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> |
Barry Song | a9d26f0 | 2010-05-04 14:43:15 +0100 | [diff] [blame] | 29 | |
Jonathan Cameron | 06458e2 | 2012-04-25 15:54:58 +0100 | [diff] [blame] | 30 | #include <linux/iio/iio.h> |
| 31 | #include <linux/iio/sysfs.h> |
| 32 | #include <linux/iio/buffer.h> |
Lars-Peter Clausen | cd888a17 | 2013-01-16 12:48:00 +0000 | [diff] [blame] | 33 | |
Barry Song | a9d26f0 | 2010-05-04 14:43:15 +0100 | [diff] [blame] | 34 | #include "adis16400.h" |
| 35 | |
Lars-Peter Clausen | 1db18bb | 2013-01-16 12:48:00 +0000 | [diff] [blame] | 36 | #ifdef CONFIG_DEBUG_FS |
| 37 | |
| 38 | static ssize_t adis16400_show_serial_number(struct file *file, |
| 39 | char __user *userbuf, size_t count, loff_t *ppos) |
| 40 | { |
| 41 | struct adis16400_state *st = file->private_data; |
| 42 | u16 lot1, lot2, serial_number; |
| 43 | char buf[16]; |
| 44 | size_t len; |
| 45 | int ret; |
| 46 | |
| 47 | ret = adis_read_reg_16(&st->adis, ADIS16334_LOT_ID1, &lot1); |
| 48 | if (ret < 0) |
| 49 | return ret; |
| 50 | |
| 51 | ret = adis_read_reg_16(&st->adis, ADIS16334_LOT_ID2, &lot2); |
| 52 | if (ret < 0) |
| 53 | return ret; |
| 54 | |
| 55 | ret = adis_read_reg_16(&st->adis, ADIS16334_SERIAL_NUMBER, |
| 56 | &serial_number); |
| 57 | if (ret < 0) |
| 58 | return ret; |
| 59 | |
| 60 | len = snprintf(buf, sizeof(buf), "%.4x-%.4x-%.4x\n", lot1, lot2, |
| 61 | serial_number); |
| 62 | |
| 63 | return simple_read_from_buffer(userbuf, count, ppos, buf, len); |
| 64 | } |
| 65 | |
| 66 | static const struct file_operations adis16400_serial_number_fops = { |
| 67 | .open = simple_open, |
| 68 | .read = adis16400_show_serial_number, |
| 69 | .llseek = default_llseek, |
| 70 | .owner = THIS_MODULE, |
| 71 | }; |
| 72 | |
| 73 | static int adis16400_show_product_id(void *arg, u64 *val) |
| 74 | { |
| 75 | struct adis16400_state *st = arg; |
| 76 | uint16_t prod_id; |
| 77 | int ret; |
| 78 | |
| 79 | ret = adis_read_reg_16(&st->adis, ADIS16400_PRODUCT_ID, &prod_id); |
| 80 | if (ret < 0) |
| 81 | return ret; |
| 82 | |
| 83 | *val = prod_id; |
| 84 | |
| 85 | return 0; |
| 86 | } |
| 87 | DEFINE_SIMPLE_ATTRIBUTE(adis16400_product_id_fops, |
| 88 | adis16400_show_product_id, NULL, "%lld\n"); |
| 89 | |
| 90 | static int adis16400_show_flash_count(void *arg, u64 *val) |
| 91 | { |
| 92 | struct adis16400_state *st = arg; |
| 93 | uint16_t flash_count; |
| 94 | int ret; |
| 95 | |
| 96 | ret = adis_read_reg_16(&st->adis, ADIS16400_FLASH_CNT, &flash_count); |
| 97 | if (ret < 0) |
| 98 | return ret; |
| 99 | |
| 100 | *val = flash_count; |
| 101 | |
| 102 | return 0; |
| 103 | } |
| 104 | DEFINE_SIMPLE_ATTRIBUTE(adis16400_flash_count_fops, |
| 105 | adis16400_show_flash_count, NULL, "%lld\n"); |
| 106 | |
| 107 | static int adis16400_debugfs_init(struct iio_dev *indio_dev) |
| 108 | { |
| 109 | struct adis16400_state *st = iio_priv(indio_dev); |
| 110 | |
| 111 | if (st->variant->flags & ADIS16400_HAS_SERIAL_NUMBER) |
| 112 | debugfs_create_file("serial_number", 0400, |
| 113 | indio_dev->debugfs_dentry, st, |
| 114 | &adis16400_serial_number_fops); |
| 115 | if (st->variant->flags & ADIS16400_HAS_PROD_ID) |
| 116 | debugfs_create_file("product_id", 0400, |
| 117 | indio_dev->debugfs_dentry, st, |
| 118 | &adis16400_product_id_fops); |
| 119 | debugfs_create_file("flash_count", 0400, indio_dev->debugfs_dentry, |
| 120 | st, &adis16400_flash_count_fops); |
| 121 | |
| 122 | return 0; |
| 123 | } |
| 124 | |
| 125 | #else |
| 126 | |
| 127 | static int adis16400_debugfs_init(struct iio_dev *indio_dev) |
| 128 | { |
| 129 | return 0; |
| 130 | } |
| 131 | |
| 132 | #endif |
| 133 | |
Jonathan Cameron | 2a29a90 | 2011-05-18 14:41:28 +0100 | [diff] [blame] | 134 | enum adis16400_chip_variant { |
Jonathan Cameron | 8e886e6 | 2011-05-18 14:41:30 +0100 | [diff] [blame] | 135 | ADIS16300, |
Jonathan Cameron | 85da505 | 2011-09-30 10:05:45 +0100 | [diff] [blame] | 136 | ADIS16334, |
Jonathan Cameron | 2a29a90 | 2011-05-18 14:41:28 +0100 | [diff] [blame] | 137 | ADIS16350, |
| 138 | ADIS16360, |
| 139 | ADIS16362, |
| 140 | ADIS16364, |
Jonathan Cameron | 2a29a90 | 2011-05-18 14:41:28 +0100 | [diff] [blame] | 141 | ADIS16400, |
Lars-Peter Clausen | 76ada52 | 2013-01-16 12:48:00 +0000 | [diff] [blame] | 142 | ADIS16448, |
Jonathan Cameron | 2a29a90 | 2011-05-18 14:41:28 +0100 | [diff] [blame] | 143 | }; |
| 144 | |
Lars-Peter Clausen | cd888a17 | 2013-01-16 12:48:00 +0000 | [diff] [blame] | 145 | static int adis16334_get_freq(struct adis16400_state *st) |
Lars-Peter Clausen | ea2ccb3 | 2012-10-30 10:26:00 +0000 | [diff] [blame] | 146 | { |
| 147 | int ret; |
Lars-Peter Clausen | f4c6d64 | 2013-01-16 12:48:00 +0000 | [diff] [blame] | 148 | uint16_t t; |
Lars-Peter Clausen | ea2ccb3 | 2012-10-30 10:26:00 +0000 | [diff] [blame] | 149 | |
Lars-Peter Clausen | cd888a17 | 2013-01-16 12:48:00 +0000 | [diff] [blame] | 150 | ret = adis_read_reg_16(&st->adis, ADIS16400_SMPL_PRD, &t); |
Lars-Peter Clausen | ea2ccb3 | 2012-10-30 10:26:00 +0000 | [diff] [blame] | 151 | if (ret < 0) |
| 152 | return ret; |
| 153 | |
| 154 | t >>= ADIS16334_RATE_DIV_SHIFT; |
| 155 | |
Lars-Peter Clausen | b24150e | 2013-01-16 12:48:00 +0000 | [diff] [blame] | 156 | return 819200 >> t; |
Lars-Peter Clausen | ea2ccb3 | 2012-10-30 10:26:00 +0000 | [diff] [blame] | 157 | } |
| 158 | |
Lars-Peter Clausen | cd888a17 | 2013-01-16 12:48:00 +0000 | [diff] [blame] | 159 | 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] | 160 | { |
| 161 | unsigned int t; |
| 162 | |
Lars-Peter Clausen | b24150e | 2013-01-16 12:48:00 +0000 | [diff] [blame] | 163 | if (freq < 819200) |
| 164 | t = ilog2(819200 / freq); |
Lars-Peter Clausen | 06220b8 | 2013-01-16 12:48:00 +0000 | [diff] [blame] | 165 | else |
| 166 | t = 0; |
Lars-Peter Clausen | ea2ccb3 | 2012-10-30 10:26:00 +0000 | [diff] [blame] | 167 | |
| 168 | if (t > 0x31) |
| 169 | t = 0x31; |
| 170 | |
| 171 | t <<= ADIS16334_RATE_DIV_SHIFT; |
| 172 | t |= ADIS16334_RATE_INT_CLK; |
| 173 | |
Lars-Peter Clausen | cd888a17 | 2013-01-16 12:48:00 +0000 | [diff] [blame] | 174 | return adis_write_reg_16(&st->adis, ADIS16400_SMPL_PRD, t); |
Lars-Peter Clausen | ea2ccb3 | 2012-10-30 10:26:00 +0000 | [diff] [blame] | 175 | } |
| 176 | |
Lars-Peter Clausen | cd888a17 | 2013-01-16 12:48:00 +0000 | [diff] [blame] | 177 | static int adis16400_get_freq(struct adis16400_state *st) |
Jonathan Cameron | 98c9373 | 2011-11-27 11:39:13 +0000 | [diff] [blame] | 178 | { |
Jonathan Cameron | 98c9373 | 2011-11-27 11:39:13 +0000 | [diff] [blame] | 179 | int sps, ret; |
Lars-Peter Clausen | f4c6d64 | 2013-01-16 12:48:00 +0000 | [diff] [blame] | 180 | uint16_t t; |
Jonathan Cameron | 98c9373 | 2011-11-27 11:39:13 +0000 | [diff] [blame] | 181 | |
Lars-Peter Clausen | cd888a17 | 2013-01-16 12:48:00 +0000 | [diff] [blame] | 182 | ret = adis_read_reg_16(&st->adis, ADIS16400_SMPL_PRD, &t); |
Jonathan Cameron | 98c9373 | 2011-11-27 11:39:13 +0000 | [diff] [blame] | 183 | if (ret < 0) |
| 184 | return ret; |
Lars-Peter Clausen | f4c6d64 | 2013-01-16 12:48:00 +0000 | [diff] [blame] | 185 | |
Lars-Peter Clausen | b24150e | 2013-01-16 12:48:00 +0000 | [diff] [blame] | 186 | sps = (t & ADIS16400_SMPL_PRD_TIME_BASE) ? 52851 : 1638404; |
Jonathan Cameron | 98c9373 | 2011-11-27 11:39:13 +0000 | [diff] [blame] | 187 | sps /= (t & ADIS16400_SMPL_PRD_DIV_MASK) + 1; |
| 188 | |
| 189 | return sps; |
| 190 | } |
| 191 | |
