drivers/iio/imu/adis16480.c

   1 /*
   2  * ADIS16480 and similar IMUs driver
   3  *
   4  * Copyright 2012 Analog Devices Inc.
   5  *
   6  * This program is free software; you can redistribute it and/or modify
   7  * it under the terms of the GNU General Public License version 2 as
   8  * published by the Free Software Foundation.
   9  *
  10  */
  11
  12 #include <linux/interrupt.h>
  13 #include <linux/delay.h>
  14 #include <linux/mutex.h>
  15 #include <linux/device.h>
  16 #include <linux/kernel.h>
  17 #include <linux/spi/spi.h>
  18 #include <linux/slab.h>
  19 #include <linux/sysfs.h>
  20 #include <linux/module.h>
  21
  22 #include <linux/iio/iio.h>
  23 #include <linux/iio/sysfs.h>
  24 #include <linux/iio/buffer.h>
  25 #include <linux/iio/imu/adis.h>
  26
  27 #include <linux/debugfs.h>
  28
  29 #define ADIS16480_PAGE_SIZE 0x80
  30
  31 #define ADIS16480_REG(page, reg) ((page) * ADIS16480_PAGE_SIZE + (reg))
  32
  33 #define ADIS16480_REG_PAGE_ID 0x00 /* Same address on each page */
  34 #define ADIS16480_REG_SEQ_CNT                   ADIS16480_REG(0x00, 0x06)
  35 #define ADIS16480_REG_SYS_E_FLA                 ADIS16480_REG(0x00, 0x08)
  36 #define ADIS16480_REG_DIAG_STS                  ADIS16480_REG(0x00, 0x0A)
  37 #define ADIS16480_REG_ALM_STS                   ADIS16480_REG(0x00, 0x0C)
  38 #define ADIS16480_REG_TEMP_OUT                  ADIS16480_REG(0x00, 0x0E)
  39 #define ADIS16480_REG_X_GYRO_OUT                ADIS16480_REG(0x00, 0x10)
  40 #define ADIS16480_REG_Y_GYRO_OUT                ADIS16480_REG(0x00, 0x14)
  41 #define ADIS16480_REG_Z_GYRO_OUT                ADIS16480_REG(0x00, 0x18)
  42 #define ADIS16480_REG_X_ACCEL_OUT               ADIS16480_REG(0x00, 0x1C)
  43 #define ADIS16480_REG_Y_ACCEL_OUT               ADIS16480_REG(0x00, 0x20)
  44 #define ADIS16480_REG_Z_ACCEL_OUT               ADIS16480_REG(0x00, 0x24)
  45 #define ADIS16480_REG_X_MAGN_OUT                ADIS16480_REG(0x00, 0x28)
  46 #define ADIS16480_REG_Y_MAGN_OUT                ADIS16480_REG(0x00, 0x2A)
  47 #define ADIS16480_REG_Z_MAGN_OUT                ADIS16480_REG(0x00, 0x2C)
  48 #define ADIS16480_REG_BAROM_OUT                 ADIS16480_REG(0x00, 0x2E)
  49 #define ADIS16480_REG_X_DELTAANG_OUT            ADIS16480_REG(0x00, 0x40)
  50 #define ADIS16480_REG_Y_DELTAANG_OUT            ADIS16480_REG(0x00, 0x44)
  51 #define ADIS16480_REG_Z_DELTAANG_OUT            ADIS16480_REG(0x00, 0x48)
  52 #define ADIS16480_REG_X_DELTAVEL_OUT            ADIS16480_REG(0x00, 0x4C)
  53 #define ADIS16480_REG_Y_DELTAVEL_OUT            ADIS16480_REG(0x00, 0x50)
  54 #define ADIS16480_REG_Z_DELTAVEL_OUT            ADIS16480_REG(0x00, 0x54)
  55 #define ADIS16480_REG_PROD_ID                   ADIS16480_REG(0x00, 0x7E)
  56
  57 #define ADIS16480_REG_X_GYRO_SCALE              ADIS16480_REG(0x02, 0x04)
  58 #define ADIS16480_REG_Y_GYRO_SCALE              ADIS16480_REG(0x02, 0x06)
  59 #define ADIS16480_REG_Z_GYRO_SCALE              ADIS16480_REG(0x02, 0x08)
  60 #define ADIS16480_REG_X_ACCEL_SCALE             ADIS16480_REG(0x02, 0x0A)
  61 #define ADIS16480_REG_Y_ACCEL_SCALE             ADIS16480_REG(0x02, 0x0C)
  62 #define ADIS16480_REG_Z_ACCEL_SCALE             ADIS16480_REG(0x02, 0x0E)
  63 #define ADIS16480_REG_X_GYRO_BIAS               ADIS16480_REG(0x02, 0x10)
  64 #define ADIS16480_REG_Y_GYRO_BIAS               ADIS16480_REG(0x02, 0x14)
  65 #define ADIS16480_REG_Z_GYRO_BIAS               ADIS16480_REG(0x02, 0x18)
  66 #define ADIS16480_REG_X_ACCEL_BIAS              ADIS16480_REG(0x02, 0x1C)
  67 #define ADIS16480_REG_Y_ACCEL_BIAS              ADIS16480_REG(0x02, 0x20)
  68 #define ADIS16480_REG_Z_ACCEL_BIAS              ADIS16480_REG(0x02, 0x24)
  69 #define ADIS16480_REG_X_HARD_IRON               ADIS16480_REG(0x02, 0x28)
  70 #define ADIS16480_REG_Y_HARD_IRON               ADIS16480_REG(0x02, 0x2A)
  71 #define ADIS16480_REG_Z_HARD_IRON               ADIS16480_REG(0x02, 0x2C)
  72 #define ADIS16480_REG_BAROM_BIAS                ADIS16480_REG(0x02, 0x40)
  73 #define ADIS16480_REG_FLASH_CNT                 ADIS16480_REG(0x02, 0x7C)
  74
  75 #define ADIS16480_REG_GLOB_CMD                  ADIS16480_REG(0x03, 0x02)
  76 #define ADIS16480_REG_FNCTIO_CTRL               ADIS16480_REG(0x03, 0x06)
  77 #define ADIS16480_REG_GPIO_CTRL                 ADIS16480_REG(0x03, 0x08)
  78 #define ADIS16480_REG_CONFIG                    ADIS16480_REG(0x03, 0x0A)
  79 #define ADIS16480_REG_DEC_RATE                  ADIS16480_REG(0x03, 0x0C)
