1 | // SPDX-License-Identifier: GPL-2.0-only |
2 | /* |
3 | * adis16400.c support Analog Devices ADIS16400/5 |
4 | * 3d 2g Linear Accelerometers, |
5 | * 3d Gyroscopes, |
6 | * 3d Magnetometers via SPI |
7 | * |
8 | * Copyright (c) 2009 Manuel Stahl <manuel.stahl@iis.fraunhofer.de> |
9 | * Copyright (c) 2007 Jonathan Cameron <jic23@kernel.org> |
10 | * Copyright (c) 2011 Analog Devices Inc. |
11 | */ |
12 | |
13 | #include <linux/irq.h> |
14 | #include <linux/device.h> |
15 | #include <linux/kernel.h> |
16 | #include <linux/spi/spi.h> |
17 | #include <linux/module.h> |
18 | #include <linux/debugfs.h> |
19 | #include <linux/bitops.h> |
20 | |
21 | #include <linux/iio/iio.h> |
22 | #include <linux/iio/buffer.h> |
23 | #include <linux/iio/trigger_consumer.h> |
24 | #include <linux/iio/imu/adis.h> |
25 | |
26 | #define ADIS16400_STARTUP_DELAY 290 /* ms */ |
27 | #define ADIS16400_MTEST_DELAY 90 /* ms */ |
28 | |
29 | #define ADIS16400_FLASH_CNT 0x00 /* Flash memory write count */ |
30 | #define ADIS16400_SUPPLY_OUT 0x02 /* Power supply measurement */ |
31 | #define ADIS16400_XGYRO_OUT 0x04 /* X-axis gyroscope output */ |
32 | #define ADIS16400_YGYRO_OUT 0x06 /* Y-axis gyroscope output */ |
33 | #define ADIS16400_ZGYRO_OUT 0x08 /* Z-axis gyroscope output */ |
34 | #define ADIS16400_XACCL_OUT 0x0A /* X-axis accelerometer output */ |
35 | #define ADIS16400_YACCL_OUT 0x0C /* Y-axis accelerometer output */ |
36 | #define ADIS16400_ZACCL_OUT 0x0E /* Z-axis accelerometer output */ |
37 | #define ADIS16400_XMAGN_OUT 0x10 /* X-axis magnetometer measurement */ |
38 | #define ADIS16400_YMAGN_OUT 0x12 /* Y-axis magnetometer measurement */ |
39 | #define ADIS16400_ZMAGN_OUT 0x14 /* Z-axis magnetometer measurement */ |
40 | #define ADIS16400_TEMP_OUT 0x16 /* Temperature output */ |
41 | #define ADIS16400_AUX_ADC 0x18 /* Auxiliary ADC measurement */ |
42 | |
43 | #define ADIS16350_XTEMP_OUT 0x10 /* X-axis gyroscope temperature measurement */ |
44 | #define ADIS16350_YTEMP_OUT 0x12 /* Y-axis gyroscope temperature measurement */ |
45 | #define ADIS16350_ZTEMP_OUT 0x14 /* Z-axis gyroscope temperature measurement */ |
46 | |
47 | #define ADIS16300_PITCH_OUT 0x12 /* X axis inclinometer output measurement */ |
48 | #define ADIS16300_ROLL_OUT 0x14 /* Y axis inclinometer output measurement */ |
49 | #define ADIS16300_AUX_ADC 0x16 /* Auxiliary ADC measurement */ |
50 | |
51 | #define ADIS16448_BARO_OUT 0x16 /* Barometric pressure output */ |
52 | #define ADIS16448_TEMP_OUT 0x18 /* Temperature output */ |
53 | |
54 | /* Calibration parameters */ |
55 | #define ADIS16400_XGYRO_OFF 0x1A /* X-axis gyroscope bias offset factor */ |
56 | #define ADIS16400_YGYRO_OFF 0x1C /* Y-axis gyroscope bias offset factor */ |
57 | #define ADIS16400_ZGYRO_OFF 0x1E /* Z-axis gyroscope bias offset factor */ |
58 | #define ADIS16400_XACCL_OFF 0x20 /* X-axis acceleration bias offset factor */ |
59 | #define ADIS16400_YACCL_OFF 0x22 /* Y-axis acceleration bias offset factor */ |
60 | #define ADIS16400_ZACCL_OFF 0x24 /* Z-axis acceleration bias offset factor */ |
61 | #define ADIS16400_XMAGN_HIF 0x26 /* X-axis magnetometer, hard-iron factor */ |
62 | #define ADIS16400_YMAGN_HIF 0x28 /* Y-axis magnetometer, hard-iron factor */ |
63 | #define ADIS16400_ZMAGN_HIF 0x2A /* Z-axis magnetometer, hard-iron factor */ |
64 | #define ADIS16400_XMAGN_SIF 0x2C /* X-axis magnetometer, soft-iron factor */ |
65 | #define ADIS16400_YMAGN_SIF 0x2E /* Y-axis magnetometer, soft-iron factor */ |
66 | #define ADIS16400_ZMAGN_SIF 0x30 /* Z-axis magnetometer, soft-iron factor */ |
67 | |
68 | #define ADIS16400_GPIO_CTRL 0x32 /* Auxiliary digital input/output control */ |
69 | #define ADIS16400_MSC_CTRL 0x34 /* Miscellaneous control */ |
70 | #define ADIS16400_SMPL_PRD 0x36 /* Internal sample period (rate) control */ |
71 | #define ADIS16400_SENS_AVG 0x38 /* Dynamic range and digital filter control */ |
72 | #define ADIS16400_SLP_CNT 0x3A /* Sleep mode control */ |
73 | #define ADIS16400_DIAG_STAT 0x3C /* System status */ |
74 | |
75 | /* Alarm functions */ |
76 | #define ADIS16400_GLOB_CMD 0x3E /* System command */ |
77 | #define ADIS16400_ALM_MAG1 0x40 /* Alarm 1 amplitude threshold */ |
78 | #define ADIS16400_ALM_MAG2 0x42 /* Alarm 2 amplitude threshold */ |
79 | #define ADIS16400_ALM_SMPL1 0x44 /* Alarm 1 sample size */ |
80 | #define ADIS16400_ALM_SMPL2 0x46 /* Alarm 2 sample size */ |
81 | #define ADIS16400_ALM_CTRL 0x48 /* Alarm control */ |
82 | #define ADIS16400_AUX_DAC 0x4A /* Auxiliary DAC data */ |
83 | |
84 | #define ADIS16334_LOT_ID1 0x52 /* Lot identification code 1 */ |
85 | #define ADIS16334_LOT_ID2 0x54 /* Lot identification code 2 */ |
86 | #define ADIS16400_PRODUCT_ID 0x56 /* Product identifier */ |
87 | #define ADIS16334_SERIAL_NUMBER 0x58 /* Serial number, lot specific */ |
88 | |
89 | #define ADIS16400_ERROR_ACTIVE (1<<14) |
90 | #define ADIS16400_NEW_DATA (1<<14) |
91 | |
92 | /* MSC_CTRL */ |
93 | #define ADIS16400_MSC_CTRL_MEM_TEST (1<<11) |
94 | #define ADIS16400_MSC_CTRL_INT_SELF_TEST (1<<10) |
95 | #define ADIS16400_MSC_CTRL_NEG_SELF_TEST (1<<9) |
96 | #define ADIS16400_MSC_CTRL_POS_SELF_TEST (1<<8) |
97 | #define ADIS16400_MSC_CTRL_GYRO_BIAS (1<<7) |
98 | #define ADIS16400_MSC_CTRL_ACCL_ALIGN (1<<6) |
99 | #define ADIS16400_MSC_CTRL_DATA_RDY_EN (1<<2) |
100 | #define ADIS16400_MSC_CTRL_DATA_RDY_POL_HIGH (1<<1) |
101 | #define ADIS16400_MSC_CTRL_DATA_RDY_DIO2 (1<<0) |
102 | |
103 | /* SMPL_PRD */ |
104 | #define ADIS16400_SMPL_PRD_TIME_BASE (1<<7) |
105 | #define ADIS16400_SMPL_PRD_DIV_MASK 0x7F |
106 | |
107 | /* DIAG_STAT */ |
108 | #define ADIS16400_DIAG_STAT_ZACCL_FAIL 15 |
109 | #define ADIS16400_DIAG_STAT_YACCL_FAIL 14 |
110 | #define ADIS16400_DIAG_STAT_XACCL_FAIL 13 |
111 | #define ADIS16400_DIAG_STAT_XGYRO_FAIL 12 |
112 | #define ADIS16400_DIAG_STAT_YGYRO_FAIL 11 |
113 | #define ADIS16400_DIAG_STAT_ZGYRO_FAIL 10 |
114 | #define ADIS16400_DIAG_STAT_ALARM2 9 |
