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 | 28 | |
06458e27 JC |
29 | #include <linux/iio/iio.h> |
30 | #include <linux/iio/sysfs.h> | |
31 | #include <linux/iio/buffer.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 | ||
98c9373d JC |
164 | static int adis16400_get_freq(struct iio_dev *indio_dev) |
165 | { | |
166 | u16 t; | |
167 | int sps, ret; | |
168 | ||
169 | ret = adis16400_spi_read_reg_16(indio_dev, ADIS16400_SMPL_PRD, &t); | |
170 | if (ret < 0) | |
171 | return ret; | |
172 | sps = (t & ADIS16400_SMPL_PRD_TIME_BASE) ? 53 : 1638; | |
173 | sps /= (t & ADIS16400_SMPL_PRD_DIV_MASK) + 1; | |
174 | ||
175 | return sps; | |
176 | } | |
177 | ||
a9d26f00 BS |
178 | static ssize_t adis16400_read_frequency(struct device *dev, |
179 | struct device_attribute *attr, | |
180 | char *buf) | |
181 | { | |
dedb1e77 | 182 | struct iio_dev *indio_dev = dev_to_iio_dev(dev); |
a9d26f00 | 183 | int ret, len = 0; |
98c9373d JC |
184 | ret = adis16400_get_freq(indio_dev); |
185 | if (ret < 0) | |
a9d26f00 | 186 | return ret; |
98c9373d | 187 | len = sprintf(buf, "%d SPS\n", ret); |
a9d26f00 BS |
188 | return len; |
189 | } | |
190 | ||
98c9373d JC |
191 | static const unsigned adis16400_3db_divisors[] = { |
192 | [0] = 2, /* Special case */ | |
193 | [1] = 5, | |
194 | [2] = 10, | |
195 | [3] = 50, | |
196 | [4] = 200, | |
197 | }; | |
198 | ||
199 | static int adis16400_set_filter(struct iio_dev *indio_dev, int sps, int val) | |
200 | { | |
201 | int i, ret; | |
202 | u16 val16; | |
203 | for (i = ARRAY_SIZE(adis16400_3db_divisors) - 1; i >= 0; i--) | |
204 | if (sps/adis16400_3db_divisors[i] > val) | |
205 | break; | |
206 | if (i == -1) | |
207 | ret = -EINVAL; | |
208 | else { | |
209 | ret = adis16400_spi_read_reg_16(indio_dev, | |
210 | ADIS16400_SENS_AVG, | |
211 | &val16); | |
212 | if (ret < 0) | |
213 | goto error_ret; | |
214 | ||
215 | ret = adis16400_spi_write_reg_16(indio_dev, | |
216 | ADIS16400_SENS_AVG, | |
217 | (val16 & ~0x03) | i); | |
218 | } | |
219 | error_ret: | |
220 | return ret; | |
221 | } | |
222 | ||
a9d26f00 BS |
223 | static ssize_t adis16400_write_frequency(struct device *dev, |
224 | struct device_attribute *attr, | |
225 | const char *buf, | |
226 | size_t len) | |
227 | { | |
dedb1e77 | 228 | struct iio_dev *indio_dev = dev_to_iio_dev(dev); |
38d15f06 | 229 | struct adis16400_state *st = iio_priv(indio_dev); |
a9d26f00 BS |
230 | long val; |
231 | int ret; | |
232 | u8 t; | |
233 | ||
234 | ret = strict_strtol(buf, 10, &val); | |
235 | if (ret) | |
236 | return ret; | |
237 | ||
238 | mutex_lock(&indio_dev->mlock); | |
239 | ||
240 | t = (1638 / val); | |
241 | if (t > 0) | |
242 | t--; | |
243 | t &= ADIS16400_SMPL_PRD_DIV_MASK; | |
244 | if ((t & ADIS16400_SMPL_PRD_DIV_MASK) >= 0x0A) | |
245 | st->us->max_speed_hz = ADIS16400_SPI_SLOW; | |
246 | else | |
247 | st->us->max_speed_hz = ADIS16400_SPI_FAST; | |
248 | ||
e7854845 | 249 | ret = adis16400_spi_write_reg_8(indio_dev, |
a9d26f00 BS |
250 | ADIS16400_SMPL_PRD, |
251 | t); | |
252 | ||
98c9373d | 253 | /* Also update the filter */ |
a9d26f00 BS |
254 | mutex_unlock(&indio_dev->mlock); |
255 | ||
256 | return ret ? ret : len; | |
257 | } | |
258 | ||
e7854845 | 259 | static int adis16400_reset(struct iio_dev *indio_dev) |
3fd66da1 BS |
260 | { |
261 | int ret; | |
e7854845 | 262 | ret = adis16400_spi_write_reg_8(indio_dev, |
3fd66da1 BS |
263 | ADIS16400_GLOB_CMD, |
264 | ADIS16400_GLOB_CMD_SW_RESET); | |
265 | if (ret) | |
e7854845 | 266 | dev_err(&indio_dev->dev, "problem resetting device"); |
3fd66da1 BS |
267 | |
268 | return ret; | |
269 | } | |
270 | ||
a9d26f00 BS |
271 | static ssize_t adis16400_write_reset(struct device *dev, |
272 | struct device_attribute *attr, | |
273 | const char *buf, size_t len) | |
274 | { | |
7a6ff010 JC |
275 | bool val; |
276 | int ret; | |
e7854845 | 277 | |
7a6ff010 JC |
278 | ret = strtobool(buf, &val); |
279 | if (ret < 0) | |
280 | return ret; | |
521de518 | 281 | if (val) { |
dedb1e77 | 282 | ret = adis16400_reset(dev_to_iio_dev(dev)); |
521de518 JC |
283 | if (ret < 0) |
284 | return ret; | |
285 | } | |
7a6ff010 JC |
286 | |
287 | return len; | |
a9d26f00 BS |
288 | } |
289 | ||
e7854845 | 290 | int adis16400_set_irq(struct iio_dev *indio_dev, bool enable) |
a9d26f00 BS |
291 | { |
292 | int ret; | |
293 | u16 msc; | |
521de518 | 294 | |
e7854845 | 295 | ret = adis16400_spi_read_reg_16(indio_dev, ADIS16400_MSC_CTRL, &msc); |
a9d26f00 BS |
296 | if (ret) |
297 | goto error_ret; | |
298 | ||
299 | msc |= ADIS16400_MSC_CTRL_DATA_RDY_POL_HIGH; | |
300 | if (enable) | |
301 | msc |= ADIS16400_MSC_CTRL_DATA_RDY_EN; | |
302 | else | |
303 | msc &= ~ADIS16400_MSC_CTRL_DATA_RDY_EN; | |
304 | ||
e7854845 | 305 | ret = adis16400_spi_write_reg_16(indio_dev, ADIS16400_MSC_CTRL, msc); |
a9d26f00 BS |
306 | if (ret) |
307 | goto error_ret; | |
308 | ||
309 | error_ret: | |
310 | return ret; | |
311 | } | |
312 | ||
a9d26f00 | 313 | /* Power down the device */ |
e7854845 | 314 | static int adis16400_stop_device(struct iio_dev *indio_dev) |
a9d26f00 BS |
315 | { |
316 | int ret; | |
317 | u16 val = ADIS16400_SLP_CNT_POWER_OFF; | |
318 | ||
e7854845 | 319 | ret = adis16400_spi_write_reg_16(indio_dev, ADIS16400_SLP_CNT, val); |
a9d26f00 | 320 | if (ret) |
e7854845 JC |
321 | dev_err(&indio_dev->dev, |
322 | "problem with turning device off: SLP_CNT"); | |
a9d26f00 BS |
323 | |
324 | return ret; | |
325 | } | |
326 | ||
e7854845 | 327 | static int adis16400_check_status(struct iio_dev *indio_dev) |
a9d26f00 BS |
328 | { |
329 | u16 status; | |
