1244 строки
37 KiB
C
1244 строки
37 KiB
C
// SPDX-License-Identifier: GPL-2.0-only
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/*
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* adis16400.c support Analog Devices ADIS16400/5
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* 3d 2g Linear Accelerometers,
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* 3d Gyroscopes,
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* 3d Magnetometers via SPI
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*
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* Copyright (c) 2009 Manuel Stahl <manuel.stahl@iis.fraunhofer.de>
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* Copyright (c) 2007 Jonathan Cameron <jic23@kernel.org>
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* Copyright (c) 2011 Analog Devices Inc.
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*/
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#include <linux/irq.h>
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#include <linux/device.h>
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#include <linux/kernel.h>
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#include <linux/spi/spi.h>
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#include <linux/module.h>
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#include <linux/debugfs.h>
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#include <linux/bitops.h>
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#include <linux/iio/iio.h>
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#include <linux/iio/buffer.h>
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#include <linux/iio/trigger_consumer.h>
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#include <linux/iio/imu/adis.h>
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#define ADIS16400_STARTUP_DELAY 290 /* ms */
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#define ADIS16400_MTEST_DELAY 90 /* ms */
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#define ADIS16400_FLASH_CNT 0x00 /* Flash memory write count */
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#define ADIS16400_SUPPLY_OUT 0x02 /* Power supply measurement */
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#define ADIS16400_XGYRO_OUT 0x04 /* X-axis gyroscope output */
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#define ADIS16400_YGYRO_OUT 0x06 /* Y-axis gyroscope output */
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#define ADIS16400_ZGYRO_OUT 0x08 /* Z-axis gyroscope output */
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#define ADIS16400_XACCL_OUT 0x0A /* X-axis accelerometer output */
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#define ADIS16400_YACCL_OUT 0x0C /* Y-axis accelerometer output */
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#define ADIS16400_ZACCL_OUT 0x0E /* Z-axis accelerometer output */
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#define ADIS16400_XMAGN_OUT 0x10 /* X-axis magnetometer measurement */
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#define ADIS16400_YMAGN_OUT 0x12 /* Y-axis magnetometer measurement */
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#define ADIS16400_ZMAGN_OUT 0x14 /* Z-axis magnetometer measurement */
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#define ADIS16400_TEMP_OUT 0x16 /* Temperature output */
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#define ADIS16400_AUX_ADC 0x18 /* Auxiliary ADC measurement */
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#define ADIS16350_XTEMP_OUT 0x10 /* X-axis gyroscope temperature measurement */
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#define ADIS16350_YTEMP_OUT 0x12 /* Y-axis gyroscope temperature measurement */
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#define ADIS16350_ZTEMP_OUT 0x14 /* Z-axis gyroscope temperature measurement */
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#define ADIS16300_PITCH_OUT 0x12 /* X axis inclinometer output measurement */
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#define ADIS16300_ROLL_OUT 0x14 /* Y axis inclinometer output measurement */
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#define ADIS16300_AUX_ADC 0x16 /* Auxiliary ADC measurement */
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#define ADIS16448_BARO_OUT 0x16 /* Barometric pressure output */
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#define ADIS16448_TEMP_OUT 0x18 /* Temperature output */
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/* Calibration parameters */
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#define ADIS16400_XGYRO_OFF 0x1A /* X-axis gyroscope bias offset factor */
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#define ADIS16400_YGYRO_OFF 0x1C /* Y-axis gyroscope bias offset factor */
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#define ADIS16400_ZGYRO_OFF 0x1E /* Z-axis gyroscope bias offset factor */
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#define ADIS16400_XACCL_OFF 0x20 /* X-axis acceleration bias offset factor */
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#define ADIS16400_YACCL_OFF 0x22 /* Y-axis acceleration bias offset factor */
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#define ADIS16400_ZACCL_OFF 0x24 /* Z-axis acceleration bias offset factor */
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#define ADIS16400_XMAGN_HIF 0x26 /* X-axis magnetometer, hard-iron factor */
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#define ADIS16400_YMAGN_HIF 0x28 /* Y-axis magnetometer, hard-iron factor */
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#define ADIS16400_ZMAGN_HIF 0x2A /* Z-axis magnetometer, hard-iron factor */
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#define ADIS16400_XMAGN_SIF 0x2C /* X-axis magnetometer, soft-iron factor */
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#define ADIS16400_YMAGN_SIF 0x2E /* Y-axis magnetometer, soft-iron factor */
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#define ADIS16400_ZMAGN_SIF 0x30 /* Z-axis magnetometer, soft-iron factor */
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#define ADIS16400_GPIO_CTRL 0x32 /* Auxiliary digital input/output control */
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#define ADIS16400_MSC_CTRL 0x34 /* Miscellaneous control */
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#define ADIS16400_SMPL_PRD 0x36 /* Internal sample period (rate) control */
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#define ADIS16400_SENS_AVG 0x38 /* Dynamic range and digital filter control */
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#define ADIS16400_SLP_CNT 0x3A /* Sleep mode control */
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#define ADIS16400_DIAG_STAT 0x3C /* System status */
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/* Alarm functions */
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#define ADIS16400_GLOB_CMD 0x3E /* System command */
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#define ADIS16400_ALM_MAG1 0x40 /* Alarm 1 amplitude threshold */
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#define ADIS16400_ALM_MAG2 0x42 /* Alarm 2 amplitude threshold */
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#define ADIS16400_ALM_SMPL1 0x44 /* Alarm 1 sample size */
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#define ADIS16400_ALM_SMPL2 0x46 /* Alarm 2 sample size */
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#define ADIS16400_ALM_CTRL 0x48 /* Alarm control */
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#define ADIS16400_AUX_DAC 0x4A /* Auxiliary DAC data */
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#define ADIS16334_LOT_ID1 0x52 /* Lot identification code 1 */
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#define ADIS16334_LOT_ID2 0x54 /* Lot identification code 2 */
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#define ADIS16400_PRODUCT_ID 0x56 /* Product identifier */
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#define ADIS16334_SERIAL_NUMBER 0x58 /* Serial number, lot specific */
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#define ADIS16400_ERROR_ACTIVE (1<<14)
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#define ADIS16400_NEW_DATA (1<<14)
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/* MSC_CTRL */
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#define ADIS16400_MSC_CTRL_MEM_TEST (1<<11)
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#define ADIS16400_MSC_CTRL_INT_SELF_TEST (1<<10)
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#define ADIS16400_MSC_CTRL_NEG_SELF_TEST (1<<9)
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#define ADIS16400_MSC_CTRL_POS_SELF_TEST (1<<8)
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#define ADIS16400_MSC_CTRL_GYRO_BIAS (1<<7)
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#define ADIS16400_MSC_CTRL_ACCL_ALIGN (1<<6)
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#define ADIS16400_MSC_CTRL_DATA_RDY_EN (1<<2)
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#define ADIS16400_MSC_CTRL_DATA_RDY_POL_HIGH (1<<1)
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#define ADIS16400_MSC_CTRL_DATA_RDY_DIO2 (1<<0)
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/* SMPL_PRD */
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#define ADIS16400_SMPL_PRD_TIME_BASE (1<<7)
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#define ADIS16400_SMPL_PRD_DIV_MASK 0x7F
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/* DIAG_STAT */
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#define ADIS16400_DIAG_STAT_ZACCL_FAIL 15
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#define ADIS16400_DIAG_STAT_YACCL_FAIL 14
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#define ADIS16400_DIAG_STAT_XACCL_FAIL 13
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#define ADIS16400_DIAG_STAT_XGYRO_FAIL 12
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#define ADIS16400_DIAG_STAT_YGYRO_FAIL 11
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#define ADIS16400_DIAG_STAT_ZGYRO_FAIL 10
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#define ADIS16400_DIAG_STAT_ALARM2 9
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#define ADIS16400_DIAG_STAT_ALARM1 8
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#define ADIS16400_DIAG_STAT_FLASH_CHK 6
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#define ADIS16400_DIAG_STAT_SELF_TEST 5
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#define ADIS16400_DIAG_STAT_OVERFLOW 4
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#define ADIS16400_DIAG_STAT_SPI_FAIL 3
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#define ADIS16400_DIAG_STAT_FLASH_UPT 2
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#define ADIS16400_DIAG_STAT_POWER_HIGH 1
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#define ADIS16400_DIAG_STAT_POWER_LOW 0
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/* GLOB_CMD */
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#define ADIS16400_GLOB_CMD_SW_RESET (1<<7)