115 | #define ADIS16400_DIAG_STAT_ALARM1 8 |
116 | #define ADIS16400_DIAG_STAT_FLASH_CHK 6 |
117 | #define ADIS16400_DIAG_STAT_SELF_TEST 5 |
118 | #define ADIS16400_DIAG_STAT_OVERFLOW 4 |
119 | #define ADIS16400_DIAG_STAT_SPI_FAIL 3 |
120 | #define ADIS16400_DIAG_STAT_FLASH_UPT 2 |
121 | #define ADIS16400_DIAG_STAT_POWER_HIGH 1 |
122 | #define ADIS16400_DIAG_STAT_POWER_LOW 0 |
123 | |
124 | /* GLOB_CMD */ |
125 | #define ADIS16400_GLOB_CMD_SW_RESET (1<<7) |
126 | #define ADIS16400_GLOB_CMD_P_AUTO_NULL (1<<4) |
127 | #define ADIS16400_GLOB_CMD_FLASH_UPD (1<<3) |
128 | #define ADIS16400_GLOB_CMD_DAC_LATCH (1<<2) |
129 | #define ADIS16400_GLOB_CMD_FAC_CALIB (1<<1) |
130 | #define ADIS16400_GLOB_CMD_AUTO_NULL (1<<0) |
131 | |
132 | /* SLP_CNT */ |
133 | #define ADIS16400_SLP_CNT_POWER_OFF (1<<8) |
134 | |
135 | #define ADIS16334_RATE_DIV_SHIFT 8 |
136 | #define ADIS16334_RATE_INT_CLK BIT(0) |
137 | |
138 | #define ADIS16400_SPI_SLOW (u32)(300 * 1000) |
139 | #define ADIS16400_SPI_BURST (u32)(1000 * 1000) |
140 | #define ADIS16400_SPI_FAST (u32)(2000 * 1000) |
141 | |
142 | #define ADIS16400_HAS_PROD_ID BIT(0) |
143 | #define ADIS16400_NO_BURST BIT(1) |
144 | #define ADIS16400_HAS_SLOW_MODE BIT(2) |
145 | #define ADIS16400_HAS_SERIAL_NUMBER BIT(3) |
146 | #define ADIS16400_BURST_DIAG_STAT BIT(4) |
147 | |
148 | struct adis16400_state; |
149 | |
150 | struct adis16400_chip_info { |
151 | const struct iio_chan_spec *channels; |
152 | const struct adis_data adis_data; |
153 | const int num_channels; |
154 | const long flags; |
155 | unsigned int gyro_scale_micro; |
156 | unsigned int accel_scale_micro; |
157 | int temp_scale_nano; |
158 | int temp_offset; |
159 | /* set_freq() & get_freq() need to avoid using ADIS lib's state lock */ |
160 | int (*set_freq)(struct adis16400_state *st, unsigned int freq); |
161 | int (*get_freq)(struct adis16400_state *st); |
162 | }; |
163 | |
164 | /** |
165 | * struct adis16400_state - device instance specific data |
166 | * @variant: chip variant info |
167 | * @filt_int: integer part of requested filter frequency |
168 | * @adis: adis device |
169 | * @avail_scan_mask: NULL terminated array of bitmaps of channels |
170 | * that must be enabled together |
171 | **/ |
172 | struct adis16400_state { |
173 | struct adis16400_chip_info *variant; |
174 | int filt_int; |
175 | |
176 | struct adis adis; |
177 | unsigned long avail_scan_mask[2]; |
178 | }; |
179 | |
180 | /* At the moment triggers are only used for ring buffer |
181 | * filling. This may change! |
182 | */ |
183 | |
184 | enum { |
185 | ADIS16400_SCAN_SUPPLY, |
186 | ADIS16400_SCAN_GYRO_X, |
187 | ADIS16400_SCAN_GYRO_Y, |
188 | ADIS16400_SCAN_GYRO_Z, |
189 | ADIS16400_SCAN_ACC_X, |
190 | ADIS16400_SCAN_ACC_Y, |
191 | ADIS16400_SCAN_ACC_Z, |
192 | ADIS16400_SCAN_MAGN_X, |
193 | ADIS16400_SCAN_MAGN_Y, |
194 | ADIS16400_SCAN_MAGN_Z, |
195 | ADIS16400_SCAN_BARO, |
196 | ADIS16350_SCAN_TEMP_X, |
197 | ADIS16350_SCAN_TEMP_Y, |
198 | ADIS16350_SCAN_TEMP_Z, |
199 | ADIS16300_SCAN_INCLI_X, |
200 | ADIS16300_SCAN_INCLI_Y, |
201 | ADIS16400_SCAN_ADC, |
202 | ADIS16400_SCAN_TIMESTAMP, |
203 | }; |
204 | |
205 | #ifdef CONFIG_DEBUG_FS |
206 | |
207 | static ssize_t adis16400_show_serial_number(struct file *file, |
208 | char __user *userbuf, size_t count, loff_t *ppos) |
209 | { |
210 | struct adis16400_state *st = file->private_data; |
211 | u16 lot1, lot2, serial_number; |
212 | char buf[16]; |
213 | size_t len; |
214 | int ret; |
215 | |
216 | ret = adis_read_reg_16(adis: &st->adis, ADIS16334_LOT_ID1, val: &lot1); |
217 | if (ret) |
218 | return ret; |
219 | |
220 | ret = adis_read_reg_16(adis: &st->adis, ADIS16334_LOT_ID2, val: &lot2); |
221 | if (ret) |
222 | return ret; |
223 | |
224 | ret = adis_read_reg_16(adis: &st->adis, ADIS16334_SERIAL_NUMBER, |
225 | val: &serial_number); |
226 | if (ret) |
227 | return ret; |
228 | |
229 | len = snprintf(buf, size: sizeof(buf), fmt: "%.4x-%.4x-%.4x\n" , lot1, lot2, |
230 | serial_number); |
231 | |
232 | return simple_read_from_buffer(to: userbuf, count, ppos, from: buf, available: len); |
233 | } |
234 | |
235 | static const struct file_operations adis16400_serial_number_fops = { |
236 | .open = simple_open, |
237 | .read = adis16400_show_serial_number, |
238 | .llseek = default_llseek, |
239 | .owner = THIS_MODULE, |
240 | }; |
241 | |
242 | static int adis16400_show_product_id(void *arg, u64 *val) |
243 | { |
244 | struct adis16400_state *st = arg; |
245 | uint16_t prod_id; |
246 | int ret; |
247 | |
248 | ret = adis_read_reg_16(adis: &st->adis, ADIS16400_PRODUCT_ID, val: &prod_id); |
249 | if (ret) |
250 | return ret; |
251 | |
252 | *val = prod_id; |
253 | |
254 | return 0; |
255 | } |
256 | DEFINE_DEBUGFS_ATTRIBUTE(adis16400_product_id_fops, |
257 | adis16400_show_product_id, NULL, "%lld\n" ); |
258 | |
259 | static int adis16400_show_flash_count(void *arg, u64 *val) |
260 | { |
261 | struct adis16400_state *st = arg; |
262 | uint16_t flash_count; |
263 | int ret; |
264 | |
265 | ret = adis_read_reg_16(adis: &st->adis, ADIS16400_FLASH_CNT, val: &flash_count); |
266 | if (ret) |
267 | return ret; |
268 | |
269 | *val = flash_count; |
270 | |
271 | return 0; |
272 | } |
273 | DEFINE_DEBUGFS_ATTRIBUTE(adis16400_flash_count_fops, |
274 | adis16400_show_flash_count, NULL, "%lld\n" ); |
275 | |
276 | static int adis16400_debugfs_init(struct iio_dev *indio_dev) |
277 | { |
278 | struct adis16400_state *st = iio_priv(indio_dev); |
279 | struct dentry *d = iio_get_debugfs_dentry(indio_dev); |
280 | |
281 | if (st->variant->flags & ADIS16400_HAS_SERIAL_NUMBER) |
282 | debugfs_create_file_unsafe(name: "serial_number" , mode: 0400, |
283 | parent: d, data: st, fops: &adis16400_serial_number_fops); |
284 | if (st->variant->flags & ADIS16400_HAS_PROD_ID) |
285 | debugfs_create_file_unsafe(name: "product_id" , mode: 0400, |
286 | parent: d, data: st, fops: &adis16400_product_id_fops); |
