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OpenCloudOS-Kernel/drivers/iio/imu/adis16400_core.c

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/*
* adis16400.c support Analog Devices ADIS16400/5
* 3d 2g Linear Accelerometers,
* 3d Gyroscopes,
* 3d Magnetometers via SPI
*
* Copyright (c) 2009 Manuel Stahl <manuel.stahl@iis.fraunhofer.de>
* Copyright (c) 2007 Jonathan Cameron <jic23@kernel.org>
* Copyright (c) 2011 Analog Devices Inc.
*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License version 2 as
* published by the Free Software Foundation.
*
*/
#include <linux/interrupt.h>
#include <linux/irq.h>
#include <linux/delay.h>
#include <linux/mutex.h>
#include <linux/device.h>
#include <linux/kernel.h>
#include <linux/spi/spi.h>
#include <linux/slab.h>
#include <linux/sysfs.h>
#include <linux/list.h>
#include <linux/module.h>
#include <linux/debugfs.h>
#include <linux/bitops.h>
#include <linux/iio/iio.h>
#include <linux/iio/sysfs.h>
#include <linux/iio/buffer.h>
#include "adis16400.h"
#ifdef CONFIG_DEBUG_FS
static ssize_t adis16400_show_serial_number(struct file *file,
char __user *userbuf, size_t count, loff_t *ppos)
{
struct adis16400_state *st = file->private_data;
u16 lot1, lot2, serial_number;
char buf[16];
size_t len;
int ret;
ret = adis_read_reg_16(&st->adis, ADIS16334_LOT_ID1, &lot1);
if (ret < 0)
return ret;
ret = adis_read_reg_16(&st->adis, ADIS16334_LOT_ID2, &lot2);
if (ret < 0)
return ret;
ret = adis_read_reg_16(&st->adis, ADIS16334_SERIAL_NUMBER,
&serial_number);
if (ret < 0)
return ret;
len = snprintf(buf, sizeof(buf), "%.4x-%.4x-%.4x\n", lot1, lot2,
serial_number);
return simple_read_from_buffer(userbuf, count, ppos, buf, len);
}
static const struct file_operations adis16400_serial_number_fops = {
.open = simple_open,
.read = adis16400_show_serial_number,
.llseek = default_llseek,
.owner = THIS_MODULE,
};
static int adis16400_show_product_id(void *arg, u64 *val)
{
struct adis16400_state *st = arg;
uint16_t prod_id;
int ret;
ret = adis_read_reg_16(&st->adis, ADIS16400_PRODUCT_ID, &prod_id);
if (ret < 0)
return ret;
*val = prod_id;
return 0;
}
DEFINE_SIMPLE_ATTRIBUTE(adis16400_product_id_fops,
adis16400_show_product_id, NULL, "%lld\n");
static int adis16400_show_flash_count(void *arg, u64 *val)
{
struct adis16400_state *st = arg;
uint16_t flash_count;
int ret;
ret = adis_read_reg_16(&st->adis, ADIS16400_FLASH_CNT, &flash_count);
if (ret < 0)
return ret;
*val = flash_count;
return 0;
}
DEFINE_SIMPLE_ATTRIBUTE(adis16400_flash_count_fops,
adis16400_show_flash_count, NULL, "%lld\n");
static int adis16400_debugfs_init(struct iio_dev *indio_dev)
{
struct adis16400_state *st = iio_priv(indio_dev);
if (st->variant->flags & ADIS16400_HAS_SERIAL_NUMBER)
debugfs_create_file("serial_number", 0400,
indio_dev->debugfs_dentry, st,
&adis16400_serial_number_fops);
if (st->variant->flags & ADIS16400_HAS_PROD_ID)
debugfs_create_file("product_id", 0400,
indio_dev->debugfs_dentry, st,
&adis16400_product_id_fops);
debugfs_create_file("flash_count", 0400, indio_dev->debugfs_dentry,
st, &adis16400_flash_count_fops);
return 0;
}
#else
static int adis16400_debugfs_init(struct iio_dev *indio_dev)
{
return 0;
}
#endif
enum adis16400_chip_variant {
ADIS16300,
ADIS16334,
ADIS16350,
ADIS16360,
ADIS16362,
ADIS16364,
ADIS16367,
ADIS16400,
ADIS16445,
ADIS16448,
};
static int adis16334_get_freq(struct adis16400_state *st)
{
int ret;
uint16_t t;
ret = adis_read_reg_16(&st->adis, ADIS16400_SMPL_PRD, &t);
if (ret < 0)
return ret;
t >>= ADIS16334_RATE_DIV_SHIFT;
return 819200 >> t;
}
static int adis16334_set_freq(struct adis16400_state *st, unsigned int freq)
{
unsigned int t;
if (freq < 819200)
t = ilog2(819200 / freq);
else
t = 0;
if (t > 0x31)
t = 0x31;
t <<= ADIS16334_RATE_DIV_SHIFT;
t |= ADIS16334_RATE_INT_CLK;
return adis_write_reg_16(&st->adis, ADIS16400_SMPL_PRD, t);
}
static int adis16400_get_freq(struct adis16400_state *st)