  80 #define ADIS16480_REG_SLP_CNT                   ADIS16480_REG(0x03, 0x10)
  81 #define ADIS16480_REG_FILTER_BNK0               ADIS16480_REG(0x03, 0x16)
  82 #define ADIS16480_REG_FILTER_BNK1               ADIS16480_REG(0x03, 0x18)
  83 #define ADIS16480_REG_ALM_CNFG0                 ADIS16480_REG(0x03, 0x20)
  84 #define ADIS16480_REG_ALM_CNFG1                 ADIS16480_REG(0x03, 0x22)
  85 #define ADIS16480_REG_ALM_CNFG2                 ADIS16480_REG(0x03, 0x24)
  86 #define ADIS16480_REG_XG_ALM_MAGN               ADIS16480_REG(0x03, 0x28)
  87 #define ADIS16480_REG_YG_ALM_MAGN               ADIS16480_REG(0x03, 0x2A)
  88 #define ADIS16480_REG_ZG_ALM_MAGN               ADIS16480_REG(0x03, 0x2C)
  89 #define ADIS16480_REG_XA_ALM_MAGN               ADIS16480_REG(0x03, 0x2E)
  90 #define ADIS16480_REG_YA_ALM_MAGN               ADIS16480_REG(0x03, 0x30)
  91 #define ADIS16480_REG_ZA_ALM_MAGN               ADIS16480_REG(0x03, 0x32)
  92 #define ADIS16480_REG_XM_ALM_MAGN               ADIS16480_REG(0x03, 0x34)
  93 #define ADIS16480_REG_YM_ALM_MAGN               ADIS16480_REG(0x03, 0x36)
  94 #define ADIS16480_REG_ZM_ALM_MAGN               ADIS16480_REG(0x03, 0x38)
  95 #define ADIS16480_REG_BR_ALM_MAGN               ADIS16480_REG(0x03, 0x3A)
  96 #define ADIS16480_REG_FIRM_REV                  ADIS16480_REG(0x03, 0x78)
  97 #define ADIS16480_REG_FIRM_DM                   ADIS16480_REG(0x03, 0x7A)
  98 #define ADIS16480_REG_FIRM_Y                    ADIS16480_REG(0x03, 0x7C)
  99
 100 #define ADIS16480_REG_SERIAL_NUM                ADIS16480_REG(0x04, 0x20)
 101
 102 /* Each filter coefficent bank spans two pages */
 103 #define ADIS16480_FIR_COEF(page) (x < 60 ? ADIS16480_REG(page, (x) + 8) : \
 104                 ADIS16480_REG((page) + 1, (x) - 60 + 8))
 105 #define ADIS16480_FIR_COEF_A(x)                 ADIS16480_FIR_COEF(0x05, (x))
 106 #define ADIS16480_FIR_COEF_B(x)                 ADIS16480_FIR_COEF(0x07, (x))
 107 #define ADIS16480_FIR_COEF_C(x)                 ADIS16480_FIR_COEF(0x09, (x))
 108 #define ADIS16480_FIR_COEF_D(x)                 ADIS16480_FIR_COEF(0x0B, (x))
 109
 110 struct adis16480_chip_info {
 111         unsigned int num_channels;
 112         const struct iio_chan_spec *channels;
 113 };
 114
 115 struct adis16480 {
 116         const struct adis16480_chip_info *chip_info;
 117
 118         struct adis adis;
 119 };
 120
 121 #ifdef CONFIG_DEBUG_FS
 122
 123 static ssize_t adis16480_show_firmware_revision(struct file *file,
 124                 char __user *userbuf, size_t count, loff_t *ppos)
 125 {
 126         struct adis16480 *adis16480 = file->private_data;
 127         char buf[7];
 128         size_t len;
 129         u16 rev;
 130         int ret;
 131
 132         ret = adis_read_reg_16(&adis16480->adis, ADIS16480_REG_FIRM_REV, &rev);
 133         if (ret < 0)
 134                 return ret;
 135
 136         len = scnprintf(buf, sizeof(buf), "%x.%x\n", rev >> 8, rev & 0xff);
 137
 138         return simple_read_from_buffer(userbuf, count, ppos, buf, len);
 139 }
 140
 141 static const struct file_operations adis16480_firmware_revision_fops = {
 142         .open = simple_open,
 143         .read = adis16480_show_firmware_revision,
 144         .llseek = default_llseek,
 145         .owner = THIS_MODULE,
 146 };
 147
 148 static ssize_t adis16480_show_firmware_date(struct file *file,
 149                 char __user *userbuf, size_t count, loff_t *ppos)
 150 {
 151         struct adis16480 *adis16480 = file->private_data;
 152         u16 md, year;
 153         char buf[12];
 154         size_t len;
 155         int ret;
 156
 157         ret = adis_read_reg_16(&adis16480->adis, ADIS16480_REG_FIRM_Y, &year);
 158         if (ret < 0)
 159                 return ret;
 160
 161         ret = adis_read_reg_16(&adis16480->adis, ADIS16480_REG_FIRM_DM, &md);
 162         if (ret < 0)
 163                 return ret;
 164
 165         len = snprintf(buf, sizeof(buf), "%.2x-%.2x-%.4x\n",
 166                         md >> 8, md & 0xff, year);
 167
 168         return simple_read_from_buffer(userbuf, count, ppos, buf, len);
 169 }
 170
 171 static const struct file_operations adis16480_firmware_date_fops = {
 172         .open = simple_open,
 173         .read = adis16480_show_firmware_date,
 174         .llseek = default_llseek,
 175         .owner = THIS_MODULE,
 176 };
 177
 178 static int adis16480_show_serial_number(void *arg, u64 *val)
 179 {
 180         struct adis16480 *adis16480 = arg;
 181         u16 serial;
