[deliverable/linux.git] / drivers / iio / gyro / adis16260.c

/*
 * ADIS16260/ADIS16265 Programmable Digital Gyroscope Sensor Driver
 *
 * Copyright 2010 Analog Devices Inc.
 *
 * Licensed under the GPL-2 or later.
 */

#include <linux/interrupt.h>
#include <linux/mutex.h>
#include <linux/device.h>
#include <linux/kernel.h>
#include <linux/spi/spi.h>
#include <linux/sysfs.h>
#include <linux/module.h>

#include <linux/iio/iio.h>
#include <linux/iio/sysfs.h>
#include <linux/iio/buffer.h>
#include <linux/iio/imu/adis.h>

#define ADIS16260_STARTUP_DELAY	220 /* ms */

#define ADIS16260_FLASH_CNT  0x00 /* Flash memory write count */
#define ADIS16260_SUPPLY_OUT 0x02 /* Power supply measurement */
#define ADIS16260_GYRO_OUT   0x04 /* X-axis gyroscope output */
#define ADIS16260_AUX_ADC    0x0A /* analog input channel measurement */
#define ADIS16260_TEMP_OUT   0x0C /* internal temperature measurement */
#define ADIS16260_ANGL_OUT   0x0E /* angle displacement */
#define ADIS16260_GYRO_OFF   0x14 /* Calibration, offset/bias adjustment */
#define ADIS16260_GYRO_SCALE 0x16 /* Calibration, scale adjustment */
#define ADIS16260_ALM_MAG1   0x20 /* Alarm 1 magnitude/polarity setting */
#define ADIS16260_ALM_MAG2   0x22 /* Alarm 2 magnitude/polarity setting */
#define ADIS16260_ALM_SMPL1  0x24 /* Alarm 1 dynamic rate of change setting */
#define ADIS16260_ALM_SMPL2  0x26 /* Alarm 2 dynamic rate of change setting */
#define ADIS16260_ALM_CTRL   0x28 /* Alarm control */
#define ADIS16260_AUX_DAC    0x30 /* Auxiliary DAC data */
#define ADIS16260_GPIO_CTRL  0x32 /* Control, digital I/O line */
#define ADIS16260_MSC_CTRL   0x34 /* Control, data ready, self-test settings */
#define ADIS16260_SMPL_PRD   0x36 /* Control, internal sample rate */
#define ADIS16260_SENS_AVG   0x38 /* Control, dynamic range, filtering */
#define ADIS16260_SLP_CNT    0x3A /* Control, sleep mode initiation */
#define ADIS16260_DIAG_STAT  0x3C /* Diagnostic, error flags */
#define ADIS16260_GLOB_CMD   0x3E /* Control, global commands */
#define ADIS16260_LOT_ID1    0x52 /* Lot Identification Code 1 */
#define ADIS16260_LOT_ID2    0x54 /* Lot Identification Code 2 */
#define ADIS16260_PROD_ID    0x56 /* Product identifier;
				   * convert to decimal = 16,265/16,260 */
#define ADIS16260_SERIAL_NUM 0x58 /* Serial number */

#define ADIS16260_ERROR_ACTIVE			(1<<14)
#define ADIS16260_NEW_DATA			(1<<15)

/* MSC_CTRL */
#define ADIS16260_MSC_CTRL_MEM_TEST		(1<<11)
/* Internal self-test enable */
#define ADIS16260_MSC_CTRL_INT_SELF_TEST	(1<<10)
#define ADIS16260_MSC_CTRL_NEG_SELF_TEST	(1<<9)
#define ADIS16260_MSC_CTRL_POS_SELF_TEST	(1<<8)
#define ADIS16260_MSC_CTRL_DATA_RDY_EN		(1<<2)
#define ADIS16260_MSC_CTRL_DATA_RDY_POL_HIGH	(1<<1)
#define ADIS16260_MSC_CTRL_DATA_RDY_DIO2	(1<<0)

/* SMPL_PRD */
/* Time base (tB): 0 = 1.953 ms, 1 = 60.54 ms */
#define ADIS16260_SMPL_PRD_TIME_BASE	(1<<7)
#define ADIS16260_SMPL_PRD_DIV_MASK	0x7F

/* SLP_CNT */
#define ADIS16260_SLP_CNT_POWER_OFF     0x80

/* DIAG_STAT */
#define ADIS16260_DIAG_STAT_ALARM2	(1<<9)
#define ADIS16260_DIAG_STAT_ALARM1	(1<<8)
#define ADIS16260_DIAG_STAT_FLASH_CHK_BIT	6
#define ADIS16260_DIAG_STAT_SELF_TEST_BIT	5
#define ADIS16260_DIAG_STAT_OVERFLOW_BIT	4
#define ADIS16260_DIAG_STAT_SPI_FAIL_BIT	3
#define ADIS16260_DIAG_STAT_FLASH_UPT_BIT	2
#define ADIS16260_DIAG_STAT_POWER_HIGH_BIT	1
#define ADIS16260_DIAG_STAT_POWER_LOW_BIT	0

