Commit | Line | Data |
---|---|---|
a9d26f00 BS |
1 | /* |
2 | * adis16400.c support Analog Devices ADIS16400/5 | |
3 | * 3d 2g Linear Accelerometers, | |
4 | * 3d Gyroscopes, | |
5 | * 3d Magnetometers via SPI | |
6 | * | |
7 | * Copyright (c) 2009 Manuel Stahl <manuel.stahl@iis.fraunhofer.de> | |
8 | * Copyright (c) 2007 Jonathan Cameron <jic23@cam.ac.uk> | |
6a6ec623 | 9 | * Copyright (c) 2011 Analog Devices Inc. |
a9d26f00 BS |
10 | * |
11 | * This program is free software; you can redistribute it and/or modify | |
12 | * it under the terms of the GNU General Public License version 2 as | |
13 | * published by the Free Software Foundation. | |
14 | * | |
15 | */ | |
16 | ||
17 | #include <linux/interrupt.h> | |
18 | #include <linux/irq.h> | |
a9d26f00 BS |
19 | #include <linux/delay.h> |
20 | #include <linux/mutex.h> | |
21 | #include <linux/device.h> | |
22 | #include <linux/kernel.h> | |
23 | #include <linux/spi/spi.h> | |
1cb6c1f5 | 24 | #include <linux/slab.h> |
a9d26f00 BS |
25 | #include <linux/sysfs.h> |
26 | #include <linux/list.h> | |
99c97852 | 27 | #include <linux/module.h> |
a9d26f00 BS |
28 | |
29 | #include "../iio.h" | |
30 | #include "../sysfs.h" | |
3811cd62 | 31 | #include "../buffer_generic.h" |
a9d26f00 BS |
32 | #include "adis16400.h" |
33 | ||
2a29a90b | 34 | enum adis16400_chip_variant { |
8e886e65 | 35 | ADIS16300, |
85da5059 | 36 | ADIS16334, |
2a29a90b JC |
37 | ADIS16350, |
38 | ADIS16360, | |
39 | ADIS16362, | |
40 | ADIS16364, | |
41 | ADIS16365, | |
42 | ADIS16400, | |
43 | }; | |
44 | ||
a9d26f00 BS |
45 | /** |
46 | * adis16400_spi_write_reg_8() - write single byte to a register | |
47 | * @dev: device associated with child of actual device (iio_dev or iio_trig) | |
48 | * @reg_address: the address of the register to be written | |
49 | * @val: the value to write | |
521de518 | 50 | */ |
e7854845 JC |
51 | static int adis16400_spi_write_reg_8(struct iio_dev *indio_dev, |
52 | u8 reg_address, | |
53 | u8 val) | |
a9d26f00 BS |
54 | { |
55 | int ret; | |
38d15f06 | 56 | struct adis16400_state *st = iio_priv(indio_dev); |
a9d26f00 BS |
57 | |
58 | mutex_lock(&st->buf_lock); | |
59 | st->tx[0] = ADIS16400_WRITE_REG(reg_address); | |
60 | st->tx[1] = val; | |
61 | ||
62 | ret = spi_write(st->us, st->tx, 2); | |
63 | mutex_unlock(&st->buf_lock); | |
64 | ||
65 | return ret; | |
66 | } | |
67 | ||
68 | /** | |
69 | * adis16400_spi_write_reg_16() - write 2 bytes to a pair of registers | |
70 | * @dev: device associated with child of actual device (iio_dev or iio_trig) | |
71 | * @reg_address: the address of the lower of the two registers. Second register | |
72 | * is assumed to have address one greater. | |
73 | * @val: value to be written | |
521de518 JC |
74 | * |
75 | * At the moment the spi framework doesn't allow global setting of cs_change. | |
76 | * This means that use cannot be made of spi_write. | |
77 | */ | |
e7854845 | 78 | static int adis16400_spi_write_reg_16(struct iio_dev *indio_dev, |
a9d26f00 BS |
79 | u8 lower_reg_address, |
80 | u16 value) | |
81 | { | |
82 | int ret; | |
83 | struct spi_message msg; | |
38d15f06 | 84 | struct adis16400_state *st = iio_priv(indio_dev); |
a9d26f00 BS |
85 | struct spi_transfer xfers[] = { |
86 | { | |
87 | .tx_buf = st->tx, | |
88 | .bits_per_word = 8, | |
89 | .len = 2, | |
90 | .cs_change = 1, | |
91 | }, { | |
92 | .tx_buf = st->tx + 2, | |
93 | .bits_per_word = 8, | |
94 | .len = 2, | |
a9d26f00 BS |
95 | }, |
96 | }; | |
97 | ||
98 | mutex_lock(&st->buf_lock); | |
99 | st->tx[0] = ADIS16400_WRITE_REG(lower_reg_address); | |
100 | st->tx[1] = value & 0xFF; | |
101 | st->tx[2] = ADIS16400_WRITE_REG(lower_reg_address + 1); | |
102 | st->tx[3] = (value >> 8) & 0xFF; | |
103 | ||
104 | spi_message_init(&msg); | |
105 | spi_message_add_tail(&xfers[0], &msg); | |
106 | spi_message_add_tail(&xfers[1], &msg); | |
107 | ret = spi_sync(st->us, &msg); | |
108 | mutex_unlock(&st->buf_lock); | |
109 | ||
110 | return ret; | |
111 | } | |
112 | ||
113 | /** | |
114 | * adis16400_spi_read_reg_16() - read 2 bytes from a 16-bit register | |
e7854845 | 115 | * @indio_dev: iio device |
a9d26f00 BS |
116 | * @reg_address: the address of the lower of the two registers. Second register |
117 | * is assumed to have address one greater. | |
118 | * @val: somewhere to pass back the value read | |
521de518 JC |
119 | * |
120 | * At the moment the spi framework doesn't allow global setting of cs_change. | |
121 | * This means that use cannot be made of spi_read. | |
a9d26f00 | 122 | **/ |
e7854845 | 123 | static int adis16400_spi_read_reg_16(struct iio_dev *indio_dev, |
a9d26f00 BS |
124 | u8 lower_reg_address, |
125 | u16 *val) | |
126 | { | |
127 | struct spi_message msg; | |
38d15f06 | 128 | struct adis16400_state *st = iio_priv(indio_dev); |
a9d26f00 BS |
129 | int ret; |
130 | struct spi_transfer xfers[] = { | |
131 | { | |
132 | .tx_buf = st->tx, | |
133 | .bits_per_word = 8, | |
134 | .len = 2, | |
135 | .cs_change = 1, | |
136 | }, { | |
137 | .rx_buf = st->rx, | |
138 | .bits_per_word = 8, | |
139 | .len = 2, | |
a9d26f00 BS |
140 | }, |
141 | }; | |
142 | ||
143 | mutex_lock(&st->buf_lock); | |
144 | st->tx[0] = ADIS16400_READ_REG(lower_reg_address); | |
