Orange Pi5 kernel

^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300   1) // SPDX-License-Identifier: GPL-2.0-or-later
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300   2) /*
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300   3)  * ADIS16260/ADIS16265 Programmable Digital Gyroscope Sensor Driver
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300   4)  *
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300   5)  * Copyright 2010 Analog Devices Inc.
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300   6)  */
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300   7) 
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300   8) #include <linux/interrupt.h>
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300   9) #include <linux/mutex.h>
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300  10) #include <linux/device.h>
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300  11) #include <linux/kernel.h>
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300  12) #include <linux/spi/spi.h>
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300  13) #include <linux/sysfs.h>
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300  14) #include <linux/module.h>
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300  15) 
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300  16) #include <linux/iio/iio.h>
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300  17) #include <linux/iio/sysfs.h>
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300  18) #include <linux/iio/buffer.h>
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300  19) #include <linux/iio/imu/adis.h>
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300  20) 
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300  21) #define ADIS16260_STARTUP_DELAY	220 /* ms */
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300  22) 
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300  23) #define ADIS16260_FLASH_CNT  0x00 /* Flash memory write count */
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300  24) #define ADIS16260_SUPPLY_OUT 0x02 /* Power supply measurement */
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300  25) #define ADIS16260_GYRO_OUT   0x04 /* X-axis gyroscope output */
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300  26) #define ADIS16260_AUX_ADC    0x0A /* analog input channel measurement */
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300  27) #define ADIS16260_TEMP_OUT   0x0C /* internal temperature measurement */
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300  28) #define ADIS16260_ANGL_OUT   0x0E /* angle displacement */
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300  29) #define ADIS16260_GYRO_OFF   0x14 /* Calibration, offset/bias adjustment */
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300  30) #define ADIS16260_GYRO_SCALE 0x16 /* Calibration, scale adjustment */
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300  31) #define ADIS16260_ALM_MAG1   0x20 /* Alarm 1 magnitude/polarity setting */
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300  32) #define ADIS16260_ALM_MAG2   0x22 /* Alarm 2 magnitude/polarity setting */
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300  33) #define ADIS16260_ALM_SMPL1  0x24 /* Alarm 1 dynamic rate of change setting */
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300  34) #define ADIS16260_ALM_SMPL2  0x26 /* Alarm 2 dynamic rate of change setting */
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300  35) #define ADIS16260_ALM_CTRL   0x28 /* Alarm control */
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300  36) #define ADIS16260_AUX_DAC    0x30 /* Auxiliary DAC data */
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300  37) #define ADIS16260_GPIO_CTRL  0x32 /* Control, digital I/O line */
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300  38) #define ADIS16260_MSC_CTRL   0x34 /* Control, data ready, self-test settings */
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300  39) #define ADIS16260_SMPL_PRD   0x36 /* Control, internal sample rate */
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300  40) #define ADIS16260_SENS_AVG   0x38 /* Control, dynamic range, filtering */
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300  41) #define ADIS16260_SLP_CNT    0x3A /* Control, sleep mode initiation */
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300  42) #define ADIS16260_DIAG_STAT  0x3C /* Diagnostic, error flags */
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300  43) #define ADIS16260_GLOB_CMD   0x3E /* Control, global commands */
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300  44) #define ADIS16260_LOT_ID1    0x52 /* Lot Identification Code 1 */
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300  45) #define ADIS16260_LOT_ID2    0x54 /* Lot Identification Code 2 */
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300  46) #define ADIS16260_PROD_ID    0x56 /* Product identifier;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300  47) 				   * convert to decimal = 16,265/16,260 */
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300  48) #define ADIS16260_SERIAL_NUM 0x58 /* Serial number */
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300  49) 
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300  50) #define ADIS16260_ERROR_ACTIVE			(1<<14)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300  51) #define ADIS16260_NEW_DATA			(1<<15)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300  52) 
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300  53) /* MSC_CTRL */
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300  54) #define ADIS16260_MSC_CTRL_MEM_TEST		(1<<11)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300  55) /* Internal self-test enable */
