup the industrialio driver allocated elements */ |
| 915 | st->variant = &adis16400_chips[spi_get_device_id(spi)->driver_data]; |
| 916 | indio_dev->dev.parent = &spi->dev; |
| 917 | indio_dev->name = spi_get_device_id(spi)->name; |
Jonathan Cameron | 38d15f0 | 2011-05-18 14:42:23 +0100 | [diff] [blame] | 918 | indio_dev->channels = st->variant->channels; |
| 919 | indio_dev->num_channels = st->variant->num_channels; |
Jonathan Cameron | 6fe8135 | 2011-05-18 14:42:37 +0100 | [diff] [blame] | 920 | indio_dev->info = &adis16400_info; |
Jonathan Cameron | 38d15f0 | 2011-05-18 14:42:23 +0100 | [diff] [blame] | 921 | indio_dev->modes = INDIO_DIRECT_MODE; |
| 922 | |
Paul Cercueil | c2a8b62 | 2015-05-15 17:18:36 +0200 | [diff] [blame] | 923 | if (!(st->variant->flags & ADIS16400_NO_BURST)) { |
| 924 | adis16400_setup_chan_mask(st); |
| 925 | indio_dev->available_scan_masks = st->avail_scan_mask; |
| 926 | } |
Lars-Peter Clausen | 5eda355 | 2013-01-16 12:48:00 +0000 | [diff] [blame] | 927 | |
Lars-Peter Clausen | cd888a17 | 2013-01-16 12:48:00 +0000 | [diff] [blame] | 928 | ret = adis_init(&st->adis, indio_dev, spi, &adis16400_data); |
| 929 | if (ret) |
Sachin Kamat | 5b778b9 | 2013-07-30 09:44:00 +0100 | [diff] [blame] | 930 | return ret; |
Lars-Peter Clausen | cd888a17 | 2013-01-16 12:48:00 +0000 | [diff] [blame] | 931 | |
Lars-Peter Clausen | 5eda355 | 2013-01-16 12:48:00 +0000 | [diff] [blame] | 932 | ret = adis_setup_buffer_and_trigger(&st->adis, indio_dev, |
| 933 | adis16400_trigger_handler); |
Barry Song | a9d26f0 | 2010-05-04 14:43:15 +0100 | [diff] [blame] | 934 | if (ret) |
Sachin Kamat | 5b778b9 | 2013-07-30 09:44:00 +0100 | [diff] [blame] | 935 | return ret; |
Barry Song | a9d26f0 | 2010-05-04 14:43:15 +0100 | [diff] [blame] | 936 | |
Barry Song | a9d26f0 | 2010-05-04 14:43:15 +0100 | [diff] [blame] | 937 | /* Get the device into a sane initial state */ |
Jonathan Cameron | 38d15f0 | 2011-05-18 14:42:23 +0100 | [diff] [blame] | 938 | ret = adis16400_initial_setup(indio_dev); |
Barry Song | a9d26f0 | 2010-05-04 14:43:15 +0100 | [diff] [blame] | 939 | if (ret) |
Lars-Peter Clausen | 5eda355 | 2013-01-16 12:48:00 +0000 | [diff] [blame] | 940 | goto error_cleanup_buffer; |
Jonathan Cameron | 26d25ae | 2011-09-02 17:14:40 +0100 | [diff] [blame] | 941 | ret = iio_device_register(indio_dev); |
| 942 | if (ret) |
Lars-Peter Clausen | 5eda355 | 2013-01-16 12:48:00 +0000 | [diff] [blame] | 943 | goto error_cleanup_buffer; |
Jonathan Cameron | 26d25ae | 2011-09-02 17:14:40 +0100 | [diff] [blame] | 944 | |
Lars-Peter Clausen | 1db18bb | 2013-01-16 12:48:00 +0000 | [diff] [blame] | 945 | adis16400_debugfs_init(indio_dev); |
Barry Song | a9d26f0 | 2010-05-04 14:43:15 +0100 | [diff] [blame] | 946 | return 0; |
| 947 | |
Lars-Peter Clausen | 5eda355 | 2013-01-16 12:48:00 +0000 | [diff] [blame] | 948 | error_cleanup_buffer: |
| 949 | adis_cleanup_buffer_and_trigger(&st->adis, indio_dev); |
Barry Song | a9d26f0 | 2010-05-04 14:43:15 +0100 | [diff] [blame] | 950 | return ret; |
| 951 | } |
| 952 | |
Bill Pemberton | 447d4f2 | 2012-11-19 13:26:37 -0500 | [diff] [blame] | 953 | static int adis16400_remove(struct spi_device *spi) |
Barry Song | a9d26f0 | 2010-05-04 14:43:15 +0100 | [diff] [blame] | 954 | { |
Lars-Peter Clausen | f4c6d64 | 2013-01-16 12:48:00 +0000 | [diff] [blame] | 955 | struct iio_dev *indio_dev = spi_get_drvdata(spi); |
Lars-Peter Clausen | cd888a17 | 2013-01-16 12:48:00 +0000 | [diff] [blame] | 956 | struct adis16400_state *st = iio_priv(indio_dev); |
