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 #include <linux/bitops.h>
  30
  31 #include <linux/iio/iio.h>
  32 #include <linux/iio/sysfs.h>
  33 #include <linux/iio/buffer.h>
  34
  35 #include "adis16400.h"
  36
  37 #ifdef CONFIG_DEBUG_FS
  38
  39 static ssize_t adis16400_show_serial_number(struct file *file,
  40                 char __user *userbuf, size_t count, loff_t *ppos)
  41 {
  42         struct adis16400_state *st = file->private_data;
  43         u16 lot1, lot2, serial_number;
  44         char buf[16];
  45         size_t len;
  46         int ret;
  47
  48         ret = adis_read_reg_16(&st->adis, ADIS16334_LOT_ID1, &lot1);
  49         if (ret < 0)
  50                 return ret;
  51
  52         ret = adis_read_reg_16(&st->adis, ADIS16334_LOT_ID2, &lot2);
  53         if (ret < 0)
  54                 return ret;
  55
  56         ret = adis_read_reg_16(&st->adis, ADIS16334_SERIAL_NUMBER,
  57                         &serial_number);
  58         if (ret < 0)
  59                 return ret;
  60
  61         len = snprintf(buf, sizeof(buf), "%.4x-%.4x-%.4x\n", lot1, lot2,
  62                         serial_number);
  63
  64         return simple_read_from_buffer(userbuf, count, ppos, buf, len);
  65 }
  66
  67 static const struct file_operations adis16400_serial_number_fops = {
  68         .open = simple_open,
  69         .read = adis16400_show_serial_number,
  70         .llseek = default_llseek,
  71         .owner = THIS_MODULE,
  72 };
  73
  74 static int adis16400_show_product_id(void *arg, u64 *val)
  75 {
  76         struct adis16400_state *st = arg;
  77         uint16_t prod_id;
  78         int ret;
  79
  80         ret = adis_read_reg_16(&st->adis, ADIS16400_PRODUCT_ID, &prod_id);
  81         if (ret < 0)
  82                 return ret;
  83
  84         *val = prod_id;
  85
  86         return 0;
  87 }
  88 DEFINE_SIMPLE_ATTRIBUTE(adis16400_product_id_fops,
  89         adis16400_show_product_id, NULL, "%lld\n");
  90
  91 static int adis16400_show_flash_count(void *arg, u64 *val)
  92 {
  93         struct adis16400_state *st = arg;
  94         uint16_t flash_count;
  95         int ret;
  96
  97         ret = adis_read_reg_16(&st->adis, ADIS16400_FLASH_CNT, &flash_count);
  98         if (ret < 0)
  99                 return ret;
 100
 101         *val = flash_count;
 102
 103         return 0;
 104 }
 105 DEFINE_SIMPLE_ATTRIBUTE(adis16400_flash_count_fops,
 106         adis16400_show_flash_count, NULL, "%lld\n");
 107
 108 static int adis16400_debugfs_init(struct iio_dev *indio_dev)
 109 {
 110         struct adis16400_state *st = iio_priv(indio_dev);
 111
 112         if (st->variant->flags & ADIS16400_HAS_SERIAL_NUMBER)
 113                 debugfs_create_file("serial_number", 0400,
 114                         indio_dev->debugfs_dentry, st,
 115                         &adis16400_serial_number_fops);
 116         if (st->variant->flags & ADIS16400_HAS_PROD_ID)
 117                 debugfs_create_file("product_id", 0400,
 118                         indio_dev->debugfs_dentry, st,
 119                         &adis16400_product_id_fops);
 120         debugfs_create_file("flash_count", 0400, indio_dev->debugfs_dentry,
 121                 st, &adis16400_flash_count_fops);
 122
 123         return 0;
 124 }
 125
 126 #else
 127
 128 static int adis16400_debugfs_init(struct iio_dev *indio_dev)
 129 {
 130         return 0;
 131 }
 132
 133 #endif
 134
 135 enum adis16400_chip_variant {
 136         ADIS16300,
 137         ADIS16334,
 138         ADIS16350,
 139         ADIS16360,
 140         ADIS16362,
 141         ADIS16364,
 142         ADIS16400,
 143         ADIS16448,
 144 };
 145
 146 static int adis16334_get_freq(struct adis16400_state *st)
 147 {
 148         int ret;
 149         uint16_t t;
 150
 151         ret = adis_read_reg_16(&st->adis, ADIS16400_SMPL_PRD, &t);
 152         if (ret < 0)
 153                 return ret;
 154
 155         t >>= ADIS16334_RATE_DIV_SHIFT;
 156
 157         return 819200 >> t;
 158 }
 159
 160 static int adis16334_set_freq(struct adis16400_state *st, unsigned int freq)
 161 {
 162         unsigned int t;
 163
 164         if (freq < 819200)
 165                 t = ilog2(819200 / freq);
 166         else
 167                 t = 0;
 168
 169         if (t > 0x31)
 170                 t = 0x31;
 171
 172         t <<= ADIS16334_RATE_DIV_SHIFT;
 173         t |= ADIS16334_RATE_INT_CLK;
 174
 175         return adis_write_reg_16(&st->adis, ADIS16400_SMPL_PRD, t);
 176 }
 177
 178 static int adis16400_get_freq(struct adis16400_state *st)
 179 {
 180         int sps, ret;
 181         uint16_t t;
 182
 183         ret = adis_read_reg_16(&st->adis, ADIS16400_SMPL_PRD, &t);
 184         if (ret < 0)
 185                 return ret;
 186
 187         sps = (t & ADIS16400_SMPL_PRD_TIME_BASE) ? 52851 : 1638404;
 188         sps /= (t & ADIS16400_SMPL_PRD_DIV_MASK) + 1;
 189
 190         return sps;
 191 }
 192
 193 static int adis16400_set_freq(struct adis16400_state *st, unsigned int freq)
 194 {
 195         unsigned int t;
 196         uint8_t val = 0;
 197
 198         t = 1638404 / freq;
 199         if (t >= 128) {
 200                 val |= ADIS16400_SMPL_PRD_TIME_BASE;
 201                 t = 52851 / freq;
 202                 if (t >= 128)