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300  56) #define ADIS16260_MSC_CTRL_INT_SELF_TEST	(1<<10)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300  57) #define ADIS16260_MSC_CTRL_NEG_SELF_TEST	(1<<9)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300  58) #define ADIS16260_MSC_CTRL_POS_SELF_TEST	(1<<8)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300  59) #define ADIS16260_MSC_CTRL_DATA_RDY_EN		(1<<2)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300  60) #define ADIS16260_MSC_CTRL_DATA_RDY_POL_HIGH	(1<<1)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300  61) #define ADIS16260_MSC_CTRL_DATA_RDY_DIO2	(1<<0)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300  62) 
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300  63) /* SMPL_PRD */
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300  64) /* Time base (tB): 0 = 1.953 ms, 1 = 60.54 ms */
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300  65) #define ADIS16260_SMPL_PRD_TIME_BASE	(1<<7)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300  66) #define ADIS16260_SMPL_PRD_DIV_MASK	0x7F
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300  67) 
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300  68) /* SLP_CNT */
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300  69) #define ADIS16260_SLP_CNT_POWER_OFF     0x80
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300  70) 
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300  71) /* DIAG_STAT */
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300  72) #define ADIS16260_DIAG_STAT_ALARM2	(1<<9)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300  73) #define ADIS16260_DIAG_STAT_ALARM1	(1<<8)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300  74) #define ADIS16260_DIAG_STAT_FLASH_CHK_BIT	6
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300  75) #define ADIS16260_DIAG_STAT_SELF_TEST_BIT	5
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300  76) #define ADIS16260_DIAG_STAT_OVERFLOW_BIT	4
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300  77) #define ADIS16260_DIAG_STAT_SPI_FAIL_BIT	3
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300  78) #define ADIS16260_DIAG_STAT_FLASH_UPT_BIT	2
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300  79) #define ADIS16260_DIAG_STAT_POWER_HIGH_BIT	1
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300  80) #define ADIS16260_DIAG_STAT_POWER_LOW_BIT	0
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300  81) 
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300  82) /* GLOB_CMD */
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300  83) #define ADIS16260_GLOB_CMD_SW_RESET	(1<<7)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300  84) #define ADIS16260_GLOB_CMD_FLASH_UPD	(1<<3)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300  85) #define ADIS16260_GLOB_CMD_DAC_LATCH	(1<<2)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300  86) #define ADIS16260_GLOB_CMD_FAC_CALIB	(1<<1)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300  87) #define ADIS16260_GLOB_CMD_AUTO_NULL	(1<<0)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300  88) 
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300  89) #define ADIS16260_SPI_SLOW	(u32)(300 * 1000)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300  90) #define ADIS16260_SPI_BURST	(u32)(1000 * 1000)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300  91) #define ADIS16260_SPI_FAST	(u32)(2000 * 1000)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300  92) 
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300  93) /* At the moment triggers are only used for ring buffer
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300  94)  * filling. This may change!
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300  95)  */
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300  96) 
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300  97) #define ADIS16260_SCAN_GYRO	0
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300  98) #define ADIS16260_SCAN_SUPPLY	1
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300  99) #define ADIS16260_SCAN_AUX_ADC	2
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 100) #define ADIS16260_SCAN_TEMP	3
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 101) #define ADIS16260_SCAN_ANGL	4
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 102) 
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 103) struct adis16260_chip_info {
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 104) 	unsigned int gyro_max_val;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 105) 	unsigned int gyro_max_scale;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 106) 	const struct iio_chan_spec *channels;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 107) 	unsigned int num_channels;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 108) };
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 109) 
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 110) struct adis16260 {
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 111) 	const struct adis16260_chip_info *info;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 112) 
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 113) 	struct adis adis;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 114) };
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 115) 
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 116) enum adis16260_type {
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 117) 	ADIS16251,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 118) 	ADIS16260,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 119) 	ADIS16266,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 120) };
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 121) 
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 122) static const struct iio_chan_spec adis16260_channels[] = {
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 123) 	ADIS_GYRO_CHAN(X, ADIS16260_GYRO_OUT, ADIS16260_SCAN_GYRO,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 124) 		BIT(IIO_CHAN_INFO_CALIBBIAS) |