145 | st->tx[1] = 0; | |
a9d26f00 BS |
146 | |
147 | spi_message_init(&msg); | |
148 | spi_message_add_tail(&xfers[0], &msg); | |
149 | spi_message_add_tail(&xfers[1], &msg); | |
150 | ret = spi_sync(st->us, &msg); | |
151 | if (ret) { | |
152 | dev_err(&st->us->dev, | |
153 | "problem when reading 16 bit register 0x%02X", | |
154 | lower_reg_address); | |
155 | goto error_ret; | |
156 | } | |
157 | *val = (st->rx[0] << 8) | st->rx[1]; | |
158 | ||
159 | error_ret: | |
160 | mutex_unlock(&st->buf_lock); | |
161 | return ret; | |
162 | } | |
163 | ||
a9d26f00 BS |
164 | static ssize_t adis16400_read_frequency(struct device *dev, |
165 | struct device_attribute *attr, | |
166 | char *buf) | |
167 | { | |
e7854845 | 168 | struct iio_dev *indio_dev = dev_get_drvdata(dev); |
a9d26f00 BS |
169 | int ret, len = 0; |
170 | u16 t; | |
171 | int sps; | |
e7854845 | 172 | ret = adis16400_spi_read_reg_16(indio_dev, |
a9d26f00 BS |
173 | ADIS16400_SMPL_PRD, |
174 | &t); | |
175 | if (ret) | |
176 | return ret; | |
177 | sps = (t & ADIS16400_SMPL_PRD_TIME_BASE) ? 53 : 1638; | |
178 | sps /= (t & ADIS16400_SMPL_PRD_DIV_MASK) + 1; | |
179 | len = sprintf(buf, "%d SPS\n", sps); | |
180 | return len; | |
181 | } | |
182 | ||
183 | static ssize_t adis16400_write_frequency(struct device *dev, | |
184 | struct device_attribute *attr, | |
185 | const char *buf, | |
186 | size_t len) | |
187 | { | |
188 | struct iio_dev *indio_dev = dev_get_drvdata(dev); | |
38d15f06 | 189 | struct adis16400_state *st = iio_priv(indio_dev); |
a9d26f00 BS |
190 | long val; |
191 | int ret; | |
192 | u8 t; | |
193 | ||
194 | ret = strict_strtol(buf, 10, &val); | |
195 | if (ret) | |
196 | return ret; | |
197 | ||
198 | mutex_lock(&indio_dev->mlock); | |
199 | ||
200 | t = (1638 / val); | |
201 | if (t > 0) | |
202 | t--; | |
203 | t &= ADIS16400_SMPL_PRD_DIV_MASK; | |
204 | if ((t & ADIS16400_SMPL_PRD_DIV_MASK) >= 0x0A) | |
205 | st->us->max_speed_hz = ADIS16400_SPI_SLOW; | |
206 | else | |
207 | st->us->max_speed_hz = ADIS16400_SPI_FAST; | |
208 | ||
e7854845 | 209 | ret = adis16400_spi_write_reg_8(indio_dev, |
a9d26f00 BS |
210 | ADIS16400_SMPL_PRD, |
211 | t); | |
212 | ||
213 | mutex_unlock(&indio_dev->mlock); | |
214 | ||
215 | return ret ? ret : len; | |
216 | } | |
217 | ||
e7854845 | 218 | static int adis16400_reset(struct iio_dev *indio_dev) |
3fd66da1 BS |
219 | { |
220 | int ret; | |
e7854845 | 221 | ret = adis16400_spi_write_reg_8(indio_dev, |
3fd66da1 BS |
222 | ADIS16400_GLOB_CMD, |
223 | ADIS16400_GLOB_CMD_SW_RESET); | |
224 | if (ret) | |
e7854845 | 225 | dev_err(&indio_dev->dev, "problem resetting device"); |
3fd66da1 BS |
226 | |
227 | return ret; | |
228 | } | |
229 | ||
a9d26f00 BS |
230 | static ssize_t adis16400_write_reset(struct device *dev, |
231 | struct device_attribute *attr, | |
232 | const char *buf, size_t len) | |
233 | { | |
7a6ff010 JC |
234 | bool val; |
235 | int ret; | |
e7854845 | 236 | |
7a6ff010 JC |
237 | ret = strtobool(buf, &val); |
238 | if (ret < 0) | |
239 | return ret; | |
521de518 | 240 | if (val) { |
7a6ff010 | 241 | ret = adis16400_reset(dev_get_drvdata(dev)); |
521de518 JC |
242 | if (ret < 0) |
243 | return ret; | |
244 | } | |
7a6ff010 JC |
245 | |
246 | return len; | |
a9d26f00 BS |
247 | } |
248 | ||
e7854845 | 249 | int adis16400_set_irq(struct iio_dev *indio_dev, bool enable) |
a9d26f00 BS |
250 | { |
251 | int ret; | |
252 | u16 msc; | |
521de518 | 253 | |
e7854845 | 254 | ret = adis16400_spi_read_reg_16(indio_dev, ADIS16400_MSC_CTRL, &msc); |
a9d26f00 BS |
255 | if (ret) |
256 | goto error_ret; | |
257 | ||
258 | msc |= ADIS16400_MSC_CTRL_DATA_RDY_POL_HIGH; | |
259 | if (enable) | |
260 | msc |= ADIS16400_MSC_CTRL_DATA_RDY_EN; | |
261 | else | |
262 | msc &= ~ADIS16400_MSC_CTRL_DATA_RDY_EN; | |
263 | ||
e7854845 | 264 | ret = adis16400_spi_write_reg_16(indio_dev, ADIS16400_MSC_CTRL, msc); |
a9d26f00 BS |
265 | if (ret) |
266 | goto error_ret; | |
267 | ||
268 | error_ret: | |
269 | return ret; | |
270 | } | |
271 | ||
a9d26f00 | 272 | /* Power down the device */ |
e7854845 | 273 | static int adis16400_stop_device(struct iio_dev *indio_dev) |
a9d26f00 BS |
274 | { |
275 | int ret; | |
276 | u16 val = ADIS16400_SLP_CNT_POWER_OFF; | |
277 | ||
e7854845 | 278 | ret = adis16400_spi_write_reg_16(indio_dev, ADIS16400_SLP_CNT, val); |
a9d26f00 | 279 | if (ret) |
e7854845 JC |
280 | dev_err(&indio_dev->dev, |
281 | "problem with turning device off: SLP_CNT"); | |
a9d26f00 BS |
282 | |
283 | return ret; | |
284 | } | |
285 | ||
e7854845 | 286 | static int adis16400_check_status(struct iio_dev *indio_dev) |
a9d26f00 BS |
287 | { |
288 | u16 status; | |
289 | int ret; | |
e7854845 | 290 | struct device *dev = &indio_dev->dev; |
a9d26f00 | 291 | |
e7854845 JC |
292 | ret = adis16400_spi_read_reg_16(indio_dev, |
293 | ADIS16400_DIAG_STAT, &status); | |
a9d26f00 BS |
294 | |
295 | if (ret < 0) { | |
296 | dev_err(dev, "Reading status failed\n"); | |
297 | goto error_ret; | |
298 | } | |
299 | ret = status; | |
300 | if (status & ADIS16400_DIAG_STAT_ZACCL_FAIL) | |
301 | dev_err(dev, "Z-axis accelerometer self-test failure\n"); | |
302 | if (status & ADIS16400_DIAG_STAT_YACCL_FAIL) | |
303 | dev_err(dev, "Y-axis accelerometer self-test failure\n"); | |