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#define ADIS16400_GLOB_CMD_P_AUTO_NULL (1<<4)
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#define ADIS16400_GLOB_CMD_FLASH_UPD (1<<3)
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#define ADIS16400_GLOB_CMD_DAC_LATCH (1<<2)
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#define ADIS16400_GLOB_CMD_FAC_CALIB (1<<1)
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#define ADIS16400_GLOB_CMD_AUTO_NULL (1<<0)
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/* SLP_CNT */
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#define ADIS16400_SLP_CNT_POWER_OFF (1<<8)
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#define ADIS16334_RATE_DIV_SHIFT 8
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#define ADIS16334_RATE_INT_CLK BIT(0)
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#define ADIS16400_SPI_SLOW (u32)(300 * 1000)
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#define ADIS16400_SPI_BURST (u32)(1000 * 1000)
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#define ADIS16400_SPI_FAST (u32)(2000 * 1000)
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#define ADIS16400_HAS_PROD_ID BIT(0)
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#define ADIS16400_NO_BURST BIT(1)
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#define ADIS16400_HAS_SLOW_MODE BIT(2)
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#define ADIS16400_HAS_SERIAL_NUMBER BIT(3)
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#define ADIS16400_BURST_DIAG_STAT BIT(4)
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struct adis16400_state;
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struct adis16400_chip_info {
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const struct iio_chan_spec *channels;
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const struct adis_data adis_data;
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const int num_channels;
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const long flags;
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unsigned int gyro_scale_micro;
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unsigned int accel_scale_micro;
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int temp_scale_nano;
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int temp_offset;
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/* set_freq() & get_freq() need to avoid using ADIS lib's state lock */
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int (*set_freq)(struct adis16400_state *st, unsigned int freq);
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int (*get_freq)(struct adis16400_state *st);
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};
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/**
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* struct adis16400_state - device instance specific data
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* @variant: chip variant info
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* @filt_int: integer part of requested filter frequency
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* @adis: adis device
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* @avail_scan_mask: NULL terminated array of bitmaps of channels
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* that must be enabled together
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**/
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struct adis16400_state {
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struct adis16400_chip_info *variant;
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int filt_int;
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struct adis adis;
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unsigned long avail_scan_mask[2];
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};
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/* At the moment triggers are only used for ring buffer
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* filling. This may change!
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*/
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enum {
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ADIS16400_SCAN_SUPPLY,
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ADIS16400_SCAN_GYRO_X,
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ADIS16400_SCAN_GYRO_Y,
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ADIS16400_SCAN_GYRO_Z,
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ADIS16400_SCAN_ACC_X,
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ADIS16400_SCAN_ACC_Y,
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ADIS16400_SCAN_ACC_Z,
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ADIS16400_SCAN_MAGN_X,
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ADIS16400_SCAN_MAGN_Y,
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ADIS16400_SCAN_MAGN_Z,
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ADIS16400_SCAN_BARO,
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ADIS16350_SCAN_TEMP_X,
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ADIS16350_SCAN_TEMP_Y,
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ADIS16350_SCAN_TEMP_Z,
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ADIS16300_SCAN_INCLI_X,
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ADIS16300_SCAN_INCLI_Y,
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ADIS16400_SCAN_ADC,
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ADIS16400_SCAN_TIMESTAMP,
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};
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#ifdef CONFIG_DEBUG_FS
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static ssize_t adis16400_show_serial_number(struct file *file,
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char __user *userbuf, size_t count, loff_t *ppos)
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{
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struct adis16400_state *st = file->private_data;
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u16 lot1, lot2, serial_number;
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char buf[16];
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size_t len;
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int ret;
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ret = adis_read_reg_16(&st->adis, ADIS16334_LOT_ID1, &lot1);
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if (ret)
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return ret;
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ret = adis_read_reg_16(&st->adis, ADIS16334_LOT_ID2, &lot2);
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if (ret)
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return ret;
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ret = adis_read_reg_16(&st->adis, ADIS16334_SERIAL_NUMBER,
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&serial_number);
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if (ret)
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return ret;
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len = snprintf(buf, sizeof(buf), "%.4x-%.4x-%.4x\n", lot1, lot2,
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serial_number);
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return simple_read_from_buffer(userbuf, count, ppos, buf, len);
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}
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static const struct file_operations adis16400_serial_number_fops = {
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.open = simple_open,
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.read = adis16400_show_serial_number,
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.llseek = default_llseek,
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.owner = THIS_MODULE,
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};
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static int adis16400_show_product_id(void *arg, u64 *val)
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{
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struct adis16400_state *st = arg;
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uint16_t prod_id;
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int ret;
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ret = adis_read_reg_16(&st->adis, ADIS16400_PRODUCT_ID, &prod_id);
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if (ret)
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return ret;
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*val = prod_id;
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return 0;
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}
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DEFINE_DEBUGFS_ATTRIBUTE(adis16400_product_id_fops,
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adis16400_show_product_id, NULL, "%lld\n");
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static int adis16400_show_flash_count(void *arg, u64 *val)
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{
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struct adis16400_state *st = arg;
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uint16_t flash_count;
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int ret;
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ret = adis_read_reg_16(&st->adis, ADIS16400_FLASH_CNT, &flash_count);
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if (ret)
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return ret;
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*val = flash_count;
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return 0;
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}
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DEFINE_DEBUGFS_ATTRIBUTE(adis16400_flash_count_fops,
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adis16400_show_flash_count, NULL, "%lld\n");
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static int adis16400_debugfs_init(struct iio_dev *indio_dev)
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{
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struct adis16400_state *st = iio_priv(indio_dev);
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struct dentry *d = iio_get_debugfs_dentry(indio_dev);
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if (st->variant->flags & ADIS16400_HAS_SERIAL_NUMBER)
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debugfs_create_file_unsafe("serial_number", 0400,
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d, st, &adis16400_serial_number_fops);
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if (st->variant->flags & ADIS16400_HAS_PROD_ID)
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debugfs_create_file_unsafe("product_id", 0400,
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d, st, &adis16400_product_id_fops);
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debugfs_create_file_unsafe("flash_count", 0400,
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d, st, &adis16400_flash_count_fops);
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return 0;