Lars-Peter Clausen | cd888a17 | 2013-01-16 12:48:00 +0000 | [diff] [blame] | 192 | 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] | 193 | { |
Lars-Peter Clausen | ea2ccb3 | 2012-10-30 10:26:00 +0000 | [diff] [blame] | 194 | unsigned int t; |
Lars-Peter Clausen | 7ba8a04 | 2013-01-16 12:48:00 +0000 | [diff] [blame] | 195 | uint8_t val = 0; |
Lars-Peter Clausen | ea2ccb3 | 2012-10-30 10:26:00 +0000 | [diff] [blame] | 196 | |
Lars-Peter Clausen | b24150e | 2013-01-16 12:48:00 +0000 | [diff] [blame] | 197 | t = 1638404 / freq; |
Lars-Peter Clausen | 7ba8a04 | 2013-01-16 12:48:00 +0000 | [diff] [blame] | 198 | if (t >= 128) { |
| 199 | val |= ADIS16400_SMPL_PRD_TIME_BASE; |
| 200 | t = 52851 / freq; |
| 201 | if (t >= 128) |
| 202 | t = 127; |
| 203 | } else if (t != 0) { |
Lars-Peter Clausen | ea2ccb3 | 2012-10-30 10:26:00 +0000 | [diff] [blame] | 204 | t--; |
Lars-Peter Clausen | 7ba8a04 | 2013-01-16 12:48:00 +0000 | [diff] [blame] | 205 | } |
Lars-Peter Clausen | f4c6d64 | 2013-01-16 12:48:00 +0000 | [diff] [blame] | 206 | |
Lars-Peter Clausen | 7ba8a04 | 2013-01-16 12:48:00 +0000 | [diff] [blame] | 207 | val |= t; |
| 208 | |
| 209 | if (t >= 0x0A || (val & ADIS16400_SMPL_PRD_TIME_BASE)) |
Lars-Peter Clausen | cd888a17 | 2013-01-16 12:48:00 +0000 | [diff] [blame] | 210 | st->adis.spi->max_speed_hz = ADIS16400_SPI_SLOW; |
Lars-Peter Clausen | ea2ccb3 | 2012-10-30 10:26:00 +0000 | [diff] [blame] | 211 | else |
Lars-Peter Clausen | cd888a17 | 2013-01-16 12:48:00 +0000 | [diff] [blame] | 212 | st->adis.spi->max_speed_hz = ADIS16400_SPI_FAST; |
Lars-Peter Clausen | ea2ccb3 | 2012-10-30 10:26:00 +0000 | [diff] [blame] | 213 | |
Lars-Peter Clausen | 7ba8a04 | 2013-01-16 12:48:00 +0000 | [diff] [blame] | 214 | return adis_write_reg_8(&st->adis, ADIS16400_SMPL_PRD, val); |
Lars-Peter Clausen | ea2ccb3 | 2012-10-30 10:26:00 +0000 | [diff] [blame] | 215 | } |
| 216 | |
Barry Song | a9d26f0 | 2010-05-04 14:43:15 +0100 | [diff] [blame] | 217 | static ssize_t adis16400_read_frequency(struct device *dev, |
| 218 | struct device_attribute *attr, |
| 219 | char *buf) |
| 220 | { |
Lars-Peter Clausen | dedb1e7 | 2012-05-12 15:39:50 +0200 | [diff] [blame] | 221 | struct iio_dev *indio_dev = dev_to_iio_dev(dev); |
Lars-Peter Clausen | ea2ccb3 | 2012-10-30 10:26:00 +0000 | [diff] [blame] | 222 | struct adis16400_state *st = iio_priv(indio_dev); |
Lars-Peter Clausen | f4c6d64 | 2013-01-16 12:48:00 +0000 | [diff] [blame] | 223 | int ret; |
Lars-Peter Clausen | ea2ccb3 | 2012-10-30 10:26:00 +0000 | [diff] [blame] | 224 | |
Lars-Peter Clausen | cd888a17 | 2013-01-16 12:48:00 +0000 | [diff] [blame] | 225 | ret = st->variant->get_freq(st); |
Jonathan Cameron | 98c9373 | 2011-11-27 11:39:13 +0000 | [diff] [blame] | 226 | if (ret < 0) |
Barry Song | a9d26f0 | 2010-05-04 14:43:15 +0100 | [diff] [blame] | 227 | return ret; |
Lars-Peter Clausen | f4c6d64 | 2013-01-16 12:48:00 +0000 | [diff] [blame] | 228 | |
Lars-Peter Clausen | b24150e | 2013-01-16 12:48:00 +0000 | [diff] [blame] | 229 | return sprintf(buf, "%d.%.3d\n", ret / 1000, ret % 1000); |
Barry Song | a9d26f0 | 2010-05-04 14:43:15 +0100 | [diff] [blame] | 230 | } |
| 231 | |
Jonathan Cameron | 98c9373 | 2011-11-27 11:39:13 +0000 | [diff] [blame] | 232 | static const unsigned adis16400_3db_divisors[] = { |
| 233 | [0] = 2, /* Special case */ |
Lars-Peter Clausen | bdb20bd | 2013-01-16 12:48:00 +0000 | [diff] [blame] | 234 | [1] = 6, |
| 235 | [2] = 12, |
| 236 | [3] = 25, |
| 237 | [4] = 50, |
| 238 | [5] = 100, |
| 239 | [6] = 200, |
| 240 | [7] = 200, /* Not a valid setting */ |
Jonathan Cameron | 98c9373 | 2011-11-27 11:39:13 +0000 | [diff] [blame] | 241 | }; |
| 242 | |
| 243 | static int adis16400_set_filter(struct iio_dev *indio_dev, int sps, int val) |
| 244 | { |
Lars-Peter Clausen | cd888a17 | 2013-01-16 12:48:00 +0000 | [diff] [blame] | 245 | struct adis16400_state *st = iio_priv(indio_dev); |
Lars-Peter Clausen | f4c6d64 | 2013-01-16 12:48:00 +0000 | [diff] [blame] | 246 | uint16_t val16; |
Jonathan Cameron | 98c9373 | 2011-11-27 11:39:13 +0000 | [diff] [blame] | 247 | int i, ret; |
Jonathan Cameron | 98c9373 | 2011-11-27 11:39:13 +0000 | [diff] [blame] | 248 | |
Lars-Peter Clausen | bdb20bd | 2013-01-16 12:48:00 +0000 | [diff] [blame] | 249 | for (i = ARRAY_SIZE(adis16400_3db_divisors) - 1; i >= 1; i--) { |
| 250 | if (sps / adis16400_3db_divisors[i] >= val) |
| 251 | break; |
Jonathan Cameron | 98c9373 | 2011-11-27 11:39:13 +0000 | [diff] [blame] | 252 | } |
Lars-Peter Clausen | bdb20bd | 2013-01-16 12:48:00 +0000 | [diff] [blame] | 253 | |
Lars-Peter Clausen | cd888a17 | 2013-01-16 12:48:00 +0000 | [diff] [blame] | 254 | ret = adis_read_reg_16(&st->adis, ADIS16400_SENS_AVG, &val16); |
Lars-Peter Clausen | bdb20bd | 2013-01-16 12:48:00 +0000 | [diff] [blame] | 255 | if (ret < 0) |
| 256 | return ret; |
| 257 | |
Lars-Peter Clausen | cd888a17 | 2013-01-16 12:48:00 +0000 | [diff] [blame] | 258 | ret = adis_write_reg_16(&st->adis, ADIS16400_SENS_AVG, |
Lars-Peter Clausen | bdb20bd | 2013-01-16 12:48:00 +0000 | [diff] [blame] | 259 | (val16 & ~0x07) | i); |
Jonathan Cameron | 98c9373 | 2011-11-27 11:39:13 +0000 | [diff] [blame] | 260 | return ret; |
| 261 | } |
| 262 | |
Barry Song | a9d26f0 | 2010-05-04 14:43:15 +0100 | [diff] [blame] | 263 | static ssize_t adis16400_write_frequency(struct device *dev, |
Lars-Peter Clausen | f4c6d64 | 2013-01-16 12:48:00 +0000 | [diff] [blame] | 264 | struct device_attribute *attr, const char *buf, size_t len) |
Barry Song | a9d26f0 | 2010-05-04 14:43:15 +0100 | [diff] [blame] | 265 | { |
Lars-Peter Clausen | dedb1e7 | 2012-05-12 15:39:50 +0200 | [diff] [blame] | 266 | struct iio_dev *indio_dev = dev_to_iio_dev(dev); |
Jonathan Cameron | 38d15f0 | 2011-05-18 14:42:23 +0100 | [diff] [blame] | 267 | struct adis16400_state *st = iio_priv(indio_dev); |
Lars-Peter Clausen | b24150e | 2013-01-16 12:48:00 +0000 | [diff] [blame] | 268 | int i, f, val; |
Barry Song | a9d26f0 | 2010-05-04 14:43:15 +0100 | [diff] [blame] | 269 | int ret; |
Barry Song | a9d26f0 | 2010-05-04 14:43:15 +0100 | [diff] [blame] | 270 | |
Lars-Peter Clausen | b24150e | 2013-01-16 12:48:00 +0000 | [diff] [blame] | 271 | ret = iio_str_to_fixpoint(buf, 100, &i, &f); |
Barry Song | a9d26f0 | 2010-05-04 14:43:15 +0100 | [diff] [blame] | 272 | if (ret) |
| 273 | return ret; |
Lars-Peter Clausen | f4c6d64 | 2013-01-16 12:48:00 +0000 | [diff] [blame] | 274 | |
Lars-Peter Clausen | b24150e | 2013-01-16 12:48:00 +0000 | [diff] [blame] | 275 | val = i * 1000 + f; |
| 276 | |
| 277 | if (val <= 0) |
Dan Carpenter | 50d4b30 | 2012-08-18 09:48:00 +0100 | [diff] [blame] | 278 | return -EINVAL; |
Barry Song | a9d26f0 | 2010-05-04 14:43:15 +0100 | [diff] [blame] | 279 | |
| 280 | mutex_lock(&indio_dev->mlock); |
Lars-Peter Clausen | cd888a17 | 2013-01-16 12:48:00 +0000 | [diff] [blame] | 281 | st->variant->set_freq(st, val); |
Barry Song | a9d26f0 | 2010-05-04 14:43:15 +0100 | [diff] [blame] | 282 | mutex_unlock(&indio_dev->mlock); |
| 283 | |
| 284 | return ret ? ret : len; |
| 285 | } |
| 286 | |
Barry Song | a9d26f0 | 2010-05-04 14:43:15 +0100 | [diff] [blame] | 287 | /* Power down the device */ |
Jonathan Cameron | e785484 | 2011-05-18 14:41:27 +0100 | [diff] [blame] | 288 | static int adis16400_stop_device(struct iio_dev *indio_dev) |
Barry Song | a9d26f0 | 2010-05-04 14:43:15 +0100 | [diff] [blame] | 289 | { |
Lars-Peter Clausen | cd888a17 | 2013-01-16 12:48:00 +0000 | [diff] [blame] | 290 | struct adis16400_state *st = iio_priv(indio_dev); |