304 | if (status & ADIS16400_DIAG_STAT_XACCL_FAIL) | |
305 | dev_err(dev, "X-axis accelerometer self-test failure\n"); | |
306 | if (status & ADIS16400_DIAG_STAT_XGYRO_FAIL) | |
307 | dev_err(dev, "X-axis gyroscope self-test failure\n"); | |
308 | if (status & ADIS16400_DIAG_STAT_YGYRO_FAIL) | |
309 | dev_err(dev, "Y-axis gyroscope self-test failure\n"); | |
310 | if (status & ADIS16400_DIAG_STAT_ZGYRO_FAIL) | |
311 | dev_err(dev, "Z-axis gyroscope self-test failure\n"); | |
312 | if (status & ADIS16400_DIAG_STAT_ALARM2) | |
313 | dev_err(dev, "Alarm 2 active\n"); | |
314 | if (status & ADIS16400_DIAG_STAT_ALARM1) | |
315 | dev_err(dev, "Alarm 1 active\n"); | |
316 | if (status & ADIS16400_DIAG_STAT_FLASH_CHK) | |
317 | dev_err(dev, "Flash checksum error\n"); | |
318 | if (status & ADIS16400_DIAG_STAT_SELF_TEST) | |
319 | dev_err(dev, "Self test error\n"); | |
320 | if (status & ADIS16400_DIAG_STAT_OVERFLOW) | |
321 | dev_err(dev, "Sensor overrange\n"); | |
322 | if (status & ADIS16400_DIAG_STAT_SPI_FAIL) | |
323 | dev_err(dev, "SPI failure\n"); | |
324 | if (status & ADIS16400_DIAG_STAT_FLASH_UPT) | |
325 | dev_err(dev, "Flash update failed\n"); | |
326 | if (status & ADIS16400_DIAG_STAT_POWER_HIGH) | |
327 | dev_err(dev, "Power supply above 5.25V\n"); | |
328 | if (status & ADIS16400_DIAG_STAT_POWER_LOW) | |
329 | dev_err(dev, "Power supply below 4.75V\n"); | |
330 | ||
331 | error_ret: | |
332 | return ret; | |
333 | } | |
334 | ||
521de518 JC |
335 | static int adis16400_self_test(struct iio_dev *indio_dev) |
336 | { | |
337 | int ret; | |
338 | ret = adis16400_spi_write_reg_16(indio_dev, | |
339 | ADIS16400_MSC_CTRL, | |
340 | ADIS16400_MSC_CTRL_MEM_TEST); | |
341 | if (ret) { | |
342 | dev_err(&indio_dev->dev, "problem starting self test"); | |
343 | goto err_ret; | |
344 | } | |
345 | ||
346 | msleep(ADIS16400_MTEST_DELAY); | |
347 | adis16400_check_status(indio_dev); | |
348 | ||
349 | err_ret: | |
350 | return ret; | |
351 | } | |
352 | ||
38d15f06 | 353 | static int adis16400_initial_setup(struct iio_dev *indio_dev) |
a9d26f00 BS |
354 | { |
355 | int ret; | |
356 | u16 prod_id, smp_prd; | |
38d15f06 | 357 | struct adis16400_state *st = iio_priv(indio_dev); |
a9d26f00 BS |
358 | |
359 | /* use low spi speed for init */ | |
360 | st->us->max_speed_hz = ADIS16400_SPI_SLOW; | |
361 | st->us->mode = SPI_MODE_3; | |
362 | spi_setup(st->us); | |
363 | ||
38d15f06 | 364 | ret = adis16400_set_irq(indio_dev, false); |
a9d26f00 | 365 | if (ret) { |
521de518 | 366 | dev_err(&indio_dev->dev, "disable irq failed"); |
a9d26f00 BS |
367 | goto err_ret; |
368 | } | |
369 | ||
38d15f06 | 370 | ret = adis16400_self_test(indio_dev); |
3fd66da1 | 371 | if (ret) { |
521de518 | 372 | dev_err(&indio_dev->dev, "self test failure"); |
3fd66da1 BS |
373 | goto err_ret; |
374 | } | |
a9d26f00 | 375 | |
38d15f06 | 376 | ret = adis16400_check_status(indio_dev); |
a9d26f00 | 377 | if (ret) { |
38d15f06 | 378 | adis16400_reset(indio_dev); |
521de518 | 379 | dev_err(&indio_dev->dev, "device not playing ball -> reset"); |
a9d26f00 | 380 | msleep(ADIS16400_STARTUP_DELAY); |
38d15f06 | 381 | ret = adis16400_check_status(indio_dev); |
a9d26f00 | 382 | if (ret) { |
521de518 | 383 | dev_err(&indio_dev->dev, "giving up"); |
a9d26f00 BS |
384 | goto err_ret; |
385 | } | |
386 | } | |
2a29a90b | 387 | if (st->variant->flags & ADIS16400_HAS_PROD_ID) { |
38d15f06 | 388 | ret = adis16400_spi_read_reg_16(indio_dev, |
2a29a90b JC |
389 | ADIS16400_PRODUCT_ID, &prod_id); |
390 | if (ret) | |
391 | goto err_ret; | |
a9d26f00 | 392 | |
2a29a90b | 393 | if ((prod_id & 0xF000) != st->variant->product_id) |
521de518 | 394 | dev_warn(&indio_dev->dev, "incorrect id"); |
a9d26f00 | 395 | |
69d80bae | 396 | dev_info(&indio_dev->dev, "%s: prod_id 0x%04x at CS%d (irq %d)\n", |
521de518 JC |
397 | indio_dev->name, prod_id, |
398 | st->us->chip_select, st->us->irq); | |
2a29a90b | 399 | } |
a9d26f00 | 400 | /* use high spi speed if possible */ |
38d15f06 | 401 | ret = adis16400_spi_read_reg_16(indio_dev, |
e7854845 | 402 | ADIS16400_SMPL_PRD, &smp_prd); |
a9d26f00 BS |
403 | if (!ret && (smp_prd & ADIS16400_SMPL_PRD_DIV_MASK) < 0x0A) { |
404 | st->us->max_speed_hz = ADIS16400_SPI_SLOW; | |
405 | spi_setup(st->us); | |
406 | } | |
407 | ||
a9d26f00 | 408 | err_ret: |
a9d26f00 BS |
409 | return ret; |
410 | } | |
411 | ||
a9d26f00 | 412 | static IIO_DEV_ATTR_SAMP_FREQ(S_IWUSR | S_IRUGO, |
521de518 JC |
413 | adis16400_read_frequency, |
414 | adis16400_write_frequency); | |
a9d26f00 BS |
415 | |
416 | static IIO_DEVICE_ATTR(reset, S_IWUSR, NULL, adis16400_write_reset, 0); | |
417 | ||
51a0a5b0 | 418 | static IIO_CONST_ATTR_SAMP_FREQ_AVAIL("409 546 819 1638"); |
a9d26f00 | 419 | |
e7854845 JC |
420 | enum adis16400_chan { |
421 | in_supply, | |
422 | gyro_x, | |
423 | gyro_y, | |
424 | gyro_z, | |
425 | accel_x, | |
426 | accel_y, | |
427 | accel_z, | |
428 | magn_x, | |
429 | magn_y, | |
430 | magn_z, | |
431 | temp, | |
2a29a90b | 432 | temp0, temp1, temp2, |
91ab3fc9 JC |
433 | in1, |
434 | incli_x, | |
435 | incli_y, | |
e7854845 JC |
436 | }; |
437 | ||
91ab3fc9 | 438 | static u8 adis16400_addresses[17][2] = { |
521de518 | 439 | [in_supply] = { ADIS16400_SUPPLY_OUT }, |