 203                         t = 127;
 204         } else if (t != 0) {
 205                 t--;
 206         }
 207
 208         val |= t;
 209
 210         if (t >= 0x0A || (val & ADIS16400_SMPL_PRD_TIME_BASE))
 211                 st->adis.spi->max_speed_hz = ADIS16400_SPI_SLOW;
 212         else
 213                 st->adis.spi->max_speed_hz = ADIS16400_SPI_FAST;
 214
 215         return adis_write_reg_8(&st->adis, ADIS16400_SMPL_PRD, val);
 216 }
 217
 218 static const unsigned adis16400_3db_divisors[] = {
 219         [0] = 2, /* Special case */
 220         [1] = 6,
 221         [2] = 12,
 222         [3] = 25,
 223         [4] = 50,
 224         [5] = 100,
 225         [6] = 200,
 226         [7] = 200, /* Not a valid setting */
 227 };
 228
 229 static int adis16400_set_filter(struct iio_dev *indio_dev, int sps, int val)
 230 {
 231         struct adis16400_state *st = iio_priv(indio_dev);
 232         uint16_t val16;
 233         int i, ret;
 234
 235         for (i = ARRAY_SIZE(adis16400_3db_divisors) - 1; i >= 1; i--) {
 236                 if (sps / adis16400_3db_divisors[i] >= val)
 237                         break;
 238         }
 239
 240         ret = adis_read_reg_16(&st->adis, ADIS16400_SENS_AVG, &val16);
 241         if (ret < 0)
 242                 return ret;
 243
 244         ret = adis_write_reg_16(&st->adis, ADIS16400_SENS_AVG,
 245                                          (val16 & ~0x07) | i);
 246         return ret;
 247 }
 248
 249 /* Power down the device */
 250 static int adis16400_stop_device(struct iio_dev *indio_dev)
 251 {
 252         struct adis16400_state *st = iio_priv(indio_dev);
 253         int ret;
 254
 255         ret = adis_write_reg_16(&st->adis, ADIS16400_SLP_CNT,
 256                         ADIS16400_SLP_CNT_POWER_OFF);
 257         if (ret)
 258                 dev_err(&indio_dev->dev,
 259                         "problem with turning device off: SLP_CNT");
 260
 261         return ret;
 262 }
 263
 264 static int adis16400_initial_setup(struct iio_dev *indio_dev)
 265 {
 266         struct adis16400_state *st = iio_priv(indio_dev);
 267         uint16_t prod_id, smp_prd;
 268         unsigned int device_id;
 269         int ret;
 270
 271         /* use low spi speed for init if the device has a slow mode */
 272         if (st->variant->flags & ADIS16400_HAS_SLOW_MODE)
 273                 st->adis.spi->max_speed_hz = ADIS16400_SPI_SLOW;
 274         else
 275                 st->adis.spi->max_speed_hz = ADIS16400_SPI_FAST;
 276         st->adis.spi->mode = SPI_MODE_3;
 277         spi_setup(st->adis.spi);
 278
 279         ret = adis_initial_startup(&st->adis);
 280         if (ret)
 281                 return ret;
 282
 283         if (st->variant->flags & ADIS16400_HAS_PROD_ID) {
 284                 ret = adis_read_reg_16(&st->adis,
 285                                                 ADIS16400_PRODUCT_ID, &prod_id);
 286                 if (ret)
 287                         goto err_ret;
 288
 289                 sscanf(indio_dev->name, "adis%u\n", &device_id);
 290
 291                 if (prod_id != device_id)
 292                         dev_warn(&indio_dev->dev, "Device ID(%u) and product ID(%u) do not match.",
 293                                         device_id, prod_id);
 294
 295                 dev_info(&indio_dev->dev, "%s: prod_id 0x%04x at CS%d (irq %d)\n",
 296                         indio_dev->name, prod_id,
 297                         st->adis.spi->chip_select, st->adis.spi->irq);
 298         }
 299         /* use high spi speed if possible */
 300         if (st->variant->flags & ADIS16400_HAS_SLOW_MODE) {
 301                 ret = adis_read_reg_16(&st->adis, ADIS16400_SMPL_PRD, &smp_prd);
 302                 if (ret)
 303                         goto err_ret;
 304
 305                 if ((smp_prd & ADIS16400_SMPL_PRD_DIV_MASK) < 0x0A) {
 306                         st->adis.spi->max_speed_hz = ADIS16400_SPI_FAST;
 307                         spi_setup(st->adis.spi);
 308                 }
 309         }
 310
 311 err_ret:
 312         return ret;
 313 }
 314
 315 static const uint8_t adis16400_addresses[] = {
 316         [ADIS16400_SCAN_GYRO_X] = ADIS16400_XGYRO_OFF,
 317         [ADIS16400_SCAN_GYRO_Y] = ADIS16400_YGYRO_OFF,
 318         [ADIS16400_SCAN_GYRO_Z] = ADIS16400_ZGYRO_OFF,
 319         [ADIS16400_SCAN_ACC_X] = ADIS16400_XACCL_OFF,
 320         [ADIS16400_SCAN_ACC_Y] = ADIS16400_YACCL_OFF,
 321         [ADIS16400_SCAN_ACC_Z] = ADIS16400_ZACCL_OFF,
 322 };
 323
 324 static int adis16400_write_raw(struct iio_dev *indio_dev,
 325         struct iio_chan_spec const *chan, int val, int val2, long info)
 326 {
 327         struct adis16400_state *st = iio_priv(indio_dev);
 328         int ret, sps;
 329
 330         switch (info) {
 331         case IIO_CHAN_INFO_CALIBBIAS:
 332                 mutex_lock(&indio_dev->mlock);
 333                 ret = adis_write_reg_16(&st->adis,
 334                                 adis16400_addresses[chan->scan_index], val);
 335                 mutex_unlock(&indio_dev->mlock);
 336                 return ret;
 337         case IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY:
 338                 /*
 339                  * Need to cache values so we can update if the frequency
 340                  * changes.