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}
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#else
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static int adis16400_debugfs_init(struct iio_dev *indio_dev)
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{
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return 0;
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}
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#endif
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enum adis16400_chip_variant {
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ADIS16300,
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ADIS16334,
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ADIS16350,
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ADIS16360,
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ADIS16362,
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ADIS16364,
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ADIS16367,
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ADIS16400,
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ADIS16445,
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ADIS16448,
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};
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static int adis16334_get_freq(struct adis16400_state *st)
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{
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int ret;
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uint16_t t;
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ret = __adis_read_reg_16(&st->adis, ADIS16400_SMPL_PRD, &t);
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if (ret)
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return ret;
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t >>= ADIS16334_RATE_DIV_SHIFT;
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return 819200 >> t;
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}
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static int adis16334_set_freq(struct adis16400_state *st, unsigned int freq)
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{
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unsigned int t;
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if (freq < 819200)
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t = ilog2(819200 / freq);
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else
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t = 0;
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if (t > 0x31)
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t = 0x31;
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t <<= ADIS16334_RATE_DIV_SHIFT;
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t |= ADIS16334_RATE_INT_CLK;
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return __adis_write_reg_16(&st->adis, ADIS16400_SMPL_PRD, t);
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}
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static int adis16400_get_freq(struct adis16400_state *st)
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{
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int sps, ret;
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uint16_t t;
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ret = __adis_read_reg_16(&st->adis, ADIS16400_SMPL_PRD, &t);
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if (ret)
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return ret;
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sps = (t & ADIS16400_SMPL_PRD_TIME_BASE) ? 52851 : 1638404;
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sps /= (t & ADIS16400_SMPL_PRD_DIV_MASK) + 1;
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return sps;
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}
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static int adis16400_set_freq(struct adis16400_state *st, unsigned int freq)
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{
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unsigned int t;
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uint8_t val = 0;
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t = 1638404 / freq;
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if (t >= 128) {
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val |= ADIS16400_SMPL_PRD_TIME_BASE;
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t = 52851 / freq;
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if (t >= 128)
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t = 127;
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} else if (t != 0) {
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t--;
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}
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val |= t;
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if (t >= 0x0A || (val & ADIS16400_SMPL_PRD_TIME_BASE))
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st->adis.spi->max_speed_hz = ADIS16400_SPI_SLOW;
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else
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st->adis.spi->max_speed_hz = ADIS16400_SPI_FAST;
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return __adis_write_reg_8(&st->adis, ADIS16400_SMPL_PRD, val);
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}
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static const unsigned int adis16400_3db_divisors[] = {
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[0] = 2, /* Special case */
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[1] = 6,
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[2] = 12,
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[3] = 25,
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[4] = 50,
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[5] = 100,
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[6] = 200,
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[7] = 200, /* Not a valid setting */
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};
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static int __adis16400_set_filter(struct iio_dev *indio_dev, int sps, int val)
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{
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struct adis16400_state *st = iio_priv(indio_dev);
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uint16_t val16;
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int i, ret;
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for (i = ARRAY_SIZE(adis16400_3db_divisors) - 1; i >= 1; i--) {
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if (sps / adis16400_3db_divisors[i] >= val)
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break;
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}
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ret = __adis_read_reg_16(&st->adis, ADIS16400_SENS_AVG, &val16);
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if (ret)
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return ret;
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ret = __adis_write_reg_16(&st->adis, ADIS16400_SENS_AVG,
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(val16 & ~0x07) | i);
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return ret;
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}
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/* Power down the device */
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static int adis16400_stop_device(struct iio_dev *indio_dev)
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{
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struct adis16400_state *st = iio_priv(indio_dev);
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int ret;
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ret = adis_write_reg_16(&st->adis, ADIS16400_SLP_CNT,
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ADIS16400_SLP_CNT_POWER_OFF);
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if (ret)
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dev_err(&indio_dev->dev,
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"problem with turning device off: SLP_CNT");
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return ret;
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}
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static int adis16400_initial_setup(struct iio_dev *indio_dev)
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{
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struct adis16400_state *st = iio_priv(indio_dev);
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uint16_t prod_id, smp_prd;
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unsigned int device_id;
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int ret;
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/* use low spi speed for init if the device has a slow mode */
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if (st->variant->flags & ADIS16400_HAS_SLOW_MODE)
|
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st->adis.spi->max_speed_hz = ADIS16400_SPI_SLOW;
|
|
else
|
|
st->adis.spi->max_speed_hz = ADIS16400_SPI_FAST;
|
|
st->adis.spi->mode = SPI_MODE_3;
|
|
spi_setup(st->adis.spi);
|
|
|
|
ret = __adis_initial_startup(&st->adis);
|
|
if (ret)
|
|
return ret;
|
|
|
|
if (st->variant->flags & ADIS16400_HAS_PROD_ID) {
|
|
ret = adis_read_reg_16(&st->adis,
|
|
ADIS16400_PRODUCT_ID, &prod_id);
|
|
if (ret)
|
|
goto err_ret;
|
|
|
|
if (sscanf(indio_dev->name, "adis%u\n", &device_id) != 1) {
|
|
ret = -EINVAL;
|
|
goto err_ret;
|
|
}
|
|
|
|
if (prod_id != device_id)
|
|
dev_warn(&indio_dev->dev, "Device ID(%u) and product ID(%u) do not match.",
|
|
device_id, prod_id);
|
|
|
|
dev_info(&indio_dev->dev, "%s: prod_id 0x%04x at CS%d (irq %d)\n",
|
|
indio_dev->name, prod_id,
|
|
st->adis.spi->chip_select, st->adis.spi->irq);
|
|
}
|
|
/* use high spi speed if possible */
|
|
if (st->variant->flags & ADIS16400_HAS_SLOW_MODE) {
|
|
ret = adis_read_reg_16(&st->adis, ADIS16400_SMPL_PRD, &smp_prd);
|
|
if (ret)
|
|
goto err_ret;
|
|
|
|
if ((smp_prd & ADIS16400_SMPL_PRD_DIV_MASK) < 0x0A) {
|
|
st->adis.spi->max_speed_hz = ADIS16400_SPI_FAST;
|
|
spi_setup(st->adis.spi);
|
|
}
|
|
}
|
|
|
|
err_ret:
|
|
return ret;
|
|
}
|
|
|
|
static const uint8_t adis16400_addresses[] = {
|
|
[ADIS16400_SCAN_GYRO_X] = ADIS16400_XGYRO_OFF,
|
|
[ADIS16400_SCAN_GYRO_Y] = ADIS16400_YGYRO_OFF,
|
|
[ADIS16400_SCAN_GYRO_Z] = ADIS16400_ZGYRO_OFF,
|
|
[ADIS16400_SCAN_ACC_X] = ADIS16400_XACCL_OFF,
|
|
[ADIS16400_SCAN_ACC_Y] = ADIS16400_YACCL_OFF,
|
|
[ADIS16400_SCAN_ACC_Z] = ADIS16400_ZACCL_OFF,
|
|
};
|
|
|
|
static int adis16400_write_raw(struct iio_dev *indio_dev,
|
|
struct iio_chan_spec const *chan, int val, int val2, long info)
|
|
{
|
|
struct adis16400_state *st = iio_priv(indio_dev);
|
|
int ret, sps;
|
|
|
|
switch (info) {
|
|
case IIO_CHAN_INFO_CALIBBIAS:
|
|
ret = adis_write_reg_16(&st->adis,
|
|
adis16400_addresses[chan->scan_index], val);
|
|
return ret;
|
|
case IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY:
|
|
/*
|
|
* Need to cache values so we can update if the frequency
|
|
* changes.