e7854845 JC |
440 | [gyro_x] = { ADIS16400_XGYRO_OUT, ADIS16400_XGYRO_OFF }, |
441 | [gyro_y] = { ADIS16400_YGYRO_OUT, ADIS16400_YGYRO_OFF }, | |
442 | [gyro_z] = { ADIS16400_ZGYRO_OUT, ADIS16400_ZGYRO_OFF }, | |
443 | [accel_x] = { ADIS16400_XACCL_OUT, ADIS16400_XACCL_OFF }, | |
444 | [accel_y] = { ADIS16400_YACCL_OUT, ADIS16400_YACCL_OFF }, | |
445 | [accel_z] = { ADIS16400_ZACCL_OUT, ADIS16400_ZACCL_OFF }, | |
521de518 JC |
446 | [magn_x] = { ADIS16400_XMAGN_OUT }, |
447 | [magn_y] = { ADIS16400_YMAGN_OUT }, | |
448 | [magn_z] = { ADIS16400_ZMAGN_OUT }, | |
449 | [temp] = { ADIS16400_TEMP_OUT }, | |
2a29a90b JC |
450 | [temp0] = { ADIS16350_XTEMP_OUT }, |
451 | [temp1] = { ADIS16350_YTEMP_OUT }, | |
452 | [temp2] = { ADIS16350_ZTEMP_OUT }, | |
521de518 JC |
453 | [in1] = { ADIS16400_AUX_ADC }, |
454 | [incli_x] = { ADIS16300_PITCH_OUT }, | |
455 | [incli_y] = { ADIS16300_ROLL_OUT } | |
e7854845 JC |
456 | }; |
457 | ||
458 | static int adis16400_write_raw(struct iio_dev *indio_dev, | |
459 | struct iio_chan_spec const *chan, | |
460 | int val, | |
461 | int val2, | |
462 | long mask) | |
463 | { | |
464 | int ret; | |
521de518 | 465 | |
e7854845 JC |
466 | switch (mask) { |
467 | case (1 << IIO_CHAN_INFO_CALIBBIAS_SEPARATE): | |
468 | mutex_lock(&indio_dev->mlock); | |
469 | ret = adis16400_spi_write_reg_16(indio_dev, | |
470 | adis16400_addresses[chan->address][1], | |
471 | val); | |
472 | mutex_unlock(&indio_dev->mlock); | |
473 | return ret; | |
474 | default: | |
475 | return -EINVAL; | |
476 | } | |
477 | } | |
478 | ||
479 | static int adis16400_read_raw(struct iio_dev *indio_dev, | |
480 | struct iio_chan_spec const *chan, | |
481 | int *val, | |
482 | int *val2, | |
483 | long mask) | |
484 | { | |
38d15f06 | 485 | struct adis16400_state *st = iio_priv(indio_dev); |
521de518 | 486 | int ret, shift; |
e7854845 | 487 | s16 val16; |
e7854845 JC |
488 | |
489 | switch (mask) { | |
490 | case 0: | |
491 | mutex_lock(&indio_dev->mlock); | |
492 | ret = adis16400_spi_read_reg_16(indio_dev, | |
493 | adis16400_addresses[chan->address][0], | |
494 | &val16); | |
495 | if (ret) { | |
496 | mutex_unlock(&indio_dev->mlock); | |
497 | return ret; | |
498 | } | |
499 | val16 &= (1 << chan->scan_type.realbits) - 1; | |
500 | if (chan->scan_type.sign == 's') { | |
501 | shift = 16 - chan->scan_type.realbits; | |
502 | val16 = (s16)(val16 << shift) >> shift; | |
503 | } | |
504 | *val = val16; | |
505 | mutex_unlock(&indio_dev->mlock); | |
506 | return IIO_VAL_INT; | |
507 | case (1 << IIO_CHAN_INFO_SCALE_SHARED): | |
508 | case (1 << IIO_CHAN_INFO_SCALE_SEPARATE): | |
509 | switch (chan->type) { | |
510 | case IIO_GYRO: | |
511 | *val = 0; | |
2a29a90b | 512 | *val2 = st->variant->gyro_scale_micro; |
e7854845 | 513 | return IIO_VAL_INT_PLUS_MICRO; |
6835cb6b | 514 | case IIO_VOLTAGE: |
e7854845 JC |
515 | *val = 0; |
516 | if (chan->channel == 0) | |
517 | *val2 = 2418; | |
518 | else | |
519 | *val2 = 806; | |
520 | return IIO_VAL_INT_PLUS_MICRO; | |
521 | case IIO_ACCEL: | |
522 | *val = 0; | |
2a29a90b | 523 | *val2 = st->variant->accel_scale_micro; |
e7854845 JC |
524 | return IIO_VAL_INT_PLUS_MICRO; |
525 | case IIO_MAGN: | |
526 | *val = 0; | |
527 | *val2 = 500; | |
528 | return IIO_VAL_INT_PLUS_MICRO; | |
529 | case IIO_TEMP: | |
530 | *val = 0; | |
531 | *val2 = 140000; | |
532 | return IIO_VAL_INT_PLUS_MICRO; | |
533 | default: | |
534 | return -EINVAL; | |
535 | } | |
536 | case (1 << IIO_CHAN_INFO_CALIBBIAS_SEPARATE): | |
537 | mutex_lock(&indio_dev->mlock); | |
538 | ret = adis16400_spi_read_reg_16(indio_dev, | |
539 | adis16400_addresses[chan->address][1], | |
540 | &val16); | |
2a29a90b JC |
541 | mutex_unlock(&indio_dev->mlock); |
542 | if (ret) | |
e7854845 | 543 | return ret; |
e7854845 JC |
544 | val16 = ((val16 & 0xFFF) << 4) >> 4; |
545 | *val = val16; | |
546 | return IIO_VAL_INT; | |
547 | case (1 << IIO_CHAN_INFO_OFFSET_SEPARATE): | |
548 | /* currently only temperature */ | |
549 | *val = 198; | |
550 | *val2 = 160000; | |
551 | return IIO_VAL_INT_PLUS_MICRO; | |
552 | default: | |
553 | return -EINVAL; | |
554 | } | |
555 | } | |
556 | ||
557 | static struct iio_chan_spec adis16400_channels[] = { | |
521de518 JC |
558 | { |
559 | .type = IIO_VOLTAGE, | |
560 | .indexed = 1, | |
561 | .channel = 0, | |
562 | .extend_name = "supply", | |
563 | .info_mask = (1 << IIO_CHAN_INFO_SCALE_SEPARATE), | |
564 | .address = in_supply, | |
565 | .scan_index = ADIS16400_SCAN_SUPPLY, | |
566 | .scan_type = IIO_ST('u', 14, 16, 0) | |
567 | }, { | |
568 | .type = IIO_GYRO, | |
569 | .modified = 1, | |
570 | .channel2 = IIO_MOD_X, | |
571 | .info_mask = (1 << IIO_CHAN_INFO_CALIBBIAS_SEPARATE) | | |
572 | (1 << IIO_CHAN_INFO_SCALE_SHARED), | |
573 | .address = gyro_x, | |
574 | .scan_index = ADIS16400_SCAN_GYRO_X, | |
575 | .scan_type = IIO_ST('s', 14, 16, 0) | |
576 | }, { | |
577 | .type = IIO_GYRO, | |
578 | .modified = 1, | |
579 | .channel2 = IIO_MOD_Y, | |
580 | .info_mask = (1 << IIO_CHAN_INFO_CALIBBIAS_SEPARATE) | | |
581 | (1 << IIO_CHAN_INFO_SCALE_SHARED), | |
582 | .address = gyro_y, | |
583 | .scan_index = ADIS16400_SCAN_GYRO_Y, | |
584 | .scan_type = IIO_ST('s', 14, 16, 0), | |
585 | }, { | |
586 | .type = IIO_GYRO, | |