Barry Song | a9d26f0 | 2010-05-04 14:43:15 +0100 | [diff] [blame] | 291 | int ret; |
Barry Song | a9d26f0 | 2010-05-04 14:43:15 +0100 | [diff] [blame] | 292 | |
Lars-Peter Clausen | f4c6d64 | 2013-01-16 12:48:00 +0000 | [diff] [blame] | 293 | ret = adis_write_reg_16(&st->adis, ADIS16400_SLP_CNT, |
| 294 | ADIS16400_SLP_CNT_POWER_OFF); |
Barry Song | a9d26f0 | 2010-05-04 14:43:15 +0100 | [diff] [blame] | 295 | if (ret) |
Jonathan Cameron | e785484 | 2011-05-18 14:41:27 +0100 | [diff] [blame] | 296 | dev_err(&indio_dev->dev, |
| 297 | "problem with turning device off: SLP_CNT"); |
Barry Song | a9d26f0 | 2010-05-04 14:43:15 +0100 | [diff] [blame] | 298 | |
| 299 | return ret; |
| 300 | } |
| 301 | |
Jonathan Cameron | 38d15f0 | 2011-05-18 14:42:23 +0100 | [diff] [blame] | 302 | static int adis16400_initial_setup(struct iio_dev *indio_dev) |
Barry Song | a9d26f0 | 2010-05-04 14:43:15 +0100 | [diff] [blame] | 303 | { |
Jonathan Cameron | 38d15f0 | 2011-05-18 14:42:23 +0100 | [diff] [blame] | 304 | struct adis16400_state *st = iio_priv(indio_dev); |
Lars-Peter Clausen | f4c6d64 | 2013-01-16 12:48:00 +0000 | [diff] [blame] | 305 | uint16_t prod_id, smp_prd; |
| 306 | unsigned int device_id; |
| 307 | int ret; |
Barry Song | a9d26f0 | 2010-05-04 14:43:15 +0100 | [diff] [blame] | 308 | |
Lars-Peter Clausen | ea2ccb3 | 2012-10-30 10:26:00 +0000 | [diff] [blame] | 309 | /* use low spi speed for init if the device has a slow mode */ |
| 310 | if (st->variant->flags & ADIS16400_HAS_SLOW_MODE) |
Lars-Peter Clausen | cd888a17 | 2013-01-16 12:48:00 +0000 | [diff] [blame] | 311 | st->adis.spi->max_speed_hz = ADIS16400_SPI_SLOW; |
Lars-Peter Clausen | ea2ccb3 | 2012-10-30 10:26:00 +0000 | [diff] [blame] | 312 | else |
Lars-Peter Clausen | cd888a17 | 2013-01-16 12:48:00 +0000 | [diff] [blame] | 313 | st->adis.spi->max_speed_hz = ADIS16400_SPI_FAST; |
| 314 | st->adis.spi->mode = SPI_MODE_3; |
| 315 | spi_setup(st->adis.spi); |
Barry Song | a9d26f0 | 2010-05-04 14:43:15 +0100 | [diff] [blame] | 316 | |
Lars-Peter Clausen | cd888a17 | 2013-01-16 12:48:00 +0000 | [diff] [blame] | 317 | ret = adis_initial_startup(&st->adis); |
| 318 | if (ret) |
| 319 | return ret; |
Barry Song | a9d26f0 | 2010-05-04 14:43:15 +0100 | [diff] [blame] | 320 | |
Jonathan Cameron | 2a29a90 | 2011-05-18 14:41:28 +0100 | [diff] [blame] | 321 | if (st->variant->flags & ADIS16400_HAS_PROD_ID) { |
Lars-Peter Clausen | cd888a17 | 2013-01-16 12:48:00 +0000 | [diff] [blame] | 322 | ret = adis_read_reg_16(&st->adis, |
Jonathan Cameron | 2a29a90 | 2011-05-18 14:41:28 +0100 | [diff] [blame] | 323 | ADIS16400_PRODUCT_ID, &prod_id); |
| 324 | if (ret) |
| 325 | goto err_ret; |
Barry Song | a9d26f0 | 2010-05-04 14:43:15 +0100 | [diff] [blame] | 326 | |
Lars-Peter Clausen | fc8850c | 2012-10-30 10:26:00 +0000 | [diff] [blame] | 327 | sscanf(indio_dev->name, "adis%u\n", &device_id); |
| 328 | |
| 329 | if (prod_id != device_id) |
| 330 | dev_warn(&indio_dev->dev, "Device ID(%u) and product ID(%u) do not match.", |
| 331 | device_id, prod_id); |
Barry Song | a9d26f0 | 2010-05-04 14:43:15 +0100 | [diff] [blame] | 332 | |
Michael Hennerich | 69d80ba | 2011-09-02 17:25:34 +0100 | [diff] [blame] | 333 | 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] | 334 | indio_dev->name, prod_id, |
| 335 | st->adis.spi->chip_select, st->adis.spi->irq); |
Jonathan Cameron | 2a29a90 | 2011-05-18 14:41:28 +0100 | [diff] [blame] | 336 | } |
Barry Song | a9d26f0 | 2010-05-04 14:43:15 +0100 | [diff] [blame] | 337 | /* use high spi speed if possible */ |
Lars-Peter Clausen | ea2ccb3 | 2012-10-30 10:26:00 +0000 | [diff] [blame] | 338 | if (st->variant->flags & ADIS16400_HAS_SLOW_MODE) { |
Lars-Peter Clausen | cd888a17 | 2013-01-16 12:48:00 +0000 | [diff] [blame] | 339 | 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] | 340 | if (ret) |
| 341 | goto err_ret; |
| 342 | |
| 343 | if ((smp_prd & ADIS16400_SMPL_PRD_DIV_MASK) < 0x0A) { |
Lars-Peter Clausen | cd888a17 | 2013-01-16 12:48:00 +0000 | [diff] [blame] | 344 | st->adis.spi->max_speed_hz = ADIS16400_SPI_FAST; |
| 345 | spi_setup(st->adis.spi); |
Lars-Peter Clausen | ea2ccb3 | 2012-10-30 10:26:00 +0000 | [diff] [blame] | 346 | } |
Barry Song | a9d26f0 | 2010-05-04 14:43:15 +0100 | [diff] [blame] | 347 | } |
| 348 | |
Barry Song | a9d26f0 | 2010-05-04 14:43:15 +0100 | [diff] [blame] | 349 | err_ret: |
Barry Song | a9d26f0 | 2010-05-04 14:43:15 +0100 | [diff] [blame] | 350 | return ret; |
| 351 | } |
| 352 | |
Barry Song | a9d26f0 | 2010-05-04 14:43:15 +0100 | [diff] [blame] | 353 | static IIO_DEV_ATTR_SAMP_FREQ(S_IWUSR | S_IRUGO, |
Jonathan Cameron | 521de51 | 2011-09-02 17:25:33 +0100 | [diff] [blame] | 354 | adis16400_read_frequency, |
| 355 | adis16400_write_frequency); |
Barry Song | a9d26f0 | 2010-05-04 14:43:15 +0100 | [diff] [blame] | 356 | |
Lars-Peter Clausen | f4c6d64 | 2013-01-16 12:48:00 +0000 | [diff] [blame] | 357 | static const uint8_t adis16400_addresses[] = { |
Lars-Peter Clausen | cd888a17 | 2013-01-16 12:48:00 +0000 | [diff] [blame] | 358 | [ADIS16400_SCAN_GYRO_X] = ADIS16400_XGYRO_OFF, |
| 359 | [ADIS16400_SCAN_GYRO_Y] = ADIS16400_YGYRO_OFF, |
| 360 | [ADIS16400_SCAN_GYRO_Z] = ADIS16400_ZGYRO_OFF, |
| 361 | [ADIS16400_SCAN_ACC_X] = ADIS16400_XACCL_OFF, |
| 362 | [ADIS16400_SCAN_ACC_Y] = ADIS16400_YACCL_OFF, |
| 363 | [ADIS16400_SCAN_ACC_Z] = ADIS16400_ZACCL_OFF, |
Jonathan Cameron | e785484 | 2011-05-18 14:41:27 +0100 | [diff] [blame] | 364 | }; |
| 365 | |
Jonathan Cameron | e785484 | 2011-05-18 14:41:27 +0100 | [diff] [blame] | 366 | static int adis16400_write_raw(struct iio_dev *indio_dev, |
Lars-Peter Clausen | f4c6d64 | 2013-01-16 12:48:00 +0000 | [diff] [blame] | 367 | struct iio_chan_spec const *chan, int val, int val2, long info) |
Jonathan Cameron | e785484 | 2011-05-18 14:41:27 +0100 | [diff] [blame] | 368 | { |
Jonathan Cameron | 98c9373 | 2011-11-27 11:39:13 +0000 | [diff] [blame] | 369 | struct adis16400_state *st = iio_priv(indio_dev); |
| 370 | int ret, sps; |
Jonathan Cameron | 521de51 | 2011-09-02 17:25:33 +0100 | [diff] [blame] | 371 | |
Lars-Peter Clausen | f4c6d64 | 2013-01-16 12:48:00 +0000 | [diff] [blame] | 372 | switch (info) { |
Jonathan Cameron | c8a9f80 | 2011-10-26 17:41:36 +0100 | [diff] [blame] | 373 | case IIO_CHAN_INFO_CALIBBIAS: |
Jonathan Cameron | e785484 | 2011-05-18 14:41:27 +0100 | [diff] [blame] | 374 | mutex_lock(&indio_dev->mlock); |
Lars-Peter Clausen | cd888a17 | 2013-01-16 12:48:00 +0000 | [diff] [blame] | 375 | ret = adis_write_reg_16(&st->adis, |
| 376 | adis16400_addresses[chan->scan_index], val); |
Jonathan Cameron | e785484 | 2011-05-18 14:41:27 +0100 | [diff] [blame] | 377 | mutex_unlock(&indio_dev->mlock); |
| 378 | return ret; |
Jonathan Cameron | 98c9373 | 2011-11-27 11:39:13 +0000 | [diff] [blame] | 379 | case IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY: |
Lars-Peter Clausen | f4c6d64 | 2013-01-16 12:48:00 +0000 | [diff] [blame] | 380 | /* |
| 381 | * Need to cache values so we can update if the frequency |
| 382 | * changes. |
| 383 | */ |
Jonathan Cameron | 98c9373 | 2011-11-27 11:39:13 +0000 | [diff] [blame] | 384 | mutex_lock(&indio_dev->mlock); |
| 385 | st->filt_int = val; |
| 386 | /* Work out update to current value */ |
Lars-Peter Clausen | cd888a17 | 2013-01-16 12:48:00 +0000 | [diff] [blame] | 387 | sps = st->variant->get_freq(st); |