/* GLOB_CMD */
#define ADIS16260_GLOB_CMD_SW_RESET	(1<<7)
#define ADIS16260_GLOB_CMD_FLASH_UPD	(1<<3)
#define ADIS16260_GLOB_CMD_DAC_LATCH	(1<<2)
#define ADIS16260_GLOB_CMD_FAC_CALIB	(1<<1)
#define ADIS16260_GLOB_CMD_AUTO_NULL	(1<<0)

#define ADIS16260_SPI_SLOW	(u32)(300 * 1000)
#define ADIS16260_SPI_BURST	(u32)(1000 * 1000)
#define ADIS16260_SPI_FAST	(u32)(2000 * 1000)

/* At the moment triggers are only used for ring buffer
 * filling. This may change!
 */

#define ADIS16260_SCAN_GYRO	0
#define ADIS16260_SCAN_SUPPLY	1
#define ADIS16260_SCAN_AUX_ADC	2
#define ADIS16260_SCAN_TEMP	3
#define ADIS16260_SCAN_ANGL	4

/* Power down the device */
static int adis16260_stop_device(struct iio_dev *indio_dev)
{
	struct adis *adis = iio_priv(indio_dev);
	int ret;
	u16 val = ADIS16260_SLP_CNT_POWER_OFF;

	ret = adis_write_reg_16(adis, ADIS16260_SLP_CNT, val);
	if (ret)
		dev_err(&indio_dev->dev, "problem with turning device off: SLP_CNT");

	return ret;
}

static const struct iio_chan_spec adis16260_channels[] = {
	ADIS_GYRO_CHAN(X, ADIS16260_GYRO_OUT, ADIS16260_SCAN_GYRO,
		BIT(IIO_CHAN_INFO_CALIBBIAS) |
		BIT(IIO_CHAN_INFO_CALIBSCALE),
		BIT(IIO_CHAN_INFO_SAMP_FREQ), 14),
	ADIS_INCLI_CHAN(X, ADIS16260_ANGL_OUT, ADIS16260_SCAN_ANGL, 0,
		BIT(IIO_CHAN_INFO_SAMP_FREQ), 14),
	ADIS_TEMP_CHAN(ADIS16260_TEMP_OUT, ADIS16260_SCAN_TEMP,
		BIT(IIO_CHAN_INFO_SAMP_FREQ), 12),
	ADIS_SUPPLY_CHAN(ADIS16260_SUPPLY_OUT, ADIS16260_SCAN_SUPPLY,
		BIT(IIO_CHAN_INFO_SAMP_FREQ), 12),
	ADIS_AUX_ADC_CHAN(ADIS16260_AUX_ADC, ADIS16260_SCAN_AUX_ADC,
		BIT(IIO_CHAN_INFO_SAMP_FREQ), 12),
	IIO_CHAN_SOFT_TIMESTAMP(5),
};

static const u8 adis16260_addresses[][2] = {
	[ADIS16260_SCAN_GYRO] = { ADIS16260_GYRO_OFF, ADIS16260_GYRO_SCALE },
};

static int adis16260_read_raw(struct iio_dev *indio_dev,
			      struct iio_chan_spec const *chan,
			      int *val, int *val2,
			      long mask)
{
	struct adis *adis = iio_priv(indio_dev);
	int ret;
	u8 addr;
	s16 val16;

	switch (mask) {
	case IIO_CHAN_INFO_RAW:
		return adis_single_conversion(indio_dev, chan,
				ADIS16260_ERROR_ACTIVE, val);
	case IIO_CHAN_INFO_SCALE:
		switch (chan->type) {
		case IIO_ANGL_VEL:
			*val = 0;
			if (spi_get_device_id(adis->spi)->driver_data) {
				/* 0.01832 degree / sec */
				*val2 = IIO_DEGREE_TO_RAD(18320);
			} else {
				/* 0.07326 degree / sec */
				*val2 = IIO_DEGREE_TO_RAD(73260);
			}
			return IIO_VAL_INT_PLUS_MICRO;
		case IIO_INCLI:
			*val = 0;
			*val2 = IIO_DEGREE_TO_RAD(36630);
			return IIO_VAL_INT_PLUS_MICRO;
		case IIO_VOLTAGE:
			if (chan->channel == 0) {
				*val = 1;
				*val2 = 831500; /* 1.8315 mV */
			} else {
				*val = 0;
				*val2 = 610500; /* 610.5 uV */
			}
			return IIO_VAL_INT_PLUS_MICRO;
		case IIO_TEMP:
			*val = 145;
			*val2 = 300000; /* 0.1453 C */
			return IIO_VAL_INT_PLUS_MICRO;
		default:
			return -EINVAL;
		}
	case IIO_CHAN_INFO_OFFSET:
		*val = 250000 / 1453; /* 25 C = 0x00 */
		return IIO_VAL_INT;
	case IIO_CHAN_INFO_CALIBBIAS:
		addr = adis16260_addresses[chan->scan_index][0];
		ret = adis_read_reg_16(adis, addr, &val16);
		if (ret)
			return ret;