287 | debugfs_create_file_unsafe(name: "flash_count" , mode: 0400, |
288 | parent: d, data: st, fops: &adis16400_flash_count_fops); |
289 | |
290 | return 0; |
291 | } |
292 | |
293 | #else |
294 | |
295 | static int adis16400_debugfs_init(struct iio_dev *indio_dev) |
296 | { |
297 | return 0; |
298 | } |
299 | |
300 | #endif |
301 | |
302 | enum adis16400_chip_variant { |
303 | ADIS16300, |
304 | ADIS16334, |
305 | ADIS16350, |
306 | ADIS16360, |
307 | ADIS16362, |
308 | ADIS16364, |
309 | ADIS16367, |
310 | ADIS16400, |
311 | ADIS16445, |
312 | ADIS16448, |
313 | }; |
314 | |
315 | static int adis16334_get_freq(struct adis16400_state *st) |
316 | { |
317 | int ret; |
318 | uint16_t t; |
319 | |
320 | ret = __adis_read_reg_16(adis: &st->adis, ADIS16400_SMPL_PRD, val: &t); |
321 | if (ret) |
322 | return ret; |
323 | |
324 | t >>= ADIS16334_RATE_DIV_SHIFT; |
325 | |
326 | return 819200 >> t; |
327 | } |
328 | |
329 | static int adis16334_set_freq(struct adis16400_state *st, unsigned int freq) |
330 | { |
331 | unsigned int t; |
332 | |
333 | if (freq < 819200) |
334 | t = ilog2(819200 / freq); |
335 | else |
336 | t = 0; |
337 | |
338 | if (t > 0x31) |
339 | t = 0x31; |
340 | |
341 | t <<= ADIS16334_RATE_DIV_SHIFT; |
342 | t |= ADIS16334_RATE_INT_CLK; |
343 | |
344 | return __adis_write_reg_16(adis: &st->adis, ADIS16400_SMPL_PRD, val: t); |
345 | } |
346 | |
347 | static int adis16400_get_freq(struct adis16400_state *st) |
348 | { |
349 | int sps, ret; |
350 | uint16_t t; |
351 | |
352 | ret = __adis_read_reg_16(adis: &st->adis, ADIS16400_SMPL_PRD, val: &t); |
353 | if (ret) |
354 | return ret; |
355 | |
356 | sps = (t & ADIS16400_SMPL_PRD_TIME_BASE) ? 52851 : 1638404; |
357 | sps /= (t & ADIS16400_SMPL_PRD_DIV_MASK) + 1; |
358 | |
359 | return sps; |
360 | } |
361 | |
362 | static int adis16400_set_freq(struct adis16400_state *st, unsigned int freq) |
363 | { |
364 | unsigned int t; |
365 | uint8_t val = 0; |
366 | |
367 | t = 1638404 / freq; |
368 | if (t >= 128) { |
369 | val |= ADIS16400_SMPL_PRD_TIME_BASE; |
370 | t = 52851 / freq; |
371 | if (t >= 128) |
372 | t = 127; |
373 | } else if (t != 0) { |
374 | t--; |
375 | } |
376 | |
377 | val |= t; |
378 | |
379 | if (t >= 0x0A || (val & ADIS16400_SMPL_PRD_TIME_BASE)) |
380 | st->adis.spi->max_speed_hz = ADIS16400_SPI_SLOW; |
381 | else |
382 | st->adis.spi->max_speed_hz = ADIS16400_SPI_FAST; |
383 | |
384 | return __adis_write_reg_8(adis: &st->adis, ADIS16400_SMPL_PRD, val); |
385 | } |
386 | |
387 | static const unsigned int adis16400_3db_divisors[] = { |
388 | [0] = 2, /* Special case */ |
389 | [1] = 6, |
390 | [2] = 12, |
391 | [3] = 25, |
392 | [4] = 50, |
393 | [5] = 100, |
394 | [6] = 200, |
395 | [7] = 200, /* Not a valid setting */ |
396 | }; |
397 | |
398 | static int __adis16400_set_filter(struct iio_dev *indio_dev, int sps, int val) |
399 | { |
400 | struct adis16400_state *st = iio_priv(indio_dev); |
401 | uint16_t val16; |
402 | int i, ret; |
403 | |
404 | for (i = ARRAY_SIZE(adis16400_3db_divisors) - 1; i >= 1; i--) { |
405 | if (sps / adis16400_3db_divisors[i] >= val) |
406 | break; |
407 | } |
408 | |
409 | ret = __adis_read_reg_16(adis: &st->adis, ADIS16400_SENS_AVG, val: &val16); |
410 | if (ret) |
411 | return ret; |
412 | |
413 | ret = __adis_write_reg_16(adis: &st->adis, ADIS16400_SENS_AVG, |
414 | val: (val16 & ~0x07) | i); |
415 | return ret; |
416 | } |
417 | |
418 | /* Power down the device */ |
419 | static int adis16400_stop_device(struct iio_dev *indio_dev) |
420 | { |
421 | struct adis16400_state *st = iio_priv(indio_dev); |
422 | int ret; |
423 | |
424 | ret = adis_write_reg_16(adis: &st->adis, ADIS16400_SLP_CNT, |
425 | ADIS16400_SLP_CNT_POWER_OFF); |
426 | if (ret) |
427 | dev_err(&indio_dev->dev, |
428 | "problem with turning device off: SLP_CNT" ); |
429 | |
430 | return ret; |
431 | } |
432 | |
433 | static int adis16400_initial_setup(struct iio_dev *indio_dev) |
434 | { |
435 | struct adis16400_state *st = iio_priv(indio_dev); |
436 | uint16_t prod_id, smp_prd; |
437 | unsigned int device_id; |
438 | int ret; |
439 | |
440 | /* use low spi speed for init if the device has a slow mode */ |
441 | if (st->variant->flags & ADIS16400_HAS_SLOW_MODE) |
442 | st->adis.spi->max_speed_hz = ADIS16400_SPI_SLOW; |
443 | else |
444 | st->adis.spi->max_speed_hz = ADIS16400_SPI_FAST; |
445 | st->adis.spi->mode = SPI_MODE_3; |
446 | spi_setup(spi: st->adis.spi); |
447 | |
448 | ret = __adis_initial_startup(adis: &st->adis); |
449 | if (ret) |
450 | return ret; |
451 | |
452 | if (st->variant->flags & ADIS16400_HAS_PROD_ID) { |
453 | ret = adis_read_reg_16(adis: &st->adis, |
454 | ADIS16400_PRODUCT_ID, val: &prod_id); |
455 | if (ret) |
456 | goto err_ret; |
457 | |
458 | if (sscanf(indio_dev->name, "adis%u\n" , &device_id) != 1) { |
459 | ret = -EINVAL; |
460 | goto err_ret; |
461 | } |
462 | |
463 | if (prod_id != device_id) |
464 | dev_warn(&indio_dev->dev, "Device ID(%u) and product ID(%u) do not match." , |
465 | device_id, prod_id); |
466 | |
467 | dev_info(&indio_dev->dev, "%s: prod_id 0x%04x at CS%d (irq %d)\n" , |
468 | indio_dev->name, prod_id, |
469 | spi_get_chipselect(st->adis.spi, 0), st->adis.spi->irq); |
470 | } |
471 | /* use high spi speed if possible */ |
472 | if (st->variant->flags & ADIS16400_HAS_SLOW_MODE) { |
473 | ret = adis_read_reg_16(adis: &st->adis, ADIS16400_SMPL_PRD, val: &smp_prd); |
474 | if (ret) |
475 | goto err_ret; |
476 | |
477 | if ((smp_prd & ADIS16400_SMPL_PRD_DIV_MASK) < 0x0A) { |
478 | st->adis.spi->max_speed_hz = ADIS16400_SPI_FAST; |
479 | spi_setup(spi: st->adis.spi); |
480 | } |
481 | } |
482 | |
483 | err_ret: |
484 | return ret; |
485 | } |
486 | |
487 | static const uint8_t adis16400_addresses[] = { |
488 | [ADIS16400_SCAN_GYRO_X] = ADIS16400_XGYRO_OFF, |
489 | [ADIS16400_SCAN_GYRO_Y] = ADIS16400_YGYRO_OFF, |
490 | [ADIS16400_SCAN_GYRO_Z] = ADIS16400_ZGYRO_OFF, |