{
int sps, ret;
uint16_t t;
ret = adis_read_reg_16(&st->adis, ADIS16400_SMPL_PRD, &t);
if (ret < 0)
return ret;
sps = (t & ADIS16400_SMPL_PRD_TIME_BASE) ? 52851 : 1638404;
sps /= (t & ADIS16400_SMPL_PRD_DIV_MASK) + 1;
return sps;
}
static int adis16400_set_freq(struct adis16400_state *st, unsigned int freq)
{
unsigned int t;
uint8_t val = 0;
t = 1638404 / freq;
if (t >= 128) {
val |= ADIS16400_SMPL_PRD_TIME_BASE;
t = 52851 / freq;
if (t >= 128)
t = 127;
} else if (t != 0) {
t--;
}
val |= t;
if (t >= 0x0A || (val & ADIS16400_SMPL_PRD_TIME_BASE))
st->adis.spi->max_speed_hz = ADIS16400_SPI_SLOW;
else
st->adis.spi->max_speed_hz = ADIS16400_SPI_FAST;
return adis_write_reg_8(&st->adis, ADIS16400_SMPL_PRD, val);
}
static const unsigned int adis16400_3db_divisors[] = {
[0] = 2, /* Special case */
[1] = 6,
[2] = 12,
[3] = 25,
[4] = 50,
[5] = 100,
[6] = 200,
[7] = 200, /* Not a valid setting */
};
static int adis16400_set_filter(struct iio_dev *indio_dev, int sps, int val)
{
struct adis16400_state *st = iio_priv(indio_dev);
uint16_t val16;
int i, ret;
for (i = ARRAY_SIZE(adis16400_3db_divisors) - 1; i >= 1; i--) {
if (sps / adis16400_3db_divisors[i] >= val)
break;
}
ret = adis_read_reg_16(&st->adis, ADIS16400_SENS_AVG, &val16);
if (ret < 0)
return ret;
ret = adis_write_reg_16(&st->adis, ADIS16400_SENS_AVG,
(val16 & ~0x07) | i);
return ret;
}
/* Power down the device */
static int adis16400_stop_device(struct iio_dev *indio_dev)
{
struct adis16400_state *st = iio_priv(indio_dev);
int ret;
ret = adis_write_reg_16(&st->adis, ADIS16400_SLP_CNT,
ADIS16400_SLP_CNT_POWER_OFF);
if (ret)
dev_err(&indio_dev->dev,
"problem with turning device off: SLP_CNT");
return ret;
}
static int adis16400_initial_setup(struct iio_dev *indio_dev)
{
struct adis16400_state *st = iio_priv(indio_dev);
uint16_t prod_id, smp_prd;
unsigned int device_id;
int ret;
/* use low spi speed for init if the device has a slow mode */
if (st->variant->flags & ADIS16400_HAS_SLOW_MODE)
st->adis.spi->max_speed_hz = ADIS16400_SPI_SLOW;
else
st->adis.spi->max_speed_hz = ADIS16400_SPI_FAST;
st->adis.spi->mode = SPI_MODE_3;
spi_setup(st->adis.spi);
ret = adis_initial_startup(&st->adis);
if (ret)
return ret;
if (st->variant->flags & ADIS16400_HAS_PROD_ID) {
ret = adis_read_reg_16(&st->adis,
ADIS16400_PRODUCT_ID, &prod_id);
if (ret)
goto err_ret;
ret = sscanf(indio_dev->name, "adis%u\n", &device_id);
if (ret != 1) {
ret = -EINVAL;
goto err_ret;
}
if (prod_id != device_id)
dev_warn(&indio_dev->dev, "Device ID(%u) and product ID(%u) do not match.",
device_id, prod_id);
dev_info(&indio_dev->dev, "%s: prod_id 0x%04x at CS%d (irq %d)\n",
indio_dev->name, prod_id,
st->adis.spi->chip_select, st->adis.spi->irq);
}
/* use high spi speed if possible */
if (st->variant->flags & ADIS16400_HAS_SLOW_MODE) {
ret = adis_read_reg_16(&st->adis, ADIS16400_SMPL_PRD, &smp_prd);
if (ret)
goto err_ret;
if ((smp_prd & ADIS16400_SMPL_PRD_DIV_MASK) < 0x0A) {
st->adis.spi->max_speed_hz = ADIS16400_SPI_FAST;
spi_setup(st->adis.spi);
}
}
err_ret:
return ret;
}
static const uint8_t adis16400_addresses[] = {
[ADIS16400_SCAN_GYRO_X] = ADIS16400_XGYRO_OFF,
[ADIS16400_SCAN_GYRO_Y] = ADIS16400_YGYRO_OFF,
[ADIS16400_SCAN_GYRO_Z] = ADIS16400_ZGYRO_OFF,
[ADIS16400_SCAN_ACC_X] = ADIS16400_XACCL_OFF,
[ADIS16400_SCAN_ACC_Y] = ADIS16400_YACCL_OFF,
[ADIS16400_SCAN_ACC_Z] = ADIS16400_ZACCL_OFF,
};
static int adis16400_write_raw(struct iio_dev *indio_dev,
struct iio_chan_spec const *chan, int val, int val2, long info)
{
struct adis16400_state *st = iio_priv(indio_dev);
int ret, sps;
switch (info) {
case IIO_CHAN_INFO_CALIBBIAS:
mutex_lock(&indio_dev->mlock);
ret = adis_write_reg_16(&st->adis,
adis16400_addresses[chan->scan_index], val);
mutex_unlock(&indio_dev->mlock);
return ret;
case IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY:
/*
* Need to cache values so we can update if the frequency
* changes.
