314 lines
8.4 KiB
C
314 lines
8.4 KiB
C
// SPDX-License-Identifier: GPL-2.0-or-later
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/*
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* ADIS16209 Dual-Axis Digital Inclinometer and Accelerometer
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*
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* Copyright 2010 Analog Devices Inc.
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*/
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#include <linux/device.h>
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#include <linux/kernel.h>
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#include <linux/module.h>
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#include <linux/spi/spi.h>
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#include <linux/iio/iio.h>
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#include <linux/iio/imu/adis.h>
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#define ADIS16209_STARTUP_DELAY_MS 220
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#define ADIS16209_FLASH_CNT_REG 0x00
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/* Data Output Register Definitions */
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#define ADIS16209_SUPPLY_OUT_REG 0x02
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#define ADIS16209_XACCL_OUT_REG 0x04
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#define ADIS16209_YACCL_OUT_REG 0x06
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/* Output, auxiliary ADC input */
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#define ADIS16209_AUX_ADC_REG 0x08
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/* Output, temperature */
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#define ADIS16209_TEMP_OUT_REG 0x0A
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/* Output, +/- 90 degrees X-axis inclination */
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#define ADIS16209_XINCL_OUT_REG 0x0C
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#define ADIS16209_YINCL_OUT_REG 0x0E
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/* Output, +/-180 vertical rotational position */
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#define ADIS16209_ROT_OUT_REG 0x10
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/*
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* Calibration Register Definitions.
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* Acceleration, inclination or rotation offset null.
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*/
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#define ADIS16209_XACCL_NULL_REG 0x12
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#define ADIS16209_YACCL_NULL_REG 0x14
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#define ADIS16209_XINCL_NULL_REG 0x16
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#define ADIS16209_YINCL_NULL_REG 0x18
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#define ADIS16209_ROT_NULL_REG 0x1A
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/* Alarm Register Definitions */
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#define ADIS16209_ALM_MAG1_REG 0x20
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#define ADIS16209_ALM_MAG2_REG 0x22
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#define ADIS16209_ALM_SMPL1_REG 0x24
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#define ADIS16209_ALM_SMPL2_REG 0x26
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#define ADIS16209_ALM_CTRL_REG 0x28
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#define ADIS16209_AUX_DAC_REG 0x30
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#define ADIS16209_GPIO_CTRL_REG 0x32
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#define ADIS16209_SMPL_PRD_REG 0x36
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#define ADIS16209_AVG_CNT_REG 0x38
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#define ADIS16209_SLP_CNT_REG 0x3A
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#define ADIS16209_MSC_CTRL_REG 0x34
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#define ADIS16209_MSC_CTRL_PWRUP_SELF_TEST BIT(10)
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#define ADIS16209_MSC_CTRL_SELF_TEST_EN BIT(8)
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#define ADIS16209_MSC_CTRL_DATA_RDY_EN BIT(2)
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/* Data-ready polarity: 1 = active high, 0 = active low */
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#define ADIS16209_MSC_CTRL_ACTIVE_HIGH BIT(1)
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#define ADIS16209_MSC_CTRL_DATA_RDY_DIO2 BIT(0)
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#define ADIS16209_STAT_REG 0x3C
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#define ADIS16209_STAT_ALARM2 BIT(9)
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#define ADIS16209_STAT_ALARM1 BIT(8)
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#define ADIS16209_STAT_SELFTEST_FAIL_BIT 5
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#define ADIS16209_STAT_SPI_FAIL_BIT 3
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#define ADIS16209_STAT_FLASH_UPT_FAIL_BIT 2
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/* Power supply above 3.625 V */
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#define ADIS16209_STAT_POWER_HIGH_BIT 1
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/* Power supply below 2.975 V */
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#define ADIS16209_STAT_POWER_LOW_BIT 0
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#define ADIS16209_CMD_REG 0x3E
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#define ADIS16209_CMD_SW_RESET BIT(7)
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#define ADIS16209_CMD_CLEAR_STAT BIT(4)
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#define ADIS16209_CMD_FACTORY_CAL BIT(1)
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#define ADIS16209_ERROR_ACTIVE BIT(14)
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enum adis16209_scan {
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ADIS16209_SCAN_SUPPLY,
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ADIS16209_SCAN_ACC_X,
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ADIS16209_SCAN_ACC_Y,
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ADIS16209_SCAN_AUX_ADC,
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ADIS16209_SCAN_TEMP,
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ADIS16209_SCAN_INCLI_X,
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ADIS16209_SCAN_INCLI_Y,
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ADIS16209_SCAN_ROT,
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};
