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> | |
19 | #include <linux/gpio.h> | |
20 | #include <linux/delay.h> | |
21 | #include <linux/mutex.h> | |
22 | #include <linux/device.h> | |
23 | #include <linux/kernel.h> | |
24 | #include <linux/spi/spi.h> | |
1cb6c1f5 | 25 | #include <linux/slab.h> |
a9d26f00 BS |
26 | #include <linux/sysfs.h> |
27 | #include <linux/list.h> | |
99c97852 | 28 | #include <linux/module.h> |
a9d26f00 BS |
29 | |
30 | #include "../iio.h" | |
31 | #include "../sysfs.h" | |
2662051e | 32 | #include "../ring_generic.h" |
a9d26f00 BS |
33 | #include "adis16400.h" |
34 | ||
35 | #define DRIVER_NAME "adis16400" | |
36 | ||
2a29a90b | 37 | enum adis16400_chip_variant { |
8e886e65 | 38 | ADIS16300, |
88b42f3a | 39 | ADIS16344, |
2a29a90b JC |
40 | ADIS16350, |
41 | ADIS16360, | |
42 | ADIS16362, | |
43 | ADIS16364, | |
44 | ADIS16365, | |
45 | ADIS16400, | |
46 | }; | |
47 | ||
e7854845 | 48 | static int adis16400_check_status(struct iio_dev *indio_dev); |
3fd66da1 | 49 | |
a9d26f00 BS |
50 | /* At the moment the spi framework doesn't allow global setting of cs_change. |
51 | * It's in the likely to be added comment at the top of spi.h. | |
52 | * This means that use cannot be made of spi_write etc. | |
53 | */ | |
54 | ||
55 | /** | |
56 | * adis16400_spi_write_reg_8() - write single byte to a register | |
57 | * @dev: device associated with child of actual device (iio_dev or iio_trig) | |
58 | * @reg_address: the address of the register to be written | |
59 | * @val: the value to write | |
60 | **/ | |
e7854845 JC |
61 | static int adis16400_spi_write_reg_8(struct iio_dev *indio_dev, |
62 | u8 reg_address, | |
63 | u8 val) | |
a9d26f00 BS |
64 | { |
65 | int ret; | |
38d15f06 | 66 | struct adis16400_state *st = iio_priv(indio_dev); |
a9d26f00 BS |
67 | |
68 | mutex_lock(&st->buf_lock); | |
69 | st->tx[0] = ADIS16400_WRITE_REG(reg_address); | |
70 | st->tx[1] = val; | |
71 | ||
72 | ret = spi_write(st->us, st->tx, 2); | |
73 | mutex_unlock(&st->buf_lock); | |
74 | ||
75 | return ret; | |
76 | } | |
77 | ||
78 | /** | |
79 | * adis16400_spi_write_reg_16() - write 2 bytes to a pair of registers | |
80 | * @dev: device associated with child of actual device (iio_dev or iio_trig) | |
81 | * @reg_address: the address of the lower of the two registers. Second register | |
82 | * is assumed to have address one greater. | |
83 | * @val: value to be written | |
84 | **/ | |
e7854845 | 85 | static int adis16400_spi_write_reg_16(struct iio_dev *indio_dev, |
a9d26f00 BS |
86 | u8 lower_reg_address, |
87 | u16 value) | |
88 | { | |
89 | int ret; | |
90 | struct spi_message msg; | |
38d15f06 | 91 | struct adis16400_state *st = iio_priv(indio_dev); |
a9d26f00 BS |
92 | struct spi_transfer xfers[] = { |
93 | { | |
94 | .tx_buf = st->tx, | |
95 | .bits_per_word = 8, | |
96 | .len = 2, | |
97 | .cs_change = 1, | |
98 | }, { | |
99 | .tx_buf = st->tx + 2, | |
100 | .bits_per_word = 8, | |
101 | .len = 2, | |
a9d26f00 BS |
102 | }, |
103 | }; | |
104 | ||
105 | mutex_lock(&st->buf_lock); | |
106 | st->tx[0] = ADIS16400_WRITE_REG(lower_reg_address); | |
107 | st->tx[1] = value & 0xFF; | |
108 | st->tx[2] = ADIS16400_WRITE_REG(lower_reg_address + 1); | |
109 | st->tx[3] = (value >> 8) & 0xFF; | |
110 | ||
111 | spi_message_init(&msg); | |
112 | spi_message_add_tail(&xfers[0], &msg); | |
113 | spi_message_add_tail(&xfers[1], &msg); | |
114 | ret = spi_sync(st->us, &msg); | |
115 | mutex_unlock(&st->buf_lock); | |
116 | ||
117 | return ret; | |
118 | } | |
119 | ||
120 | /** | |
121 | * adis16400_spi_read_reg_16() - read 2 bytes from a 16-bit register | |
e7854845 | 122 | * @indio_dev: iio device |
a9d26f00 BS |
123 | * @reg_address: the address of the lower of the two registers. Second register |
124 | * is assumed to have address one greater. | |
125 | * @val: somewhere to pass back the value read | |
126 | **/ | |
e7854845 | 127 | static int adis16400_spi_read_reg_16(struct iio_dev *indio_dev, |
a9d26f00 BS |
128 | u8 lower_reg_address, |
129 | u16 *val) | |
130 | { | |
131 | struct spi_message msg; | |
38d15f06 | 132 | struct adis16400_state *st = iio_priv(indio_dev); |
a9d26f00 BS |
133 | int ret; |
134 | struct spi_transfer xfers[] = { | |
135 | { | |
136 | .tx_buf = st->tx, | |
137 | .bits_per_word = 8, | |
138 | .len = 2, | |
139 | .cs_change = 1, | |
140 | }, { | |
141 | .rx_buf = st->rx, | |
142 | .bits_per_word = 8, | |
143 | .len = 2, | |
a9d26f00 BS |
144 | }, |
145 | }; | |
146 | ||
147 | mutex_lock(&st->buf_lock); | |
148 | st->tx[0] = ADIS16400_READ_REG(lower_reg_address); | |
149 | st->tx[1] = 0; | |