491 | [ADIS16400_SCAN_ACC_X] = ADIS16400_XACCL_OFF, |
492 | [ADIS16400_SCAN_ACC_Y] = ADIS16400_YACCL_OFF, |
493 | [ADIS16400_SCAN_ACC_Z] = ADIS16400_ZACCL_OFF, |
494 | }; |
495 | |
496 | static int adis16400_write_raw(struct iio_dev *indio_dev, |
497 | struct iio_chan_spec const *chan, int val, int val2, long info) |
498 | { |
499 | struct adis16400_state *st = iio_priv(indio_dev); |
500 | int ret, sps; |
501 | |
502 | switch (info) { |
503 | case IIO_CHAN_INFO_CALIBBIAS: |
504 | ret = adis_write_reg_16(adis: &st->adis, |
505 | reg: adis16400_addresses[chan->scan_index], val); |
506 | return ret; |
507 | case IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY: |
508 | /* |
509 | * Need to cache values so we can update if the frequency |
510 | * changes. |
511 | */ |
512 | adis_dev_lock(adis: &st->adis); |
513 | st->filt_int = val; |
514 | /* Work out update to current value */ |
515 | sps = st->variant->get_freq(st); |
516 | if (sps < 0) { |
517 | adis_dev_unlock(adis: &st->adis); |
518 | return sps; |
519 | } |
520 | |
521 | ret = __adis16400_set_filter(indio_dev, sps, |
522 | val: val * 1000 + val2 / 1000); |
523 | adis_dev_unlock(adis: &st->adis); |
524 | return ret; |
525 | case IIO_CHAN_INFO_SAMP_FREQ: |
526 | sps = val * 1000 + val2 / 1000; |
527 | |
528 | if (sps <= 0) |
529 | return -EINVAL; |
530 | |
531 | adis_dev_lock(adis: &st->adis); |
532 | ret = st->variant->set_freq(st, sps); |
533 | adis_dev_unlock(adis: &st->adis); |
534 | return ret; |
535 | default: |
536 | return -EINVAL; |
537 | } |
538 | } |
539 | |
540 | static int adis16400_read_raw(struct iio_dev *indio_dev, |
541 | struct iio_chan_spec const *chan, int *val, int *val2, long info) |
542 | { |
543 | struct adis16400_state *st = iio_priv(indio_dev); |
544 | int16_t val16; |
545 | int ret; |
546 | |
547 | switch (info) { |
548 | case IIO_CHAN_INFO_RAW: |
549 | return adis_single_conversion(indio_dev, chan, error_mask: 0, val); |
550 | case IIO_CHAN_INFO_SCALE: |
551 | switch (chan->type) { |
552 | case IIO_ANGL_VEL: |
553 | *val = 0; |
554 | *val2 = st->variant->gyro_scale_micro; |
555 | return IIO_VAL_INT_PLUS_MICRO; |
556 | case IIO_VOLTAGE: |
557 | *val = 0; |
558 | if (chan->channel == 0) { |
559 | *val = 2; |
560 | *val2 = 418000; /* 2.418 mV */ |
561 | } else { |
562 | *val = 0; |
563 | *val2 = 805800; /* 805.8 uV */ |
564 | } |
565 | return IIO_VAL_INT_PLUS_MICRO; |
566 | case IIO_ACCEL: |
567 | *val = 0; |
568 | *val2 = st->variant->accel_scale_micro; |
569 | return IIO_VAL_INT_PLUS_MICRO; |
570 | case IIO_MAGN: |
571 | *val = 0; |
572 | *val2 = 500; /* 0.5 mgauss */ |
573 | return IIO_VAL_INT_PLUS_MICRO; |
574 | case IIO_TEMP: |
575 | *val = st->variant->temp_scale_nano / 1000000; |
576 | *val2 = (st->variant->temp_scale_nano % 1000000); |
577 | return IIO_VAL_INT_PLUS_MICRO; |
578 | case IIO_PRESSURE: |
579 | /* 20 uBar = 0.002kPascal */ |
580 | *val = 0; |
581 | *val2 = 2000; |
582 | return IIO_VAL_INT_PLUS_MICRO; |
583 | default: |
584 | return -EINVAL; |
585 | } |
586 | case IIO_CHAN_INFO_CALIBBIAS: |
587 | ret = adis_read_reg_16(adis: &st->adis, |
588 | reg: adis16400_addresses[chan->scan_index], val: &val16); |
589 | if (ret) |
590 | return ret; |
591 | val16 = sign_extend32(value: val16, index: 11); |
592 | *val = val16; |
593 | return IIO_VAL_INT; |
594 | case IIO_CHAN_INFO_OFFSET: |
595 | /* currently only temperature */ |
596 | *val = st->variant->temp_offset; |
597 | return IIO_VAL_INT; |
598 | case IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY: |
599 | adis_dev_lock(adis: &st->adis); |
600 | /* Need both the number of taps and the sampling frequency */ |
601 | ret = __adis_read_reg_16(adis: &st->adis, |
602 | ADIS16400_SENS_AVG, |
603 | val: &val16); |
604 | if (ret) { |
605 | adis_dev_unlock(adis: &st->adis); |
606 | return ret; |
607 | } |
608 | ret = st->variant->get_freq(st); |
609 | adis_dev_unlock(adis: &st->adis); |
610 | if (ret) |
611 | return ret; |
612 | ret /= adis16400_3db_divisors[val16 & 0x07]; |
613 | *val = ret / 1000; |
614 | *val2 = (ret % 1000) * 1000; |
615 | return IIO_VAL_INT_PLUS_MICRO; |
616 | case IIO_CHAN_INFO_SAMP_FREQ: |
617 | adis_dev_lock(adis: &st->adis); |
618 | ret = st->variant->get_freq(st); |
619 | adis_dev_unlock(adis: &st->adis); |
620 | if (ret) |
621 | return ret; |
622 | *val = ret / 1000; |
623 | *val2 = (ret % 1000) * 1000; |
624 | return IIO_VAL_INT_PLUS_MICRO; |
625 | default: |
626 | return -EINVAL; |
627 | } |
628 | } |
629 | |
630 | #if IS_ENABLED(CONFIG_IIO_BUFFER) |
631 | static irqreturn_t adis16400_trigger_handler(int irq, void *p) |
632 | { |
633 | struct iio_poll_func *pf = p; |
634 | struct iio_dev *indio_dev = pf->indio_dev; |
635 | struct adis16400_state *st = iio_priv(indio_dev); |
636 | struct adis *adis = &st->adis; |
637 | void *buffer; |
638 | int ret; |
639 | |
640 | ret = spi_sync(spi: adis->spi, message: &adis->msg); |
641 | if (ret) |
642 | dev_err(&adis->spi->dev, "Failed to read data: %d\n" , ret); |
643 | |
644 | if (st->variant->flags & ADIS16400_BURST_DIAG_STAT) { |
645 | buffer = adis->buffer + sizeof(u16); |
646 | /* |
647 | * The size here is always larger than, or equal to the true |
648 | * size of the channel data. This may result in a larger copy |
649 | * than necessary, but as the target buffer will be |
650 | * buffer->scan_bytes this will be safe. |
651 | */ |
652 | iio_push_to_buffers_with_ts_unaligned(indio_dev, data: buffer, |
653 | data_sz: indio_dev->scan_bytes - sizeof(pf->timestamp), |
654 | timestamp: pf->timestamp); |
655 | } else { |
656 | iio_push_to_buffers_with_timestamp(indio_dev, |
657 | data: adis->buffer, |
658 | timestamp: pf->timestamp); |
659 | } |
660 | |
661 | |
662 | iio_trigger_notify_done(trig: indio_dev->trig); |
663 | |
664 | return IRQ_HANDLED; |
665 | } |
666 | #else |
667 | #define adis16400_trigger_handler NULL |
668 | #endif /* IS_ENABLED(CONFIG_IIO_BUFFER) */ |
669 | |