587 | .modified = 1, | |
588 | .channel2 = IIO_MOD_Z, | |
589 | .info_mask = (1 << IIO_CHAN_INFO_CALIBBIAS_SEPARATE) | | |
590 | (1 << IIO_CHAN_INFO_SCALE_SHARED), | |
591 | .address = gyro_z, | |
592 | .scan_index = ADIS16400_SCAN_GYRO_Z, | |
593 | .scan_type = IIO_ST('s', 14, 16, 0), | |
594 | }, { | |
595 | .type = IIO_ACCEL, | |
596 | .modified = 1, | |
597 | .channel2 = IIO_MOD_X, | |
598 | .info_mask = (1 << IIO_CHAN_INFO_CALIBBIAS_SEPARATE) | | |
599 | (1 << IIO_CHAN_INFO_SCALE_SHARED), | |
600 | .address = accel_x, | |
601 | .scan_index = ADIS16400_SCAN_ACC_X, | |
602 | .scan_type = IIO_ST('s', 14, 16, 0), | |
603 | }, { | |
604 | .type = IIO_ACCEL, | |
605 | .modified = 1, | |
606 | .channel2 = IIO_MOD_Y, | |
607 | .info_mask = (1 << IIO_CHAN_INFO_CALIBBIAS_SEPARATE) | | |
608 | (1 << IIO_CHAN_INFO_SCALE_SHARED), | |
609 | .address = accel_y, | |
610 | .scan_index = ADIS16400_SCAN_ACC_Y, | |
611 | .scan_type = IIO_ST('s', 14, 16, 0), | |
612 | }, { | |
613 | .type = IIO_ACCEL, | |
614 | .modified = 1, | |
615 | .channel2 = IIO_MOD_Z, | |
616 | .info_mask = (1 << IIO_CHAN_INFO_CALIBBIAS_SEPARATE) | | |
617 | (1 << IIO_CHAN_INFO_SCALE_SHARED), | |
618 | .address = accel_z, | |
619 | .scan_index = ADIS16400_SCAN_ACC_Z, | |
620 | .scan_type = IIO_ST('s', 14, 16, 0), | |
621 | }, { | |
622 | .type = IIO_MAGN, | |
623 | .modified = 1, | |
624 | .channel2 = IIO_MOD_X, | |
625 | .info_mask = (1 << IIO_CHAN_INFO_SCALE_SHARED), | |
626 | .address = magn_x, | |
627 | .scan_index = ADIS16400_SCAN_MAGN_X, | |
628 | .scan_type = IIO_ST('s', 14, 16, 0), | |
629 | }, { | |
630 | .type = IIO_MAGN, | |
631 | .modified = 1, | |
632 | .channel2 = IIO_MOD_Y, | |
633 | .info_mask = (1 << IIO_CHAN_INFO_SCALE_SHARED), | |
634 | .address = magn_y, | |
635 | .scan_index = ADIS16400_SCAN_MAGN_Y, | |
636 | .scan_type = IIO_ST('s', 14, 16, 0), | |
637 | }, { | |
638 | .type = IIO_MAGN, | |
639 | .modified = 1, | |
640 | .channel2 = IIO_MOD_Z, | |
641 | .info_mask = (1 << IIO_CHAN_INFO_SCALE_SHARED), | |
642 | .address = magn_z, | |
643 | .scan_index = ADIS16400_SCAN_MAGN_Z, | |
644 | .scan_type = IIO_ST('s', 14, 16, 0), | |
645 | }, { | |
646 | .type = IIO_TEMP, | |
647 | .indexed = 1, | |
648 | .channel = 0, | |
649 | .info_mask = (1 << IIO_CHAN_INFO_OFFSET_SEPARATE) | | |
650 | (1 << IIO_CHAN_INFO_SCALE_SEPARATE), | |
651 | .address = temp, | |
652 | .scan_index = ADIS16400_SCAN_TEMP, | |
653 | .scan_type = IIO_ST('s', 12, 16, 0), | |
654 | }, { | |
6835cb6b | 655 | .type = IIO_VOLTAGE, |
521de518 JC |
656 | .indexed = 1, |
657 | .channel = 1, | |
658 | .info_mask = (1 << IIO_CHAN_INFO_SCALE_SEPARATE), | |
659 | .address = in1, | |
660 | .scan_index = ADIS16400_SCAN_ADC_0, | |
661 | .scan_type = IIO_ST('s', 12, 16, 0), | |
662 | }, | |
e7854845 JC |
663 | IIO_CHAN_SOFT_TIMESTAMP(12) |
664 | }; | |
665 | ||
2a29a90b | 666 | static struct iio_chan_spec adis16350_channels[] = { |
521de518 JC |
667 | { |
668 | .type = IIO_VOLTAGE, | |
669 | .indexed = 1, | |
670 | .channel = 0, | |
671 | .extend_name = "supply", | |
672 | .info_mask = (1 << IIO_CHAN_INFO_SCALE_SEPARATE), | |
673 | .address = in_supply, | |
674 | .scan_index = ADIS16400_SCAN_SUPPLY, | |
675 | .scan_type = IIO_ST('u', 12, 16, 0) | |
676 | }, { | |
677 | .type = IIO_GYRO, | |
678 | .modified = 1, | |
679 | .channel2 = IIO_MOD_X, | |
680 | .info_mask = (1 << IIO_CHAN_INFO_CALIBBIAS_SEPARATE) | | |
681 | (1 << IIO_CHAN_INFO_SCALE_SHARED), | |
682 | .address = gyro_x, | |
683 | .scan_index = ADIS16400_SCAN_GYRO_X, | |
684 | .scan_type = IIO_ST('s', 14, 16, 0) | |
685 | }, { | |
686 | .type = IIO_GYRO, | |
687 | .modified = 1, | |
688 | .channel2 = IIO_MOD_Y, | |
689 | .info_mask = (1 << IIO_CHAN_INFO_CALIBBIAS_SEPARATE) | | |
690 | (1 << IIO_CHAN_INFO_SCALE_SHARED), | |
691 | .address = gyro_y, | |
692 | .scan_index = ADIS16400_SCAN_GYRO_Y, | |
693 | .scan_type = IIO_ST('s', 14, 16, 0), | |
694 | }, { | |
695 | .type = IIO_GYRO, | |
696 | .modified = 1, | |
697 | .channel2 = IIO_MOD_Z, | |
698 | .info_mask = (1 << IIO_CHAN_INFO_CALIBBIAS_SEPARATE) | | |
699 | (1 << IIO_CHAN_INFO_SCALE_SHARED), | |
700 | .address = gyro_z, | |
701 | .scan_index = ADIS16400_SCAN_GYRO_Z, | |
702 | .scan_type = IIO_ST('s', 14, 16, 0), | |
703 | }, { | |
704 | .type = IIO_ACCEL, | |
705 | .modified = 1, | |
706 | .channel2 = IIO_MOD_X, | |
707 | .info_mask = (1 << IIO_CHAN_INFO_CALIBBIAS_SEPARATE) | | |
708 | (1 << IIO_CHAN_INFO_SCALE_SHARED), | |
709 | .address = accel_x, | |
710 | .scan_index = ADIS16400_SCAN_ACC_X, | |
711 | .scan_type = IIO_ST('s', 14, 16, 0), | |
712 | }, { | |
713 | .type = IIO_ACCEL, | |
714 | .modified = 1, | |
715 | .channel2 = IIO_MOD_Y, | |
716 | .info_mask = (1 << IIO_CHAN_INFO_CALIBBIAS_SEPARATE) | | |
717 | (1 << IIO_CHAN_INFO_SCALE_SHARED), | |
718 | .address = accel_y, | |
719 | .scan_index = ADIS16400_SCAN_ACC_Y, | |
720 | .scan_type = IIO_ST('s', 14, 16, 0), | |
721 | }, { | |
722 | .type = IIO_ACCEL, | |
723 | .modified = 1, | |
724 | .channel2 = IIO_MOD_Z, | |
725 | .info_mask = (1 << IIO_CHAN_INFO_CALIBBIAS_SEPARATE) | | |
726 | (1 << IIO_CHAN_INFO_SCALE_SHARED), | |
727 | .address = accel_z, | |
728 | .scan_index = ADIS16400_SCAN_ACC_Z, | |
729 | .scan_type = IIO_ST('s', 14, 16, 0), | |
