drivers/iio/imu/adis16400_core.c

   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@kernel.org>
   9  * Copyright (c) 2011 Analog Devices Inc.
  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/delay.h>
  20 #include <linux/mutex.h>
  21 #include <linux/device.h>
  22 #include <linux/kernel.h>
  23 #include <linux/spi/spi.h>
  24 #include <linux/slab.h>
  25 #include <linux/sysfs.h>
  26 #include <linux/list.h>
  27 #include <linux/module.h>
  28 #include <linux/debugfs.h>
  29
  30 #include <linux/iio/iio.h>
  31 #include <linux/iio/sysfs.h>
  32 #include <linux/iio/buffer.h>
  33
  34 #include "adis16400.h"
  35
  36 #ifdef CONFIG_DEBUG_FS
  37
  38 static ssize_t adis16400_show_serial_number(struct file *file,
  39                 char __user *userbuf, size_t count, loff_t *ppos)
  40 {
  41         struct adis16400_state *st = file->private_data;
  42         u16 lot1, lot2, serial_number;
  43         char buf[16];
  44         size_t len;
  45         int ret;
  46
  47         ret = adis_read_reg_16(&st->adis, ADIS16334_LOT_ID1, &lot1);
  48         if (ret < 0)
  49                 return ret;
  50
  51         ret = adis_read_reg_16(&st->adis, ADIS16334_LOT_ID2, &lot2);
  52         if (ret < 0)
  53                 return ret;
  54
  55         ret = adis_read_reg_16(&st->adis, ADIS16334_SERIAL_NUMBER,
  56                         &serial_number);
  57         if (ret < 0)
  58                 return ret;
  59
  60         len = snprintf(buf, sizeof(buf), "%.4x-%.4x-%.4x\n", lot1, lot2,
  61                         serial_number);
  62
  63         return simple_read_from_buffer(userbuf, count, ppos, buf, len);
  64 }
  65
  66 static const struct file_operations adis16400_serial_number_fops = {
  67         .open = simple_open,
  68         .read = adis16400_show_serial_number,
  69         .llseek = default_llseek,
  70         .owner = THIS_MODULE,
  71 };
  72
  73 static int adis16400_show_product_id(void *arg, u64 *val)
  74 {
  75         struct adis16400_state *st = arg;
  76         uint16_t prod_id;
  77         int ret;
  78
  79         ret = adis_read_reg_16(&st->adis, ADIS16400_PRODUCT_ID, &prod_id);
  80         if (ret < 0)
  81                 return ret;
  82
  83         *val = prod_id;
  84
  85         return 0;
  86 }
  87 DEFINE_SIMPLE_ATTRIBUTE(adis16400_product_id_fops,
  88         adis16400_show_product_id, NULL, "%lld\n");
  89
  90 static int adis16400_show_flash_count(void *arg, u64 *val)
  91 {
  92         struct adis16400_state *st = arg;
  93         uint16_t flash_count;
  94         int ret;
  95
  96         ret = adis_read_reg_16(&st->adis, ADIS16400_FLASH_CNT, &flash_count);
  97         if (ret < 0)
  98                 return ret;
  99
 100         *val = flash_count;
 101
 102         return 0;
 103 }
 104 DEFINE_SIMPLE_ATTRIBUTE(adis16400_flash_count_fops,
 105         adis16400_show_flash_count, NULL, "%lld\n");
 106
 107 static int adis16400_debugfs_init(struct iio_dev *indio_dev)
 108 {
 109         struct adis16400_state *st = iio_priv(indio_dev);
 110
 111         if (st->variant->flags & ADIS16400_HAS_SERIAL_NUMBER)
 112                 debugfs_create_file("serial_number", 0400,
 113                         indio_dev->debugfs_dentry, st,
 114                         &adis16400_serial_number_fops);
 115         if (st->variant->flags & ADIS16400_HAS_PROD_ID)
 116                 debugfs_create_file("product_id", 0400,
 117                         indio_dev->debugfs_dentry, st,
 118                         &adis16400_product_id_fops);
 119         debugfs_create_file("flash_count", 0400, indio_dev->debugfs_dentry,
 120                 st, &adis16400_flash_count_fops);
 121
 122         return 0;
 123 }
 124
 125 #else
 126
 127 static int adis16400_debugfs_init(struct iio_dev *indio_dev)
 128 {
 129         return 0;
 130 }
 131
 132 #endif
 133
 134 enum adis16400_chip_variant {
 135         ADIS16300,
 136         ADIS16334,
 137         ADIS16350,
 138         ADIS16360,
 139         ADIS16362,
 140         ADIS16364,
 141         ADIS16400,
 142         ADIS16448,
 143 };
 144
 145 static int adis16334_get_freq(struct adis16400_state *st)
 146 {
 147         int ret;
 148         uint16_t t;
 149
 150         ret = adis_read_reg_16(&st->adis, ADIS16400_SMPL_PRD, &t);
 151         if (ret < 0)
 152                 return ret;
 153
 154         t >>= ADIS16334_RATE_DIV_SHIFT;
 155
 156         return 819200 >> t;
 157 }
 158
 159 static int adis16334_set_freq(struct adis16400_state *st, unsigned int freq)
 160 {
 161         unsigned int t;
 162
 163         if (freq < 819200)
 164                 t = ilog2(819200 / freq);
 165         else
 166                 t = 0;
 167
 168         if (t > 0x31)
 169                 t = 0x31;
 170
 171         t <<= ADIS16334_RATE_DIV_SHIFT;
 172         t |= ADIS16334_RATE_INT_CLK;
 173
 174         return adis_write_reg_16(&st->adis, ADIS16400_SMPL_PRD, t);
 175 }
 176
 177 static int adis16400_get_freq(struct adis16400_state *st)
 178 {
 179         int sps, ret;
 180         uint16_t t;
 181
 182         ret = adis_read_reg_16(&st->adis, ADIS16400_SMPL_PRD, &t);
 183         if (ret < 0)
 184                 return ret;
 185
 186         sps = (t & ADIS16400_SMPL_PRD_TIME_BASE) ? 52851 : 1638404;
 187         sps /= (t & ADIS16400_SMPL_PRD_DIV_MASK) + 1;
 188
 189         return sps;
 190 }
 191
 192 static int adis16400_set_freq(struct adis16400_state *st, unsigned int freq)
 193 {
 194         unsigned int t;
 195         uint8_t val = 0;