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 125) 		BIT(IIO_CHAN_INFO_CALIBSCALE),
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 126) 		BIT(IIO_CHAN_INFO_SAMP_FREQ), 14),
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 127) 	ADIS_INCLI_CHAN(X, ADIS16260_ANGL_OUT, ADIS16260_SCAN_ANGL, 0,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 128) 		BIT(IIO_CHAN_INFO_SAMP_FREQ), 14),
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 129) 	ADIS_TEMP_CHAN(ADIS16260_TEMP_OUT, ADIS16260_SCAN_TEMP,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 130) 		BIT(IIO_CHAN_INFO_SAMP_FREQ), 12),
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 131) 	ADIS_SUPPLY_CHAN(ADIS16260_SUPPLY_OUT, ADIS16260_SCAN_SUPPLY,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 132) 		BIT(IIO_CHAN_INFO_SAMP_FREQ), 12),
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 133) 	ADIS_AUX_ADC_CHAN(ADIS16260_AUX_ADC, ADIS16260_SCAN_AUX_ADC,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 134) 		BIT(IIO_CHAN_INFO_SAMP_FREQ), 12),
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 135) 	IIO_CHAN_SOFT_TIMESTAMP(5),
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 136) };
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 137) 
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 138) static const struct iio_chan_spec adis16266_channels[] = {
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 139) 	ADIS_GYRO_CHAN(X, ADIS16260_GYRO_OUT, ADIS16260_SCAN_GYRO,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 140) 		BIT(IIO_CHAN_INFO_CALIBBIAS) |
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 141) 		BIT(IIO_CHAN_INFO_CALIBSCALE),
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 142) 		BIT(IIO_CHAN_INFO_SAMP_FREQ), 14),
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 143) 	ADIS_TEMP_CHAN(ADIS16260_TEMP_OUT, ADIS16260_SCAN_TEMP,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 144) 		BIT(IIO_CHAN_INFO_SAMP_FREQ), 12),
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 145) 	ADIS_SUPPLY_CHAN(ADIS16260_SUPPLY_OUT, ADIS16260_SCAN_SUPPLY,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 146) 		BIT(IIO_CHAN_INFO_SAMP_FREQ), 12),
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 147) 	ADIS_AUX_ADC_CHAN(ADIS16260_AUX_ADC, ADIS16260_SCAN_AUX_ADC,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 148) 		BIT(IIO_CHAN_INFO_SAMP_FREQ), 12),
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 149) 	IIO_CHAN_SOFT_TIMESTAMP(4),
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 150) };
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 151) 
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 152) static const struct adis16260_chip_info adis16260_chip_info_table[] = {
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 153) 	[ADIS16251] = {
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 154) 		.gyro_max_scale = 80,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 155) 		.gyro_max_val = IIO_RAD_TO_DEGREE(4368),
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 156) 		.channels = adis16260_channels,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 157) 		.num_channels = ARRAY_SIZE(adis16260_channels),
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 158) 	},
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 159) 	[ADIS16260] = {
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 160) 		.gyro_max_scale = 320,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 161) 		.gyro_max_val = IIO_RAD_TO_DEGREE(4368),
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 162) 		.channels = adis16260_channels,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 163) 		.num_channels = ARRAY_SIZE(adis16260_channels),
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 164) 	},
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 165) 	[ADIS16266] = {
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 166) 		.gyro_max_scale = 14000,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 167) 		.gyro_max_val = IIO_RAD_TO_DEGREE(3357),
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 168) 		.channels = adis16266_channels,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 169) 		.num_channels = ARRAY_SIZE(adis16266_channels),
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 170) 	},
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 171) };
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 172) 
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 173) /* Power down the device */
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 174) static int adis16260_stop_device(struct iio_dev *indio_dev)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 175) {
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 176) 	struct adis16260 *adis16260 = iio_priv(indio_dev);
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 177) 	int ret;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 178) 	u16 val = ADIS16260_SLP_CNT_POWER_OFF;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 179) 
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 180) 	ret = adis_write_reg_16(&adis16260->adis, ADIS16260_SLP_CNT, val);
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 181) 	if (ret)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 182) 		dev_err(&indio_dev->dev, "problem with turning device off: SLP_CNT");
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 183) 
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 184) 	return ret;
^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 const u8 adis16260_addresses[][2] = {
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 188) 	[ADIS16260_SCAN_GYRO] = { ADIS16260_GYRO_OFF, ADIS16260_GYRO_SCALE },
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 189) };
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 190) 