a9d26f00 BS |
150 | |
151 | spi_message_init(&msg); | |
152 | spi_message_add_tail(&xfers[0], &msg); | |
153 | spi_message_add_tail(&xfers[1], &msg); | |
154 | ret = spi_sync(st->us, &msg); | |
155 | if (ret) { | |
156 | dev_err(&st->us->dev, | |
157 | "problem when reading 16 bit register 0x%02X", | |
158 | lower_reg_address); | |
159 | goto error_ret; | |
160 | } | |
161 | *val = (st->rx[0] << 8) | st->rx[1]; | |
162 | ||
163 | error_ret: | |
164 | mutex_unlock(&st->buf_lock); | |
165 | return ret; | |
166 | } | |
167 | ||
a9d26f00 BS |
168 | static ssize_t adis16400_read_frequency(struct device *dev, |
169 | struct device_attribute *attr, | |
170 | char *buf) | |
171 | { | |
e7854845 | 172 | struct iio_dev *indio_dev = dev_get_drvdata(dev); |
a9d26f00 BS |
173 | int ret, len = 0; |
174 | u16 t; | |
175 | int sps; | |
e7854845 | 176 | ret = adis16400_spi_read_reg_16(indio_dev, |
a9d26f00 BS |
177 | ADIS16400_SMPL_PRD, |
178 | &t); | |
179 | if (ret) | |
180 | return ret; | |
181 | sps = (t & ADIS16400_SMPL_PRD_TIME_BASE) ? 53 : 1638; | |
182 | sps /= (t & ADIS16400_SMPL_PRD_DIV_MASK) + 1; | |
183 | len = sprintf(buf, "%d SPS\n", sps); | |
184 | return len; | |
185 | } | |
186 | ||
187 | static ssize_t adis16400_write_frequency(struct device *dev, | |
188 | struct device_attribute *attr, | |
189 | const char *buf, | |
190 | size_t len) | |
191 | { | |
192 | struct iio_dev *indio_dev = dev_get_drvdata(dev); | |
38d15f06 | 193 | struct adis16400_state *st = iio_priv(indio_dev); |
a9d26f00 BS |
194 | long val; |
195 | int ret; | |
196 | u8 t; | |
197 | ||
198 | ret = strict_strtol(buf, 10, &val); | |
199 | if (ret) | |
200 | return ret; | |
201 | ||
202 | mutex_lock(&indio_dev->mlock); | |
203 | ||
204 | t = (1638 / val); | |
205 | if (t > 0) | |
206 | t--; | |
207 | t &= ADIS16400_SMPL_PRD_DIV_MASK; | |
208 | if ((t & ADIS16400_SMPL_PRD_DIV_MASK) >= 0x0A) | |
209 | st->us->max_speed_hz = ADIS16400_SPI_SLOW; | |
210 | else | |
211 | st->us->max_speed_hz = ADIS16400_SPI_FAST; | |
212 | ||
e7854845 | 213 | ret = adis16400_spi_write_reg_8(indio_dev, |
a9d26f00 BS |
214 | ADIS16400_SMPL_PRD, |
215 | t); | |
216 | ||
217 | mutex_unlock(&indio_dev->mlock); | |
218 | ||
219 | return ret ? ret : len; | |
220 | } | |
221 | ||
e7854845 | 222 | static int adis16400_reset(struct iio_dev *indio_dev) |
3fd66da1 BS |
223 | { |
224 | int ret; | |
e7854845 | 225 | ret = adis16400_spi_write_reg_8(indio_dev, |
3fd66da1 BS |
226 | ADIS16400_GLOB_CMD, |
227 | ADIS16400_GLOB_CMD_SW_RESET); | |
228 | if (ret) | |
e7854845 | 229 | dev_err(&indio_dev->dev, "problem resetting device"); |
3fd66da1 BS |
230 | |
231 | return ret; | |
232 | } | |
233 | ||
a9d26f00 BS |
234 | static ssize_t adis16400_write_reset(struct device *dev, |
235 | struct device_attribute *attr, | |
236 | const char *buf, size_t len) | |
237 | { | |
7a6ff010 JC |
238 | bool val; |
239 | int ret; | |
e7854845 | 240 | |
7a6ff010 JC |
241 | ret = strtobool(buf, &val); |
242 | if (ret < 0) | |
243 | return ret; | |
244 | if (val) | |
245 | ret = adis16400_reset(dev_get_drvdata(dev)); | |
246 | if (ret < 0) | |
247 | return ret; | |
248 | ||
249 | return len; | |
a9d26f00 BS |
250 | } |
251 | ||
e7854845 | 252 | int adis16400_set_irq(struct iio_dev *indio_dev, bool enable) |
a9d26f00 BS |
253 | { |
254 | int ret; | |
255 | u16 msc; | |
e7854845 | 256 | ret = adis16400_spi_read_reg_16(indio_dev, ADIS16400_MSC_CTRL, &msc); |
a9d26f00 BS |
257 | if (ret) |
258 | goto error_ret; | |
259 | ||
260 | msc |= ADIS16400_MSC_CTRL_DATA_RDY_POL_HIGH; | |
261 | if (enable) | |
262 | msc |= ADIS16400_MSC_CTRL_DATA_RDY_EN; | |
263 | else | |
264 | msc &= ~ADIS16400_MSC_CTRL_DATA_RDY_EN; | |
265 | ||
e7854845 | 266 | ret = adis16400_spi_write_reg_16(indio_dev, ADIS16400_MSC_CTRL, msc); |
a9d26f00 BS |
267 | if (ret) |
268 | goto error_ret; | |
269 | ||
270 | error_ret: | |
271 | return ret; | |
272 | } | |
273 | ||
a9d26f00 | 274 | /* Power down the device */ |
e7854845 | 275 | static int adis16400_stop_device(struct iio_dev *indio_dev) |
a9d26f00 BS |
276 | { |
277 | int ret; | |
278 | u16 val = ADIS16400_SLP_CNT_POWER_OFF; | |
279 | ||
e7854845 | 280 | ret = adis16400_spi_write_reg_16(indio_dev, ADIS16400_SLP_CNT, val); |
a9d26f00 | 281 | if (ret) |
e7854845 JC |
282 | dev_err(&indio_dev->dev, |
283 | "problem with turning device off: SLP_CNT"); | |
a9d26f00 BS |
284 | |
285 | return ret; | |
286 | } | |
287 | ||
e7854845 | 288 | static int adis16400_self_test(struct iio_dev *indio_dev) |
a9d26f00 BS |
289 | { |
290 | int ret; | |
e7854845 | 291 | ret = adis16400_spi_write_reg_16(indio_dev, |