730 | }, { | |
731 | .type = IIO_TEMP, | |
732 | .indexed = 1, | |
733 | .channel = 0, | |
734 | .extend_name = "x", | |
735 | .info_mask = (1 << IIO_CHAN_INFO_OFFSET_SEPARATE) | | |
736 | (1 << IIO_CHAN_INFO_SCALE_SEPARATE), | |
737 | .address = temp0, | |
738 | .scan_index = ADIS16350_SCAN_TEMP_X, | |
739 | .scan_type = IIO_ST('s', 12, 16, 0), | |
740 | }, { | |
741 | .type = IIO_TEMP, | |
742 | .indexed = 1, | |
743 | .channel = 1, | |
744 | .extend_name = "y", | |
745 | .info_mask = (1 << IIO_CHAN_INFO_OFFSET_SEPARATE) | | |
746 | (1 << IIO_CHAN_INFO_SCALE_SEPARATE), | |
747 | .address = temp1, | |
748 | .scan_index = ADIS16350_SCAN_TEMP_Y, | |
749 | .scan_type = IIO_ST('s', 12, 16, 0), | |
750 | }, { | |
751 | .type = IIO_TEMP, | |
752 | .indexed = 1, | |
753 | .channel = 2, | |
754 | .extend_name = "z", | |
755 | .info_mask = (1 << IIO_CHAN_INFO_OFFSET_SEPARATE) | | |
756 | (1 << IIO_CHAN_INFO_SCALE_SEPARATE), | |
757 | .address = temp2, | |
758 | .scan_index = ADIS16350_SCAN_TEMP_Z, | |
759 | .scan_type = IIO_ST('s', 12, 16, 0), | |
760 | }, { | |
6835cb6b | 761 | .type = IIO_VOLTAGE, |
521de518 JC |
762 | .indexed = 1, |
763 | .channel = 1, | |
764 | .info_mask = (1 << IIO_CHAN_INFO_SCALE_SEPARATE), | |
765 | .address = in1, | |
766 | .scan_index = ADIS16350_SCAN_ADC_0, | |
767 | .scan_type = IIO_ST('s', 12, 16, 0), | |
768 | }, | |
2a29a90b JC |
769 | IIO_CHAN_SOFT_TIMESTAMP(11) |
770 | }; | |
771 | ||
8e886e65 | 772 | static struct iio_chan_spec adis16300_channels[] = { |
521de518 JC |
773 | { |
774 | .type = IIO_VOLTAGE, | |
775 | .indexed = 1, | |
776 | .channel = 0, | |
777 | .extend_name = "supply", | |
778 | .info_mask = (1 << IIO_CHAN_INFO_SCALE_SEPARATE), | |
779 | .address = in_supply, | |
780 | .scan_index = ADIS16400_SCAN_SUPPLY, | |
781 | .scan_type = IIO_ST('u', 12, 16, 0) | |
782 | }, { | |
783 | .type = IIO_GYRO, | |
784 | .modified = 1, | |
785 | .channel2 = IIO_MOD_X, | |
786 | .info_mask = (1 << IIO_CHAN_INFO_CALIBBIAS_SEPARATE) | | |
787 | (1 << IIO_CHAN_INFO_SCALE_SHARED), | |
788 | .address = gyro_x, | |
789 | .scan_index = ADIS16400_SCAN_GYRO_X, | |
790 | .scan_type = IIO_ST('s', 14, 16, 0), | |
791 | }, { | |
792 | .type = IIO_ACCEL, | |
793 | .modified = 1, | |
794 | .channel2 = IIO_MOD_X, | |
795 | .info_mask = (1 << IIO_CHAN_INFO_CALIBBIAS_SEPARATE) | | |
796 | (1 << IIO_CHAN_INFO_SCALE_SHARED), | |
797 | .address = accel_x, | |
798 | .scan_index = ADIS16400_SCAN_ACC_X, | |
799 | .scan_type = IIO_ST('s', 14, 16, 0), | |
800 | }, { | |
801 | .type = IIO_ACCEL, | |
802 | .modified = 1, | |
803 | .channel2 = IIO_MOD_Y, | |
804 | .info_mask = (1 << IIO_CHAN_INFO_CALIBBIAS_SEPARATE) | | |
805 | (1 << IIO_CHAN_INFO_SCALE_SHARED), | |
806 | .address = accel_y, | |
807 | .scan_index = ADIS16400_SCAN_ACC_Y, | |
808 | .scan_type = IIO_ST('s', 14, 16, 0), | |
809 | }, { | |
810 | .type = IIO_ACCEL, | |
811 | .modified = 1, | |
812 | .channel2 = IIO_MOD_Z, | |
813 | .info_mask = (1 << IIO_CHAN_INFO_CALIBBIAS_SEPARATE) | | |
814 | (1 << IIO_CHAN_INFO_SCALE_SHARED), | |
815 | .address = accel_z, | |
816 | .scan_index = ADIS16400_SCAN_ACC_Z, | |
817 | .scan_type = IIO_ST('s', 14, 16, 0), | |
818 | }, { | |
819 | .type = IIO_TEMP, | |
820 | .indexed = 1, | |
821 | .channel = 0, | |
822 | .info_mask = (1 << IIO_CHAN_INFO_OFFSET_SEPARATE) | | |
823 | (1 << IIO_CHAN_INFO_SCALE_SEPARATE), | |
824 | .address = temp, | |
825 | .scan_index = ADIS16400_SCAN_TEMP, | |
826 | .scan_type = IIO_ST('s', 12, 16, 0), | |
827 | }, { | |
6835cb6b | 828 | .type = IIO_VOLTAGE, |
521de518 JC |
829 | .indexed = 1, |
830 | .channel = 1, | |
831 | .info_mask = (1 << IIO_CHAN_INFO_SCALE_SEPARATE), | |
832 | .address = in1, | |
833 | .scan_index = ADIS16350_SCAN_ADC_0, | |
834 | .scan_type = IIO_ST('s', 12, 16, 0), | |
835 | }, { | |
836 | .type = IIO_INCLI, | |
837 | .modified = 1, | |
838 | .channel2 = IIO_MOD_X, | |
839 | .info_mask = (1 << IIO_CHAN_INFO_SCALE_SHARED), | |
840 | .address = incli_x, | |
841 | .scan_index = ADIS16300_SCAN_INCLI_X, | |
842 | .scan_type = IIO_ST('s', 13, 16, 0), | |
843 | }, { | |
844 | .type = IIO_INCLI, | |
845 | .modified = 1, | |
846 | .channel2 = IIO_MOD_Y, | |
847 | .info_mask = (1 << IIO_CHAN_INFO_SCALE_SHARED), | |
848 | .address = incli_y, | |
849 | .scan_index = ADIS16300_SCAN_INCLI_Y, | |
850 | .scan_type = IIO_ST('s', 13, 16, 0), | |
851 | }, | |
8e886e65 JC |
852 | IIO_CHAN_SOFT_TIMESTAMP(14) |
853 | }; | |
854 | ||
85da5059 | 855 | static const struct iio_chan_spec adis16334_channels[] = { |
521de518 JC |
856 | { |
857 | .type = IIO_GYRO, | |
858 | .modified = 1, | |
859 | .channel2 = IIO_MOD_X, | |
860 | .info_mask = (1 << IIO_CHAN_INFO_CALIBBIAS_SEPARATE) | | |
861 | (1 << IIO_CHAN_INFO_SCALE_SHARED), | |
862 | .address = gyro_x, | |
863 | .scan_index = ADIS16400_SCAN_GYRO_X, | |
864 | .scan_type = IIO_ST('s', 14, 16, 0), | |
865 | }, { | |
866 | .type = IIO_GYRO, | |
867 | .modified = 1, | |
868 | .channel2 = IIO_MOD_Y, | |
869 | .info_mask = (1 << IIO_CHAN_INFO_CALIBBIAS_SEPARATE) | | |
870 | (1 << IIO_CHAN_INFO_SCALE_SHARED), | |
871 | .address = gyro_y, | |
872 | .scan_index = ADIS16400_SCAN_GYRO_Y, | |
873 | .scan_type = IIO_ST('s', 14, 16, 0), | |
874 | }, { | |