670 | #define ADIS16400_VOLTAGE_CHAN(addr, bits, name, si, chn) { \ |
671 | .type = IIO_VOLTAGE, \ |
672 | .indexed = 1, \ |
673 | .channel = chn, \ |
674 | .extend_name = name, \ |
675 | .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \ |
676 | BIT(IIO_CHAN_INFO_SCALE), \ |
677 | .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \ |
678 | .address = (addr), \ |
679 | .scan_index = (si), \ |
680 | .scan_type = { \ |
681 | .sign = 'u', \ |
682 | .realbits = (bits), \ |
683 | .storagebits = 16, \ |
684 | .shift = 0, \ |
685 | .endianness = IIO_BE, \ |
686 | }, \ |
687 | } |
688 | |
689 | #define ADIS16400_SUPPLY_CHAN(addr, bits) \ |
690 | ADIS16400_VOLTAGE_CHAN(addr, bits, "supply", ADIS16400_SCAN_SUPPLY, 0) |
691 | |
692 | #define ADIS16400_AUX_ADC_CHAN(addr, bits) \ |
693 | ADIS16400_VOLTAGE_CHAN(addr, bits, NULL, ADIS16400_SCAN_ADC, 1) |
694 | |
695 | #define ADIS16400_GYRO_CHAN(mod, addr, bits) { \ |
696 | .type = IIO_ANGL_VEL, \ |
697 | .modified = 1, \ |
698 | .channel2 = IIO_MOD_ ## mod, \ |
699 | .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \ |
700 | BIT(IIO_CHAN_INFO_CALIBBIAS), \ |
701 | .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE) | \ |
702 | BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY), \ |
703 | .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \ |
704 | .address = addr, \ |
705 | .scan_index = ADIS16400_SCAN_GYRO_ ## mod, \ |
706 | .scan_type = { \ |
707 | .sign = 's', \ |
708 | .realbits = (bits), \ |
709 | .storagebits = 16, \ |
710 | .shift = 0, \ |
711 | .endianness = IIO_BE, \ |
712 | }, \ |
713 | } |
714 | |
715 | #define ADIS16400_ACCEL_CHAN(mod, addr, bits) { \ |
716 | .type = IIO_ACCEL, \ |
717 | .modified = 1, \ |
718 | .channel2 = IIO_MOD_ ## mod, \ |
719 | .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \ |
720 | BIT(IIO_CHAN_INFO_CALIBBIAS), \ |
721 | .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE) | \ |
722 | BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY), \ |
723 | .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \ |
724 | .address = (addr), \ |
725 | .scan_index = ADIS16400_SCAN_ACC_ ## mod, \ |
726 | .scan_type = { \ |
727 | .sign = 's', \ |
728 | .realbits = (bits), \ |
729 | .storagebits = 16, \ |
730 | .shift = 0, \ |
731 | .endianness = IIO_BE, \ |
732 | }, \ |
733 | } |
734 | |
735 | #define ADIS16400_MAGN_CHAN(mod, addr, bits) { \ |
736 | .type = IIO_MAGN, \ |
737 | .modified = 1, \ |
738 | .channel2 = IIO_MOD_ ## mod, \ |
739 | .info_mask_separate = BIT(IIO_CHAN_INFO_RAW), \ |
740 | .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE) | \ |
741 | BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY), \ |
742 | .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \ |
743 | .address = (addr), \ |
744 | .scan_index = ADIS16400_SCAN_MAGN_ ## mod, \ |
745 | .scan_type = { \ |
746 | .sign = 's', \ |
747 | .realbits = (bits), \ |
748 | .storagebits = 16, \ |
749 | .shift = 0, \ |
750 | .endianness = IIO_BE, \ |
751 | }, \ |
752 | } |
753 | |
754 | #define ADIS16400_MOD_TEMP_NAME_X "x" |
755 | #define ADIS16400_MOD_TEMP_NAME_Y "y" |
756 | #define ADIS16400_MOD_TEMP_NAME_Z "z" |
757 | |
758 | #define ADIS16400_MOD_TEMP_CHAN(mod, addr, bits) { \ |
759 | .type = IIO_TEMP, \ |
760 | .indexed = 1, \ |
761 | .channel = 0, \ |
762 | .extend_name = ADIS16400_MOD_TEMP_NAME_ ## mod, \ |
763 | .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \ |
764 | BIT(IIO_CHAN_INFO_OFFSET) | \ |
765 | BIT(IIO_CHAN_INFO_SCALE), \ |
766 | .info_mask_shared_by_type = \ |
767 | BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY), \ |
768 | .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \ |
769 | .address = (addr), \ |
770 | .scan_index = ADIS16350_SCAN_TEMP_ ## mod, \ |
771 | .scan_type = { \ |
772 | .sign = 's', \ |
773 | .realbits = (bits), \ |
774 | .storagebits = 16, \ |
775 | .shift = 0, \ |
776 | .endianness = IIO_BE, \ |
777 | }, \ |
778 | } |
779 | |
780 | #define ADIS16400_TEMP_CHAN(addr, bits) { \ |
781 | .type = IIO_TEMP, \ |
782 | .indexed = 1, \ |
783 | .channel = 0, \ |
784 | .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \ |
785 | BIT(IIO_CHAN_INFO_OFFSET) | \ |
786 | BIT(IIO_CHAN_INFO_SCALE), \ |
787 | .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \ |
788 | .address = (addr), \ |
789 | .scan_index = ADIS16350_SCAN_TEMP_X, \ |
790 | .scan_type = { \ |
791 | .sign = 's', \ |
792 | .realbits = (bits), \ |
793 | .storagebits = 16, \ |
794 | .shift = 0, \ |
795 | .endianness = IIO_BE, \ |
796 | }, \ |
797 | } |
798 | |
799 | #define ADIS16400_INCLI_CHAN(mod, addr, bits) { \ |
800 | .type = IIO_INCLI, \ |
801 | .modified = 1, \ |
802 | .channel2 = IIO_MOD_ ## mod, \ |
803 | .info_mask_separate = BIT(IIO_CHAN_INFO_RAW), \ |
804 | .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE), \ |
805 | .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \ |
806 | .address = (addr), \ |
807 | .scan_index = ADIS16300_SCAN_INCLI_ ## mod, \ |
808 | .scan_type = { \ |
809 | .sign = 's', \ |
810 | .realbits = (bits), \ |
811 | .storagebits = 16, \ |
812 | .shift = 0, \ |
813 | .endianness = IIO_BE, \ |
814 | }, \ |
815 | } |
816 | |
817 | static const struct iio_chan_spec adis16400_channels[] = { |
818 | ADIS16400_SUPPLY_CHAN(ADIS16400_SUPPLY_OUT, 14), |
819 | ADIS16400_GYRO_CHAN(X, ADIS16400_XGYRO_OUT, 14), |
820 | ADIS16400_GYRO_CHAN(Y, ADIS16400_YGYRO_OUT, 14), |
821 | ADIS16400_GYRO_CHAN(Z, ADIS16400_ZGYRO_OUT, 14), |
822 | ADIS16400_ACCEL_CHAN(X, ADIS16400_XACCL_OUT, 14), |
823 | ADIS16400_ACCEL_CHAN(Y, ADIS16400_YACCL_OUT, 14), |
824 | ADIS16400_ACCEL_CHAN(Z, ADIS16400_ZACCL_OUT, 14), |
825 | ADIS16400_MAGN_CHAN(X, ADIS16400_XMAGN_OUT, 14), |
826 | ADIS16400_MAGN_CHAN(Y, ADIS16400_YMAGN_OUT, 14), |
827 | ADIS16400_MAGN_CHAN(Z, ADIS16400_ZMAGN_OUT, 14), |
828 | ADIS16400_TEMP_CHAN(ADIS16400_TEMP_OUT, 12), |
829 | ADIS16400_AUX_ADC_CHAN(ADIS16400_AUX_ADC, 12), |
830 | IIO_CHAN_SOFT_TIMESTAMP(ADIS16400_SCAN_TIMESTAMP), |