Barry Song | a9d26f0 | 2010-05-04 14:43:15 +0100 | [diff] [blame] | 957 | |
Jonathan Cameron | d2fffd6 | 2011-10-14 14:46:58 +0100 | [diff] [blame] | 958 | iio_device_unregister(indio_dev); |
Lars-Peter Clausen | 0b4ac3d | 2012-09-22 09:56:00 +0100 | [diff] [blame] | 959 | adis16400_stop_device(indio_dev); |
Barry Song | a9d26f0 | 2010-05-04 14:43:15 +0100 | [diff] [blame] | 960 | |
Lars-Peter Clausen | 5eda355 | 2013-01-16 12:48:00 +0000 | [diff] [blame] | 961 | adis_cleanup_buffer_and_trigger(&st->adis, indio_dev); |
Lars-Peter Clausen | cd888a17 | 2013-01-16 12:48:00 +0000 | [diff] [blame] | 962 | |
Barry Song | a9d26f0 | 2010-05-04 14:43:15 +0100 | [diff] [blame] | 963 | return 0; |
Barry Song | a9d26f0 | 2010-05-04 14:43:15 +0100 | [diff] [blame] | 964 | } |
| 965 | |
Jonathan Cameron | 2a29a90 | 2011-05-18 14:41:28 +0100 | [diff] [blame] | 966 | static const struct spi_device_id adis16400_id[] = { |
Jonathan Cameron | 8e886e6 | 2011-05-18 14:41:30 +0100 | [diff] [blame] | 967 | {"adis16300", ADIS16300}, |
Lars-Peter Clausen | 3c38676 | 2015-08-05 15:38:17 +0200 | [diff] [blame] | 968 | {"adis16305", ADIS16300}, |
Jonathan Cameron | 85da505 | 2011-09-30 10:05:45 +0100 | [diff] [blame] | 969 | {"adis16334", ADIS16334}, |
Jonathan Cameron | 2a29a90 | 2011-05-18 14:41:28 +0100 | [diff] [blame] | 970 | {"adis16350", ADIS16350}, |
| 971 | {"adis16354", ADIS16350}, |
| 972 | {"adis16355", ADIS16350}, |
| 973 | {"adis16360", ADIS16360}, |
| 974 | {"adis16362", ADIS16362}, |
| 975 | {"adis16364", ADIS16364}, |
Lars-Peter Clausen | a7462e6 | 2012-10-30 10:26:00 +0000 | [diff] [blame] | 976 | {"adis16365", ADIS16360}, |
Lars-Peter Clausen | dc8615c | 2015-08-05 15:38:19 +0200 | [diff] [blame] | 977 | {"adis16367", ADIS16367}, |
Jonathan Cameron | 2a29a90 | 2011-05-18 14:41:28 +0100 | [diff] [blame] | 978 | {"adis16400", ADIS16400}, |
| 979 | {"adis16405", ADIS16400}, |
Lars-Peter Clausen | 72d9c98 | 2015-08-05 15:38:20 +0200 | [diff] [blame] | 980 | {"adis16445", ADIS16445}, |
Lars-Peter Clausen | 76ada52 | 2013-01-16 12:48:00 +0000 | [diff] [blame] | 981 | {"adis16448", ADIS16448}, |
Jonathan Cameron | 2a29a90 | 2011-05-18 14:41:28 +0100 | [diff] [blame] | 982 | {} |
| 983 | }; |
Lars-Peter Clausen | 55e4390 | 2011-11-16 08:53:31 +0100 | [diff] [blame] | 984 | MODULE_DEVICE_TABLE(spi, adis16400_id); |
Jonathan Cameron | 2a29a90 | 2011-05-18 14:41:28 +0100 | [diff] [blame] | 985 | |
Barry Song | a9d26f0 | 2010-05-04 14:43:15 +0100 | [diff] [blame] | 986 | static struct spi_driver adis16400_driver = { |
| 987 | .driver = { |
| 988 | .name = "adis16400", |
Barry Song | a9d26f0 | 2010-05-04 14:43:15 +0100 | [diff] [blame] | 989 | }, |
Jonathan Cameron | 2a29a90 | 2011-05-18 14:41:28 +0100 | [diff] [blame] | 990 | .id_table = adis16400_id, |
Barry Song | a9d26f0 | 2010-05-04 14:43:15 +0100 | [diff] [blame] | 991 | .probe = adis16400_probe, |
Bill Pemberton | e543acf | 2012-11-19 13:21:38 -0500 | [diff] [blame] | 992 | .remove = adis16400_remove, |
Barry Song | a9d26f0 | 2010-05-04 14:43:15 +0100 | [diff] [blame] | 993 | }; |
Lars-Peter Clausen | ae6ae6f | 2011-11-16 10:13:39 +0100 | [diff] [blame] | 994 | module_spi_driver(adis16400_driver); |
Barry Song | a9d26f0 | 2010-05-04 14:43:15 +0100 | [diff] [blame] | 995 | |
| 996 | MODULE_AUTHOR("Manuel Stahl <manuel.stahl@iis.fraunhofer.de>"); |
| 997 | MODULE_DESCRIPTION("Analog Devices ADIS16400/5 IMU SPI driver"); |
| 998 | MODULE_LICENSE("GPL v2"); |