|
|
*/
|
|
adis_dev_lock(&st->adis);
|
|
st->filt_int = val;
|
|
/* Work out update to current value */
|
|
sps = st->variant->get_freq(st);
|
|
if (sps < 0) {
|
|
adis_dev_unlock(&st->adis);
|
|
return sps;
|
|
}
|
|
|
|
ret = __adis16400_set_filter(indio_dev, sps,
|
|
val * 1000 + val2 / 1000);
|
|
adis_dev_unlock(&st->adis);
|
|
return ret;
|
|
case IIO_CHAN_INFO_SAMP_FREQ:
|
|
sps = val * 1000 + val2 / 1000;
|
|
|
|
if (sps <= 0)
|
|
return -EINVAL;
|
|
|
|
adis_dev_lock(&st->adis);
|
|
ret = st->variant->set_freq(st, sps);
|
|
adis_dev_unlock(&st->adis);
|
|
return ret;
|
|
default:
|
|
return -EINVAL;
|
|
}
|
|
}
|
|
|
|
static int adis16400_read_raw(struct iio_dev *indio_dev,
|
|
struct iio_chan_spec const *chan, int *val, int *val2, long info)
|
|
{
|
|
struct adis16400_state *st = iio_priv(indio_dev);
|
|
int16_t val16;
|
|
int ret;
|
|
|
|
switch (info) {
|
|
case IIO_CHAN_INFO_RAW:
|
|
return adis_single_conversion(indio_dev, chan, 0, val);
|
|
case IIO_CHAN_INFO_SCALE:
|
|
switch (chan->type) {
|
|
case IIO_ANGL_VEL:
|
|
*val = 0;
|
|
*val2 = st->variant->gyro_scale_micro;
|
|
return IIO_VAL_INT_PLUS_MICRO;
|
|
case IIO_VOLTAGE:
|
|
*val = 0;
|
|
if (chan->channel == 0) {
|
|
*val = 2;
|
|
*val2 = 418000; /* 2.418 mV */
|
|
} else {
|
|
*val = 0;
|
|
*val2 = 805800; /* 805.8 uV */
|
|
}
|
|
return IIO_VAL_INT_PLUS_MICRO;
|
|
case IIO_ACCEL:
|
|
*val = 0;
|
|
*val2 = st->variant->accel_scale_micro;
|
|
return IIO_VAL_INT_PLUS_MICRO;
|
|
case IIO_MAGN:
|
|
*val = 0;
|
|
*val2 = 500; /* 0.5 mgauss */
|
|
return IIO_VAL_INT_PLUS_MICRO;
|
|
case IIO_TEMP:
|
|
*val = st->variant->temp_scale_nano / 1000000;
|
|
*val2 = (st->variant->temp_scale_nano % 1000000);
|
|
return IIO_VAL_INT_PLUS_MICRO;
|
|
case IIO_PRESSURE:
|
|
/* 20 uBar = 0.002kPascal */
|
|
*val = 0;
|
|
*val2 = 2000;
|
|
return IIO_VAL_INT_PLUS_MICRO;
|
|
default:
|
|
return -EINVAL;
|
|
}
|
|
case IIO_CHAN_INFO_CALIBBIAS:
|
|
ret = adis_read_reg_16(&st->adis,
|
|
adis16400_addresses[chan->scan_index], &val16);
|
|
if (ret)
|
|
return ret;
|
|
val16 = sign_extend32(val16, 11);
|
|
*val = val16;
|
|
return IIO_VAL_INT;
|
|
case IIO_CHAN_INFO_OFFSET:
|
|
/* currently only temperature */
|
|
*val = st->variant->temp_offset;
|
|
return IIO_VAL_INT;
|
|
case IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY:
|
|
adis_dev_lock(&st->adis);
|
|
/* Need both the number of taps and the sampling frequency */
|
|
ret = __adis_read_reg_16(&st->adis,
|
|
ADIS16400_SENS_AVG,
|
|
&val16);
|
|
if (ret) {
|
|
adis_dev_unlock(&st->adis);
|
|
return ret;
|
|
}
|
|
ret = st->variant->get_freq(st);
|
|
adis_dev_unlock(&st->adis);
|
|
if (ret)
|
|
return ret;
|
|
ret /= adis16400_3db_divisors[val16 & 0x07];
|
|
*val = ret / 1000;
|
|
*val2 = (ret % 1000) * 1000;
|
|
return IIO_VAL_INT_PLUS_MICRO;
|
|
case IIO_CHAN_INFO_SAMP_FREQ:
|
|
adis_dev_lock(&st->adis);
|
|
ret = st->variant->get_freq(st);
|
|
adis_dev_unlock(&st->adis);
|
|
if (ret)
|
|
return ret;
|
|
*val = ret / 1000;
|
|
*val2 = (ret % 1000) * 1000;
|
|
return IIO_VAL_INT_PLUS_MICRO;
|
|
default:
|
|
return -EINVAL;
|
|
}
|
|
}
|
|
|
|
#if IS_ENABLED(CONFIG_IIO_BUFFER)
|
|
static irqreturn_t adis16400_trigger_handler(int irq, void *p)
|
|
{
|
|
struct iio_poll_func *pf = p;
|
|
struct iio_dev *indio_dev = pf->indio_dev;
|
|
struct adis16400_state *st = iio_priv(indio_dev);
|
|
struct adis *adis = &st->adis;
|
|
void *buffer;
|
|
int ret;
|
|
|
|
ret = spi_sync(adis->spi, &adis->msg);
|
|
if (ret)
|
|
dev_err(&adis->spi->dev, "Failed to read data: %d\n", ret);
|
|
|
|
if (st->variant->flags & ADIS16400_BURST_DIAG_STAT) {
|
|
buffer = adis->buffer + sizeof(u16);
|
|
/*
|
|
* The size here is always larger than, or equal to the true
|
|
* size of the channel data. This may result in a larger copy
|
|
* than necessary, but as the target buffer will be
|
|
* buffer->scan_bytes this will be safe.
|
|
*/
|
|
iio_push_to_buffers_with_ts_unaligned(indio_dev, buffer,
|
|
indio_dev->scan_bytes - sizeof(pf->timestamp),
|
|
pf->timestamp);
|
|
} else {
|
|
iio_push_to_buffers_with_timestamp(indio_dev,
|
|
adis->buffer,
|
|
pf->timestamp);
|
|
}
|
|
|
|
|
|
iio_trigger_notify_done(indio_dev->trig);
|
|
|
|
return IRQ_HANDLED;
|
|
}
|
|
#else
|
|
#define adis16400_trigger_handler NULL
|
|
#endif /* IS_ENABLED(CONFIG_IIO_BUFFER) */
|
|
|
|
#define ADIS16400_VOLTAGE_CHAN(addr, bits, name, si, chn) { \
|
|
.type = IIO_VOLTAGE, \
|
|
.indexed = 1, \
|
|
.channel = chn, \
|
|
.extend_name = name, \
|
|
.info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \
|
|
BIT(IIO_CHAN_INFO_SCALE), \
|
|
.info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
|
|
.address = (addr), \
|
|
.scan_index = (si), \
|
|
.scan_type = { \
|
|
.sign = 'u', \
|
|
.realbits = (bits), \
|
|
.storagebits = 16, \
|
|
.shift = 0, \
|
|
.endianness = IIO_BE, \
|
|
}, \
|
|
}
|
|
|
|
#define ADIS16400_SUPPLY_CHAN(addr, bits) \
|
|
ADIS16400_VOLTAGE_CHAN(addr, bits, "supply", ADIS16400_SCAN_SUPPLY, 0)
|
|
|
|
#define ADIS16400_AUX_ADC_CHAN(addr, bits) \
|
|
ADIS16400_VOLTAGE_CHAN(addr, bits, NULL, ADIS16400_SCAN_ADC, 1)
|
|
|
|
#define ADIS16400_GYRO_CHAN(mod, addr, bits) { \
|
|
.type = IIO_ANGL_VEL, \
|
|
.modified = 1, \
|