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 191) static int adis16260_read_raw(struct iio_dev *indio_dev,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 192) 			      struct iio_chan_spec const *chan,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 193) 			      int *val, int *val2,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 194) 			      long mask)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 195) {
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 196) 	struct adis16260 *adis16260 = iio_priv(indio_dev);
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 197) 	const struct adis16260_chip_info *info = adis16260->info;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 198) 	struct adis *adis = &adis16260->adis;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 199) 	int ret;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 200) 	u8 addr;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 201) 	s16 val16;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 202) 
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 203) 	switch (mask) {
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 204) 	case IIO_CHAN_INFO_RAW:
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 205) 		return adis_single_conversion(indio_dev, chan,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 206) 				ADIS16260_ERROR_ACTIVE, val);
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 207) 	case IIO_CHAN_INFO_SCALE:
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 208) 		switch (chan->type) {
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 209) 		case IIO_ANGL_VEL:
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 210) 			*val = info->gyro_max_scale;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 211) 			*val2 = info->gyro_max_val;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 212) 			return IIO_VAL_FRACTIONAL;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 213) 		case IIO_INCLI:
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 214) 			*val = 0;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 215) 			*val2 = IIO_DEGREE_TO_RAD(36630);
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 216) 			return IIO_VAL_INT_PLUS_MICRO;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 217) 		case IIO_VOLTAGE:
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 218) 			if (chan->channel == 0) {
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 219) 				*val = 1;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 220) 				*val2 = 831500; /* 1.8315 mV */
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 221) 			} else {
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 222) 				*val = 0;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 223) 				*val2 = 610500; /* 610.5 uV */
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 224) 			}
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 225) 			return IIO_VAL_INT_PLUS_MICRO;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 226) 		case IIO_TEMP:
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 227) 			*val = 145;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 228) 			*val2 = 300000; /* 0.1453 C */
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 229) 			return IIO_VAL_INT_PLUS_MICRO;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 230) 		default:
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 231) 			return -EINVAL;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 232) 		}
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 233) 	case IIO_CHAN_INFO_OFFSET:
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 234) 		*val = 250000 / 1453; /* 25 C = 0x00 */
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 235) 		return IIO_VAL_INT;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 236) 	case IIO_CHAN_INFO_CALIBBIAS:
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 237) 		addr = adis16260_addresses[chan->scan_index][0];
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 238) 		ret = adis_read_reg_16(adis, addr, &val16);
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 239) 		if (ret)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 240) 			return ret;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 241) 
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 242) 		*val = sign_extend32(val16, 11);
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 243) 		return IIO_VAL_INT;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 244) 	case IIO_CHAN_INFO_CALIBSCALE:
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 245) 		addr = adis16260_addresses[chan->scan_index][1];
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 246) 		ret = adis_read_reg_16(adis, addr, &val16);
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 247) 		if (ret)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 248) 			return ret;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 249) 
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 250) 		*val = val16;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 251) 		return IIO_VAL_INT;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 252) 	case IIO_CHAN_INFO_SAMP_FREQ:
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 253) 		ret = adis_read_reg_16(adis, ADIS16260_SMPL_PRD, &val16);
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 254) 		if (ret)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 255) 			return ret;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 256) 
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 257) 		if (spi_get_device_id(adis->spi)->driver_data)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 258) 		/* If an adis16251 */
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 259) 			*val = (val16 & ADIS16260_SMPL_PRD_TIME_BASE) ?
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 260) 				8 : 256;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 261) 		else
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 262) 			*val = (val16 & ADIS16260_SMPL_PRD_TIME_BASE) ?