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static const u8 adis16209_addresses[8][1] = {
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[ADIS16209_SCAN_SUPPLY] = { },
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[ADIS16209_SCAN_AUX_ADC] = { },
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[ADIS16209_SCAN_ACC_X] = { ADIS16209_XACCL_NULL_REG },
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[ADIS16209_SCAN_ACC_Y] = { ADIS16209_YACCL_NULL_REG },
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[ADIS16209_SCAN_INCLI_X] = { ADIS16209_XINCL_NULL_REG },
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[ADIS16209_SCAN_INCLI_Y] = { ADIS16209_YINCL_NULL_REG },
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[ADIS16209_SCAN_ROT] = { },
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[ADIS16209_SCAN_TEMP] = { },
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};
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static int adis16209_write_raw(struct iio_dev *indio_dev,
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struct iio_chan_spec const *chan,
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int val,
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int val2,
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long mask)
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{
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struct adis *st = iio_priv(indio_dev);
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int m;
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if (mask != IIO_CHAN_INFO_CALIBBIAS)
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return -EINVAL;
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switch (chan->type) {
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case IIO_ACCEL:
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case IIO_INCLI:
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m = GENMASK(13, 0);
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break;
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default:
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return -EINVAL;
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}
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return adis_write_reg_16(st, adis16209_addresses[chan->scan_index][0],
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val & m);
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}
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static int adis16209_read_raw(struct iio_dev *indio_dev,
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struct iio_chan_spec const *chan,
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int *val, int *val2,
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long mask)
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{
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struct adis *st = iio_priv(indio_dev);
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int ret;
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int bits;
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u8 addr;
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s16 val16;
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switch (mask) {
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case IIO_CHAN_INFO_RAW:
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return adis_single_conversion(indio_dev, chan,
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ADIS16209_ERROR_ACTIVE, val);
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case IIO_CHAN_INFO_SCALE:
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switch (chan->type) {
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case IIO_VOLTAGE:
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*val = 0;
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switch (chan->channel) {
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case 0:
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*val2 = 305180; /* 0.30518 mV */
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break;
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case 1:
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*val2 = 610500; /* 0.6105 mV */
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break;
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default:
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return -EINVAL;
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}
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return IIO_VAL_INT_PLUS_MICRO;
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case IIO_TEMP:
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*val = -470;
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*val2 = 0;
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return IIO_VAL_INT_PLUS_MICRO;
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case IIO_ACCEL:
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/*
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* IIO base unit for sensitivity of accelerometer
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* is milli g.
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* 1 LSB represents 0.244 mg.
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*/
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*val = 0;
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*val2 = IIO_G_TO_M_S_2(244140);
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return IIO_VAL_INT_PLUS_NANO;
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case IIO_INCLI:
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case IIO_ROT:
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/*
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* IIO base units for rotation are degrees.
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* 1 LSB represents 0.025 milli degrees.
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*/
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*val = 0;
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*val2 = 25000;
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return IIO_VAL_INT_PLUS_MICRO;
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default:
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return -EINVAL;
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}
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break;
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case IIO_CHAN_INFO_OFFSET:
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/*
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* The raw ADC value is 0x4FE when the temperature
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* is 45 degrees and the scale factor per milli
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* degree celcius is -470.