Jonathan Cameron | 98c9373 | 2011-11-27 11:39:13 +0000 | [diff] [blame] | 388 | if (sps < 0) { |
| 389 | mutex_unlock(&indio_dev->mlock); |
| 390 | return sps; |
| 391 | } |
| 392 | |
Lars-Peter Clausen | b24150e | 2013-01-16 12:48:00 +0000 | [diff] [blame] | 393 | ret = adis16400_set_filter(indio_dev, sps, |
| 394 | val * 1000 + val2 / 1000); |
Jonathan Cameron | 98c9373 | 2011-11-27 11:39:13 +0000 | [diff] [blame] | 395 | mutex_unlock(&indio_dev->mlock); |
| 396 | return ret; |
Jonathan Cameron | e785484 | 2011-05-18 14:41:27 +0100 | [diff] [blame] | 397 | default: |
| 398 | return -EINVAL; |
| 399 | } |
| 400 | } |
| 401 | |
| 402 | static int adis16400_read_raw(struct iio_dev *indio_dev, |
Lars-Peter Clausen | f4c6d64 | 2013-01-16 12:48:00 +0000 | [diff] [blame] | 403 | struct iio_chan_spec const *chan, int *val, int *val2, long info) |
Jonathan Cameron | e785484 | 2011-05-18 14:41:27 +0100 | [diff] [blame] | 404 | { |
Jonathan Cameron | 38d15f0 | 2011-05-18 14:42:23 +0100 | [diff] [blame] | 405 | struct adis16400_state *st = iio_priv(indio_dev); |
Lars-Peter Clausen | f4c6d64 | 2013-01-16 12:48:00 +0000 | [diff] [blame] | 406 | int16_t val16; |
Lars-Peter Clausen | cd888a17 | 2013-01-16 12:48:00 +0000 | [diff] [blame] | 407 | int ret; |
Jonathan Cameron | e785484 | 2011-05-18 14:41:27 +0100 | [diff] [blame] | 408 | |
Lars-Peter Clausen | f4c6d64 | 2013-01-16 12:48:00 +0000 | [diff] [blame] | 409 | switch (info) { |
Jonathan Cameron | a5d016d | 2012-04-15 17:41:21 +0100 | [diff] [blame] | 410 | case IIO_CHAN_INFO_RAW: |
Lars-Peter Clausen | cd888a17 | 2013-01-16 12:48:00 +0000 | [diff] [blame] | 411 | return adis_single_conversion(indio_dev, chan, 0, val); |
Jonathan Cameron | c8a9f80 | 2011-10-26 17:41:36 +0100 | [diff] [blame] | 412 | case IIO_CHAN_INFO_SCALE: |
Jonathan Cameron | e785484 | 2011-05-18 14:41:27 +0100 | [diff] [blame] | 413 | switch (chan->type) { |
Jonathan Cameron | 41ea040 | 2011-10-05 15:27:59 +0100 | [diff] [blame] | 414 | case IIO_ANGL_VEL: |
Jonathan Cameron | e785484 | 2011-05-18 14:41:27 +0100 | [diff] [blame] | 415 | *val = 0; |
Jonathan Cameron | 2a29a90 | 2011-05-18 14:41:28 +0100 | [diff] [blame] | 416 | *val2 = st->variant->gyro_scale_micro; |
Jonathan Cameron | e785484 | 2011-05-18 14:41:27 +0100 | [diff] [blame] | 417 | return IIO_VAL_INT_PLUS_MICRO; |
Jonathan Cameron | 6835cb6 | 2011-09-27 09:56:41 +0100 | [diff] [blame] | 418 | case IIO_VOLTAGE: |
Jonathan Cameron | e785484 | 2011-05-18 14:41:27 +0100 | [diff] [blame] | 419 | *val = 0; |
Lars-Peter Clausen | 1cf8c97 | 2012-10-15 10:35:00 +0100 | [diff] [blame] | 420 | if (chan->channel == 0) { |
| 421 | *val = 2; |
| 422 | *val2 = 418000; /* 2.418 mV */ |
| 423 | } else { |
| 424 | *val = 0; |
| 425 | *val2 = 805800; /* 805.8 uV */ |
| 426 | } |
Jonathan Cameron | e785484 | 2011-05-18 14:41:27 +0100 | [diff] [blame] | 427 | return IIO_VAL_INT_PLUS_MICRO; |
| 428 | case IIO_ACCEL: |
| 429 | *val = 0; |
Jonathan Cameron | 2a29a90 | 2011-05-18 14:41:28 +0100 | [diff] [blame] | 430 | *val2 = st->variant->accel_scale_micro; |
Jonathan Cameron | e785484 | 2011-05-18 14:41:27 +0100 | [diff] [blame] | 431 | return IIO_VAL_INT_PLUS_MICRO; |
| 432 | case IIO_MAGN: |
| 433 | *val = 0; |
Lars-Peter Clausen | 1cf8c97 | 2012-10-15 10:35:00 +0100 | [diff] [blame] | 434 | *val2 = 500; /* 0.5 mgauss */ |
Jonathan Cameron | e785484 | 2011-05-18 14:41:27 +0100 | [diff] [blame] | 435 | return IIO_VAL_INT_PLUS_MICRO; |
| 436 | case IIO_TEMP: |
Lars-Peter Clausen | 760ebc0 | 2012-10-15 10:35:00 +0100 | [diff] [blame] | 437 | *val = st->variant->temp_scale_nano / 1000000; |
| 438 | *val2 = (st->variant->temp_scale_nano % 1000000); |
Jonathan Cameron | e785484 | 2011-05-18 14:41:27 +0100 | [diff] [blame] | 439 | return IIO_VAL_INT_PLUS_MICRO; |
| 440 | default: |
| 441 | return -EINVAL; |
| 442 | } |
Jonathan Cameron | c8a9f80 | 2011-10-26 17:41:36 +0100 | [diff] [blame] | 443 | case IIO_CHAN_INFO_CALIBBIAS: |
Jonathan Cameron | e785484 | 2011-05-18 14:41:27 +0100 | [diff] [blame] | 444 | mutex_lock(&indio_dev->mlock); |
Lars-Peter Clausen | cd888a17 | 2013-01-16 12:48:00 +0000 | [diff] [blame] | 445 | ret = adis_read_reg_16(&st->adis, |
| 446 | adis16400_addresses[chan->scan_index], &val16); |
Jonathan Cameron | 2a29a90 | 2011-05-18 14:41:28 +0100 | [diff] [blame] | 447 | mutex_unlock(&indio_dev->mlock); |
| 448 | if (ret) |
Jonathan Cameron | e785484 | 2011-05-18 14:41:27 +0100 | [diff] [blame] | 449 | return ret; |
Jonathan Cameron | e785484 | 2011-05-18 14:41:27 +0100 | [diff] [blame] | 450 | val16 = ((val16 & 0xFFF) << 4) >> 4; |
| 451 | *val = val16; |
| 452 | return IIO_VAL_INT; |
Jonathan Cameron | c8a9f80 | 2011-10-26 17:41:36 +0100 | [diff] [blame] | 453 | case IIO_CHAN_INFO_OFFSET: |
Jonathan Cameron | e785484 | 2011-05-18 14:41:27 +0100 | [diff] [blame] | 454 | /* currently only temperature */ |
Lars-Peter Clausen | 760ebc0 | 2012-10-15 10:35:00 +0100 | [diff] [blame] | 455 | *val = st->variant->temp_offset; |
Lars-Peter Clausen | 1cf8c97 | 2012-10-15 10:35:00 +0100 | [diff] [blame] | 456 | return IIO_VAL_INT; |
Jonathan Cameron | 98c9373 | 2011-11-27 11:39:13 +0000 | [diff] [blame] | 457 | case IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY: |
| 458 | mutex_lock(&indio_dev->mlock); |
| 459 | /* Need both the number of taps and the sampling frequency */ |
Lars-Peter Clausen | cd888a17 | 2013-01-16 12:48:00 +0000 | [diff] [blame] | 460 | ret = adis_read_reg_16(&st->adis, |
Jonathan Cameron | 98c9373 | 2011-11-27 11:39:13 +0000 | [diff] [blame] | 461 | ADIS16400_SENS_AVG, |
| 462 | &val16); |
| 463 | if (ret < 0) { |
| 464 | mutex_unlock(&indio_dev->mlock); |
| 465 | return ret; |
| 466 | } |
Lars-Peter Clausen | cd888a17 | 2013-01-16 12:48:00 +0000 | [diff] [blame] | 467 | ret = st->variant->get_freq(st); |
Lars-Peter Clausen | b24150e | 2013-01-16 12:48:00 +0000 | [diff] [blame] | 468 | if (ret >= 0) { |
| 469 | ret /= adis16400_3db_divisors[val16 & 0x07]; |
| 470 | *val = ret / 1000; |
| 471 | *val2 = (ret % 1000) * 1000; |
| 472 | } |
Jonathan Cameron | 98c9373 | 2011-11-27 11:39:13 +0000 | [diff] [blame] | 473 | mutex_unlock(&indio_dev->mlock); |
| 474 | if (ret < 0) |
| 475 | return ret; |
| 476 | return IIO_VAL_INT_PLUS_MICRO; |
Jonathan Cameron | e785484 | 2011-05-18 14:41:27 +0100 | [diff] [blame] | 477 | default: |
| 478 | return -EINVAL; |
| 479 | } |
| 480 | } |
| 481 | |
Lars-Peter Clausen | 599acfb | 2013-01-16 12:48:00 +0000 | [diff] [blame] | 482 | #define ADIS16400_VOLTAGE_CHAN(addr, bits, name, si) { \ |
| 483 | .type = IIO_VOLTAGE, \ |
| 484 | .indexed = 1, \ |
| 485 | .channel = 0, \ |
| 486 | .extend_name = name, \ |
Jonathan Cameron | 19a7c88 | 2013-02-27 19:31:17 +0000 | [diff] [blame] | 487 | .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \ |
| 488 | BIT(IIO_CHAN_INFO_SCALE), \ |
Lars-Peter Clausen | 599acfb | 2013-01-16 12:48:00 +0000 | [diff] [blame] | 489 | .address = (addr), \ |
| 490 | .scan_index = (si), \ |
Lars-Peter Clausen | 5eda355 | 2013-01-16 12:48:00 +0000 | [diff] [blame] | 491 | .scan_type = { \ |
| 492 | .sign = 'u', \ |
| 493 | .realbits = (bits), \ |
| 494 | .storagebits = 16, \ |
| 495 | .shift = 0, \ |
| 496 | .endianness = IIO_BE, \ |
| 497 | }, \ |
Lars-Peter Clausen | 599acfb | 2013-01-16 12:48:00 +0000 | [diff] [blame] | 498 | } |
| 499 | |
| 500 | #define ADIS16400_SUPPLY_CHAN(addr, bits) \ |
| 501 | ADIS16400_VOLTAGE_CHAN(addr, bits, "supply", ADIS16400_SCAN_SUPPLY) |
| 502 | |