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 263) 				66 : 2048;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 264) 		*val /= (val16 & ADIS16260_SMPL_PRD_DIV_MASK) + 1;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 265) 		return IIO_VAL_INT;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 266) 	}
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 267) 	return -EINVAL;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 268) }
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 269) 
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 270) static int adis16260_write_raw(struct iio_dev *indio_dev,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 271) 			       struct iio_chan_spec const *chan,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 272) 			       int val,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 273) 			       int val2,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 274) 			       long mask)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 275) {
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 276) 	struct adis16260 *adis16260 = iio_priv(indio_dev);
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 277) 	struct adis *adis = &adis16260->adis;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 278) 	int ret;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 279) 	u8 addr;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 280) 	u8 t;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 281) 
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 282) 	switch (mask) {
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 283) 	case IIO_CHAN_INFO_CALIBBIAS:
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 284) 		if (val < -2048 || val >= 2048)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 285) 			return -EINVAL;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 286) 
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 287) 		addr = adis16260_addresses[chan->scan_index][0];
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 288) 		return adis_write_reg_16(adis, addr, val);
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 289) 	case IIO_CHAN_INFO_CALIBSCALE:
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 290) 		if (val < 0 || val >= 4096)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 291) 			return -EINVAL;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 292) 
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 293) 		addr = adis16260_addresses[chan->scan_index][1];
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 294) 		return adis_write_reg_16(adis, addr, val);
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 295) 	case IIO_CHAN_INFO_SAMP_FREQ:
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 296) 		mutex_lock(&adis->state_lock);
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 297) 		if (spi_get_device_id(adis->spi)->driver_data)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 298) 			t = 256 / val;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 299) 		else
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 300) 			t = 2048 / val;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 301) 
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 302) 		if (t > ADIS16260_SMPL_PRD_DIV_MASK)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 303) 			t = ADIS16260_SMPL_PRD_DIV_MASK;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 304) 		else if (t > 0)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 305) 			t--;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 306) 
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 307) 		if (t >= 0x0A)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 308) 			adis->spi->max_speed_hz = ADIS16260_SPI_SLOW;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 309) 		else
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 310) 			adis->spi->max_speed_hz = ADIS16260_SPI_FAST;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 311) 		ret = __adis_write_reg_8(adis, ADIS16260_SMPL_PRD, t);
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 312) 
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 313) 		mutex_unlock(&adis->state_lock);
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 314) 		return ret;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 315) 	}
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 316) 	return -EINVAL;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 317) }
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 318) 
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 319) static const struct iio_info adis16260_info = {
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 320) 	.read_raw = &adis16260_read_raw,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 321) 	.write_raw = &adis16260_write_raw,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 322) 	.update_scan_mode = adis_update_scan_mode,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 323) };
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 324) 
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 325) static const char * const adis1620_status_error_msgs[] = {
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 326) 	[ADIS16260_DIAG_STAT_FLASH_CHK_BIT] = "Flash checksum error",
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 327) 	[ADIS16260_DIAG_STAT_SELF_TEST_BIT] = "Self test error",
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 328) 	[ADIS16260_DIAG_STAT_OVERFLOW_BIT] = "Sensor overrange",
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 329) 	[ADIS16260_DIAG_STAT_SPI_FAIL_BIT] = "SPI failure",
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 330) 	[ADIS16260_DIAG_STAT_FLASH_UPT_BIT] = "Flash update failed",
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 331) 	[ADIS16260_DIAG_STAT_POWER_HIGH_BIT] = "Power supply above 5.25",
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 332) 	[ADIS16260_DIAG_STAT_POWER_LOW_BIT] = "Power supply below 4.75",
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 333) };
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 334) 
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 335) static const struct adis_timeout adis16260_timeouts = {
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 336) 	.reset_ms = ADIS16260_STARTUP_DELAY,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 337) 	.sw_reset_ms = ADIS16260_STARTUP_DELAY,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 338) 	.self_test_ms = ADIS16260_STARTUP_DELAY,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 339) };
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 340) 
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 341) static const struct adis_data adis16260_data = {
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 342) 	.write_delay = 30,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 343) 	.read_delay = 30,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 344) 	.msc_ctrl_reg = ADIS16260_MSC_CTRL,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 345) 	.glob_cmd_reg = ADIS16260_GLOB_CMD,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 346) 	.diag_stat_reg = ADIS16260_DIAG_STAT,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 347) 
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 348) 	.self_test_mask = ADIS16260_MSC_CTRL_MEM_TEST,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 349) 	.self_test_reg = ADIS16260_MSC_CTRL,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 350) 	.timeouts = &adis16260_timeouts,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 351) 