 196
 197         t = 1638404 / freq;
 198         if (t >= 128) {
 199                 val |= ADIS16400_SMPL_PRD_TIME_BASE;
 200                 t = 52851 / freq;
 201                 if (t >= 128)
 202                         t = 127;
 203         } else if (t != 0) {
 204                 t--;
 205         }
 206
 207         val |= t;
 208
 209         if (t >= 0x0A || (val & ADIS16400_SMPL_PRD_TIME_BASE))
 210                 st->adis.spi->max_speed_hz = ADIS16400_SPI_SLOW;
 211         else
 212                 st->adis.spi->max_speed_hz = ADIS16400_SPI_FAST;
 213
 214         return adis_write_reg_8(&st->adis, ADIS16400_SMPL_PRD, val);
 215 }
 216
 217 static const unsigned adis16400_3db_divisors[] = {
 218         [0] = 2, /* Special case */
 219         [1] = 6,
 220         [2] = 12,
 221         [3] = 25,
 222         [4] = 50,
 223         [5] = 100,
 224         [6] = 200,
 225         [7] = 200, /* Not a valid setting */
 226 };
 227
 228 static int adis16400_set_filter(struct iio_dev *indio_dev, int sps, int val)
 229 {
 230         struct adis16400_state *st = iio_priv(indio_dev);
 231         uint16_t val16;
 232         int i, ret;
 233
 234         for (i = ARRAY_SIZE(adis16400_3db_divisors) - 1; i >= 1; i--) {
 235                 if (sps / adis16400_3db_divisors[i] >= val)
 236                         break;
 237         }
 238
 239         ret = adis_read_reg_16(&st->adis, ADIS16400_SENS_AVG, &val16);
 240         if (ret < 0)
 241                 return ret;
 242
 243         ret = adis_write_reg_16(&st->adis, ADIS16400_SENS_AVG,
 244                                          (val16 & ~0x07) | i);
 245         return ret;
 246 }
 247
 248 /* Power down the device */
 249 static int adis16400_stop_device(struct iio_dev *indio_dev)
 250 {
 251         struct adis16400_state *st = iio_priv(indio_dev);
 252         int ret;
 253
 254         ret = adis_write_reg_16(&st->adis, ADIS16400_SLP_CNT,
 255                         ADIS16400_SLP_CNT_POWER_OFF);
 256         if (ret)
 257                 dev_err(&indio_dev->dev,
 258                         "problem with turning device off: SLP_CNT");
 259
 260         return ret;
 261 }
 262
 263 static int adis16400_initial_setup(struct iio_dev *indio_dev)
 264 {
 265         struct adis16400_state *st = iio_priv(indio_dev);
 266         uint16_t prod_id, smp_prd;
 267         unsigned int device_id;
 268         int ret;
 269
 270         /* use low spi speed for init if the device has a slow mode */
 271         if (st->variant->flags & ADIS16400_HAS_SLOW_MODE)
 272                 st->adis.spi->max_speed_hz = ADIS16400_SPI_SLOW;
 273         else
 274                 st->adis.spi->max_speed_hz = ADIS16400_SPI_FAST;
 275         st->adis.spi->mode = SPI_MODE_3;
 276         spi_setup(st->adis.spi);
 277
 278         ret = adis_initial_startup(&st->adis);
 279         if (ret)
 280                 return ret;
 281
 282         if (st->variant->flags & ADIS16400_HAS_PROD_ID) {
 283                 ret = adis_read_reg_16(&st->adis,
 284                                                 ADIS16400_PRODUCT_ID, &prod_id);
 285                 if (ret)
 286                         goto err_ret;
 287
 288                 sscanf(indio_dev->name, "adis%u\n", &device_id);
 289
 290                 if (prod_id != device_id)
 291                         dev_warn(&indio_dev->dev, "Device ID(%u) and product ID(%u) do not match.",
 292                                         device_id, prod_id);
 293
 294                 dev_info(&indio_dev->dev, "%s: prod_id 0x%04x at CS%d (irq %d)\n",
 295                         indio_dev->name, prod_id,
 296                         st->adis.spi->chip_select, st->adis.spi->irq);
 297         }
 298         /* use high spi speed if possible */
 299         if (st->variant->flags & ADIS16400_HAS_SLOW_MODE) {
 300                 ret = adis_read_reg_16(&st->adis, ADIS16400_SMPL_PRD, &smp_prd);
 301                 if (ret)
 302                         goto err_ret;
 303
 304                 if ((smp_prd & ADIS16400_SMPL_PRD_DIV_MASK) < 0x0A) {
 305                         st->adis.spi->max_speed_hz = ADIS16400_SPI_FAST;
 306                         spi_setup(st->adis.spi);
 307                 }
 308         }
 309
 310 err_ret:
 311         return ret;
 312 }
 313
 314 static const uint8_t adis16400_addresses[] = {
 315         [ADIS16400_SCAN_GYRO_X] = ADIS16400_XGYRO_OFF,
 316         [ADIS16400_SCAN_GYRO_Y] = ADIS16400_YGYRO_OFF,
 317         [ADIS16400_SCAN_GYRO_Z] = ADIS16400_ZGYRO_OFF,
 318         [ADIS16400_SCAN_ACC_X] = ADIS16400_XACCL_OFF,
 319         [ADIS16400_SCAN_ACC_Y] = ADIS16400_YACCL_OFF,
 320         [ADIS16400_SCAN_ACC_Z] = ADIS16400_ZACCL_OFF,
 321 };
 322
 323 static int adis16400_write_raw(struct iio_dev *indio_dev,
 324         struct iio_chan_spec const *chan, int val, int val2, long info)
 325 {
 326         struct adis16400_state *st = iio_priv(indio_dev);
 327         int ret, sps;
 328
 329         switch (info) {
 330         case IIO_CHAN_INFO_CALIBBIAS:
 331                 mutex_lock(&indio_dev->mlock);
 332                 ret = adis_write_reg_16(&st->adis,
 333                                 adis16400_addresses[chan->scan_index], val);
 334                 mutex_unlock(&indio_dev->mlock);
 335                 return ret;
 336         case IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY:
 337                 /*
 338                  * Need to cache values so we can update if the frequency
 339                  * changes.