831 | }; |
832 | |
833 | static const struct iio_chan_spec adis16445_channels[] = { |
834 | ADIS16400_GYRO_CHAN(X, ADIS16400_XGYRO_OUT, 16), |
835 | ADIS16400_GYRO_CHAN(Y, ADIS16400_YGYRO_OUT, 16), |
836 | ADIS16400_GYRO_CHAN(Z, ADIS16400_ZGYRO_OUT, 16), |
837 | ADIS16400_ACCEL_CHAN(X, ADIS16400_XACCL_OUT, 16), |
838 | ADIS16400_ACCEL_CHAN(Y, ADIS16400_YACCL_OUT, 16), |
839 | ADIS16400_ACCEL_CHAN(Z, ADIS16400_ZACCL_OUT, 16), |
840 | ADIS16400_TEMP_CHAN(ADIS16448_TEMP_OUT, 12), |
841 | IIO_CHAN_SOFT_TIMESTAMP(ADIS16400_SCAN_TIMESTAMP), |
842 | }; |
843 | |
844 | static const struct iio_chan_spec adis16448_channels[] = { |
845 | ADIS16400_GYRO_CHAN(X, ADIS16400_XGYRO_OUT, 16), |
846 | ADIS16400_GYRO_CHAN(Y, ADIS16400_YGYRO_OUT, 16), |
847 | ADIS16400_GYRO_CHAN(Z, ADIS16400_ZGYRO_OUT, 16), |
848 | ADIS16400_ACCEL_CHAN(X, ADIS16400_XACCL_OUT, 16), |
849 | ADIS16400_ACCEL_CHAN(Y, ADIS16400_YACCL_OUT, 16), |
850 | ADIS16400_ACCEL_CHAN(Z, ADIS16400_ZACCL_OUT, 16), |
851 | ADIS16400_MAGN_CHAN(X, ADIS16400_XMAGN_OUT, 16), |
852 | ADIS16400_MAGN_CHAN(Y, ADIS16400_YMAGN_OUT, 16), |
853 | ADIS16400_MAGN_CHAN(Z, ADIS16400_ZMAGN_OUT, 16), |
854 | { |
855 | .type = IIO_PRESSURE, |
856 | .info_mask_separate = BIT(IIO_CHAN_INFO_RAW), |
857 | .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE), |
858 | .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), |
859 | .address = ADIS16448_BARO_OUT, |
860 | .scan_index = ADIS16400_SCAN_BARO, |
861 | .scan_type = { |
862 | .sign = 's', |
863 | .realbits = 16, |
864 | .storagebits = 16, |
865 | .endianness = IIO_BE, |
866 | }, |
867 | }, |
868 | ADIS16400_TEMP_CHAN(ADIS16448_TEMP_OUT, 12), |
869 | IIO_CHAN_SOFT_TIMESTAMP(ADIS16400_SCAN_TIMESTAMP), |
870 | }; |
871 | |
872 | static const struct iio_chan_spec adis16350_channels[] = { |
873 | ADIS16400_SUPPLY_CHAN(ADIS16400_SUPPLY_OUT, 12), |
874 | ADIS16400_GYRO_CHAN(X, ADIS16400_XGYRO_OUT, 14), |
875 | ADIS16400_GYRO_CHAN(Y, ADIS16400_YGYRO_OUT, 14), |
876 | ADIS16400_GYRO_CHAN(Z, ADIS16400_ZGYRO_OUT, 14), |
877 | ADIS16400_ACCEL_CHAN(X, ADIS16400_XACCL_OUT, 14), |
878 | ADIS16400_ACCEL_CHAN(Y, ADIS16400_YACCL_OUT, 14), |
879 | ADIS16400_ACCEL_CHAN(Z, ADIS16400_ZACCL_OUT, 14), |
880 | ADIS16400_MAGN_CHAN(X, ADIS16400_XMAGN_OUT, 14), |
881 | ADIS16400_MAGN_CHAN(Y, ADIS16400_YMAGN_OUT, 14), |
882 | ADIS16400_MAGN_CHAN(Z, ADIS16400_ZMAGN_OUT, 14), |
883 | ADIS16400_AUX_ADC_CHAN(ADIS16300_AUX_ADC, 12), |
884 | ADIS16400_MOD_TEMP_CHAN(X, ADIS16350_XTEMP_OUT, 12), |
885 | ADIS16400_MOD_TEMP_CHAN(Y, ADIS16350_YTEMP_OUT, 12), |
886 | ADIS16400_MOD_TEMP_CHAN(Z, ADIS16350_ZTEMP_OUT, 12), |
887 | IIO_CHAN_SOFT_TIMESTAMP(ADIS16400_SCAN_TIMESTAMP), |
888 | }; |
889 | |
890 | static const struct iio_chan_spec adis16300_channels[] = { |
891 | ADIS16400_SUPPLY_CHAN(ADIS16400_SUPPLY_OUT, 12), |
892 | ADIS16400_GYRO_CHAN(X, ADIS16400_XGYRO_OUT, 14), |
893 | ADIS16400_ACCEL_CHAN(X, ADIS16400_XACCL_OUT, 14), |
894 | ADIS16400_ACCEL_CHAN(Y, ADIS16400_YACCL_OUT, 14), |
895 | ADIS16400_ACCEL_CHAN(Z, ADIS16400_ZACCL_OUT, 14), |
896 | ADIS16400_TEMP_CHAN(ADIS16350_XTEMP_OUT, 12), |
897 | ADIS16400_AUX_ADC_CHAN(ADIS16300_AUX_ADC, 12), |
898 | ADIS16400_INCLI_CHAN(X, ADIS16300_PITCH_OUT, 13), |
899 | ADIS16400_INCLI_CHAN(Y, ADIS16300_ROLL_OUT, 13), |
900 | IIO_CHAN_SOFT_TIMESTAMP(ADIS16400_SCAN_TIMESTAMP), |
901 | }; |
902 | |
903 | static const struct iio_chan_spec adis16334_channels[] = { |
904 | ADIS16400_GYRO_CHAN(X, ADIS16400_XGYRO_OUT, 14), |
905 | ADIS16400_GYRO_CHAN(Y, ADIS16400_YGYRO_OUT, 14), |
906 | ADIS16400_GYRO_CHAN(Z, ADIS16400_ZGYRO_OUT, 14), |
907 | ADIS16400_ACCEL_CHAN(X, ADIS16400_XACCL_OUT, 14), |
908 | ADIS16400_ACCEL_CHAN(Y, ADIS16400_YACCL_OUT, 14), |
909 | ADIS16400_ACCEL_CHAN(Z, ADIS16400_ZACCL_OUT, 14), |
910 | ADIS16400_TEMP_CHAN(ADIS16350_XTEMP_OUT, 12), |
911 | IIO_CHAN_SOFT_TIMESTAMP(ADIS16400_SCAN_TIMESTAMP), |
912 | }; |
913 | |
914 | static const char * const adis16400_status_error_msgs[] = { |
915 | [ADIS16400_DIAG_STAT_ZACCL_FAIL] = "Z-axis accelerometer self-test failure" , |
916 | [ADIS16400_DIAG_STAT_YACCL_FAIL] = "Y-axis accelerometer self-test failure" , |
917 | [ADIS16400_DIAG_STAT_XACCL_FAIL] = "X-axis accelerometer self-test failure" , |
918 | [ADIS16400_DIAG_STAT_XGYRO_FAIL] = "X-axis gyroscope self-test failure" , |
919 | [ADIS16400_DIAG_STAT_YGYRO_FAIL] = "Y-axis gyroscope self-test failure" , |
920 | [ADIS16400_DIAG_STAT_ZGYRO_FAIL] = "Z-axis gyroscope self-test failure" , |
921 | [ADIS16400_DIAG_STAT_ALARM2] = "Alarm 2 active" , |
922 | [ADIS16400_DIAG_STAT_ALARM1] = "Alarm 1 active" , |
923 | [ADIS16400_DIAG_STAT_FLASH_CHK] = "Flash checksum error" , |
924 | [ADIS16400_DIAG_STAT_SELF_TEST] = "Self test error" , |
925 | [ADIS16400_DIAG_STAT_OVERFLOW] = "Sensor overrange" , |
926 | [ADIS16400_DIAG_STAT_SPI_FAIL] = "SPI failure" , |
927 | [ADIS16400_DIAG_STAT_FLASH_UPT] = "Flash update failed" , |
928 | [ADIS16400_DIAG_STAT_POWER_HIGH] = "Power supply above 5.25V" , |
929 | [ADIS16400_DIAG_STAT_POWER_LOW] = "Power supply below 4.75V" , |
930 | }; |
931 | |
932 | #define ADIS16400_DATA(_timeouts, _burst_len) \ |
933 | { \ |
934 | .msc_ctrl_reg = ADIS16400_MSC_CTRL, \ |
935 | .glob_cmd_reg = ADIS16400_GLOB_CMD, \ |
936 | .diag_stat_reg = ADIS16400_DIAG_STAT, \ |
937 | .read_delay = 50, \ |
938 | .write_delay = 50, \ |
939 | .self_test_mask = ADIS16400_MSC_CTRL_MEM_TEST, \ |
940 | .self_test_reg = ADIS16400_MSC_CTRL, \ |
941 | .status_error_msgs = adis16400_status_error_msgs, \ |
942 | .status_error_mask = BIT(ADIS16400_DIAG_STAT_ZACCL_FAIL) | \ |
943 | BIT(ADIS16400_DIAG_STAT_YACCL_FAIL) | \ |
944 | BIT(ADIS16400_DIAG_STAT_XACCL_FAIL) | \ |
945 | BIT(ADIS16400_DIAG_STAT_XGYRO_FAIL) | \ |
946 | BIT(ADIS16400_DIAG_STAT_YGYRO_FAIL) | \ |
947 | BIT(ADIS16400_DIAG_STAT_ZGYRO_FAIL) | \ |
948 | BIT(ADIS16400_DIAG_STAT_ALARM2) | \ |
949 | BIT(ADIS16400_DIAG_STAT_ALARM1) | \ |