a9d26f00 BS |
292 | ADIS16400_MSC_CTRL, |
293 | ADIS16400_MSC_CTRL_MEM_TEST); | |
294 | if (ret) { | |
e7854845 | 295 | dev_err(&indio_dev->dev, "problem starting self test"); |
a9d26f00 BS |
296 | goto err_ret; |
297 | } | |
e7854845 | 298 | |
c59c95ce | 299 | msleep(ADIS16400_MTEST_DELAY); |
e7854845 | 300 | adis16400_check_status(indio_dev); |
a9d26f00 BS |
301 | |
302 | err_ret: | |
303 | return ret; | |
304 | } | |
305 | ||
e7854845 | 306 | static int adis16400_check_status(struct iio_dev *indio_dev) |
a9d26f00 BS |
307 | { |
308 | u16 status; | |
309 | int ret; | |
e7854845 | 310 | struct device *dev = &indio_dev->dev; |
a9d26f00 | 311 | |
e7854845 JC |
312 | ret = adis16400_spi_read_reg_16(indio_dev, |
313 | ADIS16400_DIAG_STAT, &status); | |
a9d26f00 BS |
314 | |
315 | if (ret < 0) { | |
316 | dev_err(dev, "Reading status failed\n"); | |
317 | goto error_ret; | |
318 | } | |
319 | ret = status; | |
320 | if (status & ADIS16400_DIAG_STAT_ZACCL_FAIL) | |
321 | dev_err(dev, "Z-axis accelerometer self-test failure\n"); | |
322 | if (status & ADIS16400_DIAG_STAT_YACCL_FAIL) | |
323 | dev_err(dev, "Y-axis accelerometer self-test failure\n"); | |
324 | if (status & ADIS16400_DIAG_STAT_XACCL_FAIL) | |
325 | dev_err(dev, "X-axis accelerometer self-test failure\n"); | |
326 | if (status & ADIS16400_DIAG_STAT_XGYRO_FAIL) | |
327 | dev_err(dev, "X-axis gyroscope self-test failure\n"); | |
328 | if (status & ADIS16400_DIAG_STAT_YGYRO_FAIL) | |
329 | dev_err(dev, "Y-axis gyroscope self-test failure\n"); | |
330 | if (status & ADIS16400_DIAG_STAT_ZGYRO_FAIL) | |
331 | dev_err(dev, "Z-axis gyroscope self-test failure\n"); | |
332 | if (status & ADIS16400_DIAG_STAT_ALARM2) | |
333 | dev_err(dev, "Alarm 2 active\n"); | |
334 | if (status & ADIS16400_DIAG_STAT_ALARM1) | |
335 | dev_err(dev, "Alarm 1 active\n"); | |
336 | if (status & ADIS16400_DIAG_STAT_FLASH_CHK) | |
337 | dev_err(dev, "Flash checksum error\n"); | |
338 | if (status & ADIS16400_DIAG_STAT_SELF_TEST) | |
339 | dev_err(dev, "Self test error\n"); | |
340 | if (status & ADIS16400_DIAG_STAT_OVERFLOW) | |
341 | dev_err(dev, "Sensor overrange\n"); | |
342 | if (status & ADIS16400_DIAG_STAT_SPI_FAIL) | |
343 | dev_err(dev, "SPI failure\n"); | |
344 | if (status & ADIS16400_DIAG_STAT_FLASH_UPT) | |
345 | dev_err(dev, "Flash update failed\n"); | |
346 | if (status & ADIS16400_DIAG_STAT_POWER_HIGH) | |
347 | dev_err(dev, "Power supply above 5.25V\n"); | |
348 | if (status & ADIS16400_DIAG_STAT_POWER_LOW) | |
349 | dev_err(dev, "Power supply below 4.75V\n"); | |
350 | ||
351 | error_ret: | |
352 | return ret; | |
353 | } | |
354 | ||
38d15f06 | 355 | static int adis16400_initial_setup(struct iio_dev *indio_dev) |
a9d26f00 BS |
356 | { |
357 | int ret; | |
358 | u16 prod_id, smp_prd; | |
38d15f06 JC |
359 | struct device *dev = &indio_dev->dev; |
360 | struct adis16400_state *st = iio_priv(indio_dev); | |
a9d26f00 BS |
361 | |
362 | /* use low spi speed for init */ | |
363 | st->us->max_speed_hz = ADIS16400_SPI_SLOW; | |
364 | st->us->mode = SPI_MODE_3; | |
365 | spi_setup(st->us); | |
366 | ||
367 | /* Disable IRQ */ | |
38d15f06 | 368 | ret = adis16400_set_irq(indio_dev, false); |
a9d26f00 BS |
369 | if (ret) { |
370 | dev_err(dev, "disable irq failed"); | |
371 | goto err_ret; | |
372 | } | |
373 | ||
374 | /* Do self test */ | |
38d15f06 | 375 | ret = adis16400_self_test(indio_dev); |
3fd66da1 BS |
376 | if (ret) { |
377 | dev_err(dev, "self test failure"); | |
378 | goto err_ret; | |
379 | } | |
a9d26f00 BS |
380 | |
381 | /* Read status register to check the result */ | |
38d15f06 | 382 | ret = adis16400_check_status(indio_dev); |
a9d26f00 | 383 | if (ret) { |
38d15f06 | 384 | adis16400_reset(indio_dev); |
a9d26f00 BS |
385 | dev_err(dev, "device not playing ball -> reset"); |
386 | msleep(ADIS16400_STARTUP_DELAY); | |
38d15f06 | 387 | ret = adis16400_check_status(indio_dev); |
a9d26f00 BS |
388 | if (ret) { |
389 | dev_err(dev, "giving up"); | |
390 | goto err_ret; | |
391 | } | |
392 | } | |
2a29a90b | 393 | if (st->variant->flags & ADIS16400_HAS_PROD_ID) { |
38d15f06 | 394 | ret = adis16400_spi_read_reg_16(indio_dev, |
2a29a90b JC |
395 | ADIS16400_PRODUCT_ID, &prod_id); |
396 | if (ret) | |
397 | goto err_ret; | |
a9d26f00 | 398 | |
2a29a90b JC |
399 | if ((prod_id & 0xF000) != st->variant->product_id) |
400 | dev_warn(dev, "incorrect id"); | |
a9d26f00 | 401 | |
2a29a90b JC |
402 | printk(KERN_INFO DRIVER_NAME ": prod_id 0x%04x at CS%d (irq %d)\n", |
403 | prod_id, st->us->chip_select, st->us->irq); | |
404 | } | |
