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601 lines
14 KiB
601 lines
14 KiB
// SPDX-License-Identifier: GPL-2.0-only |
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/* |
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* ADIS16133/ADIS16135/ADIS16136 gyroscope driver |
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* |
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* Copyright 2012 Analog Devices Inc. |
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* Author: Lars-Peter Clausen <[email protected]> |
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*/ |
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#include <linux/interrupt.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/module.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/imu/adis.h> |
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#include <linux/debugfs.h> |
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#define ADIS16136_REG_FLASH_CNT 0x00 |
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#define ADIS16136_REG_TEMP_OUT 0x02 |
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#define ADIS16136_REG_GYRO_OUT2 0x04 |
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#define ADIS16136_REG_GYRO_OUT 0x06 |
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#define ADIS16136_REG_GYRO_OFF2 0x08 |
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#define ADIS16136_REG_GYRO_OFF 0x0A |
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#define ADIS16136_REG_ALM_MAG1 0x10 |
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#define ADIS16136_REG_ALM_MAG2 0x12 |
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#define ADIS16136_REG_ALM_SAMPL1 0x14 |
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#define ADIS16136_REG_ALM_SAMPL2 0x16 |
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#define ADIS16136_REG_ALM_CTRL 0x18 |
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#define ADIS16136_REG_GPIO_CTRL 0x1A |
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#define ADIS16136_REG_MSC_CTRL 0x1C |
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#define ADIS16136_REG_SMPL_PRD 0x1E |
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#define ADIS16136_REG_AVG_CNT 0x20 |
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#define ADIS16136_REG_DEC_RATE 0x22 |
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#define ADIS16136_REG_SLP_CTRL 0x24 |
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#define ADIS16136_REG_DIAG_STAT 0x26 |
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#define ADIS16136_REG_GLOB_CMD 0x28 |
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#define ADIS16136_REG_LOT1 0x32 |
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#define ADIS16136_REG_LOT2 0x34 |
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#define ADIS16136_REG_LOT3 0x36 |
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#define ADIS16136_REG_PROD_ID 0x38 |
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#define ADIS16136_REG_SERIAL_NUM 0x3A |
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#define ADIS16136_DIAG_STAT_FLASH_UPDATE_FAIL 2 |
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#define ADIS16136_DIAG_STAT_SPI_FAIL 3 |
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#define ADIS16136_DIAG_STAT_SELF_TEST_FAIL 5 |
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#define ADIS16136_DIAG_STAT_FLASH_CHKSUM_FAIL 6 |
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#define ADIS16136_MSC_CTRL_MEMORY_TEST BIT(11) |
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#define ADIS16136_MSC_CTRL_SELF_TEST BIT(10) |
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struct adis16136_chip_info { |
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unsigned int precision; |
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unsigned int fullscale; |
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const struct adis_data adis_data; |
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}; |
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struct adis16136 { |
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const struct adis16136_chip_info *chip_info; |
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struct adis adis; |
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}; |
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#ifdef CONFIG_DEBUG_FS |
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static ssize_t adis16136_show_serial(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 adis16136 *adis16136 = file->private_data; |
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uint16_t lot1, lot2, lot3, serial; |
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char buf[20]; |
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size_t len; |
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int ret; |
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ret = adis_read_reg_16(&adis16136->adis, ADIS16136_REG_SERIAL_NUM, |
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&serial); |
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if (ret) |
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return ret; |
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ret = adis_read_reg_16(&adis16136->adis, ADIS16136_REG_LOT1, &lot1); |
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if (ret) |
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return ret; |
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ret = adis_read_reg_16(&adis16136->adis, ADIS16136_REG_LOT2, &lot2); |
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if (ret) |
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return ret; |
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ret = adis_read_reg_16(&adis16136->adis, ADIS16136_REG_LOT3, &lot3); |
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if (ret) |
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return ret; |
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len = snprintf(buf, sizeof(buf), "%.4x%.4x%.4x-%.4x\n", lot1, lot2, |
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lot3, serial); |
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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 adis16136_serial_fops = { |
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.open = simple_open, |
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.read = adis16136_show_serial, |
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.llseek = default_llseek, |
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.owner = THIS_MODULE, |
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}; |
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static int adis16136_show_product_id(void *arg, u64 *val) |
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{ |
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struct adis16136 *adis16136 = arg; |
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u16 prod_id; |
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int ret; |