 182         int ret;
 183
 184         ret = adis_read_reg_16(&adis16480->adis, ADIS16480_REG_SERIAL_NUM,
 185                 &serial);
 186         if (ret < 0)
 187                 return ret;
 188
 189         *val = serial;
 190
 191         return 0;
 192 }
 193 DEFINE_SIMPLE_ATTRIBUTE(adis16480_serial_number_fops,
 194         adis16480_show_serial_number, NULL, "0x%.4llx\n");
 195
 196 static int adis16480_show_product_id(void *arg, u64 *val)
 197 {
 198         struct adis16480 *adis16480 = arg;
 199         u16 prod_id;
 200         int ret;
 201
 202         ret = adis_read_reg_16(&adis16480->adis, ADIS16480_REG_PROD_ID,
 203                 &prod_id);
 204         if (ret < 0)
 205                 return ret;
 206
 207         *val = prod_id;
 208
 209         return 0;
 210 }
 211 DEFINE_SIMPLE_ATTRIBUTE(adis16480_product_id_fops,
 212         adis16480_show_product_id, NULL, "%llu\n");
 213
 214 static int adis16480_show_flash_count(void *arg, u64 *val)
 215 {
 216         struct adis16480 *adis16480 = arg;
 217         u32 flash_count;
 218         int ret;
 219
 220         ret = adis_read_reg_32(&adis16480->adis, ADIS16480_REG_FLASH_CNT,
 221                 &flash_count);
 222         if (ret < 0)
 223                 return ret;
 224
 225         *val = flash_count;
 226
 227         return 0;
 228 }
 229 DEFINE_SIMPLE_ATTRIBUTE(adis16480_flash_count_fops,
 230         adis16480_show_flash_count, NULL, "%lld\n");
 231
 232 static int adis16480_debugfs_init(struct iio_dev *indio_dev)
 233 {
 234         struct adis16480 *adis16480 = iio_priv(indio_dev);
 235
 236         debugfs_create_file("firmware_revision", 0400,
 237                 indio_dev->debugfs_dentry, adis16480,
 238                 &adis16480_firmware_revision_fops);
 239         debugfs_create_file("firmware_date", 0400, indio_dev->debugfs_dentry,
 240                 adis16480, &adis16480_firmware_date_fops);
 241         debugfs_create_file("serial_number", 0400, indio_dev->debugfs_dentry,
 242                 adis16480, &adis16480_serial_number_fops);
 243         debugfs_create_file("product_id", 0400, indio_dev->debugfs_dentry,
 244                 adis16480, &adis16480_product_id_fops);
 245         debugfs_create_file("flash_count", 0400, indio_dev->debugfs_dentry,
 246                 adis16480, &adis16480_flash_count_fops);
 247
 248         return 0;
 249 }
 250
 251 #else
 252
 253 static int adis16480_debugfs_init(struct iio_dev *indio_dev)
 254 {
 255         return 0;
 256 }
 257
 258 #endif
 259
 260 static int adis16480_set_freq(struct iio_dev *indio_dev, int val, int val2)
 261 {
 262         struct adis16480 *st = iio_priv(indio_dev);
 263         unsigned int t;
 264
 265         t =  val * 1000 + val2 / 1000;
 266         if (t <= 0)
 267                 return -EINVAL;
 268
 269         t = 2460000 / t;
 270         if (t > 2048)
 271                 t = 2048;
 272
 273         if (t != 0)
 274                 t--;
 275
 276         return adis_write_reg_16(&st->adis, ADIS16480_REG_DEC_RATE, t);
 277 }
 278
 279 static int adis16480_get_freq(struct iio_dev *indio_dev, int *val, int *val2)
 280 {
 281         struct adis16480 *st = iio_priv(indio_dev);
 282         uint16_t t;
 283         int ret;
 284         unsigned freq;
 285
 286         ret = adis_read_reg_16(&st->adis, ADIS16480_REG_DEC_RATE, &t);
 287         if (ret < 0)
 288                 return ret;
 289
 290         freq = 2460000 / (t + 1);
 291         *val = freq / 1000;
 292         *val2 = (freq % 1000) * 1000;
 293
 294         return IIO_VAL_INT_PLUS_MICRO;
 295 }
 296
 297 enum {
 298         ADIS16480_SCAN_GYRO_X,
 299         ADIS16480_SCAN_GYRO_Y,
 300         ADIS16480_SCAN_GYRO_Z,
 301         ADIS16480_SCAN_ACCEL_X,
 302         ADIS16480_SCAN_ACCEL_Y,
 303         ADIS16480_SCAN_ACCEL_Z,
 304         ADIS16480_SCAN_MAGN_X,
 305         ADIS16480_SCAN_MAGN_Y,
 306         ADIS16480_SCAN_MAGN_Z,
 307         ADIS16480_SCAN_BARO,
 308         ADIS16480_SCAN_TEMP,
 309 };
 310
 311 static const unsigned int adis16480_calibbias_regs[] = {
 312         [ADIS16480_SCAN_GYRO_X] = ADIS16480_REG_X_GYRO_BIAS,
 313         [ADIS16480_SCAN_GYRO_Y] = ADIS16480_REG_Y_GYRO_BIAS,
 314         [ADIS16480_SCAN_GYRO_Z] = ADIS16480_REG_Z_GYRO_BIAS,
 315         [ADIS16480_SCAN_ACCEL_X] = ADIS16480_REG_X_ACCEL_BIAS,
 316         [ADIS16480_SCAN_ACCEL_Y] = ADIS16480_REG_Y_ACCEL_BIAS,
 317         [ADIS16480_SCAN_ACCEL_Z] = ADIS16480_REG_Z_ACCEL_BIAS,