a9d26f00 | 405 | /* use high spi speed if possible */ |
38d15f06 | 406 | ret = adis16400_spi_read_reg_16(indio_dev, |
e7854845 | 407 | ADIS16400_SMPL_PRD, &smp_prd); |
a9d26f00 BS |
408 | if (!ret && (smp_prd & ADIS16400_SMPL_PRD_DIV_MASK) < 0x0A) { |
409 | st->us->max_speed_hz = ADIS16400_SPI_SLOW; | |
410 | spi_setup(st->us); | |
411 | } | |
412 | ||
413 | ||
414 | err_ret: | |
415 | ||
416 | return ret; | |
417 | } | |
418 | ||
a9d26f00 BS |
419 | static IIO_DEV_ATTR_SAMP_FREQ(S_IWUSR | S_IRUGO, |
420 | adis16400_read_frequency, | |
421 | adis16400_write_frequency); | |
422 | ||
423 | static IIO_DEVICE_ATTR(reset, S_IWUSR, NULL, adis16400_write_reset, 0); | |
424 | ||
51a0a5b0 | 425 | static IIO_CONST_ATTR_SAMP_FREQ_AVAIL("409 546 819 1638"); |
a9d26f00 | 426 | |
e7854845 JC |
427 | enum adis16400_chan { |
428 | in_supply, | |
429 | gyro_x, | |
430 | gyro_y, | |
431 | gyro_z, | |
432 | accel_x, | |
433 | accel_y, | |
434 | accel_z, | |
435 | magn_x, | |
436 | magn_y, | |
437 | magn_z, | |
438 | temp, | |
2a29a90b | 439 | temp0, temp1, temp2, |
91ab3fc9 JC |
440 | in1, |
441 | incli_x, | |
442 | incli_y, | |
e7854845 JC |
443 | }; |
444 | ||
91ab3fc9 | 445 | static u8 adis16400_addresses[17][2] = { |
e7854845 JC |
446 | [in_supply] = { ADIS16400_SUPPLY_OUT, 0 }, |
447 | [gyro_x] = { ADIS16400_XGYRO_OUT, ADIS16400_XGYRO_OFF }, | |
448 | [gyro_y] = { ADIS16400_YGYRO_OUT, ADIS16400_YGYRO_OFF }, | |
449 | [gyro_z] = { ADIS16400_ZGYRO_OUT, ADIS16400_ZGYRO_OFF }, | |
450 | [accel_x] = { ADIS16400_XACCL_OUT, ADIS16400_XACCL_OFF }, | |
451 | [accel_y] = { ADIS16400_YACCL_OUT, ADIS16400_YACCL_OFF }, | |
452 | [accel_z] = { ADIS16400_ZACCL_OUT, ADIS16400_ZACCL_OFF }, | |
453 | [magn_x] = { ADIS16400_XMAGN_OUT, 0 }, | |
454 | [magn_y] = { ADIS16400_YMAGN_OUT, 0 }, | |
455 | [magn_z] = { ADIS16400_ZMAGN_OUT, 0 }, | |
456 | [temp] = { ADIS16400_TEMP_OUT, 0 }, | |
2a29a90b JC |
457 | [temp0] = { ADIS16350_XTEMP_OUT }, |
458 | [temp1] = { ADIS16350_YTEMP_OUT }, | |
459 | [temp2] = { ADIS16350_ZTEMP_OUT }, | |
91ab3fc9 JC |
460 | [in1] = { ADIS16400_AUX_ADC, 0 }, |
461 | [incli_x] = { ADIS16300_PITCH_OUT, 0 }, | |
462 | [incli_y] = { ADIS16300_ROLL_OUT, 0 } | |
e7854845 JC |
463 | }; |
464 | ||
465 | static int adis16400_write_raw(struct iio_dev *indio_dev, | |
466 | struct iio_chan_spec const *chan, | |
467 | int val, | |
468 | int val2, | |
469 | long mask) | |
470 | { | |
471 | int ret; | |
472 | switch (mask) { | |
473 | case (1 << IIO_CHAN_INFO_CALIBBIAS_SEPARATE): | |
474 | mutex_lock(&indio_dev->mlock); | |
475 | ret = adis16400_spi_write_reg_16(indio_dev, | |
476 | adis16400_addresses[chan->address][1], | |
477 | val); | |
478 | mutex_unlock(&indio_dev->mlock); | |
479 | return ret; | |
480 | default: | |
481 | return -EINVAL; | |
482 | } | |
483 | } | |
484 | ||
485 | static int adis16400_read_raw(struct iio_dev *indio_dev, | |
486 | struct iio_chan_spec const *chan, | |
487 | int *val, | |
488 | int *val2, | |
489 | long mask) | |
490 | { | |
38d15f06 | 491 | struct adis16400_state *st = iio_priv(indio_dev); |
e7854845 JC |
492 | int ret; |
493 | s16 val16; | |
494 | int shift; | |
495 | ||
496 | switch (mask) { | |
497 | case 0: | |
498 | mutex_lock(&indio_dev->mlock); | |
499 | ret = adis16400_spi_read_reg_16(indio_dev, | |
500 | adis16400_addresses[chan->address][0], | |
501 | &val16); | |
502 | if (ret) { | |
503 | mutex_unlock(&indio_dev->mlock); | |
504 | return ret; | |
505 | } | |
506 | val16 &= (1 << chan->scan_type.realbits) - 1; | |
507 | if (chan->scan_type.sign == 's') { | |
508 | shift = 16 - chan->scan_type.realbits; | |
509 | val16 = (s16)(val16 << shift) >> shift; | |
510 | } | |
511 | *val = val16; | |
512 | mutex_unlock(&indio_dev->mlock); | |
513 | return IIO_VAL_INT; | |
514 | case (1 << IIO_CHAN_INFO_SCALE_SHARED): | |
515 | case (1 << IIO_CHAN_INFO_SCALE_SEPARATE): | |
516 | switch (chan->type) { | |
517 | case IIO_GYRO: | |
518 | *val = 0; | |
2a29a90b | 519 | *val2 = st->variant->gyro_scale_micro; |
e7854845 JC |
520 | return IIO_VAL_INT_PLUS_MICRO; |
521 | case IIO_IN: | |
522 | *val = 0; | |
523 | if (chan->channel == 0) | |
524 | *val2 = 2418; | |
525 | else | |
526 | *val2 = 806; | |
527 | return IIO_VAL_INT_PLUS_MICRO; | |
528 | case IIO_ACCEL: | |
529 | *val = 0; | |
2a29a90b | 530 | *val2 = st->variant->accel_scale_micro; |
e7854845 JC |
531 | return IIO_VAL_INT_PLUS_MICRO; |
532 | case IIO_MAGN: | |
533 | *val = 0; | |
534 | *val2 = 500; | |
535 | return IIO_VAL_INT_PLUS_MICRO; | |
536 | case IIO_TEMP: | |
537 | *val = 0; | |
538 | *val2 = 140000; | |
539 | return IIO_VAL_INT_PLUS_MICRO; | |
540 | default: | |