		*val = sign_extend32(val16, 11);
		return IIO_VAL_INT;
	case IIO_CHAN_INFO_CALIBSCALE:
		addr = adis16260_addresses[chan->scan_index][1];
		ret = adis_read_reg_16(adis, addr, &val16);
		if (ret)
			return ret;

		*val = val16;
		return IIO_VAL_INT;
	case IIO_CHAN_INFO_SAMP_FREQ:
		ret = adis_read_reg_16(adis, ADIS16260_SMPL_PRD, &val16);
		if (ret)
			return ret;

		if (spi_get_device_id(adis->spi)->driver_data)
		/* If an adis16251 */
			*val = (val16 & ADIS16260_SMPL_PRD_TIME_BASE) ?
				8 : 256;
		else
			*val = (val16 & ADIS16260_SMPL_PRD_TIME_BASE) ?
				66 : 2048;
		*val /= (val16 & ADIS16260_SMPL_PRD_DIV_MASK) + 1;
		return IIO_VAL_INT;
	}
	return -EINVAL;
}

static int adis16260_write_raw(struct iio_dev *indio_dev,
			       struct iio_chan_spec const *chan,
			       int val,
			       int val2,
			       long mask)
{
	struct adis *adis = iio_priv(indio_dev);
	int ret;
	u8 addr;
	u8 t;

	switch (mask) {
	case IIO_CHAN_INFO_CALIBBIAS:
		if (val < -2048 || val >= 2048)
			return -EINVAL;

		addr = adis16260_addresses[chan->scan_index][0];
		return adis_write_reg_16(adis, addr, val);
	case IIO_CHAN_INFO_CALIBSCALE:
		if (val < 0 || val >= 4096)
			return -EINVAL;

		addr = adis16260_addresses[chan->scan_index][1];
		return adis_write_reg_16(adis, addr, val);
	case IIO_CHAN_INFO_SAMP_FREQ:
		mutex_lock(&indio_dev->mlock);
		if (spi_get_device_id(adis->spi)->driver_data)
			t = 256 / val;
		else
			t = 2048 / val;

		if (t > ADIS16260_SMPL_PRD_DIV_MASK)
			t = ADIS16260_SMPL_PRD_DIV_MASK;
		else if (t > 0)
			t--;

		if (t >= 0x0A)
			adis->spi->max_speed_hz = ADIS16260_SPI_SLOW;
		else
			adis->spi->max_speed_hz = ADIS16260_SPI_FAST;
		ret = adis_write_reg_8(adis, ADIS16260_SMPL_PRD, t);

		mutex_unlock(&indio_dev->mlock);
		return ret;
	}
	return -EINVAL;
}

static const struct iio_info adis16260_info = {
	.read_raw = &adis16260_read_raw,
	.write_raw = &adis16260_write_raw,
	.update_scan_mode = adis_update_scan_mode,
	.driver_module = THIS_MODULE,
};

static const char * const adis1620_status_error_msgs[] = {
	[ADIS16260_DIAG_STAT_FLASH_CHK_BIT] = "Flash checksum error",
	[ADIS16260_DIAG_STAT_SELF_TEST_BIT] = "Self test error",
	[ADIS16260_DIAG_STAT_OVERFLOW_BIT] = "Sensor overrange",
	[ADIS16260_DIAG_STAT_SPI_FAIL_BIT] = "SPI failure",
	[ADIS16260_DIAG_STAT_FLASH_UPT_BIT] = "Flash update failed",
	[ADIS16260_DIAG_STAT_POWER_HIGH_BIT] = "Power supply above 5.25",
	[ADIS16260_DIAG_STAT_POWER_LOW_BIT] = "Power supply below 4.75",
};

static const struct adis_data adis16260_data = {
	.write_delay = 30,
	.read_delay = 30,
	.msc_ctrl_reg = ADIS16260_MSC_CTRL,
	.glob_cmd_reg = ADIS16260_GLOB_CMD,
	.diag_stat_reg = ADIS16260_DIAG_STAT,

	.self_test_mask = ADIS16260_MSC_CTRL_MEM_TEST,
	.startup_delay = ADIS16260_STARTUP_DELAY,

	.status_error_msgs = adis1620_status_error_msgs,
	.status_error_mask = BIT(ADIS16260_DIAG_STAT_FLASH_CHK_BIT) |
		BIT(ADIS16260_DIAG_STAT_SELF_TEST_BIT) |
		BIT(ADIS16260_DIAG_STAT_OVERFLOW_BIT) |
		BIT(ADIS16260_DIAG_STAT_SPI_FAIL_BIT) |
		BIT(ADIS16260_DIAG_STAT_FLASH_UPT_BIT) |
		BIT(ADIS16260_DIAG_STAT_POWER_HIGH_BIT) |
		BIT(ADIS16260_DIAG_STAT_POWER_LOW_BIT),
};

static int adis16260_probe(struct spi_device *spi)
{
	struct iio_dev *indio_dev;
	struct adis *adis;
	int ret;