 340                  */
 341                 mutex_lock(&indio_dev->mlock);
 342                 st->filt_int = val;
 343                 /* Work out update to current value */
 344                 sps = st->variant->get_freq(st);
 345                 if (sps < 0) {
 346                         mutex_unlock(&indio_dev->mlock);
 347                         return sps;
 348                 }
 349
 350                 ret = adis16400_set_filter(indio_dev, sps,
 351                         val * 1000 + val2 / 1000);
 352                 mutex_unlock(&indio_dev->mlock);
 353                 return ret;
 354         case IIO_CHAN_INFO_SAMP_FREQ:
 355                 sps = val * 1000 + val2 / 1000;
 356
 357                 if (sps <= 0)
 358                         return -EINVAL;
 359
 360                 mutex_lock(&indio_dev->mlock);
 361                 ret = st->variant->set_freq(st, sps);
 362                 mutex_unlock(&indio_dev->mlock);
 363                 return ret;
 364         default:
 365                 return -EINVAL;
 366         }
 367 }
 368
 369 static int adis16400_read_raw(struct iio_dev *indio_dev,
 370         struct iio_chan_spec const *chan, int *val, int *val2, long info)
 371 {
 372         struct adis16400_state *st = iio_priv(indio_dev);
 373         int16_t val16;
 374         int ret;
 375
 376         switch (info) {
 377         case IIO_CHAN_INFO_RAW:
 378                 return adis_single_conversion(indio_dev, chan, 0, val);
 379         case IIO_CHAN_INFO_SCALE:
 380                 switch (chan->type) {
 381                 case IIO_ANGL_VEL:
 382                         *val = 0;
 383                         *val2 = st->variant->gyro_scale_micro;
 384                         return IIO_VAL_INT_PLUS_MICRO;
 385                 case IIO_VOLTAGE:
 386                         *val = 0;
 387                         if (chan->channel == 0) {
 388                                 *val = 2;
 389                                 *val2 = 418000; /* 2.418 mV */
 390                         } else {
 391                                 *val = 0;
 392                                 *val2 = 805800; /* 805.8 uV */
 393                         }
 394                         return IIO_VAL_INT_PLUS_MICRO;
 395                 case IIO_ACCEL:
 396                         *val = 0;
 397                         *val2 = st->variant->accel_scale_micro;
 398                         return IIO_VAL_INT_PLUS_MICRO;
 399                 case IIO_MAGN:
 400                         *val = 0;
 401                         *val2 = 500; /* 0.5 mgauss */
 402                         return IIO_VAL_INT_PLUS_MICRO;
 403                 case IIO_TEMP:
 404                         *val = st->variant->temp_scale_nano / 1000000;
 405                         *val2 = (st->variant->temp_scale_nano % 1000000);
 406                         return IIO_VAL_INT_PLUS_MICRO;
 407                 default:
 408                         return -EINVAL;
 409                 }
 410         case IIO_CHAN_INFO_CALIBBIAS:
 411                 mutex_lock(&indio_dev->mlock);
 412                 ret = adis_read_reg_16(&st->adis,
 413                                 adis16400_addresses[chan->scan_index], &val16);
 414                 mutex_unlock(&indio_dev->mlock);
 415                 if (ret)
 416                         return ret;
 417                 val16 = ((val16 & 0xFFF) << 4) >> 4;
 418                 *val = val16;
 419                 return IIO_VAL_INT;
 420         case IIO_CHAN_INFO_OFFSET:
 421                 /* currently only temperature */
 422                 *val = st->variant->temp_offset;
 423                 return IIO_VAL_INT;
 424         case IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY:
 425                 mutex_lock(&indio_dev->mlock);
 426                 /* Need both the number of taps and the sampling frequency */
 427                 ret = adis_read_reg_16(&st->adis,
 428                                                 ADIS16400_SENS_AVG,
 429                                                 &val16);
 430                 if (ret < 0) {
 431                         mutex_unlock(&indio_dev->mlock);
 432                         return ret;
 433                 }
 434                 ret = st->variant->get_freq(st);
 435                 if (ret >= 0) {
 436                         ret /= adis16400_3db_divisors[val16 & 0x07];
 437                         *val = ret / 1000;
 438                         *val2 = (ret % 1000) * 1000;
 439                 }
 440                 mutex_unlock(&indio_dev->mlock);