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 352) 	.status_error_msgs = adis1620_status_error_msgs,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 353) 	.status_error_mask = BIT(ADIS16260_DIAG_STAT_FLASH_CHK_BIT) |
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 354) 		BIT(ADIS16260_DIAG_STAT_SELF_TEST_BIT) |
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 355) 		BIT(ADIS16260_DIAG_STAT_OVERFLOW_BIT) |
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 356) 		BIT(ADIS16260_DIAG_STAT_SPI_FAIL_BIT) |
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 357) 		BIT(ADIS16260_DIAG_STAT_FLASH_UPT_BIT) |
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 358) 		BIT(ADIS16260_DIAG_STAT_POWER_HIGH_BIT) |
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 359) 		BIT(ADIS16260_DIAG_STAT_POWER_LOW_BIT),
^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) static void adis16260_stop(void *data)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 363) {
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 364) 	adis16260_stop_device(data);
^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 int adis16260_probe(struct spi_device *spi)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 368) {
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 369) 	const struct spi_device_id *id;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 370) 	struct adis16260 *adis16260;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 371) 	struct iio_dev *indio_dev;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 372) 	int ret;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 373) 
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 374) 	id = spi_get_device_id(spi);
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 375) 	if (!id)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 376) 		return -ENODEV;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 377) 
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 378) 	/* setup the industrialio driver allocated elements */
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 379) 	indio_dev = devm_iio_device_alloc(&spi->dev, sizeof(*adis16260));
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 380) 	if (!indio_dev)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 381) 		return -ENOMEM;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 382) 	adis16260 = iio_priv(indio_dev);
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 383) 	/* this is only used for removal purposes */
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 384) 	spi_set_drvdata(spi, indio_dev);
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 385) 
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 386) 	adis16260->info = &adis16260_chip_info_table[id->driver_data];
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 387) 
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 388) 	indio_dev->name = id->name;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 389) 	indio_dev->info = &adis16260_info;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 390) 	indio_dev->channels = adis16260->info->channels;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 391) 	indio_dev->num_channels = adis16260->info->num_channels;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 392) 	indio_dev->modes = INDIO_DIRECT_MODE;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 393) 
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 394) 	ret = adis_init(&adis16260->adis, indio_dev, spi, &adis16260_data);
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 395) 	if (ret)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 396) 		return ret;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 397) 
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 398) 	ret = devm_adis_setup_buffer_and_trigger(&adis16260->adis, indio_dev, NULL);
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 399) 	if (ret)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 400) 		return ret;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 401) 
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 402) 	/* Get the device into a sane initial state */
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 403) 	ret = adis_initial_startup(&adis16260->adis);
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 404) 	if (ret)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 405) 		return ret;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 406) 
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 407) 	ret = devm_add_action_or_reset(&spi->dev, adis16260_stop, indio_dev);
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 408) 	if (ret)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 409) 		return ret;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 410) 
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 411) 	return devm_iio_device_register(&spi->dev, indio_dev);
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 412) }
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 413) 
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 414) /*
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 415)  * These parts do not need to be differentiated until someone adds
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 416)  * support for the on chip filtering.
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 417)  */
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 418) static const struct spi_device_id adis16260_id[] = {
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 419) 	{"adis16260", ADIS16260},
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 420) 	{"adis16265", ADIS16260},
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 421) 	{"adis16266", ADIS16266},
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 422) 	{"adis16250", ADIS16260},
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 423) 	{"adis16255", ADIS16260},
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 424) 	{"adis16251", ADIS16251},
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 425) 	{}
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 426) };
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 427) MODULE_DEVICE_TABLE(spi, adis16260_id);
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 428) 
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 429) static struct spi_driver adis16260_driver = {
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 430) 	.driver = {
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 431) 		.name = "adis16260",
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 432) 	},
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 433) 	.probe = adis16260_probe,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 434) 	.id_table = adis16260_id,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 435) };
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 436) module_spi_driver(adis16260_driver);
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 437) 
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 438) MODULE_AUTHOR("Barry Song <21cnbao@gmail.com>");
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 439) MODULE_DESCRIPTION("Analog Devices ADIS16260/5 Digital Gyroscope Sensor");
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 440) MODULE_LICENSE("GPL v2");