^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 1) // SPDX-License-Identifier: GPL-2.0-only
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 2) /*
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 3) * ADIS16133/ADIS16135/ADIS16136 gyroscope driver
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 4) *
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 5) * Copyright 2012 Analog Devices Inc.
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 6) * Author: Lars-Peter Clausen <lars@metafoo.de>
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 7) */
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 8)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 9) #include <linux/interrupt.h>
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 10) #include <linux/delay.h>
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 11) #include <linux/mutex.h>
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 12) #include <linux/device.h>
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 13) #include <linux/kernel.h>
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 14) #include <linux/spi/spi.h>
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 15) #include <linux/slab.h>
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 16) #include <linux/sysfs.h>
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 17) #include <linux/module.h>
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 18)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 19) #include <linux/iio/iio.h>
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 20) #include <linux/iio/sysfs.h>
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 21) #include <linux/iio/buffer.h>
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 22) #include <linux/iio/imu/adis.h>
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 23)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 24) #include <linux/debugfs.h>
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 25)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 26) #define ADIS16136_REG_FLASH_CNT 0x00
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 27) #define ADIS16136_REG_TEMP_OUT 0x02
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 28) #define ADIS16136_REG_GYRO_OUT2 0x04
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 29) #define ADIS16136_REG_GYRO_OUT 0x06
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 30) #define ADIS16136_REG_GYRO_OFF2 0x08
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 31) #define ADIS16136_REG_GYRO_OFF 0x0A
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 32) #define ADIS16136_REG_ALM_MAG1 0x10
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 33) #define ADIS16136_REG_ALM_MAG2 0x12
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 34) #define ADIS16136_REG_ALM_SAMPL1 0x14
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 35) #define ADIS16136_REG_ALM_SAMPL2 0x16
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 36) #define ADIS16136_REG_ALM_CTRL 0x18
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 37) #define ADIS16136_REG_GPIO_CTRL 0x1A
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 38) #define ADIS16136_REG_MSC_CTRL 0x1C
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 39) #define ADIS16136_REG_SMPL_PRD 0x1E
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 40) #define ADIS16136_REG_AVG_CNT 0x20
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 41) #define ADIS16136_REG_DEC_RATE 0x22
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 42) #define ADIS16136_REG_SLP_CTRL 0x24
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 43) #define ADIS16136_REG_DIAG_STAT 0x26
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 44) #define ADIS16136_REG_GLOB_CMD 0x28
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 45) #define ADIS16136_REG_LOT1 0x32
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 46) #define ADIS16136_REG_LOT2 0x34
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 47) #define ADIS16136_REG_LOT3 0x36
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 48) #define ADIS16136_REG_PROD_ID 0x38
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 49) #define ADIS16136_REG_SERIAL_NUM 0x3A
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 50)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 51) #define ADIS16136_DIAG_STAT_FLASH_UPDATE_FAIL 2
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 52) #define ADIS16136_DIAG_STAT_SPI_FAIL 3
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 53) #define ADIS16136_DIAG_STAT_SELF_TEST_FAIL 5
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 54) #define ADIS16136_DIAG_STAT_FLASH_CHKSUM_FAIL 6
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 55)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 56) #define ADIS16136_MSC_CTRL_MEMORY_TEST BIT(11)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 57) #define ADIS16136_MSC_CTRL_SELF_TEST BIT(10)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 58)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 59) struct adis16136_chip_info {
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 60) unsigned int precision;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 61) unsigned int fullscale;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 62) const struct adis_data adis_data;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 63) };
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 64)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 65) struct adis16136 {
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 66) const struct adis16136_chip_info *chip_info;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 67)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 68) struct adis adis;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 69) };
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 70)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 71) #ifdef CONFIG_DEBUG_FS
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 72)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 73) static ssize_t adis16136_show_serial(struct file *file,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 74) char __user *userbuf, size_t count, loff_t *ppos)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 75) {
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 76) struct adis16136 *adis16136 = file->private_data;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 77) uint16_t lot1, lot2, lot3, serial;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 78) char buf[20];
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 79) size_t len;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 80) int ret;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 81)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 82) ret = adis_read_reg_16(&adis16136->adis, ADIS16136_REG_SERIAL_NUM,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 83) &serial);
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 84) if (ret)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 85) return ret;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 86)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 87) ret = adis_read_reg_16(&adis16136->adis, ADIS16136_REG_LOT1, &lot1);
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 88) if (ret)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 89) return ret;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 90)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 91) ret = adis_read_reg_16(&adis16136->adis, ADIS16136_REG_LOT2, &lot2);
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 92) if (ret)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 93) return ret;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 94)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 95) ret = adis_read_reg_16(&adis16136->adis, ADIS16136_REG_LOT3, &lot3);
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 96) if (ret)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 97) return ret;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 98)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 99) len = snprintf(buf, sizeof(buf), "%.4x%.4x%.4x-%.4x\n", lot1, lot2,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 100) lot3, serial);