 341                  */
 342                 mutex_lock(&indio_dev->mlock);
 343                 st->filt_int = val;
 344                 /* Work out update to current value */
 345                 sps = st->variant->get_freq(st);
 346                 if (sps < 0) {
 347                         mutex_unlock(&indio_dev->mlock);
 348                         return sps;
 349                 }
 350
 351                 ret = adis16400_set_filter(indio_dev, sps,
 352                         val * 1000 + val2 / 1000);
 353                 mutex_unlock(&indio_dev->mlock);
 354                 return ret;
 355         case IIO_CHAN_INFO_SAMP_FREQ:
 356                 sps = val * 1000 + val2 / 1000;
 357
 358                 if (sps <= 0)
 359                         return -EINVAL;
 360
 361                 mutex_lock(&indio_dev->mlock);
 362                 ret = st->variant->set_freq(st, sps);
 363                 mutex_unlock(&indio_dev->mlock);
 364                 return ret;
 365         default:
 366                 return -EINVAL;
 367         }
 368 }
 369
 370 static int adis16400_read_raw(struct iio_dev *indio_dev,
 371         struct iio_chan_spec const *chan, int *val, int *val2, long info)
 372 {
 373         struct adis16400_state *st = iio_priv(indio_dev);
 374         int16_t val16;
 375         int ret;
 376
 377         switch (info) {
 378         case IIO_CHAN_INFO_RAW:
 379                 return adis_single_conversion(indio_dev, chan, 0, val);
 380         case IIO_CHAN_INFO_SCALE:
 381                 switch (chan->type) {
 382                 case IIO_ANGL_VEL:
 383                         *val = 0;
 384                         *val2 = st->variant->gyro_scale_micro;
 385                         return IIO_VAL_INT_PLUS_MICRO;
 386                 case IIO_VOLTAGE:
 387                         *val = 0;
 388                         if (chan->channel == 0) {
 389                                 *val = 2;
 390                                 *val2 = 418000; /* 2.418 mV */
 391                         } else {
 392                                 *val = 0;
 393                                 *val2 = 805800; /* 805.8 uV */
 394                         }
 395                         return IIO_VAL_INT_PLUS_MICRO;
 396                 case IIO_ACCEL:
 397                         *val = 0;
 398                         *val2 = st->variant->accel_scale_micro;
 399                         return IIO_VAL_INT_PLUS_MICRO;
 400                 case IIO_MAGN:
 401                         *val = 0;
 402                         *val2 = 500; /* 0.5 mgauss */
 403                         return IIO_VAL_INT_PLUS_MICRO;
 404                 case IIO_TEMP:
 405                         *val = st->variant->temp_scale_nano / 1000000;
 406                         *val2 = (st->variant->temp_scale_nano % 1000000);
 407                         return IIO_VAL_INT_PLUS_MICRO;
 408                 default:
 409                         return -EINVAL;
 410                 }
 411         case IIO_CHAN_INFO_CALIBBIAS:
 412                 mutex_lock(&indio_dev->mlock);
 413                 ret = adis_read_reg_16(&st->adis,
 414                                 adis16400_addresses[chan->scan_index], &val16);
 415                 mutex_unlock(&indio_dev->mlock);
 416                 if (ret)
 417                         return ret;
 418                 val16 = sign_extend32(val16, 11);
 419                 *val = val16;
 420                 return IIO_VAL_INT;
 421         case IIO_CHAN_INFO_OFFSET:
 422                 /* currently only temperature */
 423                 *val = st->variant->temp_offset;
 424                 return IIO_VAL_INT;
 425         case IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY:
 426                 mutex_lock(&indio_dev->mlock);
 427                 /* Need both the number of taps and the sampling frequency */
 428                 ret = adis_read_reg_16(&st->adis,
 429                                                 ADIS16400_SENS_AVG,
 430                                                 &val16);
 431                 if (ret < 0) {
 432                         mutex_unlock(&indio_dev->mlock);
 433                         return ret;
 434                 }
 435                 ret = st->variant->get_freq(st);
 436                 if (ret >= 0) {
 437                         ret /= adis16400_3db_divisors[val16 & 0x07];
 438                         *val = ret / 1000;
 439                         *val2 = (ret % 1000) * 1000;
 440                 }
 441                 mutex_unlock(&indio_dev->mlock);