| 503 | #define ADIS16400_AUX_ADC_CHAN(addr, bits) \ |
| 504 | ADIS16400_VOLTAGE_CHAN(addr, bits, NULL, ADIS16400_SCAN_ADC) |
| 505 | |
| 506 | #define ADIS16400_GYRO_CHAN(mod, addr, bits) { \ |
| 507 | .type = IIO_ANGL_VEL, \ |
| 508 | .modified = 1, \ |
| 509 | .channel2 = IIO_MOD_ ## mod, \ |
Jonathan Cameron | 19a7c88 | 2013-02-27 19:31:17 +0000 | [diff] [blame] | 510 | .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \ |
| 511 | BIT(IIO_CHAN_INFO_CALIBBIAS), \ |
| 512 | .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE) | \ |
| 513 | BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY), \ |
Lars-Peter Clausen | 599acfb | 2013-01-16 12:48:00 +0000 | [diff] [blame] | 514 | .address = addr, \ |
| 515 | .scan_index = ADIS16400_SCAN_GYRO_ ## mod, \ |
Lars-Peter Clausen | 5eda355 | 2013-01-16 12:48:00 +0000 | [diff] [blame] | 516 | .scan_type = { \ |
| 517 | .sign = 's', \ |
| 518 | .realbits = (bits), \ |
| 519 | .storagebits = 16, \ |
| 520 | .shift = 0, \ |
| 521 | .endianness = IIO_BE, \ |
| 522 | }, \ |
Lars-Peter Clausen | 599acfb | 2013-01-16 12:48:00 +0000 | [diff] [blame] | 523 | } |
| 524 | |
| 525 | #define ADIS16400_ACCEL_CHAN(mod, addr, bits) { \ |
| 526 | .type = IIO_ACCEL, \ |
| 527 | .modified = 1, \ |
| 528 | .channel2 = IIO_MOD_ ## mod, \ |
Jonathan Cameron | 19a7c88 | 2013-02-27 19:31:17 +0000 | [diff] [blame] | 529 | .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \ |
| 530 | BIT(IIO_CHAN_INFO_CALIBBIAS), \ |
| 531 | .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE) | \ |
| 532 | BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY), \ |
Lars-Peter Clausen | 599acfb | 2013-01-16 12:48:00 +0000 | [diff] [blame] | 533 | .address = (addr), \ |
| 534 | .scan_index = ADIS16400_SCAN_ACC_ ## mod, \ |
Lars-Peter Clausen | 5eda355 | 2013-01-16 12:48:00 +0000 | [diff] [blame] | 535 | .scan_type = { \ |
| 536 | .sign = 's', \ |
| 537 | .realbits = (bits), \ |
| 538 | .storagebits = 16, \ |
| 539 | .shift = 0, \ |
| 540 | .endianness = IIO_BE, \ |
| 541 | }, \ |
Lars-Peter Clausen | 599acfb | 2013-01-16 12:48:00 +0000 | [diff] [blame] | 542 | } |
| 543 | |
| 544 | #define ADIS16400_MAGN_CHAN(mod, addr, bits) { \ |
| 545 | .type = IIO_MAGN, \ |
| 546 | .modified = 1, \ |
| 547 | .channel2 = IIO_MOD_ ## mod, \ |
Jonathan Cameron | 19a7c88 | 2013-02-27 19:31:17 +0000 | [diff] [blame] | 548 | .info_mask_separate = BIT(IIO_CHAN_INFO_RAW), \ |
| 549 | .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE) | \ |
| 550 | BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY), \ |
Lars-Peter Clausen | 599acfb | 2013-01-16 12:48:00 +0000 | [diff] [blame] | 551 | .address = (addr), \ |
| 552 | .scan_index = ADIS16400_SCAN_MAGN_ ## mod, \ |
Lars-Peter Clausen | 5eda355 | 2013-01-16 12:48:00 +0000 | [diff] [blame] | 553 | .scan_type = { \ |
| 554 | .sign = 's', \ |
| 555 | .realbits = (bits), \ |
| 556 | .storagebits = 16, \ |
| 557 | .shift = 0, \ |
| 558 | .endianness = IIO_BE, \ |
| 559 | }, \ |
Lars-Peter Clausen | 599acfb | 2013-01-16 12:48:00 +0000 | [diff] [blame] | 560 | } |
| 561 | |
| 562 | #define ADIS16400_MOD_TEMP_NAME_X "x" |
| 563 | #define ADIS16400_MOD_TEMP_NAME_Y "y" |
| 564 | #define ADIS16400_MOD_TEMP_NAME_Z "z" |
| 565 | |
| 566 | #define ADIS16400_MOD_TEMP_CHAN(mod, addr, bits) { \ |
| 567 | .type = IIO_TEMP, \ |
| 568 | .indexed = 1, \ |
| 569 | .channel = 0, \ |
| 570 | .extend_name = ADIS16400_MOD_TEMP_NAME_ ## mod, \ |
Jonathan Cameron | 19a7c88 | 2013-02-27 19:31:17 +0000 | [diff] [blame] | 571 | .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \ |
| 572 | BIT(IIO_CHAN_INFO_OFFSET) | \ |
| 573 | BIT(IIO_CHAN_INFO_SCALE), \ |
| 574 | .info_mask_shared_by_type = \ |
| 575 | BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY), \ |
Lars-Peter Clausen | 599acfb | 2013-01-16 12:48:00 +0000 | [diff] [blame] | 576 | .address = (addr), \ |
| 577 | .scan_index = ADIS16350_SCAN_TEMP_ ## mod, \ |
Lars-Peter Clausen | 5eda355 | 2013-01-16 12:48:00 +0000 | [diff] [blame] | 578 | .scan_type = { \ |
| 579 | .sign = 's', \ |
| 580 | .realbits = (bits), \ |
| 581 | .storagebits = 16, \ |
| 582 | .shift = 0, \ |
| 583 | .endianness = IIO_BE, \ |
| 584 | }, \ |
Lars-Peter Clausen | 599acfb | 2013-01-16 12:48:00 +0000 | [diff] [blame] | 585 | } |
| 586 | |
| 587 | #define ADIS16400_TEMP_CHAN(addr, bits) { \ |
| 588 | .type = IIO_TEMP, \ |
| 589 | .indexed = 1, \ |
| 590 | .channel = 0, \ |
Jonathan Cameron | 19a7c88 | 2013-02-27 19:31:17 +0000 | [diff] [blame] | 591 | .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \ |
| 592 | BIT(IIO_CHAN_INFO_OFFSET) | \ |
| 593 | BIT(IIO_CHAN_INFO_SCALE), \ |
Lars-Peter Clausen | 599acfb | 2013-01-16 12:48:00 +0000 | [diff] [blame] | 594 | .address = (addr), \ |
| 595 | .scan_index = ADIS16350_SCAN_TEMP_X, \ |
Lars-Peter Clausen | 5eda355 | 2013-01-16 12:48:00 +0000 | [diff] [blame] | 596 | .scan_type = { \ |
| 597 | .sign = 's', \ |
| 598 | .realbits = (bits), \ |
| 599 | .storagebits = 16, \ |
| 600 | .shift = 0, \ |
| 601 | .endianness = IIO_BE, \ |
| 602 | }, \ |
Lars-Peter Clausen | 599acfb | 2013-01-16 12:48:00 +0000 | [diff] [blame] | 603 | } |
| 604 | |
| 605 | #define ADIS16400_INCLI_CHAN(mod, addr, bits) { \ |
| 606 | .type = IIO_INCLI, \ |
| 607 | .modified = 1, \ |
| 608 | .channel2 = IIO_MOD_ ## mod, \ |
Jonathan Cameron | 19a7c88 | 2013-02-27 19:31:17 +0000 | [diff] [blame] | 609 | .info_mask_separate = BIT(IIO_CHAN_INFO_RAW), \ |
| 610 | .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE), \ |
Lars-Peter Clausen | 599acfb | 2013-01-16 12:48:00 +0000 | [diff] [blame] | 611 | .address = (addr), \ |
| 612 | .scan_index = ADIS16300_SCAN_INCLI_ ## mod, \ |
Lars-Peter Clausen | 5eda355 | 2013-01-16 12:48:00 +0000 | [diff] [blame] | 613 | .scan_type = { \ |
| 614 | .sign = 's', \ |
| 615 | .realbits = (bits), \ |
| 616 | .storagebits = 16, \ |
| 617 | .shift = 0, \ |
| 618 | .endianness = IIO_BE, \ |
| 619 | }, \ |
Lars-Peter Clausen | 599acfb | 2013-01-16 12:48:00 +0000 | [diff] [blame] | 620 | } |
| 621 | |
Lars-Peter Clausen | f4e4b95 | 2012-08-09 08:51:00 +0100 | [diff] [blame] | 622 | static const struct iio_chan_spec adis16400_channels[] = { |
Lars-Peter Clausen | 599acfb | 2013-01-16 12:48:00 +0000 | [diff] [blame] | 623 | ADIS16400_SUPPLY_CHAN(ADIS16400_SUPPLY_OUT, 14), |
| 624 | ADIS16400_GYRO_CHAN(X, ADIS16400_XGYRO_OUT, 14), |
| 625 | ADIS16400_GYRO_CHAN(Y, ADIS16400_YGYRO_OUT, 14), |
| 626 | ADIS16400_GYRO_CHAN(Z, ADIS16400_ZGYRO_OUT, 14), |
| 627 | ADIS16400_ACCEL_CHAN(X, ADIS16400_XACCL_OUT, 14), |
| 628 | ADIS16400_ACCEL_CHAN(Y, ADIS16400_YACCL_OUT, 14), |
| 629 | ADIS16400_ACCEL_CHAN(Z, ADIS16400_ZACCL_OUT, 14), |
| 630 | ADIS16400_MAGN_CHAN(X, ADIS16400_XMAGN_OUT, 14), |
| 631 | ADIS16400_MAGN_CHAN(Y, ADIS16400_YMAGN_OUT, 14), |
| 632 | ADIS16400_MAGN_CHAN(Z, ADIS16400_ZMAGN_OUT, 14), |
| 633 | ADIS16400_TEMP_CHAN(ADIS16400_TEMP_OUT, 12), |
| 634 | ADIS16400_AUX_ADC_CHAN(ADIS16400_AUX_ADC, 12), |
Marcus Folkesson | c76782d | 2014-01-24 11:24:00 +0000 | [diff] [blame] | 635 | IIO_CHAN_SOFT_TIMESTAMP(ADIS16400_SCAN_TIMESTAMP), |
Jonathan Cameron | e785484 | 2011-05-18 14:41:27 +0100 | [diff] [blame] | 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), |
Lars-Peter Clausen | 76ada52 | 2013-01-16 12:48:00 +0000 | [diff] [blame] | 652 | .address = ADIS16448_BARO_OUT, |
| 653 | .scan_index = ADIS16400_SCAN_BARO, |
Jonathan Cameron | 3425c0f | 2013-12-11 18:45:00 +0000 | [diff] [blame] | 654 | .scan_type = { |