541 | return -EINVAL; | |
542 | } | |
543 | case (1 << IIO_CHAN_INFO_CALIBBIAS_SEPARATE): | |
544 | mutex_lock(&indio_dev->mlock); | |
545 | ret = adis16400_spi_read_reg_16(indio_dev, | |
546 | adis16400_addresses[chan->address][1], | |
547 | &val16); | |
2a29a90b JC |
548 | mutex_unlock(&indio_dev->mlock); |
549 | if (ret) | |
e7854845 | 550 | return ret; |
e7854845 JC |
551 | val16 = ((val16 & 0xFFF) << 4) >> 4; |
552 | *val = val16; | |
553 | return IIO_VAL_INT; | |
554 | case (1 << IIO_CHAN_INFO_OFFSET_SEPARATE): | |
555 | /* currently only temperature */ | |
556 | *val = 198; | |
557 | *val2 = 160000; | |
558 | return IIO_VAL_INT_PLUS_MICRO; | |
559 | default: | |
560 | return -EINVAL; | |
561 | } | |
562 | } | |
563 | ||
564 | static struct iio_chan_spec adis16400_channels[] = { | |
565 | IIO_CHAN(IIO_IN, 0, 1, 0, "supply", 0, 0, | |
566 | (1 << IIO_CHAN_INFO_SCALE_SEPARATE), | |
567 | in_supply, ADIS16400_SCAN_SUPPLY, | |
568 | IIO_ST('u', 14, 16, 0), 0), | |
569 | IIO_CHAN(IIO_GYRO, 1, 0, 0, NULL, 0, IIO_MOD_X, | |
570 | (1 << IIO_CHAN_INFO_CALIBBIAS_SEPARATE) | | |
571 | (1 << IIO_CHAN_INFO_SCALE_SHARED), | |
572 | gyro_x, ADIS16400_SCAN_GYRO_X, IIO_ST('s', 14, 16, 0), 0), | |
573 | IIO_CHAN(IIO_GYRO, 1, 0, 0, NULL, 0, IIO_MOD_Y, | |
574 | (1 << IIO_CHAN_INFO_CALIBBIAS_SEPARATE) | | |
575 | (1 << IIO_CHAN_INFO_SCALE_SHARED), | |
576 | gyro_y, ADIS16400_SCAN_GYRO_Y, IIO_ST('s', 14, 16, 0), 0), | |
577 | IIO_CHAN(IIO_GYRO, 1, 0, 0, NULL, 0, IIO_MOD_Z, | |
578 | (1 << IIO_CHAN_INFO_CALIBBIAS_SEPARATE) | | |
579 | (1 << IIO_CHAN_INFO_SCALE_SHARED), | |
580 | gyro_z, ADIS16400_SCAN_GYRO_Z, IIO_ST('s', 14, 16, 0), 0), | |
581 | IIO_CHAN(IIO_ACCEL, 1, 0, 0, NULL, 0, IIO_MOD_X, | |
582 | (1 << IIO_CHAN_INFO_CALIBBIAS_SEPARATE) | | |
583 | (1 << IIO_CHAN_INFO_SCALE_SHARED), | |
584 | accel_x, ADIS16400_SCAN_ACC_X, IIO_ST('s', 14, 16, 0), 0), | |
585 | IIO_CHAN(IIO_ACCEL, 1, 0, 0, NULL, 0, IIO_MOD_Y, | |
586 | (1 << IIO_CHAN_INFO_CALIBBIAS_SEPARATE) | | |
587 | (1 << IIO_CHAN_INFO_SCALE_SHARED), | |
588 | accel_y, ADIS16400_SCAN_ACC_Y, IIO_ST('s', 14, 16, 0), 0), | |
589 | IIO_CHAN(IIO_ACCEL, 1, 0, 0, NULL, 0, IIO_MOD_Z, | |
590 | (1 << IIO_CHAN_INFO_CALIBBIAS_SEPARATE) | | |
591 | (1 << IIO_CHAN_INFO_SCALE_SHARED), | |
592 | accel_z, ADIS16400_SCAN_ACC_Z, IIO_ST('s', 14, 16, 0), 0), | |
593 | IIO_CHAN(IIO_MAGN, 1, 0, 0, NULL, 0, IIO_MOD_X, | |
594 | (1 << IIO_CHAN_INFO_SCALE_SHARED), | |
595 | magn_x, ADIS16400_SCAN_MAGN_X, IIO_ST('s', 14, 16, 0), 0), | |
596 | IIO_CHAN(IIO_MAGN, 1, 0, 0, NULL, 0, IIO_MOD_Y, | |
597 | (1 << IIO_CHAN_INFO_SCALE_SHARED), | |
598 | magn_y, ADIS16400_SCAN_MAGN_Y, IIO_ST('s', 14, 16, 0), 0), | |
599 | IIO_CHAN(IIO_MAGN, 1, 0, 0, NULL, 0, IIO_MOD_Z, | |
600 | (1 << IIO_CHAN_INFO_SCALE_SHARED), | |
601 | magn_z, ADIS16400_SCAN_MAGN_Z, IIO_ST('s', 14, 16, 0), 0), | |
602 | IIO_CHAN(IIO_TEMP, 0, 1, 0, NULL, 0, 0, | |
603 | (1 << IIO_CHAN_INFO_OFFSET_SEPARATE) | | |
604 | (1 << IIO_CHAN_INFO_SCALE_SEPARATE), | |
605 | temp, ADIS16400_SCAN_TEMP, IIO_ST('s', 12, 16, 0), 0), | |
606 | IIO_CHAN(IIO_IN, 0, 1, 0, NULL, 1, 0, | |
607 | (1 << IIO_CHAN_INFO_SCALE_SEPARATE), | |
608 | in1, ADIS16400_SCAN_ADC_0, IIO_ST('s', 12, 16, 0), 0), | |
609 | IIO_CHAN_SOFT_TIMESTAMP(12) | |
610 | }; | |
611 | ||
2a29a90b JC |
612 | static struct iio_chan_spec adis16350_channels[] = { |
613 | IIO_CHAN(IIO_IN, 0, 1, 0, "supply", 0, 0, | |
614 | (1 << IIO_CHAN_INFO_SCALE_SEPARATE), | |
91ab3fc9 | 615 | in_supply, ADIS16400_SCAN_SUPPLY, IIO_ST('u', 12, 16, 0), 0), |
2a29a90b JC |
616 | IIO_CHAN(IIO_GYRO, 1, 0, 0, NULL, 0, IIO_MOD_X, |
617 | (1 << IIO_CHAN_INFO_CALIBBIAS_SEPARATE) | | |
618 | (1 << IIO_CHAN_INFO_SCALE_SHARED), | |
91ab3fc9 | 619 | gyro_x, ADIS16400_SCAN_GYRO_X, IIO_ST('s', 14, 16, 0), 0), |
2a29a90b JC |
620 | IIO_CHAN(IIO_GYRO, 1, 0, 0, NULL, 0, IIO_MOD_Y, |
621 | (1 << IIO_CHAN_INFO_CALIBBIAS_SEPARATE) | | |
622 | (1 << IIO_CHAN_INFO_SCALE_SHARED), | |
91ab3fc9 | 623 | gyro_y, ADIS16400_SCAN_GYRO_Y, IIO_ST('s', 14, 16, 0), 0), |
2a29a90b JC |
624 | IIO_CHAN(IIO_GYRO, 1, 0, 0, NULL, 0, IIO_MOD_Z, |
625 | (1 << IIO_CHAN_INFO_CALIBBIAS_SEPARATE) | | |
626 | (1 << IIO_CHAN_INFO_SCALE_SHARED), | |
91ab3fc9 | 627 | gyro_z, ADIS16400_SCAN_GYRO_Z, IIO_ST('s', 14, 16, 0), 0), |
2a29a90b JC |
628 | IIO_CHAN(IIO_ACCEL, 1, 0, 0, NULL, 0, IIO_MOD_X, |
629 | (1 << IIO_CHAN_INFO_CALIBBIAS_SEPARATE) | | |
630 | (1 << IIO_CHAN_INFO_SCALE_SHARED), | |
91ab3fc9 | 631 | accel_x, ADIS16400_SCAN_ACC_X, IIO_ST('s', 14, 16, 0), 0), |
2a29a90b JC |
632 | IIO_CHAN(IIO_ACCEL, 1, 0, 0, NULL, 0, IIO_MOD_Y, |