*/
mutex_lock(&indio_dev->mlock);
st->filt_int = val;
/* Work out update to current value */
sps = st->variant->get_freq(st);
if (sps < 0) {
mutex_unlock(&indio_dev->mlock);
return sps;
}
ret = adis16400_set_filter(indio_dev, sps,
val * 1000 + val2 / 1000);
mutex_unlock(&indio_dev->mlock);
return ret;
case IIO_CHAN_INFO_SAMP_FREQ:
sps = val * 1000 + val2 / 1000;
if (sps <= 0)
return -EINVAL;
mutex_lock(&indio_dev->mlock);
ret = st->variant->set_freq(st, sps);
mutex_unlock(&indio_dev->mlock);
return ret;
default:
return -EINVAL;
}
}
static int adis16400_read_raw(struct iio_dev *indio_dev,
struct iio_chan_spec const *chan, int *val, int *val2, long info)
{
struct adis16400_state *st = iio_priv(indio_dev);
int16_t val16;
int ret;
switch (info) {
case IIO_CHAN_INFO_RAW:
return adis_single_conversion(indio_dev, chan, 0, val);
case IIO_CHAN_INFO_SCALE:
switch (chan->type) {
case IIO_ANGL_VEL:
*val = 0;
*val2 = st->variant->gyro_scale_micro;
return IIO_VAL_INT_PLUS_MICRO;
case IIO_VOLTAGE:
*val = 0;
if (chan->channel == 0) {
*val = 2;
*val2 = 418000; /* 2.418 mV */
} else {
*val = 0;
*val2 = 805800; /* 805.8 uV */
}
return IIO_VAL_INT_PLUS_MICRO;
case IIO_ACCEL:
*val = 0;
*val2 = st->variant->accel_scale_micro;
return IIO_VAL_INT_PLUS_MICRO;
case IIO_MAGN:
*val = 0;
*val2 = 500; /* 0.5 mgauss */
return IIO_VAL_INT_PLUS_MICRO;
case IIO_TEMP:
*val = st->variant->temp_scale_nano / 1000000;
*val2 = (st->variant->temp_scale_nano % 1000000);
return IIO_VAL_INT_PLUS_MICRO;
case IIO_PRESSURE:
/* 20 uBar = 0.002kPascal */
*val = 0;
*val2 = 2000;
return IIO_VAL_INT_PLUS_MICRO;
default:
return -EINVAL;
}
case IIO_CHAN_INFO_CALIBBIAS:
mutex_lock(&indio_dev->mlock);
ret = adis_read_reg_16(&st->adis,
adis16400_addresses[chan->scan_index], &val16);
mutex_unlock(&indio_dev->mlock);
if (ret)
return ret;
val16 = sign_extend32(val16, 11);
*val = val16;
return IIO_VAL_INT;
case IIO_CHAN_INFO_OFFSET:
/* currently only temperature */
*val = st->variant->temp_offset;
return IIO_VAL_INT;
case IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY:
mutex_lock(&indio_dev->mlock);
/* Need both the number of taps and the sampling frequency */
ret = adis_read_reg_16(&st->adis,
ADIS16400_SENS_AVG,
&val16);
if (ret < 0) {
mutex_unlock(&indio_dev->mlock);
return ret;
}
ret = st->variant->get_freq(st);
if (ret >= 0) {
ret /= adis16400_3db_divisors[val16 & 0x07];
*val = ret / 1000;
*val2 = (ret % 1000) * 1000;
}
mutex_unlock(&indio_dev->mlock);
if (ret < 0)
return ret;
return IIO_VAL_INT_PLUS_MICRO;
case IIO_CHAN_INFO_SAMP_FREQ:
ret = st->variant->get_freq(st);
if (ret < 0)
return ret;
*val = ret / 1000;
*val2 = (ret % 1000) * 1000;
return IIO_VAL_INT_PLUS_MICRO;
default:
return -EINVAL;
}
}
#define ADIS16400_VOLTAGE_CHAN(addr, bits, name, si, chn) { \
.type = IIO_VOLTAGE, \
.indexed = 1, \
.channel = chn, \
.extend_name = name, \
.info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \
BIT(IIO_CHAN_INFO_SCALE), \
.info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
.address = (addr), \
.scan_index = (si), \
.scan_type = { \
.sign = 'u', \
.realbits = (bits), \
.storagebits = 16, \
.shift = 0, \
.endianness = IIO_BE, \
}, \
}
#define ADIS16400_SUPPLY_CHAN(addr, bits) \
ADIS16400_VOLTAGE_CHAN(addr, bits, "supply", ADIS16400_SCAN_SUPPLY, 0)
#define ADIS16400_AUX_ADC_CHAN(addr, bits) \
ADIS16400_VOLTAGE_CHAN(addr, bits, NULL, ADIS16400_SCAN_ADC, 1)