875 | .type = IIO_GYRO, | |
876 | .modified = 1, | |
877 | .channel2 = IIO_MOD_Z, | |
878 | .info_mask = (1 << IIO_CHAN_INFO_CALIBBIAS_SEPARATE) | | |
879 | (1 << IIO_CHAN_INFO_SCALE_SHARED), | |
880 | .address = gyro_z, | |
881 | .scan_index = ADIS16400_SCAN_GYRO_Z, | |
882 | .scan_type = IIO_ST('s', 14, 16, 0), | |
883 | }, { | |
884 | .type = IIO_ACCEL, | |
885 | .modified = 1, | |
886 | .channel2 = IIO_MOD_X, | |
887 | .info_mask = (1 << IIO_CHAN_INFO_CALIBBIAS_SEPARATE) | | |
888 | (1 << IIO_CHAN_INFO_SCALE_SHARED), | |
889 | .address = accel_x, | |
890 | .scan_index = ADIS16400_SCAN_ACC_X, | |
891 | .scan_type = IIO_ST('s', 14, 16, 0), | |
892 | }, { | |
893 | .type = IIO_ACCEL, | |
894 | .modified = 1, | |
895 | .channel2 = IIO_MOD_Y, | |
896 | .info_mask = (1 << IIO_CHAN_INFO_CALIBBIAS_SEPARATE) | | |
897 | (1 << IIO_CHAN_INFO_SCALE_SHARED), | |
898 | .address = accel_y, | |
899 | .scan_index = ADIS16400_SCAN_ACC_Y, | |
900 | .scan_type = IIO_ST('s', 14, 16, 0), | |
901 | }, { | |
902 | .type = IIO_ACCEL, | |
903 | .modified = 1, | |
904 | .channel2 = IIO_MOD_Z, | |
905 | .info_mask = (1 << IIO_CHAN_INFO_CALIBBIAS_SEPARATE) | | |
906 | (1 << IIO_CHAN_INFO_SCALE_SHARED), | |
907 | .address = accel_z, | |
908 | .scan_index = ADIS16400_SCAN_ACC_Z, | |
909 | .scan_type = IIO_ST('s', 14, 16, 0), | |
910 | }, { | |
911 | .type = IIO_TEMP, | |
912 | .indexed = 1, | |
913 | .channel = 0, | |
914 | .info_mask = (1 << IIO_CHAN_INFO_CALIBBIAS_SEPARATE) | | |
915 | (1 << IIO_CHAN_INFO_SCALE_SHARED), | |
916 | .address = accel_z, | |
917 | .scan_index = ADIS16400_SCAN_ACC_Z, | |
918 | .scan_type = IIO_ST('s', 14, 16, 0), | |
919 | }, | |
88b42f3a JC |
920 | IIO_CHAN_SOFT_TIMESTAMP(12) |
921 | }; | |
922 | ||
a9d26f00 | 923 | static struct attribute *adis16400_attributes[] = { |
a9d26f00 | 924 | &iio_dev_attr_sampling_frequency.dev_attr.attr, |
51a0a5b0 | 925 | &iio_const_attr_sampling_frequency_available.dev_attr.attr, |
a9d26f00 | 926 | &iio_dev_attr_reset.dev_attr.attr, |
a9d26f00 BS |
927 | NULL |
928 | }; | |
929 | ||
930 | static const struct attribute_group adis16400_attribute_group = { | |
931 | .attrs = adis16400_attributes, | |
932 | }; | |
933 | ||
2a29a90b | 934 | static struct adis16400_chip_info adis16400_chips[] = { |
8e886e65 JC |
935 | [ADIS16300] = { |
936 | .channels = adis16300_channels, | |
937 | .num_channels = ARRAY_SIZE(adis16300_channels), | |
938 | .gyro_scale_micro = 873, | |
939 | .accel_scale_micro = 5884, | |
940 | .default_scan_mask = (1 << ADIS16400_SCAN_SUPPLY) | | |
941 | (1 << ADIS16400_SCAN_GYRO_X) | (1 << ADIS16400_SCAN_ACC_X) | | |
942 | (1 << ADIS16400_SCAN_ACC_Y) | (1 << ADIS16400_SCAN_ACC_Z) | | |
943 | (1 << ADIS16400_SCAN_TEMP) | (1 << ADIS16400_SCAN_ADC_0) | | |
944 | (1 << ADIS16300_SCAN_INCLI_X) | (1 << ADIS16300_SCAN_INCLI_Y) | | |
945 | (1 << 14), | |
946 | }, | |
85da5059 JC |
947 | [ADIS16334] = { |
948 | .channels = adis16334_channels, | |
949 | .num_channels = ARRAY_SIZE(adis16334_channels), | |
88b42f3a JC |
950 | .gyro_scale_micro = 873, |
951 | .accel_scale_micro = 981, | |
952 | .default_scan_mask = (1 << ADIS16400_SCAN_GYRO_X) | | |
953 | (1 << ADIS16400_SCAN_GYRO_Y) | (1 << ADIS16400_SCAN_GYRO_Z) | | |
954 | (1 << ADIS16400_SCAN_ACC_X) | (1 << ADIS16400_SCAN_ACC_Y) | | |
955 | (1 << ADIS16400_SCAN_ACC_Z), | |
956 | }, | |
2a29a90b JC |
957 | [ADIS16350] = { |
958 | .channels = adis16350_channels, | |
959 | .num_channels = ARRAY_SIZE(adis16350_channels), | |
960 | .gyro_scale_micro = 872664, | |
961 | .accel_scale_micro = 24732, | |
962 | .default_scan_mask = 0x7FF, | |
963 | .flags = ADIS16400_NO_BURST, | |
964 | }, | |
965 | [ADIS16360] = { | |
966 | .channels = adis16350_channels, | |
967 | .num_channels = ARRAY_SIZE(adis16350_channels), | |
968 | .flags = ADIS16400_HAS_PROD_ID, | |
969 | .product_id = 0x3FE8, | |
970 | .gyro_scale_micro = 1279, | |
971 | .accel_scale_micro = 24732, | |
972 | .default_scan_mask = 0x7FF, | |
973 | }, | |
974 | [ADIS16362] = { | |
975 | .channels = adis16350_channels, | |
976 | .num_channels = ARRAY_SIZE(adis16350_channels), | |
977 | .flags = ADIS16400_HAS_PROD_ID, | |
978 | .product_id = 0x3FEA, | |
979 | .gyro_scale_micro = 1279, | |
980 | .accel_scale_micro = 24732, | |
981 | .default_scan_mask = 0x7FF, | |
982 | }, | |
983 | [ADIS16364] = { | |
984 | .channels = adis16350_channels, | |
985 | .num_channels = ARRAY_SIZE(adis16350_channels), | |
986 | .flags = ADIS16400_HAS_PROD_ID, | |
987 | .product_id = 0x3FEC, | |
988 | .gyro_scale_micro = 1279, | |
989 | .accel_scale_micro = 24732, | |
990 | .default_scan_mask = 0x7FF, | |
991 | }, | |
992 | [ADIS16365] = { | |
993 | .channels = adis16350_channels, | |
994 | .num_channels = ARRAY_SIZE(adis16350_channels), | |
995 | .flags = ADIS16400_HAS_PROD_ID, | |
996 | .product_id = 0x3FED, | |
997 | .gyro_scale_micro = 1279, | |
998 | .accel_scale_micro = 24732, | |
999 | .default_scan_mask = 0x7FF, | |
1000 | }, | |
1001 | [ADIS16400] = { | |
1002 | .channels = adis16400_channels, | |
1003 | .num_channels = ARRAY_SIZE(adis16400_channels), | |
1004 | .flags = ADIS16400_HAS_PROD_ID, | |
1005 | .product_id = 0x4015, | |
1006 | .gyro_scale_micro = 873, | |
1007 | .accel_scale_micro = 32656, | |