 318         [ADIS16480_SCAN_MAGN_X] = ADIS16480_REG_X_HARD_IRON,
 319         [ADIS16480_SCAN_MAGN_Y] = ADIS16480_REG_Y_HARD_IRON,
 320         [ADIS16480_SCAN_MAGN_Z] = ADIS16480_REG_Z_HARD_IRON,
 321         [ADIS16480_SCAN_BARO] = ADIS16480_REG_BAROM_BIAS,
 322 };
 323
 324 static const unsigned int adis16480_calibscale_regs[] = {
 325         [ADIS16480_SCAN_GYRO_X] = ADIS16480_REG_X_GYRO_SCALE,
 326         [ADIS16480_SCAN_GYRO_Y] = ADIS16480_REG_Y_GYRO_SCALE,
 327         [ADIS16480_SCAN_GYRO_Z] = ADIS16480_REG_Z_GYRO_SCALE,
 328         [ADIS16480_SCAN_ACCEL_X] = ADIS16480_REG_X_ACCEL_SCALE,
 329         [ADIS16480_SCAN_ACCEL_Y] = ADIS16480_REG_Y_ACCEL_SCALE,
 330         [ADIS16480_SCAN_ACCEL_Z] = ADIS16480_REG_Z_ACCEL_SCALE,
 331 };
 332
 333 static int adis16480_set_calibbias(struct iio_dev *indio_dev,
 334         const struct iio_chan_spec *chan, int bias)
 335 {
 336         unsigned int reg = adis16480_calibbias_regs[chan->scan_index];
 337         struct adis16480 *st = iio_priv(indio_dev);
 338
 339         switch (chan->type) {
 340         case IIO_MAGN:
 341         case IIO_PRESSURE:
 342                 if (bias < -0x8000 || bias >= 0x8000)
 343                         return -EINVAL;
 344                 return adis_write_reg_16(&st->adis, reg, bias);
 345         case IIO_ANGL_VEL:
 346         case IIO_ACCEL:
 347                 return adis_write_reg_32(&st->adis, reg, bias);
 348         default:
 349                 break;
 350         }
 351
 352         return -EINVAL;
 353 }
 354
 355 static int adis16480_get_calibbias(struct iio_dev *indio_dev,
 356         const struct iio_chan_spec *chan, int *bias)
 357 {
 358         unsigned int reg = adis16480_calibbias_regs[chan->scan_index];
 359         struct adis16480 *st = iio_priv(indio_dev);
 360         uint16_t val16;
 361         uint32_t val32;
 362         int ret;
 363
 364         switch (chan->type) {
 365         case IIO_MAGN:
 366         case IIO_PRESSURE:
 367                 ret = adis_read_reg_16(&st->adis, reg, &val16);
 368                 *bias = sign_extend32(val16, 15);
 369                 break;
 370         case IIO_ANGL_VEL:
 371         case IIO_ACCEL:
 372                 ret = adis_read_reg_32(&st->adis, reg, &val32);
 373                 *bias = sign_extend32(val32, 31);
 374                 break;
 375         default:
 376                         ret = -EINVAL;
 377         }
 378
 379         if (ret < 0)
 380                 return ret;
 381
 382         return IIO_VAL_INT;
 383 }
 384
 385 static int adis16480_set_calibscale(struct iio_dev *indio_dev,
 386         const struct iio_chan_spec *chan, int scale)
 387 {
 388         unsigned int reg = adis16480_calibscale_regs[chan->scan_index];
 389         struct adis16480 *st = iio_priv(indio_dev);
 390
 391         if (scale < -0x8000 || scale >= 0x8000)
 392                 return -EINVAL;
 393
 394         return adis_write_reg_16(&st->adis, reg, scale);
 395 }
 396
 397 static int adis16480_get_calibscale(struct iio_dev *indio_dev,
 398         const struct iio_chan_spec *chan, int *scale)
 399 {
 400         unsigned int reg = adis16480_calibscale_regs[chan->scan_index];
 401         struct adis16480 *st = iio_priv(indio_dev);
 402         uint16_t val16;
 403         int ret;
 404
 405         ret = adis_read_reg_16(&st->adis, reg, &val16);
 406         if (ret < 0)
 407                 return ret;
 408
 409         *scale = sign_extend32(val16, 15);
 410         return IIO_VAL_INT;
 411 }
 412
 413 static const unsigned int adis16480_def_filter_freqs[] = {
 414         310,
 415         55,
 416         275,
 417         63,
 418 };
 419
 420 static const unsigned int ad16480_filter_data[][2] = {
 421         [ADIS16480_SCAN_GYRO_X]         = { ADIS16480_REG_FILTER_BNK0, 0 },
 422         [ADIS16480_SCAN_GYRO_Y]         = { ADIS16480_REG_FILTER_BNK0, 3 },
 423         [ADIS16480_SCAN_GYRO_Z]         = { ADIS16480_REG_FILTER_BNK0, 6 },
 424         [ADIS16480_SCAN_ACCEL_X]        = { ADIS16480_REG_FILTER_BNK0, 9 },
 425         [ADIS16480_SCAN_ACCEL_Y]        = { ADIS16480_REG_FILTER_BNK0, 12 },
 426         [ADIS16480_SCAN_ACCEL_Z]        = { ADIS16480_REG_FILTER_BNK1, 0 },
 427         [ADIS16480_SCAN_MAGN_X]         = { ADIS16480_REG_FILTER_BNK1, 3 },
 428         [ADIS16480_SCAN_MAGN_Y]         = { ADIS16480_REG_FILTER_BNK1, 6 },
 429         [ADIS16480_SCAN_MAGN_Z]         = { ADIS16480_REG_FILTER_BNK1, 9 },
 430 };
 431
 432 static int adis16480_get_filter_freq(struct iio_dev *indio_dev,