#define ADIS16400_GYRO_CHAN(mod, addr, bits) { \
.type = IIO_ANGL_VEL, \
.modified = 1, \
.channel2 = IIO_MOD_ ## mod, \
.info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \
BIT(IIO_CHAN_INFO_CALIBBIAS), \
.info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE) | \
BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY), \
.info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
.address = addr, \
.scan_index = ADIS16400_SCAN_GYRO_ ## mod, \
.scan_type = { \
.sign = 's', \
.realbits = (bits), \
.storagebits = 16, \
.shift = 0, \
.endianness = IIO_BE, \
}, \
}
#define ADIS16400_ACCEL_CHAN(mod, addr, bits) { \
.type = IIO_ACCEL, \
.modified = 1, \
.channel2 = IIO_MOD_ ## mod, \
.info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \
BIT(IIO_CHAN_INFO_CALIBBIAS), \
.info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE) | \
BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY), \
.info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
.address = (addr), \
.scan_index = ADIS16400_SCAN_ACC_ ## mod, \
.scan_type = { \
.sign = 's', \
.realbits = (bits), \
.storagebits = 16, \
.shift = 0, \
.endianness = IIO_BE, \
}, \
}
#define ADIS16400_MAGN_CHAN(mod, addr, bits) { \
.type = IIO_MAGN, \
.modified = 1, \
.channel2 = IIO_MOD_ ## mod, \
.info_mask_separate = BIT(IIO_CHAN_INFO_RAW), \
.info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE) | \
BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY), \
.info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
.address = (addr), \
.scan_index = ADIS16400_SCAN_MAGN_ ## mod, \
.scan_type = { \
.sign = 's', \
.realbits = (bits), \
.storagebits = 16, \
.shift = 0, \
.endianness = IIO_BE, \
}, \
}
#define ADIS16400_MOD_TEMP_NAME_X "x"
#define ADIS16400_MOD_TEMP_NAME_Y "y"
#define ADIS16400_MOD_TEMP_NAME_Z "z"
#define ADIS16400_MOD_TEMP_CHAN(mod, addr, bits) { \
.type = IIO_TEMP, \
.indexed = 1, \
.channel = 0, \
.extend_name = ADIS16400_MOD_TEMP_NAME_ ## mod, \
.info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \
BIT(IIO_CHAN_INFO_OFFSET) | \
BIT(IIO_CHAN_INFO_SCALE), \
.info_mask_shared_by_type = \
BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY), \
.info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
.address = (addr), \
.scan_index = ADIS16350_SCAN_TEMP_ ## mod, \
.scan_type = { \
.sign = 's', \
.realbits = (bits), \
.storagebits = 16, \
.shift = 0, \
.endianness = IIO_BE, \
}, \
}
#define ADIS16400_TEMP_CHAN(addr, bits) { \
.type = IIO_TEMP, \
.indexed = 1, \
.channel = 0, \
.info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \
BIT(IIO_CHAN_INFO_OFFSET) | \
BIT(IIO_CHAN_INFO_SCALE), \
.info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
.address = (addr), \
.scan_index = ADIS16350_SCAN_TEMP_X, \
.scan_type = { \
.sign = 's', \
.realbits = (bits), \
.storagebits = 16, \
.shift = 0, \
.endianness = IIO_BE, \
}, \
}
#define ADIS16400_INCLI_CHAN(mod, addr, bits) { \
.type = IIO_INCLI, \
.modified = 1, \
.channel2 = IIO_MOD_ ## mod, \
.info_mask_separate = BIT(IIO_CHAN_INFO_RAW), \
.info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE), \
.info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
.address = (addr), \
.scan_index = ADIS16300_SCAN_INCLI_ ## mod, \
.scan_type = { \
.sign = 's', \
.realbits = (bits), \
.storagebits = 16, \
.shift = 0, \
.endianness = IIO_BE, \
}, \
}
static const struct iio_chan_spec adis16400_channels[] = {