	/* setup the industrialio driver allocated elements */
	indio_dev = devm_iio_device_alloc(&spi->dev, sizeof(*adis));
	if (!indio_dev)
		return -ENOMEM;
	adis = iio_priv(indio_dev);
	/* this is only used for removal purposes */
	spi_set_drvdata(spi, indio_dev);

	indio_dev->name = spi_get_device_id(spi)->name;
	indio_dev->dev.parent = &spi->dev;
	indio_dev->info = &adis16260_info;
	indio_dev->channels = adis16260_channels;
	indio_dev->num_channels = ARRAY_SIZE(adis16260_channels);
	indio_dev->modes = INDIO_DIRECT_MODE;

	ret = adis_init(adis, indio_dev, spi, &adis16260_data);
	if (ret)
		return ret;

	ret = adis_setup_buffer_and_trigger(adis, indio_dev, NULL);
	if (ret)
		return ret;

	/* Get the device into a sane initial state */
	ret = adis_initial_startup(adis);
	if (ret)
		goto error_cleanup_buffer_trigger;
	ret = iio_device_register(indio_dev);
	if (ret)
		goto error_cleanup_buffer_trigger;

	return 0;

error_cleanup_buffer_trigger:
	adis_cleanup_buffer_and_trigger(adis, indio_dev);
	return ret;
}

static int adis16260_remove(struct spi_device *spi)
{
	struct iio_dev *indio_dev = spi_get_drvdata(spi);
	struct adis *adis = iio_priv(indio_dev);

	iio_device_unregister(indio_dev);
	adis16260_stop_device(indio_dev);
	adis_cleanup_buffer_and_trigger(adis, indio_dev);

	return 0;
}

/*
 * These parts do not need to be differentiated until someone adds
 * support for the on chip filtering.
 */
static const struct spi_device_id adis16260_id[] = {
	{"adis16260", 0},
	{"adis16265", 0},
	{"adis16250", 0},
	{"adis16255", 0},
	{"adis16251", 1},
	{}
};
MODULE_DEVICE_TABLE(spi, adis16260_id);

static struct spi_driver adis16260_driver = {
	.driver = {
		.name = "adis16260",
		.owner = THIS_MODULE,
	},
	.probe = adis16260_probe,
	.remove = adis16260_remove,
	.id_table = adis16260_id,
};
module_spi_driver(adis16260_driver);