 433         const struct iio_chan_spec *chan, int *freq)
 434 {
 435         struct adis16480 *st = iio_priv(indio_dev);
 436         unsigned int enable_mask, offset, reg;
 437         uint16_t val;
 438         int ret;
 439
 440         reg = ad16480_filter_data[chan->scan_index][0];
 441         offset = ad16480_filter_data[chan->scan_index][1];
 442         enable_mask = BIT(offset + 2);
 443
 444         ret = adis_read_reg_16(&st->adis, reg, &val);
 445         if (ret < 0)
 446                 return ret;
 447
 448         if (!(val & enable_mask))
 449                 *freq = 0;
 450         else
 451                 *freq = adis16480_def_filter_freqs[(val >> offset) & 0x3];
 452
 453         return IIO_VAL_INT;
 454 }
 455
 456 static int adis16480_set_filter_freq(struct iio_dev *indio_dev,
 457         const struct iio_chan_spec *chan, unsigned int freq)
 458 {
 459         struct adis16480 *st = iio_priv(indio_dev);
 460         unsigned int enable_mask, offset, reg;
 461         unsigned int diff, best_diff;
 462         unsigned int i, best_freq;
 463         uint16_t val;
 464         int ret;
 465
 466         reg = ad16480_filter_data[chan->scan_index][0];
 467         offset = ad16480_filter_data[chan->scan_index][1];
 468         enable_mask = BIT(offset + 2);
 469
 470         ret = adis_read_reg_16(&st->adis, reg, &val);
 471         if (ret < 0)
 472                 return ret;
 473
 474         if (freq == 0) {
 475                 val &= ~enable_mask;
 476         } else {
 477                 best_freq = 0;
 478                 best_diff = 310;
 479                 for (i = 0; i < ARRAY_SIZE(adis16480_def_filter_freqs); i++) {
 480                         if (adis16480_def_filter_freqs[i] >= freq) {
 481                                 diff = adis16480_def_filter_freqs[i] - freq;
 482                                 if (diff < best_diff) {
 483                                         best_diff = diff;
 484                                         best_freq = i;
 485                                 }
 486                         }
 487                 }
 488
 489                 val &= ~(0x3 << offset);
 490                 val |= best_freq << offset;
 491                 val |= enable_mask;
 492         }
 493
 494         return adis_write_reg_16(&st->adis, reg, val);
 495 }
 496
 497 static int adis16480_read_raw(struct iio_dev *indio_dev,
 498         const struct iio_chan_spec *chan, int *val, int *val2, long info)
 499 {
 500         switch (info) {
 501         case IIO_CHAN_INFO_RAW:
 502                 return adis_single_conversion(indio_dev, chan, 0, val);
 503         case IIO_CHAN_INFO_SCALE:
 504                 switch (chan->type) {
 505                 case IIO_ANGL_VEL:
 506                         *val = 0;
 507                         *val2 = IIO_DEGREE_TO_RAD(20000); /* 0.02 degree/sec */
 508                         return IIO_VAL_INT_PLUS_MICRO;
 509                 case IIO_ACCEL:
 510                         *val = 0;
 511                         *val2 = IIO_G_TO_M_S_2(800); /* 0.8 mg */
 512                         return IIO_VAL_INT_PLUS_MICRO;
 513                 case IIO_MAGN:
 514                         *val = 0;
 515                         *val2 = 100; /* 0.0001 gauss */
 516                         return IIO_VAL_INT_PLUS_MICRO;
 517                 case IIO_TEMP:
 518                         *val = 5;
 519                         *val2 = 650000; /* 5.65 milli degree Celsius */
 520                         return IIO_VAL_INT_PLUS_MICRO;
 521                 case IIO_PRESSURE:
 522                         *val = 0;
 523                         *val2 = 4000; /* 40ubar = 0.004 kPa */
 524                         return IIO_VAL_INT_PLUS_MICRO;
 525                 default:
 526                         return -EINVAL;
 527                 }
 528         case IIO_CHAN_INFO_OFFSET:
 529                 /* Only the temperature channel has a offset */
 530                 *val = 4425; /* 25 degree Celsius = 0x0000 */
 531                 return IIO_VAL_INT;
 532         case IIO_CHAN_INFO_CALIBBIAS:
 533                 return adis16480_get_calibbias(indio_dev, chan, val);
 534         case IIO_CHAN_INFO_CALIBSCALE:
 535                 return adis16480_get_calibscale(indio_dev, chan, val);
 536         case IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY:
 537                 return adis16480_get_filter_freq(indio_dev, chan, val);
 538         case IIO_CHAN_INFO_SAMP_FREQ:
 539                 return adis16480_get_freq(indio_dev, val, val2);
 540         default:
 541                 return -EINVAL;
 542         }
 543 }
 544
 545 static int adis16480_write_raw(struct iio_dev *indio_dev,
 546         const struct iio_chan_spec *chan, int val, int val2, long info)
 547 {
 548         switch (info) {
 549         case IIO_CHAN_INFO_CALIBBIAS:
 550                 return adis16480_set_calibbias(indio_dev, chan, val);
 551         case IIO_CHAN_INFO_CALIBSCALE:
 552                 return adis16480_set_calibscale(indio_dev, chan, val);
 553         case IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY:
 554                 return adis16480_set_filter_freq(indio_dev, chan, val);
 555         case IIO_CHAN_INFO_SAMP_FREQ:
 556                 return adis16480_set_freq(indio_dev, val, val2);
 557
 558         default:
 559                 return -EINVAL;
 560         }
 561 }
 562
 563 #define ADIS16480_MOD_CHANNEL(_type, _mod, _address, _si, _info_sep, _bits) \
 564         { \
 565                 .type = (_type), \
 566                 .modified = 1, \
 567                 .channel2 = (_mod), \
 568                 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \
 569                         BIT(IIO_CHAN_INFO_CALIBBIAS) | \
 570                         _info_sep, \
 571                 .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE), \
 572                 .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
 573                 .address = (_address), \
 574                 .scan_index = (_si), \
 575                 .scan_type = { \
 576                         .sign = 's', \
 577                         .realbits = (_bits), \
 578                         .storagebits = (_bits), \
 579                         .endianness = IIO_BE, \
 580                 }, \
 581         }
 582
 583 #define ADIS16480_GYRO_CHANNEL(_mod) \
 584         ADIS16480_MOD_CHANNEL(IIO_ANGL_VEL, IIO_MOD_ ## _mod, \
 585         ADIS16480_REG_ ## _mod ## _GYRO_OUT, ADIS16480_SCAN_GYRO_ ## _mod, \
 586         BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY) | \
 587         BIT(IIO_CHAN_INFO_CALIBSCALE), \
 588         32)
 589
 590 #define ADIS16480_ACCEL_CHANNEL(_mod) \
 591         ADIS16480_MOD_CHANNEL(IIO_ACCEL, IIO_MOD_ ## _mod, \
 592         ADIS16480_REG_ ## _mod ## _ACCEL_OUT, ADIS16480_SCAN_ACCEL_ ## _mod, \
 593         BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY) | \
 594         BIT(IIO_CHAN_INFO_CALIBSCALE), \
 595         32)
 596
 597 #define ADIS16480_MAGN_CHANNEL(_mod) \
 598         ADIS16480_MOD_CHANNEL(IIO_MAGN, IIO_MOD_ ## _mod, \
 599         ADIS16480_REG_ ## _mod ## _MAGN_OUT, ADIS16480_SCAN_MAGN_ ## _mod, \
 600         BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY), \
 601         16)
 602
 603 #define ADIS16480_PRESSURE_CHANNEL() \
 604         { \
 605                 .type = IIO_PRESSURE, \
 606                 .indexed = 1, \
 607                 .channel = 0, \
 608                 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \
 609                         BIT(IIO_CHAN_INFO_CALIBBIAS) | \
 610                         BIT(IIO_CHAN_INFO_SCALE), \
 611                 .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
 612                 .address = ADIS16480_REG_BAROM_OUT, \
 613                 .scan_index = ADIS16480_SCAN_BARO, \
 614                 .scan_type = { \
 615                         .sign = 's', \
 616                         .realbits = 32, \
 617                         .storagebits = 32, \
 618                         .endianness = IIO_BE, \
 619                 }, \
 620         }
 621
 622 #define ADIS16480_TEMP_CHANNEL() { \
 623                 .type = IIO_TEMP, \
 624                 .indexed = 1, \
 625                 .channel = 0, \
 626                 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \
 627                         BIT(IIO_CHAN_INFO_SCALE) | \
 628                         BIT(IIO_CHAN_INFO_OFFSET), \
 629                 .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
 630                 .address = ADIS16480_REG_TEMP_OUT, \
 631                 .scan_index = ADIS16480_SCAN_TEMP, \
 632                 .scan_type = { \
 633                         .sign = 's', \
 634                         .realbits = 16, \
 635                         .storagebits = 16, \
 636                         .endianness = IIO_BE, \
 637                 }, \
 638         }
 639
