| Author | Tokens | Token Proportion | Commits | Commit Proportion |
|---|---|---|---|---|
| Lars-Peter Clausen | 3673 | 96.48% | 2 | 22.22% |
| Jonathan Cameron | 99 | 2.60% | 2 | 22.22% |
| Ioana Ciornei | 12 | 0.32% | 1 | 11.11% |
| Sachin Kamat | 12 | 0.32% | 1 | 11.11% |
| Venkat Prashanth B U | 8 | 0.21% | 1 | 11.11% |
| Dan Carpenter | 2 | 0.05% | 1 | 11.11% |
| Dragos Bogdan | 1 | 0.03% | 1 | 11.11% |
| Total | 3807 | 9 |
/* * ADIS16480 and similar IMUs driver * * Copyright 2012 Analog Devices Inc. * * This program is free software; you can redistribute it and/or modify * it under the terms of the GNU General Public License version 2 as * published by the Free Software Foundation. * */ #include <linux/interrupt.h> #include <linux/delay.h> #include <linux/mutex.h> #include <linux/device.h> #include <linux/kernel.h> #include <linux/spi/spi.h> #include <linux/slab.h> #include <linux/sysfs.h> #include <linux/module.h> #include <linux/iio/iio.h> #include <linux/iio/sysfs.h> #include <linux/iio/buffer.h> #include <linux/iio/imu/adis.h> #include <linux/debugfs.h> #define ADIS16480_PAGE_SIZE 0x80 #define ADIS16480_REG(page, reg) ((page) * ADIS16480_PAGE_SIZE + (reg)) #define ADIS16480_REG_PAGE_ID 0x00 /* Same address on each page */ #define ADIS16480_REG_SEQ_CNT ADIS16480_REG(0x00, 0x06) #define ADIS16480_REG_SYS_E_FLA ADIS16480_REG(0x00, 0x08) #define ADIS16480_REG_DIAG_STS ADIS16480_REG(0x00, 0x0A) #define ADIS16480_REG_ALM_STS ADIS16480_REG(0x00, 0x0C) #define ADIS16480_REG_TEMP_OUT ADIS16480_REG(0x00, 0x0E) #define ADIS16480_REG_X_GYRO_OUT ADIS16480_REG(0x00, 0x10) #define ADIS16480_REG_Y_GYRO_OUT ADIS16480_REG(0x00, 0x14) #define ADIS16480_REG_Z_GYRO_OUT ADIS16480_REG(0x00, 0x18) #define ADIS16480_REG_X_ACCEL_OUT ADIS16480_REG(0x00, 0x1C) #define ADIS16480_REG_Y_ACCEL_OUT ADIS16480_REG(0x00, 0x20) #define ADIS16480_REG_Z_ACCEL_OUT ADIS16480_REG(0x00, 0x24) #define ADIS16480_REG_X_MAGN_OUT ADIS16480_REG(0x00, 0x28) #define ADIS16480_REG_Y_MAGN_OUT ADIS16480_REG(0x00, 0x2A) #define ADIS16480_REG_Z_MAGN_OUT ADIS16480_REG(0x00, 0x2C) #define ADIS16480_REG_BAROM_OUT ADIS16480_REG(0x00, 0x2E) #define ADIS16480_REG_X_DELTAANG_OUT ADIS16480_REG(0x00, 0x40) #define ADIS16480_REG_Y_DELTAANG_OUT ADIS16480_REG(0x00, 0x44) #define ADIS16480_REG_Z_DELTAANG_OUT ADIS16480_REG(0x00, 0x48) #define ADIS16480_REG_X_DELTAVEL_OUT ADIS16480_REG(0x00, 0x4C) #define ADIS16480_REG_Y_DELTAVEL_OUT ADIS16480_REG(0x00, 0x50) #define ADIS16480_REG_Z_DELTAVEL_OUT ADIS16480_REG(0x00, 0x54) #define ADIS16480_REG_PROD_ID ADIS16480_REG(0x00, 0x7E) #define ADIS16480_REG_X_GYRO_SCALE ADIS16480_REG(0x02, 0x04) #define ADIS16480_REG_Y_GYRO_SCALE ADIS16480_REG(0x02, 0x06) #define ADIS16480_REG_Z_GYRO_SCALE ADIS16480_REG(0x02, 0x08) #define ADIS16480_REG_X_ACCEL_SCALE ADIS16480_REG(0x02, 0x0A) #define ADIS16480_REG_Y_ACCEL_SCALE ADIS16480_REG(0x02, 0x0C) #define ADIS16480_REG_Z_ACCEL_SCALE ADIS16480_REG(0x02, 0x0E) #define ADIS16480_REG_X_GYRO_BIAS ADIS16480_REG(0x02, 0x10) #define ADIS16480_REG_Y_GYRO_BIAS ADIS16480_REG(0x02, 0x14) #define ADIS16480_REG_Z_GYRO_BIAS ADIS16480_REG(0x02, 0x18) #define ADIS16480_REG_X_ACCEL_BIAS ADIS16480_REG(0x02, 0x1C) #define ADIS16480_REG_Y_ACCEL_BIAS ADIS16480_REG(0x02, 0x20) #define