ADIS16400_SUPPLY_CHAN(ADIS16400_SUPPLY_OUT, 14),
ADIS16400_GYRO_CHAN(X, ADIS16400_XGYRO_OUT, 14),
ADIS16400_GYRO_CHAN(Y, ADIS16400_YGYRO_OUT, 14),
ADIS16400_GYRO_CHAN(Z, ADIS16400_ZGYRO_OUT, 14),
ADIS16400_ACCEL_CHAN(X, ADIS16400_XACCL_OUT, 14),
ADIS16400_ACCEL_CHAN(Y, ADIS16400_YACCL_OUT, 14),
ADIS16400_ACCEL_CHAN(Z, ADIS16400_ZACCL_OUT, 14),
ADIS16400_MAGN_CHAN(X, ADIS16400_XMAGN_OUT, 14),
ADIS16400_MAGN_CHAN(Y, ADIS16400_YMAGN_OUT, 14),
ADIS16400_MAGN_CHAN(Z, ADIS16400_ZMAGN_OUT, 14),
ADIS16400_TEMP_CHAN(ADIS16400_TEMP_OUT, 12),
ADIS16400_AUX_ADC_CHAN(ADIS16400_AUX_ADC, 12),
IIO_CHAN_SOFT_TIMESTAMP(ADIS16400_SCAN_TIMESTAMP),
};
static const struct iio_chan_spec adis16445_channels[] = {
ADIS16400_GYRO_CHAN(X, ADIS16400_XGYRO_OUT, 16),
ADIS16400_GYRO_CHAN(Y, ADIS16400_YGYRO_OUT, 16),
ADIS16400_GYRO_CHAN(Z, ADIS16400_ZGYRO_OUT, 16),
ADIS16400_ACCEL_CHAN(X, ADIS16400_XACCL_OUT, 16),
ADIS16400_ACCEL_CHAN(Y, ADIS16400_YACCL_OUT, 16),
ADIS16400_ACCEL_CHAN(Z, ADIS16400_ZACCL_OUT, 16),
ADIS16400_TEMP_CHAN(ADIS16448_TEMP_OUT, 12),
IIO_CHAN_SOFT_TIMESTAMP(ADIS16400_SCAN_TIMESTAMP),
};
static const struct iio_chan_spec adis16448_channels[] = {
ADIS16400_GYRO_CHAN(X, ADIS16400_XGYRO_OUT, 16),
ADIS16400_GYRO_CHAN(Y, ADIS16400_YGYRO_OUT, 16),
ADIS16400_GYRO_CHAN(Z, ADIS16400_ZGYRO_OUT, 16),
ADIS16400_ACCEL_CHAN(X, ADIS16400_XACCL_OUT, 16),
ADIS16400_ACCEL_CHAN(Y, ADIS16400_YACCL_OUT, 16),
ADIS16400_ACCEL_CHAN(Z, ADIS16400_ZACCL_OUT, 16),
ADIS16400_MAGN_CHAN(X, ADIS16400_XMAGN_OUT, 16),
ADIS16400_MAGN_CHAN(Y, ADIS16400_YMAGN_OUT, 16),
ADIS16400_MAGN_CHAN(Z, ADIS16400_ZMAGN_OUT, 16),
{
.type = IIO_PRESSURE,
.info_mask_separate = BIT(IIO_CHAN_INFO_RAW),
.info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE),
.info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ),
.address = ADIS16448_BARO_OUT,
.scan_index = ADIS16400_SCAN_BARO,
.scan_type = {
.sign = 's',
.realbits = 16,
.storagebits = 16,
.endianness = IIO_BE,
},
},
ADIS16400_TEMP_CHAN(ADIS16448_TEMP_OUT, 12),
IIO_CHAN_SOFT_TIMESTAMP(ADIS16400_SCAN_TIMESTAMP),
};
static const struct iio_chan_spec adis16350_channels[] = {
ADIS16400_SUPPLY_CHAN(ADIS16400_SUPPLY_OUT, 12),
ADIS16400_GYRO_CHAN(X, ADIS16400_XGYRO_OUT, 14),
ADIS16400_GYRO_CHAN(Y, ADIS16400_YGYRO_OUT, 14),
ADIS16400_GYRO_CHAN(Z, ADIS16400_ZGYRO_OUT, 14),
ADIS16400_ACCEL_CHAN(X, ADIS16400_XACCL_OUT, 14),
ADIS16400_ACCEL_CHAN(Y, ADIS16400_YACCL_OUT, 14),
ADIS16400_ACCEL_CHAN(Z, ADIS16400_ZACCL_OUT, 14),
ADIS16400_MAGN_CHAN(X, ADIS16400_XMAGN_OUT, 14),
ADIS16400_MAGN_CHAN(Y, ADIS16400_YMAGN_OUT, 14),
ADIS16400_MAGN_CHAN(Z, ADIS16400_ZMAGN_OUT, 14),
ADIS16400_AUX_ADC_CHAN(ADIS16300_AUX_ADC, 12),
ADIS16400_MOD_TEMP_CHAN(X, ADIS16350_XTEMP_OUT, 12),
ADIS16400_MOD_TEMP_CHAN(Y, ADIS16350_YTEMP_OUT, 12),
ADIS16400_MOD_TEMP_CHAN(Z, ADIS16350_ZTEMP_OUT, 12),
IIO_CHAN_SOFT_TIMESTAMP(ADIS16400_SCAN_TIMESTAMP),
};
static const struct iio_chan_spec adis16300_channels[] = {
ADIS16400_SUPPLY_CHAN(ADIS16400_SUPPLY_OUT, 12),
ADIS16400_GYRO_CHAN(X, ADIS16400_XGYRO_OUT, 14),
ADIS16400_ACCEL_CHAN(X, ADIS16400_XACCL_OUT, 14),
ADIS16400_ACCEL_CHAN(Y, ADIS16400_YACCL_OUT, 14),
ADIS16400_ACCEL_CHAN(Z, ADIS16400_ZACCL_OUT, 14),
ADIS16400_TEMP_CHAN(ADIS16350_XTEMP_OUT, 12),
ADIS16400_AUX_ADC_CHAN(ADIS16300_AUX_ADC, 12),
ADIS16400_INCLI_CHAN(X, ADIS16300_PITCH_OUT, 13),
ADIS16400_INCLI_CHAN(Y, ADIS16300_ROLL_OUT, 13),