1008 | .default_scan_mask = 0xFFF, | |
1009 | } | |
1010 | }; | |
1011 | ||
6fe8135f JC |
1012 | static const struct iio_info adis16400_info = { |
1013 | .driver_module = THIS_MODULE, | |
1014 | .read_raw = &adis16400_read_raw, | |
1015 | .write_raw = &adis16400_write_raw, | |
1016 | .attrs = &adis16400_attribute_group, | |
1017 | }; | |
2a29a90b | 1018 | |
a9d26f00 BS |
1019 | static int __devinit adis16400_probe(struct spi_device *spi) |
1020 | { | |
26d25ae3 | 1021 | int ret; |
38d15f06 JC |
1022 | struct adis16400_state *st; |
1023 | struct iio_dev *indio_dev = iio_allocate_device(sizeof(*st)); | |
1024 | if (indio_dev == NULL) { | |
a9d26f00 BS |
1025 | ret = -ENOMEM; |
1026 | goto error_ret; | |
1027 | } | |
38d15f06 | 1028 | st = iio_priv(indio_dev); |
a9d26f00 | 1029 | /* this is only used for removal purposes */ |
38d15f06 | 1030 | spi_set_drvdata(spi, indio_dev); |
a9d26f00 | 1031 | |
a9d26f00 BS |
1032 | st->us = spi; |
1033 | mutex_init(&st->buf_lock); | |
38d15f06 | 1034 | |
a9d26f00 | 1035 | /* setup the industrialio driver allocated elements */ |
2a29a90b | 1036 | st->variant = &adis16400_chips[spi_get_device_id(spi)->driver_data]; |
38d15f06 JC |
1037 | indio_dev->dev.parent = &spi->dev; |
1038 | indio_dev->name = spi_get_device_id(spi)->name; | |
38d15f06 JC |
1039 | indio_dev->channels = st->variant->channels; |
1040 | indio_dev->num_channels = st->variant->num_channels; | |
6fe8135f | 1041 | indio_dev->info = &adis16400_info; |
38d15f06 JC |
1042 | indio_dev->modes = INDIO_DIRECT_MODE; |
1043 | ||
1044 | ret = adis16400_configure_ring(indio_dev); | |
a9d26f00 BS |
1045 | if (ret) |
1046 | goto error_free_dev; | |
1047 | ||
14555b14 JC |
1048 | ret = iio_buffer_register(indio_dev, |
1049 | st->variant->channels, | |
1050 | st->variant->num_channels); | |
a9d26f00 | 1051 | if (ret) { |
6a6ec623 | 1052 | dev_err(&spi->dev, "failed to initialize the ring\n"); |
a9d26f00 BS |
1053 | goto error_unreg_ring_funcs; |
1054 | } | |
1055 | ||
521de518 | 1056 | if (spi->irq) { |
38d15f06 | 1057 | ret = adis16400_probe_trigger(indio_dev); |
a9d26f00 | 1058 | if (ret) |
b333a240 | 1059 | goto error_uninitialize_ring; |
a9d26f00 BS |
1060 | } |
1061 | ||
1062 | /* Get the device into a sane initial state */ | |
38d15f06 | 1063 | ret = adis16400_initial_setup(indio_dev); |
a9d26f00 BS |
1064 | if (ret) |
1065 | goto error_remove_trigger; | |
26d25ae3 JC |
1066 | ret = iio_device_register(indio_dev); |
1067 | if (ret) | |
1068 | goto error_remove_trigger; | |
1069 | ||
a9d26f00 BS |
1070 | return 0; |
1071 | ||
1072 | error_remove_trigger: | |
ec3afa40 | 1073 | if (indio_dev->modes & INDIO_BUFFER_TRIGGERED) |
38d15f06 | 1074 | adis16400_remove_trigger(indio_dev); |
a9d26f00 | 1075 | error_uninitialize_ring: |
14555b14 | 1076 | iio_buffer_unregister(indio_dev); |
a9d26f00 | 1077 | error_unreg_ring_funcs: |
38d15f06 | 1078 | adis16400_unconfigure_ring(indio_dev); |
a9d26f00 | 1079 | error_free_dev: |
26d25ae3 | 1080 | iio_free_device(indio_dev); |
a9d26f00 BS |
1081 | error_ret: |
1082 | return ret; | |
1083 | } | |
1084 | ||
1085 | /* fixme, confirm ordering in this function */ | |
1086 | static int adis16400_remove(struct spi_device *spi) | |
1087 | { | |
1088 | int ret; | |
38d15f06 | 1089 | struct iio_dev *indio_dev = spi_get_drvdata(spi); |
a9d26f00 | 1090 | |
e7854845 | 1091 | ret = adis16400_stop_device(indio_dev); |
a9d26f00 BS |
1092 | if (ret) |
1093 | goto err_ret; | |
1094 | ||
a9d26f00 | 1095 | adis16400_remove_trigger(indio_dev); |
14555b14 | 1096 | iio_buffer_unregister(indio_dev); |
a9d26f00 BS |
1097 | adis16400_unconfigure_ring(indio_dev); |
1098 | iio_device_unregister(indio_dev); | |
2a29a90b | 1099 | |
a9d26f00 BS |
1100 | return 0; |
1101 | ||
1102 | err_ret: | |
1103 | return ret; | |
1104 | } | |
1105 | ||
2a29a90b | 1106 | static const struct spi_device_id adis16400_id[] = { |
8e886e65 | 1107 | {"adis16300", ADIS16300}, |
85da5059 | 1108 | {"adis16334", ADIS16334}, |
2a29a90b JC |
1109 | {"adis16350", ADIS16350}, |
1110 | {"adis16354", ADIS16350}, | |
1111 | {"adis16355", ADIS16350}, | |
1112 | {"adis16360", ADIS16360}, | |
1113 | {"adis16362", ADIS16362}, | |
1114 | {"adis16364", ADIS16364}, | |
1115 | {"adis16365", ADIS16365}, | |
1116 | {"adis16400", ADIS16400}, | |
1117 | {"adis16405", ADIS16400}, | |
1118 | {} | |
1119 | }; | |
1120 | ||
a9d26f00 BS |
1121 | static struct spi_driver adis16400_driver = { |
1122 | .driver = { | |
1123 | .name = "adis16400", | |
1124 | .owner = THIS_MODULE, | |
1125 | }, | |
2a29a90b | 1126 | .id_table = adis16400_id, |
a9d26f00 BS |
1127 | .probe = adis16400_probe, |
1128 | .remove = __devexit_p(adis16400_remove), | |
1129 | }; | |
1130 | ||
1131 | static __init int adis16400_init(void) | |
1132 | { | |
1133 | return spi_register_driver(&adis16400_driver); | |
1134 | } | |
1135 | module_init(adis16400_init); | |
1136 | ||
1137 | static __exit void adis16400_exit(void) | |
1138 | { | |
1139 | spi_unregister_driver(&adis16400_driver); | |
1140 | } | |
1141 | module_exit(adis16400_exit); | |
1142 | ||
1143 | MODULE_AUTHOR("Manuel Stahl <manuel.stahl@iis.fraunhofer.de>"); | |
1144 | MODULE_DESCRIPTION("Analog Devices ADIS16400/5 IMU SPI driver"); | |
1145 | MODULE_LICENSE("GPL v2"); |