 442                 if (ret < 0)
 443                         return ret;
 444                 return IIO_VAL_INT_PLUS_MICRO;
 445         case IIO_CHAN_INFO_SAMP_FREQ:
 446                 ret = st->variant->get_freq(st);
 447                 if (ret < 0)
 448                         return ret;
 449                 *val = ret / 1000;
 450                 *val2 = (ret % 1000) * 1000;
 451                 return IIO_VAL_INT_PLUS_MICRO;
 452         default:
 453                 return -EINVAL;
 454         }
 455 }
 456
 457 #define ADIS16400_VOLTAGE_CHAN(addr, bits, name, si) { \
 458         .type = IIO_VOLTAGE, \
 459         .indexed = 1, \
 460         .channel = 0, \
 461         .extend_name = name, \
 462         .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \
 463                 BIT(IIO_CHAN_INFO_SCALE), \
 464         .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
 465         .address = (addr), \
 466         .scan_index = (si), \
 467         .scan_type = { \
 468                 .sign = 'u', \
 469                 .realbits = (bits), \
 470                 .storagebits = 16, \
 471                 .shift = 0, \
 472                 .endianness = IIO_BE, \
 473         }, \
 474 }
 475
 476 #define ADIS16400_SUPPLY_CHAN(addr, bits) \
 477         ADIS16400_VOLTAGE_CHAN(addr, bits, "supply", ADIS16400_SCAN_SUPPLY)
 478
 479 #define ADIS16400_AUX_ADC_CHAN(addr, bits) \
 480         ADIS16400_VOLTAGE_CHAN(addr, bits, NULL, ADIS16400_SCAN_ADC)
 481
 482 #define ADIS16400_GYRO_CHAN(mod, addr, bits) { \
 483         .type = IIO_ANGL_VEL, \
 484         .modified = 1, \
 485         .channel2 = IIO_MOD_ ## mod, \
 486         .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \
 487                 BIT(IIO_CHAN_INFO_CALIBBIAS),             \
 488         .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE) | \
 489                 BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY), \
 490         .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
 491         .address = addr, \
 492         .scan_index = ADIS16400_SCAN_GYRO_ ## mod, \
 493         .scan_type = { \
 494                 .sign = 's', \
 495                 .realbits = (bits), \
 496                 .storagebits = 16, \
 497                 .shift = 0, \
 498                 .endianness = IIO_BE, \
 499         }, \
 500 }
 501
 502 #define ADIS16400_ACCEL_CHAN(mod, addr, bits) { \
 503         .type = IIO_ACCEL, \
 504         .modified = 1, \
 505         .channel2 = IIO_MOD_ ## mod, \
 506         .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \
 507                 BIT(IIO_CHAN_INFO_CALIBBIAS), \
 508         .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE) | \
 509                 BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY), \
 510         .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
 511         .address = (addr), \
 512         .scan_index = ADIS16400_SCAN_ACC_ ## mod, \
 513         .scan_type = { \
 514                 .sign = 's', \
 515                 .realbits = (bits), \
 516                 .storagebits = 16, \
 517                 .shift = 0, \
 518                 .endianness = IIO_BE, \
 519         }, \
 520 }
 521
 522 #define ADIS16400_MAGN_CHAN(mod, addr, bits) { \
 523         .type = IIO_MAGN, \
 524         .modified = 1, \
 525         .channel2 = IIO_MOD_ ## mod, \
 526         .info_mask_separate = BIT(IIO_CHAN_INFO_RAW), \
 527         .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE) | \
 528                 BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY), \
 529         .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
 530         .address = (addr), \
 531         .scan_index = ADIS16400_SCAN_MAGN_ ## mod, \
 532         .scan_type = { \
 533                 .sign = 's', \
 534                 .realbits = (bits), \
 535                 .storagebits = 16, \
 536                 .shift = 0, \
 537                 .endianness = IIO_BE, \
 538         }, \
 539 }
 540
 541 #define ADIS16400_MOD_TEMP_NAME_X "x"
 542 #define ADIS16400_MOD_TEMP_NAME_Y "y"
 543 #define ADIS16400_MOD_TEMP_NAME_Z "z"
 544
 545 #define ADIS16400_MOD_TEMP_CHAN(mod, addr, bits) { \
 546         .type = IIO_TEMP, \
 547         .indexed = 1, \
 548         .channel = 0, \
 549         .extend_name = ADIS16400_MOD_TEMP_NAME_ ## mod, \
 550         .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \
 551                 BIT(IIO_CHAN_INFO_OFFSET) | \
 552                 BIT(IIO_CHAN_INFO_SCALE), \
 553         .info_mask_shared_by_type = \
 554                 BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY), \