MODULE_AUTHOR("Barry Song <21cnbao@gmail.com>");
MODULE_DESCRIPTION("Analog Devices ADIS16260/5 Digital Gyroscope Sensor");
MODULE_LICENSE("GPL v2");
Commit	Line	Data
089a4198	1	/*
f733d02a	2	* ADIS16260/ADIS16265 Programmable Digital Gyroscope Sensor Driver
089a4198 BS	3	*
	4	* Copyright 2010 Analog Devices Inc.
	5	*
	6	* Licensed under the GPL-2 or later.
	7	*/
	8
	9	#include <linux/interrupt.h>
089a4198 BS	10	#include <linux/mutex.h>
	11	#include <linux/device.h>
	12	#include <linux/kernel.h>
	13	#include <linux/spi/spi.h>
089a4198	14	#include <linux/sysfs.h>
99c97852	15	#include <linux/module.h>
089a4198	16
06458e27 JC	17	#include <linux/iio/iio.h>
	18	#include <linux/iio/sysfs.h>
	19	#include <linux/iio/buffer.h>
988c79a9	20	#include <linux/iio/imu/adis.h>
089a4198	21
988c79a9 LPC	22	#define ADIS16260_STARTUP_DELAY 220 /* ms */
	23
	24	#define ADIS16260_FLASH_CNT 0x00 /* Flash memory write count */
	25	#define ADIS16260_SUPPLY_OUT 0x02 /* Power supply measurement */
	26	#define ADIS16260_GYRO_OUT 0x04 /* X-axis gyroscope output */
	27	#define ADIS16260_AUX_ADC 0x0A /* analog input channel measurement */
	28	#define ADIS16260_TEMP_OUT 0x0C /* internal temperature measurement */
	29	#define ADIS16260_ANGL_OUT 0x0E /* angle displacement */
	30	#define ADIS16260_GYRO_OFF 0x14 /* Calibration, offset/bias adjustment */
	31	#define ADIS16260_GYRO_SCALE 0x16 /* Calibration, scale adjustment */
	32	#define ADIS16260_ALM_MAG1 0x20 /* Alarm 1 magnitude/polarity setting */
	33	#define ADIS16260_ALM_MAG2 0x22 /* Alarm 2 magnitude/polarity setting */
	34	#define ADIS16260_ALM_SMPL1 0x24 /* Alarm 1 dynamic rate of change setting */
	35	#define ADIS16260_ALM_SMPL2 0x26 /* Alarm 2 dynamic rate of change setting */
	36	#define ADIS16260_ALM_CTRL 0x28 /* Alarm control */
	37	#define ADIS16260_AUX_DAC 0x30 /* Auxiliary DAC data */
	38	#define ADIS16260_GPIO_CTRL 0x32 /* Control, digital I/O line */
	39	#define ADIS16260_MSC_CTRL 0x34 /* Control, data ready, self-test settings */
	40	#define ADIS16260_SMPL_PRD 0x36 /* Control, internal sample rate */
	41	#define ADIS16260_SENS_AVG 0x38 /* Control, dynamic range, filtering */
	42	#define ADIS16260_SLP_CNT 0x3A /* Control, sleep mode initiation */
	43	#define ADIS16260_DIAG_STAT 0x3C /* Diagnostic, error flags */
	44	#define ADIS16260_GLOB_CMD 0x3E /* Control, global commands */
	45	#define ADIS16260_LOT_ID1 0x52 /* Lot Identification Code 1 */
	46	#define ADIS16260_LOT_ID2 0x54 /* Lot Identification Code 2 */
	47	#define ADIS16260_PROD_ID 0x56 /* Product identifier;
	48	* convert to decimal = 16,265/16,260 */
	49	#define ADIS16260_SERIAL_NUM 0x58 /* Serial number */
	50
	51	#define ADIS16260_ERROR_ACTIVE (1<<14)
	52	#define ADIS16260_NEW_DATA (1<<15)
	53
	54	/* MSC_CTRL */
	55	#define ADIS16260_MSC_CTRL_MEM_TEST (1<<11)
	56	/* Internal self-test enable */
	57	#define ADIS16260_MSC_CTRL_INT_SELF_TEST (1<<10)
	58	#define ADIS16260_MSC_CTRL_NEG_SELF_TEST (1<<9)
	59	#define ADIS16260_MSC_CTRL_POS_SELF_TEST (1<<8)
	60	#define ADIS16260_MSC_CTRL_DATA_RDY_EN (1<<2)
	61	#define ADIS16260_MSC_CTRL_DATA_RDY_POL_HIGH (1<<1)
	62	#define ADIS16260_MSC_CTRL_DATA_RDY_DIO2 (1<<0)
	63
	64	/* SMPL_PRD */
	65	/* Time base (tB): 0 = 1.953 ms, 1 = 60.54 ms */
	66	#define ADIS16260_SMPL_PRD_TIME_BASE (1<<7)
	67	#define ADIS16260_SMPL_PRD_DIV_MASK 0x7F
	68
	69	/* SLP_CNT */
	70	#define ADIS16260_SLP_CNT_POWER_OFF 0x80
	71
	72	/* DIAG_STAT */
	73	#define ADIS16260_DIAG_STAT_ALARM2 (1<<9)
	74	#define ADIS16260_DIAG_STAT_ALARM1 (1<<8)
	75	#define ADIS16260_DIAG_STAT_FLASH_CHK_BIT 6
	76	#define ADIS16260_DIAG_STAT_SELF_TEST_BIT 5
	77	#define ADIS16260_DIAG_STAT_OVERFLOW_BIT 4