ADIS16480_REG_Z_ACCEL_BIAS ADIS16480_REG(0x02, 0x24) #define ADIS16480_REG_X_HARD_IRON ADIS16480_REG(0x02, 0x28) #define ADIS16480_REG_Y_HARD_IRON ADIS16480_REG(0x02, 0x2A) #define ADIS16480_REG_Z_HARD_IRON ADIS16480_REG(0x02, 0x2C) #define ADIS16480_REG_BAROM_BIAS ADIS16480_REG(0x02, 0x40) #define ADIS16480_REG_FLASH_CNT ADIS16480_REG(0x02, 0x7C) #define ADIS16480_REG_GLOB_CMD ADIS16480_REG(0x03, 0x02) #define ADIS16480_REG_FNCTIO_CTRL ADIS16480_REG(0x03, 0x06) #define ADIS16480_REG_GPIO_CTRL ADIS16480_REG(0x03, 0x08) #define ADIS16480_REG_CONFIG ADIS16480_REG(0x03, 0x0A) #define ADIS16480_REG_DEC_RATE ADIS16480_REG(0x03, 0x0C) #define ADIS16480_REG_SLP_CNT ADIS16480_REG(0x03, 0x10) #define ADIS16480_REG_FILTER_BNK0 ADIS16480_REG(0x03, 0x16) #define ADIS16480_REG_FILTER_BNK1 ADIS16480_REG(0x03, 0x18) #define ADIS16480_REG_ALM_CNFG0 ADIS16480_REG(0x03, 0x20) #define ADIS16480_REG_ALM_CNFG1 ADIS16480_REG(0x03, 0x22) #define ADIS16480_REG_ALM_CNFG2 ADIS16480_REG(0x03, 0x24) #define ADIS16480_REG_XG_ALM_MAGN ADIS16480_REG(0x03, 0x28) #define ADIS16480_REG_YG_ALM_MAGN ADIS16480_REG(0x03, 0x2A) #define ADIS16480_REG_ZG_ALM_MAGN ADIS16480_REG(0x03, 0x2C) #define ADIS16480_REG_XA_ALM_MAGN ADIS16480_REG(0x03, 0x2E) #define ADIS16480_REG_YA_ALM_MAGN ADIS16480_REG(0x03, 0x30) #define ADIS16480_REG_ZA_ALM_MAGN ADIS16480_REG(0x03, 0x32) #define ADIS16480_REG_XM_ALM_MAGN ADIS16480_REG(0x03, 0x34) #define ADIS16480_REG_YM_ALM_MAGN ADIS16480_REG(0x03, 0x36) #define ADIS16480_REG_ZM_ALM_MAGN ADIS16480_REG(0x03, 0x38) #define ADIS16480_REG_BR_ALM_MAGN ADIS16480_REG(0x03, 0x3A) #define ADIS16480_REG_FIRM_REV ADIS16480_REG(0x03, 0x78) #define ADIS16480_REG_FIRM_DM ADIS16480_REG(0x03, 0x7A) #define ADIS16480_REG_FIRM_Y ADIS16480_REG(0x03, 0x7C) #define ADIS16480_REG_SERIAL_NUM ADIS16480_REG(0x04, 0x20) /* Each filter coefficent bank spans two pages */ #define ADIS16480_FIR_COEF(page) (x < 60 ? ADIS16480_REG(page, (x) + 8) : \ ADIS16480_REG((page) + 1, (x) - 60 + 8)) #define ADIS16480_FIR_COEF_A(x) ADIS16480_FIR_COEF(0x05, (x)) #define ADIS16480_FIR_COEF_B(x) ADIS16480_FIR_COEF(0x07, (x)) #define ADIS16480_FIR_COEF_C(x) ADIS16480_FIR_COEF(0x09, (x)) #define ADIS16480_FIR_COEF_D(x) ADIS16480_FIR_COEF(0x0B, (x)) struct adis16480_chip_info { unsigned int num_channels; const struct iio_chan_spec *channels; unsigned int gyro_max_val; unsigned int gyro_max_scale; unsigned int accel_max_val; unsigned int accel_max_scale; }; struct adis16480 { const struct adis16480_chip_info *chip_info; struct adis adis; }; #ifdef CONFIG_DEBUG_FS static ssize_t adis16480_show_firmware_revision(struct file *file, char __user *userbuf, size_t count, loff_t *ppos) { struct adis16480 *adis16480 = file->private_data; char buf[7]; size_t len; u16 rev; int ret; ret = adis_read_reg_16(&adis16480->adis, ADIS16480_REG_FIRM_REV, &rev); if (ret < 0) return ret; len = scnprintf(buf, sizeof(buf), "%x.