 441                 if (ret < 0)
 442                         return ret;
 443                 return IIO_VAL_INT_PLUS_MICRO;
 444         case IIO_CHAN_INFO_SAMP_FREQ:
 445                 ret = st->variant->get_freq(st);
 446                 if (ret < 0)
 447                         return ret;
 448                 *val = ret / 1000;
 449                 *val2 = (ret % 1000) * 1000;
 450                 return IIO_VAL_INT_PLUS_MICRO;
 451         default:
 452                 return -EINVAL;
 453         }
 454 }
 455
 456 #define ADIS16400_VOLTAGE_CHAN(addr, bits, name, si) { \
 457         .type = IIO_VOLTAGE, \
 458         .indexed = 1, \
 459         .channel = 0, \
 460         .extend_name = name, \
 461         .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \
 462                 BIT(IIO_CHAN_INFO_SCALE), \
 463         .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
 464         .address = (addr), \
 465         .scan_index = (si), \
 466         .scan_type = { \
 467                 .sign = 'u', \
 468                 .realbits = (bits), \
 469                 .storagebits = 16, \
 470                 .shift = 0, \
 471                 .endianness = IIO_BE, \
 472         }, \
 473 }
 474
 475 #define ADIS16400_SUPPLY_CHAN(addr, bits) \
 476         ADIS16400_VOLTAGE_CHAN(addr, bits, "supply", ADIS16400_SCAN_SUPPLY)
 477
 478 #define ADIS16400_AUX_ADC_CHAN(addr, bits) \
 479         ADIS16400_VOLTAGE_CHAN(addr, bits, NULL, ADIS16400_SCAN_ADC)
 480
 481 #define ADIS16400_GYRO_CHAN(mod, addr, bits) { \
 482         .type = IIO_ANGL_VEL, \
 483         .modified = 1, \
 484         .channel2 = IIO_MOD_ ## mod, \
 485         .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \
 486                 BIT(IIO_CHAN_INFO_CALIBBIAS),             \
 487         .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE) | \
 488                 BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY), \
 489         .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
 490         .address = addr, \
 491         .scan_index = ADIS16400_SCAN_GYRO_ ## mod, \
 492         .scan_type = { \
 493                 .sign = 's', \
 494                 .realbits = (bits), \
 495                 .storagebits = 16, \
 496                 .shift = 0, \
 497                 .endianness = IIO_BE, \
 498         }, \
 499 }
 500
 501 #define ADIS16400_ACCEL_CHAN(mod, addr, bits) { \
 502         .type = IIO_ACCEL, \
 503         .modified = 1, \
 504         .channel2 = IIO_MOD_ ## mod, \
 505         .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \
 506                 BIT(IIO_CHAN_INFO_CALIBBIAS), \
 507         .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE) | \
 508                 BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY), \
 509         .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
 510         .address = (addr), \
 511         .scan_index = ADIS16400_SCAN_ACC_ ## mod, \
 512         .scan_type = { \
 513                 .sign = 's', \
 514                 .realbits = (bits), \
 515                 .storagebits = 16, \
 516                 .shift = 0, \
 517                 .endianness = IIO_BE, \
 518         }, \
 519 }
 520
 521 #define ADIS16400_MAGN_CHAN(mod, addr, bits) { \
 522         .type = IIO_MAGN, \
 523         .modified = 1, \
 524         .channel2 = IIO_MOD_ ## mod, \
 525         .info_mask_separate = BIT(IIO_CHAN_INFO_RAW), \
 526         .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE) | \
 527                 BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY), \
 528         .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
 529         .address = (addr), \
 530         .scan_index = ADIS16400_SCAN_MAGN_ ## mod, \
 531         .scan_type = { \
 532                 .sign = 's', \
 533                 .realbits = (bits), \
 534                 .storagebits = 16, \
 535                 .shift = 0, \
 536                 .endianness = IIO_BE, \
 537         }, \
 538 }
 539
 540 #define ADIS16400_MOD_TEMP_NAME_X "x"
 541 #define ADIS16400_MOD_TEMP_NAME_Y "y"
 542 #define ADIS16400_MOD_TEMP_NAME_Z "z"
 543
 544 #define ADIS16400_MOD_TEMP_CHAN(mod, addr, bits) { \
 545         .type = IIO_TEMP, \
 546         .indexed = 1, \
 547         .channel = 0, \
 548         .extend_name = ADIS16400_MOD_TEMP_NAME_ ## mod, \
 549         .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \
 550                 BIT(IIO_CHAN_INFO_OFFSET) | \
 551                 BIT(IIO_CHAN_INFO_SCALE), \
 552         .info_mask_shared_by_type = \
 553                 BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY), \