 555         .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
 556         .address = (addr), \
 557         .scan_index = ADIS16350_SCAN_TEMP_ ## mod, \
 558         .scan_type = { \
 559                 .sign = 's', \
 560                 .realbits = (bits), \
 561                 .storagebits = 16, \
 562                 .shift = 0, \
 563                 .endianness = IIO_BE, \
 564         }, \
 565 }
 566
 567 #define ADIS16400_TEMP_CHAN(addr, bits) { \
 568         .type = IIO_TEMP, \
 569         .indexed = 1, \
 570         .channel = 0, \
 571         .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \
 572                 BIT(IIO_CHAN_INFO_OFFSET) | \
 573                 BIT(IIO_CHAN_INFO_SCALE), \
 574         .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
 575         .address = (addr), \
 576         .scan_index = ADIS16350_SCAN_TEMP_X, \
 577         .scan_type = { \
 578                 .sign = 's', \
 579                 .realbits = (bits), \
 580                 .storagebits = 16, \
 581                 .shift = 0, \
 582                 .endianness = IIO_BE, \
 583         }, \
 584 }
 585
 586 #define ADIS16400_INCLI_CHAN(mod, addr, bits) { \
 587         .type = IIO_INCLI, \
 588         .modified = 1, \
 589         .channel2 = IIO_MOD_ ## mod, \
 590         .info_mask_separate = BIT(IIO_CHAN_INFO_RAW), \
 591         .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE), \
 592         .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
 593         .address = (addr), \
 594         .scan_index = ADIS16300_SCAN_INCLI_ ## mod, \
 595         .scan_type = { \
 596                 .sign = 's', \
 597                 .realbits = (bits), \
 598                 .storagebits = 16, \
 599                 .shift = 0, \
 600                 .endianness = IIO_BE, \
 601         }, \
 602 }
 603
 604 static const struct iio_chan_spec adis16400_channels[] = {
 605         ADIS16400_SUPPLY_CHAN(ADIS16400_SUPPLY_OUT, 14),
 606         ADIS16400_GYRO_CHAN(X, ADIS16400_XGYRO_OUT, 14),
 607         ADIS16400_GYRO_CHAN(Y, ADIS16400_YGYRO_OUT, 14),
 608         ADIS16400_GYRO_CHAN(Z, ADIS16400_ZGYRO_OUT, 14),
 609         ADIS16400_ACCEL_CHAN(X, ADIS16400_XACCL_OUT, 14),
 610         ADIS16400_ACCEL_CHAN(Y, ADIS16400_YACCL_OUT, 14),
 611         ADIS16400_ACCEL_CHAN(Z, ADIS16400_ZACCL_OUT, 14),
 612         ADIS16400_MAGN_CHAN(X, ADIS16400_XMAGN_OUT, 14),
 613         ADIS16400_MAGN_CHAN(Y, ADIS16400_YMAGN_OUT, 14),
 614         ADIS16400_MAGN_CHAN(Z, ADIS16400_ZMAGN_OUT, 14),
 615         ADIS16400_TEMP_CHAN(ADIS16400_TEMP_OUT, 12),
 616         ADIS16400_AUX_ADC_CHAN(ADIS16400_AUX_ADC, 12),
 617         IIO_CHAN_SOFT_TIMESTAMP(ADIS16400_SCAN_TIMESTAMP),
 618 };
 619
 620 static const struct iio_chan_spec adis16448_channels[] = {
 621         ADIS16400_GYRO_CHAN(X, ADIS16400_XGYRO_OUT, 16),
 622         ADIS16400_GYRO_CHAN(Y, ADIS16400_YGYRO_OUT, 16),
 623         ADIS16400_GYRO_CHAN(Z, ADIS16400_ZGYRO_OUT, 16),
 624         ADIS16400_ACCEL_CHAN(X, ADIS16400_XACCL_OUT, 16),
 625         ADIS16400_ACCEL_CHAN(Y, ADIS16400_YACCL_OUT, 16),
 626         ADIS16400_ACCEL_CHAN(Z, ADIS16400_ZACCL_OUT, 16),
 627         ADIS16400_MAGN_CHAN(X, ADIS16400_XMAGN_OUT, 16),
 628         ADIS16400_MAGN_CHAN(Y, ADIS16400_YMAGN_OUT, 16),
 629         ADIS16400_MAGN_CHAN(Z, ADIS16400_ZMAGN_OUT, 16),
 630         {
 631                 .type = IIO_PRESSURE,
 632                 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW),
 633                 .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE),
 634                 .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ),
 635                 .address = ADIS16448_BARO_OUT,
 636                 .scan_index = ADIS16400_SCAN_BARO,
 637                 .scan_type = {
 638                         .sign = 's',
 639                         .realbits = 16,
 640                         .storagebits = 16,
 641                         .endianness = IIO_BE,
 642                 },
 643         },
 644         ADIS16400_TEMP_CHAN(ADIS16448_TEMP_OUT, 12),
 645         IIO_CHAN_SOFT_TIMESTAMP(ADIS16400_SCAN_TIMESTAMP),
 646 };
 647
 648 static const struct iio_chan_spec adis16350_channels[] = {
 649         ADIS16400_SUPPLY_CHAN(ADIS16400_SUPPLY_OUT, 12),
 650         ADIS16400_GYRO_CHAN(X, ADIS16400_XGYRO_OUT, 14),
 651         ADIS16400_GYRO_CHAN(Y, ADIS16400_YGYRO_OUT, 14),
 652         ADIS16400_GYRO_CHAN(Z, ADIS16400_ZGYRO_OUT, 14),
 653         ADIS16400_ACCEL_CHAN(X, ADIS16400_XACCL_OUT, 14),
 654         ADIS16400_ACCEL_CHAN(Y, ADIS16400_YACCL_OUT, 14),