330 | int ret; | |
e7854845 | 331 | struct device *dev = &indio_dev->dev; |
a9d26f00 | 332 | |
e7854845 JC |
333 | ret = adis16400_spi_read_reg_16(indio_dev, |
334 | ADIS16400_DIAG_STAT, &status); | |
a9d26f00 BS |
335 | |
336 | if (ret < 0) { | |
337 | dev_err(dev, "Reading status failed\n"); | |
338 | goto error_ret; | |
339 | } | |
340 | ret = status; | |
341 | if (status & ADIS16400_DIAG_STAT_ZACCL_FAIL) | |
342 | dev_err(dev, "Z-axis accelerometer self-test failure\n"); | |
343 | if (status & ADIS16400_DIAG_STAT_YACCL_FAIL) | |
344 | dev_err(dev, "Y-axis accelerometer self-test failure\n"); | |
345 | if (status & ADIS16400_DIAG_STAT_XACCL_FAIL) | |
346 | dev_err(dev, "X-axis accelerometer self-test failure\n"); | |
347 | if (status & ADIS16400_DIAG_STAT_XGYRO_FAIL) | |
348 | dev_err(dev, "X-axis gyroscope self-test failure\n"); | |
349 | if (status & ADIS16400_DIAG_STAT_YGYRO_FAIL) | |
350 | dev_err(dev, "Y-axis gyroscope self-test failure\n"); | |
351 | if (status & ADIS16400_DIAG_STAT_ZGYRO_FAIL) | |
352 | dev_err(dev, "Z-axis gyroscope self-test failure\n"); | |
353 | if (status & ADIS16400_DIAG_STAT_ALARM2) | |
354 | dev_err(dev, "Alarm 2 active\n"); | |
355 | if (status & ADIS16400_DIAG_STAT_ALARM1) | |
356 | dev_err(dev, "Alarm 1 active\n"); | |
357 | if (status & ADIS16400_DIAG_STAT_FLASH_CHK) | |
358 | dev_err(dev, "Flash checksum error\n"); | |
359 | if (status & ADIS16400_DIAG_STAT_SELF_TEST) | |
360 | dev_err(dev, "Self test error\n"); | |
361 | if (status & ADIS16400_DIAG_STAT_OVERFLOW) | |
362 | dev_err(dev, "Sensor overrange\n"); | |
363 | if (status & ADIS16400_DIAG_STAT_SPI_FAIL) | |
364 | dev_err(dev, "SPI failure\n"); | |
365 | if (status & ADIS16400_DIAG_STAT_FLASH_UPT) | |
366 | dev_err(dev, "Flash update failed\n"); | |
367 | if (status & ADIS16400_DIAG_STAT_POWER_HIGH) | |
368 | dev_err(dev, "Power supply above 5.25V\n"); | |
369 | if (status & ADIS16400_DIAG_STAT_POWER_LOW) | |
370 | dev_err(dev, "Power supply below 4.75V\n"); | |
371 | ||
372 | error_ret: | |
373 | return ret; | |
374 | } | |
375 | ||
521de518 JC |
376 | static int adis16400_self_test(struct iio_dev *indio_dev) |
377 | { | |
378 | int ret; | |
379 | ret = adis16400_spi_write_reg_16(indio_dev, | |
380 | ADIS16400_MSC_CTRL, | |
381 | ADIS16400_MSC_CTRL_MEM_TEST); | |
382 | if (ret) { | |
383 | dev_err(&indio_dev->dev, "problem starting self test"); | |
384 | goto err_ret; | |
385 | } | |
386 | ||
387 | msleep(ADIS16400_MTEST_DELAY); | |
388 | adis16400_check_status(indio_dev); | |
389 | ||
390 | err_ret: | |
391 | return ret; | |
392 | } | |
393 | ||
38d15f06 | 394 | static int adis16400_initial_setup(struct iio_dev *indio_dev) |
a9d26f00 BS |
395 | { |
396 | int ret; | |
397 | u16 prod_id, smp_prd; | |
38d15f06 | 398 | struct adis16400_state *st = iio_priv(indio_dev); |
a9d26f00 BS |
399 | |
400 | /* use low spi speed for init */ | |
401 | st->us->max_speed_hz = ADIS16400_SPI_SLOW; | |
402 | st->us->mode = SPI_MODE_3; | |
403 | spi_setup(st->us); | |
404 | ||
38d15f06 | 405 | ret = adis16400_set_irq(indio_dev, false); |
a9d26f00 | 406 | if (ret) { |
521de518 | 407 | dev_err(&indio_dev->dev, "disable irq failed"); |
a9d26f00 BS |
408 | goto err_ret; |
409 | } | |
410 | ||
38d15f06 | 411 | ret = adis16400_self_test(indio_dev); |
3fd66da1 | 412 | if (ret) { |
521de518 | 413 | dev_err(&indio_dev->dev, "self test failure"); |
3fd66da1 BS |
414 | goto err_ret; |
415 | } | |
a9d26f00 | 416 | |
38d15f06 | 417 | ret = adis16400_check_status(indio_dev); |
a9d26f00 | 418 | if (ret) { |
38d15f06 | 419 | adis16400_reset(indio_dev); |
521de518 | 420 | dev_err(&indio_dev->dev, "device not playing ball -> reset"); |
a9d26f00 | 421 | msleep(ADIS16400_STARTUP_DELAY); |
38d15f06 | 422 | ret = adis16400_check_status(indio_dev); |
a9d26f00 | 423 | if (ret) { |
521de518 | 424 | dev_err(&indio_dev->dev, "giving up"); |
a9d26f00 BS |
425 | goto err_ret; |
426 | } | |
427 | } | |
2a29a90b | 428 | if (st->variant->flags & ADIS16400_HAS_PROD_ID) { |
38d15f06 | 429 | ret = adis16400_spi_read_reg_16(indio_dev, |
2a29a90b JC |
430 | ADIS16400_PRODUCT_ID, &prod_id); |
431 | if (ret) | |
432 | goto err_ret; | |
a9d26f00 | 433 | |
2a29a90b | 434 | if ((prod_id & 0xF000) != st->variant->product_id) |
521de518 | 435 | dev_warn(&indio_dev->dev, "incorrect id"); |
a9d26f00 | 436 | |
69d80bae | 437 | dev_info(&indio_dev->dev, "%s: prod_id 0x%04x at CS%d (irq %d)\n", |
521de518 JC |
438 | indio_dev->name, prod_id, |
439 | st->us->chip_select, st->us->irq); | |
2a29a90b | 440 | } |
a9d26f00 | 441 | /* use high spi speed if possible */ |
38d15f06 | 442 | ret = adis16400_spi_read_reg_16(indio_dev, |
e7854845 | 443 | ADIS16400_SMPL_PRD, &smp_prd); |
a9d26f00 BS |
444 | if (!ret && (smp_prd & ADIS16400_SMPL_PRD_DIV_MASK) < 0x0A) { |
445 | st->us->max_speed_hz = ADIS16400_SPI_SLOW; | |
446 | spi_setup(st->us); | |
447 | } | |
448 | ||
a9d26f00 | 449 | err_ret: |
a9d26f00 BS |
450 | return ret; |
451 | } | |
452 | ||
a9d26f00 | 453 | static IIO_DEV_ATTR_SAMP_FREQ(S_IWUSR | S_IRUGO, |
521de518 JC |
454 | adis16400_read_frequency, |
455 | adis16400_write_frequency); | |
a9d26f00 BS |
456 | |
457 | static IIO_DEVICE_ATTR(reset, S_IWUSR, NULL, adis16400_write_reset, 0); | |
458 | ||
51a0a5b0 | 459 | static IIO_CONST_ATTR_SAMP_FREQ_AVAIL("409 546 819 1638"); |
a9d26f00 | 460 | |
e7854845 JC |
461 | enum adis16400_chan { |
462 | in_supply, | |
463 | gyro_x, | |
464 | gyro_y, | |
465 | gyro_z, | |
466 | accel_x, | |
467 | accel_y, | |
468 | accel_z, | |
469 | magn_x, | |
470 | magn_y, | |
471 | magn_z, | |
472 | temp, | |