 554         .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
 555         .address = (addr), \
 556         .scan_index = ADIS16350_SCAN_TEMP_ ## mod, \
 557         .scan_type = { \
 558                 .sign = 's', \
 559                 .realbits = (bits), \
 560                 .storagebits = 16, \
 561                 .shift = 0, \
 562                 .endianness = IIO_BE, \
 563         }, \
 564 }
 565
 566 #define ADIS16400_TEMP_CHAN(addr, bits) { \
 567         .type = IIO_TEMP, \
 568         .indexed = 1, \
 569         .channel = 0, \
 570         .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \
 571                 BIT(IIO_CHAN_INFO_OFFSET) | \
 572                 BIT(IIO_CHAN_INFO_SCALE), \
 573         .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
 574         .address = (addr), \
 575         .scan_index = ADIS16350_SCAN_TEMP_X, \
 576         .scan_type = { \
 577                 .sign = 's', \
 578                 .realbits = (bits), \
 579                 .storagebits = 16, \
 580                 .shift = 0, \
 581                 .endianness = IIO_BE, \
 582         }, \
 583 }
 584
 585 #define ADIS16400_INCLI_CHAN(mod, addr, bits) { \
 586         .type = IIO_INCLI, \
 587         .modified = 1, \
 588         .channel2 = IIO_MOD_ ## mod, \
 589         .info_mask_separate = BIT(IIO_CHAN_INFO_RAW), \
 590         .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE), \
 591         .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
 592         .address = (addr), \
 593         .scan_index = ADIS16300_SCAN_INCLI_ ## mod, \
 594         .scan_type = { \
 595                 .sign = 's', \
 596                 .realbits = (bits), \
 597                 .storagebits = 16, \
 598                 .shift = 0, \
 599                 .endianness = IIO_BE, \
 600         }, \
 601 }
 602
 603 static const struct iio_chan_spec adis16400_channels[] = {
 604         ADIS16400_SUPPLY_CHAN(ADIS16400_SUPPLY_OUT, 14),
 605         ADIS16400_GYRO_CHAN(X, ADIS16400_XGYRO_OUT, 14),
 606         ADIS16400_GYRO_CHAN(Y, ADIS16400_YGYRO_OUT, 14),
 607         ADIS16400_GYRO_CHAN(Z, ADIS16400_ZGYRO_OUT, 14),
 608         ADIS16400_ACCEL_CHAN(X, ADIS16400_XACCL_OUT, 14),
 609         ADIS16400_ACCEL_CHAN(Y, ADIS16400_YACCL_OUT, 14),
 610         ADIS16400_ACCEL_CHAN(Z, ADIS16400_ZACCL_OUT, 14),
 611         ADIS16400_MAGN_CHAN(X, ADIS16400_XMAGN_OUT, 14),
 612         ADIS16400_MAGN_CHAN(Y, ADIS16400_YMAGN_OUT, 14),
 613         ADIS16400_MAGN_CHAN(Z, ADIS16400_ZMAGN_OUT, 14),
 614         ADIS16400_TEMP_CHAN(ADIS16400_TEMP_OUT, 12),
 615         ADIS16400_AUX_ADC_CHAN(ADIS16400_AUX_ADC, 12),
 616         IIO_CHAN_SOFT_TIMESTAMP(ADIS16400_SCAN_TIMESTAMP),
 617 };
 618
 619 static const struct iio_chan_spec adis16448_channels[] = {
 620         ADIS16400_GYRO_CHAN(X, ADIS16400_XGYRO_OUT, 16),
 621         ADIS16400_GYRO_CHAN(Y, ADIS16400_YGYRO_OUT, 16),
 622         ADIS16400_GYRO_CHAN(Z, ADIS16400_ZGYRO_OUT, 16),
 623         ADIS16400_ACCEL_CHAN(X, ADIS16400_XACCL_OUT, 16),
 624         ADIS16400_ACCEL_CHAN(Y, ADIS16400_YACCL_OUT, 16),
 625         ADIS16400_ACCEL_CHAN(Z, ADIS16400_ZACCL_OUT, 16),
 626         ADIS16400_MAGN_CHAN(X, ADIS16400_XMAGN_OUT, 16),
 627         ADIS16400_MAGN_CHAN(Y, ADIS16400_YMAGN_OUT, 16),
 628         ADIS16400_MAGN_CHAN(Z, ADIS16400_ZMAGN_OUT, 16),
 629         {
 630                 .type = IIO_PRESSURE,
 631                 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW),
 632                 .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE),
 633                 .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ),
 634                 .address = ADIS16448_BARO_OUT,
 635                 .scan_index = ADIS16400_SCAN_BARO,
 636                 .scan_type = {
 637                         .sign = 's',
 638                         .realbits = 16,
 639                         .storagebits = 16,
 640                         .endianness = IIO_BE,
 641                 },
 642         },
 643         ADIS16400_TEMP_CHAN(ADIS16448_TEMP_OUT, 12),
 644         IIO_CHAN_SOFT_TIMESTAMP(ADIS16400_SCAN_TIMESTAMP),
 645 };
 646
 647 static const struct iio_chan_spec adis16350_channels[] = {
 648         ADIS16400_SUPPLY_CHAN(ADIS16400_SUPPLY_OUT, 12),
 649         ADIS16400_GYRO_CHAN(X, ADIS16400_XGYRO_OUT, 14),
 650         ADIS16400_GYRO_CHAN(Y, ADIS16400_YGYRO_OUT, 14),
 651         ADIS16400_GYRO_CHAN(Z, ADIS16400_ZGYRO_OUT, 14),
 652         ADIS16400_ACCEL_CHAN(X, ADIS16400_XACCL_OUT, 14),
 653         ADIS16400_ACCEL_CHAN(Y, ADIS16400_YACCL_OUT, 14),