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*/
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*val = 25000 / -470 - 0x4FE;
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return IIO_VAL_INT;
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case IIO_CHAN_INFO_CALIBBIAS:
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switch (chan->type) {
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case IIO_ACCEL:
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bits = 14;
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break;
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default:
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return -EINVAL;
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}
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addr = adis16209_addresses[chan->scan_index][0];
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ret = adis_read_reg_16(st, addr, &val16);
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if (ret)
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return ret;
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*val = sign_extend32(val16, bits - 1);
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return IIO_VAL_INT;
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}
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return -EINVAL;
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}
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static const struct iio_chan_spec adis16209_channels[] = {
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ADIS_SUPPLY_CHAN(ADIS16209_SUPPLY_OUT_REG, ADIS16209_SCAN_SUPPLY,
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0, 14),
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ADIS_TEMP_CHAN(ADIS16209_TEMP_OUT_REG, ADIS16209_SCAN_TEMP, 0, 12),
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ADIS_ACCEL_CHAN(X, ADIS16209_XACCL_OUT_REG, ADIS16209_SCAN_ACC_X,
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BIT(IIO_CHAN_INFO_CALIBBIAS), 0, 14),
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ADIS_ACCEL_CHAN(Y, ADIS16209_YACCL_OUT_REG, ADIS16209_SCAN_ACC_Y,
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BIT(IIO_CHAN_INFO_CALIBBIAS), 0, 14),
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ADIS_AUX_ADC_CHAN(ADIS16209_AUX_ADC_REG, ADIS16209_SCAN_AUX_ADC, 0, 12),
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ADIS_INCLI_CHAN(X, ADIS16209_XINCL_OUT_REG, ADIS16209_SCAN_INCLI_X,
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0, 0, 14),
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ADIS_INCLI_CHAN(Y, ADIS16209_YINCL_OUT_REG, ADIS16209_SCAN_INCLI_Y,
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0, 0, 14),
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ADIS_ROT_CHAN(X, ADIS16209_ROT_OUT_REG, ADIS16209_SCAN_ROT, 0, 0, 14),
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IIO_CHAN_SOFT_TIMESTAMP(8)
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};
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static const struct iio_info adis16209_info = {
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.read_raw = adis16209_read_raw,
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.write_raw = adis16209_write_raw,
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.update_scan_mode = adis_update_scan_mode,
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};
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static const char * const adis16209_status_error_msgs[] = {
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[ADIS16209_STAT_SELFTEST_FAIL_BIT] = "Self test failure",
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[ADIS16209_STAT_SPI_FAIL_BIT] = "SPI failure",
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[ADIS16209_STAT_FLASH_UPT_FAIL_BIT] = "Flash update failed",
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[ADIS16209_STAT_POWER_HIGH_BIT] = "Power supply above 3.625V",
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[ADIS16209_STAT_POWER_LOW_BIT] = "Power supply below 2.975V",
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};
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static const struct adis_timeout adis16209_timeouts = {
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.reset_ms = ADIS16209_STARTUP_DELAY_MS,
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.self_test_ms = ADIS16209_STARTUP_DELAY_MS,
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.sw_reset_ms = ADIS16209_STARTUP_DELAY_MS,
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};
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static const struct adis_data adis16209_data = {
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.read_delay = 30,
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.msc_ctrl_reg = ADIS16209_MSC_CTRL_REG,
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.glob_cmd_reg = ADIS16209_CMD_REG,
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.diag_stat_reg = ADIS16209_STAT_REG,
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.self_test_mask = ADIS16209_MSC_CTRL_SELF_TEST_EN,
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.self_test_reg = ADIS16209_MSC_CTRL_REG,
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.self_test_no_autoclear = true,
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.timeouts = &adis16209_timeouts,
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.status_error_msgs = adis16209_status_error_msgs,
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.status_error_mask = BIT(ADIS16209_STAT_SELFTEST_FAIL_BIT) |
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BIT(ADIS16209_STAT_SPI_FAIL_BIT) |
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BIT(ADIS16209_STAT_FLASH_UPT_FAIL_BIT) |
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BIT(ADIS16209_STAT_POWER_HIGH_BIT) |
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BIT(ADIS16209_STAT_POWER_LOW_BIT),
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};
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static int adis16209_probe(struct spi_device *spi)
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{
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struct iio_dev *indio_dev;
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struct adis *st;
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int ret;
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indio_dev = devm_iio_device_alloc(&spi->dev, sizeof(*st));
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if (!indio_dev)
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return -ENOMEM;
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st = iio_priv(indio_dev);
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indio_dev->name = spi->dev.driver->name;
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indio_dev->info = &adis16209_info;
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indio_dev->channels = adis16209_channels;
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indio_dev->num_channels = ARRAY_SIZE(adis16209_channels);
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indio_dev->modes = INDIO_DIRECT_MODE;
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ret = adis_init(st, indio_dev, spi, &adis16209_data);
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if (ret)
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return ret;
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ret = devm_adis_setup_buffer_and_trigger(st, indio_dev, NULL);
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if (ret)
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return ret;
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ret = adis_initial_startup(st);
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if (ret)
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return ret;
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return devm_iio_device_register(&spi->dev, indio_dev);
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}
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static struct spi_driver adis16209_driver = {
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.driver = {
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.name = "adis16209",
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},
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.probe = adis16209_probe,
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};
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module_spi_driver(adis16209_driver);
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MODULE_AUTHOR("Barry Song <21cnbao@gmail.com>");
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MODULE_DESCRIPTION("Analog Devices ADIS16209 Dual-Axis Digital Inclinometer and Accelerometer");
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MODULE_LICENSE("GPL v2");
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MODULE_ALIAS("spi:adis16209");
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MODULE_IMPORT_NS(IIO_ADISLIB);
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