2a29a90b | 473 | temp0, temp1, temp2, |
91ab3fc9 JC |
474 | in1, |
475 | incli_x, | |
476 | incli_y, | |
e7854845 JC |
477 | }; |
478 | ||
91ab3fc9 | 479 | static u8 adis16400_addresses[17][2] = { |
521de518 | 480 | [in_supply] = { ADIS16400_SUPPLY_OUT }, |
e7854845 JC |
481 | [gyro_x] = { ADIS16400_XGYRO_OUT, ADIS16400_XGYRO_OFF }, |
482 | [gyro_y] = { ADIS16400_YGYRO_OUT, ADIS16400_YGYRO_OFF }, | |
483 | [gyro_z] = { ADIS16400_ZGYRO_OUT, ADIS16400_ZGYRO_OFF }, | |
484 | [accel_x] = { ADIS16400_XACCL_OUT, ADIS16400_XACCL_OFF }, | |
485 | [accel_y] = { ADIS16400_YACCL_OUT, ADIS16400_YACCL_OFF }, | |
486 | [accel_z] = { ADIS16400_ZACCL_OUT, ADIS16400_ZACCL_OFF }, | |
521de518 JC |
487 | [magn_x] = { ADIS16400_XMAGN_OUT }, |
488 | [magn_y] = { ADIS16400_YMAGN_OUT }, | |
489 | [magn_z] = { ADIS16400_ZMAGN_OUT }, | |
490 | [temp] = { ADIS16400_TEMP_OUT }, | |
2a29a90b JC |
491 | [temp0] = { ADIS16350_XTEMP_OUT }, |
492 | [temp1] = { ADIS16350_YTEMP_OUT }, | |
493 | [temp2] = { ADIS16350_ZTEMP_OUT }, | |
521de518 JC |
494 | [in1] = { ADIS16400_AUX_ADC }, |
495 | [incli_x] = { ADIS16300_PITCH_OUT }, | |
496 | [incli_y] = { ADIS16300_ROLL_OUT } | |
e7854845 JC |
497 | }; |
498 | ||
98c9373d | 499 | |
e7854845 JC |
500 | static int adis16400_write_raw(struct iio_dev *indio_dev, |
501 | struct iio_chan_spec const *chan, | |
502 | int val, | |
503 | int val2, | |
504 | long mask) | |
505 | { | |
98c9373d JC |
506 | struct adis16400_state *st = iio_priv(indio_dev); |
507 | int ret, sps; | |
521de518 | 508 | |
e7854845 | 509 | switch (mask) { |
c8a9f805 | 510 | case IIO_CHAN_INFO_CALIBBIAS: |
e7854845 JC |
511 | mutex_lock(&indio_dev->mlock); |
512 | ret = adis16400_spi_write_reg_16(indio_dev, | |
513 | adis16400_addresses[chan->address][1], | |
514 | val); | |
515 | mutex_unlock(&indio_dev->mlock); | |
516 | return ret; | |
98c9373d JC |
517 | case IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY: |
518 | /* Need to cache values so we can update if the frequency | |
519 | changes */ | |
520 | mutex_lock(&indio_dev->mlock); | |
521 | st->filt_int = val; | |
522 | /* Work out update to current value */ | |
523 | sps = adis16400_get_freq(indio_dev); | |
524 | if (sps < 0) { | |
525 | mutex_unlock(&indio_dev->mlock); | |
526 | return sps; | |
527 | } | |
528 | ||
529 | ret = adis16400_set_filter(indio_dev, sps, val); | |
530 | mutex_unlock(&indio_dev->mlock); | |
531 | return ret; | |
e7854845 JC |
532 | default: |
533 | return -EINVAL; | |
534 | } | |
535 | } | |
536 | ||
537 | static int adis16400_read_raw(struct iio_dev *indio_dev, | |
538 | struct iio_chan_spec const *chan, | |
539 | int *val, | |
540 | int *val2, | |
541 | long mask) | |
542 | { | |
38d15f06 | 543 | struct adis16400_state *st = iio_priv(indio_dev); |
521de518 | 544 | int ret, shift; |
e7854845 | 545 | s16 val16; |
e7854845 JC |
546 | |
547 | switch (mask) { | |
a5d016d4 | 548 | case IIO_CHAN_INFO_RAW: |
e7854845 JC |
549 | mutex_lock(&indio_dev->mlock); |
550 | ret = adis16400_spi_read_reg_16(indio_dev, | |
551 | adis16400_addresses[chan->address][0], | |
552 | &val16); | |
553 | if (ret) { | |
554 | mutex_unlock(&indio_dev->mlock); | |
555 | return ret; | |
556 | } | |
557 | val16 &= (1 << chan->scan_type.realbits) - 1; | |
558 | if (chan->scan_type.sign == 's') { | |
559 | shift = 16 - chan->scan_type.realbits; | |
560 | val16 = (s16)(val16 << shift) >> shift; | |
561 | } | |
562 | *val = val16; | |
563 | mutex_unlock(&indio_dev->mlock); | |
564 | return IIO_VAL_INT; | |
c8a9f805 | 565 | case IIO_CHAN_INFO_SCALE: |
e7854845 | 566 | switch (chan->type) { |
41ea040c | 567 | case IIO_ANGL_VEL: |
e7854845 | 568 | *val = 0; |
2a29a90b | 569 | *val2 = st->variant->gyro_scale_micro; |
e7854845 | 570 | return IIO_VAL_INT_PLUS_MICRO; |
6835cb6b | 571 | case IIO_VOLTAGE: |
e7854845 JC |
572 | *val = 0; |
573 | if (chan->channel == 0) | |
574 | *val2 = 2418; | |
575 | else | |
576 | *val2 = 806; | |
577 | return IIO_VAL_INT_PLUS_MICRO; | |
578 | case IIO_ACCEL: | |
579 | *val = 0; | |
2a29a90b | 580 | *val2 = st->variant->accel_scale_micro; |
e7854845 JC |
581 | return IIO_VAL_INT_PLUS_MICRO; |
582 | case IIO_MAGN: | |
583 | *val = 0; | |
584 | *val2 = 500; | |
585 | return IIO_VAL_INT_PLUS_MICRO; | |
586 | case IIO_TEMP: | |
587 | *val = 0; | |
588 | *val2 = 140000; | |
589 | return IIO_VAL_INT_PLUS_MICRO; | |
590 | default: | |
591 | return -EINVAL; | |
592 | } | |
c8a9f805 | 593 | case IIO_CHAN_INFO_CALIBBIAS: |
e7854845 JC |
594 | mutex_lock(&indio_dev->mlock); |
595 | ret = adis16400_spi_read_reg_16(indio_dev, | |
596 | adis16400_addresses[chan->address][1], | |
597 | &val16); | |
2a29a90b JC |
598 | mutex_unlock(&indio_dev->mlock); |
599 | if (ret) | |
e7854845 | 600 | return ret; |
e7854845 JC |
601 | val16 = ((val16 & 0xFFF) << 4) >> 4; |
602 | *val = val16; | |
603 | return IIO_VAL_INT; | |
c8a9f805 | 604 | case IIO_CHAN_INFO_OFFSET: |
e7854845 JC |
605 | /* currently only temperature */ |
606 | *val = 198; | |
607 | *val2 = 160000; | |
608 | return IIO_VAL_INT_PLUS_MICRO; | |
98c9373d JC |
609 | case IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY: |
610 | mutex_lock(&indio_dev->mlock); | |
611 | /* Need both the number of taps and the sampling frequency */ | |
612 | ret = adis16400_spi_read_reg_16(indio_dev, | |
613 | ADIS16400_SENS_AVG, | |
614 | &val16); | |
615 | if (ret < 0) { | |
616 | mutex_unlock(&indio_dev->mlock); | |
617 | return ret; | |
618 | } | |
619 | ret = adis16400_get_freq(indio_dev); | |
620 | if (ret > 0) | |
621 | *val = ret/adis16400_3db_divisors[val16 & 0x03]; | |