IIO_CHAN_SOFT_TIMESTAMP(ADIS16400_SCAN_TIMESTAMP),
};
static const struct iio_chan_spec adis16334_channels[] = {
ADIS16400_GYRO_CHAN(X, ADIS16400_XGYRO_OUT, 14),
ADIS16400_GYRO_CHAN(Y, ADIS16400_YGYRO_OUT, 14),
ADIS16400_GYRO_CHAN(Z, ADIS16400_ZGYRO_OUT, 14),
ADIS16400_ACCEL_CHAN(X, ADIS16400_XACCL_OUT, 14),
ADIS16400_ACCEL_CHAN(Y, ADIS16400_YACCL_OUT, 14),
ADIS16400_ACCEL_CHAN(Z, ADIS16400_ZACCL_OUT, 14),
ADIS16400_TEMP_CHAN(ADIS16350_XTEMP_OUT, 12),
IIO_CHAN_SOFT_TIMESTAMP(ADIS16400_SCAN_TIMESTAMP),
};
static struct adis16400_chip_info adis16400_chips[] = {
[ADIS16300] = {
.channels = adis16300_channels,
.num_channels = ARRAY_SIZE(adis16300_channels),
.flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE |
ADIS16400_HAS_SERIAL_NUMBER,
.gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */
.accel_scale_micro = 5884,
.temp_scale_nano = 140000000, /* 0.14 C */
.temp_offset = 25000000 / 140000, /* 25 C = 0x00 */
.set_freq = adis16400_set_freq,
.get_freq = adis16400_get_freq,
},
[ADIS16334] = {
.channels = adis16334_channels,
.num_channels = ARRAY_SIZE(adis16334_channels),
.flags = ADIS16400_HAS_PROD_ID | ADIS16400_NO_BURST |
ADIS16400_HAS_SERIAL_NUMBER,
.gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */
.accel_scale_micro = IIO_G_TO_M_S_2(1000), /* 1 mg */
.temp_scale_nano = 67850000, /* 0.06785 C */
.temp_offset = 25000000 / 67850, /* 25 C = 0x00 */
.set_freq = adis16334_set_freq,
.get_freq = adis16334_get_freq,
},
[ADIS16350] = {
.channels = adis16350_channels,
.num_channels = ARRAY_SIZE(adis16350_channels),
.gyro_scale_micro = IIO_DEGREE_TO_RAD(73260), /* 0.07326 deg/s */
.accel_scale_micro = IIO_G_TO_M_S_2(2522), /* 0.002522 g */
.temp_scale_nano = 145300000, /* 0.1453 C */
.temp_offset = 25000000 / 145300, /* 25 C = 0x00 */
.flags = ADIS16400_NO_BURST | ADIS16400_HAS_SLOW_MODE,
.set_freq = adis16400_set_freq,
.get_freq = adis16400_get_freq,
},
[ADIS16360] = {
.channels = adis16350_channels,
.num_channels = ARRAY_SIZE(adis16350_channels),
.flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE |
ADIS16400_HAS_SERIAL_NUMBER,
.gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */
.accel_scale_micro = IIO_G_TO_M_S_2(3333), /* 3.333 mg */
.temp_scale_nano = 136000000, /* 0.136 C */
.temp_offset = 25000000 / 136000, /* 25 C = 0x00 */
.set_freq = adis16400_set_freq,
.get_freq = adis16400_get_freq,
},
[ADIS16362] = {
.channels = adis16350_channels,
.num_channels = ARRAY_SIZE(adis16350_channels),
.flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE |
ADIS16400_HAS_SERIAL_NUMBER,
.gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */
.accel_scale_micro = IIO_G_TO_M_S_2(333), /* 0.333 mg */
.temp_scale_nano = 136000000, /* 0.136 C */
.temp_offset = 25000000 / 136000, /* 25 C = 0x00 */
.set_freq = adis16400_set_freq,
.get_freq = adis16400_get_freq,
},
[ADIS16364] = {
.channels = adis16350_channels,
.num_channels = ARRAY_SIZE(adis16350_channels),
.flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE |
ADIS16400_HAS_SERIAL_NUMBER,
.gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */
.accel_scale_micro = IIO_G_TO_M_S_2(1000), /* 1 mg */
.temp_scale_nano = 136000000, /* 0.136 C */
.temp_offset = 25000000 / 136000, /* 25 C = 0x00 */
.set_freq = adis16400_set_freq,
.get_freq = adis16400_get_freq,
},
[ADIS16367] = {
.channels = adis16350_channels,
.num_channels = ARRAY_SIZE(adis16350_channels),
.flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE |
ADIS16400_HAS_SERIAL_NUMBER,
.gyro_scale_micro = IIO_DEGREE_TO_RAD(2000), /* 0.2 deg/s */
.accel_scale_micro = IIO_G_TO_M_S_2(3333), /* 3.333 mg */
.temp_scale_nano = 136000000, /* 0.136 C */
.temp_offset = 25000000 / 136000, /* 25 C = 0x00 */
.set_freq = adis16400_set_freq,
.get_freq = adis16400_get_freq,
},
[ADIS16400] = {
.channels = adis16400_channels,
.num_channels = ARRAY_SIZE(adis16400_channels),
.flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE,
.gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */
.accel_scale_micro = IIO_G_TO_M_S_2(3333), /* 3.333 mg */
.temp_scale_nano = 140000000, /* 0.14 C */
.temp_offset = 25000000 / 140000, /* 25 C = 0x00 */
.set_freq = adis16400_set_freq,
.get_freq = adis16400_get_freq,
},
[ADIS16445] = {
.channels = adis16445_channels,
.num_channels = ARRAY_SIZE(adis16445_channels),
.flags = ADIS16400_HAS_PROD_ID |
ADIS16400_HAS_SERIAL_NUMBER |
ADIS16400_BURST_DIAG_STAT,
.gyro_scale_micro = IIO_DEGREE_TO_RAD(10000), /* 0.01 deg/s */
.accel_scale_micro = IIO_G_TO_M_S_2(250), /* 1/4000 g */
.temp_scale_nano = 73860000, /* 0.07386 C */
.temp_offset = 31000000 / 73860, /* 31 C = 0x00 */
.set_freq = adis16334_set_freq,
.get_freq = adis16334_get_freq,
},
[ADIS16448] = {
.channels = adis16448_channels,
.num_channels = ARRAY_SIZE(adis16448_channels),
.flags = ADIS16400_HAS_PROD_ID |
ADIS16400_HAS_SERIAL_NUMBER |
ADIS16400_BURST_DIAG_STAT,
.gyro_scale_micro = IIO_DEGREE_TO_RAD(40000), /* 0.04 deg/s */
.accel_scale_micro = IIO_G_TO_M_S_2(833), /* 1/1200 g */
.temp_scale_nano = 73860000, /* 0.07386 C */
.temp_offset = 31000000 / 73860, /* 31 C = 0x00 */
.set_freq = adis16334_set_freq,
.get_freq = adis16334_get_freq,
}
};
static const struct iio_info adis16400_info = {
.read_raw = &adis16400_read_raw,
.write_raw = &adis16400_write_raw,
.update_scan_mode = adis16400_update_scan_mode,
.debugfs_reg_access = adis_debugfs_reg_access,
};
static const char * const adis16400_status_error_msgs[] = {
[ADIS16400_DIAG_STAT_ZACCL_FAIL] = "Z-axis accelerometer self-test failure",
[ADIS16400_DIAG_STAT_YACCL_FAIL] = "Y-axis accelerometer self-test failure",
[ADIS16400_DIAG_STAT_XACCL_FAIL] = "X-axis accelerometer self-test failure",
[ADIS16400_DIAG_STAT_XGYRO_FAIL] = "X-axis gyroscope self-test failure",
[ADIS16400_DIAG_STAT_YGYRO_FAIL] = "Y-axis gyroscope self-test failure",
[ADIS16400_DIAG_STAT_ZGYRO_FAIL] = "Z-axis gyroscope self-test failure",
[ADIS16400_DIAG_STAT_ALARM2] = "Alarm 2 active",
[ADIS16400_DIAG_STAT_ALARM1] = "Alarm 1 active",
[ADIS16400_DIAG_STAT_FLASH_CHK] = "Flash checksum error",
[ADIS16400_DIAG_STAT_SELF_TEST] = "Self test error",
[ADIS16400_DIAG_STAT_OVERFLOW] = "Sensor overrange",
[ADIS16400_DIAG_STAT_SPI_FAIL] = "SPI failure",
[ADIS16400_DIAG_STAT_FLASH_UPT] = "Flash update failed",
[ADIS16400_DIAG_STAT_POWER_HIGH] = "Power supply above 5.25V",
[ADIS16400_DIAG_STAT_POWER_LOW] = "Power supply below 4.75V",
};
static const struct adis_data adis16400_data = {
.msc_ctrl_reg = ADIS16400_MSC_CTRL,
.glob_cmd_reg = ADIS16400_GLOB_CMD,
.diag_stat_reg = ADIS16400_DIAG_STAT,
.read_delay = 50,
.write_delay = 50,
.self_test_mask = ADIS16400_MSC_CTRL_MEM_TEST,
.startup_delay = ADIS16400_STARTUP_DELAY,
.status_error_msgs = adis16400_status_error_msgs,
.status_error_mask = BIT(ADIS16400_DIAG_STAT_ZACCL_FAIL) |
BIT(ADIS16400_DIAG_STAT_YACCL_FAIL) |