633 | (1 << IIO_CHAN_INFO_CALIBBIAS_SEPARATE) | | |
634 | (1 << IIO_CHAN_INFO_SCALE_SHARED), | |
91ab3fc9 | 635 | accel_y, ADIS16400_SCAN_ACC_Y, IIO_ST('s', 14, 16, 0), 0), |
2a29a90b JC |
636 | IIO_CHAN(IIO_ACCEL, 1, 0, 0, NULL, 0, IIO_MOD_Z, |
637 | (1 << IIO_CHAN_INFO_CALIBBIAS_SEPARATE) | | |
638 | (1 << IIO_CHAN_INFO_SCALE_SHARED), | |
91ab3fc9 | 639 | accel_z, ADIS16400_SCAN_ACC_Z, IIO_ST('s', 14, 16, 0), 0), |
2a29a90b JC |
640 | IIO_CHAN(IIO_TEMP, 0, 1, 0, "x", 0, 0, |
641 | (1 << IIO_CHAN_INFO_OFFSET_SEPARATE) | | |
642 | (1 << IIO_CHAN_INFO_SCALE_SEPARATE), | |
91ab3fc9 | 643 | temp0, ADIS16350_SCAN_TEMP_X, IIO_ST('s', 12, 16, 0), 0), |
2a29a90b JC |
644 | IIO_CHAN(IIO_TEMP, 0, 1, 0, "y", 1, 0, |
645 | (1 << IIO_CHAN_INFO_OFFSET_SEPARATE) | | |
646 | (1 << IIO_CHAN_INFO_SCALE_SEPARATE), | |
91ab3fc9 | 647 | temp1, ADIS16350_SCAN_TEMP_Y, IIO_ST('s', 12, 16, 0), 0), |
2a29a90b JC |
648 | IIO_CHAN(IIO_TEMP, 0, 1, 0, "z", 2, 0, |
649 | (1 << IIO_CHAN_INFO_OFFSET_SEPARATE) | | |
650 | (1 << IIO_CHAN_INFO_SCALE_SEPARATE), | |
91ab3fc9 | 651 | temp2, ADIS16350_SCAN_TEMP_Z, IIO_ST('s', 12, 16, 0), 0), |
2a29a90b JC |
652 | IIO_CHAN(IIO_IN, 0, 1, 0, NULL, 1, 0, |
653 | (1 << IIO_CHAN_INFO_SCALE_SEPARATE), | |
91ab3fc9 | 654 | in1, ADIS16350_SCAN_ADC_0, IIO_ST('s', 12, 16, 0), 0), |
2a29a90b JC |
655 | IIO_CHAN_SOFT_TIMESTAMP(11) |
656 | }; | |
657 | ||
8e886e65 JC |
658 | static struct iio_chan_spec adis16300_channels[] = { |
659 | IIO_CHAN(IIO_IN, 0, 1, 0, "supply", 0, 0, | |
660 | (1 << IIO_CHAN_INFO_SCALE_SEPARATE), | |
91ab3fc9 | 661 | in_supply, ADIS16400_SCAN_SUPPLY, IIO_ST('u', 12, 16, 0), 0), |
8e886e65 JC |
662 | IIO_CHAN(IIO_GYRO, 1, 0, 0, NULL, 0, IIO_MOD_X, |
663 | (1 << IIO_CHAN_INFO_CALIBBIAS_SEPARATE) | | |
664 | (1 << IIO_CHAN_INFO_SCALE_SHARED), | |
91ab3fc9 | 665 | gyro_x, ADIS16400_SCAN_GYRO_X, IIO_ST('s', 14, 16, 0), 0), |
8e886e65 JC |
666 | IIO_CHAN(IIO_ACCEL, 1, 0, 0, NULL, 0, IIO_MOD_X, |
667 | (1 << IIO_CHAN_INFO_CALIBBIAS_SEPARATE) | | |
668 | (1 << IIO_CHAN_INFO_SCALE_SHARED), | |
91ab3fc9 | 669 | accel_x, ADIS16400_SCAN_ACC_X, IIO_ST('s', 14, 16, 0), 0), |
8e886e65 JC |
670 | IIO_CHAN(IIO_ACCEL, 1, 0, 0, NULL, 0, IIO_MOD_Y, |
671 | (1 << IIO_CHAN_INFO_CALIBBIAS_SEPARATE) | | |
672 | (1 << IIO_CHAN_INFO_SCALE_SHARED), | |
91ab3fc9 | 673 | accel_y, ADIS16400_SCAN_ACC_Y, IIO_ST('s', 14, 16, 0), 0), |
8e886e65 JC |
674 | IIO_CHAN(IIO_ACCEL, 1, 0, 0, NULL, 0, IIO_MOD_Z, |
675 | (1 << IIO_CHAN_INFO_CALIBBIAS_SEPARATE) | | |
676 | (1 << IIO_CHAN_INFO_SCALE_SHARED), | |
91ab3fc9 | 677 | accel_z, ADIS16400_SCAN_ACC_Z, IIO_ST('s', 14, 16, 0), 0), |
8e886e65 JC |
678 | IIO_CHAN(IIO_TEMP, 0, 1, 0, NULL, 0, 0, |
679 | (1 << IIO_CHAN_INFO_OFFSET_SEPARATE) | | |
680 | (1 << IIO_CHAN_INFO_SCALE_SEPARATE), | |
91ab3fc9 | 681 | temp, ADIS16400_SCAN_TEMP, IIO_ST('s', 12, 16, 0), 0), |
8e886e65 JC |
682 | IIO_CHAN(IIO_IN, 0, 1, 0, NULL, 1, 0, |
683 | (1 << IIO_CHAN_INFO_SCALE_SEPARATE), | |
91ab3fc9 | 684 | in1, ADIS16350_SCAN_ADC_0, IIO_ST('s', 12, 16, 0), 0), |
8e886e65 JC |
685 | IIO_CHAN(IIO_INCLI, 1, 0, 0, NULL, 0, IIO_MOD_X, |
686 | (1 << IIO_CHAN_INFO_SCALE_SHARED), | |
91ab3fc9 | 687 | incli_x, ADIS16300_SCAN_INCLI_X, IIO_ST('s', 13, 16, 0), 0), |
8e886e65 JC |
688 | IIO_CHAN(IIO_INCLI, 1, 0, 0, NULL, 0, IIO_MOD_Y, |
689 | (1 << IIO_CHAN_INFO_SCALE_SHARED), | |
91ab3fc9 | 690 | incli_y, ADIS16300_SCAN_INCLI_Y, IIO_ST('s', 13, 16, 0), 0), |
8e886e65 JC |
691 | IIO_CHAN_SOFT_TIMESTAMP(14) |
692 | }; | |
693 | ||
88b42f3a JC |
694 | static const struct iio_chan_spec adis16344_channels[] = { |
695 | IIO_CHAN(IIO_GYRO, 1, 0, 0, NULL, 0, IIO_MOD_X, | |
696 | (1 << IIO_CHAN_INFO_CALIBBIAS_SEPARATE) | | |
697 | (1 << IIO_CHAN_INFO_SCALE_SHARED), | |
698 | gyro_x, ADIS16400_SCAN_GYRO_X, IIO_ST('s', 14, 16, 0), 0), | |
699 | IIO_CHAN(IIO_GYRO, 1, 0, 0, NULL, 0, IIO_MOD_Y, | |
700 | (1 << IIO_CHAN_INFO_CALIBBIAS_SEPARATE) | | |
701 | (1 << IIO_CHAN_INFO_SCALE_SHARED), | |
702 | gyro_y, ADIS16400_SCAN_GYRO_Y, IIO_ST('s', 14, 16, 0), 0), | |
703 | IIO_CHAN(IIO_GYRO, 1, 0, 0, NULL, 0, IIO_MOD_Z, | |
704 | (1 << IIO_CHAN_INFO_CALIBBIAS_SEPARATE) | | |
705 | (1 << IIO_CHAN_INFO_SCALE_SHARED), | |
706 | gyro_z, ADIS16400_SCAN_GYRO_Z, IIO_ST('s', 14, 16, 0), 0), | |
707 | IIO_CHAN(IIO_ACCEL, 1, 0, 0, NULL, 0, IIO_MOD_X, | |
708 | (1 << IIO_CHAN_INFO_CALIBBIAS_SEPARATE) | | |
709 | (1 << IIO_CHAN_INFO_SCALE_SHARED), | |
710 | accel_x, ADIS16400_SCAN_ACC_X, IIO_ST('s', 14, 16, 0), 0), | |
711 | IIO_CHAN(IIO_ACCEL, 1, 0, 0, NULL, 0, IIO_MOD_Y, | |
712 | (1 << IIO_CHAN_INFO_CALIBBIAS_SEPARATE) | | |
713 | (1 << IIO_CHAN_INFO_SCALE_SHARED), | |