622 | *val2 = 0; | |
623 | mutex_unlock(&indio_dev->mlock); | |
624 | if (ret < 0) | |
625 | return ret; | |
626 | return IIO_VAL_INT_PLUS_MICRO; | |
e7854845 JC |
627 | default: |
628 | return -EINVAL; | |
629 | } | |
630 | } | |
631 | ||
632 | static struct iio_chan_spec adis16400_channels[] = { | |
521de518 JC |
633 | { |
634 | .type = IIO_VOLTAGE, | |
635 | .indexed = 1, | |
636 | .channel = 0, | |
637 | .extend_name = "supply", | |
a5d016d4 JC |
638 | .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT | |
639 | IIO_CHAN_INFO_SCALE_SEPARATE_BIT, | |
521de518 JC |
640 | .address = in_supply, |
641 | .scan_index = ADIS16400_SCAN_SUPPLY, | |
642 | .scan_type = IIO_ST('u', 14, 16, 0) | |
643 | }, { | |
41ea040c | 644 | .type = IIO_ANGL_VEL, |
521de518 JC |
645 | .modified = 1, |
646 | .channel2 = IIO_MOD_X, | |
a5d016d4 JC |
647 | .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT | |
648 | IIO_CHAN_INFO_CALIBBIAS_SEPARATE_BIT | | |
98c9373d JC |
649 | IIO_CHAN_INFO_SCALE_SHARED_BIT | |
650 | IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY_SHARED_BIT, | |
521de518 JC |
651 | .address = gyro_x, |
652 | .scan_index = ADIS16400_SCAN_GYRO_X, | |
653 | .scan_type = IIO_ST('s', 14, 16, 0) | |
654 | }, { | |
41ea040c | 655 | .type = IIO_ANGL_VEL, |
521de518 JC |
656 | .modified = 1, |
657 | .channel2 = IIO_MOD_Y, | |
a5d016d4 JC |
658 | .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT | |
659 | IIO_CHAN_INFO_CALIBBIAS_SEPARATE_BIT | | |
98c9373d JC |
660 | IIO_CHAN_INFO_SCALE_SHARED_BIT | |
661 | IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY_SHARED_BIT, | |
521de518 JC |
662 | .address = gyro_y, |
663 | .scan_index = ADIS16400_SCAN_GYRO_Y, | |
664 | .scan_type = IIO_ST('s', 14, 16, 0), | |
665 | }, { | |
41ea040c | 666 | .type = IIO_ANGL_VEL, |
521de518 JC |
667 | .modified = 1, |
668 | .channel2 = IIO_MOD_Z, | |
a5d016d4 JC |
669 | .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT | |
670 | IIO_CHAN_INFO_CALIBBIAS_SEPARATE_BIT | | |
98c9373d JC |
671 | IIO_CHAN_INFO_SCALE_SHARED_BIT | |
672 | IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY_SHARED_BIT, | |
521de518 JC |
673 | .address = gyro_z, |
674 | .scan_index = ADIS16400_SCAN_GYRO_Z, | |
675 | .scan_type = IIO_ST('s', 14, 16, 0), | |
676 | }, { | |
677 | .type = IIO_ACCEL, | |
678 | .modified = 1, | |
679 | .channel2 = IIO_MOD_X, | |
a5d016d4 JC |
680 | .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT | |
681 | IIO_CHAN_INFO_CALIBBIAS_SEPARATE_BIT | | |
98c9373d JC |
682 | IIO_CHAN_INFO_SCALE_SHARED_BIT | |
683 | IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY_SHARED_BIT, | |
521de518 JC |
684 | .address = accel_x, |
685 | .scan_index = ADIS16400_SCAN_ACC_X, | |
686 | .scan_type = IIO_ST('s', 14, 16, 0), | |
687 | }, { | |
688 | .type = IIO_ACCEL, | |
689 | .modified = 1, | |
690 | .channel2 = IIO_MOD_Y, | |
a5d016d4 JC |
691 | .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT | |
692 | IIO_CHAN_INFO_CALIBBIAS_SEPARATE_BIT | | |
98c9373d JC |
693 | IIO_CHAN_INFO_SCALE_SHARED_BIT | |
694 | IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY_SHARED_BIT, | |
521de518 JC |
695 | .address = accel_y, |
696 | .scan_index = ADIS16400_SCAN_ACC_Y, | |
697 | .scan_type = IIO_ST('s', 14, 16, 0), | |
698 | }, { | |
699 | .type = IIO_ACCEL, | |
700 | .modified = 1, | |
701 | .channel2 = IIO_MOD_Z, | |
a5d016d4 JC |
702 | .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT | |
703 | IIO_CHAN_INFO_CALIBBIAS_SEPARATE_BIT | | |
98c9373d JC |
704 | IIO_CHAN_INFO_SCALE_SHARED_BIT | |
705 | IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY_SHARED_BIT, | |
521de518 JC |
706 | .address = accel_z, |
707 | .scan_index = ADIS16400_SCAN_ACC_Z, | |
708 | .scan_type = IIO_ST('s', 14, 16, 0), | |
709 | }, { | |
710 | .type = IIO_MAGN, | |
711 | .modified = 1, | |
712 | .channel2 = IIO_MOD_X, | |
a5d016d4 JC |
713 | .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT | |
714 | IIO_CHAN_INFO_SCALE_SHARED_BIT | | |
98c9373d | 715 | IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY_SHARED_BIT, |
521de518 JC |
716 | .address = magn_x, |
717 | .scan_index = ADIS16400_SCAN_MAGN_X, | |
718 | .scan_type = IIO_ST('s', 14, 16, 0), | |
719 | }, { | |
720 | .type = IIO_MAGN, | |
721 | .modified = 1, | |
722 | .channel2 = IIO_MOD_Y, | |
a5d016d4 JC |
723 | .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT | |
724 | IIO_CHAN_INFO_SCALE_SHARED_BIT | | |
98c9373d | 725 | IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY_SHARED_BIT, |
521de518 JC |
726 | .address = magn_y, |
727 | .scan_index = ADIS16400_SCAN_MAGN_Y, | |
728 | .scan_type = IIO_ST('s', 14, 16, 0), | |
729 | }, { | |
730 | .type = IIO_MAGN, | |
731 | .modified = 1, | |
732 | .channel2 = IIO_MOD_Z, | |
a5d016d4 JC |
733 | .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT | |
734 | IIO_CHAN_INFO_SCALE_SHARED_BIT | | |
98c9373d | 735 | IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY_SHARED_BIT, |
521de518 JC |
736 | .address = magn_z, |
737 | .scan_index = ADIS16400_SCAN_MAGN_Z, | |
738 | .scan_type = IIO_ST('s', 14, 16, 0), | |
739 | }, { | |
740 | .type = IIO_TEMP, | |
741 | .indexed = 1, | |
742 | .channel = 0, | |
a5d016d4 JC |
743 | .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT | |
744 | IIO_CHAN_INFO_OFFSET_SEPARATE_BIT | | |
c8a9f805 | 745 | IIO_CHAN_INFO_SCALE_SEPARATE_BIT, |
521de518 JC |
746 | .address = temp, |
747 | .scan_index = ADIS16400_SCAN_TEMP, | |
748 | .scan_type = IIO_ST('s', 12, 16, 0), | |
749 | }, { | |
6835cb6b | 750 | .type = IIO_VOLTAGE, |
521de518 JC |