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ret = adis_read_reg_16(&adis16136->adis, ADIS16136_REG_PROD_ID, |
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&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(adis16136_product_id_fops, |
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adis16136_show_product_id, NULL, "%llu\n"); |
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static int adis16136_show_flash_count(void *arg, u64 *val) |
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{ |
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struct adis16136 *adis16136 = arg; |
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uint16_t flash_count; |
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int ret; |
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ret = adis_read_reg_16(&adis16136->adis, ADIS16136_REG_FLASH_CNT, |
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&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(adis16136_flash_count_fops, |
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adis16136_show_flash_count, NULL, "%lld\n"); |
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static int adis16136_debugfs_init(struct iio_dev *indio_dev) |
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{ |
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struct adis16136 *adis16136 = iio_priv(indio_dev); |
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struct dentry *d = iio_get_debugfs_dentry(indio_dev); |
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debugfs_create_file_unsafe("serial_number", 0400, |
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d, adis16136, &adis16136_serial_fops); |
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debugfs_create_file_unsafe("product_id", 0400, |
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d, adis16136, &adis16136_product_id_fops); |
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debugfs_create_file_unsafe("flash_count", 0400, |
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d, adis16136, &adis16136_flash_count_fops); |
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return 0; |
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} |
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#else |
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static int adis16136_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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static int adis16136_set_freq(struct adis16136 *adis16136, unsigned int freq) |
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{ |
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unsigned int t; |
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t = 32768 / freq; |
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if (t < 0xf) |
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t = 0xf; |
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else if (t > 0xffff) |
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t = 0xffff; |
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else |
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t--; |
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return adis_write_reg_16(&adis16136->adis, ADIS16136_REG_SMPL_PRD, t); |
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} |
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static int __adis16136_get_freq(struct adis16136 *adis16136, unsigned int *freq) |
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{ |
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uint16_t t; |
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int ret; |
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ret = __adis_read_reg_16(&adis16136->adis, ADIS16136_REG_SMPL_PRD, &t); |
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if (ret) |
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return ret; |
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*freq = 32768 / (t + 1); |
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return 0; |
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} |
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static ssize_t adis16136_write_frequency(struct device *dev, |
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struct device_attribute *attr, const char *buf, size_t len) |
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{ |
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struct iio_dev *indio_dev = dev_to_iio_dev(dev); |
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struct adis16136 *adis16136 = iio_priv(indio_dev); |
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unsigned int val; |
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int ret; |
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ret = kstrtouint(buf, 10, &val); |
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if (ret) |
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return ret; |
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if (val == 0) |
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return -EINVAL; |
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ret = adis16136_set_freq(adis16136, val); |
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return ret ? ret : len; |
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} |
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static ssize_t adis16136_read_frequency(struct device *dev, |
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struct device_attribute *attr, char *buf) |
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{ |
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struct iio_dev *indio_dev = dev_to_iio_dev(dev); |
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struct adis16136 *adis16136 = iio_priv(indio_dev); |
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struct mutex *slock = &adis16136->adis.state_lock; |
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unsigned int freq; |
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int ret; |
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mutex_lock(slock); |
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ret = __adis16136_get_freq(adis16136, &freq); |
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mutex_unlock(slock); |
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if (ret) |
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return ret; |
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return sprintf(buf, "%d\n", freq); |
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} |
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static IIO_DEV_ATTR_SAMP_FREQ(S_IWUSR | S_IRUGO, |
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adis16136_read_frequency, |
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adis16136_write_frequency); |
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static const unsigned adis16136_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 adis16136_set_filter(struct iio_dev *indio_dev, int val) |
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{ |
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struct adis16136 *adis16136 = iio_priv(indio_dev); |