714 | accel_y, ADIS16400_SCAN_ACC_Y, IIO_ST('s', 14, 16, 0), 0), | |
715 | IIO_CHAN(IIO_ACCEL, 1, 0, 0, NULL, 0, IIO_MOD_Z, | |
716 | (1 << IIO_CHAN_INFO_CALIBBIAS_SEPARATE) | | |
717 | (1 << IIO_CHAN_INFO_SCALE_SHARED), | |
718 | accel_z, ADIS16400_SCAN_ACC_Z, IIO_ST('s', 14, 16, 0), 0), | |
719 | IIO_CHAN(IIO_TEMP, 0, 1, 0, NULL, 0, 0, | |
720 | (1 << IIO_CHAN_INFO_OFFSET_SEPARATE) | | |
721 | (1 << IIO_CHAN_INFO_SCALE_SEPARATE), | |
722 | temp0, ADIS16350_SCAN_TEMP_X, IIO_ST('s', 12, 16, 0), 0), | |
723 | IIO_CHAN_SOFT_TIMESTAMP(12) | |
724 | }; | |
725 | ||
a9d26f00 | 726 | static struct attribute *adis16400_attributes[] = { |
a9d26f00 | 727 | &iio_dev_attr_sampling_frequency.dev_attr.attr, |
51a0a5b0 | 728 | &iio_const_attr_sampling_frequency_available.dev_attr.attr, |
a9d26f00 | 729 | &iio_dev_attr_reset.dev_attr.attr, |
a9d26f00 BS |
730 | NULL |
731 | }; | |
732 | ||
733 | static const struct attribute_group adis16400_attribute_group = { | |
734 | .attrs = adis16400_attributes, | |
735 | }; | |
736 | ||
2a29a90b | 737 | static struct adis16400_chip_info adis16400_chips[] = { |
8e886e65 JC |
738 | [ADIS16300] = { |
739 | .channels = adis16300_channels, | |
740 | .num_channels = ARRAY_SIZE(adis16300_channels), | |
741 | .gyro_scale_micro = 873, | |
742 | .accel_scale_micro = 5884, | |
743 | .default_scan_mask = (1 << ADIS16400_SCAN_SUPPLY) | | |
744 | (1 << ADIS16400_SCAN_GYRO_X) | (1 << ADIS16400_SCAN_ACC_X) | | |
745 | (1 << ADIS16400_SCAN_ACC_Y) | (1 << ADIS16400_SCAN_ACC_Z) | | |
746 | (1 << ADIS16400_SCAN_TEMP) | (1 << ADIS16400_SCAN_ADC_0) | | |
747 | (1 << ADIS16300_SCAN_INCLI_X) | (1 << ADIS16300_SCAN_INCLI_Y) | | |
748 | (1 << 14), | |
749 | }, | |
88b42f3a JC |
750 | [ADIS16344] = { |
751 | .channels = adis16344_channels, | |
752 | .num_channels = ARRAY_SIZE(adis16344_channels), | |
753 | .gyro_scale_micro = 873, | |
754 | .accel_scale_micro = 981, | |
755 | .default_scan_mask = (1 << ADIS16400_SCAN_GYRO_X) | | |
756 | (1 << ADIS16400_SCAN_GYRO_Y) | (1 << ADIS16400_SCAN_GYRO_Z) | | |
757 | (1 << ADIS16400_SCAN_ACC_X) | (1 << ADIS16400_SCAN_ACC_Y) | | |
758 | (1 << ADIS16400_SCAN_ACC_Z), | |
759 | }, | |
2a29a90b JC |
760 | [ADIS16350] = { |
761 | .channels = adis16350_channels, | |
762 | .num_channels = ARRAY_SIZE(adis16350_channels), | |
763 | .gyro_scale_micro = 872664, | |
764 | .accel_scale_micro = 24732, | |
765 | .default_scan_mask = 0x7FF, | |
766 | .flags = ADIS16400_NO_BURST, | |
767 | }, | |
768 | [ADIS16360] = { | |
769 | .channels = adis16350_channels, | |
770 | .num_channels = ARRAY_SIZE(adis16350_channels), | |
771 | .flags = ADIS16400_HAS_PROD_ID, | |
772 | .product_id = 0x3FE8, | |
773 | .gyro_scale_micro = 1279, | |
774 | .accel_scale_micro = 24732, | |
775 | .default_scan_mask = 0x7FF, | |
776 | }, | |
777 | [ADIS16362] = { | |
778 | .channels = adis16350_channels, | |
779 | .num_channels = ARRAY_SIZE(adis16350_channels), | |
780 | .flags = ADIS16400_HAS_PROD_ID, | |
781 | .product_id = 0x3FEA, | |
782 | .gyro_scale_micro = 1279, | |
783 | .accel_scale_micro = 24732, | |
784 | .default_scan_mask = 0x7FF, | |
785 | }, | |
786 | [ADIS16364] = { | |
787 | .channels = adis16350_channels, | |
788 | .num_channels = ARRAY_SIZE(adis16350_channels), | |
789 | .flags = ADIS16400_HAS_PROD_ID, | |
790 | .product_id = 0x3FEC, | |
791 | .gyro_scale_micro = 1279, | |
792 | .accel_scale_micro = 24732, | |
793 | .default_scan_mask = 0x7FF, | |
794 | }, | |
795 | [ADIS16365] = { | |
796 | .channels = adis16350_channels, | |
797 | .num_channels = ARRAY_SIZE(adis16350_channels), | |
798 | .flags = ADIS16400_HAS_PROD_ID, | |
799 | .product_id = 0x3FED, | |
800 | .gyro_scale_micro = 1279, | |
801 | .accel_scale_micro = 24732, | |
802 | .default_scan_mask = 0x7FF, | |
803 | }, | |
804 | [ADIS16400] = { | |
805 | .channels = adis16400_channels, | |
806 | .num_channels = ARRAY_SIZE(adis16400_channels), | |
807 | .flags = ADIS16400_HAS_PROD_ID, | |
808 | .product_id = 0x4015, | |
809 | .gyro_scale_micro = 873, | |
810 | .accel_scale_micro = 32656, | |
811 | .default_scan_mask = 0xFFF, | |
812 | } | |
813 | }; | |
814 | ||
6fe8135f JC |
815 | static const struct iio_info adis16400_info = { |
816 | .driver_module = THIS_MODULE, | |
817 | .read_raw = &adis16400_read_raw, | |
818 | .write_raw = &adis16400_write_raw, | |
819 | .attrs = &adis16400_attribute_group, | |
820 | }; | |
2a29a90b | 821 | |
a9d26f00 BS |
822 | static int __devinit adis16400_probe(struct spi_device *spi) |
823 | { | |
26d25ae3 | 824 | int ret; |
38d15f06 JC |
825 | struct adis16400_state *st; |