|
.channel2 = IIO_MOD_ ## mod, \
|
|
.info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \
|
|
BIT(IIO_CHAN_INFO_CALIBBIAS), \
|
|
.info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE) | \
|
|
BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY), \
|
|
.info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
|
|
.address = addr, \
|
|
.scan_index = ADIS16400_SCAN_GYRO_ ## mod, \
|
|
.scan_type = { \
|
|
.sign = 's', \
|
|
.realbits = (bits), \
|
|
.storagebits = 16, \
|
|
.shift = 0, \
|
|
.endianness = IIO_BE, \
|
|
}, \
|
|
}
|
|
|
|
#define ADIS16400_ACCEL_CHAN(mod, addr, bits) { \
|
|
.type = IIO_ACCEL, \
|
|
.modified = 1, \
|
|
.channel2 = IIO_MOD_ ## mod, \
|
|
.info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \
|
|
BIT(IIO_CHAN_INFO_CALIBBIAS), \
|
|
.info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE) | \
|
|
BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY), \
|
|
.info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
|
|
.address = (addr), \
|
|
.scan_index = ADIS16400_SCAN_ACC_ ## mod, \
|
|
.scan_type = { \
|
|
.sign = 's', \
|
|
.realbits = (bits), \
|
|
.storagebits = 16, \
|
|
.shift = 0, \
|
|
.endianness = IIO_BE, \
|
|
}, \
|
|
}
|
|
|
|
#define ADIS16400_MAGN_CHAN(mod, addr, bits) { \
|
|
.type = IIO_MAGN, \
|
|
.modified = 1, \
|
|
.channel2 = IIO_MOD_ ## mod, \
|
|
.info_mask_separate = BIT(IIO_CHAN_INFO_RAW), \
|
|
.info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE) | \
|
|
BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY), \
|
|
.info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
|
|
.address = (addr), \
|
|
.scan_index = ADIS16400_SCAN_MAGN_ ## mod, \
|
|
.scan_type = { \
|
|
.sign = 's', \
|
|
.realbits = (bits), \
|
|
.storagebits = 16, \
|
|
.shift = 0, \
|
|
.endianness = IIO_BE, \
|
|
}, \
|
|
}
|
|
|
|
#define ADIS16400_MOD_TEMP_NAME_X "x"
|
|
#define ADIS16400_MOD_TEMP_NAME_Y "y"
|
|
#define ADIS16400_MOD_TEMP_NAME_Z "z"
|
|
|
|
#define ADIS16400_MOD_TEMP_CHAN(mod, addr, bits) { \
|
|
.type = IIO_TEMP, \
|
|
.indexed = 1, \
|
|
.channel = 0, \
|
|
.extend_name = ADIS16400_MOD_TEMP_NAME_ ## mod, \
|
|
.info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \
|
|
BIT(IIO_CHAN_INFO_OFFSET) | \
|
|
BIT(IIO_CHAN_INFO_SCALE), \
|
|
.info_mask_shared_by_type = \
|
|
BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY), \
|
|
.info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
|
|
.address = (addr), \
|
|
.scan_index = ADIS16350_SCAN_TEMP_ ## mod, \
|
|
.scan_type = { \
|
|
.sign = 's', \
|
|
.realbits = (bits), \
|
|
.storagebits = 16, \
|
|
.shift = 0, \
|
|
.endianness = IIO_BE, \
|
|
}, \
|
|
}
|
|
|
|
#define ADIS16400_TEMP_CHAN(addr, bits) { \
|
|
.type = IIO_TEMP, \
|
|
.indexed = 1, \
|
|
.channel = 0, \
|
|
.info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \
|
|
BIT(IIO_CHAN_INFO_OFFSET) | \
|
|
BIT(IIO_CHAN_INFO_SCALE), \
|
|
.info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
|
|
.address = (addr), \
|
|
.scan_index = ADIS16350_SCAN_TEMP_X, \
|
|
.scan_type = { \
|
|
.sign = 's', \
|
|
.realbits = (bits), \
|
|
.storagebits = 16, \
|
|
.shift = 0, \
|
|
.endianness = IIO_BE, \
|
|
}, \
|
|
}
|
|
|
|
#define ADIS16400_INCLI_CHAN(mod, addr, bits) { \
|
|
.type = IIO_INCLI, \
|
|
.modified = 1, \
|
|
.channel2 = IIO_MOD_ ## mod, \
|
|
.info_mask_separate = BIT(IIO_CHAN_INFO_RAW), \
|
|
.info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE), \
|
|
.info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
|
|
.address = (addr), \
|
|
.scan_index = ADIS16300_SCAN_INCLI_ ## mod, \
|
|
.scan_type = { \
|
|
.sign = 's', \
|
|
.realbits = (bits), \
|
|
.storagebits = 16, \
|
|
.shift = 0, \
|
|
.endianness = IIO_BE, \
|
|
}, \
|
|
}
|
|
|
|
static const struct iio_chan_spec adis16400_channels[] = {
|
|
ADIS16400_SUPPLY_CHAN(ADIS16400_SUPPLY_OUT, 14),
|
|
ADIS16400_GYRO_CHAN(X, ADIS16400_XGYRO_OUT, 14),
|
|
ADIS16400_GYRO_CHAN(Y, ADIS16400_YGYRO_OUT, 14),
|
|
ADIS16400_GYRO_CHAN(Z, ADIS16400_ZGYRO_OUT, 14),
|
|
ADIS16400_ACCEL_CHAN(X, ADIS16400_XACCL_OUT, 14),
|
|
ADIS16400_ACCEL_CHAN(Y, ADIS16400_YACCL_OUT, 14),
|
|
ADIS16400_ACCEL_CHAN(Z, ADIS16400_ZACCL_OUT, 14),
|
|
ADIS16400_MAGN_CHAN(X, ADIS16400_XMAGN_OUT, 14),
|
|
ADIS16400_MAGN_CHAN(Y, ADIS16400_YMAGN_OUT, 14),
|
|
ADIS16400_MAGN_CHAN(Z, ADIS16400_ZMAGN_OUT, 14),
|
|
ADIS16400_TEMP_CHAN(ADIS16400_TEMP_OUT, 12),
|
|
ADIS16400_AUX_ADC_CHAN(ADIS16400_AUX_ADC, 12),
|
|
IIO_CHAN_SOFT_TIMESTAMP(ADIS16400_SCAN_TIMESTAMP),
|
|
};
|
|
|
|
static const struct iio_chan_spec adis16445_channels[] = {
|
|
ADIS16400_GYRO_CHAN(X, ADIS16400_XGYRO_OUT, 16),
|
|
ADIS16400_GYRO_CHAN(Y, ADIS16400_YGYRO_OUT, 16),
|
|
ADIS16400_GYRO_CHAN(Z, ADIS16400_ZGYRO_OUT, 16),
|
|
ADIS16400_ACCEL_CHAN(X, ADIS16400_XACCL_OUT, 16),
|
|
ADIS16400_ACCEL_CHAN(Y, ADIS16400_YACCL_OUT, 16),
|
|
ADIS16400_ACCEL_CHAN(Z, ADIS16400_ZACCL_OUT, 16),
|
|
ADIS16400_TEMP_CHAN(ADIS16448_TEMP_OUT, 12),
|
|
IIO_CHAN_SOFT_TIMESTAMP(ADIS16400_SCAN_TIMESTAMP),
|
|
};
|
|
|
|
static const struct iio_chan_spec adis16448_channels[] = {
|
|
ADIS16400_GYRO_CHAN(X, ADIS16400_XGYRO_OUT, 16),
|
|
ADIS16400_GYRO_CHAN(Y, ADIS16400_YGYRO_OUT, 16),
|
|
ADIS16400_GYRO_CHAN(Z, ADIS16400_ZGYRO_OUT, 16),