	78	#define ADIS16260_DIAG_STAT_SPI_FAIL_BIT 3
	79	#define ADIS16260_DIAG_STAT_FLASH_UPT_BIT 2
	80	#define ADIS16260_DIAG_STAT_POWER_HIGH_BIT 1
	81	#define ADIS16260_DIAG_STAT_POWER_LOW_BIT 0
	82
	83	/* GLOB_CMD */
	84	#define ADIS16260_GLOB_CMD_SW_RESET (1<<7)
	85	#define ADIS16260_GLOB_CMD_FLASH_UPD (1<<3)
86	#define ADIS16260_GLOB_CMD_DAC_LATCH (1<<2)
87	#define ADIS16260_GLOB_CMD_FAC_CALIB (1<<1)
88	#define ADIS16260_GLOB_CMD_AUTO_NULL (1<<0)
89
90	#define ADIS16260_SPI_SLOW (u32)(300 * 1000)
91	#define ADIS16260_SPI_BURST (u32)(1000 * 1000)
92	#define ADIS16260_SPI_FAST (u32)(2000 * 1000)
93
94	/* At the moment triggers are only used for ring buffer
95	* filling. This may change!
96	*/
97
98	#define ADIS16260_SCAN_GYRO 0
99	#define ADIS16260_SCAN_SUPPLY 1
100	#define ADIS16260_SCAN_AUX_ADC 2
101	#define ADIS16260_SCAN_TEMP 3
102	#define ADIS16260_SCAN_ANGL 4
089a4198	103
089a4198	104	/* Power down the device */
29b7f43e	105	static int adis16260_stop_device(struct iio_dev *indio_dev)
089a4198	106	{
63892165	107	struct adis *adis = iio_priv(indio_dev);
089a4198 BS	108	int ret;
	109	u16 val = ADIS16260_SLP_CNT_POWER_OFF;
	110
63892165	111	ret = adis_write_reg_16(adis, ADIS16260_SLP_CNT, val);
089a4198	112	if (ret)
29b7f43e	113	dev_err(&indio_dev->dev, "problem with turning device off: SLP_CNT");
089a4198 BS	114
	115	return ret;
	116	}
	117
e1b83f43 LPC	118	static const struct iio_chan_spec adis16260_channels[] = {
	119	ADIS_GYRO_CHAN(X, ADIS16260_GYRO_OUT, ADIS16260_SCAN_GYRO,
	120	BIT(IIO_CHAN_INFO_CALIBBIAS) \|
82695ef5 JC	121	BIT(IIO_CHAN_INFO_CALIBSCALE),
	122	BIT(IIO_CHAN_INFO_SAMP_FREQ), 14),
	123	ADIS_INCLI_CHAN(X, ADIS16260_ANGL_OUT, ADIS16260_SCAN_ANGL, 0,
	124	BIT(IIO_CHAN_INFO_SAMP_FREQ), 14),
	125	ADIS_TEMP_CHAN(ADIS16260_TEMP_OUT, ADIS16260_SCAN_TEMP,
	126	BIT(IIO_CHAN_INFO_SAMP_FREQ), 12),
	127	ADIS_SUPPLY_CHAN(ADIS16260_SUPPLY_OUT, ADIS16260_SCAN_SUPPLY,
	128	BIT(IIO_CHAN_INFO_SAMP_FREQ), 12),
	129	ADIS_AUX_ADC_CHAN(ADIS16260_AUX_ADC, ADIS16260_SCAN_AUX_ADC,
	130	BIT(IIO_CHAN_INFO_SAMP_FREQ), 12),
e1b83f43 LPC	131	IIO_CHAN_SOFT_TIMESTAMP(5),
e1b83f43 LPC	132	};
9d5e9fdf LPC	133
	134	static const u8 adis16260_addresses[][2] = {
	135	[ADIS16260_SCAN_GYRO] = { ADIS16260_GYRO_OFF, ADIS16260_GYRO_SCALE },
29b7f43e	136	};
9d5e9fdf	137
29b7f43e JC	138	static int adis16260_read_raw(struct iio_dev *indio_dev,
	139	struct iio_chan_spec const *chan,
	140	int val, int val2,
	141	long mask)
	142	{
63892165	143	struct adis *adis = iio_priv(indio_dev);
29b7f43e	144	int ret;
29b7f43e JC	145	u8 addr;
	146	s16 val16;
	147
	148	switch (mask) {
fbaff213	149	case IIO_CHAN_INFO_RAW:
9d5e9fdf LPC	150	return adis_single_conversion(indio_dev, chan,
9d5e9fdf LPC	151	ADIS16260_ERROR_ACTIVE, val);
c8a9f805	152	case IIO_CHAN_INFO_SCALE:
29b7f43e	153	switch (chan->type) {
41ea040c	154	case IIO_ANGL_VEL:
29b7f43e	155	*val = 0;
63892165	156	if (spi_get_device_id(adis->spi)->driver_data) {
7e72a54c LPC	157	/* 0.01832 degree / sec */
	158	*val2 = IIO_DEGREE_TO_RAD(18320);
	159	} else {
	160	/* 0.07326 degree / sec */
	161	*val2 = IIO_DEGREE_TO_RAD(73260);
	162	}
29b7f43e	163	return IIO_VAL_INT_PLUS_MICRO;
ebdee941 LPC	164	case IIO_INCLI:
	165	*val = 0;
	166	*val2 = IIO_DEGREE_TO_RAD(36630);
	167	return IIO_VAL_INT_PLUS_MICRO;
6835cb6b	168	case IIO_VOLTAGE:
7e72a54c LPC	169	if (chan->channel == 0) {
	170	*val = 1;
	171	val2 = 831500; / 1.8315 mV */
	172	} else {
	173	*val = 0;
	174	val2 = 610500; / 610.5 uV */
	175	}
29b7f43e JC	176	return IIO_VAL_INT_PLUS_MICRO;
29b7f43e JC	177	case IIO_TEMP:
7e72a54c LPC	178	*val = 145;
7e72a54c LPC	179	val2 = 300000; / 0.1453 C */
29b7f43e JC	180	return IIO_VAL_INT_PLUS_MICRO;