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struct mutex *slock = &adis16136->adis.state_lock; |
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unsigned int freq; |
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int i, ret; |
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mutex_lock(slock); |
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ret = __adis16136_get_freq(adis16136, &freq); |
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if (ret) |
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goto out_unlock; |
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for (i = ARRAY_SIZE(adis16136_3db_divisors) - 1; i >= 1; i--) { |
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if (freq / adis16136_3db_divisors[i] >= val) |
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break; |
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} |
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ret = __adis_write_reg_16(&adis16136->adis, ADIS16136_REG_AVG_CNT, i); |
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out_unlock: |
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mutex_unlock(slock); |
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return ret; |
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} |
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static int adis16136_get_filter(struct iio_dev *indio_dev, int *val) |
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{ |
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struct adis16136 *adis16136 = iio_priv(indio_dev); |
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struct mutex *slock = &adis16136->adis.state_lock; |
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unsigned int freq; |
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uint16_t val16; |
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int ret; |
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mutex_lock(slock); |
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ret = __adis_read_reg_16(&adis16136->adis, ADIS16136_REG_AVG_CNT, |
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&val16); |
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if (ret) |
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goto err_unlock; |
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ret = __adis16136_get_freq(adis16136, &freq); |
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if (ret) |
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goto err_unlock; |
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*val = freq / adis16136_3db_divisors[val16 & 0x07]; |
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err_unlock: |
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mutex_unlock(slock); |
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return ret ? ret : IIO_VAL_INT; |
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} |
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static int adis16136_read_raw(struct iio_dev *indio_dev, |
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const struct iio_chan_spec *chan, int *val, int *val2, long info) |
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{ |
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struct adis16136 *adis16136 = iio_priv(indio_dev); |
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uint32_t val32; |
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int ret; |
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switch (info) { |
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case IIO_CHAN_INFO_RAW: |
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return adis_single_conversion(indio_dev, chan, 0, val); |
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case IIO_CHAN_INFO_SCALE: |
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switch (chan->type) { |
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case IIO_ANGL_VEL: |
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*val = adis16136->chip_info->precision; |
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*val2 = (adis16136->chip_info->fullscale << 16); |
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return IIO_VAL_FRACTIONAL; |
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case IIO_TEMP: |
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*val = 10; |
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*val2 = 697000; /* 0.010697 degree Celsius */ |
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return IIO_VAL_INT_PLUS_MICRO; |
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default: |
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return -EINVAL; |
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} |
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case IIO_CHAN_INFO_CALIBBIAS: |
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ret = adis_read_reg_32(&adis16136->adis, |
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ADIS16136_REG_GYRO_OFF2, &val32); |
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if (ret) |
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return ret; |
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*val = sign_extend32(val32, 31); |
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return IIO_VAL_INT; |
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case IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY: |
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return adis16136_get_filter(indio_dev, val); |
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default: |
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return -EINVAL; |
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} |
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} |
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static int adis16136_write_raw(struct iio_dev *indio_dev, |
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const struct iio_chan_spec *chan, int val, int val2, long info) |
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{ |
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struct adis16136 *adis16136 = iio_priv(indio_dev); |
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switch (info) { |
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case IIO_CHAN_INFO_CALIBBIAS: |
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return adis_write_reg_32(&adis16136->adis, |
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ADIS16136_REG_GYRO_OFF2, val); |
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case IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY: |
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return adis16136_set_filter(indio_dev, val); |
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default: |
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break; |
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} |
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return -EINVAL; |
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} |
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enum { |