| 655 | .sign = 's', |
| 656 | .realbits = 16, |
| 657 | .storagebits = 16, |
| 658 | .endianness = IIO_BE, |
| 659 | }, |
Lars-Peter Clausen | 76ada52 | 2013-01-16 12:48:00 +0000 | [diff] [blame] | 660 | }, |
| 661 | ADIS16400_TEMP_CHAN(ADIS16448_TEMP_OUT, 12), |
Marcus Folkesson | c76782d | 2014-01-24 11:24:00 +0000 | [diff] [blame] | 662 | IIO_CHAN_SOFT_TIMESTAMP(ADIS16400_SCAN_TIMESTAMP), |
Lars-Peter Clausen | 76ada52 | 2013-01-16 12:48:00 +0000 | [diff] [blame] | 663 | }; |
| 664 | |
Lars-Peter Clausen | f4e4b95 | 2012-08-09 08:51:00 +0100 | [diff] [blame] | 665 | static const struct iio_chan_spec adis16350_channels[] = { |
Lars-Peter Clausen | 599acfb | 2013-01-16 12:48:00 +0000 | [diff] [blame] | 666 | ADIS16400_SUPPLY_CHAN(ADIS16400_SUPPLY_OUT, 12), |
| 667 | ADIS16400_GYRO_CHAN(X, ADIS16400_XGYRO_OUT, 14), |
| 668 | ADIS16400_GYRO_CHAN(Y, ADIS16400_YGYRO_OUT, 14), |
| 669 | ADIS16400_GYRO_CHAN(Z, ADIS16400_ZGYRO_OUT, 14), |
| 670 | ADIS16400_ACCEL_CHAN(X, ADIS16400_XACCL_OUT, 14), |
| 671 | ADIS16400_ACCEL_CHAN(Y, ADIS16400_YACCL_OUT, 14), |
| 672 | ADIS16400_ACCEL_CHAN(Z, ADIS16400_ZACCL_OUT, 14), |
| 673 | ADIS16400_MAGN_CHAN(X, ADIS16400_XMAGN_OUT, 14), |
| 674 | ADIS16400_MAGN_CHAN(Y, ADIS16400_YMAGN_OUT, 14), |
| 675 | ADIS16400_MAGN_CHAN(Z, ADIS16400_ZMAGN_OUT, 14), |
| 676 | ADIS16400_AUX_ADC_CHAN(ADIS16300_AUX_ADC, 12), |
| 677 | ADIS16400_MOD_TEMP_CHAN(X, ADIS16350_XTEMP_OUT, 12), |
| 678 | ADIS16400_MOD_TEMP_CHAN(Y, ADIS16350_YTEMP_OUT, 12), |
| 679 | ADIS16400_MOD_TEMP_CHAN(Z, ADIS16350_ZTEMP_OUT, 12), |
Marcus Folkesson | c76782d | 2014-01-24 11:24:00 +0000 | [diff] [blame] | 680 | IIO_CHAN_SOFT_TIMESTAMP(ADIS16400_SCAN_TIMESTAMP), |
Jonathan Cameron | 2a29a90 | 2011-05-18 14:41:28 +0100 | [diff] [blame] | 681 | }; |
| 682 | |
Lars-Peter Clausen | f4e4b95 | 2012-08-09 08:51:00 +0100 | [diff] [blame] | 683 | static const struct iio_chan_spec adis16300_channels[] = { |
Lars-Peter Clausen | 599acfb | 2013-01-16 12:48:00 +0000 | [diff] [blame] | 684 | ADIS16400_SUPPLY_CHAN(ADIS16400_SUPPLY_OUT, 12), |
| 685 | ADIS16400_GYRO_CHAN(X, ADIS16400_XGYRO_OUT, 14), |
| 686 | ADIS16400_ACCEL_CHAN(X, ADIS16400_XACCL_OUT, 14), |
| 687 | ADIS16400_ACCEL_CHAN(Y, ADIS16400_YACCL_OUT, 14), |
| 688 | ADIS16400_ACCEL_CHAN(Z, ADIS16400_ZACCL_OUT, 14), |
| 689 | ADIS16400_TEMP_CHAN(ADIS16350_XTEMP_OUT, 12), |
| 690 | ADIS16400_AUX_ADC_CHAN(ADIS16300_AUX_ADC, 12), |
| 691 | ADIS16400_INCLI_CHAN(X, ADIS16300_PITCH_OUT, 13), |
| 692 | ADIS16400_INCLI_CHAN(Y, ADIS16300_ROLL_OUT, 13), |
Marcus Folkesson | c76782d | 2014-01-24 11:24:00 +0000 | [diff] [blame] | 693 | IIO_CHAN_SOFT_TIMESTAMP(ADIS16400_SCAN_TIMESTAMP), |
Jonathan Cameron | 8e886e6 | 2011-05-18 14:41:30 +0100 | [diff] [blame] | 694 | }; |
| 695 | |
Jonathan Cameron | 85da505 | 2011-09-30 10:05:45 +0100 | [diff] [blame] | 696 | static const struct iio_chan_spec adis16334_channels[] = { |
Lars-Peter Clausen | 599acfb | 2013-01-16 12:48:00 +0000 | [diff] [blame] | 697 | ADIS16400_GYRO_CHAN(X, ADIS16400_XGYRO_OUT, 14), |
| 698 | ADIS16400_GYRO_CHAN(Y, ADIS16400_YGYRO_OUT, 14), |
| 699 | ADIS16400_GYRO_CHAN(Z, ADIS16400_ZGYRO_OUT, 14), |
| 700 | ADIS16400_ACCEL_CHAN(X, ADIS16400_XACCL_OUT, 14), |
| 701 | ADIS16400_ACCEL_CHAN(Y, ADIS16400_YACCL_OUT, 14), |
| 702 | ADIS16400_ACCEL_CHAN(Z, ADIS16400_ZACCL_OUT, 14), |
| 703 | ADIS16400_TEMP_CHAN(ADIS16350_XTEMP_OUT, 12), |
Marcus Folkesson | c76782d | 2014-01-24 11:24:00 +0000 | [diff] [blame] | 704 | IIO_CHAN_SOFT_TIMESTAMP(ADIS16400_SCAN_TIMESTAMP), |
Jonathan Cameron | 88b42f3 | 2011-08-12 18:04:37 +0100 | [diff] [blame] | 705 | }; |
| 706 | |
Barry Song | a9d26f0 | 2010-05-04 14:43:15 +0100 | [diff] [blame] | 707 | static struct attribute *adis16400_attributes[] = { |
Barry Song | a9d26f0 | 2010-05-04 14:43:15 +0100 | [diff] [blame] | 708 | &iio_dev_attr_sampling_frequency.dev_attr.attr, |
Barry Song | a9d26f0 | 2010-05-04 14:43:15 +0100 | [diff] [blame] | 709 | NULL |
| 710 | }; |
| 711 | |
| 712 | static const struct attribute_group adis16400_attribute_group = { |
| 713 | .attrs = adis16400_attributes, |
| 714 | }; |
| 715 | |
Jonathan Cameron | 2a29a90 | 2011-05-18 14:41:28 +0100 | [diff] [blame] | 716 | static struct adis16400_chip_info adis16400_chips[] = { |
Jonathan Cameron | 8e886e6 | 2011-05-18 14:41:30 +0100 | [diff] [blame] | 717 | [ADIS16300] = { |
| 718 | .channels = adis16300_channels, |
| 719 | .num_channels = ARRAY_SIZE(adis16300_channels), |
Lars-Peter Clausen | ea2ccb3 | 2012-10-30 10:26:00 +0000 | [diff] [blame] | 720 | .flags = ADIS16400_HAS_SLOW_MODE, |
Lars-Peter Clausen | 1cf8c97 | 2012-10-15 10:35:00 +0100 | [diff] [blame] | 721 | .gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */ |
Jonathan Cameron | 8e886e6 | 2011-05-18 14:41:30 +0100 | [diff] [blame] | 722 | .accel_scale_micro = 5884, |
Lars-Peter Clausen | 760ebc0 | 2012-10-15 10:35:00 +0100 | [diff] [blame] | 723 | .temp_scale_nano = 140000000, /* 0.14 C */ |
| 724 | .temp_offset = 25000000 / 140000, /* 25 C = 0x00 */ |
Lars-Peter Clausen | ea2ccb3 | 2012-10-30 10:26:00 +0000 | [diff] [blame] | 725 | .set_freq = adis16400_set_freq, |
| 726 | .get_freq = adis16400_get_freq, |
Jonathan Cameron | 8e886e6 | 2011-05-18 14:41:30 +0100 | [diff] [blame] | 727 | }, |
Jonathan Cameron | 85da505 | 2011-09-30 10:05:45 +0100 | [diff] [blame] | 728 | [ADIS16334] = { |
| 729 | .channels = adis16334_channels, |
| 730 | .num_channels = ARRAY_SIZE(adis16334_channels), |
Lars-Peter Clausen | 1db18bb | 2013-01-16 12:48:00 +0000 | [diff] [blame] | 731 | .flags = ADIS16400_HAS_PROD_ID | ADIS16400_NO_BURST | |
| 732 | ADIS16400_HAS_SERIAL_NUMBER, |
Lars-Peter Clausen | 1cf8c97 | 2012-10-15 10:35:00 +0100 | [diff] [blame] | 733 | .gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */ |
| 734 | .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] | 735 | .temp_scale_nano = 67850000, /* 0.06785 C */ |
| 736 | .temp_offset = 25000000 / 67850, /* 25 C = 0x00 */ |
Lars-Peter Clausen | ea2ccb3 | 2012-10-30 10:26:00 +0000 | [diff] [blame] | 737 | .set_freq = adis16334_set_freq, |
| 738 | .get_freq = adis16334_get_freq, |
Jonathan Cameron | 88b42f3 | 2011-08-12 18:04:37 +0100 | [diff] [blame] | 739 | }, |
Jonathan Cameron | 2a29a90 | 2011-05-18 14:41:28 +0100 | [diff] [blame] | 740 | [ADIS16350] = { |
| 741 | .channels = adis16350_channels, |
| 742 | .num_channels = ARRAY_SIZE(adis16350_channels), |
Lars-Peter Clausen | 1cf8c97 | 2012-10-15 10:35:00 +0100 | [diff] [blame] | 743 | .gyro_scale_micro = IIO_DEGREE_TO_RAD(73260), /* 0.07326 deg/s */ |
| 744 | .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] | 745 | .temp_scale_nano = 145300000, /* 0.1453 C */ |
| 746 | .temp_offset = 25000000 / 145300, /* 25 C = 0x00 */ |
Lars-Peter Clausen | ea2ccb3 | 2012-10-30 10:26:00 +0000 | [diff] [blame] | 747 | .flags = ADIS16400_NO_BURST | ADIS16400_HAS_SLOW_MODE, |
| 748 | .set_freq = adis16400_set_freq, |
| 749 | .get_freq = adis16400_get_freq, |
Jonathan Cameron | 2a29a90 | 2011-05-18 14:41:28 +0100 | [diff] [blame] | 750 | }, |
| 751 | [ADIS16360] = { |
| 752 | .channels = adis16350_channels, |
| 753 | .num_channels = ARRAY_SIZE(adis16350_channels), |
Lars-Peter Clausen | 1db18bb | 2013-01-16 12:48:00 +0000 | [diff] [blame] | 754 | .flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE | |
| 755 | ADIS16400_HAS_SERIAL_NUMBER, |
Lars-Peter Clausen | 1cf8c97 | 2012-10-15 10:35:00 +0100 | [diff] [blame] | 756 | .gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */ |
| 757 | .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] | 758 | .temp_scale_nano = 136000000, /* 0.136 C */ |
| 759 | .temp_offset = 25000000 / 136000, /* 25 C = 0x00 */ |
Lars-Peter Clausen | ea2ccb3 | 2012-10-30 10:26:00 +0000 | [diff] [blame] | 760 | .set_freq = adis16400_set_freq, |
| 761 | .get_freq = adis16400_get_freq, |
Jonathan Cameron | 2a29a90 | 2011-05-18 14:41:28 +0100 | [diff] [blame] | 762 | }, |
| 763 | [ADIS16362] = { |
| 764 | .channels = adis16350_channels, |
| 765 | .num_channels = ARRAY_SIZE(adis16350_channels), |
Lars-Peter Clausen | 1db18bb | 2013-01-16 12:48:00 +0000 | [diff] [blame] | 766 | .flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE | |
| 767 | ADIS16400_HAS_SERIAL_NUMBER, |
Lars-Peter Clausen | 1cf8c97 | 2012-10-15 10:35:00 +0100 | [diff] [blame] | 768 | .gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */ |
| 769 | .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] | 770 | .temp_scale_nano = 136000000, /* 0.136 C */ |
| 771 | .temp_offset = 25000000 / 136000, /* 25 C = 0x00 */ |
Lars-Peter Clausen | ea2ccb3 | 2012-10-30 10:26:00 +0000 | [diff] [blame] | 772 | .set_freq = adis16400_set_freq, |
| 773 | .get_freq = adis16400_get_freq, |
Jonathan Cameron | 2a29a90 | 2011-05-18 14:41:28 +0100 | [diff] [blame] | 774 | }, |
| 775 | [ADIS16364] = { |
| 776 | .channels = adis16350_channels, |
| 777 | .num_channels = ARRAY_SIZE(adis16350_channels), |
Lars-Peter Clausen | 1db18bb | 2013-01-16 12:48:00 +0000 | [diff] [blame] | 778 | .flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE | |
| 779 | ADIS16400_HAS_SERIAL_NUMBER, |
Lars-Peter Clausen | 1cf8c97 | 2012-10-15 10:35:00 +0100 | [diff] [blame] | 780 | .gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */ |
| 781 | .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] | 782 | .temp_scale_nano = 136000000, /* 0.136 C */ |
| 783 | .temp_offset = 25000000 / 136000, /* 25 C = 0x00 */ |
Lars-Peter Clausen | ea2ccb3 | 2012-10-30 10:26:00 +0000 | [diff] [blame] | 784 | .set_freq = adis16400_set_freq, |
| 785 | .get_freq = adis16400_get_freq, |
Jonathan Cameron | 2a29a90 | 2011-05-18 14:41:28 +0100 | [diff] [blame] | 786 | }, |
Jonathan Cameron | 2a29a90 | 2011-05-18 14:41:28 +0100 | [diff] [blame] | 787 | [ADIS16400] = { |
| 788 | .channels = adis16400_channels, |
| 789 | .num_channels = ARRAY_SIZE(adis16400_channels), |
Lars-Peter Clausen | ea2ccb3 | 2012-10-30 10:26:00 +0000 | [diff] [blame] | 790 | .flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE, |
Lars-Peter Clausen | 1cf8c97 | 2012-10-15 10:35:00 +0100 | [diff] [blame] | 791 | .gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */ |
| 792 | .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] | 793 | .temp_scale_nano = 140000000, /* 0.14 C */ |
| 794 | .temp_offset = 25000000 / 140000, /* 25 C = 0x00 */ |
Lars-Peter Clausen | ea2ccb3 | 2012-10-30 10:26:00 +0000 | [diff] [blame] | 795 | .set_freq = adis16400_set_freq, |
| 796 | .get_freq = adis16400_get_freq, |
Lars-Peter Clausen | 76ada52 | 2013-01-16 12:48:00 +0000 | [diff] [blame] | 797 | }, |
| 798 | [ADIS16448] = { |
| 799 | .channels = adis16448_channels, |
| 800 | .num_channels = ARRAY_SIZE(adis16448_channels), |
| 801 | .flags = ADIS16400_HAS_PROD_ID | |
| 802 | ADIS16400_HAS_SERIAL_NUMBER, |
| 803 | .gyro_scale_micro = IIO_DEGREE_TO_RAD(10000), /* 0.01 deg/s */ |
| 804 | .accel_scale_micro = IIO_G_TO_M_S_2(833), /* 1/1200 g */ |
| 805 | .temp_scale_nano = 73860000, /* 0.07386 C */ |
| 806 | .temp_offset = 31000000 / 73860, /* 31 C = 0x00 */ |
| 807 | .set_freq = adis16334_set_freq, |
| 808 | .get_freq = adis16334_get_freq, |
Jonathan Cameron | 2a29a90 | 2011-05-18 14:41:28 +0100 | [diff] [blame] | 809 | } |
| 810 | }; |
| 811 | |
Jonathan Cameron | 6fe8135 | 2011-05-18 14:42:37 +0100 | [diff] [blame] | 812 | static const struct iio_info adis16400_info = { |
| 813 | .driver_module = THIS_MODULE, |
| 814 | .read_raw = &adis16400_read_raw, |
| 815 | .write_raw = &adis16400_write_raw, |
| 816 | .attrs = &adis16400_attribute_group, |
Lars-Peter Clausen | 5eda355 | 2013-01-16 12:48:00 +0000 | [diff] [blame] | 817 | .update_scan_mode = adis16400_update_scan_mode, |
Lars-Peter Clausen | 1db18bb | 2013-01-16 12:48:00 +0000 | [diff] [blame] | 818 | .debugfs_reg_access = adis_debugfs_reg_access, |
Lars-Peter Clausen | 5eda355 | 2013-01-16 12:48:00 +0000 | [diff] [blame] | 819 | }; |
| 820 | |
| 821 | static const unsigned long adis16400_burst_scan_mask[] = { |
| 822 | ~0UL, |
| 823 | 0, |
Jonathan Cameron | 6fe8135 | 2011-05-18 14:42:37 +0100 | [diff] [blame] | 824 | }; |
Jonathan Cameron | 2a29a90 | 2011-05-18 14:41:28 +0100 | [diff] [blame] | 825 | |
Lars-Peter Clausen | cd888a17 | 2013-01-16 12:48:00 +0000 | [diff] [blame] | 826 | static const char * const adis16400_status_error_msgs[] = { |
| 827 | [ADIS16400_DIAG_STAT_ZACCL_FAIL] = "Z-axis accelerometer self-test failure", |
| 828 | [ADIS16400_DIAG_STAT_YACCL_FAIL] = "Y-axis accelerometer self-test failure", |
| 829 | [ADIS16400_DIAG_STAT_XACCL_FAIL] = "X-axis accelerometer self-test failure", |
| 830 | [ADIS16400_DIAG_STAT_XGYRO_FAIL] = "X-axis gyroscope self-test failure", |
| 831 | [ADIS16400_DIAG_STAT_YGYRO_FAIL] = "Y-axis gyroscope self-test failure", |
| 832 | [ADIS16400_DIAG_STAT_ZGYRO_FAIL] = "Z-axis gyroscope self-test failure", |
| 833 | [ADIS16400_DIAG_STAT_ALARM2] = "Alarm 2 active", |
| 834 | [ADIS16400_DIAG_STAT_ALARM1] = "Alarm 1 active", |
| 835 | [ADIS16400_DIAG_STAT_FLASH_CHK] = "Flash checksum error", |
| 836 | [ADIS16400_DIAG_STAT_SELF_TEST] = "Self test error", |
| 837 | [ADIS16400_DIAG_STAT_OVERFLOW] = "Sensor overrange", |
| 838 | [ADIS16400_DIAG_STAT_SPI_FAIL] = "SPI failure", |
| 839 | [ADIS16400_DIAG_STAT_FLASH_UPT] = "Flash update failed", |
| 840 | [ADIS16400_DIAG_STAT_POWER_HIGH] = "Power supply above 5.25V", |
| 841 | [ADIS16400_DIAG_STAT_POWER_LOW] = "Power supply below 4.75V", |
| 842 | }; |
| 843 | |
| 844 | static const struct adis_data adis16400_data = { |
| 845 | .msc_ctrl_reg = ADIS16400_MSC_CTRL, |
| 846 | .glob_cmd_reg = ADIS16400_GLOB_CMD, |
| 847 | .diag_stat_reg = ADIS16400_DIAG_STAT, |
| 848 | |
| 849 | .read_delay = 50, |
| 850 | .write_delay = 50, |
| 851 | |
| 852 | .self_test_mask = ADIS16400_MSC_CTRL_MEM_TEST, |
| 853 | .startup_delay = ADIS16400_STARTUP_DELAY, |
| 854 | |
| 855 | .status_error_msgs = adis16400_status_error_msgs, |
| 856 | .status_error_mask = BIT(ADIS16400_DIAG_STAT_ZACCL_FAIL) | |
| 857 | BIT(ADIS16400_DIAG_STAT_YACCL_FAIL) | |
| 858 | BIT(ADIS16400_DIAG_STAT_XACCL_FAIL) | |
| 859 | BIT(ADIS16400_DIAG_STAT_XGYRO_FAIL) | |
| 860 | BIT(ADIS16400_DIAG_STAT_YGYRO_FAIL) | |
| 861 | BIT(ADIS16400_DIAG_STAT_ZGYRO_FAIL) | |
| 862 | BIT(ADIS16400_DIAG_STAT_ALARM2) | |
| 863 | BIT(ADIS16400_DIAG_STAT_ALARM1) | |
| 864 | BIT(ADIS16400_DIAG_STAT_FLASH_CHK) | |
| 865 | BIT(ADIS16400_DIAG_STAT_SELF_TEST) | |
| 866 | BIT(ADIS16400_DIAG_STAT_OVERFLOW) | |
| 867 | BIT(ADIS16400_DIAG_STAT_SPI_FAIL) | |
| 868 | BIT(ADIS16400_DIAG_STAT_FLASH_UPT) | |
| 869 | BIT(ADIS16400_DIAG_STAT_POWER_HIGH) | |
| 870 | BIT(ADIS16400_DIAG_STAT_POWER_LOW), |
| 871 | }; |
| 872 | |
Bill Pemberton | 4ae1c61 | 2012-11-19 13:21:57 -0500 | [diff] [blame] | 873 | static int adis16400_probe(struct spi_device *spi) |
Barry Song | a9d26f0 | 2010-05-04 14:43:15 +0100 | [diff] [blame] | 874 | { |
Jonathan Cameron | 38d15f0 | 2011-05-18 14:42:23 +0100 | [diff] [blame] | 875 | struct adis16400_state *st; |