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 101)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 102) return simple_read_from_buffer(userbuf, count, ppos, buf, len);
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 103) }
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 104)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 105) static const struct file_operations adis16136_serial_fops = {
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 106) .open = simple_open,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 107) .read = adis16136_show_serial,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 108) .llseek = default_llseek,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 109) .owner = THIS_MODULE,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 110) };
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 111)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 112) static int adis16136_show_product_id(void *arg, u64 *val)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 113) {
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 114) struct adis16136 *adis16136 = arg;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 115) u16 prod_id;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 116) int ret;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 117)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 118) ret = adis_read_reg_16(&adis16136->adis, ADIS16136_REG_PROD_ID,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 119) &prod_id);
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 120) if (ret)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 121) return ret;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 122)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 123) *val = prod_id;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 124)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 125) return 0;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 126) }
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 127) DEFINE_DEBUGFS_ATTRIBUTE(adis16136_product_id_fops,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 128) adis16136_show_product_id, NULL, "%llu\n");
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 129)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 130) static int adis16136_show_flash_count(void *arg, u64 *val)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 131) {
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 132) struct adis16136 *adis16136 = arg;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 133) uint16_t flash_count;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 134) int ret;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 135)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 136) ret = adis_read_reg_16(&adis16136->adis, ADIS16136_REG_FLASH_CNT,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 137) &flash_count);
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 138) if (ret)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 139) return ret;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 140)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 141) *val = flash_count;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 142)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 143) return 0;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 144) }
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 145) DEFINE_DEBUGFS_ATTRIBUTE(adis16136_flash_count_fops,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 146) adis16136_show_flash_count, NULL, "%lld\n");
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 147)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 148) static int adis16136_debugfs_init(struct iio_dev *indio_dev)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 149) {
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 150) struct adis16136 *adis16136 = iio_priv(indio_dev);
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 151) struct dentry *d = iio_get_debugfs_dentry(indio_dev);
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 152)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 153) debugfs_create_file_unsafe("serial_number", 0400,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 154) d, adis16136, &adis16136_serial_fops);
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 155) debugfs_create_file_unsafe("product_id", 0400,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 156) d, adis16136, &adis16136_product_id_fops);
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 157) debugfs_create_file_unsafe("flash_count", 0400,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 158) d, adis16136, &adis16136_flash_count_fops);
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 159)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 160) return 0;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 161) }
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 162)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 163) #else
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 164)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 165) static int adis16136_debugfs_init(struct iio_dev *indio_dev)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 166) {
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 167) return 0;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 168) }
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 169)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 170) #endif
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 171)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 172) static int adis16136_set_freq(struct adis16136 *adis16136, unsigned int freq)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 173) {
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 174) unsigned int t;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 175)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 176) t = 32768 / freq;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 177) if (t < 0xf)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 178) t = 0xf;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 179) else if (t > 0xffff)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 180) t = 0xffff;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 181) else
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 182) t--;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 183)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 184) return adis_write_reg_16(&adis16136->adis, ADIS16136_REG_SMPL_PRD, t);
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 185) }
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 186)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 187) static int __adis16136_get_freq(struct adis16136 *adis16136, unsigned int *freq)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 188) {
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 189) uint16_t t;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 190) int ret;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 191)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 192) ret = __adis_read_reg_16(&adis16136->adis, ADIS16136_REG_SMPL_PRD, &t);
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 193) if (ret)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 194) return ret;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 195)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 196) *freq = 32768 / (t + 1);
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 197)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 198) return 0;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 199) }
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 200)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 201) static ssize_t adis16136_write_frequency(struct device *dev,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 202) struct device_attribute *attr, const char *buf, size_t len)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 203) {