826 | struct iio_dev *indio_dev = iio_allocate_device(sizeof(*st)); | |
827 | if (indio_dev == NULL) { | |
a9d26f00 BS |
828 | ret = -ENOMEM; |
829 | goto error_ret; | |
830 | } | |
38d15f06 | 831 | st = iio_priv(indio_dev); |
a9d26f00 | 832 | /* this is only used for removal purposes */ |
38d15f06 | 833 | spi_set_drvdata(spi, indio_dev); |
a9d26f00 | 834 | |
a9d26f00 BS |
835 | st->us = spi; |
836 | mutex_init(&st->buf_lock); | |
38d15f06 | 837 | |
a9d26f00 | 838 | /* setup the industrialio driver allocated elements */ |
2a29a90b | 839 | st->variant = &adis16400_chips[spi_get_device_id(spi)->driver_data]; |
38d15f06 JC |
840 | indio_dev->dev.parent = &spi->dev; |
841 | indio_dev->name = spi_get_device_id(spi)->name; | |
38d15f06 JC |
842 | indio_dev->channels = st->variant->channels; |
843 | indio_dev->num_channels = st->variant->num_channels; | |
6fe8135f | 844 | indio_dev->info = &adis16400_info; |
38d15f06 JC |
845 | indio_dev->modes = INDIO_DIRECT_MODE; |
846 | ||
847 | ret = adis16400_configure_ring(indio_dev); | |
a9d26f00 BS |
848 | if (ret) |
849 | goto error_free_dev; | |
850 | ||
c009f7e4 JC |
851 | ret = iio_ring_buffer_register(indio_dev, |
852 | st->variant->channels, | |
853 | st->variant->num_channels); | |
a9d26f00 | 854 | if (ret) { |
6a6ec623 | 855 | dev_err(&spi->dev, "failed to initialize the ring\n"); |
a9d26f00 BS |
856 | goto error_unreg_ring_funcs; |
857 | } | |
858 | ||
859 | if (spi->irq && gpio_is_valid(irq_to_gpio(spi->irq)) > 0) { | |
38d15f06 | 860 | ret = adis16400_probe_trigger(indio_dev); |
a9d26f00 | 861 | if (ret) |
b333a240 | 862 | goto error_uninitialize_ring; |
a9d26f00 BS |
863 | } |
864 | ||
865 | /* Get the device into a sane initial state */ | |
38d15f06 | 866 | ret = adis16400_initial_setup(indio_dev); |
a9d26f00 BS |
867 | if (ret) |
868 | goto error_remove_trigger; | |
26d25ae3 JC |
869 | ret = iio_device_register(indio_dev); |
870 | if (ret) | |
871 | goto error_remove_trigger; | |
872 | ||
a9d26f00 BS |
873 | return 0; |
874 | ||
875 | error_remove_trigger: | |
38d15f06 JC |
876 | if (indio_dev->modes & INDIO_RING_TRIGGERED) |
877 | adis16400_remove_trigger(indio_dev); | |
a9d26f00 | 878 | error_uninitialize_ring: |
1aa04278 | 879 | iio_ring_buffer_unregister(indio_dev); |
a9d26f00 | 880 | error_unreg_ring_funcs: |
38d15f06 | 881 | adis16400_unconfigure_ring(indio_dev); |
a9d26f00 | 882 | error_free_dev: |
26d25ae3 | 883 | iio_free_device(indio_dev); |
a9d26f00 BS |
884 | error_ret: |
885 | return ret; | |
886 | } | |
887 | ||
888 | /* fixme, confirm ordering in this function */ | |
889 | static int adis16400_remove(struct spi_device *spi) | |
890 | { | |
891 | int ret; | |
38d15f06 | 892 | struct iio_dev *indio_dev = spi_get_drvdata(spi); |
a9d26f00 | 893 | |
e7854845 | 894 | ret = adis16400_stop_device(indio_dev); |
a9d26f00 BS |
895 | if (ret) |
896 | goto err_ret; | |
897 | ||
a9d26f00 | 898 | adis16400_remove_trigger(indio_dev); |
1aa04278 | 899 | iio_ring_buffer_unregister(indio_dev); |
a9d26f00 BS |
900 | adis16400_unconfigure_ring(indio_dev); |
901 | iio_device_unregister(indio_dev); | |
2a29a90b | 902 | |
a9d26f00 BS |
903 | return 0; |
904 | ||
905 | err_ret: | |
906 | return ret; | |
907 | } | |
908 | ||
2a29a90b | 909 | static const struct spi_device_id adis16400_id[] = { |
8e886e65 | 910 | {"adis16300", ADIS16300}, |
88b42f3a | 911 | {"adis16344", ADIS16344}, |
2a29a90b JC |
912 | {"adis16350", ADIS16350}, |
913 | {"adis16354", ADIS16350}, | |
914 | {"adis16355", ADIS16350}, | |
915 | {"adis16360", ADIS16360}, | |
916 | {"adis16362", ADIS16362}, | |
917 | {"adis16364", ADIS16364}, | |
918 | {"adis16365", ADIS16365}, | |
919 | {"adis16400", ADIS16400}, | |
920 | {"adis16405", ADIS16400}, | |
921 | {} | |
922 | }; | |
923 | ||
a9d26f00 BS |
924 | static struct spi_driver adis16400_driver = { |
925 | .driver = { | |
926 | .name = "adis16400", | |
927 | .owner = THIS_MODULE, | |
928 | }, | |
2a29a90b | 929 | .id_table = adis16400_id, |
a9d26f00 BS |
930 | .probe = adis16400_probe, |
931 | .remove = __devexit_p(adis16400_remove), | |
932 | }; | |
933 | ||
934 | static __init int adis16400_init(void) | |
935 | { | |
936 | return spi_register_driver(&adis16400_driver); | |
937 | } | |
938 | module_init(adis16400_init); | |
939 | ||
940 | static __exit void adis16400_exit(void) | |
941 | { | |
942 | spi_unregister_driver(&adis16400_driver); | |
943 | } | |
944 | module_exit(adis16400_exit); | |
945 | ||
946 | MODULE_AUTHOR("Manuel Stahl <manuel.stahl@iis.fraunhofer.de>"); | |
947 | MODULE_DESCRIPTION("Analog Devices ADIS16400/5 IMU SPI driver"); | |
948 | MODULE_LICENSE("GPL v2"); |