 655         ADIS16400_ACCEL_CHAN(Z, ADIS16400_ZACCL_OUT, 14),
 656         ADIS16400_MAGN_CHAN(X, ADIS16400_XMAGN_OUT, 14),
 657         ADIS16400_MAGN_CHAN(Y, ADIS16400_YMAGN_OUT, 14),
 658         ADIS16400_MAGN_CHAN(Z, ADIS16400_ZMAGN_OUT, 14),
 659         ADIS16400_AUX_ADC_CHAN(ADIS16300_AUX_ADC, 12),
 660         ADIS16400_MOD_TEMP_CHAN(X, ADIS16350_XTEMP_OUT, 12),
 661         ADIS16400_MOD_TEMP_CHAN(Y, ADIS16350_YTEMP_OUT, 12),
 662         ADIS16400_MOD_TEMP_CHAN(Z, ADIS16350_ZTEMP_OUT, 12),
 663         IIO_CHAN_SOFT_TIMESTAMP(ADIS16400_SCAN_TIMESTAMP),
 664 };
 665
 666 static const struct iio_chan_spec adis16300_channels[] = {
 667         ADIS16400_SUPPLY_CHAN(ADIS16400_SUPPLY_OUT, 12),
 668         ADIS16400_GYRO_CHAN(X, ADIS16400_XGYRO_OUT, 14),
 669         ADIS16400_ACCEL_CHAN(X, ADIS16400_XACCL_OUT, 14),
 670         ADIS16400_ACCEL_CHAN(Y, ADIS16400_YACCL_OUT, 14),
 671         ADIS16400_ACCEL_CHAN(Z, ADIS16400_ZACCL_OUT, 14),
 672         ADIS16400_TEMP_CHAN(ADIS16350_XTEMP_OUT, 12),
 673         ADIS16400_AUX_ADC_CHAN(ADIS16300_AUX_ADC, 12),
 674         ADIS16400_INCLI_CHAN(X, ADIS16300_PITCH_OUT, 13),
 675         ADIS16400_INCLI_CHAN(Y, ADIS16300_ROLL_OUT, 13),
 676         IIO_CHAN_SOFT_TIMESTAMP(ADIS16400_SCAN_TIMESTAMP),
 677 };
 678
 679 static const struct iio_chan_spec adis16334_channels[] = {
 680         ADIS16400_GYRO_CHAN(X, ADIS16400_XGYRO_OUT, 14),
 681         ADIS16400_GYRO_CHAN(Y, ADIS16400_YGYRO_OUT, 14),
 682         ADIS16400_GYRO_CHAN(Z, ADIS16400_ZGYRO_OUT, 14),
 683         ADIS16400_ACCEL_CHAN(X, ADIS16400_XACCL_OUT, 14),
 684         ADIS16400_ACCEL_CHAN(Y, ADIS16400_YACCL_OUT, 14),
 685         ADIS16400_ACCEL_CHAN(Z, ADIS16400_ZACCL_OUT, 14),
 686         ADIS16400_TEMP_CHAN(ADIS16350_XTEMP_OUT, 12),
 687         IIO_CHAN_SOFT_TIMESTAMP(ADIS16400_SCAN_TIMESTAMP),
 688 };
 689
 690 static struct adis16400_chip_info adis16400_chips[] = {
 691         [ADIS16300] = {
 692                 .channels = adis16300_channels,
 693                 .num_channels = ARRAY_SIZE(adis16300_channels),
 694                 .flags = ADIS16400_HAS_SLOW_MODE,
 695                 .gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */
 696                 .accel_scale_micro = 5884,
 697                 .temp_scale_nano = 140000000, /* 0.14 C */
 698                 .temp_offset = 25000000 / 140000, /* 25 C = 0x00 */
 699                 .set_freq = adis16400_set_freq,
 700                 .get_freq = adis16400_get_freq,
 701         },
 702         [ADIS16334] = {
 703                 .channels = adis16334_channels,
 704                 .num_channels = ARRAY_SIZE(adis16334_channels),
 705                 .flags = ADIS16400_HAS_PROD_ID | ADIS16400_NO_BURST |
 706                                 ADIS16400_HAS_SERIAL_NUMBER,
 707                 .gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */
 708                 .accel_scale_micro = IIO_G_TO_M_S_2(1000), /* 1 mg */
 709                 .temp_scale_nano = 67850000, /* 0.06785 C */
 710                 .temp_offset = 25000000 / 67850, /* 25 C = 0x00 */
 711                 .set_freq = adis16334_set_freq,
 712                 .get_freq = adis16334_get_freq,
 713         },
 714         [ADIS16350] = {
 715                 .channels = adis16350_channels,
 716                 .num_channels = ARRAY_SIZE(adis16350_channels),
 717                 .gyro_scale_micro = IIO_DEGREE_TO_RAD(73260), /* 0.07326 deg/s */
 718                 .accel_scale_micro = IIO_G_TO_M_S_2(2522), /* 0.002522 g */
 719                 .temp_scale_nano = 145300000, /* 0.1453 C */
 720                 .temp_offset = 25000000 / 145300, /* 25 C = 0x00 */
 721                 .flags = ADIS16400_NO_BURST | ADIS16400_HAS_SLOW_MODE,
 722                 .set_freq = adis16400_set_freq,
 723                 .get_freq = adis16400_get_freq,
 724         },
 725         [ADIS16360] = {
 726                 .channels = adis16350_channels,
 727                 .num_channels = ARRAY_SIZE(adis16350_channels),
 728                 .flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE |
 729                                 ADIS16400_HAS_SERIAL_NUMBER,
 730                 .gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */
 731                 .accel_scale_micro = IIO_G_TO_M_S_2(3333), /* 3.333 mg */
 732                 .temp_scale_nano = 136000000, /* 0.136 C */
 733                 .temp_offset = 25000000 / 136000, /* 25 C = 0x00 */
 734                 .set_freq = adis16400_set_freq,
 735                 .get_freq = adis16400_get_freq,
 736         },