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 204) struct iio_dev *indio_dev = dev_to_iio_dev(dev);
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 205) struct adis16136 *adis16136 = iio_priv(indio_dev);
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 206) unsigned int val;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 207) int ret;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 208)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 209) ret = kstrtouint(buf, 10, &val);
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 210) if (ret)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 211) return ret;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 212)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 213) if (val == 0)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 214) return -EINVAL;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 215)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 216) ret = adis16136_set_freq(adis16136, val);
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 217)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 218) return ret ? ret : len;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 219) }
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 220)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 221) static ssize_t adis16136_read_frequency(struct device *dev,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 222) struct device_attribute *attr, char *buf)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 223) {
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 224) struct iio_dev *indio_dev = dev_to_iio_dev(dev);
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 225) struct adis16136 *adis16136 = iio_priv(indio_dev);
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 226) struct mutex *slock = &adis16136->adis.state_lock;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 227) unsigned int freq;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 228) int ret;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 229)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 230) mutex_lock(slock);
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 231) ret = __adis16136_get_freq(adis16136, &freq);
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 232) mutex_unlock(slock);
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 233) if (ret)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 234) return ret;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 235)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 236) return sprintf(buf, "%d\n", freq);
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 237) }
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 238)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 239) static IIO_DEV_ATTR_SAMP_FREQ(S_IWUSR | S_IRUGO,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 240) adis16136_read_frequency,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 241) adis16136_write_frequency);
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 242)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 243) static const unsigned adis16136_3db_divisors[] = {
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 244) [0] = 2, /* Special case */
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 245) [1] = 6,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 246) [2] = 12,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 247) [3] = 25,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 248) [4] = 50,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 249) [5] = 100,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 250) [6] = 200,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 251) [7] = 200, /* Not a valid setting */
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 252) };
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 253)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 254) static int adis16136_set_filter(struct iio_dev *indio_dev, int val)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 255) {
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 256) struct adis16136 *adis16136 = iio_priv(indio_dev);
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 257) struct mutex *slock = &adis16136->adis.state_lock;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 258) unsigned int freq;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 259) int i, ret;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 260)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 261) mutex_lock(slock);
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 262) ret = __adis16136_get_freq(adis16136, &freq);
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 263) if (ret)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 264) goto out_unlock;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 265)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 266) for (i = ARRAY_SIZE(adis16136_3db_divisors) - 1; i >= 1; i--) {
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 267) if (freq / adis16136_3db_divisors[i] >= val)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 268) break;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 269) }
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 270)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 271) ret = __adis_write_reg_16(&adis16136->adis, ADIS16136_REG_AVG_CNT, i);
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 272) out_unlock:
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 273) mutex_unlock(slock);
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 274)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 275) return ret;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 276) }
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 277)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 278) static int adis16136_get_filter(struct iio_dev *indio_dev, int *val)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 279) {
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 280) struct adis16136 *adis16136 = iio_priv(indio_dev);
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 281) struct mutex *slock = &adis16136->adis.state_lock;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 282) unsigned int freq;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 283) uint16_t val16;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 284) int ret;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 285)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 286) mutex_lock(slock);
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 287)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 288) ret = __adis_read_reg_16(&adis16136->adis, ADIS16136_REG_AVG_CNT,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 289) &val16);
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 290) if (ret)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 291) goto err_unlock;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 292)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 293) ret = __adis16136_get_freq(adis16136, &freq);
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 294) if (ret)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 295) goto err_unlock;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 296)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 297) *val = freq / adis16136_3db_divisors[val16 & 0x07];
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 298)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 299) err_unlock:
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 300) mutex_unlock(slock);
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 301)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 302) return ret ? ret : IIO_VAL_INT;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 303) }
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 304)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 305) static int adis16136_read_raw(struct iio_dev *indio_dev,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 306) const struct iio_chan_spec *chan, int *val, int *val2, long info)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 307) {