|
|
ADIS16400_ACCEL_CHAN(X, ADIS16400_XACCL_OUT, 16),
|
|
ADIS16400_ACCEL_CHAN(Y, ADIS16400_YACCL_OUT, 16),
|
|
ADIS16400_ACCEL_CHAN(Z, ADIS16400_ZACCL_OUT, 16),
|
|
ADIS16400_MAGN_CHAN(X, ADIS16400_XMAGN_OUT, 16),
|
|
ADIS16400_MAGN_CHAN(Y, ADIS16400_YMAGN_OUT, 16),
|
|
ADIS16400_MAGN_CHAN(Z, ADIS16400_ZMAGN_OUT, 16),
|
|
{
|
|
.type = IIO_PRESSURE,
|
|
.info_mask_separate = BIT(IIO_CHAN_INFO_RAW),
|
|
.info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE),
|
|
.info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ),
|
|
.address = ADIS16448_BARO_OUT,
|
|
.scan_index = ADIS16400_SCAN_BARO,
|
|
.scan_type = {
|
|
.sign = 's',
|
|
.realbits = 16,
|
|
.storagebits = 16,
|
|
.endianness = IIO_BE,
|
|
},
|
|
},
|
|
ADIS16400_TEMP_CHAN(ADIS16448_TEMP_OUT, 12),
|
|
IIO_CHAN_SOFT_TIMESTAMP(ADIS16400_SCAN_TIMESTAMP),
|
|
};
|
|
|
|
static const struct iio_chan_spec adis16350_channels[] = {
|
|
ADIS16400_SUPPLY_CHAN(ADIS16400_SUPPLY_OUT, 12),
|
|
ADIS16400_GYRO_CHAN(X, ADIS16400_XGYRO_OUT, 14),
|
|
ADIS16400_GYRO_CHAN(Y, ADIS16400_YGYRO_OUT, 14),
|
|
ADIS16400_GYRO_CHAN(Z, ADIS16400_ZGYRO_OUT, 14),
|
|
ADIS16400_ACCEL_CHAN(X, ADIS16400_XACCL_OUT, 14),
|
|
ADIS16400_ACCEL_CHAN(Y, ADIS16400_YACCL_OUT, 14),
|
|
ADIS16400_ACCEL_CHAN(Z, ADIS16400_ZACCL_OUT, 14),
|
|
ADIS16400_MAGN_CHAN(X, ADIS16400_XMAGN_OUT, 14),
|
|
ADIS16400_MAGN_CHAN(Y, ADIS16400_YMAGN_OUT, 14),
|
|
ADIS16400_MAGN_CHAN(Z, ADIS16400_ZMAGN_OUT, 14),
|
|
ADIS16400_AUX_ADC_CHAN(ADIS16300_AUX_ADC, 12),
|
|
ADIS16400_MOD_TEMP_CHAN(X, ADIS16350_XTEMP_OUT, 12),
|
|
ADIS16400_MOD_TEMP_CHAN(Y, ADIS16350_YTEMP_OUT, 12),
|
|
ADIS16400_MOD_TEMP_CHAN(Z, ADIS16350_ZTEMP_OUT, 12),
|
|
IIO_CHAN_SOFT_TIMESTAMP(ADIS16400_SCAN_TIMESTAMP),
|
|
};
|
|
|
|
static const struct iio_chan_spec adis16300_channels[] = {
|
|
ADIS16400_SUPPLY_CHAN(ADIS16400_SUPPLY_OUT, 12),
|
|
ADIS16400_GYRO_CHAN(X, ADIS16400_XGYRO_OUT, 14),
|
|
ADIS16400_ACCEL_CHAN(X, ADIS16400_XACCL_OUT, 14),
|
|
ADIS16400_ACCEL_CHAN(Y, ADIS16400_YACCL_OUT, 14),
|
|
ADIS16400_ACCEL_CHAN(Z, ADIS16400_ZACCL_OUT, 14),
|
|
ADIS16400_TEMP_CHAN(ADIS16350_XTEMP_OUT, 12),
|
|
ADIS16400_AUX_ADC_CHAN(ADIS16300_AUX_ADC, 12),
|
|
ADIS16400_INCLI_CHAN(X, ADIS16300_PITCH_OUT, 13),
|
|
ADIS16400_INCLI_CHAN(Y, ADIS16300_ROLL_OUT, 13),
|
|
IIO_CHAN_SOFT_TIMESTAMP(ADIS16400_SCAN_TIMESTAMP),
|
|
};
|
|
|
|
static const struct iio_chan_spec adis16334_channels[] = {
|
|
ADIS16400_GYRO_CHAN(X, ADIS16400_XGYRO_OUT, 14),
|
|
ADIS16400_GYRO_CHAN(Y, ADIS16400_YGYRO_OUT, 14),
|
|
ADIS16400_GYRO_CHAN(Z, ADIS16400_ZGYRO_OUT, 14),
|
|
ADIS16400_ACCEL_CHAN(X, ADIS16400_XACCL_OUT, 14),
|
|
ADIS16400_ACCEL_CHAN(Y, ADIS16400_YACCL_OUT, 14),
|
|
ADIS16400_ACCEL_CHAN(Z, ADIS16400_ZACCL_OUT, 14),
|
|
ADIS16400_TEMP_CHAN(ADIS16350_XTEMP_OUT, 12),
|
|
IIO_CHAN_SOFT_TIMESTAMP(ADIS16400_SCAN_TIMESTAMP),
|
|
};
|
|
|
|
static const char * const adis16400_status_error_msgs[] = {
|
|
[ADIS16400_DIAG_STAT_ZACCL_FAIL] = "Z-axis accelerometer self-test failure",
|
|
[ADIS16400_DIAG_STAT_YACCL_FAIL] = "Y-axis accelerometer self-test failure",
|
|
[ADIS16400_DIAG_STAT_XACCL_FAIL] = "X-axis accelerometer self-test failure",
|
|
[ADIS16400_DIAG_STAT_XGYRO_FAIL] = "X-axis gyroscope self-test failure",
|
|
[ADIS16400_DIAG_STAT_YGYRO_FAIL] = "Y-axis gyroscope self-test failure",
|
|
[ADIS16400_DIAG_STAT_ZGYRO_FAIL] = "Z-axis gyroscope self-test failure",
|
|
[ADIS16400_DIAG_STAT_ALARM2] = "Alarm 2 active",
|
|
[ADIS16400_DIAG_STAT_ALARM1] = "Alarm 1 active",
|
|
[ADIS16400_DIAG_STAT_FLASH_CHK] = "Flash checksum error",
|
|
[ADIS16400_DIAG_STAT_SELF_TEST] = "Self test error",
|
|
[ADIS16400_DIAG_STAT_OVERFLOW] = "Sensor overrange",
|
|
[ADIS16400_DIAG_STAT_SPI_FAIL] = "SPI failure",
|
|
[ADIS16400_DIAG_STAT_FLASH_UPT] = "Flash update failed",
|
|
[ADIS16400_DIAG_STAT_POWER_HIGH] = "Power supply above 5.25V",
|
|
[ADIS16400_DIAG_STAT_POWER_LOW] = "Power supply below 4.75V",
|
|
};
|
|
|
|
#define ADIS16400_DATA(_timeouts, _burst_len) \
|
|
{ \
|
|
.msc_ctrl_reg = ADIS16400_MSC_CTRL, \
|
|
.glob_cmd_reg = ADIS16400_GLOB_CMD, \
|
|
.diag_stat_reg = ADIS16400_DIAG_STAT, \
|
|
.read_delay = 50, \
|
|
.write_delay = 50, \
|
|
.self_test_mask = ADIS16400_MSC_CTRL_MEM_TEST, \
|
|
.self_test_reg = ADIS16400_MSC_CTRL, \
|
|
.status_error_msgs = adis16400_status_error_msgs, \
|
|
.status_error_mask = BIT(ADIS16400_DIAG_STAT_ZACCL_FAIL) | \
|
|
BIT(ADIS16400_DIAG_STAT_YACCL_FAIL) | \
|
|
BIT(ADIS16400_DIAG_STAT_XACCL_FAIL) | \
|
|
BIT(ADIS16400_DIAG_STAT_XGYRO_FAIL) | \
|
|
BIT(ADIS16400_DIAG_STAT_YGYRO_FAIL) | \
|
|
BIT(ADIS16400_DIAG_STAT_ZGYRO_FAIL) | \
|
|
BIT(ADIS16400_DIAG_STAT_ALARM2) | \
|
|
BIT(ADIS16400_DIAG_STAT_ALARM1) | \
|
|
BIT(ADIS16400_DIAG_STAT_FLASH_CHK) | \
|
|
BIT(ADIS16400_DIAG_STAT_SELF_TEST) | \
|
|
BIT(ADIS16400_DIAG_STAT_OVERFLOW) | \
|
|
BIT(ADIS16400_DIAG_STAT_SPI_FAIL) | \
|
|
BIT(ADIS16400_DIAG_STAT_FLASH_UPT) | \
|
|
BIT(ADIS16400_DIAG_STAT_POWER_HIGH) | \
|
|
BIT(ADIS16400_DIAG_STAT_POWER_LOW), \
|
|
.timeouts = (_timeouts), \
|
|
.burst_reg_cmd = ADIS16400_GLOB_CMD, \
|
|
.burst_len = (_burst_len), \
|
|
.burst_max_speed_hz = ADIS16400_SPI_BURST \
|
|
}
|
|
|
|
static const struct adis_timeout adis16300_timeouts = {