 654         ADIS16400_ACCEL_CHAN(Z, ADIS16400_ZACCL_OUT, 14),
 655         ADIS16400_MAGN_CHAN(X, ADIS16400_XMAGN_OUT, 14),
 656         ADIS16400_MAGN_CHAN(Y, ADIS16400_YMAGN_OUT, 14),
 657         ADIS16400_MAGN_CHAN(Z, ADIS16400_ZMAGN_OUT, 14),
 658         ADIS16400_AUX_ADC_CHAN(ADIS16300_AUX_ADC, 12),
 659         ADIS16400_MOD_TEMP_CHAN(X, ADIS16350_XTEMP_OUT, 12),
 660         ADIS16400_MOD_TEMP_CHAN(Y, ADIS16350_YTEMP_OUT, 12),
 661         ADIS16400_MOD_TEMP_CHAN(Z, ADIS16350_ZTEMP_OUT, 12),
 662         IIO_CHAN_SOFT_TIMESTAMP(ADIS16400_SCAN_TIMESTAMP),
 663 };
 664
 665 static const struct iio_chan_spec adis16300_channels[] = {
 666         ADIS16400_SUPPLY_CHAN(ADIS16400_SUPPLY_OUT, 12),
 667         ADIS16400_GYRO_CHAN(X, ADIS16400_XGYRO_OUT, 14),
 668         ADIS16400_ACCEL_CHAN(X, ADIS16400_XACCL_OUT, 14),
 669         ADIS16400_ACCEL_CHAN(Y, ADIS16400_YACCL_OUT, 14),
 670         ADIS16400_ACCEL_CHAN(Z, ADIS16400_ZACCL_OUT, 14),
 671         ADIS16400_TEMP_CHAN(ADIS16350_XTEMP_OUT, 12),
 672         ADIS16400_AUX_ADC_CHAN(ADIS16300_AUX_ADC, 12),
 673         ADIS16400_INCLI_CHAN(X, ADIS16300_PITCH_OUT, 13),
 674         ADIS16400_INCLI_CHAN(Y, ADIS16300_ROLL_OUT, 13),
 675         IIO_CHAN_SOFT_TIMESTAMP(ADIS16400_SCAN_TIMESTAMP),
 676 };
 677
 678 static const struct iio_chan_spec adis16334_channels[] = {
 679         ADIS16400_GYRO_CHAN(X, ADIS16400_XGYRO_OUT, 14),
 680         ADIS16400_GYRO_CHAN(Y, ADIS16400_YGYRO_OUT, 14),
 681         ADIS16400_GYRO_CHAN(Z, ADIS16400_ZGYRO_OUT, 14),
 682         ADIS16400_ACCEL_CHAN(X, ADIS16400_XACCL_OUT, 14),
 683         ADIS16400_ACCEL_CHAN(Y, ADIS16400_YACCL_OUT, 14),
 684         ADIS16400_ACCEL_CHAN(Z, ADIS16400_ZACCL_OUT, 14),
 685         ADIS16400_TEMP_CHAN(ADIS16350_XTEMP_OUT, 12),
 686         IIO_CHAN_SOFT_TIMESTAMP(ADIS16400_SCAN_TIMESTAMP),
 687 };
 688
 689 static struct adis16400_chip_info adis16400_chips[] = {
 690         [ADIS16300] = {
 691                 .channels = adis16300_channels,
 692                 .num_channels = ARRAY_SIZE(adis16300_channels),
 693                 .flags = ADIS16400_HAS_SLOW_MODE,
 694                 .gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */
 695                 .accel_scale_micro = 5884,
 696                 .temp_scale_nano = 140000000, /* 0.14 C */
 697                 .temp_offset = 25000000 / 140000, /* 25 C = 0x00 */
 698                 .set_freq = adis16400_set_freq,
 699                 .get_freq = adis16400_get_freq,
 700         },
 701         [ADIS16334] = {
 702                 .channels = adis16334_channels,
 703                 .num_channels = ARRAY_SIZE(adis16334_channels),
 704                 .flags = ADIS16400_HAS_PROD_ID | ADIS16400_NO_BURST |
 705                                 ADIS16400_HAS_SERIAL_NUMBER,
 706                 .gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */
 707                 .accel_scale_micro = IIO_G_TO_M_S_2(1000), /* 1 mg */
 708                 .temp_scale_nano = 67850000, /* 0.06785 C */
 709                 .temp_offset = 25000000 / 67850, /* 25 C = 0x00 */
 710                 .set_freq = adis16334_set_freq,
 711                 .get_freq = adis16334_get_freq,
 712         },
 713         [ADIS16350] = {
 714                 .channels = adis16350_channels,
 715                 .num_channels = ARRAY_SIZE(adis16350_channels),
 716                 .gyro_scale_micro = IIO_DEGREE_TO_RAD(73260), /* 0.07326 deg/s */
 717                 .accel_scale_micro = IIO_G_TO_M_S_2(2522), /* 0.002522 g */
 718                 .temp_scale_nano = 145300000, /* 0.1453 C */
 719                 .temp_offset = 25000000 / 145300, /* 25 C = 0x00 */
 720                 .flags = ADIS16400_NO_BURST | ADIS16400_HAS_SLOW_MODE,
 721                 .set_freq = adis16400_set_freq,
 722                 .get_freq = adis16400_get_freq,
 723         },
 724         [ADIS16360] = {
 725                 .channels = adis16350_channels,
 726                 .num_channels = ARRAY_SIZE(adis16350_channels),
 727                 .flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE |
 728                                 ADIS16400_HAS_SERIAL_NUMBER,
 729                 .gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */
 730                 .accel_scale_micro = IIO_G_TO_M_S_2(3333), /* 3.333 mg */
 731                 .temp_scale_nano = 136000000, /* 0.136 C */
 732                 .temp_offset = 25000000 / 136000, /* 25 C = 0x00 */
 733                 .set_freq = adis16400_set_freq,
 734                 .get_freq = adis16400_get_freq,
 735         },