751 | .indexed = 1, |
752 | .channel = 1, | |
a5d016d4 JC |
753 | .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT | |
754 | IIO_CHAN_INFO_SCALE_SEPARATE_BIT, | |
521de518 JC |
755 | .address = in1, |
756 | .scan_index = ADIS16400_SCAN_ADC_0, | |
757 | .scan_type = IIO_ST('s', 12, 16, 0), | |
758 | }, | |
e7854845 JC |
759 | IIO_CHAN_SOFT_TIMESTAMP(12) |
760 | }; | |
761 | ||
2a29a90b | 762 | static struct iio_chan_spec adis16350_channels[] = { |
521de518 JC |
763 | { |
764 | .type = IIO_VOLTAGE, | |
765 | .indexed = 1, | |
766 | .channel = 0, | |
767 | .extend_name = "supply", | |
a5d016d4 JC |
768 | .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT | |
769 | IIO_CHAN_INFO_SCALE_SEPARATE_BIT, | |
521de518 JC |
770 | .address = in_supply, |
771 | .scan_index = ADIS16400_SCAN_SUPPLY, | |
772 | .scan_type = IIO_ST('u', 12, 16, 0) | |
773 | }, { | |
41ea040c | 774 | .type = IIO_ANGL_VEL, |
521de518 JC |
775 | .modified = 1, |
776 | .channel2 = IIO_MOD_X, | |
a5d016d4 JC |
777 | .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT | |
778 | IIO_CHAN_INFO_CALIBBIAS_SEPARATE_BIT | | |
98c9373d JC |
779 | IIO_CHAN_INFO_SCALE_SHARED_BIT | |
780 | IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY_SHARED_BIT, | |
521de518 JC |
781 | .address = gyro_x, |
782 | .scan_index = ADIS16400_SCAN_GYRO_X, | |
783 | .scan_type = IIO_ST('s', 14, 16, 0) | |
784 | }, { | |
41ea040c | 785 | .type = IIO_ANGL_VEL, |
521de518 JC |
786 | .modified = 1, |
787 | .channel2 = IIO_MOD_Y, | |
a5d016d4 JC |
788 | .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT | |
789 | IIO_CHAN_INFO_CALIBBIAS_SEPARATE_BIT | | |
98c9373d JC |
790 | IIO_CHAN_INFO_SCALE_SHARED_BIT | |
791 | IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY_SHARED_BIT, | |
521de518 JC |
792 | .address = gyro_y, |
793 | .scan_index = ADIS16400_SCAN_GYRO_Y, | |
794 | .scan_type = IIO_ST('s', 14, 16, 0), | |
795 | }, { | |
41ea040c | 796 | .type = IIO_ANGL_VEL, |
521de518 JC |
797 | .modified = 1, |
798 | .channel2 = IIO_MOD_Z, | |
a5d016d4 JC |
799 | .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT | |
800 | IIO_CHAN_INFO_CALIBBIAS_SEPARATE_BIT | | |
98c9373d JC |
801 | IIO_CHAN_INFO_SCALE_SHARED_BIT | |
802 | IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY_SHARED_BIT, | |
521de518 JC |
803 | .address = gyro_z, |
804 | .scan_index = ADIS16400_SCAN_GYRO_Z, | |
805 | .scan_type = IIO_ST('s', 14, 16, 0), | |
806 | }, { | |
a5d016d4 | 807 | .type = IIO_ACCEL, |
521de518 JC |
808 | .modified = 1, |
809 | .channel2 = IIO_MOD_X, | |
a5d016d4 JC |
810 | .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT | |
811 | IIO_CHAN_INFO_CALIBBIAS_SEPARATE_BIT | | |
98c9373d JC |
812 | IIO_CHAN_INFO_SCALE_SHARED_BIT | |
813 | IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY_SHARED_BIT, | |
521de518 JC |
814 | .address = accel_x, |
815 | .scan_index = ADIS16400_SCAN_ACC_X, | |
816 | .scan_type = IIO_ST('s', 14, 16, 0), | |
817 | }, { | |
818 | .type = IIO_ACCEL, | |
819 | .modified = 1, | |
820 | .channel2 = IIO_MOD_Y, | |
a5d016d4 JC |
821 | .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT | |
822 | IIO_CHAN_INFO_CALIBBIAS_SEPARATE_BIT | | |
98c9373d JC |
823 | IIO_CHAN_INFO_SCALE_SHARED_BIT | |
824 | IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY_SHARED_BIT, | |
521de518 JC |
825 | .address = accel_y, |
826 | .scan_index = ADIS16400_SCAN_ACC_Y, | |
827 | .scan_type = IIO_ST('s', 14, 16, 0), | |
828 | }, { | |
829 | .type = IIO_ACCEL, | |
830 | .modified = 1, | |
831 | .channel2 = IIO_MOD_Z, | |
a5d016d4 JC |
832 | .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT | |
833 | IIO_CHAN_INFO_CALIBBIAS_SEPARATE_BIT | | |
98c9373d JC |
834 | IIO_CHAN_INFO_SCALE_SHARED_BIT | |
835 | IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY_SHARED_BIT, | |
521de518 JC |
836 | .address = accel_z, |
837 | .scan_index = ADIS16400_SCAN_ACC_Z, | |
838 | .scan_type = IIO_ST('s', 14, 16, 0), | |
839 | }, { | |
840 | .type = IIO_TEMP, | |
841 | .indexed = 1, | |
842 | .channel = 0, | |
843 | .extend_name = "x", | |
a5d016d4 JC |
844 | .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT | |
845 | IIO_CHAN_INFO_OFFSET_SEPARATE_BIT | | |
98c9373d JC |
846 | IIO_CHAN_INFO_SCALE_SEPARATE_BIT | |
847 | IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY_SHARED_BIT, | |
521de518 JC |
848 | .address = temp0, |
849 | .scan_index = ADIS16350_SCAN_TEMP_X, | |
850 | .scan_type = IIO_ST('s', 12, 16, 0), | |
851 | }, { | |
852 | .type = IIO_TEMP, | |
853 | .indexed = 1, | |
854 | .channel = 1, | |
855 | .extend_name = "y", | |
a5d016d4 JC |
856 | .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT | |
857 | IIO_CHAN_INFO_OFFSET_SEPARATE_BIT | | |
98c9373d JC |
858 | IIO_CHAN_INFO_SCALE_SEPARATE_BIT | |
859 | IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY_SHARED_BIT, | |
521de518 JC |
860 | .address = temp1, |
861 | .scan_index = ADIS16350_SCAN_TEMP_Y, | |
862 | .scan_type = IIO_ST('s', 12, 16, 0), | |
863 | }, { | |
864 | .type = IIO_TEMP, | |
865 | .indexed = 1, | |
866 | .channel = 2, | |
867 | .extend_name = "z", | |
a5d016d4 JC |
868 | .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT | |
869 | IIO_CHAN_INFO_OFFSET_SEPARATE_BIT | | |
c8a9f805 | 870 | IIO_CHAN_INFO_SCALE_SEPARATE_BIT, |
521de518 JC |
871 | .address = temp2, |
872 | .scan_index = ADIS16350_SCAN_TEMP_Z, | |
873 | .scan_type = IIO_ST('s', 12, 16, 0), | |
874 | }, { | |
6835cb6b | 875 | .type = IIO_VOLTAGE, |
521de518 JC |
876 | .indexed = 1, |
877 | .channel = 1, | |
a5d016d4 JC |