950 | BIT(ADIS16400_DIAG_STAT_FLASH_CHK) | \ |
951 | BIT(ADIS16400_DIAG_STAT_SELF_TEST) | \ |
952 | BIT(ADIS16400_DIAG_STAT_OVERFLOW) | \ |
953 | BIT(ADIS16400_DIAG_STAT_SPI_FAIL) | \ |
954 | BIT(ADIS16400_DIAG_STAT_FLASH_UPT) | \ |
955 | BIT(ADIS16400_DIAG_STAT_POWER_HIGH) | \ |
956 | BIT(ADIS16400_DIAG_STAT_POWER_LOW), \ |
957 | .timeouts = (_timeouts), \ |
958 | .burst_reg_cmd = ADIS16400_GLOB_CMD, \ |
959 | .burst_len = (_burst_len), \ |
960 | .burst_max_speed_hz = ADIS16400_SPI_BURST \ |
961 | } |
962 | |
963 | static const struct adis_timeout adis16300_timeouts = { |
964 | .reset_ms = ADIS16400_STARTUP_DELAY, |
965 | .sw_reset_ms = ADIS16400_STARTUP_DELAY, |
966 | .self_test_ms = ADIS16400_STARTUP_DELAY, |
967 | }; |
968 | |
969 | static const struct adis_timeout adis16334_timeouts = { |
970 | .reset_ms = 60, |
971 | .sw_reset_ms = 60, |
972 | .self_test_ms = 14, |
973 | }; |
974 | |
975 | static const struct adis_timeout adis16362_timeouts = { |
976 | .reset_ms = 130, |
977 | .sw_reset_ms = 130, |
978 | .self_test_ms = 12, |
979 | }; |
980 | |
981 | static const struct adis_timeout adis16400_timeouts = { |
982 | .reset_ms = 170, |
983 | .sw_reset_ms = 170, |
984 | .self_test_ms = 12, |
985 | }; |
986 | |
987 | static const struct adis_timeout adis16445_timeouts = { |
988 | .reset_ms = 55, |
989 | .sw_reset_ms = 55, |
990 | .self_test_ms = 16, |
991 | }; |
992 | |
993 | static const struct adis_timeout adis16448_timeouts = { |
994 | .reset_ms = 90, |
995 | .sw_reset_ms = 90, |
996 | .self_test_ms = 45, |
997 | }; |
998 | |
999 | static struct adis16400_chip_info adis16400_chips[] = { |
1000 | [ADIS16300] = { |
1001 | .channels = adis16300_channels, |
1002 | .num_channels = ARRAY_SIZE(adis16300_channels), |
1003 | .flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE | |
1004 | ADIS16400_HAS_SERIAL_NUMBER, |
1005 | .gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */ |
1006 | .accel_scale_micro = 5884, |
1007 | .temp_scale_nano = 140000000, /* 0.14 C */ |
1008 | .temp_offset = 25000000 / 140000, /* 25 C = 0x00 */ |
1009 | .set_freq = adis16400_set_freq, |
1010 | .get_freq = adis16400_get_freq, |
1011 | .adis_data = ADIS16400_DATA(&adis16300_timeouts, 18), |
1012 | }, |
1013 | [ADIS16334] = { |
1014 | .channels = adis16334_channels, |
1015 | .num_channels = ARRAY_SIZE(adis16334_channels), |
1016 | .flags = ADIS16400_HAS_PROD_ID | ADIS16400_NO_BURST | |
1017 | ADIS16400_HAS_SERIAL_NUMBER, |
1018 | .gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */ |
1019 | .accel_scale_micro = IIO_G_TO_M_S_2(1000), /* 1 mg */ |
1020 | .temp_scale_nano = 67850000, /* 0.06785 C */ |
1021 | .temp_offset = 25000000 / 67850, /* 25 C = 0x00 */ |
1022 | .set_freq = adis16334_set_freq, |
1023 | .get_freq = adis16334_get_freq, |
1024 | .adis_data = ADIS16400_DATA(&adis16334_timeouts, 0), |
1025 | }, |
1026 | [ADIS16350] = { |
1027 | .channels = adis16350_channels, |
1028 | .num_channels = ARRAY_SIZE(adis16350_channels), |
1029 | .gyro_scale_micro = IIO_DEGREE_TO_RAD(73260), /* 0.07326 deg/s */ |
1030 | .accel_scale_micro = IIO_G_TO_M_S_2(2522), /* 0.002522 g */ |
1031 | .temp_scale_nano = 145300000, /* 0.1453 C */ |
1032 | .temp_offset = 25000000 / 145300, /* 25 C = 0x00 */ |
1033 | .flags = ADIS16400_NO_BURST | ADIS16400_HAS_SLOW_MODE, |
1034 | .set_freq = adis16400_set_freq, |
1035 | .get_freq = adis16400_get_freq, |
1036 | .adis_data = ADIS16400_DATA(&adis16300_timeouts, 0), |
1037 | }, |
1038 | [ADIS16360] = { |
1039 | .channels = adis16350_channels, |
1040 | .num_channels = ARRAY_SIZE(adis16350_channels), |
1041 | .flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE | |
1042 | ADIS16400_HAS_SERIAL_NUMBER, |
1043 | .gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */ |
1044 | .accel_scale_micro = IIO_G_TO_M_S_2(3333), /* 3.333 mg */ |
1045 | .temp_scale_nano = 136000000, /* 0.136 C */ |
1046 | .temp_offset = 25000000 / 136000, /* 25 C = 0x00 */ |
1047 | .set_freq = adis16400_set_freq, |
1048 | .get_freq = adis16400_get_freq, |
1049 | .adis_data = ADIS16400_DATA(&adis16300_timeouts, 28), |
1050 | }, |
1051 | [ADIS16362] = { |
1052 | .channels = adis16350_channels, |
1053 | .num_channels = ARRAY_SIZE(adis16350_channels), |
1054 | .flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE | |
1055 | ADIS16400_HAS_SERIAL_NUMBER, |
1056 | .gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */ |
1057 | .accel_scale_micro = IIO_G_TO_M_S_2(333), /* 0.333 mg */ |
1058 | .temp_scale_nano = 136000000, /* 0.136 C */ |
1059 | .temp_offset = 25000000 / 136000, /* 25 C = 0x00 */ |
1060 | .set_freq = adis16400_set_freq, |
1061 | .get_freq = adis16400_get_freq, |
1062 | .adis_data = ADIS16400_DATA(&adis16362_timeouts, 28), |
1063 | }, |
1064 | [ADIS16364] = { |
1065 | .channels = adis16350_channels, |
1066 | .num_channels = ARRAY_SIZE(adis16350_channels), |
1067 | .flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE | |
1068 | ADIS16400_HAS_SERIAL_NUMBER, |
1069 | .gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */ |
1070 | .accel_scale_micro = IIO_G_TO_M_S_2(1000), /* 1 mg */ |
1071 | .temp_scale_nano = 136000000, /* 0.136 C */ |
1072 | .temp_offset = 25000000 / 136000, /* 25 C = 0x00 */ |
1073 | .set_freq = adis16400_set_freq, |
1074 | .get_freq = adis16400_get_freq, |
1075 | .adis_data = ADIS16400_DATA(&adis16362_timeouts, 28), |
1076 | }, |
1077 | [ADIS16367] = { |
1078 | .channels = adis16350_channels, |
1079 | .num_channels = ARRAY_SIZE(adis16350_channels), |
1080 | .flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE | |
1081 | ADIS16400_HAS_SERIAL_NUMBER, |
1082 | .gyro_scale_micro = IIO_DEGREE_TO_RAD(2000), /* 0.2 deg/s */ |
1083 | .accel_scale_micro = IIO_G_TO_M_S_2(3333), /* 3.333 mg */ |
1084 | .temp_scale_nano = 136000000, /* 0.136 C */ |
1085 | .temp_offset = 25000000 / 136000, /* 25 C = 0x00 */ |
1086 | .set_freq = adis16400_set_freq, |
1087 | .get_freq = adis16400_get_freq, |