%x\n", rev >> 8, rev & 0xff); return simple_read_from_buffer(userbuf, count, ppos, buf, len); } static const struct file_operations adis16480_firmware_revision_fops = { .open = simple_open, .read = adis16480_show_firmware_revision, .llseek = default_llseek, .owner = THIS_MODULE, }; static ssize_t adis16480_show_firmware_date(struct file *file, char __user *userbuf, size_t count, loff_t *ppos) { struct adis16480 *adis16480 = file->private_data; u16 md, year; char buf[12]; size_t len; int ret; ret = adis_read_reg_16(&adis16480->adis, ADIS16480_REG_FIRM_Y, &year); if (ret < 0) return ret; ret = adis_read_reg_16(&adis16480->adis, ADIS16480_REG_FIRM_DM, &md); if (ret < 0) return ret; len = snprintf(buf, sizeof(buf), "%.2x-%.2x-%.4x\n", md >> 8, md & 0xff, year); return simple_read_from_buffer(userbuf, count, ppos, buf, len); } static const struct file_operations adis16480_firmware_date_fops = { .open = simple_open, .read = adis16480_show_firmware_date, .llseek = default_llseek, .owner = THIS_MODULE, }; static int adis16480_show_serial_number(void *arg, u64 *val) { struct adis16480 *adis16480 = arg; u16 serial; int ret; ret = adis_read_reg_16(&adis16480->adis, ADIS16480_REG_SERIAL_NUM, &serial); if (ret < 0) return ret; *val = serial; return 0; } DEFINE_DEBUGFS_ATTRIBUTE(adis16480_serial_number_fops, adis16480_show_serial_number, NULL, "0x%.4llx\n"); static int adis16480_show_product_id(void *arg, u64 *val) { struct adis16480 *adis16480 = arg; u16 prod_id; int ret; ret = adis_read_reg_16(&adis16480->adis, ADIS16480_REG_PROD_ID, &prod_id); if (ret < 0) return ret; *val = prod_id; return 0; } DEFINE_DEBUGFS_ATTRIBUTE(adis16480_product_id_fops, adis16480_show_product_id, NULL, "%llu\n"); static int adis16480_show_flash_count(void *arg, u64 *val) { struct adis16480 *adis16480 = arg; u32 flash_count; int ret; ret = adis_read_reg_32(&adis16480->adis, ADIS16480_REG_FLASH_CNT, &flash_count); if (ret < 0) return ret; *val = flash_count; return 0; } DEFINE_DEBUGFS_ATTRIBUTE(adis16480_flash_count_fops, adis16480_show_flash_count, NULL, "%lld\n"); static int adis16480_debugfs_init(struct iio_dev *indio_dev) { struct adis16480 *adis16480 = iio_priv(indio_dev); debugfs_create_file_unsafe("firmware_revision", 0400, indio_dev->debugfs_dentry, adis16480, &adis16480_firmware_revision_fops); debugfs_create_file_unsafe("firmware_date", 0400, indio_dev->debugfs_dentry, adis16480, &adis16480_firmware_date_fops); debugfs_create_file_unsafe("serial_number", 0400, indio_dev->debugfs_dentry, adis16480, &adis16480_serial_number_fops); debugfs_create_file_unsafe("product_id", 0400, indio_dev->debugfs_dentry, adis16480, &adis16480_product_id_fops); debugfs_create_file_unsafe("flash_count", 0400, indio_dev->debugfs_dentry, adis16480, &adis16480_flash_count_fops); return 0; } #else static int adis16480_debugfs_init(struct iio_dev *indio_dev) { return 0; } #endif static int adis16480_set_freq(struct iio_dev *indio_dev, int val, int val2) { struct adis16480 *st = iio_priv(indio_dev); unsigned int t; t = val * 1000 + val2 / 1000; if (t <= 0) return -EINVAL; t = 2460000 / t; if (t > 2048) t = 2048; if (t != 0) t--; return adis_write_reg_16(&st->adis, ADIS16480_REG_DEC_RATE, t); } static int adis16480_get_freq(struct iio_dev *indio_dev, int *val, int *val2) { struct adis16480 *st = iio_priv(indio_dev); uint16_t t; int ret; unsigned freq; ret = adis_read_reg_16(&st->adis, ADIS16480_REG_DEC_RATE, &t); if (ret < 0) return ret; freq = 2460000 / (t + 1); *val = freq / 1000; *val2 = (freq % 1000) * 1000; return IIO_VAL_INT_PLUS_MICRO; } enum { ADIS16480_SCAN_GYRO_X, ADIS16480_SCAN_GYRO_Y, ADIS16480_SCAN_GYRO_Z, ADIS16480_SCAN_ACCEL_X, ADIS16480_SCAN_ACCEL_Y, ADIS16480_SCAN_ACCEL_Z, ADIS16480_SCAN_MAGN_X, ADIS16480_SCAN_MAGN_Y, ADIS16480_SCAN_MAGN_Z, ADIS16480_SCAN_BARO, ADIS16480_SCAN_TEMP, }; static const unsigned int adis16480_calibbias_regs[] = { [ADIS16480_SCAN_GYRO_X] = ADIS16480_REG_X_GYRO_BIAS, [ADIS16480_SCAN_GYRO_Y] = ADIS16480_REG_Y_GYRO_BIAS, [ADIS16480_SCAN_GYRO_Z] = ADIS16480_REG_Z_GYRO_BIAS, [ADIS16480_SCAN_ACCEL_X] = ADIS16480_REG_X_ACCEL_BIAS, [ADIS16480_SCAN_ACCEL_Y] = ADIS16480_REG_Y_ACCEL_BIAS, [ADIS16480_SCAN_ACCEL_Z] = ADIS16480_REG_Z_ACCEL_BIAS, [ADIS16480_SCAN_MAGN_X] = ADIS16480_REG_X_HARD_IRON, [ADIS16480_SCAN_MAGN_Y] = ADIS16480_REG_Y_HARD_IRON, [ADIS16480_SCAN_MAGN_Z] = ADIS16480_REG_Z_HARD_IRON, [ADIS16480_SCAN_BARO] = ADIS16480_REG_BAROM_BIAS, }; static const unsigned int adis16480_calibscale_regs[] = { [ADIS16480_SCAN_GYRO_X] = ADIS16480_REG_X_GYRO_SCALE, [ADIS16480_SCAN_GYRO_Y] = ADIS16480_REG_Y_GYRO_SCALE, [ADIS16480_SCAN_GYRO_Z] = ADIS16480_REG_Z_GYRO_SCALE, [ADIS16480_SCAN_ACCEL_X] = ADIS16480_REG_X_ACCEL_SCALE, [ADIS16480_SCAN_ACCEL_Y] = ADIS16480_REG_Y_ACCEL_SCALE, [ADIS16480_SCAN_ACCEL_Z] = ADIS16480_REG_Z_ACCEL_SCALE, }; static int adis16480_set_calibbias(struct iio_dev *indio_dev, const struct iio_chan_spec *chan, int bias) { unsigned int reg = adis16480_calibbias_regs[chan->scan_index]; struct adis16480 *st = iio_priv(indio_dev); switch (chan->type) { case IIO_MAGN: case IIO_PRESSURE: if (bias < -0x8000 || bias >= 0x8000) return -EINVAL; return adis_write_reg_16(&st->adis, reg, bias); case IIO_ANGL_VEL: case IIO_ACCEL: return adis_write_reg_32(&st->adis, reg, bias); default: break; } return -EINVAL; } static int adis16480_get_calibbias(struct iio_dev *indio_dev, const struct iio_chan_spec *chan, int *bias) { unsigned int reg = adis16480_calibbias_regs[chan->scan_index]; struct adis16480 *st = iio_priv(indio_dev); uint16_t val16; uint32_t val32; int ret; switch (chan->type) { case IIO_MAGN: case IIO_PRESSURE: ret = adis_read_reg_16(&st->adis, reg, &val16); *bias = sign_extend32(val16, 15); break; case IIO_ANGL_VEL: case IIO_ACCEL: ret = adis_read_reg_32(&st->adis, reg, &val32); *bias = sign_extend32(val32, 31); break; default: ret = -EINVAL; } if (ret < 0) return ret; return IIO_VAL_INT; } static int adis16480_set_calibscale(struct iio_dev *indio_dev, const struct iio_chan_spec *chan, int scale) { unsigned int reg = adis16480_calibscale_regs[chan->scan_index]; struct adis16480 *st = iio_priv(indio_dev); if (scale < -0x8000 || scale >= 0x8000) return -EINVAL; return adis_write_reg_16(&st->adis, reg, scale); } static int adis16480_get_calibscale(struct iio_dev *indio_dev, const struct iio_chan_spec *chan, int *scale) { unsigned int reg = adis16480_calibscale_regs[chan->scan_index]; struct adis16480 *st = iio_priv(indio_dev); uint16_t val16; int ret; ret = adis_read_reg_16(&st->adis, reg, &val16); if (ret < 0) return ret; *scale = sign_extend32(val16, 15); return IIO_VAL_INT; } static const unsigned int adis16480_def_filter_freqs[] = { 310, 55, 275, 63, }; static const unsigned int ad16480_filter_data[][2] = { [ADIS16480_SCAN_GYRO_X] = { ADIS16480_REG_FILTER_BNK0, 0 }, [ADIS16480_SCAN_GYRO_Y] = { ADIS16480_REG_FILTER_BNK0, 3 }, [ADIS16480_SCAN_GYRO_Z] = { ADIS16480_REG_FILTER_BNK0, 6 }, [ADIS16480_SCAN_ACCEL_X] = { ADIS16480_REG_FILTER_BNK0, 9 }, [ADIS16480_SCAN_ACCEL_Y] = { ADIS16480_REG_FILTER_BNK0, 12 }, [ADIS16480_SCAN_ACCEL_Z] = { ADIS16480_REG_FILTER_BNK1, 0 }, [ADIS16480_SCAN_MAGN_X] = { ADIS16480_REG_FILTER_BNK1, 3 }, [ADIS16480_SCAN_MAGN_Y] = { ADIS16480_REG_FILTER_BNK1, 6 }, [ADIS16480_SCAN_MAGN_Z] = { ADIS16480_REG_FILTER_BNK1, 9 }, }; static int adis16480_get_filter_freq(struct iio_dev *indio_dev, const struct iio_chan_spec *chan, int *freq) { struct adis16480 *st = iio_priv(indio_dev); unsigned int enable_mask, offset, reg; uint16_t val; int ret; reg = ad16480_filter_data[chan->scan_index][0]; offset = ad16480_filter_data[chan->scan_index][1]; enable_mask = BIT(offset + 2); ret = adis_read_reg_16(&st->adis, reg, &val); if (ret < 0) return ret; if (!(val & enable_mask)) *freq = 0; else *freq = adis16480_def_filter_freqs[(val >> offset) & 0x3]; return IIO_VAL_INT; } static int adis16480_set_filter_freq(struct iio_dev *indio_dev, const struct iio_chan_spec *chan, unsigned int freq) { struct adis16480 *st = iio_priv(indio_dev); unsigned int enable_mask, offset, reg; unsigned int diff, best_diff; unsigned int i, best_freq; uint16_t val; int ret; reg = ad16480_filter_data[chan->scan_index][0]; offset = ad16480_filter_data[chan->scan_index][1]; enable_mask = BIT(offset + 2); ret = adis_read_reg_16(&st->adis, reg, &val); if (ret < 0) return ret; if (freq == 0) { val &= ~enable_mask; } else { best_freq = 0; best_diff = 310; for (i = 0; i < ARRAY_SIZE(adis16480_def_filter_freqs); i++) { if (adis16480_def_filter_freqs[i] >= freq) { diff = adis16480_def_filter_freqs[i] - freq; if (diff < best_diff) { best_diff = diff; best_freq = i; } } } val &= ~(0x3 << offset); val |= best_freq << offset; val |= enable_mask; } return adis_write_reg_16(&st->adis, reg, val); } static int adis16480_read_raw(struct iio_dev *indio_dev, const struct iio_chan_spec *chan, int *val, int *val2, long info) { struct adis16480 *st = iio_priv(indio_dev); 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 = st->chip_info->gyro_max_scale; *val2 = st->chip_info->gyro_max_val; return IIO_VAL_FRACTIONAL; case IIO_ACCEL: *val = st->chip_info->accel_max_scale; *val2 = st->chip_info->accel_max_val; return IIO_VAL_FRACTIONAL; case IIO_MAGN: *val = 0; *val2 = 100; /* 0.0001 gauss */ return IIO_VAL_INT_PLUS_MICRO; case IIO_TEMP: *val = 5; *val2 = 650000; /* 5.65 milli degree Celsius */ return IIO_VAL_INT_PLUS_MICRO; case IIO_PRESSURE: *val = 0; *val2 = 4000; /* 40ubar = 0.004 kPa */ return IIO_VAL_INT_PLUS_MICRO; default: return -EINVAL; } case IIO_CHAN_INFO_OFFSET: /* Only the temperature channel has a offset */ *val = 4425; /* 25 degree Celsius = 0x0000 */ return IIO_VAL_INT; case IIO_CHAN_INFO_CALIBBIAS: return adis16480_get_calibbias(indio_dev, chan, val); case IIO_CHAN_INFO_CALIBSCALE: return adis16480_get_calibscale(indio_dev, chan, val); case IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY: return adis16480_get_filter_freq(indio_dev, chan, val); case IIO_CHAN_INFO_SAMP_FREQ: return adis16480_get_freq(indio_dev, val, val2); default: return -EINVAL; } } static int adis16480_write_raw(struct