 737         [ADIS16362] = {
 738                 .channels = adis16350_channels,
 739                 .num_channels = ARRAY_SIZE(adis16350_channels),
 740                 .flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE |
 741                                 ADIS16400_HAS_SERIAL_NUMBER,
 742                 .gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */
 743                 .accel_scale_micro = IIO_G_TO_M_S_2(333), /* 0.333 mg */
 744                 .temp_scale_nano = 136000000, /* 0.136 C */
 745                 .temp_offset = 25000000 / 136000, /* 25 C = 0x00 */
 746                 .set_freq = adis16400_set_freq,
 747                 .get_freq = adis16400_get_freq,
 748         },
 749         [ADIS16364] = {
 750                 .channels = adis16350_channels,
 751                 .num_channels = ARRAY_SIZE(adis16350_channels),
 752                 .flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE |
 753                                 ADIS16400_HAS_SERIAL_NUMBER,
 754                 .gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */
 755                 .accel_scale_micro = IIO_G_TO_M_S_2(1000), /* 1 mg */
 756                 .temp_scale_nano = 136000000, /* 0.136 C */
 757                 .temp_offset = 25000000 / 136000, /* 25 C = 0x00 */
 758                 .set_freq = adis16400_set_freq,
 759                 .get_freq = adis16400_get_freq,
 760         },
 761         [ADIS16400] = {
 762                 .channels = adis16400_channels,
 763                 .num_channels = ARRAY_SIZE(adis16400_channels),
 764                 .flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE,
 765                 .gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */
 766                 .accel_scale_micro = IIO_G_TO_M_S_2(3333), /* 3.333 mg */
 767                 .temp_scale_nano = 140000000, /* 0.14 C */
 768                 .temp_offset = 25000000 / 140000, /* 25 C = 0x00 */
 769                 .set_freq = adis16400_set_freq,
 770                 .get_freq = adis16400_get_freq,
 771         },
 772         [ADIS16448] = {
 773                 .channels = adis16448_channels,
 774                 .num_channels = ARRAY_SIZE(adis16448_channels),
 775                 .flags = ADIS16400_HAS_PROD_ID |
 776                                 ADIS16400_HAS_SERIAL_NUMBER,
 777                 .gyro_scale_micro = IIO_DEGREE_TO_RAD(10000), /* 0.01 deg/s */
 778                 .accel_scale_micro = IIO_G_TO_M_S_2(833), /* 1/1200 g */
 779                 .temp_scale_nano = 73860000, /* 0.07386 C */
 780                 .temp_offset = 31000000 / 73860, /* 31 C = 0x00 */
 781                 .set_freq = adis16334_set_freq,
 782                 .get_freq = adis16334_get_freq,
 783         }
 784 };
 785
 786 static const struct iio_info adis16400_info = {
 787         .driver_module = THIS_MODULE,
 788         .read_raw = &adis16400_read_raw,
 789         .write_raw = &adis16400_write_raw,
 790         .update_scan_mode = adis16400_update_scan_mode,
 791         .debugfs_reg_access = adis_debugfs_reg_access,
 792 };
 793
 794 static const unsigned long adis16400_burst_scan_mask[] = {
 795         ~0UL,
 796         0,
 797 };
 798
 799 static const char * const adis16400_status_error_msgs[] = {
 800         [ADIS16400_DIAG_STAT_ZACCL_FAIL] = "Z-axis accelerometer self-test failure",
 801         [ADIS16400_DIAG_STAT_YACCL_FAIL] = "Y-axis accelerometer self-test failure",
 802         [ADIS16400_DIAG_STAT_XACCL_FAIL] = "X-axis accelerometer self-test failure",
 803         [ADIS16400_DIAG_STAT_XGYRO_FAIL] = "X-axis gyroscope self-test failure",
 804         [ADIS16400_DIAG_STAT_YGYRO_FAIL] = "Y-axis gyroscope self-test failure",
 805         [ADIS16400_DIAG_STAT_ZGYRO_FAIL] = "Z-axis gyroscope self-test failure",
 806         [ADIS16400_DIAG_STAT_ALARM2] = "Alarm 2 active",
 807         [ADIS16400_DIAG_STAT_ALARM1] = "Alarm 1 active",
 808         [ADIS16400_DIAG_STAT_FLASH_CHK] = "Flash checksum error",
 809         [ADIS16400_DIAG_STAT_SELF_TEST] = "Self test error",
 810         [ADIS16400_DIAG_STAT_OVERFLOW] = "Sensor overrange",
 811         [ADIS16400_DIAG_STAT_SPI_FAIL] = "SPI failure",
 812         [ADIS16400_DIAG_STAT_FLASH_UPT] = "Flash update failed",
 813         [ADIS16400_DIAG_STAT_POWER_HIGH] = "Power supply above 5.25V",
 814         [ADIS16400_DIAG_STAT_POWER_LOW] = "Power supply below 4.75V",
 815 };
 816
 817 static const struct adis_data adis16400_data = {
 818         .msc_ctrl_reg = ADIS16400_MSC_CTRL,
 819         .glob_cmd_reg = ADIS16400_GLOB_CMD,
 820         .diag_stat_reg = ADIS16400_DIAG_STAT,