	181	default:
	182	return -EINVAL;
	183	}
c8a9f805	184	case IIO_CHAN_INFO_OFFSET:
7e72a54c	185	val = 250000 / 1453; / 25 C = 0x00 */
29b7f43e	186	return IIO_VAL_INT;
c8a9f805	187	case IIO_CHAN_INFO_CALIBBIAS:
9d5e9fdf	188	addr = adis16260_addresses[chan->scan_index][0];
63892165	189	ret = adis_read_reg_16(adis, addr, &val16);
73149bad	190	if (ret)
29b7f43e	191	return ret;
73149bad LPC	192
73149bad LPC	193	*val = sign_extend32(val16, 11);
29b7f43e	194	return IIO_VAL_INT;
c8a9f805	195	case IIO_CHAN_INFO_CALIBSCALE:
9d5e9fdf	196	addr = adis16260_addresses[chan->scan_index][1];
63892165	197	ret = adis_read_reg_16(adis, addr, &val16);
73149bad	198	if (ret)
29b7f43e	199	return ret;
73149bad	200
f1530414	201	*val = val16;
29b7f43e	202	return IIO_VAL_INT;
82695ef5 JC	203	case IIO_CHAN_INFO_SAMP_FREQ:
	204	ret = adis_read_reg_16(adis, ADIS16260_SMPL_PRD, &val16);
	205	if (ret)
	206	return ret;
	207
	208	if (spi_get_device_id(adis->spi)->driver_data)
	209	/* If an adis16251 */
	210	*val = (val16 & ADIS16260_SMPL_PRD_TIME_BASE) ?
	211	8 : 256;
	212	else
	213	*val = (val16 & ADIS16260_SMPL_PRD_TIME_BASE) ?
	214	66 : 2048;
	215	*val /= (val16 & ADIS16260_SMPL_PRD_DIV_MASK) + 1;
	216	return IIO_VAL_INT;
29b7f43e JC	217	}
	218	return -EINVAL;
	219	}
	220
	221	static int adis16260_write_raw(struct iio_dev *indio_dev,
	222	struct iio_chan_spec const *chan,
	223	int val,
	224	int val2,
	225	long mask)
	226	{
63892165	227	struct adis *adis = iio_priv(indio_dev);
82695ef5	228	int ret;
29b7f43e	229	u8 addr;
82695ef5	230	u8 t;
f4f87d04	231
29b7f43e	232	switch (mask) {
c8a9f805	233	case IIO_CHAN_INFO_CALIBBIAS:
f4f87d04 LPC	234	if (val < -2048 \|\| val >= 2048)
	235	return -EINVAL;
	236
9d5e9fdf	237	addr = adis16260_addresses[chan->scan_index][0];
f4f87d04	238	return adis_write_reg_16(adis, addr, val);
c8a9f805	239	case IIO_CHAN_INFO_CALIBSCALE:
f4f87d04 LPC	240	if (val < 0 \|\| val >= 4096)
	241	return -EINVAL;
	242
9d5e9fdf	243	addr = adis16260_addresses[chan->scan_index][1];
f4f87d04	244	return adis_write_reg_16(adis, addr, val);
82695ef5 JC	245	case IIO_CHAN_INFO_SAMP_FREQ:
	246	mutex_lock(&indio_dev->mlock);
	247	if (spi_get_device_id(adis->spi)->driver_data)
	248	t = 256 / val;
	249	else
	250	t = 2048 / val;
	251
	252	if (t > ADIS16260_SMPL_PRD_DIV_MASK)
	253	t = ADIS16260_SMPL_PRD_DIV_MASK;
	254	else if (t > 0)
	255	t--;
	256
	257	if (t >= 0x0A)
	258	adis->spi->max_speed_hz = ADIS16260_SPI_SLOW;
	259	else
	260	adis->spi->max_speed_hz = ADIS16260_SPI_FAST;
	261	ret = adis_write_reg_8(adis, ADIS16260_SMPL_PRD, t);
	262
	263	mutex_unlock(&indio_dev->mlock);
	264	return ret;
29b7f43e JC	265	}
	266	return -EINVAL;
	267	}
	268
6fe8135f	269	static const struct iio_info adis16260_info = {
6fe8135f JC	270	.read_raw = &adis16260_read_raw,
6fe8135f JC	271	.write_raw = &adis16260_write_raw,
aacff892	272	.update_scan_mode = adis_update_scan_mode,
6fe8135f JC	273	.driver_module = THIS_MODULE,
	274	};
	275
9d5e9fdf LPC	276	static const char * const adis1620_status_error_msgs[] = {
	277	[ADIS16260_DIAG_STAT_FLASH_CHK_BIT] = "Flash checksum error",
	278	[ADIS16260_DIAG_STAT_SELF_TEST_BIT] = "Self test error",
	279	[ADIS16260_DIAG_STAT_OVERFLOW_BIT] = "Sensor overrange",
	280	[ADIS16260_DIAG_STAT_SPI_FAIL_BIT] = "SPI failure",
	281	[ADIS16260_DIAG_STAT_FLASH_UPT_BIT] = "Flash update failed",
	282	[ADIS16260_DIAG_STAT_POWER_HIGH_BIT] = "Power supply above 5.25",
	283	[ADIS16260_DIAG_STAT_POWER_LOW_BIT] = "Power supply below 4.75",
	284	};
	285
	286	static const struct adis_data adis16260_data = {
	287	.write_delay = 30,
	288	.read_delay = 30,
	289	.msc_ctrl_reg = ADIS16260_MSC_CTRL,