Lars-Peter Clausen | f4c6d64 | 2013-01-16 12:48:00 +0000 | [diff] [blame] | 876 | struct iio_dev *indio_dev; |
| 877 | int ret; |
| 878 | |
Sachin Kamat | 5b778b9 | 2013-07-30 09:44:00 +0100 | [diff] [blame] | 879 | indio_dev = devm_iio_device_alloc(&spi->dev, sizeof(*st)); |
Lars-Peter Clausen | f4c6d64 | 2013-01-16 12:48:00 +0000 | [diff] [blame] | 880 | if (indio_dev == NULL) |
| 881 | return -ENOMEM; |
| 882 | |
Jonathan Cameron | 38d15f0 | 2011-05-18 14:42:23 +0100 | [diff] [blame] | 883 | st = iio_priv(indio_dev); |
Barry Song | a9d26f0 | 2010-05-04 14:43:15 +0100 | [diff] [blame] | 884 | /* this is only used for removal purposes */ |
Jonathan Cameron | 38d15f0 | 2011-05-18 14:42:23 +0100 | [diff] [blame] | 885 | spi_set_drvdata(spi, indio_dev); |
Barry Song | a9d26f0 | 2010-05-04 14:43:15 +0100 | [diff] [blame] | 886 | |
Jonathan Cameron | 38d15f0 | 2011-05-18 14:42:23 +0100 | [diff] [blame] | 887 | /* setup the industrialio driver allocated elements */ |
| 888 | st->variant = &adis16400_chips[spi_get_device_id(spi)->driver_data]; |
| 889 | indio_dev->dev.parent = &spi->dev; |
| 890 | indio_dev->name = spi_get_device_id(spi)->name; |
Jonathan Cameron | 38d15f0 | 2011-05-18 14:42:23 +0100 | [diff] [blame] | 891 | indio_dev->channels = st->variant->channels; |
| 892 | indio_dev->num_channels = st->variant->num_channels; |
Jonathan Cameron | 6fe8135 | 2011-05-18 14:42:37 +0100 | [diff] [blame] | 893 | indio_dev->info = &adis16400_info; |
Jonathan Cameron | 38d15f0 | 2011-05-18 14:42:23 +0100 | [diff] [blame] | 894 | indio_dev->modes = INDIO_DIRECT_MODE; |
| 895 | |
Lars-Peter Clausen | 5eda355 | 2013-01-16 12:48:00 +0000 | [diff] [blame] | 896 | if (!(st->variant->flags & ADIS16400_NO_BURST)) |
| 897 | indio_dev->available_scan_masks = adis16400_burst_scan_mask; |
| 898 | |
Lars-Peter Clausen | cd888a17 | 2013-01-16 12:48:00 +0000 | [diff] [blame] | 899 | ret = adis_init(&st->adis, indio_dev, spi, &adis16400_data); |
| 900 | if (ret) |
Sachin Kamat | 5b778b9 | 2013-07-30 09:44:00 +0100 | [diff] [blame] | 901 | return ret; |
Lars-Peter Clausen | cd888a17 | 2013-01-16 12:48:00 +0000 | [diff] [blame] | 902 | |
Lars-Peter Clausen | 5eda355 | 2013-01-16 12:48:00 +0000 | [diff] [blame] | 903 | ret = adis_setup_buffer_and_trigger(&st->adis, indio_dev, |
| 904 | adis16400_trigger_handler); |
Barry Song | a9d26f0 | 2010-05-04 14:43:15 +0100 | [diff] [blame] | 905 | if (ret) |
Sachin Kamat | 5b778b9 | 2013-07-30 09:44:00 +0100 | [diff] [blame] | 906 | return ret; |
Barry Song | a9d26f0 | 2010-05-04 14:43:15 +0100 | [diff] [blame] | 907 | |
Barry Song | a9d26f0 | 2010-05-04 14:43:15 +0100 | [diff] [blame] | 908 | /* Get the device into a sane initial state */ |
Jonathan Cameron | 38d15f0 | 2011-05-18 14:42:23 +0100 | [diff] [blame] | 909 | ret = adis16400_initial_setup(indio_dev); |
Barry Song | a9d26f0 | 2010-05-04 14:43:15 +0100 | [diff] [blame] | 910 | if (ret) |
Lars-Peter Clausen | 5eda355 | 2013-01-16 12:48:00 +0000 | [diff] [blame] | 911 | goto error_cleanup_buffer; |
Jonathan Cameron | 26d25ae | 2011-09-02 17:14:40 +0100 | [diff] [blame] | 912 | ret = iio_device_register(indio_dev); |
| 913 | if (ret) |
Lars-Peter Clausen | 5eda355 | 2013-01-16 12:48:00 +0000 | [diff] [blame] | 914 | goto error_cleanup_buffer; |
Jonathan Cameron | 26d25ae | 2011-09-02 17:14:40 +0100 | [diff] [blame] | 915 | |
Lars-Peter Clausen | 1db18bb | 2013-01-16 12:48:00 +0000 | [diff] [blame] | 916 | adis16400_debugfs_init(indio_dev); |
Barry Song | a9d26f0 | 2010-05-04 14:43:15 +0100 | [diff] [blame] | 917 | return 0; |
| 918 | |
Lars-Peter Clausen | 5eda355 | 2013-01-16 12:48:00 +0000 | [diff] [blame] | 919 | error_cleanup_buffer: |
| 920 | adis_cleanup_buffer_and_trigger(&st->adis, indio_dev); |
Barry Song | a9d26f0 | 2010-05-04 14:43:15 +0100 | [diff] [blame] | 921 | return ret; |
| 922 | } |
| 923 | |
Bill Pemberton | 447d4f2 | 2012-11-19 13:26:37 -0500 | [diff] [blame] | 924 | static int adis16400_remove(struct spi_device *spi) |
Barry Song | a9d26f0 | 2010-05-04 14:43:15 +0100 | [diff] [blame] | 925 | { |
Lars-Peter Clausen | f4c6d64 | 2013-01-16 12:48:00 +0000 | [diff] [blame] | 926 | struct iio_dev *indio_dev = spi_get_drvdata(spi); |
Lars-Peter Clausen | cd888a17 | 2013-01-16 12:48:00 +0000 | [diff] [blame] | 927 | struct adis16400_state *st = iio_priv(indio_dev); |
Barry Song | a9d26f0 | 2010-05-04 14:43:15 +0100 | [diff] [blame] | 928 | |
Jonathan Cameron | d2fffd6 | 2011-10-14 14:46:58 +0100 | [diff] [blame] | 929 | iio_device_unregister(indio_dev); |
Lars-Peter Clausen | 0b4ac3d | 2012-09-22 09:56:00 +0100 | [diff] [blame] | 930 | adis16400_stop_device(indio_dev); |
Barry Song | a9d26f0 | 2010-05-04 14:43:15 +0100 | [diff] [blame] | 931 | |
Lars-Peter Clausen | 5eda355 | 2013-01-16 12:48:00 +0000 | [diff] [blame] | 932 | adis_cleanup_buffer_and_trigger(&st->adis, indio_dev); |
Lars-Peter Clausen | cd888a17 | 2013-01-16 12:48:00 +0000 | [diff] [blame] | 933 | |
Barry Song | a9d26f0 | 2010-05-04 14:43:15 +0100 | [diff] [blame] | 934 | return 0; |
Barry Song | a9d26f0 | 2010-05-04 14:43:15 +0100 | [diff] [blame] | 935 | } |
| 936 | |
Jonathan Cameron | 2a29a90 | 2011-05-18 14:41:28 +0100 | [diff] [blame] | 937 | static const struct spi_device_id adis16400_id[] = { |
Jonathan Cameron | 8e886e6 | 2011-05-18 14:41:30 +0100 | [diff] [blame] | 938 | {"adis16300", ADIS16300}, |
Jonathan Cameron | 85da505 | 2011-09-30 10:05:45 +0100 | [diff] [blame] | 939 | {"adis16334", ADIS16334}, |
Jonathan Cameron | 2a29a90 | 2011-05-18 14:41:28 +0100 | [diff] [blame] | 940 | {"adis16350", ADIS16350}, |
| 941 | {"adis16354", ADIS16350}, |
| 942 | {"adis16355", ADIS16350}, |
| 943 | {"adis16360", ADIS16360}, |
| 944 | {"adis16362", ADIS16362}, |
| 945 | {"adis16364", ADIS16364}, |
Lars-Peter Clausen | a7462e6 | 2012-10-30 10:26:00 +0000 | [diff] [blame] | 946 | {"adis16365", ADIS16360}, |
Jonathan Cameron | 2a29a90 | 2011-05-18 14:41:28 +0100 | [diff] [blame] | 947 | {"adis16400", ADIS16400}, |
| 948 | {"adis16405", ADIS16400}, |
Lars-Peter Clausen | 76ada52 | 2013-01-16 12:48:00 +0000 | [diff] [blame] | 949 | {"adis16448", ADIS16448}, |
Jonathan Cameron | 2a29a90 | 2011-05-18 14:41:28 +0100 | [diff] [blame] | 950 | {} |
| 951 | }; |
Lars-Peter Clausen | 55e4390 | 2011-11-16 08:53:31 +0100 | [diff] [blame] | 952 | MODULE_DEVICE_TABLE(spi, adis16400_id); |
Jonathan Cameron | 2a29a90 | 2011-05-18 14:41:28 +0100 | [diff] [blame] | 953 | |
Barry Song | a9d26f0 | 2010-05-04 14:43:15 +0100 | [diff] [blame] | 954 | static struct spi_driver adis16400_driver = { |
| 955 | .driver = { |
| 956 | .name = "adis16400", |
| 957 | .owner = THIS_MODULE, |
| 958 | }, |
Jonathan Cameron | 2a29a90 | 2011-05-18 14:41:28 +0100 | [diff] [blame] | 959 | .id_table = adis16400_id, |
Barry Song | a9d26f0 | 2010-05-04 14:43:15 +0100 | [diff] [blame] | 960 | .probe = adis16400_probe, |
Bill Pemberton | e543acf | 2012-11-19 13:21:38 -0500 | [diff] [blame] | 961 | .remove = adis16400_remove, |
Barry Song | a9d26f0 | 2010-05-04 14:43:15 +0100 | [diff] [blame] | 962 | }; |
Lars-Peter Clausen | ae6ae6f | 2011-11-16 10:13:39 +0100 | [diff] [blame] | 963 | module_spi_driver(adis16400_driver); |
Barry Song | a9d26f0 | 2010-05-04 14:43:15 +0100 | [diff] [blame] | 964 | |
| 965 | MODULE_AUTHOR("Manuel Stahl <manuel.stahl@iis.fraunhofer.de>"); |
| 966 | MODULE_DESCRIPTION("Analog Devices ADIS16400/5 IMU SPI driver"); |
| 967 | MODULE_LICENSE("GPL v2"); |