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ADIS16136_SCAN_GYRO, |
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ADIS16136_SCAN_TEMP, |
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}; |
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static const struct iio_chan_spec adis16136_channels[] = { |
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{ |
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.type = IIO_ANGL_VEL, |
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.modified = 1, |
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.channel2 = IIO_MOD_X, |
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.info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | |
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BIT(IIO_CHAN_INFO_CALIBBIAS) | |
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BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY), |
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.info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE), |
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.address = ADIS16136_REG_GYRO_OUT2, |
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.scan_index = ADIS16136_SCAN_GYRO, |
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.scan_type = { |
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.sign = 's', |
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.realbits = 32, |
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.storagebits = 32, |
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.endianness = IIO_BE, |
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}, |
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}, { |
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.type = IIO_TEMP, |
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.indexed = 1, |
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.channel = 0, |
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.info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | |
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BIT(IIO_CHAN_INFO_SCALE), |
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.address = ADIS16136_REG_TEMP_OUT, |
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.scan_index = ADIS16136_SCAN_TEMP, |
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.scan_type = { |
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.sign = 's', |
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.realbits = 16, |
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.storagebits = 16, |
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.endianness = IIO_BE, |
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}, |
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}, |
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IIO_CHAN_SOFT_TIMESTAMP(2), |
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}; |
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static struct attribute *adis16136_attributes[] = { |
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&iio_dev_attr_sampling_frequency.dev_attr.attr, |
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NULL |
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}; |
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static const struct attribute_group adis16136_attribute_group = { |
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.attrs = adis16136_attributes, |
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}; |
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static const struct iio_info adis16136_info = { |
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.attrs = &adis16136_attribute_group, |
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.read_raw = &adis16136_read_raw, |
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.write_raw = &adis16136_write_raw, |
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.update_scan_mode = adis_update_scan_mode, |
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.debugfs_reg_access = adis_debugfs_reg_access, |
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}; |
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static int adis16136_stop_device(struct iio_dev *indio_dev) |
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{ |
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struct adis16136 *adis16136 = iio_priv(indio_dev); |
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int ret; |
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ret = adis_write_reg_16(&adis16136->adis, ADIS16136_REG_SLP_CTRL, 0xff); |
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if (ret) |
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dev_err(&indio_dev->dev, |
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"Could not power down device: %d\n", ret); |
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return ret; |
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} |
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static int adis16136_initial_setup(struct iio_dev *indio_dev) |
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{ |
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struct adis16136 *adis16136 = iio_priv(indio_dev); |
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unsigned int device_id; |
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uint16_t prod_id; |
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int ret; |
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ret = adis_initial_startup(&adis16136->adis); |
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if (ret) |
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return ret; |
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ret = adis_read_reg_16(&adis16136->adis, ADIS16136_REG_PROD_ID, |
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&prod_id); |
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if (ret) |
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return ret; |
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ret = sscanf(indio_dev->name, "adis%u\n", &device_id); |
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if (ret != 1) |
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return -EINVAL; |
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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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return 0; |
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} |
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static const char * const adis16136_status_error_msgs[] = { |
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[ADIS16136_DIAG_STAT_FLASH_UPDATE_FAIL] = "Flash update failed", |
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[ADIS16136_DIAG_STAT_SPI_FAIL] = "SPI failure", |
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[ADIS16136_DIAG_STAT_SELF_TEST_FAIL] = "Self test error", |
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[ADIS16136_DIAG_STAT_FLASH_CHKSUM_FAIL] = "Flash checksum error", |
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}; |