 640 static const struct iio_chan_spec adis16480_channels[] = {
 641         ADIS16480_GYRO_CHANNEL(X),
 642         ADIS16480_GYRO_CHANNEL(Y),
 643         ADIS16480_GYRO_CHANNEL(Z),
 644         ADIS16480_ACCEL_CHANNEL(X),
 645         ADIS16480_ACCEL_CHANNEL(Y),
 646         ADIS16480_ACCEL_CHANNEL(Z),
 647         ADIS16480_MAGN_CHANNEL(X),
 648         ADIS16480_MAGN_CHANNEL(Y),
 649         ADIS16480_MAGN_CHANNEL(Z),
 650         ADIS16480_PRESSURE_CHANNEL(),
 651         ADIS16480_TEMP_CHANNEL(),
 652         IIO_CHAN_SOFT_TIMESTAMP(11)
 653 };
 654
 655 static const struct iio_chan_spec adis16485_channels[] = {
 656         ADIS16480_GYRO_CHANNEL(X),
 657         ADIS16480_GYRO_CHANNEL(Y),
 658         ADIS16480_GYRO_CHANNEL(Z),
 659         ADIS16480_ACCEL_CHANNEL(X),
 660         ADIS16480_ACCEL_CHANNEL(Y),
 661         ADIS16480_ACCEL_CHANNEL(Z),
 662         ADIS16480_TEMP_CHANNEL(),
 663         IIO_CHAN_SOFT_TIMESTAMP(7)
 664 };
 665
 666 enum adis16480_variant {
 667         ADIS16375,
 668         ADIS16480,
 669         ADIS16485,
 670         ADIS16488,
 671 };
 672
 673 static const struct adis16480_chip_info adis16480_chip_info[] = {
 674         [ADIS16375] = {
 675                 .channels = adis16485_channels,
 676                 .num_channels = ARRAY_SIZE(adis16485_channels),
 677         },
 678         [ADIS16480] = {
 679                 .channels = adis16480_channels,
 680                 .num_channels = ARRAY_SIZE(adis16480_channels),
 681         },
 682         [ADIS16485] = {
 683                 .channels = adis16485_channels,
 684                 .num_channels = ARRAY_SIZE(adis16485_channels),
 685         },
 686         [ADIS16488] = {
 687                 .channels = adis16480_channels,
 688                 .num_channels = ARRAY_SIZE(adis16480_channels),
 689         },
 690 };
 691
 692 static const struct iio_info adis16480_info = {
 693         .read_raw = &adis16480_read_raw,
 694         .write_raw = &adis16480_write_raw,
 695         .update_scan_mode = adis_update_scan_mode,
 696         .driver_module = THIS_MODULE,
 697 };
 698
 699 static int adis16480_stop_device(struct iio_dev *indio_dev)
 700 {
 701         struct adis16480 *st = iio_priv(indio_dev);
 702         int ret;
 703
 704         ret = adis_write_reg_16(&st->adis, ADIS16480_REG_SLP_CNT, BIT(9));
 705         if (ret)
 706                 dev_err(&indio_dev->dev,
 707                         "Could not power down device: %d\n", ret);
 708
 709         return ret;
 710 }
 711
 712 static int adis16480_enable_irq(struct adis *adis, bool enable)
 713 {
 714         return adis_write_reg_16(adis, ADIS16480_REG_FNCTIO_CTRL,
 715                 enable ? BIT(3) : 0);
 716 }
 717
 718 static int adis16480_initial_setup(struct iio_dev *indio_dev)
 719 {
 720         struct adis16480 *st = iio_priv(indio_dev);
 721         uint16_t prod_id;
 722         unsigned int device_id;
 723         int ret;
 724
 725         adis_reset(&st->adis);
 726         msleep(70);
 727
 728         ret = adis_write_reg_16(&st->adis, ADIS16480_REG_GLOB_CMD, BIT(1));
 729         if (ret)
 730                 return ret;
 731         msleep(30);
 732
 733         ret = adis_check_status(&st->adis);
 734         if (ret)
 735                 return ret;
 736
 737         ret = adis_read_reg_16(&st->adis, ADIS16480_REG_PROD_ID, &prod_id);
 738         if (ret)
 739                 return ret;
 740
 741         sscanf(indio_dev->name, "adis%u\n", &device_id);
 742
 743         if (prod_id != device_id)
 744                 dev_warn(&indio_dev->dev, "Device ID(%u) and product ID(%u) do not match.",
 745                                 device_id, prod_id);
 746
 747         return 0;
 748 }
 749
 750 #define ADIS16480_DIAG_STAT_XGYRO_FAIL 0
 751 #define ADIS16480_DIAG_STAT_YGYRO_FAIL 1
 752 #define ADIS16480_DIAG_STAT_ZGYRO_FAIL 2
 753 #define ADIS16480_DIAG_STAT_XACCL_FAIL 3
 754 #define ADIS16480_DIAG_STAT_YACCL_FAIL 4
 755 #define ADIS16480_DIAG_STAT_ZACCL_FAIL 5
 756 #define ADIS16480_DIAG_STAT_XMAGN_FAIL 8
 757 #define ADIS16480_DIAG_STAT_YMAGN_FAIL 9
 758 #define ADIS16480_DIAG_STAT_ZMAGN_FAIL 10
 759 #define ADIS16480_DIAG_STAT_BARO_FAIL 11
 760
 761 static const char * const adis16480_status_error_msgs[] = {
 762         [ADIS16480_DIAG_STAT_XGYRO_FAIL] = "X-axis gyroscope self-test failure",
 763         [ADIS16480_DIAG_STAT_YGYRO_FAIL] = "Y-axis gyroscope self-test failure",
 764         [ADIS16480_DIAG_STAT_ZGYRO_FAIL] = "Z-axis gyroscope self-test failure",