878 | .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT | |
879 | IIO_CHAN_INFO_SCALE_SEPARATE_BIT, | |
521de518 JC |
880 | .address = in1, |
881 | .scan_index = ADIS16350_SCAN_ADC_0, | |
882 | .scan_type = IIO_ST('s', 12, 16, 0), | |
883 | }, | |
2a29a90b JC |
884 | IIO_CHAN_SOFT_TIMESTAMP(11) |
885 | }; | |
886 | ||
8e886e65 | 887 | static struct iio_chan_spec adis16300_channels[] = { |
521de518 JC |
888 | { |
889 | .type = IIO_VOLTAGE, | |
890 | .indexed = 1, | |
891 | .channel = 0, | |
892 | .extend_name = "supply", | |
a5d016d4 JC |
893 | .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT | |
894 | IIO_CHAN_INFO_SCALE_SEPARATE_BIT, | |
521de518 JC |
895 | .address = in_supply, |
896 | .scan_index = ADIS16400_SCAN_SUPPLY, | |
897 | .scan_type = IIO_ST('u', 12, 16, 0) | |
898 | }, { | |
41ea040c | 899 | .type = IIO_ANGL_VEL, |
521de518 JC |
900 | .modified = 1, |
901 | .channel2 = IIO_MOD_X, | |
a5d016d4 JC |
902 | .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT | |
903 | IIO_CHAN_INFO_CALIBBIAS_SEPARATE_BIT | | |
98c9373d JC |
904 | IIO_CHAN_INFO_SCALE_SHARED_BIT | |
905 | IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY_SHARED_BIT, | |
521de518 JC |
906 | .address = gyro_x, |
907 | .scan_index = ADIS16400_SCAN_GYRO_X, | |
908 | .scan_type = IIO_ST('s', 14, 16, 0), | |
909 | }, { | |
910 | .type = IIO_ACCEL, | |
911 | .modified = 1, | |
912 | .channel2 = IIO_MOD_X, | |
a5d016d4 JC |
913 | .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT | |
914 | IIO_CHAN_INFO_CALIBBIAS_SEPARATE_BIT | | |
98c9373d JC |
915 | IIO_CHAN_INFO_SCALE_SHARED_BIT | |
916 | IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY_SHARED_BIT, | |
521de518 JC |
917 | .address = accel_x, |
918 | .scan_index = ADIS16400_SCAN_ACC_X, | |
919 | .scan_type = IIO_ST('s', 14, 16, 0), | |
920 | }, { | |
921 | .type = IIO_ACCEL, | |
922 | .modified = 1, | |
923 | .channel2 = IIO_MOD_Y, | |
a5d016d4 JC |
924 | .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT | |
925 | IIO_CHAN_INFO_CALIBBIAS_SEPARATE_BIT | | |
98c9373d JC |
926 | IIO_CHAN_INFO_SCALE_SHARED_BIT | |
927 | IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY_SHARED_BIT, | |
521de518 JC |
928 | .address = accel_y, |
929 | .scan_index = ADIS16400_SCAN_ACC_Y, | |
930 | .scan_type = IIO_ST('s', 14, 16, 0), | |
931 | }, { | |
932 | .type = IIO_ACCEL, | |
933 | .modified = 1, | |
934 | .channel2 = IIO_MOD_Z, | |
a5d016d4 JC |
935 | .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT | |
936 | IIO_CHAN_INFO_CALIBBIAS_SEPARATE_BIT | | |
98c9373d JC |
937 | IIO_CHAN_INFO_SCALE_SHARED_BIT | |
938 | IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY_SHARED_BIT, | |
521de518 JC |
939 | .address = accel_z, |
940 | .scan_index = ADIS16400_SCAN_ACC_Z, | |
941 | .scan_type = IIO_ST('s', 14, 16, 0), | |
942 | }, { | |
943 | .type = IIO_TEMP, | |
944 | .indexed = 1, | |
945 | .channel = 0, | |
a5d016d4 JC |
946 | .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT | |
947 | IIO_CHAN_INFO_OFFSET_SEPARATE_BIT | | |
c8a9f805 | 948 | IIO_CHAN_INFO_SCALE_SEPARATE_BIT, |
6f30592e | 949 | .address = temp0, |
521de518 JC |
950 | .scan_index = ADIS16400_SCAN_TEMP, |
951 | .scan_type = IIO_ST('s', 12, 16, 0), | |
952 | }, { | |
6835cb6b | 953 | .type = IIO_VOLTAGE, |
521de518 JC |
954 | .indexed = 1, |
955 | .channel = 1, | |
a5d016d4 JC |
956 | .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT | |
957 | IIO_CHAN_INFO_SCALE_SEPARATE_BIT, | |
521de518 JC |
958 | .address = in1, |
959 | .scan_index = ADIS16350_SCAN_ADC_0, | |
960 | .scan_type = IIO_ST('s', 12, 16, 0), | |
961 | }, { | |
962 | .type = IIO_INCLI, | |
963 | .modified = 1, | |
964 | .channel2 = IIO_MOD_X, | |
a5d016d4 JC |
965 | .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT | |
966 | IIO_CHAN_INFO_SCALE_SHARED_BIT, | |
521de518 JC |
967 | .address = incli_x, |
968 | .scan_index = ADIS16300_SCAN_INCLI_X, | |
969 | .scan_type = IIO_ST('s', 13, 16, 0), | |
970 | }, { | |
971 | .type = IIO_INCLI, | |
972 | .modified = 1, | |
973 | .channel2 = IIO_MOD_Y, | |
a5d016d4 JC |
974 | .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT | |
975 | IIO_CHAN_INFO_SCALE_SHARED_BIT, | |
521de518 JC |
976 | .address = incli_y, |
977 | .scan_index = ADIS16300_SCAN_INCLI_Y, | |
978 | .scan_type = IIO_ST('s', 13, 16, 0), | |
979 | }, | |
8e886e65 JC |
980 | IIO_CHAN_SOFT_TIMESTAMP(14) |
981 | }; | |
982 | ||
85da5059 | 983 | static const struct iio_chan_spec adis16334_channels[] = { |
521de518 | 984 | { |
41ea040c | 985 | .type = IIO_ANGL_VEL, |
521de518 JC |
986 | .modified = 1, |
987 | .channel2 = IIO_MOD_X, | |
a5d016d4 JC |
988 | .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT | |
989 | IIO_CHAN_INFO_CALIBBIAS_SEPARATE_BIT | | |
98c9373d JC |
990 | IIO_CHAN_INFO_SCALE_SHARED_BIT | |
991 | IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY_SHARED_BIT, | |
521de518 JC |
992 | .address = gyro_x, |
993 | .scan_index = ADIS16400_SCAN_GYRO_X, | |
994 | .scan_type = IIO_ST('s', 14, 16, 0), | |
995 | }, { | |
41ea040c | 996 | .type = IIO_ANGL_VEL, |
521de518 JC |
997 | .modified = 1, |
998 | .channel2 = IIO_MOD_Y, | |
a5d016d4 JC |
999 | .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT | |
1000 | IIO_CHAN_INFO_CALIBBIAS_SEPARATE_BIT | | |
98c9373d JC |
1001 | IIO_CHAN_INFO_SCALE_SHARED_BIT | |
1002 | IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY_SHARED_BIT, | |
521de518 JC |
1003 | .address = gyro_y, |
1004 | .scan_index = ADIS16400_SCAN_GYRO_Y, | |
1005 | .scan_type = IIO_ST('s', 14, 16, 0), | |
1006 | }, { | |
41ea040c | 1007 | .type = IIO_ANGL_VEL, |