 736         [ADIS16362] = {
 737                 .channels = adis16350_channels,
 738                 .num_channels = ARRAY_SIZE(adis16350_channels),
 739                 .flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE |
 740                                 ADIS16400_HAS_SERIAL_NUMBER,
 741                 .gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */
 742                 .accel_scale_micro = IIO_G_TO_M_S_2(333), /* 0.333 mg */
 743                 .temp_scale_nano = 136000000, /* 0.136 C */
 744                 .temp_offset = 25000000 / 136000, /* 25 C = 0x00 */
 745                 .set_freq = adis16400_set_freq,
 746                 .get_freq = adis16400_get_freq,
 747         },
 748         [ADIS16364] = {
 749                 .channels = adis16350_channels,
 750                 .num_channels = ARRAY_SIZE(adis16350_channels),
 751                 .flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE |
 752                                 ADIS16400_HAS_SERIAL_NUMBER,
 753                 .gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */
 754                 .accel_scale_micro = IIO_G_TO_M_S_2(1000), /* 1 mg */
 755                 .temp_scale_nano = 136000000, /* 0.136 C */
 756                 .temp_offset = 25000000 / 136000, /* 25 C = 0x00 */
 757                 .set_freq = adis16400_set_freq,
 758                 .get_freq = adis16400_get_freq,
 759         },
 760         [ADIS16400] = {
 761                 .channels = adis16400_channels,
 762                 .num_channels = ARRAY_SIZE(adis16400_channels),
 763                 .flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE,
 764                 .gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */
 765                 .accel_scale_micro = IIO_G_TO_M_S_2(3333), /* 3.333 mg */
 766                 .temp_scale_nano = 140000000, /* 0.14 C */
 767                 .temp_offset = 25000000 / 140000, /* 25 C = 0x00 */
 768                 .set_freq = adis16400_set_freq,
 769                 .get_freq = adis16400_get_freq,
 770         },
 771         [ADIS16448] = {
 772                 .channels = adis16448_channels,
 773                 .num_channels = ARRAY_SIZE(adis16448_channels),
 774                 .flags = ADIS16400_HAS_PROD_ID |
 775                                 ADIS16400_HAS_SERIAL_NUMBER,
 776                 .gyro_scale_micro = IIO_DEGREE_TO_RAD(10000), /* 0.01 deg/s */
 777                 .accel_scale_micro = IIO_G_TO_M_S_2(833), /* 1/1200 g */
 778                 .temp_scale_nano = 73860000, /* 0.07386 C */
 779                 .temp_offset = 31000000 / 73860, /* 31 C = 0x00 */
 780                 .set_freq = adis16334_set_freq,
 781                 .get_freq = adis16334_get_freq,
 782         }
 783 };
 784
 785 static const struct iio_info adis16400_info = {
 786         .driver_module = THIS_MODULE,
 787         .read_raw = &adis16400_read_raw,
 788         .write_raw = &adis16400_write_raw,
 789         .update_scan_mode = adis16400_update_scan_mode,
 790         .debugfs_reg_access = adis_debugfs_reg_access,
 791 };
 792
 793 static const unsigned long adis16400_burst_scan_mask[] = {
 794         ~0UL,
 795         0,
 796 };
 797
 798 static const char * const adis16400_status_error_msgs[] = {
 799         [ADIS16400_DIAG_STAT_ZACCL_FAIL] = "Z-axis accelerometer self-test failure",
 800         [ADIS16400_DIAG_STAT_YACCL_FAIL] = "Y-axis accelerometer self-test failure",
 801         [ADIS16400_DIAG_STAT_XACCL_FAIL] = "X-axis accelerometer self-test failure",
 802         [ADIS16400_DIAG_STAT_XGYRO_FAIL] = "X-axis gyroscope self-test failure",
 803         [ADIS16400_DIAG_STAT_YGYRO_FAIL] = "Y-axis gyroscope self-test failure",
 804         [ADIS16400_DIAG_STAT_ZGYRO_FAIL] = "Z-axis gyroscope self-test failure",
 805         [ADIS16400_DIAG_STAT_ALARM2] = "Alarm 2 active",
 806         [ADIS16400_DIAG_STAT_ALARM1] = "Alarm 1 active",
 807         [ADIS16400_DIAG_STAT_FLASH_CHK] = "Flash checksum error",
 808         [ADIS16400_DIAG_STAT_SELF_TEST] = "Self test error",
 809         [ADIS16400_DIAG_STAT_OVERFLOW] = "Sensor overrange",
 810         [ADIS16400_DIAG_STAT_SPI_FAIL] = "SPI failure",
 811         [ADIS16400_DIAG_STAT_FLASH_UPT] = "Flash update failed",
 812         [ADIS16400_DIAG_STAT_POWER_HIGH] = "Power supply above 5.25V",
 813         [ADIS16400_DIAG_STAT_POWER_LOW] = "Power supply below 4.75V",
 814 };
 815
 816 static const struct adis_data adis16400_data = {
 817         .msc_ctrl_reg = ADIS16400_MSC_CTRL,
 818         .glob_cmd_reg = ADIS16400_GLOB_CMD,
 819         .diag_stat_reg = ADIS16400_DIAG_STAT,