1088 | .adis_data = ADIS16400_DATA(&adis16300_timeouts, 28), |
1089 | }, |
1090 | [ADIS16400] = { |
1091 | .channels = adis16400_channels, |
1092 | .num_channels = ARRAY_SIZE(adis16400_channels), |
1093 | .flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE, |
1094 | .gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */ |
1095 | .accel_scale_micro = IIO_G_TO_M_S_2(3333), /* 3.333 mg */ |
1096 | .temp_scale_nano = 140000000, /* 0.14 C */ |
1097 | .temp_offset = 25000000 / 140000, /* 25 C = 0x00 */ |
1098 | .set_freq = adis16400_set_freq, |
1099 | .get_freq = adis16400_get_freq, |
1100 | .adis_data = ADIS16400_DATA(&adis16400_timeouts, 24), |
1101 | }, |
1102 | [ADIS16445] = { |
1103 | .channels = adis16445_channels, |
1104 | .num_channels = ARRAY_SIZE(adis16445_channels), |
1105 | .flags = ADIS16400_HAS_PROD_ID | |
1106 | ADIS16400_HAS_SERIAL_NUMBER | |
1107 | ADIS16400_BURST_DIAG_STAT, |
1108 | .gyro_scale_micro = IIO_DEGREE_TO_RAD(10000), /* 0.01 deg/s */ |
1109 | .accel_scale_micro = IIO_G_TO_M_S_2(250), /* 1/4000 g */ |
1110 | .temp_scale_nano = 73860000, /* 0.07386 C */ |
1111 | .temp_offset = 31000000 / 73860, /* 31 C = 0x00 */ |
1112 | .set_freq = adis16334_set_freq, |
1113 | .get_freq = adis16334_get_freq, |
1114 | .adis_data = ADIS16400_DATA(&adis16445_timeouts, 16), |
1115 | }, |
1116 | [ADIS16448] = { |
1117 | .channels = adis16448_channels, |
1118 | .num_channels = ARRAY_SIZE(adis16448_channels), |
1119 | .flags = ADIS16400_HAS_PROD_ID | |
1120 | ADIS16400_HAS_SERIAL_NUMBER | |
1121 | ADIS16400_BURST_DIAG_STAT, |
1122 | .gyro_scale_micro = IIO_DEGREE_TO_RAD(40000), /* 0.04 deg/s */ |
1123 | .accel_scale_micro = IIO_G_TO_M_S_2(833), /* 1/1200 g */ |
1124 | .temp_scale_nano = 73860000, /* 0.07386 C */ |
1125 | .temp_offset = 31000000 / 73860, /* 31 C = 0x00 */ |
1126 | .set_freq = adis16334_set_freq, |
1127 | .get_freq = adis16334_get_freq, |
1128 | .adis_data = ADIS16400_DATA(&adis16448_timeouts, 24), |
1129 | } |
1130 | }; |
1131 | |
1132 | static const struct iio_info adis16400_info = { |
1133 | .read_raw = &adis16400_read_raw, |
1134 | .write_raw = &adis16400_write_raw, |
1135 | .update_scan_mode = adis_update_scan_mode, |
1136 | .debugfs_reg_access = adis_debugfs_reg_access, |
1137 | }; |
1138 | |
1139 | static void adis16400_setup_chan_mask(struct adis16400_state *st) |
1140 | { |
1141 | const struct adis16400_chip_info *chip_info = st->variant; |
1142 | unsigned int i; |
1143 | |
1144 | for (i = 0; i < chip_info->num_channels; i++) { |
1145 | const struct iio_chan_spec *ch = &chip_info->channels[i]; |
1146 | |
1147 | if (ch->scan_index >= 0 && |
1148 | ch->scan_index != ADIS16400_SCAN_TIMESTAMP) |
1149 | st->avail_scan_mask[0] |= BIT(ch->scan_index); |
1150 | } |
1151 | } |
1152 | |
1153 | static void adis16400_stop(void *data) |
1154 | { |
1155 | adis16400_stop_device(indio_dev: data); |
1156 | } |
1157 | |
1158 | static int adis16400_probe(struct spi_device *spi) |
1159 | { |
1160 | struct adis16400_state *st; |
1161 | struct iio_dev *indio_dev; |
1162 | int ret; |
1163 | const struct adis_data *adis16400_data; |
1164 | |
1165 | indio_dev = devm_iio_device_alloc(parent: &spi->dev, sizeof_priv: sizeof(*st)); |
1166 | if (indio_dev == NULL) |
1167 | return -ENOMEM; |
1168 | |
1169 | st = iio_priv(indio_dev); |
1170 | |
1171 | /* setup the industrialio driver allocated elements */ |
1172 | st->variant = &adis16400_chips[spi_get_device_id(sdev: spi)->driver_data]; |
1173 | indio_dev->name = spi_get_device_id(sdev: spi)->name; |
1174 | indio_dev->channels = st->variant->channels; |
1175 | indio_dev->num_channels = st->variant->num_channels; |
1176 | indio_dev->info = &adis16400_info; |
1177 | indio_dev->modes = INDIO_DIRECT_MODE; |
1178 | |
1179 | if (!(st->variant->flags & ADIS16400_NO_BURST)) { |
1180 | adis16400_setup_chan_mask(st); |
1181 | indio_dev->available_scan_masks = st->avail_scan_mask; |
1182 | } |
1183 | |
1184 | adis16400_data = &st->variant->adis_data; |
1185 | |
1186 | ret = adis_init(adis: &st->adis, indio_dev, spi, data: adis16400_data); |
1187 | if (ret) |
1188 | return ret; |
1189 | |
1190 | ret = devm_adis_setup_buffer_and_trigger(adis: &st->adis, indio_dev, trigger_handler: adis16400_trigger_handler); |
1191 | if (ret) |
1192 | return ret; |
1193 | |
1194 | /* Get the device into a sane initial state */ |
1195 | ret = adis16400_initial_setup(indio_dev); |
1196 | if (ret) |
1197 | return ret; |
1198 | |
1199 | ret = devm_add_action_or_reset(&spi->dev, adis16400_stop, indio_dev); |
1200 | if (ret) |
1201 | return ret; |
1202 | |
1203 | ret = devm_iio_device_register(&spi->dev, indio_dev); |
1204 | if (ret) |
1205 | return ret; |
1206 | |
1207 | adis16400_debugfs_init(indio_dev); |
1208 | return 0; |
1209 | } |
1210 | |
1211 | static const struct spi_device_id adis16400_id[] = { |
1212 | {"adis16300" , ADIS16300}, |
1213 | {"adis16305" , ADIS16300}, |
1214 | {"adis16334" , ADIS16334}, |
1215 | {"adis16350" , ADIS16350}, |
1216 | {"adis16354" , ADIS16350}, |
1217 | {"adis16355" , ADIS16350}, |
1218 | {"adis16360" , ADIS16360}, |
1219 | {"adis16362" , ADIS16362}, |
1220 | {"adis16364" , ADIS16364}, |
1221 | {"adis16365" , ADIS16360}, |
1222 | {"adis16367" , ADIS16367}, |
1223 | {"adis16400" , ADIS16400}, |
1224 | {"adis16405" , ADIS16400}, |
1225 | {"adis16445" , ADIS16445}, |
1226 | {"adis16448" , ADIS16448}, |
1227 | {} |
1228 | }; |
1229 | MODULE_DEVICE_TABLE(spi, adis16400_id); |
1230 | |
1231 | static struct spi_driver adis16400_driver = { |
1232 | .driver = { |
1233 | .name = "adis16400" , |
1234 | }, |
1235 | .id_table = adis16400_id, |
1236 | .probe = adis16400_probe, |
1237 | }; |
1238 | module_spi_driver(adis16400_driver); |
1239 | |
1240 | MODULE_AUTHOR("Manuel Stahl <manuel.stahl@iis.fraunhofer.de>" ); |
1241 | MODULE_DESCRIPTION("Analog Devices ADIS16400/5 IMU SPI driver" ); |
1242 | MODULE_LICENSE("GPL v2" ); |
1243 | MODULE_IMPORT_NS(IIO_ADISLIB); |
1244 | |