|
|
.reset_ms = ADIS16400_STARTUP_DELAY,
|
|
.sw_reset_ms = ADIS16400_STARTUP_DELAY,
|
|
.self_test_ms = ADIS16400_STARTUP_DELAY,
|
|
};
|
|
|
|
static const struct adis_timeout adis16334_timeouts = {
|
|
.reset_ms = 60,
|
|
.sw_reset_ms = 60,
|
|
.self_test_ms = 14,
|
|
};
|
|
|
|
static const struct adis_timeout adis16362_timeouts = {
|
|
.reset_ms = 130,
|
|
.sw_reset_ms = 130,
|
|
.self_test_ms = 12,
|
|
};
|
|
|
|
static const struct adis_timeout adis16400_timeouts = {
|
|
.reset_ms = 170,
|
|
.sw_reset_ms = 170,
|
|
.self_test_ms = 12,
|
|
};
|
|
|
|
static const struct adis_timeout adis16445_timeouts = {
|
|
.reset_ms = 55,
|
|
.sw_reset_ms = 55,
|
|
.self_test_ms = 16,
|
|
};
|
|
|
|
static const struct adis_timeout adis16448_timeouts = {
|
|
.reset_ms = 90,
|
|
.sw_reset_ms = 90,
|
|
.self_test_ms = 45,
|
|
};
|
|
|
|
static struct adis16400_chip_info adis16400_chips[] = {
|
|
[ADIS16300] = {
|
|
.channels = adis16300_channels,
|
|
.num_channels = ARRAY_SIZE(adis16300_channels),
|
|
.flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE |
|
|
ADIS16400_HAS_SERIAL_NUMBER,
|
|
.gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */
|
|
.accel_scale_micro = 5884,
|
|
.temp_scale_nano = 140000000, /* 0.14 C */
|
|
.temp_offset = 25000000 / 140000, /* 25 C = 0x00 */
|
|
.set_freq = adis16400_set_freq,
|
|
.get_freq = adis16400_get_freq,
|
|
.adis_data = ADIS16400_DATA(&adis16300_timeouts, 18),
|
|
},
|
|
[ADIS16334] = {
|
|
.channels = adis16334_channels,
|
|
.num_channels = ARRAY_SIZE(adis16334_channels),
|
|
.flags = ADIS16400_HAS_PROD_ID | ADIS16400_NO_BURST |
|
|
ADIS16400_HAS_SERIAL_NUMBER,
|
|
.gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */
|
|
.accel_scale_micro = IIO_G_TO_M_S_2(1000), /* 1 mg */
|
|
.temp_scale_nano = 67850000, /* 0.06785 C */
|
|
.temp_offset = 25000000 / 67850, /* 25 C = 0x00 */
|
|
.set_freq = adis16334_set_freq,
|
|
.get_freq = adis16334_get_freq,
|
|
.adis_data = ADIS16400_DATA(&adis16334_timeouts, 0),
|
|
},
|
|
[ADIS16350] = {
|
|
.channels = adis16350_channels,
|
|
.num_channels = ARRAY_SIZE(adis16350_channels),
|
|
.gyro_scale_micro = IIO_DEGREE_TO_RAD(73260), /* 0.07326 deg/s */
|
|
.accel_scale_micro = IIO_G_TO_M_S_2(2522), /* 0.002522 g */
|
|
.temp_scale_nano = 145300000, /* 0.1453 C */
|
|
.temp_offset = 25000000 / 145300, /* 25 C = 0x00 */
|
|
.flags = ADIS16400_NO_BURST | ADIS16400_HAS_SLOW_MODE,
|
|
.set_freq = adis16400_set_freq,
|
|
.get_freq = adis16400_get_freq,
|
|
.adis_data = ADIS16400_DATA(&adis16300_timeouts, 0),
|
|
},
|
|
[ADIS16360] = {
|
|
.channels = adis16350_channels,
|
|
.num_channels = ARRAY_SIZE(adis16350_channels),
|
|
.flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE |
|
|
ADIS16400_HAS_SERIAL_NUMBER,
|
|
.gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */
|
|
.accel_scale_micro = IIO_G_TO_M_S_2(3333), /* 3.333 mg */
|
|
.temp_scale_nano = 136000000, /* 0.136 C */
|
|
.temp_offset = 25000000 / 136000, /* 25 C = 0x00 */
|
|
.set_freq = adis16400_set_freq,
|
|
.get_freq = adis16400_get_freq,
|
|
.adis_data = ADIS16400_DATA(&adis16300_timeouts, 28),
|
|
},
|
|
[ADIS16362] = {
|
|
.channels = adis16350_channels,
|
|
.num_channels = ARRAY_SIZE(adis16350_channels),
|
|
.flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE |
|
|
ADIS16400_HAS_SERIAL_NUMBER,
|
|
.gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */
|
|
.accel_scale_micro = IIO_G_TO_M_S_2(333), /* 0.333 mg */
|
|
.temp_scale_nano = 136000000, /* 0.136 C */
|
|
.temp_offset = 25000000 / 136000, /* 25 C = 0x00 */
|
|
.set_freq = adis16400_set_freq,
|
|
.get_freq = adis16400_get_freq,
|
|
.adis_data = ADIS16400_DATA(&adis16362_timeouts, 28),
|
|
},
|
|
[ADIS16364] = {
|
|
.channels = adis16350_channels,
|
|
.num_channels = ARRAY_SIZE(adis16350_channels),
|
|
.flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE |
|
|
ADIS16400_HAS_SERIAL_NUMBER,
|
|
.gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */
|
|
.accel_scale_micro = IIO_G_TO_M_S_2(1000), /* 1 mg */
|
|
.temp_scale_nano = 136000000, /* 0.136 C */
|
|
.temp_offset = 25000000 / 136000, /* 25 C = 0x00 */
|
|
.set_freq = adis16400_set_freq,
|
|
.get_freq = adis16400_get_freq,
|
|
.adis_data = ADIS16400_DATA(&adis16362_timeouts, 28),
|
|
},
|
|
[ADIS16367] = {
|
|
.channels = adis16350_channels,
|
|
.num_channels = ARRAY_SIZE(adis16350_channels),
|
|
.flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE |
|
|
ADIS16400_HAS_SERIAL_NUMBER,
|
|
.gyro_scale_micro = IIO_DEGREE_TO_RAD(2000), /* 0.2 deg/s */
|
|
.accel_scale_micro = IIO_G_TO_M_S_2(3333), /* 3.333 mg */
|
|
.temp_scale_nano = 136000000, /* 0.136 C */
|
|
.temp_offset = 25000000 / 136000, /* 25 C = 0x00 */
|
|
.set_freq = adis16400_set_freq,
|
|
.get_freq = adis16400_get_freq,
|
|
.adis_data = ADIS16400_DATA(&adis16300_timeouts, 28),
|
|
},
|
|
[ADIS16400] = {
|
|
.channels = adis16400_channels,
|
|
.num_channels = ARRAY_SIZE(adis16400_channels),
|
|
.flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE,
|
|
.gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */
|
|
.accel_scale_micro = IIO_G_TO_M_S_2(3333), /* 3.333 mg */
|
|
.temp_scale_nano = 140000000, /* 0.14 C */
|
|