iio_dev *indio_dev, const struct iio_chan_spec *chan, int val, int val2, long info) { switch (info) { case IIO_CHAN_INFO_CALIBBIAS: return adis16480_set_calibbias(indio_dev, chan, val); case IIO_CHAN_INFO_CALIBSCALE: return adis16480_set_calibscale(indio_dev, chan, val); case IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY: return adis16480_set_filter_freq(indio_dev, chan, val); case IIO_CHAN_INFO_SAMP_FREQ: return adis16480_set_freq(indio_dev, val, val2); default: return -EINVAL; } } #define ADIS16480_MOD_CHANNEL(_type, _mod, _address, _si, _info_sep, _bits) \ { \ .type = (_type), \ .modified = 1, \ .channel2 = (_mod), \ .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \ BIT(IIO_CHAN_INFO_CALIBBIAS) | \ _info_sep, \ .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE), \ .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \ .address = (_address), \ .scan_index = (_si), \ .scan_type = { \ .sign = 's', \ .realbits = (_bits), \ .storagebits = (_bits), \ .endianness = IIO_BE, \ }, \ } #define ADIS16480_GYRO_CHANNEL(_mod) \ ADIS16480_MOD_CHANNEL(IIO_ANGL_VEL, IIO_MOD_ ## _mod, \ ADIS16480_REG_ ## _mod ## _GYRO_OUT, ADIS16480_SCAN_GYRO_ ## _mod, \ BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY) | \ BIT(IIO_CHAN_INFO_CALIBSCALE), \ 32) #define ADIS16480_ACCEL_CHANNEL(_mod) \ ADIS16480_MOD_CHANNEL(IIO_ACCEL, IIO_MOD_ ## _mod, \ ADIS16480_REG_ ## _mod ## _ACCEL_OUT, ADIS16480_SCAN_ACCEL_ ## _mod, \ BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY) | \ BIT(IIO_CHAN_INFO_CALIBSCALE), \ 32) #define ADIS16480_MAGN_CHANNEL(_mod) \ ADIS16480_MOD_CHANNEL(IIO_MAGN, IIO_MOD_ ## _mod, \ ADIS16480_REG_ ## _mod ## _MAGN_OUT, ADIS16480_SCAN_MAGN_ ## _mod, \ BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY), \ 16) #define ADIS16480_PRESSURE_CHANNEL() \ { \ .type = IIO_PRESSURE, \ .indexed = 1, \ .channel = 0, \ .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \ BIT(IIO_CHAN_INFO_CALIBBIAS) | \ BIT(IIO_CHAN_INFO_SCALE), \ .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \ .address = ADIS16480_REG_BAROM_OUT, \ .scan_index = ADIS16480_SCAN_BARO, \ .scan_type = { \ .sign = 's', \ .realbits = 32, \ .storagebits = 32, \ .endianness = IIO_BE, \ }, \ } #define ADIS16480_TEMP_CHANNEL() { \ .type = IIO_TEMP, \ .indexed = 1, \ .channel = 0, \ .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \ BIT(IIO_CHAN_INFO_SCALE) | \ BIT(IIO_CHAN_INFO_OFFSET), \ .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \ .address = ADIS16480_REG_TEMP_OUT, \ .scan_index = ADIS16480_SCAN_TEMP, \ .scan_type = { \ .sign = 's', \ .realbits = 16, \ .storagebits = 16, \ .endianness = IIO_BE, \ }, \ } static const struct iio_chan_spec adis16480_channels[] = { ADIS16480_GYRO_CHANNEL(X), ADIS16480_GYRO_CHANNEL(Y), ADIS16480_GYRO_CHANNEL(Z), ADIS16480_ACCEL_CHANNEL(X), ADIS16480_ACCEL_CHANNEL(Y), ADIS16480_ACCEL_CHANNEL(Z), ADIS16480_MAGN_CHANNEL(X), ADIS16480_MAGN_CHANNEL(Y), ADIS16480_MAGN_CHANNEL(Z), ADIS16480_PRESSURE_CHANNEL(), ADIS16480_TEMP_CHANNEL(), IIO_CHAN_SOFT_TIMESTAMP(11) }; static const struct iio_chan_spec adis16485_channels[] = { ADIS16480_GYRO_CHANNEL(X), ADIS16480_GYRO_CHANNEL(Y), ADIS16480_GYRO_CHANNEL(Z), ADIS16480_ACCEL_CHANNEL(X), ADIS16480_ACCEL_CHANNEL(Y), ADIS16480_ACCEL_CHANNEL(Z), ADIS16480_TEMP_CHANNEL(), IIO_CHAN_SOFT_TIMESTAMP(7) }; enum