BIT(ADIS16400_DIAG_STAT_XACCL_FAIL) |
BIT(ADIS16400_DIAG_STAT_XGYRO_FAIL) |
BIT(ADIS16400_DIAG_STAT_YGYRO_FAIL) |
BIT(ADIS16400_DIAG_STAT_ZGYRO_FAIL) |
BIT(ADIS16400_DIAG_STAT_ALARM2) |
BIT(ADIS16400_DIAG_STAT_ALARM1) |
BIT(ADIS16400_DIAG_STAT_FLASH_CHK) |
BIT(ADIS16400_DIAG_STAT_SELF_TEST) |
BIT(ADIS16400_DIAG_STAT_OVERFLOW) |
BIT(ADIS16400_DIAG_STAT_SPI_FAIL) |
BIT(ADIS16400_DIAG_STAT_FLASH_UPT) |
BIT(ADIS16400_DIAG_STAT_POWER_HIGH) |
BIT(ADIS16400_DIAG_STAT_POWER_LOW),
};
static void adis16400_setup_chan_mask(struct adis16400_state *st)
{
const struct adis16400_chip_info *chip_info = st->variant;
unsigned int i;
for (i = 0; i < chip_info->num_channels; i++) {
const struct iio_chan_spec *ch = &chip_info->channels[i];
if (ch->scan_index >= 0 &&
ch->scan_index != ADIS16400_SCAN_TIMESTAMP)
st->avail_scan_mask[0] |= BIT(ch->scan_index);
}
}
static int adis16400_probe(struct spi_device *spi)
{
struct adis16400_state *st;
struct iio_dev *indio_dev;
int ret;
indio_dev = devm_iio_device_alloc(&spi->dev, sizeof(*st));
if (indio_dev == NULL)
return -ENOMEM;
st = iio_priv(indio_dev);
/* this is only used for removal purposes */
spi_set_drvdata(spi, indio_dev);
/* setup the industrialio driver allocated elements */
st->variant = &adis16400_chips[spi_get_device_id(spi)->driver_data];
indio_dev->dev.parent = &spi->dev;
indio_dev->name = spi_get_device_id(spi)->name;
indio_dev->channels = st->variant->channels;
indio_dev->num_channels = st->variant->num_channels;
indio_dev->info = &adis16400_info;
indio_dev->modes = INDIO_DIRECT_MODE;
if (!(st->variant->flags & ADIS16400_NO_BURST)) {
adis16400_setup_chan_mask(st);
indio_dev->available_scan_masks = st->avail_scan_mask;
}
ret = adis_init(&st->adis, indio_dev, spi, &adis16400_data);
if (ret)
return ret;
ret = adis_setup_buffer_and_trigger(&st->adis, indio_dev,
adis16400_trigger_handler);
if (ret)
return ret;
/* Get the device into a sane initial state */
ret = adis16400_initial_setup(indio_dev);
if (ret)
goto error_cleanup_buffer;
ret = iio_device_register(indio_dev);
if (ret)
goto error_cleanup_buffer;
adis16400_debugfs_init(indio_dev);
return 0;
error_cleanup_buffer:
adis_cleanup_buffer_and_trigger(&st->adis, indio_dev);
return ret;
}
static int adis16400_remove(struct spi_device *spi)
{
struct iio_dev *indio_dev = spi_get_drvdata(spi);
struct adis16400_state *st = iio_priv(indio_dev);
iio_device_unregister(indio_dev);
adis16400_stop_device(indio_dev);
adis_cleanup_buffer_and_trigger(&st->adis, indio_dev);
return 0;
}
static const struct spi_device_id adis16400_id[] = {
{"adis16300", ADIS16300},
{"adis16305", ADIS16300},
{"adis16334", ADIS16334},
{"adis16350", ADIS16350},
{"adis16354", ADIS16350},
{"adis16355", ADIS16350},
{"adis16360", ADIS16360},
{"adis16362", ADIS16362},
{"adis16364", ADIS16364},
{"adis16365", ADIS16360},
{"adis16367", ADIS16367},
{"adis16400", ADIS16400},
{"adis16405", ADIS16400},
{"adis16445", ADIS16445},
{"adis16448", ADIS16448},
{}
};
MODULE_DEVICE_TABLE(spi, adis16400_id);
static struct spi_driver adis16400_driver = {
.driver = {
.name = "adis16400",
},
.id_table = adis16400_id,
.probe = adis16400_probe,
.remove = adis16400_remove,
};
module_spi_driver(adis16400_driver);
MODULE_AUTHOR("Manuel Stahl <manuel.stahl@iis.fraunhofer.de>");
MODULE_DESCRIPTION("Analog Devices ADIS16400/5 IMU SPI driver");
MODULE_LICENSE("GPL v2");
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