521de518 JC |
1008 | .modified = 1, |
1009 | .channel2 = IIO_MOD_Z, | |
a5d016d4 JC |
1010 | .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT | |
1011 | IIO_CHAN_INFO_CALIBBIAS_SEPARATE_BIT | | |
98c9373d JC |
1012 | IIO_CHAN_INFO_SCALE_SHARED_BIT | |
1013 | IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY_SHARED_BIT, | |
521de518 JC |
1014 | .address = gyro_z, |
1015 | .scan_index = ADIS16400_SCAN_GYRO_Z, | |
1016 | .scan_type = IIO_ST('s', 14, 16, 0), | |
1017 | }, { | |
1018 | .type = IIO_ACCEL, | |
1019 | .modified = 1, | |
1020 | .channel2 = IIO_MOD_X, | |
a5d016d4 JC |
1021 | .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT | |
1022 | IIO_CHAN_INFO_CALIBBIAS_SEPARATE_BIT | | |
98c9373d JC |
1023 | IIO_CHAN_INFO_SCALE_SHARED_BIT | |
1024 | IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY_SHARED_BIT, | |
521de518 JC |
1025 | .address = accel_x, |
1026 | .scan_index = ADIS16400_SCAN_ACC_X, | |
1027 | .scan_type = IIO_ST('s', 14, 16, 0), | |
1028 | }, { | |
1029 | .type = IIO_ACCEL, | |
1030 | .modified = 1, | |
1031 | .channel2 = IIO_MOD_Y, | |
a5d016d4 JC |
1032 | .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT | |
1033 | IIO_CHAN_INFO_CALIBBIAS_SEPARATE_BIT | | |
98c9373d JC |
1034 | IIO_CHAN_INFO_SCALE_SHARED_BIT | |
1035 | IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY_SHARED_BIT, | |
521de518 JC |
1036 | .address = accel_y, |
1037 | .scan_index = ADIS16400_SCAN_ACC_Y, | |
1038 | .scan_type = IIO_ST('s', 14, 16, 0), | |
1039 | }, { | |
1040 | .type = IIO_ACCEL, | |
1041 | .modified = 1, | |
1042 | .channel2 = IIO_MOD_Z, | |
a5d016d4 JC |
1043 | .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT | |
1044 | IIO_CHAN_INFO_CALIBBIAS_SEPARATE_BIT | | |
98c9373d JC |
1045 | IIO_CHAN_INFO_SCALE_SHARED_BIT | |
1046 | IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY_SHARED_BIT, | |
521de518 JC |
1047 | .address = accel_z, |
1048 | .scan_index = ADIS16400_SCAN_ACC_Z, | |
1049 | .scan_type = IIO_ST('s', 14, 16, 0), | |
1050 | }, { | |
1051 | .type = IIO_TEMP, | |
1052 | .indexed = 1, | |
1053 | .channel = 0, | |
a5d016d4 JC |
1054 | .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT | |
1055 | IIO_CHAN_INFO_CALIBBIAS_SEPARATE_BIT | | |
c8a9f805 | 1056 | IIO_CHAN_INFO_SCALE_SHARED_BIT, |
bb7cf8bc LPC |
1057 | .address = temp0, |
1058 | .scan_index = ADIS16400_SCAN_TEMP, | |
521de518 JC |
1059 | .scan_type = IIO_ST('s', 14, 16, 0), |
1060 | }, | |
88b42f3a JC |
1061 | IIO_CHAN_SOFT_TIMESTAMP(12) |
1062 | }; | |
1063 | ||
a9d26f00 | 1064 | static struct attribute *adis16400_attributes[] = { |
a9d26f00 | 1065 | &iio_dev_attr_sampling_frequency.dev_attr.attr, |
51a0a5b0 | 1066 | &iio_const_attr_sampling_frequency_available.dev_attr.attr, |
a9d26f00 | 1067 | &iio_dev_attr_reset.dev_attr.attr, |
a9d26f00 BS |
1068 | NULL |
1069 | }; | |
1070 | ||
1071 | static const struct attribute_group adis16400_attribute_group = { | |
1072 | .attrs = adis16400_attributes, | |
1073 | }; | |
1074 | ||
2a29a90b | 1075 | static struct adis16400_chip_info adis16400_chips[] = { |
8e886e65 JC |
1076 | [ADIS16300] = { |
1077 | .channels = adis16300_channels, | |
1078 | .num_channels = ARRAY_SIZE(adis16300_channels), | |
1079 | .gyro_scale_micro = 873, | |
1080 | .accel_scale_micro = 5884, | |
1081 | .default_scan_mask = (1 << ADIS16400_SCAN_SUPPLY) | | |
1082 | (1 << ADIS16400_SCAN_GYRO_X) | (1 << ADIS16400_SCAN_ACC_X) | | |
1083 | (1 << ADIS16400_SCAN_ACC_Y) | (1 << ADIS16400_SCAN_ACC_Z) | | |
1084 | (1 << ADIS16400_SCAN_TEMP) | (1 << ADIS16400_SCAN_ADC_0) | | |
1085 | (1 << ADIS16300_SCAN_INCLI_X) | (1 << ADIS16300_SCAN_INCLI_Y) | | |
1086 | (1 << 14), | |
1087 | }, | |
85da5059 JC |
1088 | [ADIS16334] = { |
1089 | .channels = adis16334_channels, | |
1090 | .num_channels = ARRAY_SIZE(adis16334_channels), | |
88b42f3a JC |
1091 | .gyro_scale_micro = 873, |
1092 | .accel_scale_micro = 981, | |
1093 | .default_scan_mask = (1 << ADIS16400_SCAN_GYRO_X) | | |
1094 | (1 << ADIS16400_SCAN_GYRO_Y) | (1 << ADIS16400_SCAN_GYRO_Z) | | |
1095 | (1 << ADIS16400_SCAN_ACC_X) | (1 << ADIS16400_SCAN_ACC_Y) | | |
1096 | (1 << ADIS16400_SCAN_ACC_Z), | |
1097 | }, | |
2a29a90b JC |
1098 | [ADIS16350] = { |
1099 | .channels = adis16350_channels, | |
1100 | .num_channels = ARRAY_SIZE(adis16350_channels), | |
1101 | .gyro_scale_micro = 872664, | |
1102 | .accel_scale_micro = 24732, | |
1103 | .default_scan_mask = 0x7FF, | |
1104 | .flags = ADIS16400_NO_BURST, | |
1105 | }, | |
1106 | [ADIS16360] = { | |
1107 | .channels = adis16350_channels, | |
1108 | .num_channels = ARRAY_SIZE(adis16350_channels), | |
1109 | .flags = ADIS16400_HAS_PROD_ID, | |
1110 | .product_id = 0x3FE8, | |
1111 | .gyro_scale_micro = 1279, | |
1112 | .accel_scale_micro = 24732, | |
1113 | .default_scan_mask = 0x7FF, | |
1114 | }, | |
1115 | [ADIS16362] = { | |
1116 | .channels = adis16350_channels, | |
1117 | .num_channels = ARRAY_SIZE(adis16350_channels), | |
1118 | .flags = ADIS16400_HAS_PROD_ID, | |
1119 | .product_id = 0x3FEA, | |
1120 | .gyro_scale_micro = 1279, | |
1121 | .accel_scale_micro = 24732, | |
1122 | .default_scan_mask = 0x7FF, | |
1123 | }, | |
1124 | [ADIS16364] = { | |
1125 | .channels = adis16350_channels, | |
1126 | .num_channels = ARRAY_SIZE(adis16350_channels), | |
1127 | .flags = ADIS16400_HAS_PROD_ID, | |
1128 | .product_id = 0x3FEC, | |
1129 | .gyro_scale_micro = 1279, | |
1130 | .accel_scale_micro = 24732, | |
1131 | .default_scan_mask = 0x7FF, | |
1132 | }, | |
1133 | [ADIS16365] = { | |
1134 | .channels = adis16350_channels, | |