adis16480_variant { ADIS16375, ADIS16480, ADIS16485, ADIS16488, }; static const struct adis16480_chip_info adis16480_chip_info[] = { [ADIS16375] = { .channels = adis16485_channels, .num_channels = ARRAY_SIZE(adis16485_channels), /* * storing the value in rad/degree and the scale in degree * gives us the result in rad and better precession than * storing the scale directly in rad. */ .gyro_max_val = IIO_RAD_TO_DEGREE(22887), .gyro_max_scale = 300, .accel_max_val = IIO_M_S_2_TO_G(21973), .accel_max_scale = 18, }, [ADIS16480] = { .channels = adis16480_channels, .num_channels = ARRAY_SIZE(adis16480_channels), .gyro_max_val = IIO_RAD_TO_DEGREE(22500), .gyro_max_scale = 450, .accel_max_val = IIO_M_S_2_TO_G(12500), .accel_max_scale = 10, }, [ADIS16485] = { .channels = adis16485_channels, .num_channels = ARRAY_SIZE(adis16485_channels), .gyro_max_val = IIO_RAD_TO_DEGREE(22500), .gyro_max_scale = 450, .accel_max_val = IIO_M_S_2_TO_G(20000), .accel_max_scale = 5, }, [ADIS16488] = { .channels = adis16480_channels, .num_channels = ARRAY_SIZE(adis16480_channels), .gyro_max_val = IIO_RAD_TO_DEGREE(22500), .gyro_max_scale = 450, .accel_max_val = IIO_M_S_2_TO_G(22500), .accel_max_scale = 18, }, }; static const struct iio_info adis16480_info = { .read_raw = &adis16480_read_raw, .write_raw = &adis16480_write_raw, .update_scan_mode = adis_update_scan_mode, }; static int adis16480_stop_device(struct iio_dev *indio_dev) { struct adis16480 *st = iio_priv(indio_dev); int ret; ret = adis_write_reg_16(&st->adis, ADIS16480_REG_SLP_CNT, BIT(9)); if (ret) dev_err(&indio_dev->dev, "Could not power down device: %d\n", ret); return ret; } static int adis16480_enable_irq(struct adis *adis, bool enable) { return adis_write_reg_16(adis, ADIS16480_REG_FNCTIO_CTRL, enable ? BIT(3) : 0); } static int adis16480_initial_setup(struct iio_dev *indio_dev) { struct adis16480 *st = iio_priv(indio_dev); uint16_t prod_id; unsigned int device_id; int ret; adis_reset(&st->adis); msleep(70); ret = adis_write_reg_16(&st->adis, ADIS16480_REG_GLOB_CMD, BIT(1)); if (ret) return ret; msleep(30); ret = adis_check_status(&st->adis); if (ret) return ret; ret = adis_read_reg_16(&st->adis, ADIS16480_REG_PROD_ID, &prod_id); if (ret) return ret; ret = sscanf(indio_dev->name, "adis%u\n", &device_id); if (ret != 1) return -EINVAL; if (prod_id != device_id) dev_warn(&indio_dev->dev, "Device ID(%u) and product ID(%u) do not match.", device_id, prod_id); return 0; } #define ADIS16480_DIAG_STAT_XGYRO_FAIL 0 #define ADIS16480_DIAG_STAT_YGYRO_FAIL 1 #define ADIS16480_DIAG_STAT_ZGYRO_FAIL 2 #define ADIS16480_DIAG_STAT_XACCL_FAIL 3 #define ADIS16480_DIAG_STAT_YACCL_FAIL 4 #define ADIS16480_DIAG_STAT_ZACCL_FAIL 5 #define ADIS16480_DIAG_STAT_XMAGN_FAIL 8 #define ADIS16480_DIAG_STAT_YMAGN_FAIL 9 #define ADIS16480_DIAG_STAT_ZMAGN_FAIL 10 #define ADIS16480_DIAG_STAT_BARO_FAIL 11 static const char * const adis16480_status_error_msgs[] = { [ADIS16480_DIAG_STAT_XGYRO_FAIL] = "X-axis gyroscope self-test failure", [ADIS16480_DIAG_STAT_YGYRO_FAIL] = "Y-axis gyroscope self-test failure", [ADIS16480_DIAG_STAT_ZGYRO_FAIL] = "Z-axis gyroscope self-test