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 308) struct adis16136 *adis16136 = iio_priv(indio_dev);
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 309) uint32_t val32;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 310) int ret;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 311)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 312) switch (info) {
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 313) case IIO_CHAN_INFO_RAW:
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 314) return adis_single_conversion(indio_dev, chan, 0, val);
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 315) case IIO_CHAN_INFO_SCALE:
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 316) switch (chan->type) {
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 317) case IIO_ANGL_VEL:
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 318) *val = adis16136->chip_info->precision;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 319) *val2 = (adis16136->chip_info->fullscale << 16);
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 320) return IIO_VAL_FRACTIONAL;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 321) case IIO_TEMP:
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 322) *val = 10;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 323) *val2 = 697000; /* 0.010697 degree Celsius */
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 324) return IIO_VAL_INT_PLUS_MICRO;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 325) default:
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 326) return -EINVAL;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 327) }
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 328) case IIO_CHAN_INFO_CALIBBIAS:
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 329) ret = adis_read_reg_32(&adis16136->adis,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 330) ADIS16136_REG_GYRO_OFF2, &val32);
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 331) if (ret)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 332) return ret;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 333)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 334) *val = sign_extend32(val32, 31);
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 335)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 336) return IIO_VAL_INT;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 337) case IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY:
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 338) return adis16136_get_filter(indio_dev, val);
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 339) default:
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 340) return -EINVAL;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 341) }
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 342) }
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 343)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 344) static int adis16136_write_raw(struct iio_dev *indio_dev,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 345) const struct iio_chan_spec *chan, int val, int val2, long info)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 346) {
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 347) struct adis16136 *adis16136 = iio_priv(indio_dev);
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 348)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 349) switch (info) {
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 350) case IIO_CHAN_INFO_CALIBBIAS:
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 351) return adis_write_reg_32(&adis16136->adis,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 352) ADIS16136_REG_GYRO_OFF2, val);
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 353) case IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY:
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 354) return adis16136_set_filter(indio_dev, val);
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 355) default:
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 356) break;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 357) }
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 358)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 359) return -EINVAL;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 360) }
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 361)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 362) enum {
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 363) ADIS16136_SCAN_GYRO,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 364) ADIS16136_SCAN_TEMP,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 365) };
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 366)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 367) static const struct iio_chan_spec adis16136_channels[] = {
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 368) {
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 369) .type = IIO_ANGL_VEL,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 370) .modified = 1,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 371) .channel2 = IIO_MOD_X,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 372) .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) |
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 373) BIT(IIO_CHAN_INFO_CALIBBIAS) |
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 374) BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY),
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 375) .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE),
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 376)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 377) .address = ADIS16136_REG_GYRO_OUT2,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 378) .scan_index = ADIS16136_SCAN_GYRO,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 379) .scan_type = {
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 380) .sign = 's',
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 381) .realbits = 32,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 382) .storagebits = 32,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 383) .endianness = IIO_BE,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 384) },
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 385) }, {
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 386) .type = IIO_TEMP,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 387) .indexed = 1,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 388) .channel = 0,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 389) .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) |
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 390) BIT(IIO_CHAN_INFO_SCALE),
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 391) .address = ADIS16136_REG_TEMP_OUT,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 392) .scan_index = ADIS16136_SCAN_TEMP,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 393) .scan_type = {
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 394) .sign = 's',
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 395) .realbits = 16,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 396) .storagebits = 16,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 397) .endianness = IIO_BE,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 398) },
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 399) },
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 400) IIO_CHAN_SOFT_TIMESTAMP(2),
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 401) };
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 402)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 403) static struct attribute *adis16136_attributes[] = {
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 404) &iio_dev_attr_sampling_frequency.dev_attr.attr,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 405) NULL
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 406) };