.temp_offset = 25000000 / 140000, /* 25 C = 0x00 */
|
|
.set_freq = adis16400_set_freq,
|
|
.get_freq = adis16400_get_freq,
|
|
.adis_data = ADIS16400_DATA(&adis16400_timeouts, 24),
|
|
},
|
|
[ADIS16445] = {
|
|
.channels = adis16445_channels,
|
|
.num_channels = ARRAY_SIZE(adis16445_channels),
|
|
.flags = ADIS16400_HAS_PROD_ID |
|
|
ADIS16400_HAS_SERIAL_NUMBER |
|
|
ADIS16400_BURST_DIAG_STAT,
|
|
.gyro_scale_micro = IIO_DEGREE_TO_RAD(10000), /* 0.01 deg/s */
|
|
.accel_scale_micro = IIO_G_TO_M_S_2(250), /* 1/4000 g */
|
|
.temp_scale_nano = 73860000, /* 0.07386 C */
|
|
.temp_offset = 31000000 / 73860, /* 31 C = 0x00 */
|
|
.set_freq = adis16334_set_freq,
|
|
.get_freq = adis16334_get_freq,
|
|
.adis_data = ADIS16400_DATA(&adis16445_timeouts, 16),
|
|
},
|
|
[ADIS16448] = {
|
|
.channels = adis16448_channels,
|
|
.num_channels = ARRAY_SIZE(adis16448_channels),
|
|
.flags = ADIS16400_HAS_PROD_ID |
|
|
ADIS16400_HAS_SERIAL_NUMBER |
|
|
ADIS16400_BURST_DIAG_STAT,
|
|
.gyro_scale_micro = IIO_DEGREE_TO_RAD(40000), /* 0.04 deg/s */
|
|
.accel_scale_micro = IIO_G_TO_M_S_2(833), /* 1/1200 g */
|
|
.temp_scale_nano = 73860000, /* 0.07386 C */
|
|
.temp_offset = 31000000 / 73860, /* 31 C = 0x00 */
|
|
.set_freq = adis16334_set_freq,
|
|
.get_freq = adis16334_get_freq,
|
|
.adis_data = ADIS16400_DATA(&adis16448_timeouts, 24),
|
|
}
|
|
};
|
|
|
|
static const struct iio_info adis16400_info = {
|
|
.read_raw = &adis16400_read_raw,
|
|
.write_raw = &adis16400_write_raw,
|
|
.update_scan_mode = adis_update_scan_mode,
|
|
.debugfs_reg_access = adis_debugfs_reg_access,
|
|
};
|
|
|
|
static void adis16400_setup_chan_mask(struct adis16400_state *st)
|
|
{
|
|
const struct adis16400_chip_info *chip_info = st->variant;
|
|
unsigned int i;
|
|
|
|
for (i = 0; i < chip_info->num_channels; i++) {
|
|
const struct iio_chan_spec *ch = &chip_info->channels[i];
|
|
|
|
if (ch->scan_index >= 0 &&
|
|
ch->scan_index != ADIS16400_SCAN_TIMESTAMP)
|
|
st->avail_scan_mask[0] |= BIT(ch->scan_index);
|
|
}
|
|
}
|
|
|
|
static void adis16400_stop(void *data)
|
|
{
|
|
adis16400_stop_device(data);
|
|
}
|
|
|
|
static int adis16400_probe(struct spi_device *spi)
|
|
{
|
|
struct adis16400_state *st;
|
|
struct iio_dev *indio_dev;
|
|
int ret;
|
|
const struct adis_data *adis16400_data;
|
|
|
|
indio_dev = devm_iio_device_alloc(&spi->dev, sizeof(*st));
|
|
if (indio_dev == NULL)
|
|
return -ENOMEM;
|
|
|
|
st = iio_priv(indio_dev);
|
|
|
|
/* setup the industrialio driver allocated elements */
|
|
st->variant = &adis16400_chips[spi_get_device_id(spi)->driver_data];
|
|
indio_dev->name = spi_get_device_id(spi)->name;
|
|
indio_dev->channels = st->variant->channels;
|
|
indio_dev->num_channels = st->variant->num_channels;
|
|
indio_dev->info = &adis16400_info;
|
|
indio_dev->modes = INDIO_DIRECT_MODE;
|
|
|
|
if (!(st->variant->flags & ADIS16400_NO_BURST)) {
|
|
adis16400_setup_chan_mask(st);
|
|
indio_dev->available_scan_masks = st->avail_scan_mask;
|
|
}
|
|
|
|
adis16400_data = &st->variant->adis_data;
|
|
|
|
ret = adis_init(&st->adis, indio_dev, spi, adis16400_data);
|
|
if (ret)
|
|
return ret;
|
|
|
|
ret = devm_adis_setup_buffer_and_trigger(&st->adis, indio_dev, adis16400_trigger_handler);
|
|
if (ret)
|
|
return ret;
|
|
|
|
/* Get the device into a sane initial state */
|
|
ret = adis16400_initial_setup(indio_dev);
|
|
if (ret)
|
|
return ret;
|
|
|
|
ret = devm_add_action_or_reset(&spi->dev, adis16400_stop, indio_dev);
|
|
if (ret)
|
|
return ret;
|
|
|
|
ret = devm_iio_device_register(&spi->dev, indio_dev);
|
|
if (ret)
|
|
return ret;
|
|
|
|
adis16400_debugfs_init(indio_dev);
|
|
return 0;
|
|
}
|
|
|
|
static const struct spi_device_id adis16400_id[] = {
|
|
{"adis16300", ADIS16300},
|
|
{"adis16305", ADIS16300},
|
|
{"adis16334", ADIS16334},
|
|
{"adis16350", ADIS16350},
|
|
{"adis16354", ADIS16350},
|
|
{"adis16355", ADIS16350},
|
|
{"adis16360", ADIS16360},
|
|
{"adis16362", ADIS16362},
|
|
{"adis16364", ADIS16364},
|
|
{"adis16365", ADIS16360},
|
|
{"adis16367", ADIS16367},
|
|
{"adis16400", ADIS16400},
|
|
{"adis16405", ADIS16400},
|
|
{"adis16445", ADIS16445},
|
|
{"adis16448", ADIS16448},
|
|
{}
|
|
};
|
|
MODULE_DEVICE_TABLE(spi, adis16400_id);
|
|
|
|
static struct spi_driver adis16400_driver = {
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.driver = {
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.name = "adis16400",
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},
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.id_table = adis16400_id,
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.probe = adis16400_probe,
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};
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module_spi_driver(adis16400_driver);
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MODULE_AUTHOR("Manuel Stahl <manuel.stahl@iis.fraunhofer.de>");
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MODULE_DESCRIPTION("Analog Devices ADIS16400/5 IMU SPI driver");
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MODULE_LICENSE("GPL v2");
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MODULE_IMPORT_NS(IIO_ADISLIB);
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