failure", [ADIS16480_DIAG_STAT_XACCL_FAIL] = "X-axis accelerometer self-test failure", [ADIS16480_DIAG_STAT_YACCL_FAIL] = "Y-axis accelerometer self-test failure", [ADIS16480_DIAG_STAT_ZACCL_FAIL] = "Z-axis accelerometer self-test failure", [ADIS16480_DIAG_STAT_XMAGN_FAIL] = "X-axis magnetometer self-test failure", [ADIS16480_DIAG_STAT_YMAGN_FAIL] = "Y-axis magnetometer self-test failure", [ADIS16480_DIAG_STAT_ZMAGN_FAIL] = "Z-axis magnetometer self-test failure", [ADIS16480_DIAG_STAT_BARO_FAIL] = "Barometer self-test failure", }; static const struct adis_data adis16480_data = { .diag_stat_reg = ADIS16480_REG_DIAG_STS, .glob_cmd_reg = ADIS16480_REG_GLOB_CMD, .has_paging = true, .read_delay = 5, .write_delay = 5, .status_error_msgs = adis16480_status_error_msgs, .status_error_mask = BIT(ADIS16480_DIAG_STAT_XGYRO_FAIL) | BIT(ADIS16480_DIAG_STAT_YGYRO_FAIL) | BIT(ADIS16480_DIAG_STAT_ZGYRO_FAIL) | BIT(ADIS16480_DIAG_STAT_XACCL_FAIL) | BIT(ADIS16480_DIAG_STAT_YACCL_FAIL) | BIT(ADIS16480_DIAG_STAT_ZACCL_FAIL) | BIT(ADIS16480_DIAG_STAT_XMAGN_FAIL) | BIT(ADIS16480_DIAG_STAT_YMAGN_FAIL) | BIT(ADIS16480_DIAG_STAT_ZMAGN_FAIL) | BIT(ADIS16480_DIAG_STAT_BARO_FAIL), .enable_irq = adis16480_enable_irq, }; static int adis16480_probe(struct spi_device *spi) { const struct spi_device_id *id = spi_get_device_id(spi); struct iio_dev *indio_dev; struct adis16480 *st; int ret; indio_dev = devm_iio_device_alloc(&spi->dev, sizeof(*st)); if (indio_dev == NULL) return -ENOMEM; spi_set_drvdata(spi, indio_dev); st = iio_priv(indio_dev); st->chip_info = &adis16480_chip_info[id->driver_data]; indio_dev->dev.parent = &spi->dev; indio_dev->name = spi_get_device_id(spi)->name; indio_dev->channels = st->chip_info->channels; indio_dev->num_channels = st->chip_info->num_channels; indio_dev->info = &adis16480_info; indio_dev->modes = INDIO_DIRECT_MODE; ret = adis_init(&st->adis, indio_dev, spi, &adis16480_data); if (ret) return ret; ret = adis_setup_buffer_and_trigger(&st->adis, indio_dev, NULL); if (ret) return ret; ret = adis16480_initial_setup(indio_dev); if (ret) goto error_cleanup_buffer; ret = iio_device_register(indio_dev); if (ret) goto error_stop_device; adis16480_debugfs_init(indio_dev); return 0; error_stop_device: adis16480_stop_device(indio_dev); error_cleanup_buffer: adis_cleanup_buffer_and_trigger(&st->adis, indio_dev); return ret; } static int adis16480_remove(struct spi_device *spi) { struct iio_dev *indio_dev = spi_get_drvdata(spi); struct adis16480 *st = iio_priv(indio_dev); iio_device_unregister(indio_dev); adis16480_stop_device(indio_dev); adis_cleanup_buffer_and_trigger(&st->adis, indio_dev); return 0; } static const struct spi_device_id adis16480_ids[] = { { "adis16375", ADIS16375 }, { "adis16480", ADIS16480 }, { "adis16485", ADIS16485 }, { "adis16488", ADIS16488 }, { } }; MODULE_DEVICE_TABLE(spi, adis16480_ids); static struct spi_driver adis16480_driver = { .driver = { .name = "adis16480", }, .id_table = adis16480_ids, .probe = adis16480_probe, .remove = adis16480_remove, }; module_spi_driver(adis16480_driver); MODULE_AUTHOR("Lars-Peter Clausen <lars@metafoo.de>"); MODULE_DESCRIPTION("Analog Devices ADIS16480 IMU driver"); MODULE_LICENSE("GPL v2");
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