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 407)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 408) static const struct attribute_group adis16136_attribute_group = {
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 409) .attrs = adis16136_attributes,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 410) };
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 411)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 412) static const struct iio_info adis16136_info = {
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 413) .attrs = &adis16136_attribute_group,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 414) .read_raw = &adis16136_read_raw,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 415) .write_raw = &adis16136_write_raw,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 416) .update_scan_mode = adis_update_scan_mode,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 417) .debugfs_reg_access = adis_debugfs_reg_access,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 418) };
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 419)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 420) static int adis16136_stop_device(struct iio_dev *indio_dev)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 421) {
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 422) struct adis16136 *adis16136 = iio_priv(indio_dev);
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 423) int ret;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 424)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 425) ret = adis_write_reg_16(&adis16136->adis, ADIS16136_REG_SLP_CTRL, 0xff);
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 426) if (ret)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 427) dev_err(&indio_dev->dev,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 428) "Could not power down device: %d\n", ret);
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 429)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 430) return ret;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 431) }
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 432)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 433) static int adis16136_initial_setup(struct iio_dev *indio_dev)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 434) {
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 435) struct adis16136 *adis16136 = iio_priv(indio_dev);
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 436) unsigned int device_id;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 437) uint16_t prod_id;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 438) int ret;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 439)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 440) ret = adis_initial_startup(&adis16136->adis);
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 441) if (ret)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 442) return ret;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 443)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 444) ret = adis_read_reg_16(&adis16136->adis, ADIS16136_REG_PROD_ID,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 445) &prod_id);
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 446) if (ret)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 447) return ret;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 448)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 449) ret = sscanf(indio_dev->name, "adis%u\n", &device_id);
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 450) if (ret != 1)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 451) return -EINVAL;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 452)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 453) if (prod_id != device_id)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 454) dev_warn(&indio_dev->dev, "Device ID(%u) and product ID(%u) do not match.",
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 455) device_id, prod_id);
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 456)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 457) return 0;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 458) }
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 459)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 460) static const char * const adis16136_status_error_msgs[] = {
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 461) [ADIS16136_DIAG_STAT_FLASH_UPDATE_FAIL] = "Flash update failed",
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 462) [ADIS16136_DIAG_STAT_SPI_FAIL] = "SPI failure",
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 463) [ADIS16136_DIAG_STAT_SELF_TEST_FAIL] = "Self test error",
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 464) [ADIS16136_DIAG_STAT_FLASH_CHKSUM_FAIL] = "Flash checksum error",
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 465) };
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 466)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 467) #define ADIS16136_DATA(_timeouts) \
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 468) { \
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 469) .diag_stat_reg = ADIS16136_REG_DIAG_STAT, \
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 470) .glob_cmd_reg = ADIS16136_REG_GLOB_CMD, \
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 471) .msc_ctrl_reg = ADIS16136_REG_MSC_CTRL, \
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 472) .self_test_reg = ADIS16136_REG_MSC_CTRL, \
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 473) .self_test_mask = ADIS16136_MSC_CTRL_SELF_TEST, \
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 474) .read_delay = 10, \
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 475) .write_delay = 10, \
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 476) .status_error_msgs = adis16136_status_error_msgs, \
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 477) .status_error_mask = BIT(ADIS16136_DIAG_STAT_FLASH_UPDATE_FAIL) | \
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 478) BIT(ADIS16136_DIAG_STAT_SPI_FAIL) | \
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 479) BIT(ADIS16136_DIAG_STAT_SELF_TEST_FAIL) | \
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 480) BIT(ADIS16136_DIAG_STAT_FLASH_CHKSUM_FAIL), \
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 481) .timeouts = (_timeouts), \
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 482) }
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 483)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 484) enum adis16136_id {
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 485) ID_ADIS16133,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 486) ID_ADIS16135,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 487) ID_ADIS16136,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 488) ID_ADIS16137,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 489) };
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 490)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 491) static const struct adis_timeout adis16133_timeouts = {
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 492) .reset_ms = 75,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 493) .sw_reset_ms = 75,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 494) .self_test_ms = 50,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 495) };
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 496)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 497) static const struct adis_timeout adis16136_timeouts = {
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 498) .reset_ms = 128,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 499) .sw_reset_ms = 75,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 500) .self_test_ms = 245,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 501) };
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 502)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 503) static const struct adis16136_chip_info adis16136_chip_info[] = {
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 504) [ID_ADIS16133] = {
