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1257 lines
38 KiB
1257 lines
38 KiB
// 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 <[email protected]> |
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* Copyright (c) 2007 Jonathan Cameron <[email protected]> |
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* Copyright (c) 2011 Analog Devices Inc. |
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*/ |
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#include <linux/interrupt.h> |
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#include <linux/irq.h> |
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#include <linux/delay.h> |
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#include <linux/mutex.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/slab.h> |
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#include <linux/sysfs.h> |
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#include <linux/list.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/sysfs.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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|
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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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|
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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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|
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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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|
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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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|
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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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|
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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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|
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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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|
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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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|
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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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|
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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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|
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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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|
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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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|
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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; |
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else |
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st->adis.spi->max_speed_hz = ADIS16400_SPI_FAST; |
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st->adis.spi->mode = SPI_MODE_3; |
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spi_setup(st->adis.spi); |
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|
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ret = adis_initial_startup(&st->adis); |
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if (ret) |
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return ret; |
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if (st->variant->flags & ADIS16400_HAS_PROD_ID) { |
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ret = adis_read_reg_16(&st->adis, |
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ADIS16400_PRODUCT_ID, &prod_id); |
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if (ret) |
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goto err_ret; |
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|
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if (sscanf(indio_dev->name, "adis%u\n", &device_id) != 1) { |
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ret = -EINVAL; |
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goto err_ret; |
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} |
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|
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if (prod_id != device_id) |
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dev_warn(&indio_dev->dev, "Device ID(%u) and product ID(%u) do not match.", |
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device_id, prod_id); |
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|
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dev_info(&indio_dev->dev, "%s: prod_id 0x%04x at CS%d (irq %d)\n", |
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indio_dev->name, prod_id, |
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st->adis.spi->chip_select, st->adis.spi->irq); |
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} |
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/* use high spi speed if possible */ |
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if (st->variant->flags & ADIS16400_HAS_SLOW_MODE) { |
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ret = adis_read_reg_16(&st->adis, ADIS16400_SMPL_PRD, &smp_prd); |
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if (ret) |
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goto err_ret; |
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|
|
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); |
|
struct mutex *slock = &st->adis.state_lock; |
|
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. |
|
*/ |
|
mutex_lock(slock); |
|
st->filt_int = val; |
|
/* Work out update to current value */ |
|
sps = st->variant->get_freq(st); |
|
if (sps < 0) { |
|
mutex_unlock(slock); |
|
return sps; |
|
} |
|
|
|
ret = __adis16400_set_filter(indio_dev, sps, |
|
val * 1000 + val2 / 1000); |
|
mutex_unlock(slock); |
|
return ret; |
|
case IIO_CHAN_INFO_SAMP_FREQ: |
|
sps = val * 1000 + val2 / 1000; |
|
|
|
if (sps <= 0) |
|
return -EINVAL; |
|
|
|
mutex_lock(slock); |
|
ret = st->variant->set_freq(st, sps); |
|
mutex_unlock(slock); |
|
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); |
|
struct mutex *slock = &st->adis.state_lock; |
|
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: |
|
mutex_lock(slock); |
|
/* Need both the number of taps and the sampling frequency */ |
|
ret = __adis_read_reg_16(&st->adis, |
|
ADIS16400_SENS_AVG, |
|
&val16); |
|
if (ret) { |
|
mutex_unlock(slock); |
|
return ret; |
|
} |
|
ret = st->variant->get_freq(st); |
|
mutex_unlock(slock); |
|
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: |
|
mutex_lock(slock); |
|
ret = st->variant->get_freq(st); |
|
mutex_unlock(slock); |
|
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; |
|
u32 old_speed_hz = st->adis.spi->max_speed_hz; |
|
void *buffer; |
|
int ret; |
|
|
|
if (!adis->buffer) |
|
return -ENOMEM; |
|
|
|
if (!(st->variant->flags & ADIS16400_NO_BURST) && |
|
st->adis.spi->max_speed_hz > ADIS16400_SPI_BURST) { |
|
st->adis.spi->max_speed_hz = ADIS16400_SPI_BURST; |
|
spi_setup(st->adis.spi); |
|
} |
|
|
|
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_NO_BURST)) { |
|
st->adis.spi->max_speed_hz = old_speed_hz; |
|
spi_setup(st->adis.spi); |
|
} |
|
|
|
if (st->variant->flags & ADIS16400_BURST_DIAG_STAT) |
|
buffer = adis->buffer + sizeof(u16); |
|
else |
|
buffer = adis->buffer; |
|
|
|
iio_push_to_buffers_with_timestamp(indio_dev, 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) \ |
|
} |
|
|
|
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); |
|
/* this is only used for removal purposes */ |
|
spi_set_drvdata(spi, 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 = { |
|
.driver = { |
|
.name = "adis16400", |
|
}, |
|
.id_table = adis16400_id, |
|
.probe = adis16400_probe, |
|
}; |
|
module_spi_driver(adis16400_driver); |
|
|
|
MODULE_AUTHOR("Manuel Stahl <[email protected]>"); |
|
MODULE_DESCRIPTION("Analog Devices ADIS16400/5 IMU SPI driver"); |
|
MODULE_LICENSE("GPL v2");
|
|
|