 765         [ADIS16480_DIAG_STAT_XACCL_FAIL] = "X-axis accelerometer self-test failure",
 766         [ADIS16480_DIAG_STAT_YACCL_FAIL] = "Y-axis accelerometer self-test failure",
 767         [ADIS16480_DIAG_STAT_ZACCL_FAIL] = "Z-axis accelerometer self-test failure",
 768         [ADIS16480_DIAG_STAT_XMAGN_FAIL] = "X-axis magnetometer self-test failure",
 769         [ADIS16480_DIAG_STAT_YMAGN_FAIL] = "Y-axis magnetometer self-test failure",
 770         [ADIS16480_DIAG_STAT_ZMAGN_FAIL] = "Z-axis magnetometer self-test failure",
 771         [ADIS16480_DIAG_STAT_BARO_FAIL] = "Barometer self-test failure",
 772 };
 773
 774 static const struct adis_data adis16480_data = {
 775         .diag_stat_reg = ADIS16480_REG_DIAG_STS,
 776         .glob_cmd_reg = ADIS16480_REG_GLOB_CMD,
 777         .has_paging = true,
 778
 779         .read_delay = 5,
 780         .write_delay = 5,
 781
 782         .status_error_msgs = adis16480_status_error_msgs,
 783         .status_error_mask = BIT(ADIS16480_DIAG_STAT_XGYRO_FAIL) |
 784                 BIT(ADIS16480_DIAG_STAT_YGYRO_FAIL) |
 785                 BIT(ADIS16480_DIAG_STAT_ZGYRO_FAIL) |
 786                 BIT(ADIS16480_DIAG_STAT_XACCL_FAIL) |
 787                 BIT(ADIS16480_DIAG_STAT_YACCL_FAIL) |
 788                 BIT(ADIS16480_DIAG_STAT_ZACCL_FAIL) |
 789                 BIT(ADIS16480_DIAG_STAT_XMAGN_FAIL) |
 790                 BIT(ADIS16480_DIAG_STAT_YMAGN_FAIL) |
 791                 BIT(ADIS16480_DIAG_STAT_ZMAGN_FAIL) |
 792                 BIT(ADIS16480_DIAG_STAT_BARO_FAIL),
 793
 794         .enable_irq = adis16480_enable_irq,
 795 };
 796
 797 static int adis16480_probe(struct spi_device *spi)
 798 {
 799         const struct spi_device_id *id = spi_get_device_id(spi);
 800         struct iio_dev *indio_dev;
 801         struct adis16480 *st;
 802         int ret;
 803
 804         indio_dev = devm_iio_device_alloc(&spi->dev, sizeof(*st));
 805         if (indio_dev == NULL)
 806                 return -ENOMEM;
 807
 808         spi_set_drvdata(spi, indio_dev);
 809
 810         st = iio_priv(indio_dev);
 811
 812         st->chip_info = &adis16480_chip_info[id->driver_data];
 813         indio_dev->dev.parent = &spi->dev;
 814         indio_dev->name = spi_get_device_id(spi)->name;
 815         indio_dev->channels = st->chip_info->channels;
 816         indio_dev->num_channels = st->chip_info->num_channels;
 817         indio_dev->info = &adis16480_info;
 818         indio_dev->modes = INDIO_DIRECT_MODE;
 819
 820         ret = adis_init(&st->adis, indio_dev, spi, &adis16480_data);
 821         if (ret)
 822                 return ret;
 823
 824         ret = adis_setup_buffer_and_trigger(&st->adis, indio_dev, NULL);
 825         if (ret)
 826                 return ret;
 827
 828         ret = adis16480_initial_setup(indio_dev);
 829         if (ret)
 830                 goto error_cleanup_buffer;
 831
 832         ret = iio_device_register(indio_dev);
 833         if (ret)
 834                 goto error_stop_device;
 835
 836         adis16480_debugfs_init(indio_dev);
 837
 838         return 0;
 839
 840 error_stop_device:
 841         adis16480_stop_device(indio_dev);
 842 error_cleanup_buffer:
 843         adis_cleanup_buffer_and_trigger(&st->adis, indio_dev);
 844         return ret;
 845 }
 846
 847 static int adis16480_remove(struct spi_device *spi)
 848 {
 849         struct iio_dev *indio_dev = spi_get_drvdata(spi);
 850         struct adis16480 *st = iio_priv(indio_dev);
 851
 852         iio_device_unregister(indio_dev);
 853         adis16480_stop_device(indio_dev);
 854
 855         adis_cleanup_buffer_and_trigger(&st->adis, indio_dev);
 856
 857         return 0;
 858 }
 859
 860 static const struct spi_device_id adis16480_ids[] = {
 861         { "adis16375", ADIS16375 },
 862         { "adis16480", ADIS16480 },
 863         { "adis16485", ADIS16485 },
 864         { "adis16488", ADIS16488 },
 865         { }
 866 };
 867 MODULE_DEVICE_TABLE(spi, adis16480_ids);
 868
 869 static struct spi_driver adis16480_driver = {
 870         .driver = {
 871                 .name = "adis16480",
 872                 .owner = THIS_MODULE,
 873         },
 874         .id_table = adis16480_ids,
 875         .probe = adis16480_probe,
 876         .remove = adis16480_remove,
 877 };
 878 module_spi_driver(adis16480_driver);
 879
 880 MODULE_AUTHOR("Lars-Peter Clausen <lars@metafoo.de>");
 881 MODULE_DESCRIPTION("Analog Devices ADIS16480 IMU driver");
 882 MODULE_LICENSE("GPL v2");