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 505) .precision = IIO_DEGREE_TO_RAD(1200),
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 506) .fullscale = 24000,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 507) .adis_data = ADIS16136_DATA(&adis16133_timeouts),
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 508) },
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 509) [ID_ADIS16135] = {
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 510) .precision = IIO_DEGREE_TO_RAD(300),
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 511) .fullscale = 24000,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 512) .adis_data = ADIS16136_DATA(&adis16133_timeouts),
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 513) },
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 514) [ID_ADIS16136] = {
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 515) .precision = IIO_DEGREE_TO_RAD(450),
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 516) .fullscale = 24623,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 517) .adis_data = ADIS16136_DATA(&adis16136_timeouts),
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 518) },
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 519) [ID_ADIS16137] = {
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 520) .precision = IIO_DEGREE_TO_RAD(1000),
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 521) .fullscale = 24609,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 522) .adis_data = ADIS16136_DATA(&adis16136_timeouts),
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 523) },
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 524) };
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 525)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 526) static void adis16136_stop(void *data)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 527) {
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 528) adis16136_stop_device(data);
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 529) }
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 530)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 531) static int adis16136_probe(struct spi_device *spi)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 532) {
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 533) const struct spi_device_id *id = spi_get_device_id(spi);
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 534) struct adis16136 *adis16136;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 535) struct iio_dev *indio_dev;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 536) const struct adis_data *adis16136_data;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 537) int ret;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 538)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 539) indio_dev = devm_iio_device_alloc(&spi->dev, sizeof(*adis16136));
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 540) if (indio_dev == NULL)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 541) return -ENOMEM;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 542)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 543) spi_set_drvdata(spi, indio_dev);
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 544)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 545) adis16136 = iio_priv(indio_dev);
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 546)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 547) adis16136->chip_info = &adis16136_chip_info[id->driver_data];
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 548) indio_dev->name = spi_get_device_id(spi)->name;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 549) indio_dev->channels = adis16136_channels;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 550) indio_dev->num_channels = ARRAY_SIZE(adis16136_channels);
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 551) indio_dev->info = &adis16136_info;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 552) indio_dev->modes = INDIO_DIRECT_MODE;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 553)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 554) adis16136_data = &adis16136->chip_info->adis_data;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 555)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 556) ret = adis_init(&adis16136->adis, indio_dev, spi, adis16136_data);
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 557) if (ret)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 558) return ret;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 559)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 560) ret = devm_adis_setup_buffer_and_trigger(&adis16136->adis, indio_dev, NULL);
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 561) if (ret)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 562) return ret;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 563)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 564) ret = adis16136_initial_setup(indio_dev);
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 565) if (ret)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 566) return ret;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 567)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 568) ret = devm_add_action_or_reset(&spi->dev, adis16136_stop, indio_dev);
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 569) if (ret)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 570) return ret;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 571)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 572) ret = devm_iio_device_register(&spi->dev, indio_dev);
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 573) if (ret)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 574) return ret;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 575)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 576) adis16136_debugfs_init(indio_dev);
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 577)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 578) return 0;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 579) }
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 580)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 581) static const struct spi_device_id adis16136_ids[] = {
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 582) { "adis16133", ID_ADIS16133 },
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 583) { "adis16135", ID_ADIS16135 },
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 584) { "adis16136", ID_ADIS16136 },
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 585) { "adis16137", ID_ADIS16137 },
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 586) { }
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 587) };
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 588) MODULE_DEVICE_TABLE(spi, adis16136_ids);
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 589)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 590) static struct spi_driver adis16136_driver = {
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 591) .driver = {
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 592) .name = "adis16136",
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 593) },
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 594) .id_table = adis16136_ids,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 595) .probe = adis16136_probe,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 596) };
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 597) module_spi_driver(adis16136_driver);
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 598)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 599) MODULE_AUTHOR("Lars-Peter Clausen <lars@metafoo.de>");
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 600) MODULE_DESCRIPTION("Analog Devices ADIS16133/ADIS16135/ADIS16136 gyroscope driver");
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 601) MODULE_LICENSE("GPL v2");
Orange Pi5 kernel
Deprecated Linux kernel 5.10.110 for OrangePi 5/5B/5+ boards
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