1135 | .num_channels = ARRAY_SIZE(adis16350_channels), | |
1136 | .flags = ADIS16400_HAS_PROD_ID, | |
1137 | .product_id = 0x3FED, | |
1138 | .gyro_scale_micro = 1279, | |
1139 | .accel_scale_micro = 24732, | |
1140 | .default_scan_mask = 0x7FF, | |
1141 | }, | |
1142 | [ADIS16400] = { | |
1143 | .channels = adis16400_channels, | |
1144 | .num_channels = ARRAY_SIZE(adis16400_channels), | |
1145 | .flags = ADIS16400_HAS_PROD_ID, | |
1146 | .product_id = 0x4015, | |
1147 | .gyro_scale_micro = 873, | |
1148 | .accel_scale_micro = 32656, | |
1149 | .default_scan_mask = 0xFFF, | |
1150 | } | |
1151 | }; | |
1152 | ||
6fe8135f JC |
1153 | static const struct iio_info adis16400_info = { |
1154 | .driver_module = THIS_MODULE, | |
1155 | .read_raw = &adis16400_read_raw, | |
1156 | .write_raw = &adis16400_write_raw, | |
1157 | .attrs = &adis16400_attribute_group, | |
1158 | }; | |
2a29a90b | 1159 | |
a9d26f00 BS |
1160 | static int __devinit adis16400_probe(struct spi_device *spi) |
1161 | { | |
26d25ae3 | 1162 | int ret; |
38d15f06 | 1163 | struct adis16400_state *st; |
7cbb7537 | 1164 | struct iio_dev *indio_dev = iio_device_alloc(sizeof(*st)); |
38d15f06 | 1165 | if (indio_dev == NULL) { |
a9d26f00 BS |
1166 | ret = -ENOMEM; |
1167 | goto error_ret; | |
1168 | } | |
38d15f06 | 1169 | st = iio_priv(indio_dev); |
a9d26f00 | 1170 | /* this is only used for removal purposes */ |
38d15f06 | 1171 | spi_set_drvdata(spi, indio_dev); |
a9d26f00 | 1172 | |
a9d26f00 BS |
1173 | st->us = spi; |
1174 | mutex_init(&st->buf_lock); | |
38d15f06 | 1175 | |
a9d26f00 | 1176 | /* setup the industrialio driver allocated elements */ |
2a29a90b | 1177 | st->variant = &adis16400_chips[spi_get_device_id(spi)->driver_data]; |
38d15f06 JC |
1178 | indio_dev->dev.parent = &spi->dev; |
1179 | indio_dev->name = spi_get_device_id(spi)->name; | |
38d15f06 JC |
1180 | indio_dev->channels = st->variant->channels; |
1181 | indio_dev->num_channels = st->variant->num_channels; | |
6fe8135f | 1182 | indio_dev->info = &adis16400_info; |
38d15f06 JC |
1183 | indio_dev->modes = INDIO_DIRECT_MODE; |
1184 | ||
1185 | ret = adis16400_configure_ring(indio_dev); | |
a9d26f00 BS |
1186 | if (ret) |
1187 | goto error_free_dev; | |
1188 | ||
14555b14 JC |
1189 | ret = iio_buffer_register(indio_dev, |
1190 | st->variant->channels, | |
1191 | st->variant->num_channels); | |
a9d26f00 | 1192 | if (ret) { |
6a6ec623 | 1193 | dev_err(&spi->dev, "failed to initialize the ring\n"); |
a9d26f00 BS |
1194 | goto error_unreg_ring_funcs; |
1195 | } | |
1196 | ||
521de518 | 1197 | if (spi->irq) { |
38d15f06 | 1198 | ret = adis16400_probe_trigger(indio_dev); |
a9d26f00 | 1199 | if (ret) |
b333a240 | 1200 | goto error_uninitialize_ring; |
a9d26f00 BS |
1201 | } |
1202 | ||
1203 | /* Get the device into a sane initial state */ | |
38d15f06 | 1204 | ret = adis16400_initial_setup(indio_dev); |
a9d26f00 BS |
1205 | if (ret) |
1206 | goto error_remove_trigger; | |
26d25ae3 JC |
1207 | ret = iio_device_register(indio_dev); |
1208 | if (ret) | |
1209 | goto error_remove_trigger; | |
1210 | ||
a9d26f00 BS |
1211 | return 0; |
1212 | ||
1213 | error_remove_trigger: | |
487db485 | 1214 | if (spi->irq) |
38d15f06 | 1215 | adis16400_remove_trigger(indio_dev); |
a9d26f00 | 1216 | error_uninitialize_ring: |
14555b14 | 1217 | iio_buffer_unregister(indio_dev); |
a9d26f00 | 1218 | error_unreg_ring_funcs: |
38d15f06 | 1219 | adis16400_unconfigure_ring(indio_dev); |
a9d26f00 | 1220 | error_free_dev: |
7cbb7537 | 1221 | iio_device_free(indio_dev); |
a9d26f00 BS |
1222 | error_ret: |
1223 | return ret; | |
1224 | } | |
1225 | ||
1226 | /* fixme, confirm ordering in this function */ | |
1227 | static int adis16400_remove(struct spi_device *spi) | |
1228 | { | |
1229 | int ret; | |
38d15f06 | 1230 | struct iio_dev *indio_dev = spi_get_drvdata(spi); |
a9d26f00 | 1231 | |
d2fffd6c | 1232 | iio_device_unregister(indio_dev); |
e7854845 | 1233 | ret = adis16400_stop_device(indio_dev); |
a9d26f00 BS |
1234 | if (ret) |
1235 | goto err_ret; | |
1236 | ||
a9d26f00 | 1237 | adis16400_remove_trigger(indio_dev); |
14555b14 | 1238 | iio_buffer_unregister(indio_dev); |
a9d26f00 | 1239 | adis16400_unconfigure_ring(indio_dev); |
7cbb7537 | 1240 | iio_device_free(indio_dev); |
2a29a90b | 1241 | |
a9d26f00 BS |
1242 | return 0; |
1243 | ||
1244 | err_ret: | |
1245 | return ret; | |
1246 | } | |
1247 | ||
2a29a90b | 1248 | static const struct spi_device_id adis16400_id[] = { |
8e886e65 | 1249 | {"adis16300", ADIS16300}, |
85da5059 | 1250 | {"adis16334", ADIS16334}, |
2a29a90b JC |
1251 | {"adis16350", ADIS16350}, |
1252 | {"adis16354", ADIS16350}, | |
1253 | {"adis16355", ADIS16350}, | |
1254 | {"adis16360", ADIS16360}, | |
1255 | {"adis16362", ADIS16362}, | |
1256 | {"adis16364", ADIS16364}, | |
1257 | {"adis16365", ADIS16365}, | |
1258 | {"adis16400", ADIS16400}, | |
1259 | {"adis16405", ADIS16400}, | |
1260 | {} | |
1261 | }; | |
55e4390c | 1262 | MODULE_DEVICE_TABLE(spi, adis16400_id); |
2a29a90b | 1263 | |
a9d26f00 BS |
1264 | static struct spi_driver adis16400_driver = { |
1265 | .driver = { | |
1266 | .name = "adis16400", | |
1267 | .owner = THIS_MODULE, | |
1268 | }, | |
2a29a90b | 1269 | .id_table = adis16400_id, |
a9d26f00 BS |
1270 | .probe = adis16400_probe, |
1271 | .remove = __devexit_p(adis16400_remove), | |
1272 | }; | |
ae6ae6fe | 1273 | module_spi_driver(adis16400_driver); |
a9d26f00 BS |
1274 | |
1275 | MODULE_AUTHOR("Manuel Stahl <manuel.stahl@iis.fraunhofer.de>"); | |
1276 | MODULE_DESCRIPTION("Analog Devices ADIS16400/5 IMU SPI driver"); | |
1277 | MODULE_LICENSE("GPL v2"); |