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#define ADIS16136_DATA(_timeouts) \ |
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{ \ |
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.diag_stat_reg = ADIS16136_REG_DIAG_STAT, \ |
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.glob_cmd_reg = ADIS16136_REG_GLOB_CMD, \ |
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.msc_ctrl_reg = ADIS16136_REG_MSC_CTRL, \ |
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.self_test_reg = ADIS16136_REG_MSC_CTRL, \ |
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.self_test_mask = ADIS16136_MSC_CTRL_SELF_TEST, \ |
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.read_delay = 10, \ |
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.write_delay = 10, \ |
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.status_error_msgs = adis16136_status_error_msgs, \ |
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.status_error_mask = BIT(ADIS16136_DIAG_STAT_FLASH_UPDATE_FAIL) | \ |
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BIT(ADIS16136_DIAG_STAT_SPI_FAIL) | \ |
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BIT(ADIS16136_DIAG_STAT_SELF_TEST_FAIL) | \ |
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BIT(ADIS16136_DIAG_STAT_FLASH_CHKSUM_FAIL), \ |
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.timeouts = (_timeouts), \ |
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} |
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enum adis16136_id { |
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ID_ADIS16133, |
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ID_ADIS16135, |
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ID_ADIS16136, |
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ID_ADIS16137, |
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}; |
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static const struct adis_timeout adis16133_timeouts = { |
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.reset_ms = 75, |
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.sw_reset_ms = 75, |
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.self_test_ms = 50, |
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}; |
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static const struct adis_timeout adis16136_timeouts = { |
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.reset_ms = 128, |
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.sw_reset_ms = 75, |
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.self_test_ms = 245, |
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}; |
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static const struct adis16136_chip_info adis16136_chip_info[] = { |
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[ID_ADIS16133] = { |
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.precision = IIO_DEGREE_TO_RAD(1200), |
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.fullscale = 24000, |
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.adis_data = ADIS16136_DATA(&adis16133_timeouts), |
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}, |
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[ID_ADIS16135] = { |
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.precision = IIO_DEGREE_TO_RAD(300), |
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.fullscale = 24000, |
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.adis_data = ADIS16136_DATA(&adis16133_timeouts), |
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}, |
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[ID_ADIS16136] = { |
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.precision = IIO_DEGREE_TO_RAD(450), |
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.fullscale = 24623, |
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.adis_data = ADIS16136_DATA(&adis16136_timeouts), |
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}, |
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[ID_ADIS16137] = { |
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.precision = IIO_DEGREE_TO_RAD(1000), |
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.fullscale = 24609, |
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.adis_data = ADIS16136_DATA(&adis16136_timeouts), |
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}, |
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}; |
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static void adis16136_stop(void *data) |
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{ |
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adis16136_stop_device(data); |
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} |
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static int adis16136_probe(struct spi_device *spi) |
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{ |
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const struct spi_device_id *id = spi_get_device_id(spi); |
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struct adis16136 *adis16136; |
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struct iio_dev *indio_dev; |
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const struct adis_data *adis16136_data; |
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int ret; |
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|
indio_dev = devm_iio_device_alloc(&spi->dev, sizeof(*adis16136)); |
|
if (indio_dev == NULL) |
|
return -ENOMEM; |
|
|
|
spi_set_drvdata(spi, indio_dev); |
|
|
|
adis16136 = iio_priv(indio_dev); |
|
|
|
adis16136->chip_info = &adis16136_chip_info[id->driver_data]; |
|
indio_dev->name = spi_get_device_id(spi)->name; |
|
indio_dev->channels = adis16136_channels; |
|
indio_dev->num_channels = ARRAY_SIZE(adis16136_channels); |
|
indio_dev->info = &adis16136_info; |
|
indio_dev->modes = INDIO_DIRECT_MODE; |
|
|
|
adis16136_data = &adis16136->chip_info->adis_data; |
|
|
|
ret = adis_init(&adis16136->adis, indio_dev, spi, adis16136_data); |
|
if (ret) |
|
return ret; |
|
|
|
ret = devm_adis_setup_buffer_and_trigger(&adis16136->adis, indio_dev, NULL); |
|
if (ret) |
|
return ret; |
|
|
|
ret = adis16136_initial_setup(indio_dev); |
|
if (ret) |
|
return ret; |
|
|
|
ret = devm_add_action_or_reset(&spi->dev, adis16136_stop, indio_dev); |
|
if (ret) |
|
return ret; |
|
|
|
ret = devm_iio_device_register(&spi->dev, indio_dev); |
|
if (ret) |
|
return ret; |
|
|
|
adis16136_debugfs_init(indio_dev); |
|
|
|
return 0; |
|
} |
|
|
|
static const struct spi_device_id adis16136_ids[] = { |
|
{ "adis16133", ID_ADIS16133 }, |
|
{ "adis16135", ID_ADIS16135 }, |
|
{ "adis16136", ID_ADIS16136 }, |
|
{ "adis16137", ID_ADIS16137 }, |
|
{ } |
|
}; |
|
MODULE_DEVICE_TABLE(spi, adis16136_ids); |
|
|
|
static struct spi_driver adis16136_driver = { |
|
.driver = { |
|
.name = "adis16136", |
|
}, |
|
.id_table = adis16136_ids, |
|
.probe = adis16136_probe, |
|
}; |
|
module_spi_driver(adis16136_driver); |
|
|
|
MODULE_AUTHOR("Lars-Peter Clausen <[email protected]>"); |
|
MODULE_DESCRIPTION("Analog Devices ADIS16133/ADIS16135/ADIS16136 gyroscope driver"); |
|
MODULE_LICENSE("GPL v2");
|
|
|