 820
 821         .read_delay = 50,
 822         .write_delay = 50,
 823
 824         .self_test_mask = ADIS16400_MSC_CTRL_MEM_TEST,
 825         .startup_delay = ADIS16400_STARTUP_DELAY,
 826
 827         .status_error_msgs = adis16400_status_error_msgs,
 828         .status_error_mask = BIT(ADIS16400_DIAG_STAT_ZACCL_FAIL) |
 829                 BIT(ADIS16400_DIAG_STAT_YACCL_FAIL) |
 830                 BIT(ADIS16400_DIAG_STAT_XACCL_FAIL) |
 831                 BIT(ADIS16400_DIAG_STAT_XGYRO_FAIL) |
 832                 BIT(ADIS16400_DIAG_STAT_YGYRO_FAIL) |
 833                 BIT(ADIS16400_DIAG_STAT_ZGYRO_FAIL) |
 834                 BIT(ADIS16400_DIAG_STAT_ALARM2) |
 835                 BIT(ADIS16400_DIAG_STAT_ALARM1) |
 836                 BIT(ADIS16400_DIAG_STAT_FLASH_CHK) |
 837                 BIT(ADIS16400_DIAG_STAT_SELF_TEST) |
 838                 BIT(ADIS16400_DIAG_STAT_OVERFLOW) |
 839                 BIT(ADIS16400_DIAG_STAT_SPI_FAIL) |
 840                 BIT(ADIS16400_DIAG_STAT_FLASH_UPT) |
 841                 BIT(ADIS16400_DIAG_STAT_POWER_HIGH) |
 842                 BIT(ADIS16400_DIAG_STAT_POWER_LOW),
 843 };
 844
 845 static int adis16400_probe(struct spi_device *spi)
 846 {
 847         struct adis16400_state *st;
 848         struct iio_dev *indio_dev;
 849         int ret;
 850
 851         indio_dev = devm_iio_device_alloc(&spi->dev, sizeof(*st));
 852         if (indio_dev == NULL)
 853                 return -ENOMEM;
 854
 855         st = iio_priv(indio_dev);
 856         /* this is only used for removal purposes */
 857         spi_set_drvdata(spi, indio_dev);
 858
 859         /* setup the industrialio driver allocated elements */
 860         st->variant = &adis16400_chips[spi_get_device_id(spi)->driver_data];
 861         indio_dev->dev.parent = &spi->dev;
 862         indio_dev->name = spi_get_device_id(spi)->name;
 863         indio_dev->channels = st->variant->channels;
 864         indio_dev->num_channels = st->variant->num_channels;
 865         indio_dev->info = &adis16400_info;
 866         indio_dev->modes = INDIO_DIRECT_MODE;
 867
 868         if (!(st->variant->flags & ADIS16400_NO_BURST))
 869                 indio_dev->available_scan_masks = adis16400_burst_scan_mask;
 870
 871         ret = adis_init(&st->adis, indio_dev, spi, &adis16400_data);
 872         if (ret)
 873                 return ret;
 874
 875         ret = adis_setup_buffer_and_trigger(&st->adis, indio_dev,
 876                         adis16400_trigger_handler);
 877         if (ret)
 878                 return ret;
 879
 880         /* Get the device into a sane initial state */
 881         ret = adis16400_initial_setup(indio_dev);
 882         if (ret)
 883                 goto error_cleanup_buffer;
 884         ret = iio_device_register(indio_dev);
 885         if (ret)
 886                 goto error_cleanup_buffer;
 887
 888         adis16400_debugfs_init(indio_dev);
 889         return 0;
 890
 891 error_cleanup_buffer:
 892         adis_cleanup_buffer_and_trigger(&st->adis, indio_dev);
 893         return ret;
 894 }
 895
 896 static int adis16400_remove(struct spi_device *spi)
 897 {
 898         struct iio_dev *indio_dev = spi_get_drvdata(spi);
 899         struct adis16400_state *st = iio_priv(indio_dev);
 900
 901         iio_device_unregister(indio_dev);
 902         adis16400_stop_device(indio_dev);
 903
 904         adis_cleanup_buffer_and_trigger(&st->adis, indio_dev);
 905
 906         return 0;
 907 }
 908
 909 static const struct spi_device_id adis16400_id[] = {
 910         {"adis16300", ADIS16300},
 911         {"adis16334", ADIS16334},
 912         {"adis16350", ADIS16350},
 913         {"adis16354", ADIS16350},
 914         {"adis16355", ADIS16350},
 915         {"adis16360", ADIS16360},
 916         {"adis16362", ADIS16362},
 917         {"adis16364", ADIS16364},
 918         {"adis16365", ADIS16360},
 919         {"adis16400", ADIS16400},
 920         {"adis16405", ADIS16400},
 921         {"adis16448", ADIS16448},
 922         {}
 923 };
 924 MODULE_DEVICE_TABLE(spi, adis16400_id);
 925
 926 static struct spi_driver adis16400_driver = {
 927         .driver = {
 928                 .name = "adis16400",
 929                 .owner = THIS_MODULE,
 930         },
 931         .id_table = adis16400_id,
 932         .probe = adis16400_probe,
 933         .remove = adis16400_remove,
 934 };
 935 module_spi_driver(adis16400_driver);
 936
 937 MODULE_AUTHOR("Manuel Stahl <manuel.stahl@iis.fraunhofer.de>");
 938 MODULE_DESCRIPTION("Analog Devices ADIS16400/5 IMU SPI driver");
 939 MODULE_LICENSE("GPL v2");