 821
 822         .read_delay = 50,
 823         .write_delay = 50,
 824
 825         .self_test_mask = ADIS16400_MSC_CTRL_MEM_TEST,
 826         .startup_delay = ADIS16400_STARTUP_DELAY,
 827
 828         .status_error_msgs = adis16400_status_error_msgs,
 829         .status_error_mask = BIT(ADIS16400_DIAG_STAT_ZACCL_FAIL) |
 830                 BIT(ADIS16400_DIAG_STAT_YACCL_FAIL) |
 831                 BIT(ADIS16400_DIAG_STAT_XACCL_FAIL) |
 832                 BIT(ADIS16400_DIAG_STAT_XGYRO_FAIL) |
 833                 BIT(ADIS16400_DIAG_STAT_YGYRO_FAIL) |
 834                 BIT(ADIS16400_DIAG_STAT_ZGYRO_FAIL) |
 835                 BIT(ADIS16400_DIAG_STAT_ALARM2) |
 836                 BIT(ADIS16400_DIAG_STAT_ALARM1) |
 837                 BIT(ADIS16400_DIAG_STAT_FLASH_CHK) |
 838                 BIT(ADIS16400_DIAG_STAT_SELF_TEST) |
 839                 BIT(ADIS16400_DIAG_STAT_OVERFLOW) |
 840                 BIT(ADIS16400_DIAG_STAT_SPI_FAIL) |
 841                 BIT(ADIS16400_DIAG_STAT_FLASH_UPT) |
 842                 BIT(ADIS16400_DIAG_STAT_POWER_HIGH) |
 843                 BIT(ADIS16400_DIAG_STAT_POWER_LOW),
 844 };
 845
 846 static int adis16400_probe(struct spi_device *spi)
 847 {
 848         struct adis16400_state *st;
 849         struct iio_dev *indio_dev;
 850         int ret;
 851
 852         indio_dev = devm_iio_device_alloc(&spi->dev, sizeof(*st));
 853         if (indio_dev == NULL)
 854                 return -ENOMEM;
 855
 856         st = iio_priv(indio_dev);
 857         /* this is only used for removal purposes */
 858         spi_set_drvdata(spi, indio_dev);
 859
 860         /* setup the industrialio driver allocated elements */
 861         st->variant = &adis16400_chips[spi_get_device_id(spi)->driver_data];
 862         indio_dev->dev.parent = &spi->dev;
 863         indio_dev->name = spi_get_device_id(spi)->name;
 864         indio_dev->channels = st->variant->channels;
 865         indio_dev->num_channels = st->variant->num_channels;
 866         indio_dev->info = &adis16400_info;
 867         indio_dev->modes = INDIO_DIRECT_MODE;
 868
 869         if (!(st->variant->flags & ADIS16400_NO_BURST))
 870                 indio_dev->available_scan_masks = adis16400_burst_scan_mask;
 871
 872         ret = adis_init(&st->adis, indio_dev, spi, &adis16400_data);
 873         if (ret)
 874                 return ret;
 875
 876         ret = adis_setup_buffer_and_trigger(&st->adis, indio_dev,
 877                         adis16400_trigger_handler);
 878         if (ret)
 879                 return ret;
 880
 881         /* Get the device into a sane initial state */
 882         ret = adis16400_initial_setup(indio_dev);
 883         if (ret)
 884                 goto error_cleanup_buffer;
 885         ret = iio_device_register(indio_dev);
 886         if (ret)
 887                 goto error_cleanup_buffer;
 888
 889         adis16400_debugfs_init(indio_dev);
 890         return 0;
 891
 892 error_cleanup_buffer:
 893         adis_cleanup_buffer_and_trigger(&st->adis, indio_dev);
 894         return ret;
 895 }
 896
 897 static int adis16400_remove(struct spi_device *spi)
 898 {
 899         struct iio_dev *indio_dev = spi_get_drvdata(spi);
 900         struct adis16400_state *st = iio_priv(indio_dev);
 901
 902         iio_device_unregister(indio_dev);
 903         adis16400_stop_device(indio_dev);
 904
 905         adis_cleanup_buffer_and_trigger(&st->adis, indio_dev);
 906
 907         return 0;
 908 }
 909
 910 static const struct spi_device_id adis16400_id[] = {
 911         {"adis16300", ADIS16300},
 912         {"adis16334", ADIS16334},
 913         {"adis16350", ADIS16350},
 914         {"adis16354", ADIS16350},
 915         {"adis16355", ADIS16350},
 916         {"adis16360", ADIS16360},
 917         {"adis16362", ADIS16362},
 918         {"adis16364", ADIS16364},
 919         {"adis16365", ADIS16360},
 920         {"adis16400", ADIS16400},
 921         {"adis16405", ADIS16400},
 922         {"adis16448", ADIS16448},
 923         {}
 924 };
 925 MODULE_DEVICE_TABLE(spi, adis16400_id);
 926
 927 static struct spi_driver adis16400_driver = {
 928         .driver = {
 929                 .name = "adis16400",
 930                 .owner = THIS_MODULE,
 931         },
 932         .id_table = adis16400_id,
 933         .probe = adis16400_probe,
 934         .remove = adis16400_remove,
 935 };
 936 module_spi_driver(adis16400_driver);
 937
 938 MODULE_AUTHOR("Manuel Stahl <manuel.stahl@iis.fraunhofer.de>");
 939 MODULE_DESCRIPTION("Analog Devices ADIS16400/5 IMU SPI driver");
 940 MODULE_LICENSE("GPL v2");