diff options
Diffstat (limited to 'drivers/iio/imu-aosp/adis16480.c')
| -rw-r--r-- | drivers/iio/imu-aosp/adis16480.c | 924 |
1 files changed, 0 insertions, 924 deletions
diff --git a/drivers/iio/imu-aosp/adis16480.c b/drivers/iio/imu-aosp/adis16480.c deleted file mode 100644 index b7db3837629..00000000000 --- a/drivers/iio/imu-aosp/adis16480.c +++ /dev/null @@ -1,924 +0,0 @@ -/* - * 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; -}; - -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_SIMPLE_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_SIMPLE_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_SIMPLE_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("firmware_revision", 0400, - indio_dev->debugfs_dentry, adis16480, - &adis16480_firmware_revision_fops); - debugfs_create_file("firmware_date", 0400, indio_dev->debugfs_dentry, - adis16480, &adis16480_firmware_date_fops); - debugfs_create_file("serial_number", 0400, indio_dev->debugfs_dentry, - adis16480, &adis16480_serial_number_fops); - debugfs_create_file("product_id", 0400, indio_dev->debugfs_dentry, - adis16480, &adis16480_product_id_fops); - debugfs_create_file("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 adis16480 *st, unsigned int freq) -{ - unsigned int t; - - t = 2460000 / freq; - 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 adis16480 *st, unsigned int *freq) -{ - uint16_t t; - int ret; - - ret = adis_read_reg_16(&st->adis, ADIS16480_REG_DEC_RATE, &t); - if (ret < 0) - return ret; - - *freq = 2460000 / (t + 1); - - return 0; -} - -static ssize_t adis16480_read_frequency(struct device *dev, - struct device_attribute *attr, - char *buf) -{ - struct iio_dev *indio_dev = dev_to_iio_dev(dev); - struct adis16480 *st = iio_priv(indio_dev); - unsigned int freq; - int ret; - - ret = adis16480_get_freq(st, &freq); - if (ret < 0) - return ret; - - return sprintf(buf, "%d.%.3d\n", freq / 1000, freq % 1000); -} - -static ssize_t adis16480_write_frequency(struct device *dev, - struct device_attribute *attr, - const char *buf, - size_t len) -{ - struct iio_dev *indio_dev = dev_to_iio_dev(dev); - struct adis16480 *st = iio_priv(indio_dev); - int freq_int, freq_fract; - long val; - int ret; - - ret = iio_str_to_fixpoint(buf, 100, &freq_int, &freq_fract); - if (ret) - return ret; - - val = freq_int * 1000 + freq_fract; - - if (val <= 0) - return -EINVAL; - - ret = adis16480_set_freq(st, val); - - return ret ? ret : len; -} - -static IIO_DEV_ATTR_SAMP_FREQ(S_IWUSR | S_IRUGO, - adis16480_read_frequency, - adis16480_write_frequency); - -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) -{ - 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 = IIO_DEGREE_TO_RAD(20000); /* 0.02 degree/sec */ - return IIO_VAL_INT_PLUS_MICRO; - case IIO_ACCEL: - *val = 0; - *val2 = IIO_G_TO_M_S_2(800); /* 0.8 mg */ - return IIO_VAL_INT_PLUS_MICRO; - 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); - 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); - 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), \ - .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), \ - .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), \ - .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), - }, - [ADIS16480] = { - .channels = adis16480_channels, - .num_channels = ARRAY_SIZE(adis16480_channels), - }, - [ADIS16485] = { - .channels = adis16485_channels, - .num_channels = ARRAY_SIZE(adis16485_channels), - }, - [ADIS16488] = { - .channels = adis16480_channels, - .num_channels = ARRAY_SIZE(adis16480_channels), - }, -}; - -static struct attribute *adis16480_attributes[] = { - &iio_dev_attr_sampling_frequency.dev_attr.attr, - NULL -}; - -static const struct attribute_group adis16480_attribute_group = { - .attrs = adis16480_attributes, -}; - -static const struct iio_info adis16480_info = { - .attrs = &adis16480_attribute_group, - .read_raw = &adis16480_read_raw, - .write_raw = &adis16480_write_raw, - .update_scan_mode = adis_update_scan_mode, - .driver_module = THIS_MODULE, -}; - -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; - - sscanf(indio_dev->name, "adis%u\n", &device_id); - - 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 = iio_device_alloc(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) - goto error_free_dev; - - ret = adis_setup_buffer_and_trigger(&st->adis, indio_dev, NULL); - if (ret) - goto error_free_dev; - - 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); -error_free_dev: - iio_device_free(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); - - iio_device_free(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", - .owner = THIS_MODULE, - }, - .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"); |