	290	.glob_cmd_reg = ADIS16260_GLOB_CMD,
	291	.diag_stat_reg = ADIS16260_DIAG_STAT,
	292
	293	.self_test_mask = ADIS16260_MSC_CTRL_MEM_TEST,
	294	.startup_delay = ADIS16260_STARTUP_DELAY,
	295
	296	.status_error_msgs = adis1620_status_error_msgs,
	297	.status_error_mask = BIT(ADIS16260_DIAG_STAT_FLASH_CHK_BIT) \|
	298	BIT(ADIS16260_DIAG_STAT_SELF_TEST_BIT) \|
	299	BIT(ADIS16260_DIAG_STAT_OVERFLOW_BIT) \|
	300	BIT(ADIS16260_DIAG_STAT_SPI_FAIL_BIT) \|
	301	BIT(ADIS16260_DIAG_STAT_FLASH_UPT_BIT) \|
	302	BIT(ADIS16260_DIAG_STAT_POWER_HIGH_BIT) \|
	303	BIT(ADIS16260_DIAG_STAT_POWER_LOW_BIT),
	304	};
	305
4ae1c61f	306	static int adis16260_probe(struct spi_device *spi)
089a4198	307	{
d088ab83	308	struct iio_dev *indio_dev;
63892165	309	struct adis *adis;
e1b83f43	310	int ret;
d088ab83 JC	311
d088ab83 JC	312	/* setup the industrialio driver allocated elements */
827b14a8 SK	313	indio_dev = devm_iio_device_alloc(&spi->dev, sizeof(*adis));
	314	if (!indio_dev)
	315	return -ENOMEM;
63892165	316	adis = iio_priv(indio_dev);
089a4198	317	/* this is only used for removal purposes */
97271c3b	318	spi_set_drvdata(spi, indio_dev);
089a4198	319
9d5e9fdf	320	indio_dev->name = spi_get_device_id(spi)->name;
d088ab83 JC	321	indio_dev->dev.parent = &spi->dev;
d088ab83 JC	322	indio_dev->info = &adis16260_info;
e1b83f43 LPC	323	indio_dev->channels = adis16260_channels;
e1b83f43 LPC	324	indio_dev->num_channels = ARRAY_SIZE(adis16260_channels);
d088ab83	325	indio_dev->modes = INDIO_DIRECT_MODE;
089a4198	326
63892165	327	ret = adis_init(adis, indio_dev, spi, &adis16260_data);
9d5e9fdf	328	if (ret)
827b14a8	329	return ret;
9d5e9fdf	330
63892165	331	ret = adis_setup_buffer_and_trigger(adis, indio_dev, NULL);
089a4198	332	if (ret)
827b14a8	333	return ret;
089a4198	334
089a4198	335	/* Get the device into a sane initial state */
63892165	336	ret = adis_initial_startup(adis);
089a4198	337	if (ret)
9d5e9fdf	338	goto error_cleanup_buffer_trigger;
26d25ae3 JC	339	ret = iio_device_register(indio_dev);
26d25ae3 JC	340	if (ret)
9d5e9fdf	341	goto error_cleanup_buffer_trigger;
26d25ae3	342
089a4198 BS	343	return 0;
089a4198 BS	344
9d5e9fdf	345	error_cleanup_buffer_trigger:
63892165	346	adis_cleanup_buffer_and_trigger(adis, indio_dev);
089a4198 BS	347	return ret;
	348	}
	349
447d4f29	350	static int adis16260_remove(struct spi_device *spi)
089a4198	351	{
d088ab83	352	struct iio_dev *indio_dev = spi_get_drvdata(spi);
63892165	353	struct adis *adis = iio_priv(indio_dev);
089a4198	354
d2fffd6c	355	iio_device_unregister(indio_dev);
bea3e8a3	356	adis16260_stop_device(indio_dev);
63892165	357	adis_cleanup_buffer_and_trigger(adis, indio_dev);
089a4198	358
bea3e8a3	359	return 0;
089a4198 BS	360	}
089a4198 BS	361
fe346048 JC	362	/*
	363	* These parts do not need to be differentiated until someone adds
	364	* support for the on chip filtering.
	365	*/
a9672951 JC	366	static const struct spi_device_id adis16260_id[] = {
	367	{"adis16260", 0},
	368	{"adis16265", 0},
fe346048 JC	369	{"adis16250", 0},
fe346048 JC	370	{"adis16255", 0},
03d1b7d3	371	{"adis16251", 1},
a9672951 JC	372	{}
a9672951 JC	373	};
55e4390c	374	MODULE_DEVICE_TABLE(spi, adis16260_id);
a9672951	375
089a4198 BS	376	static struct spi_driver adis16260_driver = {
	377	.driver = {
	378	.name = "adis16260",
	379	.owner = THIS_MODULE,
	380	},
	381	.probe = adis16260_probe,
e543acf0	382	.remove = adis16260_remove,
a9672951	383	.id_table = adis16260_id,
089a4198	384	};
ae6ae6fe	385	module_spi_driver(adis16260_driver);
089a4198 BS	386
	387	MODULE_AUTHOR("Barry Song <21cnbao@gmail.com>");
	388	MODULE_DESCRIPTION("Analog Devices ADIS16260/5 Digital Gyroscope Sensor");
	389	MODULE_LICENSE("GPL v2");